Lecture Notes: Introduction to Finite Element Method Chapter 7.

Structural Vibration and Dynamics

Chapter 7. Structural Vibration and Dynamics

Natural frequencies and modes F(t)

Frequency response (F(t)=Fo sint)
Transient response (F(t) arbitrary)

I. Basic Equations
A. Single DOF System
k m - mass
f=f(t) k - stiffness
m
c
c - damping
f (t ) - force
ku
c u& m f(t)
x, u

From Newtons law of motion (ma = F), we have

mu&& = f(t)k u cu& ,
i.e.
mu&&+cu& +ku = f(t) , (1)

where u is the displacement, u& = du / dt and u&& = d 2u / dt2 .

1999 Yijun Liu, University of Cincinnati 157

Lecture Notes: Introduction to Finite Element Method Chapter 7. Structural Vibration and Dynamics

Free Vibration: f(t) = 0 and no damping (c = 0)

Eq. (1) becomes
mu&&+k u =0 . (2)
(meaning: inertia force + stiffness force = 0)
Assume:
u(t) = U sin ( t) ,

where is the frequency of oscillation, U the amplitude.

Eq. (2) yields
U 2 m sin( t)+kU sin( t)= 0

i.e.,
[ 2
]
m+k U = 0.

For nontrivial solutions for U, we must have

[ 2
]
m+k = 0,

which yields
k
= . (3)
m

This is the circular natural frequency of the single DOF

system (rad/s). The cyclic frequency (1/s = Hz) is

f= , (4)
2

1999 Yijun Liu, University of Cincinnati 158

Lecture Notes: Introduction to Finite Element Method Chapter 7. Structural Vibration and Dynamics

u
u = U s in w t
U

t
U
T=1/f

Undamped Free Vibration

With non-zero damping c, where

0 < c < c c = 2 m = 2 k m (cc = critical damping) (5)
we have the damped natural frequency:

d = 1 2 , (6)
c
where = (damping ratio).
cc

For structural damping: 0 < 0.15 (usually 1~5%)

d . (7)

Thus, we can ignore damping in normal mode analysis.

u

Damped Free Vibration

1999 Yijun Liu, University of Cincinnati 159

Lecture Notes: Introduction to Finite Element Method Chapter 7. Structural Vibration and Dynamics

B. Multiple DOF System

Equation of Motion
Equation of motion for the whole structure is
&& + C u& + Ku = f ( t ) ,
Mu (8)
in which: u nodal displacement vector,
M mass matrix,
C damping matrix,
K stiffness matrix,
f forcing vector.
Physical meaning of Eq. (8):
Inertia forces + Damping forces + Elastic forces
= Applied forces
Mass Matrices
Lumped mass matrix (1-D bar element):
AL 1 ,A,L 2 m = AL
m1 = 2
2 2
u1 u2
Element mass matrix is found to be

AL
0
m= 2
AL
0
1442424 3
diagonal matrix

1999 Yijun Liu, University of Cincinnati 160

Lecture Notes: Introduction to Finite Element Method Chapter 7. Structural Vibration and Dynamics

In general, we have the consistent mass matrix given by

m= V
N T NdV (9)

where N is the same shape function matrix as used for the

displacement field.
This is obtained by considering the kinetic energy:
1 T 1
= u& m u& (cf. mv 2 )
2 2
= u& 2 dV = (u& ) u& dV
1 1 T

2 V 2 V
= (N u& ) (N u& )dV
1 T

2 V
1
= u& T N T N dV u&
2 1V 42 43
m

Bar Element (linear shape function):

1
m = [1 ]ALd
V

1 / 3 1 / 6 u&&1 (10)
= AL
1 / 6 1 / 3 u&&2

1999 Yijun Liu, University of Cincinnati 161

Lecture Notes: Introduction to Finite Element Method Chapter 7. Structural Vibration and Dynamics

Element mass matrices:

local coordinates to global coordinates
assembly of the global structure mass matrix M.

Simple Beam Element:

v1 v2
1 , A, L 2

m = NT NdV
V

156 22 L 54 13L v&&1

3L2 &&1
AL 22 L 4 L2 13L

= (11)
420 54 13L 156 22 L v&&2
2 &&
13L 3L 22 L 4 L 2
2

Units in dynamic analysis (make sure they are consistent):

Choice I Choice II
t (time) s s
L (length) m mm
m (mass) kg Mg
a (accel.) m/s2 mm/s2
f (force) N N
(density) kg/m3 Mg/mm3

1999 Yijun Liu, University of Cincinnati 162