MEEM 3700 Mechanical Vibrations

Mohan D. Rao Chuck Van Karsen

Mechanical Engineering-Engineering Mechanics Michigan Technological University
Copyright 2003

Lecture 21 & 22 General MDOF System

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Multiple Degree of Freedom Systems

Topics: 1.) Equations of Motion 2.) Eigenvalue Problem 3.) Orthogonality 4.) Modal Space 5.) Solving MDOF Problems in Simple Fashion

Lecture 21 & 22 General MDOF System

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MDOF: Equations of Motion

Equations of Motion Using Newtons Second Law: Newton

1.) Choose suitable coordinates for the point masses and rigid bodies in the system. rigid 2.) Determine static equilibrium position of the system. Measure motion from this position. 3.) Draw free-body diagram of each mass or rigid body. Indicate all forces acting freeacting on the mass or rigid body when positive displacement or velocity is present. 4.) Apply Newtons Second Law: Translation: Newton

xi

&& = mxi
i

Rotation:
Lecture 21 & 22 General MDOF System

&& = Ji
3

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MDOF: Equation of Motion

General Form n-DOF System n& x [ m]{&&} + [c ]{ x} + [ k ]{ x} = {F }

[ m] = n x n [c] = n x n [k ] = n x n x {&&} = n x 1 & { x} = n x 1 { x} = n x 1 {F } = n x 1

Lecture 21 & 22 General MDOF System

mass matrix viscous damping matrix stiffness matrix acceleration vector velocity vector displacement vector externally applied force vector
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MDOF: General Solution to Equation of Motion

1.) Determine natural frequencies (i) and mode ( shapes {X}i from undamped Free Vibration. (eigensolution) eigensolution) 2.) Use orthogonality of mode shapes to transform Equations of Motion into MODAL SPACE. SPACE 3.) Solve n single degree of freedom problems. 4.) Use mode shapes to transform back to physical space.

Lecture 21 & 22 General MDOF System

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MDOF: i and {X}i from Eigensolution

x [ m]{&&} + [ k ]{ x} = {0}
For Harmonic Motion:
2

( [ m] + [ k ]) {x} = {0}
[ k ]{ x} = 2 [ m]{ x}
Yields n eigenvalues and n eigenvectors

&& = 2 x x

classic eigenvalue problem

i2 for i = 1, n

Computer or calculator solution (MATLAB, Mathematica, etc.) Mathematica,

{X}i

for i = 1, n

The natural frequencies are the square roots of the eigenvalues: eigenvalues:

i = i2
The mode shapes are the corresponding eigenvectors.
Lecture 21 & 22 General MDOF System

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MDOF: i and {X}i from Eigensolution

( [ m] + [ k ]) {x} = {0}
2

To solve, the characteristic determinant = 0

[ k ] 2 [ m] = 0
results in an n order polynomial
an ( ) + an 1 ( )
n n 1

[ k ] [ m] = 0
+ ... + a1 ( ) + a0 = 0

roots = i for i = 1, n
natural frequencies

i = i

Substitute i or i into original equations for mode shape solution.

Lecture 21 & 22 General MDOF System

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Alternate Method

MDOF: i and {X}i from Eigensolution

( [ m] + [ k ]) {x} = {0}
2

( [ k ] [ m]) { x} = {0}

( [k ]
[ I ]{ x} = [ D ]{ x}
i =
Lecture 21 & 22 General MDOF System

[ k ] [ k ] [ m]) { x} = {0}
1

( [ I ] [ D]) { x} = {0}
[ I ] = Identity Matrix 1 [ D ] = [ k ] [ m] = dynamical matrix
Solutions are the eigenvalues and eigenvectors of [D].

i2

for i = 1, n
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{ X }i

for i = 1, n
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Orthogonality of Mode Shape Vectors

( [ m] + [ k ]) {x} = {0}
2

Using the ith natural frequency and mode shape

i2 [ m]{ X }i = [ k ]{ X }i
2 [ m ]{ X } j = [ k ] { X } j j
T

Using the jth natural frequency and mode shape 2

T

Pre-multiply 1 by { X } j and 2 by { X }i
i2 { X } j [ m ]{ X }i = { X } j [ k ]{ X }i
T T

3 4
9

2 { X }i [ m ]{ X } j = { X }i [ k ]{ X } j j
T T
Lecture 21 & 22 General MDOF System

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Orthogonality of Mode Shape Vectors

Because of the symmetry of [k] , [m]

{ X } j [ k ]{ X }i = { X }i [ k ]{ X } j T T { X } j [ m]{ X }i = { X }i [ m]{ X } j
T T

i2 { X } j [ m ]{ X }i = { X }i [ k ]{ X } j
T T

3 4

2 { X } j [ m ]{ X }i = { X }i [ k ]{ X } j j
T T

Subtract 3 4 In general

2 i

2 j

){ X } [m]{ X } = {0}
T j i

i j

Also:

{ X } j [ m]{ X }i = {0}
T

{ X } j [ k ]{ X }i = {0}
T

Modal vectors are orthogonal with respect to [m] , [k].

Lecture 21 & 22 General MDOF System

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Modal Mass, Stiffness, & Damping

{ X }i [ m]{ X }i = M ii
T

Modal Mass Modal Stiffness

{ X }i [ k ]{ X }i = Kii
T

if [ c ] = [ m ] + [ k ]

Proportional Damping Modal Damping

{ X }i [c ]{ X }i = Cii
T

Lecture 21 & 22 General MDOF System

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Modal Mass, Stiffness, & Damping

Define

[ X ] = { X }1 { X }2 { X }n

Modal Matrix

[X ]

m11 0 O [ m][ X ] = = [M ] mnn 0

Modal Mass Matrix

k11 0 T X ] [ k ][ X ] = O [ = [K ] knn 0
For proportional damping:

Modal Stiffness Matrix

c11 0 T X ] [ c ][ X ] = O [ = [C ] cnn 0
Lecture 21 & 22 General MDOF System

Modal Damping Matrix

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Example
10 0 0 [ m] = 0 5 0 0 0 20
2 1 0 [c ] = 1 3 2 0 2 4 0 2000 1000 1000 3000 2000 [k ] = 0 2000 4000

1 = 9.15

{ X }1 = 1.16 { X }2

1.00

From i2 [ m ]{ X } = [ k ]{ X }

2 = 14.14

1.00 1.00 = 0.00 0.50 1.00

3 = 26.76

{ X }3 = 5.16
1.00
13

Lecture 21 & 22 General MDOF System

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Example (continued)

1.00 1.00 1.00 [ X ] = 1.16 0.00 5.16 1.00 0.50 1.00

36.75 15.00 [ m][ X ] = 163.25
3.08 3.00
3080 3000

[M ] = [ X ]

[C ] = [ X ] [c ][ X ] =
T

116.92
116920
14

[ K ] = [ X ] [ k ][ X ] =
T
Lecture 21 & 22 General MDOF System

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Modal Space
Original Equations of Motion:

& x [ m]{&&} + [c ]{ x} + [ k ]{ x} = {F }

Define a new coordinate system

{ x} = [ X ]{q}
Modal Matrix

{q} =

Modal Space
principal coordinates

Substitute into equation of motion

&& & [ m][ X ]{q} + [c ][ X ]{q} + [ k ][ X ]{q} = {F }

Pre-multiply by PreT

[X ]

&& & [ X ] [ m][ X ]{q} + [ X ] [c ][ X ]{q} + [ X ] [ k ][ X ]{q} = [ X ] {F }

T T T
Lecture 21 & 22 General MDOF System

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Modal Space
T && & [ M ]{q} + [C ]{q} + [ K ]{q} = [ X ] {F }

Uncoupled equations of motion in the form of single degree of freedom systems. freedom
1 1 1 && & M 11q1 + C11q1 + K11q1 = X 1 F1 + X 2 F2 + + X n Fn 2 2 && & M 22 q2 + C22 q2 + K 22 q2 = X 12 F1 + X 2 F2 + + X n Fn

M
n n && & M nn qn + Cnn qn + K nn qn = X 1n F1 + X 2 F2 + + X n Fn

Solve each SDOF system Transform back to physical space for total solution

x1 ( t ) q1 ( t ) x2 ( t ) q2 ( t ) = [ X ] M M xn ( t ) qn ( t )
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Lecture 21 & 22 General MDOF System

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Example
k1 m1 c1 x1 c2 k2 m2

F2 ( t ) = 25sin (10t )

k3 m3 c3 x2 x3

k4

c4

m1 = 10kg m2 = 15kg m3 = 5kg

k1 = 1000 N m k2 = 2000 N m k3 = 1000 N m k4 = 500 N m

c1 = 10 N sec m c2 = 20 N sec m c3 = 10 N sec m c4 = 5 N sec m

Determine the total solution if the system starts from rest.

Lecture 21 & 22 General MDOF System

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Example
Equations of Motion
& x 0 x1 0 10 &&1 30 20 0 x1 3000 2000 & x 15 &&2 + 20 30 10 x2 + 2000 3000 1000 x2 = 25sin (10t ) && 0 10 15 x 0 x 1000 1500 3 5 x3 0 &3

Determine the mode shapes and natural frequencies

[ k ]{ x} = 2 [ m]{ x}
1 = 6.62 rad sec 2 = 17.3 rad sec 3 = 21.4 rad sec

mode 1 mode 2

mode 3

1.00 1.00 1.00 [ X ] = 1.28 0.00 0.78 1.00 2.00 1.00

Lecture 21 & 22 General MDOF System

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Example
Uncouple the Equations of Motion (transform to Modal Space) Space)

{ x} = [ X ]{q}
&& & [ X ] [ m][ X ]{q} + [ X ] [c ][ X ]{q} + [ X ] [ k ][ X ]{q} = [ X ] {F }
T T T T

&& & 39.6 q1 17.36 q1 1737 q1 1.28 ( 25sin (10t ) ) q + q + q = 30 90 9000 0 &&2 &2 2 & 24.14 q3 110.13 q3 11, 013 q3 0.78 ( 25sin (10t ) ) &&

Lecture 21 & 22 General MDOF System

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Example
Solve each SDOF system

&& & 39.6q1 + 17.36q1 + 1737q1 = 32sin (10t )

= 0.033

17.36 2 39.6 (1737 )

n = 1 = 6.62 d = 6.60

0.033( 6.62 ) )t q1 ( t ) = e ( ( A cos ( 6.6t ) + B sin ( 6.6t ) ) + Q sin (10t )

r=

10 = 1.51 6.62

from

XK ( r , ) = 0.78 F0

QK = 0.78 F0
Lecture 21 & 22 General MDOF System

Q=

0.78 ( 32 ) 1737

= 0.0144

= tan 1

2 r = 2 1 r
20

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Example
q1 ( t ) = e0.218t ( A cos ( 6.6t ) + B sin ( 6.6t ) ) + 0.0144sin (10t )
Initial conditions:

{ x ( 0 )} = [ X ]{q ( 0 )} {q ( 0 )} = [ X ] { x ( 0 )}
1

& & { x ( 0 )} = [ X ]{q ( 0 )} & & {q ( 0 )} = [ X ] { x ( 0 )}

1

For a system at rest:

& {q ( 0 )} = {0} , {q ( 0 )} = {0}

A=0
0.218 t

0 = q1 ( 0 ) = (1)( A + 0 ) + 0.0144sin ( )

& 0 = q1 = (1)( 6.6B) (1)( 0) 0.144

& q1 ( t ) = e

0.218 t

( 6.6 B cos ( 6.6t ) ) 0.218e

0.218t

( B sin ( 6.6t ) ) + 0.144 cos (10t )

B = 0.022

q1 ( t ) = e
Lecture 21 & 22 General MDOF System

( 0.022sin ( 6.6t ) ) + 0.0144sin (10t )

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&& & 30q2 + 90q2 + 9000q2 = ( 0 ) ( 25sin (10t ) )

&& & 24.14q3 + 110q3 + 11, 013q3 = 19.5sin (10t )

In a similar manner:

q2 ( t ) = 0

q3 ( t ) = e 2.3t (1.25sin ( 21t ) ) 0.0025sin (10t )

1.00 1.00 1.00 q1 ( t ) { X } = [ X ]{q} = 1.28 0.00 0.78 q2 ( t ) q (t ) 1.00 2.00 1.00 3
x1 ( t ) = q1 ( t ) + q2 ( t ) + q3 ( t ) x2 ( t ) = 1.28q1 ( t ) 0.78q3 ( t ) x3 ( t ) = q1 ( t ) 2.00q2 ( t ) + q3 ( t )
Lecture 21 & 22 General MDOF System

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