Modal Analysis

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OKTAV Mechanical Vibrations
Modal Analysis

Consider the matrix form of the following eq’n of vibration

1/18
OKTAV Mechanical Vibrations
Modal Analysis

Consider the matrix form of the following eq’n of vibration

Mẍ(t) + Kx(t) = 0

1/18
OKTAV Mechanical Vibrations
Modal Analysis

Consider the matrix form of the following eq’n of vibration

Mẍ(t) + Kx(t) = 0

subject to ICs; x(0) = x0 ẋ(0) = ẋ0

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OKTAV Mechanical Vibrations
Modal Analysis

Consider the matrix form of the following eq’n of vibration

Mẍ(t) + Kx(t) = 0

subject to ICs; x(0) = x0 ẋ(0) = ẋ0

We will discuss the steps in solving this eq’n by modal analysis

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OKTAV Mechanical Vibrations
Modal Analysis

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OKTAV Mechanical Vibrations
Modal Analysis

Mẍ(t) + Kx(t) = 0

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OKTAV Mechanical Vibrations
Modal Analysis

Mẍ(t) + Kx(t) = 0

1 Calculate M −1/2

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OKTAV Mechanical Vibrations
Modal Analysis

Mẍ(t) + Kx(t) = 0

1 Calculate M −1/2
2 Calculate the mass normalized stiffness matrix: K̃ = M −1/2 KM −1/2

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OKTAV Mechanical Vibrations
Modal Analysis

Mẍ(t) + Kx(t) = 0

1 Calculate M −1/2
2 Calculate the mass normalized stiffness matrix: K̃ = M −1/2 KM −1/2
3 Solve eigenvalue problem for K̃ to determine ωi2 and vi

2/18
OKTAV Mechanical Vibrations
Modal Analysis

Mẍ(t) + Kx(t) = 0

1 Calculate M −1/2
2 Calculate the mass normalized stiffness matrix: K̃ = M −1/2 KM −1/2
3 Solve eigenvalue problem for K̃ to determine ωi2 and vi
4 Normalize vi and form matrix P = [v1 v2 ]

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OKTAV Mechanical Vibrations
Modal Analysis

Mẍ(t) + Kx(t) = 0

1 Calculate M −1/2
2 Calculate the mass normalized stiffness matrix: K̃ = M −1/2 KM −1/2
3 Solve eigenvalue problem for K̃ to determine ωi2 and vi
4 Normalize vi and form matrix P = [v1 v2 ]
(P := matrix of eigenvectors)

2/18
OKTAV Mechanical Vibrations
Modal Analysis

Mẍ(t) + Kx(t) = 0

1 Calculate M −1/2
2 Calculate the mass normalized stiffness matrix: K̃ = M −1/2 KM −1/2
3 Solve eigenvalue problem for K̃ to determine ωi2 and vi
4 Normalize vi and form matrix P = [v1 v2 ]
(P := matrix of eigenvectors)
5 Determine S = M −1/2 P and S −1 = P T M 1/2

2/18
OKTAV Mechanical Vibrations
Modal Analysis

Mẍ(t) + Kx(t) = 0

1 Calculate M −1/2
2 Calculate the mass normalized stiffness matrix: K̃ = M −1/2 KM −1/2
3 Solve eigenvalue problem for K̃ to determine ωi2 and vi
4 Normalize vi and form matrix P = [v1 v2 ]
(P := matrix of eigenvectors)
5 Determine S = M −1/2 P and S −1 = P T M 1/2
(S := matrix of mode shapes)

2/18
OKTAV Mechanical Vibrations
Modal Analysis

Mẍ(t) + Kx(t) = 0

1 Calculate M −1/2
2 Calculate the mass normalized stiffness matrix: K̃ = M −1/2 KM −1/2
3 Solve eigenvalue problem for K̃ to determine ωi2 and vi
4 Normalize vi and form matrix P = [v1 v2 ]
(P := matrix of eigenvectors)
5 Determine S = M −1/2 P and S −1 = P T M 1/2
(S := matrix of mode shapes)
6 Calculate the modal ICs: r(0) = S −1 x0 ; ṙ(0) = S −1 ẋ0

2/18
OKTAV Mechanical Vibrations
Modal Analysis

Mẍ(t) + Kx(t) = 0

1 Calculate M −1/2
2 Calculate the mass normalized stiffness matrix: K̃ = M −1/2 KM −1/2
3 Solve eigenvalue problem for K̃ to determine ωi2 and vi
4 Normalize vi and form matrix P = [v1 v2 ]
(P := matrix of eigenvectors)
5 Determine S = M −1/2 P and S −1 = P T M 1/2
(S := matrix of mode shapes)
6 Calculate the modal ICs: r(0) = S −1 x0 ; ṙ(0) = S −1 ẋ0
7 Substitute the modal ICs into eq’ns to get sol’n in modal coordinate r(t)

2/18
OKTAV Mechanical Vibrations
Modal Analysis

Mẍ(t) + Kx(t) = 0

1 Calculate M −1/2
2 Calculate the mass normalized stiffness matrix: K̃ = M −1/2 KM −1/2
3 Solve eigenvalue problem for K̃ to determine ωi2 and vi
4 Normalize vi and form matrix P = [v1 v2 ]
(P := matrix of eigenvectors)
5 Determine S = M −1/2 P and S −1 = P T M 1/2
(S := matrix of mode shapes)
6 Calculate the modal ICs: r(0) = S −1 x0 ; ṙ(0) = S −1 ẋ0
7 Substitute the modal ICs into eq’ns to get sol’n in modal coordinate r(t)
8 Finally, get the sol’n x(t) = Sr(t)

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OKTAV Mechanical Vibrations
Modal Analysis

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OKTAV Mechanical Vibrations
Modal Analysis

Since M is symmetric and positive definite, it may be factored into two terms:

3/18
OKTAV Mechanical Vibrations
Modal Analysis

Since M is symmetric and positive definite, it may be factored into two terms:

M = LLT
M is positive definite if

3/18
OKTAV Mechanical Vibrations
Modal Analysis

Since M is symmetric and positive definite, it may be factored into two terms:

M = LLT
M is positive definite if

xT M x > 0

3/18
OKTAV Mechanical Vibrations
Modal Analysis

Since M is symmetric and positive definite, it may be factored into two terms:

M = LLT
M is positive definite if

xT M x > 0

The factorization L is called the Cholesky decomposition

3/18
OKTAV Mechanical Vibrations
Modal Analysis

Since M is symmetric and positive definite, it may be factored into two terms:

M = LLT
M is positive definite if

xT M x > 0

The factorization L is called the Cholesky decomposition

√ 
m1 0
L = M 1/2 = √
0 m2

3/18
OKTAV Mechanical Vibrations
Modal Analysis

Since M is symmetric and positive definite, it may be factored into two terms:

M = LLT
M is positive definite if

xT M x > 0

The factorization L is called the Cholesky decomposition

√ 
m1 0
L = M 1/2 = √
0 m2

The inverse of the diagonal matrix M 1/2 is

3/18
OKTAV Mechanical Vibrations
Modal Analysis

Since M is symmetric and positive definite, it may be factored into two terms:

M = LLT
M is positive definite if

xT M x > 0

The factorization L is called the Cholesky decomposition

√ 
m1 0
L = M 1/2 = √
0 m2

The inverse of the diagonal matrix M 1/2 is

 1 
√ 0
 m1
L−1 = M −1/2 =

1 
0 √
m2

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OKTAV Mechanical Vibrations
Modal Analysis

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OKTAV Mechanical Vibrations
Modal Analysis

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OKTAV Mechanical Vibrations
Modal Analysis

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OKTAV Mechanical Vibrations
Modal Analysis

Mẍ + Kx = 0

5/18
OKTAV Mechanical Vibrations
Modal Analysis

Mẍ + Kx = 0

x(t) = M 1/2 q(t)

5/18
OKTAV Mechanical Vibrations
Modal Analysis

Mẍ + Kx = 0

x(t) = M 1/2 q(t)

M −1/2 M M −1/2 q̈(t) + M −1/2 KM −1/2 q(t) = 0

5/18
OKTAV Mechanical Vibrations
Modal Analysis

Mẍ + Kx = 0

x(t) = M 1/2 q(t)

M −1/2 M M −1/2 q̈(t) + M −1/2 KM −1/2 q(t) = 0

M −1/2 M M −1/2 = I

5/18
OKTAV Mechanical Vibrations
Modal Analysis

Mẍ + Kx = 0

x(t) = M 1/2 q(t)

M −1/2 M M −1/2 q̈(t) + M −1/2 KM −1/2 q(t) = 0

M −1/2 M M −1/2 = I =⇒ I q̈(t) + |M −1/2 KM

{z
−1/2
} q(t) = 0
K̃

5/18
OKTAV Mechanical Vibrations
Modal Analysis

Mẍ + Kx = 0

x(t) = M 1/2 q(t)

M −1/2 M M −1/2 q̈(t) + M −1/2 KM −1/2 q(t) = 0

M −1/2 M M −1/2 = I =⇒ I q̈(t) + |M −1/2 KM

{z
−1/2
} q(t) = 0
K̃

K̃ := M −1/2 KM −1/2 : mass normalized stiffness matrix

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OKTAV Mechanical Vibrations
Modal Analysis

Mẍ + Kx = 0

x(t) = M 1/2 q(t)

M −1/2 M M −1/2 q̈(t) + M −1/2 KM −1/2 q(t) = 0

M −1/2 M M −1/2 = I =⇒ I q̈(t) + |M −1/2 KM

{z
−1/2
} q(t) = 0
K̃

K̃ := M −1/2 KM −1/2 : mass normalized stiffness matrix

(similar to the SDOF constant, k/m)

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OKTAV Mechanical Vibrations
Modal Analysis

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OKTAV Mechanical Vibrations
Modal Analysis

Ex: Solve the eigenvalue problem for the 2 DOF system where

6/18
OKTAV Mechanical Vibrations
Modal Analysis

Ex: Solve the eigenvalue problem for the 2 DOF system where

 
3 −1
K̃ =
−1 3

6/18
OKTAV Mechanical Vibrations
Modal Analysis

Ex: Solve the eigenvalue problem for the 2 DOF system where

 
3 −1
K̃ =
−1 3

Normalize the eigenvectors, check if they are orthogonal

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OKTAV Mechanical Vibrations
Modal Analysis

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OKTAV Mechanical Vibrations
Modal Analysis

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OKTAV Mechanical Vibrations
Modal Analysis

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OKTAV Mechanical Vibrations
Modal Analysis

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OKTAV Mechanical Vibrations
Modal Analysis

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OKTAV Mechanical Vibrations
Modal Analysis

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OKTAV Mechanical Vibrations
Modal Analysis

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Modal Analysis

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Modal Analysis

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OKTAV Mechanical Vibrations
Modal Analysis | Orthonormal Vectors

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OKTAV Mechanical Vibrations
Modal Analysis | Orthonormal Vectors

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OKTAV Mechanical Vibrations
Modal Analysis

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OKTAV Mechanical Vibrations
Modal Analysis

Ex: Write matrix P for the previous problem and calculate P T P

11/18
OKTAV Mechanical Vibrations
Modal Analysis

Ex: Write matrix P for the previous problem and calculate P T P

11/18
OKTAV Mechanical Vibrations
Modal Analysis

Ex: Write matrix P for the previous problem and calculate P T P

11/18
OKTAV Mechanical Vibrations
Modal Analysis

12/18
OKTAV Mechanical Vibrations
Modal Analysis

Ex: Consider the system

12/18
OKTAV Mechanical Vibrations
Modal Analysis

Ex: Consider the system

12/18
OKTAV Mechanical Vibrations
Modal Analysis

Ex: Consider the system

Write the dynamic equations in matrix form

12/18
OKTAV Mechanical Vibrations
Modal Analysis

Ex: Consider the system

Write the dynamic equations in matrix form

Calculate K̃, its eigenvalues and eigenvectors

12/18
OKTAV Mechanical Vibrations
Modal Analysis

Ex: Consider the system

Write the dynamic equations in matrix form

Calculate K̃, its eigenvalues and eigenvectors

Determine the natural frequencies of the system

12/18
OKTAV Mechanical Vibrations
Modal Analysis

Ex: Consider the system

Write the dynamic equations in matrix form

Calculate K̃, its eigenvalues and eigenvectors

Determine the natural frequencies of the system

Calculate the matrices P and Λ

12/18
OKTAV Mechanical Vibrations
Modal Analysis

Ex: Consider the system

Write the dynamic equations in matrix form

Calculate K̃, its eigenvalues and eigenvectors

Determine the natural frequencies of the system

Calculate the matrices P and Λ

(Spectral matrix of K̃ := Λ = diag(λi ) = P T K̃P )

12/18
OKTAV Mechanical Vibrations
Modal Analysis

Ex: Consider the system

Write the dynamic equations in matrix form

Calculate K̃, its eigenvalues and eigenvectors

Determine the natural frequencies of the system

Calculate the matrices P and Λ

(Spectral matrix of K̃ := Λ = diag(λi ) = P T K̃P )

Show that eq’n Λ = diag(λi ) = P T K̃P is satisfied and that P T P = I

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OKTAV Mechanical Vibrations
Modal Analysis

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OKTAV Mechanical Vibrations
Modal Analysis

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OKTAV Mechanical Vibrations
Modal Analysis

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OKTAV Mechanical Vibrations
Modal Analysis

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OKTAV Mechanical Vibrations
Modal Analysis

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OKTAV Mechanical Vibrations
Modal Analysis

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OKTAV Mechanical Vibrations
Modal Analysis

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OKTAV Mechanical Vibrations
Modal Analysis

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OKTAV Mechanical Vibrations
Modal Analysis

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OKTAV Mechanical Vibrations
Modal Analysis

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OKTAV Mechanical Vibrations
Modal Analysis

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OKTAV Mechanical Vibrations
Modal Analysis

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OKTAV Mechanical Vibrations
Modal Analysis

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OKTAV Mechanical Vibrations
Modal Analysis

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OKTAV Mechanical Vibrations
Modal Analysis

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OKTAV Mechanical Vibrations
Modal Analysis

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OKTAV Mechanical Vibrations
Modal Analysis

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OKTAV Mechanical Vibrations
Modal Analysis

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OKTAV Mechanical Vibrations
Modal Analysis

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OKTAV Mechanical Vibrations
Modal Analysis

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OKTAV Mechanical Vibrations
Modal Analysis

The matrix of eigenvectors P is used to decouple the eq’ns of vibration into

separate eq’ns

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OKTAV Mechanical Vibrations
Modal Analysis

The matrix of eigenvectors P is used to decouple the eq’ns of vibration into

separate eq’ns

The transformations matrices P and M −1/2 transform the vibration problem

between different coordinate systems

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OKTAV Mechanical Vibrations
Modal Analysis

The matrix of eigenvectors P is used to decouple the eq’ns of vibration into

separate eq’ns

The transformations matrices P and M −1/2 transform the vibration problem

between different coordinate systems

The transformation S = M −1/2 P is the modal matrix

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OKTAV Mechanical Vibrations