HOMEWORK # 1

EXAMPLE 1
Free vibrations response of a 3DOF model

Given a structure of RC frame consisting of 3 floors, represented by a 3DOF lumped
model of Fig. 1, let us found the free vibrations response using the stiffness method.

A. Initial Data
a. Geometrical characteristics:
cm b
col
25 =
4
3
2 2 3 3
083 . 32552
12
25 * 25
cm I I
col col
= = =


cm h
col
25 =
2
625 25 * 25 cm A
col
= =
cm L
col
400 =

b. Material characteristics:
2
270000
cm
daN
E
concrete
= 2 . 0 = ) ( 0025 . 0
3
density weight
cm
daN
W
concrete
=



Fig. 1. 3DOF model of a 3 stories RC frame

c. Evaluation of Mass matrix:
cm
s
daN m
2
3
3185 . 0 2 /
981
400 * 25 * 25 * 0025 . 0
= |
.
|

\
|
=
cm
s
daN m
2
2
6371 . 0
981
400 * 25 * 25 * 0025 . 0
= =
cm
s
daN m
2
1
6371 . 0
981
400 * 25 * 25 * 0025 . 0
= =
id11847750 pdfMachine by Broadgun Software - a great PDF writer! - a great PDF creator! - http://www.pdfmachine.com http://www.broadgun.com

The final Mass matrix is:

(
(
(

=
(
(
(

=
6371 . 0 0 0
0 6371 . 0 0
0 0 3185 . 0
0 0
0 0
0 0
1
2
3
m
m
m
M


d. Computation of Stiffness Matrix:
The elastic force vector: u F
el
K =

=
1
2
3
T
T
T
F
el

The stories shear force vector is: A = K T

The stories drift:
1
= A
i i
u u
The lateral stiffness of the story:
cm daN
L
EI
L
EI
k
col
col
column
col
col
/ 949 . 1647
400
083 . 32552 * 270000 * 12 12 12
3 3 3
= = = =



and the lateral elastic forces are:

) 2 1 ( 1 ) 2 1 ( ) 0 1 (
2 1 2 1
1
1 1
u u k u k u u k u k T T T II R
a
I R R
+ = + = + =
) 3 2 ( ) 1 2 (
3 2 1
1
2
u u k u u k T T T
III R
II R
b
R
+ = + =
) 2 3 (
3 1 3
u u k T T
III R R
= =
II R
b
II R
a
T T 1 1 = (equal, but opposite in sign)

(
(
(

+
+

=
1
2
3
2 1 1
1 3 2 2
2 3
0
0
u
u
u
k k k
k k k k
k k
T
R

(
(
(

=
1
2
3
2 0
2
0
u
u
u
k k
k k k
k k
T
R
=>

(
(
(

=
(
(
(

=
898 . 3295 949 . 1647 0
949 . 1647 898 . 3295 949 . 1647
0 949 . 1647 949 . 1647
2 0
2
0
k k
k k k
k k
K


e. Identification of Damping Matrix:
The damping force vector is:
.
u F
D
C =

=
1
2
3
D
D
D
D
F
F
F
F
The stories shear force due to damping effects:
.
A = c F
D

The stories velocity: 1
. . .
= A i i u u
The damping of the story:
cr
c
c
= 0 = c for free undamped vibrations.

0
0
0
1
.
2
.
3
.
2 1 3
3 3 2 2
2 3
=

(
(
(

+
+

=
u
u
u
c c c
c c c c
c c
F
D



B. Solution:
The equation of motion of a MDOF model is:
) (
. ..
t u u u P K C M = + +
(1)

In free undamped vibrations the form of Eq. (1) becomes:
0
..
= + u u K M
(2)

For solving the problems of free vibrations the following steps have to be followed:

Step 1
Writing the equation of motion in terms of amplitudes of displacement:

( ) 0
2
=
ki i
M K
i=1,2,3 (3)

Step 2
Writing the Lagrange determinant in order to obtain the free undamped vibrations response of
the model:

| | | | 0
2
= = A M K
i
(4)

0
2 0
2
0
1
2
2
2
3
2
=



= A
m k k
k m k k
k m k
i
i
i

( ) ( )( ) ( )( ) | | ( )( )( ) | | 0 2 2 2
1
2
1
2
2
2
3
2
= = A m k k k k k m k m k m k
( ) ( )( ) | | ( ) | | 0 2 2 2
1
2 2 2
1
2
2
2
3
2
= = A m k k k m k m k m k
( )| | ( ) 0 2 2 2 3
1
2 2 3
2 1
4
2
2
1
2 2
3
2
= + = A m k k m m m k m k k m k
0 4 12 9
3
3
6 2
3
4
3
2
2 3
= + = A m m k m k k
i i i

(5)

Step 5
Obtaining the eigenvalues:

=
693.19
09 . 5174
9654.99
2
1
2
2
2
3
2

i
=> s rad
i
/
26.328
931 . 71
98.259
1
2
3

Step 6
Computation of eigenforms, respectively the modal eigenvectors, using the initial equation of
equilibrium written in function of the amplitudes of vibrations:

| | | | | |{ } { } 0
2
=
ki i
M K

{ }

=
(
(
(

0
0
0
2 0
2
0
1
2
2
2
3
2
ki
i
i
i
m k k
k m k k
k m k

k, i=1,2,3

Or:

(
(
(

0
0
0
2 0
2
0
1
2
3
1
2
2
2
3
2
i
i
i
i
i
i
m k k
k m k k
k m k

| |
| |
| |

)

=
(
(
(

0
0
0
2 0
2
0
1 1
2
2
1 2 2
2
3
2 3 3
2
i i i
i i i i
i i i
m k k
k m k k
k m k






| | 0
2 3 3
2
=
i i i
k m k

| | 0 2
1 2 2
2
3
= +
i i i i
k m k k
| | 0 2
1 1
2
2
= +
i i i
m k k


From the 3
rd
equation of the system we have:

=>
| | | |
k
m k
k
m k
i i
i
i 3
2
1
2
1
2
2 2 2

=


The 2
nd
equation of the system becomes:

=>
| || | | |
1
2 2
1
2 2
2
2
3
2
2
1
2
2
2
1
3

=

=
k
m k
k
m k m k
i i i
i
i

Replacing values of
2
well obtain:


2
1

2
2

2
3

i
i
1
2

1.732 0.00001 -1.732
i
i
1
3

2 -0.999 1.999


Step 7
Ortho-normalization of modes of vibrations:

{ } | |{ } | | I M =
ki
T
ki



Mode 1:
{ } 822 . 3
1
732 . 1
2
6371 . 0 0 0
0 6371 . 0 0
0 0 3185 . 0
1 732 . 1 2 =

(
(
(

=>
{ }

=
511 . 0
886 . 0
023 . 1
1 k

Mode 2:
{ } 955 . 0
1
00001 . 0
999 . 0
6371 . 0 0 0
0 6371 . 0 0
0 0 3185 . 0
1 00001 . 0 999 . 0 =

(
(
(

=>
{ }

=
023 . 1
00001 . 0
022 . 1
2 k

Mode 3:
{ } 821 . 3
1
1.732 -
1.999
6371 . 0 0 0
0 6371 . 0 0
0 0 3185 . 0
1 1.732 - 1.999 =

(
(
(

=>
{ }

=
511 . 0
886 . 0
022 . 1
3 k

Step 8
Obtaining of the Modal Normalized Matrix:

| |
(
(
(

= u
511 . 0 023 . 1 511 . 0
886 . 0 00001 . 0 886 . 0
022 . 1 022 . 1 023 . 1


Step 9
Obtaining the modal characteristics of T and f:

i
i
T

2
= =>
s
T
T
T
T

=
0.238
087 . 0
0.063
1
2
3

i
i
T
f
1
= =>
1
1
2
3
4.190
448 . 11
15.638

= s
f
f
f
f


Step 10
Comparing the analytical results with those obtained for the same model using SAP2000:
Mode 1 Mode 2 Mode 3

Results of T using exact analytical method
T
1
= 0.238 s T
2
= 0.087s T
3
= 0.063s
SAP2000 results for the periods of vibrations
T
1
= 0.23998 s T
2
= 0.08784 s T
3
= 0.0643 s
Errors
% 8 . 0 00825 . 0
23998 . 0
238 . 0 23998 . 0
1
= =
=

=
r

2
0.08784 0.087
0.08784
0.00956 0.9%
r

= =
= =

% 2 0202 . 0
0643 . 0
063 . 0 0643 . 0
3
= =
=

=
r