3.

1 Two-degree-of-freedom systems
Subject CSE40418:
Advanced Structural Analysis

Phase I:
Structural Dynamics (3)

Prof. Y.Q. Ni (Prof. Ngai)

Office: ZS930 (CEE)
Phone: 2766 6004
E-mail: ceyqni@polyu.edu.hk

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For mass 1,
Weeks 3-4:
m1u1  f1S (t )  f1D (t )  p1 (t )
Dynamics of multi-degree-of-freedom where
systems f1S (t )  k1u1  k2 (u1  u2 )
f1D (t )  c1u1  c2 (u1  u2 )
• Two-degree-of-freedom systems
• General multi-degree-of-freedom systems For mass 2,

• Modal analysis m2u2  f 2 S (t )  f 2 D (t )  p2 (t )

where
• Rayleigh damping
f 2 S (t )  k2 (u2  u1 )
• Response analysis using modal decomposition
f 2 D (t )  c2 (u2  u1 )

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So
Two-storey shear building:
m1u1  c1u1  c2 (u1  u2 )  k1u1  k 2 (u1  u2 )  p1 (t )

m2u2  c2 (u2  u1 )  k 2 (u2  u1 )  p2 (t )

or

m1u1  (c1  c2 )u1  c2u2  ( k1  k 2 )u1  k 2u2  p1 (t )

m2u2  c2u1  c2u2  k 2u1  k 2u2  p2 (t )

In matrix form:

  cu  ku  p(t )
mu
where,

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 u (t )  • Consider an idealized two-storey frame subjected to external

u(t )   1   displacement vector forces p1(t) and p2(t). The beams and floors are idealized to
u2 (t ) be rigid (infinitely stiff) in flexure, and the mass is idealized
m 0 as concentrated at the floor levels.
m 1   mass matrix
 0 m2  • The forces acting on each floor mass mj include the external
forces pj(t), the elastic resisting (restoring) force fSj, and the
c  c  c2  damping force fDj. The inertia force of the floor mass mj is
c 1 2  damping matrix
  c2 c2  m j u j .

• The 2 DOFs are taken as lateral displacements u1(t) and u2(t)

k  k  k2  of the two floors in x direction. The external force is taken to
k 1 2  stiffness matrix
  k2 k2  be positive along the positive direction of the x-axis. The
elastic and damping forces are acting in the opposite
direction because they are internal forces that resist the
 p (t ) 
p(t )   1   load vector motions.
 p2 (t )

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 The elastic resisting force fSj is next related to the floor Governing equations of motion:
displacements. The lateral stiffness kj of the jth storey
relates storey shear Vj to storey deformation or drift, m1u1  f D1  f S1  p1 (t )
j = uj  uj1, by
m2u2  f D 2  f S 2  p2 (t )
V j  k j j
that is,

The storey stiffness is the sum of lateral stiffnesses of m1u1  c1u1  c2 (u1  u2 )  k1u1  k 2 (u1  u2 )  p1 (t )
all columns in the storey. For a storey of height h and
a column with modulus E and second moment of area m2u2  c2 (u2  u1 )  k2 (u2  u1 )  p2 (t )
Ic, the lateral stiffness of a column with clamped ends,
is 12EIc/h3. Thus the storey stiffness: or
m1u1  (c1  c2 )u1  c2u2  ( k1  k 2 )u1  k 2u2  p1 (t )
12 EI c
kj   3
columns h m2u2  c2u1  c2u2  k 2u1  k2u 2  p2 (t )

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In matrix form:
 The elastic force fS1 at the first floor is made up of two   cu  ku  p(t )
a mu
contributions: f S1 from the storey above, and f Sb1 from
where,
the storey below. Thus  u (t ) 
u(t )   1 
f S1  f Sa1  f Sb1  k1u1  k 2 (u1  u2 ) u2 (t )
f S 2  k2 (u2  u1 ) m 0
m 1 
 The damping force fDj is next related to the floor  0 m2 
velocities. The jth storey damping coefficient cj relates
k  k  k2 
storey shear Dj due to damping effects to the velocity k 1 2
  k2 k2 
 associated with the storey deformation by
j
D j  c j  j c  c  c2 
c 1 2
  c2 c2 
So f D1  f Da1  f Db1  c1u1  c2 (u1  u2 )
 p (t ) 
f D 2  c2 (u2  u1 ) p(t )   1 
 p2 (t )
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 The governing equations for the above 2-DOF system:

m1x1  c1x1  c3 ( x1  x2 )  k1x1  k3 ( x1  x2 )  p1(t )

m2 x2  c2 x2  c3 ( x2  x1)  k2 x2  k3 ( x2  x1)  p2 (t )

or
m1x1  (c1  c3 ) x1  c3 x2  (k1  k3 ) x1  k3 x2  p1 (t )

m2 x2  c3 x1  (c2  c3 ) x2  k3 x1  (k2  k3 ) x2  p2 (t )

in matrix format:

m1 0   x1   (c1  c3 )  c3   x1   (k1  k3 )  k3   x1    p1 (t ) 

 0 m2   x2    c3 (c2  c3 )  x2    k3 (k2  k3 )  x2   p2 (t )

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Example 2:
Example 1:
Formulate the equations of motion for the following two-
Establish the governing equations for the following system in storey shear frame .
matrix form.

Solution:
Solution:
m1  2m m2  m

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 12(2 EI c ) 48 EI c 12( EI c ) 24 EI c The governing equations:
k1  2  k2  2 
h3 h3 h3 h3 m1 y1  k1 y1  k 2 ( y1  y2 )  F1 (t )

m   1
m 0
 m 
2 0 m2 y2  k 2 ( y2  y1 )  k3 ( y2  y1 )  F2 ( t )
 0 m2  0 1
m3 y3  k3 ( y3  y2 )  F3 (t )
k  k  k 2  24 EI c  3  1
k   1 2  In matrix form:
  k2 k 2  h 3  1 1 
My  Ky  F (t )
2 0  u1  24 EI c  3  1  u1   p1 (t ) 
m 
where,
    
0 1 u2  h3  1 1  u2   p2 (t ) m1 0 0 
 y1 
  M   0 m2 0 
The stiffness matrix is non-diagonal, implying that the y   y2   
two equations are coupled, and in their present form y   0 0 m3 
must be solved simultaneously.  3

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3.2 Three-degree-of-freedom systems k1  k2  k2 0   F1 (t ) 

 
K    k 2 k 2  k3  k3  F (t )   F2 (t )
(i) Undamped system:  
 0  k3 k3   F (t ) 
 3 

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(ii) Damped system: In matrix form:

My  Cy  Ky  F (t )
where,

 y1   F1 (t )  m1 0 0 
    M  0 m2 0 

y   y2  F (t )   F2 (t )  
y   F (t )   0 0 m3 
 3  3 

k1  k2  k2 0  c1  c2  c2 0 
K    k 2 k 2  k3  k3  C   c2 c2  c3  c3 

   
 0  k3 k3   0  c3 c3 

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3.3 General multi-degree-of-freedom systems

m1 y1  c1 y1  k1 y1  c2 ( y1  y 2 )  k2 ( y1  y2 )  F1 (t )

m2 y2  c2 ( y 2  y1 )  k 2 ( y2  y1 )  c3 ( y 2  y 3 )  k3 ( y2  y3 )  F2 (t )

m3 y3  c3 ( y 3  y 2 )  k3 ( y3  y2 )  F3 (t )

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 The governing equations: k1  k 2  k 2 0 0 0 0 
  k 2 k 2  k3  k 3 0 0 0 
m1u1  c1u1  k1u1  c2 (u1  u2 )  k 2 (u1  u2 )  p1 (t )  0  k3  kj 0 0 
K  
 0 0  k j k j  k j 1  k j 1 0 
m2u2  c2 (u2  u1 )  k2 (u2  u1 )  c3 (u2  u3 )  k3 (u2  u3 )  p2 (t )  0 0 0  k j 1   kN 
 0 0 0 0  k N 
  kN
m j uj  c j (u j  u j 1 )  k j (u j  u j 1 )  c j 1 (u j  u j 1 )  k j 1 (u j  u j 1 )  p j (t )
c1  c2  c2 0 0 0 0 
   c2 c2  c3  c3 0 0 0 
 0  c3  cj 0 0 
mN uN  c N (u N  u N 1 )  k N (u N  u N 1 )  p N (t ) C 
 0 0  c j c j  c j 1  c j 1 0 
 0 0 0  c j 1   cN 
In matrix form:
 0 0 0 0  cN 
  Cu  Ku  P (t )
Mu  cN

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Question:
where,
 u1   p1 (t ) 
 u2   p 2 (t ) 
   
u   P (t )    
u p j (t )
 j  
     
u N   p N (t )

m1 0 0 0 0 0 
 0 m2 0 0 0 0 
 
M 0 0  0 0 0 
0 0 0 mj 0 0
 
0 0 0 0  0 
 0 0 0 0 0 mN 

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 Example 3:
Because yi = ui + ys, we have
Formulate the equations of motion for the N-storey shear
frame subjected to ground excitation ys (t ) .
m1 (u1  ys )  c1u1  k1u1  c2 ( u1  u2 )  k 2 (u1  u2 )  0

m2 (u2  ys )  c2 (u2  u1 )  k 2 (u2  u1 )  c3 ( u2  u3 )  k3 (u2  u3 )  0


m j (uj  ys )  c j (u j  u j 1 )  k j (u j  u j 1 )  c j 1 (u j  u j 1 )  k j 1 (u j  u j 1 )  0


mN (uN  ys )  c N (u N  u N 1 )  k N (u N  u N 1 )  0

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Solution:
or,
The absolute displacement of the jth floor is yi and the relative
displacement of the jth floor relative to the base is ui. There is m1u1  c1u1  k1u1  c2 (u1  u2 )  k2 (u1  u2 )   m1 ys
relation
u i  yi  y s (i  1, 2, , N )
m2u2  c2 (u2  u1 )  k 2 (u2  u1 )  c3 (u2  u3 )  k3 (u2  u3 )   m2 ys
where ys is the ground excitation motion.

m1 y1  c1 ( y1  y s )  k1 ( y1  y s )  c2 ( y1  y 2 )  k 2 ( y1  y2 )  0 

m2 y2  c2 ( y 2  y1 )  k2 ( y2  y1 )  c3 ( y 2  y 3 )  k3 ( y2  y3 )  0 m j uj  c j (u j  u j 1 )  k j (u j  u j 1 )  c j 1 (u j  u j 1 )  k j 1 (u j  u j 1 )  m j ys



m j y j  c j ( y j  y j 1 )  k j ( y j  y j 1 )  c j 1 ( y j  y j 1 )  k j 1 ( y j  y j 1 )  0
 mN uN  c N (u N  u N 1 )  k N (u N  u N 1 )   mN ys
mN yN  c N ( y N  y N 1 )  k N ( y N  y N 1 )  0

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 In matrix form: This is a set of n linear equations with n unknown displacements
aj and an unknown parameter 2. It is called eigenproblem. Its
nontrivial solution, that is, the solution for which not all aj = 0,
  Cu  Ku   M {1}ys (t )
Mu requires that the determinant of the matrix factor of {a} be
equal to zero:

where u is the displacement vector relative to the

motion of the base; M, C, and K are structural mass
matrix, damping matrix, and stiffness matrix. {1} is
a vector with its all elements equal to 1. ys (t ) is the
ground acceleration excitation acting on the base.
[ K ]  2 [ M ]  0
It is the characteristic equation, from which n solutions of 2
can be obtained. These values of  are natural frequencies of
the system. For each solution of , we can solve the eigen-
equation for a1, a2,  , an in terms of an arbitrary constant.

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3.4 Undamped free vibration Example 4:

[ M ]{ x}  [ K ]{ x}  0 The building consists of a series of 2-storey shear frames
spaced 15 ft apart. The weight of the floors and walls are
For undamped free vibration of an n-degree-of-freedom indicated in the figure and are assumed to include the
system, we seek the solutions in the form structural weight as well. Find the natural frequencies of
x j  a j sin(t  ) j  1, 2,, n the shear frame.

or in vector notation
{ x}  {a}sin(t  )
where aj is the amplitude of motion of jth coordinate.

 2 [ M ]{a}sin( t   )  [ K ]{a} sin( t  )  0

( 2 [ M ]  [ K ]){a} sin( t   )  0

([ K ]  2 [ M ]){a}  0

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Solution:
For a nontrivial solution, we require the determinant of the
15 10
W1  100  30  15  20  (  )  15  2  52,500 lb coefficient matrix to be equal to zero, i.e.,
2 2
m1  W1 / g  136 lb  sec2 / in k1  k 2  m12  k2
0
 k2 k 2  m12
10
W2  50  30 15  20   15  2  25,500 lb
2 The expansion of this determinant gives a quadratic equation
m2  W2 / g  66 lb  sec 2 / in of 2, namely,

12 E (2 I ) m1m24  [(k1  k2 )m2  m1k2 ]2  k1k2  0

k
h3
89764  10,974,8002  1.36 109  0
12  30 106  248.6  2
k1   30,700 lb/in
(15 12)3 The roots of this quadratic equation are

12  30  106 106.3  2 12  140 22  1082

k2   44,300 lb/in
(10  12)3
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The equations of the system: Therefore the circular frequencies of the structure are

m1 y1  k1 y1  k 2 ( y2  y1 )  0 1  11.83 rad/sec 2  32.89 rad/sec

m2 y2  k 2 ( y2  y1 )  0 or the natural frequencies
Let f1  1 / 2  1.88 Hz f 2  2 / 2  5.24 Hz
y1  a1 sin( t  )
and the corresponding natural periods
y2  a2 sin( t   )
T1  1 / f1  0.532 sec T2  1 / f 2  0.191 sec
we have
2
y1  a1 sin(t  ) With the obtained values of , we can solve the eigen-equations
to calculate the amplitudes a1 and a2. Since the determinant is
y2  a22 sin(t  ) equal to zero, the number of independent equations is one less.
Thus in the present case, the system of two equations is
reduced to one independent equation. Considering the first
k1  k 2  m1 2  k 2   a1  0 eigen-equation and substituting 1 = 11.8 rad/sec, we obtain
     
  k2 k 2  m1 2  a2  0 55,960 a11  44,300 a21  0

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Here we have introduced a second subindex in a1 and a2 to  The first mode or fundamental mode is referred to the
correspond to 1. Thus the normal mode or modal shape mode associated with the lowest frequency. The other
corresponding to the first natural frequency is
modes are called harmonics or higher modes. The total
a21 motion of the system can be expressed as a superposition
 1.263
a11 of all modal vibrations:

It is customary to describe the normal modes by assigning a y1 (t )  d1a11 sin( 1t  1 )  d 2 a12 sin( 2t   2 )
unit value to one of the amplitudes. For example we set a11
equal to unity so that y2 (t )  d1a21 sin( 1t  1 )  d 2 a22 sin( 2t   2 )
a11  1.000 a21  1.263 where the four constants d1, d2, 1, 2 are determined
from the initial conditions:
Similarly, substituting 2 = 32.9 rad/sec into the eigen-
equation, we obtain the second normal mode as y1 (0)  y01 y2 (0)  y02
a12  1.000 a22  1.629 y1 (0)  y 01 y 2 (0)  y 02

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Orthogonality of vibration modes:

For modal vectors of a structure, there are following
orthogonality conditions:
0 for i  j
{a}Ti [ M ]{a} j  M for i  j
 j
0 for i  j
{a}Ti [ K ]{a} j  
K j for i  j

where Mj is called modal mass; Kj is called modal stiffness.

And
 Now we arrive at two possible simple harmonic motions Kj
of the structure, which are called normal or natural   2j
modes of vibration. Their shapes are called modal Mj
shapes for corresponding natural frequencies 1 and 2. where
M j  {a}Tj [ M ]{a} j K j  {a}Tj [ K ]{a} j

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Rayleigh’s quotient: for i  j
{}Ti [ M ]{} j  
0
1 for i  j
Because
 0 for i  j
([ K ]  2 [ M ]){a}  0 {}Ti [ K ]{} j   2
 j for i  j
So
The orthogonality conditions can also be expressed as:
[ K ]{a}  2 [ M ]{a}
[Φ ]T [ M ][Φ ]  [ I ] [Φ ]T [ K ][Φ ]  [ Ω ]
[ K ]{a} j  2j [ M ]{a} j
Here [] is the modal matrix of the system and is expressed
as:
{a}Tj [ K ]{a} j  2j {a}Tj [ M ]{a} j
 11 12  1n 
   2 n 
{a}Tj [ K ]{a} j [Φ ]   21 22
2j     
 
{a}Tj [ M ]{a} j n1 n 2  nn 

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Normalization of modal shapes: and [] is a diagonal matrix containing the eigenvalues i2
in the main diagonal:
Mass-normalized mode shapes: amplitudes of vibration in a
normal mode are only relative values which may be scaled or
normalized to some extent as a matter of choice. The mass- 12 0  0
normalized mode is defined as:  2 
aij aij [ Ω ]   0 2  0
ij       
{a}Tj [ M ]{a} j 2
 nk 1 mk akj  0 0  2n 

where ij is the normalized ith component of the jth modal In the above expressions, the mass-normalized modal
vector.
vectors {}i are obtained by dividing the components of
the vector {a}i by {a}T [ M ]{a} .
For mass-normalized modal vectors, there are following i i
orthogonality conditions:

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Example 5:
Consequently, the normalized modes are:
For the 2-storey shear frame illustrated in Example 4,
determine the normalized modal shapes and verify the 11  1.00 / 241.31  0.0644 21  1.263 / 241.31  0.0813
orthogonality condition between modes.
12  1.00 / 311.08  0.0567 22  1.629 / 311.08  0.0924

The orthogonality condition:

 
[Φ]   11 12   0.0644 0.0567 
 21  22  0.0813  0.0924

[Φ ]T [ M ][Φ ]  0.0644 0.0813  136 0  0.0644 0.0567   1 0

0.0567  0.0924  0 66 0.0813  0.0924 0 1

Thus
[Φ ]T [ M ][Φ ]  [ I ]

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Solution: Example 6:
Use Rayleigh’s quotient to calculate an approximate value
W1  52,500 lb m1  136 lb  sec2 / in of the fundamental frequency of the 2-storey shear frame
illustrated in Example 4 by assuming the approximate
W2  25,500 lb m2  66 lb  sec2 / in
modal shape of the first mode {a}1T  1.00 1.50 .

a11  1.000 a21  1.263

Solution:
136 0 
a12  1.000 a22  1.629 [M ]   
 0 66


  1/ 2
{a}1T [ M ]{a}1   1.000 1.263136 0  1.000 
 0 66 1.263 
 241.31  75,000  44,300
[K ]   
 44,300 44,300 



{a}T2 [ M ]{a}2   1.000  1.629136 0  1.000 
 0 66  1.629 
 1/ 2
 311.08 136 0  1.00
{a}1T [ M ]{a}1  1.00 1.50    284.5
 0 66 1.50

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