DYNAMI C OF STRUCTURES

CHAPTER 5
RESPONSE OF MULTI DEGREE OF
FREEDOM SYSTEMS
Department of civil engineering, University of North Sumatera
Ir. DANIEL RUMBI TERUNA, MT;IP-U
RESPONSE OF MDOF SYSTEM
1
m
2
m
3
m
1
k
2
k
3
k
2
c
1
c
3
c
Gbr 1. (a) Three storey of shear building; (b) lumped mass model
) (
1
t P
) (
2
t P
) (
3
t P
RESPONSE OF MDOF SYSTEM
1 1
u m & &
1 1
u k
1 1
u c &
) (
1 2 2
u u c & &
) (
2 3 3
u u k
2 2
u m & &
) (
1 2 2
u u k
) (
1
t p
) (
2
t p
) (
2 3 3
u u c & &
3 3
u m & &
) (
3
t p
(b)
Gbr 2. (a) Three degree of freedom system ; (b) free body diagram
2
m
3
m
2
c
3
c
1
c
3
k
2
k
(a)
1
m
1
k
1
u
2
u
3
u
RESPONSE OF MDOF SYSTEM
The equation of motion is merely an expression of the equilibrium of
these forces as given by
( ) ( ) ( ) ( ) 1 0
1 1 2 2 1 2 2 1 1 1 1 1 1
= + + t p u u c u u k u c u k u m & & & & &
( ) ( ) ( ) ( ) ( ) ( ) 2 0
2 2 3 3 2 3 3 1 2 2 1 2 2 2 2
= + + t p u u c u u k u u c u u k u m & & & & & &
( ) ( ) ( ) ( ) 3 0
3 2 3 3 2 3 3 3 3
= + + t p u u c u u k u m & & & &
( ) ( ) ( ) ( ) 4
1 2 2 1 2 1 2 2 1 2 1 1 1
t p u c u c c u k u k k u m = + + + + & & & &
( ) ( ) ( ) ( ) 5
2 3 3 2 3 2 1 2 3 3 2 3 2 1 2 2 2
t p u c u c c u c u k u k k u k u m = + + + + & & & & &
( ) ( ) ( ) ( ) 6 0
3 2 3 3 2 3 3 3 3
= + + t p u u c u u k u m & & & &
Equations. (1), (2), and (3) rearrange in compact form lead to
RESPONSE OF MDOF SYSTEM
{ ] _ _ { ] _ { ] ( ) { ] ( ) 7 t p U K U C U M = + +
& & &
_ ;
0 0
0 0
0 0
3
2
1
_
_
_
_
_
_
_
_
_
_
=
m
m
m
M
_ ;
0
0
3 3
3 3 2 2
2 2 1
_
_
_
_
_
_
_
_
_
_

+
+
=
c c
c c c c
c c c
C
_
_
_
_
_
_
_
_
_
_
_

+
+
=
3 3
3 3 2 2
2 2 1
0
0
k k
k k k k
k k k
K
{ ] { ] { ] ( ) { ]
( )
( )
( )
_
_
_
_
_
_
_
_
_
_
=
_
_
_
_
_
_
_
_
_
_
=
_
_
_
_
_
_
_
_
_
_
=
_
_
_
_
_
_
_
_
_
_
=
t p
t p
t p
t p
u
u
u
u
u
u
u
u
u
u
u
u
3
2
1
3
2
1
3
2
1
3
2
1
; ; ;
&
&
&
&
& &
& &
& &
& &
In matrix form equa. (4), (5), and (6) can be written as follows
FREE VIBRATION
Natural frequencies and modes
The equation of motion for a undamped system can be written as
{ ] _ _ { ] ( ) 8 0 = + U K U M
& &
The solution of equa. (8) can be described mathematically by
( ) ( ) ( ) 9
n n
t q t u =
where is deflected shape does not vary with time and is the time
variation of displacement is given as
) (t q
n n

( ) ( ) 10 sin cos t B t A t q
n n n n n
+ =
FREE VIBRATION
( ) ( ) ( ) 11 sin cos t B t A t u
n n n n n
+ =
introducing equa.(10) into equa.(9) yields
Subsituting equa.(11) into equa. (8) gives
_ ( ) ) 13 ( 0
2
= + t q k m
n n n n

This equation can be satisfied in one of two ways:
( ) ( )
) ( . 2
) ( 0 0 . 1
2
solution nontrivial m k
solution trivial t u t q
n n n
n
=
= =
(14)
FREE VIBRATION
_ ) 15 ( 0
2
=
n n
m k
) 16 ( 0 det
2
= m k
n

( ) N n
n
,......... 3 , 2 , 1
2
=
Equation (14) is called the eigenvalue problem, and is rewritten as
It has nontrivial solution if
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
These roots of the frequency equation are known as eigenvalues. When
these roots is subsituted into equa. (15) gives the coresponding vector
Which are known as natural modes or modes shape
n

FREE VIBRATION
_
_
_
_
_
_
_
_
_
_
_
_
_
_
_
_
_
_
_
_
_
= =
NN N N
N
N
N
n





. .
. . . . .
. . . . .
. .
. .
. .
.....
2 1
3 32 31
2 22 21
1 12 11
4 3 2 1
EXAMPLE
1
m
2
m
3
m
1
k
2
k
3
k
1
k
'
1
k
2
k
3
k
h
h
h
m m
m m
m m
6 , 0
5 , 1
3
2
1
=
=
=
k k
k k k k
5 , 0
8 , 0
'
1
3 2 1
=
= = =
1000 / = m k
EXAMPLE
_
_
_
_
_
_
_
_
_
_
_
=
_
_
_
_
_
_
_
_
_
_
=
m
m
m
m
m
m
M
6 , 0 0 0
0 5 , 1 0
0 0
0 0
0 0
0 0
3
2
1
_
_
_
_
_
_
_
_
_
_
_

=
_
_
_
_
_
_
_
_
_
_

+ +
+
=
6 , 1 6 , 1 0
6 , 1 7 , 3 6 , 1
0 6 , 1 2 , 3
0
0
3 3
3
'
1 3 2 2
2 2 1
k
k k k
k k
k k
k k k k k
k k k
K
_ ) 17 ( 0
2
=
n n
m k problem Eigenvalue
EXAMPLE
) 18 (
0
0
0
6 , 0 6 , 1 6 , 1 0
6 , 1 5 , 1 7 , 3 6 , 1
0 6 , 1 2 , 3
3
2
1
2
2
2
_
_
_
_
_
_
_
_
_
_
=
_
_
_
_
_
_
_
_
_
_
_
_
_
_
_
_
_
_
_
_

m k k
k m k k
k m k
n
n
n
m k
where
k
k k
k
n
/
) 19 (
0
0
0
6 , 0 6 , 1 6 , 1 0
6 , 1 5 , 1 7 , 3 6 , 1
0 6 , 1 2 , 3
2
3
2
1

=
_
_
_
_
_
_
_
_
_
_
=
_
_
_
_
_
_
_
_
_
_
_
_
_
_
_
_
_
_
_
_



EXAMPLE
The natural modes are determined by subsituting in equa.(18)
or in equa. (19)
) 20 ( 0 3968 , 7 4566 , 18 3348 , 8
2 3
= +
2
1
2
=
n
characteristic equation
. sec / 9813 , 21 8318 , 4
) 21 ( . sec / 2947 , 17 9911 , 2
. sec / 1951 , 7 5177 , 0
3 3
2 2
1 1
rad
rad
rad
= =
= =
= =



1
=
EXAMPLE
( )
( )
( ) 0 6 , 0 6 , 1 6 , 1
) 22 ( 0 6 , 1 5 , 1 7 , 3 6 , 1
0 6 , 1 2 , 3
31 1 21
31 21 1 11
21 11 1
= +
= +
=



{ ] ;
079 , 2
680 , 1
1
31
21
11
1
_
_
_
_
_
_
_
_
_
_
=
_
_
_
_
_
_
_
_
_
_
=

{ ] ;
064 , 1
130 , 0
1
32
22
12
2
_
_
_
_
_
_
_
_
_
_

=
_
_
_
_
_
_
_
_
_
_
=

{ ] ;
259 , 1
019 , 1
1
33
23
13
3
_
_
_
_
_
_
_
_
_
_
=
_
_
_
_
_
_
_
_
_
_
=

EXAMPLE
The N eigenvectors can be display in one matrix
_
_
_
_
_
_
_
_
_
_

=
_
_
_
_
_
_
_
_
_
_
=
259 . 1 064 . 1 079 . 2
019 . 1 130 . 0 680 . 1
0 . 1 0 . 1 0 . 1
33 32 31
23 22 21
13 12 11

jn
NATURAL MODES
0 . 1
11
=
680 . 1
21
=
079 . 2
31
=
0 . 1
12
=
130 . 0
22
=
064 . 1
32
=
0 . 1
13
=
019 . 1
23
=
259 . 1
33
=
1
st
Mode
2
nd
Mode 3
th
Mode