52 Vibration of Discrete Systems: Brief Review

2.2.4 Forced Vibration Analysis of an Undamped System Using Modal Analysis

The equations of motion can be expressed as
[m]

x +[k] x =

f (t ) (2.102)
The eigenvalues
2
i
and the corresponding eigenvectors

X
(i)
, i = 1, 2, . . . , n, of the
system are assumed to be known. The solution of Eq. (2.102) is assumed to be given
by a linear combination of the eigenvectors as
x(t ) =
n

i=1

i
(t )

X
(i)
= [X] (t ) (2.103)
where
i
(t ) denote modal coordinates and [X] represents the modal matrix. Substituting
Eq. (2.103) into Eq. (2.102) and premultiplying the result by [X]
T
results in
[X]
T
[m][X]

+[X]
T
[k][X] = [X]
T

f (2.104)
Using Eqs. (2.84) and (2.85), Eq. (2.104) can be written as

+[
2
i
] =

Q (2.105)
where

Q is called the vector of modal forces (or generalized forces) given by

Q(t ) = [X]
T

f (t ) (2.106)
The n uncoupled differential equations indicated by Eq. (2.105) can be expressed in
scalar form as
d
2

i
(t )
dt
2
+
2
i

i
(t ) = Q
i
(t ), i = 1, 2, . . . , n (2.107)
where
Q
i
(t ) =

X
(i)
T

f (t ), i = 1, 2, . . . , n (2.108)
Each of the equations in (2.107) can be considered as the equation of motion of an
undamped single-degree-of-freedom system subjected to a forcing function. Hence, the
solution of Eq. (2.107) can be expressed, using
i
(t ), Q
i
(t ),
i,0
, and
i,0
in place of
x(t ), F(t ), x
0
, and x
0
, respectively, and setting
d
=
i
and = 0 in
Eqs. (2.57)(2.59), as

i
(t ) =
_
t
0
Q
i
()h(t ) d +g(t )
i,0
+h(t )
i,0
(2.109)
with
h(t ) =
1

i
sin
i
t (2.110)
g(t ) = cos
i
t (2.111)
The initial values
i,0
and
i,0
can be determined from the known initial conditions x
0
and

x
0
, using Eqs. (2.97) and (2.98).
undamped forced vibration: coupled
expansion theorem:
uncoupled
Duhamel's convolution integral
or forced response
free or initial or
natural response
undamped forced vibration:
uncoupled
2.2 Vibration of Multidegree-of-Freedom Systems 53
2.2.5 Forced Vibration Analysis of a System with Proportional Damping
In proportional damping, the damping matrix [c] in Eq. (2.60) can be expressed as a
linear combination of the mass and stiffness matrices as
[c] = [m] +[k] (2.112)
where and are known constants. Substitution of Eq. (2.112) into Eq. (2.60) yields
[m]

x +([m] +[k])

x +[k] x =

f (2.113)
As indicated earlier, in modal analysis, the solution of Eq. (2.113) is assumed to be of
the form
x(t ) = [X] (t ) (2.114)
Substituting Eq. (2.114) into Eq. (2.113) and premultiplying the result by [X]
T
leads to
[X]
T
[m][X]

+([X]
T
[m][X]

+[X]
T
[k][X]

) +[X]
T
[k][X] = [X]
T

f (2.115)
When Eqs. (2.84) and (2.85) are used, Eq. (2.115) reduces to

+([I] +[
2
i
])

+[
2
i
] =

Q (2.116)
where

Q = [X]
T

f (2.117)
By dening
+
2
i
= 2
i

i
, i = 1, 2, . . . , n (2.118)
where
i
is called the modal viscous damping factor in the ith mode, Eq. (2.116) can
be rewritten in scalar form as
d
2

i
(t )
dt
2
+2
i

i
d
i
(t )
dt
+
2
i

i
(t ) = Q
i
(t ), i = 1, 2, . . . , n (2.119)
Each of the equations in (2.119) can be considered as the equation of motion of a vis-
cously damped single-degree-of-freedom system whose solution is given by Eqs. (2.57)
(2.59). Thus, the solution of Eq. (2.119) is given by

i
(t ) =
_
t
0
Q
i
()h(t ) d +g(t )
i,0
+h(t )
i,0
(2.120)
where
h(t ) =
1

di
e

i
t
sin
di
t (2.121)
g(t ) = e

i
t
_
cos
di
t +

i

di
sin
di
t
_
(2.122)
and
di
is the ith frequency of damped vibration:

di
=
_
1
2
i

i
(2.123)
uncoupled
Rayleigh's propoportional damping:
coupled
uncoupled
Duhamel's convolution integral
or forced response
free or initial or
natural response
Question: How to analyze free vibration of a damped MDOF system? That is, does eigenvalues (or natural frequencies) exist
in such a system?
damped forced vibration:
damped forced vibration:
expansion theorem:
54 Vibration of Discrete Systems: Brief Review
2.2.6 Forced Vibration Analysis of a System with General Viscous Damping
The equations of motion of an n-degree-of-freedom system with arbitrary viscous damp-
ing can be expressed in the form of Eq. (2.60):
[m]

x +[c]

x +[k] x =

f (2.124)
In this case, the modal matrix will not diagonalize the damping matrix, and an analytical
solution is not possible in the conguration space. However, it is possible to nd an
analytical solution in the state space if Eq. (2.124) is expressed in state-space form.
For this, we add the identity

x(t ) =

x(t ) to an equivalent form of Eq. (2.124) as

x(t ) =

x(t ) (2.125)

x(t ) = [m]
1
[c]

x(t ) [m]
1
[k] x(t ) +[m]
1

f (2.126)
By dening a 2n-dimensional state vector y(t ) as
y(t ) =
_
x(t )

x(t )
_
(2.127)
Eqs. (2.125) and (2.126) can be expressed in state form as

y(t ) = [A] y(t ) +[B]

f (t ) (2.128)
where the coefcient matrices [A] and [B], of order 2n 2n and 2n n, respectively,
are given by
[A] =
_
[0] [I]
[m]
1
[k] [m]
1
[c]
_
(2.129)
[B] =
_
[0]
[m]
1
_
(2.130)
Modal Analysis in State Space For the modal analysis, rst we consider the free
vibration problem with

f =

0 so that Eq. (2.128) reduces to

y(t ) = [A] y(t ) (2.131)

This equation denotes a set of 2n rst-order ordinary differential equations with constant
coefcients. The solution of Eq. (2.131) is assumed to be of the form
y(t ) =

Ye
t
(2.132)
where

Y is a constant vector and is a constant scalar. By substituting Eq. (2.132)
into Eq. (2.131), we obtain, by canceling the term e
t
on both sides,
[A]

Y =

Y (2.133)
Equation (2.133) can be seen to be a standard algebraic eigenvalue problem with a
nonsymmetric real matrix, [A]. The solution of Eq. (2.133) gives the eigenvalues

i
and the corresponding eigenvectors

Y
(i)
, i = 1, 2, . . . , 2n. These eigenvalues and
eigenvectors can be real or complex. If
i
is a complex eigenvalue, it can be shown
coupled
ODE in state space
vector-matrix ODE
damped forced vibration:
damped free vibration:
2.2 Vibration of Multidegree-of-Freedom Systems 55
that its complex conjugate (
i
) will also be an eigenvalue. Also, the eigenvectors

Y
(i)
and

Y
(i)
, corresponding to
i
and
i
, will also be complex conjugates to one another.
The eigenvectors

Y
(i)
corresponding to the eigenvalue problem, Eq. (2.133), are called
the right eigenvectors of the matrix [A]. The eigenvectors corresponding to the trans-
pose of the matrix are called the left eigenvectors of [A]. Thus, the left eigenvectors,
corresponding to the eigenvalues
i
, are obtained by solving the eigenvalue problem
[A]
T

Z =

Z (2.134)
Since the determinants of the matrices [A] and [A]
T
are equal, the characteristic
equations corresponding to Eqs. (2.133) and (2.134) will be identical:
|[A] [I]| |[A]
T
[I]| = 0 (2.135)
Thus, the eigenvalues of Eqs. (2.133) and (2.134) will be identical. However, the
eigenvectors of [A] and [A]
T
will be different. To nd the relationship between

Y
(i)
,
i = 1, 2, . . . , 2n and

Z
(j)
, j = 1, 2, . . . , 2n, the eigenvalue problems corresponding to

Y
(i)
and

Z
(j)
are written as
[A]

Y
(i)
=
i

Y
(i)
and [A]
T

Z
(j)
=
j

Z
(j)
(2.136)
or

Z
(j)
T
[A] =
j

Z
(j)
T
(2.137)
Premultiplying the rst of Eq. (2.136) by

Z
(j)
T
and postmultiplying Eq. (2.137) by

Y
(i)
, we obtain

Z
(j)
T
[A]

Y
(i)
=
i

Z
(j)
T

Y
(i)
(2.138)

Z
(j)
T
[A]

Y
(i)
=
j

Z
(j)
T

Y
(i)
(2.139)
Subtracting Eq. (2.139) from Eq. (2.138) gives
(
i

j
)

Z
(j)
T

Y
(i)
= 0 (2.140)
Assuming that
i
=
j
, Eq. (2.140) yields

Z
(j)
T

Y
(i)
= 0, i, j = 1, 2, . . . , 2n (2.141)
which show that the ith right eigenvector of [A] is orthogonal to the jth left eigen-
vector of [A], provided that the corresponding eigenvalues
i
and
j
are distinct. By
substituting Eq. (2.141) into Eq. (2.138) or Eq. (2.139), we nd that

Z
(j)
T
[A]

Y
(i)
= 0, i, j = 1, 2, . . . , 2n (2.142)
By setting i = j in Eq. (2.138) or Eq. (2.139), we obtain

Z
(i)
T
[A]

Y
(i)
=
i

Z
(i)
T

Y
(i)
, i = 1, 2, . . . , 2n (2.143)
When the right and left eigenvectors of [A] are normalized as

Z
(i)
T

Y
(i)
= 1, i = 1, 2, . . . , 2n (2.144)
56 Vibration of Discrete Systems: Brief Review
Eq. (2.143) gives

Z
(i)
T
[A]

Y
(i)
=
i
, i = 1, 2, . . . , 2n (2.145)
Equations (2.144) and (2.145) can be expressed in matrix form as
[Z]
T
[Y] = [I] (2.146)
[Z]
T
[A][Y] = [
i
] (2.147)
where the matrices of right and left eigenvectors are dened as
[Y]
_

Y
(1)

Y
(2)


Y
(2n)
_
(2.148)
[Z]
_

Z
(1)

Z
(2)


Z
(2n)
_
(2.149)
and the diagonal matrix of eigenvalues is given by
[
i
] =
_
_
_
_
_

1
0

2
.
.
.
0
2n
_

_
(2.150)
In the modal analysis, the solution of the state equation, Eq. (2.128), is assumed to be
a linear combination of the right eigenvectors as
y(t ) =
2n

i=1

i
(t )

Y
(i)
= [Y] (t ) (2.151)
where
i
(t ), i = 1, 2, . . . , 2n, are modal coordinates and (t ) is the vector of modal
coordinates:
(t ) =
_

1
(t )

2
(t )
.
.
.

2n
(t )
_

_
(2.152)
Substituting Eq. (2.151) into Eq. (2.128) and premultiplying the result by [Z]
T
, we
obtain
[Z]
T
[Y]

(t ) = [Z]
T
[A] [Y] (t ) +[Z]
T
[B]

f (t ) (2.153)
In view of Eqs. (2.146) and (2.147), Eq. (2.153) reduces to

(t ) = [
i
] (t ) +

Q(t ) (2.154)
which can be written in scalar form as
d
i
(t )
dt
=
i

i
(t ) +Q
i
(t ), i = 1, 2, . . . , 2n (2.155)
expansion theorem:
uncoupled
uncoupled
2.2 Vibration of Multidegree-of-Freedom Systems 57
where the vector of modal forces is given by

Q(t ) = [Z]
T
[B]

f (t ) (2.156)
and the ith modal force by
Q
i
(t ) =

Z
(i)
T
[B]

f (t ), i = 1, 2, . . . , 2n (2.157)
The solutions of the rst-order ordinary differential equations, Eq. (2.155), can be
expressed as

i
(t ) =
_
t
0
e

i
(t )
Q
i
() d +e

i
t

i
(0), i = 1, 2, . . . , 2n (2.158)
which can be written in matrix form as
(t ) =
_
t
0
e
[
i
](t )

Q() d +e
[
i
]t
(0) (2.159)
where (0) denotes the initial value of (t ). To determine (0), we premultiply Eq. (2.151)
by

Z
(i)
T
to obtain

Z
(i)
T
y(t ) =

Z
(i)
T
[Y] (t ) (2.160)
In view of the orthogonality relations, Eq. (2.141), Eq. (2.160) gives

i
(t ) =

Z
(i)
T
y(t ), i = 1, 2, . . . , 2n (2.161)
By setting t = 0 in Eq. (2.161), the initial value of
i
(t ) can be found as

i
(0) =

Z
(i)
T
y(0), i = 1, 2, . . . , 2n (2.162)
Finally, the solution of Eq. (2.128) can be expressed, using Eqs. (2.151) and (2.159),
as
y(t ) =
_
t
0
[Y]e
[
i
](t )

Q() d +[Y]e
[
i
]t
(0) (2.163)
Example 2.3 Find the forced response of the viscously damped two-degree-of-
freedom system shown in Fig. 2.9 using modal analysis for the following data: m
1
=
2 kg, m
2
= 5 kg, k
1
= 10 N/m, k
2
= 20 N/m, k
3
= 5 N/m, c
1
= 2 N s/m, c
2
= 3 N
s/m, c
3
= 1.0 N s/m, f
1
(t ) = 0, f
2
(t ) = 5 N, and t 0. Assume the initial conditions
to be zero.
SOLUTION The equations of motion of the system are given by
[m]

x +[c]

x +[k] x =

f (E2.3.1)
where
[m] =
_
m
1
0
0 m
2
_
=
_
2 0
0 5
_
(E2.3.2)
[c] =
_
c
1
+c
2
c
2
c
2
c
2
+c
3
_
=
_
5 3
3 4
_
(E2.3.3)