Modes & System Response

Modes & Damping

 For no damping, mode ratios are real and are ratios of displacements only
 For with damping, characteristic roots are complex numbers
so mode ratios are also complex numbers
 Analysis is more difficult, results harder to interpret
 This is one reason damping is often neglected

 For with slight damping, characteristic roots and mode are almost same
as those of undamped model

 Even if damping is not small, insight gained from undamped analysis is often
quite useful for design purposes

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 Modes & System Response

Modes, State-Variable Models & Stability

 If equilibrium of linear model is stable, then it not possible to find a set of initial
conditions for which x(t )  
 If equilibrium is unstable, there might still be certain initial conditions that result
in the system returning to equilibrium [ x(t )  0]

 For example : unstable system with equation and roots x  x  0, s  1

 If initial condition are x(0)  1, x(0)  1
t
then free response is x(t )  e , x(t )  0 as t  
 Note et corresponding to root at s = +1 does not appear in response
because of special nature of initial conditions

 Alternative form of model x  x  0 is x1  x2 , x2  x1 ( x1  x, x2  x)

 To find free response, substitute x1 (t )  A1e , x2 (t )  A2e
st st

s 1
sA1  A2  0, sA2  A1  0   s2 1  0
1 s
 Roots : s  1
For s  1, A11  A21  0,  A21  A11
For s  1,  A21  A22  0,  A22   A12

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 Modes & System Response

Modes, State-Variable Models & Stability

 Superposition principle states that free response is
x1 (t )  A11et  A12et , x2 (t )  A21et  A22et

x2 (t )  A11et  A12et ( A21  A11 , A22   A12 )

 Vector form :
 x1 (t )   A11et   A12et   x1 (t )  t 1 t  1 

 x (t )   t
  t 
or x (t )   x (t )   A e 
1 12  1
A e
 2   A11e    A12e 
11
 2    

 Response consists of two modes

 Each mode has a magnitude which is a function of time
Magnitude of 1st mode : A11et  1st mode grows with time
Magnitude of 2 nd mode : A12et  2nd mode disappears with time

 Vector shows how state variables related to one another for that mode
1 1
1st mode :    x1  x2 , 2 nd mode :  1  x1   x2
1  
 Free response is sum of both modes

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 Modes & System Response

Effect of Initial Conditions

 Vector form at t = 0 :
 x (0)  1 1
x(0)   1   A11    A12   ( e0  1)
 x2 (0)  1  1

 Initial condition determine value of A11, A12

 If Initial condition is A11  0  1st mode does not appear in free response
1  Only be satisfied if x1 (0)   x2 (0)
x(0)  A12  
 1

 If Initial condition is A12  0  2nd mode does not appear in free response
1  Only be satisfied if x1 (0)  x2 (0)
x(0)  A11  
1

 Thus any initial conditions satisfying x1 (0)   x2 (0) will suppress unstable 1st mode,
only 2nd mode will appear

 Because 2nd mode is stable, x(t) will approach zero as time increases

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 Modes & System Response
Example : Free Response of Fluid Coupling
Determine modes and form of free response
I11  T1  c(1  2 ), I 22  T2  c(1  2 )

 T1 = T2 = 0, 1 (t )  A1est , 2 (t )  A2est
I1s  c c
( I1s  c) A1  cA2  0,  cA1  ( I 2 s  c) A2  0   ( I1s  c)( I 2 s  c)  c 2  0
c I2s  c
c( I1  I 2 )
s1  0, s2    b  System is neutrally stable because s1 = 0
I1 I 2
A2 A I
1st mode ( s1  0) :  1, 2 nd mode ( s2  b) : 2   1
A1 A1 I2
 Inertia rotate at same speed ( A2  A1 )
1st
mode  Speed do not change ( es1t  e0  1)
 Rigid-body mode

 Inertia rotate opposite direction,

2nd different speeds (2 / 1   I1 / I 2 )
mode
 Speed will decay to zero

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 Harmonic Response
Frequency Transfer Functions
 Equation of motion : m1 x1  f1 (t )  k1 x1  k2 ( x1  x2 )
m2 x2  k3 x2  k2 ( x1  x2 )
 Transfer function by Laplace transform using zero initial conditions
(m1s 2  k1  k2 ) X 1 ( s)  k2 X 2 ( s)  F1 ( s)
k2 X 1 ( s)  (m2 s 2  k2  k3 ) X 2 ( s)  0
 Using Cramer’s method :
X1 ( s) m2 s 2  k2  k3 X 2 ( s) k
 ,  2 , D( s)  (m1s 2  k1  k2 )(m2 s 2  k2  k3 )  k22
F1 ( s) D( s ) F1 ( s) D( s)
 Suppose forcing function : Harmonic
f1 (t )  F1 sin t
 Frequency transfer function :
X 1 (i ) k2  k3  m2 2

F1 (i ) D(i )
X 2 (i ) k2

F1 (i ) D(i )

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 Harmonic Response

Frequency Transfer Functions

 Two roots of D(i) = 0 : 1 , 2
D(i )  m1m2 ( 2  12 )( 2  22 )  D(i )  (k1  k2  m1 2 )(k2  k3  m2 2 )  k22
 Frequency transfer function :
X 1 (i ) k2  k3  m2 2 X 2 (i ) k2
 , 
F1 (i ) m1m2 ( 2  12 )( 2  22 ) F1 (i ) m1m2 ( 2  12 )( 2  22 )

 When  = 1 or  = 2,
transfer function become infinite
 resonant frequencies
k2  k3
 If k2  k3  m2  0,  
2

m2
numerator is zero

 When forcing function has this

frequencies, steady-state motion of
mass m1 will be zero

Frequency response plot

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 Harmonic Response

Frequency Transfer Functions

 Normalized frequency response :  Frequency response plots

kX 1 (i ) 2  r2 kX 2 (i ) 1
 2  2
F (i ) (r  1)(r 2  3) F (i ) (r  1)(r 2  3)

(m1  m2  m, k1  k2  k3  k , f1  f , r   / 1 , 12  k / m, 22  3k / m)

 Resonance occurs at   1 ,   2

 Node :   21 m1 m2
 mass m1 is motionless
at steady-state

  21

Frequency response plot

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 Harmonic Response

Phase Plot
 Frequency response plots are readily obtained from transfer functions
 Phase angle plots can also give useful information about
 motion of system relative to input or
 motion of constituent masses relative to each other

 Example : Two-mass suspension model

m1 x1  c( x2  x1 )  k1 ( x2  x1 )
m2 x2  c( x2  x1 )  k1 ( x2  x1 )  k2 ( y  x2 ) 50% higher

m1  250 kg, m2  40 kg, Amplitude plot

k1  1.5 104 N/m, k2  1.5 105 N/m
c  1917 N×s/m
 Transfer function :
X 1 ( s) (0.2876s  2.25)105

Y ( s) s 4  55.6s 3  4185s 2  43.14 104 s  2.75 105
Phase plot
X 2 (s) (0.0375s 2  0.2876 s  2.25)105

Y ( s) s 4  55.6s 3  4185s 2  43.14 104 s  2.75 105

 At   60 rad/s, wheel & chassis

motion lag behind road’s motion by
90º, 180º, respectively
Frequency response plot

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 General Forced Response
 How to use transfer function to obtain steady-state response to forcing function
such as step and ramp inputs
 Transfer function and Laplace transform method provide most systematic way
of analyzing the response

Suspension System Transfer Functions

 Single-mass model : ignore dynamics of tire-wheel assembly
focus on dynamics of main body
 Two-mass model : consider dynamics of tire-wheel assembly

k1k2
k
k1  k2

1 DOF model 2 DOF model

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 General Forced Response

Suspension System Transfer Functions

 Single-mass model :
k1k2 X ( s) k
k  2
k1  k2 Y ( s) ms  cs  k

 Two-mass model :
 Equation of motion :
m1 x1  cx1  k1 x1  cx2  k1 x2  0
m2 x2  cx2  (k1  k2 ) x2  cx1  k1 x1  k2 y

 Laplace transform with zero initial conditions :

(m1s 2  cs  k1 ) X 1 ( s)  (cs  k1 ) X 2 ( s)  0
(cs  k1 ) X 1 ( s)  (m2 s 2  cs  k2 ) X 2 (s)  k2Y (s)

 Transfer functions :
X (s) k2 (cs  k1 )

Y ( s ) m1m2 s 4  (m1  m2 )cs 3  (m1k2  m2 k1 )s 2  k2cs  k1k2
X 2 (s) k2 (m1s 2  cs  k1 )

Y ( s) m1m2 s 4  (m1  m2 )cs 3  (m1k2  m2 k1 ) s 2  k2cs  k1k2

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 Design Assignment
Obtain the natural frequencies and mode shapes of the system

 Assuming :
1. Since the flywheel inertia is so much larger than the other inertias, a simpler model
of the shaft vibrations can be obtained by assuming the flywheel does not rotate
2. Since the shaft between the engine and gears is short, we will assume that is very
stiff compared to the other shafts
 The resulting model consists of two inertias, one obtained by lumping the engine and
gear inertias, and one for the propeller
Diameter ratio : D1 / D2  1.5
Mass moment of inertia : Gear1  500 kg m 2 , Gear 2  100 kg m 2
Flywheel  104 kg m 2 , Engine  103 kg m 2 , Propeller  2500 kg m2
kT 1  5 106 N m/rad, kT 2  106 N m/rad

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 Chapter Review
 Apply Newton’s laws and Lagrange’s equations to develop equation of motion
for 2 DOF systems
 Identify modes of a system and compute its natural frequencies
 Analyze harmonic response
 Obtain response to a general forcing function
 Analyze role of nodes in modal response

엇을 해야 할지 더 이상 알 수 없을 때, 그 때 비로소 진정한 무엇인가를 할 수 있다.

느 길로 가야 할지 더 이상 알 수 없을 때, 그 때가 비로소 진정한 여행의 시작이다.
시인 나짐 하크메트

하루하루 최고의 가능성이 꽃필 수 있도록 날마다 새로운 곳을 향해

즐겁게 출발해야
하는 것, 그것이 ‘존재의 이유’가 아닐까?

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