Dynamic analysis

Dr.R.Vasudevan,
Professor,
SMBS-VIT university.
vasudevan.r@vit.ac.in
Outline:
 Dynamic analysis
 Element mass matrix
 Problem 1: Free vibration using MATLAB
 Modal analysis
Modal analysis of undamped system
Modal analysis of damped system
 Problem 2: Forced vibration using MATLAB
 Dynamic analysis
 Inertia force to be included

 Equations of motion: ∂ 2u ∂σ x ∂τ xy
ρ 2 = + + fx
∂t ∂x ∂y
∂ 2v ∂σ y ∂τ xy
ρ 2= + + fy
∂t ∂y ∂x
 Element mass matrix
Euler-Bernoulli beam:
l
Element mass matrix: [ M ] = ∫ ρAN T N dx
e

 156 22l 54 − 13l 

ρAl
 22l 4l 2 13l − 3l 2 
[M e ] =  
420  54 13l 156 − 22l 
 
− 13l − 3l 2 − 22l 4l 2 
Timoshenko beam:
2 0 1 0
0 0 0 0
ρAl  
[M e ] =
6 1 0 2 0
 
0 0 0 0
Frame element:

2m1 0 0 m1 0 0 
 0 156m2 22lm2 0 54m2 − 13lm2 
 
 0 22lm2 4l 2 m2 0 13lm2 − 3l m2 
2

[M ] = 
e

 m1 0 0 2m1 0 0 
 0 54m2 13lm2 0 156m2 − 22lm2 
 
 0 − 13lm2 − 3l 2 m2 0 − 22lm2 4l 2 m2 
Linear triangular element:
2 0 1 0 1 0
0 2 0 1 0 1
 
ρA 1 0 2 0 1 0
[M ] =
e
 
12 0 1 0 2 0 1
1 0 1 0 2 0
 
0 1 0 1 0 2
4 0 2 0 1 0 2 0
0 4 0 2 0 1 0 2
Bi-linear element : 
2

0 4 0 2 0 1 0
 
ρ A  0 2 0 4 0 2 0 1
[M ] =
e

36 1 0 2 0 4 0 2 0
 
0 1 0 2 0 4 0 2
2 0 1 0 2 0 4 0
 
0 2 0 1 0 2 0 4
  Equations of motion for dynamic analysis:

[ M ]{d} + [ K ]{d } = {F (t )}
 For free vibration :

[ M ]{d} + [ K ]{d } = 0
 The eigen value problem:

([ K ] − ω [ M ]}{d } = 0
2

where ω is the angular natural frequency in rad/s and d is the mode shape.
 Problem 1: Free vibration using MATLAB

Find the natural frequency of a frame of L-shaped which is made of two beams of
length of 1 m each. Both beams have cross section of 0.01 m by 0.01m. The elastic
Modulus is 100 GPa. The beam has mass density of 1000 kg/m3.
Problem 1: Free vibration using MATLAB
Find the natural frequency of a
frame of L-shaped which is made
of two beams of length of 1 m
each. Both beams have cross
section of 0.01 m by 0.01m. The
elastic Modulus is 100 GPa. The
beam has mass density of 1000
kg/m3.

Mode Natural
no. frequency
1 34
2 92
3 455
4 667
5 1458
 Modal analysis
 What is modal analysis?
A technique used to determine a structure’s vibration characteristics:
 Natural frequencies

 Mode shapes

 Mode participation factors (how much a given mode participates in

a given direction)
 Most fundamental of all the dynamic analysis types.
 Allows the design to avoid resonant vibrations or to vibrate at a
specified frequency (speakers, for example).

Gives engineers an idea of how the design will respond to different

types of dynamic loads.
Helps in calculating solution controls (time steps, etc.) for other
dynamic analyses.
Recommendation: Because a structure’s vibration characteristics
determine how it responds to any type of dynamic load, always perform
a modal analysis first before trying any other dynamic analysis.
 Modal analysis of undamped system

 The governing differential equation of motion for a “n” degree of

freedom linear second order system:

[M ]{d}+ [K ]{d } = {F }
The form of response or solution can be assumed as: {d (t )} = {φ}eiωt
{φ} - mode shape (eigen vector) and ω natural frequency
The general solution to be linear combination of each mode:

{d (t )} = c1{φ1}eiω t + c2 {φ2 }eiω t + ....... + cn {φn }eiω t

1 2 n

For free vibration with {F}=0, (− ω [M ] + [K ]){φ}e

2 i ωt
=0
ωi2 [ M ]{φi } = [ K ]{φi }
 Multiply {φi }T on both sides, ωi {φi } [M ]{φi } = {φi } [K ]{φi }
2 T T

According to the general property of mass and stiffness matrix in the form

{X }T [M ]{X } > 0, {X }T [K ]{X } ≥ 0, for {X } ≠ 0

As the eigen vectors are orthogonal with respect to mass and stiffness
matrices

for i ≠ j {φ } [M ]{φ } = {φ }[K ]{φ } = 0

j
T
i j
T
i

The orthogonality of eigen vectors provides

{φi } [M ]{φi } = 1
T
{φ j }T [K ]{φi } = ωi2

After normalizing the eigen vector, {d } = [Φ ]{η }

[Φ ] = [φ1 , φ 2 ,......, φ n ]
 [M ][Φ ]{η} + [K ][Φ ]{η } = {F }
Premultiplying [Φ ]T on both sides

[Φ ]T [M ][Φ ]{η} + [Φ ]T [K ][Φ ]{η } = [Φ ]T {F }

{η} + diag[ωi2 ]{η} = ΦT {F } = { fi }

In other words, the system equations are decoupled, η i +ω i η i = f i
 2
 Modal analysis of damped system

 The governing differential equation of motion for a “n” degree of

freedom linear second order system:

[M ]{d}+ [C ]{d} + [K ]{d } = {F }

Proportional or Rayleigh’s damping: [C ] = α [M ] + β [K ]
{φi }T [C ]{φ j } = 0, i≠ j

and [Φ ] [C ][Φ ] becomes a diagonal matrix

T

Governing differential equation of motion: η i +2ξ iωiηi + ωi ηi = f i

 2

Application of Laplace transform yields,

ηi (0 ) + (s + 2ξ iωi )ηi (0) + f i (s )

ηi (s ) =
s 2 + 2ξ iωi s + ωi
2
 The inverse Laplace transform yields,
ξi t
ηi (t ) = ηi (0) e cos ωd t +η i (0 ) − ηi (0)e sin (ωd t ) + sin ωd (t − τ ) f (τ )dτ
1 −ξ iωi (t −τ )
∫e
−ξ iωi t −ξ iωi t

1 − ξi
2 ωd 0

The solution in physical coordinates: {d (t )} = [Φ ]{η (t )}

Problem 2: Forced vibration using MATLAB

 Beam: Cantilever beam

 Force applied: A harmonic force of magnitude 1 N at the tip of the
beam and excitation frequency varies from 0 to 3000 rad/s
Mode Natural
no. frequency
1 65
2 402
3 1135
Questions

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Thank You…