So far, in Unit 3…

The general form of the equations of motion of a undamped system:

 M  x   K  x   0 Free Vibration.

 M  x   K x  0 Forced Vibration !!!!

Unit 3 Lecture 2
Frequency Response of 2 D.o.F. Mechanical Systems

General Method for Forced Response Solution Using Cramer’s Rule

Frequency Response Diagram
General Method for Forced Response

• Draw Free Body Diagrams in deflected position

• Write out equations of motion using Newton’s 2nd Law
• Substitute for any assumptions/simplifications
• Assume harmonic solutions & forcing (x=Xsint, y=Ysint
or: x=Xcost, y=Ycost etc.)
• Rewrite in Matrix format
• Solve using one of the following
Cramer’s Rule, Principal Coordinates, Matrix inversion etc.
• Interpretation of results.
¼ car model

m1 Vehicle body (part of it)

Suspension Spring

Unsprung mass
m2
(wheel, hub, tyre)
Tyre

Ground input
Draw Free Body Diagrams in deflected position
+ve m1 m1

x1
k1 k1  x1  x2 
m2 m2
x2 k 2 x 2  y 
k2

y
Note we have assumed that x1>x2>y
and hence in the deflected position shown, both springs are in tension

Equations of Motion m x   Forces
For m1 m1x1   k1  x1  x2 
For m2 m2 x2  k1  x1  x2   k 2  x 2  y 
 Rearrange to get forcing terms onto the right hand side
For m1 m1 x1  k1 x1  k1 x2  0
For m2 m2 x2  k1 x1  k1  k2  x2  k2 y

Substituting for any assumptions/simplifications

(non needed )

Assume harmonic solutions and forcing: Output/displacement

Input/forcing
x1  X1 sint x2  X 2 sin t
y  Y sin  t x2  2 X 2 sint
hence x1   2 X 1 sin t

For m1   2 m1 X 1  k1 X 1  k1 X 2  0
For m2   m2 X 2  k1 X 1  k1  k2  X 2  k2Y
2
   2 m1 X 1  k1 X 1  k1 X 2  0
Rewrite in matrix form   2 m 2 X 2  k1 X 1  ( k1  k 2 ) X 2  k 2Y

 m1 0   X 1   k1  k1   X 1   0 
  2
       
 0 m2   X 2    k1 k1  k2   X 2  k2Y 
 2 [M ] x  [K ] x  F
or  k1   2 m1  k1  X1   0 
     
  k1 k1  k 2   m 2   X 2 
2
k Y
 2 
A  x  F
 [ K ]   2 [ M ]   A 
Solve Using Cramer’s Rule, Matrix Inversion, Principal Coordinates

Matrix Inversion A  x  F  x  A  F
1
Cramer’s Rule

a11 a12   X 1   F1 
a    
 21 a22   X 2   F2 
a
F111 a12 a11 aF12
1
a
F221 a22 a21 aF222
X1  and X2 
a11 a12 a11 a12
a21 a22 a21 a22
 k1  2m1  k1 X1   0 
Cramer’s Rule      
  k1 k1  k2   m2 X2  k2Y 
2

A x  F
Hence in the case of our 1/4 car model

0  k1
k2Y k1  k2  2 m2 k1k2
X1   Y
k1   m1
2
 k1  2

k1   m1 k1  k2   m2  k1
2 2

 k1 k1  k2  2 m2

k 1   2 m1 0
 k1 k 2Y ( k1   2 m1 )k 2
X2  
k1  2 m1  k1  2

k 1   m1 k1  k 2   m 2  k1
2 2
Y

 k1 k1  k2  2 m2
 k1   2 m1  k1  X1   0 
Example 12      
  k1 k1  k 2   2
m X k Y
 2   2 
2

The parameters given are: m1 = 600 kg k1 = 0.2 MN/m

m2 = 50 kg k2 = 0.5 MN/m

first we examine the free response, ([A]X=0)

characteristic equation of: 3 4  43 * 10 3  2  10 * 10 6  0

natural frequencies of:

1 = 15.4 rad/s (or 2.45 Hz) and 2 = 119 rad/s (or 18.9 Hz)
 k1   2 m1  k1  X1   0 
Example 12      
1st mode:   k1 k1  k 2   2
m X k Y
 2   2 
2

At = 15.4 rad/s m1 = 600 kg k1 = 0.2 MN/m

1
m2 = 50 kg k2 = 0.5 MN/m
X1 k1 3.44
 
X 2 k1   m1
2
1

X1

X2
 k1   2 m1  k1  X1   0 
Example 12      
  k1 k1  k 2   2
m X k Y
 2   2 
2
2nd mode:
m1 = 600 kg k1 = 0.2 MN/m
At 2 = 119 rad/s m2 = 50 kg k2 = 0.5 MN/m
X1 k1  0.0242
  Node is a point which is stationary at
X 2 k1   m1
2
1 all time during vibration or oscillation
of a system in one of the principle
modes.

X1 Node

X2
Example 12
Now let us consider the forced response, ([A]X=F)
k1k 2 (k1k 2  k 2 m1 2 )
X1  Y X2 
 2
 2

k1   m1 k1  k 2   m2  k12
k1   m1 k1  k2   m2  k1
2 2 2
Y

Or:
10  106 10  106  30  10 3  2
( X1  Y X2  Y)
3  43  10   10  10
4 3 2 6
3  43  10   10  10
4 3 2 6

Examine how X1 & X2 vary with frequency

k1 k 2 k1k 2
@   0 X1  2 Y Y X2  2 YY
k1  k1 k 2  k1
2
k1  k 1 k 2  k 1
2
 Example 12
Now let us consider the forced response, ([A]X=F)
k1 k 2 (k1k2  k 2 m1 2 )
X1  Y X2 
  
k1   m1 k1  k 2   m2  k1
2 2 2
  
k1   m1 k1  k 2   m2  k1
2 2 2
Y

Or:
10  106 10  106  30  10 3  2
( X1  Y X2  Y)
3  43  10   10  10
4 3 2 6
3  43  10   10  10
4 3 2 6

Examine how X1 & X2 vary with frequency

k1 k 2 k1k 2
@   0 X1  2 Y Y X2  2 YY
k1  k1 k 2  k1
2
k 1  k1 k 2  k1
2

@   1 or  2 k1k2 k1k 2  k 2 m1 2

X1  Y  X2  Y
0 0
 Example 12
Now let us consider the forced response, ([A]X=F)
k1k2 (k1k 2  k 2 m1 )
2
X1  Y X2  Y
  
k1   m1 k1  k2   m2  k1
2 2 2
 2
 2

k1   m1 k1  k2   m2  k12

Or:
10  106 10  10 6  30  10 3  2
( X1  Y X2  Y)
3  43  10   10  10
4 3 2 6
3  43  10   10  10
4 3 2 6

Examine how X1 & X2 vary with frequency

k1 k 2 k1k 2
@   0 X1  2 Y Y X2  2 YY
k1  k1 k 2  k1
2
k 1  k1 k 2  k1
2

k1k2 k1k 2  k 2 m1 2

@   1 or  2 X1  Y X2  Y
0 0
k1k2 k2
@  X1  Y 0 X1  Y  0
 