Dynamics Generalized Coordinates

Generalized SDOFs Giacomo Bo Introductory Remarks
Generalized Single Degree of Freedom Systems

Giacomo Bo
Dipartimento di Ingegneria Strutturale, Politecnico di Milano
Assemblage of Rigid Bodies Continuous Systems Vibration Analysis by Rayleighs Method Selection of Mode Shapes Renement of Rayleighs Estimates
April 13, 2011
Outline
Introductory Remarks Assemblage of Rigid Bodies Continuous Systems Vibration Analysis by Rayleighs Method Selection of Mode Shapes Renement of Rayleighs Estimates
Introductory Remarks
Until now our SDOFs were described as composed by a single mass connected to a xed reference by means of a spring and a damper. While the mass-spring is a useful representation, many dierent, more complex systems can be studied as SDOF systems, either exactly or under some simplifying assumption. 1. SDOF rigid body assemblages, where exibility is concentrated in a number of springs and dampers, can be studied, e.g., using the Principle of Virtual Displacements and the DAlembert Principle. 2. simple structural systems can be studied, in an approximate manner, assuming a xed pattern of displacements, whose amplitude (the single degree of freedom) varies with time.
Generalized SDOFs Giacomo Bo Introductory Remarks Assemblage of Rigid Bodies Continuous Systems Vibration Analysis by Rayleighs Method Selection of Mode Shapes Renement of Rayleighs Estimates
Further Remarks on Rigid Assemblages
Today we restrict our consideration to plane, 2-D systems. In rigid body assemblages the limitation to a single shape of displacement is a consequence of the conguration of the system, i.e., the disposition of supports and internal hinges. When the equation of motion is written in terms of a single parameter and its time derivatives, the terms that gure as coecients in the equation of motion can be regarded as the generalised properties of the assemblage: generalised mass, damping and stiness on left hand, generalised loading on right hand. m x + c x + k x = p (t)
Further Remarks on Continuous Systems
Continuous systems have an innite variety of deformation patterns. By restricting the deformation to a single shape of varying amplitude, we introduce an innity of internal contstraints that limit the innite variety of deformation patterns, but under this assumption the system conguration is mathematically described by a single parameter, so that our model can be analysed in exactly the same way as a strict SDOF system, we can compute the generalised mass, damping, stiness properties of the SDOF system.
Final Remarks on Generalised SDOF Systems
Generalized SDOFs Giacomo Bo Introductory Remarks Assemblage of Rigid Bodies
From the previous comments, it should be apparent that everything we have seen regarding the behaviour and the integration of the equation of motion of proper SDOF systems applies to rigid body assemblages and to SDOF models of exible systems, provided that we have the means for determining the generalised properties of the dynamical systems under investigation.
Continuous Systems Vibration Analysis by Rayleighs Method Selection of Mode Shapes Renement of Rayleighs Estimates
Assemblages of Rigid Bodies

planar, or bidimensional, rigid bodies, constrained to move in a plane, the exibility is concentrated in discrete elements, springs and dampers, rigid bodies are connected to a xed reference and to each other by means of springs, dampers and smooth, bilateral constraints (read hinges, double pendulums and rollers), inertial forces are distributed forces, acting on each material point of each rigid body, their resultant can be described by
a force applied to the centre of mass of the body, proportional to acceleration vector and total mass M = dm a couple, proportional to angular acceleration and the moment of inertia J of the rigid body, J = (x2 + y2 )dm.
Rigid Bar
G L
Unit mass Length Centre of Mass Total Mass Moment of Inertia m = constant, L, xG = L/2, m = mL, L2 L3 J=m =m 12 12
Assemblage of Rigid Bodies
Rigid Rectangle
y b G a
Unit mass Sides Centre of Mass Total Mass Moment of Inertia = constant, a, b xG = a/2, m = ab, a2 + b 2 a3 b + ab3 J=m = 12 12 yG = b/2
Rigid Triangle
y b G
For a right triangle. Unit mass Sides Centre of Mass Total Mass Moment of Inertia
a
= constant, a, b xG = a/3, m = ab/2, a2 + b 2 a3 b + ab3 J=m = 18 36 yG = b/3
Rigid Oval
When a = b = D = 2R the oval is a circle.
Generalized SDOFs Giacomo Bo Introductory Remarks Assemblage of Rigid Bodies Continuous Systems
y b
x a
Unit mass Axes Centre of Mass Total Mass Moment of Inertia = constant, a, b xG = yG = 0 ab m= , 4 L2 L3 J=m =m 12 12
Vibration Analysis by Rayleighs Method Selection of Mode Shapes Renement of Rayleighs Estimates
trabacolo1
Generalized SDOFs Giacomo Bo Introductory Remarks Assemblage of Rigid Bodies
p(x,t) = P x/a f(t) m2 , J 2 c1 a 2a k1 a c2 a a k2 a N
The mass of the left bar is m1 = m 4a and its moment of (4a)2 inertia is J1 = m1 12 = 4a2 m1 /3. The maximum value of the external load is Pmax = P 4a/a = 4P and the resultant of triangular load is R = 4P 4a/2 = 8Pa
Forces and Virtual Displacements

8Pa f(t) Z(t)
J1 Z 4a
J2 Z 3a
Assemblage of Rigid Bodies Continuous Systems
c1 Z 4
m1 Z 2
3k1 Z 4
c2 Z
2m2 Z 3
kZ 3
1 = Z/(4a)
2 = Z/(3a) u
Z 4
Z 2
3 Z 4
2 Z 3
Z 3
u = 7a4a cos 1 3a cos 2 , 1 = Z/(4a), sin 1 Z/(4a), u =

1 4a
u = 4a sin 1 1 +3a sin 2 2 2 = Z/(3a) Z Z = sin 2 Z/(3a)

7 12a Z Z
1 3a
Principle of Virtual Displacements

J1 Z 4a
Generalized SDOFs Giacomo Bo
8Pa f(t) Z(t)
J2 Z 3a
c1 Z 4
m1 Z 2
3k1 Z 4
c2 Z
2m2 Z 3
kZ 3
Introductory Remarks Assemblage of Rigid Bodies
1 = Z/(4a)
2 = Z/(3a) u
Z 4
Z 2
3 Z 4
2 Z 3
Z 3
The virtual work of the InertialDampingElasticExternal forces: Z Z 2Z 2Z Z Z Z Z J1 m2 J2 WI = m1 2 2 4a 4a 3 3 3a 3a m1 m2 J1 J2 = +4 + + 2 Z Z 4 9 16a2 9a Z Z WD = c1 c2 Z Z = (c2 + c1 /16) Z Z 4 4 3Z 3Z Z Z 9k1 k2 WS = k1 k2 = + Z Z 4 4 3 3 16 9 2Z 7 WExt = 8Pa f(t) +N Z Z 3 12a

For a rigid body in condition of equilibrium the total virtual work must be equal to zero WI + WD + WS + WExt = 0 Substituting our expressions of the virtual work contributions and simplifying Z, the equation of equilibrium is J2 m2 J1 m1 + 2 +4 + 4 9 16a2 9a + (c2 + c1 /16) Z + Z+ 9k1 k2 + 16 9 Z=
2 7 8Pa f(t) + N Z 3 12a

Collecting Z and its time derivatives give us m Z + c Z + k Z = p f(t) introducing the so called generalised properties, in our example it is 1 4 1 1 m = m1 + 9m2 + J1 + 2 J2 , 4 9 16a2 9a 1 c = c1 + c2 , 16 9 1 7 k = k1 + k 2 N, 16 9 12a 16 p = Pa. 3 It is worth writing down 9k1 k2 7 the expression of k : k = + N 16 9 12a Geometrical stiness
Lets start with an example...

Consider a cantilever, with varying properties m and EJ, subjected to a load that is function of both time t and position x, p = p(x, t). The transverse displacements v will be function of time and position, v = v(x, t)
p(x, t) N v(x, t) x EJ = EJ(x) m = m(x)
... and an hypothesis

To study the previous problem, we introduce an approximate model by the following hypothesis, v(x, t) = (x) Z(t), that is, the hypothesis of separation of variables Note that (x), the shape function, is adimensional, while Z(t) is dimensionally a generalised displacement, usually chosen to characterise the structural behaviour. In our example we can use the displacement of the tip of the chimney, thus implying that (H) = 1 because Z(t) = v(H, t) and
v(H, t) = (H) Z(t)
For a exible system, the PoVD states that, at equilibrium, WE = WI . The virtual work of external forces can be easily computed, the virtual work of internal forces is usually approximated by the virtual work done by bending moments, that is WI M where is the curvature and the virtual increment of curvature.
WE
The external forces are p(x, t), N and the forces of inertia fI ; we have, by separation of variables, that v = (x)Z and we can write
H H
Generalized SDOFs Giacomo Bo Introductory Remarks Assemblage of Rigid Bodies Continuous Systems Vibration Analysis by Rayleighs Method Selection of Mode Shapes
Wp =
0
p(x, t)v dx =
0
p(x, t)(x) dx
Z = p (t) Z
WInertia = =
m(x)v dx = v
0 H 0 0
m(x)(x)Z(x) dx Z Z(t) Z = m Z Z.
Renement of Rayleighs Estimates
m(x)2 (x) dx
The virtual work done by the axial force deserves a separate treatment...
WN
The virtual work of N is WN = Nu where u is the variation of the vertical displacement of the top of the chimney. We start computing the vertical displacement of the top of the chimney in terms of the rotation of the axis line, (x)Z(t),
H H
Generalized SDOFs Giacomo Bo Introductory Remarks Assemblage of Rigid Bodies Continuous Systems Vibration Analysis by Rayleighs Method Selection of Mode Shapes
u(t) = H
0
cos dx =
0
(1 cos ) dx,
2 2
substituting the well known approximation cos 1 the above equation we have
H
in
Renement of Rayleighs Estimates
u(t) =
0
2 dx = 2
H 0
2 (x)Z2 (t) dx 2
H 0
hence
H
u =
0
(x)Z(t)Z dx =
2 (x) dx ZZ
and
WInt
H 0
WN =
2 (x) dx N Z Z = kG Z Z
Approximating the internal work with the work done by bending moments, for an innitesimal slice of beam we write dWInt 1 1 = Mv(x, t) dx = M(x)Z(t) dx 2 2
with M = EJ(x)v(x) (dWInt ) = EJ(x)2 (x)Z(t)Z dx integrating

H
WInt =
EJ(x)2 (x) dx
ZZ = k Z Z
Remarks
the shape function must respect the geometrical boundary conditions of the problem, i.e., both 1 = x2 and 2 = 1 cos x 2H
are accettable shape functions for our example, as 1 (0) = 2 (0) = 0 and 1 (0) = 2 (0) = 0 better results are obtained when the second derivative of the shape function at least resembles the typical distribution of bending moments in our problem, so that between 1 = constant and x 2 cos 2 = 4H2 2H
the second choice is preferable.
Remarks
2.5 2 1.5 1 0.5 0
f1=1-cos(pi*x/2) f2=x2 f1 " f2 "
1 0.8 0.6 0.4 0.2 0
vi"/Z(t)
0.2
0.4 x/H
0.6
0.8
v/Z(t)
Example
with m = constant and Using (x) = 1 cos EJ = constant, with a load characteristic of seismic v excitation, p(t) = mg (t), x 2 3 4 m = m (1 cos ) dx = m( )H 2H 2 0 4 H 4 EJ 2 x k = EJ cos dx = 16H4 0 2H 32 H3 2 H 2 x 2 kG = N 2 sin dx = N 4H 0 2H 8H H x 2 v 1 cos pg = mg (t) dx = 1 2H 0
H x 2H ,
v mH g (t)
Vibration Analysis
The process of estimating the vibration characteristics of a complex system is known as vibration analysis. We can use our previous results for exible systems, based on the SDOF model, to give an estimate of the natural frequency 2 = k /m A dierent approach, proposed by Lord Rayleigh, starts from dierent premises to give the same results but the Rayleighs Quotient method is important because it oers a better understanding of the vibrational behaviour, eventually leading to successive renements of the rst estimate of 2 .
Rayleighs Quotient Method

Our focus will be on the free vibration of a exible, undamped system. inspired by the free vibrations of a proper SDOF we write Z(t) = Z0 sin t and v(x, t) = Z0 (x) sin t, the displacement and the velocity are in quadrature: when v is at its maximum v = 0 (hence V = Vmax , T = 0) and when v = 0 v is at its maximum (hence V = 0, T = Tmax , disregarding damping, the energy of the system is constant during free vibrations, Vmax + 0 = 0 + Tmax
Rayleigh s Quotient Method

Now we write the expressions for Vmax and Tmax , 1 Vmax = Z2 EJ(x) 2 (x) dx, 2 0 S 1 Tmax = 2 Z2 m(x)2 (x) dx, 0 2 S equating the two expressions and solving for 2 we have =
2 S EJ(x) 2 (x) dx 2 S m(x) (x) dx
Recognizing the expressions we found for k and m we could question the utility of Rayleighs Quotient...
Rayleighs Quotient Method

in Rayleighs method we know the specic time dependency of the inertial forces fI = m(x) = m(x) Z0 (x) sin t v fI has the same shape we use for displacements. if were the real shape assumed by the structure in free vibrations, the displacements v due to a loading fI = 2 m(x)(x)Z0 should be proportional to (x) through a constant factor, with equilibrium respected in every point of the structure during free vibrations. starting from a shape function 0 (x), a new shape function 1 can be determined normalizing the displacements due to the inertial forces associated with 0 (x), fI = m(x)0 (x), we are going to demonstrate that the new shape function is a better approximation of the true mode shape
2
Selection of mode shapes
Given dierent shape functions i and considering the true shape of free vibration , in the former cases equilibrium is not respected by the structure itself. To keep inertia induced deformation proportional to i we must consider the presence of additional elastic constraints. This leads to the following considerations the frequency of vibration of a structure with additional constraints is higher than the true natural frequency, the criterium to discriminate between dierent shape functions is: better shape functions give lower estimates of the natural frequency, the true natural frequency being a lower bound of all estimates.
Selection of mode shapes 2
In general the selection of trial shapes goes through two steps, 1. the analyst considers the exibilities of dierent parts of the structure and the presence of symmetries to devise an approximate shape, 2. the structure is loaded with constant loads directed as the assumed displacements, the displacements are computed and used as the shape function, of course a little practice helps a lot in the the choice of a proper pattern of loading...
Selection of mode shapes 3

p = m(x) P=M
(b)
(c)
p = m(x)
(a)
p = m(x)
(d)
p = m(x)
Renement R00
Choose a trial function (0) (x) and write v(0) = (0) (x)Z(0) sin t 1 Vmax = Z(0)2 EJ(0) 2 dx 2 1 Tmax = 2 Z(0)2 m(0)2 dx 2 our rst estimate R00 of 2 is =
2
EJ(0) 2 dx . m(0)2 dx
Renement R01
We try to give a better estimate of Vmax computing the external work done by the inertial forces, p
(0)
Generalized SDOFs Giacomo Bo Introductory Remarks Assemblage of Rigid Bodies Continuous Systems
= m(x)v(0) = Z(0) 2 (0) (x) p(0) are Z(1) 2 = 2 (1) Z(1) ,
the deections due to v(1) = 2 v(1) 2
= 2 (1)
where we write Z(1) because we need to keep the unknown 2 in evidence. The maximum strain energy is Vmax = 1 1 p(0) v(1) dx = 4 Z(0) Z(1) m(x)(0) (1) dx 2 2
Equating to our previus estimate of Tmax we nd the R01 estimate Z(0) m(x)(0) (0) dx 2 = (1) m(x)(0) (1) dx Z
Renement R11
With little additional eort it is possible to compute Tmax from v(1) : 1 1 Tmax = 2 m(x)v(1)2 dx = 6 Z(1)2 m(x)(1)2 dx 2 2 equating to our last approximation for Vmax we have the R11 approximation to the frequency of vibration, Z(0) m(x)(0) (1) dx = (1) . m(x)(1) (1) dx Z
2
Of course the procedure can be extended to compute better and better estimates of 2 but usually the renements are not extended beyond R11 , because it would be contradictory with the quick estimate nature of the Rayleighs Quotient method and also because R11 estimates are usually very good ones.
Renement Example
m 1.5m 2m k 1 2k 1 3k (0)
1 2 4.5 m Z0 2 1 1 3k Z0 2 3 k 2 k = 9/2 m 3m
p(0) 2 m
1 1.5 2 (1)
1 11/15 6/15
T =
v(1)
15 m 2 (1) = 4 k
V (1) =
V= 2 =
15 m Z(1) = 4 k
1 15 m 4 m (1 + 33/30 + 4/5) 2 4 k 1 15 m 4 87 = m 2 4 k 30 9 m 12 k k 2 = 287 m = = 0.4138 29 m m m8 k

Dynamics Generalized Coordinates

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Dynamics Generalized Coordinates

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Generalized SDOFs Giacomo Bo Introductory Remarks

Generalized Single Degree of Freedom Systems

April 13, 2011

Generalized SDOFs Giacomo Bo Introductory Remarks

Further Remarks on Rigid Assemblages

Generalized SDOFs Giacomo Bo Introductory Remarks

Further Remarks on Continuous Systems

Generalized SDOFs Giacomo Bo Introductory Remarks

Final Remarks on Generalised SDOF Systems

Generalized SDOFs Giacomo Bo Introductory Remarks Assemblage of Rigid Bodies

Assemblages of Rigid Bodies

Generalized SDOFs Giacomo Bo Introductory Remarks

Assemblage of Rigid Bodies

Generalized SDOFs Giacomo Bo Introductory Remarks

Generalized SDOFs Giacomo Bo Introductory Remarks

Generalized SDOFs Giacomo Bo Introductory Remarks Assemblage of Rigid Bodies

p(x,t) = P x/a f(t) m2 , J 2 c1 a 2a k1 a c2 a a k2 a N

Forces and Virtual Displacements

Generalized SDOFs Giacomo Bo Introductory Remarks

Assemblage of Rigid Bodies Continuous Systems

u = 7a4a cos 1 3a cos 2 , 1 = Z/(4a), sin 1 Z/(4a), u =

u = 4a sin 1 1 +3a sin 2 2 2 = Z/(3a) Z Z = sin 2 Z/(3a)

Principle of Virtual Displacements

Generalized SDOFs Giacomo Bo

8Pa f(t) Z(t)

Introductory Remarks Assemblage of Rigid Bodies

Principle of Virtual Displacements

2 7 8Pa f(t) + N Z 3 12a

Principle of Virtual Displacements

Lets start with an example...

p(x, t) N v(x, t) x EJ = EJ(x) m = m(x)

... and an hypothesis

v(H, t) = (H) Z(t)

Principle of Virtual Displacements

Generalized SDOFs Giacomo Bo Introductory Remarks

Renement of Rayleighs Estimates

Renement of Rayleighs Estimates

with M = EJ(x)v(x) (dWInt ) = EJ(x)2 (x)Z(t)Z dx integrating

the second choice is preferable.

Generalized SDOFs Giacomo Bo Introductory Remarks

2.5 2 1.5 1 0.5 0

f1=1-cos(pi*x/2) f2=x2 f1 " f2 "

1 0.8 0.6 0.4 0.2 0

Generalized SDOFs Giacomo Bo Introductory Remarks

Rayleighs Quotient Method

Rayleigh s Quotient Method

Rayleighs Quotient Method

Selection of mode shapes

Generalized SDOFs Giacomo Bo Introductory Remarks

Selection of mode shapes 2

Generalized SDOFs Giacomo Bo Introductory Remarks

Selection of mode shapes 3

= m(x)v(0) = Z(0) 2 (0) (x) p(0) are Z(1) 2 = 2 (1) Z(1) ,

the deections due to v(1) = 2 v(1) 2

1 15 m 4 m (1 + 33/30 + 4/5) 2 4 k 1 15 m 4 87 = m 2 4 k 30 9 m 12 k k 2 = 287 m = = 0.4138 29 m m m8 k

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