AAE 556

Aeroelasticity
Lecture 24
Modal coordinates

24-1
Purdue Aeroelasticity
 Modal analysis objectives
i Accurate flutter analysis
with few degrees of
freedom
i Identification of
interaction in terms of
physically meaningful
motion – vibration mode
shapes obtained from
testing or analysis
i Key words
– Modal
orthogonality
– generalized mass
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& stiffness Purdue Aeroelasticity
 Reducing the number of
system degrees of freedom
i Vibration equations with quasi-steady loads
2
 [ M ij ]{xi }  [ Kij ]{xi }  [ Aij ]{xi }  {0}

This can be a really big

eigenvalue problem with “n”
degrees of freedom
Let’s reduce the problem to
“m” degrees of freedom and
retain accuracy

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 Begin with eigenvalue/eigenvector analysis
for free vibration frequencies and mode
shapes

2
  i [Mij ]{ i }  [Kij ]{ i }  {0}
Solve for eigenvectors (mode shapes)

construct a modal matrix from the eigenvectors

    ...  
ij
1
i i
2 
i
n

Modal matrix Eigenvectors (mode shapes)

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 Define response in terms of modal
amplitude coordinates, h(t), and
eigenvectors
n
{xi (t )}     j (t ) [ ij ]{ j (t )}
(i )
j
i 1

System response Modal matrix

This series can be truncated to reduce DOF number

from n to m (m<n)
We go from n actual displacements (the x’s) to a m
displacements (the h’s)
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 Example – String with tension
S and three equal masses, m

m 0 0   2 1 0  0 
 0 m 0  x t  S  1 2 1 x t  0 
   i   a    i    
 0 0 m   0 1 2  0 
 

1(1)   1  1(2)  1 1(3)   1 

 (1)     (2)     (3)   
2    2  2    0  
 2     2 
 (1)   1   (2)   1     1 
(3)
 3     3     3   

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 Any general deflection can be constructed as
a summation of normal modes

1(1)   1 
 (1)   
2    2 
 (1)   1 
 3   

1(2)   1
 (2)   
2    0 
 (2)   1 
 3   

1(3)   1 
 (3)   
2    2 
 (3)   1 
 3   

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 Use new (modal) coordinates
to define motion

m 0 0   2 1 0  0 
 0 m 0  x t  S  1 2 1 x t  0 
   i   a    i    
 0 0 m   0 1 2  0 
 

xi   ij   j   1

1 1 

 ij    2 0  2
 1 1 1 

Purdue Aeroelasticity 24-8
 Redefine motion in terms of modal
coordinates
m 0 0   2 1 0  0 
 0 m 0  x t  S  1 2 1 x t  0
   i   a    i    
 0 0 m   0 1 2  0 
 

Pre- and post-multiply by the modal matrix

xi   ij   j 
m 0 0   2 1 0  0 
T  S   
 ij  0 m 0  ij  ni t    ij    1 2 1  ij  i  t   0 
T  
   a  
 0 0 m   0 1 2  0 
 

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 Compute matrix products involving the
mode shapes and the mass matrix
The generalized masses and orthogonality
m 0 0   1   m 
     
1 
2 1  0 m 0   2   1 
2 1  2m 

 0 0 m   1   m 
   
 m  2m  m  4m  M 1

 m 0 0  1  m 
   
1
 2 1  0 m 0   0   1 2 1  0   0
 0 0 m   1  m
 

 4m 0 0   2 1 0  0 
 0 2m 0  n t   T  S   1 2 1    t  0
   i    ij   a     ij   i    
 0 0 4m   0 1 2  0 
 
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 Generalized masses (in general)
we diagonalize the mass matrix

(i) T
Mi
(i)
if i  j (Mi  0)
{ } [M]{ }  
 0 if i  j

Generalized mass
matrix definition \ 
[ ]T [ M ][]   M ii 

 \ 
Diagonal matrix
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 Stiffness matrix multiplication
 2 1 0 
T S 
  ij     1 2 1 ij  i t 
 a  
 0 1 2 

 2 1 0   1   2 2 
S   S  
1
 2 1    1 2 1  2     1 2 1 2 2  2 
a   a  
 0 1 2  1 2  2
   
S

  2 2 42 2 2 2
a

S

   84 2
a


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 Stiffness matrix multiplication
showing orthogonality
 2 1 0  0 
T  S   
  ij    1 2 1 ij  i t   0
 a  
0 
 0 1 2   

 2 1 0   1   2 2 
 S     S  
 1 0 1    1 2 1  2      1 0 1 2 2  2 
a a
 0 1 2   1  
2  2

   
S

   2  2  0  2  2
a

0

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 Final result with new coordinates
a set of totally decoupled equations
 4m 0 0  

4 2  2 0  0 
 0 
 0 2m 0  n t   S    i  t   0
   i    a   0 4 0
 0
 0 0 4m  

0 0 
4 2 2  

 

 4m 0 0  

4 2  2  0 0 
 0 
2    S   i t   0 
  0 2m 0  ni t     0 4 0
 a   0 
 0 0 4m  

0 0 4 2  
2 

 

 S  
2

a

 4 m  4   2  2  0 0 
   0 
 
 0 2 2 m    4  Sa  0
 
 ni t   0
  0 
  
 S 


0 0
  

 4 m  4  a  2  2  
2

 

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 One more step
 2 S  

a

  m    2  2  0 0 
   0 
 
 0   m    2  Sa 
2
0
 
 ni t   0 
  0 
  
 2 S 


0 0 

 m   
a
 
2  2 
 

 2 S  2  S   2 S 
 a
 

    m    2  2   m  2       m    2  2   0
 a   a 
 

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 Generalized stiffness matrix

 \ 
Generalized
[]T [ K ][]  i2 M ii 

stiffness matrix
 \ 
Diagonal matrix

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 General aeroelastic system with
aero displacement dependent
loads
   mij    kij   [ Aij ] {x i }  {0}
2
 

T
  ij    2  mij    kij   [ Aij ]  ij  { i }  {0}
 

  2  M    2 M    T [ A ]     { }  {0}
 ii  i ii   ij  ij  ij  
 i

The matrix order can be reduced from n

degrees of freedom to m degrees of freedom
so that the matrix is smaller but still has a
great deal of information content
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