Module:13

Lecture:1
Steps of Modal Analysis
1)

d1 and d2

orthogonal if d1T d 2 0
12

n
2
2) Norm d d d di
i 1

3)

d 1 orthogonal

4)

dia i d T K d

5)

is normalised by

1
dT d

.d

Cholesky Decomposition
When matrix [M] or [K] is full populated, matrices [L] and [L]T can be found from Cholesky
decomposition. In this evaluation, we simply write the

M L L

in terms of the upper

and lower triangular matrix of [L] and its transpose.

M x K x 0
-

Coupling comes from K

Take L - matrix in such a way that

M L L

L M

12

0
0

0
.
0

0
m

M L L

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1
m

1
m

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 M x K x 0 ------(1)
x M 2 q
1

Substituting x and pre-multiplying by M

to the above equation, we can rewrite

M 2 M M 2 q M 2 K M 2 q 0
I q K q ________ 2
1

Now defining

q d e jt ___________ 3
Substituting (3) in (2) we get
K d 2 d
K I d 0

Eigen values

Eigen vector

Continuous System
Free Undamped Vibration

mi
xi Ki xi xi 1 Ki 1 xi 1 xi 0

Where i 1, 2,...., n

M x K x 0

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 K1 K 2
K
2

0
K .

K2
K 2 K3
K3
.
.
.

0
K3
K3 K 4
.
.
.

0
m1

0
0

0
K4
M
.
0
.
.

.
.

0
m2
0
0
.
.

0
0
m3
0
.
.

0
0
0

m4
.

Modal Analysis:

M x K x 0 __________________(1)
With initial condition x 0 x
0

x 0 x

x M 2 q and substitute in (1)

1

M M 2 q K M 2 q 0
1

Premultiply by M

12

M 2 M M 2 q M 2 K M 2 q 0
or , I q K q 0 ___________ 2
1

q M 2 x t __________modal solution
1

Apply another transformation

q d r

_______________ 3

Where, d d1, d 2, .... di ' s are normalized vectors of K

Substitute (3) in (2) and premultiply by d

T
T
d d r d K d r 0
I r r 0
diag i diag i2

From SDOF system

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mx Kx 0
x 0 x0

x 0 0
1

2
2
2
0
x x0 sin nt
n

x
tan 1 n 0

Similarly modal response for first two modes :

r
sin nt 1 tan 1 n1 10
r10

r1 t

r102 n21 r102

r2 t

r202 n22 r202

r
sin nt 2 tan 1 n 2 20
r20

2
rn20nn
rn20

t
r
tan 1 nn n 0
sin nn
rn 0

n1

n 2

.
.
.
.
rn t

nn

We assumed :
x M

q M 2 d r
S r
1

matrix of mode shape vector

The modal analysis can be easily extended to equations for a n dof system and easily a
computer program may be written.
Calculation Steps :

1) Calculate M

2) Calculate K M

K M

3) Obtain i2 and di
4) Normalize di to form d dd T 1
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5) Calculate S M

d S

d M
T

6) Calculate the initial Coordinate in ' r ' Co-ordinate(modal) systems

r0 S

x0 ; r 0 S x0
1

Physical Co-ordinate System

r S x
x S r
1

Where S M

modal Co-ordinate (Uncoupled)

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