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Structural Dynamics Coursework PDF
Structural Dynamics Coursework PDF
(CEGEM071/CEGEG071)
Tutorial 3 – Student: Carmine Russo – 14103106
1. Introduction
Initial data:
, -
, -
, -
, - , -
, - , -
In general, the system has six degrees of
freedom (if the beams CD and EF are not
rigid, then they are eight) but neglecting
the axial deformations of columns
( ) they become two.
We choose as lagrangian coordinates the
horizontal displacements of CD and EF.
Collecting these variables in the vector, we
have:
⃑ 2 3 2 3
In order to write the equilibrium equations, we have to find the stiffness of each element for each
displacement. In this case, we can use the direct method by solving the differential equation of the elastic
beam:
Finally:
𝑇
Displacement :
In this case we have the mass (that is the
one who moves) subjected to the
displacement .
𝑇 𝑇 𝑇 ( )
{ } 0 1
Displacement :
In this case we have the mass (that is the one
who moves) subjected to the displacement .
𝑇 𝑇 ( )
{ } 0 1
{ } 0 1 2 3
, - 0 1 0 1 [ ]0 ⁄ 1
, - [ ] 0 1, -
Kinetic Energy
𝑻 ̇ ̇
𝑇 𝑇
𝑇 ̇ ̇ ̇
, - 6 7 [ ]
̇ ̇ 𝑇 𝑇
[ ̇ ̇ ̇ ̇ ]
Potential Energy
In this exercise the potential elastic energy is given by the horizontal displacements of the beams,
therefore by using the stiffnesses already calculated above, we can directly write the expression
of this energy without calculate the integrals. Simply remembering that the potential energy of a
single spring is:
, -
, -
, -
The stiffness matrix can be found simply by calculating the Jacobian:
, - 0 1 0 1
[ ]
̈ ( ) ( )
[ ]( * 0 1 . / . /
̈ ( ) ( )
, - ̈( ) , - ( )
̈ ( ) ( )
[ ]( * 0 1. / . /
̈ ( ) ( )
That is a set of linear differential equations with constant coefficients. We may generate a solution by
assuming that each generalized coordinate varies exponentially as . In principle, the coefficient
could be any constant but, since damping in not taken in account, the system is conservative. If
* + , the total mechanical energy of the system (𝑇 ) will grow, while * + leads to a
decaying response: both cases violate conservation of energy.
Because of that we anticipate that , corresponding to harmonic motion, so we construct a solution
based on the trial form:
( ) 2 . / 3
Where and are constants.
Every term produced by the substitution of the trial solution exhibits the same time dependence, so the
equation of motion will be satisfied at all instants only if the coefficients of the exponential terms match.
Furthermore, the constant factor is common to every term, so it cancels. Therefore, we have:
, - . / , - . / *, - , -+ . /
The nontrivial solution of this system can exist only if the value of is such that *, - , -+ is not
invertible. We must find the value of for which the determinant of this matrix is equal to zero (general
eigenvalue problem):
( )
(, - , -) | |
( )
where we set . From this condition we get the characteristic equation:
( )( ) , ( )-
Eigenvalues:
, ( )- √, ( )-
0 ⁄ 1
, ( )- √ ( )
[ ]
0 ⁄ 1
The natural frequencies are:
√ . / . /0 ⁄ 1
𝑇 ( +, -
( )
The frequencies:
( , ( + ( +, -
𝑇
Mode shape 1
( )
[ ]( + ( +
( )
With the condition:
We have:
( )
( )
{
[ ]
{ { ( ) }
The first eigenvector is:
( + ( +
Mode shape 2
( )
[ ]( + ( +
( )
With the condition:
We have:
( )
( )
{
[ ]
{ { ( ) }
The first eigenvector is:
( + ( +
We can normalize both vectors with the respect of the maximum absolute value of each mode shape:
( )
( + ( + ( + ( +
| |
( )
( + ( + ( + ( +
| |
According to our analysis, a vibration in the first mode occurs at 0 ⁄ 1 with the amplitude of
Since each element of an eigenvector is scaled by an arbitrary element, it follows that the modal mass
values depend on the choice of that element; moreover, the modal masses occur throughout the
evaluation of both responses, thereby compensating this arbitrariness contained in the eigenvector.
, - ( + [ ]( + ( ) ( ) , -
, - ( + [ ]( + ( ) ( ) , -
Now we can calculate the normal modes (i.e. modes normalized with the respect of the mass matrix)
( + ( + ( +
√
( + ( + ( +
√
The modal shape matrix:
( ) ( )
, - , - [ ] * +
( ) ( )
We can check the orthogonality properties:
, - , - , -
, - , - , -
, - 0 ⁄ 1 , -
, - , - 0 ⁄ 1
By using the modal transformation: ( ) , - ( ) we can write the equation of motion in modal
coordinates:
, - ̈( ) , - ( ) , -, - ̈ ( ) , -, - ( )
̈
( * [ ]. / . /
̈
̈
The equations are now decoupled and each one represent a single degree of freedom motion.
̇ ̇
( ) ( )
( ) . / ( ) ̇( ) 4 5 ( )
( ) ̇ ( )
̇
And we have:
̇ ̇
( ) ( * ( ) ( ) ( ) [ ] ( ) [ ]( )
̇ ̇
̇
( )
̇
[ ]
Finally, the responses in the lagrangian coordinates are:
∑, - , ( ) ( )-
()
. / , -( *
()
∑, - , ( ) ( )-
( )
Each one is a combination of single degree of freedom in free vibrations that we found in modal
coordinates.
The initial conditions of the motion are:
̇ ̇
( ) ( )
( ) . / ( ) ̇( ) 4 5 ( )
( ) ̇ ( )
̇
That in modal coordinates become:
( ) ( * , -
( )
And
( ) ( * [ ] , - ̇( , - ̇(
) )
[ ]
Where the inverse of the mode shapes matrix, can be easily evaluated using a consequence property of
the orthogonality:
, - , -𝑻 , - [ ][ ] [ ] [ ]
Where can be found considering that the system is damped at 3% of the critical damping when
oscillating at its first natural mode frequency. In order to do that, first we make a modal transformation:
, -, - ̈ ( ) , -, - ̇ ( ) , -, - ( )
Using the orthogonality property of mode shape matrix, the equation become:
̈( ) 6 7 ̇( ) 6 7 ( )
{
As specified (damping coefficient at the first natural mode frequency), therefore:
0⁄ 1
0 ⁄1
0 ⁄1
{ 0 ⁄1
We can now write the system of equations as:
̈( ) [ ] ̇( ) 6 7 ( )
In modal coordinates, the equations are completely decoupled, hence the solution can be easily find.
The system is underdamped; we construct a solution based on the trial form vector:
( *
By simply substituting this form in the equation, we get the characteristic equations for each modal
coordinate:
√
,
√
{
Where:
( )
( + ( ) ( +0 ⁄ 1
( )
Finally the solutions vector for the free underdamped motion is:
[ ]
( ) ( )
[ ]
[ ] [ ][ ]
( * ( ) , - ( ) , -𝑻 , - 4 5 [ ]. /, -
. /, -
̇
̇
( * ( * 64 5 [ ]4 57
̇ ̇
( )
( * [, - ̇( ) [ ], - ( )]
̇
*, -𝑇 , - ( ) [ ][ ] , -𝑇 , - ( )+ . /, -
̇
( )
In matrix form:
𝑻 ( )
( )
( ) , - ( ) [ ][ ] [ ]
( )
[ ( ) ]
, ( ) ( )-
( ) , -( )
, ( ) ( )-
Explicit form:
, ( ) ( )- , ( ) ( )-
( ) ( )
, ( ) ( )- , ( ) ( )-
We can plot the response for each beam (see next page)
( )
( , -) ( ) , -
{ ( ) , -
With:
⁄1 0
The force applied can be defined also by Phase I Phase II Phase III
translating the time's origin (we will use this System is Impulse excitation Free
other formulation in one of the methods of at rest Forced vibrations vibrations
solution proposed).
Our system of equations, in “phase II” when , - , -, is:
̈ ( ) ̇ ( ) ( ) ()
, -( ) , -( ) , -( + 4 5
̈ ( ) ̇ ( ) ( )
Using the orthogonality property of the mode shape matrix, the equations become:
()
̈( ) 6 7 ̇( ) 6 7 ( ) [ ]4 5
̈( ) [ ] ̇( ) 6 7 () ( )( +
Where:
; ; 0 ⁄ 1; 0 ⁄ 1
; ; 0 ⁄ 1
0 ⁄ 1; () ( , -) 0 1( , - , -) ( , - , -)
, -
Now, we will need the coefficients of the terms on both sides of the equal sign to be the same:
, ⁄ -
( , - ) ( , - )
, -
, -
, ⁄ -
{ , -
( , - ) ( , - )
, -
{
Therefore, the solution can be wrote in matrix form:
, ⁄ - , -
. / [ ]. / [ ]. /
, ⁄ - , -
( )* , ,
( )- ( )-+
, -*( ) [ ]. /+
( ) * , ,
( )- ( )-+
( ) , ( )-
( ) , ( )-
[ ] [ ( ) ] [ ] [ ]. /
, ( )-
( )
{ [ , ( )- ] }
0 1 {* + [ ]* + 0 1 . /} . /
̇ 𝑻
And ( * . /
̇ 𝑻
[ ] [ ]* +
[ ] . /
* + [ ][ ] ( *
{ }
Solving numerically finally, we get:
Those written above are the initial conditions of phase III, when the system is in free vibrations. The
equation of motion at this point is:
* , ( )- , ( )-+
( ) , -( )
* , ( )- , ( )-+
[ ]( *, - . /, -
̇
̇ ( ) ( )
( * [, - , - ( + [ ][ ], - , -( +]
̇ ̇ ( ) ( )
( )
( )
, ⁄ - , -
*, -𝑇 , - ( ) [ ][ ] , -𝑇 , - ( ++
, ⁄ - , -
( )
. /, -
( , -) ( )
( ) ∫ , ( )-
{
Note that the solution is the difference between a ramp forces, minus a constant force:
( ) ( )
( ) 6∫ , ( )- ∫ , - , ( )- 7
( ) , ( )- ( ) , ( )-
( ) 6∫ ∫ , - 7
{
Integrating by parts:
( )
, -
( ( ) ) , ( )-
( )
|
( )
[( ( ) ) , ( )-] |
|
( ) , ,
, - 6 ( )- ( )-7
{ } , -
( )
, -
( ( ) ) , ( )-
( )
|
( )
[( ( ) ) , ( )-] |
|
( ) , ,
, - 6 ( )- ( )-7
{ } , -
The total solution in phase II, in terms of the lagrangian and , in this case is going to be a
combination of the two modal solution, scaled by the eigenvectors.
( )
( )
. / , -( + ( ) , -
( )
( )
Apparently simpler than the previous one, but just more compact. In fact, the convolution integral holds
inside the complete base of the vector space of solutions.
After phase II, the solution has the same form we found with the direct integration:
* , ( )- , ( )-+
( ) , -( )
* , ( )- , ( )-+
̈ ( ) ̇ ( ) ( ) ( , -)
, , - ( ) , -
̈ ( ) ̇ ( ) ( ) ( , -)
2) ( ) [ ( , -) ̇ ( ) ̈ ( )]
( )
3) ̇ ( ) ( ̇ ( )*
0 ( ) ̇ ( ) 1
4) ̈ ( ) ̈ ( )
̇ ( ) ̇ () ̇ ( )
̈ ( ) ̈ () ̈ ( )
And repeating the calculation incrementing the time with the step , -
By executing this method for both the coordinates, and the recombining the values with the coefficient
given by the components of the eigenvectors, we get the diagram of the total solution. For example for
the diagram in phase II has the aspect of:
30
25
20
15
10
0
0 0.25 0.5 0.75 1 1.25 1.5 1.75 2 2.25 2.5 2.75 3 3.25 3.5 3.75 4
-5
-10
That is exactly the same result we get with the analytical solution