Finite element method for structural dynamic

and stability analyses

Module-3

Analysis of equations of motion

Lecture-9: FRF-s and Damping models

Prof C S Manohar
Department of Civil Engineering
IISc, Bangalore 560 012 India

1
 Recall Linear Damping models

Viscous Structural

Classical Non-Classical Classical Non-Classical

2
 Viscously damped MDOF system with s-th dof
driven by an unit harmonic force

Recall
MX  CX  KX  F exp  it 
F t  0 0 1 0 0

1
  H       M  iC  k 
2

 N* N  rn  sn 
  H       
 n 1 n    i 2nn  
2 2

 m2
r A jk  1
H jk     2 R    2
1
 R
 M jk r m1  r    i 2 rr  K jk
2
Determination of damping matrix given modal damping ratios in
viscously damped systems
Consider a N dof classically & viscously damped system
MX  CX  KX  F  t  ; X  0  & X  0  specified.
Let X  Z with  t M   I ,  t K   Diag n2 
leading to
Zn  2nn Z n  n2 Z n  pn  t 
Z  0   M t X  0  ; Z  0   M t X  0 
Let C  Diag  2nn  .
Question: Given C , how to find C?
1
Clearly, C   C   C    C   .
t t 1

Is there any simpler way to achieve this?

4
I  t M 
Post multiply by  1
  1   t M  1   t M
1
Premultiply by   t

1 1
 t    t   t M   M 
1
C    C   
t 1

 C  M C  t M

5
Treatment of systems with repeated natural frequencies
m 0 0   3k k k   c 0 0
M=  0 m 0  ; K   k 3k k  ; C  0 c 0 
 0 0 m   k k 3k  0 0 c 

All springs=k ;
all masses =m;
x1 x2 x3 all dampers=c

3k  m 2 k k
k 2 4k
k 3k  m 2 k  0  12  ; 2  32 
m m
k k 3k  m 2
6
 k
 
2
1 4k
m 32 
 2 1 1  R1  m
 1 2 1  R   0  1 1 1  R1 
  2  1 1 1  R   0
 1 1 2   R3    2
 1 1 1  R3 
Let R1  1  R2  1& R3  1
 R1  R2  R3  0
1t  1 1 1
Let  t3  1 a  1  a  
4k
 
2
2 How to select a? Any a would do.
m
 1 1 1  R1  Select a such that  t2 M  3  0.
 1 1 1  R   0
  2 m 0 0 1 
 
 1 1 1  R3  1 1 2  0 m 0   1   0
 R1  R2  R3  0  0 0 m  1  a 
Let R1  1, R2  1  R3  2   t3  1 1 0
 t2  1 1 2 7
 1 1 1 
  1 1 1
1 2 0 
Consider equation of motion given by
 m 0 0   x1   c 0 0   x1   3k k k   x1   0 
 0 m 0   x   0 c 0  x    k    
k   x2    0 

  2   2  3k
 0 0 m   x3  0 0 c   x3   k k 3k   x3   p  t  
x  z 
c
z1  z1  12 z1  p  t 
m
c
z2  z2  22 z2  2 p  t 
m
c
z3  z3  32 z3  0
m
z  0    t Mx  0  ; z  0    t Mx  0  8
Remark
Consider a N dof system.
Let the n th natural frequency repeat r number of times (2  r  N ).
The eigenvectors associated with the repeated eigenvalues can be
selected (through a process of orthogonalization) to be orthogonal to
the structure M matrix (and hence also orthogonal to the K matirx).

9
Proportional damping model in beam vibration

2  2 y 3 y g  x  3 y  h  x
 EI ( x) 2   x  2    m( x ) y  c ( x ) y  y
x 2  x x t  x t 
2

 f ( x) exp  it 
3 y
  x  2  strain rate dependent viscous damping
x t
g  x  3 y
 strain rate dependent structural damping
 x t 2

c( x) y  velocity dependent viscous damping

h  x
y  velocity dependent structural damping


10
 3 y 3 y
  x  2   0 EI  x  2  stiffness proportional viscous damping 
x t x t
g  x  3 y EI  x   3 y
 g0  stiffness proportional structural damping 
 x t 2
 x t 2

c( x) y  c0 m  x  y  mass proportional viscous damping 

h  x m  x
y  h0 y  mass proportional structural damping 
 

11
 Recall Linear Damping models

Viscous Structural

Classical Non-Classical Classical Non-Classical

12
Analysis of systems with classical structural damping
This model is applicable only for steady state response
analysis
Consider an n-dof system
Mq  Kq  iDq  F exp  it 
F  0 0 0
t
1 0

 
r th dof
lim q  t   Q exp  it 
t 

   2 M   K  iD   Q  F
1
Q      M   K  iD   F
2

13
Note: Determination of Q by direct inversion of
  2 M   K  iD   for every  is possible. However this would
be computationally intensive and does not provide insights into
the behavior of FRF-s.
Let  be the matrix of undamped normal modes such that
 t M   I &  t K   .
Transform q  t   z  t 
 Q exp  it   Z exp  it 

  2 M   K  iD   Q  F

   2 M   K  iD   Z  F
  t   2 M   K  iD   Z   t F
   2  t M    t K   i t D  Z   t F
14
  2  t M    t K   i t D  Z   t F
Suppose, that D is classical, that is, D   t D is a diagonal matrix,
it follows
  2 I    iD  Z   t F with   2 I    iD  being a diagonal
matrix.
n


j 1
jk Fj
 rk
 Zk  
k2   2  iDk k2   2  iDk
q  t   z  t 
n n  jk  rk
q j  t     jk zk  t    exp  it    jr   exp  it 
k 1 k 1     iDk
2
k
2

n  jk  rk
 jr       rj  
k 1     iDk
2
k
2

15
 Nonproportional damping

• Structures made up of different subsystems with

different materials

– Industrial building: soil in the foundation, RCC

superstructure, steel piping, equipment, metallic
trusses, etc.

• Complicated features associated with energy

dissipation at joints

16
 Ns
C   Ci ; N s =number of subsystems with different materials
i 1

Ci  Contribution to the structural damping matrix from the i -th subsystem.

Let us assume that Rayleigh's proportional damping model is valid within
each subsystem.
Ns
 C    i M i   i K i 
i 1

Clearly, even for this case

Ns
 t C     i  t M i    i  t K i  
i 1

would not be a diagonal matrix.

Questions
What is the mathematical framework to uncouple the equation of motion?
Are there any simplifications possible so that the damping remains classical
and yet the same time we take into account the fact the the structure is made up
17
subsystems with different materials?
 Recall Linear Damping models

Viscous Structural

Classical Non-Classical Classical Non-Classical

18
Analysis of systems with nonclassical viscous damping
Preliminaries: sdof systems
Undamped system
mx  kx  0; x  0   x0 , x  0   x0
k
 x  t   exp  st   ms  k  0  s  i
2
 i
m
x
 x  t   x0 cos t  0 sin t  X 0 cos t  0 

Damped system  under damped system 
mx  cx  kx  0; x  0   x0 , x  0   x0
 x  t   exp  st   ms 2  cs  k  0  s    id
 x0   x0 
 x  t   exp  t   x0 cos d t  sin d t 
 d 
 X 0 exp  t  cos d t  0  19
Remarks
Undamped system
k
s  i  i & x  t   X 0 cos t  0 
m
Characteristic roots are pure imaginary
Motion is periodic.
Motion is sinusoidal at system natural frequency.
Damped system  under damped system 
s    id & x  t   X 0 exp  t  cos t  0 
Characteristic roots are complex with nonzero real parts
Motion is aperiodic.
Motion is exponentially decaying sinusoidal at damped
natural frequency.
What happens in MDOF systems? 20
Damped MDOF systems
Consider an n-dof system
Mq  Cq  Kq  f  t  ; q  0   q0 ; q  0   q0
We augment this equation with an identity and rewrite as
Mq  Mq  0
Mq  Cq  Kq  f  t 
 0 M  q    M 0  q   0 
        
 M C   
q 0 K   
q f  t  
Introduce a new state vector y, forcing vector F and
structural matrices A and B as
q   0  0 M M 0
y   , F   , A    &B  
q   f  t  M C  0 K 
Note:
 At  A; B t  B
21
 A and B are not positive definite.
The governing equation can be written as
Ay  By  F  t  ; y  0   y0
Remarks:
 A and B are non-diagonal
The above equation represents a set of 2n coupled first order
ODE-s which is equivalent to the set of n 2nd order ODE-s
in the configuration space.
The above representation is called the state space representation
q  t  
with y  t     representing the system state at time t.
q  t  
As before we seek to find a transformation y  Tz which uncouples
the 2n set of equations.
22
Consider the equation governing the free vibration
Ay  By  0
Seek the solution on the form y  t   Rexp  t 
  AR  BR  exp  t   0
 BR   AR
This represent a generalized algebraic eigenvalue poroblem.
The characteristic equation is given by B   A  0
There would be 2n roots which are complex valued.
Associated with these complex roots there would be 2n
complex valued eigenvectors.
Note: BR   AR  B* R*   * A* R*  BR*   * AR*
 
 If  , R  is an eigenpair   * , R* is also an eigenpair.
That is, eigenpairs appear as complex conjugates. 23
Let us denote the eigensolutions as follows
Eigenvalues : 1 ,  2 , ,  n , 1* ,  2* , ,  n*
Eigenvectors: R1 , R2 , , Rn , R1* , R2* , , Rn*
q 
Recall y   
q 
Let q  t    exp  t   q  t    exp  t 
q     
 y       exp  t   R   
q      
 kk 
 Rk   

 k 
Define the matrix
 =  R1 R2 Rn R1* R2* Rn* 
24
 =  R1 R2 Rn R1* R2* Rn* 

11  22  nn 1*1* 1*1* 1*1* 
 
 1 2 n 1* 2* n* 
1 0 0
Let  = 1 2 n  &    0 0 
 0 0  n 
 ** 
 * 
   

25
Orthogonality relations
Consider r th and s th eigenpairs
BRr   r ARr (1)
BRs   s ARs (2)
Premultiply (1) by Rst and (2) by Rrt
Rst BRr   r Rst ARr (3)
Rrt BRs   s Rrt ARs (4)
Transpose both sides of (4)
Rst B t Rr   s Rst At Rr
Since At  A and B t  B we get
Rst BRr   s Rst ARr (5)
Substract 3 and 5
  s   r  Rst ARr  0  Rst ARr =0 for r  s
 Rst BRr  0 for r  s 26
Rst ARr =0 for r  s
Rst BRr  0 for r  s
Select the normalization constant such that Rst ARs =1;s  1, 2, , 2n
 Rst ARr = rs & Rst BRr   r rs
 ** 
In terms of the representation    * 
the orthogonality
  
relations read as
 t A  I
 0 
 B   
t
*
 0  
Note
If we write  r  rr  idr we get
qkr  t    kr exp  rr  exp  idr t 
27
Forced response analysis
 0 
Ay  By  F  t  ; y  0   y0 ; F  t    
 f  t 
y  t   z  t 
 Az  Bz  F  t 
  t Az   t Bz   t F  t 
    t   0    f  t  
t t t

 t F  t    *t *t *t      *t 
         f  t  
f t

 0    t f  t  
 Iz   *
z   *t 
0    f  t  
u  u  u   t f  t 
Let z    
 
v v   *
v   *t
f t 
28
 th
Case - 1 Let the r dof be driven harmonically.
 f  t   0 0 0 exp  it 
t
1 0
r th dof
u  u   t f  t 
v  *v  *t f  t 
n
 uk   k uk    sk f s  t    rk exp  it 
s 1

 rk
 lim uk  t   exp  it 
t  i   k
*rk
Similarly, lim vk  t   exp  it 
t  i   k
*

29
y  t   z  t  
q   **  u 
  *  
q      v 
q   u   *v
n
q j  t     jk uk  t   *jk vk  t 
k 1

 n  rk  jk *jk *rk 
lim q j  t       exp  it 
t   i   i   *
 k 1 k k 
n    *
 *

  jr        rj  
rk jk jk rk

k 1 i   k i   k
*

30
Case - 2 Let the r th dof be driven by an impulse.
 f  t   0 0 0   t 
t
1 0
r th dof
u  u   t f  t 
v  *v  *t f  t 
n
 uk   k uk    sk f s  t    rk   t 
s 1

 uk  t    rk exp  k t 
 
Similarly, vk  t   *rk exp  k*t

31
y  t   z  t  
q   **  u 
  *  
q      v 
q   u   *v

 
n
q j  t     jk uk  t   *jk vk  t 
k 1

 
n
   jk  rk exp  k t   *jk *rk exp  k*t 
k 1
n
 h jr  t   2 Re   jk  rk exp  k t 
k 1

32
 Numerical illustration

x1
x2
k1 k2 k3
m2 m2

m=100 kg; x3
k=10000 N/m; k5
k4
m1=m; m3
m2=1.5m;
m3=0.8m;
k1=k;
k2=3*k;  m1 0 0   x1   k1  k2  k3 k2 k3   x1 
k3=1.5*k; 0 m   x    k k2  k3
 
0   x2   0
k4=2*k;  2 0  2  2

k5=2.5*k;  0 0 m3   x3   k3 0 k4  k5   x3 
Model 1 Proportional damping matrix

1  0.01,2  0.03,1  0.025

 101.6259 -62.7423 -22.4115 
C   -62.7423 101.7491 -22.1904 
 -22.4115 -22.1904 100.1737 

Model 2 Nonproportional damping matrix

 100 0 0 
C=  0 175 0 
 0 0 200
34
 100 0 0   55000 -30000 -20000 
M   0 150 0  ; K  -30000 45000 0 
 0 0 80   -20000 0 45000 
0.0578 -0.0355 -0.0735  114.65 0 0 
  0.0623 0.0452 0.0272  ;    0 457.15 0 
0.0323 -0.0842 0.0660   0 0 840.70 
1.0000 -0.0000 0.0000  114.65 0 0 
 t M   0.0000 1.0000 0.0000  ;  t K    0 457.15 0 
0.0000 0.0000 1.0000   0 0 840.70 
 101.6259 -62.7423 -22.4115  0.2141 0.0000 0.0000 
Let C   -62.7423 101.7491 -22.1904    t C   0.0000 1.2829 0 
 -22.4115 -22.1904 100.1737  0.0000 0 1.4497 
1  0.01,2  0.03,1  0.025; 1  10.7074,2  21.3812,3  28.9948 rad/s

 -   i 
3

n n n 1  2
n
n 1

  -0.1071  10.7068i -0.6414  21.3716i -0.7249  28.9857i  35

  0 0 0 100.0000 0 0 
 0 0 0 0 150.0000 0 
 
 0 0 0 0 0 80.0000 
A 
 100.0000 0 0 101.6259 -62.7423 -22.4115 
 0 150.0000 0 -62.7423 101.7491 -22.1904 
 
 0 0 80.0000 -22.4115 -22.1904 100.1737 

 -100 0 0 0 0 0 
 0 -150 0 0 0 0 
 
 0 0 -80 0 0 0 
B 
 0 0 0 55000 -30000 -20000 
 0 0 0 -30000 45000 0 
 
 0 0 0 -20000 0 45000 

36
  -0.9827 + 0.0173i -0.9827 - 0.0173i -0.4109 + 0.0105i -0.4109 - 0.0105i -0.8394 - 0.0873i -0.8394 + 0.0873i 
 0.3635 - 0.0064i 0.3635 + 0.0064i 0.5229 - 0.0134i 0.5229 + 0.0134i -0.9058 - 0.0942i -0.9058 + 0.0942i 

 0.8831 - 0.0155i 0.8831 + 0.0155i -0.9751 + 0.0249i -0.9751 - 0.0249i -0.4686 - 0.0487i -0.4686 + 0.0487i 
 
 0.0014 + 0.0339i 0.0014 - 0.0339i 0.0011 + 0.0192i 0.0011 - 0.0192i -0.0074 + 0.0785i -0.0074 - 0.0785i 
 -0.0005 - 0.0125i -0.0005 + 0.0125i -0.0014 - 0.0244i -0.0014 + 0.0244i -0.0080 + 0.0847i -0.0080 - 0.0847i 
 
 -0.0013 - 0.0304i -0.0013 + 0.0304i 0.0025 + 0.0456i 0.0025 - 0.0456i -0.0041 + 0.0438i -0.0041 - 0.0438i 

-1.0490 -12.2875i -0.0000 + 0.0000i -0.0000 + 0.0000i -0.0000 + 0.0000i 0.0000 + 0.0000i -0.0000 + 0.0000i 
-0.0000 - 0.0000i -1.0490 +12.2875i -0.0000 - 0.0000i -0.0000 - 0.0000i -0.0000 - 0.0000i 0.0000 - 0.0000i 
 
 -0.0000 + 0.0000i -0.0000 - 0.0000i -1.3892 -12.4563i -0.0000 + 0.0000i -0.0000 + 0.0000i 0.0000 + 0.0000i 
 t A   
 -0.0000 + 0.0000i -0.0000 - 0.0000i -0.0000 - 0.0000i -1.3892 +12.4563i 0.0000 - 0.0000i -0.0000 - 0.0000i 
 0.0000 + 0.0000i -0.0000 - 0.0000i -0.0000 + 0.0000i 0.0000 - 0.0000i 7.4217 -39.1573i 0.0000 + 0.0000i 
 
 -0.0000 + 0.0000i 0.0000 - 0.0000i 0.0000 + 0.0000i -0.0000 - 0.0000i 0.0000 - 0.0000i 7.4217 +39.1573i 

-3.5692 + 0.2150i -0.0000 + 0.0000i 0.0000 + 0.0000i 0.0000 - 0.0000i 0.0000 - 0.0000i 0.0000 + 0.0000i 
-0.0000 - 0.0000i -3.5692 - 0.2150i 0.0000 + 0.0000i 0.0000 - 0.0000i 0.0000 - 0.0000i 0.0000 + 0.0000i 
 
 B  0.0000 + 0.0000i 0.0000 + 0.0000i -2.6710 + 0.2170i -0.0000
t
0.0000 + 0.0000i 0.0000 - 0.0000i 
 
100  0.0000 - 0.0000i 0.0000 - 0.0000i -0.0000 -2.6710 - 0.2170i 0.0000 + 0.0000i 0.0000 - 0.0000i 
 0.0000 - 0.0000i 0.0000 - 0.0000i 0.0000 + 0.0000i 0.0000 + 0.0000i -4.1846 - 0.8366i 0.0000 + 0.0000i 
 
 0.0000 + 0.0000i 0.0000 + 0.0000i 0.0000 - 0.0000i 0.0000 - 0.0000i 0.0000 - 0.0000i -4.1846 + 0.8366i 

Note:  t A is diagonal but not an identity matrix.

37
  t B is diagonal but diagonal entries are not equal to eigenvalues.
  -0.7249 +28.9857i 0 0 0 0 0 
 0 -0.7249 -28.9857i 0 0 0 0 
 
 0 0 -0.6414 +21.3716i 0 0 0 
 
 0 0 0 -0.6414 -21.3716i 0 0 
 0 0 0 0 -0.1071 +10.7068i 0 
 
 0 0 0 0 0 -0.1071 -10.7068i 

Eigenvalues
-0.7249 +28.9857i
-0.7249 -28.9857i
-0.6414 +21.3716i
-0.6414 -21.3716i
-0.1071 +10.7068i
-0.1071 -10.7068i
Compare this with earlier results

 -   i 
3

n n n 1  2
n
n 1

  -0.1071  10.7068i -0.6414  21.3716i -0.7249  28.9857i 

38
Scale the modal matrix
-0.7249 +28.9857i -0.7249 -28.9857i -0.6414 +21.3716i -0.6414 -21.3716i -0.1071 +10.7068i -0.1071 -10.7068i 
 0.2681 -10.7216i 0.2681 +10.7216i 0.8163 -27.1980i 0.8163 +27.1980i -0.1155 +11.5530i -0.1155 -11.5530i 

 0.6514 -26.0478i 0.6514 +26.0478i -1.5222 +50.7182i -1.5222 -50.7182i -0.0598 + 5.9768i -0.0598 - 5.9768i 
 
 1.0000 1.0000 1.0000 1.0000 1.0000 + 0.0000i 1.0000 - 0.0000i 
-0.3699 + 0.0000i -0.3699 - 0.0000i -1.2726 - 0.0000i -1.2726 + 0.0000i 1.0790 - 0.0000i 1.0790 + 0.0000i 
 
-0.8986 - 0.0000i -0.8986 + 0.0000i 2.3732 + 0.0000i 2.3732 - 0.0000i 0.5582 - 0.0000i 0.5582 + 0.0000i 

 91.4325 -91.4325 91.7191 -91.7191 90.5730 -90.5730 

 -88.5675 88.5675 -88.2809 88.2809 90.5730 -90.5730 

 -88.5675 88.5675 91.7191 -91.7191 90.5730 -90.5730 
Angle      
 0 0 0 0 0 0 
 180.0000 -180.0000 -180.0000 180.0000 -0.0000 0.0000
 
 -180.0000 180.0000 0.0000 -0.0000 -0.0000 0.0000

 ** 
Recall:    * 
   
39
Model 2 Nonproportional damping matrix
 100 0 0 
C=  0 175 0 
 0 0 200 
Undamped normal modal matrix
0.0578 -0.0355 -0.0735
  0.0623 0.0452 0.0272 
0.0323 -0.0842 0.0660 

 1.2220 -0.2556 0.2980 

 t C    -0.2556 1.9027 -0.6370 
 0.2980 -0.6370 1.5419 
 Undamped normal modes do not uncouple C matrix.

40
  0 0 0 100 0 0
 0 0 0 0 150 0 
 
 0 0 0 0 0 80 
A 
100 0 0 100 0 0 
 0 150 0 0 175 0 
 
 0 0 80 0 0 200 
-100 0 0 0 0 0 
 0 -150 0 0 0 0 
 
 0 0 -80 0 0 0 
B 
 0 0 0 55000 -30000 -20000 
 0 0 0 -30000 45000 0 
 
 0 0 0 -20000 0 45000 
41
 -0.9211 + 0.0789i -0.9211 - 0.0789i -0.3907 - 0.0166i -0.3907 + 0.0166i 0.8786 - 0.0508i 0.8786 + 0.0508i 
 0.3408 - 0.0361i 0.3408 + 0.0361i 0.4953 - 0.0287i 0.4953 + 0.0287i 0.9483 - 0.0517i 0.9483 + 0.0517i 
 
 0.8273 + 0.0119i 0.8273 - 0.0119i -0.9268 + 0.0732i -0.9268 - 0.0732i 0.4900 - 0.0434i 0.4900 + 0.0434i 
 
 0.0036 + 0.0317i 0.0036 - 0.0317i 0.0000 + 0.0183i 0.0000 - 0.0183i -0.0094 - 0.0816i -0.0094 + 0.0816i 
-0.0016 - 0.0117i -0.0016 + 0.0117i -0.0024 - 0.0231i -0.0024 + 0.0231i -0.0099 - 0.0881i -0.0099 + 0.0881i 
 
-0.0003 - 0.0285i -0.0003 + 0.0285i 0.0053 + 0.0431i 0.0053 - 0.0431i -0.0067 - 0.0455i -0.0067 + 0.0455i 
-1.7215 -10.7118i 0.0000 - 0.0000i 0.0000 + 0.0000i 0.0000 + 0.0000i 0.0000 + 0.0000i 0.0000 + 0.0000i 
 0.0000 + 0.0000i -1.7215 +10.7118i 0.0000 - 0.0000i 0.0000 - 0.0000i 0.0000 - 0.0000i 0.0000 - 0.0000i 
 
 0.0000 + 0.0000i 0.0000 - 0.0000i -2.2837 -11.0592i -0.0000 - 0.0000i -0.0000 - 0.0000i -0.0000 - 0.0000i 
 t A   
 0.0000 + 0.0000i 0.0000 - 0.0000i -0.0000 + 0.0000i -2.2837 +11.0592i -0.0000 + 0.0000i -0.0000 + 0.0000i 
 0.0000 + 0.0000i 0.0000 - 0.0000i -0.0000 - 0.0000i -0.0000 + 0.0000i -9.9029 -42.1062i -0.0000 - 0.0000i 
 
 0.0000 + 0.0000i 0.0000 - 0.0000i -0.0000 - 0.0000i -0.0000 + 0.0000i -0.0000 + 0.0000i -9.9029 +42.1062i 
 -3.1162 + 0.4163i -0.0000 + 0.0000i 0.0000 - 0.0000i 0.0000 + 0.0000i 0.0000 - 0.0000i 0.0000 - 0.0000i 
 -0.0000 - 0.0000i -3.1162 - 0.4163i 0.0000 - 0.0000i 0.0000 + 0.0000i 0.0000 + 0.0000i 0.0000 + 0.0000i 
 
 B
t
 0.0000 - 0.0000i 0.0000 - 0.0000i -2.3850 + 0.3826i -0.0000 - 0.0000i -0.0000 + 0.0000i -0.0000 + 0.0000i 
 
100  0.0000 + 0.0000i 0.0000 + 0.0000i -0.0000 + 0.0000i -2.3850 - 0.3826i -0.0000 - 0.0000i -0.0000 - 0.0000i 
 0.0000 - 0.0000i 0.0000 + 0.0000i -0.0000 + 0.0000i -0.0000 - 0.0000i -4.5624 + 0.8015i -0.0000 - 0.0000i 
 
 0.0000 - 0.0000i 0.0000 + 0.0000i -0.0000 + 0.0000i -0.0000 - 0.0000i -0.0000 + 0.0000i -4.5624 - 0.8015i 

Note:  t A is diagonal but not an identity matrix.

  t B is diagonal but diagonal entries are not equal to eigenvalues.
42
  -0.7695 +28.9675i 0 0 0 0 0 
 0 -0.7695 -28.9675i 0 0 0 0 
 
 0 0 -0.9527 +21.3692i 0 0 0 
 
 0 0 0 -0.9527 -21.3692i 0 0 
 0 0 0 0 -0.6111 +10.6916i 0 
 
 0 0 0 0 0 -0.6111 -10.6916i 

Eigenvalues Undamped natural frequencies

-0.7695 +28.9675i 1  10.7074 rad/s
-0.7695 -28.9675i 2  21.3812 rad/s
-0.9527 +21.3692i 3  28.9948 rad/s
-0.9527 -21.3692i
-0.6111 +10.6916i
-0.6111 -10.6916i
43
Scale the modal matrix
 -0.7695 +28.9675i -0.7695 -28.9675i -0.9527 +21.3692i -0.9527 -21.3692i -0.6111 +10.6916i -0.6111 -10.6916i 
 0.0705 -10.7416i 0.0705 +10.7416i -1.5122 -27.0962i -1.5122 +27.0962i -0.6964 +11.5344i -0.6964 -11.5344i 

 3.2688 -25.7276i 3.2688 +25.7276i 3.8910 +50.7065i 3.8910 -50.7065i -0.1589 + 5.9840i -0.1589 - 5.9840i 
 
 1.0000 1.0000 1.0000 1.0000 1.0000 1.0000 
 -0.3706 + 0.0074i -0.3706 - 0.0074i -1.2623 + 0.1270i -1.2623 - 0.1270i 1.0790 + 0.0035i 1.0790 - 0.0035i 
 
 -0.8905 - 0.0892i -0.8905 + 0.0892i 2.3601 - 0.2873i 2.3601 + 0.2873i 0.5587 - 0.0171i 0.5587 + 0.0171i 

 91.5217 -91.5217 92.5527 -92.5527 93.2715 -93.2715

 -89.6239 89.6239 -93.1943 93.1943 93.4553 -93.4553

 -82.7591 82.7591 85.6120 -85.6120 91.5211 -91.5211
Angle      
 0 0 0 0 0 0 
 178.8544 -178.8544 174.2530 -174.2530 0.1838 -0.1838 
 
 -174.2808 174.2808 -6.9407 6.9407 -1.7504 1.7504 

 ** 
Recall:    * 
   
44
 Recall Linear Damping models

Viscous Structural

Classical Non-Classical Classical Non-Classical

45
Analysis of systems with nonclassical structural damping
This model is applicable only for steady state response
analysis
Consider an n-dof system
Mq  Kq  iDq  F exp  it 
F  0 0 0
t
1 0

 r th dof 
We would like to find a transformation q  Tz
such that T t MT and T t  K  iD T are diagonal.
Towards achieving this we consider the eigenvalue problem
 K  iD    s 2 M
Characteristic equation: K  iD  s 2 M  0
 Roots: s1 , s2 , , sn  complex valued 
 Eigenvectors:  1 , 2 , , n  complex valued  46
   1  2 n
  s12 0 0 
 
 M   I &   K  iD       0
t t
0 
 0 0  sn2 

Mq  Kq  iDq  F exp  it 
q  z
 M z   K  iD  z  F exp  it 
  t M z   t  K  iD  z   t F exp  it 
Iz  z   t F exp  it 
n
zk  s z    jk Fj exp  it    rk exp  it 
2
k k
j 1

 rk
zk  exp  it 
  sk
2 2

n
 rk  n  jk  rk 
q j  t     jk exp  it     2 
exp  it 
k 1   sk
2 2
 k 1   sk 
2 47
 100 0 0   55000 -30000 -20000
M   0 150 0  ; K  -30000 45000 0 
 0 0 80   -20000 0 45000 
0.0578 -0.0355 -0.0735 114.65 0 0 
  0.0623 0.0452 0.0272  ;    0 457.15 0 
0.0323 -0.0842 0.0660   0 0 840.70 
1.0000 -0.0000 0.0000  114.65 0 0 
 t M   0.0000 1.0000 0.0000  ;  t K    0 457.15 0 
0.0000 0.0000 1.0000  0 0 840.70 

48
Case of proportional damping matrix
D  0.03K ; K *  K  iD
3.4394 0 0 
 t D   0 13.7147 0 

 0 0 25.2209 
 Undamped normal modal matrix uncouples the equation of motion.
 1.0000 + 0.0000i 0.9268 - 0.0000i 0.4214 + 0.0000i 
   -0.3699 - 0.0000i 1.0000 - 0.0000i -0.5363 + 0.0000i 
 -0.8986 - 0.0000i 0.5173 - 0.0000i 1.0000 + 0.0000i 
 1.8513 + 0.0000i 0.0000 - 0.0000i 0.0000 - 0.0000i 
 t M   100  0.0000 - 0.0000i 2.5730 - 0.0000i -0.0000 + 0.0000i 
 0.0000 - 0.0000i -0.0000 + 0.0000i 1.4089 + 0.0000i 
 1.5564 + 0.0467i 0.0000 + 0.0000i 0.0000 + 0.0000i 
 t ( K  iD)  105  0.0000 + 0.0000i 0.2950 + 0.0088i -0.0000 + 0.0000i 
 0.0000 + 0.0000i 0.0000 + 0.0000i 0.6441 + 0.0193i 
Note:  t M  is diagonal but has not been normalized to be an identity matrix
Scaled 
 1.0000 1.0000 1.0000 
   -0.3699 - 0.0000i 1.0790 + 0.0000i -1.2726 + 0.0000i 
 -0.8986 - 0.0000i 0.5582 + 0.0000i 2.3732 + 0.0000i 
 0 0 0 
Angle      -180.0000 0.0000 180.0000
 -180.0000 0.0000 0.0000 
Eigenvalues for the damped system  K  iD   s M 
2

  sk2 , k  1, 2,3
840.70 + 25.22i
114.65 + 3.44i
457.16 + 13.71i
Eigenvalues for the undamped system  K = 2 M  
 2 in  rad/s 2 
 
114.6479, 457.1553, 840.6968 50
Case of nonproportional damping matrix
1000 0 0 
D   0 1250 0  ; K *  K  iD
 0 0 2000 
10.2766 -3.9647 2.1324 
 t D  -3.9647 18.0069 -6.9842
 2.1324 -6.9842 15.0498 
 Undamped normal modal matrix does not uncouple the equation of motion.

 0.9994 - 0.0006i 0.9173 - 0.0003i 0.4121 + 0.0177i 

   -0.3697 + 0.0048i 0.9900 + 0.0100i -0.5236 + 0.0097i 
 -0.8974 - 0.0316i 0.5116 - 0.0170i 0.9772 - 0.0228i 

51
 1.8472 + 0.0387i 0.0000 + 0.0000i -0.0000 - 0.0000i 
 t M   100  0.0000 + 0.0000i 2.5206 + 0.0152i -0.0000 - 0.0000i 
 -0.0000 - 0.0000i -0.0000 - 0.0000i 1.3440 - 0.0363i 
 1.5521 + 0.0603i 0.0000 - 0.0000i 0.0000 - 0.0000i 
 t  K  iD    105  0.0000 - 0.0000i 0.2890 + 0.0276i -0.0000 - 0.0000i 
 0.0000 - 0.0000i 0.0000 + 0.0000i 0.6152 + 0.0076i 
Note:  t M  is diagonal but has not been normalized to be an identity matrix.
Scaled 
 1.0000 1.0000 1.0000 
 =  -0.3699 + 0.0046i 1.0792 + 0.0113i -1.2672 + 0.0780i 
 -0.8979 - 0.0321i 0.5577 - 0.0183i 2.3646 - 0.1570i 
 0 0 0 
Angle      179.2883 0.6004 176.4784
 -177.9503 -1.8834 -3.7992 
52
Eigenvalues for the damped system  K  iD    s 2 M 
  sk2 , k  1, 2,3
840.56 + 15.05i
114.70 + 10.28i
457.24 + 18.01i

Eigenvalues for the undamped system K = 2 M  
 2 in  rad/s 2 
 
114.6479
457.1553
840.6968

53
Summary
FRF calculations (valid for both viscous and structural damping models
Direct calculation
(a) Viscously damped system
MU  CU  KU  F exp  it 
1
       M  iC  K 
2

 b  Structurally damped system

MU   K  iD  U  F exp  it 
1
       M  K  iD 
2

Calculation based on mode superposition

 c  Viscously damped system with classical damping
N
 rn  sn
 rs    
n 1  2
n   2  i 2nn 
K   M ;  t M   I ;  t K   ;   Diag i2  54
Calculation based on mode superposition (continued)
 d  Structurally damped system with classical damping
n  jk  rk
 jr    
k 1 k2   2  iDk
K   M ;  t M   I ;  t K   ;   Diag i2 
 e  Viscously damped system with nonclassical damping
n  rk  jk *jk *rk
 jr     
k 1 i   k i   k*
 **  t
B   A;    * 
;  A  I ;  t
A  Diag    *

  
  Diag 1  2  n 
 f  Structurally damped system with nonclassical damping
n  jk  rk
 jr    
k 1  2  sk2
 K  iD    s 2 M ;  t M   I ;  t  K  iD    Diag   s12  s22  sn2  55
Questions on nonproportionally damped systems
What is the mathematical framework to uncouple the
equation of motion?

Are there any simplifications possible so that the damping

remains classical and yet the same time we take into account
the fact the the structure is made up subsystems with
different materials?

56