The mass and stiffness matrix is defined by the EOM solved from Lagrange and is

used as an input in the matlab code.

Mass
m
m
[ M ] = 11 12
m21 m22

Stiffness
k
k
[ K ] = 11 21
k 21 k 22

{}

[ Q ] = Q1

Q2

Forces

The determinate of the equation below is equal to zero and can be used to find the
roots, which will the natural frequencies.

A= [ K ]w2 [ M ]
A=

A=

k 11 k 21
m m12
w 2 11
k 21 k 22
m21 m22

] [

w2 m
w2 m12
k 11 k 21
2 11
k 21 k 22
w m21 w2 m22

][

k 11 w2 m11 k 21w2 m12

A=
k 21 w2 m21 k 22w2 m22

det ( A )=( k 11 w2 m11 )( k 22 w2 m22 ) ( k 21w2 m21)( k 21w 2 m 12 )

0=( k 11 w 2 m 11 )( k 22w 2 m22 )( k 21 w2 m21 )( k 21w2 m12 )
In matlab, the solve function is used to find the roots and a for loop is used to
remove any negative natural frequencies.

yields

{ }
w nat1
w nat2

Once we know the natural frequencies they are sort from smallest to largest and are
then used to find phi.

]{ } { }

k 11 w 2i m 11 k 21 w2i m12 1
Q
= 1
2
2
Q2
k 21w i m 21 k 22 wi m22 i

For each of the frequencies the modes can be calculated by solving the linear
system of equations by using the backward slash in matlab. This needs to be done
in a for loop since each natural frequency has a different mode

A { i }= [ Q ]

{ i }=[ Q ] A1

Now the normal modes are calculated

{ }

1 i
={ i } =
2 i

{i }

{ }

[ M ] { i }

With the normal modes calculated, they can be put together to form the normal
mode matrix

11 21
21 22

close all; clear all; clc

m = 800; % Mass

[kg]

k1 = 2e4; % Spring1 [N/M]

k2 = 2.5e4; % Spring2 [N/M]
L2 = 1.1; % Length2 [m]
L3 = 1.3; % Length3 [m]
h = .5;

% Lengthh [m]

F = 10;

% Force [n]

y = 20;

% Torque [N*m]

r = 1.4; % ROG

[m]

I = r^2*m; % Inertia

syms w

% Makes w an empty variable

%--------Matrices----------------% Mass Matrix

M = [m, 0; 0, I];
% Stiffness Matrix
K = [k1+k2, -k1*L3+k2*(h+L2); -k1*L3+k2*(h+L2), L3^2*k1+(h^2+h*L2+L2^2)*L2];
% Forces
Q = [F;F*h+y];
%-------W Nat--------------------mat = K-w^2.*M;
detA = det(mat);
S

= solve(detA,w);

S_v = vpa(S);
ii = 1;
for i =1:length(S_v) % Finds only the positive numbers
if S_v(i) >0
w_n(ii,1) = S_v(i);
ii= ii+1;
end
end
w_n = sort(w_n)

% Sorts lowest to highest

%-------Modes------------------------for i = 1:length(w_n)
if i ==1
phi = ones(size(M));
end
matt(:,:,i) = K-w_n(i)^2.*M;
phi(2:end,i) = matt(i,2:end,i)\(Q(i)-matt(i,1,i))
phi_norm(:,i) = phi(:,i)./sqrt(phi(:,i).'*M*phi(:,i))
end

w_n =
4.1860352423161502883776928519889
7.7643184810772268393459294845624

phi =
1.0000
-2.2123

phi_norm =
0.0109
-0.0240

phi =
1.0000
0.2301

phi_norm =
0.0109

0.0337

-0.0240

0.0077

Published with MATLAB R2015a