Académique Documents
Professionnel Documents
Culture Documents
structures*
B. N. Agrawal
t
COMSAT Laboratories.
Clarksbur•,Maryland 207J4
(Received 11 June 1975)
SubjectClassification:
[43]40.20;[43]20.40.
LIST OF SYMBOLS
Inertia
matrix Modal translation displacement of the kth
Modal moment at the attachment point of the mass of the/th structure in the ]th direction,
ith structure in the jth direction due to its corresponding to the rigid body lth rotation
nth mode mode(i = 0, 1.... ;j = 1, 2, 3; l = 1, 2, 3)
External
moment
ofthekthmassoftheith Modal translation displacement of the kth
structure in the jth direction mass of the/th structure in the jth direction,
Number of mass points in the ith structure corresponding to the rigid body /th transla-
tion mode
Column matrix of generalized coordinates
Generalized
coordinates
describing
participa- Modal rotational displacement of the kth mass
tion of the nth uncoupled mode of the ith of the ith structure in the jth direction, cor-
beam in free vibration of the system (i = 0, responding to the nth normal mode of the ith
structure
1,...;n=l,P.,...,ft)
Generalized
coordinates
describing
a relative Modal rotational displacement of the kth mass
rotation motion in the jth direction of the of the ith structure in the jth direction, cor-
joint spring of the branch responding to the rigid body/th rotation mode
1329 d. Acou•. Soc.Am.,Vol. 59, No. 6, June1976 Copyright¸ 1976by the Acoustical
Societyof America 1329
1330 B.N.Agrawal:
Dynamic
analysis
bymode
synthesis
technique 1330
mass of the ith structure in the jth direction, Natural frequency of the nth normal mode of
corresponding to the rigid body/th transla- the ith structure
I. BASIC FORMULATION I I
motion
ofthesystem;
andqm,.ßß,q0s0
arethegeneral- ized coordinatesby substituting Eqs. (1)-(7) into Eq.
ized coordinates of the main structure. Also, (8). The expression is complex and can be simplified
by using the following conditions:
½•t=6tJ'Kronecker
delta, (2a)
(a) Conservationof linear andangularmomentumfor
½•%=0 (2b) the normal free-free modes of the main structure: That
is, preservation of translational and rotational equilib-
O•%.(k)
=/0':(k)
}forsmall
O•ns.z(k)
=-y•*•(k) rotational (2c)
motion,
(2d) rium, as shown in the following equations:
no
wherethej's are in cyclic order; i.e., if j =a, then •mo(k)½•(k)=O,n=l,2, ...,70;j=1,2,3, (9)
j+l=l and j+2 =2.
Similarly, thebendingslo•, 0•, is expressedas • {IoJ•(k)½•(k)
- 1•o
'•'••b•'(k)
-1•o
'•+2
O•(k,
t)= • ½•,(k)
qo,(t), (3) + m0(})[y•"(•)½•;•(m- 4+2(k)
½•;'(k)]}=0. (10)
n=T1,Tg•Ta•Ri•Rg,R3•I
(b) Orthogo•lity conditionof the normal modes. To
where
further simplify the remaining terms, the following no-
tation is introduced:
½%-½•:=½•=0 (4a)
m0= mass of the main structure,
• =6•, Kronecker
delta (4b)
B. Substru•ures : too(k),
The displacements of the ith substructure are ex- B• =dist•ce from thecenterof gravityof the
pressed as follows by usi• Eqs. (1) •d (2): system to the center of gravity of the main
•0 structure in the jth direction,
n0
M•: • too(k)
y•(k),
&:l
- [ y•'•(k)-
•: massmomentof inertia of the main strue.-
ture about the center of gravity of the system,
n0
=• m,(k),
•=1
½•r•=6•, Kronecker
delta, (7a) •,• =• m,(m[
y•(m- y•(•,)],
½•%.x(k)
=[y•*:(k)
- Y•'•(/0] (%)
--Yl x { J
+ [y•.a(k
) _ YO>:(/ t J JJ •
• 6
•= •, Kroneeker
delta
II. KINETIC ENERGY
• =modalshearat the attachmentpointof the
In terms of the generalized coor•tes, the kinetic ith structure in the jth direction due to its
ener• of the system can be written as follows: nth mode,
nl 3
r =• • • ½•,(m[•(m?+
I=0 •=1 •=1
ni
The simplified kinetic energy can now be expressed
(M,n/co,•)=
• [i•t(k)&•.(k)_i?.X•b•X(k)
- t,t0t.2t.2(k) in terms of total masses, mass moments of inertia,
natural frequencies, modal masses, and modal forces
(modal shear and moment at the base) of the main struc-
+m•(k){[y•*X(k)
-y•*t(l,)]OR=(k)
- [yi•*2(k
)- ture andthe substructures;i.e.,
•o• (l•)
,=••=vl
.....•a'x
{ \%. +(M•./%,)½o•(l•)}q•.qo•+•{rn•(q•rfi
ß
+&tRt
n=T1
,R3•1
(11)
whereK{a,
1, . .., K{•)arethetr•slatio•l androtation- [M]=[Mol=• ([Mi]+[M,,]) (15)
al spring consents of the joint spring in the ith sub- t=1
struc•re.
and
polcd•i qol
qoa
qo•
(17)
• OYoøJ•y
o qofo
mo o o 0 moB• - moB•
moB• - mob• 0
4' -4 2 -z• •
42
[•o] {qo}= (18)
P'ot
symmetric
• oyo
B. Substructure matrices
(19)
qll
q{•{
o o
•ly
o o
o o
•l,Y+!
3 52,Y+1 •i•(•) •2,
+m• •(•) •3,$+1
•(•) •(•)
Y+I
•o(•)
o o o
o o o
o o
o
•(l•)
$+2 •(•) •2,Y+2
•(•)
•(•) •(•) •o,(•,)
Y+2
•½O•o(/•)
o o
o o
•1,y+l 51,
•2,Y+I •2,Y+l
_
•3J
•3,Y.,.1
{
•(t•) •i'(/•)
Y,'.l
O,fo•t •
/ 0 \ o\
- (Q,,/•,,)
o \ o \
o
o
o
o
o o
o o
o o
o o (20)
o o
(Ml,/Wll)
KTi 0 0 0 0 0 qIT 1
0 Kr•' 0 0 0 0
0 0 Kr• 0 0 0 q•r 3
0 0 0 KR• 0 0 q•
0 0 0 0 KR2 0 q•
0 0 0 0 0
Define
(22a)
(22b)
M•(I•)
-
Then
[Mfs]{qf}=
1 0.12 3
--((•f.ff/
f.ff) * ß ß
(23)
J
(24)
then Eqs. (1)-(7), which express the displacementsof the structure in terms of generalized coordinates, can be
(25)
•rl(1)
or
where
;tt
the partitioned matrix is expanded as
(30) ATTACHMENT
POINT
qo•
qtr• Y
qo•z (0,4)[ m,(2)
qo,% (• SUeSTRUCT
(0,3}[ .,½n I {0.2}{ ,•0{2) { (0.4}1 ml{2)
TABLE I. Natural frequencies of the complete struc- TABLE II. Natural frequencies of the complete structure ob-
ture and the main structure obtained from the NASTRAN tained from the MODSYN program.
program.
4 Modes 2 Modes 1 Mode
Frequency(Hz) Made
number
Frequency
(Hz)
Frequency
(Hz)
Percentage
error
Frequency
(Hz)
Percentage
error
Mode Main structure I 79.45 79.46 0.0125 80.8 1.69
number Structure and substructure 2 341.77 343.60 0. 5900 389.5 13.96
3 683.13 684.53 0.2000
79.45 217.18 4 919.85 937.80 1.9500
341.77 701.56 •
6
1627.90
2238.60
683.12 1715.53 7 2868.17
919.86 2945.52 s 3323.50
1627.96
2238.60
2868.70
3323.54
ACKNOWLEDGMENT