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Dynamics
k
F(t)
m
T = kx F(t) ma mx
m
= m
m x k x Ft
F t 0
m x k x 0
10/11/2017 Dynamic Analysis 5
Let :
k
2
m
Then :
x x 0
2
xm
d 1 x 1 2 d 2 x
x
f1ex t f 2ex t
L
E - modulus of elasticity
A - cross-sectional area
- mass density
d1x
d
d 2 x
D x DBd
10/11/2017 Dynamic Analysis 12
Step 4 - Derive Element
Stiffness and Mass Matrices
and Equations
f1x f 2 x
f ma
10/11/2017 Dynamic Analysis 14
NODAL EQUILIBRIUM
EQUATIONS
d1x 2
f f1x m1
e
t
1x 2
d 2 x 2
f e
f 2 x m 2
t
2x 2
AL
m1
2
AL
m2
2
10/11/2017 Dynamic Analysis 16
Lumped Mass Model
d 1 x 1 2 d 2 x
m1 x m2
f1ex t f 2ex t
L
f t k d m d
e
10/11/2017 Dynamic Analysis 19
Defining Terms
1 1
k
AE
L 1 1
Element Stiffness Matrix
AL 1 0
m
2 0 1
Element Lumped Mass Matrix
d Nodal Displacements
d
d
2
Nodal Accelerations
t2
X u
e
fb N X dV T
fb N T
u dV
V
u Nd
u N d
u N d
10/11/2017 Dynamic Analysis 22
Consistent Mass Matrix
fb N N d dV
T
V
fb m d
m N N dV T
1 x
L x x
m x 1
dV
V L L
L
L 1
x
L x x
m A x 1
dx
0 L L
L
10/11/2017 Dynamic Analysis 24
Consistent Mass Matrix
Bar Element
L 1
x x 1 x x
L L
1
L L dx
m A
0 1
x x
x x
L L L L
A L 2 1
m
6 1 2
Ft K d Md
m N N dV T
y , v
1 , m 1
1 x 2 2 , m 2
L
f1y , d 1y f 2y , d 2y
N1
L3
1
2x 3 3x 2 L L3
N2
1 3
L3
x L 2x 2 L2 xL3
N3
1
L3
2x 3 3x 2 L
N4
1 3
L3
x L x 2 L2
-0.500
1 0 0 0
L 2
0 0 0
m 0
m 210
0 1 0
2
0 L
2
0 0
210
Q 0
m
0 Q
1 0 0 u 1
m
Q 0 0 1 u 2
3
0 0 1 u 3
Q 0
m 0 Q
4 2 1 2
2 4 2 1
Q m
36 1 2 4 2
2 1 2 4
m At
m AL
AL
s 312
420
m 420
s 312
420
312 156 0 0 0 39
420
0 4 L2 0 0 L2
m m 312 m
420 420 78 39
0 0 156 0
312
2
420 2
L
0 0 0 4L
312
3 1
76 36
16 8
76 36
3x3 2x2
Gauss Rule Gauss Rule
1 1
36 36
4 16 16 4
36 36 36 36
3x3 2x2
Gauss Rule Gauss Rule
L
J
2
1
m ij A 1 1 N i 1N j 1 N i 0N j 0 N i 1N j 1
L 4 1
2 6 6 6
i j m ij 0
1 0 0 1 3 2
AL
m 0 1 0
6
0 0 4
10/11/2017 Dynamic Analysis 52
Serendipity
1
12
1
3
1
36
4 1
9 9
C K M
10/11/2017 Dynamic Analysis 63
Rayleigh or Proportional
Damping
[C] is orthogonal damping matrix.
Modes may be uncoupled by eigenvectors
associated with undamped problem.
1
2
D D sin t
D D cos t
D D sin t
2
D amplitudes of nodal d - o - f
circular frequency
f ( Hz )
2
10/11/2017 Dynamic Analysis 66
Results in generalized eigenproblem
K M D 0
2
K M 0
D 0
K M 0
D 0
D K D
T
D MD
T
K symmetric
M positive definite
D th
approximat ion to i eigenvector
approximat ion to i eigenvalueth
v K v
T
min max
v M v
T
M D C D K D R
ext
D 0 , D 0 given as initial conditions
D M D 0
T
i j
D K D 0
T
i j
D C D 0
T
i j
ij
10/11/2017 Dynamic Analysis 76
D M D 1
T
i i
D K D
T
i i
2
i
D C D 2
T
i i i i
matrix of eigenvectors
(mode shapes)
D Z
Z modal amplitudes
M D C D K D R
ext
D 0 , D 0 given
2
I Z Z Z p
T
M Z C Z
T
K Z R
T T ext
Z ( 0 ) D 0
Z ( 0 ) D 0 given
M I
T
C
T
K
T 2
2
I Z Z Z p
I Z Z Z Z
2
Z 2 Z 2 Z p i 1, n
i i i i i i
I Z ( 0 ) M D 0
T
Z ( 0 ) M D 0
T
Z ( 0 ) M D 0
T
m n eq
m
D i Z i
i 1
R M D C D K D
ext
e( t )
R ext
2
I Z Z Z p
M Z C Z K D R
ext
Z ( 0 ) D 0
Z ( 0 ) D 0 given
D K R K M Z
1 ext CZ
1
M T
K I
T 2 1
K I
2 1 T T
K
2 1 1 T
D K R Z K CZ
1 ext 2 1 1
D K R Z K CZ
1 ext 2 1 1 T T
D K R Z Z
1 ext 2 1 2 1
Z 2 Z 2 Z p i 1, n
i i i i i i
K mm K ms M mm M ms D m 0
KT
ms K ss M Tms M ss D s 0
Basic Assumption:
For lowest frequency modes the inertial
forces on slave d-o-f are less important
than elastic forces transmitted by master
d-o-f. Thus we ignore all mass except Mmm
K mm K ms M mm 0 D m 0
KT
ms K ss 0 0 D s 0
D K K D
s ss
1
ms
T
m
D m
T D m
D s
I
T 1 T
K ss K ms
K r M r D m 0
K r T K T
T
M r T M T
T
C r T C T
T
R r T R
ext T ext
M r D m C r D m K r D m R r
ext
D
s i
K ss i M ss
1
K T
ms iM T
ms D m i