Matlab Programming

MATLAB Programming Eigenvalue Problems and Mechanical Vibration
A x = x ( A I ) x = 0
Cite as: Peter So, course materials for 2.003J / 1.053J Dynamics and Control I, Fall 2007. MIT OpenCourseWare (http://ocw.mit.edu), Massachusetts Institute of Technology. Downloaded on [DD Month YYYY].
A Coupled Mass Vibration Problem
EOM:
1 + k1 x1 k 2 ( x2 x1 ) = 0 m x 2 + k1 x2 + k 2 ( x2 x1 ) = 0 m x
Vibration Solutions harmonic response Trial solution:

x1 c1 x = c cos(t + ) 2 2
Matrix representation of EOM:

2 + (k1 + k 2 ) / m c1 k2 / m = 0 2 k2 / m + (k1 + k 2 ) / m c2
Vibrational Frequencies and Mode Shapes Characteristic Equation (Determinant = 0 ):

k1 + k 2 m 2 = k 2
k1 = m
2 1
k1 + 2k 2 = m
2 2
c1 1 c = A1 1 2 1 c1 1 c = A2 1 2 2
Vibrations as a general class of Eigenvalue Problems Recast EOM:

2 + (k1 + k 2 ) / m c1 k2 / m = 0 2 k2 / m + (k1 + k 2 ) / m c2
As:
k 2 / m c1 2 (k1 + k 2 ) / m = k /m (k1 + k 2 ) / m c2 0 2 k 2 / m c1 (k1 + k 2 ) / m 2 1 = k /m (k1 + k 2 ) / m c2 0 2 A x = I x ( A I ) x = 0
0 c1 2 c2 0 c1 1 c2
Eigenvalue equation, Eigenvalues, Eigenvectors Eigenvalue equation:

A x = x ( A I ) x = 0
Eigenvalues (angular frequencies of the vibration):
Eigenvectors (mode shape of the vibration):

c1 x= c2
Solving Eigenvalue Problem in MATLAB Look at the problem numerically:
m = 1kg
Simple m-file:
k1 = 1N / m k 2 = 2 N / m
m=1; k1=1; k2=2; A=[(k1+k2)/m -k2/m; -k2/m (k1+k2)/m] [X,L]=eig(A); X L

MATLAB output of simple vibration problem eigenvector 1 eigenvector 2 X= -0.7071 -0.7071 -0.7071 0.7071 L= eigenvalue 1 1.0000 0 0 5.0000 eigenvalue 2
Ok, we get the same results as solving the characteristics equation so what is the big deal?
A more complex vibrations problem
EOM for a more complex problem EOM can be gotten from free body diagrams of each mass
1 + (k1 + k 2 + k5 ) x1 k 2 x2 k5 x3 = 0 m1 x 2 + (k 2 + k3 + k 6 ) x2 k 2 x1 k3 x3 k6 x4 = 0 m2 x 3 + (k3 + k 4 + k5 ) x3 k5 x1 k3 x2 k 4 x4 = 0 m3 x 4 + (k 4 + k6 ) x4 k6 x2 k 4 x3 = 0 m4 x
Characteristic equation of more complex problem:
2 k1 + k 2 + k5 m1 k2 m2 k5 m3 0
k2 m1 k +k +k 2 2 3 6 m2 k3 m3 k6 m4
k5 m1 k3 m2 k +k +k 2 2 4 5 m3 k4 m4
c k6 1 c 2 m2 c = 0 k4 3 m3 c 4 k +k 2 4 6 m4 0
Solving this and find roots is no longer so simple! It is now an eighth order polynomial.
Look at more complex vibration as eigenvalue problem
k1 + k 2 + k5 m1 k2 m2 k5 m3 0
k2 m1 k 2 + k3 + k 6 m2 k3 m3 k 6 m4
k5 m1 k 3 m2 k 2 + k 4 + k5 m3 k 4 m4
1 k6 c1 m2 c2 2 0 = k 4 c3 0 m3 c 0 4 k 4 + k6 m4 0
0 0 0 c1 c 1 0 0 2 0 1 0 c3 0 0 1 c4
Solving more complex problem by MATLAB Pick some numerical values:

m1 = 1kg m2 = 2kg m3 = 3kg m4 = 4kg
k1 = 1N / m k 2 = 2 N / m k3 = 3N / m k 4 = 4 N / m k5 = 5 N / m k6 = 6 N / m
Solving complex vibration problem by MATLAB Create another m-file: m1=1;m2=2;m3=3;m4=4; k1=1;k2=2;k3=3;k4=4;k5=5;k6=6; A=[(k1+k2+k5)/m1 -k2/m1 -k5/m1 0; -k2/m2 (k2+k3+k6)/m2 -k3/m2 -k6/m2; -k5/m3 -k3/m3 (k3+k4+k5)/m3 -k4/m3; 0 -k6/m4 -k4/m4 (k4+k6)/m4] [X,L]=eig(A); X L
Characteristic matrix of the eigenvalue problem
A= 8.0000 -2.0000 -5.0000 0 -1.0000 5.5000 -1.5000 -3.0000 -1.6667 -1.0000 4.0000 -1.3333 0 -1.5000 -1.0000 2.5000
Frequencies and mode shapes of complex problem X= 0.4483 0.9456 0.6229 -0.1650 0.5156 -0.1826 -0.0411 -0.9006 0.5031 -0.2591 0.5788 0.3164 0.5292 0.0735 -0.5246 0.2481 L= 0.0878 0 0 0 0 9.7562 0 0 0 0 3.4858 0 0 0 0 6.6702
Multiple element vibration problems finite element simulation
Consider the vibrational modes of a four stories building. The mass are assumed to be concentrated at the floors. The walls constitutes springs. This can be models as a 1-D system.
Inspired by Aladdin web site

Write equation of motion for the four floors
1 = 2k1 ( x2 x1 ) m1 x 2 = 2k1 ( x1 x2 ) + 2k 2 ( x3 x2 ) m2 x 3 = 2k 2 ( x2 x3 ) + 2k3 ( x4 x3 ) m3 x 4 = 2k3 ( x3 x4 ) 2k 4 x4 m4 x
Write down the Mass and Stiffness Matrix

m1 0 M = 0 0 0 m2 0 0 0 0 m3 0 0 0 0 m4
2 k1 2k 1 K = 0 0
2 k1 ( 2 k1 + 2 k 2 ) 2k 2 0
0 2k 2 (2k 2 + 2k3 ) 2k3
0 2k3 (2k3 + 2k 4 ) 0
Using MATLAB Eig with Mass & Stiffness Matrix Directly
KV = MVD
Eig can also operate on the eigenvalue equation In this form where: K is the stiffness matrix, V is the matrix containing All the eigenvectors, M is the mass matrix, and D is a diagonal matrix containing the eigenvalues [V,D]=eig(K,M)
Mode shape of building oscillation

m1 = 1500 m2 = 3000 m3 = 3000 m4 = 4500 k1 = 400 k 2 = 800 k3 = 1200 k 4 = 1600
4
3.5
2.5
1.5
1 -0.02
-0.015
-0.01
-0.005
0.005
0.01
0.015
2 = 0.12 2 = 0.59 2 = 1.13 2 = 2.08

1 2 3 4
Mode shape of building oscillation 2

m1 = 1500 m2 = 3000 m3 = 3000 m4 = 4500 k1 = 400 k 2 = 800 k3 = 1200 k 4 = 1600
4
3.5
2.5
1.5
1 -0.015
-0.01
-0.005
0.005
0.01
0.015
0.02
2 = 0.042 2 = 0.70 2 = 1.93 2 = 2.83

1 2 3 4

Matlab Programming

Încărcat de

Informații document

Titlu original

Drepturi de autor

Formate disponibile

Partajați acest document

Partajați sau inserați document

Opțiuni de partajare

Vi se pare util acest document?

Este necorespunzător acest conținut?

Drepturi de autor:

Formate disponibile

Matlab Programming

Încărcat de

Drepturi de autor:

Formate disponibile

MATLAB Programming Eigenvalue Problems and Mechanical Vibration

A Coupled Mass Vibration Problem

Vibration Solutions harmonic response Trial solution:

Matrix representation of EOM:

Vibrational Frequencies and Mode Shapes Characteristic Equation (Determinant = 0 ):

Vibrations as a general class of Eigenvalue Problems Recast EOM:

Eigenvalue equation, Eigenvalues, Eigenvectors Eigenvalue equation:

Eigenvalues (angular frequencies of the vibration):

Eigenvectors (mode shape of the vibration):

Solving Eigenvalue Problem in MATLAB Look at the problem numerically:

m=1; k1=1; k2=2; A=[(k1+k2)/m -k2/m; -k2/m (k1+k2)/m] [X,L]=eig(A); X L

A more complex vibrations problem

Characteristic equation of more complex problem:

Look at more complex vibration as eigenvalue problem

Solving more complex problem by MATLAB Pick some numerical values:

Characteristic matrix of the eigenvalue problem

Multiple element vibration problems finite element simulation

Inspired by Aladdin web site

Write equation of motion for the four floors

1 = 2k1 ( x2 x1 ) m1  x 2 = 2k1 ( x1 x2 ) + 2k 2 ( x3 x2 ) m2  x 3 = 2k 2 ( x2 x3 ) + 2k3 ( x4 x3 ) m3  x 4 = 2k3 ( x3 x4 ) 2k 4 x4 m4  x

Write down the Mass and Stiffness Matrix

0 2k 2 (2k 2 + 2k3 ) 2k3

Using MATLAB Eig with Mass & Stiffness Matrix Directly

Mode shape of building oscillation

2 = 0.12 2 = 0.59 2 = 1.13 2 = 2.08

Mode shape of building oscillation 2

2 = 0.042 2 = 0.70 2 = 1.93 2 = 2.83

S-ar putea să vă placă și

1 = 2k1 ( x2 x1 ) m1 x 2 = 2k1 ( x1 x2 ) + 2k 2 ( x3 x2 ) m2 x 3 = 2k 2 ( x2 x3 ) + 2k3 ( x4 x3 ) m3 x 4 = 2k3 ( x3 x4 ) 2k 4 x4 m4 x