CE 804.

10. MODAL ANALYSIS OF CONTINUOUS SYSTEMS:

RAYLEIGH-RITZ METHOD

10.1. INTRODUCTION
• Rayleigh-Ritz approach:
Ø Series of shape functions describe motion
Ø Rather than discrete DOF
• Advantages:
Ø Reduce number of system DOF’s
Ø Allows mass to be modeled realistically
♦ Not lumped at discrete locations
Ø Allows for properties and loads that vary arbitrarily

10.2. SHAPE FUNCTIONS AND GENERALIZED DEGREES OF FREEDOM

• Displaced position: η( x, t ) at location x
Ø Expressed as series of N shape functions ψ i ( x )
Ø Generalized amplitude Yi (t )

N
η( x, t ) = ∑ ψ (x ) Y (t )
i =1
i i

η( x, t ) = {ψ i ( x )}T {Yi (t )}

Ø Spatial variation → ψ i ( x )
Ø Time variation → Yi (t )

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Ø Example: Simply supported beam

Y1(t) ψ1(x)

Y2(t) ψ2(x)

Y3(t) ψ3(x)

Ø System DOF → Generalized amplitudes

• Shape functions requirements: ψ i ( x )
Ø Must satisfy geometric boundary conditions
♦ Deflection and slope
Ø Internal continuity
Ø Improved accuracy if ψ i ( x ) approximate vibration

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• Governing equation of motion:

Ø SDOF system using generalized coordinate (Sect. 7.3)

m* Y&&(t ) + c* Y& (t ) + k * Y (t ) = f * (t )

Ø Generalized properties: For ψ i ( x )

♦ Mass: m*
♦ Damping: c*
♦ Stiffness: k*
♦ Force: f*(t)

• Notation: Generalized properties

Ø Shape functions, ψ i ( x ) : Lower case letters
Ø Modal properties: Capital letters

• Governing equation of motion: > 1 shape functions

[m ] {Y&&} + [c ] {Y&} + [k ] {Y } = {f (t )}
* * * *

Ø Each row → Dynamic equilibrium for 1 DOF

♦ Generalized amplitudes Yi (t )
Ø In general: Set of N coupled differential equations

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10.3. GENERALIZED SYSTEM MATRICES FOR MDOF SYSTEMS

• Physical interpretation of properties:
Ø Straight-forward for discrete systems
Ø More difficult for generalized coordinate systems
• Derivation: Principle of virtual work
Ø Parallel to theory in Section 7 for SDOF systems
10.3.1. Generalized Stiffness Matrix

• Stiffness element k ij* : ith row, jth column

Ø Generalized external force in ith generalized DOF

Ø From unit generalized displacement in jth DOF
♦ All other DOF’s restrained
• Work / Energy approach: Definition of k ij*

Ø Work done by elastic forces existing as a result of a unit

displacement in the ith generalized DOF
Ø During an additional unit displacement in the jth DOF

• Resultant system stiffness:

Ø Flexural bending effects
Ø Action of axial forces during flexure (geometric stiffness)
Ø Actions of discrete springs

kij* = kb*ij + k g* ij + k k*ij

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• Generalized Bending Stiffness, k bij

*

Ø Flexural rigidity = E I x (x )
Ø Dynamic equilibrium at displacements Yi (t ) ψ i ( x )
Ø Subjected to virtual displacements: δY ψ j ( x )

♦ δY = Small arbitrary constant

∫
kb*ij = E I x ( x ) ψ′i′( x ) ψ′′j ( x ) dx

• Generalized Geometric Stiffness, k g*ij

∫
k g* ij = − P( x ) ψ′i ( x ) ψ′j ( x ) dx

Ø Negative for compressive axial loads (+ P( x ) )

Ø Positive for tensile axial loads

• Generalized Stiffness due to Discrete Springs, k k*ij

Ø Axial extension/contraction due Yi (t ) = ∆X ip

m
k k*ij = ∑
p =1
k p ∆X ip ∆X jp

Ø Positive if ψ i (x ) and ψ j ( x ) both produce either tension or

compression in spring
Ø Negative if one produces tension & other gives compression

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• Characteristics of generalized stiffness matrix:

Ø Often fully populated
Ø Not banded characteristic as in discrete DOF
Ø Offset by reduction in number of DOF using Rayleigh-Ritz
approach
10.3.2. Generalized Mass Matrix

• Element mij* :

Ø Work done by inertial forces due to unit acceleration in ith

generalized DOF
Ø During additional unit acceleration in jth DOF
• MDOF system:
Ø Distributed mass: m( x )
Ø Concentrated masses: M q

( )
♦ ψ xq = Shape function at M q

ψ i (xq ) ψ j (xq )
r
m = m( x ) ψ i ( x ) ψ j ( x ) dx +
*
ij ∫ ∑M
q =1
q

• Generalized mass matrix: Generally fully populated

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10.3.3. Generalized Damping Matrix

• Element cij* :

Ø Work done by damping forces due to unit velocity in ith DOF

Ø During additional unit velocity in jth DOF
• MDOF system:
Ø Distributed damping: c( x )
Ø Concentrated dampers: C s
♦ ψ ( x s ) = Shape function at C s

u
c = c( x ) ψ i ( x ) ψ j ( x ) dx +
*
ij ∫ ∑C
s =1
s ψ i ( xs ) ψ j ( xs )

• However, damping defined by modal damping ratios rather

than explicit damping matrices

10.3.4. Generalized External Forces

• Forces:
Ø Distributed time-varying force: F ( x, t )
Ø Concentrated forces: Fw (t )
♦ ψ ( x w ) = Shape function at Fw (t )

v
f i = F ( x, t ) ψ i ( x ) dx +
*
∫ ∑ F (t ) ψ (x
w =1
w i w )

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• Vector character of forces and displacements:

Ø Only components parallel to direction of motion considered

10.4. FREE VIBRATION - NATURAL FREQUENCIES AND MODE

SHAPES
• Free vibration of a MDOF structure:
Ø Harmonic motion at one or more natural frequencies
Ø Each mode independent
• Rayleigh-Ritz method: Free vibration
Ø Frequency = ω
Ø Contribution of shape functionYi (t ) to mode

Yi (t ) = Φ i sin (ω t )

Ø Vector representation: All shape functions

{Y (t )} = {Φ} sin (ω t )

• Shape function amplitude vector, {Φ}:

Ø Each element = “Modal amplitude” of one shape function

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• Eigenvalue problem:
Ø Free vibration → {f (t )} = {0}
*

( [k ] − ω [m ] ) {Φ} = {0}
* 2 *

Ø Eigenvector results:
♦ “N” DOF → N shape functions
♦ N natural frequencies (eigenvalues)
♦ N eigenvectors, {Φ}:
§ Shape of vibration mode
§ Relative contributions of shape functions, ψ i ( x )

• Rayleigh-Ritz method: kth mode shape, Λ k ( x )

Λ k ( x ) = Φ1k ψ1 ( x ) + Φ 2 k ψ 2 ( x ) + K + Φ N k ψ N ( x )

Λ k ( x ) = {ψ i ( x )} {Φ}k
T

Ø Amplitude is arbitrary

Ø Modal response, kth mode = Λ k ( x ) x Z k (t )

ηk ( x, t ) = Λ k ( x ) Z k (t ) = {ψ i ( x )} {Φ}k Z k (t )
T

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• Matrix form: All modes

Ø Generalized modal amplitudes: {Z k (t )}

Ø Eigenvectors: [Φ ] (1 column per mode)

η( x, t ) = {ψ i ( x )} [Φ ] {Z k (t )}
T

10.5. GENERALIZED SYSTEM CHARACTERISTICS

• Contribution of shape functions to system response:

{Yi (t )} = [Φ ] {Z k (t )}
• Governing equations of motion:

[m ] [Φ] {Z&& (t )} + [c ] [Φ ] {Z& (t )} + [k ] [Φ ] {Z (t )} = {f (t )}

*
k
*
k
*
k
*

Ø Using orthogonality of modes:

M k* Z&&k (t ) + Ck* Z& k (t ) + K k* Z k (t ) = Fk* (t )

• Generalized system characteristics: kth vibration mode

Ø Generalized Mass: [ ]
M k* = {Φ}k m* {Φ}k
T

K = {Φ} [k ] {Φ}
* T *
Ø Generalized Stiffness: k k k

C = {Φ} [c ] {Φ}
* T *
Ø Generalized Damping: k k k

F = {Φ} {f (t )}
* T *
Ø Generalized Force: k k

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• N uncoupled equations: Each mode

Ø Solved as equivalent SDOF systems
Ø Result → Modal amplitudes, Z k (t )

• Assumption: Damping orthogonality

Ø Satisfied by using modal damping ratio, ζ k
Ø Damping matrix not defined explicitly

10.6. MODAL ANALYSIS PROCEDURE - RAYLEIGH-RITZ METHOD

1. Formation of system property matrices: m , k , f [ ][ ]{ }

* * *

Ø Basis: Shape functions, ψ i ( x )

2. Perform eigenvalue analysis:

Ø Natural frequencies (eigenvalues)
Ø Mode shapes (eigenvectors)
♦ Relative contributions of ψ i ( x ) mode shape
♦ Not mode shape itself

3. Generalized modal characteristics: kth mode

* *
Ø Mass & stiffness: M k , K k
Ø Damping ratio: ζ k
*
Ø Applied force: Fk

♦ Force time series: Fk calculated at each time step

*

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4. Calculate generalized modal amplitude: Z k (t )

Ø Each mode separately

5. Obtain total response

Ø Superimpose modal response (incl. phase angle effects)

10.7. INTERNAL FORCES ASSOCIATED WITH DYNAMIC RESPONSE

• Internal forces:
Ø Shear, bending moments, or axial forces
Ø Directly proportional to dynamic displacements
Ø Contribution of each mode considered separately

• Rayleigh-Ritz formulation: jth mode

η j ( x, t ) = Λ j ( x ) Z j (t ) = {ψ i ( x )} {Φ} j Z j (t )
T

• Axial force in discrete spring (or truss-type member)

Ø Proportional to relative end displacements

Fk j = k ∆X j

where: k = Axial stiffness of spring (or truss member)

∆X j = Axial extension due to η j ( x, t )

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• Mending moment:
Ø Proportional to curvature of displaced shape
Ø Bending moment, M(x): jth mode

d 2 η j ( x, t )
M( x ) = E I x = E I x Λ′′j ( x ) Z j (t )
dx 2
= E I x {ψ′i′( x )} {Φ} j Z j (t )
T

• Shear force, V(x):

Ø Proportional to third derivative of displaced shape

d 3 η j ( x, t )
V( x ) = E I x 3
= E I x Λ′′j′( x ) Z j (t )
dx

= E I x {ψ′i′′( x )} {Φ} j Z j (t )
T

• Accuracy considerations: Rayleigh-Ritz method

Ø Natural frequencies and mode shapes
♦ Good accuracy with relatively few shape functions
♦ Best for lower modes
♦ Not too sensitive assumed shape functions
Ø Derivatives of the mode shapes:
♦ Accuracy deteriorates
♦ worse as order of differentiation increases
♦ Bending moment and shear force questionable

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• Equivalent static force distributions:

Ø Used to reproduce dynamic deflected shape
Ø Modal deflected shape
♦ External load distribution equivalent to inertial forces
Ø Equivalent static force for jth mode: Distributed mass

FEQ j ( x ) = m( x ) ω2j Λ j ( x ) Z j (t )

= m( x ) ω2j {ψ ( x )} {Φ} j Z j (t )
T

where: Z j (t ) = Amplitude of dyn. displacement in jth mode

Ø Equivalent point load for concentrated masses:

♦ Located at x M

PEQ j ( xM ) = M ω2j Λ j ( xM ) Z j (t )

= M ω2j {ψ ( xM )} {Φ} j Z j (t )
T

• Modal bending moment and shear distributions:

Ø Based on equivalent static force distribution
Ø Advantage:
♦ Moment and shear based on mode shapes
♦ Not based on derivatives of mode shapes

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10.8. FINITE ELEMENT METHOD - DISCRETE VS. CONSISTENT

FORMULATIONS
• Discrete approach in FEM
Ø Mass:
♦ Lumped at nodes in FEM
♦ Diagonal mass matrix

Ø Applied forces
♦ Concentrated nodal forces & moments

• Consistent formulation:
Ø Conceptually similar to Rayleigh-Ritz method
Ø FEM implementation:
♦ Shape functions ψ i ( x ) defined for single element only
♦ Definition of ψ i ( x ) : (Interpolation functions)
§ Value at 1 DOF =1.0 (displacement or rotation)
§ Value at other DOF = 0.0

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• Flexural DOF’s for beam element:

1
η4
η3

L 1
1

x η2

η1
1
Interpolation Function: ψ 1 ( x) ψ 2 ( x) ψ 3 ( x) ψ 4 ( x)

Ø Cubic hermitian polynomials:

2 3
x x
ψ1 ( x ) = 1 − 3   + 2  
 L  L
2
xx 
ψ 2 ( x ) = L    − 1
L L 
2
x  x
ψ3 (x ) =    3 − 2 
L  L
2
x x 
ψ 4 ( x ) = L    −1
 L  L 
where: ψ i ( x ) = 1.0 at ith DOF
= 0.0 at other DOF’s

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• Axial DOF’s:
x
Ø Bottom end ψ 5 ( x ) = 1.0 −
L
x
Ø Top end ψ6 (x ) =
L
• Generalized properties:
Ø Calculated as for Rayleigh-Ritz method
Ø Consistent formulation: Generalized properties
♦ Stiffness, mass and force matrices use same interpolation
functions
• Uniform beam: Section 8.6

12E I 12E I 4E I
k11 = k22 = 3
; k12 = k21 = − 3
; k33 = k44 =
L L L

2E I 6E I
k34 = k 43 = ; k13 = k31 = k14 = k 41 =
L L2

6E I
k23 = k32 = k 24 = k42 = −
L2

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• Coupled DOF:
Ø 4 flexural degrees of freedom
Ø 2 axial degrees of freedom will be coupled
Ø Flexural and axial DOF are uncoupled

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