Multi Degree of freedom systems

MDOF Systems and Equation of Motion

Degree of freedom: Number of independent coordinates needed to specify the motion
Of the system.
SDOF: 1 coordinate only required
MDOF: Several coordinates required
Consider a simplified aircraft wing

Wing root
Distributed parameter system.
Sometimes also called continuous
system
pylon An engine

This system can be simplified by treating it as lumped parameter system

Wing root considered encastre
m1 m2 m3 The distributed mass has
m2 includes
Engine mass been lumped at positions y1,
k1 k2 k3 y2 and y3 Now we have 3DOF
system
y1 y2 y3
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 Multi Degree of freedom systems

Three procedures can be used for deriving equation of motion of a lumped parameter
systems

1. Newton II
2. Lagrange (Energy method)
3. Flexibility and influence Coefficients

Newton method

FBD

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 Multi Degree of freedom system

Eq. 1

Eq. 2

Neither equation can be solved by itself because each equation contains both
𝑥1 and 𝑥2 (i.e., the equations are coupled). Physically, this states that the
motion of 𝑥1 affects the motion of 𝑥2 , and vice versa. A convenient method of
solving this system is to use vectors and matrices. Above equations can be
written in matrix form
Stiffness matrix
Mass matrix

Eq. 3

Can be written as
𝑀𝑋ሷ + 𝐾𝑋 = 0

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 Multi Degree of freedom system

Lagrange’s Equations
The equations of motion of a vibrating system can be derived in a simple manner in
terms of generalised coordinates by the use of Lagrange s equations.
𝑑 𝜕𝑇 𝜕𝑇 𝜕𝑉 𝜕𝐷
− + + = 𝑄𝑖
𝑑𝑡 𝜕 𝑞ሶ 𝜕𝑞𝑖 𝜕𝑞𝑖 𝜕𝑞𝑖ሶ
Where 𝑞ሶ 𝑖 𝑣𝑒𝑙𝑜𝑐𝑖𝑡𝑦
1
T Kinetic energy of system (σ 𝑚𝑞2ሶ 𝑖 ) 𝑞𝑖 𝑑𝑖𝑠𝑝𝑙𝑎𝑐𝑒𝑚𝑒𝑛𝑡
2
1
V Potential energy of system (σ 2 𝑘𝑞2𝑖 )
1
D Dissipation energy of system (σ 2 𝑐 𝑞2ሶ 𝑖 )
Qi Generalised external force acting on the system

For conservative system and without Mass matrix is not a function of time and
external force equation reduce to the kinetic energy is a function of only the
velocities. This terms will be zero
𝑑 𝜕𝐿 𝜕𝐿
− =0
𝑤ℎ𝑒𝑟𝑒 𝐿 = 𝑇 − 𝑉 𝑑𝑡 𝜕𝑞ሶ𝑖 𝜕𝑞𝑖
𝑑 𝜕𝑇 𝑑 𝜕𝑉 𝜕𝑇 𝜕𝑉
− − + =0
𝑑𝑡 𝜕 𝑞ሶ 𝑑𝑡 𝜕𝑞𝑖ሶ 𝜕𝑞𝑖 𝜕𝑞𝑖

This term will also be zero as in mechanical systems potential energy is

not function of time or velocity
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Example
Determine equation of motion using Lagrange method

K1

m1 f1(t)

K2

m2

K3

𝑑 𝜕𝑇 𝜕𝑇 𝜕𝑉 𝜕𝐷
− + + = 𝑄𝑖
𝑑𝑡 𝜕 𝑞ሶ 𝜕𝑞𝑖 𝜕𝑞𝑖 𝜕𝑞𝑖ሶ

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 Multi Degree of freedom systems

Stiffness influence coefficients

It is sometimes practical to express the eqns. of motion of MDOF systems in

terms of influence coefficients. The influence coefficients associated with the
stiffness matrix known as stiffness influence coefficients

Stiffness Influence Coefficient denoted by Kij where it is defined as

the force at point ‘i’ due to unit displacement at point j when all point other
then the point ‘j’ are fixed.

𝑓𝑖 = 𝑘𝑖𝑗 𝑦𝑗 → 𝑓1 = 𝑘11 𝑦1 + 𝑘12 𝑦2 + ⋯

𝑓 = 𝑘 𝑦

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The calculation of n stiffness influence coefficients require the solution of n

simultaneous equations. Thus the computation of stiffness influence coefficients
for a system with n degrees of freedom may require a significant effort.

Flexibility Influence Coefficients

It is sometimes easier to define the system in terms of the flexibility influence

coefficients. The flexibility influence coefficients relates the displacement at a
point in the system with the force applied at another point in the system.

Defined as: the static deflection at point i due to a unit force at point j when the unit force
is the only force acting.
𝑦𝑖
𝑎𝑖𝑗 = 𝑦𝑖 = 𝑎𝑖𝑗 𝑓𝑗 → 𝑦1 = 𝑎11 𝑓1 + 𝑎12 𝑓2 + ⋯
𝑓𝑗

flexibility matrix is related to the stiffness matrix

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𝑦 = 𝑎 𝑓
𝑦 = 𝑎 𝑘 𝑦
The stiffness and flexibility matrices are
𝑎 𝑘 = 𝐼 𝑈𝑛𝑖𝑡𝑦 𝑚𝑎𝑡𝑟𝑖𝑥 the inverse of one another
−1
𝑎 = 𝑘

Since the deflection at point i due to a unit load at point j is the same as the
deflection at point j due to a unit load at point i for a linear system (Maxwell’s
reciprocity theorem). Therefore we have 𝑎𝑖𝑗 = 𝑎𝑗𝑖

Example K1
Determine stiffness and flexibility matrix
m1

K2

m2

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 Multi Degree of freedom systems

Systems subject to ‘flexure’

The flexibility influence coefficient aij is particularly useful in the case of flexural elements
e.g. plates, beams. This is because such elements include rotations (slope) as well as
translations. In such cases the kij method is inappropriate. flexibility influence coefficients
can be determined using any technique which allows one to calculate displacements from
applied force e.g Area moment method. For standard systems tables of aij are available.

Example
Determine flexibility matrix

L/2 m2 L/2 m1

y2 y1

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 Multi Degree of freedom systems

Example

k1
Determine stiffness matrix
m1
k5
𝑘11 𝑘12 𝑘13 x1
K= 𝑘21 𝑘22 𝑘23 k2
𝑘31 𝑘32 𝑘33
k4
m2
x2
k3

m3
x3
k6

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 Multi Degree of freedom systems

Flexibility Influence Coefficients Table

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