MDOF-Frequency response

E.1 Frequency response of two masses

Generalized coordinate :

q1 vertical displacement of m
q2 vertical displacement of 2m

Kinetic energy :
1 1
T = mq˙1 2 + 2mq˙2 2
2 2
Potential energy :
1 1 1
V = kq12 + 2k(q1 − q2 )2 + 2kq22
2 2 2
non-conservative forces :
Qnc = [f (t) 0]′
Mass matrix M :  
m 0
M=
0 2m
Stiffness matrix K :  
3k −2k
K=
−2k 4k
Frequency response functions (first column of G(s)) :

4k − 2mω 2 1/3m 2/3m

g11 (jω) = = 2 + 2
2m ω − 10kmω + 8k
2 4 2 2 ω1 − ω 2 ω2 − ω 2
2k 1/3m −1/3m
g21 (jω) = = 2 + 2
2m ω − 10kmω + 8k
2 4 2 2 ω1 − ω 2 ω2 − ω 2

Eigenfrequencies :
k k
ω12 = ω22 = 4
m m

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zero of the numerator g11 (jω):
k
ω2 = 2
m
Maximum g21 (jω) :
k
ω 2 = 2.5
m

E.2 Frequency response of a supported beam

Generalized coordinate :
q1 = y vertical displacement of the beam center of mass
q2 = θ rotation at the center
Kinetic energy :
1 1 ml2 2 1 1 l
T = mẏ 2 + θ̇ + m(ẏ + θ̇)2
2 2 12 24 2
Potential energy :
1 l 1 1
V = k(y − θ)2 + 2k(y + θ)2
2 2 2 4
non-conservative forces :
Qnc = [f (t) 0]′
Mass matrix M :
5 1
 
4
m 8
ml
M= 1 7
8
ml 48
ml2
Stiffness matrix K :  
3k 0
K=
0 38 kl2
Frequency response functions (first column of G(s)) :
k
1 ( 38 m 7 2
− 48 ω )
g11 (jω) = k k2
m ( 6 ω − 32 m ω + 98 m
1 4 29 2
2)
1 2
1 8
ω
g21 (jω) = 29 k 2 9 k2
ml ( 16 ω 4 − 32 m
ω + 8 m2
)
Eigenfrequencies :
k k
ω12 = 1.92 ω22 = 3.52
m m
zero of the numerator g11 (jω):
18 k
ω2 =
7 m
Maximum g21 (jω) :
k
ω 2 = 2.71
m

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