- Simulation of Mechanical Systems-

Multiple degree-of-freedom systems

Joan Andreu Mayugo, Daniel Trias
Universitat de Girona

Multiple DoF systems

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Governing equations: Free body diagram

Example 3.1

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Multiple DoF systems Governing equations (ii)

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Multiple DoF systems Governing equations

Moment equilibrium

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Governing equations: Free body diagram

Example: Machine tool

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Lagrange Equations

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Governing equations: Lagrange method

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Matrix form of Lagrange equations

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Matrix form of Lagrange equations

Exemple 4.1

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Relative motion
1) Absolute motion at B
xA

k1

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2) Relative motion B/A

xB

k2

mB
mA

xA

k1

xB/A

k2

mB
mA

Example : Pendulum with moving base

Kinematics

vm1 = xi

r m1 = xi
r m2 = (x+ L sin)i (L cos)j

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vm2 = ( x+
L cos)i + (L sin)j

Kynetic and potential energies

T=

1
1
1
1
1
m1 (vm1 vm1 ) + m2 (vm2 vm2 ) = m1( x)
2 + m2( x+
L cos ) 2 + m2(L sin ) 2
2
2
2
2
2
U = m2gh = m2gL(1 cos )

Lagrange equations

Virtual work

d
dt

T
x

T D U
+
+
= Qx
x x
x

d
dt

T D U
+
+
= Q

W = Qxx+ Q = F(t)x+ 0

Qx = F(t); Q = 0

Example : Pendulum with moving base (ii)

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Differentiation of kinetic energy

d
dt

T
x

d
m1x+
m2( x+
L cos) = m1x+
m2( x+
L cos L 2 sin)
dt
T
= 0
x

d
dt

d
m2( x+
L cos)(L cos) + m2(L sin)(L sin ) = m2 Lxcos

Lx sin + L2
dt
T
= m2( x+
L cos)( L sin ) + m2(L sin)(L cos) = m2Lx sin

Differentiation of potential energy

U
= 0
x
U
= m2gLsin

(m1 + m2) x+
m2L cos m2L 2 sin = F(t)
m2Lxcos

+ m2L2 + m2gLsin = 0
xcos

+ L + gsin = 0

Example : Building as 2DoF system

k/2

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A building can be modelled as a basis with

mass m which is allowed to have lateral
displacements with respect to the ground and
upper storeys with mass and inertia M and IG
which can rotate/oscillate with respect to this
base.
The base has both stiffness and damping,
while the sotreys have only a torsional
stiffness with respect to the basis.
Write the governing equations using u and
as generalised coordinats if the system is
excited by a displacement z(t).

Example : Building as 2DoF system

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KINEMATICS
u ,
Generalised coordinates:
Position and velocities of points of interest:
xG = u + asin ; yG = acos
x&G = u& + a&
; y& G = 0

k/2

KINETIC AND POTENTIAL ENERGY

Kinetic energy:

1
1
1
1
2
T = mu& 2 + M x&G2 + y& G2 + I G& 2 mu& 2 + M (u& + a& ) + I G& 2
2
2
2
2

Potential energy:
2
1
1
1k
2
2
2
2
V = 2 (u z ) + K + Mgacos k (u z ) + K + 2 Mga1
2
2
2 2
2

Non-conservative forces (damping):

c

1
2
& z&)
& z&) u D = c ( u
u
(
2

Wnc = 2

Example : Building as 2DoF system

2
1
& a& + I G& 2
m&u2 + M u+
2
2
2
1
V = k ( u z) K 2 2Mga1
2
2

T=

Lagrange for u:
T
d T
& a&
&& a&&
= m&u+ M u+
= m&&
u+ M u+
u&
dt u&
V
D
& z&)
= k ( u z)
= c ( u
u
u
d T T V D
&& a&& + k ( u z) + c( u
& z&) = 0

+
+
= 0 m&&
u+ M u+
dt u& u u u
&& Ma&& + c&u+ ku = c&z + kz
( M + m) u+

k/2

Lagrange for :
T
d T
& a& + I G&
&& a&& + I G&&
= Ma u+
= Ma u+
&

dt &
V
Mga
D
= K

=0

d T T V D
Mga
&& a&& + I G&& + K

+
+
= 0 Ma u+
=0
&
dt
2
Ma&&
u+ ( Ma2 + I G )&& + ( K Mga) = 0

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References

G. Kelly. Schaum's Outline of Mechanical Vibrations.

McGraw-Hill
B. Balachandran, E.B. Magrab, Vibrations. CENGAGE
Learning, 2009.

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