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LectureWeek6-1 31.03.2023

The document discusses the steps in solving the matrix equation of vibration Mẍ(t) + Kx(t) = 0 using modal analysis. The key steps are: 1) Calculate the inverse square root of the mass matrix M-1/2. 2) Calculate the mass normalized stiffness matrix K̃ = M-1/2KM-1/2. 3) Solve the eigenvalue problem for K̃ to determine the natural frequencies ωi and eigenvectors vi. 4) Use the eigenvectors to transform the system into modal coordinates where each mode vibrates independently.

Uploaded by

SULEYMAN anis
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
53 views86 pages

LectureWeek6-1 31.03.2023

The document discusses the steps in solving the matrix equation of vibration Mẍ(t) + Kx(t) = 0 using modal analysis. The key steps are: 1) Calculate the inverse square root of the mass matrix M-1/2. 2) Calculate the mass normalized stiffness matrix K̃ = M-1/2KM-1/2. 3) Solve the eigenvalue problem for K̃ to determine the natural frequencies ωi and eigenvectors vi. 4) Use the eigenvectors to transform the system into modal coordinates where each mode vibrates independently.

Uploaded by

SULEYMAN anis
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 86

Modal Analysis

1/18
OKTAV Mechanical Vibrations
Modal Analysis

Consider the matrix form of the following eq’n of vibration

1/18
OKTAV Mechanical Vibrations
Modal Analysis

Consider the matrix form of the following eq’n of vibration

Mẍ(t) + Kx(t) = 0

1/18
OKTAV Mechanical Vibrations
Modal Analysis

Consider the matrix form of the following eq’n of vibration

Mẍ(t) + Kx(t) = 0

subject to ICs; x(0) = x0 ẋ(0) = ẋ0

1/18
OKTAV Mechanical Vibrations
Modal Analysis

Consider the matrix form of the following eq’n of vibration

Mẍ(t) + Kx(t) = 0

subject to ICs; x(0) = x0 ẋ(0) = ẋ0

We will discuss the steps in solving this eq’n by modal analysis

1/18
OKTAV Mechanical Vibrations
Modal Analysis

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OKTAV Mechanical Vibrations
Modal Analysis

Mẍ(t) + Kx(t) = 0

2/18
OKTAV Mechanical Vibrations
Modal Analysis

Mẍ(t) + Kx(t) = 0

1 Calculate M −1/2

2/18
OKTAV Mechanical Vibrations
Modal Analysis

Mẍ(t) + Kx(t) = 0

1 Calculate M −1/2
2 Calculate the mass normalized stiffness matrix: K̃ = M −1/2 KM −1/2

2/18
OKTAV Mechanical Vibrations
Modal Analysis

Mẍ(t) + Kx(t) = 0

1 Calculate M −1/2
2 Calculate the mass normalized stiffness matrix: K̃ = M −1/2 KM −1/2
3 Solve eigenvalue problem for K̃ to determine ωi2 and vi

2/18
OKTAV Mechanical Vibrations
Modal Analysis

Mẍ(t) + Kx(t) = 0

1 Calculate M −1/2
2 Calculate the mass normalized stiffness matrix: K̃ = M −1/2 KM −1/2
3 Solve eigenvalue problem for K̃ to determine ωi2 and vi
4 Normalize vi and form matrix P = [v1 v2 ]

2/18
OKTAV Mechanical Vibrations
Modal Analysis

Mẍ(t) + Kx(t) = 0

1 Calculate M −1/2
2 Calculate the mass normalized stiffness matrix: K̃ = M −1/2 KM −1/2
3 Solve eigenvalue problem for K̃ to determine ωi2 and vi
4 Normalize vi and form matrix P = [v1 v2 ]
(P := matrix of eigenvectors)

2/18
OKTAV Mechanical Vibrations
Modal Analysis

Mẍ(t) + Kx(t) = 0

1 Calculate M −1/2
2 Calculate the mass normalized stiffness matrix: K̃ = M −1/2 KM −1/2
3 Solve eigenvalue problem for K̃ to determine ωi2 and vi
4 Normalize vi and form matrix P = [v1 v2 ]
(P := matrix of eigenvectors)
5 Determine S = M −1/2 P and S −1 = P T M 1/2

2/18
OKTAV Mechanical Vibrations
Modal Analysis

Mẍ(t) + Kx(t) = 0

1 Calculate M −1/2
2 Calculate the mass normalized stiffness matrix: K̃ = M −1/2 KM −1/2
3 Solve eigenvalue problem for K̃ to determine ωi2 and vi
4 Normalize vi and form matrix P = [v1 v2 ]
(P := matrix of eigenvectors)
5 Determine S = M −1/2 P and S −1 = P T M 1/2
(S := matrix of mode shapes)

2/18
OKTAV Mechanical Vibrations
Modal Analysis

Mẍ(t) + Kx(t) = 0

1 Calculate M −1/2
2 Calculate the mass normalized stiffness matrix: K̃ = M −1/2 KM −1/2
3 Solve eigenvalue problem for K̃ to determine ωi2 and vi
4 Normalize vi and form matrix P = [v1 v2 ]
(P := matrix of eigenvectors)
5 Determine S = M −1/2 P and S −1 = P T M 1/2
(S := matrix of mode shapes)
6 Calculate the modal ICs: r(0) = S −1 x0 ; ṙ(0) = S −1 ẋ0

2/18
OKTAV Mechanical Vibrations
Modal Analysis

Mẍ(t) + Kx(t) = 0

1 Calculate M −1/2
2 Calculate the mass normalized stiffness matrix: K̃ = M −1/2 KM −1/2
3 Solve eigenvalue problem for K̃ to determine ωi2 and vi
4 Normalize vi and form matrix P = [v1 v2 ]
(P := matrix of eigenvectors)
5 Determine S = M −1/2 P and S −1 = P T M 1/2
(S := matrix of mode shapes)
6 Calculate the modal ICs: r(0) = S −1 x0 ; ṙ(0) = S −1 ẋ0
7 Substitute the modal ICs into eq’ns to get sol’n in modal coordinate r(t)

2/18
OKTAV Mechanical Vibrations
Modal Analysis

Mẍ(t) + Kx(t) = 0

1 Calculate M −1/2
2 Calculate the mass normalized stiffness matrix: K̃ = M −1/2 KM −1/2
3 Solve eigenvalue problem for K̃ to determine ωi2 and vi
4 Normalize vi and form matrix P = [v1 v2 ]
(P := matrix of eigenvectors)
5 Determine S = M −1/2 P and S −1 = P T M 1/2
(S := matrix of mode shapes)
6 Calculate the modal ICs: r(0) = S −1 x0 ; ṙ(0) = S −1 ẋ0
7 Substitute the modal ICs into eq’ns to get sol’n in modal coordinate r(t)
8 Finally, get the sol’n x(t) = Sr(t)

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OKTAV Mechanical Vibrations
Modal Analysis

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OKTAV Mechanical Vibrations
Modal Analysis

Since M is symmetric and positive definite, it may be factored into two terms:

3/18
OKTAV Mechanical Vibrations
Modal Analysis

Since M is symmetric and positive definite, it may be factored into two terms:

M = LLT
M is positive definite if

3/18
OKTAV Mechanical Vibrations
Modal Analysis

Since M is symmetric and positive definite, it may be factored into two terms:

M = LLT
M is positive definite if

xT M x > 0

3/18
OKTAV Mechanical Vibrations
Modal Analysis

Since M is symmetric and positive definite, it may be factored into two terms:

M = LLT
M is positive definite if

xT M x > 0

The factorization L is called the Cholesky decomposition

3/18
OKTAV Mechanical Vibrations
Modal Analysis

Since M is symmetric and positive definite, it may be factored into two terms:

M = LLT
M is positive definite if

xT M x > 0

The factorization L is called the Cholesky decomposition


√ 
m1 0
L = M 1/2 = √
0 m2

3/18
OKTAV Mechanical Vibrations
Modal Analysis

Since M is symmetric and positive definite, it may be factored into two terms:

M = LLT
M is positive definite if

xT M x > 0

The factorization L is called the Cholesky decomposition


√ 
m1 0
L = M 1/2 = √
0 m2

The inverse of the diagonal matrix M 1/2 is

3/18
OKTAV Mechanical Vibrations
Modal Analysis

Since M is symmetric and positive definite, it may be factored into two terms:

M = LLT
M is positive definite if

xT M x > 0

The factorization L is called the Cholesky decomposition


√ 
m1 0
L = M 1/2 = √
0 m2

The inverse of the diagonal matrix M 1/2 is


 1 
√ 0
 m1
L−1 = M −1/2 =

1 
0 √
m2

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OKTAV Mechanical Vibrations
Modal Analysis

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OKTAV Mechanical Vibrations
Modal Analysis

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OKTAV Mechanical Vibrations
Modal Analysis

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OKTAV Mechanical Vibrations
Modal Analysis

Mẍ + Kx = 0

5/18
OKTAV Mechanical Vibrations
Modal Analysis

Mẍ + Kx = 0

x(t) = M 1/2 q(t)

5/18
OKTAV Mechanical Vibrations
Modal Analysis

Mẍ + Kx = 0

x(t) = M 1/2 q(t)

M −1/2 M M −1/2 q̈(t) + M −1/2 KM −1/2 q(t) = 0

5/18
OKTAV Mechanical Vibrations
Modal Analysis

Mẍ + Kx = 0

x(t) = M 1/2 q(t)

M −1/2 M M −1/2 q̈(t) + M −1/2 KM −1/2 q(t) = 0

M −1/2 M M −1/2 = I

5/18
OKTAV Mechanical Vibrations
Modal Analysis

Mẍ + Kx = 0

x(t) = M 1/2 q(t)

M −1/2 M M −1/2 q̈(t) + M −1/2 KM −1/2 q(t) = 0

M −1/2 M M −1/2 = I =⇒ I q̈(t) + |M −1/2 KM


{z
−1/2
} q(t) = 0
K̃

5/18
OKTAV Mechanical Vibrations
Modal Analysis

Mẍ + Kx = 0

x(t) = M 1/2 q(t)

M −1/2 M M −1/2 q̈(t) + M −1/2 KM −1/2 q(t) = 0

M −1/2 M M −1/2 = I =⇒ I q̈(t) + |M −1/2 KM


{z
−1/2
} q(t) = 0
K̃

K̃ := M −1/2 KM −1/2 : mass normalized stiffness matrix

5/18
OKTAV Mechanical Vibrations
Modal Analysis

Mẍ + Kx = 0

x(t) = M 1/2 q(t)

M −1/2 M M −1/2 q̈(t) + M −1/2 KM −1/2 q(t) = 0

M −1/2 M M −1/2 = I =⇒ I q̈(t) + |M −1/2 KM


{z
−1/2
} q(t) = 0
K̃

K̃ := M −1/2 KM −1/2 : mass normalized stiffness matrix

(similar to the SDOF constant, k/m)

5/18
OKTAV Mechanical Vibrations
Modal Analysis

6/18
OKTAV Mechanical Vibrations
Modal Analysis

Ex: Solve the eigenvalue problem for the 2 DOF system where

6/18
OKTAV Mechanical Vibrations
Modal Analysis

Ex: Solve the eigenvalue problem for the 2 DOF system where

 
3 −1
K̃ =
−1 3

6/18
OKTAV Mechanical Vibrations
Modal Analysis

Ex: Solve the eigenvalue problem for the 2 DOF system where

 
3 −1
K̃ =
−1 3

Normalize the eigenvectors, check if they are orthogonal

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OKTAV Mechanical Vibrations
Modal Analysis

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OKTAV Mechanical Vibrations
Modal Analysis

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OKTAV Mechanical Vibrations
Modal Analysis

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OKTAV Mechanical Vibrations
Modal Analysis

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OKTAV Mechanical Vibrations
Modal Analysis

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OKTAV Mechanical Vibrations
Modal Analysis

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OKTAV Mechanical Vibrations
Modal Analysis

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OKTAV Mechanical Vibrations
Modal Analysis

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OKTAV Mechanical Vibrations
Modal Analysis

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OKTAV Mechanical Vibrations
Modal Analysis | Orthonormal Vectors

10/18
OKTAV Mechanical Vibrations
Modal Analysis | Orthonormal Vectors

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OKTAV Mechanical Vibrations
Modal Analysis

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OKTAV Mechanical Vibrations
Modal Analysis

Ex: Write matrix P for the previous problem and calculate P T P

11/18
OKTAV Mechanical Vibrations
Modal Analysis

Ex: Write matrix P for the previous problem and calculate P T P

11/18
OKTAV Mechanical Vibrations
Modal Analysis

Ex: Write matrix P for the previous problem and calculate P T P

11/18
OKTAV Mechanical Vibrations
Modal Analysis

12/18
OKTAV Mechanical Vibrations
Modal Analysis

Ex: Consider the system

12/18
OKTAV Mechanical Vibrations
Modal Analysis

Ex: Consider the system

12/18
OKTAV Mechanical Vibrations
Modal Analysis

Ex: Consider the system

Write the dynamic equations in matrix form

12/18
OKTAV Mechanical Vibrations
Modal Analysis

Ex: Consider the system

Write the dynamic equations in matrix form

Calculate K̃, its eigenvalues and eigenvectors

12/18
OKTAV Mechanical Vibrations
Modal Analysis

Ex: Consider the system

Write the dynamic equations in matrix form

Calculate K̃, its eigenvalues and eigenvectors

Determine the natural frequencies of the system

12/18
OKTAV Mechanical Vibrations
Modal Analysis

Ex: Consider the system

Write the dynamic equations in matrix form

Calculate K̃, its eigenvalues and eigenvectors

Determine the natural frequencies of the system

Calculate the matrices P and Λ

12/18
OKTAV Mechanical Vibrations
Modal Analysis

Ex: Consider the system

Write the dynamic equations in matrix form

Calculate K̃, its eigenvalues and eigenvectors

Determine the natural frequencies of the system

Calculate the matrices P and Λ


(Spectral matrix of K̃ := Λ = diag(λi ) = P T K̃P )

12/18
OKTAV Mechanical Vibrations
Modal Analysis

Ex: Consider the system

Write the dynamic equations in matrix form

Calculate K̃, its eigenvalues and eigenvectors

Determine the natural frequencies of the system

Calculate the matrices P and Λ


(Spectral matrix of K̃ := Λ = diag(λi ) = P T K̃P )

Show that eq’n Λ = diag(λi ) = P T K̃P is satisfied and that P T P = I

12/18
OKTAV Mechanical Vibrations
Modal Analysis

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OKTAV Mechanical Vibrations
Modal Analysis

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OKTAV Mechanical Vibrations
Modal Analysis

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OKTAV Mechanical Vibrations
Modal Analysis

13/18
OKTAV Mechanical Vibrations
Modal Analysis

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OKTAV Mechanical Vibrations
Modal Analysis

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OKTAV Mechanical Vibrations
Modal Analysis

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OKTAV Mechanical Vibrations
Modal Analysis

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OKTAV Mechanical Vibrations
Modal Analysis

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OKTAV Mechanical Vibrations
Modal Analysis

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OKTAV Mechanical Vibrations
Modal Analysis

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OKTAV Mechanical Vibrations
Modal Analysis

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OKTAV Mechanical Vibrations
Modal Analysis

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OKTAV Mechanical Vibrations
Modal Analysis

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OKTAV Mechanical Vibrations
Modal Analysis

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OKTAV Mechanical Vibrations
Modal Analysis

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OKTAV Mechanical Vibrations
Modal Analysis

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OKTAV Mechanical Vibrations
Modal Analysis

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OKTAV Mechanical Vibrations
Modal Analysis

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OKTAV Mechanical Vibrations
Modal Analysis

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OKTAV Mechanical Vibrations
Modal Analysis

The matrix of eigenvectors P is used to decouple the eq’ns of vibration into


separate eq’ns

18/18
OKTAV Mechanical Vibrations
Modal Analysis

The matrix of eigenvectors P is used to decouple the eq’ns of vibration into


separate eq’ns

The transformations matrices P and M −1/2 transform the vibration problem


between different coordinate systems

18/18
OKTAV Mechanical Vibrations
Modal Analysis

The matrix of eigenvectors P is used to decouple the eq’ns of vibration into


separate eq’ns

The transformations matrices P and M −1/2 transform the vibration problem


between different coordinate systems

The transformation S = M −1/2 P is the modal matrix

18/18
OKTAV Mechanical Vibrations

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