MENG470 Spring2011 Vibration of Two DOFS

Source: www.almitani.
com
MENG-470 Spring 2011 Dr.Khalid Almatani 1
King Abdul Aziz University
Department of Production Engineering and Mechanical
Systems Design
MENG-470
Spring 2011
Preparedandpresented by
Dr. Khalid Almatani
Assistant professor of mechanical Engineering
Production Engineering and mechanical systems design department
College of Engineering
King Abdul Aziz University
Jeddah, Saudi Arabia
February, 2011
INTRODUCTION INTRODUCTION TO TO
LINEAR VIBRATIONS LINEAR VIBRATIONS
Source: www.almitani.com
MENG-470
Introduction to Linear Vibrations
Undamped Undamped Free Free
Vibration Vibration
Of Of Two Two Degrees of Freedom Systems Degrees of Freedom Systems
U
N
D
A
M
P
E
D

F
R
E
E

V
I
B
R
A
T
I
O
N

O
F

2
-
D
-
O
-
F
-
S
MENG-470
1
x
1
k
1
m
2
x
2
k
2
m
3
k
1
x
1
m
2
x
2
m
1 1
k x
3 2
k x
2 2 1
( ) k x x
U
N
D
A
M
P
E
D

F
R
E
E

V
I
B
R
A
T
I
O
N

O
F

2
-
D
-
O
-
F
-
S
MENG-470
First Mass:
Second Mass:
2 2 2 1 2 3 2
( ) 0 m x k x k k x + + =
&&
1 1 1 2 1 2 2
( ) 0 m x k k x k x + + =
&&
Equations of Motion
Let
1 1
cos( ) x X t = +
&
2 2
cos( ) x X t = +
U
N
D
A
M
P
E
D

F
R
E
E

V
I
B
R
A
T
I
O
N

O
F

2
-
D
-
O
-
F
-
S
MENG-470
2
1 1 2 1 2 2
( ) 0 m k k X k X
(
+ + =

&
2
2 1 2 2 3 2
( ) 0 k X m k k X
(
+ + + =

Solution exists when:
2
1 1 2 2
2
2 2 2 3
( )
det 0
( )
m k k k
k m k k
(
(
+ +

(
=
(
(
+ +

U
N
D
A
M
P
E
D

F
R
E
E

V
I
B
R
A
T
I
O
N

O
F

2
-
D
-
O
-
F
-
S
MENG-470
[ ]
4 2
1 2 1 2 2 2 3 1
2
1 2 2 3 2
( ) ( )
( )( ) 0
m m k k m k k m
k k k k k
+ + + +
(
+ + =

2
1 2 2 2 3 2 1
1,2 2
1 2
2 1/ 2
2
1 2 2 2 3 2 1 2 2 3 2 1
2
1 2 1 2
( ) ( )
( ) ( ) ( )( )
4
k k m k k m
m m
k k m k k m k k k k k
mm m m
(
+ + +
=
(

(
| | | |
+ + + + +
( | |
\ \

m
Solution:
U
N
D
A
M
P
E
D

F
R
E
E

V
I
B
R
A
T
I
O
N

O
F

2
-
D
-
O
-
F
-
S
MENG-470
Values of X
1
& X
2
:
2
2 1 1 2
2 2
1
2
1 2
2 1 2 3
1
( )
( )
m k k
X k
r
X k
m k k
(
+ +

= = =
(
+ +

&
2
2 2 1 2
2 2
2
2
1 2
2 2 2 3
2
( )
( )
m k k
X k
r
X k
m k k
(
+ +

= = =
(
+ +

U
N
D
A
M
P
E
D

F
R
E
E

V
I
B
R
A
T
I
O
N

O
F

2
-
D
-
O
-
F
-
S
MENG-470
For
1 1
cos( ) x X t = + &
2 2
cos( ) x X t = +
1 1
2 2
x X
x X
= Independent of time
Synchronous Motion at frequency
2
1 2 2 2 3 1 1
1,2 2
1 2
2 1/ 2
2
1 2 2 2 3 1 1 2 2 3 2 1
2
1 2 1 2
( ) ( )
( ) ( ) ( )( )
4
k k m k k m
m m
k k m k k m k k k k k
m m m m
(
+ + +
=
(

(
| | | |
+ + + + +
( | |
\ \

U
N
D
A
M
P
E
D

F
R
E
E

V
I
B
R
A
T
I
O
N

O
F

2
-
D
-
O
-
F
-
S
MENG-470
with
2
2 1 1 2
2 2
1
2
1 2
2 1 2 3
1
( )
( )
m k k
X k
r
X k
m k k
(
+ +

= = =
(
+ +

&
2
2 2 1 2
2 2
2
2
1 2
2 2 2 3
2
( )
( )
m k k
X k
r
X k
m k k
(
+ +

= = =
(
+ +

{ }
1 1
1
2 1 1
1 1
X X
X
X r X

= =
` `

) )
{ }
1 1
2
2 2 1
2 2
X X
X
X r X

= =
` `

) )
&
1 2
&
Natural frequencies
{ } { }
1 2
& X X
Modes shapes or normal modes
U
N
D
A
M
P
E
D

F
R
E
E

V
I
B
R
A
T
I
O
N

O
F

2
-
D
-
O
-
F
-
S
MENG-470
{ }
1 1
1 1 1 1
1
1 1
2 1 1 1 1
cos( )
cos( )
x X t
x
x r X t

+

= =
` `
+

) )
Final Solutions:
{ }
2 2
1 1 2 2
2
2 2
2 2 1 2 2
cos( )
cos( )
x X t
x
x r X t

+

= =
` `
+

) )
&
1 2
1 1 1 2
, , , & X X
where
are determined from initial conditions
U
N
D
A
M
P
E
D

F
R
E
E

V
I
B
R
A
T
I
O
N

O
F

2
-
D
-
O
-
F
-
S
MENG-470
Initial Conditions
The system can be made to vibrate in its i
th
mode by
subjecting it to specific initial conditions:
1 1 1
2 1 2
( 0) , ( 0) 0,
( 0) , ( 0) 0,
i
i
i
x t X x t
x t r X x t
= = = =
= = = =
&
&
U
N
D
A
M
P
E
D

F
R
E
E

V
I
B
R
A
T
I
O
N

O
F

2
-
D
-
O
-
F
-
S
MENG-470
General Response
{ }
{ } { }
1 2
1 2
x c x c x = +
{ }
{ } { }
1 2
x x x = +
&
1 2
1 1 1 1 1 2 2
cos( ) cos( ) x X t X t = + + +
1 2
2 1 1 1 1 2 1 2 2
cos( ) cos( ) x r X t r X t = + + +
Without loss of generality
1 2
1 1 1 2
, , , & X X
where
are determined from initial conditions
U
N
D
A
M
P
E
D

F
R
E
E

V
I
B
R
A
T
I
O
N

O
F

2
-
D
-
O
-
F
-
S
MENG-470
0 0
0 0
1 1 1 1
2 2 2 2
( 0) , ( 0) ,
( 0) , ( 0) ,
x t x x t x
x t x x t x
= = = =
= = = =
& &
& &
Initial Conditions:
0
1 2
1 1 1 1 1 2
( 0) cos cos x t x X X = = = +
0
1 2
2 2 1 1 1 2 1 2
( 0) cos cos x t x r X r X = = = +
0
1 2
1 1 1 1 1 2 1 2
( 0) sin sin x t x X X = = =
& &
&
0
1 2
2 2 1 1 1 1 2 2 1 2
( 0) sin sin x t x r X r X = = =
& &
U
N
D
A
M
P
E
D

F
R
E
E

V
I
B
R
A
T
I
O
N

O
F

2
-
D
-
O
-
F
-
S
MENG-470
Solution:
0 0
2 1 2
1
1 1
2 1
cos
r x x
X
r r

=
`
)
0 0
1 1 2
2
1 2
2 1
cos
r x x
X
r r
+

=
`
)
0 0
2 1 2
1
1 1
1 2 1
sin
( )
r x x
X
r r
+

=
`
)
& &
&
,
0 0
2 1 2
2
1 2
2 2 1
sin
( )
r x x
X
r r

=
`
)
& &
{ }
0 0
0 0
1
2
2
2
2 1 2
1
1 2 1 2
2 1 1
1
( )
r x x
X r x x
r r
(
+

( = +
`
(
)

& &
{ }
0 0
0 0
1
2
2
2
2 1 2
2
1 2 1 2
2 1 1
1
( )
r x x
X r x x
r r
(

( = + +
`
(
)

& &
U
N
D
A
M
P
E
D

F
R
E
E

V
I
B
R
A
T
I
O
N

O
F

2
-
D
-
O
-
F
-
S
MENG-470
&
0 0
0 0
2 1 2
1
1
1 2 1 2
tan
[ ]
r x x
r x x

+

=
`

)
& &
0 0
0 0
1 1 2
1
2
1 1 1 2
tan
[ ]
r x x
r x x

=
`
+

)
& &
{ }
0 0
0 0
1
2
2
2
2 1 2
1
1 2 1 2
2 1 1
1
( )
r x x
X r x x
r r
(
+

( = +
`
(
)

& &
{ }
0 0
0 0
1
2
2
2
2 1 2
2
1 2 1 2
2 1 1
1
( )
r x x
X r x x
r r
(

( = + +
`
(
)

& &
U
N
D
A
M
P
E
D

F
R
E
E

V
I
B
R
A
T
I
O
N

O
F

2
-
D
-
O
-
F
-
S
MENG-470
m
2
x
2
k k =
3
k k =
1
x
1
k k =
m
Equations of Motion
Let
1 1
cos( ) x X t = +
&
2 2
cos( ) x X t = +
1 1 2
2 0 mx kx kx + =
&&
2 1 2
2 0 mx kx kx + =
&&
&
EXAMPLE:
U
N
D
A
M
P
E
D

F
R
E
E

V
I
B
R
A
T
I
O
N

O
F

2
-
D
-
O
-
F
-
S
MENG-470
( )
( )
2
2
2
det 0
2
m k k
k m k
(
+
(
=
(
+

Conditions for Synchronous Motion:
2 4 2 2
4 3 0 m km k + =
Solution:
1, 2
3
,
k k
m m
=
U
N
D
A
M
P
E
D

F
R
E
E

V
I
B
R
A
T
I
O
N

O
F

2
-
D
-
O
-
F
-
S
MENG-470
2
1
2
1
2
1
1
1
2
1
2
m k
X k
r
X k
m k
(
+

= = = =
(
+

2
2
2
2
2
1
2
2
2
1
2
m k
X k
r
X k
m k
( +

= = = =
( +

&
1
1 1
1
1
1 1
cos
{ }
cos
k
X t
m
x
k
X t
m

| |
+
|
|

\
=
`
| |

+
|

|
\
)
Normal Modes:
2
1 2
2
2
1 2
3
cos
{ }
3
cos
k
X t
m
x
k
X t
m

| |
+
|
|
\
=
`
| |

+
|

|
\
)
&
1
1 1
1
1
1 1
cos
{ }
cos
k
X t
m
x
k
X t
m

| |
+
|
|

\
=
`
| |

+
|

|
\
)
Normal Modes:
2
1 2
2
2
1 2
3
cos
{ }
3
cos
k
X t
m
x
k
X t
m

| |
+
|
|
\
=
`
| |

+
|

|
\
)
&
U
N
D
A
M
P
E
D

F
R
E
E

V
I
B
R
A
T
I
O
N

O
F

2
-
D
-
O
-
F
-
S
MENG-470
m
1
m
2
Mode 1
Mode2
m
1
Node
m
2
U
N
D
A
M
P
E
D

F
R
E
E

V
I
B
R
A
T
I
O
N

O
F

2
-
D
-
O
-
F
-
S
MENG-470
1 2
1 1 1 1 2
3
cos cos
k k
x X t X t
m m

| | | |
= + + +
| |
| |
\ \
General Response
&
1 2
2 1 1 1 2
3
cos cos
k k
x X t X t
m m

| | | |
= + +
| |
| |
\ \
U
N
D
A
M
P
E
D

F
R
E
E

V
I
B
R
A
T
I
O
N

O
F

2
-
D
-
O
-
F
-
S
MENG-470
Redo the previous example taking k=1N/m and m=1kg
m
2
x
2
k k =
3
k k =
1
x
1
k k =
m
1 1 2
2 0 x x x + =
&&
2 1 2
2 0 x x x + =
&&
&
Equations of Motion:
Or in a matrix form:
U
N
D
A
M
P
E
D

F
R
E
E

V
I
B
R
A
T
I
O
N

O
F

2
-
D
-
O
-
F
-
S
MENG-470
Let
1 1
cos( ) x X t = +
&
2 2
cos( ) x X t = +
Which upon substitution yields:
( )
( )
2
2
2 1
det 0
1 2
(
+
(
=
(
+

Conditions for Synchronous Motion
U
N
D
A
M
P
E
D

F
R
E
E

V
I
B
R
A
T
I
O
N

O
F

2
-
D
-
O
-
F
-
S
MENG-470
4 2
4 3 0 + =
Solution:
2 2 2
1, 2
1, 3 / rad s =
{ }
1
1
1 2
1
1
1
X
X
X

= =
` `
)
)
{ }
1
2
2 2
2
1
1
X
X
X

= =
` `
)
)
& Also
U
N
D
A
M
P
E
D

F
R
E
E

V
I
B
R
A
T
I
O
N

O
F

2
-
D
-
O
-
F
-
S
MENG-470
>> k=[2 -1;-1 2];
>> m=eye(2);
>> A=inv(m)*k
>> [v,e]=eig(A)
A =
2 -1
-1 2
v =
-0.7071 -0.7071
-0.7071 0.7071
e =
1 0
0 3
MATLAB CODES
INPUT OUTPUT
U
N
D
A
M
P
E
D

F
R
E
E

V
I
B
R
A
T
I
O
N

O
F

2
-
D
-
O
-
F
-
S
MENG-470
U
N
D
A
M
P
E
D

F
R
E
E

V
I
B
R
A
T
I
O
N

O
F

2
-
D
-
O
-
F
-
S
MENG-470
U
N
D
A
M
P
E
D

F
R
E
E

V
I
B
R
A
T
I
O
N

O
F

2
-
D
-
O
-
F
-
S
MENG-470
Coordinate Coupling
&
Principal Coordinates
U
N
D
A
M
P
E
D

F
R
E
E

V
I
B
R
A
T
I
O
N

O
F

2
-
D
-
O
-
F
-
S
MENG-470
m
2
x
2
k k =
3
k k =
1
x
1
k k =
m
1 1 2
2 0 mx kx kx + =
&&
2 1 2
2 0 mx kx kx + =
&&
&
Coupled Eqns.
1 2
1 1 1 1 2
3
cos cos
k k
x X t X t
m m

| | | |
= + + +
| |
| |
\ \
1 2
2 1 1 1 2
3
cos cos
k k
x X t X t
m m

| | | |
= + +
| |
| |
\ \
Solution for Physical Coordinates:
&
EXAMPLE (Revisit):
Equations of Motion
U
N
D
A
M
P
E
D

F
R
E
E

V
I
B
R
A
T
I
O
N

O
F

2
-
D
-
O
-
F
-
S
MENG-470
let
1
1 1 1
cos
k
q X t
m
| |
= +
|
|
\
2
2 1 2
3
cos
k
q X t
m
| |
= +
|
|
\
&
Add the two equations
Subtract the two equations
U
N
D
A
M
P
E
D

F
R
E
E

V
I
B
R
A
T
I
O
N

O
F

2
-
D
-
O
-
F
-
S
MENG-470
Un-Coupled Equations:
&
These are two un-coupled, linear and first degree of
freedom systems. So, one can solve for the Principal
Coordinates q
1
& q
2
independently, and then find the
solutions in physical coordinates as:
&
Where q
1
& q
2
are defined as the Principal Coordinates
F
O
R
C
E
D

V
I
B
R
A
T
I
O
N

O
F

2
-
D
-
O
-
F
-
S
MENG-470
SIMULINK OUTPUTS
X
1
:
F
O
R
C
E
D

V
I
B
R
A
T
I
O
N

O
F

2
-
D
-
O
-
F
-
S
MENG-470
SIMULINK OUTPUTS
X
2
:
MENG-470
Forced Forced Vibration Vibration
Of Two Degrees of Freedom Of Two Degrees of Freedom
Systems Systems
F
O
R
C
E
D

V
I
B
R
A
T
I
O
N

O
F

2
-
D
-
O
-
F
-
S
MENG-470
1
x
1
k
1
c
1
m
2
x
2
k
2
c
2
m
3
k
3
c
1
x
1
m
2
x
2
m
1 1
k x
3 2
k x
1 1
c x&
3 2
c x
&
2 2 1
( ) k x x
2 2 1
( ) c x x & &
F FF F
1 11 1
F FF F
2 22 2
11 12 1 11 12 1 12 12 1 1
21 22 2 21 21 2 21 22 2 2
m m x c c x k k x F
m m x c c x k k x F
( ( (
+ + =
` ` ` `
( ( (
) ) ) )
&& &
&& &
F
O
R
C
E
D

V
I
B
R
A
T
I
O
N

O
F

2
-
D
-
O
-
F
-
S
MENG-470
1, 2
o
i t
j j
F F e j
= =
Let
&
1, 2
i t
j j
x X e j
= =
0
0
2 2
1
11 11 11 12 12 12 1
2 2
2 2
21 21 21 22 22 22
( ) ( )
( ) ( )
F
m i c k m i c k X
X F
m i c k m i c k

(
+ + + +

=
( ` `
+ + + +
(
)
)
2
( ) , 1, 2
rs rs rs rs
Z m i c k r s = + + = Let
0
0
1
11 12 1
21 22 2 2
F
Z Z X
Z Z X F

(

=
` `
(
)
)
or
0
[ ]{ } { } Z X F =
1
0
{ } [ ] { } X Z F
=
F
O
R
C
E
D

V
I
B
R
A
T
I
O
N

O
F

2
-
D
-
O
-
F
-
S
MENG-470
0 0
22 1 12 2
1
2
11 22 12
Z F Z F
X
Z Z Z
0 0
12 1 11 2
2
2
11 22 12
Z F Z F
X
Z Z Z
+
=
&
F
O
R
C
E
D

V
I
B
R
A
T
I
O
N

O
F

2
-
D
-
O
-
F
-
S
MENG-470
m
2
x
2
k k =
3
k k =
1
x
1
k k =
m
0
1
cos F t
EXAMPLE:
0
1 1 2 1
2 cos mx kx kx F t + =
&&
2 1 2
2 0 mx kx kx + =
&&
&
0
1
1 1
2 2
cos
2
2
0
F t
x x m o k k
o m x k k x

( (

+ =
` ` `
( (

) )
)
&&
&&
11 22 12 21
, 0 m m m m m = = = =
11 12 21 22
0 c c c c = = = =
11 22 12 21
2 , k k k k k k = = = =
F
O
R
C
E
D

V
I
B
R
A
T
I
O
N

O
F

2
-
D
-
O
-
F
-
S
MENG-470
cos 1, 2
j j
x X t j = =
Solution
2
11 22
( 2 ) Z Z m k = = +
12 21
Z Z k = =
&
( )
( )
( )
( )( )
0 0
2 2
1 1
1
2
2 2
2 2
2 2
3
2
m k F m k F
X
m k m k
m k k

+ +
= =
+ +
+
( )
( )( )
0 0
1 1
2
2
2 2
2 2
3
2
kF kF
X
m k m k
m k k

= =
+ +
+
&
0
2
1
1
1
2 2 2
2
1 1 1
2
1
F
X
k

(
| |
(
|
(
\

=
( (
| | | | | |
( (
| | |
( (
\ \ \

&
0
1
2
2 2 2
2
1 1 1
1
F
X
k

=
( (
| | | | | |
( (
| | |
( (
\ \ \

2 2
1 2
/ , 3 / k m k m = = where
F
O
R
C
E
D

V
I
B
R
A
T
I
O
N

O
F

2
-
D
-
O
-
F
-
S
MENG-470
F
O
R
C
E
D

V
I
B
R
A
T
I
O
N

O
F

2
-
D
-
O
-
F
-
S
MENG-470
Orthogonality
of Modes
F
O
R
C
E
D

V
I
B
R
A
T
I
O
N

O
F

2
-
D
-
O
-
F
-
S
MENG-470
[ ]{ } [ ]{ }
2
1
1 1
K X M X =
[ ]{ } [ ]{ }
2
K X M X =
Stiffness Matrix Mass Matrix
As
Consider two different natural frequencies
1
&
2
Eigenvalue
Eigenvector
& [ ]{ } [ ]{ }
2
2
2 2
K X M X =
F
O
R
C
E
D

V
I
B
R
A
T
I
O
N

O
F

2
-
D
-
O
-
F
-
S
MENG-470
{ } [ ]{ } { } [ ]{ }
2
1
2 1 2 1
T T
X K X X M X =
Multiply 1
st
eqn by {X}
2
T
& 2
nd
eqn by {X}
1
T
gives
&
{ } [ ]{ } { } [ ]{ }
2
2
1 2 1 2
T T
X K X X M X =
Subtract the above equations
2 2
2 1 2 1
( ){ } [ ]{ } 0
T
X M X =
F
O
R
C
E
D

V
I
B
R
A
T
I
O
N

O
F

2
-
D
-
O
-
F
-
S
MENG-470
2 1
{ } [ ]{ } 0
T
X M X =
Similarly,
2 1
{ } [ ]{ } 0
T
X K X =
Hence, the eigenvectors (mode shapes) {X}
1
& {X}
2
are orthogonal with respect to both
the mass & stiffness matrices
F
O
R
C
E
D

V
I
B
R
A
T
I
O
N

O
F

2
-
D
-
O
-
F
-
S
MENG-470
When k=1N/m & m=1kg
m
2
x
2
k k =
3
k k =
1
x
1
k k =
m
2 2 2
1,2
1, 3 / rad s =
{ }
1
1
1 2
1
1
1
X
X
X

= =
` `
)
)
{ }
1
2
2 2
2
1
1
X
X
X

= =
` `
)
)
&
1 1
2
2 2
2 1 1 0
1 2 0 1
X X
X X
( (
=
` `
( (
) )
Stiffness Matrix
Mass Matrix
F
O
R
C
E
D

V
I
B
R
A
T
I
O
N

O
F

2
-
D
-
O
-
F
-
S
MENG-470
{ }
2 1
1 0 1
{ } [ ]{ } 1 1 0
0 1 1
T
X M X
(
= =
`
(
)
Similarly,
{ }
2 1
2 1 1
{ } [ ]{ } 1 1 0
1 2 1
T
X K X
(
= =
`
(
)
Hence, the eigenvectors (mode shapes) {X}
1
& {X}
2
are orthogonal with respect to both
the mass & stiffness matrices
F
O
R
C
E
D

V
I
B
R
A
T
I
O
N

O
F

2
-
D
-
O
-
F
-
S
MENG-470
Stability of 2DOF
System
F
O
R
C
E
D

V
I
B
R
A
T
I
O
N

O
F

2
-
D
-
O
-
F
-
S
MENG-470
11 12 1 11 12 1 12 12 1
21 22 2 21 21 2 21 22 2
0
0
m m x c c x k k x
m m x c c x k k x
( ( (
+ + =
` ` ` `
( ( (
) ) ) )
&& &
&& &
Equations of Motion
Let
2 2
11 11 11 12 12 12 1
2 2
2
21 21 21 22 22 22
( ) ( ) 0
0
( ) ( )
s m sc k s m sc k X
X
s m sc k s m sc k
( + + + +

=
( ` `
+ + + +
( ) )

1, 2
st
j j
x X e j = =
F
O
R
C
E
D

V
I
B
R
A
T
I
O
N

O
F

2
-
D
-
O
-
F
-
S
MENG-470
Solution exists if
2 2
11 11 11 12 12 12
2 2
21 21 21 22 22 22
( ) ( )
det 0
( ) ( )
s m sc k s m sc k
s m sc k s m sc k
( + + + +
=
(
+ + + +
(

or
4 3 2
0 1 2 3 4
0 a s a s a s a s a + + + + =
System is stable if ALL the roots of above
equations have negative real parts
F
O
R
C
E
D

V
I
B
R
A
T
I
O
N

O
F

2
-
D
-
O
-
F
-
S
MENG-470
Modal Modal
Uncoupling Uncoupling
F
O
R
C
E
D

V
I
B
R
A
T
I
O
N

O
F

2
-
D
-
O
-
F
-
S
MENG-470
Equation of Motion:
[ ]{ } [ ]{ } { } M x K x F + =
&&
Let
1 2
[ ] [{ } { } .... { } ]
N
X X X X =
be the matrix of the eigenvectors
And define
{ } [ ]{ } x X q =
F
O
R
C
E
D

V
I
B
R
A
T
I
O
N

O
F

2
-
D
-
O
-
F
-
S
MENG-470
[ ][ }{ } [ ][ ]{ } { } M X q K X q F + =
&&
Pre-multiply both sides by [X]
T
gives
[ ] [ ][ ]{ } [ ] [ ][ ]{ } [ ] { }
T T T
X M X q X K X q X F + =
&&
Consider [X]
T
[M] [X] for 2DOF system:
1 1
2 2
{ } [ ]{ } 0
0 { } [ ]{ }
T
T
X M X
X M X
(
=
(
(

1 1 1 1 2
1 2
2 2 1 2 2
{ } { } [ ]{ } { } [ ]{ }
[ ] [ ][ ] [ ] { } { }
{ } { } [ ]{ } { } [ ]{ }
T T T
T
T T T
X X M X X M X
X M X M X X
X X M X X M X
( (
(
= =
( (

( (

F
O
R
C
E
D

V
I
B
R
A
T
I
O
N

O
F

2
-
D
-
O
-
F
-
S
MENG-470
For 2DOF system
[X]
T
[M][X]{q}+ [X]
T
[K] [X]{q}=0
1
1 1 1 1 1 1
2 2
2 2 2 2
{ } [ ]{ } 0 { } [ ]{ } 0
0
0 { } [ ]{ } 0 { } [ ]{ }
T T
T T
q X M X X K X q
q q
X M X X K X
( (

+ =
( ( ` `
( ( ) )

&&
&&
1 1 1 1 1 1
2 2
2 2 2 2
{ } [ ]{ } 0 { } [ ]{ } 0
0
0 { } [ ]{ } 0 { } [ ]{ }
T T
T T
X M X q X K X q
q q
X M X X K X
( (

+ =
( ( ` `
( ( ) )

&&
&&
F
O
R
C
E
D

V
I
B
R
A
T
I
O
N

O
F

2
-
D
-
O
-
F
-
S
MENG-470
For 2DOF system
[X]
T
[M][X]{q}+ [X]
T
[K] [X]{q}=0
1 1
1 1 1 1
2 2
2 2
2 2
{ } [ ]{ }
0
{ } [ ]{ }
0
{ } [ ]{ }
0
{ } [ ]{ }
T
T
T
T
X K X
q X M X q
q q
X K X
X M X
(
(

(
+ =
` `
(
) )
(

&&
&&
F
O
R
C
E
D

V
I
B
R
A
T
I
O
N

O
F

2
-
D
-
O
-
F
-
S
MENG-470
1 1
1 1 1 1
2 2
2 2
2 2
{ } [ ]{ }
0
{ } [ ]{ }
0
{ } [ ]{ }
0
{ } [ ]{ }
T
T
T
T
X K X
q X M X q
q q
X K X
X M X
(
(

(
+ =
` `
(
) )
(

&&
&&
{ } [ ]{ }
{ } [ ]{ }
2
1 1
1
1 1
T
T
X K X
X M X
=
Rayleighs Quotient:
{ } [ ]{ }
{ } [ ]{ }
2
2 2
2
2 2
T
T
X K X
X M X
= &
F
O
R
C
E
D

V
I
B
R
A
T
I
O
N

O
F

2
-
D
-
O
-
F
-
S
MENG-470
2
1 1 1
2
2 2
2
0
0
0
q q
q q
(

+ =
( ` `
(
) )

&&
&&
For N DOF:
2
1
1 1
2
2 2
2
2
0 ..... 0
0 ..... 0
0
.... ....
.... ..... ..... ....
0 ..... .....
N N
N
q q
q q
q q
(

(

(
+ =
` `
(

(

(
) )

&&
&&
&&
2
1,..,
i n i i i
q q Q i N + = =
&& or Uncoupled
F
O
R
C
E
D

V
I
B
R
A
T
I
O
N

O
F

2
-
D
-
O
-
F
-
S
MENG-470
Then, transform to the physical domain:
{ } [ ] { } x X q =
Solve for q
i
0
(0)
(0) cos( ) sin( )
1
( ) sin ( ) 1,..,
i
i i ni ni
ni
t
i ni
ni
q
q q t t
Q t d i N

| |
= +
|
\
+ =
&
F
O
R
C
E
D

V
I
B
R
A
T
I
O
N

O
F

2
-
D
-
O
-
F
-
S
MENG-470
Rayleighs
Quotient
F
O
R
C
E
D

V
I
B
R
A
T
I
O
N

O
F

2
-
D
-
O
-
F
-
S
MENG-470
[ ]{ } [ ]{ }
2
1
1 1
K X M X =
[ ]{ } [ ]{ }
2
K X M X =
Stiffness Matrix Mass Matrix
As
At the natural frequencies
1
Eigenvalue
Eigenvector
{ } [ ]{ }
{ } [ ]{ }
2
1 1
1
1 1
T
T
X K X
X M X
=
F
O
R
C
E
D

V
I
B
R
A
T
I
O
N

O
F

2
-
D
-
O
-
F
-
S
MENG-470
Called Rayleighs Quotient
F
O
R
C
E
D

V
I
B
R
A
T
I
O
N

O
F

2
-
D
-
O
-
F
-
S
MENG-470
EXAMPLE: Estimate the first (fundamental) natural
frequency of the given systemby means of Rayleighs Quotient
1
k
3
k
2
k
F FF F
1 11 1
F FF F
2 22 2
F FF F
3 33 3
Take:
Compare the result with the exact value
F
O
R
C
E
D

V
I
B
R
A
T
I
O
N

O
F

2
-
D
-
O
-
F
-
S
MENG-470
Deriving the equations of motion of the given system, the mass and stiffness
matrices will be:
We need first to start with a trail displacement vector. A good initial guess
can be found from:
To use Rayleighs Quotient
F
O
R
C
E
D

V
I
B
R
A
T
I
O
N

O
F

2
-
D
-
O
-
F
-
S
MENG-470
Hence, we will let
We can see that the estimated value is very close to the exact one!
F
O
R
C
E
D

V
I
B
R
A
T
I
O
N

O
F

2
-
D
-
O
-
F
-
S
MENG-470
EXAMPLE: Estimate all eigenvalues (natural frequencies)
and all eigenvectors (mode shape vectors) of the given system
in the previous example by means of Rayleighs Quotient
To estimate all eigenvalues and eigenvectors vectors of the system, let us
assume a general eigenvector of the form
Where a and b are unknowns. Our job now is to find the values of a
and b at which minimize Rayleighs Quotient. In other words, we need to
solve the following two equations for a and b :
The following MATHEMATICA
TM
will do this task!
F
O
R
C
E
D

V
I
B
R
A
T
I
O
N

O
F

2
-
D
-
O
-
F
-
S
MENG-470
MATHEMATICA MATHEMATICA
TM TM
CODES CODES
Thus the three eigenvectors (mode shapes) are:
F
O
R
C
E
D

V
I
B
R
A
T
I
O
N

O
F

2
-
D
-
O
-
F
-
S
MENG-470
Thus the three eigenvectors (mode shapes) are:
And the three eigenvalues (natural frequencies) are:
2
nd
mode shape at 2
nd
natural frequency
3
rd
mode shape at 3
rd
natural frequency
1
st
mode shape at 1
st
natural frequency
F
O
R
C
E
D

V
I
B
R
A
T
I
O
N

O
F

2
-
D
-
O
-
F
-
S
MENG-470
CHECK WITH MATHEMATICA CHECK WITH MATHEMATICA
TM TM

MENG470 Spring2011 Vibration of Two DOFS

Uploaded by

Document Information

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

MENG470 Spring2011 Vibration of Two DOFS

Uploaded by

Copyright:

Available Formats

Source: www.almitani.

You might also like