Ch.

4: Vibration of Multi-DOF System

4.0 Outline
Free Vibration
Natural Modes, Eigenvalue Problems
Modal Analysis

4.0 Outline

Ch. 4: Vibration of Multi-DOF System

4.1 Free Vibration
Free Undamped Vibration
For the undamped free vibration, the system will vibrate
at the natural frequency. However, in M-DOF, the
system not only vibrates at a certain natural frequency
but also with a certain natural displacement
configuration. Moreover, there are as many natural
frequencies and associated natural configurations as
the number of DOF of the system natural modes
of vibrations.

natural configurations

4.1 Free Vibration

Ch. 4: Vibration of Multi-DOF System

The equations of motion for undamped M-DOF system
can be written as
Mx ( t ) + Kx ( t ) = 0, i.c. x ( 0 ) = x 0 and x ( 0 ) = x0
where x ( t ) is the displacement vector, M is the inertia matrix,
K is the stiffness matrix. For the physical system, M and K
are symmetric positive definite matrix.
To find the free vibration response, we assume the complex harmonic response
analogous to the 1-DOF case, i.e. x ( t ) = ueit
where u and are constant vector and scalar to be determined.
Substitute the assumed solution into the equation

( M + K ) ue
2

it

=0

Eigenvalue-eigenvector problem:

(K M )u = 0
2

or Ku = 2 Mu with unknowns u and

4.1 Free Vibration

Ch. 4: Vibration of Multi-DOF System

, the eigenvalue, is the natural frequency of the system.
u, the eigenvector, is the mode shape of the system.
tells the frequency of oscillation while u dictates the displacement configuration.
That is the system may vibrates synchronously with the frequency
and the vibration forms a certain displacement pattern of which
its shape does not change throughout the motion; only the amplitude of the
configuration changes w.r.t. time in a harmonic fashion ( eit ) .
Hence it is necessary to determine and u to solve for the free response.
That is we need to solve the eigenproblem. This can be done by pencil and paper
for the system of DOF not greater than 3.

4.1 Free Vibration

Ch. 4: Vibration of Multi-DOF System

4.2 Natural Modes, Eigenvalue Problems
Eigenvalue-Eigenvector problem
Ku = 2 Mu

(K M )u = 0
2

For the system of equations to have nontrivial solution,

K 2 M must be singular. That is
det ( K 2 M ) = 0 algebraic equation in ; the system characteristic equation
Substitute each back into the equation and solve for the accompanied u.
Note there are many solutions of u because K 2 M is singular. It is
common to constrain the solution by setting the magnitude of u to be one,
and to have the positive value for the first element of the vector u.

4.2 Natural Modes, Eigenvalue Problems

Ch. 4: Vibration of Multi-DOF System

From the eigenproblem, we see that there are as many 2 and u as
the number of DOF, n, of the system. Each natural frequency
and the corresponding mode shape u forms the natural mode of vibration.
Because of linearity, the sum of the solutions is also a solution.
Hence the general expression of the free undamped response can be written as
n

x ( t ) = ak e
k =1

ik t

+ bk e

ik t

) u = ( A cos t + B sin t ) u
n

k =1

x ( t ) = Ck cos (k t + k ) u k
k =1

where the amplitudes Ck and phase shifts k are determined from i.c. x ( 0 ) and x ( 0 ) .
Note that k and u k are determined from the system parameters.

4.2 Natural Modes, Eigenvalue Problems

Ch. 4: Vibration of Multi-DOF System

Ex. Consider the simplified model of an automobile.
Derive the equations of motion. Then calculate
the natural modes of the system and write an
expression for the free response. The parameters
have the following values; m=1500 kg, IC=2000 kgm2,
k1=36000 kg/m, k2=40000 kg/m, a=1.3 m, b=1.7 m.
Determine the response if the system is subject
to the initial configuration x0=0.5 m.

4.2 Natural Modes, Eigenvalue Problems

Ch. 4: Vibration of Multi-DOF System

Fx = 0 k1 ( x a ) k2 ( x + b ) + F = mx
mx + ( k1 + k2 ) x ( k1a k2b ) = F
M C = I C k2 ( x + b ) b + k1 ( x a ) a + Fc = I C
I C ( k1a k2b ) x + ( k1a 2 + k2b 2 ) = Fc

( k1a k2b ) x F
m 0 x k1 + k2
+
=
0 I k a k b
2
2
+
k
a
k
b

(
)
C
1
2
1
2

Fc
To calculate the natural modes, we must determine n and u from eigenproblem.
0
1500
76000 21200
=
M =
K
21200 176440
2000
0

n is determined from the characteristic equation det ( K 2 M ) = 0

76000 1500 2

21200
det ( K M ) = det
2

21200
176440
2000

= 3 106 ( 4 138.887 2 + 4320 ) = 0

2 = 47.0296, 91.8571 = 6.8578, 9.5842 rad/s

4.2 Natural Modes, Eigenvalue Problems

Ch. 4: Vibration of Multi-DOF System

u is determined from substituting into ( K 2 M ) u = 0 and solve for u.
For 1 = 6.8578,
0.5456 2.12
110
u = 0
2.12
8.2381

For 2 = 9.5842,
4

u1 =

0.257341

2.12
6.1786
1104
u=0

0.7274
2.12

u2 =

2.914417

The first natural mode is 1 = 6.8578 and u1 =

0.257341
1

The second natural mode is 2 = 9.5842 and u 2 =

2.914417
Therefore the general free response is
1
1

+
C
cos
9.5842
t

+
x ( t ) = C1 cos ( 6.8578t + 1 )
(
)
2
2

0.257341
2.914417

4.2 Natural Modes, Eigenvalue Problems

Ch. 4: Vibration of Multi-DOF System

Therefore the general free response is
1
1

x ( t ) = C1 cos ( 6.8578t + 1 )
C
cos
9.5842
t
+
+

(
)
2
2

0.257341
2.914417
1
1

9.5842
sin
9.5842
x ( t ) = 6.8578C1 sin ( 6.8578t + 1 )
C
t

+
(
)
2
2

0.257341
2.914417
1
1
0.5

C
x ( 0 ) = = C1 cos 1
cos

+
2
2

0.257341
2.914417
0
1
1
0

x ( 0 ) = = 6.8578C1 sin 1
C
9.5842
sin

2
2

0
0.257341
2.914417
C1 cos 1 = 0.4594, C2 cos 2 = 0.0406
C1 sin 1 = 0, C2 sin 2 = 0
1 = 0, 2 = 0, C1 = 0.4594, C2 = 0.0406
0.4594 cos 6.8578t + 0.0406 cos 9.5842t
x (t ) =

0.1182 cos 6.8578t + 0.1183cos 9.5842t

not a harmonic response; combination of two oscillations

4.2 Natural Modes, Eigenvalue Problems

Ch. 4: Vibration of Multi-DOF System

Two natural modes

4.2 Natural Modes, Eigenvalue Problems

Ch. 4: Vibration of Multi-DOF System

4.3 Modal Analysis
Modal analysis is the procedure for solving the simultaneous system of ODEs. The system is transformed into
a set of independent ODEs of which its solution is
readily determined. The actual solution are formed by
combining the basis together; transform the solution
back to the original system.

4.3 Modal Analysis

Ch. 4: Vibration of Multi-DOF System

Undamped System Mq + Kq = Q
Consider the linear transformation q = U where U
is a constant nonsingular square transformation matrix.
Substituting this transformation into the equation of motion
to change the system coordinate from q to :
MU + KU = Q and premultiply both sides by U T
U T MU + U T KU = U T Q
M ' + K ' = N
Note that M ' , K ' , and N are the mass and stiffness matrix and
generalized force vector in new coordinate system .
We would like these new M ' and K ' matrix to be diagonal so that
the new system is actually n-independent harmonic equations and
can be solved readily: m'j j + k 'j j = N j , j = 1, 2, , n.

4.3 Modal Analysis

Ch. 4: Vibration of Multi-DOF System

If U is the modal matrix ( collection of modal vectors of the system ) ,
M ' and K ' will be diagonal. Coordinates j are called modal coordinates.
and the new system of equations are called modal equations.
If U is chosen so U T MU = M ' = I , the matrix U is said to be
orthonormal with respect to M and K . The modal coordinates j
are called normal coordinates. The consequence is that
12 0
0

0
0
T
'
2
= spectral matrix
U KU = K = =

0 0 n2
0
This special U always exists because M is always symmetric positive definite.
The orthogonality property is fundamental to modal analysis because it makes
the response to be representable as a linear combination of natural modes.
Note that U needs not be a symmetric matrix.

4.3 Modal Analysis

Ch. 4: Vibration of Multi-DOF System

Free response of the undamped system Mq + Kq = 0 with i.c. q ( 0 ) and q ( 0 )
By the defined transformation q = U
and the orthonormality property U T MU = I and U T KU =
= U T Mq and = U T Kq
Therefore the initial conditions can be transformed into modal coordinates

( 0 ) = U T Mq ( 0 ) and ( 0 ) = U T Mq ( 0 )
They will be used to determine the constant of integration of ( t )
contribution of each mode to the response

r ( 0 )
sin r t
r ( t ) = Cr cos (r t + r ) = r ( 0 ) cos r t +
r
r ( t ) = uTr Mq ( 0 ) cos r t +

uTr Mq ( 0 )

sin r t , r = 1, 2, , n

Hence the response is q = U = r ( t ) u r

r =1

4.3 Modal Analysis

Ch. 4: Vibration of Multi-DOF System

Ex. Consider the system of three disks on a shaft with
the parameters shown. For simplicity, let the
equivalent torsional spring constant between two
disks be the same, i.e. k=GJi/Li. Also all disk
inertia, I, are the same. Calculate the motion of
three disks subject to i.c.
( 0 ) = [1 1 1] and ( 0 ) = [1 0 1]
T

4.3 Modal Analysis

Ch. 4: Vibration of Multi-DOF System

First develop the equations of motion
M + K = 0 free vibration
I 0 0 1 k
0 I 0 + k

2
0 0 I 3 0
Eigenvalue

k
2k
k

k 2I
det ( K 2 M ) = k
0

r = 0,

0 1 0
k 2 = 0
k 3 0
k
2k 2 I
k

0
k

=0

k 2I

k 3k
,
I
I

4.3 Modal Analysis

Ch. 4: Vibration of Multi-DOF System

Eigenvector
k r2 I

k
0

k
2k r2 I
k

0 1r 0

k 2 r = 0
k r2 I 3r 0

1r 1 1 0.5
= 1 , 0 , 1
2r
3r 1 1 0.5
Normalize the eigenvectors
T M = I or for each mode Tr M r = 1
1r
1
1
0.5
= 1 1 , 1 0 , 1 1
2r
3I 2 I 1.5 I
3r
1
1
0.5

4.3 Modal Analysis

Ch. 4: Vibration of Multi-DOF System

Transformation matrix
1
1.5 0.5 2

1
2 ,
0
U=
1
3I

1 1.5 0.5 2
Transform the initial conditions

1
1
= U
2
2
3
3

4I

3I
3

T
T
( 0) = U M ( 0) = 0 , ( 0) = U M ( 0) = 0

0
2I

4.3 Modal Analysis

Ch. 4: Vibration of Multi-DOF System

Modal equations
4I
1 + = 0, 1 ( 0 ) = 3I , 1 ( 0 ) =
3
2 + 222 = 0, 2 ( 0 ) = 0, 2 ( 0 ) = 0
2
1 1

2I
3 + = 0, 3 ( 0 ) = 0, 3 ( 0 ) =
3
2
3 3

1 ( t ) = 3I +
2 ( t ) = 0

4I
t
3

( rigid body motion with no acceleration )

2I / 3
3k
3k
I 2
3 ( t ) =
sin
sin
t=
t
3 k
I
I
3k / I

4.3 Modal Analysis

Ch. 4: Vibration of Multi-DOF System

Motion
2 1 I
3k
t
t
1
sin
+
+

k
I
3
3
3

1
1
= U = 1 + 2 t 2 I sin 3k t

2
2 3 3 3k
I

3
3
2 1 I
3k
1 + t +
t
sin
I
3 3 3k

4.3 Modal Analysis

Ch. 4: Vibration of Multi-DOF System

Damped System Mq + Cq + Kq = Q
Recall we can decouple Mq + Kq = Q if we transform q = U .
Do the same thing as before with the damped system. Let q = U :
MU + CU + KU = Q and premultiply with U T
U T MU + U T CU + U T KU = U T Q
If U is normalized, U T MU = I and U T KU = . Define N = U T Q.

+ U T CU + = N
For the new system of equations to be decoupled, U T CU must be
a diagonal matrix. We would like to find the condition that makes
U T CU a diagonal matrix.

4.3 Modal Analysis

Ch. 4: Vibration of Multi-DOF System

Let U T CU = = U T MU as U T KU = = U T MU .
Therefore CU = MU as KU = MU ; eigenproblems.
In other words, ( C , M ) has the same eigenvectors U as ( K , M )
but with different eigenvalues, and , respectively.
We can write these equations as M 1CU = U and U T K = U T M .
Or U T C = U T M and M 1 KU = U .
Multiply each pair of equations together:
U T KM 1CU = U T MU = and U T CM 1 KU = U T MU =
But they are equal, which requires KM 1C = CM 1 K .
Hence, for the transformed system to be decoupled, KM 1C = CM 1 K .

4.3 Modal Analysis

Ch. 4: Vibration of Multi-DOF System

A special case of the above condition is that C = M + K ,
which is called proportionally damped. Substitute into the equations
and apply the orthonormality property, we have
U T MU + U T ( M + K ) U + U T KU = U T Q

+ ( I + ) + = N n decoupled ( 2nd order ) ODE

with the new i.c. ( 0 ) = U T Mq ( 0 ) and ( 0 ) = U T Mq ( 0 )
We can write each equation in the standard form

r + 2 rrr + r2r = N r with i.c. r ( 0 ) and r ( 0 ) , r = 1, 2, , n

which we have learned that one form of its solution is

r ( t ) = Cr e

r r t

cos (dr t + r ) +

dr

r r
sin dr d
N
t

e
(
)
r
0

Finally, the response in the physical coordinates are q ( t ) = U ( t ) .

4.3 Modal Analysis

Ch. 4: Vibration of Multi-DOF System

Ex. The effect of bearing lubrication is considered in this
problem. It can be reasonably modeled as
viscous friction with the damping constant c.
Determine the response of the system if the
second disk is subject to a constant load u(t)
and the system initial conditions are
( 0 ) = [1 1 1] and ( 0 ) = [1 0 1]
T

4.3 Modal Analysis

Ch. 4: Vibration of Multi-DOF System

First develop the equations of motion
M + C + K = Q
I 0 0 1 c 0 0 1 k
0 I 0 + 0 c 0 + k

2
2
0 0 I 3 0 0 c 3 0

0 1 0
k 2 = u (t )
k 3 0

k
2k
k

subject to initial conditions ( 0 ) = [1 1 1] and ( 0 ) = [1 0 1] .

T

c
It is obvious that C fits the pattern C = M + K where = and = 0.
I

4.3 Modal Analysis

Ch. 4: Vibration of Multi-DOF System

From the eigenproblem analysis,

r = 0,

k 3k
,
I
I

1
1.5 0.5 2

1
0
2 ,
U=
1
3I

1
1.5
0.5
2

1
1
= U
2
2
3
3

4I

3I
3

T
T
( 0) = U M ( 0) = 0 , ( 0) = U M ( 0) = 0

0
2I

4.3 Modal Analysis

Ch. 4: Vibration of Multi-DOF System

Transformed equations of motion
c
I
1 0 0

0 1 0 + 0

0 0 1

0
c
I
0

0
0

0 + 0

0
I

0
k
I
0

0
1

u (t )

0 =
0

I
3
2

3k

u (t )
c
4I
, 1 ( 0 ) = 3I and 1 ( 0 ) =
1 + 1 =
I
3
3I
c
k
2 + 2 + 2 = 0, 2 ( 0 ) = 0 and 2 ( 0 ) = 0
I
I
c
I

3 + 3 +

3k
2
2I
3 =
u ( t ) , 3 ( 0 ) = 0 and 3 ( 0 ) =
I
3I
3

4.3 Modal Analysis

Ch. 4: Vibration of Multi-DOF System

Response of each modal coordinate

1 ( t ) cannot be determined in a conventional way. Use Laplace transform.

I 2I
1 ( t ) = 3I +
t +
c 3 c

I I

3 c2

c
t
I
1 e I
3

2 ( t ) = 0 because of zero i.c. and no excitation

3 =

c
1
3k
, 3 =
, d 3 = 3 1 32 =
12 Ik c 2
2I
I
2 3Ik

3 ( t ) = C3e

33t

2
cos (d 3t + 3 )
3 k

Apply the initial condition, C3 =

d 3

33
33t
sin d 3t
1 e
cos d 3t +
d 3

2I

and 3 =
3
2

2
2
1 33
33t
+e
cos d 3t +
3 ( t ) =

3 k
3
k
3

d3

2
2I
+
sin d 3t
k
3

4.3 Modal Analysis

Ch. 4: Vibration of Multi-DOF System

The motion of each disk is
1
1.5 0.5 2 1
1
1

= U = 1 1
2 2
0

2
2
3I

3
3
1 1.5 0.5 2 3
c
t

2I I
1 ( t ) = 1 + t + 2 1 e I
3c 3c 3c
3 3Ik

1 33 1
+e
+ sin d 3t
cos d 3t +

d 3 3 3Ik 3
3 3Ik

c
t

2
2I I
I
2 ( t ) = 1 + t + 2 1 e +
3c 3c 3c
3 3Ik
33t

2 33 1
e 33t
+

t
cos d 3t +
sin
d3

3
Ik
Ik
3
3
3
3

d3

3 ( t ) = 1 ( t )

4.3 Modal Analysis

Ch. 4: Vibration of Multi-DOF System

Let I = 3, c = 300, k = 10, 000.
Hence 3 = 100, 3 = 0.5, d 3 = 86.6025, = 100
Plot of the responses are as shown.

Damping made the motion linear, instead of parabola, function of time

4.3 Modal Analysis