MECH7350 Rotating Machinery 4.

Multi-Degree-of-Freedom Systems

4. MULTI-DEGREE-OF-FREEDOM SYSTEMS

(This section is based largely on Thompson)

4.1 Translational Systems

In the following example (Fig. 4.1) damping is assumed to be negligible.

Fig. 4.1 (from Thompson).

Draw free-body diagrams for each mass displaced in the positive direction.

kx1 k ( x1 − x2 ) kx2
m 2m

Apply Second Law to each mass.

− kx1 − k ( x1 − x2 ) = m1ɺɺ
x1
+ k ( x1 − x2 ) − kx2 = 2mxɺɺ2

Look for modes of vibration where each mass vibrates harmonically at the same frequency
and passes through equilibrium at the same time (in-phase or 180 degrees out-of-phase).
Put;
x1 = A1 sin ωt or A1eiωt
x2 = A2 sin ωt or A2 eiωt
Then the two equations of motion become;

( 2k − ω m ) A − kA = 0
2
1 2
(4.1)
− kA + ( 2k − 2ω m ) A = 0
1
2
2

Or, in matrix notation;

 2k − ω 2 m −k   A1   0 
  = 
 −k 2k − 2ω m   A2   0 
2

For non-trivial solutions (i.e. not A1 = A2 = 0 ),

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MECH7350 Rotating Machinery 4. Multi-Degree-of-Freedom Systems

2k − ω 2 m −k
=0
−k 2k − 2ω 2 m

Put ω 2 = λ and expand;

2
 3k  3 k 
λ − λ +   = 0
2

m 2m
This is called the characteristic equation of the system. The two roots, λ1 and λ2 , are the
eigenvalues of the system.
k
λ1 = 0.634
m
Here
k
λ2 = 2.366
m
and the natural frequencies are;
0.634k
ω1 = λ1 =
m
2.366k
ω2 = λ2 =
m
From (4.1) the ratio of the amplitudes of vibration can be found;
A1 k
= = 0.731 for ω = ω1
A2 2k − ω 2 m

= -2.73 for ω = ω2
These are plotted in Fig. 4.2.
These are the natural modes of vibration.
At ω1 , masses vibrate naturally in phase.

At ω2 , masses vibrate naturally out of phase (or in opposition).

The actual amplitudes of vibration at natural frequencies depend on the magnitude, a, of
initial conditions.
Initial
displacement

x1 x2 x2

0.731a a a
−2.73a

x1

ω = ω1 ω = ω2
Fig. 4.2

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MECH7350 Rotating Machinery 4. Multi-Degree-of-Freedom Systems

If any general set of initial conditions are applied, the system will vibrate in a combination of
natural modes and beating will occur, as shown below.

4.2 Rotational Systems

Consider the rotational system in Fig. 4.3, with three degrees-of-freedom.
kt = torsional stiffness (torque T = ktθ )

I = moment of inertia

kt1 kt 2
I1 I2 I3
θ

Fig. 4.3.

Draw free-body diagrams for each rotor, with a positive θ.

kt1 (θ1 − θ 2 )
kt2 (θ 2 − θ1 )

kt1 (θ1 − θ 2 ) kt2 (θ 2 − θ1 )

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MECH7350 Rotating Machinery 4. Multi-Degree-of-Freedom Systems

For rotor 1: − kt (θ1 − θ 2 ) = I1θɺɺ1

1

For rotor 2: kt (θ1 − θ 2 ) − kt2 (θ 2 − θ3 ) = I 2θɺɺ2

1

For rotor 3: kt (θ 2 − θ3 ) = I 3θɺɺ3

2

Put;
θ1 = Θ1 sin ωt (or Θ1eiωt ) )
θ 2 = Θ 2 sin ωt (or Θ 2 eiωt ) )
θ 3 = Θ3 sin ωt (or Θ3eiωt ) )
In matrix form;
 ω 2 I1 − kt1 kt1 0  Θ
  1   0
 kt1 ω 2 I 2 ( − kt − kt ) kt 2   Θ2  =  0 
 1 2
    
 0 kt 2 ω 2 I 3 − kt 2   Θ 3   0 
 
Form is AΘ = 0

For non-trivial solutions, A =0

This gives the three eigenvalues, λ1 = 0, λ2 , λ3

For λ1 = 0, ω = 0 and Θ1 = Θ2 = Θ3
This is a rigid body rotational mode.
The two natural frequencies of vibration are λ1 and λ2

Packages such as MATLAB can be used to do the modelling and the matrix algebra, and
generate the natural frequencies and mode shapes.

4.3 Vibration of Continuous Systems

Because mass and elasticity are distributed continuously, an infinite number of coordinates
are needed to describe these systems, i.e. they have an infinite number of natural frequencies
and mode shapes. It is necessary to solve partial differential equations as opposed to the
ordinary differential equations for lumped parameter systems.

Some low-order natural frequencies are shown in Table 4.1 for transverse vibration of a
number of beams with different end conditions.

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MECH7350 Rotating Machinery 4. Multi-Degree-of-Freedom Systems

Table 4.1.

ω 2
Here: β4 = ρ ρ = density ω = frequency, rad/s
EI

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