State Space Equations in modal coordinates

{ } f
q
q
Z
I
q
q
T
I
1
]
1

'

1
]
1

'
0
2
0
2

{ } f
q
q
Z x
x
x
T
I A A A
V
D
A
V
D
1
1
1
]
1

'

1
1
1
]
1

'

0
0
2
0
0
2

where:
- Diagonal matrix of modal frequencies (rad/sec)
Z - Diagonal matrix of modal damping ratios

I
- ode shape coefficients at inputs

D
- ode shape coefficients at displacement outputs

V
- ode shape coefficients at !elocit" outputs

A
- ode shape coefficients at acceleration outputs
#n terms of $astran matrices (assuming %%&#) this is:
{ }
G T
I
f
PHG q
q
BHH KHH
I
q
q
1
]
1

'

1
]
1

'
0 0

{ }
G
T
I A A A
V
D
A
V
D
f
PHG PHG
q
q
BHH PHG KHH PHG
PHG
PHG
x
x
x
1
1
1
]
1

'

1
1
1
]
1

'

0
0
0
0

'nl" rows of (%) associated with input forces are retained in the * matrix and onl"
rows associated with desired outputs are retained in the + matrix, $ow consider the case
where we are ha!e a cutoff frequenc"- so are neglecting certain modes, .e would li/e to
express the displacement outputs including the quasi-static terms from the neglected
modes as follows:
{ } [ ]{ } [ ][ ] [ ] { }
G
T
IN N DN DR D
f PHG KHH PHG q PHG x
0
+
So the total equations can 1e written in $astran format as:
{ }
G T
IR R
R
R R R
R
f
PHG q
q
BHH KHH
I
q
q
1
]
1

'

1
]
1

'
0 0

{ }
G
T
IR AR
T
IN N DN
R
R
R AR R AR
VR
DR
A
V
D
f
PHG PHG
PHG KHH PHG
q
q
BHH PHG KHH PHG
PHG
PHG
x
x
x
1
1
1
]
1

'

1
1
1
]
1

'

0 0
0
0

.here the su1script 234 denotes the retained modes and the su1script 2$4 denotes the
neglected modes,
#f there are other outputs such as element forces these are handled as the displacement
outputs- 1" replacing the displacement mode shape coefficient matrix PHG
D
1" the
element force shape coefficients,
$ow consider the case where the input is an enforced acceleration- and start with a +raig-
*ampton model:

'

'

1
]
1

'

1
1
]
1

0 0
0
2
b b bb b
qb
T
qb bb
f
q
x K
q
x
I M
M M


Expanding out the 1ottom row and adding modal damping gi!es us:
{ } [ ][ ]{ } [ ] { } [ ]{ }
b qb
x M q q Z q + +
2
2
#n state space form this is:
{ }
b
qb
x
M q
q
Z
I
q
q

1
]
1

'

1
]
1

'

0
2
0
2
5he pro1lem is that displacement outputs depend on 1oth 6q7 and 6x
b
7- so we need to
include 6x
b
7 in the equations as follows:
{ }
b
qb
b
b
b
b
x
M
I
q
x
q
x
Z
I
I
q
x
q
x

1
1
1
1
1
]
1

'

1
1
1
1
]
1

'

0
0
2 0 0
0 0 0 0
0 0 0
0 0 0
2
5he data reco!er" part is as follows:
{ }
b
qb Aq Ab
b
b
A A
Vb Vb
Dq Db
A
V
D
x
M
q
x
q
x
Z x
x
x

1
1
1
]
1

'

1
1
1
]
1

'

0
0
2 0 0
0 0
0 0
2
.here
Db

- *-set columns of +raig-*ampton data reco!er" matrix for displacement outputs

Dq

- 8-set columns of +raig-*ampton data reco!er" matrix for displacement outputs

Vb

- *-set columns of +raig-*ampton data reco!er" matrix for !elocit" outputs

Vq

- 8-set columns of +raig-*ampton data reco!er" matrix for !elocit" outputs

Ab

- *-set columns of +raig-*ampton data reco!er" matrix for acceleration outputs

Aq

- 8-set columns of +raig-*ampton data reco!er" matrix for acceleration outputs

$ote that the +raig-*ampton model is most easil" exported from $astran 1" using
E95SE':5(;5'(<&00-E95#D&000)- and assigning an ':5(:5< file to :nit 00,
#t=s relati!e eas" to import the ':5(:5< into atla1, 5he equations a1o!e assume that
the ph"sical interface D'> come first- followed 1" the modal, 5his is easil" ensured 1"
num1ering the S('#$5s for the modal D'> higher than the highest )3#D in the model,
5he data reco!er" matrix is written as :)0 to the ':5(:5< file, Each row
corresponds to a requested output (? per )3#D)- and the first set of columns correspond
to the ph"sical interface D'> and the last set of columns to the modal D'>,
%ere=s some atla1 code that might wor/:
$1&@ A $um1er of interface D'>
$q&@ A $um1er of modal D'>
Dlist & @ A #ndices of D'> in :)0 matrix for which displacement output is desired
Blist & @ A #ndices of D'> in :)0 matrix for which !elocit" output is desired
;list & @ A #ndices of D'> in :)0 matrix for which acceleration output is desired
11&maa(0:$1-0:$1)C
q1&maa($1D0:end-0:$1)C
E11&/aa(0:$1-0:$1)C
Eqq&/aa($1D0:end-$1D0:end)C
(hiD1&mug0(Dlist-0:$1)C A partition out the rows "ou actuall" want displacements for
(hiD1&mug0(Dlist-$1D0:end)C A partition out the rows "ou actuall" want displacements
for
(hiB1&mug0(Blist-0:$1)C A partition out the rows "ou actuall" want !elocities for
(hiB1&mug0(Blist-$1D0:end)C A partition out the rows "ou actuall" want !elocities for
(hi;1&mug0(;list-0:$1)C A partition out the rows "ou actuall" want accelerations for
(hi;1&mug0(;list-$1D0:end)C A partition out the rows "ou actuall" want accelerations
for
>rom here Fust assem1le the ;- *- + and D matrices