MODAL ANALYSIS

General equation of motion EOM for 1 dof is 𝑚𝑥̈ + 𝑐𝑥̇ + 𝑘𝑥 = 𝐹(𝑡), an dequation can be written in matrix
form for multiple dof sys.

[𝑀]{𝑥̈ } + [𝐶]{𝑥̇ } + [𝐾]{𝑥} = {𝐹(𝑡)}

Static or dynamic, any kinematic allowable position {𝑥} can be described by linear combination of modeshapes
of the system. In the other word, {𝑥} is described as modes superpositions (sum of mode shapes), where each
mode has its own weight contribution on motion.

{𝑥(𝑡)} = {𝑈1 } 𝑞1 (𝑡) + {𝑈2 } 𝑞2 (𝑡) + ⋯ + {𝑈𝑚 } 𝑞𝑚 (𝑡) = ∑{𝑈𝑖 } 𝑞𝑖 (𝑡)

𝑖

𝑞1 (𝑡)
= [ {𝑈1 } , {𝑈1 }, . . , {𝑈𝑚 } ] { … }
𝑞𝑚 (𝑡)

= [𝑈] {𝑞}

Where {𝑥} is generalized coordinates i.e vector of physical displacement, 𝑈𝑖 is i-th mode shape (arbitrarly
scaled) i.e. eigen vector, 𝑞𝑖 (𝑡) is the natural coordinates of the mode, i-th modal displacement , ie. Amplitude
of the mode , ie. how much the mode contributes on motion.
Since {𝑥(𝑡)} = ∑(𝑈𝑖 𝑞𝑖 ), only effective modes should be considered to get final motion.

̇ = [𝑈] {𝑞}
We can write {𝑥} = [𝑈] {𝑞}, therefore {𝑥} ̇ , and {𝑥}̈ = [𝑈] {𝑞}
̈ . By replacing general coordinates
𝑇
with modal coordinates, and multiplying each term with [𝑈] , EOM becomes:

⏟ ̈ +⏟
[𝑈]𝑇 [𝑀][𝑈] {𝑞} ̇ +⏟
[𝑈]𝑇 [𝐶][𝑈] {𝑞} [𝑈]𝑇 [𝐾][𝑈] {𝑞} = [𝑈]𝑇 {𝐹(𝑡)} = {𝑄(𝑡)}
̂
𝑚 𝐶̂ ̂
𝐾

̂ is modal mass matrix (generalized mass).

Where 𝑄(𝑡) is modal force. 𝑀

𝑀 ̂ are always diagonal, so there is no coupling between different mode shapes. But, 𝐶̂ is not diagonal
̂ and 𝐾
always. This bring coupling btw. mode shapes. Therefore, EOM is solved for undamped system. Then, equatios
are used to derive rey leight damping constants to make 𝐶̂ diagonal.

Undamped unforced system solution:

[𝑀]{𝑥̈ } + [𝐾]{𝑥} = 0

To have such homogeneous solution, it should be in 𝑥(𝑡) = 𝑒 𝑖𝜔𝑡 form. Since {𝑥(𝑡)} = [𝑈]{𝑞}, by considering
modal coordinates 𝑞(𝑡) = 𝑒 𝑖𝜔𝑡 , then {𝑥(𝑡)} = [𝑈]{𝑒 𝑖𝜔𝑚 𝑡 }. By replacing in undamped and unforces EOM

(−[𝑀]{𝜔2 } + [𝐾])[𝑈]{𝑒 𝑖𝜔𝑚 𝑡 } = 0

Since [𝑈]{𝑒 𝑖𝜔𝑚 𝑡 } ≠ 0, İt should be

𝑑𝑒𝑡(−[𝑀]{𝜔2 } + [𝐾]) = 0

Solution of above eq. gives natural frequencies i.e. eigenvalues.

From already known motion matrix, we can find which mode it is deformed:

{𝑞0 } = 𝑈 −1 {𝑥0 }

Reyleight Damping

[𝐶] = 𝛼[𝑀] + 𝛽[𝐾]

𝛼 and 𝛽 is selected to get [𝐶] diagonal.

What 1 DOF system Response looks like :

𝑥0̇ + 𝜁𝜔𝑛 𝑥0
𝑥(𝑡) = 𝑒 −𝜁𝜔𝑛 𝑡 (𝑥0 cos (𝜔𝑑 𝑡) + ( ) sin (𝜔𝑑 𝑡))
𝜔𝑑
Modal Participation factor:

Let {𝑟} be the influence vector which represents the displacements of the masses resulting from
static application of a unit ground displacement.
{𝑈𝑖 }𝑇 [𝑀] 𝑟
𝑚𝑜𝑑𝑎𝑙 𝑝𝑎𝑟𝑡𝑖𝑐𝑖𝑝𝑎𝑡𝑖𝑜𝑛 𝑓𝑎𝑐𝑡𝑜𝑟, Γ𝑖 =
[𝑀̂]

({𝑈𝑖 }𝑇 [𝑀] 𝑟)2

𝑒𝑓𝑓𝑒𝑐𝑡𝑖𝑣𝑒 𝑚𝑜𝑑𝑎𝑙 𝑚𝑎𝑠𝑠, 𝑚𝑒𝑓𝑓−𝑖 =
[𝑀̂]

Damping:

Resonance energy does not reach an infinite value because of damping, the dissipation of energy over time
or distance. Without damping, or friction, the energy from vibrations would build until there is more energy
than the structure can sustain, which can cause structural failure.

A wave propagating into a system adds energy to a system, whereas damping removes it. Generally, the
dissipated energy from the vibration is converted to heat, and if damping does not take enough energy out
of a system, the system can self-destruct from energy overload.

Coulomb damping is the friction that occurs when two dry surfaces slide over each other, and its force is a
constant value that is independent of particle velocity and displacement, but dependent on the friction factor
(μ) and the force normal to the friction surface.

Hysteretic damping
Hysteretic damping also is called structural damping because it arises from internal friction within a
structure. A wave moves through a material because the atomic structure is reacting to an applied force. As
the atoms of the structure move, energy is lost through the interaction of these atoms with their neighboring
atoms. Hysteretic damping is the energy lost when atoms move relative to each other.

If a material had a perfectly linear stress/strain relationship, hysteretic damping would not occur. In reality,
though, there is no such thing as a perfectly linear stress/strain curve. Two curves develop on the
stress/strain diagram while a material is stressed and relieved. The center area between these two curves
represents the energy lost to internal friction. (This hysteresis loop is the reason for the name of this
damping type.) This variation can be small, but the amount of energy dissipated can be large because high-
frequency vibrations can cause this loop to be repeated many, many times over a given time period