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Free Vibration
Natural Modes, Eigenvalue Problems
Modal Analysis
4.0 Outline
Ch. 4: Vibration of Multi-DOF System
4.1 Free Vibration
natural configurations
To find the free vibration response, we assume the complex harmonic response
analogous to the 1-DOF case, i.e. x ( t ) = ueiωt
where u and ω are constant vector and scalar to be determined.
Substitute the assumed solution into the equation
( −ω M + K ) ue
2 iωt
=0
Eigenvalue-eigenvector problem:
(K −ω M )u = 0
2
or Ku = ω 2 Mu with unknowns u and ω
Substitute each ω back into the equation and solve for the accompanied u.
Note there are many solutions of u because K − ω 2 M is singular. It is
common to constrain the solution by setting the magnitude of u to be one,
and to have the positive value for the first element of the vector u.
( ) u = ∑ ( A cos ω t + B sin ω t ) u
n n
x ( t ) = ∑ ak e iωk t
+ bk e − iωk t
k k k k k k
k =1 k =1
n
∴ x ( t ) = ∑ Ck cos (ωk t + φk ) u k
k =1
where the amplitudes Ck and phase shifts φk are determined from i.c. x ( 0 ) and x ( 0 ) .
Note that ωk and u k are determined from the system parameters.
⎡ 1 ⎤
The first natural mode is ω1 = 6.8578 and u1 = ⎢ ⎥
⎣ −0.257341⎦
⎡ 1 ⎤
The second natural mode is ω2 = 9.5842 and u 2 = ⎢ ⎥
⎣ 2.914417 ⎦
Therefore the general free response is
⎡ 1 ⎤ ⎡ 1 ⎤
x ( t ) = C1 cos ( 6.8578t + φ1 ) ⎢ ⎥ + C cos ( 9.5842t + φ )
2 ⎢ ⎥
⎣ −0.257341⎦
2
⎣ 2.914417 ⎦
We would like these new M ' and K ' matrix to be diagonal so that
the new system is actually n-independent harmonic equations and
can be solved readily: m'jη j + k 'jη j = N j , j = 1, 2,… , n.
⎢ 0 ⎥ ⎢ ⎥
⎣ ⎦ ⎢ 2I ⎥
⎢⎣ 3 ⎥⎦
c
It is obvious that C fits the pattern C = α M + β K where α = and β = 0.
I
⎢ 0 ⎥ ⎢ ⎥
⎣ ⎦ ⎢ 2I ⎥
⎢⎣ 3 ⎥⎦