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Chapter - 12 - Vibration of Two Degree of Freedom System
Chapter - 12 - Vibration of Two Degree of Freedom System
Chapter - 12 - Vibration of Two Degree of Freedom System
The vibrating systems, which require two coordinates to describe its motion, are
called two-degrees-of freedom systems.
These coordinates are called generalized coordinates when they are independent
of each other and equal in number to the degrees of freedom of the system.
Unlike single degree of freedom system, where only one co-ordinate and hence
one equation of motion is required to express the vibration of the system, in twodof systems minimum two co-ordinates and hence two equations of motion are
required to represent the motion of the system. For a conservative natural system,
these equations can be written by using mass and stiffness matrices.
The set of co-ordinates for which both the mass and stiffness matrix are
uncoupled, are known as principal co-ordinates. In this case both the system
equations are independent and individually they can be solved as that of a singledof system.
A two-dof system differs from the single dof system in that it has two natural
frequencies, and for each of the natural frequencies there corresponds a natural
state of vibration with a displacement configuration known as the normal mode.
Mathematical terms associated with these quantities are eigenvalues and
eigenvectors.
Normal mode vibrations are free vibrations that depend only on the mass and
stiffness of the system and how they are distributed. A normal mode oscillation is
defined as one in which each mass of the system undergoes harmonic motion of
same frequency and passes the equilibrium position simultaneously.
The study of two-dof- systems is important because one may extend the same
concepts used in these cases to more than 2-dof- systems. Also in these cases one
can easily obtain an analytical or closed-form solutions. But for more degrees of
209
x2
k2
m1
k3
m2
Figure 1
As described in the previous lectures one may easily derive the equation of motion by
using dAlembert principle or the energy principle (Lagrange principle or Hamiltons
principle)
m1 x1
Using dAlembert principle for mass m1 , from the
free body diagram shown in figure 1(b)
m1
x1 + (k1 + k2 ) x1 k2 x2 = 0
(1)
k1 x1
k2 ( x1 x2 )
m1
(2)
m2 x2
k2 ( x2 x1 )
210
k3 x2
m2
(3)
(4)
1
1
1
1
1
(5)
L = T U = m1 x12 + m2 x22 k1 x12 + k2 ( x1 x2 ) 2 + k3 x22
2
2
2
2
2
The equation of motion for this free vibration case can be found from the Lagrange
principle
d L
dt qk
L
=0,
qk
(6)
(7)
m2
x2 k1 x1 + (k2 + k3 ) x2 = 0
(8)
x1 k1 + k2
m1 0
+
0 m
2 x2
k2
k2 x1 0
.
=
k2 + k3 x2 0
(9)
Here it may be noted that for the present two degree-of-freedom system, the system is
dynamically uncoupled but statically coupled.
211
Example 2.
Consider a lathe machine, which can be modeled as a rigid bar with its center of mass not
coinciding with its geometric center and supported by two springs, k1 , k2 .
xc
m (
xc + ec )
J cc
C
k1 ( xc l1 c )
k1
k2
l1
l2
G
k2 ( xc + l2 c )
In this example, it will be shown, how the use of different coordinate systems lead to
static and or dynamic coupled or uncoupled equations of motion. Clearly this is a twodegree-of freedom system and one may express the co-ordinate system in many different
ways. Figure 3 shows the free body diagram of the system where point G is the center of
mass. Point C represents a point on the bar at which we want to define the co-ordinates of
this system. This point is at a distance l1 from the left end and l2 from right end. Distance
between points C and G is e . Assuming xc is the linear displacement of point C and c
the rotation about point C, the equation of motion of this system can be obtained by using
dAlembers principle. Now summation of all the forces, viz. the spring forces and the
inertia forces must be equal to zero leads to the following equation.
(10)
mx + me + k ( x l ) + k ( x + l ) = 0
c
1 c
2 c
1 c
2 c
(11)
xc k1 + k2
k2l2 k1l1 xc 0
m me
me J + k l k l k l 2 + k l 2 = 0
c c
2 2 c
2 2 11 11
212
(12)
Now depending on the position of point C, few cases can are studied below.
Case 1 : Considering e = 0 , i.e., point C and G coincides, the equation of motion can be
written as
x
k1 ( x l1 )
k2 ( x + l2 )
k2l2 k1l1 x 0
x k1 + k2
m 0
0 J + k l k l k l 2 + k l 2 = 0
G
2 2
2 2 11 11
(13)
So in this case the system is statically coupled and if k1l1 = k2l2 , this coupling disappears,
and we obtained uncoupled x and vibrations.
Case 2 : If, k2l2 = k1l1 , the equation of motion becomes
xc k1 + k2
m me
me J + 0
c c
xc 0
= .
k l + k l c 0
0
2
11
(14)
2
2 2
Hence in this case the system is dynamically coupled but statically uncoupled.
Case 3: If we choose l1 = 0 , i.e. point C coincide with the left end, the equation of
motion will become
xc k1 + k2
m me
me J + k l
c c
22
k2l2 xc 0
= .
k2l22 c 0
(15)
(16)
213
We define a normal mode oscillation as one in which each mass undergoes harmonic
motion of the same frequency, passing simultaneously through the equilibrium position.
For such motion, we let
x1 = A1eit , x2 = A2 eit
(17)
Hence,
(2k m 2 ) A1 kA2 = 0
(18)
kA1 + (2k 2m 2 ) A2 = 0
or, in matrix form
2k m 2
A1 0
k
=
2
2k 2m A2 0
(19)
2k m 2
k
k
= 0.
2k 2m 2
(20)
(21)
k
k
and 2 = 2.366
m
m
Now from equation (1)., it may be observed that for these frequencies, as both the
equations are not independent, one can not get unique value of A1 and A2 . So one should
find a normalized value. One may normalize the response by finding the ratio of A1 to A2 .
From the first equation (19) the normalized value can be given by
A1
k
k
=
=
2
A2 2k m
2k m
(22)
and from the second equation of (19), the normalized value can be given by
A1 2k 2m 2 2k 2m
=
=
A2
k
k
(23)
k
in equation (22) and (23) yields the same values,
m
as both these equations are linearly dependent. Here,
214
A1
0.732
=
1
A2 =1
(24)
k
m
A1
2.73
=
1
A2 =2
(25)
It may be noted
Equation (19) gives only the ratio of the amplitudes and not their absolute values,
which are arbitrary.
If one of the amplitudes is chosen to be 1 or any number, we say that amplitudes
ratio is normalized to that number.
The normalized amplitude ratios are called the normal modes and designated
by n ( x) .
From equation (24) and (25), the two normal modes of this problem are:
0.731
1.00
1 ( x) =
2.73
1.00
2 ( x ) =
In the 1st normal mode, the two masses move in the same direction and are said to be in
phase and in the 2nd mode the two masses move in the opposite direction and are said to
be out of phase. Also in the first mode when the second mass moves unit distance, the
first mass moves 0.731 units in the same direction and in the second mode, when the
second mass moves unit distance; the first mass moves 2.73 units in opposite direction.
(27)
215
Here A and B are part of participation of first and second modes respectively in the
resulting free vibration and 1 and 2 are the phase difference. They depend on the
initial conditions. This is explained with the help of the following example.
Example: Let us consider the same spring-mass problem (figure 4) for which the natural
frequencies and normal modes are determined. We have to determine the resulting free
vibration when the system is given an initial displacement x1 (0) = 5, x2 (0) = 1 and initial
velocity x1 (0) = x2 (0) = 0 .
x1
k
x2
k
2m
Figure 4
Solution:
Any free vibration can be considered to be the superposition of its normal modes. For
each of these modes the time solution can be expressed as:
x1 0.731
=
sin 1t
x2 1 1
x1 2.731
=
sin 2t
x2 2 1.00
The general solution for the free vibration can then be written as:
x1
0.731
2.73
= A
sin(1t + 1 ) + B
sin(2t + 2 )
1.00
1
x2
where A and B allow different amounts of each mode and 1 and 2 allows the two
modes different phases or starting values.
Substituting:
216
x1 (0) 5
0.731
2.731
= = A
sin 1 + B
sin 2
1
x2 (0) 1
x1 (0) 0
0.731
2.731
= = 1 A
cos 1 + 2 B
cos 2
1
x2 (0) 0
cos 1 = cos 2 = 0 => 1 = 2 = 900
1
1
0.731A-2.731B= 5
A+B
=1
A= 2.233
B=-1.233
The equation of motion for a two-degree-of freedom system can be written in matrix
form as
(28)
M
x + K x=0
where M and K are the mass and stiffness matrix respectively; x is the vector of
generalized co-ordinates. Now pre-multiplying M 1 in both side of equation 6.2. one
may get
I
x + M 1 K x = 0
(29)
or, I
x + Ax=0
(30)
Here A = M 1 K is known as the dynamic matrix. Now to find the normal modes,
x1 = X 1eit , x2 = X 2 eit , the above equation will reduce to
[ A I ] X = 0
(31)
217
where X = { x1
x2 } and = 2 .
T
From equation (31) it is apparent that the free vibration problem in this case is reduced to
that of finding the eigenvalues and eigenvectors of the matrix A.
Example: Determine the normal modes of a double pendulum.
Solution
l11
1
2
l2 2
2 1
l11
=
2
0
m2l2 g 2 0
m2l2 2
m2l1l2
Now considering a special case when m1 = m2 = m and l1 = l2 = l , the above equation
becomes
0 1 0
ml 2 1 2mlg
+
mlg 2 0
ml 2 2 0
2 1 1
2 0 1 0
or, ml 2
+ mlg
=
1 1 2
0 1 2 0
2ml 2
2
ml
2 0 g 2 1
1 1 1
mlg
=
2
ml 1 2
0 1 l 2 2
To find eigenvalues of A,
Now A =
218
l
A I = 0
g
2
l
g
l
=0
g
2
l
g
g
g
Or, 4 4 + 2 2 = 0
l
l
l
2
g
g
Or, 4 + 2 = 0
l
l
2
g
g
g
4 8
l
g
l
l
= (2 2)
Or, =
2
l
g
g
Hence natural frequencies are 1 = 0.7653 , 2 = 1.8478
l
l
The normal modes can be determined from the eigenvalues.
The corresponding principal modes are obtained as
4
g
1
1
l
=
=
2
2 =1 (2 2 + 2) g
l
g
1
1
l
=
=
2
2 =2 (2 2 2) g
l
It may be noted that while in the first mode
Both the pendulum moves in the same direction,
In the second mode they move in opposite direction
Figure 6
One may solve the same problem by taking x1 and x2 as the generalized coordinates.
Here x1 is the horizontal distance moves by mass m1 and x2 is the distance move by
mass m2 . Figure 7 show the free body diagram of both the masses.
T1
y
y
T2
1
m1 x1
2
m1 g
T2
m2 x2
Figure 7
219
m2 g
l1
l2
l2
x x
m2
x2 + m2 g 2 1 = 0
l2
Hence in matrix form
m1
0
(m1 + m2 ) g m2 g
+
x1
0
l1
l2
+
m2
x2
m2 g
l2
m2 g
l2 x1 0
=
m2 g x2 0
l2
x1 g 3 1 x1 0
1 0
+
0 1
=
x2 l 1 1 x2 0
220
A=
g
l
3 1
1 1
l
and A I = 0
g
Hence
g
l
=0
g
g
+ 2 = 0
l
l
g
g
or , 1 = 2 2 and 2 = 2 + 2
l
l
Or, 2 4
g
X
2.4142
+
3
2
2
2
= 3 1
1
l
Now
g
X1
1
1
l
=
=
=
= 2.4142
g
0.4142
X 2 =
3 2 3 2 2
2
l
-0.4142
2.4142
Figure 8
The different modes are as shown in the above figure.
Example Determine the equation of motion if the double pendulum is started with initial
conditions x1 (0) = x2 (0) = 0.5, x1 (0) = x2 (0) = 0.
Solution:
The resulting free vibration can be considered to be the superposition of the normal
modes. For each of these modes, the time solution can be written as
221
x1 X 1
x1 X 1
= sin 1t = sin 2t
x2 1 X 2 1
x2 2 X 2 2
The general solution for the free vibration can be written as
x1
=
x2
0.4142
2.4142
A
sin(1t + 1 ) + B
sin(2t + 2 )
1
1
where A and B are the amounts of first and second modes participation and 1 and 2
are the starting values or phases of the two modes. Substituting the initial conditions in
the above equation
0.5
=
0.5
0.4142
2.4142
A
sin 1 + B
sin 2
1
1
and
0
0.4142
2.4142
= A1
cos 1 + B2
cos 2
1
0
1
For the second set of equations to be satisfied, cos 1 = cos 2 = 0 , so that 1 = 2 = 900 .
Hence A = 0.6035 and B = 0.1036 . So the equation for free vibration can be given by
x1
0.4142
2.4142
= 0.6035
cos 1t 0.1036
cos 2t
1
1
x2
Damped-free vibration of two-dof systems
Consider a two degrees of freedom system with damping as shown in figure
x1
k1
c1
m1
x2
k2
c2
m2
k3
c3
Figure 9
Now the equation of motion of this system can be given by
x1 k1 + k2
m1 0
+
0 m
2 x2
k2
k2 x1 c1 + c2
+
k2 + k3 x2 c2
222
c2 x1 0
=
c2 + c3 x2 0
(32)
As in the previous case, here also the solution of the above equations can be written as
x1 = A1e st and x2 = A2 e st
(33)
where A1 , A2 and s are constant . Substituting (33) in (32) , one may write
m1s 2 + (c1 + c2 ) s + k1 + k2
c2 s k2
A1 0
=
m2 s + (c2 + c3 ) s + k2 + k3 A2 0
c2 s k2
(34)
Now for a nontrivial response i.e., for non-zero values of A1 and A2 , the determinant of
their coefficient matrix must vanish. Hence
m1s 2 + (c1 + c2 ) s + k1 + k2
c2 s k2
c2 s k2
m2 s 2 + (c2 + c3 ) s + k2 + k3
=0
(35)
(36)
which is a fourth order equation in s and is known as the characteristic equation of the
system. This equation is to be solved to get four roots. The general solution of the system
can be given by
x1 = A11e s1t + A12 e s2t + A13e s3t + A14 e s4t
(37)
Here A1i , i = 1, 2,3, 4 are four arbitrary constants to be determined from the initial
conditions and the coefficients A2i , i = 1, 2,3, 4 are related to A2i and can be determined
from equation (34) as
A1i
c2 si + k2
=
2
A2i m1si + (c1 + c2 ) si + k1 + k2
(38)
For a physical system with damping, the motion will die out with time. For a stable
system, all the four roots must be either real negative numbers or complex number with
negative real parts. It may be recalled that, if the roots contain complex conjugate
numbers, the motion will be oscillatory.
Example: Find the response of the system as shown in figure 9 considering m1 = m2 = m,
k1 = k2 = k3 = k and c1 = c3 = 0 and c2 = c .
Solution.
In this case the characteristics equation becomes
(ms 2 + cs + 2k )(ms 2 + cs + 2k ) (cs + k ) 2 = 0
223
(ms 2 + cs + 2k ) 2 (cs + k ) 2 = 0
or , m 2 s 4 + 2mcs 3 + (4mk + c 2 c 2 ) s 2 + (4kc 2kc) s + 4k 2 k 2 = 0
or , m 2 s 4 + 2mcs 3 + 4mks 2 + 2kcs + 3k 2 = 0
or , ms 2 (ms 2 + 2cs + 3k ) + k (ms 2 + 2cs + 3k ) = 0
or , (ms 2 + k )(ms 2 + 2cs + 3k ) = 0
or , (ms 2 + k )(ms 2 + 2cs + 3k ) = 0
Hence the roots are
2
s1,2 = i
k
c
k
c
and s3,4 = 3
m
m
m
m
The systems with have one of their natural frequencies equal to zero are known as semidefinite or degenerate systems. One can show that the following two systems are
degenerate systems.
x1
m2
m1
x2
I1
I2
Figure 10
Figure 11
From figure 10 the equation of motion of the system is
x1 k
m1 0
+
0 m
k
2 x2
k x1 0
=
k x2 0
(39)
(40)
k m1 2
(41)
A1 0
=
k m2 A2 0
k
224
k m1 2
k m2 2
or, k m1 2
=0
)( k m ) k
2
(42)
2
=0
(43)
or, k 2 k ( m1 + m2 ) 2 + m1m2 4 k 2 = 0
(44)
or, 2 ( m1m2 2 k ( m1 + m2 )) = 0
(45)
k (m1 + m2 )
m1m2
(46)
1 = 0, and, 2 =
(47)
(48)
the ratio of angle of rotation inversely proportional to the moment of inertia of the rotors.
Forced harmonic vibration, Vibration Absorber
Consider a system excited by a harmonic force F1 sin t expressed by the matrix equation
x1 k11 k12 x1 F
m11 m12
+
m
= sin t
21 m22 x2 k21 k22 x2 0
(49)
x1 X 1
= sin t
x2 X 2
(50)
sin t
2
2
0
k21 m21 k22 m22 X 2
k11 m11 2 k12 m12 2 X 1 F
or ,
=
2
2
k21 m21 k22 m22 X 2 0
225
(51)
X 1 k11 m11 2
=
2
X 2 k21 m21
k12 m12 2 F
k22 m22 2 0
k21 + m21 2 k11 m11 2 0
=
k11 m11 2 k12 m12 2
k21 m21 2 k22 m22 2
(52)
Hence
X1
(k
=
22
m22 2 F
Z ( )
(53)
k11 m11 2
where [ Z ( ) ] =
2
k21 m21
X2
(k
=
21
k12 m12 2
k22 m22 2
m21 2 F
(54)
Z ( )
Example Consider the system shown in figure 12 where the mass m1 is subjected to a
k1
m1
x1
F sin t
k2
x2
m2
Figure 12
Solution:
The equation of motion of this system can be written as
m1
0
x1 k1 + k2
0
+
m2 x2 k2
x1 2k
m 0
+
0 m
x2 k
k2 x1 F sin t
=
k2 + k3 x2 0
k x1 F sin t
=
2k x2 0
226
k3
x1 X 1
= sin t and proceeding as explained before
x2 X 2
2k m 2
Z
(
)
=
[
]
k
2k m 2
k
k 2
k2
Z ( ) = ( 2k m ) k = m 4mk + 3k = m ( 4 + 3 2 )
m
m
k
k
or, Z ( ) = m 2 ( 2 )( 2 3 ) = m 2 ( 2 12 )( 2 22 )
m
m
k
k
where, 12 = and 22 = 3 are normal mode frequencies of this system.
m
m
Hence,
2 2
( 2k m ) F
2
X1 =
X2 =
m 2 ( 2 12 )( 2 22 )
kF
m ( 12 )( 2 22 )
2
studied in case of forced vibration of single-degree of freedom system, the system will
have a steady state response given by
F sin t
x=
, where n = k1 / m1
m(n2 2 )
(55)
which will be maximum when = n. Now to absorb this
k1
F sin t
m1
x1
k2
m2
Figure 13
227
x2
k2 x1 F sin t
=
k2 x2 0
x1 k1 + k2
m1 0
+
0 m
2 x2
k2
(56)
Z ( ) =
k1 + k2 m1 2
k2
k2
k2 m2
= m1m2 (1 2 )(2 2 )
(57)
where 1 and 2 are the roots of the characteristic equation Z ( ) = 0 of the freevibration of this system., which can be given by
2
k1 k2 k2
kk
k1 k2 k2
1,2 = 0.5 +
+ +
+ 4 1 2
m1m2
m1 m2 m1
m1 m2 m1
Now from equation (53) and (54)
X1
(k
=
X2 =
22
m22 2 F
Z ( )
(k
=
m2 2 F
Z ( )
(58)
(59)
k2 F
Z ( )
(60)
k2
. Hence, by suitably choosing
m2
the stiffness and mass of the secondary spring and mass system, vibration can be
k
completely eliminated from the primary system. For 2 = 2 ,
m2
Z ( ) = k1k2 m1k2
k2
k
k
k k
k1m2 2 k2 m2 2 + m1m2 2 2
m2
m2
m2
m2 m2
k2
k2
= k1k2 m1 2 k1k2 k22 + m1 2 = k22
m2
m2
and X 2 =
k2 F F
=
k22
k2
(61)
(62)
228
The tuned vibration absorber is only effective when the frequency of external excitation
equals to the natural frequency of the secondary spring and mass system. But in many
cases, for example in case of an automobile engine, the exciting torques are proportional
to the rotational speed n which may vary over a wide range. For the absorber to be
effective, its natural frequency must also be proportional to the speed. The characteristics
of the centrifugal pendulum are ideally suited for this purpose.
Placing the coordinates through point O, parallel and normal to r, the line r rotates with
angular velocity ( + )
j
i
r
R
O
R+r
+ 2 =
r
r
(65)
If we assume the motion of the wheel to be a steady rotation n plus a small sinusoidal
oscillation of frequency , one may write
= nt + 0 sin t
(66)
= nt + 0 cos t n
(67)
= 0 2 sin t
(68)
229
R 2
R+r 2
n =
0 sin t
r
r
Hence the natural frequency of the pendulum is
+
n = n
R
r
(69)
(70)
(71)
It may be noted that the same pendulum in a gravity field would have a natural
frequency of
g
. So it may be noted that for the centrifugal pendulum the gravity
r
(72)
T = m ( R + r ) n 2 R
(73)
T=
mR( R + r ) 2 n 2 / r 2
0 sin t
( Rn 2 / r ) 2
m( R + r ) 2
= J eff
=
2
2
1
/
r
Rn
(74)
J eff =
2
2
2
1 ( / n )
1 r / Rn
(75)
which can be at its natural frequency. This possesses some difficulties in the
design of the pendulum. For example to suppress a disturbing torque of frequency
equal to four times the natural speed n, the pendulum must meet the requirement
230
small it will be difficult to design it. To avoid this one may go for Chilton bifilar
design.
Exercise problems
1. In a certain refrigeration plant, a section of pipe carrying the refrigerant vibrated violently
at a compressor speed of 232 rpm. To eliminate this difficulty, it was proposed to clamp a
cantilever spring mass system to the pipe to act as an absorber. For a trial test, for a 905
gm. Absorber tuned to 232 cpm resulted in two natural frequencies of 198 and 272 cpm.
If the absorber system is to be designed so that the natural frequencies lie outside the
region 160 to 320 cpm, what must be the weight and spring stiffness?
2. Derive the normal modes of vibration of a double pendulum with same length and
mass of the pendulum.
3. Develop a matlab code for determination of free-vibration of a general two-degree
of freedom system.
4. Derive the equation of motion for the double pendulum shown in figure p1 in terms of 1
and 2 using Lagrange principle. Determine the natural frequencies and mode shapes of
the systems. If the system is started with the following initial conditions: x1(0) =x2(0) = X,
v1(0) =v2(0)=0, (v1 and v2 are velocity) determine the equation of motion. If the lower
mass is given an impulse F0 (t), determine the response in terms of normal modes.
L1
x1 2
m1
L2
m2
x2
Figure P1
5. A centrifugal pump rotating at 500 rpm is driven by an electric motor at 1200 rpm
through a single stage reduction gearing. The moments of inertia of the pump impeller
and the motor are 1600 kg.m2 and 500 kg.m2 respectively. The lengths of the pump shaft
and the motor shaft are 450 and 200 mm, and their diameters are 100 and 50 mm
respectively. Neglecting the inertia of the gears, find the frequencies of torsional
oscillations of the system. Also determine the position of the nodes.
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