29/09/2020

Differential Equation of Motion

• Lagrange’s equation
• Examples
• Differential equations of motion in matrix form

Free Vibration
Chapter 2. • Eigenfrequencies and eigenmodes
• Orthogonal properties of eigenvectors.
Vibration of Multiple • Principal coordinates

Degree of Freedom Damped free vibration

System • System with proportional damping (Rayleigh damping)
• System with non-proportional damping
Forced vibration
• Direct method [forced vibration with periodic excitation]
Thai Phuong Thao • Principal coordinate method [for proportional damping or undamped system]
Department of Applied Mechanics
Application examples
School of Mechanical Engineering
• Undamped Vibration absorber
• Laval rotor critical speed
1 2

1 2

2
J1 J2
M1(t) k1 M2
r2

r3 J4
1 M3 k2
M4(t)
3 J3 4

3 4

3 4
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5 6

5 6

Lagrange’s equation Lagrange’s equation

Ex1. Determine the differential EOM of system
1 1 q1 q2
T  m q 2  m q2 ;
d T T   2 1 1 2 2 2 k1 k2
F(t)
    Qi* ,i  1, 2,..., n 1 1 m1 m2
dt qi qi qi qi   k1q12  k2 (q 2  q1 )2
2 2 c1 c2
M(q)q  h(q, q )  f (t )
1 1
  c1q12  c2 (q2  q1 )2
2 2 Mq  Cq  Kq  f (t )

Or in matrix form: d T T   M?

    Qi* ,i  1,2
dt qi qi qi qi q  C  ?
Mq  Cq  Kq  f (t ) q   1 
m q  (c  c )q  c q  (k  k )q  k q  0 q2  K  ?
M, C, K  nn constant matrices.  1 1 1 2 1 2 2 1 2 1 2 2
 f (t )  ?
 m2q2  c2q1  c2q 2
    k2q1  k2q 2  F (t )

q  n , M, K  nn , M  MT  0, K  KT
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Lagrange’s equation Lagrange’s equation

Mq  Cq  Kq  f (t ) m 0  k  k k 
M   1  , K   1
 k
2 2 Ex2. Determine the EOM of
k2 
2
q  q  q   0 m2   2  torsion vibration of following J1
k1 M2
J2
q   1  , q   1  , q   1 
M1(t)
q q q c  c c  q   0  system. Moment M1(t) and M4(t) r2
 2   2   2 
C   1 2 2  1  
 , q  q  , f  F (t )
are known, damping moment M2 J4
 c2
c 2   2    and M4 are proportioned with
1 M3 r3 k2
M4(t)
angular velocity ω2 and ω3. 3 J3 4
If there is no force excitation and damping, EOM is as followings:
m         
 1 0  q1   k1  k2 k2  q1    0 ? Number of DOF
 0 m  q   k k2  q 2   0
 2   2   2     ? Generalized coordinates

Mq  Kq  0 k1
q1
k2
q2

F(t)
m1 m2
c1 c2
9 10

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Lagrange’s equation Lagrange’s equation

? DOF: n =3
1
? Generalized coodinates
T
J1
2
J2 2
   
T  J 1 12  J 2  (r2 / r3 )2 J 3   22  J 4 42 ,
q  [1, 2 , 4 ] M1(t) k1 M2
r2
1 1
  k1(2  1 )2  k2 4  (r2 / r3 )2 
2

2 2  
Kinetics and potential energy 1 r3 J4 Derivatives
M3 k2
1 T
 
M4(t)
T J  2  J 2 22  J 3 32  J 4 42 3 0 T T
2 1 1 J3 4
1  
2 4
1 1
  k1 (2  1 )2  k2 (4  3 )2 T
2 2 T T
 J 1 1  
 1  2  4
r2
3    1 d T d T
r3 2 T  
J  2  J  (r2 / r3 )2 J 3   22  J 4 42
2 1 1  2   d T
 J 11 dt  2

dt  4

dt  1
1 1 2  
  k1 (2  1 )2  k2 4  (r2 / r3 )2   
2 2    2 4
 k1(2  1 )
1
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Lagrange’s equation Lagrange’s equation

2
J1 J2 2
M1(t) k1 M2 J1 J2
d T T   M1(t) k1 M2
r2     Qi*, i  1, 2, 4
Generalized forced with no dt qi qi qi qi r2
r3 J4
potential energy 1 M3 k2 1 M3 r3 k2
J4
M4(t)
M4(t)
A  M 1 (t )1  M 2 2  M 3 3  M 4 (t )4 3 J3
r2
4 3 J3 4
3   2
 M 1 (t )1  c2 22  c3 33  M 4 (t )4 r3 (1) J 11  k1(2  1 )  M 1(t ) r2
3   2
r3
 M 1 (t )1  c2  c3 (r2 / r3 )2   22  M 4 (t )4 (2) J 2  (r2 / r3 )2 J 3  2  c2  c3 (r2 / r3 )2   2
     

Q1  M 1 (t ), Q2   c2  c3 (r2 / r3 )2   2 ,
 k1(2  1 )  k2 (r2 / r3 )(4  (r2 / r3 )2 )  0
 
Q3  M 4 (t ) (3) J 44  k2 (4  (r2 / r3 )2 )  M 4 (t )

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Lagrange’s equation Lagrange’s equation

2
Mq  Cq  Kq  f (t ) J1 J2 Ex 3. Determine the EOM of torsion 1 2 n-1 n
M1(t) k1 M2
r2 vibration system which includes n k1 k2 kn-2 kn-1
(1) J 11  k1 (2  1 )  M1 (t )
  r3 J4 plates.
1 M3 k2
(2) J 2  (r2 / r3 )2 J 3  2  c2  c3 (r2 / r3 )2   2
 1
   
q  2  , M4(t) J1 J2 Jn-1 Jn
k1(2  1 )  k2 (r2 / r3 )(4  (r2 / r3 )2 )  0
  1 n 1 n 1
T   J i  i2 ,    ki (i 1  i )2
3 J3 4
(3) J 44  k2 (4  (r2 / r3 )2 )  M 4 (t )  4 
2 i 1 2 i 1
J 0 0  0 0 0
 1  J 11  k1(1  2 )  0
M   0 J 2  (r2 / r3 ) J 3 0  , C 
 2 0 c  (r / r )2 c
 2 2 3 3
0
J 22  k2 (2  3 )  k1(1  2 )  0
0
 0 J 4 

0
 0 0
 Mq  Kq  0
k  k 0  ...
 1 1  M (t )
 r   1 
K  k1 k1  (r2 / r3 )2 k2 2 k2  , f   0  J n 1n 1  kn 1(n 1  n )  kn 2 (n 2  n 1 )  0
 r3  M (t )
 0 (r / r )k k2   4  J nn  kn 1(n 1  n )  0
 2 3 2 
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Lagrange’s equation Lagrange’s equation

n n
1 n
1 n 1
1 1
T  J  2,
2 i 1 i i
  k (  i )2
2 i 1 i i 1
1 2 n-1 n T   J q2 ,
2 i 1 i i
  k (q  qi1 )2
2 i 1 i i
k1 k2 kn-2 kn-1 1 2 n-1 n
Mq  Kq  0 n
1
   ki (qi  qi 1 )2 , q0  0 k1 k2 k3 kn-1 kn
J1 J2 Jn-1 Jn
2 i 1
M  diag([J 1, J 2 ,..., J n ]) J1 J2 Jn-1 Jn
k
 1 k1 0 .. 0 0  Mq  Cq  Kq  f (t )
k k  k k2 .. 0 
 1 1 2 
 0 k2 k2  k 3 .. .. 
K   
 .. .. ..  kn 2 0 
q1 q2 qn
 0 0 0 kn 2 kn 2  kn 1 kn 1  F2(t) F2(t)
 k1 k2 kn
 0 0 kn 1 kn 1 
  m1 m2 mn
c1 c2 cn

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Translation Torsion 1 2 Eigenfrequencies and eigenvectors

J1 J2
q1 q2
k1 k2 c1,k1 c2,k2
M(t)
Mq  Kq  0, M, K  Rnn , q  Rn
F(t)
m1 m2
c1 c2
fixed Solution: q  a sin(t  )  q   2 a sin(t  )
 M  K a sin(t  )  0  M  K a  0
J1 J2 2 2
f1(t) f2(t)
M1(t) k1 M2 t 
r2
a a a
m1 m2 M3 r3 k2
J4
To have a  0, we need
M4(t)
det( 2M  K)  0  Pn ( 2 )  0 [characteristic equation]
q1 q2
Mq  Cq  Kq  f (t ) J3
1 2
q1 q2
 k  ??, k  1, 2,..., n
F1(t) F2(t)
k1 k2 k3 c1,k1 c2,k2 c3,k3
For natural frequency k, we determine
m1 m2 eigenvector ak
c1 c2 M1(t) M2(t) a (k )  a (k ) 
c3
fixed fixed  1   1 
1
 M  K a   ...   v(k )  (k )  ... 
J1 J2 2 (k ) (k )
k
0 a  
 (k )  a1  (k ) 
an  an 
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Eigenfrequencies and eigenvectors Examples

(k )
a(k ) x1 x2
Or normalizing vectors:  v 
 a(k )  T  12 m1x12  12 m 2x 22 k1 k2
m1 m2
Rearranging eigenvectors into a matrix
  12 k1x12  12 k2 (x 2  x1)2
v .. v1n 
 11 v12
v v22 .. v2n  MATLAB:
V  [v1,v2 ,..., vn ]=  21
 .. .. .. ..  >> M = [ ]; m1x1  (k1  k 2 )x 1  k 2x 2  0, x 
v >> K = [ ]; Mx  Kx  0, x   1  ,
v .. vnn  m 2x2  k 2x 1  k 2x 2  0 x
 n 1 n 2  >> [V, D] = eig(K, M)  2 
Modal matrix
ome(k) = sqrt(D(k,k))
(K, M)  (k , v(k ) ), k  1,2,...n . v(k) = V(:,k) m 0 k  k2 k 2 
(1, 2 ,..., n & [v1,v2 ,..., vn ]) M 1 , K 1  det( 2M  K)  0
0 m k 2 k2 
 2
  

21 22

21 22

Examples
With m1  m 2  m, k1  k2  k Examples x1 x2
(k2M  K)v(k )  0
x1 x2
0  k / m k1
m1
k2
m2
k1 k2
3 5
P2( )  det( M  K)
2 2 m1 m2   1  0
2
1 0  2 1
 det( 2m    m0 
2
) (12M  K)v(1)  0
0 1 1 1  1 1.62
   
202   2 1  1.62
 m det( ) 1 Eigenmode 1, 1
1 02   2 
2 2  12 1  v11 
 m 0   0
 m(202   2 )(02   2 )  1  0
Eigenmode 1, 1  1 0  12  v21 
2
1

1 0.62
(202   2 )(02   2 )  1  0 Eigenmode 2, 2
0.62 Choose v11 = 1 => v21 = ??
a( 2 )2  b( 2 )  c  0  12  ..., 22  ... Eigenmode 2, 2

(202  12 )v11  v21  0  

a  1, b  302, c  204  1 v   1   1 
 v21  (202  12 )v11  (202  12 ) v1   11    1  5    
1  0
3 5
, 2  0
3 5
v21  
 
1.62
  
2 2  2 

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Examples Examples
x1 x2 x1 x2
(k2M  K)v(k )  0 3 5 3 5
k1 k2 1  0 , 2   0 k1 k2
m1 m2 2 2 m1 m2
3 5
  2  0
2 (k2M  K)v(k )  0
(22M  K)v(2)  0
1 1.62  1   1  1 1.62
   
v1   1  5  , v2   1  5 
2 2  22 1  v12  Eigenmode 1, 1     Eigenmode 1, 1
m 0   0  2   2 
 1  2
 22  v22     
 0  1 1
0.62 0.62
Eigenmode 2, 2 Eigenmode 2, 2
Choose v12 = 1 => v22 = ?? Modal matrix
 1 1
   
(202  22 )v12  v22  0 v   1   1 
V  [v1, v2 ]   1  5 
 v22  (202  22 )v12  (202  22 ) v2   12    1  5      1 5 
v   0.62  2
 22   2     2 
 

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3 simulations: MATLAB: Daodong_MC_2.m

1. Eigenmode 1,
2. Eigenmode 2, m1  m2  1, k1  k 2  5
System motion:
3. Supersition
q(t )   C k vk sin(k t  k )   Ak vk sin(k t )  Bk vk cos(k t )
ome = V= ICs =
1.3820 - 1.000 1.000 -0.9704
3.6180 1.618 -0.618 -1.5702
q (t )   kC k vk cos(k t  k )   k Ak vk cos(k t )  Bk vk sin(k t ) -0.5257
-0.8507
A  2

From initial conditions:  1 x2 1.62 0.62 q1 [mm]

 ..  m2 0
 
q(0)   Bk vk  q 0 ,  0
 .. 0 v1 .. vn   An  q 0 
 -2
 0 5 10 15 20
 v ..  v 0 .. 0   B1  q 0  k2
q (0)   k Ak vk  q 0  1 1 n n     2

 ..  1
x1 1 q2 [mm]

B  m1 0

 , v      n 
 
 k k  2n2n A, B  2n1   q 0 , q 0  2n1
-2
0 5 10 15 20
k1 t [s]

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3 simulations: MATLAB: Daodong_MC_2.m 3 simulations: MATLAB: Daodong_MC_2.m

1. Eigenmode 1, 1. Eigenmode 1,
m1  m2  1, k1  k 2  5 m1  m2  1, k1  k 2  5
2. Eigenmode 2, 2. Eigenmode 2,
3. Supersition ICs = 3. Supersition ICs =
-2.8963 -0.7733
1.7900 0.0440
-0.8507 -0.2753
0.5257 -0.0650
5 1
x2 1.62 0.62 q1 [mm] x2 1.62 0.62 q1 [mm]

m2 0 m2 0

-5
0 5 10 15 20 -1
0 5 10 15 20
k2 k2
2
1
x1 1 1 q2 [mm] x1 1 1 q2 [mm]
m1 0 m1
0

-2
0 5 10 15 20
k1 k1 -1
t [s] 0 5 10 15 20
t [s]

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Torsion vibration 1 2
1 1 1
Mq  Cq  Kq  f (t )
J1 J2 T  
2 1 1

J  2  J 2 22 ,  k  2  k (  1 )2
2 1 1 2 2 2
c1,k1 c2,k2
M(t)
Derivatives
cố định
? DOF: n = 2 T T
0 
? Generalized coordinates 1 2
q  [1, 2 ]T T T
 J 1 1 
 1  2
Kinetics and Potential energy
1 d T d T
T   
J  2  J 2 22
2 1 1 dt  1
 J 11
dt  2


1 1 
  k112  k2 (2  1 )2
2 2  
 k11  k2 (2  1 ) 2
1

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d T T   Determine eigenfrequencies and eigenmodes 1 2

    Qi* ,i  1,2,..., n
dt qi qi qi qi of system, with parameters as following: J1 J2
J1 = 10, J2 = 5 kg.m2; c1,k1 c2,k2
M(t)
J 11  k11  k2 (2  1 )  0 k1 = 10000, k2 = 5000 Nm/rad
Mq  Kq  0 fixed
J 22  k2 (2  1 )  0 J 0 k1  k2 k2 
M 1 , K   
0 J2  k2 k2 
J 0 k1  k2 k2     
M 1 , K   
0 J2  k2 k2 
   
det( 2M  K)  0

(a ) 4  (b) 2  (c)  0 Eigenfrequenies

det( M  K)  0
2
 1  , 2  22.361 44.721

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Determine the eigenmodes: Determine eigenfrequencies and eigenmodes

[  12M  K]v1  0 [  22M  K]v2  0 1 0 x1   4 2  x 1   0 

          0
0 1  x2   2 2  x 2   0 
       
Choose v11 = 1  v21=… Choose v12 = 1  v22=…
Determine eigenfrequencies

1 1 det(K   2M)  0

v1=   v2 =  
?? ?? 2
 4 2  2
1 0   4   2 2 
K  M       
Modal matrix  2 2   0 1   2 2  2 

V=
-0.18257 -0.2582 4  2 2
-0.36515 0.2582 det(K   2M)   (4   2 )(2   2 )  4  0
V= 2 2  2
1 1
2 -1

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4  2 2 Determine eigenmodes
det(K   2 M)   (4   2 )(2   2 )  4  0 4  22
2 2 2 2  a12  0 
  2 (K  22 M)a (2)  0       
 2 2  22  a 22  0 

Finding  12   1 
Choose a12 = 1  a22
22   2 
a12  1 (4  22 )
(4  22 )a12  2a22  0  a22  a12
Eigenmodes a 22  ??? 2
 4  12 2  a11  0 
  1 (K  12 M)a (1)  0       
 2 2  12  a 21  0 

Choose a11 = 1  a21
a11  1 (4  12 )
(4  12 )a11  2a21  0  a21  a11
a 21  ??? 2

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Orthogonal properties of eigenvectors Examples

Mq  Kq  0, M, K  R nn , q  R n
Example 8. x1 x2
Eigenfrequency k và eigenvectors vk satisfy:
2DOF system move with 2 masses
 2Mvi  Kvi i2 vTj Mvi  vTj Kvi k1 k2 k3
k2 M  K vk  0   i2
 that slide with no friction. m1 m2
 2 T T
(*)
 j Mv j  Kv j  v Mv j  v Kv j a) Determine EOM.
 j i i
b) Determine eigenvectors.
Because matrices M and K are symmetric
vTj Mvi  vTi Mv j , vTj Kvi  vTi Kv j
m1  m 2  1 k1  k2  k 3  100
2 2 T T T
(   )v Mvi  v Kvi  v Kv j  0
i j j j i (**)
 1  10, 2  10 3
VT MV
T 2 2
When i  j : v Mvi  0, khi   
j i j
T
V KV
T 2 2
And from (*) v Kvi  0, khi   
j i j
Are diag
matrices

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Example 8 m1  m 2  1 Examples m1  m 2  1

k1  k2  k 3  100 k1  k2  k 3  100
Kinetics and potential energy: m 0  1 0
x1 x2 M 1  ,
0 m 0 1
T  12 m1x12  12 m2x 22 k1 k2 k3
 2
  
m1 m2

  12 k1x12  12 k2 (x 2  x1)2  12 k3x 22 k  k2 k2   200 100

K 1  ,
k k  k3   100 200 
 2 2   
T d T T 
 *, ,  *, 
x1 dt x1 x 1 x 1
1 1  1 1 
V  VT   
EOM 1 1 1 1
   
m1x1  (k1  k2 )x 1  k2x 2  0, m 0 k1  k 2 k2 
M 1 ,K   
m2x2  k2x 1  (k2  k 3 )x 2  0  0 m 2   k2 k 2  k3 

2 0 200 0 
VT MV    VT KV   
det( 2M  K)  0 det( 2M  K)   4  400 2  30000  0

0 2
  0 600
1 1 
Eigenfrequencies:  1  10, 2  10 3 V 
1 1
 
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Examples Examples
Ex3. Torsion vibration model. Moments of inertia are
Ji (i=1,2). Shaft stiffness are ki (i=1,2). Lagrange’s equation
k1 k2
a) Determine EOM.
b) Determine eigenfrequecies with k1 = k2 = 15000 T d T T 
J1 J2  ,  ,  , 
Nm/rad, J1 = J2 = 300 kgm2.  j dt  j  j  j

EOM 1 2
Generalized forces Q1  Q2 
Generalized coordinates: 1, 2
J1 J2
k1 k2 k3 Lagrange’s equation
T  12 J 112  12 J 222,
M1(t) M2(t)
d T T 
  12 k112  12 k2(2  1)2 fixed    Qj , j  1, 2 Mq  Kq  f (t )
discJ1 disc J2 dt  j  j  j

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Examples Examples
Generalized coordinates: 1, 2
1 2
Kinetics and potential energy:
J1 J2
T  12 J 112  12 J 2 22,   12 k112  12 k2(2  1)2 Q1  M1(t ) k1 k2 k3
Q2  M 2(t )
J 11  (k1  k 2 )1  k 22  0, M1(t) M2(t)
EOM k1 k2 fixed
J 22  k 21  k 2 2  0 J1 J2
J1 J2
J 0 k1  k 2 k 2  1 2
M 1 , K   
0 J k2 k2  0.62 1.62 Q1  M1(t )
 2
   V 
J1 J2
 1 1 
 Q2  M 2(t ) k1 k2 k3

M1(t) M2(t)
det( 2M  K)  104(9 4  1350 2  22500)  0  1 1    12 k112  12 k 2(2  1)2 fixed fixed
V 
 1,2  ( 10  2)
5

1.62 0.62
  12 k322 J1 J2
2

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Examples Examples

Example 3b. Torsion vibration model. Moments of inertia are Ji (i=1,2). Generalized coordinates: 1, 2
Shaft stiffness are ki (i=1,2,3).
a) Determine EOM. Kinetics and potential energy:
b) Determine eigenfrequecies with : J1 = J2 = 300 kgm2, k1 = k2 = k3 =
T  12 J 112  12 J 1 22,   12 k112  12 k2 (2  1)2  12 k322
15000 Nm/rad,.
EOM
J 11  (k1  k 2 )1  k 22  0, k1 k2 k3
k1 k2 k3 J 22  k21  (k 2  k3 )2  0
1 2 J2
J1
J2 J 0 k1  k2 k 2 
J1 J1 J2 M 1 , K   
.
 0 J 2  k k  k3 
k1 k2 k3  2 2 

M1(t) M2(t)
cố cố det( 2M  K)  104(9 4  1800 2  67500)  0 1 1 
định định
V 
đĩa J1 đĩa J2 1 1
 
 1  5 2, 2  5 6

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System with proportional damping
nn
Mq  Cq  Kq  0, M, K, C  R ,q  R
System with proportional damping - Modal matrix
Mq  Cq  Kq  0, C  1M  2 K, 1, 2  R
n
Use principal coordinates and orthogonal properties of eigenmodes
q  Vp, q  Vp , q  Vp


Multiple VT both sides

1. Modal matrix - Rayleigh damping
VT MVp
  VT CVp  VT KVp  0 M*  VT MV  diag(11,..., nn ),
2. Direct method [for proportional damping]
(VT MV)p
  (VT CV)p  (VT KV)p  0 K*  VT KV  diag(11,..., nn ),
Rayleigh introduced proportional damping in the form M*p
  C*p  K*p  0 C*  VT CV  diag(11,..., nn ),
C  1M  2K, 1, 2  R C  1M  2 K  C*  1M*  2 K*

ii pi  ii pi  ii pi  0, i  1, 2,..., n ii ii

i  , i 
pi  2i pi  i2 pi  0  pi (t )  ..., ii 2ii

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System with proportional damping - Modal matrix System with proportional damping – Direct method
Mq  Cq  Kq  0,
Example Solution in form q  ze t , z  n  q  ze t , q  z2et
q1 q2
F1(t) F2(t)
k1 k2 k3 ( 2 M  C  Kq)ze t  0,  (2 M  C  Kq)z  0, (a)
m1 m2
Characteristic equation
c1 c2
c3
P2n ()  det( 2M  C  Kq)  0 (b)
With proportional damping, isolated solutions of characteristic equation:
Mq  Cq  Kq  f (t )
P2n ()  0  k  k  i k , k  1, 2,..., n (c)

(k2M  k C  Kq)zk  0,  zk  uk  ivk , with uk , vk  n1 (d)

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System with proportional damping – Direct method System with proportional damping – Direct method
P2n ()  0  k  k  i k , k  1, 2,..., n (c) 2 k 1t 2 k t 2 k 1t 2 k t
A2k 1z2k 1e  A2k z2ke  A2k 1 (uk  ivk )e  A2k (uk  ivk )e
( M  k C  Kq)zk  0  zk  uk  ivk , with uk , vk  n1
2
k
k t
 A2k 1 (u k  ivk )e (cos k t  i sin k t ) 
Eigenvalues and eigenvectors:
k t
A2k (uk  ivk )e (cos k t  i sin k t )
2k 1  k  i k , 2k  k  i k , k  1, 2,..., n
k t
(d) e {A2k 1 [(uk cos k t  vk sin k t )  i(uk sin k t  vk cos k t )] 
z2k 1  uk  ivk , z2k  uk  ivk , with uk , vk  n1
A2k [(uk cos k t  vk sin k t )  i(u k sin k t  vk cos k t )]}
n
q(t )   A2k 1z2k 1e
k 1
 2 k 1t
 A2k z2ke
2 k t

, A2k 1, A2k   e
k t
{(A2k 1  A2k )[(uk cos k t  vk sin k t )

i k t i(A2k 1  A2k )(uk sin k t  vk cos k t )]}

e  cos k t  i sin k t
2 k 1t (k i k )t k t Choosing A2k 1  12 (Ak  iBk )
e e e (cos k t  i sin k t ) (A2k 1  A2k )  Ak ,
A2k  12 (Ak  iBk ), Ak , Bk  
2 k t (k i k )t k t (A2k 1  A2k )  iBk
e e e (cos k t  i sin k t )
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System with proportional damping – Direct method System with proportional damping – Direct method
Choosing A2k 1  12 (Ak  iBk ) (A2k 1  A2k )  Ak , Ak, Bk are determined from initial conditions.
n
A2k  (Ak  iBk ),
1
2
Ak , Bk   (A2k 1  A2k )  iBk q(t )   e
k 1
 k t
{Ak (u k cos k t  vk sin k t )  Bk (u k sin k t  vk cos k t )} 
2 k 1t 2 k t k t n
A2k 1z2k 1e  A2k z2ke e {(A2k 1  A2k )[(uk cos k t  vk sin k t )

q (t )   ke k {Ak (u k cos k t  vk sin k t )  Bk (u k sin k t  vk cos k t )}
k 1
 t

i(A2k 1  A2k )(uk sin k t  vk cos k t )]}
n

e
k t
{Ak [(uk cos k t  vk sin k t )
 ke
k 1
 k t
{Ak (u k sin k t  vk cos k t )  Bk (u k cos k t  vk sin k t )} 
Bk (uk sin k t  vk cos k t )]} When t = 0:
n
Solution q(t )   A2k 1z2k 1e
k 1
 2 k 1t
 A2k z2ke
2 k t
, q(0) 
n

 A u k k
 Bk vk   q 0
k 1
n
q(t )   e
k 1
 kt
{Ak (uk cos k t  vk sin k t )  Bk (uk sin k t  vk cos k t )}  q (0) 
n

  {A u k k k
n
 Bk vk }   k {  Ak vk  Bk u k }  q 0
k 1 k 1

Ak, Bk are determined from initial conditions.

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System with proportional damping – Direct method

Ak, Bk are determined from initial conditions.

n
q(0)   Ak uk  Bk vk   q 0
k 1
n n
q (0)   k {Ak uk  Bk vk }   k {  Ak vk  Bk u k }  q 0
k 1 k 1

q(0)  A1u1  ...  An un  B1 v1  ...  Bn vn  q 0

n
q (0)   Ak (k uk  k vk )  Bk (k uk  k vk )  q 0
k 1 A 
 1
 ... 
 
 u1 un v1 vn     
 ... ...  An    q 0 
 u   v ...  u   v 1u1  1 v1 ... n un  n vn   B1   q 0 

 1 1 1 1 n n n n    
 ... 
B 
 n 
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http://www.math24.net/mass-spring-system.html

http://www.uta.edu/utari/acs/ee4343/

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