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Multi-degree of freedom systems
Dr. P. Jeyaraj
NITK Surathkal, India.
Table of contents
1
Introduction
Decoupling
Damped Response
Outline
1
Introduction
Decoupling
Damped Response
Introduction
Introduction
When a system requires more than one co-ordinate to describe
its motion, it is called multi d.o.f system.
The n-dof system differs from that of the single-DOF system in
that it has N natural frequencies, and for each natural
frequencies, there corresponds a natural state of vibration known
as the normal mode
It has n natural frequencies associated with natural state of
vibration with a displacement configuration known as normal
mode
mathematical terms associated with these quantities are known
as eigen values and eigen vectors
They are established from the N simultaneous equations of
motion of the system and possesss certain dynamic properties
associated with the system.
Dr. P. Jeyaraj NITK Surathkal, India.
Introduction
Introduction
Normal mode vibrations are free undamped vibrations that
depend only on the mass and stiffness of the system and how
they are distributed.
When vibrating at one these normal modes all points in the
system undergo simple harmonic motion that passes through
their equilibrium positions simultaneously.
As in the single dof system, forced harmonic vibration of the
N-dof system takes place at the frequency of the excitation.
Damping is generally omitted except when its concern is of
importance in limiting the amplitude of vibration
Introduction
Introduction
2-DOF System
It is the simplest of the N-dof system
All of the fundamental concepts of multi-dof system can be
described in terms of the 2-dof system without becoming
burdened with the algebraic difficulties.
Numerical results are easily obtained for 2-dof system and they
provide a simple introduction to the behavior of multi-dof
system.
Damping is generally omitted except when its concern is of
importance in limiting the amplitude of vibration
Introduction
Introduction
2-DOF System
For systems with higher dof, matrix methods are essential
They provide a compact notation and an organized procedure for
their analysis and solution.
We will determine the natural frequencies and normal modes of
the 2-dof systems
2-DOF System
Normal Mode Analysis-Example
q
q
k
k
Natural Frequencies are 1 = 0.634 m
; 2 = 2.366 m
0.731
2.73
Normal Modes are 1 (x) =
; 2 (x) =
;
1
1
Orthonormal modes
Each normal mode i is divided by the square root of the
generalized mass Mii is known as othonormal mode. Also known
as weighted normal mode.
ei = Mi ii
T
T
Then ei M ei = 1; ei K ei = i
Modal Matrix
When the N normal modes are assembled into a square matrix
with each normal mode represented by a column, we call it the
modal matrix P.
Thus,the modal matrix for a 3-DOF system can appear as
(1) (2) (3)
x 1
x 1
x1
= 1 2 3
P = x2
x2
x2
x3
x3
x3
T
T
1 M1 1 M2 1 M3
M11 0
0
T2 M1 T2 M2 T2 M3 = 0 M22 0
0
0 M33
T3 M1 T3 M2 T3 M3
The off-diagonal terms are zero because of orthogonality, and
the diagonal terms are the generalized mass Mii
K11 0
0
Similarly for the stiffness matrix, P T KP = 0 K22 0
0
0 K33
The off-diagonal terms are zero because of orthogonality, and
the diagonal terms are the generalized stiffness Kii
When the normal modes in the P matrix are replaced by the
e the modal matrix designated as P.
e It is
orthonormal modes ,
easily seen then that the orthogonality relationship are
eT M e = I eT K e =
Where
matrix of the eigen values
is the diagonal
1 0 0
= 0 2 0
0 0 3
Dr. P. Jeyaraj NITK Surathkal, India.
Example
rad
sec
and
rad
sec
and
Determinant of |Z ()| is
(k11 m1 2 )
k
12
=
2
k21
(k22 m2 )
k11 k22 m2 k11 2 m1 k22 2 + m1 m2 4 k21 k12 =
m1 m2 (12 2 )(12 2 )
where 1 and 2 are the normal mode frequencies. Then
1
(k11 m1 2 )
k12
F1
X1
=
X2
k21
(k22 m2 2 )
0
[Z ()]
The amplitudes of the forced vibration are
(k22 m2 2 )F1
X1 =
m1 m2 (12 2 )(12 2 )
X2 =
Dr. P. Jeyaraj NITK Surathkal, India.
(k21 )F1
m1 m2 (12 2 )(12 2 )
(2k m 2 )F1
m2 (12 2 )(12 2 )
m2 (12
kF1
2 )(12 2 )
Decoupling
Decoupling Equations
When the normal modes of the system are known, the modal
can be used to decouple the equations of motion.
matrix P or P
+ KX = F
MX
Making the coordinate transformation X = PY
MP Y + KPY = F
Pre-multiplying by P T
P T MP Y + P T KPY = P T F
Because P T MP and P T KP are diagonal matrices due to
orthogonality, the new equations in terms of Y are uncoupled
and can be solved as a system of single d.o.f.
Dr. P. Jeyaraj NITK Surathkal, India.
Decoupling
Decoupling Equations-Demonstration
Normal Modes are 1 (x) =
0.731
2.73
; 2 (x) =
;
1
1
Decoupling
Decoupling Equations-Demonstration
We have
m
2.53
0
0
y1
1.607
+k
9.45
y2
0
0
y1
0.731
=
22.38
y2
2.731
1
F
1
0
yi = y1 (0)cosi t +
y i (0)
F2 sint
sini t +
i
k 1 ( )2
i
Decoupling
Decoupling
Let C = M + K then
TCP
= P
T MP
+ P
TKP
P
TCP
= I +
P
Then the following equation will become
T MP
Y + P
TCP
Y + P
T K PY
=P
TF
P
TF
I Y + (I + )Y + Y = P
1
1
...
y + 2
1
1
y2
+
...
1
22
y 2
1
1
y 2
+
...
...
+ n2
yn
22
...
y n
n2
In general, we have
yi + ( + i2 )y i + i2 yi = fi (t)
where, the modal damping can be defined as 2i i = + i2
Dr. P. Jeyaraj NITK Surathkal, India.
The position of all n floors can be expressed in terms of the modal matrix P composed of
only the three modes.
1 (x1 )
x1
1 (x2 )
x2
.
.
=
.
.
.
1 (xn )
xn
2 (x1 )
2 (x2 )
.
.
.
2 (xn )
3 (x1 ) q1
3 (x3 )
q2
. .
.
.
.
qn
3 (xn )
The use of the limited modal matrix then reduces the system to that equal to the
number of modes used.
For the 50-story building, we have
P T KP = (3 50)(50 50)(50 3) = (3 3)matrix
Thus instead of solving the 50 coupled equations, we need only to solve the three by
three equations represented by
P T MP q
+ P T CP q + P T KPq = P T F
If the damping matrix is assumed to be proportional, then
q
i + 2i i q i + i2 qi = i f (t)
where i is known as mode participation factor
Dr. P. Jeyaraj NITK Surathkal, India.
Rayleigh Damping
If damping is proportional, the system mode shapes are those of
the undamped system.
If we displace the system initially in one of the undamped mode
shapes, the masses continue to oscillate in that shape, but the
motion eventually disappears in time because of damping.
When the damping is not proportional, the masses do not
continue to oscillate in that mode shape.
Damping in structural elements is mostly hysteretic and hard to
quantify. Lacking a better model proportional damping is
often assumed.
With proportional damping assumption, higher modes are
damped more than the lower modes.
Rayleigh Damping
The natural frequencies of stiff structural elements are usually
greatly separated.
The effect of higher modes in total response is less than the
modes with lower natural frequencies. For these reasons,
damping ratios are often specified only for lower modes.
Modes with higher damping ratios die out more quickly when
the system is subjected to any short-term or shock excitation.
If the system is subjected to a harmonic excitation, the modes
with higher frequencies have lesser effect because their
amplitudes are inversely proportional to the square of their
frequencies.
Damped Response
Modal Transformation
Equation of motion for an N d.o.f system
+ C X + KX = F
MX
For a 2 d.o.f
we have
system
with Rayleigh
2 damping,
1
0
0
T MP
=
TKP
= 1
P
;P
;
0
1
0 22
2
0
TCP
= + 1
P
0
+ 22
Y and pre-multiplying the equation of motion with P
T,
If X = P
we have
T MP
Y + P
TCP
Y + P
T K PY
=P
TF
P
TF
I Y + [I + ]Y + Y = P
Dr. P. Jeyaraj NITK Surathkal, India.
Damped Response
Modal Transformation
TF
I Y + [I + ]Y + Y = P
Let yi = Yi e it and F = F e it then
2
TF
I + [I + ]i + = P
For
we have
the 2two d.o.f
system,
0
i + i12
0
+
+
0 2
0
+ i + i22
2
1 1
1 0
y1
F1
= 21 22
2
0 2
y2
0
1 2
The i th equation of displacement will be
f
yi () = 2
(i 2 + i + ii2 )
Dr. P. Jeyaraj NITK Surathkal, India.
Damped Response
Modal Transformation-Demonstration
kg
N
Natural Frequencies for k = 100 m
and m = 20 m
3 are
q
q
1 = 0.634 mk = 1.78 rad
; 2 = 2.366 mk = 3.44 rad
;
sec
sec
Damped Response
Modal Transformation
The i th equation of displacement will be
f
yi () = 2
(i 2 + i + ii2 )
yi () =
(i2
f
2 + i + ii2 )