DYNAMI C OF STRUCTURES

CHAPTER 5
RESPONSE OF MULTI DEGREE OF
FREEDOM SYSTEMS
Department of civil engineering, University of North Sumatera
Ir. DANIEL RUMBI TERUNA, MT;IP-U
CONSTRUCTION OF DAMPING MATRIX.
Nonclassically Damped System
Consider the two storey system in figure 1.
_
_
_
_
_
_
=
m
m
m
0
0 2
_
_
_
_
_
_

=
k k
k k
k
3
m
2m
2k
u
2
u
1
k
4c
c
_
_
_
_
_
_

=
c c
c c
c
5
{ }
_
_
_
_
_
_
=
_
_
_
_
_
_
=
1 1
1
2
1
22 21
12 11

Fig.1 two storey frame

CONSTRUCTION OF DAMPING MATRIX
Compute the mass matrix
j m
m
m
m M
T
2
3
1 0
0 2
1
2
1
2
1
1 1 11
=
_
_
_
_
_
_
_
_
_
_
_
_
= =
j 0
1 0
0 2
1 1
2
1
1 2 21
=
_
_
_
_
_
_
_
_
_
_
_
_
= =
m
m
m M
T

j 0
1
1
0
0 2
1
2
1
2 1 12
=
_
_
_
_
_
_
_
_
_
_
_
_
= =
m
m
m M
T

j m
m
m
m M
T
3
1
1
0
0 2
1 1
2 2 22
=
_
_
_
_
_
_

_
_
_
_
_
_
= =
_
_
_
_
_
_
=
m
m
M
3 0
0 5 . 1
(1)
CONSTRUCTION OF DAMPING MATRIX
Compute the stiffness matrix
j k
k k
k k
k K
T
4
3
1
3
1
2
1
2
1
1 1 11
=
_
_
_
_
_
_
_
_
_
_
_
_

= =
j 0
1
3
1 1
2
1
1 2 21
=
_
_
_
_
_
_
_
_
_
_
_
_

= =
k k
k k
k K
T

j 0
1
1 3
1
2
1
2 1 12
=
_
_
_
_
_
_

_
_
_
_
_
_

= =
k k
k k
k K
T

j k
k k
k k
k K
T
6
1
1 3
1 1
2 2 22
=
_
_
_
_
_
_

_
_
_
_
_
_

= =
_
_
_
_
_
_
=
K
K
K
6 0
0 75 . 0
(2)
CONSTRUCTION OF DAMPING MATRIX
Compute the damping matrix
j c
c c
c c
c C
T
25 . 1
1 4 4
4 5
1
2
1
2
1
1 1 11
=
_
_
_
_
_
_
_
_
_
_
_
_

= =
j c
c c
c c
c C
T
5 . 3
1
1
4 4
4 5
1
2
1
2 1 12
=
_
_
_
_
_
_

_
_
_
_
_
_

= =
j c
c c
c c
c C
T
17
1
1
4 4
4 5
1 1
2 2 22
=
_
_
_
_
_
_

_
_
_
_
_
_

= =
j c
c c
c c
c C
T
5 . 3
1 4 4
4 5
1 1
2
1
1 2 21
=
_
_
_
_
_
_
_
_
_
_
_
_

= =
_
_
_
_
_
_
=
c c
c c
C
17 5 . 3
5 . 3 25 . 1
(3)
CONSTRUCTION OF DAMPING MATRIX
The equation of motion for damped free vibration in matrix form is
) 4 ( 0 = + + Kq q C q M & & &
Subsituting equa.(1), (2) and (3) in equa.(4) gives
) 5 ( 0
6 0
0 75 . 0
17 5 . 3
5 . 3 25 . 1
3 0
0 5 . 1
2
1
2
1
2
1
=
_
_
_
_
_
_
_
_
_
_
_
_
+
_
_
_
_
_
_
_
_
_
_
_
_
+
_
_
_
_
_
_
_
_
_
_
_
_
q
q
k
q
q
c
q
q
m
&
&
& &
& &
Since matrix C is not diagonal matrix; thus two diffrential equations in
and are coupled so that the system is said to have
nonclassical damping
( ) t q
1
( ) t q
2
CONSTRUCTION OF DAMPING MATRIX.
Classically Damped System
Consider the two storey system in figure 2.
_
_
_
_
_
_
=
m
m
m
0
0 2
_
_
_
_
_
_

=
k k
k k
k
3
m
2m
2k
u
2
u
1
k
2c
4c
_
_
_
_
_
_

=
c c
c c
c
2 2
2 6
{ }
_
_
_
_
_
_
=
_
_
_
_
_
_
=
1 1
1
2
1
22 21
12 11

Fig.2 two storey frame

CONSTRUCTION OF DAMPING MATRIX
Compute the damping matrix
j c
c c
c c
c C
T
5 . 1
1 2 2
2 6
1
2
1
2
1
1 1 11
=
_
_
_
_
_
_
_
_
_
_
_
_

= =
j 0
1
1
2 2
2 6
1
2
1
2 1 12
=
_
_
_
_
_
_

_
_
_
_
_
_

= =
c c
c c
c C
T

j c
c c
c c
c C
T
12
1
1
2 2
2 6
1 1
2 2 22
=
_
_
_
_
_
_

_
_
_
_
_
_

= =
j 0
1 2 2
2 6
1 1
2
1
1 2 21
=
_
_
_
_
_
_
_
_
_
_
_
_

= =
c c
c c
c C
T

_
_
_
_
_
_
=
c
c
C
12 0
0 5 . 1
(6)
CONSTRUCTION OF DAMPING MATRIX
Subsituting damping matrix equa.(5) in equa.(4) gives
) 7 ( 0
6 0
0 75 . 0
12 0
0 5 . 1
3 0
0 5 . 1
2
1
2
1
2
1
=
_
_
_
_
_
_
_
_
_
_
_
_
+
_
_
_
_
_
_
_
_
_
_
_
_
+
_
_
_
_
_
_
_
_
_
_
_
_
q
q
k
q
q
c
q
q
m
&
&
& &
& &
Since matrix C is diagonal matrix; thus two diffrential equations in
and are uncoupled so that the system is said to have
classical damping because modal analysis is applicable to such
system
( ) t q
1
( ) t q
2
Note: Modal analysis is not applicable to the analysis of nonlinear
system even if the damping is of classical form
CONSTRUCTION OF DAMPING MATRIX
Rayleigh damping
The simplest way to construc damping matrix is to make it propotional
to either the mass or the stiffness matrix because the modal analysis is
applicable to these system. Thus the damping matrix is
) 8 (
1
k a c or m a c
o
= =
Consider the mass proportional damping in equation (8). The
generalized damping for the n
th
mode is
) 9 (
n o n
M a C =
And the modal damping ratio is
) 10 (
1
2
0
n
n
a

=
The damping ratio is inversely proportional to the natural frequency.
The coefficient can be selected to obtain a specified value of
damping ratio in any one mode,say for the i
th
mode. Equation (10)
gives
0
a
i

) 11 ( 2
i i o
a =
CONSTRUCTION OF DAMPING MATRIX
Simirlarly, The modal damping ratio for a system with proportional to
stiffness can be related to the coef. .Thus
) 12 (
2
1
2
1 n n n n n
a
and M a C = =
1
a
The coefficient can be selected to obtain a specified value of
damping ratio in any one mode,say for the j
th
mode. Equation
(12) gives
1
a
j

) 13 (
2
1
j
j
a

=
CONSTRUCTION OF DAMPING MATRIX
We consider Rayleigh damping which are consistent with experiment data
) 14 (
1
k a m a c
o
+ =
The damping ratio for the n
th
mode of such system is
) 15 (
2
1
2
1
n
n
o
n
a a

+ =
The coefficient and can be determined from specified
damping ratio and for the i
th
and i
th
mode. Equation (15) for
these two mode in matrix form gives
0
a
1
a
i

) 16 (
2
1
1
0
1
1
_
_
_
_
_
_
=
_
_
_
_
_
_
_
_
_
_
_
_
_
_
j
i
j
i
a
a
j
i

CONSTRUCTION OF DAMPING MATRIX

If both mode assumed to have the same damping ratio which are
reasonable based on with experimental data, then
) 17 (
2
;
2
1
j i j i
j i
o
a a

+
=
+
=

n
n
o
n
a a
damping Rayleigh

2
1
2
1
+ =