MDOFs-Dr Jeyaraj

ME420 MECHANICAL VIBRATION AND
ACOUSTICS
Multi-degree of freedom systems
Dr. P. Jeyaraj
NITK Surathkal, India.
August 25, 2015
Dr. P. Jeyaraj NITK Surathkal, India. ME420 MECHANICAL VIBRATION AND ACOUSTICS Multi-degree
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Table of contents
1 Introduction
2 Normal Mode Analysis -Example
3 Free Vibration Response
4 Forced Harmonic Vibration
5 Decoupling
6 Normal Mode Summation
7 Damped Response
8 Matlab Demonstration
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Outline
1 Introduction
2 Normal Mode Analysis -Example
3 Free Vibration Response
4 Forced Harmonic Vibration
5 Decoupling
6 Normal Mode Summation
7 Damped Response
8 Matlab Demonstration
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Introduction
Introduction
When a system requires more than one co-ordinate to describe
its motion, it is called multi d.o.f system.
The n-dof system differs from that of the single-DOF system in
that it has N natural frequencies, and for each natural
frequencies, there corresponds a natural state of vibration known
as the normal mode
It has “n” natural frequencies associated with natural state of
vibration with a displacement configuration known as normal
mode
mathematical terms associated with these quantities are known
as eigen values and eigen vectors
They are established from the N simultaneous equations of
motion of the system and possesss certain dynamic properties
associated with the system.
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Introduction
Introduction
Normal mode vibrations are free undamped vibrations that

depend only on the mass and stiffness of the system and how
they are distributed.
When vibrating at one these normal modes all points in the
system undergo simple harmonic motion that passes through
their equilibrium positions simultaneously.
As in the single dof system, forced harmonic vibration of the
N-dof system takes place at the frequency of the excitation.
Damping is generally omitted except when its concern is of
importance in limiting the amplitude of vibration
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Introduction
Introduction
2-DOF System
It is the simplest of the N-dof system
All of the fundamental concepts of multi-dof system can be
described in terms of the 2-dof system without becoming
burdened with the algebraic difficulties.
Numerical results are easily obtained for 2-dof system and they
provide a simple introduction to the behavior of multi-dof
system.
Damping is generally omitted except when its concern is of
importance in limiting the amplitude of vibration
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Introduction
Introduction
2-DOF System
For systems with higher dof, matrix methods are essential
They provide a compact notation and an organized procedure for
their analysis and solution.
We will determine the natural frequencies and normal modes of
the 2-dof systems
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Normal Mode Analysis -Example
2-DOF System
Normal Mode Analysis-Example
q q
k k
Natural Frequencies are ω1 = 0.634 m ; ω2 = 2.366 m

0.731 −2.73
Normal Modes are φ1 (x) = ; φ2 (x) = ;
1 1
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Normal Mode Analysis

Orthogonality of eigen-vectors
Let φi be the i th eigenvector, the normal mode equation for the
ith mode is
K φi = λi Mφi
premultiplying the ith equation by the transpose φTj , of mode j,
we obtain
φTj K φi = λi φTj Mφi
If we start with the equation for the jth mode and premultiplying
by φTi , we obtain a similar equation with i and j interchanged
φTi K φj = λj φTi Mφj
Because
 K and M are symmetric matrices
K K
T   T  
φj or φi = φi or φj
M M
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Orthogonality of eigenvectors
Thus, subtraction of the two equation, we obtain
(λi − λj )φTi Mφj = 0
If λi 6= λj the foregoing equation requires that
φTi Mφj = 0 i 6= j
T
Then φj K φj = 0, i 6= j, so normal modes are othogonal to
each other.
Finally, if i = j, (λi − λj ) = 0. Then
φTi Mφi = Mii and φTi K φi = Kii where Mii and Kii are known as
generalized mass and stiffness , respectively.
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Normal modes are orthogonal to each other
Demonstration
The mass
and
stiffness matrices
are
1 0 2 −1
M=m ; K= k
0 2 −1 2
The eigenvalues and eigenvectors are

ω2 m 0.731
λ1 = 1k = 0.634; φ1 = and
1

ω2 m −2.731
λ2 = 2k = 2.366; φ2 =
1

T
2 −1 −2.731 −2.731
φ1 K φ2 = 0.731 1 k = k 0.462 1.269 =0
−1 2 1 1

2 −1 0.731 0.731
φT

2 K φ1 = −2.731 1 k
−1 2 1
= k −6.462 4.731
1
=0
Similarly φT T
1 Mφ2 = 0; φ2 Mφ1 = 0. Normal modes are orthogonal to each other with
respect to mass and stiffness matrices of a vibrating system.
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Orthonormal modes
Each normal mode φi is divided by the square root of the
generalized mass Mii is known as othonormal mode. Also known
as weighted normal mode.
φei = √φMi ii
T T
Then φei M φei = 1; φei K φei = λi
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Modal Matrix
When the N normal modes are assembled into a square matrix
with each normal mode represented by a column, we call it the
modal matrix P.
Thus,the modal matrix for a 3-DOF system can appear as
 (1)  (2)  (3)
x 1  x 1  x1 
P =  x2 x2 x2  = φ1 φ2 φ3
x3 x3 x3
     
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Modal Matrix
If we now form the product P T MP OR P T KP, the result will be
diagonal matrix, because off-diagonal terms simply express the
orthogonality relations, which are zero.
For
 Tthe 3 DOF system, P T MP
 =[φ1 φ2 φ3 ]T [M][φ1
φ2 φ3 ]
T T
φ1 Mφ1 φ1 Mφ2 φ1 Mφ3 M11 0 0
φT2 Mφ1 φT2 Mφ2 φT2 Mφ3  =  0 M22 0 
φT3 Mφ1 φT3 Mφ2 φT3 Mφ3 0 0 M33
The off-diagonal terms are zero because of orthogonality, and
the diagonal terms are the generalized mass Mii
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Modal Matrix
 
K11 0 0
Similarly for the stiffness matrix, P T KP =  0 K22 0 
0 0 K33
The off-diagonal terms are zero because of orthogonality, and
the diagonal terms are the generalized stiffness Kii
When the normal modes φ in the P matrix are replaced by the
orthonormal modes φ, e the modal matrix designated as P.
e It is
easily seen then that the orthogonality relationship are
φeT M φe = I φeT K φe = Λ
Where Λ is the diagonal
 matrix of the eigen values
λ1 0 0
Λ =  0 λ2 0 
0 0 λ3
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Modal Matrix - Example

The mass andstiffness matrices
are

1 0 2 −1
M=m ; K= k
0 2 −1 2
The eigenvalues and eigenvectorsare
ω2 m 0.731
λ1 = 1k = 0.634; φ1 = and
1
ω2 m −2.731
λ2 = 2k = 2.366; φ2 =
1
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Forming
the modal matrix
P we have
0.731 −2.731
P=
1 1
T 0.731 1 1 0 0.731 −2.731
P MP =
−2.731 1 0 2 1 1
0.731 2 0.731 −2.731
P T MP =
−2.731 2 1 1
2.53 0 M11 0
P T MP = =
0 9.45 0 M22
Thus generalized mass are 2.53 and 9.45
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If instead
ofP we use
the orthonormal
modes,
we obtain
e = √1 0.731 √1
−2.73 0.459 −0.888
P =
2.53 1 9.45 1 0.628 0.325
Thus
T 0.459 0.628 1 0 0.459 −0.888 1 0
P
e MP e= =
−0.888 0.325 0 2 0.628 0.325 0 1
Similarly
eT K P 0.459 0.628 2 −1 0.459 −0.888
P e= =
−0.888
0.325 −1 2 0.628 0.325
0.635 0 λ 0
= 1
0 2.365 0 λ2
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Free Vibration Response

When the normal mode frequencies and mode shapes are known,
it is possible to determine the free vibration of the system for any
initial conditions by the proper summation of the normal modes.
For free vibration to take place in one of the normal modes for
any initial conditions, the equation of motion for mode i must be
of
the (i)form
x1
= ci φi sin(ωi t + ψi ) i = 1, 2
x2
The constants ci and ψi are necessary to satisfy the initial
conditions, and φi ensures that the amplitude ratio for the free
vibration is proportional to that of mode i
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Free vibration response

Presentation by Prof. David M Harrison, University of Toronto
The content of this presentation has been taken from Prof.
David M Harrison available at
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Example
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Let free vibration response of the system is summation of free
vibration response of both the masses
x(t) = c1 φ1 sin(ω1 t + ψ1 ) + c2 φ2 sin(ω2 t + ψ2 )
For the initial condition x1 (0) = 1 mm;x2 (0) = 0; ẋ1 (0) = 0;
ẋ2 (0) = 0
The values of constants are c1 = 1.5; c2 = -1.5; ψ1 = ψ2 = 0;
then
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Free vibration response
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When disturbed with first mode pattern
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Example given in Willam T Thampson et al.
q q
k k
Natural Frequencies and Normal Modes are ω1 = 0.634 m ; ω2 = 2.366 m ;

0.731 −2.73
φ1 = ; φ2 (x) = ;
1 1
For the initial condition x1 (0) = 2;x2 (0) = 4; ẋ1 (0) = 0; ẋ2 (0) = 0
The values of constants are c1 = 3.732; c2 = 0.268; ψ1 = ψ2 = 90; then free vibration
response
of the system
is governed
by
x1 2.732 −0.732
= cos(ω1 t) + cos(ω2 t)
x2 3.732 0.268
when k= 100 m and m = 20 kg, the normal mode frequencies are ω1 = 1.78045 rad
N
sec
and
ω2 = 3.4395 radsec
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When excited at first mode

For the initial condition x1 (0) = 0.731;x2 (0) = 1; ẋ1 (0) = 0; ẋ2 (0) = 0
The values of constants are c1 = 1; c2 = 0; ψ1 = ψ2 = 90; then free vibration response
of
the system
is governed by
x1 0.731 0
x2 1 0
N rad
when k= 100 m and m = 20 kg, the normal mode frequencies are ω1 = 1.78045 sec
and
rad
ω2 = 3.4395 sec
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When excited at second mode

For the initial condition x1 (0) = -2.731;x2 (0) = 1; ẋ1 (0) = 0; ẋ2 (0) = 0
The values of constants are c1 = 0; c2 = 1; ψ1 = ψ2 = 90; then free vibration response
of
the system
is governed by

x1 0 −2.731
x2 0 1
N rad
when k= 100 m and m = 20 kg, the normal mode frequencies are ω1 = 1.78045 sec
and
rad
ω2 = 3.4395 sec
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Forced Harmonic Vibration

Consider a 2 d.o.f system excited by a harmonic force F1 sinω t
expressed by the matrix equation

m1 0 ẍ1 k11 k12 x1 F1
+ = sinωt
0 m2 ẍ2 k21 k22 x2 0
As the system is undamped, the solution can be assumed as

x1 X1
= sinωt
x2 X2
substituting this into the differential equation, we obtain

(k11 − m1 ω 2 ) k12 X1 F1
2 =
k21 (k22 − m2 ω ) X2 0
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Consider a 2 d.o.f system excited by a harmonic force F1 sinω t
expressed by the matrix equation

(k11 − m1 ω 2 ) k12 X1 F1
2 =
k21 (k22 − m2 ω ) X2 0
or in simpler notation

X1 F1
[Z (ω)] =
X2 0
Pre-multiplying by [Z(ω)]−1 , we obtain

F
adj[Z (ω)] 1
X1 F1 0
= [Z (ω)]−1 =
X2 0 |Z (ω)|
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Determinant of |Z (ω)| is

(k11 − m1 ω 2 ) k 12

2
=
k21 (k22 − m2 ω )
k11 k22 − m2 k11 ω 2 − m1 k22 ω 2 + m1 m2 ω 4 − k21 k12 =
m1 m2 (ω12 − ω 2 )(ω12 − ω 2 )
where ω1 and ω2 are the normal mode frequencies. Then

X1 1 (k11 − m1 ω 2 ) k12 F1
=
X2 [Z (ω)] k21 (k22 − m2 ω 2 ) 0
The amplitudes of the forced vibration are
(k22 − m2 ω 2 )F1
X1 =
m1 m2 (ω12 − ω 2 )(ω12 − ω 2 )
(−k21 )F1
X2 =
m1 m2 (ω12 − ω 2 )(ω12 − ω 2 )
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For William T Thomson problem
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For William T Thomson problem

m 0 ẍ1 2k −k x1 F1
+ = sinωt
0 m ẍ2 −k 2k x2 0
Forced Vibration Response is
(2k − mω 2 )F1
X1 =
m2 (ω12 − ω 2 )(ω12 − ω 2 )
kF1
X2 =
m2 (ω12 − ω 2 )(ω12 − ω 2 )
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Decoupling
Decoupling Equations
When the normal modes of the system are known, the modal
matrix P or P̃ can be used to decouple the equations of motion.
M Ẍ + KX = F
Making the coordinate transformation X = PY
MP Ÿ + KPY = F
Pre-multiplying by P T
P T MP Ÿ + P T KPY = P T F
Because P T MP and P T KP are diagonal matrices due to

orthogonality, the new equations in terms of Y are uncoupled
and can be solved as a system of single d.o.f.
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Decoupling
Decoupling Equations-Demonstration

0.731 −2.73
Normal Modes are φ1 (x) = ; φ2 (x) = ;
1 1
Substituting the values in
P T MP Ÿ + P T KPY = P T F
Results in

2.53 0 ÿ1 1.607 0 y1 0.731 1 F
m +k =
0 9.45 ÿ2 0 22.38 y2 −2.731 1 0
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Decoupling
Decoupling Equations-Demonstration
We have

2.53 0 ÿ1 1.607 0 y1 0.731 1 F
m +k =
0 9.45 ÿ2 0 22.38 y2 −2.731 1 0
The two uncoupled equations are
2.53mÿ1 + 1.607ky1 = 0.731F
9.45mÿ2 + 22.38ky2 = −2.731F
Further, these equations will become
0.731
ÿ1 + ω12 y1 = F
2.53m
−2.731
ÿ2 + ω22 y2 = F
9.45m
The solutions for y1 and y2 are in the form
ẏi (0) F2 sinωt
yi = y1 (0)cosωi t + sinωi t +
ωi k 1 − ( ωω )2
i
which can be expressed in terms of the original coordinates by the P matrix as

x1 0.731 −2.731 y1
=
x2 1 1 y2
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Decoupling
Modal Damping in Forced Vibration

The equation of motion of an N - DOF system with viscous
damping and arbitrary excitation F can be presented in matrix
form:
M Ẍ + C Ẋ + KX = F
Let X = P̃Y and pre-multiply by P̃ T
P̃ T M P̃ Ÿ + P̃ T C P̃ Ẏ + P̃ T K P̃Y = P̃ T
We have already shown that P̃ T M P̃ and P̃ T K P̃ are diagonal

matrices. In general P̃ T C P̃ is not diagonal and the preceding
equation is coupled by the damping matrix.
If C is proportional to M or K it is evident that P̃ T C P̃ becomes
diagonal then the system is said to have proportional damping.
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Decoupling
Let C = α M + β K then
P̃ T C P̃ = αP̃ T M P̃ + β P̃ T K P̃
P̃ T C P̃ = αI + βΛ
Then the following equation will become
P̃ T M P̃ Ÿ + P̃ T C P̃ Ẏ + P̃ T K P̃Y = P̃ T F
I Ÿ + (αI + βΛ)Ẏ + ΛY = P̃ T F
1 ÿ α + βω2 ẏ ω2
1 1 1 1
1 ÿ2 α+ βω22 ẏ2 ω22
... ... + ... ... + ...
1 ÿn α + βωn2 ẏn ωn2
In general, we have
ÿi + (α + βωi2 )ẏi + ωi2 yi = f˜i (t)
where, the modal damping can be defined as 2ζi ωi = α + β ωi2
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Normal Mode Summation
The forced vibration equation for N d.o.f system
M Ẍ + C Ẋ + KX = F
For systems of large number of degrees of freedom, the computation can be costly. It is
possible to cut down the size of the computation by a procedure known as Mode
Summation Method.
The displacement of the structure under forced excitation is approximated by the sum of
a limited number of normal modes of the system multiplied by generalized coordinates.
For a 50-story building with 50 d.o.f., has 50 eigen values and 50 eigen vectors
representing the normal mode frequencies and normal modes of the undamped system.
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If we know that the excitation of the building centers around the

lower frequencies, the higher modes will be excited.
Assuming the forced response to be the superposition of only a
few of the lower-frequency modes. Perhaps the modes φ1 (x),
φ2 (x) and φ3 (x) may be sufficient. Then the deflection and
forced excitation can be
xi = φ1 (xi )q1 (t) + φ2 (xi )q2 (t) + φ3 (xi )q3 (t)
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The position of all n floors can be expressed in terms of the modal matrix P composed of
only the three modes.
x1  φ1 (x1 ) φ2 (x1 ) φ3 (x1 ) q1 

    

 φ1 (x2 )
 x2  φ2 (x2 ) φ3 (x3 ) q2 

   
  
 
.  . . .  .
   
=
.   . . .  .

   
.
  . . .  .

    
   
xn φ1 (xn ) φ2 (xn ) φ3 (xn ) qn
The use of the limited modal matrix then reduces the system to that equal to the
number of modes used.
For the 50-story building, we have
P T KP = (3 × 50)(50 × 50)(50 × 3) = (3 × 3)matrix
Thus instead of solving the 50 coupled equations, we need only to solve the three by
three equations represented by
P T MP q̈ + P T CP q̇ + P T KPq = P T F
If the damping matrix is assumed to be proportional, then
q̈i + 2ζi ωi q̇i + ωi2 qi = Γi f (t)
where Γi is known as mode participation factor

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Rayleigh Damping
If damping is proportional, the system mode shapes are those of
the undamped system.
If we displace the system initially in one of the undamped mode
shapes, the masses continue to oscillate in that shape, but the
motion eventually disappears in time because of damping.
When the damping is not proportional, the masses do not
continue to oscillate in that mode shape.
Damping in structural elements is mostly hysteretic and hard to
quantify. Lacking a better model ”proportional damping” is
often assumed.
With proportional damping assumption, higher modes are
damped more than the lower modes.
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Rayleigh Damping
The natural frequencies of stiff structural elements are usually
greatly separated.
The effect of higher modes in total response is less than the
modes with lower natural frequencies. For these reasons,
damping ratios are often specified only for lower modes.
Modes with higher damping ratios die out more quickly when
the system is subjected to any short-term or shock excitation.
If the system is subjected to a harmonic excitation, the modes
with higher frequencies have lesser effect because their
amplitudes are inversely proportional to the square of their
frequencies.
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Damping - General issues

Damping forces are difficult to quantify.
Often the source of damping is unclear (coulomb friction,
viscous damping or hysteretic damping) and form of the
damping relation is uncertain (linear, quadratic or other).
Even though source and form are known obtaining precise values
for the parameters in damping model is difficult.
Damping is often slight in structural vibration, but can be
significant in systems where damping is deliberately introduced
(suspension, vibration isolation and passive damping).
Because of these considerations damping complicates the
mathematics.
Vibration engineers often either totally neglect damping in the
analysis or assume it is linear and proportional.
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Damped Response
Modal Transformation
Equation of motion for an N d.o.f system
M Ẍ + C Ẋ + KX = F
For a 2 d.o.f
system
with Rayleigh
2 damping,
we have
1 0 ω 0
P̃ T M P̃ = ; P̃ T K P̃ = 1 ;
0 1 0 ω22
α + βω12 0
P̃ T C P̃ =
0 α + βω22
If X = P̃ Y and pre-multiplying the equation of motion with P̃ T ,
we have
P̃ T M P̃ Ÿ + P̃ T C P̃ Ẏ + P̃ T K P̃Y = P̃ T F
I Ÿ + [αI + βΛ]Ẏ + ΛY = P̃ T F
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Damped Response
I Ÿ + [αI + βΛ]Ẏ + ΛY = P̃ T F
Let yi = Yi e iωt and F = F e iωt then

−ω I + [αI + βΛ]iω + Λ = P̃ T F
2
For
the 2two d.o.f
system,
we have
−ω 0 iαω + iβωω12 0
+ +
0 −ω 2 0 α + iαω + iβωω22
2 1 1
ω1 0 y1 φ̃ φ̃ F1
= 21 22
0 ω22 y2 φ̃1 φ̃2 0
The i th equation of displacement will be
f˜
yi (ω) = 2
(ωi − ω 2 + iαω + iβωωi2 )
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Damped Response
Modal Transformation-Demonstration
N kg
Natural Frequencies for k = 100 m and m = 20 m 3 are
q q
ω1 = 0.634 mk = 1.78 rad
sec
; ω2 = 2.366 mk = 3.44 rad
sec
;
We have 2ζi ωi = α + βωi2 . Let ζ1 = ζ2 = 0.001, then the
Rayleigh damping co-efficients will be
2ζ 2ζω1 ω2
α= = 3.83e − 4; β = = 0.00234
(ω1 + ω2 ) (ω1 + ω2 )

0.2889 −0.2889
The ortho-normal modal matrix is P̃ =
0.395 0.1058

T 0.2889 0.395 F 0.2889F
Then P̃ F = =
−0.2889 0.1058 0 −0.2889F
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Damped Response
The i th equation of displacement will be
f˜
yi (ω) = 2
(ωi − ω 2 + iαω + iβωωi2 )
f˜
yi (ω) =
(ωi2 − ω 2 + iαω + iβωωi2 )
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Matlab Demonstration
Example in Engineering Vibrations Daniel J Inman

Consider a simple model of the horizontal vibration of a
four-story building as illustrated in Figure, subject to a wind that
gives the building an initial displacement of
"0.025#
0.020
x(0) = 0.010
0.001
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The mass and stiffness matrices are
"m 0 0 0
#
1
0 m2 0 0
M= 0 0 m3 0
0 0 0 m4
−k2
"k + k2 0 0
#
1
−k2 k2 + k3 −k3 0
K= 0 −k3 k3 + k4 −k4
0 0 −k4 k4
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Some reasonable values for a building are m1 = m2 = m3 = m4
N
= 4000 kg and k1 = k2 = k3 = k4 = 5000 m
"4000 0 0 0
#
0 4000 0 0
M= 0 0 4000 0
0 0 0 4000
−5, 000
" 10, 000 0 0
#
−5, 000 10, 000 −5, 000 0
K= 0 −5, 000 10, 000 −5, 000
0 0 −5, 000 5, 000
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To get the eigen values and eigen vectors in MATLAB
where phi is the eigen vector (normal mode) and la is the eigen
value ( normal mode frequency (ω 2 ))
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MATLAB output will be
To get the normal mode frequencies from the eigen value
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MATLAB output will be
The normal mode shapes are
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Undamped free vibration response of the system can be expressed as
x(t) = Ci φi sin(ωi t + ψi )
For an initial disturbance of
x T (0) = 0.025

0.020 0.010 0.001
ẋ T (0) = 0

0 0 0
The values of ψ1 = ψ2 = ψ3 = ψ4 = 900 and to get

   

 0.025
 −0.0036 0.0091 0.0101 −0.0068

0.020
 −0.0068 0.0091 −0.0036 0.0104 
= C1 C2 C3 C4  
0.010
  −0.0091 0.0000 −0.0091 −0.0091
0.001 −0.0104 −0.0091 0.0068 0.0036
 
Solving we will get C1 = -1.3080 ;C2 = 1.6117 ;C3 = 0.4097 ;C4 = -0.2006
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Undamped free vibration response of the system can be expressed as
x(t) = Ci φi sin(ωi t + ψi )
         
x  −0.0036 0.0091 0.0101 −0.0068
 1


x2
 −0.0068  0.0091  −0.0036  0.0104 
= C1 
  cos(0.3883t)+C2 
  cos(1.1180t)+C3 
  cos(1.7129t)+C4 
  cos(
x3 
  −0.0091 0.0000  −0.0091 −0.0091
x 
4 −0.0104 −0.0091 0.0068 0.0036
To do this in MATLAB
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Undamped free vibration response MATLAB code
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Undamped free vibration response of the different masses
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Calculation of Rayleigh Damping co-efficients (α and β ) for a
structural damping of 0.001 for mode 1 and mode 2.
2ζi ωi = α + βωi2
As ω1 = 0.3883 rad
sec
and ω2 = 1.1180 rad
sec
; solving the above
−4
equation we will get α = 3.83 e and β = 0.00234. Then
damping matrix C = α M + β K
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Steady state response with proportional damping using direct inversion, we have
[−ω 2 M + iω(αM + βK ) + K ]X = F
Then response of each mass
F
X =
[−ω 2 M + (1 + iωβ)K + I αωM]
The MATLAB code is
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Damped vibration response using direct method is
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Damped vibration response using mode summation or modal superposition method
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Damped vibration response modal superposition vs direct method
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When the system excited with first mode shape
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When the system excited with f = [0 0 1 0]
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When the system excited with f = [1 0 0 0] and only two modes are used in modal super
position
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MDOFs-Dr Jeyaraj

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ME420 MECHANICAL VIBRATION AND

August 25, 2015

Normal mode vibrations are free undamped vibrations that

Normal Mode Analysis

Normal Mode Analysis

Normal modes are orthogonal to each other

Normal Mode Analysis

Normal Mode Analysis

Normal Mode Analysis

Normal Mode Analysis

Normal Mode Analysis

Modal Matrix - Example

Normal Mode Analysis

Modal Matrix - Example

Normal Mode Analysis

Modal Matrix - Example

Normal Mode Analysis

Free Vibration Response

Free vibration response

Free Vibration Response

Free vibration response

When disturbed with first mode pattern

Example given in Willam T Thampson et al.

When excited at first mode

When excited at second mode

Forced Harmonic Vibration

As the system is undamped, the solution can be assumed as

substituting this into the differential equation, we obtain

Forced Harmonic Vibration

For William T Thomson problem

For William T Thomson problem

Forced Vibration Response is

Making the coordinate transformation X = PY

Because P T MP and P T KP are diagonal matrices due to

which can be expressed in terms of the original coordinates by the P matrix as

Modal Damping in Forced Vibration

We have already shown that P̃ T M P̃ and P̃ T K P̃ are diagonal

The forced vibration equation for N d.o.f system

If we know that the excitation of the building centers around the

xi = φ1 (xi )q1 (t) + φ2 (xi )q2 (t) + φ3 (xi )q3 (t)

x1  φ1 (x1 ) φ2 (x1 ) φ3 (x1 ) q1 

P T KP = (3 × 50)(50 × 50)(50 × 3) = (3 × 3)matrix

If the damping matrix is assumed to be proportional, then

q̈i + 2ζi ωi q̇i + ωi2 qi = Γi f (t)

where Γi is known as mode participation factor

Damping - General issues

Example in Engineering Vibrations Daniel J Inman

Example in Engineering Vibrations Daniel J Inman

Example in Engineering Vibrations Daniel J Inman

Example in Engineering Vibrations Daniel J Inman

Example in Engineering Vibrations Daniel J Inman

To get the normal mode frequencies from the eigen value

Example in Engineering Vibrations Daniel J Inman

The normal mode shapes are

Example in Engineering Vibrations Daniel J Inman

For an initial disturbance of

The values of ψ1 = ψ2 = ψ3 = ψ4 = 900 and to get

Example in Engineering Vibrations Daniel J Inman

Example in Engineering Vibrations Daniel J Inman

Example in Engineering Vibrations Daniel J Inman

Example in Engineering Vibrations Daniel J Inman

Example in Engineering Vibrations Daniel J Inman

Then response of each mass

The MATLAB code is