3.3.

2 Modal superposition/decomposition method without damping

Equation of motion P1 (t ) P2 (t ) PN (t )

m  y ( t )   k  y ( t )   P ( t )  m1 m2 mN
N
Let  y ( t )    X i D i ( t ) y1 (t )
y 2 (t )
y N (t )
i 1
N N
m (   X i D i ( t ) )  k (   X i D i ( t ) )  P ( t )
i 1 N i 1 N
 X  m (   X i D i ( t ) )   X  k (   X i D i ( t ) )   X Tj P ( t ) 
T
j
T
j
i 1 i 1

 X Tj m  X  j D j ( t )   X Tj k  X  j D j ( t )   X Tj P ( t ) 

 ( t )  K * D ( t )  P * ( t )
M *j D ( j  1, 2 ,  N )
*
j j j j
M *j
M - generalized mass of Mode j
j Pj* (t ) D j (t )
*
K - generalized stiffness of Mode j
j K *j
*
P ( t ) - generalized force of Mode j
j
Equivalent system

k  X  j  2
j m  X  j
 2
j  K *j / M *
j
 X Tj k  X  j  2
j  X Tj m  X  j
3.3.2. Modal superposition/decomposition method without damping
P1 (t ) P2 (t ) PN (t )
Equation of motion
m1 m2 mN
m  y ( t )   k  y ( t )   P ( t ) 
N y1 (t ) y N (t )
Let  y ( t )     X i D i ( t ) y 2 (t )
i 1

 ( t )  K * D ( t )  P * ( t )
M *j D ( j  1, 2 ,  N )
j j j j
M *j
*
M -generalized mass of Mode j Pj* (t )
j
D j (t )
*
K j - generalized stiffness of Mode j Equivalent system K *
j
P j* ( t ) - generalized load of Mode j
Steps of calculation:
1. Find frequencies and vibration modes;
2. Find generalized mass and load;
3. Find modal coordinates/normal coordinates/combination coefficients ;
4. Find the displacement as Eq. below:
N
 y ( t )     X i D i ( t )
i 1
Example 3.8 Find the amplitude of vibration of the beam.
m 1  m 2  m   3 . 415 EI / ml 3
P sin t
Solution: m1 m2
EI EI EI
1  5.692 3
2  22.045
ml ml 3 y1 (t ) y 2 (t )
1 1
X 1    X 2   
1  1
M 1*   X 1T m  X 1  2m M *
2  X T2 m  X 2  2m
 P sin  t 
P1 ( t )   X  P ( t )   1 1 
T
  P sin  t
*
1
 0 
P2 ( t )   X 2 P ( t )   P sin  t
* T

 ( t )   2 D ( t )  P * ( t ) / M *
D 1 1 1 1 1
P 1  2 Pl
3

D 1 ( t )  D 1 , st  1 sin  t  2
 2 2
sin  t 2 . 411  10 sin  t
2m1 1   /  1 EI
 ( t )   2 D ( t )  P * ( t ) / M
D *
2 2 2 2 2

Pl 3
D 2 ( t )  0 . 1054  10  2 sin  t
EI
Example 3.8 Find the amplitude of vibration of the beam.
m 1  m 2  m   3 . 415 EI / ml 3
P sin t
Solution: m1 m2
EI EI EI
1  5.692 3
2  22.045
ml ml 3 y1 (t ) y 2 (t )
1 1
X 1    X 2   
1  1
y(t )  X 1 D1  X 2 D2
 y1 (t )  1 Pl 3
 1  Pl 3

      2.411 10
2
sin t     0.1054  10  2 sin t
 y2 (t ) 1 EI  1 EI
2.5167  Pl 3
   10
2
sin t
2.3059  EI
It can be seen: the lower-order modes
has a greater contribution in
 A1  2.5167  2 Pl 3
structural displacement. Hence, a
      10
A
 2  2 . 3059  EI superposition of several lower-order
modes could be an accurate
calculation of structural displacement.
Example 3.9 Find the displacement of the structure in
the figure under the step loading. P  8kN 2
Known: k 1  3  1 0 3 k N ; k 2  2  1 0 3 k N ; EI1  
m 1  m 2  m  1 0 2 0 0 k g ; Still before loading. k2 1
Solution: 1  9.899 1/ s; 2  24.25 1/ s EI1  
1   1 
X 1    X 2    k1
2   1 / 2 
 X 1  m   X 1  5 1 0 0 0 k g M 2*   X  2  m   X  2  1 2 7 5 0 k g
T T
M 1* 
0 
P1 ( t )   X 1  P ( t )  1 2     16 kN P2* ( t )   X  2  P ( t )   4 kN
* T T

8 
t P ( )
*
D 1 ( t )   1 * sin(  1 t   ) d 
0 M 
1 1
*
P1
 (1  cos  1 t )  0 . 0032 (1  cos  1 t )
M 11*
y1  0.00267  0.0032 cos 1t
D 2 ( t )   0 . 000534 (1  cos  2 t )
 0.000534 cos  2t
 y1 (t )  1   1  y2  0.00667  0.0064 cos 1t
      D1 (t )     D2 (t )
 y2 (t ) 2  1 / 2   0.000267 cos  2t
3.3.3. Modal decomposition/ superposition method with damping
Damping force:  f D   c  y ( t )  P1 (t ) P2 (t ) PN (t )
 c 11 c 12  c1 N  m1 m2 mN
c c 22  c 2 N  -Damping matrix
c    21 y1 (t ) y N (t )
     y 2 (t )
 
c N 1 cN 2  c NN  f D1 fD2 f DN

c ij
-Damping force on Particle i when Particle j is given a unit velocity.

 0 i  j
If the formula is established,  X  c  X  j
T
i   *
C j i  j

 c  is the orthogonal damping matrix; c *j is called as the generalized damping

coefficient on Mode j.

Equation of motion: m  y ( t )   c  y ( t )   k  y ( t )   P ( t ) 

N
Assume：  y ( t )    X  D i i (t )
i 1

 ( t )  C * D ( t )  K * D ( t )  P * ( t )
M *j D ( j  1, 2 ,  N )
j j j j j j
3.3.3. Modal decomposition/ superposition method with damping
P1 (t ) P2 (t ) PN (t )
Equation of motion
m1 m2 mN
m  y ( t )   c  y ( t )   k  y ( t )   P ( t ) 
N y1 (t ) y N (t )
y 2 (t )
Let  y ( t )    X i D i ( t ) f DN
i 1 f D1 fD2

 ( t )  C * D ( t )  K * D ( t )  P * ( t ) ( j  1, 2 ,  N )
M *j D j j j j j j

Let: C *j  2  j  j M *
j
 j -Damping ratio on Mode j(from the test).
 ( t )  2   D ( t )   2 D ( t )  P * ( t ) / M
D *
j j j j j j j j

Steps of calculation: 1.Find frequencies and vibration modes;

2.Find generalized mass and load;
3.Determine the modal damping ratios;
4.Find combination coefficients;
5.Find the displacement as Eq. below:
N
 y ( t )    X i D i ( t )
i 1
3.3.4. Establishment of orthogonal damping matrix

c   a  m   b  k  -Proportional damping (Rayleigh Damping)

Two damping ratios are known,  i  j

C i*   X Ti c  X i  aM i
*
 bK i
*

C i*  2  i i M i
*

aM i*  bK *
a  bK i* / M *
1
i  i
 i
 ( a  b  i2 )
2  i M i* 2 i 2 i
1
j  ( a  b  2j )
2 j
Example 3.10 Find the orthogonal damping matrix and damping ratio  3 ,c 
Known: 1   2  0 . 05
1  0.44 k / m ;  2  1.247 k / m ;  3  1.802 k / m
1 1
Solution:  1  (a  b )  2 
1
2
( a  b  22 )
2 1 2 2 m 3
k
a  0 . 0328 k / m b  0 . 0591 m/k m
1 2
3  ( a  b  32 )  0 . 0624 k
2 3 m 1
m   2 1 0  k

m   m  k    1 2  1  k

 m  0  1 1 
 0.151  0.0591 0 
c  am  bk    0.0591 0.151  0.0591  mk
 0  0.0591 0.0919 
1
c   a  m   b  k  j  ( a  b  2j )
2 j
Please finish all problems in A4 paper，then take pictures for
me.
Send them by WeChat or Email, on October 28, 2020.

2020/10/23
PROBLEMS 10.6, 10.7 on Page 442 in Chopra’s book.