Lecture -23

MODE SHAPE NORMALISATION

 Mode shapes can be normalized in different ways since mode shapes represent only
the relative displacement of the d.o.f.
 Consider the mode shape in the following example:
 1    0 .0 3 6     0 .0 3 6      0 .1 2 5 
T

 20 0 0 
 2   0 .1 5 8     0 .1 5 8     0   M   0 0  m
T
20
 3    0 .1 5 4     0 .1 5 4     0 .0 3   0 60 
T
0

 The normalization is done with the first value taken as unity and with maximum value
taken as unity; the corresponding mode shapes are,
1   1       1    3 .47  1    0 .288      0.288    1  
T T

 2   1   1      0   2   1   1      0 

T T

 3   1     1      0 .195   3     1   1      0 .195 

T T

 Another way of normalization is with respect to the mass matrix i.e.

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 1    0 .0 1 4 4      0 .0 1 4 4     0 .0 5 
T
 1T M  1  m 1 ;
m1
1
  0 .0 5     0 .0 5      0 
T
 2T M  2  m 2 ; 2 
m2
1
   0 .0 1 6 7     0 .0 1 6 7       0 .0 0 3 2 5 
T
 3T M  3  m 3 ; 3 
m3 2
 PROPERTIES OF MODE SHAPES AND FREQUENCIES
 If mode shapes are normalized as above then
 T M  I
 Un damped mode shapes have the following properties apart from the orthogonality:
 All points pass through their maximum and minimum values at the same instant.
 All points pass through zero at the same instant in time.
 The mode shapes can be described by a sign valued real number.
 All points are either totally in phase or out of phase with any other point on the structure.
 The mode shapes from the un damped case are same as the proportionally damped case.

 Since C matrix is not explicitely known, it is obtained by making certain assumptions.

 One of the common assumption is that C matrix is mass and stiffness proportional
i.e.
C M  K
values of a and b are determined with the help of the un damped natural frequencies
of the system; more information on the topic will be discussed in a subsequent lecture.

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 Contd.
 Un damped mode shapes and natural frequencies are extremely useful in solving
dynamic problems and are very popular in linear domain; the solution is obtained in
modal space which will be discussed later.
 But this is possible only for a class of damping matrix called classically damped
matrix which is also known as proportional damping matrix; however, there are many
problems which deal with non classical damping.
 In such situations, damped natural frequencies and mode shapes are required.
 For finding damped mode shapes, the damped free vibrations of MDOF is
considered as below .. .
M u  C u  Ku  0
Assuming u  u0e t
Problem is converted to an algebraic equation
Q ( )  M  2  C   K  0
the above problem is called quadratic eigen value problem; the problem is set as
Q (  )u  0
 Q (  )has 2n eigen values  𝜆; they are the roots of det  Q (  )   0.

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 Contd.
 A common way to solve the above problem is to first linearize it to a linear eigen
value problem by defining a vector
 u 
Z  
u 
 The equivalent linearized generalized eigenvalue problem is
Le    Z  0
M 0  C K
Le           G  D
0 I  I 0
leading to
DZ   GZ

which can be written in the form

              Fq   q
1 1
 
where ,  F  G 2
DG 2

1
            q  G Z
2

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 Contd.
 Other way of finding the damped shapes is to cast the equation of motion in the state
space with                Z  AZ  0

u 
where ,    Z            and
 u 
 0 I 
               A   1 1 
M K M C 
 Assuming
               Z  Z 0 e  t
        Z 0 e  t  AZ 0 e  t

leading to classical eigenvalue problem

0  
AZwith Z 0values of
2n .  

 Eigen values and eigenvectors of the above generalized eigenvalue or state space
eigenvalue problem are complex quantities leading to solving the dynamic problems
in complex domain.

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 Contd.
 Complex mode shapes have the following characteristics

 All the points do not pass through their maxima at the same in time- points
appear to have time log.

 All the points do not pass through zero at the same instant of time.

 Mode shapes can not be described by real valued numbers- the shapes are
complex valued.

 The different d.o.f will have some general phase relationship that will not
necessarily be in phase or 180 degrees out-of phase with other d.o.f.

Un damped mode shapes Damped mode shapes

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 Contd.
Example

Consider the following matrices.

2 0  2  1 0 0   0.4  0.1  0.4  0.1

M              K                 C   0 ; ;
0 3    1 1   0    0.1 0.4    0.1 0 .1 

 1ST Case of C (Un damped)

   1  0.3737;                         1   1 0.72  ;     

T

  2   1  0.387 
T
  2  1.0926;                         
 2nd case of C (proportional damping   0.1,   0.1 )

   1   0.0579  0.3693 j ;              1   1 0.72  ;

T

  2   0.109 7  1.0871 j ;               2   1  0.3 8 7 

T

Residues
 3rd case of C (non proportional damping)
   1   0.0162  0.3736 j ;             1   0.2456  0.0143 j 0.4232  0.0095 j  ;
T

  2   0.1005  1.0872 j ;                2    0.3771  0.0142 j 0.145 1  0.0096 j 

T
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