ES2F3-6 Lecture ALA-5 (2023-24 MoodleV)

ES2F3 & ES2F6: Engineering
Mathematics & Data Analytics
Lecture 5:
- Modal Analysis
Content
Solution of (static) equations [Lectures 1-3]
– Vectors, matrices
– Linear independence, rank, inverse
– Gaussian elimination
Spectral properties and applications [Lectures 4-5]
– Solutions of homogeneous linear equations
– Eigenvalues and eigenvectors
– Diagonalisation/spectral decomposition
– Applications:
• Modal analysis
• Mass-springer-damper type systems, sway systems
ES2F3/6: Engineering
ES2F3: Engineering Mathematics & Data Analytics
Mathematics Lecture 5 Lecture
©2020 University of 5Warwick 2 / 19
2. Spectral Properties and Applications
 Solutions of Homogeneous Linear Equations
 Eigenvalue / Eigenvector Analysis
 Modal Analysis (application of spectral methods)
Applications of Eigenvalue / Eigenvector
Analysis
Applications – oscillators, etc..
Widely used engineering
– Coupled mass-spring systems models for mechanical, civil
– Coupled pendulums and electrical systems
Always the same approach

– Start with a complex coupled system
– Use spectral decomposition to diagonalise the system into a
number of simpler uncoupled subsystems
– Solve for the dynamics of each individual subsystem by computing
eigenvalues and eigenvectors
– This is called Modal Analysis 4
Single degree of freedom oscillators z(t)
Consider the mass-spring system:

– Assume an oscillatory solution:
Normalised
stiffness:
– Equation of motion:
– Substituting into the original equation gives:
The system oscillates at a single frequency: 5
Single degree of freedom oscillators
z(t)
Simple Harmonic Oscillator:
– Setting: (initial velocity)
– gives:
– Thus:
– For z(0) = z0 = 0 we have

6
Single degree of freedom oscillators
Consider the pendulum system:

– Equation of motion in the tangential direction is:
(s = distance moved around arc) s(t)
aT(t)
The system oscillates
at a single frequency:
– Thus the frequency / period of oscillation depends only on length of 7
the cord and not mass of pendulum (Galileo, 1564-1642)

Simple Harmonic Oscillator
Multiple degree of freedom oscillators
Consider 2nd-order n-degree of freedom system:
– K is an n × n square matrix
– y is n dimensional column vector (i.e. n × 1)
Can we find frequency(ies)  such that the solution y(t) can
be expressed via harmonic functions ?
Take K in the equation below:
8
Normal modes:
2
– Multiply by V-1: 2
– Introduce the new variable:
– Then for z(t):
– This matrix/vector equation can be decomposed into n uncoupled

scalar equations (normal modes) for the scalars zi:
Compare to single mass (Slide 5):

9
– Thus:
Normal modes:
– So: Recall that
So the solution for y(t) is:
– Thus, solution of 2nd order n-degree of freedom system
– is defined by a superposition of normal modes zi(t):

is an eigenvalue of K, ωi is frequency of the normal mode;
v(i) is an eigenvector of K, specifies the shape of the modes
10
Example: Consider the system of two coupled masses:
– Write in matrix form:
11
– Consider case where
k1 = k2 = 2 and k3 = m1 = m2 = 1
– Finding normal modes of this system via spectral decomposition

– Eigenvalues:
– Hence, natural frequencies of oscillation (frequencies of two normal

modes) are: 12
– First eigenvector
– Second eigenvector
13
– First mode
implies that both bodies move in unison at frequency
14
– The spring between the two masses does not stretch or contract
– Second mode
implies that both bodies move in opposing directions at frequency
15
– The spring between the two masses stretches and contracts
Worked example 1
In many engineering applications, multi-
storey buildings may be modelled as mass
spring systems – often used in earthquake
and wind analyses
– mi represent masses of floors plus walls
– ki represent inter-storey lateral stiffnesses
(due primarily to the walls)
Let m2 = m1 = m and
1. Using Newton’s 2nd Law, derive the equations of motion for this structure.
2. Find the natural (normal) modes of vibration of the structure when m = 1

and k = 4. 16
Worked example
m
Rigid
u 2
k k
2 2
3m
Rigid
u
1
k k
2 2
Derive the natural frequencies (in terms of m and k) and the mode shape matrix
V for the structure given above.
17
Exercises
1. The full nonlinear equations of motion for double pendulum shown in
figure are
Show that if we assume that all angles, and their time derivatives, are
small, so that terms involving squares, or products, of these variables can
all be neglected, then equations simplify to:
(Note that for small θ, cos (θ) ≈ 1 and sin(θ) ≈ θ)

a) Write the above equations in matrix/vector form.
b) Given that m1 = 1, m2 = 5, L1 = 2 and L2 = 3, convert matrix/vector
equation into form d 2
q
2
= - K q , and hence compute normal
dt 18
modes for this system
Exercises (cont.)
m
2. Rigid
u 2
k k
2 2
2m
Rigid
u1
k k
a) Using Newton’s 2nd Law, derive the equations of motion for this
structure.
b) Find the natural (normal) modes of vibration of the structure, and

their natural frequencies in terms of m and k.
19

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ES2F3 & ES2F6: Engineering

Mathematics & Data Analytics

Always the same approach

Consider the mass-spring system:

The system oscillates at a single frequency: 5

Simple Harmonic Oscillator:

– Setting: (initial velocity)

– For z(0) = z0 = 0 we have

Consider the pendulum system:

(s = distance moved around arc) s(t)

– Thus the frequency / period of oscillation depends only on length of 7

the cord and not mass of pendulum (Galileo, 1564-1642)

– Then for z(t):

– This matrix/vector equation can be decomposed into n uncoupled

Compare to single mass (Slide 5):

– Thus, solution of 2nd order n-degree of freedom system

– is defined by a superposition of normal modes zi(t):

– Write in matrix form:

– Finding normal modes of this system via spectral decomposition

– Hence, natural frequencies of oscillation (frequencies of two normal

implies that both bodies move in unison at frequency

implies that both bodies move in opposing directions at frequency

2. Find the natural (normal) modes of vibration of the structure when m = 1

(Note that for small θ, cos (θ) ≈ 1 and sin(θ) ≈ θ)

b) Find the natural (normal) modes of vibration of the structure, and

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