Eigen Value Problem: Preamble and explanation

with a physical problem

By
Prof. Sekhar Chandra Dutta
Department of Civil Engineering
IIT(ISM) Dhanbad
Eigen Value Problem: Free Vibration

5×105 kg
3 3
3.0X109 N/m k3 = 3.0X109 N/m
8X105 kg m3 = 5X105 kg

2 2
4.0X109 N/m
8X105 kg k2 = 4.0X109 N/m m2 = 8X105 kg
1 1
k1 = 4.2X109 N/m
4.2X109 N/m m1 = 8X105 kg
Formation of Mass and Stiffness Matrix :

Mass Matrix : Any (i, j)th element of mass matrix can be denoted by mij.

mij = force required to be applied at ith degree of freedom to

create unit acceleration at jth degree of freedom and zero
acceleration at all other degrees of freedom

3  m1 0 0
 0 
m3 Mass matrix = m    0 m2
 0 0 m 3 

m2

m1
Calculation of stiffness for column:
n number of columns in the storey

Deformed shape
Δ 12 EI
l3 12 EI
6 EI Stiffness of each column =
l2
l3

6 EI Total stiffness of n number of

l2 12 EI
12 EI
l3 columns = n  3
l
Stiffness Matrix:
Any (i, j)th element of stiffness matrix can be denoted kij.
kij = force required to be applied at ith degree of freedom to create unit
displacement at jth degree of freedom and zero displacement in all other degrees
of freedom
 k11 k12 k13 
 
Stiffness matrix : k   k 21 k 22 k 23 
 k31 k32 k33 

0 k3 k3
k3
k3
k2 k2 + k3 k3
k2 k2

k 1 + k2 k2 0
k1

Deformed configuration Deformed configuration Deformed configuration

for 1st column of for 2nd column of for 3rd column of
stiffness matrix stiffness matrix stiffness matrix
 k1  k 2  k 2 0 
Stiffness matrix : k     k 2 k 2  k3  k3 
 
 0  k3 k3 
Governing differential equation for free vibration
..
m{x}  k {x}  {0}

where {x} = displacement vector

x1 
 
=x 2 
x 
 3

Number of natural frequencies/eigen values = Number of degrees of freedom.

Mode Shape :
Mode shape physically implies a vibratory motion in which the motion
of all the coordinates or the degrees of freedom are time dependant and the
ratio between any two coordinates remains constant

 x1 (t )   u1 f (t )   u1 
     u  f (t )  u f (t )
x (t
 2   2)  u f (t )   2
 x (t )  u f (t )  u 
 3   3   3

For general vibration:

 x1 (t )  u11  u12  u13 

       
 x2 (t )  u21  f1 (t )  u22  f 2 (t )  u23  f 3 (t )
 x (t )  u  u  u 
 3   31   32   33 
Substituting the value of in the equation of free vibration
..
mu f (t )  k uf (t )  0

m1 0 0   u1 
..
 k11 k12 k13   u1  0
0      
Or, m2 0  u 2  f (t )  k 21 k 22 k 23  u 2  f (t )  0
   
 0 0  
m3  u3  k 31 k 32 k 33  u3  0
 

Expanding the 1st row

..
m1u1 f (t ) (k11u1  k12u 2  k13u3 ) f (t )  0
..
f (t ) ( k11u1  k12u 2  k13u3 )
Or,   
f (t ) m1u1
..
Or, f (t )  f (t )
Substituting the above value of in the free vibration equation

 muf (t )  k u f (t )  0

Or, (k    m)u f (t )  0

As the system is a vibrating system we are interested to get the

non-trivial solution of the above equation

(k    m)u  0

 k    2 m  0

Where,  2
Or,

k11  m  2 k12 k13   u  0

 1  1  
2 
 k 21 k 22  m  k23  u2  f (t )  0
2
 
2 u3  0
 k31 k32 k 33  m  
3 
 
According to the given problem

8  105 0 0 
 
Mass Matrix, m   0 8  105 0  kg
 0 0 5  105 
 

 8.2  109  4.0  109 0 

 9  N/m
Stiffness matrix, k    4.0  109 7.0  109  3.0  10 
 0  3.0  109 3.0  109 
 
Now,
k    2 m  0

Putting the values of the parameters,

rad/sec rad/sec rad/sec
 0.44 0.79  1.48 

u1 0.79


u2 0.35 u3 1.61
 1.0   1.0   1.0 
     

0.44  0.79 1.48 

Modal matrix: u   0.79  0.35  1.61
 1.0 1.0 1.0 

Observations of Mode Shapes :

1) Any ith mode shape has in general (i-1) zero crossing.

2) If the structure is excited with ith natural frequency i.e.

ωi , the structure will vibrate maintaining the ith mode shape.

3) A lower mode shape will require lower strain energy

for deformation. So a lower mode may
easily be excited.
Explanation of the Concept of Mode Shape :
For a three degrees of freedom system let the natural frequencies be ω 1 , ω 2 , ω 3.

 "  '

  "  '

'''
"""
"   '

Vib. frequency =  Vib. frequency =  Vib. frequency = 