Resp. of 6-d.o.f. sys.: prop. damp., harm. forc.

Let’s apply what learn so far to the study a 6-dof system in the case of proportional
damping

Mx t + Cx t + Kx t = F0eit Proportional damping: C =  M + K

Performing modal analysis on the free, undamped system we may determine natural
frequencies and modal vectors. Considering the size of the problem, we may
conveniently compute the SVD of the matrix . Thus we will have

 j , j = 1,..., n : det − 2j 1 + A = 0
X = X 1 , X 2 ,..., X n with XT MX = 1
X j , j = 1,..., n : − 2j 1 + A X j = 0

We may now decouple the equations of motion by introducing modal coordinates:

n
q j 0 = X Tj Mx 0
x t =  X jq j t
T
q t =  q1 t , q2 t ,..., qn t  
j =1 q
 j 0 = X T
j Mv 0
Resp. of 6-d.o.f. sys.: prop. damp., harm. forc.
Mx t + Cx t + Kx t = F0eit Proportional damping: C =  M + K

 j , j = 1,..., n : det − 2j 1 + A = 0
X = X 1 , X 2 ,..., X n with XT MX = 1
X j , j = 1,..., n : − 2j 1 + A X j = 0
n
 q j 0 = X Tj Mx 0
x t =  X jq j t
T
q t =  q1 t , q2 t ,..., qn t  
 q j 0 = X j Mv 0
T
j =1

Then:
q t + 1 +  q t + q t = Fq t Fq t = XT F0eit = diag 12 22 n2 
n
q j t + 2 j j q j +  q j =  X l , j Fl ,0eit
2
j 2 j j =  +  2j
l =1

1 n
 1−  
−1 2  2 j j 
 2 2 2 i t − j
→ qSS , j = X l , j Fl ,0 + 2 j j e  j = arctan  
 2  j   1−2
j l =1  j 
n  X l , j  n
n
 −1 2 
t =  X l , j q j t =   2   X l , j Fl ,0   1 −  2j 
2 2 i t − j
→ xSS ,l + 2 j j e 
j =1      
j =1  j l =1 
 Resp. of 6-d.o.f. sys.: prop. damp., harm. forc.
 X l , j  n
n
 −1 2 
t =   2   X i , j Fi ,0   1 −  2j 
2 2 i  t − j
→ xSS ,l + 2 j j e  2 j j =  +  2j
j =1   j  i =1   


• The system has n natural frequencies so that the system can be brought into resonance n
different ways.
• The steady-state amplitude of the j-th mode is weighed by  2j , indicating that the mode
participation decreases with the square of the natural frequency.
• As in the case of aperiodic excitations, the lower modes have larger steady-state
amplitudes than the higher modes.

If   3
xSS ,l t 
 X l, j  n  
3 

 X F
 2j  i =1 i , j i ,0  

 
i t − j
e 
j =1  2 2 2
1−  j + 2 j j 
 