4 DOS-mdof System

Dynamics of Structures 2018-2019
4. MDOF systems
Dynamics of structures
4.Multiple degree of freedom systems

Arnaud Deraemaeker (aderaema@ulb.ac.be)
Multiple degree of freedom systems in real life
1
4. MDOF systems
Case study 2 : Vibrations of high-rise buildings
• Source of excitation
• Effects
• Design methodology
• Remedial measures
Sources of excitation
-Wind
-Earthquake
Frequency
content of the
signal
Ground motion (acceleration)
Resonance ?
2
4. MDOF systems
Reduction of a system to a mdof system
Equivalent mass and stiffness
3
4. MDOF systems
Reduction to a sdof system
-Equivalent stiffness?
-Equivalent mass ?
-Validity (frequency band) ?
Equivalent stiffness
General principle :
F in the direction of excitation

(and motion) of the mass
Computation :- simplified model

- numerical approximation (finite elements)
8
4
4. MDOF systems
Equivalent stiffness: bar in traction
Direction of
excitation
Attachment
point
Constitutive equation: Stress is constant
Static equilibrium
Displacement of the attachment

point (in the direction of excitation):
9
Equivalent stiffness : cantilever beam in bending
Direction of
excitation
Attachment
point
From tables
10
5
4. MDOF systems
Equivalent stiffness : of beams in bending
Equivalent stiffness of beams in bending can be computed using formulas from

resistance of materials or using tables :
11
Equivalent stiffness: portal frame
12
6
4. MDOF systems
Equivalent stiffness: portal frame
From tables (internet)
13
Equivalent mass : energy method
Kinetic energy of a mass-spring system
Example 1 :
Kinetic energy of the spring
Additional mass
14
7
4. MDOF systems
Equivalent mass : energy method
Kinetic energy of a mass-spring system
Example 2 :
Kinetic energy of the bar
Additional mass ma
15
Frequency limits for one dof systems
m=100 kg, E =210 GPa,

Continuous model
=7800 kg/m3, L=1m;
A = 0.0004 m2
SDOF model 1 SDOF model 2
16
8
4. MDOF systems
Frequency limits of SDOF systems for real continuous systems
k =EA/L = 8.4 107 N/m fn=145.87 Hz (mass M)

M = 100 kg
ma = AL/3 = 1.04 kg <<M fn=145.11 Hz (mass M+ma)
SDOF
hypothesis
not valid for
frequencies >
2000 Hz
17
Frequency limits for one dof systems
m=100 kg, E =210 GPa,

Continuous model
=78000 kg/m3, L=1m;
A = 0.0004 m2
SDOF model 1 SDOF model 2
18
9
4. MDOF systems
Frequency limits of SDOF systems for real continuous systems
k =EA/L = 8.4 107 N/m fn=145.87 Hz (mass M)

M = 100 kg
ma = AL/3 = 10.4 kg <M fn=138.83 Hz (mass M+ma)
ma should be taken into account
SDOF
hypothesis
not valid for
frequencies >
500 Hz
19
Response of a mdof system
20
10
4. MDOF systems
Conservative system : equations of motion
Mass matrix Stiffness matrix
Equations of motion: general solution
Admits a non trivial solution if
r2 is negative (K and M are positive definite matrices)
11
4. MDOF systems
General solution: eigen frequencies and modeshapes
Generalized eigenvalue problem (-2)
If the system has n degrees of freedom, there exist n values of -2 for
which this equation is satisfied. These are the n eigenvalues which
correspond to n eigenfrequencies
n eigen vectors are associated to these eigenfrequencies. They

correspond to the n mode shapes of the structure
The general solution is written in the form:
Orthogonality of the modeshapes
Property :
Proof :
Premultiply (1) by ,(2) by and substract taking into account
symmetry of K ( ) and M ( )
24
12
4. MDOF systems
Orthogonality of the modeshapes
Define
Matrix notation
25
Example : two degrees of freedom system
Second order equation in 2
13
4. MDOF systems
Eigen frequencies and modeshapes
14
4. MDOF systems
Mode 1 Mode 2
29
General solution
Assume the following initial conditions
30
15
4. MDOF systems
Particular solution : projection of the solution in the modal basis
Projection on the modal basis
N independent equations of the type
31
Particular solution : projection of the solution in the modal basis
The solution can be obtained by solving a set of n independent equations of the type
This equation corresponds to the equation of motion of a sdof system with
32
16
4. MDOF systems
Particular solution : harmonic excitation
Harmonic excitation: modal basis solution
or
sdof oscillator solution
34
17
4. MDOF systems
The solution is the sum of sdof oscillators :
35
Example : two dofs system
36
18
4. MDOF systems
Equations of motion : modal basis solution
(m=1kg, k = 1N/m)
37
Equations of motion : modal basis solution
(m=1kg, k = 1N/m)
38
19
4. MDOF systems
Forced excitation videos
39
Forced excitation videos
40
20
4. MDOF systems
Damped equations of motion
41
Damping matrix
Damped equations of motion : general solution
Non trivial solution if
•Complex roots of the characteristic equation

-> Oscillatory functions with exponential envelope
•Complex eigen vectors = complex modeshapes

-> Not often used in practice in vibrations
42
21
4. MDOF systems
Equations of motion : modal basis solution – real mode shapes
Mode shapes of conservative system :
Projection on the real modal basis:
or
In general is not diagonal and the equations remain coupled but …
43
•Rayleigh damping:
Often used as a simplifying assumption to decouple the equations but does

not have a physical meaning
•Modal damping
When damping is small, off-diagonal terms can be neglected leading to:
44
is the modal damping of mode i
22
4. MDOF systems
n independent equations of the type
This equation corresponds to the equation of motion of a sdof system with
45
Link between Rayleigh damping and modal damping
Rayleigh damping Modal damping
•Only two parameters to define the damping of all modes

->Overestimation at low and high frequencies
46
->Represents accurately the damping of two modes only
23
4. MDOF systems
Particular solution : harmonic excitation
47
Projection on modal basis
Modal damping hypothesis (small damping)
n decoupled
equations
Sum of damped sdof oscillators
48
24
4. MDOF systems
49
Damped resonances
k=1 N/m, m=1kg,

b=0.04 Ns/m
Never goes to zero
50
25
4. MDOF systems
Validity of modal damping hypothesis
Neglect off-diagonal terms
51
k=1 N/m, m=1kg,

b=0.04 Ns/m
Comparison of exact (coupled-dotted line) and approached (uncoupled) responses
52
26
4. MDOF systems
k=1 N/m, m=1kg,

b=0.2 Ns/m
The modal damping hypothesis is not valid for high values of damping
53
Base excitation of mdof systems
Equations of motion:
54
27
4. MDOF systems
Base excitation of mdof systems
Matrix notations:
55
Base excitation of mdof systems : Projection in the modal basis
Modal decomposition using mode shapes with fixed base ( )
Modal acceleration factor
56
28
4. MDOF systems
Example : 5 dofs building model excited by earthquake
Ground motion (acceleration)

57
Example : 5 dofs building : projection in the modal basis
58
29
4. MDOF systems
5 dofs building : mode shapes and eigenfrequencies
Mode 1 (5.41 Hz) Mode 2 (15.8 Hz) Mode 3 (24.9 Hz) Mode 4 (32.0 Hz) Mode 5 (36.5 Hz)
59
5 dofs building : FRF for base acceleration
60
30
4. MDOF systems
Time domain response of mdof systems with base excitation
Impulse response
Convolution
Expansion
61
Effect of a mass change
A global mass change keeps mode shapes unchanged, but affects frequencies,
modal masses, and modal accelerations
62
31
4. MDOF systems
Freq spectrum of ground Ground acceleration

acceleration
5.4 Hz
63
Freq spectrum of ground Ground acceleration

acceleration
5.4 Hz
14.3 Hz
64
32
4. MDOF systems
High vs low tuning
Low tuning High tuning
65
Adding damping
66
33

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Dynamics of Structures 2018-2019

4.Multiple degree of freedom systems

Multiple degree of freedom systems in real life

Case study 2 : Vibrations of high-rise buildings

Ground motion (acceleration)

Reduction of a system to a mdof system

Equivalent mass and stiffness

Reduction to a sdof system

F in the direction of excitation

Computation :- simplified model

Equivalent stiffness: bar in traction

Displacement of the attachment

Equivalent stiffness : cantilever beam in bending

Equivalent stiffness : of beams in bending

Equivalent stiffness of beams in bending can be computed using formulas from

Equivalent stiffness: portal frame

Equivalent stiffness: portal frame

From tables (internet)

Equivalent mass : energy method

Kinetic energy of a mass-spring system

Kinetic energy of the spring

Equivalent mass : energy method

Kinetic energy of a mass-spring system

Kinetic energy of the bar

Frequency limits for one dof systems

m=100 kg, E =210 GPa,

SDOF model 1 SDOF model 2

Frequency limits of SDOF systems for real continuous systems

k =EA/L = 8.4 107 N/m fn=145.87 Hz (mass M)

ma = AL/3 = 1.04 kg <<M fn=145.11 Hz (mass M+ma)

Frequency limits for one dof systems

m=100 kg, E =210 GPa,

SDOF model 1 SDOF model 2

Frequency limits of SDOF systems for real continuous systems

k =EA/L = 8.4 107 N/m fn=145.87 Hz (mass M)

ma = AL/3 = 10.4 kg <M fn=138.83 Hz (mass M+ma)

ma should be taken into account

Response of a mdof system

Conservative system : equations of motion

Mass matrix Stiffness matrix

Equations of motion: general solution

Admits a non trivial solution if

r2 is negative (K and M are positive definite matrices)

General solution: eigen frequencies and modeshapes

Generalized eigenvalue problem (-2)

n eigen vectors are associated to these eigenfrequencies. They

The general solution is written in the form:

Orthogonality of the modeshapes

Premultiply (1) by ,(2) by and substract taking into account

Orthogonality of the modeshapes

Example : two degrees of freedom system

Second order equation in 2

Eigen frequencies and modeshapes

Eigen frequencies and modeshapes

Eigen frequencies and modeshapes

Assume the following initial conditions

Particular solution : projection of the solution in the modal basis

Projection on the modal basis

N independent equations of the type

Particular solution : projection of the solution in the modal basis

This equation corresponds to the equation of motion of a sdof system with

Particular solution : harmonic excitation

Harmonic excitation: modal basis solution

sdof oscillator solution