ENGINEERING COUNCIL DYNAMICS OF MECHANICAL SYSTEMS D225 TUTORIAL 14 NATURAL VIBRATIONS TWO DEGREES OF FREEDOM On completion of this tutorial

l you should be able to do the following. Find the natural frequencies for 2 DOF systems. Define and determine the shape modes for 2 DOF systems. Explain how to use Eigenvalues in the solution. Describe higher DOF systems Solve problems involving forced vibrations. Explain the principles of vibration absorbers.

This subject required advanced mathematical techniques in particular the use of matrix Algebra. You are advised to study the tutorials on Matrix Algebra in the Maths tutorials before you start. You will find other tutorials on this subject with animations at the following links. http://www.mech.uwa.edu.au/bjs/Vibration/TwoDOF/Transient/default.html http://www.kettering.edu/~drussell/Demos/absorber/DynamicAbsorber.html http://www.efunda.com/formulae/vibrations/mdof_eom.cfm http://www.fsid.cvut.cz/en/U2052/node123.html

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MASS SPRING SYSTEM

k is the stiffness of the spring (N/m) m is the mass (kg) x is the displacement of a mass from its rest position When this system vibrates freely, there are two natural frequencies, one for each mode of vibration. Balancing forces on m1 we have m1&&1 + k1x1 k 2 (x 2 x1 ) = 0 x Balancing forces on m2 we have m 2 && 2 + k 2 (x 2 x1 ) = 0 x Knowing the motion of each mass is sinusoidal we x can substitute x = X ejt = sin(t) and && = 2 X ejt x1 = X1 ejt &&1 = -2 X1 ejt x and and x2 = X2 ejt && 2 = -2 X2 ejt x

If these are substituted back into the equations of motion we have: m1&&1 + k1x1 k 2 (x 2 x1 ) = 0 x
m1X1 2e j t + k1X1e j t k 2 X 2e j t X1e j t = 0 m1X1 2 + k1X1 k 2 {X 2 X1} = 0 X1 m12 + k1 + k 2 + X 2 ( k 2 ) = 0

and
m 2 && 2 + k 2 (x 2 x1 ) = 0 x

m 2 2 X 2e j t + k 2 X 2e j t X1e j t = 0 X1 ( k 2 ) + X 2 m 2 2 + k 2 = 0 This gives us a pair of simultaneous equations and so A and B are solved. In matrix form we have m 2 2 X 2 + k 2 {X 2 X1} = 0

m12 + k1 + k 2 k2

X1 k2 2 m 2 + k 2 X 2

X1 and X2 could be solved by equating the determinant to zero. m12 + k1 + k 2 k2 k2 =0 m 22 + k 2

This is called the characteristic equation and yields the values of .

( m + k + k )( m + k ) ( k )( k ) = 0 (m m m k k m + k k k m + k ) k
1 2 1 2 2 2 2 2 2

m1m 2 4 2 (m1k 2 + k1m 2 + k 2 m 2 ) + k1k 2 = 0

1 2

2 2

2 2

=0

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4 2

(m1k 2 + k1m 2 + k 2 m 2 ) +
m1m 2

k1k 2 =0 m1m 2

k k k kk 4 2 2 + 1 + 2 + 1 2 = 0 m 2 m1 m1 m1m 2 This gives a solution for by solving 2 with the quadreatic equation.

2 =
2

k2 k k + 1 + 2 m 2 m1 m1

k2 k k kk + 1 + 2 4 1 2 m m 1m 2 2 m1 m1 2
2

1 k k k 1 k 2 k1 k 2 k1k 2 = 2 + 1 + 2 m m + m + m m m 2 2 m1 m1 4 2 1 1 1 2 This gives two values for and these are the natural frequencies. The lower frequency is called the fundamental frequency. Note that k/m is the natural frequency of a single DOF system so : 1 k 1 2 k n2 + 2 + 2 2 2 = 2 + 2 + 2 n1 n2 n1 n1 n2 2 m1 4 m1 MATRIX SOLUTIONS
2 2

The equations for the system were stated at the beginning as :m1&&1 + k1x1 k 2 (x 2 x1 ) = 0 and m 2 && 2 + k 2 (x 2 x1 ) = 0 x x If we change these to make x the common factor we have m1&&1 + k1x1 k 2 x 2 + k 2 x1 = 0 x m1&&1 + (k1 + k 2 )x1 k 2 x 2 = 0 x and && 2 + k 2 x 2 k 2 x1 = 0 m2x

In matrix form this is:

x m1 0 &&1 k1 + k2 0 m && + k 2 x2 2

k2 x1 =0 k2 x2

k1 + k 2 0 m The mass matrix is M = 1 The stiffness matrix is K = k2 0 m2

x The matrix from may be written as M && + K x = 0 .......................(A)
The displacement equations are x1 = A sin (t + ) and x2 = B sin (t + ) Let the amplitude vector be X The displacement vectors are x = X sin (t + ) ................(B) x The second derivative of this is && = 2 sin(t + )X ............(C) Substitute (B) and (C) into (A).

k2 k2

M 2 sin(t + )X + K {sin(t + )X} = 0

{ M { M

2 2

+ K X{sin(t + )} = 0

} + K}X = 0 ....................(D)

If there is a non trivial solution then det M 2 + K X = 0 ...................(E)

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Equation (E) gives us the exact same solution for as found earlier.

det M 2 + K X = 0
m + k1 + k 2 det 1 k2
2

A k2 = 0 m 22 + k 2 B

Mode shapes are displacement patterns representing the relative positions of both masses. It is normal to take A= 1 and solve B so the mode shape is A/B. There is one mode shape for each degree of freedom so in this case there are two. These are found by substituting and finding A/B for each frequency.

WORKED EXAMPLE No.1

0 2 0 m k1 + k2 k 2 1000 500 Given M = 1 = = 0 4 K = k k 2 500 500 2 0 m2 Find the two natural frequencies and mode shapes. m12 + k1 + k 2 A k2 det = 0 k2 m 22 + k 2 B

2 2 + 1000 500 det =0 500 4 2 + 500 2 2 + 1000 4 2 + 500 ( 500)( 500) = 0

)(

8 4 1000 2 4000 2 + 500000 250000 = 0

84 50002 +250000 = 0 Solving the quadratic for 2 we get 2 = 570.2 and 54.8 = 23.9 rad/s and 7.4 rad/s now substitute these into m1 2 + k1 + k 2 X1 k2 = 0 2 k2 m 2 + k 2 X 2 First substitute = 54.8 500 2(54.8) + 1000 X1 =0 500 4(54.8) + 500 X 2
890.4 500 X1 500 280.8 X = 0 2

890.4X1 500X2 = 0 and -500 X1 + 280.8 X2 = 0 Let X1 = 1 and X2 = 890.4/500 = 1.781 or 500/280.8 = 1.781. The mode shape is the ratio 1.781/1 Next substitute = 23.9 500 500 X1 2(570.2) + 1000 X1 - 140.4 X = 0 500 1780.8 X = 0 500 4(570.2) + 500 2 2 -140.4X1 500X2 = 0 and -500X1 1780.8 X2 = 0

Let X1= 1 and X2 = -140.4/500 = -0.281 or -500/1780.8 = -0.281. The mode shape is the ratio -0.281/1
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In the example the interpretation of the mode shapes is as follows. At the lower frequency they move in phase reaching maximum amplitude with a ratio 1.781/1. At the higher frequency they move in opposite phase with and amplitude -0.281/1. You might puzzle why the frequency is the same for both masses at each mode. Remember that both masses are affected by the other and they are not independent systems. If each were independent the frequency would simply be = k/m for each (15.8 and 11.2 rad/s in this case)

The shape modes can be determined from the following formulae. Mode 1 Mode 2
2 X 2 m11 + k1 + k 2 k2 = = 2 X1 k2 m 21 + k 2

X 2 m1 2 + k1 + k 2 k2 2 = = X1 k2 m 2 2 + k 2 2

EIGEN VALUES

Equation (D) earlier was M 2 + K X = 0 Divide through by M [M-1 K 2]X = 0 If we let = 2 [M-1 K ] X = 0 [M-1 K] X = X Hence is the eigenvalue of [M-1 K] and this may be found easily with computer packages such as Mathcad. The method can be used to solve problems with three or more degrees of freedom. There is a natural frequency for each degree. The method can be used for any two degree of freedom system in which the stiffness and mass matrices are clearly identified.

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WORKED EXAMPLE No.2

Given m1 = 2 kg , k1 = 30 000 N/m, m2 = 30 kg and k2 = 40 000 N/m determine the two natural frequencies using the mass and stiffness matrices and check with the derived formula. Determine the mode shapes.
SOLUTION

0 2 0 m The mass matrix is M = 1 = 0 m2 0 30 k + k k 2 70000 40000 The stiffness matrix is K = 1 2 = k2 k 2 40000 40000 x 2 0 &&1 70000 40000 x1 0 0 30 && + 40000 40000 x = 0 x2 2

To avoid trivial solutions we must have det 2 .M + K = 0 2 0 70000 40000 det 2 . + = 0 0 30 40000 40000 2 2 + 70000 40000 det =0 30 2 + 40000 40000 2 2 + 70000 30 2 + 40000 ( 40000)( 40000) = 0

)(

60 4 80 x103 2 2.1x10 6 2 + 2.8x109 1.6 x10 9 = 0 604 2.18x1062 +1.2x109 = 0 Solving the quadratic for 2 we get 2 = 35.77 x 103 and 560 = 189.1 rad/s and 23.6 rad/s

1 k k + k2 1 k 2 k1 + k 2 k1k 2 = 2 + 1 m m + m m m 2 2 m1 4 2 1 1 2
2

1 40000 70000 1 40000 70000 1200000000 = + + = 18167 17608 2 30 2 4 30 2 60

2

2 = 35774 and 558.7

= 189.1 and 23.63 rad/s

Next substitute = 23.63 40000 2(558.7) + 70000 A 68883 40000 A B = 0 40000 23239 B = 0 40000 30(558.7) + 40000 68883X1 40000X2 = 0 and -40000X1 +23239 X2 = 0 Let X1 = 1 and X2 = 68883/40000 = 1.722 or 40000/23239 = 1.722 The mode shape is the ratio 1.722/1 Next substitute = 189.1 40000 40000 A 2(35774) + 70000 A - 1548 B = 0 40000 1033220 B = 0 40000 30(35774) + 40000 -1548 X1 - 40000 X2 = 0 and -40000 X1 -1033220 X2 = 0 Let X1 = 1 and X2 = -1548/40000 = - 0.0387 or -40000/1033220 = - 0.0387
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SELF ASSESSMENT EXERCISE No.1

Calculate the natural frequencies and mode shapes for the systems below.

(37 rad/s, 76.3 rad/s, 1.523 and -2.189)

(839 rad/s, 94 rad/s, -0.018 and 3.456)

(51.1 rad/s, 19.5 rad/s, 1.618 and 0.618)

THREE DEGREES OF FREEDOM

For a three degree of freedom system the mass and stiffness matrices are as follows.
m1 0 M = 0 m2 0 0 0 0 m3 k1 + k 2 K= k2 0 k2 k 2 + k3 k3 0 k3 k3

The pattern for higher DOF may be discerned. The solution is difficult without a computer package.

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FORCED VIBRATIONS

Since we are not examining cases with no damping, the resonant frequencies will produce very large amplitudes and these will occur at a single frequency. There will be two resonant frequencies for a two DOF system.
CASE 1 FORCE APPLIED TO m2 There are more cases of forced vibrations as to be examined than for single DOF systems. In this tutorial we will only examine the application of a sinusoidal force. The following is a guide to the general approach and we start with the case when the force is applied to m2 as shown.

The free body diagram shown yields:m1 &&1 + k1 x1 k2(x2 - x1) = 0 and x m2 && 2 + k2 (x2 - x1) = Fosin(t) x Change to the complex operator x = X ejt x Note that && is d2x/dt2 = - 2 X ejt X is the amplitude of the motion. -m1 2X1 ejt + k1 X1 ejt k2(X2 - X1) ejt = 0 -m1 2X1 + k1 X1 k2(X2 - X1) = 0 -m1 2X1 + k1 X1 k2X2 + k2X1 = 0 .(1) -m2 2X2 ejt + k2 (X2 - X1) ejt = Fo ejt -m2 2X2 + k2 (X2 - X1) = Fo -m2 2X2 + k2 X2 - k2X1 = Fo.(2) k1 + k 2 m1 2 2 From (1) we get X 2 = X1 ....................(3) Noting that k1/m1 = 1 k2

X 2 k1 k 2 m1 2 k1 k 2 2 = 1+ = 2 ................(4) 1 + X1 k 2 k1 k1 k 2 k1 1 k + k 2 m1 2 k + k 2 m1 2 Substitute (3) into (2) - m 22 X1 1 + k 2 X1 1 k 2 X1 = Fo k2 k2 k + k 2 m1 2 k + k 2 m1 2 2 2 X1 1 X1 1 - m 2 + k 2 k 2 = Fo - m 2 + k 2 k 2 X1 = Fo k2 k2 k k m k m m X1 1 + 2 1 2 1 k 2 - m 2 2 k 2 X1 = Fo X1 1 + 2 1 2 1 - 2 2 k1 k 2 X1 = Fo k1 k1 k 2 k1 k 1 k 2

k 2 2 X1 1 + 2 2 1 - 2 k1 k 2 = Fo k1 n1 n2 k1 + k 2 m1 2 Fo X1 = X 2 = X1 k 2 2 2 k2 k1 k 2 1 + 1 k1 2 2 n1 n2 n1 and n2 are the natural frequencies of the single DOF mass-spring system given by the formula derived earlier.

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WORKED EXAMPLE No.3

A system as shown in the previous diagram has the following data. m1 = 10 kg, m2 = 2 kg, k1 = 10 000 N/m, k2 = 6000 N/m and Fo = 100 N Plot X2 and X1 and the ratio X2/X1 against frequency. Calculate the natural frequencies for the two DOF system and the individual one DOF systems. Draw conclusions about the behaviour of the system.
SOLUTION n1 =(k1/m1) = 31.62 rad/s
2

n2 =(k2/m2) = 54.77 rad/s

2

1 k 1 2 k n2 + 2 + 2 2 2 = 2 + 2 + 2 n2 n1 n1 n1 n2 2 m1 4 m1
2 1 1 54.77 2 + 31.62 2 + 600 54.77 231.62 2 54.77 2 + 31.62 2 + 600 4 2 2 = 2300 5290000 3000000 2 = 2300 2290000 = 2300 1513.3 2 = 3813.3 or 786.7 = 61.75 or 28 rad/s If we tried to evaluate and plot without the aid of a computer we would find it difficult to pin point the resonant frequencies because without damping they are just spikes as shown. Fo k k 2 The plots for X1 = and X 2 = X1 1 1 + 2 2 are shown k 2 2 2 k 2 k1 n1 2 1 2 k1 k 2 1 + k1 n1 n2

2 =

below.

We can see that there are two resonant frequencies that occur at the natural frequencies of the 2 DOF system. Now plot the amplitude ratio. X 2 k1 k 2 2 = 1 + X1 k 2 k1 2 n1 Evaluate and plot We can see that at = 40 rad/s the ratio is 0 and this means that m2 is not moving. In this case only m1 is oscillating and both springs are changing length and effectively combine to form one spring of stiffness k1 + k2. The forcing frequency must then correspond to =
= 1600 = 40 rad/s 10
9

k1 + k 2 and if we check this out m1

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CASE 2 FORCE APPLIED TO m1

The free body diagram shown yields:m1 &&1 + k1 x1 k2(x2 - x1) = Fosin(t) and x m2 && 2 + k2 (x2 - x1) = 0 x Change to the complex operator x = X ejt x Note that && is d2x/dt2 = 2 X ejt X is the amplitude of the motion.

-m1 2X1 ejt + k1 X1 ejt k2(X2 - X1) ejt = Fo ejt -m1 2X1 + k1 X1 k2(X2 - X1) = Fo -m1 2X1 + k1 X1 k2X2 + k2X1 = Fo .(1) -m2 2X2 ejt + k2 (X2 - X1) ejt = 0 -m2 2X2 + k2 (X2 - X1) = 0 -m2 2X2 + k2 X2 - k2X1 = 0.(2) k m 2 2 2 2 From (2) we get X1 = X 2 2 = X 2 1 2 ....................(3) Noting that k2/m2 = n2 k2 n2 X1 2 = 1 ................(4) X 2 2 n2 Substitute (3) into (1) 2 2 2 - m12 X 2 1 2 + k1X 2 1 2 k 2 X 2 + k 2 X 2 1 2 = Fo n2 n2 n2 2 X 2 1 2 - m12 + k1 + k 2 k 2 X 2 = Fo n2 2 X 2 1 2 k1 + k 2 - m12 k 2 = Fo n2 2 k m X 2 1 2 1 + 2 - 1 2 k1 k 2 = Fo n2 k1 k1 2 2 k X 2 1 2 1 + 2 - 2 k1 k 2 = Fo n2 k1 n1 Fo 2 X2 = X1 = X 2 1 2 2 k 2 2 n2 - 2 k1 k 2 1 2 1 + n2 k1 n1

1 and 2 are the natural frequencies of the single DOF mass-spring system.

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WORKED EXAMPLE No.4

A system as shown in the previous diagram has the following data. m1 = 10 kg, m2 = 2 kg, k1 = 10 000 N/m, k2 = 6000 N/m and Fo = 100 N. Plot X2, X1 and the ratio X2/X1 against frequency. Calculate the natural frequencies for the two DOF system and the individual one DOF systems. Draw conclusions about the behaviour of the system.
SOLUTION

This is the sdame as the last example but with the force applied to m1. As before : n1 =(k1/m1) = 31.62 rad/s n2 =(k2/m2) = 54.77 rad/s and for the 2 DOF system = 61.75 and 28 rad/s If we tried to evaluate and plot without the aid of a computer we would find it difficult to pin point the resonant frequencies because without damping they are just spikes as shown. Fo 2 Evaluate X 2 = and X1 = X 2 1 2 and plot and we get the 2 k 2 2 n2 - 2 k1 k 2 1 2 1 + n2 k1 n1 following results.

We can see that there are two resonant frequencies that occur at the natural frequencies of the 2 DOF system. Now plot the amplitude ratio. X1 2 = 1 X 2 2 n2 Evaluate and plot We can see that at = 54.77 rad/s the ratio is 0 and this means that m1 is not moving. In this case only m1 is oscillating and the frequency must be n2 =k2/m2= 54.77 rad/s

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11

VIBRATION ABSORBER

When a mass and spring is added to a vibrating system with a natural frequency n1 and tuned so that the motion of the main mass is reduced (to zero), the system is called a vibration absorber. In this case m2 and k2 are selected so that n2 = forcing frequency. X1 2 = 1 In this case = 1-1=0 X 2 2 n2

WORKED EXAMPLE No.5

A machine of mass 20 kg is mounted on flexible supports and has a significant level of vertical vibration at the resonant frequency of 80 Hz. A second mass is to be attached to the top on a sprung platform to absorb this vibration. If the mass is to be 1.2 kg, calculate the spring rate of the mountings and the absorber spring rate required.
SOLUTION

The initial system has a natural frequency n =

80 = 12.732 = 2

k1 m1

80 k1 = 12.732 = k1 = 3242.28 N/m 2 20 When the absorber mass is added it must absorb the vibrations at 12.732 rad/s so = 12.732 = k2 k2 = m2 1.2

k2 = 1.2(12.732)2 = 194.54 N/m If we plot

X1 2 = 1 we can see that this is zero at 12.7 rad/s X 2 2 n2

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SELF ASSESSMENT EXERCISE No.2

1. For the system shown, calculate the resonant frequencies when Fo = 4 N. (21.6 and 46.2 rad/s) Calculate the forcing frequency that results in no motion of the 0.5 kg mass. (31.6 rad/s) Calculate the absolute amplitudes of both masses at 5 rad/s. (8.34 mm and 8.55 mm)

2. For the system shown, calculate the resonant frequencies when Fo = 12 N. (17.3 and 31.6 rad/s) Calculate the forcing frequency that results in no motion of the 0.5 kg mass. (28.2 rad/s) Calculate the absolute amplitudes of both masses at 1 rad/s. (10.043 mm and 40.1 mm)

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