NUMERICAL METHODS – STODOLA’S METHOD

o It is a numerical method, which is used to find the fundamental

natural frequency and modal vector of a vibratory system having
multi-degree of freedom.

o The method is based on finding inertia forces, and deflections at

various points of interest using flexibility influence coefficients.

1 Dr Asif Israr - Institute of Space Technology

 NUMERICAL METHODS – STODOLA’S METHOD

Principle / steps
 x1  1
  
K1 1. Assume a modal vector of system x 2   1
x  1
m1  3  
x1

K2
2. Find out inertia forces of system at each mass point
m2
x2
F1  m1ω2 x1 Mass 1
K3
F2  m2ω 2 x 2 Mass 2
m3
x3 F3  m3ω2 x 3 Mass 3
2 Dr Asif Israr - Institute of Space Technology
 NUMERICAL METHODS – STODOLA’S METHOD

Principle / steps

3. Find new deflection vector using flexibility

K1
influence coefficents
 x1  F1α11  F2α12  F3 α13 
m1
x1
   
K2 
x 2   F1α21  F2α22  F3 α23 
x  F α  F α  F α 
m2  3   1 31 2 32 3 33 
x2
4. If assumed modal vector is equal to modal vector
K3
obtained in step 3, then solution is converged.
m3 Natural frequency can be obtained from above
x3
equation
3 Dr Asif Israr - Institute of Space Technology
 NUMERICAL METHODS – STODOLA’S METHOD
Principle / steps
4.
K1
 x1   x1  Stop iterating. Find natural
    frequency by:
m1
x1 x 2   x2 
x  x  x1  1  F1α11  F2α12  F3 α13
K2  3  3

m2
x2
5. If assumed modal vector is not equal to modal vector
K3 obtained in step 3, then consider obtained deflection
m3
vector as new vector and iterate till convergence.
x3

4 Dr Asif Israr - Institute of Space Technology

 PROBLEM 1: STODOLA’S METHOD

2K
Find the fundamental natural frequency and
2m
modal vector of a vibratory system using x1
Stodola’s method
K
2m
x2

K
m
x3

5 Dr Asif Israr - Institute of Space Technology

 PROBLEM 1: STODOLA’S METHOD

First iteration  x1  1

  
1. Assume a modal vector of system x 2   1
2K x  1
 3  
2m
x1 u1
K 2. Find out inertia forces of system at each mass
point
2m
x2
F1  m1ω 2 x1  2mω 2
K
F2  m2ω2 x 2  2mω2
m
x3 F3  m3ω2 x3  mω2
6 Dr Asif Israr - Institute of Space Technology
 PROBLEM 1: STODOLA’S METHOD
3. Obtain flexibility influence coefficients

F 1
α11  
2K K eq 2K
F1=1unit 2m
11
F 1 1 1 3 3
K α 22     α22 
K eq K eq 2K K 2K 2K
F2=1unit 2m
22
F 1 1 1 1 5
α33     
K K eq K eq 2K K K 2K
F3=1unit m 33 α33 
5
2K
7 Dr Asif Israr - Institute of Space Technology
 PROBLEM 1: STODOLA’S METHOD
1
α11  α21  α12  α31  α13 
2K
2K 3 5
α22  α32  α23  α33 
2m
2K 2K
x1
3. Find new deflection vector using flexibility
K influence coefficients
2m
x2  x1  F1α11  F2α12  F3 α13 
   
K x2   F1α21  F2α22  F3 α23 
x  F α  F α  F α 
m  3   1 31 2 32 3 33 
x3

8 Dr Asif Israr - Institute of Space Technology

 PROBLEM 1: STODOLA’S METHOD

x1  F1α11  F2α12  F3 α13

mω2 mω2 mω2 5mω2
2K x1    
K K 2K 2K
2m
x1 x2  F1α 21  F2α 22  F3 α23
K mω2 6mω2 3mω2 11mω2
x2    
2m
x2
K 2K 2K 2K
x3  F1α31  F2α32  F3 α33
K
mω2 6mω2 5mω2 13mω2
m
x3
x3    
K 2K 2K 2K

9 Dr Asif Israr - Institute of Space Technology

 PROBLEM 1: STODOLA’S METHOD

 x1  5
  mω   2
2K 4. New deflection vector is: x2   11
 x  2K  
2m  3 13 
x1

K  x1   1 
  5mω  2

2m
x2   2.2
x2  x  2K  
 3 2.6  u2
K
The new deflection vector u2  u1
m
Iterate again using new deflection vector u2
x3

10 Dr Asif Israr - Institute of Space Technology

 PROBLEM 1: STODOLA’S METHOD

Second iteration
 x1   1 
   
2K 1. Initial vector of system x2   2.2 
x  2.6 
2m  3  
x1

K 2. Find out inertia forces of system at each mass

point
2m
x2 F1  m1ω 2 x1  2mω 2
K F2  m2ω2 x2  4.4mω2
m F3  m3ω2 x3  2.6mω2
x3

11 Dr Asif Israr - Institute of Space Technology

 PROBLEM 1: STODOLA’S METHOD
3. New deflection vector
x1  F1α11  F2α12  F3α13
2K mω2 4.4mω2 2.6mω2 9mω2
x1    
2m K 2K 2K 2K
x1
x2  F1α 21  F2α 22  F3α23
K
mω2 13.2mω2 7.8mω2 23mω2
2m
x2
x2    
K 2K 2K 2K
K x3  F1α31  F2α32  F3α33
m mω2 13.2mω2 13mω2 28.2mω2
x3 x3    
K 2K 2K 2K
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 PROBLEM 1: STODOLA’S METHOD

 x1   9 
  mω  2

2K 4. New deflection vector is: x 
 2    23 
x  2K  
2m  3 28.2 
x1

K  x1   1 
  9mω  
2

2m x2   2.55 
x2 x  2K  
 3 3.13  u3
K
The new deflection vector u3  u2
m
Iterate again using new deflection vector u3
x3

13 Dr Asif Israr - Institute of Space Technology

 PROBLEM 1: STODOLA’S METHOD

Third iteration
 x1   1 
   
2K 1. Initial vector of system x  
 2   2.55 
x  3.13 
2m  3  
x1

K 2. Find out inertia forces of system at each mass point

2m
x2
F1  m1ω 2 x1  2mω 2
K F2  m2ω2 x2  5.1mω2
m
x3 F3  m3ω2 x3  3.13mω2

14 Dr Asif Israr - Institute of Space Technology

 PROBLEM 1: STODOLA’S METHOD
3. New deflection vector
x1  F1α11  F2α12  F3α13
2K mω2 5.1mω2 3.13mω2 10.23mω2
x1    
2m K 2K 2K 2K
x1
x2  F1α 21  F2α 22  F3α23
K
mω2 15.3mω2 9.39mω2 26.69m ω2
2m
x2
x2    
K 2K 2K 2K
K x3  F1α31  F2α32  F3α33
m mω2 15.3mω2 16.5mω2 28.2mω2
x3 x3    
K 2K 2K 2K
15 Dr Asif Israr - Institute of Space Technology
 PROBLEM 1: STODOLA’S METHOD

 x1 10.23 
  mω  
2
2K 4. New deflection vector is: x 
 2   26.69 
x 2K  
2m  3  33.8 
x1

K  x1  1 
  10.23m ω  
2

2m x2  2.60 
x2 x 2K 3.30 
 3   u4
K
m The new deflection vector u4  u3 stop Iterating
x3

16 Dr Asif Israr - Institute of Space Technology

 PROBLEM 1: STODOLA’S METHOD

4. New deflection vector is:

2K  x1  1 
  10.23m ω  
2

2m x2  2.60 
x1 x 2K 3.30 
 3  
K
10.23mω2
2m
x2
1
2K
 1 
 
K
ω  0.44
K A 1  2.60 
m m 3.30 
x3  
Fundamental natural frequency, modal vector
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 PROBLEM 2: STODOLA’S METHOD

3K
For the system shown in figure find the lowest
4m
natural frequency by Stodola’s method (carryout x1
two iterations) K
2m
x2

K
m
x3

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 PROBLEM 2: STODOLA’S METHOD
Obtain flexibility influence coefficients
F 1
α11  
3K K eq 3K
F1=1unit 4m
11 F 1 1 1 4 4
α 22     α22 
K K eq K eq 3K K 3K 3K
F2=1unit 2m
22 F 1 1 1 1 7
α33     
K
K eq K eq 3K K K 3K
7
F3=1unit m 33 α33 
3K
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 PROBLEM 2: STODOLA’S METHOD

1
3K α11  α21  α12  α31  α13 
3K
4m
x1 4 7
α22  α32  α23  α33 
K 3K 3K
2m
x2  x1  1
  
K 1. Assume a modal vector of system x 2   1
x  1
m
 3  
x3

20 Dr Asif Israr - Institute of Space Technology

 PROBLEM 2: STODOLA’S METHOD

2. Find out inertia forces of system at each mass point

3K F1  m1ω 2 x1  4mω 2
4m
x1
F2  m2ω2 x 2  2mω2

K F3  m3ω2 x3  mω2
2m 3. New deflection vector using flexibility influence
x2
coefficients
K  x1  F1α11  F2α12  F3 α13 
   
m x2   F1α21  F2α22  F3 α23 
x3
x  F α  F α  F α 
 3   1 31 2 32 3 33 
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 PROBLEM 2: STODOLA’S METHOD

x1  F1α11  F2α12  F3 α13

4mω2 2mω2 mω2 7mω2
3K x1    
3K 3K 3K 3K
4m
x1 x2  F1α 21  F2α 22  F3 α23
K 4mω2 8mω2 4mω2 16mω2
x2    
2m
3K 3K 3K 3K
x2
x3  F1α31  F2α32  F3 α33
K
4mω2 8mω2 7mω2 19mω2
m x3    
x3 3K 3K 3K 3K

22 Dr Asif Israr - Institute of Space Technology

 PROBLEM 2: STODOLA’S METHOD

 x1  7
  mω   2
3K 4. New deflection vector is: x2   16 
 x  3K  
4m  3 19 
x1

K  x1   1 
  7mω  
2
2m 
x 2   2.28 
x2 3K 
 x  
 3  2.71 u2
K
m
x3

23 Dr Asif Israr - Institute of Space Technology

 PROBLEM 2: STODOLA’S METHOD

Second iteration
 x1   1 
   
3K 1. Initial vector of system x 
 2   2.28 
x   2.71
4m  3  
x1

K 2. Find out inertia forces of system at each mass point

2m
x2
F1  m1ω 2 x1  4mω 2
K F2  m2ω2 x2  4.56mω2
m
x3
F3  m3ω2 x3  2.71mω2

24 Dr Asif Israr - Institute of Space Technology

 PROBLEM 2: STODOLA’S METHOD
3. New deflection vector
x1  F1α11  F2α12  F3α13
3K 4mω2 4.56mω2 2.71mω2 11.27m ω2
x1    
4m 3K 3K 3K 3K
x1
x2  F1α 21  F2α 22  F3α23
K
4mω2 18.24m ω2 10.84m ω2 33.08m ω2
2m
x2
x2    
3K 3K 3K 3K
K x3  F1α31  F2α32  F3α33
m 4mω2 18.24m ω2 18.97mω2 41.21m ω2
x3 x3    
3K 3K 3K 3K
25 Dr Asif Israr - Institute of Space Technology
 PROBLEM 2: STODOLA’S METHOD

 x1  11.27 
  mω  
2
3K 4. New deflection vector is: x 
 2   33.08 
x  3K  
4m  3  41.21 
x1

K  x1   1 
  3.75mω  
2

2m x2   2.93 
x2 x  K 3.65 
 3   u3
K
m Stop Iterating as it is asked to carry only two
x3
iterations

26 Dr Asif Israr - Institute of Space Technology

 PROBLEM 2: STODOLA’S METHOD

4. New deflection vector is:

 x1   1 
  3.75mω  
2
3K
x2   2.93 
4m x  K 3.65 
x1  3  
K
3.75mω2
2m 1
x2 2K  1 
 
K
K A1  2.93 
ω  0.52 3.65 
m
x3 m  
Fundamental natural frequency, modal vector
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 DISADVANTAGE OF STODOLA’S METHOD

o Main drawback of Stodola’s method is that the method can

be used to find only fundamental natural frequency and
modal vector of a vibratory systems
o This method is not popular because of this reason

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 PRACTICE PROBLEMS ON STODOLA’S METHOD

6K 6K 6K

4m 4m 4m

x1
4K 4K 4K
2K 2K 2K
3m 3m 3m
x2
2m 2m 4K 2m 4K
x3
4K

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 Holzer’s Method
30

 Holzer proposed a method of calculation for the natural

frequencies and mode shapes of torsional systems by assuming a
frequency and starting with a unit amplitude at one end of the
system and progressively calculating the torque and angular
displacement to the other end.
 The frequencies that result in zero external torque or compatible
boundary conditions at the other end are the natural frequencies
of the system.
 This method can also be applied to any lumped-mass system,
linear spring-mass systems, beams modeled by discrete masses
and beam springs, and so on

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 Holzer’s Procedure for Torsional Systems
31

 Figure shows a torsional system represented by a series of disks

connected by shafts. The equations of motion from Newton’s
second law are:
J11   K1 (1   2 )
J 22  K1 (1   2 )  K 2 ( 2   3 ) Eqn. 1

J   K (   )
3 3 2 2 3

 The motions are harmonic at a principal mode of vibration.

Substituting i  i sin t and simplifying, we get
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 Holzer’s Procedure for Torsional Systems
32

  2 J11   K1 (1   2 )
  2 J 2 2  K1 (1   2 )  K 2 ( 2  3 ) Eqn. 2

  2 J 3  3  K 2 ( 2   3 )

 Summing the equations gives

3

 i i  0
J 
i 1
2 Eqn. 3

 Correspondingly, for an n disk system, we have

n

 i i  0
J 
i 1
2 Eqn. 4

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 Holzer’s Procedure for Torsional Systems
33

 The equation states that the sum of the inertia torque of an

unrestrained or semi-definite system must be zero.
 The trail frequency ω must satisfy this constraint. Hence this is
another form of the frequency equation.
 To begin with,
 Assume a frequency ω and  1  1

 Calculate  2 from the first equation in Eqn. 2, and

 Calculate  3 from
1  1
the second equation in Eqn. 2, that is, J 2
2  1  1
1
K1
2
3   2  ( J11  J 22 )
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 Holzer’s Procedure for Torsional Systems
34

 The values of  1 ,  2 , and  3 are substituted in Eqn. 3 to check

whether the constraint is satisfied, If not, a new value of ω is
assumed and the process repeated.
 Note that the equations for  2 , and  3 can be generalized for an n
disk system as
2 j 1
 j   j 1   J i i j  2,3,, n Eqn. 5
K j 1 i 1

 In summary, the method consists of the repeated application of

Eqns. 4 and 5 for different trial frequencies.
 If the trail frequency is not a natural frequency of the system,
Eqn. 4 will not be satisfied.
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 Holzer’s Procedure for Torsional Systems
35

 The amplitudes  i , i=1,2,…,n, also give the mode shape for the
given natural frequency.
 Also note that there is one node for the first mode, two for the
second mode etc., the mode of vibration can be determined from
the sign changes in  i . For example, if there are two sign changes
in  i , the frequency must be the second harmonic.

Dr Asif Israr - Institute of Space Technology

 Problem 1
36

 Find the natural frequencies and locate the nodes for the
torsional system shown in the figure.

 There is no standard procedure for estimating a trial frequency in

applying Eqns. 4 and 5. As an initial trial, assume an equivalent
system, considering of J1 and (J2 + J3) at the two ends connected
by a shaft with kt1 and kt2 in series.
Dr Asif Israr - Institute of Space Technology
 Problem 1
37

 The spring constant k of this equivalent system is

1 103 20
kt    kN  m / rad
1 / kt1  1 / kt 2 1 / 10  1 / 20 3

 The trial frequency is

kt kt 20 / 3 103 20 / 3 103
     173 rad / sec
J1 J 2  J 3 0.4 0.1  0.4

 Now we procede with the calculation as shown in the Table form

Dr Asif Israr - Institute of Space Technology

38

Dr Asif Israr - Institute of Space Technology

 Problem 1
39

 As we can see in the table for the first trial the residual torque is
-0.92 KN-m, which is not zero
 The –ive sign indicates that the trial frequency is too high for the
first mode.
 Similarly, a frequency ω = 165 rad/sec is used for the second
trail and the residual torque is 1.13 KN-m.
 A linear interpolation between the first and the second trail gives
ω = 170 rad/s.
 The natural frequencies for the second and third harmonics are
found in like manner, and the mode shapes are illustrated as
follows:
Dr Asif Israr - Institute of Space Technology
40

Dr Asif Israr - Institute of Space Technology

 Problem 2
41

 Use Holzer method and determine the lowest natural frequency

of the branched torsional system as shown in fig.
J1 =10, J2=15, J3=20, J4=10, J5=10, J6=20 in-Ib-sec2/rad; K1=100,
K2=200, K3=200, K4=100, K5=150 in-Ib/rad.

Dr Asif Israr - Institute of Space Technology

 Problem 2
42

Dr Asif Israr - Institute of Space Technology

 Problem 2
43

Dr Asif Israr - Institute of Space Technology

 Problem 2
44

Dr Asif Israr - Institute of Space Technology

 Problem 2
45

 Plotting the values of the assumed frequency against the

remaining torques, we obtain

and thus the fundamental natural frequency of the system is

12  2.7 or 1  1.64rad / sec

Dr Asif Israr - Institute of Space Technology

 Summary

Multi degree of freedom Systems

Numerical Method of obtaining fundamental natural

frequency
Stodola’s method to find first natural frequency and first
modal vector of a system
Holzer’s Procedure for Torsional system

46 Dr Asif Israr - Institute of Space Technology