MIT - 16.

20

Fall, 2002

Unit 23

Vibration of Continuous Systems

Paul A. Lagace, Ph.D.

Professor of Aeronautics & Astronautics

and Engineering Systems

Paul A. Lagace 2001

MIT - 16.20

Fall, 2002

The logical extension of discrete mass systems is one of an

infinite number of masses. In the limit, this is a continuous
system.
Take the generalized beam-column as a generic representation:

d 2 d 2w
d d w
EI

F
= pz
2
2
dx dx
dx dx
Figure 23.1

(23-1)

Representation of generalized beam-column

dF
= px
dx

This considers only static loads. Must add the inertial load(s). Since the
concern is in the z-displacement (w):

Inertial load unit length = m w

where: m(x) = mass/unit length
Paul A. Lagace 2001

(23-2)
Unit 23 - 2

MIT - 16.20

Fall, 2002

Use per unit length since entire equation is of this form. Thus:

d 2 d 2
w

d d w

EI

F
= pz m w
2
2
dx dx
dx dx
or:

d 2 d 2
w
d d w

= pz
EI 2
F
+ mw
2
dx dx
dx dx

(23-3)

Beam Bending Equation

often, F = 0 and this becomes:

d 2 d 2
w
= pz
EI 2 + m w
2
dx dx
--> This is a fourth order differential equation in x

--> Need four boundary conditions

--> This is a second order differential equation in time
--> Need two initial conditions
Paul A. Lagace 2001

Unit 23 - 3

MIT - 16.20

Fall, 2002

Notes:
Could also get via simple beam equations. Change occurs in:
dS

= pz m w
dx
If consider dynamics along x, must include mu in px term: ( px mu)
Use the same approach as in the discrete spring-mass systems:

Free Vibration
Again assume harmonic motion. In a continuous system, there are an
infinite number of natural frequencies (eigenvalues) and associated
modes (eigenvectors)
so:

w ( x , t) = w (x) e i t
separable solution spatially (x) and temporally (t)
Consider the homogeneous case (pz = 0) and let there be no axial forces
(px = 0 F = 0)
Paul A. Lagace 2001

Unit 23 - 4

MIT - 16.20

Fall, 2002

So:

d 2 d 2
w
= 0
EI 2 + m w
2
dx dx
Also assume that EI does not vary with x:
d 4
w
= 0
EI 4
+ m w
(23-5)

dx
Placing the assumed mode in the governing equation:

d 4
w i t
m 2 w e i t = 0

EI 4
e
dx
This gives:

d 4
w
EI 4
m 2 w = 0
(23-6)

dx
which is now an equation solely in the spatial variable (successful
separation of t and x dependencies)
_
Must now find a solution for w(x) which satisfies the differential equations
and the boundary conditions.
Note: the shape and frequency are intimately linked
(through equation 23-6)
Paul A. Lagace 2001

Unit 23 - 5

MIT - 16.20

Fall, 2002

Can recast equation (23-6) to be:

d 4w
m 2
(23-7)

w = 0
4
dx
EI
The solution to this homogeneous equation is of the form:

w ( x) = e p x
Putting this into (23-7) yields
4

pe

m 2 p x

e
= 0
EI

px

m 2
EI

So this is an eigenvalue problem (spatially). The four roots are:

p = + , - , + i, - i
where:

m 2
=

EI

1/ 4

This yields:
Paul A. Lagace 2001

Unit 23 - 6

MIT - 16.20

Fall, 2002

w ( x ) = Ae x + Be x + C e i x + De i x
or:

w ( x ) = C1 sinh x + C2 cosh x + C3 sin x + C4 cos x

(23-8)

The constants are found by applying the boundary conditions

(4 constants 4 boundary conditions)
Example: Simply-supported beam
Figure 23.2

Representation of simply-supported beam

EI, m = constant with x

d 4w
d 2w
EI 4 + m 2 = pz
dx
dt
Paul A. Lagace 2001

Unit 23 - 7

MIT - 16.20

Fall, 2002

Boundary conditions:
@x=0

w=0

@x=l

d 2w
M = EI 2 = 0
dx

with:

w ( x ) = C1 sinh x + C2 cosh x + C3 sin x + C4 cos x

Put the resulting four equations in matrix form

w( 0 ) =
d 2w
0
2 ( )
dx
w (l ) =
d 2w
l
2 ( )
dx

0
= 0
0

= 0

1
0
1
0
0
1
0
1

cos l
sinh l cosh l sin l
sinh l cosh l sin l cos l

C1
0
C
0
2

=


C
3
0
C4
0

Solution of determinant matrix generally yields values of which then

yield frequencies and associated modes (as was done for multiple mass
systems in a somewhat similar fashion)
Paul A. Lagace 2001

Unit 23 - 8

MIT - 16.20

Fall, 2002

In this case, the determinant of the matrix yields:

C3 sin l = 0
Note: Equations (1 & 2) give C2 = C4 = 0
Equations (3 & 4) give 2 C3 sin l = 0
nontrivial: l = n
The nontrivial solution is:
l = n

(eigenvalue problem!)

Recalling that:
2

m
=

EI
m 2

=
EI

1/ 4

n 4 4
l4

Paul A. Lagace 2001

(change n to r to be consistent with

previous notation)

r = r

EI
ml 4

<-- natural frequency

Unit 23 - 9

MIT - 16.20

Fall, 2002

As before, find associated mode (eigenvector), by putting this back in the

governing matrix equation.
Here (setting C3 = 1..one arbitrary magnitude):

w ( x ) = r = sin

r x
l

<-- mode shape (normal mode)

for: r = 1, 2, 3,

Note: A continuous system has an infinite number of

modes
So total solution is:

2 2 EI
r x
w ( x, t) = r sin r t = sin
sin r
l
ml 4

--> Vibration modes and frequencies are:

Paul A. Lagace 2001

Unit 23 - 10

MIT - 16.20

Fall, 2002

Figure 23.3

Representation of vibration modes of simply-supported beam

EI
ml 4

1st mode

1 =

2nd mode

2 = 4 2

EI
ml 4

3rd mode

3 = 9 2

EI
ml 4

etc.

Same for other cases

Paul A. Lagace 2001

Unit 23 - 11

MIT - 16.20

Fall, 2002

Continue to see the similarity in results between continuous and multimass (degree-of-freedom) systems. Multi-mass systems have
predetermined modes since discretization constrains system to deform
accordingly.
The extension is also valid for

Orthogonality Relations
They take basically the same form except now have continuous functions
integrated spatially over the regime of interest rather than vectors:

where:

m( x ) r ( x ) s ( x ) dx = Mr rs
rs

= kronecker delta

Mr =

(23-9)

= 1 for r = s
= 0 for r s

m( x ) r 2 ( x ) dx

generalized mass of the rth mode

Paul A. Lagace 2001

Unit 23 - 12

MIT - 16.20

Fall, 2002

So:

rs

m r s dx = 0

m r r dx = Mr

Also can show (similar to multi degree-of-freedom case):

d 2 d 2r
2
EI

dx
=

s
rs
r
r
dx 2
dx 2

(23-10)

This again, leads to the ability to transform the equation based on the
normal modes to get the

Normal Equations of Motion

Let:

w ( x, t) =

(x) (t )
r

(23-11)

r =1

normal mode
Paul A. Lagace 2001

normal coordinates
Unit 23 - 13

MIT - 16.20

Fall, 2002

Place into governing equation:

d 2 d 2w
d 2w
EI 2 + m 2 = pz ( x )
2
dt
dx dx
multiply by s and integrate

r =1

dx to get:

r m r s dx +

r =1

d 2 d 2r
s 2 EI 2 dx =
dx
dx

s f dx

Using orthogonality conditions, this takes on the same forms as

before:

Mr r + Mr r 2r = r

(23-12)
r = 1, 2, 3,

with:

Mr =

r =

m r 2 dx

- Generalized mass of rth mode

r pz ( x, t) dx - Generalized force of rth mode

r (t) = normal coordinates

Paul A. Lagace 2001

Unit 23 - 14

MIT - 16.20

Fall, 2002

Once again
each equation can be solved independently
allows continuous system to be treated as a series of simple
one degree-of-freedom systems
superpose solutions to get total response (Superposition of
Normal Modes)
often only lowest modes are important
difference from multi degree-of-freedom system: n -->
--> To find Initial Conditions in normalized coordinatessame as before:

w ( x, 0) =

(x) (0)
r

etc.

Thus:

1
r ( 0 ) =
Mr
1
r (0) =
Mr
Paul A. Lagace 2001

m r w0 (x) dx
(23-13)

m r w 0 ( x ) dx
Unit 23 - 15

MIT - 16.20

Fall, 2002

Finally, can add the case of

Forced Vibration
Again response is made up of the natural modes
Break up force into series of spatial impulses
Use Duhamels (convolution) integral to get response for each
normalized mode

1
r (t ) =
Mr r

( ) sin r (t ) d

(23-14)

Add up responses (equation 23-11) for all normalized modes

(Linear Superposition)
What about the special case of
--> Sinusoidal Force at point xA
Paul A. Lagace 2001

Unit 23 - 16

MIT - 16.20

Fall, 2002

Figure 23.4

Representation of force at point xA on simply-supported

beam

F (t ) = Fo sin t
As for single degree-of-freedom system, for each normal mode get:

r ( t ) =

r ( x A ) Fo
sin t
2

Mr r 2 1

r2

for steady state response (Again, initial transient of sin rt dies out
due to damping)
Add up all responses
Paul A. Lagace 2001

Unit 23 - 17

MIT - 16.20

Fall, 2002

Note:

Resonance can occur at any r

DMF (Dynamic Magnification Factor) associated with each normal
mode

--> Can apply technique to any system.

Get governing equation including inertial terms
Determine Free Vibration Modes and frequencies
Transform equation to uncoupled single degree-of-freedom system
(normal equations)
Solve each normal equation separately
Total response equal to sum of individual responses

Modal superposition is a very powerful technique!

Paul A. Lagace 2001

Unit 23 - 18