PART 1

4. General MDOF System Equations & Solution

• Continuous systems modelled as lumped multi degree-of-freedom (MDOF) systems resulting in

n degrees of freedom and n equations of motion
• It is convenient to represent these equations by means of matrices.

Thus, the general equation of motion is

𝑚 𝑥ሷ + 𝑐 𝑥ሶ + [𝑘]𝑥 = 𝐹𝑒 𝑗𝜔𝑡 (2.14)

where [m], [c] and [k] are the mass, damping and stiffness (square) matrices of order n x n, and
𝑥,ሷ 𝑥,ሶ 𝑥 and 𝐹 are the acceleration, velocity, displacement and force vectors of order 1 x n
respectively.

The steady-state solution of Eq. (2.14) is of the form

𝑥 = 𝑋𝑒 𝑗(𝜔𝑡−𝜙) = 𝑋 ∗ 𝑒 𝑗𝜔𝑡 where 𝑋 ∗ = 𝑋𝑒 −𝑗𝜙) (2.15)

Substituting Eq. (2.15) in Eq. (2.14) gives

-ω2 𝑚 + 𝑗𝜔 𝑐 + [𝑘] 𝑋 ∗ = 𝐹 (2.16)

 [𝑧]𝑋 ∗ = 𝐹 (2.17)

where [z] is the complex impedance and X* is a complex vector having amplitude and phase.
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5. Free Vibration of Undamped MDOF Systems: Eigenvalues and Eigenvectors

The equation of motion of an undamped, free vibrating MDOF system is obtained from Eq. (2.16)
by equating [c] and F to zero. Also, since there is no damping, the complex vector X* is replaced by
a real vector X. Thus, the equation of motion is
(2.18)
-ω2 𝑚 + [𝑘] 𝑋 = 𝐹

There are 2 methods for determining the eigenvalues (natural frequencies) and eigenvectors (mode
shapes) from Eq. (2.18), namely:
• Determinant method
• Matrix iteration

5.1 Obtaining Eigenvalues and Eigenvectors using Determinant Method

➢ For non-trivial solutions det -ω2 𝑚 + [𝑘] = 0 (2.19)

➢ This is the characteristic or frequency equation which gives a polynomial in (ω 2). The n
characteristic roots provide the natural frequencies or eigenvalues.

➢ Eigenvectors or mode shapes are found by substituting the eigenvalues back into Eq. (2.18)
and solving for the elements of X assuming that one of these responses is unity.

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5.2 Obtaining Eigenvalues and Eigenvectors using Matrix Iteration
The eigenvalue problem states: -  2 [m] {u} + [k]{u} = {0} (2.18)

i.e. [𝐷]{𝑢} = 𝜆{𝑢} where [𝐷] = [𝑘]−1 [𝑚] ; 𝜆 = 1/𝜔2 (2.21)

Now any (linear) mode of vibration consists of a summation or contributions from all the other
modes i.e.

i.e. {𝑢}1 = 𝑐1 {𝑢}(1) + 𝑐2 {𝑢}(2) + 𝑐3 {𝑢}(3) + . . . + 𝑐𝑛 {𝑢}(𝑛) (2.22)

Premultiplying {𝑢}1 by [D] gives:

[𝐷]{𝑢}1 = 𝑐1 [𝐷]{𝑢}(1) + 𝑐2 [𝐷]{𝑢}(2) + 𝑐3 [𝐷]{𝑢}(3) + . . . + 𝑐𝑛 [𝐷]{𝑢}(𝑛) (2.23)
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 (1) (1) (2) (2) (𝑛) (𝑛)
Now [𝐷]{𝑢} = 𝜆1 {𝑢} ; [𝐷]{𝑢} = 𝜆2 {𝑢} ; . . . ; [𝐷]{𝑢} = 𝜆𝑛 {𝑢} (2.24)

Let [𝐷]{𝑢}1 = {𝑢}2 (2.25)

where {𝑢}2 is the second trial vector. Substituting Eqs (2.24) and (2.25) in (2.23) gives
[𝐷]{𝑢}1 = {𝑢}2 = 𝑐1 𝜆1 {𝑢}(1) + 𝑐2 𝜆2 {𝑢}(2) + 𝑐3 𝜆3 {𝑢}(3) + . . . + 𝑐𝑛 𝜆𝑛 {𝑢}(𝑛) (2.26)

Since 𝜆 = 1/𝜔2 , then Eq (2.26) can also be written as,

𝑐1 (1)
𝑐2 (2)
𝑐3 (3)
𝑐𝑛 (𝑛)
[𝐷]{𝑢}1 = {𝑢}2 = 2 {𝑢} + 2 {𝑢} + 2 {𝑢} + . . . + 2 {𝑢}
𝜔1 𝜔2 𝜔3 𝜔𝑛

Similarly, premultiplying {𝑢}2 by [D] gives

[𝐷]{𝑢}2 = {𝑢}3 = 𝑐1 𝜆1 [𝐷]{𝑢}(1) + 𝑐2 𝜆2 [𝐷]{𝑢}(2) + 𝑐3 𝜆3 [𝐷]{𝑢}(3) + . . . + 𝑐𝑛 𝜆𝑛 [𝐷]{𝑢}(𝑛)

= 𝑐1 𝜆12 {𝑢}(1) + 𝑐2 𝜆22 {𝑢}(2) + 𝑐3 𝜆23 {𝑢}(3) + . . . + 𝑐𝑛 𝜆2𝑛 {𝑢}(𝑛)

𝑐1 𝑐2 𝑐3 𝑐𝑛
= {𝑢}(1) + {𝑢}(2) + {𝑢}(3) + . . . + 4 {𝑢}
(𝑛)
𝜔14 𝜔24 𝜔34 𝜔𝑛

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It is easy to see that the pth iteration yields
𝑐1 (1)
𝑐2 (2)
𝑐3 (3)
𝑐𝑛
[𝐷]{𝑢}𝑝 = {𝑢}𝑝+1 = 2𝑝
{𝑢} + 2𝑝
{𝑢} + 2𝑝
{𝑢} + . . . + 2𝑝
{𝑢}(𝑛) (2.27)
𝜔1 𝜔2 𝜔3 𝜔𝑛
1 1 1
Since 2𝑝 ⟩⟩ 2𝑝 ⟩⟩ 2𝑝 , the above becomes
𝜔1 𝜔2 𝜔𝑛
𝑐1
{𝑢}𝑝+1 = 2𝑝
{𝑢}(1)
𝜔1

Thus, the (p + 1) trial vector is identical to the 1st mode to within a multiplicative constant i.e. the
iteration converges to the 1st mode.

An additional iteration yields 𝑐1

{𝑢}𝑝+2 = 2𝑝+2
{𝑢}(1)
𝜔1

If the column vectors {𝑢}𝑝+1 and {𝑢}𝑝+2 are normalised in the same way, we get the ratio for the
normalising constant as 1ൗ𝜔2
1
𝑐1 𝑐1 1
i.e. ൘ =
𝜔1 2𝑝+2 𝜔1 2𝑝 𝜔1 2

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• Thus the iteration process also yields the first natural frequency.

• It should be noted that this method is “error free” if the [D] matrix is properly evaluated i.e. an
error made in the iteration process merely slows down the method, but it will still converge to the
correct values.

• If [𝐷]−1 {𝑢} = 𝜆−1 {𝑢} is used, the process converges to the highest eigenvector and eigenvalue.

• Note that this Matrix Iteration Method is also known as the Power Method

• [𝐷]{𝑢} = 𝜆{𝑢} converges to the lowest mode (if {𝑢}is well chosen)

• [𝐷]−1 {𝑢} = 𝜆−1 {𝑢} converges to the highest mode (if {𝑢}is well chosen)

• If the trial vector 𝑢 is close to an intermediate mode, then [𝐷]{𝑢} = 𝜆{𝑢} or

[𝐷]−1 {𝑢} = 𝜆−1 {𝑢} will converge to that mode.