GOOD AFTERNOON

Analysis of Two-DOF systems

without damping
Vibration Absorber or Tuned Mass DYNAMIC ANALYSIS
Damper
Modal equations for Undamped
AND RESPONSE OF
Systems LINEAR SYSTEMS
Modal equations for Damped
Systems

ROLLY S. T
 An elastic system sometimes cannot be described adequately by a model having only one
mass but rather must be represented by a system of two or more masses considered to be point masses
or particles having no rotational inertia.
 A vibrating system that requires two or more independent coordinates (and their derivatives)
to describe its behavior is termed a multi-degree of freedom system. The actual number of degrees of
freedom for a vibrating system depends on the number of inertial elements (masses or rigid bodies) and
the number of constraints imposed on the motion.
 ANALYSIS OF TWO-DOF
SYSTEMS WITHOUT DAMPING
ANALYSIS OF TWO-DOF SYSTEMS WITHOUT DAMPING
𝒖𝟏 𝒖𝟐
𝒑𝒐 𝐬𝐢𝐧 𝝎𝒕
𝑚1 𝑚2
𝒌𝟏 𝒌𝟐

• 𝑭𝑩𝑫 𝒐𝒇 𝒎𝟏 : • 𝑭𝑩𝑫 𝒐𝒇 𝒎𝟐 :

𝒑𝒐 𝐬𝐢𝐧 𝝎𝒕

𝑘1 𝑢1 𝑚1 𝑘2 𝑢1 − 𝑢2 𝑚2
𝑘2 𝑢1 − 𝑢2

By Newton’s Second Law: By Newton’s Second Law:

𝑚1 𝑢1 = −𝑘1 𝑢1 − 𝑘2 𝑢1 − 𝑢2 + 𝑝𝑜 sin 𝜔𝑡 𝑚2 𝑢2 = 𝑘2 𝑢1 − 𝑢2

𝑚1 𝑢1 + 𝑘1 + 𝑘2 𝑢1 − 𝑘2 𝑢2 = 𝑝𝑜 sin 𝜔𝑡 (1) 𝑚2 𝑢2 + 𝑘2 𝑢2 − 𝑘2 𝑢1 = 0 (2)

𝑚1 0 𝑢1 𝑘 + 𝑘2 −𝑘2 𝑢1 𝑝𝑜
+ 1 𝑢2 = 0 sin 𝜔𝑡 (3)
0 𝑚2 𝑢2 −𝑘2 𝑘2
ANALYSIS OF TWO-DOF SYSTEMS WITHOUT DAMPING
𝒖𝟏 𝒖𝟐
𝒑𝒐 𝐬𝐢𝐧 𝝎𝒕
𝑚1 𝑚2
𝒌𝟏 𝒌𝟐

𝑚1 0 𝑢1 𝑘 + 𝑘2 −𝑘2 𝑢1 𝑝𝑜
+ 1 𝑢2 = 0 sin 𝜔𝑡 (3)
0 𝑚2 𝑢2 −𝑘2 𝑘2

Because the system is undamped, the steady-state solution

or
can be assumed as
(4)

Substituting this into Eq. (3), we obtain

𝑚1 0 𝑢1𝑜 𝑘1 + 𝑘2 −𝑘2 𝑢1𝑜 𝑝𝑜

−𝜔2 + 𝑢2𝑜 = 0
0 𝑚2 𝑢2𝑜 −𝑘2 𝑘2
ANALYSIS OF TWO-DOF SYSTEMS WITHOUT DAMPING
𝒖𝟏 𝒖𝟐
𝒑𝒐 𝐬𝐢𝐧 𝝎𝒕
𝑚1 𝑚2
𝒌𝟏 𝒌𝟐

Determinant:
(4)

(5)
ANALYSIS OF TWO-DOF SYSTEMS WITHOUT DAMPING
𝒖𝟏 𝒖𝟐
𝒑𝒐 𝐬𝐢𝐧 𝝎𝒕
𝑚1 𝑚2
𝒌𝟏 𝒌𝟐

Adjoint:
(4)
=

=
(5)
ANALYSIS OF TWO-DOF SYSTEMS WITHOUT DAMPING
𝒖𝟏 𝒖𝟐
𝒑𝒐 𝐬𝐢𝐧 𝝎𝒕
𝑚1 𝑚2
𝒌𝟏 𝒌𝟐

Thus, Eq. (5) becomes

(4)

(5)

=
MODAL EQUATIONS FOR
UNDAMPED SYSTEMS
MODAL EQUATIONS FOR UNDAMPED SYSTEMS
The equations of motion for a linear MDOF system without Orthogonality relations:
damping is:
(1)
Reducing the equation to:
The dynamic response of a system can be expressed as:

(2) or

𝜙𝑟 =r𝑡ℎ natural vibration mode 𝚽 =modal matrix

where
𝑞𝑟 =r𝑡ℎ modal coordinate 𝐪 =modal coordinate

Substituting Eq. (2) in Eq. (1) gives

𝑀𝑛 =generalized mass for nth natural mode

(3)
𝐾𝑛 =generalized stiffness for nth mode
Premultiplying each term in this equation by 𝜱𝒏 𝑻 gives: 𝑃𝑛 =generalized force for nth mode
End of presentation…
VIBRATION ABSORBER OR
TUNED MASS DAMPER
 A sinusoidal force 𝐹𝑜 sin 𝜔𝑡 acts on an undamped main mass-spring system (without the
absorber mass attached). When the forcing frequency equals the natural frequency of the main mass the
response is infinite. This is called resonance, and it can cause severe problems for vibrating systems.
 When an absorbing mass-spring system is attached to the main mass and the resonance of
the absorber is tuned to match that of the main mass, the motion of the main mass is reduced to zero at
its resonance frequency.
 If no damping is present, the response of the 2-DOF system is infinite at these new
frequencies. While this may not be a problem when the machine is running at its natural frequency, an
infinite response can cause problems during startup and shutdown.
 The 2-DOF system has two natural frequencies, corresponding to the two natural modes of
vibration for the system. In the lower frequency mode both masses move in the same direction, in-phase
with each other.
VIBRATION ABSORBER OR TUNED MASS DAMPER
The vibration absorber is a mechanical Steady State Response:
device used to decrease or eliminate unwanted 𝑝𝑜 sin 𝜔𝑡
vibration. The description tuned mass damper is often 𝑢=
𝑚 𝜔𝑛 2 − 𝜔 2
used in modern installation.
𝑘1
where 𝜔𝑛 =
𝑚1

𝒌𝟏 𝒑𝒐 𝐬𝐢𝐧 𝝎𝒕 max. when 𝜔 = 𝜔𝑛

𝑚1 The equation of motion for this system can be given by:

𝒖𝟏
𝑚1 0 𝑢1 𝑘 + 𝑘2 −𝑘2 𝑢1 𝑝𝑜
𝒌𝟐 + 1 𝑢2 = 0
0 𝑚2 𝑢2 −𝑘2 𝑘2

𝑚2
𝒖𝟐
VIBRATION ABSORBER OR TUNED MASS DAMPER
From equation Substitute to equation

𝑘2 𝑝𝑜 𝑘2
𝑢1𝑜 = 0, when 𝜔2 = 𝑢2𝑜 =
𝑚2 −𝑘2 2
Determinant −𝑝𝑜
𝑢2𝑜 =
𝑘2

The force acting on the absorber mass is

MODAL EQUATIONS FOR
DAMPED SYSTEMS
MODAL EQUATIONS FOR DAMPED SYSTEMS
When damping is included, the equations of motion for a Premultiplying each term in this equation by 𝜱𝒏 𝑻 gives:
MDOF system are:
(1)

Using the transformation

(2) which can be rewritten as:

𝜙𝑟 =r𝑡ℎ natural vibration mode 𝚽 =modal matrix

𝑞𝑟 =r𝑡ℎ modal coordinate 𝐪 =modal coordinate
where
Substituting Eq. (2) in Eq. (1) gives
The above N equations can be written in matrix form as:
(3)

Here C is a nondiagonal matrix of coefficients Cnr .

MODAL EQUATIONS FOR DAMPED SYSTEMS
The modal equations will be uncoupled if the system has Dividing by 𝑴𝒏 :
classical damping. For such systems 𝑪𝒏𝒓 = 𝟎 if 𝒏 ≠ 𝒓 and
𝑪𝒏 can be expressed as:

where

For such systems: 𝜁𝑛 =damping ratio for the nth mode

𝑀𝑛 =generalized mass for nth natural mode

𝐾𝑛 =generalized stiffness for nth mode
𝑃𝑛 =generalized force for nth mode
Thank you…