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ModalAnalysis Example

The document discusses modal analysis of a two degree of freedom system with equal masses (m) and spring stiffness (k). It provides: 1) The natural frequencies and mode shapes of the system. 2) The modal mass, stiffness, and forcing terms for the two modes. 3) The resulting uncoupled equations of motion in modal coordinates. 4) How the response can be transformed back to the original coordinate system.

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Ameya Bandekar
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20 views4 pages

ModalAnalysis Example

The document discusses modal analysis of a two degree of freedom system with equal masses (m) and spring stiffness (k). It provides: 1) The natural frequencies and mode shapes of the system. 2) The modal mass, stiffness, and forcing terms for the two modes. 3) The resulting uncoupled equations of motion in modal coordinates. 4) How the response can be transformed back to the original coordinate system.

Uploaded by

Ameya Bandekar
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

04-Oct-16

Let’s consider the example discussed in class earlier


(𝑚1 = 𝑚2 = 𝑚, 𝑘1 = 𝑘2 = 𝑘3 = 𝑘)
𝑚 0 2𝑘 −𝑘
𝑀 = 𝐾 =
0 𝑚 −𝑘 2𝑘

For this example, what are: (a) the principal/Modal coordinates, (b)
Modal mass for the two d.o.f., (c) Modal stiffness for the two d.o.f., and
(d) Modal forcing for the two d.o.f.
We determined the eigen values or natural frequencies to be
𝑘 3𝑘
𝜔1 2 = 𝜔2 2 =
𝑚 𝑚

and the modal vectors to be


1 1
𝜓1 = 𝜓2 =
1 −1

Therefore, the modal masses are given by:


𝑇
𝑀𝑛 = 𝜓𝑛 [𝑀] 𝜓𝑛
𝑚 0 1 𝑚
𝑀1 = 1 1 = 1 1 = 2𝑚
0 𝑚 1 𝑚
𝑚 0 1 𝑚
𝑀2 = 1 −1 = 1 −1 = 2𝑚
0 𝑚 −1 −𝑚

The modal stiffness values are given by:


𝑇
𝐾𝑛 = 𝜓𝑛 [𝐾] 𝜓𝑛
2𝑘 −𝑘 1 𝑘
𝐾1 = 1 1 = 1 1 = 2𝑘
−𝑘 2𝑘 1 𝑘
2𝑘 −𝑘 1 3𝑘
𝐾2 = 1 −1 = 1 −1 = 6𝑘
−𝑘 2𝑘 −1 −3𝑘

1
04-Oct-16

The modal force values are given by:


𝑇
𝑃𝑛 (𝑡) = 𝜓𝑛 𝐹 (𝑡)

𝐹
𝑃1 = 1 1 𝐹1 = 𝐹1 + 𝐹2
2
1 𝐹
𝑃2 = 1 −1 𝐹 = 𝐹1 − 𝐹2
2

The principal / modal coordinates are given by:


𝑇
𝜓𝑛 [𝑀]𝑥 𝑡
𝑞𝑛 𝑡 =
𝑀𝑛

1 𝑚 0 𝑥1 1 𝑚𝑥1 𝑥1 + 𝑥2
𝑞1 𝑡 = 1 1 𝑥 = 1 1 𝑚𝑥 =
𝑀1 0 𝑚 2 2𝑚 2 2

1 𝑚 0 𝑥1 1 𝑚𝑥1 𝑥1 − 𝑥2
𝑞2 𝑡 = 1 −1 = 1 −1 𝑚𝑥 =
𝑀2 0 𝑚 𝑥2 2𝑚 2 2

𝑥1 +𝑥2 𝑥1 −𝑥2
So the two modal coordinates are and
2 2

2
04-Oct-16

Lets look at the uncoupled equations of motion:


𝑀1 𝑞1 (𝑡) + 𝐾1 𝑞1 (𝑡) = 𝑃1 (𝑡)
𝑀2 𝑞2 (𝑡) + 𝐾2 𝑞2 (𝑡) = 𝑃2 (𝑡)

In the example, 𝑀1 = 𝑀2 = 2𝑚, 𝐾1 = 2𝑘, 𝐾2 = 6𝑘, 𝑃1 = 𝐹1 + 𝐹2 , 𝑃2 = 𝐹1 −


𝐹2 , we get:
2𝑚𝑞1 𝑡 + 2𝑘𝑞1 𝑡 = 𝐹1 𝑡 + 𝐹2 (𝑡)
2𝑚𝑞2 𝑡 + 6𝑘𝑞2 𝑡 = 𝐹1 𝑡 − 𝐹2 (𝑡)

These can be rewritten as:


𝐹1 𝑡 + 𝐹2 (𝑡)
𝑚𝑞1 𝑡 + 𝑘𝑞1 𝑡 =
2
𝐹1 𝑡 − 𝐹2 (𝑡)
𝑚𝑞2 𝑡 + 3𝑘𝑞2 𝑡 =
2
𝑥1 (𝑡)+𝑥2 (𝑡) 𝑥1 (𝑡)−𝑥2 (𝑡)
where 𝑞1 𝑡 = and 𝑞2 𝑡 = are the modal
2 2
coordinates

𝑥1 (𝑡) 𝑥2 (𝑡)
𝐹1 (𝑡) 𝐹2 (𝑡)
𝑘 𝑘 𝑘
𝑚 𝑚

UNCOUPLED

𝑥1 𝑡 − 𝑥2 (𝑡)
𝑥1 (𝑡) + 𝑥2 (𝑡)
2
2
𝐹1 𝑡 − 𝐹2 (𝑡)
𝐹1 𝑡 + 𝐹2 (𝑡)
2
2 3𝑘
𝑘 𝑚
𝑚

3
04-Oct-16

After we determine the responses 𝑞𝑛 𝑡 for applied forces 𝑃𝑛 𝑡


for all 𝑛, we can transform the coordinates back to get the
response in original coordinates.

𝑥 𝑡 = 𝑞𝑟 (𝑡)𝜓𝑟
𝑟=1

This step is needed, for example, if you try to measure the


displacements of the masses and compare that with modeling
analysis.

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