ANALYSIS OF THREE-FREEDOM DEGREE SYSTEM

ISNARDO CADENA RODRIGUEZ

RA: 207762

PROFESSOR
TIAGO HENRIQUE MACHADO

STATE UNIVERSITY OF CAMPINAS

MECHANCAL ENGINEERING SCHOOL
ROTATIVE MACHINES ANALYSIS
CAMPINAS, SAO PAULO
BRAZIL
2018
SUMMARY

This work aims to remember the concepts of mechanical vibrations. It is studied N

freedom degree mechanical systems, in this case, three horizontal freedom degrees.
It is required to calculate the motion equations as well as modal parameters in order
to characterize the mechanical system. In addition, it is analyzed temporal free
vibration response with known initial conditions and forced permanent response
varying the excitation frequency.

INTRODUCTION

Vibrations are present in the most of mechanical systems. It´s very important to
engineers and maintenance staff to recognize and characterize the kind of vibration
that the structure is supporting, in order to design suitable parts and foundations.
The study of mechanical vibrations is based on models that represent the system in
a compact way, besides facilitate the understanding and give a vision of the machine
behavior.

The first parameter to define is the number of freedom degrees of the system, which
delimitate the motion of the system. Greater freedom degrees, greater complexity
and better approximation to real system function. Modal parameters characterize
the systems, they are natural frequency, damping factor and vibrate modes.

Three-freedom degree system is studied in this work. The system consists of three
masses joint by springs and shock absorbers; the second mass is being exciting by
a harmonic force. Friction is depreciable.

This kind of model has several applications as the analysis of basic suspension
model, a reduced representation of a foundation or any system that could be
represented by a mass, springs and shock absorbers.
OBJECTIVES

 To get the motion equations of the system through two methods: Newton laws
and Lagrange equations.
 To determinate the modal parameters of the system.
 To calculate the frequency response function (FRF).
 To get the free vibration response of the system.
 To get the forced vibration response of the system.

METHODOLOGY

The developing of this work is made through several theories. To get the motion
equations it is used the Newton laws and Lagrange equations. The Newton laws
describe the relationship between a body and the forces acting upon it, and its
motion in response to those forces. The three laws can be summarized as follows:

1. In an inertial frame of reference, an object either remains at rest or continues

to move at a constant velocity, unless acted upon by a force.
2. In an inertial reference frame, the vector sum of the forces F on an object is
equal to the mass m of that object multiplied by the acceleration a of the
object: F = ma. (It is assumed here that the mass m is constant)
3. When one body exerts a force on a second body, the second body
simultaneously exerts a force equal in magnitude and opposite in direction on
the first body.

The second law explained above is applied to each mass of the systems, obtaining
a three differential equation system.

In the other hand, the motion equations can be obtained by Lagrange equations too.
This method consists in finding all the energies of the system, in other words, kinetics
and potential energy, as well as dissipative energies. After, it is necessary to apply
the concept of partial derivate, with which it is possible to get the expression for
system motion, resulting in a three differential equation system. It is important to
highlight that the expression obtained by Newton laws must be the same than the
one applying Lagrange equation.

Determining the modal parameters of the systems, it a process that requires the
concept of Eigenvalues and Eigenvectors. Depending on the system, the
Eigenvalues could be real negative roots, complex conjugate roots or a combination
of the two mentioned before. The Eigenvalues provide two modal parameters,
natural frequency and damping factor. The Eigenvectors represent the vibrate
modes of the systems. This assumption applies to underdamped systems.

The frequency response function is a response of the system in function of the

exciting frequency. The system responses in the same form that the excitation is.
The process of determination of the matrix is explained in the results analysis.

The free vibration response, as well as forced vibration response, are calculated
using integrators and numerical methods, using MATLAB as a computational tool.

RESULT ANALYSIS

Consider the next mechanical system:

Figure 1. Analyzed system.

Assumptions:

 The systems do not present friction.

 The displacements are absolutes.
 𝑥3 > 𝑥2 > 𝑥1

Applying the second Newton law to each mass, it is obtained the following equations:

Figure 2. free body diagram.

For mass 1:

𝑚1 𝑥1′′ + [𝑐2 + 𝑐1 ]𝑥1′ − 𝑐2 𝑥2′ + [𝑘1 + 𝑘2 ]𝑥1 − 𝑘2 𝑥2 = 0

For mass 2:

𝑚2 𝑥2′′ − 𝑐2 𝑥1′ + [𝑐2 + 𝑐3 ]𝑥2′ − 𝑐3 𝑥3′ − 𝑘2 𝑥1 + [𝑘2 + 𝑘3 ]𝑥2 − 𝑘3 𝑥3 = 𝐹

For mass 3:

𝑚3 𝑥3′′ − 𝑐3 𝑥2′ + 𝑐3 𝑥3′ − 𝑘3 𝑥2 + 𝑘3 𝑥3 = 0

The expressions above represent the motion equations of the system, which can be
rewritten in matrix form as follows:

𝑚1 0 0 𝑥1′′ 𝑐2 + 𝑐1 −𝑐2 0 𝑥1′ 𝑘2 + 𝑘1 −𝑘2 0 𝑥1

′′ ′ 𝑥
[0 𝑚2 0 ] [𝑥2 ] + [ −𝑐2 𝑐2 + 𝑐3 −𝑐3 ] [𝑥2 ] + [ −𝑘2 𝑘2 + 𝑘3 −𝑘3 ] [ 2 ]
0 0 𝑚3 𝑥3′′ 0 −𝑐3 𝑐3 𝑥3′ 0 −𝑘3 𝑘3 𝑥3
0
= [𝐹 ]
0
In addition, the motion equations could be obtained applying Lagrange equations.
The process is shown below:

𝑑 𝜕𝐿 𝜕𝐿 𝜕𝐸𝑑
( ′) − + = 𝑄𝑖 𝐿 =𝑇−𝑉
𝑑𝑡 𝜕𝑥𝑖 𝜕𝑥𝑖 𝜕𝑥𝑖′

The kinetics and potenical energy of the systems is represented by the next
expressions

1 2 1 2 1 2
𝑇(𝑥1′ , 𝑥2′ , 𝑥3′ ) = 𝑚1 𝑥1′ + 𝑚2 𝑥2′ + 𝑚3 𝑥3′ 𝑘𝑖𝑛𝑒𝑡𝑖𝑐𝑠 𝑒𝑛𝑒𝑟𝑔𝑦
2 2 2

1 1 1
𝑉(𝑥1 , 𝑥2 , 𝑥3 ) = 𝑘1 𝑥12 + 𝑘2 [𝑥2 − 𝑥1 ]2 + 𝑘3 [𝑥3 − 𝑥2 ]2 𝑝𝑜𝑡𝑒𝑛𝑡𝑖𝑎𝑙 𝑒𝑛𝑒𝑟𝑔𝑦
2 2 2

The dissipative energy is calculated as follows

1 2 1 1
𝐸𝑑 (𝑥1′ , 𝑥2′ 𝑥3′ ) = 𝑐1 𝑥1′ + 𝑐[𝑥2′ − 𝑥1′ ] 2 + 𝑐3 [𝑥3′ − 𝑥2′ ]2
2 2 2

And the external forces vector is given by

𝑄 = [0, 𝐹, 0]𝑇

Applying the Lagrange equation to displacement 1

𝑑 𝜕𝐿 𝜕𝐿 𝜕𝐸𝑑
( ′) − + = 𝑄1
𝑑𝑡 𝜕𝑥1 𝜕𝑥1 𝜕𝑥1′

𝑚1 𝑥1′′ + [𝑐2 + 𝑐1 ]𝑥1′ − 𝑐2 𝑥2′ + [𝑘1 + 𝑘2 ]𝑥1 − 𝑘2 𝑥2 = 0

Applying the Lagrange equation to displacement 2

𝑑 𝜕𝐿 𝜕𝐿 𝜕𝐸𝑑
( ′) − + = 𝑄2
𝑑𝑡 𝜕𝑥2 𝜕𝑥2 𝜕𝑥2′

𝑚2 𝑥2′′ − 𝑐2 𝑥1′ + [𝑐2 + 𝑐3 ]𝑥2′ − 𝑐3 𝑥3′ − 𝑘2 𝑥1 + [𝑘2 + 𝑘3 ]𝑥2 − 𝑘3 𝑥3 = 𝐹

Applying the Lagrange equation to displacement 3

𝑑 𝜕𝐿 𝜕𝐿 𝜕𝐸𝑑
( ′) − + = 𝑄3
𝑑𝑡 𝜕𝑥3 𝜕𝑥3 𝜕𝑥3′
𝑚3 𝑥3′′ − 𝑐3 𝑥2′ + 𝑐3 𝑥3′ − 𝑘3 𝑥2 + 𝑘3 𝑥3 = 0

The three differential equation system can be rewritten as matrix form as follows:

𝑚1 0 0 𝑥1′′ 𝑐2 + 𝑐1 −𝑐2 0 𝑥1′ 𝑘2 + 𝑘1 −𝑘2 0 𝑥1

[0 𝑚2 0 ] [𝑥2′′ ] + [ −𝑐2 𝑐2 + 𝑐3 −𝑐3 ] [𝑥2′ ] + [ −𝑘2 𝑘2 + 𝑘3 −𝑘3 ] [𝑥2 ]
0 0 𝑚3 𝑥3′′ 0 −𝑐3 𝑐3 𝑥3′ 0 −𝑘3 𝑘3 𝑥3
0
= [𝐹 ]
0

When comparing the matrices, it is noted that the two are equal, which was
expecting, proving that it is possible to apply any of two methods to get the motion
equations.

Next step is to calculate the modal parameters of the system. The motion equations
can be written in a reduced way as follows

[𝑀]𝑥 ′′ + [𝐶]𝑥 ′ + 𝐾𝑥 = 𝐹

To determinate natural frequencies and damped factors, it must be found the

Eigenvalues solving the determinant of the following matrix

det([𝑀]𝑠 2 + [𝐶]𝑠 + 𝐾) = 0

The roots of s are the Eigenvalues associated with the system. Next procedure is to
replace the values of s in the next matrix system and to find the relations.

[[𝑀]𝑠𝑖 + [𝐶]𝑠𝑖 + 𝐾][𝑋𝑖 ] = 0

Where 𝑋𝑖 represents the Eigenvector, which for mechanical systems is the vibration
mode.

The process previously described is calculated through a computational program

made in MATLAB. (see annexes).

The input data are the next

𝑚1 = 2 𝑘𝑔; 𝑚2 = 10 𝑘𝑔; 𝑚3 = 1 𝑘𝑔

𝑁 𝑁 𝑁
𝑘1 = 4000 ; 𝑘2 = 8000 ; 𝑘3 = 6000
𝑚 𝑚 𝑚

𝑁𝑠 𝑁𝑠 𝑁𝑠
𝑐1 = 300 ; 𝑐2 = 200 ; 𝑐3 = 400
𝑚 𝑚 𝑚

𝐹 = 100𝑒 𝑖𝜔𝑡 𝑁

Replacing and calculating it was obtained the following outcomes

𝑠1 = −427.12

𝑠2 = −228.79

𝑠3 = −24.38

𝑠4 = −15.54

𝑠5 = −7.077 − 14.46𝑖

𝑠6 = −7.077 + 14.46𝑖

The results show that the first four eigenvalues correspond to super damped modes,
it means that in these modes the system do not present vibratory behavior,
consequently, it do not have any natural frequency associated. Therefore, the
system has one natural frequency only, and it can be calculated as a norm of the
complex vector. The damping factor is calculated as the norm of real part divided by
the natural frequency.

|𝑅𝑒|
𝑤𝑛 = √𝑅𝑒 2 + 𝑖𝑚𝑎𝑔2 𝜁=
𝑤𝑛

The unique natural frequency is

𝑟𝑎𝑑
𝑤𝑛 = 16.099 𝜁 = 0.4395
𝑠

In consequence, the system has just one vibration mode associated with the unique
natural frequency.
 1
𝑋11 = {−1.049}
0.3809

In the discussion, it will be more commented on the outcomes of the system.

Frequency response function

Being Z(s) the dynamic stiffness matrix written in the Laplace domain

𝑍(𝑠) = [𝑀𝑠 2 + 𝐶𝑠 + 𝐾]

Z(s) can be written in the frequency domain as follows

𝑍(𝑤) = [−𝑤 2 𝑀 + 𝑗𝑤𝐶 + 𝐾]

Then, the frequency response function is calculated as the inverse of the dynamic
stiffness matrix.

𝐻(𝑤) = 𝑍 −1 (𝑤)

To facilitate the calculus of the matrix, it was made a computational program in

MATLAB (see annexes), where it is plotted each matrix component. It was plotted
the norm and angle phase separately. The outcomes are the next
H(w1)

Figure 3. H(w_1) norm.

Figure 4. H(w_1) angle phase.

H(w2)

Figure 5. H(w_2) norm.

Figure 6. H(w_2) angle phase.

H(w3)

Figure 7. H(w-3) norm.

Figure 8. H(w_3) angle phase.

H(w4)

Figure 9. H(w_4) norm.

Figure 10. H(w_4) angle phase.

H(w5)

Figure 11. H(w_5) norm.

Figure 12. H(w_5) angle phase.

H(w6)

Figure 13. H(w_6) norm.

Figure 14. H(w_6) angle phase.

H(w7)

Figure 15. H(w_7) norm.

Figure 16. H(w_7) angle phase.

H(w8)

Figure 17. H(w_8) norm.

Figure 18. H(w_8) angle phase.

H(w9)

Figure 19. H(w_9) norm.

Figure 20. H(w_9) angle phase.

Free Vibration Response

Calculate the free vibration response is a process that requires the knowledge about
homogenous differential equation systems. To do the procedure it was used the
matlab tools, specifically ode 45, which applies the concept of state space,
converting a second order differential equation into a first order differential equation.
The following initial conditions were given

10 0 𝑚
𝑥0 = [ 5 ] 𝑚𝑚 𝑥0′ = [1]
𝑠
5 0

With which are calculated the constants of the response. The response plot is the
next

Figure 21. Free vibration response.

The plot shows the system motion behavior, where it is appreciated that the system
oscillates during 0.7 seconds approximately, after this, it returns to the equilibrium
position. It is due to the damping of the system, where has predominantly super
damped behavior. The oscillation is due to the unique natural frequency of the
system.

Forced vibration response

To obtain the forced vibration response of the system was made two procedures.
The first one was through the frequency response function. Once it is gotten the
FRF, it is multiplied by the force vector. The new expression is into the frequency
domain, so it is necessary to convert the expression into the time domain. The
response contains imaginary parts, and to get a physical sense, it is required to
convert in a real function. The vector norm represents the amplitude of the function
and the angle represents the phase of the function. Thus, the function can be
modeling as a trigonometrical function. Now, it is possible to plot the response. The
procedure was made through a MATLAB program (see annexes).

The second procedure was modeling a force as a harmonical force, and applying
the concept of non-homogenous differential equations system, where the response
has the same form than the exciting force. This procedure was made through a
MATLAB program (see annexes)

The tests was did with three different values of frequency: one below the natural
frequency, the natural frequency and one above the natural frequency.

Then, the results are shown:

First method

W=10 rad/s

Figure 22. Forced vibration response at w=10 rad/s. Method 1.

W=16.09 rad/s

Figure 23. Forced vibration response at w=16.09 rad/s. Method 1.

W=20 rad/s

Figure 24. Forced vibration response at w=20 rad/s. Method 1.

Second method

W=10 rad/s

Figure 25. Forced vibration response at w=10 rad/s. Method 2.

W=16.09 rad/s

Figure 26. Forced vibration response at w=16.09 rad/s. Method 2.

W=20 rad/s

Figure 27. Forced vibration response at w=20 rad/s. Method 2.

As it is appreciated, the response is similar through the two methods, giving the
possibility the use any of two, depending on the complexity of the system.

Discussion

The system is predominantly super damped, which means that the system does not
present vibratory behavior. As was presented previously, the system has one natural
frequency only, since four of the six eigenvalues are real negative roots. The first
four eigenvalues do not represent any modal information, they are just mathematical
quantities. The theories applied in this work correspond to sub damped systems,
whereby the first four eigenvalues do not contain information.

If the system is analyzed without damping, the eigenvalues are three complex, and
complies with the theory of sub damped systems. The results are the followings:

𝑠1.2 = ±84.72𝑖

𝑠3,4 = ±14.93𝑖

𝑠5,6 = ±77.46𝑖

And the vibrate modes

1
𝑋1 = {−0.29}
1.5

1
𝑋2 = {1.44}
1.5

1
𝑋3 = { 0 }
−1.33
It is noted that the system has three natural frequencies and three vibration modes
as it was expected. Then, the system damping influences greatly the motion
behavior, this kind of analysis are useful to design suspension systems.

Analyzing the frequency response function can be realized that the components of
the triangular superior are similar or almost equal, the same occurs with the inferior
triangular.

When the system is excited by an external force, it will take the form of the force,
which module the amplitude and the angle phase of the response. Observing the
plots of the forced vibration response, when the system is excited in the natural
frequency, it is possible to perceive that the system is being modulated by two
frequencies, one of the force and the other of the eigenvalue close to this frequency.
References

 Newton's "Axioms or Laws of Motion" starting on page 19 of volume 1 of the

1729 translation Archived 28 September 2015 at the Wayback Machine. of
the Principia.
 Sek, Michael. Frequency Response Function. [on line]. Found in
http://staff.vu.edu.au/msek/FRF.pdf
 Class notes. Milton Dias Junior. Associated Professor Mechanical
Engineering School.
 Class notes. Tiago Henrique Machado. Asociated Professor Mechanical
Engineering School.
Annexes

Annex 1. Program code to calculate eigenvalues and eigenvectors.

clc
clear all

syms S x1 x2;

%X=[x1;x2]
%Z=zeros(3)
M=[2 0 0;0 10 0;0 0 1]
K=[12000 -8000 0; -8000 14000 -6000; 0 -6000 6000]
C=[500 -200 0; -200 600 -400; 0 -400 400]
%C=zeros(3)
%A=[Z M; -inv(M)*K -inv(M)*C]
%I=eye(6)
D=S^2*M+S*C+K;
%D=A-S*I
fprintf('\n los valores propios del sistema son: \n')
Sr=solve(det(D));
n=length(Sr);
for i=(1:n)
fprintf(' %f%+fj\n', real(Sr(i)),imag(Sr(i)))
end
fprintf('\n Las frecuencias naturales son: \n')
for i=(1:n)
W=sqrt(real(Sr(i))^2+imag(Sr(i))^2);
fprintf(' %f \n',W)
end
fprintf('\n los modos de vibrar son los siguientes: \n')
for i=(1:n)
Srs=subs(D,S,Sr(i));
[T,Sr1]=eig(Srs);
Tx=T(:,1)/T(1);
fprintf('modo %2.0f',i)
fprintf(' \n %f ',Tx.')
fprintf('\n\n')
end
Annex 2. Program code to calculate frequency response function.

clc
clear all

syms S w t;
wr=[0:100];
wn=length(wr);
% t=[0:0.001:20]
%X=[x1;x2]
%Z=zeros(3)
%j=sqrt(-1)
M=[2 0 0;0 10 0;0 0 1]
K=[12000 -8000 0; -8000 14000 -6000; 0 -6000 6000]
C=[500 -200 0; -200 600 -400; 0 -400 400]

H=-w^2*M+w*j*C+K
Hw=inv(H)
n1=length(Hw);
n=n1*n1;
for i=(1:n)
j=i+9;
for z=(1:wn)
Hwn=subs(Hw(i),wr);
Hwm(z)=norm(Hwn(z));
Ha=angle(Hwn);
end
Hwm;
figure (i)
plot(wr,Hwm)
ylabel('H(w)');
xlabel('Frequency');
figure (j)
plot(wr,Ha)
ylabel('Angle');
xlabel('Frequency');
end
Annex 3. Program code to calculate free vibration response.

function yp=resp(t,y)

m1=2;
m2=10;
m3=1;
c1=300;
c2=200;
c3=400;
k1=4000;
k2=8000;
k3=6000;
yp=zeros(size(y));
yp(1,:)=y(2,:);
yp(2,:)=-(c2+c1)*y(2,:)/m1+c2*y(4,:)/m1-(k2+k1)*y(1,:)/m1+k2*y(3,:)/m1;
yp(3,:)=y(4,:);
yp(4,:)=c2*y(2,:)/m2-(c3+c2)*y(4,:)/m2+c3*y(6,:)/m2+k2*y(1,:)/m2-
(k2+k3)*y(3,:)/m2+k3*y(5,:)/m2;
yp(5,:)=y(6,:);
yp(6,:)=c3*y(4,:)/m3-c3*y(6,:)/m3+k3*y(3,:)/m3-k3*y(5,:)/m3;
end

clc;
t=[0:0.001:3];
yo=[0.001 0 0.05 1 0.05 0 ];
[t,y]=ode45(@resp,t,yo);
plot(t,y(:,1),t,y(:,3),t,y(:,5));
grid on
ylabel('Position');
xlabel('Time');
Annex 4. Program code to calculate forced vibration response. Method 1.

clc
clear all

syms S w t;
wr=[10 16.09 20 ];
wn=length(wr);
t=[0:0.1:20];
%X=[x1;x2]
%Z=zeros(3)
%j=sqrt(-1)
M=[2 0 0;0 10 0;0 0 1]
K=[12000 -8000 0; -8000 14000 -6000; 0 -6000 6000]
C=[500 -200 0; -200 600 -400; 0 -400 400]

H=-w^2*M+w*j*C+K;
Hw=inv(H);
F=[ 0;100;0];
R=Hw*F;
for i=(1:wn)
Rr=subs(R,wr(i));
for k=(1:length(Rr))
Re(k)=norm(Rr(k));
end
%sqrt((real(Rr))^2+(imag(Rr))^2)
p=angle(Rr);
for j=(1:length(p))
X=Re'*sin(wr(i)*t-p(j));
end
X;
figure (i)
plot (t,X)
ylabel('Amplitude');
xlabel('time');
end
Annex 5. Program code to calculate forced vibration response. Method 2.

clc
clear all

%syms W t;
W=20;
t=[0:0.1:20];
%X=[x1;x2]
%Z=zeros(3)
M=[2 0 0;0 10 0;0 0 1]
K=[12000 -8000 0; -8000 14000 -6000; 0 -6000 6000]
C=[500 -200 0; -200 600 -400; 0 -400 400]
% M=[5 0.5; 0.5 0.25]
% K=[2000 0; 0 4.905]
% C=[20 0; 0 0]
F=[ 0 100 0 0 0 0]'

R=[-W^2*M+K -W*C;W*C -W^2*M+K];

A=inv(R)*F;
X=A(1:3)*sin(W*t)+A(4:6)*cos(W*t);

plot(t,X)
ylabel('Amplitude');
xlabel('time')