DYNAMIC OF STRUCTURES

CHAPTER 5
RESPONSE OF MULTI DEGREE OF
FREEDOM SYSTEMS
 RESPONSE OF MDOF SYSTEM
P3 (t ) m3
c3 k3
P2 (t ) m2
c2 k 2
P1 (t ) m1
c1 k1

Gbr 1. (a) Three storey of shear building; (b) lumped mass model
 RESPONSE OF MDOF SYSTEM
u1 u2 u3
c1 c2 c3
m1 m2 m3
k1 k2 k3

(a)

k1u1 k 2 (u 2 − u1 ) k 3 (u 3 − u 2 )
m1u&&1 p1 (t ) m2u&&2 p 2 (t ) m3u&&3 p 3 (t )
c1u&1
c 2 (u& 2 − u&1 ) c3 (u& 3 − u& 2 )
(b)

Gbr 2. (a) Three degree of freedom system ; (b) free body diagram
 RESPONSE OF MDOF SYSTEM
q The equation of motion is merely an expression of the equilibrium of
these forces as given by

m1u&&1 + k1u1 + c&1u1 − k 2 (u2 − u1 ) − c2 (u&2 −u&1 ) − p1 (t ) = 0 (1)

m2u&&2 + k2 (u2 − u1 ) + c2 (u&2 −u&1 ) − k3 (u3 − u2 ) − c3 (u&3 − u&2 ) − p2 (t ) = 0 (2)
m3u&&3 + k3 (u3 − u2 ) + c3 (u&3 − u&2 ) − p3 (t ) = 0 (3)
q Equations. (1), (2), and (3) rearrange in compact form lead to

m1u&&1 + (k1 + k 2 )u1 − k 2u 2 + (c1 + c 2 )u&1 −c2u& 2 = p1 (t ) (4)

m2u&&2 − k2u1 + (k2 + k3 )u2 − k3u3 − c2u&1 + (c2 +c3 )u& 2 −c3u&3 = p2 (t ) (5)
m3u&&3 + k3 (u3 − u 2 ) + c3 (u&3 − u& 2 ) − p3 (t ) = 0 (6)
 RESPONSE OF MDOF SYSTEM
In matrix form equa. (4), (5), and (6) can be written as follows

[M {U&&}]+ [C ]{U& }+ [K ]{U } = {p(t )} (7 )

m1 0 0 c1 + c2 − c2 0  k1 + k 2 − k2 0 

[M ] =  0 m2
 
0  ; [C ] =  − c2 c2 + c3 − c3  ; [K ] =  − k 2 k 2 + k3 − k3 
 0 − c3 c3   0 − k3 k3 
 0 0 m3 

u&&1  u&1  u1   p1(t )

{u&&} = u&&2  ; {u&} = u&2  ; {u} = u2  ; {p(t )} =  p2 (t )
u&&  u&  u   p (t )
 3  3  3  3 
 FREE VIBRATION
q Natural frequencies and modes

The equation of motion for a undamped system can be written as

[M {U&& }]+ [K ]{U } = 0 (8 )

The solution of equa. (8) can be described mathematically by

u (t ) = qn (t )φn (9)
where φn is deflected shape does not vary with time and qn (t ) is the time
variation of displacement is given as

q n (t ) = An cos ω n t + Bn sin ω n t (10)

 FREE VIBRATION

introducing equa.(10) into equa.(9) yields

u (t ) = φn ( An cos ωnt + Bn sin ωnt ) (11)

Subsituting equa.(11) into equa. (8) gives

[− ω 2
n ]
m φ n + k φ n q n (t ) = 0 (13 )

This equation can be satisfied in one of two ways:

1 . q n (t ) = 0 ⇒ u (t ) = 0 (trivial solution )
2 . k φ n = ω n2 m φ n ( nontrivial solution ) (14)
 FREE VIBRATION
Equation (14) is called the eigenvalue problem, and is rewritten as

[k − ω m]φ
2
n n =0 (15)

It has nontrivial solution if

det k − ω n2 m = 0 (16)
Equation (16) is known as frequency equation or characteristic equation.
Expanding determinant will give an algebraic equation of the N degree in the
frequency parameter is obtained ωn2 (n = 1,2,3,.........N )

These roots of the frequency equation are known as eigenvalues. When

these roots is subsituted into equa. (15) gives the coresponding vector φn
Which are known as natural modes or modes shape
FREE VIBRATION

 φ11 φ12 . . φ1N 

φ φ2 N 
 21 φ22 . .
 φ31 φ32 . . φ3 N 
φ = [φ1 φ2 φ3 φ4 ..... φn ] =  
 . . . . . 
 . . . . . 
 
φ N 1 φ N 2 . . φ NN 
EXAMPLE

m3 m1 = m
m2 = 1,5m
k3 k3 h m3 = 0,6m
m2

k2 k2 h k1 = k 2 = k3 = 0,8k
m1
k1' k1' = 0,5k
k1 k1 h
k / m = 1000
 EXAMPLE
m1 0 0  m 0 0 
[M ] =  0 m2 0  =  0 1,5m 0 
 0 0 m3   0 0 0,6m

k1 + k2 − k2 0   3,2k −1,6k 0 

[K] =  − k2 k2 + k3 + k1' − k3  = −1,6k 3,7k −1,6k 
 0 − k3 k3   0 −1,6k 1,6 

Eigenvalue problem [ ]
⇒ k − ω n2 m φ n = 0 (17 )
EXAMPLE
3,2k − ωn2 m − 1,6k 0  φ1  0
    
 − 1,6 k 3,7 k − 1 ,5 ω 2
n m − 1,6 k  φ2  = 0 (18)
 2   0
 0 − 1,6 k 1,6 k − 0 ,6 ω n m φ
 3   

3,2 − λ − 1,6k 0  φ1  0

 − 1,6k 3,7 − 1,5λ     
 − 1,6k  φ2  = 0 (19)
 0 − 1,6k 1,6 − 0,6λ  φ3  0

ωn2
where λ =
k /m
 EXAMPLE
characteristic equation

λ3 − 8,3348λ2 + 18,4566λ − 7,3968 = 0 (20)

λ1 = 0,5177 ⇒ ω1 = 7,1951 rad / sec .

λ2 = 2,9911 ⇒ ω2 = 17,2947 rad / sec . (21)
λ3 = 4,8318 ⇒ ω3 = 21,9813 rad / sec .

The natural modes are determined by subsituting ω n2 = ω12 in equa.(18)

or λ = λ1 in equa. (19)
 EXAMPLE
(3,2 − λ1 )φ11 − 1,6φ21 = 0
− 1,6φ11 + (3,7 − 1,5λ1 )φ21 − 1,6φ31 = 0 ( 22)
− 1,6φ21 + (1,6 − 0,6λ1 )φ31 = 0

φ11  1  φ12   1  φ13   1 

{φ1} = φ21 = 1,680; {φ2} = φ22 =  0,130; {φ3} = φ23 = −1,019;
φ  2,079 φ  −1,064 φ   1,259 
 31    32    33   
EXAMPLE

The N eigenvectors can be display in one matrix

φ11 φ12 φ13   1.0 1.0 1.0 

  
φ jn = φ21 φ22 φ23 = 1.680 0.130 −1.019 
φ31 φ32 φ33 2.079 −1.064 1.259 
 NATURAL MODES

φ31 = 2.079 φ32 = −1.064 φ33 = −1.259

φ22 = −0.130
φ21 = 1.680

φ23 = −1.019
φ11 = 1.0

φ12 = 1.0 φ13 = 1.0

1st Mode 2nd Mode 3th Mode