Académique Documents
Professionnel Documents
Culture Documents
14, 2002
Topic 2
2
∑Q ui i ∑m ui i
ω =g i
=g i
∑Q u ∑m u
1 2 2
i i i i
i i
where u i = the static deflection under the dead load of the structure Qi , acting in the
direction of motion, and g = the acceleration due to gravity. Thus, the first mode is
approximated in shape by the static deflection under dead load. For a building, this
can be applied to each of the X and Y directions to obtain the estimates of the
fundamental sway modes.
Likewise for a bridge, by applying the dead load in each of the vertical and horizontal
directions, the fundamental lift and drag modes can be obtained. The torsional mode
can also be approximated by applying the dead load at the appropriate radius of
gyration and determining the resulting rotation angle.
Page 1 of 8
CEE490b Jan. 14, 2002
Even when performing a detailed dynamic analysis using computer software like
SAP, ANSYS or ALGOR, a check using Rayleigh’s method is advisable. Often, for
most preliminary designs, a detailed dynamic analysis is not required and a first-
order analysis using Rayleigh’s method is all that is required.
Generalized Coordinates
ai cos ω i t
External Load Distribution
P ( z, t ) (kN/m)
y ( z, t ) = ai cos ω i tφ i ( z )
m(z)
Page 2 of 8
CEE490b Jan. 14, 2002
ai cos ω i t
*
K i
M i*
Pi * (t )
Di*
Generalized Mass:
H
M i* = ∫ m( z )φ i2 ( z )dz
0
Generalized Stiffness:
K i* = ω i2 M i*
Di* = Di = not generalized
ω i* = ω i = not generalized
Generalized Force:
H
Pi * (t ) = ∫ P ( z, t )φ i ( z )dz
0
The response of the actual structure in mode “i” is the same as that of its equivalent
SDF system in mode “i” when defined by its Generalized Properties – Stiffness,
Mass and Force.
Page 3 of 8
CEE490b Jan. 14, 2002
Orthogonality of Modes
Mode 1 Mode 2
Recall that we found that the natural frequencies ω j and corresponding modes can
be determined algebraically:
u1 ( j )
u ( j )
2
( )
[k ] − ω j [m] {u j }= 0, where {u j }= . the Eigenvectors or Mode Shapes
2
.
u n ( j )
Eigenvalues
or Natural Frequencies
Writing this equation for two modes j and k, (for example the 1st and 3rd mode):
ω 2j {u j } [m ] {u k } = {u j } [k ] {u k }
T T T T
(3)
Page 4 of 8
CEE490b Jan. 14, 2002
ω k2 {u j } [m ]{u k } = {u j } [k ]{u k }
T T
(4)
We notice now that the right hand sides of equations (3) and (4) are equal and
therefore subtracting equation (4) from (3) yields:
(ω 2
j )
− ω k2 {u j } [m ]{u k } = 0
T
This is the Orthogonality Condition for mode shapes {u j }and {u k } including the mass
matrix. Then examining equation (4) using the orthogonality condition that results
from equation (5), we see that:
{u } [k ]{u } = 0 for
j
T
k j ≠k
m1 0 0 0 u1
0 m 0 0 u 2
{u1 u2 ... u n }j 2
=0
0 0 . 0 .
0 0 0 m n u n k
And if one carries out the multiplication, the orthogonality condition involving mass is
obtained in the form:
∑m u u
i =1
i ij ik =0 for j ≠ k (6a)
Multiplying Equation (6a) by the natural frequency ω 2j and realize that ω 2j mi u ij is the
inertia force associated with mode j and hence ω 2j mi u ij u ik is force x displacement or
work. Then, equation (6a) suggests that the total work done by inertia forces of one
mode on displacements of any other mode vanishes.
Page 5 of 8
CEE490b Jan. 14, 2002
cos x cos y = 1
2
(cos( x − y ) + cos( x + y )) , so for x = y,
cos jx cos kx = 1
2
(cos( j − k )x + cos( j + k )x )
and for j ≠ k (analogous to different modes):
2π 2π
1 1 1
∫0 cos jx cos kxdx = 2 ( j − k ) sin( j − k )x + j + k sin( j + k )x 0 = 0
or, orthogonal.
2π 2π
∫ cos jxdx = ∫
2 1
2
(1 + cos 2 jxdx ≠ 0 or, finite
0 0
Page 6 of 8
CEE490b Jan. 14, 2002
It was found that between two different modes, where j ≠ k and ω j ≠ ω k that the
Orthogonality Condition is:
{φ } [m]{φ } = 0
j
T
k or ∑m φ φ i ij ik =0 (7)
i
{φ1}T [m ] M1* 0 0 0 0
T
{φ2 } [m ] 0 M 2* 0 0 0
. [{φ1} {φ2 } . . {φn }] = 0 0 . 0 0
. 0 0 0 . 0
{φn }T [m ] 0
0 *
0 0 Mn
nx1 1xn
Page 7 of 8
CEE490b Jan. 14, 2002
{φ } [k ]{φ } = 0,
j
T
k when j ≠ k , or ∑k φ φ i ij ik =0
i
(9)
{φ } [k ]{φ }= K
j
T
j
*
j , when j = k , or ∑k φ i ij
2
≠0
i
{φ1}T
T
{φ 2 }
[φ ]T [k ][φ ] = . [k ] [{φ1} {φ2 } . . {φn }]
.
{φ n }T
{φ1}T [k ] K 1* 0 0 0 0
{φ 2 } [k ]
T
0 K 2* 0 0 0
.
[{φ1 } {φ 2 } . . {φ n }] = 0 0 . [ ] [ ][ ]
0 0 = K = ωj M
* 2 *
.
0 0 0 . 0
{φ n }T [k ] 0
0 0 0 K n*
nx1 1xn
K *j = {φ j } [k ]{φ j } = ω 2j {φ j } [m ]{φ j } = ω 2j M *j
T T
Page 8 of 8