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+ D U
+K U =F
MU
(t )
(t )
(1)
and U
are the vectors of generalized displacement,
where U, U,
velocity and acceleration, respectively; and F( t ) is the vector of
generalized (external forces) acting on the system.
M, D,K represent the matrices of inertia, viscous damping and
stiffness coefficients, respectively1.
The solution of Eq. (1) is uniquely determined once initial
conditions are specified. That is,
=U
at t = 0 U (0) = U o , U
(0)
o
(2)
1 T
, V = 1 UT K U
T= U
MU
2
2
(3)
The matrices are square with n-rows = n columns, while the vectors are nrows.
1
MEEN 617 HD#7 Undamped Modal Analysis of MDOF systems. L. San Andrs 2008
Positive definite means that the determinant of the matrix is greater than
zero. More importantly, it also means that all the matrix eigenvalues will be
positive. A semi-positive matrix has a zero determinant, with at least an
eigenvalues equaling zero.
2
MEEN 617 HD#7 Undamped Modal Analysis of MDOF systems. L. San Andrs 2008
+ K U = F
MU
(t )
(t )
(4)
=U
and at t = 0 U (0) = U o , U
(0)
o
Presently, set the external force F=0, and lets find the free
vibrations response of the system.
+ K U = 0
MU
(5)
U = cos( t )
(6)
(8)
Substitution of Eqs. (6) and (7) into the EOM (5) gives:
+ K U = 0
MU
M 2 cos( t ) + K cos( t ) = 0
M 2 + K cos( t ) = 0
and since cos( t ) 0 for most times, then
MEEN 617 HD#7 Undamped Modal Analysis of MDOF systems. L. San Andrs 2008
or
M 2 + K = 0
(9)
2M = K
(10)
A =
where =M K and =
1
(11)
= M 2 + K =0
(12)
= 0 = a0 + a1 2 + a2 4 + a3 6 + .... an n
n
= 0 = a0 + ( ai
i =1
(13)
MEEN 617 HD#7 Undamped Modal Analysis of MDOF systems. L. San Andrs 2008
Knowledge summary
a)
b)
c)
[ M i + K ] (i )
= 0,
i =1,...n
(14)
( k ) j
( k )i
i =1,2...n
i =1,2...n
M i2 + K ( i ) = 0, i =1,...n .
(15)
2j M ( j ) = K ( j ) and k2 M ( k ) = K ( k )
T
(16)
MEEN 617 HD#7 Undamped Modal Analysis of MDOF systems. L. San Andrs 2008
2j T( k ) M ( j ) = T( k ) K ( j )
and
(17)
k2 T( j ) M ( k ) = T( j ) K ( k )
Now, perform some matrix manipulations. The products
M and TK are scalars, i.e. not a matrix nor a vector. The
transpose of a scalar is the number itself. Hence,
T
( T( j )K ( k ) ) = ( K ( k ) ) ( T( j ) )
T
= T( k ) K T ( j )
= T( k ) K ( j ) since K = K T
and
T
( j)
M ( k ) ) = T( k ) M ( j ) since M = MT
T
2j T( j ) M ( k ) = T( j ) K ( k ) (a )
and
(18)
k2 T( j ) M ( k ) = T( j ) K ( k ) (b)
Subtract (b) from (a) above to obtain
2
j
k2 ) T( j ) M ( k ) = 0
(19)
MEEN 617 HD#7 Undamped Modal Analysis of MDOF systems. L. San Andrs 2008
for j k
T( j ) M ( k ) = 0 and T( j ) K ( k ) = 0
(20)
= [1 2 .. n ]
(21)
T M = [ M ] ; T K = [ K ]
(22)
where [M] and [K] are diagonal matrices containing the modal
mass and stiffnesses, respectively.
The eigenvector set
v = a j ( j ) = a
j =1
v = 1 a1 + 2 a2 + .. + n an = [1 2
(23)
a1
a
.. n ] 2 = a
..
an
MEEN 617 HD#7 Undamped Modal Analysis of MDOF systems. L. San Andrs 2008
=U
and at t = 0 U (0) = U 0 , U
(0)
0
Consider the modal transformation
U(t ) = q(t )
(24)3
= q
( t ) , then EOM (4) becomes:
And with U
(t )
+ K q = F( t )
M q
which offers no advantage in the analysis. However, premultiply
T
the equation above by to obtain
( M ) q + ( K ) q = F
T
(t )
(25)
F( t )
[ ] [ ]
(26)
MEEN 617 HD#7 Undamped Modal Analysis of MDOF systems. L. San Andrs 2008
And since [M] and [K] are diagonal matrices. Eq. (26) is just a set
of n-uncoupled ODEs. That is,
M 1 q1 + K1 q1 = Q1
M 2 q2 + K 2 q2 = Q2
(27)
.....
M n qn + K n qn = Qn
Or
M j qj + K j q j = Q j with n j =
Kj
Mj
j =1,2...n
(28)
conditions
= q
U o = q o ; U
o
o
q o = 1U o ; q o = 1 U
o
, it
(28)
MEEN 617 HD#7 Undamped Modal Analysis of MDOF systems. L. San Andrs 2008
10
to
obtain,
T M U o = T M q o
= [ M ]qo ,
since [ M ] = M , hence
T
q o = [ M ] T M U o ,
1
q o = [ M ]
(29a)
MU
o
T
or
qok =
1 T
1 T
)
( k ) ( M U o ) , qok =
( k ) ( M U
o
Mk
Mk
(29b)
1= [ M ] T M
1
M j qj + K j q j = Q j
(30)
with initial
11
M j q H j + K j qH j = 0 = Q j
with solutions, for
an elastic mode
( )
qH j = qo j cos n j t +
; and for a rigid
(31a)
qo j
( )
sin n j t
if n j 0
(31b)
body mode
qH j = qo j + qo j t
if n j = 0
(31c)
j=1,2,.n
(32a)
elastic mode, n 0 ,
j
( )
q j = qo j cos n j t +
qo j
( )
sin n j t +
QS j
( )
1 cos t
nj
Kj
MEEN 617 HD#7 Undamped Modal Analysis of MDOF systems. L. San Andrs 2008
(32a)
12
1 QS j 2
t
2Mj
q j = qo j + qo j t +
(32c)
j=1,2,.n
mode, n 0 , and n
j
QPj
1
q j = C j cos n j t + S j sin n j t +
K j 1
nj
( )
( )
(33a)
cos ( t )
2
(33b)
Note that if = n j , a resonance appears that will lead to system
destruction.
For a rigid body mode, n j = 0 ,
QPj
q j = qo j + qo j t
M j2
For arbitrary-loads Q j
qj = qjo cos(nj t) +
(34)
for an
q jo
sin(nj t) +
cos(t )
(33c)
1
M jnj
Q
0
j( )
sin nj (t ) d
elastic mode, n 0 .
j
MEEN 617 HD#7 Undamped Modal Analysis of MDOF systems. L. San Andrs 2008
13
U(t ) = q(t )
U ( t ) = [1 2
q1( t )
q
.. n ] 2 = 1 q1 + 2 q2 + .. + n qn
..
qn
n
U ( t ) = j q j( t )
j =1
(35)
U ( t ) j q j( t ) , m < n
j =1
(36)
MEEN 617 HD#7 Undamped Modal Analysis of MDOF systems. L. San Andrs 2008
14
space are
+ K U = F cos ( t )
MU
P
QPj
1
qj
K j 1
nj
cos ( t )
2
(37a)
And thus,
QPj
U = U P cos(t ) = q = j
Kj
j =1
1
nj
cos ( t )
2
(38)
The physical response is also periodic with same frequency as the
force excitation.
Recall that K j = n j M j = ( j ) K ( j ) and QPj = ( j ) FP
2
U P = K M FP
2
(39)
15
ORIGIN := 1
2K2 X2
M2 0 d2 X2 2 K2
=
+
0 M1 dt2 X1 2 K2 2 K2 + K1 X1
where M2 =mo, M1 =5 m o , K2=k o; K1 =5 ko
mo
0
2 ko
X
d2 2 +
5 mo dt2 X1 2 ko
0
K Z
1
2ko
X2
=
2 ko + 5 ko X1
(1)
0
K Z
1
(a) PROCEDURE TO FIND NATURAL FREQUENCIES AND NATURAL MODES: Assume the
motions are periodic with frequency , ie
X2 = a1 cos ( t)
X1 = a2 cos ( t)
(2)
Set the RHS of Eq. (1) equal to 0. Substitution of (2) into (1) gives
2 ko mo 2
2 ko
a1
cos ( t) = 0
2 a
0
2
7 ko 5 mo
2ko
2 ko mo 2
2 ko
a1
= 0
2 a
2 0
7 ko 5 mo
2ko
(3)
has a non-trivial solution if the determinant of the system of equations equals zero, i.e. if
)(
( ) = 7 ko 5 mo 2 ko mo
Let
=
2
) 4 ko
=0
0 = 5mo 7 ko mo + 10 ko mo + 14 ko 4 ko
Let
mo
=
ko
Leads to:
( ) 2 + b
+ c
0 = a
with:
a := 5
b := 17
(4)
c := 10
b b2 4 a c
1 :=
2 a
) 0.5
b + b2 4 a c
2 :=
2 a
) 0.5
ko
m
o
0.757
=
2.643
1 := ( 1)
2 := ( 2)
0.5
0.5
ko
=
1.626 mo
0.87
0.5
The two equations in (3) are linearly dependent. Thus, one cannot solve for a1 and a2. Set
1 := 1
2 ko mo 1 )
(
(2 ko 0.757 ko)
=
=
2
2 ko
2 :=
2 ko
( 2 0.757)
2
2 = 0.621
1 :=
0.621
1 =
(b)
Explanation: DOF1 (X2) and DOF2 (X1) move in phase, with X2>X1
for
2
2
2 :=
(b)
1 := 1
2 ko mo 2 )
(
(2 ko 2.643 ko)
=
=
2
2 ko
0.321
2 =
2 :=
2 ko
( 2 2.643)
2
Explanation:DOF1 (X2) and DOF2 (X1) move 180 deg OUT of phase, with |X2|>|X1|
0.87 ko
:=
1.626 mo
mo :=
0.5
170.947 rad
319.495 sec
=
fn :=
27.207 Hz
fn =
50.849
1000lb
ko := 105
lb
in
0
Note that mass must be
expressed in physical units
consistent with the problem, i.e.
lb sec2
mo = 2.59
in
M :=
Let
mo
Z := M
:= sort ( eigenvals ( Z) )
natural modes:
2 2 k
o
2 7
K :=
1 := ( 1)
.5
2 := ( 2)
.5
1 := eigenvec ( Z , 1)
2 := eigenvec ( Z , 2)
2.921 104 1
=
2
5
1.021
10
sec
170.914 rad
319.495 sec
0.849
0.528
1 =
0.952
0.306
2 =
27.202 Hz
50.849
( 1) 2
= 0.622
( 1) 1
( 2) 2
= 0.322
( 2) 1
mo :=
1000lb
5 lb
k o := 10
Equations of motion:
n :=
sec
M :=
mo 0
0 5 mo
K :=
2 ko 2k o
2 ko 7 k o
170.95 rad
319.5 sec
F :=
3
7.584
8.534 10 lb sec2
in
3
3.925
8.534 10
:=
ORIGIN := 1
1
1
0.621 0.321
Fo := k o Zo
provides a
0 lb
F
o
Zo := 0.01 in
given:
Define matrices:
MM =
in
natural frequencies,
mo 0 d 2 X2 2 ko 2k o X2 0
=
0 5 mo dt2 X1 2 ko 7 k o X1 k o Z
ft
g = 32.174
constant force
KM := K
Mode 1
M m := M M
1
1, 1
Mode 2
M m := M M
2
2, 2
Km := n M M
1
1, 1
1
2
Km := n M M
2
2, 2
2
2.216 105 lb
Km =
5 in
4.006 10
(b) Find initial moddal displacements and velocities and modal force vector (Q)
2
7.584 lb sec
Mm =
3.925 in
At time t=0s, the system is at REST at its static equilibrium position, hence the initial conditions are null
displacements and null velocities. Of course, the same applies to modal space, i.e. null initial displacements
and velocities
X1
0
0 ft
for generality, define:
Calculate inverse of A matrix
1
Xo := ft
Vo :=
X
2
inv :=
0
0 sec
q o := inv Xo
qo =
Define modal force
q o_dot := inv Vo
0 ft
0
q o_dot =
Q := F
(c)
Q=
621 lb
321
where
m =
2.802 10 3
in
4
8.013 10
Q
m :=
1
Mm
0 ft
0 sec
d2
q + Km q = Q
i
2 i
i
i i
dt
q 1 ( t) := m 1 cos n t
1
1
velocity
m :=
Km
1
q 2 ( t) := m 1 cos n t
2
2
i = 1,2
Km
2
where:
n =
170.95 rad
319.5 sec
(d) The response in physical coordinates, X1 and X2, equals (from transformation x=Aq)
with
X1 ( t) := q 1 ( t) + q 2 ( t)
X1 ( t) = m 1 cos n t + m 1 cos n t
1
1
2
2
X2 ( t) := 0.621 q 1 ( t) 0.321 q 2 ( t)
2
Tlarge := 10
n1
m 0.621 = 1.74 10
1
1
1
0.621 0.321
m ( 0.321 ) = 2.572 10
in
in
Explanation: Since q1 and q2 are non-zero, then physical motion, X1 &X2, shows excitation of the
TWO fundamental modes of vibration - BUT response for second mode is much less
GRAPHs not needed for exam:
0.006
displacements (inch)
0.005
0.004
0.003
0.002
0.001
0.001
0.002
= 0.037 sec
2
0
0.046
0.092
0.14
0.18
0.23
time (sec)
0.28
0.32
0.37
= 0.02 sec
X1
X2
terminal value
Terminal condition:
If damping is present and since the applied force is a constant, the system will achieve a new steady state
condition.
In the limit as t approaches very, very large values
X1 0
=
2
dt X2 0
d
; hence ===>
2 ko 2k o X1end 0
=
2 ko 7 k o X2end Fo
:= 14 k o 4 k o
3
X1end = 2 10
in
Fo = 1 10 lb
X2end = 2 10
Note that the graph of undamped periodic motions Z(t) and X(t)
shows oscillatory motions abut these terminal or end values.
OR
X1end
=F
X2end
in
recall
2 10 3
in
K F =
3
2 10
1
Zo = 0.01 in
Zo
X1end
=5
0.006
displacements (inch)
COMPARE actual
response with a
response
neglecting q2.
Indeed mode 2 does
not afffect the physical
response, except for
motion X2 sligthly
0.005
0.004
0.003
0.002
0.001
0
0.001
0.002
0.12
0.25
time (sec)
X1
X2
terminal
0.37
( )
(39a)
(39b)
[M]=I, i.e.
hence
T( j ) M ( j ) = M j = 1
(39c)
T( j )K ( j ) = K j = 2j M j = n 2j
(39d)
MEEN 617 HD#7 Undamped Modal Analysis of MDOF systems. L. San Andrs 2008
16
qj + n2j q j = Q j
Your lecturer recommends this normalization procedure be
conducted only for systems with large number of degrees of
freedom, n>>>1.
Note that the normalization process is a mere convenience,
devoid of any physical significance.
i =1,2...n
satisfy K ( i ) = i2M ( i )
with properties T M = [ M ] ; T K = [ K ]
i.e. with modal stiffness and masses calculated from:
K i = T( i ) K ( i ) ; M i = T( i ) M ( i ) , and i2 =
That is,
i2 =
Ki
Mi
1
1
Ki
Mi
T( i ) K ( i )
T
2 ( i ) M ( i )
(41)
(42)
MEEN 617 HD#7 Undamped Modal Analysis of MDOF systems. L. San Andrs 2008
17
(43)
u = j c j = c
(44)
j =1
R (u) =
cT ( T K ) c
2 ( c ) K ( c )
= T T
T
1 c
) M ( c ) c ( M ) c
2(
1
cT [ K ] c
R (u) = T
c [ M ]c
(45)
MEEN 617 HD#7 Undamped Modal Analysis of MDOF systems. L. San Andrs 2008
18
c c
=
R (u) =
cT Ic
2
n
c
2
i
i =1
2
ni
(46a)
c
i =1
2
i
Next, consider that the arbitrary vector u (which at this time can be
regarded as an assumed mode vector) differs very little from the
natural mode (eigenvector) ( r ) . This means that in the expansion
c +c
2
r
2
nr
R (u) =
2
r
cr2 + cr2
R (u) =
{ }
i =1, i r
n
1+
i =1, i r
+
2
nr
i =1, i r
n
2
i
i =1, i r
2
i
2
ni
2
i
2
ni
2
i
1+
=
2
nr
i =1, i r
1+
ini
i =1, i r
nr
(46b)
2
i
MEEN 617 HD#7 Undamped Modal Analysis of MDOF systems. L. San Andrs 2008
19
R (u) = =
2
2
n1
1+
i =2
ini
n
1 +
i=2
n1
, since
2
i
( ) > 1 (47)
ni
n1
R(u) = 2 n21
(48)
Closure
Rayleighs energy method is generally used when one is
interested in a quick (but particularly accurate) estimate of the
fundamental natural frequency of a continuous system, and for
which a solution to the whole eigenvalue problem cannot be
readily obtained. The method is based on the fact that the natural
frequencies have stationary values in the neighborhood of the
natural modes.
In addition, Rayleighs quotient provides an upper bound to the
first (lowest) natural frequency. The engineering value of this
approximation can hardly be overstated. Rayleighs energy
method is the basis for the numerical computing of eigenvectors
and eigenvalues as will be seen later.
MEEN 617 HD#7 Undamped Modal Analysis of MDOF systems. L. San Andrs 2008
20
N 5
number of DOFS
mass 1
ORIGIN 1
stiff 10
M identity ( N) mass
2
1
K stiff 0
0
2 1
dt
0
1 2 1 0
0 1 2 1
0 0 1 2
Prepared by
Lecturer Luis San
Andres for ME617
course
U1
K
K
M
U3
U2
U K U = 0
U4
K
U5
K
K
M
u ( .5 .75 1 .75 .5 ) 1
uT K u1 1
R ( u)
uT Mu1 1
n_ap
R ( u)
n_ap 16.903
Actual n 16.369
1
% difference =
Estimate
rad/s
1.5
0.5
0
0
M1
u (approx)
u ( .5 .5 0 .5 .5 ) 1
uT K u1 1
R ( u)
uT Mu1 1
n_ap
R ( u)
n_ap 31.623
Actual n 31.623
2
% difference =
Estimate
rad/s
1.5
0
0
M2
u (approx)
N 5
number of DOFS
ORIGIN 1
mass 1
stiff 10
M identity ( N) mass
2
1
K stiff 0
0
2 1
dt
0
1 2 1 0
0 1 2 1
0 0 1 1
U1
K
K
M
U3
U2
U4
K
U K U = 0
U5
K
u ( .1 .3 .5 .7 1 ) 1
uT K u1 1
R ( u)
uT Mu1 1
n_ap
R ( u)
n_ap 10.935
Actual n 9.001
1
% difference =
Estimate
rad/s
1.5
0.5
0
0
M1
u (approx)
U ( t ) j q j( t ) , m < n
j =1
(36)
+ K U = F
MU
(t )
(t )
(4)
And, if there are no rigid body modes, i.e. all natural frequencies
are greater than zero, then
)
U ( t ) = K 1 ( F( t ) M U
where K
(51)
qj , m < n
U
( j ) (t )
j =1
(52)
21
U ( t ) K 1F( t ) K 1M ( j ) qj( t )
j =1
(53)
K ( i ) = i2 M ( i )
=
K
M ( i )
(i )
2
( j )
U ( t ) K F( t ) 2 qj( t )
j =1 j
m
Note that
U S = K 1F( t )
(54)
(55)
( j )
U ( t ) U s ( t ) 2 qj( t )
j =1 j
m
; m<n
(56)
space are:
MEEN 617 HD#7 Undamped Modal Analysis of MDOF systems. L. San Andrs 2008
22
+ K U = F cos ( t )
MU
P
With a little damping, the steady state periodic response in modal
coordinates is
QPj
1
qj
K j 1
nj
cos ( t )
2
(37a)
QPj
U j
Kj
j =1
1
nj
cos ( t )
2
(38)
cos ( t ) ;
qj
)
(
2
Kj
1 ( )
j
QPj
QPj 2
1
cos ( t )
2
2
2
j
K j j 1 ( )
j
qj
(57)
response is
m
QPj
U U SP + j
Kj
j =1
2
1
cos ( t ) (58
2
2
j 1 ( j )
MEEN 617 HD#7 Undamped Modal Analysis of MDOF systems. L. San Andrs 2008
23
U = USP = K 1 FP
(59)
MEEN 617 HD#7 Undamped Modal Analysis of MDOF systems. L. San Andrs 2008
24
ORIGIN := 1
Dr. Luis San Andres (c) MEEN 363, 617 February 2008
d2
dt 2
(1)
X + K X = Fo
where M,K are matrices of inertia and stiffness coefficients, and X, V=dX/dt, d2X/dt2 are the
vectors of physical displacement, velocity and acceleration, respectively.
The FORCED undamped response to the initial conditions, at t=0, Xo,Vo=dX/dt, follows:
========================================================================
M11 M12 d2 x1
2
M
M
22 dt x2
21
K
K
21 22 x2 F2o
(2)
100
M :=
0
M
Note
and
kg K :=
50
0
2 10 6 1 10 6 N
m
6
6
2 10
1 10
n := 2 # of
DOF
0
0
Xo := m
initial conditions
0.0 m
0 sec
Vo :=
10000 N
5000
Fo :=
= K11 M11
4
) (K
22
2
M22
) (K
12
M12
= a + b + c = a + b + c = 0with =
where the
coefficients
are:
) (K
21
M21
) = (2a)
0
(2b)
a := M1 , 1 M2 , 2 M1 , 2 M2 , 1
b := K1 , 2 M2 , 1 K1 , 1 M2 , 2 K2 , 2 M1 , 1 + K2 , 1 M1 , 2
c := K1 , 1 K2 , 2 K1 , 2 K2 , 1
(2c)
b ( b 2 4 a c) .5 b + ( b 2 4 a c) .5
1 :=
2 :=
2a
(3)
2a
( ) .5
j := j
( )
f :=
112.6 rad
217.53 sec
17.92 Hz
f=
34.62
( )
Note that: 1 = 2 = 0
(4)
a j := K1 , 1 M1 , 1 j
( K1 , 2 M1 , 2 j)
1 a = 1
2
0.73
2.73
a1 =
MODAL matrix
j
A := a j
Aj ,
Aj ,
0.37
2.73
j
DOF
mode 1
mode 2
(5)
2.73
1
X = Aq
Using transformation:
d2
dt 2
(7)
q + K m q = Qm
(8)
Qm = A Fo
qo = Mm
A M Xo
so = Mm
A M Vo
(9)
qk = qo cos k t +
k
so
k=1....n
Qm
sin k t +
Km
k
k,
))
1 cos k t 0
k
(10a)
k
for an elastic mode
OR
qk = qo + so t +
k
Qm
2 Mm
for k = 0
(10b)
k, k
X ( t) = A q ( t)
(5)
Mm := A M A
T
Km := A K A
126.79
2.24 10 14
Mm =
kg
14
473.21
1.58 10
1.61 10 6
Km =
10
3.51 10
3.18 10 10 N
2.24 10 7
112.6 s -1
217.53
=========================================================================================
4. Find Modal and Physical Response for given initial condition and
Constant Force vector
0
0
0 m
Vo =
0 s
Xo = m
qo := Ainv Xo
Ainv := Mm
A M
so := Ainv Vo
0
0
0
0
qo = m
so = m s
-1
6.34 10 3
Qm =
N
4
2.37 10
Qm := A Fo
q2 ( t) := qo cos ( 2 t) +
2
so
1
so
sin ( 1 t) +
sin ( 2 t) +
Qm
Km
( 1 cos ( 1 t) )
1 , 1
Qm
Km
( 1 cos ( 2 t) )
2 , 2
for plots:
X ( t) := a1 q1 ( t) + a2 q2 ( t)
Tplot :=
f1
0.005
0.056
0.11
0.17
0.22
0.28
0.33
time (s)
q1
q2
0.056
0.11
0.17
0.22
0.28
0.33
time (s)
x1
x2
K
Recall natural frequencies & periods
17.92 Hz
34.62
f=
112.6 s -1
217.53
0.056
=
s
f 0.029
5 10 3
Fo =
m
0
1
1
0.73 2.73
A=
ORIGIN := 1
Dr. Luis San Andres (c) MEEN 363, 617 February 2008
d2
dt 2
(1)
X + K X = Fo
where M,K are matrices of inertia and stiffness coefficients, and X, V=dX/dt, d2X/dt2 are the
vectors of physical displacement, velocity and acceleration, respectively.
The FORCED undamped response to the initial conditions, at t=0, Xo,Vo=dX/dt, follows:
========================================================================
M11 M12 d2 x1
2
M
M
22 dt x2
21
K
K
21 22 x2 F2o
(2)
100
M :=
0
M
Note
and
kg K :=
50
0
1 10 6 1 10 6 N
m
6
6
1 10
1 10
n := 2 # of
DOF
0
0
Xo := m
initial conditions
0.0 m
0 sec
Vo :=
1000 N
980
Fo :=
= K11 M11
4
) (K
22
2
M22
) (K
12
M12
= a + b + c = a + b + c = 0with =
where the
coefficients
are:
) (K
21
M21
) = (2a)
0
(2b)
a := M1 , 1 M2 , 2 M1 , 2 M2 , 1
b := K1 , 2 M2 , 1 K1 , 1 M2 , 2 K2 , 2 M1 , 1 + K2 , 1 M1 , 2
c := K1 , 1 K2 , 2 K1 , 2 K2 , 1
(2c)
b ( b 2 4 a c) .5 b + ( b 2 4 a c) .5
1 :=
2 :=
2a
(3)
2a
( ) .5
j := j
( )
f :=
rad
173.21 sec
0
f =
Hz
27.57
( )
Note that: 1 = 2 = 0
(4)
a j := K1 , 1 M1 , 1 j
( K1 , 2 M1 , 2 j)
MODAL matrix
A j := a j
1
a1 =
a2 =
2
1
(5)
A =
2
1
Aj ,
Aj ,
j
DOF
mode 1
mode 2
3. Modal transformation of physical equations to (natural) modal coordinates
Using transformation:
(6)
(6)
X = Aq
Using transformation:
d2
dt
(7)
q + K m q = Qm
(8)
Qm = A Fo
qo = Mm 1 A M Xo
T
so = Mm 1 A M Vo
T
(9)
qk = qo cos k t +
k
so
k=1....n
sin k t +
Qm
Km
k, k
))
1 cos k t 0
k
(10a)
Qm
qk = qo + so t +
2 Mm
k
k
for k = 0
t2
(10b)
k, k
X ( t) = A q ( t)
(5)
Mm =
Mm := A M A
Km := A K A
Km =
150
0
kg
300
0
9 10 6 m
0
-1
s
173.21
0
=========================================================================================
4. Find Modal and Physical Response for given initial condition and
Constant Force vector
Recall the vectors of initial conditions
0
Xo = m
dC
tf
0 m
Vo =
0 s
1 10 3 N
Fo =
m m
980
Ainv := Mm 1 A M
)
0.67 0.33
0.33 0.33
Ainv =
qo := Ainv Xo
so := Ainv Vo
0
qo = m
0
so = m s -1
Qm := A Fo
3
2.96
10
Qm =
20
Qm
Mm
1 , 1
q2 ( t) := qo cos ( 2 t) +
2
so
t2
sin ( 2 t) +
Qm
Km
( 1 cos ( 2 t) )
2 , 2
for plots:
X ( t) := a1 q1 ( t) + a2 q2 ( t)
Tplot :=
time (s)
0.13
0.15
0.17
0.2
0.22
f2
time (s)
q1
q2
0.002
0.002
0.13
0.15
0.17
0.2
time (s)
x1
x2
f =
Hz
27.57
0
A =
2
1
s -1
173.21
0
0.22