Response of MDOF systems

Degree of freedom (DOF): The minimum number of

independent coordinates required to determine completely
the positions of all parts of a system at any instant of time.
Two DOF systems Three DOF systems
The normal mode analysis (EOM-1)
Example: Response of 2 DOF system
m 2m
k k k
x
1
x
2
FBD
m 2m
kx
1
k(x
1
-x
2
) kx
2
EOM
1 2 1 1
) ( x m x x k kx =
2 2 2 1
2 ) ( x m kx x x k =
In matrix form, EOM is
(

=
(

+
(

0
0
2
2
2 0
0
2
1
2
1
x
x
k k
k k
x
x
m
m


EOM -2 (example)
(

=
(

+
(

0
0
2
2
2 0
0
2
1
2
1
x
x
k k
k k
x
x
m
m


EOM
M K F x

x
) ( ) ( ) ( ) ( t t t t F Kx x C x M = + +
In general form
M is the inertia of mass matrix (n x n)
C is the damping matrix (n x n)
K is the stiffness matrix (n x n)
F is the external force vector (n x 1)
x is the position vector (n x 1)
Synchronous motion
From observations, free vibration of undamped MDOF system is a
synchronous motion.
All coordinates pass the
equilibrium points at the
same time
All coordinates reach
extreme positions at the
same time
Relative shape does not
change with time
=
2 1
x x
constant
t
i
m
e
x
1
x
2
x
1
x
2
No phase diff. between x
1
and x
2
) sin(
1 1
| e + = t A x
) sin(
2 2
| e + = t A x
) (
1
| e +
=
t j
e A
) (
2
| e +
=
t j
e A
or
or
Response of 2DOF system (example-1)
(

=
(

+
(

0
0
2
2
2 0
0
2
1
2
1
x
x
k k
k k
x
x
m
m


EOM
Synchronous motion
Sub. into EOM
(

=
(

+
(

e
e
0
0
2
2
2 0
0
2
1
2
1
2
2
x
x
k k
k k
x
x
m
m
(

=
(

0
0
2 2
2
2
1
2
2
A
A
m k k
k m k
e
e
0 Kx Mx = + e ) ( ) (
2
t t
0 x M K = e ) ( ) (
2
t
0
2 2
2
2
2
=
e
e
m k k
k m k
0 ) det(
2
= e M K Characteristic
equation (CHE)
) sin(
1 1
| e + = t A x
) sin(
2 2
| e + = t A x
) (
1
| e +
=
t j
e A
) (
2
| e +
=
t j
e A
or
or
Response of 2DOF system (example-2)
0
2 2
2
2
2
=
e
e
m k k
k m k
0
2
3
3
2
2 4
=
|
.
|

\
|
+ e
|
.
|

\
|
e
m
k
m
k
m
k
634 . 0
1
= e
m
k
366 . 2
2
= e
CHE
Solve the CHE
Natural frequencies
of the system
;
(

=
(

e
e
0
0
2 2
2
2
1
2
2
A
A
m k k
k m k
k
m k
m k
k
A
A
2
2
2
1
2 2
2
e
=
e
=
1
e = e
731 . 0
) 634 . 0 ( 2
) 1 (
2
1
=

=
|
|
.
|

\
|
m
m
k
k
k
A
A
2
e = e
73 . 2
) 366 . 2 ( 2
) 2 (
2
1
=

=
|
|
.
|

\
|
m
m
k
k
k
A
A
From
Response of 2DOF system (example-3)
1
e = e
731 . 0
) 1 (
2
1
=
|
|
.
|

\
|
A
A
73 . 2
) 2 (
2
1
=
|
|
.
|

\
|
A
A
Amp. ratio Amp. ratio
)
`

= |
1
731 . 0
) (
1
x
)
`

= |
1
73 . 2
) (
2
x
The first mode shape The second mode shape
0.731
1
-2.73
1
2
e = e
same direction
Opposite
direction
Response of 2DOF system (example-4)
In general, the free vibration contains both modes
simultaneously (vibrate at both frequencies simultaneously)
) sin(
1
73 . 2
) sin(
1
732 . 0
2 2 2 1 1 1
2
1
+ e
)
`

+ + e
)
`

=
)
`

t c t c
x
x
2 1 2 1
, , , c c
are constants (depended on initial conditions)
Initial conditions (1)
) sin(
1
73 . 2
) sin(
1
732 . 0
2 2 2 1 1 1
2
1
+ e
)
`

+ + e
)
`

=
)
`

t c t c
x
x
)
`

=
)
`

4
2
) 0 (
) 0 (
2
1
x
x
)
`

=
)
`

0
0
) 0 (
) 0 (
2
1
x
x

Initial conditions and

) cos(
1
73 . 2
) cos(
1
732 . 0
2 2 2 2 1 1 1 1
2
1
+ e
)
`

e + + e
)
`

e =
)
`

t c t c
x
x

Velocity response
)
`

=
)
`

4
2
) 0 (
) 0 (
2
1
x
x
2 2 1 1
sin
1
73 . 2
sin
1
732 . 0
4
2

)
`

+
)
`

=
)
`

c c
)
`

=
)
`

0
0
) 0 (
) 0 (
2
1
x
x

2 2 2 1 1 1
cos
1
73 . 2
cos
1
732 . 0
0
0

)
`

e +
)
`

e =
)
`

c c
Initial conditions (2)
2 2 1 1
sin
1
73 . 2
sin
1
732 . 0
4
2

)
`

+
)
`

=
)
`

c c
2 2 2 1 1 1
cos
1
73 . 2
cos
1
732 . 0
0
0

)
`

e +
)
`

e =
)
`

c c
4 Eqs.,
4 unknowns
Solve for four unknowns
, 732 . 3
1
= c , 268 . 0
2
= c 2 /
2 1
t = =
)
2
sin(
1
73 . 2
268 . 0 )
2
sin(
1
732 . 0
732 . 3
2 1
2
1
t
+ e
)
`

+
t
+ e
)
`

=
)
`

t t
x
x
The response is
t t
x
x
2 1
2
1
cos
268 . 0
732 . 0
cos
732 . 3
732 . 2
e
)
`

+ e
)
`

=
)
`

Initial conditions (3)

) sin(
1
73 . 2
) sin(
1
732 . 0
2 2 2 1 1 1
2
1
+ e
)
`

+ + e
)
`

=
)
`

t c t c
x
x
)
`

=
)
`

2
464 . 1
) 0 (
) 0 (
2
1
x
x
)
`

=
)
`

0
0
) 0 (
) 0 (
2
1
x
x

(a) Initial conditions and

)
`

=
)
`

1
73 . 2
) 0 (
) 0 (
2
1
x
x
)
`

=
)
`

0
0
) 0 (
) 0 (
2
1
x
x

(b) Initial conditions and

Try to do
Summary (Free-undamped) (1)
0 Kx x M = + ) ( ) ( t t
The motion is synchronous:
constant e and |
0 Kx Mx = + e ) ( ) (
2
t t
0 x M K = e ) ( ) (
2
t
Eigen value problem
0 ) det(
2
= e M K
Characteristics equation
2
n
e Eigen value
nN n n
e e e , , ,
2 1

N natural freq.
0 x M K = e
i ni
) (
2
i
x
Eigen vector
) sin( | + e = t A x
) ( | + e
=
t j
e A
or
N mode shapes
N
x x x , , ,
2 1

EOM
1
2
3
4 5
Direct Method
Summary (Free-undamped) (2)
Free-undamped response
) sin( ) sin( ) sin( ) (
2 2 2 2 1 1 1 1 N N N N
t A t A t A t | + e + | + e + | + e = x x x x

=
| + e =
N
i
i i i i
t A t
1
) sin( ) ( x x
6
where A and | are from initial condition x(0) and v(0)
Direct Method
Example
1
k
2
k
u
x
2
l
1
l
Determine the normal modes of vibration of an automobile simulated by
simplified 2-dof system with the following numerical values
lb 3220 = W
ft 5 . 4
1
= l lb/ft 2400
1
= k
ft 5 . 5
2
= l lb/ft 2600
2
= k
ft 4 = r
2
r
g
W
J
C
=
Rigid body mode
Rigid body mode is the mode that the system moves as a
rigid body.
The system moves as a whole without any relative motion
among masses.
There is no oscillation.
0 = e
n
Forced harmonic vibration (1)
Example
EOM
t
F
x
x
k k
k k
x
x
m
m
e
(

=
(

+
(

sin
0 0
0
1
2
1
22 21
12 11
2
1
2
1


System is undamped, the solution can be assumed as
t
X
X
x
x
e
(

=
(

sin
2
1
2
1
Sub. into EOM
(

=
(

e
e
0
1
2
1
2
2 22 21
12
2
1 11
F
X
X
m k k
k m k
| |
(

=
(

e
0
) (
1
2
1
F
X
X
Z
Simpler notation,
| |
(

e =
(

0
) (
1 1
2
1
F
Z
X
X
Forced harmonic vibration (2)
| |
| |
(

e
e
=
(

e =
(

0 ) (
) ( adj
0
) (
1 1 1
2
1
F
Z
Z
F
Z
X
X
) )( ( ) (
2 2
2
2 2
1 2 1
e e e e = e m m Z
Where
e
1
and e
2
are natural frequencies
(

e
e
e
=
(

0 ) (
1
1
2
1 11 21
12
2
2 22
2
1
F
m k k
k m k
Z X
X
The amplitudes are
) )( (
) (
2 2
2
2 2
1 2 1
1
2
2 22
1
e e e e
e
=
m m
F m k
X
) )( (
2 2
2
2 2
1 2 1
1 21
2
e e e e

=
m m
F k
X
Forced harmonic vibration (3)
) )( (
) 2 (
2 2
2
2 2
1
2
1
2
1
e e e e
e
=
m
F m k
X
) )( (
2 2
2
2 2
1
2
1
2
e e e e
=
m
kF
X
m m
k k k
x
1
x
2
F
1
sinet
t
F
x
x
k k
k k
x
x
m
m
e
(

=
(

+
(

sin
0 2
2
0
0
1
2
1
2
1


m
k
m
k 3
,
2 1
= e = e
EOM
Force response of
a 2 DOF system
0 1 2 3
0
1
2
3
4
5
-1
-2
-3
-4
-5
F
Xk
1
e e
1
2
F
k X
1
1
F
k X
1
e = e
2
e = e
Same
direction
Opposite
direction
Solving methods
Modal analysis
is a method for solving for both transient and steady state
responses of free and forced MDOF systems through
analytical approaches.
Uses the orthogonality property of the modes to
decouple the EOM breaking EOM into independent
SDOF equations, which can be solved for response
separately.
Introduction
Coordinate coupling
1
k
2
k
2
l
1
l
mg
u
x
Ref.
) (
1 1
u l x k
) (
2 2
u l x k
1
k
2
k
1
l
mg
u
1
x
Ref.
1 1
x k
) (
1 2
u +l x k
(

=
(

u
(

+
+
+
(

u
(

0
0
0
0
2
2 2
2
1 1 1 1 2 2
1 1 2 2 2 1
x
l k l k l k l k
l k l k k k x
J
m


(

=
(

u
(

+
+
(

u
(

0
0
1
2
2 2
2 2 1 1
1 1
1
x
l k l k
l k k k x
J ml
ml m


Concept of modal analysis
(

=
(

u
(

+
+
+
(

u
(

0
) (
0
0
2
2 2
2
1 1 1 1 2 2
1 1 2 2 2 1
t F x
l k l k l k l k
l k l k k k x
J
m


) ( ) ( ) ( t t t F Kx x M = +
(

=
(

e
e
+
(

) (
) (
0
0
1 0
0 1
2
1
2
1
2
2
2
1
2
1
t N
t N
r
r
r
r
n
n


) ( ) ( ) ( t t t N r r = +

EOM in physical coordinate (Coordinates are coupled)
EOM in modal coordinate (Independent SDOF equations)
Solve for
) (t r
Transform r(t) back to x(t)
Orthogonality
x = eigen vector (vector of mode shape)
ii i
T
i
M = Mx x
j i
i
T
j
= = , 0 Mx x j i
i
T
j
= = , 0 Kx x
ii i
T
i
K = Kx x
If Mand K are symmetric and then x
i
and x
j
are
said to be orthogonal to each other.
nj ni
e = e
Normalization
u = normalized eigen vector (respect to mass matrix)
1 =
i
T
i
Mu u
j i
i
T
j
= = , 0 Mu u
0 x M K = e ) ( ) (
2
t
From eigen value problem
constant is , C C
i i
x u =
0 u M K = e ) ( ) (
2
t
or i i i
Mu Ku
2
e =
2 2
i i
T
i i i
T
i
e = e = Mu u Ku u
Modal matrix
Modal matrix is the matrix that its columns are the mode
shape of the system
| |
n
u u u U
2 1
=
Then
(
(
(
(

= =
1 0 0
0 1 0
0 0 1

I MU U
T
(
(
(
(
(

e
e
e
=
2
2
2
2
1
0 0
0 0
0 0
nN
n
n
T

KU U

(Spectral matrix)
Modal analysis (undamped systems)-1
1. Draw FBD, apply Newtons law to obtain EOM
2. Solve for natural frequencies through CHE
3. Determine mode shapes through EVP
4. Construct modal matrix (normalized)
Procedures
) ( ) ( ) ( t t t F Kx x M = +
0 x M K = e ) ( ) (
2
t
0 ) det(
2
= e M K
| |
n
u u u U
2 1
=
I MU U =
T
KU U =
T
5. Perform a coordinate transformation
) ( ) ( t t Ur x =
) ( ) ( ) ( t t t F Kx x M = + ) ( ) ( ) ( t t t F KUr r MU = +

) ( ) ( ) ( t t t
T T T
F U KUr U r MU U = +

) ( ) ( ) ( t t t
T
F U r r = +

Modal analysis (undamped systems)-2
) ( ) ( ) ( t t t
T
F U r r = +

(
(
(
(

=
(
(
(
(

(
(
(
(

=
(
(
(
(

(
(
(
(
(

e
e
e
+
(
(
(
(

) (
) (
) (
) (
) (
) (
) (
) (
) (
) (
) (
0 0
0 0
0 0
) (
) (
) (
4
3
2
1
4
3
2
1
2 1
2 22 21
1 12 11
2
1
2
2
2
2
1
2
1
t N
t N
t N
t N
t F
t F
t F
t F
u u u
u u u
u u u
t r
t r
t r
t r
t r
t r
T
NN N N
N
N
N nN
n
n
N

Independent SDOF equations, can be solve for r(t)
6. Transform the initial conditions to modal coordinates
) ( ) ( t t Ur x =
I MU U =
T
) 0 ( ) 0 ( Ur x =
) 0 ( ) 0 ( MUr U Mx U
T T
=
) 0 ( ) 0 ( Mx U r
T
=
From
and ) 0 ( ) 0 ( x M U r
T
=
Modal analysis (undamped systems)-3
7. Find the response in modal coordinates
8. Transform the response in modal coordinate
back to that in original coordinate
) ( ) ( t t Ur x =
= ) (t r
) (t r
) (t x