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7. Forced Vibrations of Damped Multi Degree
of Freedom Systems
7.1 Equations of motion
X1(t) X2(t)
F1(t) F2(t)
k1 k2 m2
m1
c1 c2
3
7. Forced Vibrations of Damped Multi Degree
of Freedom Systems
7.1 Equations of motion
F 1(t )
k1 x1 m1x1 k 2( x2 x1)
c1 x1 c 2 ( x2 x1 )
F 2(t )
k 2( x2 x1) m2 x2
c 2 x2 x1
Fig. 7.2: Free Body Diagrams of the masses 4
7. Forced Vibrations of Damped Multi Degree
of Freedom Systems
7.1 Equations of motion
5
7. Forced Vibrations of Damped Multi Degree
of Freedom Systems
7.1 Equations of motion
In general, for a system with n degrees of freedom the
equations of motion have the form:
M X C X K X F [7.4]
m11 . . m1n
. . .
Where: M
.
= Mass Matrix
. . . .
mn1 . . mnn
x1 x1
. .
X . = acceleration vector X . = velocity vector
. .
xn xn
x1 F1 (t )
. F2 (t )
X . = Displacement vector F . = Force vector
. .
xn Fn (t ) 7
7. Forced Vibrations of Damped Multi Degree
of Freedom Systems
7.2 Solution of the Equations of motion
M X K X 0 [7.5]
8
7. Forced Vibrations of Damped Multi Degree
of Freedom Systems
7.2 Solution of the Equations of motion
We have also seen that the with the help of the modal
matrix the geometric coordinates can be transformed
to the generalized coordinates via:
X (t ) Y (t ) See eq.[5.35]
M Y C Y K Y F [7.6]
T M Y T C Y T K Y T F [7.7]
10
7. Forced Vibrations of Damped Multi Degree
of Freedom Systems
7.2 Solution of the Equations of motion
11
7. Forced Vibrations of Damped Multi Degree
of Freedom Systems
7.2 Solution of the Equations of motion
1T M1 0 0 0 0
0 0 0 0
T M 0 0 iT Mi 0 0 [7.8]
0 0 0 0
0 0 0 0 nT M n
12
7. Forced Vibrations of Damped Multi Degree
of Freedom Systems
7.2 Solution of the Equations of motion
1T C1 0 0 0 0
0 0 0 0
T C 0 0 iT Ci 0 0 [7.9]
0 0 0 0
0 0 0 0 nT C n
and
1T K1 0 0 0 0
0 0 0 0
T K 0 0 iT Ki 0 0 [7.10]
0 0 0 0
0 0 0 0 nT K n 13
7. Forced Vibrations of Damped Multi Degree
of Freedom Systems
7.2 Solution of the Equations of motion
xˆ1,i
xˆ 2,i
N.B. The 2nd index shows that it is
the i th eigenvector
i
xˆ n ,i
Substituting eqs.[7.8], [7.9] and [7.10] into eq.[7.7]
gives: 14
7. Forced Vibrations of Damped Multi Degree
of Freedom Systems
7.2 Solution of the Equations of motion
[7.11]
mi yi (t ) ci yi (t ) ki yi (t )
* * * *
fi (t ) [7.13]
*
ci i
T
C i = generalized damping coefficient
fi*
i
T
F = generalized load
7. Forced Vibrations of Damped Multi Degree
of Freedom Systems
7.2 Solution of the Equations of motion
Eq.[7.13] is the equation of motion of a single
degree of freedom system under the action of a
force (t ) whose complementary solution is given
*
f i
Di
t yio i i yio
yi (t ) e i
yio cos Di t
i
sin Di t See eq.[6.16]
Di
In general the particular integral is given by the
Duhamel’s integral as:
7. Forced Vibrations of Damped Multi Degree
of Freedom Systems
7.2 Solution of the Equations of motion
yi (t ) * 1
t
( t )
sin Di (t ).d [7.14]
*
f i ( ) e i i
mi Di 0
Where ωi , ωDi , ξi are modal natural frequency,
Damped modal frequency and modal damping ratio
Respectively and yi(t), mi and are the normal
* *
f i
coordinate, generalized mass and the generalized
load respectively.
The displacements expressed in geometrical
coordinates are given by the normal-coordinate
transformation i.e. by eq.[5.35]
X ( t ) Y( t ) 18