Mechanical Vibrations

Chapter 6

Peter Avitabile
Mechanical Engineering Department
University of Massachusetts Lowell

22.457 Mechanical Vibrations - Chapter 6 1 Dr. Peter Avitabile

Modal Analysis & Controls Laboratory
MDOF Equations of Motion

Equation of Motion for 2 DOF

m1   &x&1 
   
 m 2  &x& 2 
(c1 + c 2 ) − c 2   x& 1 
+   
 − c2 c 2  x& 2 
(k1 + k 2 ) − k 2   x1   f1 ( t ) 
+   = 
 − k 2 k x f
2  2   2 ( t ) 
can be written in compact matrix form as
[M ]{&x&}+[C]{x& }+[K ]{x}={F}

22.457 Mechanical Vibrations - Chapter 6 2 Dr. Peter Avitabile

Modal Analysis & Controls Laboratory
MDOF Equations of Motion

This coupled set of equations can be uncoupled by

performing an eigensolution to obtain ‘eigenpairs’
for each mode of the system, that is

‘eigenvalues’ and ‘eigenvectors’

or

‘frequencies’ (poles) and ‘mode shapes’

22.457 Mechanical Vibrations - Chapter 6 3 Dr. Peter Avitabile

Modal Analysis & Controls Laboratory
MDOF Equations of Motion

Equation of Motion
[M ]{&x&}+[C]{x& }+[K ]{x}={F( t )}
Eigensolution
[[K ]−λ[M ]]{x}=0
Frequencies (eigenvalues) and
Mode Shapes (eigenvectors)
\   ω1
2

 = 

Ω2
 
ω22  and [U ] = [{u1} {u 2 } L]
 \   \ 

22.457 Mechanical Vibrations - Chapter 6 4 Dr. Peter Avitabile

Modal Analysis & Controls Laboratory
MDOF - Orthogonality of Eigenvectors

Normal modes are ‘orthogonal’ with respect to the

system mass and stiffness matrices.
The eigen problem can be written as

[K ][U ] = [M ][U ][Ω 2 ]

For the ith mode of the system, the eigenproblem
can be written as
[K ]{u i } = λ i [M ]{u i } (6.6.1)

22.457 Mechanical Vibrations - Chapter 6 5 Dr. Peter Avitabile

Modal Analysis & Controls Laboratory
MDOF - Orthogonality of Eigenvectors

Premultiply that equation by the transpose of a

different vector uj

{u j}T [K ]{u i } = λi {u j}T [M]{u i } (6.6.2)

and write a second equation for uj and premultiply

it by the transpose of vector ui

{u i }T [K ]{u j } = λ j{u i }T [M ]{u j } (6.6.3)

22.457 Mechanical Vibrations - Chapter 6 6 Dr. Peter Avitabile

Modal Analysis & Controls Laboratory
MDOF - Orthogonality of Eigenvectors

Subtracting 6.6.3 from 6.6.2, yields

(λi − λ j ){u i }T [M]{u j}= 0 (6.6.2)

Since the eigenvalues for each mode are different,

{u i }T [M ]{u j } = 0 i≠ j (6.6.6)

When i=j, then the values are not zero

{u i }T [M ]{u i } = mii  i = j

{u i } [K ]{u i } = k ii 
(6.6.8)
T

22.457 Mechanical Vibrations - Chapter 6 7 Dr. Peter Avitabile

Modal Analysis & Controls Laboratory
Modal Matrix and Modal Space Transformation

Define the modal matrix as the collection of

modal vectors for each mode organized in
column fashion in the modal matrix
[U] = [{u1} {u 2 } {u 3} L]

This modal matrix is then used to define the

modal transformation equation with a new
coordinate with ‘p’ as the principal coordinate

 p1 
 
{x} = [U ]{p} = [{u1} {u 2 } L]p 2 
M
 

22.457 Mechanical Vibrations - Chapter 6 8 Dr. Peter Avitabile

Modal Analysis & Controls Laboratory
Modal Space Transformation

Substitute the modal transformation into the

equation of motion
[M ][U]{&p&} + [C][U]{p& } + [K ][U]{p} = {F}

In order to put the equations in normal form, this

equation must be premultiplied by the transpose of
the projection operator to give

[U ]T [M ][U ]{&p&} + [U ]T [C][U ]{p& } + [U ]T [K ][U ]{p} = [U ]T {F}

22.457 Mechanical Vibrations - Chapter 6 9 Dr. Peter Avitabile

Modal Analysis & Controls Laboratory
 Modal Space Transformation

The first term of the modal acceleration can

be expanded as

(
 {u1}T [M ]{u1} ) ({u1}T [M]{u 2}) ({u1}T [M]{u 3}) L

[U] [M ][U ] =
T

 {u 2 }(
T
[M ]{u1} ) ({u 2}T [M]{u 2}) ({u 2}T [M]{u 3}) 
L


(
 {u 3}T [M ]{u1} ) ({u 3}T [M]{u 2}) ({u 3}T [M]{u 3}) L

 M M M O

22.457 Mechanical Vibrations - Chapter 6 10 Dr. Peter Avitabile

Modal Analysis & Controls Laboratory
 Modal Space Transformation

Recall from orthogonality that

{u i }T [M ]{u j } = 0 i≠ j

so that
(
 {u1}T [M ]{u1} ) 0 0 L

[U]T [M ][U ] =  0 (
{u 2 }T [M ]{u 2 } ) 0

L


0 0 ({u 3}T [M ]{u 3} ) L

 M M M O

22.457 Mechanical Vibrations - Chapter 6 11 Dr. Peter Avitabile

Modal Analysis & Controls Laboratory
Modal Mass, Modal Damping, Modal Stiffness
 m11 0 0 L
 0 m 22 0 L
The mass becomes [U ] [M ][U ] = 
T 
 0 0 m33 L
 M O
 M M

 k11 0 0 L
 0 k L
The stiffness becomes [U] [K ][U] = 
T 22 0

 0 0 k 33 L

 M M M O

 c11 0 0 L
The damping becomes 0 c 0 L
[U] [C][U] = 
T 22 
(under special conditions) 0 0 c33 L
 M M O
 M

22.457 Mechanical Vibrations - Chapter 6 12 Dr. Peter Avitabile

Modal Analysis & Controls Laboratory
 Modal Space Transformation

The physical set of highly coupled equations are

transformed to modal space through the modal
transformation equation to yield a set of uncoupled
equations
Modal equations (uncoupled)
 p1  {u1} {F}
 T
 m1  &p&1   c1  p& 1   k1
 m2 &p& + c2 p& + k2 p ={u }T {F}
  2    2    2   2 
 \  M   \  M   \  M   M 


22.457 Mechanical Vibrations - Chapter 6 13 Dr. Peter Avitabile

Modal Analysis & Controls Laboratory
Modal Space Transformation

Diagonal Matrices -
Modal Mass Modal Damping Modal Stiffness
\  \  \ 
 M {&p&} +  C {p& } +  K {p} = [U ]T {F}
     
 \   \   \ 

Highly coupled system

p1 f1 p2 f2 p3 f3

transformed into
m1 m2 m3

k1 c1 k2 c2 k3 c3

simple system MODE 1 MODE 2 MODE 3

22.457 Mechanical Vibrations - Chapter 6 14 Dr. Peter Avitabile

Modal Analysis & Controls Laboratory
Modal Space Transformation

It is very clear to see that these modal space

equations result in a set of independent SDOF
systems
The modal transformation equation uncouples the
highly coupled set of equations
The modal transformation appropriates the force
to each modal oscillator in modal space
The modal transformation equation combines the
response of all the independent SDOF systems to
identify the total physical response

22.457 Mechanical Vibrations - Chapter 6 15 Dr. Peter Avitabile

Modal Analysis & Controls Laboratory
Modal Space Response Analysis

Since the MDOF system is reduced to equivalent

SDOF systems with appropriate force, the
response of each SDOF system can be determined
using SDOF approaches discussed thus far.
The total response due to each of the SDOF
systems can be determined using the modal
transformation equation

22.457 Mechanical Vibrations - Chapter 6 16 Dr. Peter Avitabile

Modal Analysis & Controls Laboratory
Modal Space Transformation

.. .
[M]{x} + [C]{x} + [K]{x} = {F(t)}

= Σ
p1 f1
m1

{x} = [U]{p} = [{u } {u } {u } ]{p} k1 c1

1 2 3
MODE 1
+ p2 f2

MODAL SPACE m2

k2 c2

.. . T +
MODE 2

[ M ]{p} + [ C ]{p} + [ K ]{p} = [U] {F(t)} p3 f3

m3

{u }p + {u }p + {u }p k3 c3
1 1 2 2 3 3
MODE 3

22.457 Mechanical Vibrations - Chapter 6 17 Dr. Peter Avitabile

Modal Analysis & Controls Laboratory
Modal Space - Modal Matrices

The mode shapes are linearly independent and

orthogonal w.r.t the mass and stiffness matrices
\ 
Modal Mass [U1 ]T [M1 ][U1 ] =  M1  TRUE !!!
 \ 

\ 
Modal Damping [U1 ]T [C1 ][U1 ] =  C1  ???????

 \ 

\ 
Modal Stiffness [U1 ]T [K1 ][U1 ] =  K1  TRUE !!!

 \ 
22.457 Mechanical Vibrations - Chapter 6 18 Dr. Peter Avitabile
Modal Analysis & Controls Laboratory
Proportional Damping

The damping matrix is only uncoupled for a special

case where the damping is assumed to be
proportional to the mass and/or stiffness matrices
\ 
[U1 ]T [α[M ] + β[K ]][U1 ] =  αM + βK 
 \ 
Many times proportional damping is assumed since
we do not know what the actual damping is
This assumption began back when computational
power was limited and matrix size was of critical
concern. But even today we still struggle with the
damping matrix !!!

22.457 Mechanical Vibrations - Chapter 6 19 Dr. Peter Avitabile

Modal Analysis & Controls Laboratory
Non-Proportional Damping

If the damping is not proportional then a state

space solution is required (beyond our scope here)
 [0] [M1 ] &x& [M1 ] [0]  x&  0 
− =
[M ]
 1 [C1 ]  x&   [0] [− K1 ] x  F
The equation of motion can be recast as
[B1 ]{Y& } − [A1 ]{Y} = {Q}
[0] [M1 ] [M ] [0] 
[B1 ] =   [A1 ] =  1 
[M1 ] [C1 ]   [0] [− K1 ]

The eigensolution and modal transformation is then

[[A1 ] − λ[B1 ]]{Y} = {0} {Y} = [Φ1 ]{p1}

22.457 Mechanical Vibrations - Chapter 6 20 Dr. Peter Avitabile

Modal Analysis & Controls Laboratory
MATLAB Examples - VTB4_1
VIBRATION TOOLBOX EXAMPLE 4_1

>> clear
>> m=[1 0;0 1];k=[2 -1;-1 1];
>> [P,w,U]=VTB4_1(m,k)

P=
0.5257 0.8507
0.8507 -0.5257
w=
0.6180
1.6180
U=
0.5257 0.8507
0.8507 -0.5257
>> m
m=
1 0
0 1
>> k
k=
2 -1
-1 1

>>

22.457 Mechanical Vibrations - Chapter 6 21 Dr. Peter Avitabile

Modal Analysis & Controls Laboratory
MATLAB Examples - VTB4_3
VIBRATION TOOLBOX EXAMPLE 4_3

>> clear
>> m=[1 0;0 1];d=[.1 0;0 .1];k=[2 -1;-1 1];
>> [v,w,zeta]=VTB4_3(m,d,k)
Damping is proportional, eigenvectors are real.

v=
-0.5257 -0.8507
-0.8507 0.5257
w=
0.6180
1.6180
zeta =
0.0809
0.0309
>> m
m=
1 0
0 1
>> d
d=
0.1000 0
0 0.1000
>> k
k=
2 -1
-1 1

22.457 Mechanical Vibrations - Chapter 6 22 Dr. Peter Avitabile

Modal Analysis & Controls Laboratory