10/28/2014

Chapter 10 Free Vibration - Natural Frequencies and Modes

D.E.M.

     0

Free, undamped case Natural vibra"on

The solution is of the form:
Get 2nd derivative:


    or {} (t


         (t

   


Free Vibration - Natural Frequencies and Modes

Substitute in D.E.M.:


     0
  

  0

For nontrivial solution, the vector of amplitude,  , must not be

zero. Hence,
  
 0

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Free Vibration - Natural Frequencies and Modes

This is a homogeneous system of equation. For this system to
have a solution, the determinant   
must be equal
to zero. This is the form of an EIGENVALUE PROBLEM.

det [   
]  0
This is called the characteristic equation or frequency equation.
The values of  that will make the determinant zero are called
EIGENVALUES. If these eigenvalues are substituted back into the
D.E.M., the resulting vectors of amplitudes are called
EIGENVECTORS, i.e.,  are the eigenvectors.
The eigenvalues,  , are the natural frequencies of the MDOF
system.

Free Vibration - Natural Frequencies and Modes

EXAMPLE
Determine the natural frequencies of the system shown:
k2

k1
m1

m2

x1

x2

As earlier determined



 

"!  "
"

"
"

  
 0
"!  "
"

"
  !
0
"

0

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Free Vibration - Natural Frequencies and Modes

"!  "  
"
"!  "  


"  

"!  "

"
"  

"

 

3"

 

For ease of computation, assume that

The last equation becomes:

"




0

 "   0
"! "
!

0

and "!  "  "

0

Using Quadratic Formula to solve for  :

!   0.382 "/
   2.618 "/

EIGENVALUES

Free Vibration - Natural Frequencies and Modes

Answer:

!   0.382 "/
   2.618 "/

Note that ! <  < ,

-. = frequency of the first mode, also call the fundamental
mode.
-/ = frequency of the second mode.
Eigenvalue solutions for higher order systems are difficult to
perform using the above method.

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Free Vibration - Natural Frequencies and Modes

Principal or Natural Modes of Vibration

-

characterized by a certain distribution of amplitudes over the body in

which each point undergoes harmonic motion of common frequency for
the whole body, with all points passing through their equilibrium positions
simultaneously.

A system with N degrees of freedom has N principal modes with each mode
vibrating with a natural frequency. The response of a system under a forcing
function is a superposition of principal modes.

The ratio of the amplitudes of the masses remains constant at all times.
The characteristic shape of the modal vibration is given by the mode
shape vector, which is the eigenvector of the system.

Free Vibration - Natural Frequencies and Modes

Mode Shapes
Mode 1

Mode 2
0.618

1.618

NODE

-. 

Max No. of node =

1 less than DOF

0. 12/3/4

-/ 

/. 5.23/4

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Free Vibration - Natural Frequencies and Modes

EXAMPLE. Determine the mode shapes for the previous example.
Since the eigenvalues have been obtained, !  and !  , we get the eigenvectors
corresponding to each eigenvalue.
First Mode: -.

2"  ! 
"

Eq. (1):

2"  0.382

6
7

"
"  ! 

!
0


0

!  "  0

2  0.382 !    0
1.618 !    0

Let !  1, then   1.618. Hence, 8 . 

.. 5.2
Similarly for the second mode with    2.618

6
,
7

.
0. 5.2

For each mode, the response of the masses are in a fixed proportion at any time.

Free Vibration Orthogonality of Modes

Consider 2 modes from an MDOF system:
Mode r: :  ;  :
Mode s: <  ;  <
Equation of motion:
For Mode r: : 
 :    : (1)
For Mode s: < 
 <    < (2)
Pre multiply (1) by 

<

:  

Pre multiply (2) by 

<  
Subtract (4) from (3),

<



 

<



<

 

 

(3)

 

<

(4)

,
:

:   < 
=

<



0

(5)
=

Since  <   :   :   <

and  :   :

Because  and
are both symmetric.
  =;

=

<

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Free Vibration - Natural Frequencies and Modes

Note that :   <  0 since mode r is different from mode s.
Hence from (5),
=

<



0

 

<

0

this is the orthogonality property of amplitudes with respect to
.

It can also be shown that

this is the orthogonality property of amplitudes with respect to  .

Example. Verify orthogonality of amplitude vectors with respect to mass and
stiffness martrices
{1 1.618 }

{1 -.618 }

.
=3.62m
.. 5.2

.
0
.. 5.2

{1 1.618 }

{1 -.618 }

.
0
. 5.2
.
=0.382m
. 5.2

Free Vibration - Natural Frequencies and Modes

Since   A , we can also say that there is orthogonality
property of the MODE SHAPE VECTORS with respect to both

and  . Hence,



C
C

0
0

D  E
D   E

or

Note: 

=
=

 a diagonal matrix =

  a diagonal matrix = 

=

! =

G =

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Free Vibration - Natural Frequencies and Modes

Modal Matrix

j  mass number row

n  mode number column

Spectral Matrix

For each mode n

For all modes

Free Vibration - Natural Frequencies and Modes

Define: G such that G
G

or
Derive: G

G

G  S
1

A 
Apply (1), A

A

For all modes: G 

(1)

A 1
!

TU W TU

G  
G

!!
!


,!

!


,

!,
,

,,

Note:

C
 
[ .
E 
\ .

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Free Vibration - Natural Frequencies and Modes

Therefore,

This means that the natural modes are not only orthogonal but are
normalized with respect to m. They are then called a mass orthonormal set.
When the modes are normalized, we will have

Free Vibration - Natural Frequencies and Modes

Example
Normalize the mode shape matrix:
1
1
136
Given ! 
; 
; and

1.263
1.63
0
!! G 
! G 
! G 
 G 

136 1

136 1

136 1

136 1

 66 1.263

1.263

 66 1.263
1

66 1.63

1.63

 66 1.63

G 

0.0644
0.0813





241
1.263
241
1

311

1.63
311

0
66

 0.0644
 0.0813
 0.0567
 0.0924

0.0567
0.0924

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Free Vibration - Natural Frequencies and Modes

Any vector can be expressed as a linear combination of a set of independent

vectors (called basis).
The displacement vector can be expressed in terms of the natural modes as the
basis

Or in matrix notation,

a  b

In expanded form (for a 3 dof):

a!
!!
a  !
ac
c!

!

c!

!c
c
cc

b!
b
bc

where qs are scalar multipliers called modal coordinates or normal coordinates.

Free Vibration - Natural Frequencies and Modes

When the mode shape vectors are known, for a given u, it is possible to
evaluate the qs by the following operation:

Premultiply both sides by nTm

Because of the orthogonality relation, all terms in the summation vanish except
for the r = n term ; thus

Therefore,

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Free Vibration - Natural Frequencies and Modes

Modal Superposition
UNCOUPLING OF AN MDOF SYSTEM

If a system is coupled for a given set of coordinate system, say ! and  , the
mass and stiffness matrices are not both diagonal.
For a 2 DOF:
!!

!

!



a!
"
 !!
a
"!

"!
"

a!
e!


a
e


a!
If we transform the coordinates a into other coordinate system, we may be able to

uncouple the system (for both
and  ).

10

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Modal Superposition
The problem is: what is the required transformation?
b!
a!
b!
Let b be the result of transforming a . Using the b coordinates, we may be



able to uncouple the system so that we have
!

b!
"
 !
b
0

0
"

b!
f!

b
f

This now constitutes 2 independent SDOF governed by the equations:

Mode 1
Mode 2

! b!

 b

 "! b!  f!
 " b  f

b! ____
b ____

The response of the system is a linear combination or superposition of each

mode. The coordinates q1 and q2 are called PRINCIPAL, NATURAL, MODAL, or
NORMAL coordinates.

Modal Superposition
COORDINATES ARE TRANSFORMABLE
Example:

x1

L/2

i 


i! i

2
2

i  i!
l

h
g

x2

L/2

i


1
2
1

l

1
2
1
l

i!
i

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Modal Superposition
i!
i
n transforms coordinates i into


i!
i
nor i is a Normal or Principal coordinate system for the
BUT neither


problem because the use of either system will not uncouple the equations.
How do we find the correct transformation to uncouple the system?
Try

n 
 mode shape matrix
 !  ,

Recall the DEM:

Let

a   a  e
a  b
a  b

(1)

Modal Superposition
Substituting these into (1),

b   b  e
Premultiply (2) by = ,

b 

(2)

 b 

Due to orthogonality condition the equation becomes

For mode i:

b   b 

 b 

  b 

op qp  r qp  sp

e

Solution will be that of SDOF. To get the response in the actual coordinates
a we use
a  b
Note that the principal coordinates t need not be physically identified.

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Modal Superposition
EXAMPLE
Determine the displacement response of the 3 masses.
P2 = 1000
k2

k3

k1

m3

m2

m1

Data:

m1 = 1
k1 = 600
m2 = 1.5
k2 = 1200
m3 = 2
k3 = 1800
After an eigenvalue solution, the 3 modal frequencies and their corresponding mode
shapes vectors are:
1.00
!  14.5
!  0.65
0.30
1.00
0.61
0.68

  31.2

!  46.1

1.00
 2.63
2.53

Modal Superposition
Hence, the mode shape matrix, , is
1
 0.65
0.30

1
0.61
0.68

From the given data, the mass matrix
is

1
0

 0 1.50
0
0

1
2.63
2.53
0
0
2

0
The Load Vector is e  1000
0
The modal differential equation is


b    b 

e


  1, 2, 3

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Modal Superposition
Determine the modal masses,



Hence

and modal loading e

0.30 1
0.68 0
2.53 0

0.65
0.61
2.63

0 0
1
1.5 0 0.65
0 2 0.30

1
0.61
0.68

1
2.63
2.53

1.812
0
0
0
2.466
0
0
0
29.2

 1.812;

e 

1
 1
1


 2.466;

1
e  1
1

 29.2

0
0.65 0.30
650
0.61 0.68 1000  610
0
2.63 2.53
2630

Hence e!  650; e  610; ec  2630

Modal Superposition
The 3 modal equations are:
1st mode: b !  !  b! 
2nd mode: b     b 
3rd mode: b c  c  bc 

vw
7w

v|
7|

v~
7~

b !  14.5 b!  !.{!

xyz

(1)

b   31.2 b  .}xx

x!z

(2)

b c  46.1 bc   .

(3)

xcz

Note that equation (1), (2), and (3) represent 3 SDOF systems independent of each
other.
k1*
vw
m1*

P1*

b! 

m2*

P2*

b  0.254 1  A31.2

m3*

P3*

bc  0.05 1  A46.7

k2*

k3*

7w |

1  A!

 2.47 1  A14.5

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Modal Superposition
Note that all 3 SDOF systems are under abrupt constant loading, hence, the form of
solution is similar to what was derived previously.
To get displacement response in the u-coordinate system, also called geometric or
actual coordinates,

a  b

In expanded form:

a!
!!
a  !
ac
c!

!

c!

!c
c
cc

b!
b
bc

This is called Modal Superposition.

For mass 1: a!  !! b!  ! b  !c bc
a!  1 2.47 1  A14.5
 1 0.254 1  A31.2
 1 0.05 1  A46.7

(Note the decreasing effect of higher modes)

Modal Superposition
ANS
For mass 1:
a!  !! b!  ! b  !c bc
a!  1 2.47 1  A14.5
 1 0.254 1  A31.2
 1 0.05 1  A46.7


For mass 2:
a  ! b!   b  c bc
a  0.65 2.47 1  A14.5
 0.61 0.254 1  A31.2
2.63  0.05 1  A46.7

For mass 3:
ac  c! b!  c b  cc bbc
ac  0.30 2.47 1  A14.5
 0.68 0.254 1  A31.2
 2.53 0.05 1  A46.7


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RESPONSE DUE TO INITIAL CONDITIONS

FREE, UNDAMPED VIBRATION
D.E.M.:
a   a  0
Let a  b

b   b  0
Premultiply by = ,
=
b  =  b 

b   b  0
or

 b   " b  0
b   A
  

with a  b
!! !
a!
b!
a  !
b

,,

a!  !! b!  ! b 
  ! b!   b 

RESPONSE DUE TO INITIAL CONDITIONS

FREE, UNDAMPED VIBRATION
a!  !! ! A!
 ! !
 !  A
  

In general:

C!

C!

a  C bC  C C AC
 C C

Determine C s and C s by INITIAL CONDITIONS.

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RESPONSE DUE TO INITIAL CONDITIONS

FREE, UNDAMPED VIBRATION
Assume initial conditions:
At
 0, a 0  az

a 0  z

Response:

a
    A
   

!

!
,

a
      
    A

!

!

Substitute initial conditions:

az  ,! 

z  ,!  

RESPONSE DUE TO INITIAL CONDITIONS

FREE, UNDAMPED VIBRATION
Multiply (1) and (2) by

,

z  

!
,

z   
!

C

Due to orthogonality property, (3) and (4) become:

=
C
=
C

z  C C
C
=

z  C C C

Solve for C and C ,

C 

C
C

=
=

az

C 

=
C

z

D E  1, 2, 

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RESPONSE DUE TO INITIAL CONDITIONS

FREE, UNDAMPED VIBRATION
Example.

z!
1
Given: 

;
z
2

k
m1

m2

z!
0
z  0

Response of Mass 1:
!  !! ! A!
 ! !
 !  A
  

Response of Mass 2:
  ! ! A!
 ! !
   A
  

Differentiate wrt time:

 !
 !! [ ! ! !
 ! ! A!

 !   
   A

 
 ! [ ! ! !
 ! ! A!

    
   A

RESPONSE DUE TO INITIAL CONDITIONS

FREE, UNDAMPED VIBRATION

! 

 

1
1
1

1.618
1.618
0.618

0.618

1
0

1
0

0 1
1 2
 1.17
0
1
1 1.618

1 0 1
0 1 2
 0.106
1 0
1
0 1 0.618

!  0
  0

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RESPONSE DUE TO INITIAL CONDITIONS

FREE, UNDAMPED VIBRATION
What if initial displacement pattern corresponds to a natural mode shape? (or
multiples thereof)
EXAMPLE
z!
z!
1
0

A;

Given: 
z
1.618
z
0
! 

 

1.618

1.618

0.618

0.618

!    0

1 0
1
A
0 1 1.618  A
1 0
1
0 1 1.618
1 0
1
A
0 1 1.618  0
1 0
1
0 1 0.618

Hence: a  A ! A!
 0  0  0
a!  A!! A!

a  A! A!

Observation: If a system is given an initial displacement pattern

corresponding to a natural mode shape, it will vibrate ONLY in
that mode.

COMBINED EFFECTS
Vibration due to a forcing function with initial conditions
Solution: PRINCIPLE OF SUPERPOSITION APPLIES

 a  a

19