USC Viterbi USC Viterbi Outline

School of Engineering School of Engineering

MDOF Equations of Motion

Example 2DOF System
•  Eigenvalues, eigenvectors, mode shapes
MDOF Structural Dynamics •  Free response
Prof. Erik A. Johnson •  Modal superposition
Sonny Astani Department of Civil & Environmental Engineering General MDOF
University of Southern California •  Forced response
Damping Models
Frequency Response and Transfer Functions
State-Space formulation
APSS 2010, Tokyo Discrete-Time State-Space
Distributed Parameter Systems

USC Viterbi MDOF Equations of Motion USC Viterbi MDOF Equations of Motion
School of Engineering Three Physical Models of a 3DOF System School of Engineering Three Physical Models of a 3DOF System

u3 f3 m3 m3 f3
m3 m3 u3 The ui are displacements relative to undeformed location
k3/2 k3/2 k3/2 k3/2 k3 k3 u3
m3
f3

u2 m2 m2
k3/2 k3/2
m1u˙˙1 = f1 " k1(u1 " 0) + k2 (u2 " u1)
f2 f2 u2 f2
m2 m2 u2 k2/2
m2
k2/2 m2u˙˙2 = f2 " k2 (u2 " u1) + k3 (u3 " u2 )
k2/2k2/2 k2/2 k2/2 k2 k2 u1
m1
f1
m3u˙˙3 = f3 " k3 (u3 " u2 )
k1/2 k1/2
u1 f1 m1m1 f1 !
m1m1 u1 which can be written in matrix form
kk11/2
/2 k1k/2 k1k1 !
1/2 m3 f3
"m1 0 0 %(u˙˙1 , "k1 + k2 /k2 0 %(u1 , (f1 ,
u3
k3
! $ '* * $ '* * * *
m2 f2 $ 0 m2 0 ')u˙˙2 - + $ /k2 k2 + k3 /k3 ')u2 - = )f2 -
u2 * * * * * *
k2 $# 0 0 m3 '&+u˙˙3 . $# 0 /k3 k3 '&+u3 . +f3 .
m1 f1
u1
k1
u1 u2 u3 or, compactly,
m1 m1 m2 m2 m3 m3 Mu˙˙ + Ku = f
k1k1 k2 k2 k3 k3 !
f1 f2 f3 u1 u2 u3
m1 m2 m3
k1 k2 k3
f1 f2 f3
!

USC Viterbi MDOF Equations of Motion USC Viterbi MDOF Equations of Motion
School of Engineering Base Excitation School of Engineering Base Excitation

v3 v3
u3 m3
m3 u3 v3
The vi!=!ui + vg are displacements relative to inertial reference
v2 k3/2 k3/2 k3 u3
m3
v2 v2 k3/2 k3/2 m1v˙˙1 = "k1(v 1 " v g ) + k2 (v 2 " v 1) m1(u˙˙1 + v˙˙g ) = "k1(u1 " 0) + k2 (u2 " u1)
u2 m2 u2
m2 u2 v1 k2/2
m2
k2/2 m2v˙˙2 = "k2 (v 2 " v 1) + k3 (v 3 " v 2 ) m2 (u˙˙2 + v˙˙g ) = "k2 (u2 " u1) + k3 (u3 " u2 )

v1 k2/2 k2/2 k2 u1
m1 m3v˙˙3 = "k3 (v 3 " v 2 ) m3 (u˙˙3 + v˙˙g ) = "k3 (u3 " u2 )
v1 k1/2 k1/2 ! !
u1 m1 vg

m1 u1 ! or in matrix form !
k1/2 k1/2 k1 "m1 0 0 %(u˙˙1 , "k1!+ k2 /k2 0 %(u1 , (m1 ,
!
vg vg v3 $ '* * $ '* * * *
$ 0 m2 0 ')u˙˙2 - + $ /k2 k2 + k3 /k3 ')u2 - = /)m2 -v˙˙g
m3
u3
k3
* * * * * *
v2
u2
m2 $# 0 0 m3 '&+u˙˙3 . $# 0 /k3 k3 '&+u3 . +m3 .
k2

v2 v3 v1
m1
or, compactly, using 1 = [1 1 1]T,
v1 u1
u1 u2 u3 vg
k1
Mu˙˙ + Ku = "M1v˙˙g
m1 m1 m2 m2 m3 m3 !
vg k1 k2 k3 v2
v3
v1
u1 u2 u3
m1 m2 m3
vg k1 k2 k3
!
USC Viterbi Lagrange’s Equations USC Viterbi Lagrange’s Equations
School of Engineering School of Engineering Example Formulation

Using FBDs works for simple systems but difficult for complex u3 f3
Form the Kinetic and Potential Energies
m3
models. Can use Lagrange’s Equations.
u2
k3/2 k3/2
KE = T = 21 m1u˙12 + 21 m2u˙ 22 + 21 m3u˙ 32
Let u1, u2, …, un denote independent generalized degrees of m2
f2

freedom and f1, f2, …, fn the corresponding external forces.

k2/2 k2/2 PE = V = 21 k1(u1)2 + 21 k2 (u2 " u1)2 + 21 k3 (u3 " u2 )2
u1 f1
m1 d # "T & "T "V d
Let T and V denote the total Kinetic and Potential Energies k1/2 k1/2 % () + = [m u˙ ] ) [0] + [k1u1 ) k2 (u2 ) u1)] = m1u˙˙1 + (k1 + k2 )u1 ) k2u2 = f1
dt $ "u˙1 ' "u1 "u1 dt 1 1
!
T " T (u1,u2 ,!,un ;u˙1,u˙ 2 ,!,u˙ n ;t ) = total Kinetic Energy d # "T & "T "V
% () + =
d
[m u˙ ] ) [0] + [k2 (u2 ) u1) ) k3 (u3 ) u2 )] = m2u˙˙2 + (k2 + k3 )u2 ) k2u1 ) k3u3 = f2
! dt $ "u˙ 2 ' "u2 "u2 dt 2 2
V " V (u1,u2 ,!,un ;t ) = total Potential Energy m3 f3
u3 d # "T & "T "V d
Then, the equations of motion are given by the n equations k3 % () + = [m u˙ ] ) [0] + [k3 (u3 ) u2 )] = m3u˙˙3 + k3u3 ) k3u2 = f3
dt $ "u˙ 2 ' "u2 "u2 dt 3 3
m2 f2
! d # "T & "T "V u2
% () + = fi , i = 1,!,n k2 which can be written in matrix form
! dt $ "u˙i ' "ui "ui m1 f1
"m1 0
u1
k1
! 0 %(u˙˙1 , "k1 + k2 /k2 0 %(u1 , (f1 ,
$ '* * $ '* * * *
$ 0 m2 0 ')u˙˙2 - + $ /k2 k2 + k3 /k3 ')u2 - = )f2 -
If, instead of n independent ui, we have m > n dependent g1,g2,…,gm with
fj(g1,g2,…,gm) = 0, j = 1,…,(m–n), then * * * * * *
m )n #$ 0 0 m3 &'+u˙˙3 . #$ 0 /k3 k3 '&+u3 . +f3 .
! d # "T & "T "V "f j
% () + ) + *j = fi , i = 1,!,m u1 u2 u3
dt $ "g˙ i ' "gi "gi "gi
j =1
k1
m1
f1
k2
m2
f2
k3
m3
f3
This is the same as we
See, e.g., Craig & Kurdila, Fundamentals of Structural Dynamics, Wiley, 2006 developed using FBDs.
!
!

USC Viterbi Example 2DOF System USC Viterbi Example 2DOF System
School of Engineering Unforced Case School of Engineering Unforced Case — natural frequencies & mode shapes

Let’s look at a simple 2DOF system to see how to solve.

First, consider an unforced (and undamped) system. 3 "#2 "1
= 0 = (3 " # 2 )(2 " # 2 ) " ("2)("1)
1 "m1 0 %(u˙˙1 + "k1 + k2 .k2 %(u1 + (0+ 1 "2 2 "#2
$ ') , + $ ') , = ) ,
k2!=!2 # 0 m2 &*u˙˙2 - # .k2 k2 &*u2 - *0- k2!=!2 = # 4 " 5# 2 + 4 = (# 2 "1)(# 2 " 4)
2 "2 0%(u˙˙1 + " 4 + 2 .2%(u1 + (0+ 2 So, the structure can oscillate either with ! = 1 or ! = 2 (or, as
$ ') , + $ ') , = ) , we’ll see, both at the same time).
#0 1&*u˙˙2 - # .2 2 &*u2 - *0-
k1!=!4 k1!=!4
Assume harmonic response u(t) = [u1(t) u2(t)]T = ! cos!t . ! It is customary to order the frequencies: !1 = 1 and !2 = 2.
Substitute in for the ui and multiply by M–1: If we substitute back !, we find !:
! % 12 0(% 4 + 2 "2( $3 #12 #1 ' $ 2 #1' ,1/
"# 2$ cos #t + ' *' *$ cos #t = 0 "1 = 1: & )* = & )* = 0 + 2*11 = *21 + *1 = - 0
& 0 1)& "2 2) % #2 2 #12 ( %#2 1 ( .2 1
+ % "# 2 0 ( % 3 "1(. %3 # $ 2 #1 ( $3 # 22 #1 ' $ #1 #1' , 1/
-- ' *+' *0$ cos #t = 0 " ' *+ = 0 "2 = 2 : & )* = & )* = 0 + *12 = #*22 + *2 = - 0
,& 0 "# 2 ) & "2 2 )0/ & #2 2 #$2) % #2 2 # 22 ( % #2 #2( . #11
Either ! is zero (i.e., the structure doesn’t move) or the matrix !1 and !2 are natural frequencies; !1 and !2 are called
in parentheses must be singular and have a zero determinant. eigenvectors or mode shapes (and can be scaled arbitrarily).
! ! !

USC Viterbi Example 2DOF System USC Viterbi Example 2DOF System
School of Engineering Unforced Case — scaling of mode shapes School of Engineering Unforced Case — modal coordinates

While mode shapes !i can be scaled arbitrarily, there are Define eigenmatrix # = [!1 !2]. Substitute u = #q into the
some conventional scaling methods: equation of motion and premultiply by #T
1 •  Mass normalized: normalize so that Mi " !iTM!i = 1 1 (we will use the mass-normalized mode shapes here):
#1& *2 0-#1& #1 6 & " T M"q ˙˙ + " TK"q = 0
k2!=!2 "1 = c $ ' ) "1TM"1 = c [1 2], 2
/$ 'c = 6c = 1 ) "1 = $ ' k2!=!2
%2( +0 1.%2( %2 6 (
#1 6
=%
2 6 & #2 0&#1 6
(% (%
1 3 &)q˙˙1 , #1 6
(* - + %
2 6 &# 6 "2& #1 6
(% (%
1 3 &)q1 ,
(* -
2 # 1& 2 0 1 # 2 $1 3 "1 3 ' $0 1'$2 6 "1 3 '+q˙˙2 . $1 3 "1 3 '$ "2 2 ' $2 6 "1 3 '+q2 .
* -# & 1 3&
"2 = c $ ' ) "2TM"2 = c [1 01], 2
/$ 'c = 3c = 1 ) "2 = $ ' "1 0%(q˙˙1 + "1 0 %(q1 + q˙˙1 +1q1 = 0
k1!=!4 %01( +0 1.%01( %01 3 ( k1!=!4 ! (2 SDOF systems)
=$ ') , + $ ') , "
•  Normalize so maximum (absolute) value is one; i.e., maxj |!ji| = 1 ! #0 1&*q˙˙2 - #0 4 &*q2 - q˙˙2 + 4q2 = 0
T
max " j 1 = max{c ,2c } = 2c = 1 # "1 = {1 2 1} Note same result using different mode shape scaling:
j #1 2&#2 0& #1 1&)q˙˙1 , #1 2&# 6 "2& #1 1&)q1 , "6 0%(q˙˙1 + "6 0 %(q1 + (0+
! % (% (% (* - + % (% (% (* - = $ ') , + $ ') , = ) ,
T $1 "1'$0 1' $2 "1'+q˙˙2 . $1 "1'$ "2 2 ' $2 "1'+q2 . #0 3&*q˙˙2 - #0 12&*q2 - *0-
max " j 2 = max{c ,c } = c = 1 # " 2 = {1 $1}
j ! Can also use #–1M–1 times!the equation of motion and u = #q:
•  Normalize so Euclidean length of vector !i is 1; i.e., |!i| = 1 "#1M#1M"q ˙˙ + "#1M#1K"q = 0 " q ˙˙ + %'1
˙˙ + #$1M$1K#q = q 0(
*q =0
! ! &0 4)
# 1& #1 5 &
! "1 = c [1 2]$ 'c = 5c 2 = 1 ) "1 = $ ' SDOF techniques can be used to solve for the qi (possibly
%2( %2 5 (
using modal initial condition q(0)!=!#-1u(0)); then, u = #q
#1& #1 2 & !
is used to obtain the motion in the original coordinates.
"2 = c [1 *1]$ 'c = 2c 2 = 1 ) "2 = $ ' !
% *1( % *1 2 (

!
USC Viterbi Example 2DOF System USC Viterbi Example 2DOF System
School of Engineering Unforced Case — free responses School of Engineering Example Free Responses

Displaced in shape of:

Review SDOF: modal free responses of q˙˙i + "i2qi = 0 is
1st mode 2nd mode combination
qi (t ) = ai sin"i t + bi cos "i t = ci sin("i t + #i )
1
where the ai & bi, or ci & "i, depend on qi (0) !!!!!!! and q˙i (0)
k2!=!2 !
For example, with initial conditions:
2 ! q1 (0) = 1 = a1 sin0 + b1 cos0 = c1 sin("1)
q˙1 (0) = 0 = a1#1 cos0 $ b1#1 sin0 = !
c1#1 cos("1)
k1!=!4
q2 (0) = 0 = a2 sin0 + b2 cos0 = c 2 sin(" 2 )
q˙ 2 (0) = 1 = a2# 2 cos0 $ b2# 2 sin0 = c 2# 2 cos(" 2 )
then: a1=0, b1=1, c1=1, "1=–!/2 and a2=1/2, b2=0, c2=1/2, "2=0.
q1 (t ) = cos t
! q2 (t ) = 0.5sin2t
More generally, the responses in the original coordinates are:
u(t ) = $ "i [ai sin #i t + bi cos #i t ] = $ci "i sin(#i t + %i )
! i i
= # [ai sin "i t + bi cos"i t ] = # ci sin("i t + $i )
i i

!
!

USC Viterbi Example 2DOF System USC Viterbi Example 2DOF System
School of Engineering Unforced Case with Damping School of Engineering Unforced Case with Damping — free response

Let’s add damping. (What is damping???) So modal damped free responses are
#c1 + c 2 "c 2 & # 0.3 "0.1& qi (t ) = ai e "# i $ it sin $idt + bi e "# i $ it cos $idt = ci e "# i $ it sin($idt + %i )
1 Mu ˙˙ + Cu
˙ + Ku = 0 C=% (=% ( 1
$ "c 2 c 2 ' $ "0.1 0.1' where the ai & bi, or ci & "i, depend on qi (0) !!!!!!! and q˙i (0) , and
c2!=!0.1 $1 1' c2!=!0.1
k2!=!2 Already know " = & ). Let u = "q and premultiply by "
T
k2!=!2 "id = "i [1# $2i ]1/ 2 .
%2 #1(
2 ! 2 ! More generally, the responses in the original coordinates are:
c1!=!0.2 " T M"q
˙˙ + " T C"
!q˙ + " TK"q = 0 c1!=!0.2 !
k1!=!4 #1 2&#2 0& #1 1&)q˙˙1 , #1 2&# 0.3 "0.1&#1 1&)q˙1 , #1 2& # 6 "2 & #1 1&)q1 , k1!=!4 ! u(t ) = &e "# i $ it %i ai sin $idt + bi cos$idt = &ci %i e "# i $ it sin($idt + 'i )
[ ]
% (% (% (* - + % (% (% (* - + % (% (% (* -
$1 "1'$0 1' $2 "1'+q˙˙2 . $1 "1'$ "0.1 0.1'$2 "1'+q˙ 2 . $1 "1' $"2 2' $2 "1'+q2 . i i
!
#6 0&)q˙˙1 , #0.3 0 &)q˙1 , #6 0 &)q1 , )0, "# i $ i t
!
=% (* - + % (* - + % (* - = *
$0 3'+q˙˙2 . $ 0 0.6'+q˙ 2 . $0 12'+q2 . +0.
-
q˙˙1 + 0.05q˙ 1 +1q1 = 0
= &e [ ai sin $idt + bi cos $idt ] = & ci e # $ t sin($i t + 'i )
" i i d

i i
"
q˙˙2 + 0.20q˙ 2 + 4q2 = 0
c !=!0.2
!1
c2!=!0.1 c1!=!0.2 c2!=!0.1
m1!=!2 m2!=!1 q˙˙i + 2"i #i q˙i + #i qi = 0 m1!=!2 m2!=!1
!
k1!=!4 k2!=!1 "1 = 1, #1 = 0.025 = 2.5% k1!=!4 k2!=!1
!
" 2 = 2, #2 = 0.050 = 5.0%
!

USC Viterbi General MDOF Systems USC Viterbi General MDOF Systems
School of Engineering School of Engineering Forced Harmonic Response

Equation of motion: Mu
˙˙ + Cu
˙ + Ku = Ef Forced response of a linear system is the sum of the free
First use the undamped, unforced equation to find natural response from any non-zero initial conditions and the
frequencies and mode shapes: effects of the external forcing.
(M" 2 #! K)$ = 0 or (" 2I # M#1K)$ = 0 Let us assume the initial conditions are zero and consider
a harmonic excitation.
The mode shapes have the properties that
%Mi , i = j %Ki , i = j Mu ˙˙ + Cu˙ + Ku = Ef = Ef0 sin "t
"iT M"j = Mi #ij = & "iTK"j = Ki #ij = &
! ' 0, i $ j ' 0, i $ j Then the response is also harmonic. This is most easily
The fact that !iTM!j = 0 and !iTK!j = 0 for i ! j means the demonstrated using a SDOF example …
mode shapes are orthogonal. Note also that Ki /Mi = !i2. !
! !
Note: some systems have – K) be less than rank (n – 1), which
(M!2
implies there are multiple modes at one or more frequencies.

Note: some systems (e.g., satellites) may have ! = 0 be a solution;

this implies one or more rigid body modes in which the whole
structure moves or rotates, possibly without internal deformation.
USC Viterbi General MDOF Systems USC Viterbi General MDOF Systems
School of Engineering Forced Harmonic Response — SDOF example School of Engineering Forced Harmonic Response — SDOF example with ej#t

EOM: mu˙˙ + cu˙ + ku = sin "t u (0) = 0, u˙ (0) = 0 This is easier if we use a complex-valued excitation:
Assume: u (t ) = U sin("t + # ) mu˙˙ + cu˙ + ku = e j"t u (0) = 0, u˙ (0) = 0
Then: "m#2U sin(#t + $ ) + c#U cos(#t + $ ) + kU sin(#t + $ ) = sin #t Assume: u (t ) = Ue j"t
! Expanding sin and cos!terms and simplifying: Then: [m( j")2 + c ( j") + k ]Ue j"t = e j"t
! ["m#2 cos$ " c# sin $ + k cos$ ]U sin #t ! So: U = 1 [(k " m#2!) + cj#]
! + ["m#2 sin $ + c# cos $ + k sin $ ]U cos #t = sin #t !
which means ! To get back the original real-valued u(t), recognize that
! ["m#2 cos$ " c# sin $ + k cos$ ]U = 1 ! e = cos#t + j sin#t. Then a real valued response to
j #t

! ["m#2 sin $ + c# cos $ + k sin $ ]U = 0 excitation sin#t is just Im[Uej#t] or:

tan # = (c$) (m$2 % k ) $ 1 '
" u (t ) = Im& 2 e j#t )
! U = 1 [(k % m$2 )cos# % c$ sin # ] % [(k " m# ) + cj#] (
! $ 1 ' $ 1 '
= Re& 2 ) sin #t + Im& 2 ) cos #t
% [(k " m# ) + cj#] ( % [(k " m# ) + cj#] (
!

USC Viterbi General MDOF Systems USC Viterbi General MDOF Systems
School of Engineering Forced Harmonic Response — with ej#t School of Engineering Impulsive Excitation Force

In a similar way, a MDOF system with harmonic force is The response to an impulse can be used to find the p(t)
˙ + Ku = Ef = EFe j"t response to arbitrary excitations. $ 0, t <0
Mu
˙˙ + Cu &
Mu ˙ + Ku = ep (t ) p (t ) = %1/", 0 # t # "
˙˙ + Cu 1/$%
u(t ) = Ue j"t f(t ) = Fe j"t &
t >" t
' 0,
$%
! [(K " #2M) + j#C]Ue j#t = EFe j#t
! Integrate both sides with respect to t from 0 to $ assuming
! " #2M) + j#C]"1EF
U = [(K ! the system is at rest at time 0.
!
Then the response instead to F!sin#t is M[u˙ (" ) # u
˙ (0)] + C[u(" ) # u(0)] + K[uavg" ] = e
!
u(t ) = Im(Ue j"t ) = Re(U)sin "t + Im(U)cos "t Mu
˙ (" ) + Cu(" ) + K[uavg" ] = e using mean value thm.
!
! Take limit as $ $0: stiffness term $0; displacement cannot
change instantaneously so u($)$0. Thus,
! !
u
˙ (0+ ) = M"1e

USC Viterbi General MDOF Systems USC Viterbi Example 2DOF System
School of Engineering General Excitation Force School of Engineering Forced Response

Define the impulse response matrix function H as Compute response of base-excited 2DOF N−S El Centro ground accel. [g]

MH ˙˙ + CH˙ + KH = E" (t ) " (t ) = Dirac delta function = lim p (t ) structure to 1940 El Centro earthquake: 0.2
H(0) = 0, H ˙ (0+ ) = M"1E # $0 1 Mu ˙ + Ku = "M1v˙˙g
˙˙ + Cu 0
c2!=!1 "2 0%(u˙˙1 + " 3 .1%(u˙1 + " 600 .200 %(u1 + (2+
Note that H is the same size as E. k2!=!200 $ ') , + $ ') , + $ ') , = .) , v
200&*u2 - *1- g
−0.2
#0 1&*u˙˙2 - # .1 1&*u˙ 2 - # .200
! The element hij(t) is the i-th response to an impulse in the 2 Mass in Mg, damping kN"s/dm and stiffness kN/cm.
! Natural frequencies are 10 rads/sec and 20 rads/sec
impulse response [m]
! shape of the j-th column of E. c1!=!2 ! (or 1.59 and 3.18 Hz), damping 2.5% and 5.0%.
0.1
k1!=!400 !

The impulse response is given by: 0

vg
Then, the response to an arbitrary excitation can be written Mh˙˙ + Ch
˙ + Kh = "M1# (t ), h
˙ (0+ ) = "1 floor 1
−0.1 floor 2
h 1(t ) = " 3 8
e "t / 4 sin t 1599 16 "3 1
e "t sin t 399
˙˙ (t ) + Cu
Mu ˙ (t ) + Ku(t ) = Ef(t ) u
˙ (0) = 0, u(0) = 0 1599 399
0.1 El Centro response [m]
t h2 (t ) = " 3 16
e "t / 4 sin t 1599 16 +3 1
e "t sin t 399
1599 399
u(t ) = u(0) + $ H(t " # )Ef(# )d#
0
! 0
A convolution of h with the ground
! This integral is called a convolution
! integral. ! acceleration produces the response −0.1
of the structure to the earthquake. 0 10 20 30
! time [secs]
USC Viterbi Damping Models USC Viterbi Damping Models
School of Engineering School of Engineering Special Cases of Proportional Damping: Modal Damping

In the previous damped 2DOF example, we used specific We often do not know the damping coefficients (while mass
damping coefficients in the model: c1 = 0.2, c2 = 0.1. and stiffness can be computed or easily measured, damping
1 is much harder to quantify).
c2!=!0.1 0.2 "2 0%(u˙˙1 + " 0.3 .0.1%(u˙1 + " 4 + 2 .2 %(u1 + (0+ "1 = 1, #1 = 2.5%
k2!=!2 $ ') , + $ ') , + $ ') , = ) , Damping ratios &i in individual modes are easier to estimate
#0 1&*u˙˙2 - # .0.1 0.1&*u˙ 2 - # .2 2&*u2 - *0- " 2 = 2, #2 = 5.0%
2 (e.g., excite the structure in a particular mode, and estimate &
c1!=!0.2 We found that the damping #TC# diagonalized.
k1!=!4 from the decay e–&!t; repeat for other modes).
However, a different choice (c1 = 0.2, c2 = 0.2) may! not: So, one way to construct the full damping matrix C is by
! $1 2'$ 0.4 #0.2 '$1 1' $ 0.4 #0.2' assuming a modal decomposition
" T C" = & )& )& )=& )
%1 #1(% #0.2 0.2(%2 #1( % #0.2 1( %!
' 0 (*
c1!=!0.2 c2!=!0.1 0.2 1 ˙
q˙˙1 + 15 q1 # 30 1 ˙
q2 +1q1 = 0 The equations " T C" = ' 2#i $i Mi *
m1!=!2 m2!=!1 " '0 !*)
˙q˙2 + 31 q˙ 2 # 15
1 ˙
q1 + 4q2 = 0 are still coupled! &
k1!=!4 ! k2!=!1
This is what is called a non-proportionally &!
( 0 )+ &!
( 0 )+
damped or non-classically damped system. C = "# T ( 2$i %i Mi +" = M" ( 2$i %i
#1 #1
+"
! We will see later how to solve systems like this. ! (0 +
!* (0 +
!*
(!1=1.00037, !2=1.99926, &1=3.3313%, &2=8.3368%)
' '

USC Viterbi Damping Models USC Viterbi Damping Models

School of Engineering Special Cases of Proportional Damping: Modal Damping School of Engineering Special Cases of Proportional Damping: Modal Damping

%! ( %! (
So, the equation of motion is: Mu
˙˙ + M" ' 2# i $ i *"+1u˙ + Ku = 0 So, the equation of motion is: Mu
˙˙ + M" ' 2# i $ i *"+1u˙ + Ku = 0
'& !*
) '& !*
)
Decouple method 1: let u = #q and premultiply by #T: Decouple method 2: let u = #q and premultiply by #–1M–1:
%! ( &! )
" T M"q ˙˙ + " T M" ' 2# i $ i *"+1"q˙ + " TK"q = 0 "#1M#1M"q ˙˙ + "#1M#1M" ( 2$ i % i +"#1"q˙ + "#1M#1K"q = 0
'& ! !*) ! (' !+
*
%! ( %! ( %! ( %! ( &! )
' M i *q ˙˙ + ' M i * ' 2# i $ i *q˙ + ' K i *q = 0 "#1"q˙˙ + "#1" ( 2$ i % i +"#1"q˙ + "#1M#1K"q = 0
'& !* ) '& !*
) '& !*
) '& !*
) (' !+
*
%! ( %! ( %! ( %! ( $! ' $! ' Let " = #$1M$1K#
' M i *q ˙˙ + ' M i * ' 2# i $ i *q˙ + ' K i *q = 0 q
˙˙ + & 2" i # i )q˙ + & # i2 )q = 0 % M#" = K#
'& !) * '
& *
!) &' *
!) '
& !*
) &% !)
( &% !)
(
! % # T M#" = # TK#
%! ( %! ( q˙˙i + 2"i #i q˙i + #i2qi = 0, i = 1,...,n &! ) &! )
˙q˙ + ' 2# i $ i *q˙ + ' $ i2 *q = 0 % ( Mi +" = ( K i +
(' !+
* (' !+
*
'& !* ) '& !*
) &! ) &! )
q˙˙i + 2#i $i q˙i + $i2qi = 0, i = 1,...,n
% " = ( K i M i + = ( , i2 +
(' !+* (' !+
*
!
!

USC Viterbi Damping Models USC Viterbi Damping Models

School of Engineering Special Cases of Proportional Damping: Rayleigh Damping School of Engineering Conditions for Proportional Damping

Rayleigh damping (1877) is given by C = 'M + (K. It can be shown that the system is classically damped if either
Since both M and K diagonalize with #, it is easy to see of the following are true:
that #TC# = '#TM# + (#TK# is diagonal. • C = M F(M–1K) + K G(K–1M)
The result: 2&i!i = ' + (!i2 or &i = ('/!i + (!i)/2. • C = F(KM–1)!M + G(MK–1) K
for some matrix functions F(") and G(").
Since there are only two parameters, ' and (, we can
choose the damping of two modes; all other modal Note: should add references here.
damping ratios are given by the above equation.
If we know (or choose) &r and &s then
' = 2!r!s(&r!s – &s!r) / (!s2 – !r2)
(= 2(&s!s – &r!r) / (!s2 – !r2)
&i = ('/!i + (!i)/2
USC Viterbi Laplace and Fourier Transforms USC Viterbi Transfer Functions
School of Engineering School of Engineering SDOF

Time history p(t) is related to its Consider single degree of freedom system mu˙˙ + cu˙ + ku = f
Laplace transform P(s) and Fourier Transform P(j!) as Laplace transform both sides: ms 2U (s ) + csU (s ) + kU (s ) = F (s )
# $
P (s ) = $ p (t )e "st dt P ( j" ) = % p (t )e # j"t dt (ms 2 + cs + k )U (s ) = F (s )
!
"# #$
U (s ) 1 These are called
1
$
1
% Or, rearranging: =
p (t ) = % P (s )e st ds p (t ) = & P ( j# )e j#t d# F (s ) ms 2 + cs + k transfer functions.
2" #$ 2" $%
! U ( j" ) 1
! ! Could do similar using Fourier transform: =
Laplace transform P(s) may also be denoted L{p(t)} F ( j" ) m( j" )2 + cj" + k
! 1
! and Fourier Transform ! P(j!) by F{p(t)}. If f(t) = F0 sin!t, then =
# # 1 k # m" 2 + cj"
# u (t ) = F0 sin(#t + $ )
Note: L{p˙ (t )} = $ p˙ (t )e "st dt = pe "st "# + $ p (t )se "st dt = sL{p (t )} k " m# 2 + cj#
"# "#
integration by parts (assuming p(t)$0 as t$#)
% 1 ( #1 c
" = angle' 2 ! * = tan m$ 2 # k
& k # m$ + cj$ )
! Similarly: F {p˙ (t )} = j"F {p (t )} !

!
!

USC Viterbi Transfer Functions USC Viterbi Transfer Functions

School of Engineering SDOF Example School of Engineering SDOF Example — Poles

For example: 2u˙˙ + 0.2u˙ + 8u = f For example: 2u˙˙ + 0.2u˙ + 8u = f

U (s ) 1/2 U (s ) 1/2
= Graph with s = j!: =
F (s ) s 2 + 0.1s + 4 F (s ) s 2 + 0.1s + 4
!0 2
Roots ! of the denominator polynomial are called the poles
10
of the system:
Magnitude

Real Part

2 2
c!=!0.2 !
10
−1 0
c!=!0.2 ! "0.1± 0.12 " 4
k!=!8 k!=!8 spoles = = "0.05 ± j 3.9975 # "0.05 ± 1.9994 j
−2 2
10 −2 −1 0 1
10
−1
10
0
10
1 10 10 10 Im
Frequency [rads/sec] Frequency [rads/sec]

0 0 !
Phase [degrees]

Imaginary Part

−50 −1 Re
−100
−2
−150
−3 −1 0 1
10
−1
10
0
10
1 10 10 10
Frequency [rads/sec] Frequency [rads/sec]

USC Viterbi Transfer Functions USC Viterbi Transfer Functions

School of Engineering SDOF Example — Poles and Zeros School of Engineering MDOF

Some TFs have a numerator that is also a polynomial in s. For a MDOF system, must be careful to handle matrices
For example, the transfer function from ground acceleration correctly in determining the transfer function:
to the absolute acceleration of a SDOF system: Mu˙˙ + Cu˙ + Ku = Ef
2u˙˙ + 0.2u˙ + 8u = "2v˙˙g
2
L{v˙˙(t )} { } = L{"0.1u˙ " 4u} L u˙˙ + v˙˙g [Ms ]
+ Cs + K U(s ) = EF(s )
2
c!=!0.2 = ! 2 "1

k!=!8 ! L{v˙˙ (t )} L{v˙˙ (t )}

g L{v˙˙ (t )} g g
[
U(s ) = Ms + Cs + K ] EF(s )

L{u} 0.1s + 4 Now, the transfer function [Ms2 + Cs + K]–1E is a matrix,

= ("0.1s " 4) = Im
{
L v˙˙g (t ) } s 2 + 0.1s + 4 each element of which is a scalar transfer function.
!
Roots of the numerator polynomial are
called the zeros of the system: Re
! sroot = "40

!
USC Viterbi State-Space Formulation USC Viterbi State-Space Formulation
School of Engineering School of Engineering Transfer Function

Rather than using n second-order differential equations A Laplace transform of the state-space matrices can be
Mu˙˙ + Cu
˙ + Ku = Ef used to find the transfer function:
It is convenient (for simulation, control design, etc.) to instead "˙ = A" + Bf & ' s"(s ) = A"(s ) + BF(s )
use 2n first-order differential equations. Define state vector % y = C y" + D y f "(s ) = (sI # A)#1BF(s )
! d
#u & dt u=u
˙
" =$ '
%u
˙( & ' d u˙ = M"1Ef " M"1Cu˙ " M"1Ku !
dt
!
! Y(s ) = C y"(s ) + D yF(s )
d "u % ) 0 I ,"u % " 0 %
# &= + .# ˙ & + # (1 &f
! !
dt $u
˙ ' * (M(1K (M(1C -$u ' $M E ' [
= C y (sI # A)#1B + D y F(s ) ]
state (or system) matrix input (influence) matrix

! "˙ = A" + Bf !
y = C y" + D y f

output matrix direct feed-thru matrix

USC Viterbi State-Space Formulation USC Viterbi State-Space Formulation

School of Engineering Non-Uniqueness School of Engineering Unforced Response

The exact choice of state-space matrices depends on how To see that the state-space response corresponds to our
one defines (. For example, let ( = T%. previous, consider "˙ = A" with " = #e $t
"˙ = A" + Bf T"˙ = AT" + Bf ˙ = (T#1AT)" + (T#1B)f
" "#e "t = A#e "t & ' ( "I # A)$e "t = 0
&' &' For a non-trivial solution the determinant of ()I – A) must
y = C y" + D y f y = C y T" + D y f y = (C y T)" + (D y )f
be 0. For our
! structure, !
This gives a different set of state-space matrices but still
describes the same I/O relationship from f to y. ! I
"! #I P Q
"I # A = #1 but
R S
= SP " RP"1QP
M K "I + M#1C
! ! !
We can also see this from the transfer function: = ( "I + M#1C)( "I) # (M#1K)( "I)#1(#I)( "I)
!
[
Y(s ) = C y T(sI " T AT) T B + D y F(s )
"1 "1 "1
] = "2I + "M#1C + M#1K
! = " #1( $2I + $M#1C + M#1K)"
= [C y (sTT
"1
" TT"1ATT"1)"1B + D y F(s )] ! = "2I + "# $1M$1C# + # $1M$1K#
= [C y (sI " ]
A)"1B + D y F(s ) !
If #–1M–1C# decouples to a diagonal matrix of 2&i!i,
!
"I # A = & ( "2 + 2$i %i " + %i2 ) = 0 "i , "*i = #$i %i ± j%i 1# $i2
! i
!

!
!

USC Viterbi State-Space Formulation USC Viterbi State-Space Formulation

School of Engineering Unforced Response — Mode Shapes School of Engineering Unforced Response — Mode Shapes — 2DOF Example

Partition the eigenvector ) into “displacement” and “velocity” Let’s return to the 2DOF system and see it in state-space.
$ "I #I '+*d . +0 . "#d = # v "2 0%(u˙˙1 + " 0.3 .0.1%(u˙1 + " 6 .2 %(u1 + (2+
& #1 #1 ), v / = , / & ' "1 1 ') , + $ ') , + $ ') , = .) , v˙˙
%M K "I + M C (-* 0 -0 0 M K#d + $# v + M"1C# v = 0 $
#0 1&*u˙˙2 - # .0.1 0.1&*u˙ 2 - # .2 2&*u2 - *1- g
c2!=!0.1
2
( " I + "M C + M K)$ = 0
#1 #1 d k2!=!2 )0 0 1 0 , " 0%
d "u % + 0 0 0 1 ."u % / /
!
Let )d = #* and premultiply by #–1: 2 # & = + (3 1 (0.15 0.05 .# & + # (10 &f
c1!=!0.2! dt $u ˙' $u˙' / /
! #1 2 #1 ! +* 2 (2 0.10 (0.10 .- $ (1 '
" ( $ I + $M C + M K)"% = 0
#1
k1!=!4
! ( "2I + "# $1M$1C# + # $1M$1K#)% = 0 An eigenvalue analysis with MATLAB
vg A = [zeros(2) eye(2); -[2 0;0 1]\[[6 -2;-2 2] [.3 -.1;-.1 .1]]];
[V,D] = eig(A);
If #–1M–1C# decouples to a diagonal matrix of 2&i!i, then [lambda,ii]=sort(diag(D)); V=V(:,ii); % sort by increasing frequency
! ! T
"i , "*i = #$i %i ± j%i 1# $i2 ["1 ... " n ] = I gives: " = [#0.025 ± j 1599 1600 # 0.050 ± j 399 100]
! $ 0.3162 ± 0 j 0.016 ± 0.3158 j ' or, with alternate scaling,
The state-space eigenmatrix then becomes &# # ) &
0.6325 ± 0 j
)
#0.016 ! 0.3158 j ) $ 1± 0 j 1± 0 j '
"=( "=&
(where * denotes complex conjugate). '#$ #$ *
%+ & #0.0079 ± 0.3161j #0.6325 ± 0 j ) &
"=&
2 ± 0j #1± 0 j
)
)
& )
! ! ! %#0.0158 ± 0.6323 j 0.6325 ± 0 j ( &#0.025 ± 0.9997 j #0.100 ± 1.9975 j )
The first n columns of + correspond to $! ' & )
% #0.050 ± 1.9994 j 0.100 ! 1.9975 j (
eigenvectors ,i, the second n columns to )i*. " = & #i )
&% !)
( !
! !

!
USC Viterbi State-Space Formulation USC Viterbi State-Space Formulation
School of Engineering Unforced Response — Mode Shapes School of Engineering Visualization of Non-Proportional Damping

1
If the damping term does not decouple, then the state- c3!=!c Let’s look at an example of a
space approach must be used and k3!=!a 3DOF structure with classical #"0.328 0.737 "0.591 &
% (
( "2I + "M#1C + M#1K)$d = 0 1 damping (-c = 0). The natural %"0.591 0.328 0.737 (
c2!=!c frequencies & damping are: %"0.737 "0.591 "0.328 (
must be solved directly to get the complex eigenvalues and k2!=!a
%
% 0.065 ± 2.06 j "1.142 ! 12.9 j
(
1.913 ± 14.9 j (
complex eigenvectors. Once the the eigenvalues )i,)i* are !1 = 1 , &1 = 3.14%; % 0.117 ± 3.71j "0.508 ! 5.8 j "2.385 ! 18.6 j (
found, then !i = |)i| and &i = –Re{)i}/(2!i). 1 !2 = 2.80, &2 = 8.80%; %
$ 0.146 ± 4.63 j 0.916 ± 10.4 j 1.061± 8.3 j '
(
! c1!=!c!+!-c !3 = 4.05, &3 = 12.72%.
If some eigenvalues are purely real, then no oscillator k1!=!a
mode corresponds to that eigenvalue. !
A non-classically damped
version with additional #"0.233 ! 0.19 j "0.545 ! 3.99 j 0.003 ± 0.17 j &
c!=!0.01a damping in the first floor %
%"0.557 ! 0.08 j "0.977 ! 0.93 j
(
0.537 ! 0.07 j (

a!=!199.3233 (-c = 15c) has natural %"0.737

%
"0.591 "0.328 (
(
(so first natural frequencies & damping: %"0.966 ± 1.97 j "26.85 ± 63.2 j 3.749 ! 0.66 j (
frequency is 1!Hz) % 0.409 ± 4.04 j 6.213 ± 22.1j "3.575 ! 11.9 j (
!1 = 1.15, &1 = 23.6%; % (
$ 1.260 ± 5.17 j 8.655 ± 5.2 j 1.174 ± 7.40 j '
!2 = 2.71, &2 = 85.9%;
!3 = 3.64, &3 = 15.7%.
!

USC Viterbi State-Space Formulation USC Viterbi State-Space Formulation

School of Engineering Visualization of Non-Proportional Damping School of Engineering Unforced Free Response

The unforced free response of the state-space system "˙ = A"

could be found through modal decomposition, but there is an
Proportionally
easier way. To compute the response at time t, break the time
Damped:
up into r smaller steps. Given the definition of a derivative:
!
"( r1 t ) # "( 0r t ) + "˙ r1 t # "(0) + A"(0) r1 t = [I + A tr ]"(0)

The same can be used to approximate ( after each t/r.

"( 2r t ) # [I + A tr ]"( r1 $t ) = [I + A tr ]2 "(0)
!
!
"( rr t ) # [I + A tr ]"( r r%1 $t ) = [I + A tr ]r "(0)

Non- To eliminate the approximation, let r$#.

Proportionally 1
"(t ) = [I + (At ) + 2! (At )2 + 3!
1
(At )3 +!]"(0)
Damped: !
"(t ) = e At "(0)

USC Viterbi State-Space Formulation USC Viterbi State-Space Formulation

School of Engineering Unforced Free Response — Notes about eAt School of Engineering Impulse Response

eAt is a matrix; its elements are not the exponential of the The state impulse response matrix is given by
elements of At. The computation of eAt can be computed ˙ = AH + B# (t ),
H H " (0$ ) = 0
through the power series formulation, though that is not " "

computationally efficient. H y = C yH " + D y# (t )

An efficient computation uses the fact that the eigenvectors of
Integrating from t = 0– to t = 0+, will give the initial conditions
a power of a matrix are the same as those of the matrix itself.
that make a free response equal to the impulse response.
If A+ = +., where + is the eigenmatrix and . is a diagonal !
matrix of eigenvalues, then it can be shown that An+ = +.n. H " (0+ ) # H " (0# ) = AHavg
" (0 # 0 ) + B
+ #

Thus, e At = I + (At ) + 2!1 (At )2 + 3!1 (At )3 +! 0 0

H " (0+ ) = B
1
= "#1" + "#1$"t + 2! "#1$"2t 2 + 3!1 "#1$3"t 3 +!
! For t > 0, the impulse response is just an unforced free
1
= "#1[I + ($t ) + 2! ($t )2 + 3!
1
($t )3 +!]"
response (which was solved several slides ago), so
&" ) !
( + H " (t ) = e At H " (0+ )
= "#1 ( e %it +"
H " (t ) = e At B
(' "+*

! !
 Add Example!
USC Viterbi State-Space Formulation USC Viterbi Discrete-Time State-Space System
School of Engineering Forced Response School of Engineering

The forced response is, then, the combination of the initial We’ve already seen the free response of the unforced state-
condition free response and the effects of the force space system "˙ = A" . So, ((t + -t) = eA-t ((t).
t
The effect of the forced response of "˙ = A" + Bf in [t, t + -t]
"(t ) = e At "(0) + % e A(t #$ )Bf($ )d$ is the superposition of the free response with the impulse
0
response
! of f during the time step.
t +#t
"(t + #t ) = e A#t "(t ) + !
& e A(t +#t $% )Bf(% )d%
t
!
In the interval [t, t + -t), if f($) is constant (a zero-order hold)
'#t * "Ad Bd %
"A B%
' (t
"(t + #t ) = e A#t "(t ) + ) & e A( #t $% )d% ,Bf(t )
$
#0 0I&
! $ ' =e
( + # 0 I &
Ad 0
Bd
Defining ((k) = ((k-t), then the discrete-time
!
state space form is
! "(k +1) = Ad"(k ) + Bd f(k )
Note: one can also assume a first-order
y(k ) = C y"(k ) + D y f(k ) (linear) hold on f to determine B . d

USC Viterbi Distributed Parameter Systems USC Viterbi Distributed Parameter Systems
School of Engineering Euler-Bernoulli Beam Example School of Engineering Euler-Bernoulli Beam Example — exact simply-supported

Continuous systems (e.g., beams, plates, shells, or more The coefficients ci depend on the boundary conditions:
complex structures) also have modes of vibration (generally •  V = 0 and V / = 0 at a fixed (cantilevered) end
infinitely many). Let’s look at an Euler-Bernoulli beam; •  V = 0 and V // = 0 at a simply supported end
transverse displacement v(x,t) must satisfy the partial •  V // = 0 and V /// = 0 at a free end
differential equation of motion where (")/ = 0/0x:
1. Simply supported at both ends: c2 = c4 = 0
(EIv "")"" + #Av˙˙ = f ( x ,t )
v(x,t) c1 sinh "L + c 3 sin "L = 0 sinh "L sin "L
Substitute v(x,t) = V(x)T(t) into $ 2 =0
the unforced, undamped system. "2c1 sinh "L # "2c 3 sin "L = 0 " sinh "L # "2 sin "L
! (EIV "")""T + #AVT˙˙ = 0 EI, *A x The non-trivial solution is )iL = i! where n = 1, 2, …; the
(EIV "")"" T˙˙ L resulting eigenfunctions are Vi(x) = C sin i!x/L and the
2
= $ =" ! natural frequencies are !i = (i!/L)2 [*A/EI]1/2.
#AV T
! LHS is a function of x, the RHS of t, so both must be constant. !1 !3!=!9!1
Assuming ! EI and *A are constant, let ) = [*A! /EI] so:
4 2 1/2

! V """" # $4V = 0 V ( x ) = c1 sinh "x + c 2 cosh "x + c 3 sin "x + c 4 cos "x
T˙˙ + " 2T = 0 T (t ) = c sin("t + # ) !2!=!4!1

! !
! !

USC Viterbi Distributed Parameter Systems USC Viterbi Distributed Parameter Systems
School of Engineering Euler-Bernoulli Beam Example — exact cantilevered School of Engineering Euler-Bernoulli Beam Example — assumed modes method

2. Cantilevered at x = 0 and free at x = L: c4 = –c2, c3 = –c1 Sometimes solving for the exact mode shapes from the
Using the remaining equations leads to partial differential equations of motion is difficult.
cos "L cosh "L +1 = 0 An alternate approach is to assume a set of mode shapes
Vi(x) that satisfy the boundary conditions. Then, Lagrange’s
which has solutions )L = 1.8751, 4.6941, 7.8548, 10.996, …; equations can be used to determine the equations of motion.
larger solutions are approximately !(1"+ 2n)/2. For example, for an Euler-Bernoulli beam: v ( x ,t ) = "Vi ( x )v i (t )
!
3.516 EI 22.03 EI 61.70 EI 1L 1 L i
"1 = "2 = "3 =
L2 #A L2 #A L2 #A V = # EI(v "")2 dx = 2 $vi2 (t ) # EIVi""2 (x )dx
20 i 0
cosh "i L +cos "i L
{
Vi ( x ) = C cosh "i x # cos "i x # sinh "i L +sin "i L [sinh "i x # sin "i x ]}
T=
1 L
1
# %Av˙ 2dx = 2 $v˙i2 (t ) # %AV
L
! i 2 ( x )dx
2 0 i 0
! ! !
!1 Which leads to: Mv
˙˙ + Kv = f
! !3!=!17.55!1 L L L

! kij = # EIVi""(x )V j""(x )dx mij = # "AVi (x )V j (x )dx fi (t ) = " f ( x ,t )Vi ( x )dx
0 0 0
!2!=!6.27!1 !

! ! !