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USC Viterbi MDOF Equations of Motion USC Viterbi MDOF Equations of Motion
School of Engineering Three Physical Models of a 3DOF System School of Engineering Three Physical Models of a 3DOF System
u3 f3 m3 m3 f3
m3 m3 u3 The ui are displacements relative to undeformed location
k3/2 k3/2 k3/2 k3/2 k3 k3 u3
m3
f3
u2 m2 m2
k3/2 k3/2
m1u˙˙1 = f1 " k1(u1 " 0) + k2 (u2 " u1)
f2 f2 u2 f2
m2 m2 u2 k2/2
m2
k2/2 m2u˙˙2 = f2 " k2 (u2 " u1) + k3 (u3 " u2 )
k2/2k2/2 k2/2 k2/2 k2 k2 u1
m1
f1
m3u˙˙3 = f3 " k3 (u3 " u2 )
k1/2 k1/2
u1 f1 m1m1 f1 !
m1m1 u1 which can be written in matrix form
kk11/2
/2 k1k/2 k1k1 !
1/2 m3 f3
"m1 0 0 %(u˙˙1 , "k1 + k2 /k2 0 %(u1 , (f1 ,
u3
k3
! $ '* * $ '* * * *
m2 f2 $ 0 m2 0 ')u˙˙2 - + $ /k2 k2 + k3 /k3 ')u2 - = )f2 -
u2 * * * * * *
k2 $# 0 0 m3 '&+u˙˙3 . $# 0 /k3 k3 '&+u3 . +f3 .
m1 f1
u1
k1
u1 u2 u3 or, compactly,
m1 m1 m2 m2 m3 m3 Mu˙˙ + Ku = f
k1k1 k2 k2 k3 k3 !
f1 f2 f3 u1 u2 u3
m1 m2 m3
k1 k2 k3
f1 f2 f3
!
USC Viterbi MDOF Equations of Motion USC Viterbi MDOF Equations of Motion
School of Engineering Base Excitation School of Engineering Base Excitation
v3 v3
u3 m3
m3 u3 v3
The vi!=!ui + vg are displacements relative to inertial reference
v2 k3/2 k3/2 k3 u3
m3
v2 v2 k3/2 k3/2 m1v˙˙1 = "k1(v 1 " v g ) + k2 (v 2 " v 1) m1(u˙˙1 + v˙˙g ) = "k1(u1 " 0) + k2 (u2 " u1)
u2 m2 u2
m2 u2 v1 k2/2
m2
k2/2 m2v˙˙2 = "k2 (v 2 " v 1) + k3 (v 3 " v 2 ) m2 (u˙˙2 + v˙˙g ) = "k2 (u2 " u1) + k3 (u3 " u2 )
v1 k2/2 k2/2 k2 u1
m1 m3v˙˙3 = "k3 (v 3 " v 2 ) m3 (u˙˙3 + v˙˙g ) = "k3 (u3 " u2 )
v1 k1/2 k1/2 ! !
u1 m1 vg
m1 u1 ! or in matrix form !
k1/2 k1/2 k1 "m1 0 0 %(u˙˙1 , "k1!+ k2 /k2 0 %(u1 , (m1 ,
!
vg vg v3 $ '* * $ '* * * *
$ 0 m2 0 ')u˙˙2 - + $ /k2 k2 + k3 /k3 ')u2 - = /)m2 -v˙˙g
m3
u3
k3
* * * * * *
v2
u2
m2 $# 0 0 m3 '&+u˙˙3 . $# 0 /k3 k3 '&+u3 . +m3 .
k2
v2 v3 v1
m1
or, compactly, using 1 = [1 1 1]T,
v1 u1
u1 u2 u3 vg
k1
Mu˙˙ + Ku = "M1v˙˙g
m1 m1 m2 m2 m3 m3 !
vg k1 k2 k3 v2
v3
v1
u1 u2 u3
m1 m2 m3
vg k1 k2 k3
!
USC Viterbi Lagrange’s Equations USC Viterbi Lagrange’s Equations
School of Engineering School of Engineering Example Formulation
Using FBDs works for simple systems but difficult for complex u3 f3
Form the Kinetic and Potential Energies
m3
models. Can use Lagrange’s Equations.
u2
k3/2 k3/2
KE = T = 21 m1u˙12 + 21 m2u˙ 22 + 21 m3u˙ 32
Let u1, u2, …, un denote independent generalized degrees of m2
f2
USC Viterbi Example 2DOF System USC Viterbi Example 2DOF System
School of Engineering Unforced Case School of Engineering Unforced Case — natural frequencies & mode shapes
USC Viterbi Example 2DOF System USC Viterbi Example 2DOF System
School of Engineering Unforced Case — scaling of mode shapes School of Engineering Unforced Case — modal coordinates
While mode shapes !i can be scaled arbitrarily, there are Define eigenmatrix # = [!1 !2]. Substitute u = #q into the
some conventional scaling methods: equation of motion and premultiply by #T
1 • Mass normalized: normalize so that Mi " !iTM!i = 1 1 (we will use the mass-normalized mode shapes here):
#1& *2 0-#1& #1 6 & " T M"q ˙˙ + " TK"q = 0
k2!=!2 "1 = c $ ' ) "1TM"1 = c [1 2], 2
/$ 'c = 6c = 1 ) "1 = $ ' k2!=!2
%2( +0 1.%2( %2 6 (
#1 6
=%
2 6 & #2 0 6
(% (%
1 3 &)q˙˙1 , #1 6
(* - + %
2 6 &# 6 "2& #1 6
(% (%
1 3 &)q1 ,
(* -
2 # 1& 2 0 1 # 2 $1 3 "1 3 ' $0 1'$2 6 "1 3 '+q˙˙2 . $1 3 "1 3 '$ "2 2 ' $2 6 "1 3 '+q2 .
* -# & 1 3&
"2 = c $ ' ) "2TM"2 = c [1 01], 2
/$ 'c = 3c = 1 ) "2 = $ ' "1 0%(q˙˙1 + "1 0 %(q1 + q˙˙1 +1q1 = 0
k1!=!4 %01( +0 1.%01( %01 3 ( k1!=!4 ! (2 SDOF systems)
=$ ') , + $ ') , "
• Normalize so maximum (absolute) value is one; i.e., maxj |!ji| = 1 ! #0 1&*q˙˙2 - #0 4 &*q2 - q˙˙2 + 4q2 = 0
T
max " j 1 = max{c ,2c } = 2c = 1 # "1 = {1 2 1} Note same result using different mode shape scaling:
j #1 2 0& #1 1&)q˙˙1 , #1 2&# 6 "2& #1 1&)q1 , "6 0%(q˙˙1 + "6 0 %(q1 + (0+
! % (% (% (* - + % (% (% (* - = $ ') , + $ ') , = ) ,
T $1 "1'$0 1' $2 "1'+q˙˙2 . $1 "1'$ "2 2 ' $2 "1'+q2 . #0 3&*q˙˙2 - #0 12&*q2 - *0-
max " j 2 = max{c ,c } = c = 1 # " 2 = {1 $1}
j ! Can also use #–1M–1 times!the equation of motion and u = #q:
• Normalize so Euclidean length of vector !i is 1; i.e., |!i| = 1 "#1M#1M"q ˙˙ + "#1M#1K"q = 0 " q ˙˙ + %'1
˙˙ + #$1M$1K#q = q 0(
*q =0
! ! &0 4)
# 1& #1 5 &
! "1 = c [1 2]$ 'c = 5c 2 = 1 ) "1 = $ ' SDOF techniques can be used to solve for the qi (possibly
%2( %2 5 (
using modal initial condition q(0)!=!#-1u(0)); then, u = #q
#1& #1 2 & !
is used to obtain the motion in the original coordinates.
"2 = c [1 *1]$ 'c = 2c 2 = 1 ) "2 = $ ' !
% *1( % *1 2 (
!
USC Viterbi Example 2DOF System USC Viterbi Example 2DOF System
School of Engineering Unforced Case — free responses School of Engineering Example Free Responses
!
!
USC Viterbi Example 2DOF System USC Viterbi Example 2DOF System
School of Engineering Unforced Case with Damping School of Engineering Unforced Case with Damping — free response
Let’s add damping. (What is damping???) So modal damped free responses are
#c1 + c 2 "c 2 & # 0.3 "0.1& qi (t ) = ai e "# i $ it sin $idt + bi e "# i $ it cos $idt = ci e "# i $ it sin($idt + %i )
1 Mu ˙˙ + Cu
˙ + Ku = 0 C=% (=% ( 1
$ "c 2 c 2 ' $ "0.1 0.1' where the ai & bi, or ci & "i, depend on qi (0) !!!!!!! and q˙i (0) , and
c2!=!0.1 $1 1' c2!=!0.1
k2!=!2 Already know " = & ). Let u = "q and premultiply by "
T
k2!=!2 "id = "i [1# $2i ]1/ 2 .
%2 #1(
2 ! 2 ! More generally, the responses in the original coordinates are:
c1!=!0.2 " T M"q
˙˙ + " T C"
!q˙ + " TK"q = 0 c1!=!0.2 !
k1!=!4 #1 2 0& #1 1&)q˙˙1 , #1 2&# 0.3 "0.1 1&)q˙1 , #1 2& # 6 "2 & #1 1&)q1 , k1!=!4 ! u(t ) = &e "# i $ it %i ai sin $idt + bi cos$idt = &ci %i e "# i $ it sin($idt + 'i )
[ ]
% (% (% (* - + % (% (% (* - + % (% (% (* -
$1 "1'$0 1' $2 "1'+q˙˙2 . $1 "1'$ "0.1 0.1'$2 "1'+q˙ 2 . $1 "1' $"2 2' $2 "1'+q2 . i i
!
#6 0&)q˙˙1 , #0.3 0 &)q˙1 , #6 0 &)q1 , )0, "# i $ i t
!
=% (* - + % (* - + % (* - = *
$0 3'+q˙˙2 . $ 0 0.6'+q˙ 2 . $0 12'+q2 . +0.
-
q˙˙1 + 0.05q˙ 1 +1q1 = 0
= &e [ ai sin $idt + bi cos $idt ] = & ci e # $ t sin($i t + 'i )
" i i d
i i
"
q˙˙2 + 0.20q˙ 2 + 4q2 = 0
c !=!0.2
!1
c2!=!0.1 c1!=!0.2 c2!=!0.1
m1!=!2 m2!=!1 q˙˙i + 2"i #i q˙i + #i qi = 0 m1!=!2 m2!=!1
!
k1!=!4 k2!=!1 "1 = 1, #1 = 0.025 = 2.5% k1!=!4 k2!=!1
!
" 2 = 2, #2 = 0.050 = 5.0%
!
USC Viterbi General MDOF Systems USC Viterbi General MDOF Systems
School of Engineering School of Engineering Forced Harmonic Response
Equation of motion: Mu
˙˙ + Cu
˙ + Ku = Ef Forced response of a linear system is the sum of the free
First use the undamped, unforced equation to find natural response from any non-zero initial conditions and the
frequencies and mode shapes: effects of the external forcing.
(M" 2 #! K)$ = 0 or (" 2I # M#1K)$ = 0 Let us assume the initial conditions are zero and consider
a harmonic excitation.
The mode shapes have the properties that
%Mi , i = j %Ki , i = j Mu ˙˙ + Cu˙ + Ku = Ef = Ef0 sin "t
"iT M"j = Mi #ij = & "iTK"j = Ki #ij = &
! ' 0, i $ j ' 0, i $ j Then the response is also harmonic. This is most easily
The fact that !iTM!j = 0 and !iTK!j = 0 for i ! j means the demonstrated using a SDOF example …
mode shapes are orthogonal. Note also that Ki /Mi = !i2. !
! !
Note: some systems have – K) be less than rank (n – 1), which
(M!2
implies there are multiple modes at one or more frequencies.
EOM: mu˙˙ + cu˙ + ku = sin "t u (0) = 0, u˙ (0) = 0 This is easier if we use a complex-valued excitation:
Assume: u (t ) = U sin("t + # ) mu˙˙ + cu˙ + ku = e j"t u (0) = 0, u˙ (0) = 0
Then: "m#2U sin(#t + $ ) + c#U cos(#t + $ ) + kU sin(#t + $ ) = sin #t Assume: u (t ) = Ue j"t
! Expanding sin and cos!terms and simplifying: Then: [m( j")2 + c ( j") + k ]Ue j"t = e j"t
! ["m#2 cos$ " c# sin $ + k cos$ ]U sin #t ! So: U = 1 [(k " m#2!) + cj#]
! + ["m#2 sin $ + c# cos $ + k sin $ ]U cos #t = sin #t !
which means ! To get back the original real-valued u(t), recognize that
! ["m#2 cos$ " c# sin $ + k cos$ ]U = 1 ! e = cos#t + j sin#t. Then a real valued response to
j #t
USC Viterbi General MDOF Systems USC Viterbi General MDOF Systems
School of Engineering Forced Harmonic Response — with ej#t School of Engineering Impulsive Excitation Force
In a similar way, a MDOF system with harmonic force is The response to an impulse can be used to find the p(t)
˙ + Ku = Ef = EFe j"t response to arbitrary excitations. $ 0, t <0
Mu
˙˙ + Cu &
Mu ˙ + Ku = ep (t ) p (t ) = %1/", 0 # t # "
˙˙ + Cu 1/$%
u(t ) = Ue j"t f(t ) = Fe j"t &
t >" t
' 0,
$%
! [(K " #2M) + j#C]Ue j#t = EFe j#t
! Integrate both sides with respect to t from 0 to $ assuming
! " #2M) + j#C]"1EF
U = [(K ! the system is at rest at time 0.
!
Then the response instead to F!sin#t is M[u˙ (" ) # u
˙ (0)] + C[u(" ) # u(0)] + K[uavg" ] = e
!
u(t ) = Im(Ue j"t ) = Re(U)sin "t + Im(U)cos "t Mu
˙ (" ) + Cu(" ) + K[uavg" ] = e using mean value thm.
!
! Take limit as $ $0: stiffness term $0; displacement cannot
change instantaneously so u($)$0. Thus,
! !
u
˙ (0+ ) = M"1e
USC Viterbi General MDOF Systems USC Viterbi Example 2DOF System
School of Engineering General Excitation Force School of Engineering Forced Response
Define the impulse response matrix function H as Compute response of base-excited 2DOF N−S El Centro ground accel. [g]
MH ˙˙ + CH˙ + KH = E" (t ) " (t ) = Dirac delta function = lim p (t ) structure to 1940 El Centro earthquake: 0.2
H(0) = 0, H ˙ (0+ ) = M"1E # $0 1 Mu ˙ + Ku = "M1v˙˙g
˙˙ + Cu 0
c2!=!1 "2 0%(u˙˙1 + " 3 .1%(u˙1 + " 600 .200 %(u1 + (2+
Note that H is the same size as E. k2!=!200 $ ') , + $ ') , + $ ') , = .) , v
200&*u2 - *1- g
−0.2
#0 1&*u˙˙2 - # .1 1&*u˙ 2 - # .200
! The element hij(t) is the i-th response to an impulse in the 2 Mass in Mg, damping kN"s/dm and stiffness kN/cm.
! Natural frequencies are 10 rads/sec and 20 rads/sec
impulse response [m]
! shape of the j-th column of E. c1!=!2 ! (or 1.59 and 3.18 Hz), damping 2.5% and 5.0%.
0.1
k1!=!400 !
In the previous damped 2DOF example, we used specific We often do not know the damping coefficients (while mass
damping coefficients in the model: c1 = 0.2, c2 = 0.1. and stiffness can be computed or easily measured, damping
1 is much harder to quantify).
c2!=!0.1 0.2 "2 0%(u˙˙1 + " 0.3 .0.1%(u˙1 + " 4 + 2 .2 %(u1 + (0+ "1 = 1, #1 = 2.5%
k2!=!2 $ ') , + $ ') , + $ ') , = ) , Damping ratios &i in individual modes are easier to estimate
#0 1&*u˙˙2 - # .0.1 0.1&*u˙ 2 - # .2 2&*u2 - *0- " 2 = 2, #2 = 5.0%
2 (e.g., excite the structure in a particular mode, and estimate &
c1!=!0.2 We found that the damping #TC# diagonalized.
k1!=!4 from the decay e–&!t; repeat for other modes).
However, a different choice (c1 = 0.2, c2 = 0.2) may! not: So, one way to construct the full damping matrix C is by
! $1 2'$ 0.4 #0.2 '$1 1' $ 0.4 #0.2' assuming a modal decomposition
" T C" = & )& )& )=& )
%1 #1(% #0.2 0.2(%2 #1( % #0.2 1( %!
' 0 (*
c1!=!0.2 c2!=!0.1 0.2 1 ˙
q˙˙1 + 15 q1 # 30 1 ˙
q2 +1q1 = 0 The equations " T C" = ' 2#i $i Mi *
m1!=!2 m2!=!1 " '0 !*)
˙q˙2 + 31 q˙ 2 # 15
1 ˙
q1 + 4q2 = 0 are still coupled! &
k1!=!4 ! k2!=!1
This is what is called a non-proportionally &!
( 0 )+ &!
( 0 )+
damped or non-classically damped system. C = "# T ( 2$i %i Mi +" = M" ( 2$i %i
#1 #1
+"
! We will see later how to solve systems like this. ! (0 +
!* (0 +
!*
(!1=1.00037, !2=1.99926, &1=3.3313%, &2=8.3368%)
' '
%! ( %! (
So, the equation of motion is: Mu
˙˙ + M" ' 2# i $ i *"+1u˙ + Ku = 0 So, the equation of motion is: Mu
˙˙ + M" ' 2# i $ i *"+1u˙ + Ku = 0
'& !*
) '& !*
)
Decouple method 1: let u = #q and premultiply by #T: Decouple method 2: let u = #q and premultiply by #–1M–1:
%! ( &! )
" T M"q ˙˙ + " T M" ' 2# i $ i *"+1"q˙ + " TK"q = 0 "#1M#1M"q ˙˙ + "#1M#1M" ( 2$ i % i +"#1"q˙ + "#1M#1K"q = 0
'& ! !*) ! (' !+
*
%! ( %! ( %! ( %! ( &! )
' M i *q ˙˙ + ' M i * ' 2# i $ i *q˙ + ' K i *q = 0 "#1"q˙˙ + "#1" ( 2$ i % i +"#1"q˙ + "#1M#1K"q = 0
'& !* ) '& !*
) '& !*
) '& !*
) (' !+
*
%! ( %! ( %! ( %! ( $! ' $! ' Let " = #$1M$1K#
' M i *q ˙˙ + ' M i * ' 2# i $ i *q˙ + ' K i *q = 0 q
˙˙ + & 2" i # i )q˙ + & # i2 )q = 0 % M#" = K#
'& !) * '
& *
!) &' *
!) '
& !*
) &% !)
( &% !)
(
! % # T M#" = # TK#
%! ( %! ( q˙˙i + 2"i #i q˙i + #i2qi = 0, i = 1,...,n &! ) &! )
˙q˙ + ' 2# i $ i *q˙ + ' $ i2 *q = 0 % ( Mi +" = ( K i +
(' !+
* (' !+
*
'& !* ) '& !*
) &! ) &! )
q˙˙i + 2#i $i q˙i + $i2qi = 0, i = 1,...,n
% " = ( K i M i + = ( , i2 +
(' !+* (' !+
*
!
!
Rayleigh damping (1877) is given by C = 'M + (K. It can be shown that the system is classically damped if either
Since both M and K diagonalize with #, it is easy to see of the following are true:
that #TC# = '#TM# + (#TK# is diagonal. • C = M F(M–1K) + K G(K–1M)
The result: 2&i!i = ' + (!i2 or &i = ('/!i + (!i)/2. • C = F(KM–1)!M + G(MK–1) K
for some matrix functions F(") and G(").
Since there are only two parameters, ' and (, we can
choose the damping of two modes; all other modal Note: should add references here.
damping ratios are given by the above equation.
If we know (or choose) &r and &s then
' = 2!r!s(&r!s – &s!r) / (!s2 – !r2)
(= 2(&s!s – &r!r) / (!s2 – !r2)
&i = ('/!i + (!i)/2
USC Viterbi Laplace and Fourier Transforms USC Viterbi Transfer Functions
School of Engineering School of Engineering SDOF
Time history p(t) is related to its Consider single degree of freedom system mu˙˙ + cu˙ + ku = f
Laplace transform P(s) and Fourier Transform P(j!) as Laplace transform both sides: ms 2U (s ) + csU (s ) + kU (s ) = F (s )
# $
P (s ) = $ p (t )e "st dt P ( j" ) = % p (t )e # j"t dt (ms 2 + cs + k )U (s ) = F (s )
!
"# #$
U (s ) 1 These are called
1
$
1
% Or, rearranging: =
p (t ) = % P (s )e st ds p (t ) = & P ( j# )e j#t d# F (s ) ms 2 + cs + k transfer functions.
2" #$ 2" $%
! U ( j" ) 1
! ! Could do similar using Fourier transform: =
Laplace transform P(s) may also be denoted L{p(t)} F ( j" ) m( j" )2 + cj" + k
! 1
! and Fourier Transform ! P(j!) by F{p(t)}. If f(t) = F0 sin!t, then =
# # 1 k # m" 2 + cj"
# u (t ) = F0 sin(#t + $ )
Note: L{p˙ (t )} = $ p˙ (t )e "st dt = pe "st "# + $ p (t )se "st dt = sL{p (t )} k " m# 2 + cj#
"# "#
integration by parts (assuming p(t)$0 as t$#)
% 1 ( #1 c
" = angle' 2 ! * = tan m$ 2 # k
& k # m$ + cj$ )
! Similarly: F {p˙ (t )} = j"F {p (t )} !
!
!
Real Part
2 2
c!=!0.2 !
10
−1 0
c!=!0.2 ! "0.1± 0.12 " 4
k!=!8 k!=!8 spoles = = "0.05 ± j 3.9975 # "0.05 ± 1.9994 j
−2 2
10 −2 −1 0 1
10
−1
10
0
10
1 10 10 10 Im
Frequency [rads/sec] Frequency [rads/sec]
0 0 !
Phase [degrees]
Imaginary Part
−50 −1 Re
−100
−2
−150
−3 −1 0 1
10
−1
10
0
10
1 10 10 10
Frequency [rads/sec] Frequency [rads/sec]
Some TFs have a numerator that is also a polynomial in s. For a MDOF system, must be careful to handle matrices
For example, the transfer function from ground acceleration correctly in determining the transfer function:
to the absolute acceleration of a SDOF system: Mu˙˙ + Cu˙ + Ku = Ef
2u˙˙ + 0.2u˙ + 8u = "2v˙˙g
2
L{v˙˙(t )} { } = L{"0.1u˙ " 4u} L u˙˙ + v˙˙g [Ms ]
+ Cs + K U(s ) = EF(s )
2
c!=!0.2 = ! 2 "1
!
USC Viterbi State-Space Formulation USC Viterbi State-Space Formulation
School of Engineering School of Engineering Transfer Function
Rather than using n second-order differential equations A Laplace transform of the state-space matrices can be
Mu˙˙ + Cu
˙ + Ku = Ef used to find the transfer function:
It is convenient (for simulation, control design, etc.) to instead "˙ = A" + Bf & ' s"(s ) = A"(s ) + BF(s )
use 2n first-order differential equations. Define state vector % y = C y" + D y f "(s ) = (sI # A)#1BF(s )
! d
#u & dt u=u
˙
" =$ '
%u
˙( & ' d u˙ = M"1Ef " M"1Cu˙ " M"1Ku !
dt
!
! Y(s ) = C y"(s ) + D yF(s )
d "u % ) 0 I ,"u % " 0 %
# &= + .# ˙ & + # (1 &f
! !
dt $u
˙ ' * (M(1K (M(1C -$u ' $M E ' [
= C y (sI # A)#1B + D y F(s ) ]
state (or system) matrix input (influence) matrix
! "˙ = A" + Bf !
y = C y" + D y f
The exact choice of state-space matrices depends on how To see that the state-space response corresponds to our
one defines (. For example, let ( = T%. previous, consider "˙ = A" with " = #e $t
"˙ = A" + Bf T"˙ = AT" + Bf ˙ = (T#1AT)" + (T#1B)f
" "#e "t = A#e "t & ' ( "I # A)$e "t = 0
&' &' For a non-trivial solution the determinant of ()I – A) must
y = C y" + D y f y = C y T" + D y f y = (C y T)" + (D y )f
be 0. For our
! structure, !
This gives a different set of state-space matrices but still
describes the same I/O relationship from f to y. ! I
"! #I P Q
"I # A = #1 but
R S
= SP " RP"1QP
M K "I + M#1C
! ! !
We can also see this from the transfer function: = ( "I + M#1C)( "I) # (M#1K)( "I)#1(#I)( "I)
!
[
Y(s ) = C y T(sI " T AT) T B + D y F(s )
"1 "1 "1
] = "2I + "M#1C + M#1K
! = " #1( $2I + $M#1C + M#1K)"
= [C y (sTT
"1
" TT"1ATT"1)"1B + D y F(s )] ! = "2I + "# $1M$1C# + # $1M$1K#
= [C y (sI " ]
A)"1B + D y F(s ) !
If #–1M–1C# decouples to a diagonal matrix of 2&i!i,
!
"I # A = & ( "2 + 2$i %i " + %i2 ) = 0 "i , "*i = #$i %i ± j%i 1# $i2
! i
!
!
!
Partition the eigenvector ) into “displacement” and “velocity” Let’s return to the 2DOF system and see it in state-space.
$ "I #I '+*d . +0 . "#d = # v "2 0%(u˙˙1 + " 0.3 .0.1%(u˙1 + " 6 .2 %(u1 + (2+
& #1 #1 ), v / = , / & ' "1 1 ') , + $ ') , + $ ') , = .) , v˙˙
%M K "I + M C (-* 0 -0 0 M K#d + $# v + M"1C# v = 0 $
#0 1&*u˙˙2 - # .0.1 0.1&*u˙ 2 - # .2 2&*u2 - *1- g
c2!=!0.1
2
( " I + "M C + M K)$ = 0
#1 #1 d k2!=!2 )0 0 1 0 , " 0%
d "u % + 0 0 0 1 ."u % / /
!
Let )d = #* and premultiply by #–1: 2 # & = + (3 1 (0.15 0.05 .# & + # (10 &f
c1!=!0.2! dt $u ˙' $u˙' / /
! #1 2 #1 ! +* 2 (2 0.10 (0.10 .- $ (1 '
" ( $ I + $M C + M K)"% = 0
#1
k1!=!4
! ( "2I + "# $1M$1C# + # $1M$1K#)% = 0 An eigenvalue analysis with MATLAB
vg A = [zeros(2) eye(2); -[2 0;0 1]\[[6 -2;-2 2] [.3 -.1;-.1 .1]]];
[V,D] = eig(A);
If #–1M–1C# decouples to a diagonal matrix of 2&i!i, then [lambda,ii]=sort(diag(D)); V=V(:,ii); % sort by increasing frequency
! ! T
"i , "*i = #$i %i ± j%i 1# $i2 ["1 ... " n ] = I gives: " = [#0.025 ± j 1599 1600 # 0.050 ± j 399 100]
! $ 0.3162 ± 0 j 0.016 ± 0.3158 j ' or, with alternate scaling,
The state-space eigenmatrix then becomes &# # ) &
0.6325 ± 0 j
)
#0.016 ! 0.3158 j ) $ 1± 0 j 1± 0 j '
"=( "=&
(where * denotes complex conjugate). '#$ #$ *
%+ & #0.0079 ± 0.3161j #0.6325 ± 0 j ) &
"=&
2 ± 0j #1± 0 j
)
)
& )
! ! ! %#0.0158 ± 0.6323 j 0.6325 ± 0 j ( �.025 ± 0.9997 j #0.100 ± 1.9975 j )
The first n columns of + correspond to $! ' & )
% #0.050 ± 1.9994 j 0.100 ! 1.9975 j (
eigenvectors ,i, the second n columns to )i*. " = & #i )
&% !)
( !
! !
!
USC Viterbi State-Space Formulation USC Viterbi State-Space Formulation
School of Engineering Unforced Response — Mode Shapes School of Engineering Visualization of Non-Proportional Damping
1
If the damping term does not decouple, then the state- c3!=!c Let’s look at an example of a
space approach must be used and k3!=!a 3DOF structure with classical #"0.328 0.737 "0.591 &
% (
( "2I + "M#1C + M#1K)$d = 0 1 damping (-c = 0). The natural %"0.591 0.328 0.737 (
c2!=!c frequencies & damping are: %"0.737 "0.591 "0.328 (
must be solved directly to get the complex eigenvalues and k2!=!a
%
% 0.065 ± 2.06 j "1.142 ! 12.9 j
(
1.913 ± 14.9 j (
complex eigenvectors. Once the the eigenvalues )i,)i* are !1 = 1 , &1 = 3.14%; % 0.117 ± 3.71j "0.508 ! 5.8 j "2.385 ! 18.6 j (
found, then !i = |)i| and &i = –Re{)i}/(2!i). 1 !2 = 2.80, &2 = 8.80%; %
$ 0.146 ± 4.63 j 0.916 ± 10.4 j 1.061± 8.3 j '
(
! c1!=!c!+!-c !3 = 4.05, &3 = 12.72%.
If some eigenvalues are purely real, then no oscillator k1!=!a
mode corresponds to that eigenvalue. !
A non-classically damped
version with additional #"0.233 ! 0.19 j "0.545 ! 3.99 j 0.003 ± 0.17 j &
c!=!0.01a damping in the first floor %
%"0.557 ! 0.08 j "0.977 ! 0.93 j
(
0.537 ! 0.07 j (
eAt is a matrix; its elements are not the exponential of the The state impulse response matrix is given by
elements of At. The computation of eAt can be computed ˙ = AH + B# (t ),
H H " (0$ ) = 0
through the power series formulation, though that is not " "
! !
Add Example!
USC Viterbi State-Space Formulation USC Viterbi Discrete-Time State-Space System
School of Engineering Forced Response School of Engineering
The forced response is, then, the combination of the initial We’ve already seen the free response of the unforced state-
condition free response and the effects of the force space system "˙ = A" . So, ((t + -t) = eA-t ((t).
t
The effect of the forced response of "˙ = A" + Bf in [t, t + -t]
"(t ) = e At "(0) + % e A(t #$ )Bf($ )d$ is the superposition of the free response with the impulse
0
response
! of f during the time step.
t +#t
"(t + #t ) = e A#t "(t ) + !
& e A(t +#t $% )Bf(% )d%
t
!
In the interval [t, t + -t), if f($) is constant (a zero-order hold)
'#t * "Ad Bd %
"A B%
' (t
"(t + #t ) = e A#t "(t ) + ) & e A( #t $% )d% ,Bf(t )
$
#0 0I&
! $ ' =e
( + # 0 I &
Ad 0
Bd
Defining ((k) = ((k-t), then the discrete-time
!
state space form is
! "(k +1) = Ad"(k ) + Bd f(k )
Note: one can also assume a first-order
y(k ) = C y"(k ) + D y f(k ) (linear) hold on f to determine B . d
USC Viterbi Distributed Parameter Systems USC Viterbi Distributed Parameter Systems
School of Engineering Euler-Bernoulli Beam Example School of Engineering Euler-Bernoulli Beam Example — exact simply-supported
Continuous systems (e.g., beams, plates, shells, or more The coefficients ci depend on the boundary conditions:
complex structures) also have modes of vibration (generally • V = 0 and V / = 0 at a fixed (cantilevered) end
infinitely many). Let’s look at an Euler-Bernoulli beam; • V = 0 and V // = 0 at a simply supported end
transverse displacement v(x,t) must satisfy the partial • V // = 0 and V /// = 0 at a free end
differential equation of motion where (")/ = 0/0x:
1. Simply supported at both ends: c2 = c4 = 0
(EIv "")"" + #Av˙˙ = f ( x ,t )
v(x,t) c1 sinh "L + c 3 sin "L = 0 sinh "L sin "L
Substitute v(x,t) = V(x)T(t) into $ 2 =0
the unforced, undamped system. "2c1 sinh "L # "2c 3 sin "L = 0 " sinh "L # "2 sin "L
! (EIV "")""T + #AVT˙˙ = 0 EI, *A x The non-trivial solution is )iL = i! where n = 1, 2, …; the
(EIV "")"" T˙˙ L resulting eigenfunctions are Vi(x) = C sin i!x/L and the
2
= $ =" ! natural frequencies are !i = (i!/L)2 [*A/EI]1/2.
#AV T
! LHS is a function of x, the RHS of t, so both must be constant. !1 !3!=!9!1
Assuming ! EI and *A are constant, let ) = [*A! /EI] so:
4 2 1/2
! V """" # $4V = 0 V ( x ) = c1 sinh "x + c 2 cosh "x + c 3 sin "x + c 4 cos "x
T˙˙ + " 2T = 0 T (t ) = c sin("t + # ) !2!=!4!1
! !
! !
USC Viterbi Distributed Parameter Systems USC Viterbi Distributed Parameter Systems
School of Engineering Euler-Bernoulli Beam Example — exact cantilevered School of Engineering Euler-Bernoulli Beam Example — assumed modes method
2. Cantilevered at x = 0 and free at x = L: c4 = –c2, c3 = –c1 Sometimes solving for the exact mode shapes from the
Using the remaining equations leads to partial differential equations of motion is difficult.
cos "L cosh "L +1 = 0 An alternate approach is to assume a set of mode shapes
Vi(x) that satisfy the boundary conditions. Then, Lagrange’s
which has solutions )L = 1.8751, 4.6941, 7.8548, 10.996, …; equations can be used to determine the equations of motion.
larger solutions are approximately !(1"+ 2n)/2. For example, for an Euler-Bernoulli beam: v ( x ,t ) = "Vi ( x )v i (t )
!
3.516 EI 22.03 EI 61.70 EI 1L 1 L i
"1 = "2 = "3 =
L2 #A L2 #A L2 #A V = # EI(v "")2 dx = 2 $vi2 (t ) # EIVi""2 (x )dx
20 i 0
cosh "i L +cos "i L
{
Vi ( x ) = C cosh "i x # cos "i x # sinh "i L +sin "i L [sinh "i x # sin "i x ]}
T=
1 L
1
# %Av˙ 2dx = 2 $v˙i2 (t ) # %AV
L
! i 2 ( x )dx
2 0 i 0
! ! !
!1 Which leads to: Mv
˙˙ + Kv = f
! !3!=!17.55!1 L L L
! kij = # EIVi""(x )V j""(x )dx mij = # "AVi (x )V j (x )dx fi (t ) = " f ( x ,t )Vi ( x )dx
0 0 0
!2!=!6.27!1 !
! ! !