Normal Modes Method --Mode shapes are used to decouple the equations of motion
MR KR
T T
--These operations diagonalize the stiffness and mass matrices by using the property of orthogonality of the matrices --The result is the problem written in normal coordinates transformed from our original coordinate system Example Given 2k m k m
x1 Equations of motion
x2
1 x m 2 x
3k k
k k
x1 x2
Results are
1 2
k m k 3.414 m 1 1 2.414 .414 .586
Rewrite the matrix equations on normal coordinates
T
1 q 2 q
q1 q2
where
T
M K
6.827 0 0 1.171 4 0 0 4
for k=m=1
1 6.827 0 q 0 1.171 2 q
in equation form
1 q 2 q 4 q1 0 6.827 4 q2 0 1.171
4 0 q1 0 4 q2
Thes solutions to these are already known
qi(t )
where
Ai cos it Bi sin
(1) T
qi qi
M{x (0)} MRi (1) T M{x (0)} MRi
For the system shown and x1(0)=1, x2(0)= xdot1(0)=0, xdot2(0)=0
{1 2.414} A1 1 1 1 0 1 1 0 .854" .146"
6.827 1 {1 - .414} 1.171
A2
Then with Bi=0,
q1 .146" cos .586t q 2 .854" cos 3.414t
Transform the solution back to x(t)
x1( t ) x 2( t ) x1( t ) x 2( t )
(1)
q1( t )
( 2)
q 2( t ) 1 .854" cos 3.414t .414
1 .146" cos .586t 2.414
Damped Systems --Damping in MDOF systems is problematic Example Example Given 2k m k m
2c x1 Equations of motion
c x2
m 0 1 x 0 m 2 x
3c c
c x1 c x2
3k k
k x1 k x2
Natural frequencies and mode shapes are obtained as before neglecting the damping matrix
1 2
k m k 3.414 m 1 1 2.414 .414 .586
Rewrite the matrix equations on normal coordinates
T
1 q 2 q
q1 q2
q1 q2
where
T
M C K
m c k
6.827 0
0 1.171
4 0 0 4 4 0 0 4
1 6.827 0 q 0 1.171 2 q
4 0 q1 0 4 q2
4 0 q1 0 4 q2
in equation form
1 q 2 q 4c 4k q1 q1 0 6.827m 6.827m 4c 4k q2 q2 0 1.171m 1.171m
qo
di
Thes solutions to these are already known
qi ( t ) e
nit
(qo cos
di
ni o
sin
di
t)
where
(1) T
qi qi
M{x (0)} MRi (1) T M{x (0)} MRi
For the system shown and x1(0)=1, x2(0)= xdot1(0)=1, xdot2(0)=0
{1 2.414} q1
1 1 0 1 1 0 .854" .146"
6.827 1 {1 - .414} 1.171
q2
q1( t ) qi( t )
e e
nit
(.146" cos (qo cos
di
di
nit
t) qo
di
ni o
sin
di
t)
Example Given 2k m k m
c x1 Equations of motion
c x2
m 0 1 x 0 m 2 x
2c c
c x1 c x2
3k k
k x1 k x2
Natural frequencies and mode shapes are obtained as before neglecting the damping matrix
1 2
k m k 3.414 m 1 1 2.414 .414 .586
Rewrite the matrix equations on normal coordinates
T
1 q 2 q
q1 q2
q1 q2
where
T
M C K
m c k
6.827 0 3 1 4 0 0 4 1 3
0 1.171
1 6.827 0 q 0 1.171 2 q
3 1
1 q1 3 q2
4 0 q1 0 4 q2
This is a more typical case. The damping matrix is not generally similar to the stiffness matrix. --In this case, we use the damping assumption, , and simply write it in the equations of motion. in equation form
1 2 q 2 2 q
1 2
q1 q2
q1 0
2
q2
0
qo
di
These solutions to these are already known
qi ( t ) e
nit
(qo cos
di
ni o
sin
di
t)
where
(1) T
qi qi
M{x (0)} MRi (1) T M{x (0)} MRi
For the system shown and x1(0)=1, x2(0)= xdot1(0)=0, xdot2(0)=0
{1 2.414} q1
1 1 0 1 1 0 .854" .146"
6.827 1 {1 - .414} 1.171
q2
q1( t ) e qi ( t ) e
nit
(.146" cos (qoi cos
di
di
nit
t) qoi
di
ni oi
sin
di
t)
q1( t ) q 2( t )
e e
k (.05 ) .586 t m
(.146" cos .586
k 1 .052 t ) m k 1 .052 t ) m
k (.05 ) 3.414 t m
(.854" cos 3.414
Transform back to the original coordinate system
x1( t ) x 2( t )
(1)
q1( t )
( 2)
q 2( t )
Forced Vibrations --Many types of forcing conditions may be handled using the normal modes method Example Given 2k m f1(t) k c x1 Equations of motion x2 m f2(t)
m 0 1 x 0 m 2 x
2c c
c x1 c x2
3k k
k x1 k x2
f 1( t ) f 2( t )
Natural frequencies and mode shapes are obtained as before neglecting the damping matrix and forces
1 2
k m k 3.414 m 1 1 2.414 .414 .586
Rewrite the matrix equations on normal coordinates
T
1 q 2 q
q1 q2
q1 q2
f 1( t ) f 2( t )
where
T
M C K F
m c k
6.827 0 3 1 4 0 0 4 1 3
0 1.171
1 2.414 1
f 1( t )
.414 f 2( t )
Resume here
m 6.827 0 1 q 1.171 2 q 0 c 3 1 1 q1 3 q2 k 4 0 q1 f 1( t ) 2.414f 2( t ) f 1 .414f 2 0 4 q2
This is a more typical case. The damping matrix is not generally similar to the stiffness matrix. --In this case, we use the damping assumption, , and simply write it in the equations of motion. in equation form
1 2 q 2 2 q
1 2
q1 q2
q1 f 1 2.414f 2
2
q2
f 1 .414f 2
The solutions to these are already known for each type of force Example: Use f 1(t ) 1# sin 4t , =.01 then
1 2(.586k / m)1 / 2 (.01)q1 .586 q 2 2(3.414k / m)1 / 2 (.01)q 2 q k 1# q1 m m6.827# s 2 / in k 1# 3.414 q 2 m m1.171# s 2 / in
the solutions are of the form
qi( t )
fi / ki [(1 ri ) (2 ri) 2 ]1 / 2
2 2
setting k=1, m=1
q1( t ) 1# / 4# / in
2
4 [(1 )2 2 (.766) q1( t ) .0095"sin 4t q 2( t ) ( .414)
4 2 1/ 2 (2(.01)( )) ] .766 1# / 4# / in
2
sin 4t
4 [(1 )2 2 (1.85) q 2( t ) .028"sin 4t
4 2 1/ 2 (2(.01)( )) ] 1.85
sin 4 t
TRANSFORM BACK
x1( t ) x 2( t ) x1( t ) x 2( t )
(1)
q1( t )
( 2)
q 2( t ) 1 q 2( t ) .414
1 q1( t ) 2.414
Example Same system, f2(t)=step defined below f2(t) 2# t
Given 2k m f1(t) k c x1 Equations of motion x2 m f2(t)
m 0 1 x 0 m 2 x
2c c
c x1 c x2
3k k
k x1 k x2
f 1( t ) f 2( t )
Natural frequencies and mode shapes are obtained as before neglecting the damping matrix and forces
1 2
k m k 3.414 m 1 1 2.414 .414 .586
Rewrite the matrix equations on normal coordinates
T
1 q 2 q
q1 q2
q1 q2
f 1( t ) f 2( t )
where
T
M C K F
m c k
6.827 0 3 1 4 0 0 4 1 3
0 1.171
1 2.414 1
f 1( t )
.414 f 2( t )
Resume here
m 6.827 0 1 q 1.171 2 q 0 c 3 1 1 q1 3 q2 k 4 0 q1 f 1( t ) f 2( t ) 2.414f 1 .414f 2 0 4 q2
This is a more typical case. The damping matrix is not generally similar to the stiffness matrix. --In this case, we use the damping assumption, , and simply write it in the equations of motion. in equation form
1 2 q 2 2 q
1 2
q1 q2
q1 f 1 f 2
2
q 2 2.414f 1 .414f 2
The solutions to these are already known for each type of force Use f 1(t ) 1# sin 4t , =0, f2(t)= step function then
1 2(.586k / m)1 / 2 (.01)q1 .586 q 2 q 2(3.414k / m)1 / 2 (.01)q 2 k f2 q1 m 6.827# s 2 / in k .414f 2 3.414 q 2 m 1.171# s 2 / in
the solutions are of the form
qi( t ) P [1 cos it ] k
setting k=1, m=1, =0
1# [1 cos .766t ] 4# / in 1# q 2( t ) .414 [1 cos1.85t ] 4# / in q1( t )
If damping is a factor, numerically integrate the integral
TRANSFORM BACK
x1( t ) x 2( t ) x1( t ) x 2( t )
(1)
q1( t )
( 2)
q 2( t ) 1 q 2( t ) .414
1 q1( t ) 2.414
Base Excitation Given 2k y(t) c x1 Equations of motion c x2 m f1(t) k m f2(t)
m 0 1 x 0 m 2 x
2c c
c x1 c x2
3k k
k x1 k x2
f 1( t ) f 2( t )
Natural frequencies and mode shapes are obtained as before neglecting the damping matrix and forces
1 2
k m k 3.414 m 1 1 2.414 .414 .586
Rewrite the matrix equations on normal coordinates
T
1 q 2 q
q1 q2
q1 q2
ky1( t )
where
T
M C K Y
m c k
6.827 0 3 1 4 0 0 4 1 3
0 1.171
1 2.414 1
2kyo sin t
.414 2kyo sin t
Resume here
m 6.827 0 1 q 1.171 2 q 0 c 3 1 1 q1 3 q2 k 4 0 q1 2kyo sin t (2kyo sin t ) 0 4 q2
--In this case, we use the damping assumption, , and simply write it in the equations of motion. in equation form
1 2 q 2 2 q
1 2
q1 q2
q1 2kyo sin t
2
q2
(2kyo sin t )
The solutions to these are already known for each type of force Use y(t)=1sin4t, =0 then
1 2(.586k / m)1 / 2 (.01)q1 .586 q 2 2(3.414k / m)1 / 2 (.01)q 2 q k 2k (1" ) sin 4 t q1 m 6.827# s 2 / in k 2k (1" ) sin 4 t 3.414 q 2 m 1.171# s 2 / in
the solutions are of the form
1 (2 r ) 2 qi( t ) Y[ ]1/ 2 sin( t 2 2 2 [(1 r ) (2 r ) ] 2 ri i tan 1 ( ) 1 ri 2 )
setting k=1, m=1, =.01
1 (2(.01)( q1( t ) .586 2 2 [(1 ( ) ) 4 .586 2(.01) 4 ) 0 tan 1 ( .586 2 1 ( ) 4 2"[ 2"[
.586 2 )) 4 ]1 / 2 sin( 4 t .586 2 (2(.01)( ) ] 4
1 (2(.01)( q 2( t ) 3.414 2 2 [(1 ( ) ) 4 3.414 2(.01) 4 ) 0 tan 1 ( 3.414 2 1 ( ) 4
3.414 2 )) 4 ]1 / 2 sin( 4 t 3.414 2 (2(.01)( ) ] 4
TRANSFORM BACK
x1( t ) x 2( t ) x1( t ) x 2( t )
(1)
q1( t )
( 2)
q 2( t ) 1 q 2( t ) .414
1 q1( t ) 2.414
