678 AIAA JOURNAL VOL. 3, NO.

Dynamic Analysis of Structural Systems Using

Component Modes
WALTER C. HURTY*
Jet Propulsion Laboratory, California Institute of Technology, Los Angeles, Calif.

A method is developed for analyzing complex structural systems that can be divided into in-
terconnected components. Displacements of the separate components are expressed in
generalized coordinates that are defined by displacement modes. These are generated in
three categories: rigid-body, "constraint," and "normal" modes. Rigid-body modes are con-
venient where displacements are denned in inertial space for dynamic analysis. "Constraint"
modes are included to treat redundancies in the interconnection system. "Normal" modes
define displacements relative to the connections. Generalized mass, stiffness, and damping
matrices are determined for each component, as are generalized forces. The requirement of
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system continuity gives rise to equations of displacement compatibility at the connections.

These serve as equations of constraint among the component coordinates and are used to
construct a transformation relating component coordinates to system coordinates. This
transformation is used to derive system properties and forces from component properties and
forces. System equations of motion are formulated and solved to determine system response.
Component responses are found using the transformation. Connection forces are computed
from the component equations. Each component can then be isolated and treated separately.

Introduction ponents completely constrained. These boundaries are subse-

I N some of the first works on matrix methods of structural
analysis, authors such as Argyris1 and Turner2 dealt with
complex structures by subdividing them into components
that were treated separately to produce results that were then
synthesized to obtain elastic properties of the complete struc-
ture. Indeed, the process of synthesis related to properties of
the separate elements of a structural system is basic to the
displacement and force methods of analysis as treated by
matrix methods. The generalization of this process to include,
as an intermediate step, the synthesis of properties of major
components of a structural system would seem to be a trivial
step to take. However, it involves special problems that
must be resolved and that have caused special emphasis to be
given to the subject. Early works by Argyris that relate to
this subject are collected and extended in Refs. 1 and 4.
Here the primary emphasis is directed toward force methods,
and the problem of dealing with indeterminate connection
systems among the components is handled by considering the
equilibrium of interaction redundant force systems.. How-
ever, displacement methods are considered also, and in these
methods it is suggested that the interconnection problem may
be resolved by equating matching boundary displacements.
Studies by Turner, Martin, and Weikel3 consider the analysis
of complex structures by stiffness or displacement methods in
which major components are treated separately as free bodies.
In a more recent paper,5 Przemieniecki developed a method
of substructures using displacement unknowns in the analysis,
thus placing it in the category of displacement methods. In
this method each substructure is analyzed with all displace-
ments on the common boundaries between adjacent corn-
Presented as Preprint 64-487 at the AIAA 1st Annual Meeting,
Washington, D. C., June 29-July 2, 1964; revision received
November 23, 1964. This paper presents results of one phase of
research carried out at the Jet Propulsion Laboratory, California
Institute of Technology, under Contract No. NAS 7-100, spon-
sored by NASA. The author wishes to acknowledge the en-
couragement and suggestions of William H. Gay man, Assistant
Chief of the Applied Mechanics Section at the Jet Propulsion
Laboratory.
* Consultant; also Professor of Engineering, University of
California, Los Angeles, Calif. Associate Fellow Member AIAA.
quently relaxed, and their displacements are determined by
the condition of equilibrium of the boundary forces.
This paper has its genesis in an earlier study6 in which
natural modes of vibration of structural systems were found
by using displacement mode functions related to the com-
ponents. In the examples treated, the systems were frame
structures and the components were beams. A subsequent
study7 was made for the purpose of generalizing the method
and extending it to include other types of structures. Of
special interest were space vehicle structures. Also, it was
considered desirable to standardize the analysis procedures
insofar as possible so as to facilitate programing for solution
by digital computers.
Subsequent to the completion of the report in Ref. 7, the
author became aware of still another method of analysis
which is, in some respects, quite similar to that reported in
this paper. Developed by Gladwell,8 this method involves
the imposition of a sequence of constraints on the system so
that, for each constrained system or branch, only a few ad-
joining components vibrate in modes that are called branch
modes. These branch modes, together with appropriate
rigid-body modes, are employed in a Rayleigh-Ritz analysis
of the complete system.
As it has evolved, the method treated here presents an
approach in which displacements of the components are de-
fined in terms of generalized coordinates that are related to
specified sets of normalized displacement functions or modes.
Therefore, this approach is properly classed as a displacement
method. Among other methods presented in the literature
to date, it is somewhat unique in the use of these displace-
ment modes and, in particular, in the manner in which they
are classified and used. They are considered in three cate-
gories as follows. First are rigid-body displacements in which
the component is displaced without deformation. If no
fixed external constraints are imposed on the component, it
will have six degrees of freedom as a rigid body; hence there
may be as many as six rigid-body modes for the component.
This number will be reduced if external constraints are
present. In the second category are modes that will exist
only if the system of constraints on the component is inde-
terminate. These modes are defined by producing a unit
displacement on each redundant constraint in turn, with all
 APRIL 1965 STRUCTURAL SYSTEMS USING COMPONENT MODES
other constraints fixed. For brevity, these modes are called
"constraint" modes, and they are equal in number to the
number of redundant constraints. The third category in-
cludes modes that define displacements relative to the
constraint system. They may be, for example, the normal
modes of vibration of the component with all constraints
fixed. For this reason they are called "fixed-constraint nor-
mal modes" or, simply, "normal modes" for brevity. All of
these displacement modes define, for each component, a set of
generalized coordinates in which Lagrange equations are
formulated.
As related to each separate component these equations
constitute equations of motion expressed in terms of a set of
independent, generalized coordinates. However, when the
continuity conditions at the interconnections are imposed, a
set of constraint equations results which expresses kinematic
dependencies among the coordinates related to the various
components. These equations of constraint are used to de-
termine a set of system generalized coordinates equal in num-
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ber to the total number of component coordinates minus the
number of equations of constraint. The relationship between
the sets of component generalized coordinates and the set of
system generalized coordinates is expressed by a transforma-
tion matrix [ft]. Mass, elastic, and damping properties of the
system are obtained from the corresponding properties for the
separate components by use of this transformation. Also,
component forces are transformed into system forces by the
same transformation. Thus, a set of equations of motion re-
lated to the system is formulated. This set of equations is
solved to determine the system response. Through the fore-
mentioned transformation the component responses are then
derived. Following this, each component may be analyzed
separately to determine all the constraint forces imposed
upon it. Also, dynamic stresses, strains, deflections, or other
responses may be determined as desired.
Equations of Motion
Equations of motion for an undamped, linear, structural
system, written in terms of generalized coordinates, have the
following matrix form :
[M]{q] + [K]{q} = {Q(0} (1)
where
{q} column matrix of generalized displacements
{q} column matrix of generalized accelerations
square matrix of system generalized masses
[M]
[K] square matrix of system generalized stiffnesses
column matrix of time-dependent generalized
forces
For a damped system this equation will be modified by the
addition of a damping term. For linear viscous damping the
matrix equation of motion is written as
[C](q\ = \Q(t)} (2)
where
{q} = column matrix of generalized velocities
[C] = square matrix of system generalized damping coef-
ficients
For structural damping it is generally assumed that the
existence of damping does not cause coupling of the undamped
natural modes of vibration. Therefore, Eq. (1) is used to de-
termine natural modes, and structural damping factors
appropriate to each of the modes are subsequently introduced
into the normal-mode response equations.
Equations (1) and (2) apply to the complete structural
system. Equations of similar form apply also to each separate
component. For example, the following equation applies to
the sth component in the case of viscous damping:
m = [P(t)}s (3)
679
where
{ P } s ) {p}s, {p}s = column matrices of component general-
ized displacements, velocities, and ac-
celerations, respectively
[m]S) [c]s, [k]s = square matrices of component general-
ized masses, damping coefficients,
and stiffnesses, respectively
[P(i)}s ~ a column matrix of generalized forces
applied to the sth component.
These include forces transmitted to
it through the constraints as well as
those applied from sources external
to the system
Equations similar to Eq. (3) are written for all components
of the system and all of these equations are combined in the
following single matrix form:
[m]{p} + [c]{p] + [k]{p\ = {P(t)} (4)
In writing this equation it is desirable to group the coordinates
relating to each component; thus,
(5)
P(f)}r
I . J J
Components r and s are considered as typical components.
With the coordinates so grouped, the mass matrix in Eq. (4)
has the following form:
[m] = (6)
[m]r
All elements in this matrix not otherwise designated are zeros.
The damping and stiffness matrices have similar forms.
Physically interpreted, Eq. (4) can be considered as a set of
equations of motion for the group of components not con-
nected together. The physical process of connecting them
gives rise to equations of constraint among the elements of the
matrix {p}. If there are m components in the vector {p} and
k equations of constraint relating them, then there will exist a
subset of these components containing n = m k displace-
ments that are independent. This subset may be identified
directly with the set of system generalized displacements {q},
or it may be related to that set by a linear transformation. In
either case a transformation can be derived that relates the
vector {p} to vector {q}:
The transformation matrix [ft] is of order m X n where m > n.
Since the q's are independent, the system has n degrees of
freedom.
Construction of the matrix [ft] requires knowledge of the
constraints imposed on all components by the system of con-
nections. Suppose that at a certain connection between two
components r and s a constraint exists which requires that the
translations of a common point on the two components be
equal:
 680
I UNIT
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(a)
^ RIGID-BODY DISPLACEMENT =Z7 V
5
/ th CONSTRAINT DISPLACEMENT= u(^
A NORMAL MODE D I S P L A C E M E N T = U
Fig. 1 "Plate-like" structural component.
Another constraint may require that rotations be equal :
Representation of finite rotations as vectors is acceptable
only for small rotations. In this sense, and in other respects
as well, the analysis is limited to small deflections. The dis-
placement vectors in the foregoing equations may be expressed
in the local coordinates established for the two components.
A transformation of coordinates will permit writing these con-
straint equations in terms of displacement components on a
common axis set. These displacement components may be
expressed in terms of the component generalized coordinates.
A similar treatment of all of the connections leads to a set of
linear constraint equations among the p's which is expressed
in matrix form :
(A}{p}'= {0}
where [A] is a rectangular matrix of constant coefficients.
The order of [A] is k X m where k is the number of equations
of constraint and m is the number of p's. Since m > k, the
matrix may be partitioned in the following way:
[A] = [A^Az]
[A]i is a square matrix of order k X k. Equation (8) is
written as follows:
[A]i{p}^ + [A 2 ]{p}/ = {0}
In this equation {p}/ represents a subset of {p} which is
chosen to include independent variables, and {p}d represents a
subset of dependent variables. These subsets must be chosen
so that the matrix [A]i is nonsingular. By inverting that
matrix, the dependent set may be written in terms of the
independent set:
[p}d = [A^^IA^P} /
From this, an equation can be derived that relates the com-
plete vector {p} to the independent subset.
W. C. HURTY AIAA JOURNAL
If vector {p} f is identified directly with the system generalized
displacement vector {q}, then the rectangular matrix in Eq.
(11) is identified as the transformation matrix [/3]. In gen-
eral, however, Eq. (11) is considered to accomplish one step in
the total transformation and is written as follows:
{p} = [PV{p}f (12)
In many problems it is useful to relate the system generalized
coordinates to physically meaningful modal configurations.
For example, in structures possessing symmetry it is con-
venient to define generalized coordinates in terms of sym-
metrical and antisymmetrical modes. Therefore, a further
transformation may be constructed to relate the vector {p}/
to the generalized displacement vector {q}.
{p}f = (13)
The order of both vectors is n. Equations (12) and (13) are
combined to yield the complete transformation given by Eq.
(7), where
[0] = (14)
Returning to Eq. (4), the next step in the analysis involves
application of the transformation just derived. Substitution
of Eq. (7) into Eq. (4), together with corresponding transfor-
mations among the velocities and accelerations, followed by
premultiplication of all terms by the transposed matrix [/5]r,
yields the following equation :
lP]T(k][/3]{q} = (15)
This is identified with Eq. (2) and shows how the system
properties are synthesized from the properties of the com-
ponents through application of the transformation matrix [$].
The following identities are noted:
[M] = (16)
(K] = (17)
[C] = (18)
Also, the system forces are obtained from the component
forces by
{0(0} = (19)
Component Displacement Functions
(8)
In order to formulate the equations of motion for the
separate components [see Eq. (3) ], it is necessary to establish
for each one a system of generalized coordinates. Figure 1
shows a structural component that may be considered typical.
It is a "plate-like" structure for which the various displace-
ment modes can be shown clearly. This figure will be used
to explain and illustrate the kinematics of a general displace-
ment of an arbitrarily selected point such as P. Figure la
shows the undisplaced, undeflected structure with a set of
(9) constraints indicated by arrows. The constraint system is
statically indeterminate with the three constraints i, j, and k
considered as redundant. The six numbered constraints 1-6
are selected as a statically determinate set. All of these are
movable constraints to which the structure is subjected be-
cause of its attachment to other components of the system.
The solid outline in Fig. Ib shows the structure after it has
been given a rigid-body displacement, which can be considered
as having resulted from arbitrary displacements of each of the
(io) six statically determinate constraints. In this displacement,
point P undergoes the rigid-body vector displacement UR.
Also, the redundant constraints are displaced as required to
maintain the rigid-body configuration. It is clear that, in
general, six independent rigid-body displacement modes exist.
These may correspond to six independent displacements of the
 APRIL 1965 STRUCTURAL SYSTEMS USING COMPONENT MODES 681

determinate constraints or they may be defined by three where the complete model matrix appears in partitioned form.
translations and three rotations with respect to a set of fixed
orthogonal coordinate axes. The structural component may
be totally or partially constrained externally so that fewer The column matrix {p} is partitioned as follows:
\PK\
than six rigid-body modes may exist.
Added to the rigid-body displacements is a set of displace-
ments produced by giving each redundant constraint in turn
an arbitrary displacement while keeping all other constraints (26)
fixed. The modes produced in this way are called "constraint"
modes, and clearly there are as many of them as there are re-
dundant constraints. The dashed outline in Fig. Ib shows the Using the modes described in the foregoing discussion as
iih constraint mode in which the iih redundant constraint is generalized coordinates, the generalized mass, stiffness, and
given a unit displacement while all other constraints remain damping properties of each component are determined.
fixed in the positions attained after the i rigid-body displace-
ment. This constraint mode defines a deflected surface in Properties of the Components
which point P takes on an added increment of deflection uf.
The letter C denotes a "constraint" mode, and the subscript i To determine the generalized properties of the components,
identifies the iih constraint. the kinetic and strain energies are expressed in generalized
The rigid-body and constraint modes permit the arbitrary coordinates as is the energy dissipated through damping.
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displacement of all movable constraints. Beyond these dis- These energy expressions are introduced into the Lagrange
placements it is necessary to provide for the displacement of equations to formulate the component equations and to con-
other points on the structure relative to the constraints. struct the generalized mass, stiffness, and damping matrices
Such relative displacements are provided by the introduction for the components. The rth Lagrange equation of the set is
of a set of independent modes in which all constraints are written as follows:
fixed. An infinity of these modes exists, and it is convenient,
although not necessary, to think of these as the "fixed-con- >. . I >. ~r x ~r *r (27)
dt
straint" natural modes of vibration of the structure. Accord-
ingly, these are called natural modes or normal modes and one where
of them is shown in Fig. Ic. The corresponding displacement T = kinetic energy
of point P is called UN. U strain energy
The vector displacement of any point P(xt y, z) is found by R = dissipation function for viscous damping.
superposing the three foregoing displacements:
Mass Matrix
u(x, y, z) = UR(X, y, z) + uc(x, y, z) + UN(X, y, z) (20)
The mass matrix is derived from the kinetic energy terms
Each of these displacements is defined in terms of a set of nor- in Eq. (27). For a continuum, the kinetic energy may be ex-
malized displacement functions or modes and a set of general- pressed by the following integral, which may be a volume, a
ized displacements; thus, surface, or a line integral depending upon the configuration of
the structure and the space coordinate system used:
uR(x,y,z) =
uc(x, y, z) = (21)
- If (28)
where p. = mass density. From Eqs. (20) and (21) the dis-
where placement u can be written as
<t>jR = Jth rigid-body mode
jfr.c = jth constraint mode U = ]C $iPj (29)
j
$jN j-fa natural mode
Differentiating this to obtain velocities and substituting into
The p's are generalized displacements expressing the magni- Eq. (28) yields
tudes of the functions. The modes $ are vector functions of
the space coordinates (x, y, 2), and each defines a vector dis-
placement field throughout the structure.
In Eqs. (20) and (21) the structure is treated as a continuum
T = -
* / (30)

Since, for small displacements, the kinetic energy is a function

in which the functions $(x} y, z) are continuous functions of of coordinate velocities only, the foregoing quadratic form is
the space coordinates. In many practical analyses the struc- expected. The generalized component mass m^ is recognized
ture is discretized so that displacements are defined at only a to have the form
set of points. In this case the displacement at each point can
be written as a component of a column matrix, and Eq. (20)
would appear as follows:
For a lumped mass model of the structure, the kinetic energy
(-.) _
\u} fj-,R\
\u, } -*rL \u
$j-,C\ J_ l/n'JVl
} -]r \u } /OO^
\AA) is obtained by summing over the masses.
For this mass representation, the generalized mass matrix
The discretized mode functions are displayed in the form of for the component is
modal matrices [0] in which the element <^ is the displace-
ment at point i in the jih mode. Equations (21) take the (32)
following matrix form: where Qm J is a diagonal matrix of the masses.
= [$R]{pR} As a consequence of classifying the modes in three cate-
(23) gories, namely, rigid-body modes, constraint modes, and
normal modes, the mass matrix is partitioned as follows:
If these equations are substituted into Eq. (22), the total dis- 'mRR\mRC\mRN~
placement column may be written as mCRmcc\mCN (33)
(24)
 682 W. C. HURTY AIAA JOURNAL

To show a single example of the construction of a submatrix,
consider the submatrix [m]RC. From Eq. (31) the element
mjk in this submatrix is given by
m,-k*c = f&R'$kcdV (34)
From Eq. (32) the submatrix is given in the following form:
external, generalized forces associated with the iih mode act-
ing through displacements associated with the jth mode.
This statement will be useful in deducing certain character-
istics of the stiffness matrix.
The stiffness matrix may be partitioned in the same way as
the mass matrix:

[m]* = [<PF-[;mJ(<^] (35)

This results from partitioning the modal matrix as shown in
Eq. (25).
Stiffness Matrix
The stiffness matrix is derived from the strain energy term
in Eq. (27). The strain energy of a component may be written
in terms of the generalized displacements and the generalized
stiffness matrix.
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(44)
The submatrices in the first row and first column, involving
rigid-body modes, are null matrices. This follows from the
foregoing work statement, since the work done by a self-
equilibrating force system on a rigid-body displacement is zero.
The order [k]RR is equal to the number of rigid-body modes.
The submatrix [k]cc is the stiffness matrix associated with
the redundant constraint system because the forces associated
with a constraint mode are just the forces at the constraints,

(36) and they do work only on displacements of the redundant

constraints. Thus, the order of this square matrix is equal to
It may be expressed also in terms of the stress and strain dis- the number of redundant constraints.
tributions over the component The submatrix [k]CN is a null matrix. This is true because
the work done by constraint forces on a normal mode displace-
{e}dV (37) ment is zero because of the fact that in a normal mode the
U
-2 constraints are fixed. Because of symmetry, submatrix [k]NC
is also a null matrix.
where The submatrix [k]NN is a diagonal matrix if the "normal"'
modes are the natural modes of vibration. This is true in
{ T } = stress vector containing the six components of consequence of the orthogonality of these natural modes.
stress at a point The order of this matrix is arbitrary and depends only upon
je} = strain vector of six components of strain at a point
the number of these modes chosen for the analysis. This, in
For materials that follow Hooke's law over the range of stress turn, depends upon accuracy requirements. The ith element
and strain considered in the analysis, the linear relationship of this diagonal matrix is related to the corresponding element
between stress and strain may be written as of the mass submatrix [m]NN, which is also diagonal, by the
{r} = [G]{e} (38) relationship

where [G] is a square symmetric matrix of coefficients that are

dependent upon the elastic properties of the material. When
this is inserted into Eq. (37), the strain energy integral has the
form
U = }T(G]{e}dV (39)
Considering the set of normalized modes that comprise the
generalized coordinates for the component, it can be seen
that each mode is characterized by its own strain distribution.
If the strain vector related to the ith mode is denoted by
{ e } i } the total strain is found by superposition:
~ (40)
>..NN r . , . 2
C0 (45)
where co* is the natural frequency of the component in the ith
mode obtained with all constraints fixed.
If the so-called "normal" modes are not natural vibration
modes, then the matrices [k]NN and [m]NN are not diagonal,
and the foregoing relationship between them does not hold.
However, as long as these modes satisfy the fixed boundary
conditions, the coupling submatrices [k]CN and [k]NC con-
tinue to be null matrices.
In consequence of the foregoing results, the partitioned stiff-
ness matrix takes on a simple form:
0 |
k\ (46)

When this representation is used in Eq. (39) the strain energy

integral becomes Damping Matrix

v = &I EE
i
p<?i Jf (4i) The damping matrix for linear viscous damping is derived
from the dissipation term in the Lagrange equation. In
damped structures the dissipation of energy can be caused by
Comparing with Eq. (36) it is seen that the stiffness co- various mechanisms, including material hysteresis, friction in
efficient kij may be written as connections, friction caused by motion through fluids, etc.
fey =f{e}tT[G]{e},-dV (42) Such damping is unavoidable, and the mechanisms involved
are not generally well understood. The concept of viscous
Hooke's law, Eq. (38), also relates the individual modal damping is sometimes adopted for the purpose of simplifica-
stresses and strains so that the foregoing equation also may be tion. For lightly damped systems, this may be regarded as a
written as reasonable choice.
kij = f{r}iT[e}jdV (43) In contrast with unavoidable damping, devices are some-
times employed deliberately to introduce damping for the
This equation may be stated as follows: The stiffness co- purpose of reducing dynamic responses. If these devices
efficient kij is equal to the work done by stresses associated produce velocity-dependent damping forces, a dissipation
with the ith mode acting through strains associated with the function can be derived that depends upon the properties of
jth mode. This is also equal to the work done by the set of the dampers and the velocities. The dissipation function may
 APRIL 1965 STRUCTURAL SYSTEMS USING COMPONENT MODES 683

be written also in terms of a generalized damping matrix and are endowed with the property of direction. The constraint
the generalized component velocities: displacements may be defined in terms of modal displace-
ments at the constraint:
R = i {P}T[c]{p\ (47)
From this equation an element Cjk of the damping matrix may USR = E
be calculated by differentiation:
Cjk = tfR/dpfipk (48) (51)
If R is known as a function of the physical properties of the
system, the foregoing calculation can be carried out. Dis-
cussion of the details is not included here inasmuch as the where
subject of damping mechanisms is not considered to be part
of this paper. fsjRR = modal displacement of sth statically determinate
The generalized damping matrix is symmetric as are the constraint in jih rigid-body mode
mass and stiffness matrices. This can be seen from Eq. (48) $rjCR = modal displacement of rth redundant constraint
by observing that the results of the calculation are not in jih rigid-body mode
changed by interchanging the indices j and k. (j>rjcc = modal displacement of rth redundant constraint
It is clear that the damping matrix may be partitioned in the myth constraint mode
same way as are the mass and stiffness matrices.
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By substituting the expressions (51) into Eq. (50) the follow-

ing virtual work equation is obtained:
c = (49)
CNR\CNC\CNN
8W = E *Pi* [E RSR$,JRR + E Rrc$nCR +
i \_ s r

In general, all of the submatrices exist as in the case of the ff-$i*dV + E Pi-fa"! + ESpy* X
mass matrix. It may be noted, however, that if all the damp- * J j
ing forces in the component are internal, i.e., they form a self- [E RrG$riCC + ff'WdV + E Fi-faCl + E X
equilibrating system of forces within the component, then L r i
rigid-body motions are not damped. In this case the sub- (52)
matrices in the first row and the first column will be null
matrices. The virtual work can be written also in terms of generalized
forces and displacements :
Forces on the Component
dW = E P&pi* + E Pf&p? + E Pi"8Pi (53)
The forces acting on a structural component may be con- 3 3 _ j
sidered in two categories: 1) those imposed through the con- Comparing Eqs. (52) and (53), with the recognition that the
straints, and 2) those applied by sources external to the sys- generalized virtual displacements dpj(j = 1, 2, 3, . . .) are all
tem. The first category includes forces imposed through con- independent, leads to the following equations for generalized
nections to other components as well as those applied as reac- forces :
tions to the system at fixed constraints. Those applied at
connections do work on the displacements of the component,
whereas those applied at fixed constraints do not.
Forces imposed through the intercomponent connections
are classified in two further categories. Let
(54)
RSR = force applied through the sth statically determinate = E RrC$riCG + +
constraint
Rrc = force applied through the rth redundant constraint
Pi" =
Forces applied by sources external to the system may be
distributed forces, or they may be point forces. Let / repre- It is eonvenient to define, separately, a set of generalized
sent the intensity^of distributed force at any point in the external forces as follows:
structure and let F represent a point force at a point whose
displacement is Ui.
The virtual work done by these forces on a virtual displace-
ment of the component is given by
(55)
8W = E R,R8uaR + E Rrc(5urR + durc) +

(50)
Equations (54) are written in the following matrix form,
where using the generalized external forces given by Eqs. (55):
fiusR = virtual displacement of sth statically determinate [P] = (56)
constraint in a rigid-body mode
$iirR virtual displacement of rth redundant constraint where
in a rigid-body mode
dur = virtual displacement of rth redundant constraint
in a constraint mode (P} = {*} =
Note that displacements of the constraints are distinguished
by a tilda above the letter. These displacements are con-
sidered as scalar quantities since the constraints themselves
 684 W. C. HURTY
At this point, it is noted, parenthetically, that the constraint
displacements are related to the generalized displacements
through the matrix [<], as follows:
UR
\= (57)
uc)
where
UR the total displacement of a statically determinate
constraint
uc = the total displacement of a redundant constraint
Component Equations
Having developed the component properties and forces in
previous sections of the paper, the equations of motion may
now be written. Equation (3) has been written for the sth
Downloaded by RWTH AACHEN UNIVERSITY on September 28, 2017 | http://arc.aiaa.org | DOI: 10.2514/3.2947
component with viscous damping. This equation is written in
partitioned form as follows, using Eqs. (33, 46, 49, and 56):
(58)
In compact form this equation appears as
p},= [f],T{R}, + { s ] , (59)
The set of these equations, written for all of the components,
is put together as shown in Eq. (4) and is then operated on by
the transformation matrix defined in Eq. (7) to form the equa-
tion of motion for the system. This operation is shown in Eq.
(15). The system equation is solved to yield the time-
dependent system generalized response vectors {q}} {q}, and
{q\. These are introduced into the transformation equation
(7) to yield the corresponding time-dependent component
response vectors {p}, {p}, and {p}. With these vectors
available, the connection forces may be found using Eq. (58).
It is most convenient to solve first for the forces at the re-
dundant constraints by using the second of the three matrix
equations represented in Eq. (58).
cc c (60)
[k ]s{p }s ~
Following this calculation the result may be introduced into
the first of the three equations in (58) to solve for the forces
at the statically determinate constraints.
{RR}S =
[cRC]s{pc}
T
{RC}s - (61)
Under the time-dependent constraint forces and the external
forces, each component is in a condition of dynamic equi-
librium. Reactions at fixed constraints that may exist are not
found by the foregoing calculations because these do no work
on component displacements; hence they do not enter into
the virtual work expressions. They can be determined, how-
ever, by writing equilibrium equations for the component or
components to which they apply.
Equilibrium of the Connection Forces
It can be shown that, through the use of the condition of
continuity at the component connections, the equilibrium of
AIAA JOURNAL
the interacting forces at these connections is implicitly as-
sured. To show that this is so, the steps leading to the de-
termination of the system generalized forces must be ex-
amined. Substitution of Eq. (56) into Eq. (19) shows that the
force vector for the system is
+ (62)
In this equation, the matrix [<] is composed of the com-
ponent matrices arranged as shown:
[<?] = (63)
Similarly, the vectors {R} and {$} include those for all of the
separate components arranged as follows:
{R} = and = {*}r[ (64)
f _)
Since the components of the system vector {R} are forces in
the component connections, which are internal forces within
the system, they should not contribute to the generalized
system force [Q(f)}. Therefore, the first term on the right
side of Eq. (62) should vanish, and the system force should be
simply
[P]T{$} (65)
The preceding statement concerning the self-equilibrating
property of internal forces will be accepted generally without
proof; hence a rigorous proof is not included here. Such a
proof may be constructed, however, by showing that the first
term on the right side of Eq. (62) does indeed vanish, or
{0} (66)
The proof may proceed by applying the principle of virtual
work to two mutually connected components of the system.
It is almost trivial to show that the two reactions at a common
connection are equal in magnitude and oppositely directed,
provided the condition of displacement continuity is assured.
From this point it is easy to show that Eq. (66) must hold.
This matter is of importance in dealing with the present
method of analysis only in pointing out that the explicit use
of force equilibrium equations is not necessary in deriving the
equations of constraint embodied in Eq. (8).
References
1
Argyris, J. H. and Kelsey, S., Energy Theorems and Structural
Analysis (Butterworths Scientific Publications, Ltd., London,
1960).
2
Turner, M. J., Clough, R. W., Martin, H. C., and Topp, L. J.,
"Stiffness and deflection analysis of complex structures," J.
Aeronaut. Sci. 23, 805-824 (1956).
3
Turner, M. J., Martin, H. C., and Weikel, R. C., "Further
development and applications of the stiffness method," Matrix
Methods of Structural Analysis, edited by F. de Veubeke (Perga-
mon Press, London, 1964).
4
Argyris, J. H. and Kelsey, S., Modern Fuselage Analysis and
the Elastic Aircraft (Butterworths Scientific Publications, Ltd.,
London, 1963).
 APRIL 1965 STRUCTURAL SYSTEMS USING COMPONENT MODES 685
6 7
Przemieniecki, J. S., "Matrix structural analysis of substruc- Hurty, W. C., "Dynamic analysis of structural systems by
tures," AIAA J. 1,138-147 (1963). component mode synthesis," Jet Propulsion Lab., California Insti-
6
Hurty, W. C., "Vibrations of structural systems by com- tute of Technology TR 32-530 (January 1964).
ponent mode synthesis/7 Proc. Am. Soc. Civil Engrs., J. Eng. 8
Gladwell, G. M. L., "Branch mode analysis of vibrating
Mech. Div. 86, 51-69 (August 1960). systems," J. Sound Vibration 1, 41-59 (1964).

APRIL 1965 AIAA JOURNAL VOL. 3, NO. 4

Liquid Surface Oscillations in Longitudinally Excited

Rigid Cylindrical Containers
Downloaded by RWTH AACHEN UNIVERSITY on September 28, 2017 | http://arc.aiaa.org | DOI: 10.2514/3.2947

FRANKLIN T. DODGE,* DANIEL D. KANA,| AND H. NORMAN ABRAMSON|

Southwest Research Institute, San Antonio, Texas

The results of a theoretical and experimental study of low-frequency liquid surface motions
in a longitudinally vibrated tank are presented and discussed in some detail. Large-amplitude
free surface motions occur when the liquid responds as a one-half subharmonic of the excita-
tion. This form of response exhibits "jump" phenomena common to nonlinear systems.
Harmonic and superharmonic liquid surface motions are also observed, although their ampli-
tudes are usually smaller than those corresponding to the one-half subharmonic response.
Comparison between theoretical and experimental results are given, in most instances the
correlation being rather close.

Nomenclature I. Introduction
amn(amn)
amn(oimn)
amplitude of the m, nth liquid surface mode
amplitude of the m, nth component of the liquid
velocity potential
T HE importance of liquid sloshing on the over-all dynamics
of liquid fuel rockets is well recognized, and extensive
investigations of this problem have been conducted and
d] tank diameter reported. Papers given by Abramson1 and Cooper2 review
h(h) liquid depth
rath order Bessel function of first kind much of this work.
Jm
A.7rm\ Ajnn J defined by Jm'(\mnR) = 0 Liquid sloshing can be excited by a variety of motions of
Na tank excitation frequency (N is a positive num- the liquid container; of these, longitudinal oscillations of the
ber) vehicle and the subsequent liquid response generally have
liquid velocity potential been the least investigated. This is probably a result of the
r, G, z(r, 0, ; tank fixed coordinate system fact that linear analysis, which adequately predicts resonant
R tank radius frequencies and liquid responses for most types of container
a frequency parameter, co/Wz motion, fails to predict the liquid response amplitudes for
w
U, V, W
time
fluid velocity components
longitudinal forced motion. Some previous linear analyses
tank excitation amplitude and experiments, however, have yielded results that give
free surface displacement above mean level of the over-all liquid behavior, with the exception of response
y(y) amplitude, and vividly describe the complexity of this
liquid
YQ one-half the sum of the maximum liquid surface problem.
excursion in the positive and negative direction A nonlinear analysis, which predicts the complete liquid
response, has been performed for an infinitely deep, very
Presented as Preprint 65-83 at the AIAA 2nd Aerospace narrow rectangular tank by Yarymovych and Skalak.3
Sciences meeting, New York, January 25-27, 1965; revision No such nonlinear analysis has been conducted previously
received January 11, 1965. The results presented in this for the circular cylindrical tank. The purpose of the present
paper were obtained during the course of research paper, therefore, is to present a comprehensive nonlinear
sponsored by the Marshall Space Flight Center of NASA analytical and experimental study of liquid sloshing in a
under Contract No. NAS8-11045. The authors wish to longitudinally excited, finite depth, rigid, circular cylindrical
express their appreciation to Dennis Scheidt for his aid in
the experimental program, to the staff of the Southwest Research tank with emphasis placed chiefly on low-frequency excitation
Institute Computations Laboratory for performing most of the and the corresponding liquid response.
numerical work, and to David DeArmond and Victor Hernandez
for preparing the figures. Our thanks are also given to the II. Interpretation of Mathieu Stability
referees for several valuable comments.
* Senior Research Engineer, Department of Mechanical Sci- Chart
ences. Associate Member AIAA. The frequency of the liquid surface motion for most forms
f Senior Research Engineer, Department of Mechanical
Sciences. Member AIAA.
of forced vibration of a container usually corresponds to the
| Director, Department of Mechanical Sciences. Associate excitation frequency, and the amplitude of the motion can
Fellow Member AIAA. be calculated accurately by a linear analysis. A nonlinear
Symbols in parenthesis are the nondimensional equivalents analysis is necessary here only when large amplitude motions
of the preceding quantity. occur in the vicinity of a free surface resonance. In con-
 This article has been cited by:

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