Natural Frequencies and Mode Shapes

10/22/2018 Chapter 7 Determination of Natural Frequencies and Mode shapes - ppt download
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Chapter 7 Determination of Natural Frequencies and Mode shapes

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1 Chapter 7 Determination of Natural Frequencies and Mode

shapes
2 Chapter Outline 7.1 Introduction 7.2 Dunkerley’s Formula

7.3 Rayleigh’s Method
7.4 Holzer’s Method
https://slideplayer.com/slide/12846339/ 1/9
10/22/2018 7.5 Matrix Iteration
Chapter Method
7 Determination of Natural Frequencies and Mode shapes - ppt download
7.6 Jacobi’s Method
7.7 Standard Eigenvalue Problem

3 7.1 Introduction
7.1
4 7.1 Introduction
ComputingButtons:
the natural frequencies and modes by solving a nth degree
polynomial equation can be tedious
In this chapter we shall consider several other methods:
Dunkerley’s formula
Rayleigh’s method 3
Holzer’s method
Matrix iteration method
Jacobi’s method
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5 7.2 Dunkerley’s Formula

7.2

It gives the approx. value of the fundamental frequency of a composite system.
Consider the following general n DOF system:
For a lumped mass system with diagonal mass matrix, the equation becomes:

i.e.
Expanding:

Let the roots of this equation be 1/ω12, 1/ω22,…, 1/ωn2. Thus
Equating coe cients of (1/ω2)n-1 in (E.1) and (E.2):
In most cases,
9 7.2 Dunkerley’s Formula Thus Can also be written as

where ωin=(1/aiimi)1/2=(kii/mi)1/2
10 7.2 Dunkerley’s Formula Example 7.1

Fundamental Frequency of a Beam Estimate the fundamental natural frequency of a simply supported beam
carrying 3 identical equally spaced masses, as shown below.
11 7.2 Dunkerley’s Formula Example 7.1 Fundamental Frequency of a Beam

Solution We have
Since m1=m2=m3=m ,
12 7.3 Rayleigh’s Method

7.3
13 7.3 Rayleigh’s Method Based on Rayleigh’s Principle

Kinetic and potential energies of an n-DOF discrete system:
Assume harmonic motion to be where is the mode shape and ω is the natural frequency
14 7.3 Rayleigh’s Method Maximum KE: Maximum PE:

For a conservative system, Tmax=Vmax
15 7.3 Rayleigh’s Method Properties of Rayleigh’s Quotient

has a stationary value when is in the vicinity of any eigenvector
Proof:

If normal modes are normalized,

where 0(ε) is an expression in ε of the 2nd order or higher.
i.e. di ers from by a small quantity of the 2nd order.
i.e. Rayleigh’s quotient has a stationary value in the
10/22/2018 neighborhood
Chapter of an eigenvector.
7 Determination of Natural Frequencies and Mode shapes - ppt download
18 7.3 Rayleigh’s Method Properties of Rayleigh’s Quotient 

The stationary value is a minimum value in the neighborhood of
To see this, let r = 1.

In general, Rayleigh’s quotient is never lower than the 1st eigenvalue.
Similarly we can show that Rayleigh’s quotient is never higher than the highest eigenvalue.
Buttons:
20 7.3 Rayleigh’s Method Computation of Fundamental Natural Frequency

Rayleigh’s quotient can be used to approximate ω1. 3
Select a trial vector and substitute into
This will yield a good estimate of
The closer resembles the true mode , the more accurate is the estimated ω1.
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Example 7.2 Fundamental Frequency of a Three-Degree-of-Freedom System Estimate the fundamental
frequency of vibration of the system as shown. Assume that m1=m2=m3=m, k1=k2=k3=k, and the mode shape
is

Example 7.2 Fundamental Frequency of a Three-Degree-of-Freedom System Solution Sti ness matrix
Mass matrix
Substitute the assumed
mode shape into
23 7.3 Rayleigh’s Method Fundamental Frequency of Beams and Shafts

Static de ection curve is used to approximate the dynamic de ective curve.
Consider a shaft carrying several masses as shown below.
24 7.3 Rayleigh’s Method Fundamental Frequency of Beams and Shafts

Potential energy of the system is strain energy of the de ected shaft, which is the work done by the static loads.
For free vibration, max kinetic energy due to the masses is
Equating Vmax and Tmax,
25 7.4 Holzer’s Method

7.4

A trial-and-error scheme to nd natural frequencies of systems
A trial frequency is rst assumed, and a solution is found when the constraints are satis ed.
Requires several trials
The method also gives mode shapes
27 7.4 Holzer’s Method Torsional Systems

Consider the undamped torsional semide nite system shown below.
Equations of motion

Since the motion is harmonic, θi=Θicos(ωt+φ)
Summing these equations gives
This states that the sum of the inertia torques of the system must be zero.
The trial freq must satisfy this requirement.
29 7.4 Holzer’s Method Torsional Systems is arbitrarily chosen as 1.

Substitute these values into to see whether the constraints are satis ed.
If not, repeat the process with a new trial value of ω.
These equations can be generalized for a n-disc system as follows:

The graph below plots the torque Mt applied at the last disc against the chosen ω.
The natural frequencies are the ω at which Mt=0.
The amplitudes (i=1,2,…,n) are the mode shapes of the system

Example 7.4 Natural Frequencies of a Torsional System
10/22/2018 ChapterSolution The arrangement
7 Determination of the
of Natural compressor,
Frequencies andturbine
Mode shapes - ppt download
and generator in a thermal power plant is shown below. Find the natural frequencies and mode shapes of the
system.

Example 5.4 Natural Frequencies of a Torsional System Solution This is an unrestrained torsional system.
The table below shows its parameters and the sequence of computations.
33 7.4 Holzer’s Method Buttons:

Example 5.4 Natural Frequencies of a Torsional System Solution Mt3 is the torque to the right of the generator,
which must be zero at the natural frequencies.
Closely-spaced trial values of ω are used in the vicinity of Mt3=0 to obtain accurate values of the 1st two exible
mode shapes, as shown. 3
34 7.4 Holzer’s Method Spring-Mass Systems

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Holzer’s method is also applicable to vibration analysis of spring-mass systems.
Equations of motion:
For harmonic motion, xi(t)=Xicosωt where Xi is the amplitude of mass mi. Thus
35 7.4 Holzer’s Method Spring-Mass Systems

The resultant force applied to the last (nth) mass can be computed as follows:
Repeat for several other trial frequencies ω.
Plot a graph of F vs ω. The natural frequencies are those ω that give F=0.
36 7.5 Matrix Iteration Method

The method assume that the natural frequencies are distinct and well separated.
Procedure
Select a trial vector
Premultiply it by the dynamical matrix [D].
Normalize the resultant column vector.
Repeat step 2 and 3 until the successive normalized vectors converge.

Proof:
Expansion theorem
is a known vector selected arbitrarily.
are constant vectors because they depend on the system properties.
ci are unknown numbers to be determined.
Premultiplying by [D]:

Proof:
Recall:
Hence
Repeating the process for r iterations:
Since ω1<ω2<…<ωn, if r is large we have:

Proof:
The only signi cant we have on the RHS is:
Since ω1 can be found by

Discussion:
A nite number of iterations is su cient to obtain a good estimate of ω1.
Actual no. of iterations depend on how close resembles
Advantage: Computational errors will not yield incorrect results.
The method fails if is exactly proportional to one of the modes

Convergence to the Highest Natural Frequency
To obtain ωn and the corresponding
Select an arbitrary and premultiply by [D]-1 to obtain an improved trial vector
The sequence of trial vectors will converge to the highest normal mode
Constant of proportionality in this case is ω2 instead of 1/ ω2

Computation
10/22/2018 of Intermediate Natural FrequenciesChapter 7 Determination of Natural Frequencies and Mode shapes - ppt download
Once ω1 and is found, we can nd the higher natural frequencies.
Because any premultiplied by [D] would lead to the largest eigenvalue, it is necessary to remove the largest
eigenvalue from [D]. 
Succeeding λi and can be obtained by eliminating the root λ1 from the characteristic equation
|[D] – λ[I]|=0

Computation of Intermediate Natural Frequencies
Procedure: Buttons:
To nd normalize wrt mass matrix:
De ated matrix [Di] is constructed as:
Next the iterative scheme is used, where is an arbitrary trial eigenvector.
3

Example 7.5
Natural Frequencies of a Three-Degree-of-Freedom System Cancel Download
Find the natural frequencies and mode shapes of the system as shown for k1=k2=k3=k and m1=m2=m3=m by
the matrix iteration method.

Example 7.5
Natural Frequencies of a Three-Degree-of-Freedom System
Solution
Flexibility matrix [a]=[k]-1=
Dynamical matrix is
Eigenvalue problem:

Example 7.5
Solution
1st natural frequency:
Assume , hence
By making the rst element equal to unity we obtain

Example 7.5
Solution
1st natural frequency:
Subsequent trial eigenvector can be obtained from
Corresponding eigenvalues are given by where is the 1st component of before normalization.

Example 7.5
Solution
The various λi and are shown:
The mode shape and natural
frequency converged in
8 iterations.

Example 7.5
Solution
2nd natural frequency:
De ated matrix
Let the normalized vector
where α must be such that

Example 7.5
Solution
α= m-1/2 , hence

Example 7.5
Natural Frequencies of a Three-Degree-of-Freedom
10/22/2018 System7 Determination of Natural Frequencies and Mode shapes - ppt download
Chapter
Solution
Let 
By using the iterative scheme, we obtain

Example 7.5
Solution Buttons:
Continuing the procedure,
Hence λ2= ,
ω2= 3

Example 7.5 Cancel Download
Solution
3rd natural frequency:
Use a similar procedure as before.
Before computing [D3], need to normalize
55 7.6 Jacobi’s Method

7.6

Produces all the eigenvalues and eigenvectors of matrix [D] simultaneously.
[D]=[dij] is a real symmetric matrix of order n x n.
[D] has only real eigenvalues.
There exists a real orthogonal matrix [R] such that [R]T[D][R] is diagonal.
The diagonal elements are the eigenvalues, and the columns of [R] are the eigenvectors.

[R] is generated as a product of several rotation matrices of the form
where all elements other than those in column and row i and j are identical with those of the identity matrix [I].

If the sine and cosine entries appear in positions (i,i), (i,j), (j,i) and (j,j), the corresponding elements of [R]T[D][R]
is as follows:
If θ is chosen to be , then
Successive matrices converge to the required diagonal form.
59 7.6 Jacobi’s Method Example 7.6

Eigenvalue Solution Using Jacobi Method
Find the eigenvalues and eigenvectors of the matrix using Jacobi’s method.

Solution
First try to reduce d23=2 to zero.

Solution
Next try to reduce d13’= to zero.

Solution
Next try to reduce d12’’= to zero.

Solution
Assume that all the o -diagonal terms in [D”’] are close to zero.
Hence the eigenvalues are , and
The corresponding eigenvectors are given by
64 7.7 Standard Eigenvalue Problem

The eigenvalue problem can be written in the form of a standard eigenvalue problem 
Procedure:
Use Choleski decomposition and express [k] as: [k]=[U]T[U] where [U] is an upper triangular matrix.
Eigenvalue problem: We think you have liked this presentation. If you wish to
Procedure: Buttons:
Premultiplying by ([U]T)-1,
De ne a new vector
Eq.A becomes
Its solution yields λi and 3
Apply inverse transformation to nd the desired eigenvectors.
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Choleski Decomposition
Any symmetric and positive de nite matrix [A] of order n x n can be decomposed uniquely.
[A]=[U]T[U] where

Choleski Decomposition
If the inverse of [U] is denoted as [αij], the elements αij can be determined from
[U][U]-1=[I] which gives
Thus the inverse of [U] is also an upper triangular matrix.

Example 7.7
Decomposition of a Symmetric Matrix
Decompose the matrix into the form [A]=[U]T[U]

Example 7.7
Solution

Example 7.7
Solution
Since uij=0 for i>j, we have
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10/22/2018 Chapter 7 Determination of Natural Frequencies and Mode shapes - ppt download

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Chapter 7 Determination of Natural Frequencies and Mode shapes

Presentation on theme: "Chapter 7 Determination of Natural Frequencies and Mode shapes"—

1 Chapter 7 Determination of Natural Frequencies and Mode

2 Chapter Outline 7.1 Introduction 7.2 Dunkerley’s Formula

5 7.2 Dunkerley’s Formula

6 7.2 Dunkerley’s Formula

7 7.2 Dunkerley’s Formula

8 7.2 Dunkerley’s Formula

9 7.2 Dunkerley’s Formula Thus Can also be written as

10 7.2 Dunkerley’s Formula Example 7.1

11 7.2 Dunkerley’s Formula Example 7.1 Fundamental Frequency of a Beam

12 7.3 Rayleigh’s Method

13 7.3 Rayleigh’s Method Based on Rayleigh’s Principle

14 7.3 Rayleigh’s Method Maximum KE: Maximum PE:

15 7.3 Rayleigh’s Method Properties of Rayleigh’s Quotient

16 7.3 Rayleigh’s Method Properties of Rayleigh’s Quotient

17 7.3 Rayleigh’s Method Properties of Rayleigh’s Quotient

18 7.3 Rayleigh’s Method Properties of Rayleigh’s Quotient 

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20 7.3 Rayleigh’s Method Computation of Fundamental Natural Frequency

21 7.3 Rayleigh’s Method

22 7.3 Rayleigh’s Method

23 7.3 Rayleigh’s Method Fundamental Frequency of Beams and Shafts

24 7.3 Rayleigh’s Method Fundamental Frequency of Beams and Shafts

25 7.4 Holzer’s Method

26 7.4 Holzer’s Method

27 7.4 Holzer’s Method Torsional Systems

28 7.4 Holzer’s Method Torsional Systems

29 7.4 Holzer’s Method Torsional Systems is arbitrarily chosen as 1.

30 7.4 Holzer’s Method Torsional Systems

31 7.4 Holzer’s Method

33 7.4 Holzer’s Method Buttons:

34 7.4 Holzer’s Method Spring-Mass Systems

35 7.4 Holzer’s Method Spring-Mass Systems

36 7.5 Matrix Iteration Method

37 7.5 Matrix Iteration Method

38 7.5 Matrix Iteration Method

39 7.5 Matrix Iteration Method

40 7.5 Matrix Iteration Method

41 7.5 Matrix Iteration Method

42 7.5 Matrix Iteration Method

43 7.5 Matrix Iteration Method

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45 7.5 Matrix Iteration Method

46 7.5 Matrix Iteration Method

47 7.5 Matrix Iteration Method

48 7.5 Matrix Iteration Method

49 7.5 Matrix Iteration Method

50 7.5 Matrix Iteration Method

51 7.5 Matrix Iteration Method

52 7.5 Matrix Iteration Method

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54 7.5 Matrix Iteration Method

55 7.6 Jacobi’s Method

56 7.6 Jacobi’s Method

57 7.6 Jacobi’s Method

58 7.6 Jacobi’s Method

59 7.6 Jacobi’s Method Example 7.6

60 7.6 Jacobi’s Method Example 7.6

61 7.6 Jacobi’s Method Example 7.6

62 7.6 Jacobi’s Method Example 7.6

63 7.6 Jacobi’s Method Example 7.6