DYNAMI C OF STRUCTURES

CHAPTER 5
RESPONSE OF MULTI DEGREE OF
FREEDOM SYSTEMS
Department of civil engineering, University of North Sumatera
Ir. DANIEL RUMBI TERUNA, MT;IP-U
ORTHOGONALITY OF MODES
Premultyplying it by , gives
) 1 (
2
n n n
m k =
Similarly, the natural frequency and mode satisfy equa.(1), and
premultyplying by gives
) 2 (
2
n
T
r n n
T
r
m k =
The equation of eigenvalue problem of the natural frequency can be
written as
) 3 (
2
r
T
n r r
T
n
m k =
T
r

T
n

th
n
th
r
ORTHOGONALITY OF MODES
) 4 (
2
r
T
n n r
T
n
m k =
) 5 ( 0 ) (
2 2
=
r
T
n r n
m
The tranpose of the matrix of equa. (2) gives
Subtracting equa. (3) from equa.(4) gives
Since , this gives the first orthogonality condition
2 2
r n

) 6 ( 0 =
r
T
n
m
the second orthogonality condition can be derived directly from
equa.(3); thus
) 7 ( 0 =
r
T
n
k
ANALYSIS OF MDOF RESPONSE USING
MODES SUPERPOSITION
Consider the cantilever column in figure 1, for which the deflected shape is
expressed in terms of translational displacement at three levels.
1
u
2
u
3
u
q u =
11
u
21
u
31
u
1 1 1
q u =
32
u
22
u
12
u
2 2 2
q u =
33
u
23
u
13
u
3 3 3
q u =
Fig.1 Representing deflections as sum of modal components.
=
+
+
ANALYSIS OF MDOF RESPONSE USING
MODES SUPERPOSITION METHOD
r
q
) 8 (
r r r
q u =
The total displacement is obtained by summing the modal vectors as expressed
by
) 9 ( .......
1
2 2 1 1
=
= + + + =
N
r
r r N N
q q q q u
The displacements are given by the product of the mode shape vector
and the modal amplitudo ; thus
r

Modal equation for undamped systems

( } ) 10 ( t p ku u m = + & &
( } ) 11 (
1

=
=
N
r
r r
q t u
The dynamic response of system can be expressed as
MODAL EQUATION FOR UNDAMPED SYSTEMS
( } ( } ( } ) 12 (
1 1
t p t q k t q m
r r
N
r
r r
N
r
= +

= =
& &
Substituting equation (11) into equa.(10) gives
Premultiplying each term by gives
T
n

( } ( } ( } ) 13 (
1 1
t p t q k t q m
T
n r r
N
r
T
n r r
N
r
T
n
= +

= =
& &
Since orthogonality condition, all term in each summation vanish, except
r n=
( } ( } ( } ( } ( }
( } ( } ( } ) 15 (
) 14 (
t P t q K t q M
or
t p t q k t q m
n n n n n
T
n n n
T
n n n
T
n
= +
= +
& &
& &
MODAL EQUATION FOR UNDAMPED SYSTEMS
( } ( }
( } e natural n the for force d generalize the t P
e natural n the for stiffness d generalize the
K e natural n the for mass d generalize the called is M
t p t P k K m M
where
th
n
th
n
th
n
T
n n n
T
n n n
T
n n
mod
, mod
, mod
) 16 ( = = =
Equation (15) may be interpreted as the equation of the SDOF system as
shown in fig.2
n
M
n
K
( } t q
n
( } t P
n
Fig.2 Generalized SDOF system for the n
th
natural mode
EXAMPLE 2.
m m
m m
=
=
2
1
2
k k
k k
=
=
2
1
2
Compute the natural frequency and modes shape
_
_
_
_
_
_
=
m
m
m
0
0 2
_
_
_
_
_
_

=
k k
k k
k
3
m
1
m
2
k
1
=story stiffness
k
2
p
o
sinwt
u
2
u
1
EXAMPLE 2.
{ }
_
_
_
_
_
_
=
_
_
_
_
_
_
=
1 1
1
2
1
22 21
12 11

m
k
m
k 2
2 2 1
; = =
Eigenvalue problem
j { 0
2
=
n n
m k
j {
) 16 ( , 0
1 1
1 2 3
0 . det
2
2
k
m
where
m k
n
n

= =


=
Characteristic equation
) 17 ( 0 2 5 2
2
= +
EXAMPLE 2.
Compute the generalized mass, stiffness and force
j { m
m
m
m M
T
2
3
1 0
0 2
1
2
1
2
1
1 1 1
=
_
_
_
_
_
_
_
_
_
_
_
_
= =
j { m
m
m
m M
T
3
1
1
0
0 2
1 1
2 2 2
=
_
_
_
_
_
_

_
_
_
_
_
_
= =
j { k
k k
k k
k K
T
4
3
1
3
1
2
1
2
1
1 1 1
=
_
_
_
_
_
_
_
_
_
_
_
_

= =
j { k
k k
k k
k K
T
6
1
1 3
1 1
2 2 2
=
_
_
_
_
_
_

_
_
_
_
_
_

= =
( } ( } j {
( }
t
P
t P
t p T P
T

sin
2 0
sin
1
0
0
2
1
1 1
_
_
_
_
_
_
=
_
_
_
_
_
_
= =
( } ( } j {
( }
( } t P
t P
t p T P
T

sin
0
sin
1 1
0
0
2 2
=
_
_
_
_
_
_
= =
EXAMPLE 2.
Set up the modal equation
( } ( } ( } ) 18 ( 2 and 1 ; = = + + n t P t q K t q M
n n n n n
& &
Solve the modal equation
For the SDOF system subjected harmonic force, the equation of
motion is
) 19 ( sin
0
t p ku u m = + & &
Steady state solution of equation (19) is
( }
( }
) 20 ( sin
/ 1
1
2
0
t
k
p
t u
n

=
EXAMPLE 2.
Comparing equation (18) and equa.(19), the solution equa.(18) is
( }
( }
( }
) 20 ( sin
/ 1
1
2
t
K
t P
t q
n n
n
n


=
( }
( }
( }
t
K
t P
t q n for

sin
/ 1
1
1
2
1 1
1
1

= =
( }
( }
( }
t
K
t P
t q n for

sin
/ 1
1
2
2
2 2
2
2

= =
Combine the modal response
( } ( } ( } t q t q t u
2 12 1 11 1
+ =
( } ( } ( } t q t q t u
2 22 1 21 2
+ =
(21)
(22)
EXAMPLE 2.
Equivalent static lateral forces
( } ( } t q m t f
n jn j n jn

2
=
For lump mass system the equivalent static force in the DOF due to the
mode is
( } ( } ( }
( } ( } t q m t q m
t f t f t f
2 12 1
2
2 1 11 1
2
1
12 11 1
+ =
+ =
( } ( } ( }
( } ( } t q m t q m
t f t f t f
2 22 2
2
2 1 21 2
2
1
22 21 2
+ =
+ =
(23)
m
1
m
2
( } t f
2
( } t f
1
.(24)
th
n
th
j
MODAL EQUATION FOR DAMPED SYSTEMS
The equation of motion for damped MDOF system are
( } ) 25 ( t p ku u c u m = + + & & &
Subsituting equation (11) into equation (25) gives
( } ( } ( } ( } ) 26 (
1 1 1
t p t q k t q c t q m
r r
N
r
r r
N
r
r r
N
r
= +

= = =
& & &
Premultiplying each term by gives
T
n

( } ( } ( } ( } ) 27 (
1 1 1
t p t q k t q c t q m
T
n r r
N
r
T
n r r
N
r
T
n r r
N
r
T
n
= +

= = =
& & &
Which can be written as
( } ( } ( } ( } ) 28 ( t P t q K t q C t q M
n n n n n n n
= + + & & &
MODAL EQUATION FOR DAMPED SYSTEMS
( } ( } ( }
( }
) 29 ( 2
2
n
n
n n n n n n
M
t P
t q t q t q = + + & & &
Equation (15) may be interpreted as the equation of the SDOF system as
shown in fig.3
n
M
n
K
( } t q
n
( } t P
n
n
C
Fig.3 Generalized SDOF system for the n
th
natural mode
NORMALIZATION OF MODES
Normalize each mode so that the largest element is unity
Normalize each mode so that the element corresponding to a
particular DOF, for example the top floor of buildings is unity
It is common for the computer program to normalized modes so that
the generalized mass M
n
have unit value
For lump mass
1 = =
n
T
n n
m M

=
=
N
j
jn j
jn
jn
m
1
2

PROJ ECT
2EI 2EI 2EI
EI EI EI
EI
EI
EI
P
2
(t)=450 sin4t
P
1
(t)=300 sin 4t
P
3
(t)=600 sin4t
w
3
w
2
w
1
c
3
c
2
c
1
L L
h
1
h
2
h
2