DYNAMICS OF VIBRATING SYSTEMS

SUMMARY
This report has successfully demonstrated the analytical derivation of the
governing equations for the vibration of an unforced 6DoF damped mechanism,
using Lagrange’s equations. MATLAB® was successfully implemented in several
instances. The system characteristics were found, namely the six natural
frequencies and modal shapes. A comprehensive modal analysis was performed
with two co-ordinate transformations and proportional damping. A particular use
for MATLAB was performing the impulse response for two separate non-periodic
excitation forces applied to the system. Other types of excitation were discussed,
and finally some of the fundamental assumptions of the system were altered to
observe the effect on damping.

1. INTRODUCTION
In this report, the system in figure 1 with six Degrees of Freedom (DoF) will be
considered. The governing equation will be derived using Lagrangian mechanics
in section 2. Then it will be subject to a number of different analysis procedures.
The matrix method will determine the undamped natural frequencies and modal
shapes in section 3. A kinematic analysis will be performed in section 4, with
modal analysis that uses two co-ordinate transformations and proportional
damping. This process will find estimates for damping ratios, damping factors
and damped frequencies. A kinetic analysis will take place in section 5, where
two separate pre-determined non-periodic excitation forces will be applied to the
system. Numerical and analytical procedures are thereby examined for their
effectiveness in predicting the impulse response. Finally, in sections 6 and 7,
alternative excitation functions, and methods for modelling damping will be
discussed.
k
m
m
cm
x m
m
11
2
3
4
5
6
7
=====
2 546
3
300
200 N/m
300
400
=
= N/m
7
1
2
6
5
4
3
20kg
30kg
20kg
40kg
60kg
10kg
Figure 1 – 6DoF Mass-spring-damper model with parameters for mass and spring
constants.
2. SYSTEM EQUATION
The analysis is presented for a purely translational system (where no rotation is
involved). The Lagrange equation for unforced oscillation with damping is given
by:

ddt∂T∂qi-∂T∂qi+∂V∂qi+∂D∂qi =0 (2.1)

Where T is the Kinetic energy (J), V is the Potential energy (J), D is the energy
dissipation due to damping (J), qi is the co-ordinate system, qi is the first
derivative of the co-ordinate qi with respect to time (ms-1).

The Kinetic energy of the system given in figure 1 can be expressed

T=12m1x12+12m2x22+12m3x32+12m4x42+12m5x52+12m6x62 (2.2)

Where mi is the respective mass for each of the masses (kg).

The potential energy can also be expressed thus:

V=12k1x12+12k2(x2-x1)2+12k3(x3-x2)2+12k4(x4-x3)2+12k5(x5-
x4)2+12k6(x6-x5)2 (2.3)

Where ki is the respective stiffness of each of the springs (Nm-1).

Energy dissipation due to damping is expressed:

D=12c1x12+12c2(x2-x1)2+12c3(x3-x2)2+12c4(x4-x3)2+12c5(x5-
x4)2+12c6(x6-x5)2 (2.4)

Where ci is the respective damping co-efficient for each damper.

By substituting into the Lagrange equation for i = 1,

∂T∂q1=m1x1 ddt∂T∂q1=m1x1 ∂V∂q1=k1x1-k2(x2-x1) ∂D∂q1=c1x1-c2(x2-

x1)

Using the Lagrange equation given in (2.1), the first equation (for i = 1) is
therefore:

m1x1+k1+k2x1-k2x2+c1+c2x1-c2x2=0 (2.5)
The same procedure may be continued for i = 2:

∂T∂q2=m2x2 ddt∂T∂q2=m2x2 ∂V∂q2=k2(x2-x1)-k3(x3-x2)

∂D∂q1=c2(x2-x1)-c3(x3-x2)

And hence the equation for i = 2 is given:

m2x2-k2x1+k2+k3x2-k3x3-c2x1+c2+c3x2-c3x3=0 (2.6)

Since the system has 6 DoF, it follows the same pattern through to i = 6, the set
of Lagrange equations can now be presented in matrix format.

m1000000m2000000m3000000m4000000m5000000m6x1x2x3x4x5x6+
(c1+c2)-c20000-c2(c2+c3)-c30000-c3(c3+c4)-c40000-c4(c4+c5)-c50000-
c5(c5+c6)-c60000-c6(c6+c7)x1x2x3x4x5x6+(k1+k2)-k20000-k2(k2+k3)-
k30000-k3(k3+k4)-k40000-k4(k4+k5)-k50000-k5(k5+k6)-k60000-
k6(k6+k7)x1x2x3x4x5x6=0

(2.7)

By substituting the appropriate values from figure 1, Lagrange’s equations can

be found for this particular system.

100000002000000030000000200000004000000060x1x2x3x4x5x6+(c1+c2)-
c20000-c2(c2+c3)-c30000-c3(c3+c4)-c40000-c4(c4+c5)-c50000-c5(c5+c6)-
c60000-c6(c6+c7)x1x2x3x4x5x6+400-2000000-200500-3000000-300600-
3000000-300600-3000000-300700-4000000-400800x1x2x3x4x5x6=0

(2.8)

Equation (2.8) concludes the derivation of the governing equation for this
particular system in matrix form.

3. SYSTEM CHARACTERISTICS
In order to find the natural frequencies and modal shapes of the system, the
Matrix method was used chosen over the Holzer method because it is more
appropriate for computational analysis.

A-ωn2Ix=0 (3.1)

Where;

A=[m]-1[k] (3.2)
Solving the characteristic equation for the eigenvalues of A, and then performing
a square root on the resultant matrix, gives the natural frequencies for the
system. The MATLAB code in figure 2 was used to do this:

K = [400,-200,0,0,0,0;-200,500,-300,0,0,0;0,-300,600,-300,0,0;0,0,-
300,600,-300,0;0,0,0,-300,700,-400;0,0,0,0,-400,800]
M =
[10,0,0,0,0,0;0,20,0,0,0,0;0,0,30,0,0,0;0,0,0,20,0,0;0,0,0,0,40,0;0,0,0,0
,0,60]
% Mass and stiffness matrices are set up.
A = inv(M)*K
% A is defined and then the eigenvalues & eigenvectors are found in order
% to solve according to the matrix method.
[v,d] = eig(A)
nat_freq = sqrt(d)
% A plot of all the modal shapes is formed
plot(v)
pause;
% Each time the user presses the return key, the modal shapes will appear
% in ascending order of natural frequency.
plot(v(:,5))
pause;
plot(v(:,6))
pause;
plot(v(:,4))
pause;
plot(v(:,3))
pause;
plot(v(:,2))
pause;
plot(v(:,1))
Figure 2 – MATLAB® code to solve for the natural frequencies and modal shapes
The code in figure 2 produced the following results for the natural frequencies.

ωn=7.11670000006.45410000005.09760000004.28580000001.45140000002.6
591

6.4541
1.4514
2.6591
4.2858
5.0976
7.1167
rad/s

The modal shapes may be plotted from the corresponding eigenvectors. They

are given on figure 3 combined in one plot, and they are singled out in ascending
order from the lowest to highest frequency in the subsequent figures 4 to 9,
displayed on page 8.

The dynamic characteristics of the system are the properties during its active
and changing states. Therefore discussing these involves noting the order in
which the masses and stiffness elements for that constitute each degree of
freedom hit their natural frequency. The cause of this is due to the surrounding
properties of the system. This information is ordered and summarised in table 1.

Natural Frequency (ωn – Mass (m – Surrounding stiffness elements –

[rad/s]) [kg]) Left to right (k – [Nm-1])

1.4514 m5  40 k5  300; k6  400

2.6591 m6  60 k6  400; k7  400

FIGURE 3 - MODAL SHAPES. THE NATURAL FREQUENCIES ARE COLOUR CODED AS SHOWN
ON THE LEFT OF THE FIGURE.
 4.2858 m4  20 k4  300; k5  300

5.0976 m3  30 k3  300; k4  300

6.4541 m2  20 k2  200; k3  300

7.1167 m1  10 k1  200; k2  200

TABLE 1 – NATURAL FREQUENCIES IN ASCENDING ORDER, ALLOCATED TO EACH MASS AND
STIFFNESS ELEMENTS

The heavier mass and stiffer spring arrangements tend to have lower values for
ωn. However, it may be observed from table 1 that the lowest natural frequency
actually occurs for m5, rather than m6. Possible causes for this are the variance in
surrounding stiffness elements for m5 whereas m6 has the same k value on both
sides; and also the fact that m5 has surrounding masses on both sides, whereas
m6 is against a wall on one side. Conversely, lighter masses with lower k values
have higher natural frequencies. This is a trend that loosely matches from m 4 to
m1. The exception occurs at m3, which is located in the middle of the system,
promoting a lower natural frequency. From the tabulation of these results it is
possible to see that the natural frequency for each of the six degrees of freedom
is highly dependent on every other element in the system.
FIGURE 4 – MODAL SHAPE FOR 1.4514 RAD/S FIGURE 5 – MODAL SHAPE FOR 2.6591 RAD/S

FIGURE 6 – MODAL SHAPE FOR 4.2858 RAD/S FIGURE 7 – MODAL SHAPE FOR 5.0976 RAD/S

FIGURE 8 – MODAL SHAPE FOR 6.4541 RAD/S FIGURE 9 – MODAL SHAPE FOR 7.1167 RAD/S
4. MODAL ANALYSIS
This is a kinematic analysis which approaches the 6DoF system assuming that
free damped vibration occurs. The damping will be proportional in order for the
analysis to work, with α = 0.1 and β = 0.2.

The system equations of 2.8 were given thus:

100000002000000030000000200000004000000060x1x2x3x4x5x6+(c1+c2)-
c20000-c2(c2+c3)-c30000-c3(c3+c4)-c40000-c4(c4+c5)-c50000-c5(c5+c6)-
c60000-c6(c6+c7)x1x2x3x4x5x6+400-2000000-200500-3000000-300600-
3000000-300600-3000000-300700-4000000-400800x1x2x3x4x5x6=0

(2.8 - repeated)

The problem was solved in MATLAB using the code given in figure 10.
% Stiffness and mass matrices defined, as before
K = [400,-200,0,0,0,0;-200,500,-300,0,0,0;0,-300,600,-300,0,0;0,0,-
300,600,-300,0;0,0,0,-300,700,-400;0,0,0,0,-400,800]
M =
[10,0,0,0,0,0;0,20,0,0,0,0;0,0,30,0,0,0;0,0,0,20,0,0;0,0,0,0,40,0;0,0,0,0
,0,60]
% Proportional damping applied to the system to form the damping matrix
C = 0.1*M+0.2*K

% Below - Used to check the order of undamped natural frequencies, will

be needed later for the P matrix.
A = inv(M)*K
[v,d] = eig(A)
nat_freq = sqrt(d)

% First co-ordinate transformation...

% Mass-Normalised Stiffness:
K_tilda = (M^-0.5)*(K)*(M^-0.5)

% Mass-Normalised Damping:
C_tilda = (M^-0.5)*(C)*(M^-0.5)

% Finding eigenvalues and eigenvectors for the normalised stiffness

matrix
[v1,d1] = eig(K_tilda)

% Second co-ordinate transformation...

% Arranging the eigenvectors into ascending order according to natural
% frequency.
P = [v1(:,5),v1(:,6),v1(:,4),v1(:,3),v1(:,2),v1(:,1)]

% Diagonal matrices for use with the "r" co-ordinates after the second
% transformation
Big_Lambda_K = [P]'*[K_tilda]*[P]
Big_Lambda_C = [P]'*[C_tilda]*[P]

% Used for conversion from r(t) co-ordinates back to x(t) co-ordinates

[S] = M^-0.5*[P]

FIGURE 10 – MATLAB® CODE TO PERFORM KEY OPERATIONS REQUIRED FOR MODAL

ANALYSIS.

The process of co-ordinate transformation and eventually finding the necessary

parameters will be detailed through each step.

Firstly, appropriate values should be substituted for C, for the damping matrix.
The parameters α = 0.1 and β = 0.2 are given, and it is known that:

C=αM+β[K]

Therefore:

Mx+αM+βKx+Kx=0
So, the equation of motion in terms of {x(t)} for 6DoF may be stated thus:

100000002000000030000000200000004000000060x1x2x3x4x5x6+81-400000-
40102-600000-60123-600000-60126-600000-60144-800000-
80166x1x2x3x4x5x6+400-2000000-200500-3000000-300600-3000000-300600-
3000000-300700-4000000-400800x1x2x3x4x5x6=0

(4.1)

In order to form a symmetric eigenvalue problem, the mass-normalised stiffness

and damping, K and C, must be found:

K=M-12K[M]-12

C=M-12C[M]-12

These matrices were calculated through the MATLAB calculations shown in figure
10:

K=400-141.42140000-282.8427500-244.94900000-367.4235600-367.42350000-
244.9490600-212.13200000-424.2641700-326.59860000-489.8979800

C=83-29.69850000-59.3970105-51.43930000-77.1589125-75.93420000-
50.6228126-45.25480000-90.5097150-70.21870000-105.3281166

To form the first co-ordinate transformation, K and C can be expressed in terms

of the new co-ordinate system, {q(t)}.

Iqi+(0.1I+0.2K)qi+Kqi=0

And therefore:

Iqi+Cqi+Kqi=0

Substituting the mass-normalised and stiffness and damping matrices, equation

(4.2) is formed:

100000010000001000000100000010000001q1q2q3q4q5q6+83-29.69850000-
59.3970105-51.43930000-77.1589125-75.93420000-50.6228126-45.25480000-
90.5097150-70.21870000-105.3281166q1q2q3q4q5q6+400-141.42140000-
282.8427500-244.94900000-367.4235600-367.42350000-244.9490600-
212.13200000-424.2641700-326.59860000-489.8979800q1q2q3q4q5q6=0

(4.2)

This completes the first co-ordinate transformation.

The eigenvalues and eigenvectors for K were found with MATLAB. [P] is defined
as the normalised matrix of stiffness eigenvectors, in ascending order of natural
frequency.

P=0.1436-0.18800.28260.4092-0.3943-0.73570.3848-
0.43790.43230.40550.04610.55390.5534-0.4238-0.0922-0.50510.3925-
0.31040.4238-0.0096-0.4446-0.1587-0.74020.22280.47380.4687-
0.38110.52320.3601-0.07540.34570.61110.6180-0.3377-0.10380.0165

ΛK and ΛC will be used in the equation in terms of {r(t)}, the result of the second
co-ordinate transformation. They produce ordered values that relate to natural
frequency and damping, as shown below.

ΛK=[P]TKP=ωn12000000ωn22000000ωn32000000ωn42000000ωn52000000ωn
62

ΛC=[P]TCP=2ζω10000002ζω20000002ζω30000002ζω40000002ζω50000002ζω
6

The MATLAB calculations produced the following results for ΛK and ΛC:

ΛK=2.10670000007.071000000018.367700000025.985400000041.6552000000
50.6474

ΛC=0.52130000001.51420000003.77350000005.29710000008.431000000010.
2295

To complete the second co-ordinate transformation, ΛK and ΛC are substituted

into the system equation expressed in terms of {r(t)} . This provides the format
for decoupled equations to be formed. Rather than expressing the system as a
single 6DoF equation as before, it may now be stated in terms of 6 separate
single DoF (sDoF) equations.

Iri+ΛCri+ΛKri=0
100000010000001000000100000010000001r1r2r3r4r5r6+2ζω10000002ζω200
00002ζω30000002ζω40000002ζω50000002ζω6r1r2r3r4r5r6+ωn12000000ωn2
2000000ωn32000000ωn42000000ωn52000000ωn62r1r2r3r4r5r6=0

Substituting in values for ΛK and ΛC gives (4.3):

100000010000001000000100000010000001r1r2r3r4r5r6+0.52130000001.5142
0000003.77350000005.29710000008.431000000010.2295r1r2r3r4r5r6+2.1067
0000007.071000000018.367700000025.985400000041.655200000050.6474r1r
2r3r4r5r6=0

(4.3)

The equivalent 6 sDoF equations are:

r1+0.5213r1+2.1067r1=0

r2+1.5142r2+7.0710r2=0

r3+3.7735r3+18.3677r3=0

r4+5.2971r4+25.9854r4=0

r5+8.4310r5+41.6552r5=0

r6+10.2295r6+50.6474r6=0

To obtain the final solution for x{t}, simply:

xt=[M]-12P{rt}=[S]{rt} (4.4)

Where:

S=[M]-12P
In order to tabulate the results for each DoF, each of the sDoF equations found in
terms of {r(t)} must be addressed (equation (4.3)). Therefore the natural
frequencies are calculated from the values of ΛK, where each term is equal to
ωni2 :

ωn1=2.1067=1.4514 rad/s

ωn2=7.071=2.6591 rad/s

ωn3=18.3677=4.2858 rad/s

ωn4=25.9854=5.0976 rad/s

ωn5=41.6552=6.4541 rad/s

ωn6=50.6474=7.1167 rad/s

The damping factors are found directly from each value of ΛC. The damping
ratios are found from the each value of ΛC where each term is equal to 2ζωi:

ζ1=0.5213(2*2.1067)=0.1796 Ns/m

ζ2=1.5142(2*7.071)=0.2847 Ns/m

ζ3=3.7735(2*18.3677)=0.4402 Ns/m

ζ4=5.2971(2*25.9854)=0.5196 Ns/m

ζ5=8.4310(2*41.6552)=0.6532 Ns/m

ζ6=10.2295(2*50.6474)=0.7187 Ns/m

Finally, damped frequencies (ωd) are found from equation (4.5).

ωd=ωn1-ζi2 (4.5)
 Natural Damping ratio, Damping Factor Damped
frequencies, �n ζ (Ns/m) (Ns/m) frequencies, �d
(rad/s) (rad/s)

1.4514 0.1796 0.5213 1.4279

2.6591 0.2847 1.5142 2.5491

4.2858 0.4402 3.7735 3.8481

5.0976 0.5196 5.2971 4.3555

6.4541 0.6532 8.4310 4.8872

7.1167 0.7187 10.2295 4.9484

TABLE 2: COMPARISON BETWEEN PARAMETERS OBTAINED THROUGH MODAL ANALYSIS.

Table 2 shows the trend between parameters obtained through

From table 2 it may be observed that damping ratio increases with the natural
frequency. This is intuitive because with a higher oscillating frequency it is likely
that more damping occurs. The damped frequencies increase with natural
frequency, but not at a linear rate, as shown by graph 1. The relationship
between them is actually convergent because damping factor increases to a limit
of 1. Therefore at higher values the damped frequencies are significantly lower
than the natural frequencies.

GRAPH 1: COMPARISON BETWEEN NATURAL FREQUENCIES AND DAMPED FREQUENCIES

ACROSS DAMPING RATIOS.
5. NON-PERIODIC EXCITATION
5.1 IMPULSE FORCE (FORCE_1.M)
This section performs a kinetic analysis on the system shown in figure 1 for an
impulse force acting specifically on m1. The impulse force is defined as F.

F=Ftdt (5.1)

When considering a unit impulse:

F=fξ∆ ξ (5.2)

The convolution integral can be formed:

xt=0tfξht-ξdξ (5.3)

The rectangular pulse can be considered analytically as the sum of two step
functions, where F(t) = F0 for a damped system.

x1t=F0k(1-cosωnt) t<t1 (5.4)

x2t=F0k[1-cosωnt-t1] t=t1 (5.5)

The sum of which is:

xt=F0k[-cosωnt+cosωnt-t1] t>t1 (5.6)

For this system, the values are:

xt=1200[-cos⁡(7.1167t)+cos⁡(7.1167t-t1)] (5.7)

The original excitation files for use with MATLAB are given in Appendix 2. To
apply these forces to the particular system shown in figure 1, additional sections
of code were added to perform the transfer function, impulse response and
convolution integral. In figures 11A and 12A, the original sections are shaded out
in grey, and the added sections are in black.

The parameters for the transfer function were formed thus:

G's=X(s)F(s)=1ms2+2ζωns+ωn2

For m1: 1m=0.1, 2ζωn6=10.2295 and ωn62=50.6474

The impulse solution is given on the next page, using a linear simulation and
convolution integral. The plots are given in order of the corresponding solutions
noted by the code.

dt=0.1;
t=0:dt:50;
f=[zeros(50,1);ones(100,1);zeros(length(t)-150,1)];
subplot(311);
plot(t,f);
title('Square input');
axis([0 50 0 1.5]);
pause;

%Numerical solution – impulse response

sys=tf(0.1,[1 10.2295 50.6474]);% using m1 = 10kg and values from sect 4
% in the stiffness and damping matrices in terms of r(t) for nat freq #6
h=impulse(sys,t);
sol_1=lsim(sys,f,t); %linear simulation
sol_2=conv(f,h)*dt; %convolution
subplot(312);
plot(t,sol_1(1:length(t)),t,sol_2(1:length(t)));
title('Impulse response of system');
xlabel('Time');
ylabel('Output');
pause;

%Attempted analytical validation – step response

y=0.005.*((-cos(7.1167*t))+(cos(7.1167.*(t-(t-0.1))))) %Using Nat. Freq
#6.
subplot(313);
plot(t,y)
title('System Response to a step input');
xlabel('Time');
ylabel('x(t)');
FIGURE 11A – MATLAB® CODE FOR THE NON-PERIODIC EXCITATION FORCE_1.M APPLIED
TO m1 IN THE 6DOF SYSTEM.
 FIGURE 11B – IMPULSE RESPONSE PLOT FOR FORCE_1.M APPLIED TO m1 IN THE
6DOF SYSTEM

The impulse response showed a resemblance to the rectangular input used to

excite m1. The system reacts dynamically for the duration of the impulse, and
then the force dies away over time due to the system damping. The analytical
result for step input did not produce a result as expected as it is a continuous
function rather than a solution to the step input. This is due to an unknown flaw
in the equation presented in the code.

5.2 HALF-SINE PULSE EXCITATION FORCE (FORCE_2.M)

In this case a half-sine pulse was applied to m1 on the system given in figure 1.

The analytical solution in this case is given by:

xt=F0k1-e-ζωnt1-ζ2sin⁡(ωdt-ϕ) (5.8)

Where:

ϕ=tan-1ζ1-ζ2

Stating (5.8) with values relevant to this problem:

xt=12001-e-5.1148t1-0.71872sin⁡(4.9484t-0.802) (5.9)
The solution using MATLAB code for a linear simulation and convolution integral
is given on the following page.

The plots are given in order of the corresponding solutions noted by the code.
DT=0.1;
t=0:DT:50; %Time (high resolution)
sys=tf(0.1,[1 0.5213 2.1067]);
f=(sin(t).*t+0.1).*(t<8.1);
subplot(311);
plot(t,f,'b');
xlabel('Time');
ylabel('Input');
title('Input vs Time');
pause;

% Impulse response (below)

h=impulse(sys,t);
sol_1=lsim(sys,f,t); %linear simulation
sol_2=conv(f,h)*dt; %convolution
subplot(312);
plot(t,sol_1(1:length(t)),t,sol_2(1:length(t)))
title('Impulse response of system');
xlabel('Time');
ylabel('Output');
pause;

% Attempted Analytical validation - step response (below)

y = 0.2.*(1-(exp(-5.1148*t)/sqrt(1-0.7187^2).*(sin(4.9484*t-
(atan(0.7187/sqrt(1-0.7187^2)))))))
subplot(313);
plot(t,y)
title('System Response to a step input');
xlabel('Time');
ylabel('x(t)');
axis([0 5 0 0.5]);
FIGURE 12A – MATLAB® CODE FOR THE NON-PERIODIC EXCITATION FORCE_2.M APPLIED
TO m1 IN THE 6DOF SYSTEM

FIGURE 12B – RESPONSE PLOT FOR FORCE_2.M APPLIED TO m1 IN THE 6DOF

SYSTEM
The system response appears to be valid for the convolution integral approach
(impulse response, middle plot). Here, the vibrations follow the trend of the input
before dying away due to damping in the system. This shows that a numerical
approach can provide accurate results with appropriate conditions for linear
simulation. Unfortunately the validation was not very accurate for the half-sine
pulse (analytical approach, lower plot). This could be due to an error in the
equation or a mistake with the input for MATLAB. However it still shows an initial
transient period followed by stability.

6. OTHER TYPE OF EXCITATION

An excitation is considered of the following form in (6.1):

Ft=e-tsinωt (6.1)

To illustrate the implications of this on the system, the function is plotted for two
different values of ω, the oscillating frequency, in figures 13 and 14.

FIGURE 13 – FORCING FUNCTION (6.1) FIGURE 14 – FORCING FUNCTION (6.1)

APPLIED WHERE ω = 5 RAD/S APPLIED WHERE ω = 50 RAD/S

Therefore it is a function which dies away in amplitude at a fixed rate, regardless

of the natural frequency. It is clear to see that this is unlike the other excitation
functions in section 5 which were largely solved through numerical analysis, as it
is dissimilar to simple rectangular, half-sine pulse or constant with rise time
functions.

The best way to tackle this problem analytically is through the forced modal
analysis method.

Mx+Cx+Kx=BFt=B{e-tsinωt} (6.2)
Proportional damping would occur in the same way as in section 4, and the co-
ordinate transformations would also be applied to the right hand side of the
equation. [B] is defined here as an identity matrix.
7. EFFECTS OF DAMPING
7.1 SELECTING PROPORTIONAL DAMPING CONSTANTS
In section 4 it was assumed that the values for α and β we given. But this raises
the question as to how they were found in the first place. When the system is in
terms of r co-ordinates, its equations follow this format for unforced vibration:

rt+αI+βΛrt+Λrt=0 (7.1)

The damping constant, c, can be found through empirical measurements or

chosen for desired values.

ζi=c2km (7.2)

Then, through the relationship given in (7.2), The damping ratios, ζi , can thus
be found. Proportional values of α and β can be chosen such that these values of
ζi are matched.

7.2 SYSTEM RESPONSE WITHOUT HORIZONTAL ROLLERS

If the masses were resting on a flat surface this would introduce additional losses
through friction. Due to the conservation of energy, the governing equation
would follow this form:

Mx+Cx+Kx+Frictional Losses=0

The precise values for frictional losses could either be measured empirically or
from the time taken for the vibrations of the system to diminish. The latter
method assumes that all other damping parameters in the system are known.

7.3 NON-RIGID WALLS

Rigid walls essentially act as a place for the energy to “bounce” back through the
system. This goes by the assumption that no energy is lost at the walls and that
it is all transferred back into the system. If the walls lost their rigidity, there
would have to be a proportional constant for how much of the energy was lost
each time a vibration hit a wall and travelled back into the system.
8. CONCLUSIONS
The 6DoF system was treated in a number of ways, both computationally and
analytically. The system equations and characteristics were successfully found.
Modal analysis provided a useful way of tackling vibration problem in conjunction
with MATLAB, which computed the co-ordinate transformations. All of the natural
frequencies, damping ratios, damping factors and damped frequencies were
found. Forced, non-periodic excitation was analysed numerically with the
convolution integral, for a rectangular pulse and a half-sine pulse. The results
were accurate using the impulse response in MATLAB. However, the analytical
validation proved to be a challenge and the results were likely to be incorrect.
Forced modal analysis was considered to model an excitation function of Ft=e-
tsinωt. Overall, the analysis of this 6DoF system proved to be successful and a
good understanding has been formed of its fundamental properties in free and
forced vibration.
9. REFERENCES
[1] TONGUE, B., 1996, Principles of Vibration. Oxford University Press

[2] THOMSON W. T., DAHLEH M. D., 1998, Theory of Vibration with Applications,
5th ed. Prentice Hall.

[3] ES386 Student Resources. Available online:

http://www2.warwick.ac.uk/fac/sci/eng/euo/modules/year3/es386a/resources/

10. APPENDICES
APPENDIX 1
ES386 Assignment handout: Dr. Xian Ping Liu, School of Engineering, Warwick
University. March 2010.

APPENDIX 2
Excitation files for sections 5.1 and 5.2

Force_1.m

dt=0.1;
t=0:dt:50;
f=[zeros(50,1);ones(100,1);zeros(length(t)-150,1)];
subplot(211)
plot(t,f)
title('Square input')
axis([0 50 0 1.5])
%pause

Force_2.m

DT=0.1;
t=0:DT:50; %Time (high resolution)
f=(sin(t).*t+0.1).*(t<8.1);
plot(t,f,'b');
xlabel('Time');
ylabel('Input');
title('Input vs Time');
pause;