Two Degree of freedom system

Torsional System Reminder

Torsional Spring
Consider a torsional system consisting of two discs mounted 𝑇 = 𝐾𝑡 𝜃
on a shaft where
T torque
K rotational /torsional stiffness
Ө rotational displacement

Equation of motion using

Newton’s 2nd law (1-D-O-F-S)

෍ 𝑀𝑡 = 𝐽𝑜 Θሷ
𝐽1 𝜃ሷ1 = −𝑘𝑡1 𝜃1 − 𝑘𝑡2 (𝜃1 − 𝜃2 ) Eq.1
−𝐾𝑡 Θ = 𝐽0 Θሷ
𝐽2 𝜃ሷ 2 = −𝑘𝑡2 (𝜃2 − 𝜃1 ) −𝑘𝑡3 𝜃2 Eq.2

By rearranging Eq.1 and Eq.2

Eq.3

Eq.4

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 Two Degree of freedom system

For harmonic solution

𝜃𝑖 𝑡 = Θ𝑖 sin 𝜔𝑛 𝑡 𝑶𝑹 𝜃𝑖 𝑡 = Θ𝑖 𝑒 𝑗𝜔𝑡

Subt. 𝜃𝑖 𝑎𝑛𝑑 𝜃ሷ𝑖 𝑖𝑛𝑡𝑜 𝐸𝑞𝑠. 3 𝑎𝑛𝑑 4

−𝐽1 𝜔𝑛2 Θ1 sin 𝜔𝑛 𝑡 + 𝑘𝑡1 + 𝑘𝑡2 Θ1 sin 𝜔𝑛 𝑡 − 𝑘𝑡2 Θ2 sin 𝜔𝑛 𝑡 = 0

−𝐽2 𝜔𝑛2 Θ2 sin 𝜔𝑛 𝑡 − 𝑘𝑡2 Θ1 sin 𝜔𝑛 𝑡 + 𝑘𝑡2 + 𝑘𝑡3 Θ2 sin 𝜔𝑛 𝑡 = 0

Dividing by sin 𝜔𝑛 𝑡
−𝐽1 𝜔𝑛2 Θ1 + 𝑘𝑡1 + 𝑘𝑡2 Θ1 − 𝑘𝑡2 Θ2 = 0

−𝐽2 𝜔𝑛2 Θ2 − 𝑘𝑡2 Θ1 + 𝑘𝑡2 + 𝑘𝑡3 Θ2 = 0

−𝐽1 𝜔𝑛2 + 𝑘𝑡1 + 𝑘𝑡2 −𝑘𝑡2

𝑑𝑒𝑡 =0
−𝑘𝑡2 −𝐽2 𝜔𝑛2 + 𝑘𝑡2 + 𝑘𝑡3

Onwards: Frequencies and mode shapes can be obtained, see Example

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 Two Degree of freedom system

Example
Determine the natural frequencies and mode shapes
Given that: kt2 = 2kt1 , J2=2J1 ,Kt1=kt, Kt2=2kt , J1=J0, J2=2J0

J1 J2

kt1 Θሷ 1 kt2
Θሷ 2

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 Two Degree of freedom system

Semi-definite System
The systems which have one of their natural frequencies equal to zero are
known as semi-definite, unrestrained or degenerate systems.

Examples
Two rotors of mass
moments of inertia J1 and
J2 connected by a shaft of
Two railway cars of masses m1 and torsional stiffness kt.
m2 with a coupling spring k
• Cars can be modelled as lumped masses and the couplings between the cars as
springs.
• A train can be considered as a system having rigid-body, unrestrained,
translational motion. At the same time, the rail cars can vibrate relative to one
another.
• The stiffness matrix of an unrestrained system will be singular.
• One of the natural frequencies of an unrestrained two-degree-of-freedom
system will be zero.
• In semi-definite system, the motion is composed of translation and vibration.
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 Two Degree of freedom system

Example
Determine natural frequencies

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