UNIVERSITY OF PATRAS - MEEES

Dynamics by Finite Element Method

Homework Normal Mode Response Analysis
Cameron Belliss
12/1/2015
 Structural Dynamics by Finite Element Method
Cameron Belliss

Problem 1

Determine the response of the above beam, subject to initial displacements 0 and 0 and then
released at time t=0.

Solution:

The stiffness and mass matrices can be written for each of the elements as follows, note that only the
free degrees of freedom are directly considered as no transformation matrix is required.
2 2 22 2 ] 1 2
1 = [22 ] 1 2 = [ 3 = [22 ] 2
3 3 2 22 2 3
42 32 ] 1
1 = [42 ] 1 2 = [ 3 = [42 ] 2
420 420 32 42 2 420
No transformation is required, and they are simply combined into the global stiffness matrices as follows

2 4 1 1 3 8 3 1
= [ ] = [ ]
1 4 2 420 3 8 2
Solving the eigen problem [[] 2 []]{} = 0 we obtain the following mode shapes and frequencies
4.3693 6.4807
1 = { } 2 = { }
4.3693 6.4807

15.1357 28.9828
1 = 2 =
2 2

Matlab automatically factors the mode shapes such that they are orthogonal with respect to the mass
matrix,

[] [][] = []

And therefore the normalised mode shape matrix can be written as

1 4.3693 6.4807 1
[ ] = [ ]
4.3693 6.4807 2
 Structural Dynamics by Finite Element Method
Cameron Belliss

We now need to transform the initial conditions into the normalised co-ordinates, where we are
applying an initial rotation at each of the degrees of freedom,

{ } = 0 { 1 }
1

{ } = [ ] []{ } = 0 {0.2289}
0
So we can now re-write the equations of motion as uncoupled equations in each degree of freedom as
follows;

{ } + 2{ } + 2 { } = 0 { } = 0 {0.2289}
0
So the equation for the first degree of freedom is

1 + 21 1 1 + 12 1 = 0 1 = 0.22890

Which has the solution

1 () = 0.22890 1 1 cos(1 )

And the equation for the second degree of freedom is

2 + 22 2 2 + 22 2 = 0 2 = 0
And therefore

2 () = 0

Giving our solution in the normalised co-ordinates to be

1 1
{ } = 0 {0.2289 cos(1 )}
0
And finally converting back into the original co-ordinates gives the solution

15.1357
{} = [ ]{ } = 0 cos(1 ) { 1 } 1 1 1 =
1 2
 Structural Dynamics by Finite Element Method
Cameron Belliss

Problem 2

Give node 1, 1 initial velocity and calculate the anti-symmetric response of the structure.

Solution

Splitting the structure in half by using symmetry gives us the following to analyse, where we will
consider the bottom member which has been split in half to be rigid, and only look at the antisymmetric
modes.

The stiffness and mass matrices for the members are defined as follows, where for element 1, they are
just the standard mass and stiffness matrices with respect to local co-ordinates for the member
1 0 1 0 1 2 0 1 0 1
0 0 0 0 2 0 2 0 1 2
1 = [ ] 1 = [ ]
1 0 1 0 3 6 1 0 2 0 3
0 0 0 0 4 0 1 0 2 4

For element 2, which we are treating as a rigid body, the stiffness of the member is considered to be
infinite, but with no restraint on the end of the member this has no contribution, and so the stiffness is
considered to be zero. The mass can be defined as a standard mass matrix, with half the length
 Structural Dynamics by Finite Element Method
Cameron Belliss

2 0 1 0 1
2 0 2 0 1 2
2 = [ ] 3
6 1 0 2 0
0 1 0 2 4

By then applying the rigid assumption, we then know that 1 = 3 and so the matrix is reduced to

1 0 0.5 2
2 = [0 3 0 ] 3
6
0.5 0 1 4

The transformation matrices for these two members are

0.5 3/2 0 0
3/2 0.5 0 0
1 = 2 = []
0 0 0.5 3/2
[ 0 0 3/2 0.5 ]
By transforming the matrices from the two elements and combining into global stiffness and mass
matrices we obtain,

0.25 0.433 0.25 0.433 1

0.433 0.75 0.433 0.75 2
= [ ]
0.25 0.433 0.25 0.433 3
0.433 0.75 0.433 0.75 4

2 0 1 0 1
0 2 0 1 2
= [ ]
6 1 0 5 0 3
0 1 0 3 4
Which separating out into the free degrees of freedom that we are concerned with reduce to
0.25 0.25 1
= [ ]
0.25 0.25 3
2 1 1
= [ ]
6 1 5 3

Solving the eigen problem [[] 2 []]{} = 0 we obtain the following mode shapes and frequencies
0.8165 1.6330
1 = { } 2 = { }
0.8165 0.8165

1.2247
1 = 0 ( ) 2 =

As matlab automatically factors the mode shapes such that they are orthogonal with respect to the
mass matrix,[] [][] = [] therefore the normalised mode shape matrix can be written as
 Structural Dynamics by Finite Element Method
Cameron Belliss
1 0.8165 1.6330
[ ] = [ ]
0.8165 0.8165

We now need to transform the initial conditions into the normalised co-ordinates, where we are
applying an initial velocity at degree of freedom 1.
1
{ } = 1 { }
0

{0.4082}
{ } = [ ] []{ } = 1
0.4082
So we can now re-write the equations of motion as uncoupled equations in each degree of freedom as
follows;

{ } + 2{ } + 2 { } = 0 {0.4082}
{ } = 1
0.4082
For the first mode, where we have rigid body motion, the typical solution does not apply, instead we use
the following

1 = 1 + 1

1 = 0.40821

For the second mode the solution for an initial velocity is

1
2 = 0.4082 sin(2 ) 2 2
2
Giving our solution in the normalised co-ordinates to be
0.4082

{ } = 1 { 0.4082
sin(2 ) 2 2 }
2
And finally converting back into the original co-ordinates gives the solution as follows.
0.667
0.333 + sin(2 ) 2 2

{} = [ ]{ } = 1 2
0.333
0.333 sin(2 ) 2 2
{ 2 }
 Structural Dynamics by Finite Element Method
Cameron Belliss

Problem 3

Calculate the steady state response of the system subject to harmonic loading as indicated above.

Solution:

To analyse this problem, we utilise the symmetry and divide the beam in half as well as the load. Due to
the location of the loading, there will only be motions in the symmetrical modes of vibration, and hence
we will only consider the symmetrical modes in the analysis.

The stiffness and mass matrices for the reduced setup are as follows;

2
2 2 2 ( ) 3 ( )
1 = [22 ] 1 2 = 2 2 = 2 [ 42 12] 1
3 3 3 12 48 1
( ) 3 ( ) 6
2 [ 2 ]

2 1 2 13
( ) 4 ( ) 13 ( )
1 = [42 ]1 2 = 2 2 2 = [2 4 ] 1
420 420 420 13 1
13 ( ) 156 78
[ 2 ] 4

Combining into the global stiffness and mass matrices

9 2 13
2 2
12] 1 2
4 ] 1
= 3 [ 6 = [
12 48 1 420 13 1
78
4
 Structural Dynamics by Finite Element Method
Cameron Belliss

Solving the eigen problem [[] 2 []]{} = 0 we obtain the following mode shapes and frequencies
4.6370 8.6445
1 = { } 2 = { }
1.8517 1.4571

13.2301 41.2933
1 = 2 =
2 2

And therefore the normalised mode shape matrix can be written as

1 4.6370 8.6445
[ ] = [ ]
1.8517 1.4571

We now need to transform the forcing function into normal co-ordinates

0
() = { }

2
1.8517
() = [ ] () = { }
2 1.4571

So we can now re-write the equations of motion as uncoupled equations in each degree of freedom as
follows, with zero initial conditions

{ } + 2{ } + 2 { } = ()

So the equation for the degrees of freedom are

1 + 21 1 1 + 12 1 = 1.8517
2

2 + 22 2 2 + 22 1 = 1.4571
2

Which have the following steady state solutions

1.8517
1 () = 1 sin( 1 )
212
1.4571
2 () = 2 sin( 2 )
222

Where
1 2/
= = tan1 [ ]
2 2 2 1 ( )^2
(1 ( ) ) + (2)

 Structural Dynamics by Finite Element Method
Cameron Belliss

Giving our solution in the normalised co-ordinates to be

1.8517
1 sin( 1 )
12
{ } =
2 1.4571 sin( )
2 2
{ 22 }
And finally converting back into the original co-ordinates gives the solution
8.568 12.596
2 1 sin( 1 ) + 2 sin( 2 )
1 22
{} = [ ]{ } =
22 3.428 2.123
2 1 sin( 1 ) 2 sin( 2 )
{ 1 22 }
Where,

13.2301 41.2933
1 = 2 =
2 2

1 2/
= = tan1 [ ]
2 2 2 1 ( )^2
(1 ( ) ) + (2)

 Structural Dynamics by Finite Element Method
Cameron Belliss

Problem 4

Calculate the response of the system to the moment being applied at the centre, increasing linearly with
time.

Solution:

The stiffness and mass matrices can be written for each of the elements, only with respect to the free
degrees of freedom as
2 22 2 ] 1 2
1 = [ 2 = [22 ] 2
3 2 22 2 3
42 32 ] 1
1 = [ 2 = [42 ] 2
420 32 42 2 420
No transformation is required, and they are simply combined into the global stiffness matrices as follows
2 22 2 ] 1 42 32 ] 1
= [ = [
3 2 42 2 420 32 82 2
Solving the eigen problem [[] 2 []]{} = 0 we obtain the following mode shapes and frequencies
5.8572 10.5726
1 = { } 2 = { }
4.1416 7.4760

13.3198 34.7909
1 = 2 =
2 2

And therefore the normalised mode shape matrix can be written as

1 5.8572 10.5726
[ ] = [ ]
4.1416 7.4760

We now need to transform the forcing function into normal co-ordinates

0
() = 2 1 { }
1
 Structural Dynamics by Finite Element Method
Cameron Belliss
2 4.1416
() = [ ] () = { }
1 7.4760

So we can now re-write the equations of motion as uncoupled equations in each degree of freedom as
follows, with zero initial conditions

{ } + 2{ } + 2 { } = ()

So the equation for the degrees of freedom are

2
1 + 21 1 1 + 12 1 = 4.1416
1
2
2 + 22 2 2 + 22 1 = 7.4760
1

To obtain the solution for this, we use the analytical solution of Duhamels Integral, neglecting damping
to simplify,

1
() = sin(( ))
0

= sin(( ))
0

cos(( )) + sin(( ))
= [ ]
2 0

sin()
= 2 ( )

Applying this to each of the degrees of freedom, inputting the given value of the moment, M/t1, we
obtain the following solutions in normal co-ordinates.

2 sin(1 )
1 () = 4.1416 ( )
12 1 1

2 sin(2 )
2 () = 7.4760 ( )
2
2 1 2

4.1416 sin(1 )
2 ( )
2 1 1
{ } =
1 7.4760 sin(2 )
2 ( 2
)
{ 2 }
 Structural Dynamics by Finite Element Method
Cameron Belliss

And finally converting back into the original co-ordinates gives the solution

24.258 sin(1 ) 79.041 sin(2 )

2 ( )+ 2 ( )
2 1 1 2 2
{} = [ ]{ } =
1 3 17.153 sin(1 ) 55.891 sin(2 )
2 (
)+ 2 ( 2
)
{ 1 1 2 }
Where,

13.3198 34.7909
1 = 2 =
2 2