MODAL ANALYSIS OF 2DOF

BASE EXCITATION SYSTEM

ME446 PBL

Muhammad Arbaz Ul Haq 2018241

Muhammad Areeb 2018242
Muhammad Taha Khan 2018337
Muhammad Usman 2018346

u2018242
 Table of Contents
Problem Analysis ........................................................................................................................................... 2
1.1 Literature Review .......................................................................................................................... 2
1.1.1 Inferences from the literature review .................................................................................. 5
1.2 Introduction .................................................................................................................................. 5
1.2.1 Fundamentals of 2 dof System with Base Excitation ............................................................ 5
1.3 Description of Key Concepts ......................................................................................................... 7
1.3.1 Mode 1 .................................................................................................................................. 7
1.3.2 Mode 2 .................................................................................................................................. 8
Proposed Methodology ................................................................................................................................ 9
2.1 Process Design .............................................................................................................................. 9
2.2 Mathematical Modelling ............................................................................................................. 11
Detailed Logic Design .................................................................................................................................. 13
3.1 Logic Design ................................................................................................................................ 13
3.2 Algorithm .................................................................................................................................... 13
3.3 Flow Chart ................................................................................................................................... 15
3.4 Implementation of Logic in Software.......................................................................................... 16
Real Time Implementation.......................................................................................................................... 18
4.1 Experimentation ......................................................................................................................... 18
4.2 Demonstration of Results ........................................................................................................... 19
4.3 Error Analysis .............................................................................................................................. 22
Conclusion ................................................................................................................................................... 22
References .................................................................................................................................................. 22
1 Problem Analysis

1.1 Literature Review

This literature was focused on the response curves of a 2DOF nonlinear system under base
excitation. A system containing 2 masses with two transverse and a parallel spring was
constructed. This nonlinear system was then analyzed using techniques of numerical analysis the
first one being harmonic balance-based continuation. The energy balance method along with
bifurcation tracking and global analysis techniques was also employed in the research. The core
aspect of consideration was finding out the causes and effects of the merging of bifurcations with
the main response and their scope of attraction.
The two-degree-of-freedom system analyzed in this study is shown in Fig 1, together with the
single-degree of-freedom system used for normalization and comparison purposes. The usual
assumptions regarding linearity, rigid masses, massless springs, and viscous dampers are made.

Figure 1

There are some frequency responses as discussed earlier the Isolas or those isolated responses that
may merge with the main response causing an effect on the final response. These isoals can go
easily unchecked and undetected but can cause problems in an application behavior. An increased
forcing may cause drastic variations in the frequency and the amplitude response posing an issue
as to the safety of response under consideration. After studying the forced system behaviors by
tracking of limit point bifurcations against amplitude and frequency response was carried out with
the help of harmonic method. The results showed that these isolas come into existence by the
annihilation of two Limit points. In the end a global analysis was employed to attain the basis of
excitations of these isolas which were shown in MATLAB processed images of the different
responses.
The 2 DOF base excited system with hardening springs was then solved using mathematical
modeling. Modal frequency responses of this nonlinear system were then obtained and plotted on
MATLAB for further analysis. The innate nature of these isoals was studied as well in the paper.
The nonlinear normal modes of this system were explored, and frequency energy plots were used
to study these relations. The nonlinear modal frequencies were also plotted against the vibration
amplitude to estimate the relation between them or the maximum amplitude to reach the expected
frequency response.
As is evident by the experimental and analytical findings of this research that isolated responses
when merged with the main response through disintegration of limit points may drastically temper
the resonance location and attraction of basin points which may cause dangerous implications in
application, as discussed and shown earlier a lot of different analytical techniques were made use
of and a further advance analysis is required to fill the gap between those things not scrutinized in
the discussed research paper.
The paper “Vibration Transmissibility of Two DOF Vibrating Systems” by Li, Zhuang derives
and discusses theoretical models of vibration transmissibility of 2-DOF vibrating systems. To
verify the theoretical analysis, finite element models were prepared using Ansys. In the paper a
case study of floating floor design is also presented. Viscous damping was assumed in the paper;
𝐹2(𝑤)
also, the vibration transmissibility of 2-DOF system is defined as: 𝑉𝑇 = 𝐹 (𝑤).
1

The paper focuses on 2-DOF vibration transmissibility given by the equation:

𝜔1 𝑚1
Here 𝛽 = and 𝜇 = , where 𝑚1 is the mass of vibrating machine to be isolated and 𝑚2 is the
𝜔2 𝑚2
mass of the non-rigid structure. Different cases were further discussed. Case A represented both
damping ratios to be zero i.e. 𝜉1 = 𝜉2 = 0. For this case if 𝜔 = 𝜔2 then the vibration energy does
not transmit to the non-rigid structure at this specific frequency, thus the system can be set to attain
low vibration transmission. Further simplification for this case by setting denominator to zero tell
us that the resonance frequencies of the system are lower than 𝜔1 and higher than 𝜔2 . Relation of
mass ratio to resonance frequencies was also studied which shows that increasing 𝜇(mass ratio)
decreases the first resonance frequency and increases the second resonance frequency.
For the Case B 𝜉2 = 0 i.e., that non-rigid structures’ damping is negligible. Frequency ratio vs.
Vibration transmissibility plots for different damping ratios were generated which show that
effective vibration isolation can be obtained at frequencies close to 𝜔2 . Resonance frequencies for
different damping ratios were also found. Effect of mass ratio on resonance frequencies was also
studied as 𝜇 increases the two resonance frequencies are further apart in frequency. Furthermore,
the transmissibility decreases at a rate of 20𝑑𝐵 per decade at high frequencies. Vibration
transmissibility from 𝑚1 to base decreases at 40𝑑𝐵 per decade at high frequencies.
Finite element simulation was performed; an FEA model was developed using Ansys APDL and
set of constant values were utilized. The analysis type was set to harmonic, frequency range was
from 0 𝑡𝑜 100𝐻𝑧 and the number of sub steps is 100. Vertical force was applied at 𝑚1 . The FEM
results were compared with theoretical results which were almost identical for the entire frequency
range. The case where 𝜉1 = 𝜉2 ≠ 0 is not discussed in this paper.
The paper “Response of a Two-Degree-of-Freedom Vibration System with Rough Contact
Interfaces“ by Zhiqiang Huang, Xun Peng, Gang Li and Lei Hao [1] analyzes the impact of contact
surface on the dynamics of a TDOF vibrational mechanical system. System was made in such a
way that base plate is surrounded by two air suspensions providing a static pressure. Piston is also
implemented which is surrounded by reaction masses. When vibrator starts working vehicle is
lifted upwards and all the weight is on the base plate of vibrator. Vibrator sends a signal to the
ground as the base plate is in contact with ground. The ground has different type of contacting
surface. This whole system is considered as a coupled TDOF vibration system.

Figure 2
In this research paper three models were needed to be made. First model was Fractal Surface
Model, this model describes the surface topography. This model was solved in MATLAB. Second
model was Finite Element Contact Model, this model was made to describe the contact of base
plate with ground. This model was solved using finite element analysis in MATLAB and then data
was imported to ABAQUS for finalized results. Third model was dynamic model, this model was
explaining the effect of free vibrations, base excitation, initial displacement and initial velocity.
This model was solved using the fourth-fifth order Runge-Kutta method.
Analysis showed varied response of force deflection characteristics at different types of contact
surfaces. Analysis showed, the rougher the surface topography the stronger the non-linearity.
Effect of undamped free vibrations was also prominent. As the initial displacement rises or falls
the second order natural frequency of system decreases and when second order natural frequency
decreases the rougher contact interfaces increases. In harmonic response analysis a jump
phenomenon is observed in the amplitude curves of reaction masses and base plate at same
frequencies. Amplitude response of system and jump frequency decrease with the rougher contact
interfaces. From bifurcation diagram it was also inferred that while vibrator on rougher ground
surface excessive excitation forces shouldn’t be practiced.

1.1.1 Inferences from the literature review

As mentioned in the literatures above the apparatus used is 2 DOF system with a base excitation
provided by a rotating disk connected by rods. The system used in the experimentation is
undamped with 𝜉1 = 0. The experimental model is obtained from the theoretical explanation
obtained from the literature above. A number of sensors such as the accelerometer (ADXL-335)
and position sensors are an extension to this apparatus. Simulink is interfaced along with
MATLAB with an (Arduino)-Uno to the actuator which in this case a simple DC-Motor. As
mentioned above the different mode shapes have been estimated to be achieved without a physical
manipulation at the time of the actuation.

1.2 Introduction

1.2.1 Fundamentals of 2 dof System with Base Excitation

Systems that require two independent coordinates to describe their motion are called two degree
of freedom systems. Degree of freedom of a system is equal to the product of number of masses
in the system and number of possible type of motion of each mass. There are two equations for a
two degree of freedom system, one for each mass (precisely one for each degree of freedom). They
are generally in the form of coupled differential equations‐that is, each equation involves all the
coordinates. If a harmonic solution is assumed for each coordinate, the equations of motion lead
to a frequency equation that gives two natural frequencies of the system. If we give suitable initial
excitation, the system vibrates at one of these natural frequencies. During free vibration at one of
the natural frequencies, the amplitudes of the two degrees of freedom (coordinates) are related in
a specified manner and the configuration is called a normal mode, principal mode, or natural mode
of vibration.
 Figure 3

A mode of vibration can be defined as a way of vibrating, or a pattern of vibration, when applied
to a system or structure that has several points with different amplitudes of deflection. Thus, a two
degree of freedom system has two normal modes of vibration corresponding to two natural
frequencies. If we give an arbitrary initial excitation to the system, the resulting free vibration will
be a superposition of the two normal modes of vibration. Mode in which both masses move in
same direction and move with same frequency and amplitude will be maximum, this mode is
named mode 1. Mode in which both masses move in opposite, they vibrate out of phase with
respect to each other. In this mode frequency will be maximum and amplitude will be minimum,
this mode is known as mode 2. However, if the system vibrates under the action of an external
harmonic force, the resulting forced harmonic vibration takes place at the frequency of the applied
force. As
is evident from the systems shown in the figures, the configuration of a system can be specified
by a set of independent coordinates such as length, angle or some other physical parameters. Any
such set of coordinates is called generalized coordinates. Although the equations of motion of a
two degree of freedom system are generally coupled so that each equation involves all coordinates,
it is always possible to find a particular set of coordinates such that each equation of motion
contains only one coordinate. The equations of motion are then uncoupled and can be solved
independently of each other. Such a set of coordinates, which leads to an uncoupled system of
equations, is called principal coordinates.
1.3 Description of Key Concepts

1.3.1 Mode 1

When the system vibrates in its first mode, the amplitudes of the two masses remain the same. This
implies that the length of the middle spring remains constant. Thus the motions of the mass 1 and
mass 2 are in phase as in figure 1.

Figure 4/ Masses in Mode 1

Figure 5/ Mode 1
1.3.2 Mode 2

When the system vibrates in its second mode, the displacements of the two masses have the same
magnitude with opposite signs. Thus, the motions of the mass 1 and mass 2 are out of phase. In
this case, the midpoint of the middle spring remains stationary for all time.

Figure 6/ Masses out of Phase

Figure 7/ Mode 2
2 Proposed Methodology

Main operation of the system involves giving input to the system through Simulink, the controller
converts the signal and gives input to the plant which in our case is base excitation motor. Two
masses connected to the base via springs oscillate in response to base excitation and their
displacement is measured through sensors. According to previous design methodology, system
was achieving mode 1 in response to the input normally. But when the amplitude of the input was
being increased, the system was not going into mode 2 automatically. For forcing the system to go
into mode 2, mass 1 was being held physically for a short period of time.
New design methodology was meant to eliminate the manual interference from the system
operations. Main aim of the project was to shift the system from mode 1 to mode 2 automatically.
This was achieved by doing experimentation with different spring constants. It was observed that
system achieved mode 2 without any manual intervention through implementation of this
technique.

2.1 Process Design

The purpose of this PBL was to change from mode 1 to mode 2 without physically manipulating
the setup at the time of the experimentation for that purpose the following procedure was utilized.
Mode 1 was achieved by changing the input through the Simulink model to an input of 80 in which
as shown the displacement graphs which are in phase for the two springs. The spring constants
were at first equivalent. Different spring constant combinations were experimented, and the
experiment run to note the displacement data which came out to be in phase as the speed was
increased but at an input of 150 the two displacement curves came out to be out of phase hence
mode 2 was achieved at this value. The frequency of the system was also recorded using an IR
sensor. The angular frequencies were then found out analytically using the equations from the
mathematical model of the mass spring system.
The spring constants were
𝑘1 = 970𝑁/𝑚
𝑘2 = 1020𝑁/𝑚
That resulted in mode 2 to be changed by giving the input of 150.
 Figure 8/ System with base excitation

Figure 9/ circuitry and Arduino

The Arduino shown above in the picture is used to drive the simple DC motor through the motor
driver which receives DC supply through a simple DC supply connected with the motor driver the
Arduino then runs the motor by supplying the PWM signals needed. Voltages at two different
levels along with the ground are also supplied with the chip shown above. The sensors
(accelerometer and position sensor) are taking the voltages and returning the data stored through
the Arduino interfaced with the Simulink and showing them in the scope of the Simulink block
model.

2.2 Mathematical Modelling

Figure 10
𝑑 2 𝑥1
𝑚1 = −𝑘1 𝑥1 + 𝑘2 (𝑥2 − 𝑥1 )
𝑑𝑡 2

𝑑 2 𝑥2
𝑚2 = − 𝑘2 (𝑥2 − 𝑥1 )
𝑑𝑡 2

𝑚1 0 𝑥̈ 𝑘 + 𝑘2 −𝑘2 𝑥1 0
[ ] ∗ [ 1] + [ 1 ] ∗ [𝑥 ] = [ ]
0 𝑚2 𝑥̈ 2 −𝑘2 𝑘2 2 0
𝑥1 𝑎1
[𝑥 ] = [𝑎 ] 𝐶𝑜𝑠(𝑤𝑡 − Φ)
2 2

𝑥̇ 𝑎1
[ 1 ] = [𝑎 ] 𝑆𝑖𝑛(𝑤𝑡 − Φ) (−𝑤)
𝑥̇ 2 2

𝑥̈ 𝑎1
[ 1 ] = (−𝑤 2 ) [𝑎 ] 𝐶𝑜𝑠(𝑤𝑡 − Φ)
𝑥̈ 2 2

−𝑚1 𝑤 2 0 𝑎1 𝑘1 + 𝑘2 −𝑘2 𝑎1 0
[ 2 ] ∗ [𝑎2 ] 𝐶𝑜𝑠(𝑤𝑡 − Φ) + [ −𝑘 ] ∗ [𝑎 ] 𝐶𝑜𝑠(𝑤𝑡 − Φ) = [ ]
0 −𝑚2 𝑤 2 𝑘2 2 0
−𝑚1 𝑤 2 0 𝑎1 𝑘1 + 𝑘2 −𝑘2 𝑎1 0
[ 2 ] ∗ [𝑎2 ] + [ −𝑘 ] ∗ [𝑎 ] = [ ]
0 −𝑚2 𝑤 2 𝑘2 2 0
−𝑚1 𝑤 2 + 𝑘1 + 𝑘2 −𝑘2 𝑎1 0
[ 2 ] ∗ [𝑎 ] = [ ]
−𝑘2 −𝑚2 𝑤 + 𝑘2 2 0
−𝑚1 𝑤 2 + 𝑘1 + 𝑘2 −𝑘2 0
| 2 |= [ ]
−𝑘2 −𝑚2 𝑤 + 𝑘2 0
(−𝑚1 𝑤 2 + 𝑘1 + 𝑘2 )(−𝑚2 𝑤 2 + 𝑘2 ) − (−𝑘2 )(−𝑘2 ) = 0

𝑚1 𝑚2 𝑤 4 − 𝑚1 𝑘2 𝑤 2 − 𝑚2 𝑘1 𝑤 2 − 𝑚2 𝑘2 𝑤 2 − 𝑘1 𝑘2 + 𝑘2 2 − 𝑘2 2 = 0
𝑚1 = 300𝑔 = 0.3𝑘𝑔
𝑚2 = 400𝑔 = 0.4𝑘𝑔
𝑘1 = 970𝑁/𝑚
𝑘2 = 1020𝑁/𝑚
0.12𝑤 4 − 1102𝑤 2 + 989400 = 0
−𝑏±√𝑏 2 −4𝑎𝑐 1102±√11022 −4(0.12)(989400)
𝑤2 = = = 81.7473, 1008.59
2𝑎 2(0.12)

𝑟𝑎𝑑 𝑟𝑎𝑑
𝑤1 = 9.041 𝑤2 = 31.75
𝑠 𝑠
𝒘𝟏 𝒘𝟐
𝒇𝟏 = = 𝟏. 𝟒𝟑 𝑯𝒛 𝒇𝟐 = = 𝟒. 𝟗𝟑 𝑯𝒛
𝟐𝛑 𝟐𝛑
3 Detailed Logic Design

3.1 Logic Design

To analyze and optimize the existing setup for the 2-Dof base excitation system we utilize a
position sensor, accelerometer, rotary encoder which are interfaced with the PC via Arduino for
Data Acquisition. A Control Logic is followed to observe the 2 modes for various frequency
ranges.
The Base of the Setup is connected to a rotary mechanism which gives a linear periodic
(oscillatory) motion. This excites the base of the system. The rotary mechanism is driven by a DC
motor. The DC motor is actuated by a motor driver. A PWM signal is given to the DC motor by
using Arduino thus amount of voltage can be regulated by controlling the Duty Cycle of the PWM
signal. By doing so we can give a range of excitation frequency to our Base.
The next step in the logic design is the acquisition of data for the 2 masses. From our mathematical
model we know that values of acceleration and displacement for both masses are required for
computation of values of frequencies for mode-1 and mode-2. Therefore, an accelerometer and a
position sensor are assembled on the setup. Both sensors are interfaced to PC for data acquisition
via Arduino. The circuits for both sensors are completed by providing 3.3volts and a Ground
connection and to read the data Analog input pins of Arduino are utilized. The SIMULINK block
models- which will be discussed later in detail- save the acquired data to workspace of MATLAB
by using the “to workspace” blocks. This is the real time data in the time domain thus Fast Fourier
Transform (FFT) code is utilized to covert the acquired data to the frequency domain. We can plot
the frequencies for the 2-modes.

3.2 Algorithm

The existing 2-DOF setup is unable to move from mode-1 to mode-2 as thus to improvise upon
the existing 2-DOF base excitation system we have defined a set of rules which we are going to
follow:
• We begin by finding spring constants for different springs by using the basic 𝐹 = 𝑘 × ∆𝑥
equation.
• After finding out the values for 𝑘1 and 𝑘2 the springs will be assembled into the setup and
the setup will be interfaced with PC to acquire and process data in SIMULINK.
• The we give the initial duty cycle to the motor driver which actuates the motor. The motor
is further connected to our base. We give the initial duty cycle and observe the mode
through naked eyed and by amplitude comparisons of both masses on the software.
• We keep on increasing the duty cycle- the frequency increases- and visualize the setup and
the amplitude readings from the scope of Simulink. If we achieve mode 2 for the specific
 range of duty cycles, then we use the acquired data through the sensors to find out 𝜔1 and
𝜔2 .
• If for the set range of duty cycles mode-2 is not achieved, we change the spring constants
and repeat the previous step.
• After we have found out the values of 𝜔1, 𝜔2 , 𝑘1 and 𝑘2 we will construct the mathematical
model for the setup.
3.3 Flow Chart

Start

Find Spring Constants

for Different Springs

Assemble the springs into

the setup and connect
the setup to Simulink.

Give the signal (duty

cycle) to the setup,
observe mode 1 and
record the data.

Increase the Duty

Cycle to Observe
if mode 2 is
achieved for the
specific duty cycle

Change the springs By use of sensors data is

(spring constants) and acquired. Use this data to
test again. find 𝜔1 and 𝜔2

Construct the
Mathematical
Is 2nd mode
Model
achieved for
the specific
range?
End
3.4 Implementation of Logic in Software

The Simulink model is shown below

Figure 11/ For Acceleration Data

Figure 12/ For Modes

This Simulink model is being used to acquire the acceleration data of our 2-DOF system. Basically,
from analog input 3 we can acquire the data. The analog pin 5 is used to provide the duty cycle
which is shown at bottom. The duty cycle is provided as a percentage from 0 to 255, i.e., at 0
constant value the duty cycle is 0% and at 255 the duty cycle is 100%. Our accelerometer is
connected to a positive 3.3𝑉 and with GND to complete the circuit, so the real time data is acquired
in the analog form and in the time domain. Display and Scope blocks have been added to observe
the values and acceleration plots in real time. Moving on the acquired data is sent to the MATLAB
workspace by using the to workspace block. The data sent to MATLAB is in the time domain
whereas we need the frequencies thus the data from time domain is converted into frequency
domain using Fast Fourier Transform (FFT).
The Next Simulink Model is utilized to observe and record the Amplitude values of both masses
so comparison can be made between the two modes of excitation.
As mentioned before analog pin 5 is used to provide PWM which actuates the motor, and the range
is kept between 80 and 150. Similarly display readings of tachometer (rotary encoder) are
displayed. The approach used in this Simulink model is basically coupling of transfer functions
for both masses. The open loop output is then sent to scope for the plots. As we have to compare
the amplitude peaks of both masses, we scope out the open loop responses and also display them
and send them to workspace.
4 Real Time Implementation

4.1 Experimentation

The 2-DOF mass spring damper system has been actuated by a simple DC motor in this experiment
of ours. To achieve the different mode shapes and specifically mode 1 and 2 and analyze them
critically we need the acceleration, displacement, and angular velocity data for the system. For that
purpose, sensors such as the position sensor and accelerometer have been mounted on the
apparatus at specific location before the spring assembly on the first mass as shown below. The
DC motor is run using the Arduino-Uno which gives the PWM signals which are used to operate
the machine. The mass spring arrangement utilized is as shown below in a real time image of the
apparatus. The sensors have been linked to the microcontroller as well. The springs are arranged
in a parallel arrangement and merged to s single spring constant value. For mode 1 to be achieved
a simple actuation was provided which led to an oscillation in which the displacement of the two
springs were in phase. But for mode 2 to be achieved not only the speed of excitation but the spring
constants needed to be changed as well. After working out the mathematical model as shown above
the mode 2 was not able to be achieved without changing the spring constants in our case.

Figure 13/ 2DOF-Mass spring system

Another mechanism designed for the experimental purpose to excite the base was utilized here
which is basically just a few connecting rods rotating about a pivot. This rotation makes the whole
system to oscillate back and forth and prevents the base from being static. This is how in real time
our 2-DOF base excited system is operating. The circular disk on the right shows how the base
excitation is being accomplished. In this experiment one of the outputs required from the
experiment was acquired using an IR sensor which was used to record the revolutions of the disk
which is in fact the oscillations of the system. There is another sensor, or an accelerometer situated
on the mass on the left to measure the systems acceleration response and finally the position
sensors acquire the displacement data and interfaced with the Arduino the readings are stored in
the scope of the Simulink.

4.2 Demonstration of Results

After obtaining the system response we got the following sensor data for the accelerometer and
position sensor.

.
Figure 14/ For signal of 80
For the signal of 80 as it can be seen from the plot’s peaks of both masses are almost aligned in
the same direction but not completely thus this is the pre-mode 1. Mode 1 has not been achieved
yet.
 Figure 15/ For Signal of 100
For the Signal of 100 it can be seen now the amplitude of both peaks are completely aligned now
and mode 1 has been achieved. The System has now maximum amplitude and frequency is
lowered.

Figure 16/ For Signal of 140

For the Signal of 140 the amplitude peaks of both masses are now completely out of phase. This
shows mode-2 has been achieved. At this point the frequency of the setup is maximum and
amplitude is minimum.
The following are the FFT responses of the Simulink data acquired for the frequency responses.

Figure 16/ FFT 1

Figure 17/ FFT 1

4.3 Error Analysis

For mode 1 Frequency Error

1.43 − 1.979
∗ 100% = 27.7%
1.979
For mode 2 Frequency Error
4.9 − 3.23
∗ 100% = 34%
4.9

5 Conclusion

We conclude from our PBL that we can achieve the optimization of the existing system by
changing the springs, i.e., the values of spring constant for spring 1 and spring 2 are different. Both
modes were achieved. We can also conclude that the analytical results are in close approximation
with the simulated results.

6 References

1. Huang, Z., et al., Response of a Two-Degree-of-Freedom Vibration System with Rough

Contact Interfaces. Shock and Vibration, 2019. 2019: p. 1-13.

2. https://www.brown.edu/Departments/Engineering/Courses/En4/Notes/vibrations_mdof/vi
brations_mdof.htm