Module: 11

Lecture: 4
Co-ordinate Coupling:
m11
m
21

m12
x1 K11

m22
x2 K 21

K12 x1 0
- most general case of coupling
K 22 x2 0

Static Coupling m12 m21 0 when mass matrix is diagonal

Mass /Dynamics Coupling:
When, mass matrix is non-diagonal.
Rigid Bar
G
l1

l2
K2

K1

G Centre of mass
K1, K2 Spring Constants
Co-ordinatex&

mg
After given a displacement and rotation,
x

K1 x l1

J
K 2 x l2

mx

Assume is small cos 1

J= mass moment of inertia about a lateral axis passing through G.
mr2

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 mx K1 x l1 K 2 x l2 0
J K 2 x l2 l2 cos K1 x l1 l1 cos 0
since, cos 1 (for a small value of )
x K1 K 2
m 0

0 J K 2l2 K1l

K 2l2 K1l1
K1l12 K 2l2 2

x
0
0

static coupling case

If K1l1 K 2l2 no coupling (2 independant co-ordinate)

Elastic Point
C

K1

Point C K1l3 K 2l4

l3

l4

K2

When the force applied normal to a bar produces translation.

Assume x and are independent co-ordinate at elastic point C.
me

xc

J c
K1 x l1

xc

K 2 xC l2

mxC

mxC

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[Mass travels a distance of e tan e ]

F
M

X
C

0 mxC me cos K1 xc l3 K 2 xC l4 0
0 mx e me 2 cos J K x l l cos K
C

xC l4 l4 cos 0

Since, cos 1
K 2l4 K1l3
xC K1 K 2


2
2
K 2l4 K1l3 K1l3 K 2l4
dynamic coupling exit.

me
m

2
me J c me
Where, K 2l4 K1l3

xC
0

Say we choose the origin at the left hand of the ber.

l2

l1

K1

K2

mg
x1

ml1

l l1 l2

K1 x1

J1

l1

K 2 x1 l

mX1

x, Co-ordinate

F
M

X
1

0 mX1 ml1 cos K1 x1 K 2 x1 l 0

2
0 mX1l1 cos J1 K 2 x1 l l cos ml1 cos 0

ml1

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ml1
2
J1 ml1

x K1 K 2

K 2l

K 2l
K1l 2

x
0

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Problem:
(we may have find some other set of mechanical values)

l1

K1

l l1 l2

l2

Rigid bar

K2

w 14323N

l1 1.3716m

g 9.81m / s 2

l2 1.6764m

l 3.048m

r 37944 N / m

w 2
r 2170kg -m
g
K1 35025 M m
JG

K 2 37944 N m
Determine the normal modes of vibration Frequencies and mode shapes
x

K1 x l1

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K 2 x l2

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x K1 K 2
m 0
0 J
g
K 2l2 K1l1

For harmonic oscilations

x Aei t

K 2l2 K1l1 x
0 1
K1l12 K 2l2 2
2

0 ei t

Substituting (2) in (1)

K1 K 2 2 m
A
K 2l2 K1l1

2
2
2
K1l1 K 2l2 J G 0
K 2l2 K1l1
Eigen value sets 1 6.90rad / s 1.10 Hz

2 9.06rad / s 1.44 Hz
A
4.45m / rad
0 1
A
0.33m / rad
0 2

0.33

Practical Examples
1.

x
l2

l1

G
K1

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K2

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G= Centre of mass
K1= Total stiffness of a pair of springs representing the main loading gear.
K2 = Stiffness of the spring of the main loading gear.
R= Radius of gyration of the a/c around the lateral axis through the centre of mass.
Same problem like a car
2.
- restrained in translation and
torsion
- Radius of gyration, r.

K
KT
C

e
x

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Location of
Inertia Axis

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Forced vibration due to Harmonic excitation

m11
m
12

m12
x1 c11

m22
x2 c12

c12 x1 k11

c22 x2 k12

k12 x1 F1
sin t ----- (1)
k22 x2 F2

For steady state response,

x1 (t ) A1 sin t
x2 (t ) A2 sin t

----------- (2)

Substituting equation (2) in (1),

2 m11 i c11 k11

2
m12 i c12 k12

Z ( ) A F

2 m12 i c12 k12 A1 F1

2 m22 i c22 k22 A2 F2

Impedence matrix

A Z ( ) F
Adj Z ( )
1
Z ( )
1

Z ( )

Z 22 ( ) Z12 ( )
1
2
Z11 ( ) Z 22 ( ) Z12 ( ) Z12 ( ) Z11 ( )

(k22 2 m2 ) F1
A1 ( )
2
2
2
(k11 m1 )(k22 m2 ) k12
F2 0 and cij 0

k12 F1
A2 ( )
2
2
2
(k11 m1 )(k22 m2 ) k12
k11 k1 k2
m11 m1
k22 k2 k3

m22 m2

k12 k2

m12 0

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