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Freedom Systems
The Millennium bridge required
many degrees of freedom to model
and design with.
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Fig 4.1
4.1 Two-Degree-of-Freedom
Model (Undamped)
m2
m1
x1
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x2
(4.1)
(4.2)
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Initial Conditions
Two coupled, second -order, ordinary
differential equations with constant
coefficients
Needs 4 constants of integration to solve
Thus 4 initial conditions on positions and
velocities
x1 (0) = x10 , x!1 (0) = x!10 , x2 (0) = x20 , x!2 (0) = x!20
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!
!!
x
(t)
x
(t)
x
(t)
2
2
2
m1
M =
0
0
,
m2
M!!
x + Kx = 0
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k1 + k2
K=
k2
(4.4), (4.5)
k2
k2
(4.6), (4.9)
Initial Conditions
ICs can also be written in vector form
x10
x!10
x(0) = , and x! (0) =
x20
x!20
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Let x(t) = ue
j t
(4.15)
j = 1, u =/ 0, , u unknown
- M + K ue
2
j t
=0
- M + K u = 0
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(4.16)
(4.17)
- 2 M + K u = 0
(4.17)
u =/ 0 - M + K
or det - 2 M + K = 0
2 m1 + k1 + k2
det
k2
(4.20)
k2
=0
2
m2 + k2
m1m2 4 (m1k2 + m2 k1 + m2 k2 ) 2 + k1 k2 = 0
Eq. (4.21) is quadratic in 2 so four solutions result:
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2
1
and 1 and 2
2
2
(4.21)
(4.23)
3 u11 0
27 9(2)
=
3 (2) u12 0
3 u21 0
27 9(4)
=
3 (4) u22 0
1
9u21 3u22 = 0 or u21 = u22
3
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Choose:"
3
u12 = 1 u1 =
1
3
u22 = 1 u 2 =
1
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13
= 2, has mode shape u1 =
1
1 3
2, 4 = 2, has mode shape u 2 =
1
Here we have introduce the name
mode shape to describe the vectors
u1 and u2. The origin of this name comes later
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(4.24)
(4.26)
x2 (t)
u12
m1
Mode 1:
k2
Mode 2:
x1
m1
x1=-A/3
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m2
13
u1 =
1
m2
1 3
u2 =
1
x2=A
x1=A/3
k1
x2
k2
x2
x2=A
x
(
t
)
1
sin ( 2t + 1 ) sin (2t + 2 )
3
x (t ) = 3
2 A sin ( 2t + )+ A sin (2t + )
1
1
2
2
A
A
1
2
x!1 (t )
2 cos( 2t + 1 ) 2 cos(2t + 2 )
3
x! (t ) = 3
2 A 2 cos( 2t + )+ A 2 cos(2t + )
1
1
2
2
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At t = 0 we have"
A
A
1
2
1 mm
sin(1 ) sin( 2 )
= 3
0 A sin( ) + A sin( )
1
1
2
2
A1
A
2
0
2 cos(1 ) 2 cos( 2 )
3
= 3
0
A1 2 cos(1 ) + 2A2 cos( 2 )
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3 = A1 sin ( 1 ) A2 sin (2 )
0 = A1 sin (1 ) + A2 sin ( 2 )
0 = A1 2 cos( 1 ) A2 2 cos( 2 )
0 = A1 2 cos( 1 ) + A2 2 cos(2 )
Yields:"
(4.34)
Figure 4.3
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D.J. Inman
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Things to note
Two degrees of freedom implies two natural
frequencies
Each mass oscillates at with these two frequencies
present in the response and beats could result
Frequencies are not those of two component
systems
1 =
k1
= 1.63, 2 = 2
m1
k2
= 1.732
m2
ad cb c a
c c
T
2
2
x x = x1 + x2
m1 0
T
2
2
M =
x Mx = m1 x1 + m2 x2
0 m2
T
M > 0 x Mx > 0 for every value of x except 0
M=M
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m1
=
0
m2
(4.35)
0
m1
1/2
,
M
=
1
m2
0
Let x(t) = M 1/2 q(t) and multiply by M 1/2 :
m1
M =
0
0
1 m1
1
, M =
m2
0
1
m2
1/2
1/2
1/2
1/2
%%
M
MM
q(t)
+
M
KM
!#
#"##
$
!#
#"##
$ q(t) = 0
I identity
or
(4.38)
K& symmetric
&
%% + Kq(t)
q(t)
= 0 where K& = M 1/2 KM 1/2
k
&
K is called the mass normalized stiffness and is similar to the scalar
m
used extensively in single degree of freedom analysis. The key here is that
K& is a SYMMETRIC matrix allowing the use of many nice properties and
computational tools
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vibration problem
(4.40)
" = v
Kv
#
%$%
&
v0
real symmetric
eigenvalue problem
(4.41)
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T
x = ! , y = ! , inner product is x y = xi yi
i =1
xn
yn
x orthogonal to y if xT y = 0
T
x is normal if x x = 1
(4.43)
has norm of 1
x x
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xT
xT x
xT x
xT x
=1
T
x x
(4.44)
3
3
1/2
1/2
K! = M KM
=
3 3 0 1
0
1
3 1
so K! =
which is symmetric.
1 3
3- -1
2
det(K! I ) = det
=
6 + 8 = 0
-1 3-
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2
2
( K! 1 I )v1 = 0
3 2 1 v11 0
1 3 2 v = 0
12
1
v11 v12 = 0 v1 =
1
v1 = (1 + 1) = 1 =
2
1
v1 =
2
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1
1
1 1
1
T
v2 =
1 , v1 v 2 = 2 (1 1) = 0
2
1
T
v1 v1 = (1 + 1) = 1
2
1
T
v 2 v 2 = (1 + (1)(1)) = 1
2
v i are orthonormal
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1/2
qu= M
1/2
(4.37)
1 1
3
0
1/2
3 =
M u1 =
= v1
0 1 1 1
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T
T
v
v
v
1 0
1 1
1 v2
T
P P= T
= 0 1 = I
T
v 2 v1 v 2 v 2
P is called an orthogonal matrix"
! = P T Kv
! 1 Kv
! 2 = P T [ 1v1 2 v 2 ]
P T KP
1v1T v1 2 v1T v 2 1 0
2
2
= T
=
=
diag(
0
1
2 ) = (4.47)
T
2
1v 2 v1 2 v 2 v 2
1 1
P P=
2 2
T
1 1 + 1
=
2 1 1
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1 1
1 1
1 1 1 1
1 1 1 1
1 1 1 2 0
=
=I
1 + 1 2 0 2
1
v1 ] =
2
1 1 1 2 4
=
2 1 1 2 4
T
12 0
1 4 0 2 0
=
=
==
2
2 0 8 0 4
0
In general:
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2
!
= P KP = diag ( i ) = diag( i )
T
(4.48)
Example 4.2.5
The equations of motion:
Figure 4.4
m1 !!
x1 + (k1 + k2 )x1 k2 x2 = 0
m2 !!
x2 k2 x1 + (k2 + k3 )x2 = 0
(4.49)
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0
k1 + k2
!!
x+
m2
k2
k2
x=0
k2 + k 3
(4.50)
0 4
2
12
1/2
1/2
!
K = M KM
=
1
2
12
1
12
1
12
2
!
det K I = det
=
15 + 35 = 0
12
1
1 = 2.8902 and 2 = 12.1098
1 = 1.7 rad/s and 2 = 12.1098 rad/s
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1
3 - 2.8902 v21
9.1089v11 = v21
Normalizing v1 yields
2
1 = v1 = v112 + v21
= v112 + (9.1089)2 v112
0.9940
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0.9940
likewise v 2 =
0.1091
0.1091 0.9940
v2 ] =
0.9940 0.1091
0.1091 0.9940 0.1091 0.9940 1 0
PT P =
=
Yes!
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A note on eigenvectors
In the previous section, we could have chosed v 2 to be
0.9940
-0.9940
v2 =
instead of v 2 =
0.1091
0.1091
Matlab commands
To compute the inverse of the square matrix
A: inv(A) or use A\eye(n) where n is
the size of the matrix
[P,D]=eig(A) computes the eigenvalues
and normalized eigenvectors (watch the
order). Stores them in the eigenvector
matrix P and the diagonal matrix D (D=L)
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More commands
To compute the matrix square root use
sqrtm(A)
To compute the Cholesky factor: L= chol(M)!
To compute the norm: norm(x)!
To compute the determinant det(A)!
To enter a matrix:
K=[27 -3;-3 3]; M=[9 0;0 1];!
To multiply: K*inv(chol(M))!
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u0
(iii) v = M KM 2 v
2