Ejemplo uno

Determinar las frecuencias naturales del sistema general masa resorte de tres grados de libertad como se mu

masas Energias Cineticas resultados

m 1/2m12 4258.64
2m m22 23659.11
3m 3/2m32 22712.74
E.C.T = 1/2m12+m22+3/2m32 50630.49

constantes Energias potenciales resultados

2k 5/2kx12 1.28 [kg] [N/m]
3k 2k(x1-x2)2 0.45 m k
4k 3/2k(x2-x3) 2
0.09 15.00 4.00
5k KX 3
2
0.91
E.P.T = 5/2kx1 + k(x1-x2) +3/2k(x2-x3) +KX
2 2 2
3
2
2.73

ESCUACION DE LAGRANGE:

/t*((EC)/qi)+(EC)/q1+(EP)/qi(ED)/qi = Q1

Eliminando la Energia Cinetica respecto al desplazamiento, la Energia de discipacion y la fuerza externa ten

/t((EC)/qi)+(EP)/qi = 0

Realizamos las deribadas de las Energias: m1

(EC)/i = (1/2m12+ m22+3/2m32)/(i) 2m2

3m3

5kx1 + 4k(x1-x2) = 5kx1 + 4k

(EP)/xi = (5/2kx12+k(x1-x2)2+ 3/2k(x2-x3)2+KX32)/xi 3k(x2-x3) - 4k(x1-x2) = -4kx1

2kx3 - 3k(x2-x3) = 2kx3 - 3kx

 m1 + 9kx1 - 4kx2 = 0 x1 = A cos(t + )
2m2 - 4kx1 + 7kx2 - 3kx3 = 0 x2 = B cos(t + )
3m3 - 3kx2 + 5kx3 = 0 x3 = C cos(t + )

respuestas A B
-339.90 3 5
-1138.89
-1370.57

Remplazamos las ecuaciones de dezplazamientos y aceleraciones en las ecuaciones de movimiento, tenemo

mA2cos(t+)+9kAcos(t+)-4kBcos(t+)=0

2mB2cos(+)-4kAcos(t+)+7kBcos(t+)-3kCcos(t+)=0

3mC2cos(t+)-3kBcos(t+)+5kCcos(t+)=0

Simplicando los cosenos y factorando tenemos:

(-m2+9k)A-4kB=0

4kA+(-2m2+7k)B-3kC=0

3kB+(-3m2+5k)C=0

A B C

(-m2+9k) (-4k) 0

(-4k) (-2m2+7k) (-3k)

0 (-3k) (-3m2+5k) = (-m +9k)(-2m +7k)(-3m +5k)-9k (-m +9k)-1

2 2 2 2 2

= (2m -7m k-18m k+63k )(-3m +5k)+9m

2 4 2 2 2 2 2

(-m2+9k) (-4k) 0 = (2m -25m k+63k )(-3m +5k)+57m k -161k

2 4 2 2 2 2 2

= (-6m )+10m k+75m k-125m k -189m

3 6 2 4 2 4 2 2

(-4k) (-2m2+7k) (-3k) = (-6m )+85m k-257m k +154k = 0

3 6 2 4 2 2 3

Factorando m2 tenemos:
4m2(-6m2+85k)-k2(257m2+154k) = 0

4m2-k2 = 0 -6m2+85k=0 257m2-154k=0

m24=k2 22=85k/6m 2=154k/257m
14=k2/m2

[rad/s] [rad/s] [rad/s]

1 0.52
2 1.94
3
dos de libertad como se muestra en la figura

[m]
x1 x2 x3
0.36 0.60 0.48
[m/s]
1 2 3
-23.83 -39.71 31.77
[m/s2]
1 2 3
-22.88 -38.14 -30.51

cion y la fuerza externa tenemos:

-357.43 (m1)/t = m1 -343.24

-1191.45 (2m2)/t = 2m2 -1144.13

1429.74 (3m3)/t = 3m3 -1372.96

kx1 + 4k(x1-x2) = 5kx1 + 4kx1 - 4kx2 = 9kx1-4kx2 3.34

k(x2-x3) - 4k(x1-x2) = -4kx1 + 4kx2 + 3kx2 - 3kx3 = -4kx1 + 7kx2 - 3kx3 0.48

kx3 - 3k(x2-x3) = 2kx3 - 3kx2 + 3kx3 = -3kx2 + 5kx3 6.20

 1=-Asen(t + ) 1 = -A2 cos(t + )
2=-Bsen(t + ) 2 = -B2 cos(t + )
3=-Csen(t + ) 3 = -C2 cos(t + )

C t
4 8 7 2

nes de movimiento, tenemos:

-3m2+5k)-9k2(-m2+9k)-16k2(-3m2-5k)=0
2
k+63k2)(-3m2+5k)+9m2k2-81k3+48m2k2-80k3 = 0
(-3m2+5k)+57m2k2-161k3 = 0
5m24k-125m2k2-189m2k2+315k3+57m2k2-161k3=0
7m2k2+154k3 = 0
257m2-154k=0
2=154k/257m

0.40
 Utilizamos la Ley de Newton para hallar las ecuaciones de movimiento:

m11 = -k1x1-k2(x1-x2) = -k1x1-k2x2+k2x2 = -(k1+k2)x1+k2x2

m11+(k1+k2)x1-k2x2 = 0

m22 = -k2(x2-x1-k3(x2-x3) = -k2x2+k2x1+k3x3 = -(k2+k3)x2+k2x1 + k3x3

m22+(k2+k3)x2-k2x1-k3x3 = 0

m33 = -k3(x3-x2)-k4(x3-x4) = -k3x3+k3x2-k4x3+k4x4 = -(k3+k4)x3+k3x2+k4x4

m33+(k3+k4)x3-k3x2-k4x4 = 0

m44 = -k4(x4-x3)-k5x4 = -k4x4+k4x3-k5x4 = -(k4+k5)x4+k4x3

m44+(k4+k3)x4-k4x3 = 0

Remplazamos t por x y por en las ecuaciones de movimientos:

x1 = t 1 1 = 1
x2 = t 2 2 = 2
x3 = t 3 3 = 3
x4 = t 4 4 = 4

[N/m]
Tendremos: k1 k2
m11 + (k1+k2)t1 - k2t2 = 0 1 2
m22 + (k2+k3)t2 - k2t1 - k3t3 = 0 [kg]
m33 + (k3+k4)t3 - k3t2 - k4t4 = 0 m1 m2
m44 + (k4+k3)t4 - k4t3 = 0 4 3

Ordenando segn el orden de t:

m11 + 0 + 0 + 0 + (k1+k2)t1 - k2t2 + 0 + 0 =0
0 + m22 + 0 + 0 - k2t1 + (k2+k3)t2 - k3t3 + 0 =0
0 + 0 + m33 + 0 + 0 - k3t2 + (k3+k4)t3 - k4t4 = 0
0 + 0 + 0 + m44 + 0 + 0 - k4t3 + (k4+k3)t4 = 0
Ordenanado en forma matricial tenemos:

m1 0 0 0 1 (k1+k2)
0 m2 0 0 2 + k2
0 0 m3 0 3 0
0 0 0 m4 4 0

matris de inercia [M]

4 0 0 0 1 3 -2
0 3 0 0 2 -2 5
0 0 2 0 3 0 -3
0 0 0 1 4 0 0

Ecuacion de segundo grado:

1/m1
0
0
0

0.25
0.00
0.00
0.00

1/m1 0 0 0 (k1+k2) k2
0 1/m2 0 0 k2 (k2+k3)
0 0 1/m3 0 0 k3
 0 0 0 1/m4 0 0

(k1+k2)/m1 k2/m2 0 0 0.75

k2/m1 (k2+k3)/m2 k3/m3 0 -0.50
0 k3/m2 (k3+k4)/m3 k4/m4 0.00
0 0 k4/m3 (k4+k3)/m4 0.00

1 (k1+k2)/m1 k2/m2 0 0 t1
2 k2/m1 (k2+k3)/m2 k3/m3 0 + t2
3 0 k3/m2 (k3+k4)/m3 k4/m4 t3
4 0 0 k4/m3 (k4+k3)/m4 t4

1 0.75 -0.67 0.00 0.00 t1

2 -0.50 1.67 -1.50 0.00 t2
3 0.00 -1.00 3.50 -4.00 t3
4 0.00 0.00 -2.00 9.00 t4

- (k1+k2)/m1 + k2/m2 = 0 k2/m1 + - (k2+k3)/m2 + k3/m

 = (k1+k2)/m1 - k2/m2 = (k2+k3)/m2 - k2/m1 - k3/m3
= (m2(k1+k2) - m1k2) / m1m2 = (m1m3(k2+k3) - m2m3k2 - m2m
= (m2k1 + m2k2 - m1k2) / m1m2
= (m2k1 + k2(m2-m1))/m1m2

[rad/s] [rad/s]
1 0.41 2

k3/m2 + - (k3+k4)/m3 + k4/m4 = 0 k3/m3 + - (k4+k5)/m4 = 0

= (k3+k4)/m3 - k3/m2 - k4/m4 = (k4+k5)/m4 - k4/m3
= (m2m4(k3+k4) -m3m4k3 - m3m2k4) / m3m2m4 = (m3(k4+k3) - m4k4) / m4m3
= (k3m4(m2-m3) + k4m2(m2-m3)) / m3m2m4 = (m3k4 + m3k5 - m4k4) / m4m3

[rad/s] [rad/s]
3 3.54 4
k3 k4 k5

3 4 5

m3 m4

2 1
 k2 0 0 t1 = 0
(k2+k3) k3 0 t2
k3 (k3+k4) k4 t3
0 k4 (k4+k3) t4

matris de rigides [K]

0 0 t1
-3 0 t2
7 -4 t3
-4 9 t4

0 0 0
1/m2 0 0
0 1/m3 0
0 0 1/m4

0.00 0.00 0.00

0.33 0.00 0.00
0.00 0.50 0.00
0.00 0.00 1.00

0 0
k3 0
(k3+k4) k4
 k4 (k4+k3)

-0.67 0.00 0.00

1.67 -1.50 0.00
-1.00 3.50 -4.00
0.00 -2.00 9.00

- (k2+k3)/m2 + k3/m3 = 0
m2 - k2/m1 - k3/m3
2
+k3) - m2m3k2 - m2m1k3) / m2m1m3

Err:502

- (k4+k5)/m4 = 0
m4 - k4/m3
k 3) - m 4k 4) / m 4m 3
m 3k 5 - m 4k 4) / m 4m 3

2.65