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Outline

MDOF Equations of Motion Example 2DOF System

MDOF Structural Dynamics Prof. Erik A. Johnson


Sonny Astani Department of Civil & Environmental Engineering University of Southern California

Eigenvalues, eigenvectors, mode shapes Free response Modal superposition

General MDOF
Forced response

APSS 2010, Tokyo

Damping Models Frequency Response and Transfer Functions State-Space formulation Discrete-Time State-Space Distributed Parameter Systems

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MDOF Equations of Motion Three Physical Models of a 3DOF System

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MDOF Equations of Motion Three Physical Models of a 3DOF System

u3 f3 m3 m3 k3/2 k3/2 k3/2 k3/2 u2 f2 m2 m2 k2/2 2/2 k k2/2 k2/2 u1 f1 m1m1 k11/2 k /2 k1/2/2 k1

m3 m3 f3 u3 k3 k3 m2 m2 f2 u2 k2 k2 m1m1 f1 u1 k1 1 k

u3 k3/2 u2 k2/2 u1 k1/2 m1

m3 k3/2 m2 k2/2 f1 k1/2 f2

f3

The ui are displacements relative to undeformed location


m1u1 = f1 " k1(u1 " 0) + k2 (u2 " u1) m2u2 = f2 " k2 (u2 " u1) + k3 (u3 " u2 ) m3u3 = f3 " k3 (u3 " u2 )

u3 u2 u1

m3 k3 m2 k2 m1 k1 f1 f2

! ! f !
3

which can be written in matrix form


"m1 0 0 %(u1 , "k1 + k2 /k2 $ '* * $ 0 m2 0 ')u2 - + $ /k2 k2 + k3 $ * * $0 0 m3 '+u3 . $ 0 /k3 # & # 0 %(u1 , (f1 , '* * * * /k3 ')u2 - = )f2 * * * * k3 '+u3 . +f3 . &

u1 k1k1 m1 m1 k2 f1

u2 k2 m2 m2 k3

u3 f2 m3 k3 m3 f3

!
k1

or, compactly, Mu + Ku = f
u1 m1 f1 u2 k2 m2 f2 u3 k3 m3 f3

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MDOF Equations of Motion Base Excitation

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MDOF Equations of Motion Base Excitation

v3 v2 v1

u3 k3/2 u2 k2/2 u1 k1/2 m1

v3 m3 k3/2 m2 k2/2 k1/2 v1 u1 vg v2 u2 u3

m3 k3 m2 k2 m1 k1
vg v3 v2 v1 u3 k3/2 u2 k2/2 u1 k1/2 m1 k1/2 m2 k2/2 m3 k3/2

The vi!=!ui + vg are displacements relative to inertial reference


m1v1 = "k1(v 1 " v g ) + k2 (v 2 " v 1) m2v2 = "k2 (v 2 " v 1) + k3 (v 3 " v 2 ) ! m3v3 = "k3 (v 3 " v 2 ) ! m1(u1 + vg ) = "k1(u1 " 0) + k2 (u2 " u1) m2 (u2 + vg ) = "k2 (u2 " u1) + k3 (u3 " u2 ) m3 (u3 + vg ) = "k3 (u3 " u2 )

vg

v3 u3 v2 u2

m3 k3 m2 k2 m1 k1

! or in matrix form ! "m1 0 0 %(u1 , "k1 + k2 /k2 ! $ '* * $ ! k2 + k3 $ 0 m2 0 ')u2 - + $ /k2 * * $0 0 m3 '+u3 . $ 0 /k3 # & #

0 %(u1 , (m1 , '* * * * /k3 ')u2 - = /)m2 -vg * * * * k3 '+u3 . +m3 . &

u1 vg k1

v1 m1 m1

u2 k2 m2

v2 m2

v3 u3 m3 k3 m3
vg

v1 u1

!
vg

or, compactly, using 1 = [1 1 1]T, Mu + Ku = "M1g v


u1 v1 m1 u2 k2 v2 m2 v3 u3 k3 m3

k1

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Lagranges Equations

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Lagranges Equations Example Formulation

! !

Using FBDs works for simple systems but difficult for complex models. Can use Lagranges Equations. Let u1, u2, , un denote independent generalized degrees of freedom and f1, f2, , fn the corresponding external forces. Let T and V denote the total Kinetic and Potential Energies T " T (u1,u2 ,!,un ;u1,u2 ,!,un ;t ) = total Kinetic Energy V " V (u1,u2 ,!,un ;t ) = total Potential Energy Then, the equations of motion are given by the n equations d # "T & "T "V + = fi , i = 1,!,n % () dt $ "ui ' "ui "ui
If, instead of n independent ui, we have m > n dependent g1,g2,,gm with fj(g1,g2,,gm) = 0, j = 1,,(mn), then m )n "f j d # "T & "T "V + ) + *j = fi , i = 1,!,m % () dt $ "gi ' "gi "gi "gi j =1
See, e.g., Craig & Kurdila, Fundamentals of Structural Dynamics, Wiley, 2006

u3 k3/2 u2 k2/2 u1 k1/2 m1

m3 k3/2 m2 k2/2 f1 k1/2 f2

f3

Form the Kinetic and Potential Energies


1 2 1 2 1 2 KE = T = 2 m1u1 + 2 m2u2 + 2 m3u3 1 1 1 PE = V = 2 k1(u1)2 + 2 k2 (u2 " u1)2 + 2 k3 (u3 " u2 )2

!
u3 u2 u1 m3 k3 m2 k2 m1 k1 f1 f2

f3

d # "T & "T "V d + = [m u ] ) [0] + [k1u1 ) k2 (u2 ) u1)] = m1u1 + (k1 + k2 )u1 ) k2u2 = f1 % () dt $ "u1 ' "u1 "u1 dt 1 1 d # "T & "T "V d + = [m u ] ) [0] + [k2 (u2 ) u1) ) k3 (u3 ) u2 )] = m2u2 + (k2 + k3 )u2 ) k2u1 ) k3u3 = f2 % () dt $ "u2 ' "u2 "u2 dt 2 2 d # "T & "T "V d + = [m3u3 ] ) [0] + [k3 (u3 ) u2 )] = m3u3 + k3u3 ) k3u2 = f3 % () dt $ "u2 ' "u2 "u2 dt

which can be written in matrix form "m1 0 0 %(u1 , "k1 + k2 /k2 $ '* * $ k2 + k3 $ 0 m2 0 ')u2 - + $ /k2 $ '* * $ 0 m3 &+u3 . # 0 /k3 #0
u1 k1 m1 f1 u2 k2 m2 f2 u3 k3 m3 f3

0 %(u1 , (f1 , '* * * * /k3 ')u2 - = )f2 '* * * * k3 &+u3 . +f3 .

This is the same as we developed using FBDs.

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Example 2DOF System Unforced Case

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Example 2DOF System Unforced Case natural frequencies & mode shapes

k2!=!2
2

Lets look at a simple 2DOF system to see how to solve. First, consider an unforced (and undamped) system. "m1 0 %(u1 + "k1 + k2 .k2 %(u1 + (0+ $ ') , + $ ') , = ) , k2 &*u2 - *0# 0 m2 &*u2 - # .k2
"2 0%(u1 + " 4 + 2 .2%(u1 + (0+ $ ') , + $ ') , = ) , 2 &*u2 - *0#0 1&*u2 - # .2 Assume harmonic response u(t) = [u1(t) u2(t)]T = ! cos!t . Substitute in for the ui and multiply by M1: % 12 0(% 4 + 2 "2( "# 2$ cos #t + ' *' *$ cos #t = 0 2) & 0 1)& "2 + % "# 2 %3 # $ 2 0 ( % 3 "1(. #1 ( -' *+' *+ = 0 *0$ cos #t = 0 " ' - 0 "# 2 ) & "2 2 )0 2 #$2) & #2 ,& / Either ! is zero (i.e., the structure doesnt move) or the matrix in parentheses must be singular and have a zero determinant. !

3 "#2 "2

"1 = 0 = (3 " # 2 )(2 " # 2 ) " ("2)("1) 2 "#2 = # 4 " 5# 2 + 4 = (# 2 "1)(# 2 " 4)

k2!=!2
2

k1!=!4

k1!=!4

So, the structure can oscillate either with ! = 1 or ! = 2 (or, as well see, both at the same time). It is customary to order the frequencies: !1 = 1 and !2 = 2. If we substitute back !, we find !: $3 #12 $ 2 #1' ,1/ #1 ' "1 = 1: & )* = & )* = 0 + 2*11 = *21 + *1 = - 0 2 #12 ( %#2 1 ( .2 1 % #2
$3 # 22 $ #1 #1' , 1/ #1 ' "2 = 2 : & )* = & )* = 0 + *12 = #*22 + *2 = - 0 2 # 22 ( % #2 #2( . #11 % #2 !1 and !2 are natural frequencies; !1 and !2 are called eigenvectors or mode shapes (and can be scaled arbitrarily).

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Example 2DOF System Unforced Case scaling of mode shapes

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Example 2DOF System Unforced Case modal coordinates

While mode shapes !i can be scaled arbitrarily, there are some conventional scaling methods:
Mass normalized: normalize so that Mi " !iTM!i = 1
#1& T "1 = c $ ' ) "1 M"1 = c [1 %2( #1 6 & *2 0-#1& 2 ' 2], /$ 'c = 6c = 1 ) "1 = $ +0 1.%2( %2 6 ( #1 3 & # 1& *2 0-# 1 & T 2 ' "2 = c $ ' ) "2 M"2 = c [1 01], /$ 'c = 3c = 1 ) "2 = $ %01( +0 1.%01( %01 3 (

k2!=!2
2

k2!=!2
2

Define eigenmatrix # = [!1 !2]. Substitute u = #q into the equation of motion and premultiply by #T (we will use the mass-normalized mode shapes here): " T M"q + " TK"q = 0
#1 6 =% $1 3 2 6 & #2 0&#1 6 (% (% "1 3 ' $0 1'$2 6 1 3 &)q1 , #1 6 (* - + % "1 3 '+q2 . $1 3 2 6 &# 6 "2& #1 6 (% (% "1 3 '$ "2 2 ' $2 6 1 3 &)q1 , (* "1 3 '+q2 .

k1!=!4
!

Normalize so maximum (absolute) value is one; i.e., maxj |!ji| = 1 T max " j 1 = max{c ,2c } = 2c = 1 # "1 = {1 2 1}
j

k1!=!4

"1 0%(q1 + "1 0 %(q1 + =$ ') , + $ ') , #0 1&*q2 - #0 4 &*q2 -

"

q1 +1q1 = 0 (2 SDOF systems) q2 + 4q2 = 0

Note same result using different mode shape scaling:

max " j 2 = max{c ,c } = c = 1


j

# " 2 = {1 $1}

!
!

Normalize so Euclidean length of vector !i is 1; i.e., |!i| = 1


! #1 5 & # 1& ' 2]$ 'c = 5c 2 = 1 ) "1 = $ %2( %2 5 ( #1 2 & #1& ' "2 = c [1 *1]$ 'c = 2c 2 = 1 ) "2 = $ % *1( % *1 2 ( "1 = c [1

! Can also use #1M1 times the equation of motion and u = #q: %1 "#1M#1M"q + "#1M#1K"q = 0 " q + #$1M$1K#q = q + '0 & !

#1 2&#2 0& #1 1&)q1 , #1 2&# 6 "2& #1 1&)q1 , "6 0%(q1 + "6 0 %(q1 + (0+ % (% (% (* - + % (% (% (* - = $ ') , + $ ') , = ) , $1 "1'$0 1' $2 "1'+q2 . $1 "1'$ "2 2 ' $2 "1'+q2 . #0 3&*q2 - #0 12&*q2 - *00( *q 4)

=0

SDOF techniques can be used to solve for the qi (possibly using modal initial condition q(0)!=!#-1u(0)); then, u = #q is used to obtain the motion in the original coordinates. !

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Example 2DOF System Unforced Case free responses

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Example 2DOF System Example Free Responses

k2!=!2
2
!

Review SDOF: modal free responses of qi + "i2qi = 0 is qi (t ) = ai sin"i t + bi cos "i t = ci sin("i t + #i ) where the ai & bi, or ci & "i, depend on qi (0) !!!!!!! qi (0) and !
For example, with initial conditions: q1 (0) = 1 = a1 sin0 + b1 cos0 = c1 sin("1) q1 (0) = 0 = a1#1 cos0 $ b1#1 sin0 = !#1 cos("1) c1

Displaced in shape of: 1st mode 2nd mode combination

k1!=!4

q2 (0) = 0 = a2 sin0 + b2 cos0 = c 2 sin(" 2 ) q2 (0) = 1 = a2# 2 cos0 $ b2# 2 sin0 = c 2# 2 cos(" 2 )
then: a1=0, b1=1, c1=1, "1=!/2 and a2=1/2, b2=0, c2=1/2, "2=0. q1 (t ) = cos t q2 (t ) = 0.5sin2t

More generally, the responses in the original coordinates are:


!

u(t ) = $ "i [ai sin #i t + bi cos #i t ] = $ci "i sin(#i t + %i )


i i

= # [ai sin "i t + bi cos"i t ] = # ci sin("i t + $i )


i i

!
!

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Example 2DOF System Unforced Case with Damping

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Example 2DOF System Unforced Case with Damping free response

1 c2!=!0.1 k2!=!2 2

c1!=!0.2 k1!=!4 !

Lets add damping. (What is damping???) #c1 + c 2 "c 2 & # 0.3 "0.1& C=% Mu + Cu + Ku = 0 (=% ( c 2 ' $ "0.1 0.1' $ "c 2 $1 1' T Already know " = & ). Let u = "q and premultiply by " %2 #1(
" T M"q + " T C"q + " TK"q = 0 !
#1 2&#2 0& #1 1&)q1 , #1 2&# 0.3 "0.1&#1 1&)q1 , #1 2& # 6 "2 & #1 1&)q1 , % (% (% (* - + % (% (% (* - + % (% (% (* 0.1'$2 "1'+q2 . $1 "1' $"2 2' $2 "1'+q2 . $1 "1'$0 1' $2 "1'+q2 . $1 "1'$ "0.1 #6 0&)q1 , #0.3 0 &)q1 , #6 0 &)q1 , )0, * -+ % * -+ % * -=* =% ( ( ( $0 3'+q2 . $ 0 0.6'+q2 . $0 12'+q2 . +0. q1 + 0.05q1 +1q1 = 0

So modal damped free responses are 1 c2!=!0.1 k2!=!2 2


! c1!=!0.2 k1!=!4 !

qi (t ) = ai e "# i $ it sin $idt + bi e "# i $ it cos $idt = ci e "# i $ it sin($idt + %i ) where the ai & bi, or ci & "i, depend on qi (0) !!!!!!! qi (0) , and and "id = "i [1# $2 ]1/ 2 . i
More generally, the responses in the original coordinates are: ! u(t ) = &e "# i $ it %i ai sin $idt + bi cos$idt = &ci %i e "# i $ it sin($idt + 'i )
i

!
!1

= &e
i

"# i $ i t

ai sin $idt

+ bi cos $idt

] = & ci e # $ t sin($i t + 'i )


"
i i

"

c !=!0.2 m1!=!2 k1!=!4

c2!=!0.1 m2!=!1 k2!=!1


! ! !

q2 + 0.20q2 + 4q2 = 0 !

c1!=!0.2 m1!=!2 k1!=!4

c2!=!0.1 m2!=!1 k2!=!1

qi + 2"i #i qi + #i qi = 0 "1 = 1, #1 = 0.025 = 2.5% " 2 = 2, #2 = 0.050 = 5.0%

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General MDOF Systems

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General MDOF Systems Forced Harmonic Response

Equation of motion: Mu + Cu + Ku = Ef

First use the undamped, unforced equation to find natural frequencies and mode shapes: (M" 2 #! = 0 or (" 2I # M#1K)$ = 0 K)$ The mode shapes have the properties that %Mi , i = j %Ki , i = j "iT M"j = Mi #ij = & "iTK"j = Ki #ij = & ' 0, i $ j ' 0, i $ j The fact that !iTM!j = 0 and !iTK!j = 0 for i ! j means the mode shapes are orthogonal. Note also that Ki /Mi = !i2.
!

Forced response of a linear system is the sum of the free response from any non-zero initial conditions and the effects of the external forcing. Let us assume the initial conditions are zero and consider a harmonic excitation. Mu + Cu + Ku = Ef = Ef0 sin "t Then the response is also harmonic. This is most easily demonstrated using a SDOF example

Note: some systems have K) be less than rank (n 1), which implies there are multiple modes at one or more frequencies. (M!2 Note: some systems (e.g., satellites) may have ! = 0 be a solution; this implies one or more rigid body modes in which the whole structure moves or rotates, possibly without internal deformation.

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General MDOF Systems Forced Harmonic Response SDOF example

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General MDOF Systems Forced Harmonic Response SDOF example with ej#t

u (0) = 0, u (0) = 0 EOM: mu + cu + ku = sin "t Assume: u (t ) = U sin("t + # ) Then: "m#2U sin(#t + $ ) + c#U cos(#t + $ ) + kU sin(#t + $ ) = sin #t ! Expanding sin and cos! terms and simplifying: ! ["m#2 cos$ " c# sin $ + k cos$ ]U sin #t + ["m#2 sin $ + c# cos $ + k sin $ ]U cos #t = sin #t !

This is easier if we use a complex-valued excitation: mu + cu + ku = e j"t u (0) = 0, u (0) = 0 Assume: u (t ) = Ue j"t Then: [m( j")2 + c ( j") + k ]Ue j"t = e j"t ! So: U = 1 [(k " m#2 ) + cj#] ! ! ! To get back the original real-valued u(t), recognize that j #t ! e = cos#t + j sin#t. Then a real valued response to excitation sin#t is just Im[Uej#t] or:
$ ' 1 u (t ) = Im& e j#t ) 2 % [(k " m# ) + cj#] ( $ ' $ ' 1 1 = Re& ) sin #t + Im& ) cos #t 2 2 % [(k " m# ) + cj#] ( % [(k " m# ) + cj#] (

! ! ! !

which means ["m#2 cos$ " c# sin $ + k cos$ ]U = 1 ["m#2 sin $ + c# cos $ + k sin $ ]U = 0

"

tan # = (c$) (m$2 % k ) U = 1 [(k % m$2 )cos# % c$ sin # ]

!
!

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General MDOF Systems Forced Harmonic Response with ej#t

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General MDOF Systems Impulsive Excitation Force

In a similar way, a MDOF system with harmonic force is


Mu + Cu + Ku = Ef = EFe j"t u(t ) = Ue j"t ! ! ! ! f(t ) = Fe j"t !

The response to an impulse can be used to find the p(t) t <0 response to arbitrary excitations. $ 0, & Mu + Cu + Ku = ep (t ) p (t ) = %1/", 0 # t # " 1/$% & t >" ' 0,
$%

[(K " #2M) + j#C]Ue j#t = EFe j#t U = [(K !#2M) + j#C]"1EF "

Then the response instead to F!sin#t is


u(t ) = Im(Ue j"t ) = Re(U)sin "t + Im(U)cos "t !

Integrate both sides with respect to t from 0 to $ assuming the system is at rest at time 0. ! M[u(" ) # u(0)] + C[u(" ) # u(0)] + K[uavg" ] = e
Mu(" ) + Cu(" ) + K[uavg" ] = e
using mean value thm.

Take limit as $ $0: stiffness term $0; displacement cannot change instantaneously so u($)$0. Thus,
u(0+ ) = M"1e

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General MDOF Systems General Excitation Force

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Example 2DOF System Forced Response

Define the impulse response matrix function H as MH + CH + KH = E" (t ) " (t ) = Dirac delta function = lim p (t ) # $0 H(0) = 0, H(0+ ) = M"1E
! !

Note that H is the same size as E. The element hij(t) is the i-th response to an impulse in the ! shape of the j-th column of E.

1 c2!=!1 k2!=!200 2 c1!=!2 ! k1!=!400


!

Compute response of base-excited 2DOF structure to 1940 El Centro earthquake: 0.2 0 Mu + Cu + Ku = "M1g v
"2 0%(u1 + " 3 .1%(u1 + " 600 .200 %(u1 + (2+ $ ') , + $ ') , + $ ') , = .) , v 200&*u2 - *1- g #0 1&*u2 - # .1 1&*u2 - # .200
Mass in Mg, damping kN"s/dm and stiffness kN/cm. Natural frequencies are 10 rads/sec and 20 rads/sec (or 1.59 and 3.18 Hz), damping 2.5% and 5.0%.

NS El Centro ground accel. [g]

0.2 0.1 0 0.1 0.1 floor 1 floor 2


El Centro response [m] impulse response [m]

Then, the response to an arbitrary excitation can be written


Mu(t ) + Cu(t ) + Ku(t ) = Ef(t )
t

vg

The impulse response is given by: Mh + Ch + Kh = "M1# (t ), h(0+ ) = "1


h 1(t ) = " 3 h2 (t ) = " 3
8 e "t / 4 1599 16 e "t / 4 1599

u(0) = 0, u(0) = 0 !
!

sin t sin t

1599 16 1599 16

"3 +3

1 e "t 399 1 e "t 399

sin t sin t

399 399

u(t ) = u(0) + ! !

$ H(t " # )Ef(# )d#


0

! This integral is called a convolution integral.

A convolution of h with the ground acceleration produces the response of the structure to the earthquake.

0.1 0

10 20 time [secs]

30

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Damping Models

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Damping Models Special Cases of Proportional Damping: Modal Damping

1 c2!=!0.1 0.2 k2!=!2 2

c1!=!0.2 k1!=!4

In the previous damped 2DOF example, we used specific damping coefficients in the model: c1 = 0.2, c2 = 0.1. "2 0%(u1 + " 0.3 .0.1%(u1 + " 4 + 2 .2 %(u1 + (0+ "1 = 1, #1 = 2.5% $ ') , + $ ') , + $ ') , = ) , 0.1&*u2 - # .2 2&*u2 - *0- " 2 = 2, #2 = 5.0% #0 1&*u2 - # .0.1 We found that the damping #TC# diagonalized.
! However, a different choice (c1 = 0.2, c2 = 0.2) may not: $1 2'$ 0.4 #0.2 '$1 1' $ 0.4 #0.2' T " C" = & )& )& )=& ) 0.2(%2 #1( % #0.2 1( %1 #1(% #0.2

!
c1!=!0.2 m1!=!2 k1!=!4

c2!=!0.1 0.2 m2!=!1 k2!=!1

"

1 1 q1 + 15 q1 # 30 q2 +1q1 = 0 The equations 1 1 2 + 3 q2 # 15 q1 + 4q2 = 0 are still coupled! q

We often do not know the damping coefficients (while mass and stiffness can be computed or easily measured, damping is much harder to quantify). Damping ratios &i in individual modes are easier to estimate (e.g., excite the structure in a particular mode, and estimate & from the decay e&!t; repeat for other modes). So, one way to construct the full damping matrix C is by assuming a modal decomposition %! 0( ' * " T C" = ' 2#i $i Mi * '0 !* & )
&! ( C = "# T ( 2$i %i Mi (0 ' &! ( #1 2$i %i +" = M" ( + (0 !* '

This is what is called a non-proportionally damped or non-classically damped system.


!

0) +

We will see later how to solve systems like this.


(!1=1.00037, !2=1.99926, &1=3.3313%, &2=8.3368%)

#1 +" + !*

0) +

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Damping Models Special Cases of Proportional Damping: Modal Damping

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Damping Models Special Cases of Proportional Damping: Modal Damping

%! So, the equation of motion is: Mu + M" ' ' &

2# i $ i

* !)

( *"+1u + Ku = 0

%! So, the equation of motion is: Mu + M" ' ' &

2# i $ i

* !)

( *"+1u + Ku = 0

Decouple method 1: let u = #q and premultiply by #T: %! ( " T M"q + " T M" ' 2# i $ i *"+1"q + " TK"q = 0 ' * &! !) %! ( %! ( %! ( %! ( ' M i *q + ' M i * ' 2# i $ i *q + ' K i *q = 0 ' * ' *' * ' * & !) & !) & !) & !) %! ( %! ( %! ( %! ( ' M i *q + ' M i * ' 2# i $ i *q + ' K i *q = 0 ' * ' *' * ' & !) & !) & !) & !* ) %! ( %! ( + ' 2# i $ i *q + ' $ i2 *q = 0 q ' * ' * & !) & !)
qi + 2#i $i qi + $i2qi = 0, i = 1,...,n

Decouple method 2: let u = #q and premultiply by #1M1: &! ) "#1M#1M"q + "#1M#1M" ( 2$ i % i +"#1"q + "#1M#1K"q = 0 ! ( + !* ' &! ) "#1"q + "#1" ( 2$ i % i +"#1"q + "#1M#1K"q = 0 ( + ' !*
$! q+& & %
2" i # i

) !(

' $! )q + & & %

# i2

) !(

' )q = 0

Let " = #$1M$1K# % M#" = K# % # T M#" = # TK# &! ) &! ) % ( Mi +" = ( K i + ( + ( + ' !* ' !* &! ) &! % " = ( K i M i + = ( , i2 ( + ( !* ' '

qi + 2"i #i qi + #i2qi = 0, i = 1,...,n

+ !*

) +

!
!

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Damping Models Special Cases of Proportional Damping: Rayleigh Damping

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Damping Models Conditions for Proportional Damping

Rayleigh damping (1877) is given by C = 'M + (K. Since both M and K diagonalize with #, it is easy to see that #TC# = '#TM# + (#TK# is diagonal. The result: 2&i!i = ' + (!i2 or &i = ('/!i + (!i)/2. Since there are only two parameters, ' and (, we can choose the damping of two modes; all other modal damping ratios are given by the above equation. If we know (or choose) &r and &s then ' = 2!r!s(&r!s &s!r) / (!s2 !r2) (= 2(&s!s &r!r) / (!s2 !r2) &i = ('/!i + (!i)/2

It can be shown that the system is classically damped if either of the following are true: C = M F(M1K) + K G(K1M) C = F(KM1)!M + G(MK1) K for some matrix functions F(") and G(").
Note: should add references here.

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Laplace and Fourier Transforms

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Transfer Functions SDOF

Time history p(t) is related to its Laplace transform P(s) and Fourier Transform P(j!) as
#

P (s ) =

$ p (t )e "st dt
$

Consider single degree of freedom system mu + cu + ku = f Laplace transform both sides: ms 2U (s ) + csU (s ) + kU (s ) = F (s )
(ms 2 + cs + k )U (s ) = F (s ) ! U (s ) 1 These are called = Or, rearranging: transfer functions. F (s ) ms 2 + cs + k ! U ( j" ) 1 Could do similar using Fourier transform: = F ( j" ) m( j" )2 + cj" + k ! 1 If f(t) = F0 sin!t, then = k # m" 2 + cj" 1 u (t ) = F0 sin(#t + $ ) k " m# 2 + cj# % ( 1 c #1 " = angle' ! * = tan m$ 2 # k 2 & k # m$ + cj$ )

P ( j" ) =

% p (t )e # j"t dt
%

"#

#$

! !

1 1 p (t ) = % P (s )e st ds & P ( j# )e j#t d# 2" #$ 2" $% ! Laplace transform P(s) may also be denoted L{p(t)} and Fourier Transform P(j!) by F{p(t)}. !

p (t ) =

Note: L{p (t )} =

"#

$ p (t )e "st dt = pe "st "# + $ p (t )se "st dt = sL{p (t )}


"#

integration by parts

(assuming p(t)$0 as t$#)

! Similarly: F {p (t )} = j"F {p (t )}

! !

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Transfer Functions SDOF Example

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Transfer Functions SDOF Example Poles

For example:

2u + 0.2u + 8u = f U (s ) 1/2 = 2 F (s ) s + 0.1s + 4


2

For example: Graph with s = j!: 2

2u + 0.2u + 8u = f U (s ) 1/2 = 2 F (s ) s + 0.1s + 4

Magnitude

Real Part

10

! 0
1

c!=!0.2 k!=!8

10 ! 10

2 1

c!=!0.2 k!=!8

Roots ! the denominator polynomial are called the poles of of the system: ! "0.1 0.12 " 4 spoles = = "0.05 j 3.9975 # "0.05 1.9994 j 2
Im

10

10 10 Frequency [rads/sec]

2 1 0 1 10 10 10 Frequency [rads/sec]

Phase [degrees]

Imaginary Part

0 50 100 150 10
1

0 1 2 3 1 0 1 10 10 10 Frequency [rads/sec]

!
Re

10 10 Frequency [rads/sec]

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Transfer Functions SDOF Example Poles and Zeros

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Transfer Functions MDOF

Some TFs have a numerator that is also a polynomial in s. For example, the transfer function from ground acceleration to the absolute acceleration of a SDOF system:

2u + 0.2u + 8u = "2vg
2

For a MDOF system, must be careful to handle matrices correctly in determining the transfer function: Mu + Cu + Ku = Ef

c!=!0.2 k!=!8 !

{ } = L{"0.1u " 4u} L{v (t )} L{v (t )} L{v (t )}


L{v(t )}
g

L u + vg
g

[Ms
!
Im

+ Cs + K U(s ) = EF(s )

U(s ) = Ms + Cs + K

"1

EF(s )

= ("0.1s " 4)

L{u} L vg (t )

0.1s + 4 s 2 + 0.1s + 4

!
Re

Now, the transfer function [Ms2 + Cs + K]1E is a matrix, each element of which is a scalar transfer function.

Roots of the numerator polynomial are called the zeros of the system: sroot = "40

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State-Space Formulation

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State-Space Formulation Transfer Function

Rather than using n second-order differential equations Mu + Cu + Ku = Ef It is convenient (for simulation, control design, etc.) to instead use 2n first-order differential equations. Define state vector %
! #u & " =$ ' %u (

A Laplace transform of the state-space matrices can be used to find the transfer function: " = A" + Bf & ' s"(s ) = A"(s ) + BF(s )
y = C y" + D y f "(s ) = (sI # A)#1BF(s )

& ' d u = M"1Ef " M"1Cu " M"1Ku


dt

d dt

u=u

!
state (or system) matrix

d "u % ) 0 # &= + dt $u ' * (M(1K

I ,"u % " 0 % &f .# & + # (M(1C -$u ' $M(1E '

! ! Y(s ) = C y"(s ) + D yF(s ) = C y (sI # A)#1B + D y F(s )

input (influence) matrix

" = A" + Bf y = C y" + D y f

output matrix

direct feed-thru matrix

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State-Space Formulation Non-Uniqueness

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State-Space Formulation Unforced Response

The exact choice of state-space matrices depends on how one defines (. For example, let ( = T%. " = (T#1AT)" + (T#1B)f " = A" + Bf T" = AT" + Bf
y = C y" + D y f

&'

y = C y T" + D y f

&'

To see that the state-space response corresponds to our previous, consider " = A" with " = #e $t "#e "t = A#e "t & ' ( "I # A)$e "t = 0 For a non-trivial solution the determinant of ()I A) must ! be 0. For our structure, ! "I #I P Q ! but = SP " RP"1QP "I # A = #1 R S M K "I + M#1C
= ( "I + M#1C)( "I) # (M#1K)( "I)#1(#I)( "I) = "2I + "M#1C + M#1K ! !
!

y = (C y T)" + (D y )f !

This gives a different set of state-space matrices but still describes the same I/O relationship from f to y.
! ! ! We can also see this from the transfer function: Y(s ) = C y T(sI " T AT) T B + D y F(s )
"1 "1 "1 y (sTT y (sI " "1

[ = [C = [C

" TT"1ATT"1)"1B + D y F(s )

= " #1( $2I + $M#1C + M#1K)" = "2I + "# $1M$1C# + # $1M$1K# ! If #1M1C# decouples to a diagonal matrix of 2&i!i, ! "I # A = & ( "2 + 2$i %i " + %i2 ) = 0 "i , "* = #$i %i j%i 1# $i2 i ! i !

A)"1B + D y F(s )

! !

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State-Space Formulation Unforced Response Mode Shapes

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State-Space Formulation Unforced Response Mode Shapes 2DOF Example

Partition the eigenvector ) into displacement and velocity $ "I '+*d . +0 . "#d = # v #I & #1 #1 ), v / = , / & ' "1 M K#d + $# v + M"1C# v = 0 %M K "I + M C (-* 0 -0 0
( " I + "M C + M K)$ = 0 ! Let )d = #* and premultiply by #1: #1 2 #1 #1 ! " ( $ I + $M C + M K)"% = 0 ( "2I + "# $1M$1C# + # $1M$1K#)% = 0
#1 #1 2 d

1 c2!=!0.1 k2!=!2 2 c1!=!0.2 ! k1!=!4

! ! ! ! !

Lets return to the 2DOF system and see it in state-space. "2 0%(u1 + " 0.3 .0.1%(u1 + " 6 .2 %(u1 + (2+ $ ') , + $ ') , + $ ') , = .) , v 0.1&*u2 - # .2 2&*u2 - *1- g #0 1&*u2 - # .0.1 )0 0 " 0% 1 0 , d "u % + 0 0 0 1 ."u % / 0 / # &= # & + # &f dt $u ' + (3 1 (0.15 0.05 .$u ' / (1 / + . $ (1 ' * 2 (2 0.10 (0.10 -

If #1M1C# decouples to a diagonal matrix of 2&i!i, then ["1 ... " n ] = I "i , "* = #$i %i j%i 1# $i2 i The state-space eigenmatrix then becomes &# # ) "=( %+ (where * denotes complex conjugate). '#$ #$ * ! The first n columns of + correspond to $! ' eigenvectors ,i, the second n columns to )i*. " = & #i ) & % !) ( !
!

vg
!

An eigenvalue analysis with MATLAB gives: " = [#0.025 j 1599 1600 # 0.050 j 399 100] $ or, with alternate scaling, 0.3162 0 j 0.016 0.3158 j '
A = [zeros(2) eye(2); -[2 0;0 1]\[[6 -2;-2 2] [.3 -.1;-.1 .1]]]; [V,D] = eig(A); [lambda,ii]=sort(diag(D)); V=V(:,ii); % sort by increasing frequency T

!
!

& 0.6325 0 j "=& & #0.0079 0.3161j & %#0.0158 0.6323 j

) #0.016 ! 0.3158 j ) #0.6325 0 j ) ) 0.6325 0 j (

$ 1 0 j & 2 0j "=& &#0.025 0.9997 j & % #0.050 1.9994 j

' 1 0 j ) #1 0 j ) #0.100 1.9975 j ) ) 0.100 ! 1.9975 j (

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State-Space Formulation Unforced Response Mode Shapes

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State-Space Formulation Visualization of Non-Proportional Damping

If the damping term does not decouple, then the statespace approach must be used and ( "2I + "M#1C + M#1K)$d = 0 must be solved directly to get the complex eigenvalues and complex eigenvectors. Once the the eigenvalues )i,)i* are found, then !i = |)i| and &i = Re{)i}/(2!i). If some eigenvalues are purely real, then no oscillator mode corresponds to that eigenvalue.

1 c3!=!c k3!=!a 1 c2!=!c k2!=!a 1 c1!=!c!+!-c k1!=!a

Lets look at an example of a 3DOF structure with classical damping (-c = 0). The natural frequencies & damping are: !1 = 1 , &1 = 3.14%; !2 = 2.80, &2 = 8.80%; !3 = 4.05, &3 = 12.72%. A non-classically damped version with additional damping in the first floor (-c = 15c) has natural frequencies & damping: !1 = 1.15, &1 = 23.6%; !2 = 2.71, &2 = 85.9%; !3 = 3.64, &3 = 15.7%.
!

#"0.328 % %"0.591 %"0.737 % % 0.065 2.06 j % 0.117 3.71j % $ 0.146 4.63 j

0.737 0.328 "0.591 "1.142 ! 12.9 j "0.508 ! 5.8 j 0.916 10.4 j

& ( ( ( ( 1.913 14.9 j ( "2.385 ! 18.6 j ( ( 1.061 8.3 j ' "0.591 0.737 "0.328

c!=!0.01a a!=!199.3233
(so first natural frequency is 1!Hz)

#"0.233 ! 0.19 j % %"0.557 ! 0.08 j %"0.737 % %"0.966 1.97 j % 0.409 4.04 j % $ 1.260 5.17 j

"0.545 ! 3.99 j "0.977 ! 0.93 j "0.591 "26.85 63.2 j 6.213 22.1j 8.655 5.2 j

0.003 0.17 j & ( 0.537 ! 0.07 j ( ( "0.328 ( 3.749 ! 0.66 j ( "3.575 ! 11.9 j ( ( 1.174 7.40 j '

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State-Space Formulation Visualization of Non-Proportional Damping

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State-Space Formulation Unforced Free Response

Proportionally Damped:

The unforced free response of the state-space system " = A" could be found through modal decomposition, but there is an easier way. To compute the response at time t, break the time up into r smaller steps. Given the definition of a derivative: ! 1 1 1 "( r t ) # "( 0 t ) + " r t # "(0) + A"(0) r t = [I + A t ]"(0) r r

The same can be used to approximate ( after each t/r. 1 "( 2 t ) # [I + A t ]"( r $t ) = [I + A t ]2 "(0) r r r ! r t r %1 "( r t ) # [I + A r ]"( r $t ) = [I + A t ]r "(0) r To eliminate the approximation, let r$#. 1 1 "(t ) = [I + (At ) + 2! (At )2 + 3! (At )3 +!]"(0)
"(t ) = e At "(0)

NonProportionally Damped:

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State-Space Formulation Unforced Free Response Notes about eAt

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State-Space Formulation Impulse Response

eAt is a matrix; its elements are not the exponential of the elements of At. The computation of eAt can be computed through the power series formulation, though that is not computationally efficient. An efficient computation uses the fact that the eigenvectors of a power of a matrix are the same as those of the matrix itself. If A+ = +., where + is the eigenmatrix and . is a diagonal matrix of eigenvalues, then it can be shown that An+ = +.n. 1 1 Thus, e At = I + (At ) + 2! (At )2 + 3! (At )3 +!
1 1 = "#1" + "#1$"t + 2! "#1$"2t 2 + 3! "#1$3"t 3 +! 1 1 = "#1[I + ($t ) + 2! ($t )2 + 3! ($t )3 +!]"

The state impulse response matrix is given by


H " = AH" + B# (t ), H y = C yH " + D y# (t ) H " (0$ ) = 0

Integrating from t = 0 to t = 0+, will give the initial conditions that make a free response equal to the impulse response.
! H " (0+ ) # H " (0# ) = AHavg (0+ # 0# ) + B "
0 0

H " (0+ ) = B ! !

&" ( = "#1 ( e %it ( '

) + +" + "*

For t > 0, the impulse response is just an unforced free response (which was solved several slides ago), so
H " (t ) = e At H " (0+ ) H " (t ) = e At B

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State-Space Formulation Forced Response

Add Example!

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Discrete-Time State-Space System

The forced response is, then, the combination of the initial condition free response and the effects of the force
"(t ) = e At "(0) +
t

% e A(t #$ )Bf($ )d$


0

Weve already seen the free response of the unforced state space system " = A" . So, ((t + -t) = eA-t ((t). The effect of the forced response of " = A" + Bf in [t, t + -t] is the superposition of the free response with the impulse response of f during the time step. !
"(t + #t ) = e A#t "(t ) + !e A(t +#t $% )Bf(% )d% &
t +#t t

In the interval [t, t + -t), if f($) is constant (a zero-order hold) "A '#t * $ "Ad Bd % #0 "(t + #t ) = e A#t "(t ) + ) & e A( #t $% )d% ,Bf(t ) $ ' =e I & #0 (0 + Ad
Bd

B% ' (t 0I&

Defining ((k) = ((k-t), then the discrete-time state space form is ! "(k +1) = Ad"(k ) + Bd f(k ) Note: one can also assume a first-order y(k ) = C y"(k ) + D y f(k ) (linear) hold on f to determine B .
d

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Distributed Parameter Systems Euler-Bernoulli Beam Example

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Distributed Parameter Systems Euler-Bernoulli Beam Example exact simply-supported

! !

Continuous systems (e.g., beams, plates, shells, or more complex structures) also have modes of vibration (generally infinitely many). Lets look at an Euler-Bernoulli beam; transverse displacement v(x,t) must satisfy the partial differential equation of motion where (")/ = 0/0x: (EIv "")"" + #Av = f ( x ,t ) v(x,t) Substitute v(x,t) = V(x)T(t) into the unforced, undamped system. x (EIV "")""T + #AVT = 0 EI, *A L (EIV "")"" T 2 = $ =" #AV T LHS is a function of x, the RHS of t, so both must be constant. Assuming EI and *A are constant, let )4 = [*A!2/EI]1/2 so: ! V """" # $4V = 0 V ( x ) = c1 sinh "x + c 2 cosh "x + c 3 sin "x + c 4 cos "x T + " 2T = 0 T (t ) = c sin("t + # )
! !

The coefficients ci depend on the boundary conditions:


V = 0 and V / = 0 at a fixed (cantilevered) end V = 0 and V // = 0 at a simply supported end V // = 0 and V /// = 0 at a free end

1. Simply supported at both ends: c2 = c4 = 0

c1 sinh "L + c 3 sin "L = 0 sinh "L sin "L $ 2 =0 "2c1 sinh "L # "2c 3 sin "L = 0 " sinh "L # "2 sin "L
The non-trivial solution is )iL = i! where n = 1, 2, ; the resulting eigenfunctions are Vi(x) = C sin i!x/L and the natural frequencies are !i = (i!/L)2 [*A/EI]1/2.

!1

!3!=!9!1

!2!=!4!1

! !

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Distributed Parameter Systems Euler-Bernoulli Beam Example exact cantilevered

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Distributed Parameter Systems Euler-Bernoulli Beam Example assumed modes method

2. Cantilevered at x = 0 and free at x = L: c4 = c2, c3 = c1 Using the remaining equations leads to


cos "L cosh "L +1 = 0

which has solutions )L = 1.8751, 4.6941, 7.8548, 10.996, ; larger solutions are approximately !(1"+ 2n)/2.

"1 =

3.516 EI #A L2

"2 =

22.03 EI #A L2
cosh "i L +cos "i L sinh "i L +sin "i L

"3 =

61.70 EI #A L2

Sometimes solving for the exact mode shapes from the partial differential equations of motion is difficult. An alternate approach is to assume a set of mode shapes Vi(x) that satisfy the boundary conditions. Then, Lagranges equations can be used to determine the equations of motion. For example, for an Euler-Bernoulli beam: v ( x ,t ) = "Vi ( x )v i (t )

V = T=

Vi ( x ) = C cosh "i x # cos "i x #


! ! !

[sinh "i x # sin "i x ]}


!3!=!17.55!1
!

L 1L 1 # EI(v "")2 dx = 2 $vi2 (t ) # EIVi""2 (x )dx 20 0 i

! !1

1 2

! # %Av 2dx = 2 $vi2 (t ) # %AVi2 (x )dx


0

Which leads to: Mv + Kv = f


L L L

kij =

# EIVi""(x )V j""(x )dx


0

mij =

# "AVi (x )V j (x )dx
0

fi (t ) = " f ( x ,t )Vi ( x )dx


0

!2!=!6.27!1
!

!
! !

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