Mechanical Vibrations Chapter 2

Undamped Vibrations of
n-Degree-of-Freedom Systems
Mechanical Vibrations

Part 2
Forced Harmonic Response
3
Forced harmonic response

Why is it important ?

Two reasons:

• The system response in the frequency domain is often used for

experimental identification of a dynamic system.

• The harmonic regime is representative of many excitation cases

encountered in engineering practice (e.g. excitation due to unbalance
in rotating machinery).
4
Impedance and admittance matrices

Forced vibration of an n-degree-of-freedom oscillator

Force vector of constant amplitude

  K q  s cos  t
Mq

Excitation frequency

The forced response is synchronous to the excitation

q  x cos  t

Substituting this solution into the equations of motion yields

 
K 2 M x  s
5
Impedance and admittance matrices

Assuming that (K   2 M ) is non-singular

x  (K   2 M ) 1 s

admittance or dynamic influence coefficient matrix

Note that the matrix (K –  2 M) is called the mechanical impedance

matrix (or sometimes the dynamic stiffness matrix).

Experimentally : H ( )  (K   2 M ) 1 is called the FRF matrix.

(FRF = Frequency Response Function)

6
Spectral expansion of the FRF matrix

Let us solve the equations of motion

 
K 2 M x  s

by an eigenmode series expansion (including the possible presence of

m rigid-body modes)
m nm
x    i u i     s x s 
i 1 s 1

Taking account of eigenmode orthogonality provides

uT i  s xT s  s
i   s 
2
 i  
s2   2  s
7
Spectral expansion of the FRF matrix

which leads to

 m u i  uT i  nm x s  xT s  

1

x  2     s
 
 i 1
i s 1  
s2   2  s 


and the Frequency Response Function matrix takes the form

1 m u i  uT i  nm x s  xT s 

H       
 2
i 1
i s 1  s2   2  s 
m u k  i  u  i  n m xk  s  x s 
 
aHk kl (22
 )
1
  
 2
i 1
i s 1  
s2   2  s
8
Spectral expansion of the FRF matrix

System without rigid-body modes

n xk  s  x s 
 22
 )
aHk kl (
s 1  s2   2  s 
Fundamental property of a principal coefficient Hkk( 2)

dakkkk
dH n xk2 s 
  0
d
 
2
2
2 2 2
s 1 s   s

The principal coefficients are always increasing with excitation frequency.

9
Spectral expansion of the FRF matrix

Principal coefficient Hkk( 2)

n xk2 s 
 
aHkkkk (22 )  
s 1  s2   2  s 
n 1   
2

 1    k  
 s   (n -1) antiresonance frequencies
 
Hakkkk ( )  g kk
2 s 1 
n  2
 
 1     

s 1   s  n resonance frequencies

n xk2 s 
where g kk   2
is the static influence coefficient.

s 1 s s
10
Spectral expansion of the FRF matrix

System without rigid-body modes

Hkk
n resonance frequencies
(n -1) antiresonance frequencies

1k 2k 2

1 2 3 n

Two resonance frequencies r and r+1 are separated by

an antiresonance frequency noted rk
r  rk  r 1
11
Spectral expansion of the FRF matrix

Example of a clamped-clamped beam in axial vibration

log |Hk2  |

-10

-12

-14

-16

-18

-20

-22
15
250
10
200
150
5 100
50
0 0

Excitation at
dof n° 2
12
Spectral expansion of the FRF matrix

System with m rigid-body modes

A principal coefficient writes

m uk2 i  nm xk2 s 

 22
aHkkkk ( )  
1
  
 2
i 1
i s 1  s2   2  s 
Differentiation with respect to 2 yields

dakkkk
dH 1 m uk2 i  nm xk2 s 
    0
  i
 
22 2
d 2 2
2 i 1 s 1 s2   s

When  2  0, the slope of Hkk tends to infinity.

13
Spectral expansion of the FRF matrix

System with m rigid-body modes

(n-m) resonance frequencies

(excluding r  0)
(n-m) antiresonance frequencies
Hkk

1k 2k 3k n-m 2


1 2 3
14
Pseudo-resonance and resonance

The response of the system

 m u i  uT i  nm x s  xT s  

1

x  2     s
 
 i 1
i s 1  
s2   2  s 


tends to infinity at a resonance frequency   ℓ

However, if the external loading verifies the condition

sT x    0 Pseudo-resonance condition

it is possible to obtain an harmonic response of finite amplitude

even when the excitation frequency becomes equal to a resonance
frequency.
15
Response to external loading

Equations of motion of an n-degree-of-freedom system submitted to

external forces

  K q  p(t )
Mq
given q(0)  q0 , q (0)  q 0

Two methods

Mode superposition Direct time integration

• Mode displacement
• Mode acceleration
16
Mode superposition and normal equations

The solution may be expressed through modal expansion

n
q(t )   s (t ) x( s )
s 1

Premultiplying by each eigenmode and taking into account the

orthogonality relationships leads to the n normal equations

xT r  M x r  r  t  + xT r  K x r  r  t  = xT r  p  t 

r r
17
Mode superposition and normal equations

r   r2  r   r (t ) ( r  1, , n )

x T( r ) p(t )
with  r (t )  modal participation factor of mode r
r

Using the impulsive response approach, the general solution of a normal

equation is given in terms of the convolution product

t
 r (t )  Ar cos r t  Br sin r t   r (t ) h(t   ) d
0

impulse response
18
Mode superposition and normal equations

Remark
The impulse response of the 1 degree-of-freedom system

r  r2  r  0

writes

 1 sin  t t 0
 r
h(t )   r
 0 t0

19
Time-integration of the normal equations

For an undamped oscillator submitted to initial conditions

sin r t 1 tn1
r   sin r  tn1     d
r t
r , n1  r , n cos r t  r , n 
r n

tn1
r , n1  r r , n sin r t  r , n cos r t   r   cos r  tn1     d
tn

Assuming a piecewise linear variation of the excitation

tn1  t t  tn
r  t   r ,n  r ,n1 tn  t  tn1
t t
20
Time-integration of the normal equations

we obtain the recurrence relationships (where   r t )

 r , n1   cos  sin    

r, n 
    
 t r , n1    sin    t r , n 
cos  

 sin  sin    
1   cos  1 r, n 
 2    
r   r , n1 
 sin   cos   1 1  cos  
21
Mode displacement method

Response truncation: the modal expansion is restricted to a subset

of k modes
k
q(t )   s (t ) x( s ) with kn
s 1
number of degrees of freedom

time-variation law

Let us assume : p( t )  g  ( t )
static load distribution

For a system initially at rest, the solution of the normal equation n° r

is given by

t x T( r ) p(t )
 r (t )   r (t )) h(t   ) d with  r (t ) 
0 r
22
Mode displacement method

and the response of the system is calculated by the truncated series

k
q(t )   s (t ) x( s )
s 1

with the following normal coordinates

xT( s ) g t
 s (t ) 
s  s  sin(
0
s (t   ))  ( ) d

The global convergence of the response can be measured using the M-norm
k
 q M q    s  s2 (t )
2 T
q M
s 1
T 2 2
k (x g)  1 

t
0 sin(s (t   ))  ( ) d 
2
q (s)

M
s 1 s  s
23
Mode displacement method

Looking at each term of the series

T 2 2
k (x g)  1 

t
0 sin(s (t   ))  ( ) d 
2
q (s)

M
s 1 s  s

spatial factor

convergence of
quasi-static type

Does the applied load g have a sufficiently accurate spatial

representation in the basis of the k  n retained modes ?

 this is equivalent to assuming that p must be nearly orthogonal to

(n  k) omitted eigenmodes (which are not calculated !)
24
Mode displacement method

T 2 2
k (x g)  1 

t
0 sin(s (t   ))  ( ) d 
2
q (s)

M
s 1 s  s

temporal factor

convergence of
spectral type

Does the convolution product converge to zero when progressing in

the eigenspectrum of the system ?
 it depends both on the frequency content of the excitation and on
the system eigenspectrum.
25
Mode acceleration method

The method of mode acceleration is based on the equations of motion

rewritten in the form

K q  p t   M q


By applying the truncated modal representation to only the inertia forces

k
K q  p(t )  s (t ) M x( s )
s 1

The solution of this equation is

k
q  t   K 1 p(t )  s (t ) K 1 M x( s )
s 1
26
Mode acceleration method

Taking into account K x(s)  s2 M x(s) , the solution writes

k x( s )
q(t )  K p(t )   s (t )
1

s 1 s2

where s(t) verifies the normal equations.

xTs  p  t 
s  s2  s 
s
Combining the two previous equations gives

k  k x xT 
(s)  s 
q(t )   s (t ) x( s )  K   2
 1
 p t 
   
s 1  s 1 s s 
27
Mode acceleration method

k  k x xT 
(s)  s 
q(t )   s (t ) x( s )   K   2
1
 p t 
   
s 1  s 1 s s 

mode displacement solution correction term

n x s  xT s 
According to the spectral expansion of K
1
 2
,
s 1  s s
it is shown that

k  n x( s ) xT s  
q(t )   s (t ) x( s )     p t 
 s  k 1 s s 
2
s 1  

The mode displacement solution is complemented with the missing

terms from the modal expansion of the static response.
28
Mode superposition methods (Summary)

  C q  K q  p(t )
Mq

In practice,

1. Compute the first k natural frequencies and mode shapes of the

undamped system and build the mode matrix

 x11  x k 1 
 
X nk   x1 
x 2   x  k        
x  x k n 
 1 n 

2. Introduce the transformation of coordinates

q n1  X nk ηk 1
29
Mode superposition methods (Summary)

3. Perform a reduction of the system (normal equations)

XT M X 
η  XT C X η  XT K X η  XT p(t )

 system of k (coupled) equations (if XT C X is not diagonal)

4. Solve the reduced system of k equations by time-integration

5. Compute the global response (e.g. mode acceleration method)

k  k x xT 
(s)  s 
q(t )   s (t ) x( s )   K   2
1
 p t 
   
s 1  s 1 s s 
30
Example

System with N equal masses and N1 springs (N  11)

q1 q2 qN 1 qN
k k k k k
m m m m

Data: m  1 kg; k  107 N/m; eN = 2 % (N = 1,…, 11)

Simulation in the time interval [0, 0.1] s with h  10-6 s

Excitation located at dof n° 2

31
Step excitation of 10 N for t > 0

Mode displacement method

-6
x 10
2.5

exact solution
Displacement at dof 2 (m)

1.5
approximation
with 5 terms

1 approximation
with 2 terms
0.5

approximation
with 1 term
0
0 0.01 0.02 0.03 0.04 0.05 0.06 0.07 0.08 0.09 0.1

Time (s)

The mode displacement method should be applied with care !

32
Step excitation of 10 N for t > 0

Mode acceleration method

-6
x 10
2.5
Displacement at dof 2 (m)

2 exact solution

1.5
approximation
with 2 terms
1

0.5
approximation
with 1 term

0
0 0.01 0.02 0.03 0.04 0.05 0.06 0.07 0.08 0.09 0.1

Time (s)
33
Harmonic excitation of 10 N at  = 170 Hz

-6
x 10
2
Mode displacement method (2 terms)
1.5 exact solution
Displacement at dof 2 (m)

0.5

-0.5

-1

-1.5
Mode acceleration method (2 terms)
-2
0 0.01 0.02 0.03 0.04 0.05 0.06

Time (s)

1  131.4 Hz < 170 Hz < 2  260.5 Hz

34
Conclusion

The mode acceleration method provides a significant improvement

in the numerical quality of the response with hardly any extra
computational cost.

However, mode superposition becomes unattractive if a very large

number of modes contribute to the response. This is particularly
the case under shock loading where the frequency content of the
excitation is large. In this case, direct time-integration of the
motion of equations is preferred (see chapter 7).