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21, 2002
Topic 4
Modal Analysis
Modal analysis is a general method for analyzing the response of linear multi-
degree-of-freedom systems. It is particularly suitable for systems whose properties
are frequency independent. The method describes the response in terms of the
modes of free vibration whose orthogonality facilitates the solution. Therefore, the
analysis of the free vibration (the solution of the eigenvalue problem) must be
completed prior to the calculation of the response to external excitation.
The solution to Eq. 1 describing the response is sought in the form of a sum of
responses in individual modes of free vibration, Φ ij ,
n
u i (t ) = ∑ Φ ij η j (t ), i = 1,2 … n (2)
j =1
in which:
• Φ ij are modal coordinates of the jth mode. These modal coordinates are
independent of time and can be chosen to an arbitrary scale. [In systems with
distributed mass, ui(t) is replaced by u(x,t) and Φ ij by Φ j (x ) ];
• η j (t ) are new variables associated with mode j and depending on time. They
are called generalized coordinates.
To summarize:
Is equal to:
{the shape function for node “i” and mode “j” x a modal scaling factor (the
generalized coordinate of mode “j”)}
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CEE490b Jan. 21, 2002
j=1 2 3
Fig. 7.1 Response in terms of modes.
where
Φ 11 Φ 12 Φ 13
[Φ ] = Φ 21 Φ 22 Φ 23 (4)
Φ 31 Φ 32 Φ 33
j=1 2 3
a square matrix
64748
[1
Φ4]2
[m4
T
][3
Φ ]{η&&}+ [Φ ] [c ][Φ ]{η&}+ [1
T
Φ4]T2
[k4
][3
Φ ]{η} = [Φ ] {P (t )}
T
(5)
[M * ] [K * ]
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CEE490b Jan. 21, 2002
[Φ ]T [m][Φ ] = [M *] (6a)
[Φ ]T [k ][Φ ] = [K *] = [ω ]2 [M *] (6b)
Hence, the two triple products result in two diagonal matrices which
is very advantageous because [M *]{η&&}and [K *]{η }are column matrices. Therefore,
each Eq. 5, written in ordinary algebraic form, contains only one variable and its
second derivative, η&& j .
If it were not for the presence of damping, the equations would be uncoupled,
however, damping couples these equations. Clearly, it would be most desirable if the
triple matrix product:
[Φ ]T [c ][Φ ] (7)
Since [Φ ] and [Φ ] , two multipliers, are the same in Eq. 7 and Eq. 6, the triple matrix
T
product, Eq. 7, can result in a diagonal matrix only when the damping matrix, [c], is
proportional to either the mass matrix [m] or the stiffness matrix [k]. In the first case,
[c] has to be diagonal and proportional to [m],
[c ] = 2α [m] (8a)
[c ] = β [k ] (8b)
The factor 2 in Eq. 8a, is used for convenience, α , β = constants. (Recall that in one
degree of freedom the viscous damping constant c = 2α m and α = Dω o ). Eq. 8a
substituted into Eq. 7, yields with respect to Eq. 6a
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Eq. 8a implies that only absolute dampers, may be present, every damping
constant, ci, is proportional to the mass mi and, finally, the proportionality constant
α a is the same for all dampers.
[M *]{η&&}+ 2α [M *]{η&}+ [1
ω 2j ][M * ]{η } = [Φ ] {P (t )}
424 3
T
(10)
[K * ]
This is a set of n independent (uncoupled) equations. Each of them has the form
or
p j (t )
η&&j (t ) + 2αη& j (t ) + ω 2j η j (t ) = , j = 1, 2, 3 … n ( 12)
Mj
n
p j (t ) = {Φ j } {P (t )} = ∑ Φ ij Pi (t )
T
(13)
i =1
n
u i (t ) = ∑ Φ ijη j (t ), i = 1,2 … n
j =1
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CEE490b Jan. 21, 2002
be in some cases calculated, e.g. damping due to soil, fluids or air, in other cases
must be estimated.
With the damping matrix proportional to stiffness matrix (Eq. 8b), uncoupled Eq. 12
is again obtained with 2α replaced by βω 2j .
l
M j = ∫ m( x )Φ 2j ( x )dx, the Generalized Mass in mode j,
0
l
p j = ∫ P ( x, t )Φ j ( x )dx, the Generalized Force in mode j,
0
Further solution depends only on the character of the external forces. The principal
types of excitation are discussed below.
If the damping is not proportional to either [k] or [m], the equations of motion can be
uncoupled using complex vibration modes. (see Novak, M. and El Hifnawy, L.,
"Effect of soil-structure interaction on damping of structures," J. of Earthquake Eng.
and Structural Dynamics, Vol. 11, 1983, pp. 595-621.)
Assume harmonic excitation with frequency was in the case of unbalanced masses
of machines, vortex shedding etc. Such forces can be described as:
Where
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CEE490b Jan. 21, 2002
n
p j (t ) = cos ωt ∑ Φ ij Pi (15)
i =1
or
n
p j (t ) = L j cos ωt , L j = ∑ Φ ij Pi , (16)
i =1
p j (t ) Lj
η&&j (t ) + 2αη& j (t ) + ω 2j η j (t ) = = cos ωt ( 17)
Mj Mj
This is an equation formally identical with that of single degree of freedom systems
whose mass is M j and which is subjected to harmonic excitation with amplitude L j .
This is called the Force Participation Factor because its magnitude is a measure of
the degree to which the excitation forces participate in the excitation of mode j.
The solution of Eq. 17 follows from the SDOF solution found previously,
in which, the first term describes the most important steady state part of the motion
(the particular solution). Its amplitude is
Lj i Lj
ηj = 2
= εj (19)
M jω j ω 2
2
2 M j ω 2j
2
1 − + 4 ω Dj
ω j
ω
j
where ε j = the dynamic magnification factor in one degree of freedom whose natural
frequency is ω j . and damping D j . and M j ω 2j = K j = generalized stiffness. The phase
shift of the steady state component
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CEE490b Jan. 21, 2002
ω
2D j
ωj
φ j = − arctan 2
(20)
ω
1−
ω
j
The transient part of Eq. 18 dies out due to damping; constants η oj and φ jo , if needed,
are given by initial conditions.
n n
u i (t ) = ∑ Φ ijη j = ∑ u ij cos(ωt + φ j ) (21)
j =1 j =1
L j Φ ij i L j Φ ij
u ij = = ε j = Φ ijη j (21a)
M j ω 2j ω 2
2
2 M j ω 2j
ω 2
1 − + 4 D j
ω j
ω
j
L j Φ ir
1
u ir = ,
2
φ r = −π / 2 (22)
M r ω 2Dr r
With small damping, the resonant amplitude is usually much larger than the
nonresonant amplitudes of the other modes and Eq. 22 is sufficient to estimate the
resonant amplitudes of the system.
With large damping the contribution from all modes may be more significant. At
resonance with the first natural frequency, i.e. for ω = ω1 , the phase shifts,
evaluated from Eq. 20, take on the values φ1 =-90° and φ 2,3,..... ≅ 0 . Consequently,
the first resonance amplitude u i = u i (ω1 ) becomes approximately
2
n
u i = u + ∑ u ij , the total response at mass “i”, when ω = ω1
2
i1
j =2
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When using the modal analysis, the coordinates of the modes (eigenvectors) can be
chosen to an arbitrary scale. This can be seen from Eq. 21a and from the application
of this formula to one degree of freedom.
ω 2j = k / m, Lr = ΦP, M r = mΦ 2 , Φ ir = Φ
Lr Φ ir 1 Φ PΦ m P 1 1
u= 2
⋅ = 2
= = u st
M r ω r 2Dr mΦ k 2D k 2D 2D
as found previously.
Before the modal analysis is started, the modes are sometimes normalized in such a
way that Φ nj = 1or M *j = 1 for each mode. In the latter case, the modes so
normalized are called orthonormal modes. Their coordinates are
Φ ij
Φ ij =
M *j
* n
M j = ∑ mi Φ 2ij = 1
i =1
This normalization is used by some writers but it does not offer any
particular advantage.
The modal coordinates generally have the dimensions of the displacements, i.e.
translations or rotations; if only translations are involved, they can be taken as
dimensionless in which case the generalized coordinates assume the dimension of
length and the generalized masses are in kg (or slugs).
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Problem: Consider the five storey shear building analyzed in the first tutorial.
The elevator drive produces a harmonic force acting on the 4th floor,
P4 (t ) = P4 cos ωt
P4 = 1.5 kN
The frequency ω of the drive is variable.
a) Find the resonant amplitudes of the top (5th) floor at natural frequencies:
ω = ω1 , ω = ω2 , ω = ω3
and also amplitudes at the operating speed of the elevator motor
ω = 21 (ω 3 + ω 4 )
The Damping ratio for all modes is D j = 0.01 and recall that, α j = Dω j
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Static Loading
Lj
η i ,st = (23)
M j ω 2j
and from Eq. 21, the static displacement of mass mi due to static loads
n Lj
u i ,st = ∑ 2
Φ ij (24)
j =1 M j ω j
This is an exact approach, suitable to examine the effect of static loads in statically
indeterminate structures if the free vibration modes are known already from previous
analysis.
Examples:
2) The five storey shear building is being designed for the Toronto area. Its width
is W = 24 m (tributary width for one frame = 6 m ). Calculate the wind loads
and deflections of the building, the stresses in the lowest columns and
maximum acceleration for return period 30 years, exposures A and C, and
damping ratio 1%.
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CEE490b Jan. 21, 2002
n
mi U&&i = − ∑ k ir (U r − u g ) − c i (U& i − u& g )
r =1
Fig. 7.5
n
mi u&&i + 2mi α u& i + ∑ k ir u r = −mi u&&g , i = 1,2,3, …. n (25)
r =1
The damping satisfies Eq. 8a and, therefore, modal analysis leads to decoupled
equations for generalized coordinates η i . The generalized force (the sign can be
omitted) is:
p j (t ) = ∑ Pi (t )φ ij
i
or
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CEE490b Jan. 21, 2002
n
p j (t ) = u&&g ∑ mi Φ ij = u&&g L j
i =1
n
where the earthquake participation factor L j = ∑ mi Φ ij
i =1
in which [c ] = 2α [m ] and {}
1 = [1 1 1 ... 1]
T
Eqs. 25a can also be derived directly realizing that the inertia forces stem from the
absolute displacements Ui but the stiffness and damping forces are due to the
relative displacements ui. Then,
n
u i (t ) = ∑ Φ ij η j (25b)
j =1
p j (t ) Lj
η&&j + 2αη& j + ω 2j η j = = u&&g (t ) (26)
Mj Mj
This is analogous to one degree of freedom in which the solution depends on the
type of ground motion.
t
1
y (t ) = ∫
mω o 0
P (τ ) e −Dω o ( t −τ ) sin ω o (t − τ )dτ
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CEE490b Jan. 21, 2002
1 Lj
t
− D ω ( t −τ )
η j (t ) = ∫
ωj Mj 0
u&&g (τ ) e j j sin ω j (t − τ )dτ
1 Lj
= V j (t )
ωj Mj
where
t
− D j ω j ( t −τ )
V j (t ) = ∫ u&&g (τ ) e sin ω j (t − τ )dτ (27)
0
n
1 Lj
u i (t ) = ∑ Φ ijV j (t ) (28)
j =1 ω j M j
Integral V j (t ) = f (u&&g ,ω j , D j ) is exactly the same as in one degree of freedom and can
be obtained by numerical integration. V(t) has the dimension of velocity, (i.e. m/s).
Eq. 28 can be interpreted as Fig. 7.6 indicates.
It is usually not necessary to find the complete time history of the response. The
maximum response is decisive in most applications and this is obtained by
substituting the maximum value of integral Vj(t) into Eq. 28 using the same notation
as in one degree of freedom.
Spectral velocities can be computed for any typical earthquake. In Fig. 4.6 , the
spectral velocity of El Centro earthquake is given. Smoothed or averaged spectra
should be used possibly depending on site conditions (Figs. 4.7 and 4.8). In terms of
spectral displacement, the maximum (peak) displacement in the jth mode is:
1 Lj Lj
uˆ ij = Φ ij SV ( j ) = Φ ij Sd ( j )
ωj Mj Mj
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1 Lj Lj
u&&ij = ω 2j uˆ ij = ω 2j Φ ij Sv ( j ) = Φ ij Sa( j )
ω M M
j j j
The stresses can be computed with a static load equal to the maximum effective
earthquake force acting on mj in mode j defined as:
Lj
q ij = mi x (accel. Amplitude) = mi ω 2j uˆ ij = m i Φ ij Sa( j )
Mj
The total maximum base shear which is a measure of earthquake loading is, for
mode j:
n Lj n L2j
Q j = ∑ q ij = S a( j ) ∑ mi Φ ij = Sa( j )
i =1 Mj i =1 Mj
The total response is a sum of responses in individual vibration modes (Fig. 7.6).
The peak in individual modes does not appear at the same time. Its accurate value
could be obtained from the resultant time history. Approximately, the maximum
response of mass mi is:
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CEE490b Jan. 21, 2002
and loads:
n n
Pi (t ) = −mi u&&g (t ) = mi ω 2u g cos ωt ; p j (t ) = ∑ Pi (t )Φ ij = ω 2 u g cos ωt ∑ mi Φ ij
i =1 i =1
n
Steady state response is from (19) and (21), denoting L j = ∑ mi Φ ij ,
i =1
n L jω 2 1
u i (t ) = u g ∑ 2
Φ ij cos(ωt + φ j )
j =1 M jω j ω 2
2
2
1 − + 4 ω D 2j
ω j
ω
j
Lj 1
u i (r ) = ug Φ ij
Mj 2D j
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CEE490b Jan. 21, 2002
mn
m j S a(j)
φ ij
mn mj
m2
q ij
Hj
m1 hi
Fig. 7.7 Structural response in mode j and its equivalent 1 DOF model
L2j
Qj = Sa ( j ) = m j Sa( j )
Mj
L2j
mj =
Mj
∑q h
i =1
ij i = m j Sa( j ) H j
which yields
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CEE490b Jan. 21, 2002
n n Lj
∑ q ij hi ∑m
i =1
i
Mj
Φ ij Sa( j ) hi
i =1
Hj = 2
Mj = Mj
L Sa ( j )
j L2j S a( j )
∑m Φ
i =1
i ij hi
Hj =
Lj
mj
Hj
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Problem 13
b) Calculate the response of the top floor and the base shear of the same five
storey building considering the four average acceleration spectra for different
site conditions (Fig.4.7), maximum ground acceleration 20% g, damping 5%
and the first mode only.
Problem 14
Calculate the resonant amplitudes of the five storey shear building due to harmonic
horizontal ground motion u g (t ) , whose amplitude is 0.01 in and frequency ranges
from 0 to 1.2 ω 5 . Assume D j = 0.01.
Problem 15
Adjust the Duhamel integral for numerical integration by taking all factors containing
t in front of the integration sign and prepare a flow chart for the computation of the
complete time history ui (t) from Eq. 28.
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