Dynamics of viscously

damped linear MDOF systems

Dr C S Manohar
Department of Civil Engineering
Professor of Structural Engineering
Indian Institute of Science
Bangalore 560 012 India
manohar@civil.iisc.ernet.in

Topics
Nature of equations of motion and uncoupling
Classical and non - classical damping models
Input - output relations in time domain
Input - output relations in frequency domain
Forced vibration analysis using modal expansion

A rigid bar supported on two springs

Two DOF-s
1 Translation
1 Rotation

O1 : Elastic centre k1 L1 k2 L2
O2 : Centre of gravity

l1 l2 L1 L2 L
3

my k1 y l1 k2 y l2 0
I k2 y l2 l2 k1 y l1 l1 0

m 0 y k1 k2
0 I k l k l

11 2 2

k1l1 k2l2 y
0
2
2
k1l1 k2l2

M is diagonal and K is non-diagonal

Static coupling

m me z k1 k2
me m 0

z
0
2
2
k1L1 k2 L2
0

M is non-diagonal and K is diagonal

Inertial coupling
5

 m ml1 x k1 k2

ml

1 m k2 L

k2 L x
0
2
k2 L

M is non-diagonal and K is non-diagonal

Static and inertial coupling
6

Remarks

Equations of motion for MDOF systems are generally

coupled
Coupling between co-ordinates is manifest in the form of
structural matrices being nondiagonal
Coupling is not an intrinsic property of a vibrating system.
It is dependent upon the choice of the coordinate system.
This choice itself is arbitrary.
Equations of motion are not unique.
They depend upon the choice of coordinate system.
7

Remarks (continued)
The best choice of coordinate system is the one
in which the coupling is absent. That is, the structural
matrices are all diagonal.
These coordinates are called the natural coordinates
for the system. Determination of these coordinates for
a given system constitutes a major theme in structural
dynamics. Theory of ODEs and linear algebra help us.

How to uncouple equations of motion?

MX CX KX F t
X 0 X 0 ; X 0 X 0
M , C and K , in general, are non-diagonal
Equations are coupled
Suppose we introduce a new set of dependent
variables Z (t ) using the transformation
X (t ) TZ t
where T is a n n transformaiton matrix, to be
selected.
9

MX CX KX F t
X 0 X 0 ; X 0 X 0
X (t ) TZ t
MTZ t CTZ t KTZ t F (t )
T t MTZ t T t CTZ t T t KTZ t T t F (t )
MZ t CZ t KZ t F (t )
M , C , & K structural matrices in the new coordinate system.
F (t ) force vector in the new coordinate system
Question
Can we select T such that M , C , & K are all DIAGONAL?
If yes, equation for Z (t ) would then represent a set of uncoupled
equations and hence can be solved easily.

10

How to select T to achieve this?

Consider the seemingly unrelated problem of
undamped free vibration analysis
MX KX 0
Seek a special solution to this set of equations in which
all points on the sturcutre oscillate harmonically at the
same frequency.
That is
xk t rk exp it ; k 1, 2,

,n

or, X t R exp it where R is a n 1 vector.

X t i R exp it & X t 2 R exp it
2 MR KR exp it 0
11

 2 MR KR exp it 0
2 RM KR 0
KR 2 MR
This is a algebraic eigenvalue problem.
Note
K K t ; M M t
K is positive semi-definite
M is positive definite

Eigensolutions would be real valued

and eigenvalues would be non-negative.

12

KR 2 MR
K 2 M R 0
Let K M
2

exist.

K M K 2 M R 0
IR 0 R 0
2

If K M exists, R =0 is the solution.

Condition for existence of nontrivial solution is that
2

K M
2

should not exist.

K 2M 0
This is called the characteristic equaiton.
This leads to the characteristic values

12 22
R1 , R2 ,

, Rn .

n2 and associated eigenvectors

13

Orthogonaility property of eigenvectors

Consider r - th and s-th eigenpairs.
KRr r2 MRr

(1)

KRs s2 MRs

(2)

(1) Rst
R KRr R MRr
t
s

2
r

t
s

(3)

Rst MRr 0

rs

R KRr 0

rs

t
s

(2) Rrt
Rrt KRs s2 Rrt MRs

(4)

Transpose both sides of equation (4)

R K Rr R M Rr
t
s

2
s

t
s

Since K K & M M , we get

t

Rst KRr s2 Rst MRr

Normalization
Rst MRs 1
R KRs
t
s

2
s

(5)

Substract (3) and (5)

2
2
t

R
r s s MRr 0

14

Introduce
R1

R2

Rn

Diag 12 22

( nn )

n2

Orthogonality relations
M I
t

K
t

Select T
15

MX KX F t
X 0 X 0 ; X 0 X 0
X (t ) Z t
Consider
Undamped
Forced
Vibration
Analysis

M Z t K Z t F (t )
t M Z t t K Z t t F (t )
IZ t Z t F (t )
zr r2 zr f r t ; r 1, 2,

,n

How about initial conditions?

X (0) Z 0
t MX (0) t M Z 0 Z 0
Z 0 t MX (0) & Z 0 t MX (0)

16

zr t zr 0 cos r t

zr 0

sin r t
0

sin r t f r d

X t Z t
n

xk t kr zr t
r 1

zr 0
1
kr zr 0 cos r t
sin r t sin r t f r d
r
r
r 1
0

17

How about damped forced response analysis?

MX CX KX F t
X 0 X 0 ; X 0 X 0
X (t ) Z t
M Z t C Z t K Z t F (t )
t M Z t t C Z t t K Z t t F (t )
IZ t t C Z t Z t F (t )
If t C is not a diagonal matrix, the
equations of motion would still remain coupled.
18

Classical damping models

If the damping matrix C is such that
t C is a diagonal matrix, then equaitons would
get uncoupled.
Such C matrices are called classical damping matrices.
Example
Rayleigh's proportional damping matrix
C M K

t C t M t K
I
19

C M K
T C T [ M K ]
T I T K
[I ]

Diag[i2 ]

cn n2

2n
2
Rayleigh damping model imposes prescribed variations
on modal damping values as function of the mode count
There are only two free parameters.
These parameters can be determined using known values of damping ratios
for two modes.
20

10

mass and stiffness proportional

stiffness proportional
mass proportional
-1

eta

10

-2

10

-3

10

-4

10

10

10

10

10

frequency rad/s

21

IZ t t C Z t Z t F (t )
Z 0 t MX (0) & Z 0 t MX (0)

zr 2rr zr r2 zr f r t ; r 1, 2,

,n

with zr 0 & zr 0 specified.

zr t exp rr t ar cos dr t br sin dr t

t

exp rr t f r d

dr

22

zr t exp rr t ar cos dr t br sin dr t

X t Z t

dr

exp rr t f r d

xk t kr zr t
r 1

t
1

kr exp rr t ar cos dr t br sin dr t

exp rr t f r d
dr

r 1
0
k 1, 2, , n
n

23

MDOF system with s-th dof driven by an unit harmonic force

MX CX KX F exp it
F 0 0

0 0

s th entry

X rs t response of the r -th coordinate due to

unit harmonic driving at s-th coordinate.

lim X rs t ?
t

24

MX CX KX F exp it
F 0 0

0 0

lim X t X 0 exp it
t

X t X 0i exp it
X t X 0 2 exp it
MX 0 2 exp it CX 0i exp it KX 0 exp it F exp it
2 M iC K X 0 exp it F exp it
2 M iC K X 0 F
25

 2 M iC K X 0 F
X t X 0 exp it Z 0 exp it
t M I & t K
C is classical t C (Diagonal) with nn 2nn
2 M iC K Z 0 F
t 2 M iC K Z 0 t F
2 t M i t C t K Z 0 t F
2 I i Z 0 t F
Diagonal

26

 2 I i Z 0 t F
N

Z0n

2
n

k 1
2

t
nk

Fk

i 2 nn

2
n

k 1
2

kn

Fk

i 2 nn

Recall
F 0 0
Z0n

0 0 (s-th entry=1; rest=0)

sn
2
n

2 i 2nn

lim X t Z 0 exp it X r t rn Z 0 n exp it

t

n 1

rn sn

n 1

2
n

i 2nn
2

exp it

X rs t H rs exp it
rn sn

H rs
n 1

2
n

2 i 2 nn

27

 rn sn

X rs t
n 1

2
n

i 2 nn
2

rn sn

H rs
n 1

exp it

2
2

n i 2nn

Remarks
X rs t X sr t
H rs H sr
H H rs
H is symmetric but not Hermitian
N

rn sn

H M iC k 2
2
n 1 n i 2 nn28
2

 H M iC k
2

Conceptually simple
Computationally difficult to implement
N* N

rn sn

H
2
2
n 1 n i 2nn
Computationally easier to implement

Not all modes need to be included

(Nor it is advisable to include all modes)
29

MDOF system with s-th dof driven by an unit impulse force

MX CX KX F t
X 0 0; X 0 0
F 0 0

0 0

s th entry

X rs t response of the r -th coordinate due to

unit impulse driving at s-th coordinate.
30

MX CX KX F t
F 0 0

0 0

X t Z t
t M I & t K
C is classical t C (Diagonal) with nn 2nn
M Z t C Z t K Z t F t
t M Z t t C Z t t K Z t t F t
IZ Z Z t F t
31

IZ Z Z t F t
N

zn 2 nn zn z jn Fj t ns t
2
n n

j 1

zn 0 0; zn 0 0

zn t ns hn t

sn

dn

exp nnt sin dnt

X Z
N

X r t rn zn t
n 1
N

hrs t rn sn
n 1

dn

exp nnt sin dnt

32

X r t hrs t rn sn
n 1

dn

exp nnt sin dnt

Remarks
hrs t hsr t
h t hrs t Matrix of impulse response functions
h t h t

Not all modes need to be included in the summation

If an arbitrary load f s is applied at the s-th dof (instead of
unit impulse excitation)
t

X rs t hrs t f s d
0
t

1
f s rn sn
exp nn t sin dn t d
dn
n 1

33

More on orthogonality relations

Are t M I & t K the only two orthogonality relations?
No.
Consider Kn n2 M n
In n2 K 1M n

(It may be noted that K 1is the flexibility matrix)

Pre-multiply both sides by kt M

kt M n n2kt MK 1M n 0 for n k
is orthogonal to MK 1M .
Consider In n2 K 1M n
Pre-multiply both sides by kt MK 1M
kt MK 1M n n2kt MK 1MK 1M n 0 for n k
is orthogonal to MK 1MK 1M
this leads to an infinite family of orthogonality relations.
34

2nd family
Consider n2 M n Kn
In

n2

M 1 Kn

Pre-multiply both sides by kt K

kt Kn

t
1

KM
Kn 0 for n k
2 k

is orthogonal to KM 1 K
Consider In

n2

M 1 Kn

Pre-multiply both sides by kt KM 1 K

kt KM 1 Kn

t
1
1

KM
KM
Kn 0 for n k
2 k

is orthogonal to KM 1 KM 1 K
this leads to an infinite family of orthogonality relations.
35

 matrix satisfies two infinite families of orthogonality relations

with t M I & t K being two special cases of these
family of orthgonality relations.

Do these additional orthogonality relations help is modeling

damping better?
Yes.
Recall: Rayleigh's damping model C M K
Generalization
C= 1M 2 MK 1M 3 MK 1MK 1M
1 K 2 KM 1 K 3 KM 1 KM 1 K

By virtue of discussions in the preceding slides, t C

would be diagonal.
36

Remarks
The generalization admits as many free parameters as is needed
to model damping. This number can match the number of modes for
which damping ratio is known.
In fact, damping can be specified independently for all the modes
without worrying about the underlying C matrix. Thus, for example,
we can say that damping is 5% for all modes. A C matirx can be derived,
if needed, consistent with this information, using generalized Rayleigh
damping model.

37

Determination of a classical C matrix given i i 1

N

t C Diagonal 2ii
1

Naive approach: C= 1
More helpful approach:
t

t M I t M 1 1
1 t M
1

Similarly M
t

M
C M t M
t

This can be used even when all modes are

not included in the analysis (which invariably is the case). 38

Modal damping when the sturcture is

made up of different materials
Damping depends upon material, details of joints and supports.
Energy disspated in a cycle when a structure is oscillating harmonically
is proportional to KE (or PE) in a cycle
(Excercise: show this for a sdof system).
Consider a structure that is oscillating in its n-th mode. Let the structure
be made up of s number of materials (e.g., RCC, steel, soil,...).
Let rn damping ratio for r -th material in the n-th mode.
(e.g., RCC~5%, steel ~2%, soil~10%).
Let eqn equivalent damping ratio for the structure in the n-th mode.
Let Ern total KE (or PE) stored in structral parts made up of r-th material
in the n-th mode.
39

eqn

n n

r Er
r 1
s

E
r 1

n
r

Ern can be computed based on undamped normal mode shapes.

40

What happens if t C is not diagonal?

MX CX KX F t ; X 0 X 0 ; X 0 X 0
The matrix does not uncouple this set of equations.
We augment the above equation by the identity MX - MX 0
and write
MX CX KX F t
MX - MX 0

0 M X -M
M C 0

X
Introduce
X
0
y ; A
M
X 2 N 1

0 X 0

K X F t
M
-M
;B

C 2 N 2 N
0

0
0
; p t

F
t
K 2 N 2 N
241
N 1

 Ay By p t
y t is the new 2 N 1 response vector (state vector)
A and B are the new structural matrices of size 2 N 2 N
A and B are symmetric At A; B t B
A and B are not positive defninite
A and B are in general non-diagonal equations are coupled.
Strategy: Transform y Tz
T 2 N 2 N transformation matrix to be selected such that
the transformation would uncouple the above equations of motion.
y Tz ATz BTz p t
T t ATz T t BTz T t p t q t
Az Bz q t (equations in the transformed coordinate system)
Aspiration: to select T such that A and B are both diagonal so that
Az Bz q t represents a set of 2 N uncoupled equations which can
be solved easily.

42

Ay By p t
Strategy: Determine T by determining the
eigensolutions associated with A and B matrices.
Free vibration analysis
Ay By 0
Seek solutions of the form y t R exp( t )
AR exp( t ) BR exp( t ) 0
BR AR
The required transofrmation matrix would be obtained by solving
this eigenvalue problem.
B A R 0
For nontrivial soutions the inverse of B A must not exist
characteristic equation B A 0
43

If , R is an eigenpair we have
BR AR
Taking conjugation on both sides we get
BR* * AR* Note: A and B are real valued and A A* & B B*
If , R is an eigenpair, * , R* is also an eigenpair

Eigenvalues: 1 , 2 ,
Eigenvectors: R1 , R2 ,
Recall

, N , 1* , 2* ,
, RN , R1* , R2* ,

, N*
, RN*

X
y if X t exp t X t exp t
X


y exp t R


44

Orthogonality relations
Consider the mth and nth eigenpairs m , Rm & n , Rn
BRm m ARm
BRn n ARn

Rnt BRm m Rnt ARm

Rmt BRn n Rmt ARn
Transpose both sides of the first of the above equations
Rmt B t Rn m Rmt At Rn
Since At A & B t B Rmt BRn m Rmt ARn

Rmt BRn m Rmt ARn

Rmt BRn n Rmt ARn
Subtracting the above equations, we get m n Rmt ARn 0
Rmt ARn 0m n & Rmt BRn 0m n

45

 kk

R Rk

k
Define the modal matrix
= R1

R2

RN

R1*

R2*

RN*

11 22

2
1
Let
= 1 2

NN 1*1* 2*2*
N
1*
2*
1 0
0
2
N &

**

N* N*
*
N
0
0

N
46

We have
Rmt ARn 0m n & Rmt BRn 0m n
Select the normalization constant such that
Rnt ARn 1 so that Rnt BRn n .
We also have
kk

R Rk

k
Define the modal matrix
= R1

R2

RN

R1*

R2*

RN*

11 22

2
1

N N 1*1* 2*2*
N
1*
2*

N* N*

N*
47

Let = 1 2

1 0
0
2
N &

0
0

**

The orthogonality relations can now be written as

t A I
0
B
*
0
Use the transformation matirx T .
t

48

Forced response analysis

Ay By p t ; y 0 y0
Transform y z
Az Bz p t
t Az t Bz t p t q t
By virtue of orthogonality relations we have
0
A I & B

*
0
0
I z
z q t
*
0
This represents a set of 2 N uncoupled first order equations.
t

Missions accomplished!
49

** 0
0
I z
z

*
*
F
t
0

u
Let z
v
u 0 u t t 0
*t *

*
*t
F
t
v
0

u u t F (t )
v *v *t F (t )
Initial conditions
y 0 z 0 z 0 t Ay 0
50

Response when r -th dof is driven by a unit harmonic excitation

F t 0 0

1 r -th dof

1 exp it
t

u u t F (t )
v *v *t F (t )
N

u j j u j nj F (t ) jr exp it ; j 1, 2,

,N

n 1
N

v j v j *nj F (t ) *jr exp it ; j 1, 2,

*
j

,N

n 1

lim u j t
t

jr exp it
i j

& lim v j t
t

*jr exp it
i *j

x ** u
*

x
t

*
v
x
*
*

kj
jr
kj
jr
*
xk t kj u j t kj v j t lim xk t

exp it
*
t
51
j 1
j 1
i j i j
N

 kj jr *kj *jr
lim xk t

exp it kr exp it

*
t
j 1
i j i j
Frequency response function
N

kj jr *kj *jr
kr

*
j 1
i j i j
N

52