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Modal Analysis
Dynamics
2
Contents
1) Objectives
2) Requirements
3) Procedure
4) Equations Of Motion
a) Formulate the mass and stiffness matrices
b) Select subset of the equation representing a 3 D.O.F system
c) Formulate mass and stiffness matrices for the 3 D.O.F system
5) Matrix iteration for 3 degree of freedom system
6) Matlab simulation
a) 3 Degree of Freedom system
b) 5 degree of freedom system
7) Discussions
8) Conclusion
9) Bibliography
1. Objectives
Set up a mathematical model of a sport case
Use this model to predict the dynamic behaviour of the car using two different
methods
a) Matrix Iteration
b) Computer Package
2. Requirements
3. Procedure
1. Formulate the stiffness and mass matrices of the modal
2. Select a subset of the equations of motion representing a 3 degree of freedom model
and formulate the mass and stiffness matrices for this case too.
3. Carry out matrix iteration to find mode frequencies and the mode shapes of the 3
degree of freedom system.
4. Use the computer package matlab to find eigenvalues and eigenvectors of
i. The 3 degree of freedom system and
ii. The full 5 degree of freedom system
Parameters:
Mw=35 kg Ks=40kN/m
Mb=320kg Kt=400kN/m
Me=100kg Ke=300kN/m
Ib=250kgm2 Cs=1000Ns/m
a=1.3m b=0.4m
4. Equations of motion
Xw1 Xw2 Xe Xb θb
Xw1 Mw 0 0 0 0
Xw2 0 Mw 0 0 0
Xe 0 0 Me 0 0
Xb 0 0 0 Mb 0
θb 0 0 0 0 Ib
Stiffness matrix
Xw1 Xw2 Xe Xb θb
Xw1 ks+kt 0 0 -ks -0.5aks
Xw2 0 ks+kt 0 -ks 0.5aks
Xe 0 0 ke+ke -ke-ke 0
Xb -ks -ks -ke-ke ks+ks+ke+ke 0
θb -0.5aks 0.5aks 0 0 (a2ks+b2ke)/2
Mass Matrix
Xe Xb θb
Xe Me 0 0
Xb 0 Mb 0
θb 0 0 Ib
Stiffness Matrix
Xe Xb θb
Xe 2ke -2ke 0
Xb -2ke ks+ks+ke+ke 0
θb 0 0 (a2ks+b2ke)/2
Eigen value
Assuming no damping in the system and no forcing functions the equation of motion becomes:
Matrix iteration
The eigenvalue
1. Matrix of eigenvalues
Matrix of eigenvectors
6. Matlab Simulation
a. 3 degree of freedom system
K=
600000 -600000 0
-600000 680000 0
0 0 57800
M=
100 0 0
0 320 0
0 0 250
Minv
0.0100 0 0
0 0.0031
0 0 0.0040
A=Minv*K
A = 1.0e+003 *
6.0000 -6.0000 0
-1.8750 2.1250 0
0 0 0.2312
>> [V,D]=eig(A)
V=
0.9517 0.7183 0
-0.3071 0.6957 0
0 0 1.0000
D=
1.0e+003 *
7.9360 0 0
0 0.1890 0
0 0 0.2312
K=
M=
35 0 0 0 0
0 35 0 0 0
0 0 100 0 0
0 0 0 320 0
0 0 0 0 250
>> Minv=inv(M)
0.0286 0 0 0 0
0 0.0286 0 0 0
0 0 0.0100 0 0
0 0 0 0.0031 0
0 0 0 0 0.0040
>> A=Minv*K
A=
1.0e+004 *
>> [V,D]=eig(A)
V=
0.7068 0.7071 0.0745 0.0599 -0.0640
0.7068 -0.7071 0.0745 -0.0599 -0.0640
0.0183 -0.0000 -0.9471 -0.0000 -0.7144
-0.0201 0.0000 0.3032 -0.0000 -0.6939
-0.0000 -0.0119 -0.0000 0.9964 -0.0000
D=
1.0e+004 *
1.2604 0 0 0 0
0 1.2584 0 0 0
0 0 0.7921 0 0
0 0 0 0.0219 0
0 0 0 0 0.0172
7. Discussions
Natural frequencies and their mode shapes for a 3 degree of freedom system using matrix iteration
0.32
0.02
0.02
0.97
Natural frequencies and their mode shapes For a 3 degree of freedom system using matlab solution
0.9517
0.3071
0.6957
The highest natural frequency and its mode shape for full 5 degree of freedom system
using matlab solution
The highest eigenvalue (natural frequency) for the 5 D.O.F,
0.0183
0.0201
0.7068
0.7068
Assumptions
No external force is applied i.e. F=0 and that the damping is neglected which leads a trivial
solution
Mass of spring are not taken into account which is a very small value and will not effect are
results.
The bodies are assumed to be rigid i.e. flexibility of bodies are not taken into account.
8. Conclusions
The results of matrix iteration and matlab solution are approximately the same for the Eigen
values i.e. the highest, intermediate and lowest natural frequencies, the difference in values is
no more than 0.5-1%.
The 3 D.O.F equation helped to solve it by matrix iteration as for a full system the method
would have been non applicable.
The matlab solution were very reliable and the process was very quick, and is very helpful for
high order multiple degree of freedom systems.
9. Bibliography
Modal testing, theory and Ewins D.J Research Studies Press
analysis