You are on page 1of 82

VIBRATION SIMULATION USING MATLAB

By
Park, Jeong Gyu

DEPARTMENT OF PRECISION ENGINEERING


KYOTO UNIVERSITY
KYOTO, JAPAN
MAY 2003


c Copyright by Park, Jeong Gyu, 2003
Table of Contents

Table of Contents ii

1 Basics of Matlab 1
1.1 Making matrix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.2 Matrix Manipulations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
1.3 Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
1.4 Plotting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
1.5 Programming in MATLAB . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
1.5.1 The m-files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
1.5.2 Repeating with for loops . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.5.3 If statements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.5.4 Writing function subroutines . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
1.6 Saving and Loading . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
1.7 Help . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

2 Single Degree of Freedom System 7


2.1 Free Vibrations of Single-Degree-of-Freedom Systems . . . . . . . . . . . . . . . . . . 7
2.1.1 Viscous Damping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.2 Forced Vibration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.2.1 Direct Force Excitation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.2.2 Base Excitation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
2.3 Simulation with MATLAB . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
2.3.1 Transfer Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

ii
2.3.2 State Space Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

3 Multiple Degree of Freedom Systems 17


3.1 Some Basics Concepts for Linear Vibrating System . . . . . . . . . . . . . . . . . . . 17
3.1.1 Eigenvalue Problem . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
3.1.2 Orthogonality of normal modes . . . . . . . . . . . . . . . . . . . . . . . . . . 20
3.1.3 Normalization of Mode Shapes . . . . . . . . . . . . . . . . . . . . . . . . . . 21
3.1.4 Modal Coordinates . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
3.2 Proportional Damping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
3.3 Modal Analysis of the Force Response . . . . . . . . . . . . . . . . . . . . . . . . . . 25
3.4 State-Space Approach . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
3.4.1 Free Vibration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
3.4.2 Forced Vibration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

4 Design for Vibration Suppression 31


4.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
4.2 Vibration Absorber . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
4.2.1 SDOF with Undamped DVA . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
4.2.2 SDOF with damped DVA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
4.3 Isolation Design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
4.3.1 Passive Isolators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
4.3.2 Skyhook and Active Isolators . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
4.3.3 Semi-active Isolators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

5 Vibration of strings and rods 42


5.1 Strings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
5.2 Rods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

6 Bending of Beam 44
6.1 Equation of Motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
6.2 Eigenvalue Problem . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
6.2.1 Boundary condition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
6.3 Some Properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

iii
6.4 Forced Vibration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
6.4.1 Point force excitation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
6.4.2 Moment excitation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

7 Plate 54
7.1 Plate in Bending . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
7.2 Equation of Motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

8 Approximate Method 57
8.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
8.2 Rayleigh Ritz Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

9 Finite Element Analysis 69


9.1 Euler-Bernoulli Beam . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
9.1.1 Basic relation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
9.1.2 Finite Element Modeling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
9.2 Thin Plate Theory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
9.2.1 formulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
9.3 Finite Element Modeling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
9.4 Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77

iv
Chapter 1

Basics of Matlab

Matlab (MathWorks,
R Inc., )1 is an interactive program for numerical computation and data visu-
alization. It is used extensively by vibration and control engineers for analysis and design. There
are many different toolboxes available which extend the basic functions of MATLAB into different
areas.

1.1 Making matrix

Matlab uses variables that are defined to be matrices. A matrix is a collection of numerical values
that are organized into a specific configuration of rows and columns. Here are examples of matrices
that could be defined in Matlab.

A = [1 2 3 4;5 6 7 8;9 10 11 12]


Transpose of a matrix using the apostrophe

B=A’

C=[2,2,3
4,4,6
5,5,8]
The colon operation ’:’ is understood by Matlab to perform special and useful operations. If two
integer numbers are separated by a colon, Matlab will generate all of the integers between these two
integers.
a = 1:8
generates the row vector,
a=[12345678]

1 see, http://www.mathworks.com/

1
2

If three numbers, integer or non-integer, are separated by two colons, the middle number is inter-
preted to be a ”range” and the first and third are interpreted to be ”limits”. Thus

b = 0.0 : .2 : 1.0

generates the row vector

b = [ 0.0 .2 .4 .6 .8 1.0 ]

C=linspace(0,10,21)
D=logspace(-1,1,10)
eye(3)
zeros(3,2)

1.2 Matrix Manipulations

Element of matrix
A(2,3)
Size
size(A)
length(a)
Transpose
A’
Column or row components
A(:,3)
Matrix addition, subtraction and multiplication
D=B*C
D=C*B
If you have a square matrix, like E, you can also multiply it by itself as many times as you like by
raising it to a given power.

E∧3

Element addition, subtraction and multiplication


Another option for matrix manipulation is that you can multiply the corresponding elements of two
matrices using the .* operator (the matrices must be the same size to do this).

E = [1 2;3 4]
F = [2 3;4 5]
G = E.*F
If wanted to cube each element in the matrix, just use the element-by-element cubing.

E. ∧ 3
3

1.3 Functions

Matlab includes many standard functions. In Matlab sin and pi denotes the trigonometric function
sine and the constant π.
fun=sin(pi/4)
To determine the usage of any function, type
help function-name

[Example] Verify the variables i, j, cos, exp,log, log10 in MATLAB

1.4 Plotting

One of Matlab most powerful features is the ability to create graphic plots. Here we introduce the
elementary ideas for simply presenting a graphic plot of two vectors. Example
Plot the sin(x)/x in the interval [π/100, 10π]
————————————–
>>x=pi/100:pi/100:10*pi
>>y=sin(x)./x
>>plot(x,y)
>>grid
————————————-

1.5 Programming in MATLAB

1.5.1 The m-files

It is convenient to write a number of lines of Matlab code before executing the commands. Files
that contain a Matlab code are called the m-files.

Table 1.1: Basic Matrix Functions


Symbol Explanations
inv Inverse of a matrix
det Determinant of a matrix
trace Summation of diagonal elements of a matrix
4

0.8

0.6

0.4

0.2

-0.2

-0.4
0 5 10 15 20 25 30 35

Figure 1.1: Sin(x)/x

Table 1.2: Basic Plotting Command

Command Explanations
plot(x,y) A Cartesian plot of the vectors x and y
subplot
loglog A plot of log(x) vs log(y)
semilogx(x,y) A plot of log(x) vs y
semilogy(x,y) A plot of x vs log(y)
title placing a title at top of graphics plot
xlabel
ylabel
grid Creating a grid on the graphics plot
5

1.5.2 Repeating with for loops

• the for loops


Syntax of the for loop is shown below
for n=0:10
x(n+1)=sin(pi*n/10)
end
The for loops can be nested
H=zeros(5)
for k=1:5
for l=1:5
H(k,l)=1/(k+l-1)
end
end

1.5.3 If statements

If statements use relational or logical operations to determine what steps to perform in the solution
of a problem.

• the general form of the simple if statement is

if expression
commands
end

In the case of a simple if statement, if the logical expression is true, the commands is executed.
However, if the logical expression is false, the command is bypassed and the program control jumps
to the statement that follows the end statement.

• The if-else statement

The if-else statement allows one to execute one set of statements if logical expression is true and a
different set of statements if the logical statement is false. The general form is

if expression
commands(evaluated if expression is true)
else
commands(evaluated if expression is false)
end
6

1.5.4 Writing function subroutines

function [mean,stdev] = stat(x)


n = length(x);
mean = sum(x) / n;

1.6 Saving and Loading

All variables in the workspace can be viewed by command whos or who.


To save all variables from the workspace in binary MAT-file
save FILENAME
An ASCII file is a file containing characters in ASCII format, a format that is independent of ’mat-
lab’ or any other executable program. You can save variables from the workspace in ASCII format
with option
save filename.dat variable -ascii
To load variables you can use load command.
load FILENAME
To clear variables you can use load command.
clear

1.7 Help

To learn more about a function you can use help.


>> help for
If you do not remember the exact name of a function you can use lookfor
>>lookfor sv
Chapter 2

Single Degree of Freedom System

In this chapter we will study the responses of systems with a single degree of freedom. It is impor-
tant topic to master, since the complicated multiple-degree-of-freedom systems(MDOF) can often
treated as if they are simple collections of several single-degree-of-freedom(SDOF) systems. Once
the responses of SDOF are understood, the study of complicated MDOF becomes relatively easy.

2.1 Free Vibrations of Single-Degree-of-Freedom Systems

2.1.1 Viscous Damping

For the free vibration of a single-degree-of-freedom system with mass m, spring constant k, and
viscous damping c, the system undergoes a dynamic displacement x(t) measured from the static
equilibrium position of the mass. Applying Newton’s law, the equation of motion of the system is
represented by

x
c
F
m

Figure 2.1: Single degree of freedom system.

7
8

mẍ + cẋ + kx = 0 (2.1.1)


subject to the initial conditions x(0) = x0 and ẋ(0) = v0 . If we divide (2.1.1) by m we can reexpress
it in terms as
ẍ + 2ζωn ẋ + ωn2 x = 0 (2.1.2)
 √
where ωn = k/m is natural angular frequency and ζ = c/(2 km) is the damping ratio.

To solve the damped system of equation (2.1.2), assuming

x = Aest (2.1.3)

Substituting equation (2.1.3) into equation (2.1.2) yields an algebraic equation in the form

s2 + 2ζωn s + ωn2 = 0 (2.1.4)

The solutions of equation (2.1.4) are given by



s1,2 = −ζωn ± ωn (ζ 2 − 1) (2.1.5)

There are three possible cases:

(a) Overdamped Motion


In this case, the damping ratio is greater than 1 (ζ > 1). The discriminant of equation (2.1.5) is
positive, resulting in a pair of distinct real roots. The solution of equation (2.1.1) then becomes
√ 2 √ 2
x(t) = e−ζωn t (Ae−ωn ζ −1t + Beωn ζ −1t ) (2.1.6)

which represents that the vibration will not occur since the damping force is so large that the
restoration force from the spring is not sufficient to overcome the damping force.

(b) Underdamped Motion


In this case the damping ratio is less than 1 (0 < ζ < 1) and the discriminant of equation (2.1.5) is
negative, resulting in a complex conjugate pair of roots. The solutions for this case can be expressed
as √ 2 √ 2
x(t) = e−ζωn t (Aejωn 1−ζ t + Be−jωn 1−ζ t )
= e−ζωn t (Aejωd t + Be−jωd t )
(2.1.7)
= e−ζωn t (C cos ωd t + D sin ωd t)
= Xe−ζωn t sin(ωd t + φ)

where j = −1, X and φ are constants. The the damped natural frequency is denoted by

ωd = 1 − ζ 2 ωn

(c) Critically Damped Motion


In this last case, the damping ratio is exactly 1(0zeta = 1). The solution takes the form

x(t) = (A + Bt)e−ωn t (2.1.8)

where the constants A and B are determined by the initial conditions.


9

Homework 2.1.1. Evaluate the constants A and B in equation (2.1.7) using the initial conditions
x(0) = x0 and v(0) = v0 .

Homework 2.1.2. Describe the definition of logarithmic decrement in free vibration.

2.2 Forced Vibration

2.2.1 Direct Force Excitation

For a single-degree-of-freedom system with viscous damping and subjected to a forcing function F (t)
as shown in figure 2.1, the equation of motion can be written as

mẍ + cẋ + kx = F (t) (2.2.1)

The complete solution to equation (2.2.1) consists of two parts, the homogenous solution (the com-
plementary solution) and the particular solution. The homogenous solution is the same as the free
vibration which was described in last section. It is often common to ignore the transient part of
the total solution and focus only on the steady-state response. Taking Laplace transformation of a
second order differential equation with zero initial conditions, the transfer function is

X(s) 1/m
= 2 (2.2.2)
F (s) s + 2ζωn s + ωn2

where ωn = k/m, ζ = c/2mωn .

Substituting jω for s to calculate the frequency response, where j is the imaginary operator:

X(jω) 1/mω 2
= 2
(2.2.3)
F (jω) [(ωn /ω) − 1] + 2jζ(ωn /ω)

Example 2.2.1. Plot the amplitude and phase angle of the single degree of freedom system. 
Example MATLAB Code
————————————————————————————————–
clf; clear all;
m = 1;
zeta = 0.1:0.1:1;
k = 1;
wn = sqrt(k/m);
10

w = logspace(-1,1,400);
rad2deg = 180/pi;
s = j*w;
for cnt = 1:length(zeta)
xfer(cnt,:)=(1/m) ./ (s.∧2 + 2*zeta(cnt)*wn*s + wn∧2);
mag(cnt,:) = abs(xfer(cnt,:));
phs(cnt,:) = angle(xfer(cnt,:))*rad2deg;
end
for cnt = 1:length(zeta)
figure(1)
loglog(w,mag(cnt,:),’k-’)
title(’SDOF frequency response magnitudes for zeta = 0.2 to 1.0 in steps of 0.2’)
xlabel(’Frequency(rad/sec)’)
ylabel(’Magnitude’)
grid
hold on
end
hold off
for cnt = 1:length(zeta)
figure(2)
semilogx(w,phs(cnt,:),’k-’)
title(’SDOF frequency response phases for zeta = 0.2 to 1.0 in steps of 0.2’)
xlabel(’Frequency(rad/sec)’)
ylabel(’Phase’)
grid
hold on
end
hold off
——————————————————————————————–
11

1
10

0
10
Magnitude

-1
10

-2
10

-3
10
-1 0 1
10 10 10
Frequency(rad/sec)
0

-20

-40

-60

-80
Phase

-100

-120

-140

-160

-180
-1 0 1
10 10 10
Frequency(rad/sec)

Figure 2.2: SDOF

2.2.2 Base Excitation

Often, machines are harmonically excited through elastic mounting, which may be modeled by
springs and dashpots. For example, an automobile suspension system is excited by road surface.

Consider the single degree of freedom system in Figure 2.3(a). The structure with mass m is
connected to the base by stiffness, k, and damping with viscous damping coefficient c. The equation
12

x x
m m

k
c k
y y

(a) (b)

Figure 2.3: Free diagram of base excited single degree of freedom system.

of motion is
mẍ + c(ẋ − ẏ) + k(x − y) = 0 (2.2.4)

(a)Derive the displacement transmissibility, X/Y and plot the magnitude and phase.
(b) The transmitted force by the base excitation to the structure is FT = k(x − y) + c(ẋ − ẏ).
The force transmissibility, FT /kY is defined as the dimensionless relation between maximum base
displacement Y and the transmitted force magnitude FT .Derive the force transmissibility and plot
as function of frequency ratio.

[Homework2]Sky hook damper


Consider the single degree of freedom system in figure 2.3(b).The structure with mass m is connected
to the base by stiffness, k. Let us suppose that the viscous damping with viscous damping coefficient
c is connected to the sky. (a)Derive the displacement transmissibility, X/Y and plot the magnitude
and phase.
(b) Derive the force transmissibility, FT = k(x − y), and plot as function of frequency ratio.

2.3 Simulation with MATLAB

2.3.1 Transfer Function

The linear time invariant(LTI) systems can be specified by transfer functions. The corresponding
command is :
sys=tf(num,den)
The output sys is a model-specific data structure.

Example 2.3.1. Sample Matlab code for Bode plot


13

m=1
zeta=0.1
k=1
wn=sqrt(k/m)
den=[1 2*zeta*wn wn∧2]
num=[1/m]
sys=tf(num,den)
bode(sys)

Example 2.3.2. The function lsim simulates the response to more general classes of inputs. For
example,
t=0:0.01:50;
u=sin(t);
lsim(sys,u,t)
simulates the response of the linear system sys to a sine wave for a duration of 50 seconds.

Table 2.1: Basic Commends for Time and Frequency Response

Command Explanations
bode(sys) Bode plot
nyquist(sys) Nyquist plot
step(sys) step response
impulse(sys) impulse response
initial(sys, x0) undriven response to initial condition
lsim(sys,u,t,x0) response to input u

2.3.2 State Space Analysis

It is desirable to change the system equation for an n d.o.f system with n second order differential
equation to 2n first order differential equations. The first order form of equations for the system is
called as state space form.

Start by solving equation second order differential equations.

mẍ + cẋ + kx = F (t) (2.3.1)


14

we define the state vector as  T


x(t) = x(t) ẋ(t) (2.3.2)
Then, adding the identity ẋ = ẋ, equation (2.3.1) can be written in the state form as

ẋ(t) = Ax(t) + BF (2.3.3)

where the system matrix A and the input matrix B are :


 
0 1
A= (2.3.4)
−m−1 k −m−1 c

and  
0
B= (2.3.5)
m−1

Schematically, a Single Input Single Output(SISO) state space system is represented as shown in

Direct Transmission Matrix

dx(t)/dt
x(t)
B + Integrate C +
f(t)
y(t)
Input
Output
A

System Matrix

Figure 2.4: State space system block diagram

Figure (2.4). The scalar input u(t) is fed into both the input matrix B and the direct transmission
matrix D. The output of the input matrix is a n × 1 vector, where n is the number of states. The
output is fed into a summing junction to be added to the output of the C matrix.

The output of the B matrix is added to the feedback term coming from the system matrix and is
fed intro an integrator block. The output matrix has as many rows as outputs, and has as many
columns as states, n.
15

To account for the case where the desired output is not just the states but is some linear combination
of the states, and output matrix C is defined to relate the outputs to the states. Also, a matrix D,
know as the direct transmission matrix, is multiplied by the input F (t) to account for outputs that
are related to the inputs but that bypass the states.

y(t) = Cx(t) + DF (2.3.6)

The output matrix C has as many rows as outputs required and as many columns as states. The
direct transmission matrix D has the same number of columns as the input matrix B and as many
rows as the output matrix C.

Example 2.3.3. Numerically compute the free vibration of mass-spring-damper system using ini-
tial function in MATLAB.  Example MATLAB Code
m=1;d=0.1;k =1;
A=[0 1;-k/m -c/m];
C=[1 0];
sys=ss(A,[],C,[]);
x0=[10,0];
initial(sys,x0)

Initial Condition Results


1

0.8

0.6

0.4

0.2
Amplitude

-0.2

-0.4

-0.6

-0.8

-1
0 20 40 60 80 100 120
Time (sec)

Figure 2.5: Initial condition results

The result of free vibration of the one degree of freedom system is shown in figure 2.5.
16

Homework 2.3.4. One of the common excitation in vibration is a constant force that is applied for
a short period of time and then removed. Numerically calculate the response of mass-spring-dashpot
system to this excitation in MATLAB.

mẍ + cẋ + kx = Fo [1 − H(t − t1 )] (2.3.7)

where H is Heaviside function. stepfun is useful command to solve this problem.


Chapter 3

Multiple Degree of Freedom


Systems

3.1 Some Basics Concepts for Linear Vibrating System

3.1.1 Eigenvalue Problem

In the previous chapters a single degree of freedom system with a single mass, damper and spring
was considered. Real systems have multiple degrees of freedom and their analysis is complicated
by the large number of equations involved. To deal with them, matrix are used. The equation of
motion for n-degree of freedom equation can be written as

[m]{ẍ} + [c]{ẋ} + [k]{x} = [bf ]{f} (3.1.1)

where the mass [m], damping [c], and stiffness [k] matrices are symmetric.

First consider undamped vibration without excitation force. The system can be solved by assuming
a harmonic solution of the form
x = uejωt (3.1.2)

Here,u is a vector of constants to be determined, ω is a constant to be determined.

Substitution of this assumed form of the solution into the equation of motion yields
 
−ω 2 M + K uejωt = 0 (3.1.3)

Note that the scalar ejωt = for any value of t and hence equation (3.1.1) yields the fact that ω and
u must satisfy the vector equation
(−ω 2 M + K)u = 0

17
18

Note that this represents two algebraic equations in the three unknowns; ω, u1 , u2 where u =
[ u1 u2 ]T .

This equation is satisfied for any u if the determinant of the above equation is zero.
 2 
−ω M + K  = 0 (3.1.4)

The simultaneous solution of equation (3.1.4) results in the values of parameter ω 2 . The ω is called
as eigenvalues of the problem.

Once the value of ω is established, the value of the constant vector u can be found by solving
equation (3.1.3).

Example 3.1.1. Consider the system with two masses represented in figure 3.1.

x1 x2

c1 c2 c3

m1 m2
k1 k2 k3
F1 F2
Figure 3.1: 2dof

The equations of motion become


 
 
 

m1 0 ẍ1 c1 + c2 −c2 ẋ1 k1 + k2 −k2 x1 F1 (t)


+ + =
0 m1 ẍ2 −c2 c2 + c3 ẋ2 −k2 k2 + k3 F2 (t)
x2
(3.1.5)
To determine the natural frequencies and natural mode shapes of the system, the undamped free
vibration of the system is first considered. Thus the equations reduce to
 
 

m1 0 ẍ1 k1 + k2 −k2 x1 0
+ = (3.1.6)
0 m1 ẍ2 −k2 k2 + k3 x2 0

Consider a numerical example for the system shown in figure (3.1). Let c1 = c2 = c3 = 0, m1 = 5kg,
m2 = 10kg, k1 = 2N/m, k2 = 2N/m, k3 = 4N/m. Substituting in equation (3.1.6) yields
 
 

5 0 ẍ1 4 −2 x1 0
+ = (3.1.7)
0 10 ẍ2 −2 6 x2 0
19

Assume harmonic responses of the of the form x1 = A1 exp(iωt) and x2 = A2 exp(iωt). Equation
(3.1.6) becomes
 
 

2 5 0 A1 4 −2 A1
ω = (3.1.8)
0 10 A2 −2 6 A2

Solving Eigenvalue Problem with MATLAB

The eigenvalue problem of a matrix is defined as

Au = λu (3.1.9)

and generalized eigenvalue problem is


Ku = λM u (3.1.10)

The eig is subroutine for computing the eigenvalues and the eigenvectors of the matrix A or
>>[V,D]=eig(A)
>>[V,D]=eig(K,M)
The eigenvalues of system are stored as the diagonal entries of the diagonal matrix D and the
associated eigenvectors are stored in columns of the matrix V .

 Example MATLAB Code

m=[5 0 ;0 10]; k=[4 -2;-2 6]; [v,d]=eig(k,m)

The function eig in MATLAB gives unsorted eigenvalues, so it will be help to make sorting the
eigenvalues of the system.

function [u,wn]=eigsort(k,m);
Omega=sqrt(eig(k,m));
[vtem,d]=eig(k,m);
[wn,isort]=sort(Omega);
il=length(wn);
for i=1:il
v(:,i)=vtem(:,isort(i));
end
disp(’The natural frequencies are (rad/sec)’)
disp(’ ’)
wn
disp(’ ’)
disp(’The eigenvectors of the system are’)
v
20

——————————————————————
The two natural frequencies are ω1 =0.6325 rad/s, ω2 =1 rad/s
T T
The eigenvectors are u1 = 1 1 , u2 = 1 −0.5

1 1

m1 m2

m1 m2
-1/2

Figure 3.2: Mode shapes for the two degree of freedom system

3.1.2 Orthogonality of normal modes

The modes are orthogonal with respect to the mass matrix and stiffness matrix.

{u}T2 [m]{u}1 = 0
(3.1.11)
{u}T2 [k]{u}1 = 0

Mass normalizing equation (3.1.11), we can get the general relations as

{u}Ti [m]{u}i = mi , i = 1, 2
(3.1.12)
{u}Ti [k]{u}i = mi ωi2 = ki , i = 1, 2

where mi and ki is called modal mass and modal stiffness for the i-th modal vector of vibration.
The numerical values of the mode shape will be used to determine the modal mass and modal
T 
stiffness. The mode shapes were found to be u1 = 1 1 for ω1 = 2/5 rad/s, and u2 =
T
1 −0.5 for ω1 = 1 rad/s

Verification with MATLAB

u1 = v(:, 1);
u2 = v(:, 2);
u1 ∗ [m] ∗ u1 = 15
21

u1 ∗ [m] ∗ u2 = 0
u2 ∗ [m] ∗ u2 = 7.5
k1 = ω12 ∗ m1 = 6
k2 = ω22 ∗ m2 = 15/2

3.1.3 Normalization of Mode Shapes

While above relations are related to the mass and stiffness of the modal space, it is important to
remember that the magnitude of these quantities depends upon the normalization of the modal
vectors. Therefore, only the combination of a modal vector together with the associated modal
mass and stiffness represent a unique absolute characteristic concerning the system being described.
When we scaled the eigenvector such that mi = 1, the equation (3.1.12) becomes

{u}Ti [m]{u}i = 1, i = 1, 2
(3.1.13)
{u}Ti [k]{u}i = ωi2 , i = 1, 2

This meas that mi is not unique. There are several ways to normalize the mode shapes.

(1) The mode shapes can be normalized such that the modal mass mi is set to unity.
(2) The largest element of the mode shape is set to unity.
(3) A particular element of the mode shape is set to unity.
(4) The norm of the mode vector is set to unity.

Example 3.1.2. Using the previous two degree of freedom example, normalize the modal vectors
such that {u}Ti [m]{u}i = 1, i = 1, 2 The mass normalization of the first and second natural modes
are    
1  1  1  1 
{u}1 = √ =√
m1 1 15 1
   
1  1 1
{u}2 = √ = 1  
m2 −1/2 15/2 −1/2

The orthogonality of modes permit us to transform the coupled equations of motion defined in
physical coordinate to uncoupled system in the modal coordinate.
22

3.1.4 Modal Coordinates

In solving the equations of motion for an undamped system (3.1.6), the major obstacle encountered
when trying to solve for the system response x for a particular set of exciting forces and initial
conditions, is the coupling between the equations. The coupling is seen in terms of non-zero off
diagonal elements.

If the system of equations could be uncoupled, so that we obtained diagonal mass and stiffness
matrices, then each equation would be similar to that of a single degree of freedom system, and could
be solved independent of each other. The process of deriving the system response by transforming
the equations of motion into an independent set of equations is known as modal analysis

Thus the coordinated transformation we are seeking, is one that decouples the system. The new
coordinate system can be found referring to orthogonal properties of the mode shapes discussed in
equation (3.1.12) and (3.1.13).
n
{x(t)} = {u}i qi (t) (3.1.14)
i=1

where the physical coordinate, {x(t)} are related with the normal modes, {u}i and the normal
decoupled coordinate, qi .

Equation (3.1.14) may be written in matrix form as

{x(t)} = [P ]{q(t)} (3.1.15)

where [P ] is called the modal matrix . Thus, the modal matrix for a 2-DOF system can appear as

[P ] = [ {u}1 {u}2 ] (3.1.16)

Substituting equation (3.1.16) into the general equation (3.1.1), we obtain as

[m][P ]{q̈} + [c][P ]{q̇} + [k][P ]{q} = {f } (3.1.17)

Multiplying on the left by [P ]T ,

[P ]T [m][P ]{q̈} + [P ]T [c][P ]{q̇} + [P ]T [k][P ]{q} = [P ]T {f } (3.1.18)

We know that orthogonality of the modes with respect to mass and stiffness matrices. Assuming
that the viscous damping can be decoupled by modal matrix, we obtain

q̈i (t) + 2ζi ωi q̇(t) + ωi2 qi (t) = Ni (t), i = 1, 2, · · · (3.1.19)

where Ni (t) is
{u}Ti {f (t)} {u}Ti {f (t)}
Ni (t) = = (3.1.20)
{u}i [m]{u}i
T mi
The ratio in equation (3.1.20)
{u}Ti
(3.1.21)
{u}Ti [m]{u}i
23

is called modal participation factor. The displacement can be expressed as



 ∞
 {u}i {u}Ti {f (t)}
x= {u}i qi = (3.1.22)
i=1 i=1
mi [(ωi2 − ω 2 ) + 2iζi ωi ]

where ωi is the natural frequency in the i-th mode. If eigenvector {u}i is mass normalized, {u}Ti [m]{u}i =
1.

Numerical Simulation with MATLAB


 
1 0
[P ] ∗ [m] ∗ [P ] =
T
0 1
 
0.4 0
[P ] ∗ [k] ∗ [P ] =
T
0 1
 
T
0.2582 0.2582
[P ] =
0.3651 −0.1826
Thus the equations of motion in modal coordinate are
 
 



1 0 q̈1 0.4 0 q1 0.2582f1 + 0.2582f2 f1


+ = =  (3.1.23)
0 1 q̈2 0 1 q2 0.3651f1 − 0.1826f2 f2

The matrix equation of (3.1.23) can be written in terms of algebraic differential equations

q̈1 + 0.4q1 = f1 
(3.1.24)
q̈2 + q2 = f2 

Hence, the system equations have been uncoupled by using the modal matrix as a coordinate trans-
formation.

Example 3.1.3. Calculate the response of the system illustrated in figure (3.3) to the initial dis-
 T  T
placement x(0) = 1 1 with ẋ(0) = 0 0 using modal analysis.

The initial conditions in modal space become


 T
{q(0)} = [P ]T ∗ {x(0)} = 0.5164 0.1826
 T
{q̇(0)} = [P ]T ∗ {ẋ(0)} = 0 0
The modal solution of equation (3.1.24) is

q1 (t) = q1 (0) cos(ω1 t) = 0.5164 cos(0.6325t)


24

x1 x2

2 2 4
5 10
f1 f2

q1 q2

2/5 1
1 1
f 1’ f 2’

Figure 3.3: The undamped two degree of freedom system and broken down to two single degree of
freedom systems

q2 (t) = q2 (0) cos(ω2 t) = 0.1826 cos(t)

Using the transformation x(t) = P q(t) yields that the solution in physical coordinates is
 
0.1333 cos(0.6325t) + 0.0667 cos(t)
x(t) =
0.1333 cos(0.6325t) − 0.0333 cos(t)

3.2 Proportional Damping

Damping is present in all oscillatory systems. As there are several types of damping, viscous,
hysteretic, coulomb etc., it is generally difficult to ascertain which type of damping is represented
in a particular structure. In fact a structure may have damping characteristics resulting from a
combination of all types. In many cases, however, the damping is small and certain simplifying
assumptions can be made. The most common model for damping is proportional damping defined
as
[c] = α[m] + β[k] (3.2.1)

where [c] is damping matrix and α, β are constants. For the purposes of most practical problems,
the simpler relationship will be sufficient.

Caughey1 showed that there exists a necessary and sufficient condition for system (3.1.1) to be
completely uncoupled is that [m]−1 [c] commute with [m]−1 [k].

([m]−1 [c])([m]−1 [k]) = ([m]−1 [k])([m]−1 [c]) (3.2.2)


1 T.K. Caughey, ”Classical Normal Modes in Damped Linear Systems”, Journal of Applied Mechanics, Vol 27,

Trans. ASME, pp.269-271, 1960


25

0.3

0.2

0.1

-0.1

-0.2
0 10 20 30 40 50 60 70 80 90 100

0.2

0.1

-0.1

-0.2
0 10 20 30 40 50 60 70 80 90 100

Figure 3.4: Time response of mass 1 and mass 2

or
[c][m]−1 [k] = [k][m]−1 [c] (3.2.3)

3.3 Modal Analysis of the Force Response

The forced response of a multiple-degree-of-freedom system can also be calculated by use of modal
analysis.

Example 3.3.1 (See Example 4.6.1 in Inman, pp.296). For this example, let m1 = 9kg,
m2 = 1kg,k1 = 24N/m, and k2 = 3kg. Assume that the damping is proportional with α = 0 and
β = 0.1, so that c1 = 2.4Ns/m, and c1 = 0.3Ns/m. Also assume that F1 = 0, and F2 = 3cos2t.
Calculate the steady-state response.
           
9 0  ẍ1  2.7 −0.3  ẋ1  27 −3  x1  0 0  F1 
  +  +  = 
0 1  ẍ2  −0.3 0.3  ẋ 
2 −3 3  x 
2 0 1  F2 
(3.3.1)
26

Numerical Simulation with MATLAB


 
−0.2357 −0.2357
[P ] =
−0.7071 0.7071
 
1 0
[P ]T ∗ [m] ∗ [P ] =
0 1
 
0.2 0
[P ] ∗ [c] ∗ [P ] =
T
0 0.4
 
2 0
[P ]T ∗ [k] ∗ [P ] =
0 4
 
T
0 −0.7071
[P ] [B] =
0 0.7071
Hence the decoupled modal equations become

q̈1 + 0.2q̇ + 2q1 = −0.7071 ∗ 3 ∗ cos 2t


(3.3.2)
q̈2 + 0.4q̇ + 4q2 = 0.7071 ∗ 3 ∗ cos 2t

Comparing the coefficient of q̇i to 2ζi ωi yields


0.2

ζ1 = 2 2
0.2
ζ2 = 2∗2

Thus the damped natural frequencies becoms



ωd1 = ω1 1 − ζ12  1.41

ωd2 = ω2 1 − ζ22  1.99

Note that while the force F2 is applied only to mass m2 , it becomes applied to both coordinate when
transformed to modal coordinates. Let the particular solutions of equations (3.3.2) be q1p and q2p .

x1 x2

c1 c2

m1 m2
k1 k2
F1 F2
Figure 3.5: Damped two-degree-of-freedom system
27

The steady state solution in the physical coordinate system is


 
−0.2357q1p (t) − 0.2357q2p (t)
xss (t) = [P ]qp (t) =
−0.7071q1p (t) + 0.7071q2p (t)

3.4 State-Space Approach

Simulation by state-space method is a much easier way to obtain the systems response when com-
pared to computing the response by modal analysis. However, the modal approach is needed to
perform design and to gain insight into the dynamics of the system. In this section the simulation
method for free vibration and forced vibration by state space formulation will be discussed.

3.4.1 Free Vibration

Consider the forced response of a damped linear system. The most general case can be written as

[m]{ẍ} + [c]{ẋ} + [k]{x} = 0 (3.4.1)

with initial condition


x(0) = x0 ẋ(0) = ẋ0
Again it is useful to write this expression in a state-space form by defining the two n × 1 vectors
y1 = x and y2 = ẋ, then the equations (3.4.1) becomes

ẏ(t) = Ay(t) (3.4.2)

where  
0 I
A= (3.4.3)
−m−1 k −m−1 c

The eigenvalues λi will appear in complex conjugate pairs in the form



λi = −ζωi − jωi 1 − ζi2
 (3.4.4)
λi = −ζωi + jωi 1 − ζi2

Example 3.4.1. Consider the system shown in figure 3.1. Calculate the response of the system
to the initial condition using state-space method. Let c1 = c3 = 0, c2 = 0.2N·s/m, m1 = 2kg,
m2 = 1kg, k1 = 0.2N/m, k2 = 0.05N/m, k3 = 0.05N/m. The initial condition of m1 is 0.1m and let
the other parameters be all zero.
 Example MATLAB Code
28

—————-dof2ini.m————————-
m1=2;m2=1;
d1=0; d2=0.2; d3=0;
k1=0.2; k2=0.05;k3=0.05;
m=[m1 0;0 m2]; d=[d1+d2 -d2; -d2 d2+d3]; k=[k1+k2 -k2;-k2 k2+k3];
A=[zeros(2,2),eye(2);-inv(m)*k,-inv(m)*f]; C = [1 0 0 0];
x0=[0.1 0 0 0];
sys=ss(A,[],C,[])
initial(sys,x0)
The simulation result is shown in figure (3.6).

Response to Initial Conditions


0.1

0.08

0.06

0.04

0.02
Amplitude
To: Y(1)

−0.02

−0.04

−0.06

−0.08

−0.1
0 50 100 150 200 250 300 350 400 450 500
Time (sec)

Figure 3.6: Time response of mass 1

Homework 5 Consider the system shown in figure 3.5. Let m1 = 10kg, m2 = 1kg, k1 = 0.5N/m,
k2 = 0.05N/m, and c1 = 0, c2 = 0.2N·s/m. The initial condition of m1 is 0.1m and let the other
parameters be all zero. Plot the transient response of mass 1.
29

3.4.2 Forced Vibration

[m]{ẍ} + [c]{ẋ} + [k]{x} = [bf ]{f} (3.4.5)

with initial condition


x(0) = x0 ẋ(0) = ẋ0
The state-space equations are
ẏ(t) = Ay(t) + Bf (3.4.6)

where  
0 I
A= (3.4.7)
−m−1 k −m−1 c

and  
0
B= (3.4.8)
m−1 bf

Example 3.4.2. Compare the frequency response function of the two degree of freedom shown
in figure (3.1) between c2 = 0 and c2 = 0.2N·s/m. The other parameters are as follows. Let
m1 = 2kg,m2 = 1kg, k1 = 0.2N/m, k2 = 0.05N/m, k3 = 0.05N/m and c1 = c3 = 0 N·s/m and the
excitation force F2 be zero.
 Example MATLAB Code
—————-dof2frf.m————————-
m1=2;m2=1; c1=0; c2=0.0; c3=0;k1=0.2; k2=0.05;k3=0.05;
Bf=[1; 0]; m=[m1 0; 0 m2]; damp=[c1+c2 -c2; -c2 c2+c3]; K=[k1+k2 -k2;-k2 k2+k3];
A=[zeros(2,2),eye(2);-inv(m)*k,-inv(m)*damp];
B=[zeros(2,1); inv(m)*bf];C = [1 0 0 0]; D=zeros(size(C,1), size(B,2))
sys=ss(A,B,C,D)
d1=0; d2=0.02; d3=0;
damp1=[c1+c2 -c2; -c2 c2+c3];
Adamp=[zeros(2,2),eye(2);-inv(m)*k,-inv(m)*damp1];
sysdamp=ss(Adamp,B,C,D)
w=linspace(0.1, 1, 800)
30

bode(sys,sysdamp,w)
—————————— the result of simulation is shown in figure (3.7).

Bode Diagram
80

60

40
Magnitude (dB)

20

−20

−40

360

270

180
Phase (deg)

90

−90

−180
−1 0
10 10
Frequency (rad/sec)

Figure 3.7: Frequency response fucntion of mass 1


Chapter 4

Design for Vibration Suppression

4.1 Introduction

A Dynamic Vibration Absorber (DVA) is a device consisting of a reaction mass, a spring element
with appropriate damping that is attached to a structure in order to reduce the dynamic response
of the structure. The frequency of dynamic absorber is tuned to a particular structural frequency so
that when that frequency is excited external force. The concept of DVA was first applied by Frahm
in 1909 to reduce the rolling motion of ships as well as hull vibrations. A theroy for the DVA was
presented later by Ormondroyd and Den Hartog (1928)1 . The detailed study of optimal tuning and
damping parameters was discussed in Den Hartog’s on Mechanical Vibration (1940) book 2 .

4.2 Vibration Absorber

Figure (4.1) shows a SDOF system having mass m and stiffness k, subjected to external forcing. A
dynamic absorber with mass m2 , stiffness k2 , and dashpot c2 is attached to the primary mass. What
we now have is a 2DOF problem rather than the original SDOF. The m1 , c1 , k1 system is referred to
as the primary system, and m2 , c2 , k2 system is known as the secondary system. The displacement
of primary mass and absorbing mass are x1 and x2 , respectively. With this notation, the governing
equations take the form
1 J.Ormondroyd, and J.P.Den Hartog, ”The theory of the dynamic vibration absorber”, Trans. ASME, 50, 1928,

pp. 9-15
2 J.P.Den Hartog, Mechanical vibration, Dover, 4th ed. Reprint, 1984

31
32

 
 
 

m1 0 ẍ1 c1 + c2 −c2 ẋ1 k1 + k2 −k2 x1 F (t)


+ + =
0 m2 ẍ2 −c2 c2 ẋ2 −k2 k2 x2 0
(4.2.1)

We set xi = Re[Xi ejωt ] for steady-state response, which leads to the following complex amplitude-
frequency equations,

x1 x2

c1 c2

m1 m2
k1 k2
F1
Figure 4.1: SDOF system coupled with a DVA

 

[(k1 + k2 ) + jω(c1 + c2 ) − m1 ω 2 ] −(k2 + jωc2 ) X1 F


= (4.2.2)
−(k2 + jωc2 ) k2 + jωc2 − m2 ω 2 X2 0

4.2.1 SDOF with Undamped DVA

Let us consider the case where damping is negligible, c1 = c2 = 0. We then find from equation
(4.2.2) that
(k2 − m2 ω 2 )
X1 = F (4.2.3)
[(k1 + k2 ) − ω 2 m1 ](k2 − m2 ω 2 ) − k22
k2
X2 = F (4.2.4)
[(k1 + k2 ) − ω 2 m1 ](k2 − m2 ω 2 ) − k22
where the determinant of the system of coefficients in equation is

∆(ω) = [(k1 + k2 ) − ω 2 m1 ](k2 − m2 ω 2 ) − k22 . (4.2.5)

First, note from equation (4.2.3) that the magnitude of steady-state vibration, x1 becomes zero
when the absorber parameters k2 and m2 is chosen to satisfy the tuning condition

ω 2 = k2 /m2 (4.2.6)
33

In this case the steady-state motion of the absorber mass is calculated from equation (4.2.4)
F
X2 = − (4.2.7)
k2
With the main mass standing still and the secondary mass having a motion −F/k2 exp(jωt) the force
in the damper spring varies as −F exp(jωt), which is actually equal and opposite to the external
force.

For simplifications we want to bring equation (4.2.3) and (4.2.4) into a dimensionless form and for
that purpose we introduce the following parameters:

xst = F/k1 ; static deflection of primary system.


ω12 = k1 /m1 ; natural frequency of primary system
ω22 = k2 /m2 ; natural frequency of secondary system
µ = m2 /m1 ; mass ratio=secondary mass/primary mass

With this definitions, also note that


k2 ω2
= µ 22 = µf 2 (4.2.8)
k1 ω1
where frequency ratio f is f = ω2 /ω1 .

Then equationa (4.2.3)and (4.2.4) becomes

X1 1 − β2
= (4.2.9)
xst [1 − β 2 ][1 + µf 2 − (f β)2 ] − µf 2
X2 1
= (4.2.10)
xst [1 − β 2 ][1 + µf 2 − (f β)2 ] − µf 2
where frequency ratio β is β = ω/ω2 .

The absolute value of this system is plotted in figure (4.2) for the case µ = 0.25.

In fact, if the driving frequency shifts such that |X1 /xs t| > 1, the force transmitted to the primary
system is amplified and the absorber system is not an improvement over the original design of the
primary system.

Let us consider the case that the frequency ratio f = 1, (i.e., ω2 = ω1 , or k2 /m2 = k1 /m1 )

For this special case, equations (4.2.9) and (4.2.10) becomes

X1 1 − β2
= (4.2.11)
xst (1 − β 2 )(1 + µ − β 2 ) − µ
X2 1
= (4.2.12)
xst (1 − β )(1 + µ − β 2 ) − µ
2

The natural frequencies are determined by setting the denominators equal to zero :

(1 − β 2 )(1 + µ − β 2 ) − µ = 0
(4.2.13)
β 4 − f β 2 (2 + µ) + 1 = 0
34

4.5

3.5

Normalized magnitude
3

2.5

1.5

0.5

0
0 0.5 1 1.5 2
frequency ratio β

Figure 4.2: Plot of normalized magnitude of the primary mass versus the normalized driving fre-
quency

The solutions are



β 2 = (1 + µ/2) ± µ + µ2 /4 (4.2.14)
This relation is plotted graphically in figure (4.3). Note that as µ is increased, the natural frequencies
split farther apart.

Homework 4.2.1. Inman’s Book Example 5.3.1

Homework 4.2.2. Inman’s Book Example 5.3.2

4.2.2 SDOF with damped DVA

The equations of motion are given in matrix form by equation (4.2.1). Note that these equations can-
not necessarily be solved by using the modal analysis technique of Chapter 3 because the equations
do not decouple (KM −1 C = CM −1 K).

The steady-state response of equation (4.2.1) can be obtained by assuming a solution of the form
by assuming a solution of the form

 
jωt X1
x(t) = X(t)e = ejωt (4.2.15)
X2
where X1 is the amplitude of vibration of the primary mass and X2 is the amplitude of vibration of
the absorber mass. From the (4.2.2), we obtain that
35

0.5

0.45

0.4

0.35

µmass ratio 0.3

0.25

0.2

0.15

0.1

0.05

0
0.6 0.8 1 1.2 1.4 1.6
Frequency ratio β

Figure 4.3: Plot of mass ratio versus system natural frequency(normalized to the frequency of the
secondary system

X1 (k2 − m2 ω 2 ) + jc2 ω
= (4.2.16)
F det([K] − ω 2 [M ] + jω[C])

X2 k2 + jc2 ω
= (4.2.17)
F det([K] − ω 2 [M ] + jω[C])

which expresses the magnitude of the response of the primary mass and secondary mass, respectively.
Note that these values are complex numbers.

First, consider the case for which the internal damping of the primary system is neglected (c1 = 0).
Using complex arithmetic, the amplitude of the motion of the primary mass can be written as the
real number
X12 (k2 − m2 ω 2 )2 + (c2 ω)2
= (4.2.18)
F 2 [(k1 − m1 ω )(k2 − m2 ω 2 ) − m2 k2 ω 2 ]2 + [k1 − (m1 + m2 )ω 2 ]2 c22 ω 2
2

It is instructive to examine this amplitude in terms of the dimensionless ratios introduced for the
undamped vibration absorber. The amplitude x1 is written in terms of the static deflection xst = F/k
of the primary system. In addition, consider the mixed damping ratio defined by
c2
ζ= (4.2.19)
2m2 ω1

where ω = k1 /m1 . Using the standard frequency ratio r = ω/ω1 , the ratio of natural frequencies
36

f = ω2 /ω1 , and the mass ratio µ = m2 /m1 , equation (4.2.18) can be written as

X1 (2ζr)2 + (r2 − f 2 )2
= (4.2.20)
xst (2ζr) (r − 1 + µr2 )2 + [µr2 f 2 − (r2 − 1)(r2 − f 2 )]2
2 2

which expresses the dimensionless amplitude of the primary system. Note that the amplitude of the
primary system response is determined by four physical parameter values: mass ratio µ, the ratio
of the decoupled natural frequencies f the ratio of the driving frequency to the primary natural
frequency r and the damping ratio of absorber ζ.

These four parameters can be considered as design variables and are chosen to give the smallest
possible value of the primary mass’s response, x1 for a given application.

It is instructive to verify this result for several particular cases

Homework 4.2.3. Plot the compliance curves when the parameters of absorbers are: 1. ζ2 = ∞
2. ζ2 = 0
3. ζ = 0.10
4. ζ = 0.10
for mass ratio µ = 1/20 and frequency ratio f = 1.

The dynamic vibration absorber said to be optimally tuned and damped when the two resonance
peaks are equal in magnitude. The optimal frequency ratio f and damping ratio are given as
1
f= (4.2.21)
1+µ


ζ= (4.2.22)
8(1 + µ)3
Homework 4.2.4. Obtain the optimal frequency ratio f and optimal damping ratio ζ when mass
ratio is µ = 1/20.

4.3 Isolation Design

4.3.1 Passive Isolators

In figure (4.5), a single-degree-of-freedom vehicle model is shown with (a) passive, (b) skyhook
suspensions.

The passive system using linear elements has the equation of motion.

ẍ + 2ζωn (ẋ1 − ẋ0 ) + ωn2 (x1 − x0 ) = 0 (4.3.1)


37

16
zeta=inf.
14
=1/20
f=1
12
zeta=0.32
zeta=0
10
zeta=0.10
x1/xst

0
0.6 0.7 0.8 0.9 1.0 1.1 1.2 1.3

Excitation frequency ratio (r)

Figure 4.4: Amplitudes of the main mass for various values of absorber damping. All curves pass
through the fixed points

x1
m

k c
x0

Figure 4.5: Schematic of passive isolators


38


where ωn2 = k/m, and ζ = c/2 km. For the base excitation problem it is assumed that the base
moves harmonically such that
x0 = X0 exp(jωb t) (4.3.2)
where X(0) denotes the amplitude of the base motion and ωb represents the frequency of the base
oscillation.

The displacement of mass divided by the amplitude of base excitation is obtained as


 1/2
X1 1 + (2ζr)2
= (4.3.3)
X0 (1 − r2 )2 + (2ζr)2
where the frequency ratio r = ωb /ωn .

The ratio is called the displacement transmissibility. Another quantity of interest in the base exci-
tation problem is the force transmitted to the mass as the result of a harmonic displacement of the
base. Hence the force transmitted to the mass is the sum of the force in the spring and the force in
the damper
FT (t) = k(x1 − x0 ) + c(ẋ1 − ẋ0 ) (4.3.4)
The force transmissibility is defined as
 1/2
FT 1 + (2ζr)2
= r2 (4.3.5)
kX0 (1 − r2 )2 + (2ζr)2
Figure (4.6) is a frequency response plot from equation (4.3.3).

4.3.2 Skyhook and Active Isolators

When active suspensions are used the suspension force can be generated based on control strategies.
using optimal control theory and a commonly used quadratic performance criterion it was shown 3
that an optimum single-degree-of-freedom isolator must generate suspension force as

Fa /m = −2ζωn ẋ1 − ωn2 (x1 − x0 ) = 0 (4.3.6)

leading to a sprung mass equation of motion as

ẍ + 2ζωn ẋ1 + ωn2 (x1 − x0 ) = 0 (4.3.7)

whici is the same as he governing equation of skyhook isolators shown in figure (4.7).

The displacement of mass divided by the amplitude of base excitation is obtained as


 1/2
X1 1
= (4.3.8)
X0 (1 − r2 )2 + (2ζr)2
where the frequency ratio r = ωb /ωn
3 Bender, E.K., Optimum linear preview control with application to vehicle suspension, ASME, Journal of basic

engineering, 90(2), June 1968, pp.213-221.


39

Displacement Transmissibility

0
10

ζ=1
ζ=0.8
ζ=0.6
ζ=0.4
ζ=0.2

-1
10
-1 0 1
10 10 10
Freqeucney ratio

Figure 4.6: Displacement transmissibility for passive isolator

x1
c m
x1 Fa
m
x0

k
x0

Figure 4.7: Schematic of passive isolators


40

ζ=0.2
ζ=0.4
ζ=0.6
Displacement Transmissibility

0
10

ζ=0.8

ζ=1

-1
10
-1 0 1
10 10 10
Freqeucney ratio

Figure 4.8: Displacement transmissibility for skyhook isolator


41

4.3.3 Semi-active Isolators

Semi-active suspensions respresents a compromise between passive and active ones. The concept of
semi-active suspension was first proposed by Crosby and Karnopp4 in 1973

x1
m

k Fs
x0

Figure 4.9: Schematic of semi-active isolators

 2ζωn , ẋ1 (ẋ1 − ẋ0 ) > 0


Fs = Fs /m = (4.3.9)
0, ẋ1 (ẋ1 − ẋ0 ) < 0

4 Crosby, M.J., and Karnopp, D.C., The active damper - a new concept for shock and vibration control, The shock

and vibration bulletin, 43(4), June 1973, pp.119-133


Chapter 5

Vibration of strings and rods

5.1 Strings

5.2 Rods

Consider the vibation of an elastic rod (or bar) of length L and of varying cross-sectional area shown
in figure (5.1). The forces on the infinitesimal element summed in the x direction are

F F+dF

u(x,t)
x
x x+dx
L
Figure 5.1: Cantilevered rod in longitudinal vibration along x

∂u(x, t)
F + dF − F = ρA(x)dx (5.2.1)
∂t2
where u(x, t) is the deflection of the rod in the x direction. From the solid mechanics,

∂u(x, t)
F = EA(x) (5.2.2)
∂x

42
43

where E is the Young’s modulus. The differential form of F becomes


∂F
dF = dx (5.2.3)
∂x
from the chain rule for partial derivatives. Substitution of equation (5.2.2) and (5.2.3) into (5.2.1)
and dividing by dx yields

! "
∂ 2 u(x, t) ∂ ∂u(x, t)
ρA(x) = EA(x) (5.2.4)
∂t2 ∂x ∂x
When A(x) is a constant this equation becomes
! "
∂ 2 u(x, t) E ∂ 2 u(x, t)
= (5.2.5)
∂t2 ρ ∂x2

The quantity v = E/ρ defines the velocity of propagation of the displacement (or stress wave) in
the rod.
Chapter 6

Bending of Beam

6.1 Equation of Motion

z y

x
t

Figure 6.1: Beam

The equation of motion of Euler-Bernoulli Beam is

∂2w ∂w ∂4w
m(x) 2
+c + EI 4 = f (x, t) (6.1.1)
∂t ∂t ∂x
where,m is mass per unit length of beam defined as m = ρA. If no damping and no external force is
applied so that c = 0, f (x, t) = 0, and EI(x) and m(x) are assumed to be constant, equation (6.1.1)
simplifies
∂ 2 w EI ∂ 4 w
+ =0 (6.1.2)
∂t2 m ∂x4
Note that the free vibration equation (6.1.2) contains four spatial derivatives and hence requires
four boundary conditions. The two time derivatives requires that two initial conditions, one for the
displacement and one for the velocity.

44
45

6.2 Eigenvalue Problem

For the eigenvalue problem, assume the product solution as

w(x, t) = W (x)F (t) (6.2.1)

where W (x) depends on the spatial position alone and F (t) depends on time alone. Introducing
equation (6.2.1) into equation (6.1.2), we can obtain the following equation as
d4 W (x)
− β 4 W (x) = 0 (6.2.2)
dx4
ω2 m
where β 4 = EI , 0 < x < L.

t
x
L

Figure 6.2: Cramped-Free transverse beam

6.2.1 Boundary condition

Clamped-free

The boundary conditions for the clamped-free case are

W (0) = 0
dW (x)
dx |x=0 = 0
d2 W (x)
(6.2.3)
dx2 |x=L = 0
d3 W (x)
dx3 |x=L = 0

The solution of equation (6.2.2) is

W (x) = C1 sin βx + C2 cos βx + C3 sinh βx + C4 cosh βx (6.2.4)

Applying the boundary conditions for x = 0, we find

C2 + C4 = 0
(6.2.5)
C1 + C3 = 0
so that the eigenfunction is reduced to x = L, we get

C1 (sin βL + sinh βL) + C2 (cos βL + cosh βL) = 0


(6.2.6)
C1 (cos βL + cosh βL) − C2 (sin βL − sinh βL) = 0
46

Equating the determinant of the coefficients to zero, we obtain the characteristic equation
 

(sin βL + sinh βL) (cos βL + cosh βL) C1 0


= (6.2.7)
(cos βL + cosh βL) −(sin βL − sinh βL) C2 0

The characteristic equation is


cos βL cosh βL = −1 (6.2.8)
From the numerical analysis β1 L = 1.875, β2 L = 4.694, β3 L = 7.855
#
ω1 = (1.875)2 mL EI
4 rad/sec
#
ω2 = (4.694)2 mL EI
4 rad/sec (6.2.9)
#
ω3 = (7.855)2 mL4 rad/sec
EI

We obtain the corresponding eigenfunctions


sin βL−sinh βL
Wr (x) = Cr (cos βx − cosh βx) + Cr cos βL+cosh βL (sin βx − sinh βx)
= Ar [(sin βr L − sinh βr L)(sin βr x − sinh βr x) + (cos βr L + cosh βr L)(cos βr x − cosh βr x)]
(6.2.10)

Example 6.2.1. The geometric and material properties are

ρ(Density) L(Length) b(Width) t(Thickness) E


3
2750 kg/m 340 mm 22 mm 2 mm 7.00×1010 N/m3

The natural frequencies are

ω1 = 88.6 rad/sec = 14.1 Hz


ω2 = 555.2 rad/sec = 88.4 Hz (6.2.11)
ω3 = 1554.7 rad/sec = 247.4 Hz

Example 6.2.2. Plot the mode shapes of clamped-free beam with the same dimension specified
above example. Normalize the eignefunction as
$ L
Wi2 dx = 1
0

A1 = 0.56461, W1 (x) = A1 [1.72[cos(5.51x) − cosh(5.51x)] − 1.26[sin(5.51x) − sinh(5.51x)]]


A2 = 0.03139, W2 (x) = A2 [1.72[cos(13.81x) − cosh(13.81x)] − 1.75[sin(13.81x) − sinh(13.81x)]]
A3 = 0.00133, W3 (x) = A3 [1.71[cos(23.10x) − cosh(23.10x)] − 1.71[sin(23.1x) − sinh(23.1x)]]

[Homework 7] Calculate the natural frequency and plot first four mode shapes of beam with
free-free boundary condition .
47

3.5

2.5

1.5

0.5

0.05 0.1 0.15 0.2 0.25 0.3

0.05 0.1 0.15 0.2 0.25 0.3

-1

-2

0.05 0.1 0.15 0.2 0.25 0.3

-1

-2

-3

Figure 6.3: First three eigenfunctions for clamped-free beam


48

6.3 Some Properties

The normal modes must satisfy the equation of motion and its boundary conditions. The normal
%L
modes Wi are also orthogonal functions satisfying the relation 0 m(x)Wi (x)Wj (x)dx = 0 for j = i
and Mi for j = i.

From the expansion theorem for self-adjoint distributed systems, the solution of equation (6.1.2) can
be expressed as


w(x, t) = Wi (x)qi (t) (6.3.1)
i=1

The generalized coordinate qi (t) can be determined from Lagrange’s equation by establishing the
kinetic and potential energies.

6.4 Forced Vibration

The forced response of a beam can be calculated using modal analysis just as in the lumped system.
The approach again uses the orthogonality condition of the unforced system’s eigenfunctions to
reduce the calculation of the response to a system of decoupled modal equations for the time response.

∂2w ∂w ∂4w
m + c + EI = f (x, t) (6.4.1)
∂t2 ∂t ∂x4
First, expand the applied force p(x, t) in terms of the modes


f (x, t) = fi (t)Wi (x) (6.4.2)
i=1

Multiply both sides of this equation by Wj and then integrate over the beam span,
$ L
fi (t) = f (x, t)Wi (x)dx (6.4.3)
0

Substituting equation (6.3.1) and (6.4.2) into equation (6.4.1) we obtain



 ∞


[mWi (x)q̈i (t) + cWi q̇(t) + EIWi (x)qi (t)] = fi (t)Wi (x) (6.4.4)
i=1 i=1

We know that the modes are satisfying



EIWi (x) = ωi2 mWi (x)

Substituting this relation into equation (6.4.4) leads to



 ∞

[mWi (x)q̈i (t) + cWi q̇(t) + ωi2 mWi (x))qi (t)] = fi (t)Wi (x) (6.4.5)
i=1 i=1
49

It is convenient to normalize the eigenfunction as


$ L
Wi2 (x)dx = 1, i = 1, 2, · · · (6.4.6)
0

Since the eigenfunction Wi (t) are not zero, equation (6.4.5) becomes infinite set of independent
modal equations:
q̈i (t) + 2ζi ωi q̇(t) + ωi2 qi (t) = fi (t)/m, i = 1, 2, · · · (6.4.7)

6.4.1 Point force excitation

The excitation force becomes


f (x, t) = F (t)δ(x − x1 ) (6.4.8)

Equation (6.4.3) becomes


$ L
fi (t) = F (t)δ(x − x1 )Wi (x)dx = F (t)Wi (x1 ) (6.4.9)
0

Equation (6.4.7) becomes

q̈i (t) + 2ζi ωi q̇(t) + ωi2 qi (t) = F (t)Wi (x1 )/m, i = 1, 2, · · · (6.4.10)

0
10

−1
10

−2
10
FRF (m/N)

−3
10

−4
10

−5
10

−6
10

−7
10
0 50 100 150 200 250 300 350 400 450 500
Frequency (Hz)

Figure 6.4: The frequency response function(FRF) obtained from the modal model.

Example 6.4.1. Obtain the frequency response function of the cantilever beam. The specification
of beam is the same with the Example 6.2.1. The excitation position, xa is 0.34mm and sensing
position, xs is 0.2m. The example MATLAB code is printed below and the frf was printed at figure
(6.4)
50

 Example MATLAB Code


————————–cantifrf.m————————————-
clear
m = 3; n = 1; z = 0.001; rho = 2750; E = 70e9;
L = 0.34; b = 0.022; t = 0.002;
A = t*b; Is = t∧ 3*b/12; mass=rho*A;

xa = [0.34];
xs = [0.2];
global betaL beta Ar
betaL=[1.875104 4.694091 7.854757];
beta=betaL/L;
Ar=[0.56461 0.031393 0.00133];
wn=[88.6 555.2 1554.7];
M = eye(m,m);
K = diag(wn(1:m).∧ 2,0);
Damp=diag(2*z*wn(1:m),0);
Bf=zeros(m,n); ys=zeros(m,n);
for i = 1:n
for r = 1:m
Bf(r,i)=cantimode(r,xa)/mass;
end
end
for i = 1:n
for r = 1:m
ys(r,i)=cantimode(r,xs);
end
end
A = [zeros(m,m),eye(m);-inv(M)*K,-inv(M)*Damp];
B =[zeros(m,1);inv(M)*Bf(:,1)];
C = [ys’,zeros(n,m)];
D =zeros(size(Cc,1),size(B,2));
w = linspace(0,500*2*pi,800);
[mag,phs] = bode(A,B,C,D,1,w);
semilogy(w/2/pi,mag(:,1))
——————————————————————-
———-cantimode.m———————————————-
function y = cantimode(r,x)
51

global betaL beta Ar


y=Ar(r)*((sin(betaL(r))-sinh(betaL(r)))*(sin(beta(r)*x)-sinh(beta(r)*x))
+(cos(betaL(r))+cosh(betaL(r)))*(cos(beta(r)*x)-cosh(beta(r)*x)));
—————————————————————

Homework 8 Obtain the frequency response function of the beam with free-free boundary condition.
The specification of the system is the same with above example.

6.4.2 Moment excitation

The excitation force becomes



f (x, t) = Mo [δ(x − x2 ) − δ(x − x1 )] (6.4.11)
∂x
Equation (6.4.3) becomes
$ L
∂  
fi (t) = Mo [δ(x − x2 ) − δ(x − x1 )]Wi (x)dx = Mo [Wi (x2 ) − Wi (x1 )] (6.4.12)
0 ∂x

Equation (6.4.7) becomes


 
q̈i (t) + 2ζi ωi q̇(t) + ωi2 qi (t) = Mo [Wi (x2 ) − Wi (x1 )]/m, i = 1, 2, · · · (6.4.13)

Example 6.4.2. Plot the frequency response function of the cantilever beam excited by coupled
moment.

ρ(Density) L(Length) b(Width) t(Thickness) E x1 x12


3 10 3
2750 kg/m 340 mm 22 mm 2 mm 7.00×10 N/m 48 mm 80 mm


Wr (x) = Ar [βr (sin βr L − sinh βr L)(cos βr x − cosh βr x) − βr (cos βr L + cosh βr L)(sin βr x + sinh βr x)]
(6.4.14)
 Example MATLAB Code ⇒ cantipzt.m
clear m = 3;
n = 1;
z = 0.001;
rho = 2750;
E = 70e9;
L = 0.34;
b = 0.022;
52

t = 0.002;
A = t*b;
Is = t∧3*b/12;
mass=rho*A;
xa1 = [0.048];
xa2 = [0.080];
xs = [0.340];
global betaL beta Ar
betaL=[1.875104 4.694091 7.854757];
beta=betaL/L; Ar=[0.56461 0.031393 0.00133];
wn=[88.6 555.2 1554.7];
M = eye(m,m);
K = diag(wn(1:m).∧2,0);
Damp=diag(2*z*wn(1:m),0);
Bf=zeros(m,n); ys=zeros(m,n);
for i = 1:n
for r = 1:m
Bf(r,i)=(dcantimode(r,xa2)-dcantimode(r,xa1))/mass;
end
end
for i = 1:n
for r = 1:m
ys(r,i)=cantimode(r,xs);
end
end
A = [zeros(m,m),eye(m);-inv(M)*K,-inv(M)*Damp];
B =[zeros(m,1);inv(M)*Bf(:,1)]; C = [ys’,zeros(n,m)];
D =zeros(size(C,1),size(B,2));
w = linspace(0,500*2*pi,800);
[mag,phs]=bode(A,B,C,D,1,w); semilogy(w/2/pi,mag(:,1))
—————-
function y = dcantimode(r,x)
global betaL beta Ar
y1=beta(r)*(sin(betaL(r))-sinh(betaL(r)))*(cos(beta(r)*x)-cosh(beta(r)*x));
y2=-beta(r)*(cos(betaL(r))+cosh(betaL(r)))*(sin(beta(r)*x)+sinh(beta(r)*x));
y=Ar(r)*(y1+y2);
53

0
10

−1
10

−2
10
FRF (m/T)

−3
10

−4
10

−5
10

−6
10
0 50 100 150 200 250 300 350 400 450 500
Frequency (Hz)

Figure 6.5: The frequency response function(FRF) excited by PZT.


Chapter 7

Plate

7.1 Plate in Bending

The bending behavior of plates can be understood with a direct extension of what we have already
learned about the bending of beams.

1 ∂2w 1 ∂2w
= , = (7.1.1)
ρx ∂x2 ρy ∂y 2

let u and v be components of displacements at any point in the plate,


∂w ∂w
u(x, y, z) = −z , v(x, y, z) = −z (7.1.2)
∂x ∂y
The strain are given as follows:
     
∂u ∂2w
εx 2
   ∂x
  ∂x 
{εb } =   
 εy  = 
∂v
∂y
 = −z

 ∂ 2 w2 
 ∂y  (7.1.3)
∂u ∂v ∂2w
γxy ∂y + ∂x 2 ∂x∂y

Hooke’s law for plane stress relates these strains to the stress resultants,
! 2 "
E Ez ∂ w ∂2w
σx = (ε x + νε y ) = − + ν (7.1.4)
1 − ν2 1 − ν 2 ∂x2 ∂y 2
! 2 "
E Ez ∂ w ∂2w
σy = (ε y + νε x ) = − + ν (7.1.5)
1 − ν2 1 − ν 2 ∂y 2 ∂x2
∂2w Ez ∂ 2 w
τxy = −2Gz =− (7.1.6)
∂x∂y 1 + ν ∂x∂y
The stress-strain relationships take the matrix form as

{σb } = [Db ]{εb } (7.1.7)

54
55

where  
1 ν 0
E  ν

[Db ] = 1 0  (7.1.8)
1 − ν2  
1−ν
0 0 2

Each stress resultant is multiplied by its respective moment arm, yielding the following moments
$ ! "
h/2
∂2w ∂2w
Mx = zσx dz = −D 2
+ν 2 (7.1.9)
−h/2 ∂x ∂y
$ ! "
h/2
∂2w ∂2w
My = zσy dz = −D + ν (7.1.10)
−h/2 ∂y 2 ∂x2
$ h/2
∂2w
Mxy = zτxy dz = −D(1 − ν) (7.1.11)
−h/2 ∂x∂y
where D = Eh3 /12(1 − ν 2 ) is called the flexural rigidity of the plate. Equation (7.1.9)-(7.1.11) relate
moments to deflection w.
! 4 "
∂ w ∂4w ∂4w ∂2w
D + 2 + + ρh = p(x, y, t) (7.1.12)
∂x4 ∂x2 ∂y 2 ∂y 4 ∂t2
or
D∇4 w + ρhẅ = p(x, y, t) (7.1.13)

7.2 Equation of Motion

The bending energy expression for the thin plate are


$
1
V = {σb }T {b }dυ (7.2.1)
2 v

The bending energy becomes $


1
V = {b }T [Db ]{b }dυ (7.2.2)
2 v

The kinetic energy of the plate is given by


$
1
T = ρhẇ2 dA (7.2.3)
2 A

The response of the structure is defined in physical coordinates as a series expansion over the
generalized coordinates:
N
w= φr (x, y)qr (t) (7.2.4)
r=1
56

Substituting equation (7.2.4) into equation (7.2.3), one obtains an expression for the entry of the
i th row and j th column of the matrix
$ b $ a
Ms,ij = ρh φi (x, y)φj (x, y)dxdy (7.2.5)
0 0

Substituting equation (7.2.4) into equation (7.2.2), one obtains an expression for the entry of the
i th row and j th column of the stiffness matrix
$ b$ a( 2 ! 2 " )
∂ φi ∂ 2 φj ∂ 2 φi ∂ 2 φj ∂ φi ∂ 2 φj ∂ 2 φi ∂ 2 φj ∂ 2 φi ∂ 2 φj
Ks,ij = Ds + + ν s + + 2(1 − ν s ) dxdy
0 0 ∂x2 ∂x2 ∂y 2 ∂y 2 ∂x2 ∂y 2 ∂y 2 ∂x2 ∂x∂y ∂x∂y
(7.2.6)
h3 Es
where Ds = 12 1−ν 2
s
Chapter 8

Approximate Method

8.1 Introduction

It is too difficult to obtain closed form solution for many problems that are more complex than a
group of lumped spring-mass systems or a simple continuous system, such as a string. This section
presents methods to obtain approximate solutions. With the techniques to be introduced in this
chapter, we can analyze quite general systems efficiently and accurately.

8.2 Rayleigh Ritz Method

The Rayleigh Ritz method obtains an approximate solution to a differential equation with given
boundary conditions using the functional of the equation. The procedure of this method can be
summarized in two steps as given below:
1. Assume an admissible solution which satisfies the geometric boundary condition and contains
unknown coefficients.
2. Substitute the assumed solution into the kinetic and potential energy and find the unknown
coefficients.

Example 8.2.1. A clamped-pinned beam with dynamic vibration absorber.

we must select basis functions satisfy the boundary conditions that φ(x) = dφ(x)/dx = 0 at x = 0
and φ(x) = 0 at x = L. Hence the following functions satisfy these conditions.
x rπx
φr (x) = sin( ) (8.2.1)
L L
Three-term Ritz series are considered in this example. the transverse component of beam w is

57
58

expressed as summation of Ritz function as


3

w(x, t) = φr (x)qr (t) (8.2.2)
r=1

and let the general displacement of ma be denoted as q4 .

The kinetic energy and potential energy are


$ L
1 1
T = mb ẇ2 dx + ma q̇42 (8.2.3)
2 0 2
$ ! "2
1 L
∂2w 1
V = Eb Ib dx + k[w(L/2, t) − q4 ]2 (8.2.4)
2 0 ∂x2 2
where mb is the mass per unit length of beam.

Substituting equation (8.2.2) into equation (8.2.3) and (8.2.4), one obtains
3 3
 $ 
1  L
1
T = mb φr φs dx q˙r q˙s + ma q̇42 (8.2.5)
2 r=1 s=1 0 2

3  3 $ L! 2 "  3 3 
1  ∂ φr ∂ 2 φs 1 
V = Eb Ib dx qr qs + k φr (L/2)φs (L/2) qr qs
2 r=1 s=1 0
∂x2 ∂x2 2 r=1 s=1
(8.2.6)
3
 1
−k φr (L/2)qr q4 + kq42
r=1
2
The mass and stiffness matrices are
 
0.1413 −0.0901 0.019 0
 
 −0.0901 0.1603 −0.0973 0 
[M ] = mb L 
 0.019
 (8.2.7)
 −0.0973 0.1639 0 

0 0 0 µ

L/2

ma

Figure 8.1: A clamped-pinned beam with dynamic vibration absorber


59

and  
43.376 + 0.25κ −74.570 75.873 − 0.25κ −κ/2
 
Eb Ib  −74.570 368.323 −459.529 
0
[K] =   (8.2.8)
L3  75.873 − 0.25κ −459.529 κ/2 
 1559.3 + 0.25κ 
−κ/2 0 κ/2 κ
where µ = ma /(mb L) and κ = kL3 /Eb Ib .
The generalized force are
$ L
Q(t) = f (x, t)φr (x)dx (8.2.9)
0

——-pinclamp.nb——- #
mb L4
Let the non-dimensional resonant angular frequency be w̄r = Eb Ib wr . The resulting eigensolution
when κ = 0,and ma = 0, are

w̄1 w̄2 w̄3


Ritz Method(N=3) 15.7563 50.6438 109.9433
Vibration Table 15.4182 49.9648 104.2477

The mode shapes are

q1 q2 q3
Mode 1 1 0.1561 -0.0021
Mode 2 0.5047 1.0000 0.1723
Mode 3 0.3058 0.6543 1.000

The natural frequency when κ = 15.75,and µa = 0.1,are

file.pc.m w1 w2 w3 w4
Ritz Method(N=3) 11.1152 17.7539 50.7127 110.0512

The mode shapes are

q1 q2 q3 q4
Mode 1 0.4282 0.0742 -0.0029 1.0000
Mode 2 1.0000 0.1457 0.0003 -0.4992
Mode 3 0.5101 1.0000 0.1731 -0.0110
Mode 4 0.3043 0.6536 1.000 0.0046
60

0.8

0.6

0.4

0.2

0
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1

0.5

−0.5
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1

0.5

−0.5
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1

Figure 8.2: Mode shapes of pin-clamped beam/ pcmode1.m

1
10

0
10

-1
10

-2
10

-3
10

-4
10

-5
10

-6
10

-7
10
0 50 100 150

Figure 8.3: Frequency response function of clamped-pinned beam/ pcmode1.m


61

0.5

−0.5
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1

0.5

−0.5
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1

0.5

−0.5
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1

0.5

−0.5
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1

Figure 8.4: Mode shapes of pin-clamped beam with dynamic absorber/ pcmode2.m

1
10

0
10

-1
10

-2
10

-3
10

-4
10

-5
10

-6
10
0 50 100 150

Figure 8.5: Frequency response function of clamped-pinned beam with dynamic vibration/pcfrf2.m
62

The mode shapes of beam with absorber mass are shown in figure (8.4)

Example 8.2.2. Beam with free-free boundary condition.


Ten-term Ritz series are considered in this example. the transverse component of tennis racket w is
expressed as summation of Ritz function as
10

w(x, t) = φr (x)qr (t) (8.2.10)
r=1

A schematic diagram of tennis racket and ball model was shown in figure (8.6).

z
L L

Figure 8.6: A schematic diagram of beam with free-free boundary condition.

The translate rigid mode can be expressed by φ1 (x) = 1. To represent rotational rigid mode we
select the basis function to be φ2 (x) = x/L. Because there are no geometric boundary condition to
satisfy, the power series can be selected as basis function.

, x -r−1
φr (x) = , r = 1, 2, · · · , 10 (8.2.11)
L

The kinetic energy and potential energy are


$ L
1
T = mb ẇ2 dx (8.2.12)
2 −L

$ ! "2
1 L
∂2w
V = Eb Ib dx (8.2.13)
2 −L ∂x2
Substituting equation (8.2.10) into equation (8.2.12) and (8.2.13), one obtains
10 10
 $ 
1  L
T = mb φr (x)φs (x)dx q˙r q˙s (8.2.14)
2 r=1 s=1 −L

10 10
 $ L 2 
1  ∂ φr ∂ 2 φs
V = Eb Ib 2 ∂x2
dx qr qs (8.2.15)
2 r=1 s=1 −L ∂x
63

The elements of the matrices can be computed as follows :

Mrs = mb L
r+s−1 [1 − (−1)r+s−1 ], r, s = 1, 2, · · · , 10
Krs = 0, r = 1, 2, and s = 1, 2 · · · , 10
(8.2.16)
Krs = 0, s = 1, 2, and r = 1, 2 · · · , 10
Eb Ib (r−1)(r−2)(s−1)(s−2)
Krs = L3 (r+s−5) [1 + (−1)r+s ], r, s = 3, 4, · · · , 10

When the system parameters are Eb Ib = 121N m, mb = 0.355kg/0.685m, 2L = 0.685m, the natural
frequencies of the free-free beam are

ω1 ω2 ω3 ω4 ω5 ω6
Ritz Method(N=6)(Hz) 0 0 116.9 329.3 1157.6 2361.7
Ritz Method(N=8)(Hz) 0 0 116.0 319.7 669.7 116.6
Ritz Method(N=10)(Hz) 0 0 116 320 628 104.2
Vibration Table 0 0 116 319.4 626.6 1035.9

Example 8.2.3. Tennis racket and ball


Ten-term Ritz series are considered in this example. A schematic diagram of tennis racket and ball
model was shown in figure (8.7). The displacements of mB1 and mB2 are denoted as q11 and q12 .

z
L L

Ls
x

kS
mB
kB
mB
Figure 8.7: A schematic diagram of tennis racket and ball model
64

The kinetic energy and potential energy are


$ L
1 1 1
T = mb ẇ2 dx + mB1 q̇11
2 2
+ mB2 q̇12 (8.2.17)
2 −L 2 2
$ ! "2
1 L
∂2w 1 1
V = Eb Ib dx + kS [w(LS , t) − q11 ]2 + kB [qN +1 − qN +2 ]2 (8.2.18)
2 −L ∂x2 2 2
Substituting equation (8.2.10) into equation (8.2.17) and (8.2.18), one obtains
 $ 
1 
N N L
1 2 1 2
T = mb φr (x)φs (x)dx q˙r q˙s + mB1 q̇N +1 + mB2 q̇N +2 (8.2.19)
2 r=1 s=1 −L 2 2
 $ L 2  N N 
1  
N N
∂ φr ∂ 2 φs 1
V = ER IR 2 ∂x2
dx qr qs + ks φr (Ls )φs (Ls ) qr qs
2 r=1 s=1 −L ∂x 2 r=1 s=1
(8.2.20)

N
1 kB 2
2 2
− kS φr (Ls )qr qN +1 + ks qN +1 + [qN +1 − 2qN +1 qN +2 + qN +2 ]
r=1
2 2
The elements of the mass matrix can be computed as follows:

Mrs = mb L
r+s−1 [1 − (−1)r+s−1 ], r, s = 1, 2, · · · , N
MN +1,N +1 = mB1 (8.2.21)
MN +2,N +2 = mB2

The elements of the stiffness matrix are


Eb Ib (r−1)(r−2)(s−1)(s−2)
Krs,racket = L3 (r+s−5) [1 + (−1)r+s ] r, s = 3, 4, · · · , N
Krs,coupled = ks φr (Ls )φs (Ls ), r, s = 1, 2 · · · , N
Kr,N +1 = KN +1,r = −kS φr (Ls ), r = 1, 2 · · · , N
(8.2.22)
KN +1,N +1 = kB + kS
KN +1,N +2 = KN +2,N +1 = −kB
KN +2,N +2 = kB

EI = 121N m,2L = 0.685m,mB = 0.355kg/0.685m, Ls = 0.1575, mB1 = mB2 = 0.028kg, kS =


4.15e4N/m, kB = 7.98e4N/m.
Calculate the natural frequencies of the tennis racket and ball system.

ω1 ω2 ω3 ω4 ω5 ω6
Ritz Method(N=8)(rad/s) 0 0 113.5 142.4 325.5 409.9
Ritz Method(N=10)(Hz) 0 0 114 142 325 410
Ritz Method(N=12)(rad/s) 0 0 114 142 325 410

The mode shapes are


65

Mode q1 q2 q3 q4 q5 q6 q7 q8 q9 q10 q11 q12


Mode 1 -0.2 1 0 0 0 0 0 0 0 0 0.26 0.26
Mode 2 1 -0.2 0 0 0 0 0 0 0 0 0.91 0.91
Mode 3 0.25 -0.01 -1. -0.07 0.3 0.03 -0.03 0.0 -0.01 0. 0.17 0.2
Mode 4 0.32 -0.04 -0.8 0.56 0.7 -0.28 -0.5 -0.02 0.15 0.05 -0.72 -1
Mode 5 0. 0.37 -0.02 -1. 0.05 0.73 -0.04 -0.27 0.01 0.04 0.02 -0.04
Mode 6 -0.05 -0.37 0.38 0.97 -0.89 -0.85 0.76 0.45 -0.24 -0.11 1 -0.76

mode1 mode2

1 1

0 0

-1 -1

-0.2 0 0.2 -0.2 0 0.2


mode3 mode4
0.5 0.5

0
0
-0.5

-1 -0.5
-0.2 0 0.2 -0.2 0 0.2
mode5 mode6

0.2 0.2
0.1 0.1
0 0
-0.1 -0.1
-0.2 -0.2

-0.2 0 0.2 -0.2 0 0.2

Figure 8.8: Mode shapes of tennis racket and ball model


66

Example 8.2.4. A cantilever beam with a surface mounted active material. Calculate the natural
frequencies and mode shapes by Ritz method.

x rπx
φr = sin( ) (8.2.23)
L 2L

z L
x2
x1
x

EbIb m b
EpIp m p
Figure 8.9: A schematic diagram of beam with configured with a distributed piezoelectric device.

The kinetic energy and potential energy are


$ L $ L
1 1
T = mb ẇ2 dx + 2mp ẇ2 (H[x − x1 ] − H[x − x2 ])dx (8.2.24)
2 0 2 0

$ ! "2 $ ! "2
1 L
∂2w 1 L
∂2w
V = Eb Ib dx + Ep Ieq (H[x − x1 ] − H[x − x2 ])dx (8.2.25)
2 0 ∂x2 2 0 ∂x2
where mb is the mass per unit length of beam, EIeq is the effective stiffness per unit length of the
combined piezoceramic elements.

Now, we expand the solution in terms of a finite set of comparison function:


N
w= φr (x)qr (t) (8.2.26)
r=1

Substituting equation (8.2.26) into equation (8.2.24) and (8.2.25), one obtains

 $  ! $ x2 "
1 
N N L
T = mb φr (x)φs (x)dx + 2mp φr (x)φs (x)dx q˙r q˙s (8.2.27)
2 r=1 s=1 0 x1
$  ! $ x2 2 "
1 
N N L
∂ 2 φr (x) ∂ 2 φs (x) ∂ φr (x) ∂ 2 φs (x)
V = Eb Ib dx + 2Ep Ieq dx qr qs
2 r=1 s=1 0 ∂x2 ∂x2 x1 ∂x2 ∂x2
(8.2.28)
67

$ L
Msrs = mb φr (x)φs (x)dx
0
$ x2
Mprs = 2mp φr (x)φs (x)dx
x1
$ (8.2.29)
L
∂ 2 φr (x) ∂ 2 φs (x)
Ksrs = Eb Ib dx
0 ∂x2 ∂x2
$ x2 2
∂ φr (x) ∂ 2 φs (x)
Kprs = 2Ep Ieq dx
x1 ∂x2 ∂x2
where the equivalent area moment acting on a beam is written as
! "2
bp t3p tb tp
Ieq = + bp t p + (8.2.30)
12 2 2
#
4
Let the non-dimensional resonant angular frequency be w̄r = m bL
Eb Ib wr . The resulting eigensolu-
tions of cantilever beam are

w̄1 w̄2 w̄3 w̄4


Ritz Method(N=4) 3.5222 22.2704 67.41100 309.79199
Ritz Method(N=6) 3.5172 22.1179 62.3783 124.1380
Vibration Table 3.5160 22.0345 61.6972 120.9019

The specification of the cantilever beam are

ρ(Density) L(Length) b(Width) t(Thickness) Eb


3
2750 kg/m 340 mm 25.4 mm 2 mm 7.00×1010 N/m3

The natural frequencies of the cantilever beam are

f1 f2 f3 f4
Ritz Method(N=6) 14.11 Hz 88.70 Hz 250.16 Hz 497.84 Hz

The specification of the piezo element are given as

ρ(Density) Lp (Length) bp (Width) tp (Thickness) Ep x1 x2


3 11 3
8200 kg/m 32.7 mm 22 mm 0.22 mm 1.45 ×10 N/m 30 mm 62.7 mm

The natural frequencies of the cantilever beam with piezoelectric materials are

f1 f2 f3 f4
Ritz Method(N=6) 16.37 Hz 93.24 Hz 250.17 Hz 495.25 Hz
68

Homework 8.2.5. A cantilever beam with lumped mass M is shown in figure. Calculate the
natural frequencies and mode shapes by Ritz method.

z
L

x
M
EbIb mb

Figure 8.10: A schematic diagram of cantilever beam with lumped mass


Chapter 9

Finite Element Analysis

9.1 Euler-Bernoulli Beam

9.1.1 Basic relation

The beam with length 2a and constant cross-sectional area A is shown in figure (??).

z pz

x
a a

Figure 9.1: Mode shapes of tennis racket and ball model

We assume that the stress component σy , σz , τxy , andτyz are zero. It also assumes that the plane
sections which are normal to the undeformed axis remain plane after bending. With this assumption,
the axial displacement u at a distant z from the neutral axis is
∂w
u(x, z) = −z (9.1.1)
∂x
The strain component is
∂u ∂w2
εx = = −z 2 (9.1.2)
∂x ∂x
∂u ∂w
γxz = + =0 (9.1.3)
∂z ∂x

69
70

The strain energy stored in the elements is given by


$
1
U= σx εx dV (9.1.4)
2 v
The normal stress is given by
σx = Eεx (9.1.5)
Substituting equation (9.1.5)and (9.1.2) into equation (9.1.4) gives , since dV = dA · dx
$ ! 2"
1 a ∂w
U= EIy dx (9.1.6)
2 a ∂x2
where $
Iy = z 2 dA (9.1.7)
A
The kinetic energy is given by $ a
1
T = ρAẇ2 dx (9.1.8)
2 a
The virtual work done by external force for the element is
$
1 a
δWext = pz δwdx (9.1.9)
2 a

9.1.2 Finite Element Modeling

The displacement function can be represented by a polynomial having four constants

w = α1 + α2 ξ + α3 ξ 2 + α4 ξ 3 (9.1.10)

The expression(9.1.10) can be written in the following matrix form


 

 α1 


 


 α 
2 3 2
w =
1, ξ, ξ , ξ (9.1.11)

 α3 


 


 α 
4

Differentiating equation (9.1.10) gives


∂w ∂w
aθy = a = = α2 ξ + 2α3 ξ + 3α4 ξ 2 (9.1.12)
∂x ∂ξ
Evaluating (9.1.10) and (9.1.12) at ξ = ∓1 gives
    
w1 1 −1 1 −1 α1
    
 aθ   0 1 −2 3   
 y1     α2 
 =   (9.1.13)
 w2   1 1 1 1   
     α3 
aθy2 0 1 2 3 α4
71

Solving for {α} gives


{α} = [C]e {w}e (9.1.14)

where
{v}Te =
w1 , θy1 , w2 , θy2 (9.1.15)
 
78 22a 27 −13a
 

ρAa  22a 2
−6a2 
8a 13a 
[m]e =   (9.1.16)
105  27 13a 78 −22a 
 
−13a −6a2 −22a 8a2
 
3 3a −3 3a
 
 3a 4a2 −3a 2a2 
EIy  
[k]e =   (9.1.17)
2a3  −3 −3a 3 −3a 
 
3a 2a2 −3a 4a2
72

9.2 Thin Plate Theory

9.2.1 formulation

The bending energy expression for the thin plate are


$
1
U= {σb }T {b }dV (9.2.1)
2 v
where bending stress and strain components are

{σb } = {σx σy τxy }T , {εb } = {εx εy γxy }T (9.2.2)

The stress-strain relationships take the form

{σb } = [Db ]{εb } (9.2.3)

where  
1 ν 0
E  ν

[Db ] = 1 0  (9.2.4)
1 − ν2  
1−ν
0 0 2

In deriving the energy functions for plate bending, the basic assumptions are that the direct stress
in the transverse direction, σz , is zero. Also, a straight line normal to the middle surface of the
undeformed plate remains normal after deformation. Therefore, the displacements u and v are given
by
∂w ∂w
u(x, y, z) = −z , v(x, y, z) = −z (9.2.5)
∂x ∂y
where w(x, y) denotes the displacement of middle surface in the z-direction. The strain are given as
follows:      
∂u
εx κx
   ∂x
  
{εb } =    ∂v 
 εy  =  ∂y  = −z  κy 
  (9.2.6)
∂u ∂v
γxy ∂y + ∂x κxy
where the curvature vector κ is given as follows:

∂2w ∂2w ∂2w T


{κ} = {κx κy κxy }T = { 2 } (9.2.7)
∂x2 ∂y 2 ∂x∂y
Using (9.2.6), the strain matrix can be written in the form

{εb } = −z{κ} (9.2.8)

Substituting (9.2.8) and (9.2.3) into (9.2.1)and integrating with respect to z gives
$
1 h3
U= {κ}T [Db ]{κ}dA (9.2.9)
2 A 12
73

The kinetic energy of the plate is given by


$
1
T = ρhẇ2 dA (9.2.10)
2 A

The normal displacement of plate, w, and the two rotations have relation as follows:
∂w ∂w
θx = , θy = − (9.2.11)
∂y ∂x

9.3 Finite Element Modeling

In terms of the master coordinates (9.2.11) becomes

1 ∂w 1 ∂w
θx = , θy = − (9.3.1)
b ∂η a ∂ξ
Since the rectangular element has 12 degrees of freedom, the displacement function can be repre-
sented by a polynomial having twelve terms, that is

w = α1 + α2 ξ + α3 η + α4 ξ 2 + α5 ξη + α6 η 2
(9.3.2)
+α7 ξ 3 + α8 ξ 2 η + α9 ξη 2 + α10 η 3 + α11 ξ 3 η + α12 ξη 3

The expression(9.3.2) can be written in the following matrix form

w =
1, ξ, η, ξ 2 , η ξ, η 2 , ξ 3 , η ξ 2 , η 2 ξ, η 3 , η ξ 3 , η 3 ξ {α} (9.3.3)

where
{α} =
α1 , α2 , α3 , · · · , α12 (9.3.4)

Evaluating w, bθx , and aθy at ξ = ∓1, η = ∓1gives

{w̄}e = [A]e {α} (9.3.5)

where
{w̄}Te =
w1 , bθx1 , aθy1 , · · · , w4 , bθx4 , aθy4 (9.3.6)
74

and  
1 −1 −1 1 1 1 −1 −1 −1 −1 1 1
 

 0 0 1 0 −1 −2 0−1 −3 
1  2 3
 

 0 −1 0 2 1 0 −3 −2 −1 0 3 1 

 

 1 1 −1 1 −1 1 1 −1 1 −1 −1 −1 

 
 0 0 1 0 1 −2 0 1 −2 3 1 3 
 

 0 −1 0 −2 1 0 −3 2 −1 0 3 1 

[A]e =   (9.3.7)

 1 1 1 1 1 1 1 1 1 1 1 1 

 
 0 0 1 0 1 2 0 1 2 3 1 3 
 
 
 0 −1 0 −2 −1 0 −3 −2 −1 0 −3 −1 
 

 1 −1 1 1 −1 1 −1 1 −1 1 −1 −1 
 

 0 0 1 0 −1 2 0 1 −2 3 −1 −3 
0 −1 0 2 −1 0 −3 2 −1 0 −3 −1
Solving (9.3.5) for {α}gives
{α} = [A]−1
e {w̄}e (9.3.8)

where
 
2 1 −1 2 1 1 2 −1 1 2 −1 −1
 

 −3 −1 1 3 1 1 3 −1 1 1 
−3
 1
 

 −3 −1 1 −3 −1 −1 3 −1 1 3 −1 −1 

 

 0 0 1 0 0 −1 0 0 −1 0 0 1 

 
 4 1 −1 −4 −1 −1 4 −1 1 −4 1 1 
 
1
 0 −1 0 0 −1 0 0 1 0 0 1 0 

A−1 =   (9.3.9)
8
 1 0 −1 −1 0 −1 −1 0 −1 1 0 −1 

 
 0 0 −1 0 0 1 0 0 −1 0 0 1 
 
 
 0 1 0 0 −1 0 0 1 0 0 −1 0 
 

 1 1 0 1 1 0 −1 1 0 −1 1 0 

 

 −1 0 1 1 0 1 −1 0 −1 1 0 −1 
−1 −1 0 1 1 0 −1 1 0 1 −1 0
75

The shape function in master elements are given as follows:


   

 φ1 
 
 2 − 3 η + η3 − 3 ξ + 4 η ξ − η3 ξ + ξ3 − η ξ3 


 
 
 


   


 φ2 






 1 − η − η2 + η3 − ξ + η ξ + η2 ξ − η3 ξ 




 
 
 


 
φ3  
 −1 + η + ξ − η ξ + ξ 2 − η ξ 2 − ξ 3 + η ξ 3 


 
 
 


   


 φ4 






 2 − 3 η + η3 + 3 ξ − 4 η ξ + η3 ξ − ξ3 + η ξ3 




 
 
 


 φ5 
 
 1 − η − η2 + η3 + ξ − η ξ − η2 ξ + η3 ξ 


 
 
 


   
φ6  1  1 − η + ξ − η ξ − ξ2 + η ξ2 − ξ3 + η ξ3 
= (9.3.10)

 φ7 
 8 2 + 3 η − η3 + 3 ξ + 4 η ξ − η3 ξ − ξ3 − η ξ3 


 
 
 


   

 φ8 



 −1 − η + η 2 + η 3 − ξ − η ξ + η 2 ξ + η 3 ξ





 
 
 


   

 φ9 




 1 + η + ξ + η ξ − ξ2 − η ξ2 − ξ3 − η ξ3 



 
 
 


 φ10 
 
 2 + 3 η − η3 − 3 ξ − 4 η ξ + η3 ξ + ξ3 + η ξ3 


 
 
 


 
 
 


 φ11 
 
 −1 − η + η 2 + η 3 + ξ + η ξ − η 2 ξ − η 3 ξ 


 
 
 


   
φ 
12
 −1 − η + ξ + η ξ + ξ 2 + η ξ 2 − ξ 3 − η ξ 3 

The finite element approximation of the displacement w over a given element with n nodes has the
form

w =
N1 (ξ, η) N2 (ξ, η) N3 (ξ, η) N4 (ξ, η) {w}e
(9.3.11)
=
N (ξ, η) {w}e

where
{w}Te =
w1 θx1 θy1 ··· w4 θx4 θy4 (9.3.12)

and
N (ξ, η) =
φ1 bφ2 aφ3 ··· φ10 bφ11 aφ12 (9.3.13)

Substituting (9.3.11)into (9.2.10) gives


1
Te = {ẇ}Te [m]e {ẇ}e (9.3.14)
2
where
$
[m]e = ρh
N (ξ, η) T
N (ξ, η) dξdη
A
$ 1 $ 1 (9.3.15)
= ρhab
N (ξ, η)
N (ξ, η) dξdη
T
−1 −1

is the element inertia matrix.

Substitution (9.3.11) and (9.2.7) into (9.2.9)gives


1
Ue = {w}Te [k]e {w}e (9.3.16)
2
76

where the stiffness element matrix is


$
h3
[k]e = [B]T [Db ][B]dA (9.3.17)
A 12

and the curvature vector in finite element [B] is


 2   
∂ 1 ∂2
2 2 2
 ∂x2   a ∂ξ2 
[B] =  ∂ 2 
N (ξ, η) =  12 ∂ 2 
N (ξ, η) (9.3.18)
 ∂y   b ∂η 
∂2 2 ∂2
2 ∂x∂y ab ∂ξ∂η

The expression of curvature vector with respect to the shape function is as follows
 2 2 2 2 2 2

1 ∂ φ1 1 ∂ φ3
a2 ∂ξ 2
b ∂ φ2
a2 ∂ξ 2 a ∂ξ 2 · · · a12 ∂∂ξφ210 ab2 ∂∂ξφ211 a1 ∂∂ξφ212
 
[B] =  a ∂ φ12 
2 2 2 2 2 2
1 ∂ η1 1 ∂ φ2
 b2 ∂η2 b ∂η 2
a ∂ φ3
b2 ∂η 2 · · · b12 ∂∂ηφ210 1 ∂ φ11
b ∂η 2 b2 ∂η 2  (9.3.19)
2 2 2 2 2 2
2 ∂ φ1 2 ∂ φ2 2 ∂ φ3 2 ∂ φ10 2 ∂ φ11 2 ∂ φ12
ab ∂ξ∂η a ∂ξ∂η b ∂ξ∂η · · · ab ∂ξ∂η a ∂ξ∂η b ∂ξ∂η

where derivatives of shape functions are as follows :


   

 φ1   
 3 ξ−3 η ξ 


 
 
 


 φ   
 


 2  
 0 


 
 
 


 
 
 


 φ3   
 1−η−3 ξ+3 η ξ 


 
 
 


 φ4   
 −3 ξ + 3 η ξ 


 
 
 


 
 
 


 φ5   
 0 


 
 
 


2  φ

 
 

∂ 6 1 −1 + η − 3 ξ + 3 η ξ
= (9.3.20)
∂ξ 
2
 φ7   4 −3 ξ − 3 η ξ 


 
 
 


 
 
 


 φ   

 8   0
 
 
 


   


 φ9  



 −1 − η − 3 ξ − 3 η ξ 


 
 
 


 φ10  
 


 
 

3 ξ+3 η ξ 


 
 
 


 φ11  
 0 


 
 
 


 φ   
 1+η−3 ξ−3 η ξ 

12
77

   

 φ1  
 3 η−3 η ξ 


 
 
 


 
 
 


 φ2  
 −1 + 3 η + ξ − 3 η ξ 


 
 
 


 
 
 


 φ3  
 0 


 
 
 


 φ4  
 


 
 
 3 η+3 η ξ 


 
 
 


 φ5  
 −1 + 3 η − ξ + 3 η ξ 


 
 
 


 
 
 

∂2 φ6 1 0
= (9.3.21)
∂η 2 
 φ7  4 
 −3 η − 3 η ξ 


 
 
 


 
 
 


 φ8  
 1+3 η+ξ+3 η ξ 


 
 
 


 
 
 


 φ9  
 0 


 
 
 


 
φ10  
 −3 η + 3 η ξ 


 
 
 


 
 
 


 
φ11  
 1+3 η−ξ−3 η ξ 


 
 
 


 
 
 

φ12 0
   

 φ1  
 4 − 3 η2 − 3 ξ2 


 
 
 


   


 φ2 





 1 + 2 η − 3 η2 




 
 
 


 φ3  
 −1 − 2 ξ + 3 ξ 2 


 
 
 


   


 φ4 





 −4 + 3 η 2 + 3 ξ 2 




 
 
 


 φ5  
 −1 − 2 η + 3 η 2 


 
 
 


   
∂2 φ6  1  −1 + 2 ξ + 3 ξ 2 
= (9.3.22)
∂ξ∂η 
 φ7  8
 4 − 3 η2 − 3 ξ2 


 
 
 


   

 φ8 



 −1 + 2 η + 3 η 2 



 
 
 


   

 φ9 



 1 − 2 ξ − 3 ξ2 



 
 
 


 φ10 
 
 −4 + 3 η 2 + 3 ξ 2 


 
 
 


 
 
 


 φ11 
 
 1 − 2 η − 3 η2 


 
 
 


   
φ12   1 + 2 ξ − 3 ξ2 

9.4 Example

The natural frequency of simple supported thin plate is given by



m n DE
ωmn = π 2 [( )2 + ( )2 ] (9.4.1)
L1 L2 ρh

where
Eh3
DE = (9.4.2)
12(1 − υ 2 )
is the flexural rigidity of the plate.
78

The speculation of plate is as follows ρ = 1, h = 1, E = 48, L1 = 8, L2 = 8, υ = 0.5 and 4 × 4 element


are used in finite element model.
Mode Number Analytical solution(rad/s) Finite Element Solution(rad/s)
ω11 0.7123 0.6875
ω12 = ω21 1.7807 1.6977
ω22 2.8491 2.5488
ω13 = ω31 3.5414 4.0931
ω23 = ω32 4.6298 4.0931
ω33 6.4104 5.4184

You might also like