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A x = x ( A I ) x = 0
Cite as: Peter So, course materials for 2.003J / 1.053J Dynamics and Control I, Fall 2007. MIT OpenCourseWare (http://ocw.mit.edu), Massachusetts Institute of Technology. Downloaded on [DD Month YYYY].
EOM:
1 + k1 x1 k 2 ( x2 x1 ) = 0 m x 2 + k1 x2 + k 2 ( x2 x1 ) = 0 m x
Cite as: Peter So, course materials for 2.003J / 1.053J Dynamics and Control I, Fall 2007. MIT OpenCourseWare (http://ocw.mit.edu), Massachusetts Institute of Technology. Downloaded on [DD Month YYYY].
Cite as: Peter So, course materials for 2.003J / 1.053J Dynamics and Control I, Fall 2007. MIT OpenCourseWare (http://ocw.mit.edu), Massachusetts Institute of Technology. Downloaded on [DD Month YYYY].
k1 = m
2 1
k1 + 2k 2 = m
2 2
c1 1 c = A1 1 2 1 c1 1 c = A2 1 2 2
Cite as: Peter So, course materials for 2.003J / 1.053J Dynamics and Control I, Fall 2007. MIT OpenCourseWare (http://ocw.mit.edu), Massachusetts Institute of Technology. Downloaded on [DD Month YYYY].
As:
k 2 / m c1 2 (k1 + k 2 ) / m = k /m (k1 + k 2 ) / m c2 0 2 k 2 / m c1 (k1 + k 2 ) / m 2 1 = k /m (k1 + k 2 ) / m c2 0 2 A x = I x ( A I ) x = 0
Cite as: Peter So, course materials for 2.003J / 1.053J Dynamics and Control I, Fall 2007. MIT OpenCourseWare (http://ocw.mit.edu), Massachusetts Institute of Technology. Downloaded on [DD Month YYYY].
0 c1 2 c2 0 c1 1 c2
m = 1kg
Simple m-file:
k1 = 1N / m k 2 = 2 N / m
MATLAB output of simple vibration problem eigenvector 1 eigenvector 2 X= -0.7071 -0.7071 -0.7071 0.7071 L= eigenvalue 1 1.0000 0 0 5.0000 eigenvalue 2
Ok, we get the same results as solving the characteristics equation so what is the big deal?
Cite as: Peter So, course materials for 2.003J / 1.053J Dynamics and Control I, Fall 2007. MIT OpenCourseWare (http://ocw.mit.edu), Massachusetts Institute of Technology. Downloaded on [DD Month YYYY].
Cite as: Peter So, course materials for 2.003J / 1.053J Dynamics and Control I, Fall 2007. MIT OpenCourseWare (http://ocw.mit.edu), Massachusetts Institute of Technology. Downloaded on [DD Month YYYY].
EOM for a more complex problem EOM can be gotten from free body diagrams of each mass
1 + (k1 + k 2 + k5 ) x1 k 2 x2 k5 x3 = 0 m1 x 2 + (k 2 + k3 + k 6 ) x2 k 2 x1 k3 x3 k6 x4 = 0 m2 x 3 + (k3 + k 4 + k5 ) x3 k5 x1 k3 x2 k 4 x4 = 0 m3 x 4 + (k 4 + k6 ) x4 k6 x2 k 4 x3 = 0 m4 x
Cite as: Peter So, course materials for 2.003J / 1.053J Dynamics and Control I, Fall 2007. MIT OpenCourseWare (http://ocw.mit.edu), Massachusetts Institute of Technology. Downloaded on [DD Month YYYY].
2 k1 + k 2 + k5 m1 k2 m2 k5 m3 0
k2 m1 k +k +k 2 2 3 6 m2 k3 m3 k6 m4
k5 m1 k3 m2 k +k +k 2 2 4 5 m3 k4 m4
c k6 1 c 2 m2 c = 0 k4 3 m3 c 4 k +k 2 4 6 m4 0
Solving this and find roots is no longer so simple! It is now an eighth order polynomial.
Cite as: Peter So, course materials for 2.003J / 1.053J Dynamics and Control I, Fall 2007. MIT OpenCourseWare (http://ocw.mit.edu), Massachusetts Institute of Technology. Downloaded on [DD Month YYYY].
k1 + k 2 + k5 m1 k2 m2 k5 m3 0
k2 m1 k 2 + k3 + k 6 m2 k3 m3 k 6 m4
k5 m1 k 3 m2 k 2 + k 4 + k5 m3 k 4 m4
1 k6 c1 m2 c2 2 0 = k 4 c3 0 m3 c 0 4 k 4 + k6 m4 0
0 0 0 c1 c 1 0 0 2 0 1 0 c3 0 0 1 c4
Cite as: Peter So, course materials for 2.003J / 1.053J Dynamics and Control I, Fall 2007. MIT OpenCourseWare (http://ocw.mit.edu), Massachusetts Institute of Technology. Downloaded on [DD Month YYYY].
k1 = 1N / m k 2 = 2 N / m k3 = 3N / m k 4 = 4 N / m k5 = 5 N / m k6 = 6 N / m
Cite as: Peter So, course materials for 2.003J / 1.053J Dynamics and Control I, Fall 2007. MIT OpenCourseWare (http://ocw.mit.edu), Massachusetts Institute of Technology. Downloaded on [DD Month YYYY].
Solving complex vibration problem by MATLAB Create another m-file: m1=1;m2=2;m3=3;m4=4; k1=1;k2=2;k3=3;k4=4;k5=5;k6=6; A=[(k1+k2+k5)/m1 -k2/m1 -k5/m1 0; -k2/m2 (k2+k3+k6)/m2 -k3/m2 -k6/m2; -k5/m3 -k3/m3 (k3+k4+k5)/m3 -k4/m3; 0 -k6/m4 -k4/m4 (k4+k6)/m4] [X,L]=eig(A); X L
Cite as: Peter So, course materials for 2.003J / 1.053J Dynamics and Control I, Fall 2007. MIT OpenCourseWare (http://ocw.mit.edu), Massachusetts Institute of Technology. Downloaded on [DD Month YYYY].
A= 8.0000 -2.0000 -5.0000 0 -1.0000 5.5000 -1.5000 -3.0000 -1.6667 -1.0000 4.0000 -1.3333 0 -1.5000 -1.0000 2.5000
Cite as: Peter So, course materials for 2.003J / 1.053J Dynamics and Control I, Fall 2007. MIT OpenCourseWare (http://ocw.mit.edu), Massachusetts Institute of Technology. Downloaded on [DD Month YYYY].
Frequencies and mode shapes of complex problem X= 0.4483 0.9456 0.6229 -0.1650 0.5156 -0.1826 -0.0411 -0.9006 0.5031 -0.2591 0.5788 0.3164 0.5292 0.0735 -0.5246 0.2481 L= 0.0878 0 0 0 0 9.7562 0 0 0 0 3.4858 0 0 0 0 6.6702
Cite as: Peter So, course materials for 2.003J / 1.053J Dynamics and Control I, Fall 2007. MIT OpenCourseWare (http://ocw.mit.edu), Massachusetts Institute of Technology. Downloaded on [DD Month YYYY].
Consider the vibrational modes of a four stories building. The mass are assumed to be concentrated at the floors. The walls constitutes springs. This can be models as a 1-D system.
Cite as: Peter So, course materials for 2.003J / 1.053J Dynamics and Control I, Fall 2007. MIT OpenCourseWare (http://ocw.mit.edu), Massachusetts Institute of Technology. Downloaded on [DD Month YYYY].
2 k1 2k 1 K = 0 0
2 k1 ( 2 k1 + 2 k 2 ) 2k 2 0
0 2k3 (2k3 + 2k 4 ) 0
Cite as: Peter So, course materials for 2.003J / 1.053J Dynamics and Control I, Fall 2007. MIT OpenCourseWare (http://ocw.mit.edu), Massachusetts Institute of Technology. Downloaded on [DD Month YYYY].
KV = MVD
Eig can also operate on the eigenvalue equation In this form where: K is the stiffness matrix, V is the matrix containing All the eigenvectors, M is the mass matrix, and D is a diagonal matrix containing the eigenvalues [V,D]=eig(K,M)
Cite as: Peter So, course materials for 2.003J / 1.053J Dynamics and Control I, Fall 2007. MIT OpenCourseWare (http://ocw.mit.edu), Massachusetts Institute of Technology. Downloaded on [DD Month YYYY].
3.5
2.5
1.5
1 -0.02
-0.015
-0.01
-0.005
0.005
0.01
0.015
Cite as: Peter So, course materials for 2.003J / 1.053J Dynamics and Control I, Fall 2007. MIT OpenCourseWare (http://ocw.mit.edu), Massachusetts Institute of Technology. Downloaded on [DD Month YYYY].
3.5
2.5
1.5
1 -0.015
-0.01
-0.005
0.005
0.01
0.015
0.02
Cite as: Peter So, course materials for 2.003J / 1.053J Dynamics and Control I, Fall 2007. MIT OpenCourseWare (http://ocw.mit.edu), Massachusetts Institute of Technology. Downloaded on [DD Month YYYY].