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Mdof Iitgn
Mdof Iitgn
Mdof Iitgn
Freedom Systems
Dhiman Basu
IIT Gandhinagar
Introduction
Degrees of Freedom (DOF)
5-Storied Building with
Columns axially inextensible
Beams are rigid
5 independent displacements are
required to specify the lateral
deformation profile
5 DOFs, one at each floor
5 (linearly) independent
deformation shape
Mode-4 Mode-5
Mode-1 Mode-2 Mode-3
5 5
5 5 5 4
4 4 4 4
3 3 3 3
3 2
2 2 2 2
1 1 1 1
1 0
0 0 0 0
0 0.25 0.5 0.75 1 -1.5 -1 -0.5 0 0.5 1 -1.5 -1 -0.5 0 0.5 1 -2 -1.5 -1 -0.5 0 0.5 1 -4 -3 -2 -1 0 1 2 3
INTUITION
Whether response of an n-DOF
system is equivalent to that of n
number of SDOF systems??
f I (t )+ f D (t )+ f S (t )= Pi (t )
mi u&i + ci (ui - ui- 1 )- ci+ 1 (ui+ 1 - ui )
& & & & &
+ ki (ui - ui- 1 )- ki+ 1 (ui+ 1 - ui ) = Pi (t )
mi u&
& &i- 1 + (ci + ci+ 1 )u&i - ci+ 1u&i+ 1
i + - ci u
Damping Resistance
n number of frequencies
n number of mode shapes
{u (t )}= { }1 1 (t )+ { }2 2 (t )+ ... + { }n n (t )
n
=
j= 1
{ }j j (t ) = [ ]{ (t )}
[C ]= [K ]+ [M ]
Alternatively, C *j can often be specified directly as a fraction
of critical damping
C *j = Ccr j = 2 K *j M *j
( )
Mathematical Physics of the
Problem
Eigen Value Problem
Let {u}= { } (t ) { } is a time independent vector
[M ]{u&
&}+ [K ]{u}= {0} [M ]{ }&
&(t )+ [K ]{ } (t )= {0}
{ } [M ]{ }&&(t )+ { } [K ]{ } (t )= {0}
T T
Scalar Scalar
Choice of Negative constant is to
{ } [M ]{ } &&(t ) enforce a vibration phenomenon
T
- = = - n2
{ } [K ]{ } (t )
T
[K ]{ }j = nj2 [M ]{ }j { }i [K ]{ }j = nj2 { }i [M ]{ }j
T T
{ }j [K ]{ }i = nj2 { }j [M ]{ }i [M ][
T T
, K ] are symmetric
0 = (nj2 - nj2 ){ }j [M ]{ }i
T
{ }j [M ]{ }i
T
= 0 if i j
{ }j [K ]{ }i
T
If normalized properly
{ }r [M ]{ }r = 1
T
{ }r [K ]{ }r = nr2
T
Consequence of Orthogonality
[ ]= { }1 { }2 ...{ }n Modal Matrix
{ }j Aj [ ] [M ]{u0 }= [ ] [M ] { }j Aj
T T
{u0 }=
j= 1 j= 1
n
[ ] [M ]{ }j Aj = { }j [M ]{ }j Aj = M *j Aj
T T
=
j= 1
[ ] [M ]{u0 }
T
Aj =
M *j
Consider the instant t=0 and initial velocity
n n
{ }j nj B j [ ] [M ]{u&0 }= [ ] [M ] { }j nj B j
T T
{u&0 }=
j= 1 j= 1
n
[ ] [M ]{ }j nj B j = { }j [M ]{ }j nj B j = M *j nj B j
T T
=
j= 1
[ ] [M ]{u&0 }
T
Bj =
nj M *j
Damped Forced Vibration of MDOF
System
Let {u}= [ ]{ (t )} [ ] is the Modal Matrix, known after Eigen Analysis
[M ]{u&&}+ [C ]{u&}+ [K ]{u }= {P (t )}
[M ][ ]{&
&(t )}+ [C ][ ]{&(t )}+ [K ][ ]{ (t )}= {P (t )}
[ ] [M ][ ]{&(t )}+ [ ] [C ][ ]{&(t )}+ [ ] [K ][ ]{ (t )}= [ ] {P (t )}
T T T T
&
M * [C ][ ]{&(t )}+ K * { (t )}= {P* (t )}
T
{&&(t )}+ [ ]
[ ] [C ][ ]= C * A diagonal matrix, provided [C ] is Rayleigh Damping
T
1/2 1/2
Usually, C *
= 2 K * M * is the specified modal damping
M * {&(t )}+ C * {&(t )}+ K * { (t )}= {P* (t )} A set of uncouped Equations
&
j th uncoupled equation M *j&
&j (t )+ C j j (t )+ K j j (t ) = Pj (t )
*
& * *
Eigen Values =
n
2
diag
=
Modal Matrix =[ ]=
[ ] [M ][ ]= M * =
T
Floor Displacement under
Free Vibration
Damped Force Vibration
Same Five Storey Building as Before but with 5% damping
Loading Data
C *j = Ccr j = 2 K *j M *j
( )
C * =
Generalized Force
P* = [ ]T {P}=
0.1680 * P1 (t )+ 0.6661* P2 (t )+ 1.4371* P3 (t )+ 2.3172 * P4 (t )+ 3.1400 * P5 (t )
- 0.4476 * P1 (t )- 1.2110 * P2 (t )- 0.9205* P3 (t )+ 0.9172 * P4 (t )+ 3.0892 * P5 (t )
0.5609 * P1 (t )+ 0.4029 * P2 (t )- 1.6713* P3 (t )- 1.1535* P4 (t )+ 2.8941* P5 (t )
0.5378* P1 (t )- 0.7437 * P2 (t )- 0.7351* P3 (t )+ 2.4435* P4 (t )- 2.1547 * P5 (t )
- 0.4094 * P1 (t ) + 1.1724 * P2 (t )- 1.6594 * P3 (t ) + 1.5773* P4 (t )- 0.9547 * P5 (t )
M *j&
&j (t )+ C *j&j (t )+ K *j j (t ) = Pj* (t ) j th SDOF system