Structural Dynamics Lecture 4

Outline of Lecture 4
Multi-Degree-of-Freedom Systems
Formulation of Equations of Motions.
Newtons 2nd Law Applied to Free Masses. DAlemberts Principle. Basic Equations of Motion for Forced Vibrations of Linear Viscous Damped Systems. Analytical Dynamics. Properties of , and .

Undamped Eigenvibrations.
Generalized Eigenvalue Problem.

Structural Dynamics Lecture 4

Multi-Degree-of-Freedom Systems
Formulation of Equations of Motion Newtons 2nd Law Applied to Free Masses

Structural Dynamics Lecture 4

MDOF Systems:

coordinates for the description of the system. and

used

Fig. 1 shows two roller scates with the masses the same direction on a smooth horizontal plane. : Degrees of freedom. : Dynamic loads on masses.

, moving in

and are measured from the statical equilibrium position of the masses. Springs and dampers are assumed to be linear. Then, any static force disappears from the dynamic equations of motion. Masses are cut free from the springs and dampers. External dynamic loads and internal spring and damper forces are applied to the free masses with the signs shown on Fig. 1. Newtons 2nd law of motion is applied to each of the free masses:

Structural Dynamics Lecture 4

Equivalent matrix formulation:

: Displacement vector. : Dynamic load vector. : Mass matrix. : Stiffness matrix. : Damping matrix.

Structural Dynamics Lecture 4

(2) is the general matrix format for the equations of motion of a linear MDOF system. may include rotational components. If so, the conjugated components of are dynamic external moments. Initial conditions: : Initial displacements. : Initial velocities. Vector formulation of the initial conditions:

(2) is solved with the initial conditions (4).

Structural Dynamics Lecture 4

Example 1 : Shear building exposed to a horizontal earthquake

Structural Dynamics Lecture 4

DAlemberts Principle (2) is written as an equivalent static equilibrium equation:

: Inertial load vector. The components of are applied on the free masses in the direction of the selected degrees of freedom along with the components of the dynamic load vector and the internal force vector . The application of dAlemberts principle at the formulation of dynamic equations of motion will be extensively used in what follows. Next, the equations of motion may be formulated by any of the two analysis methods of static structural mechanics: Force method. Deformation method.

Structural Dynamics Lecture 4

Basic Equations of Motion for Forced Vibrations of Linear Viscous Damped Systems

: Translational or rotational degrees of freedom. : Mass or mass moment of inertia. : Dynamic load or moment. : Damping force or damping moment. : Inertial load or inertial moment.

Structural Dynamics Lecture 4

DAlemberts principle is used, and the structure is analyzed statically with the loads , and . Force method: The displacement or rotation in all degrees of freedom are given as:

: Flexibility coefficient for displacement or rotational degree of freedom due to a unit force or unit moment in degree of freedom .

Structural Dynamics Lecture 4

Maxwell-Bettis reciprocal theorem implies the symmetry property:

(7) may be written in the following matrix form:

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Structural Dynamics Lecture 4

: Mass matrix. : Flexibility matrix. Due to (8), providing: becomes a symmetric matrix. (9) is multiplied by

: Stiffness matrix.

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Structural Dynamics Lecture 4

Power balance: Scalar multiplication of (13) with :

: Kinetic energy. : Strain energy. : Supplied power. : Dissipated power.

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Structural Dynamics Lecture 4

Dissipative damping force vector:

Constitutive equation for damping forces:

Linear viscous damping model:

A dissipative linear viscous damping model vector requires that:

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Structural Dynamics Lecture 4

Hence, the damping matrix must be positive definite. From (13) and (22) follows the general equation of motion for forced vibrations of a linear viscous damped system of degrees of freedom:

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Structural Dynamics Lecture 4

Analytical Dynamics The method is explained with reference to the system defined on Fig. 1. Conservative dynamic loads: Kinetic energy: .

Potential energy (strain energy plus potential energy of

and

):

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Structural Dynamics Lecture 4

Non-conservative forces:

Lagrange function (Lagrangian):

Notice that the kinetic energy depend on both and .

in a more general case may

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Structural Dynamics Lecture 4

Lagrange equations of motion:

(24) holds for linear as well for non-linear MDOF systems. Proof by verification of Eq. (2): , .

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Structural Dynamics Lecture 4

Then, the identity of (2) and (29) follows from (27) and (30). Vector formulation of Eq. (29):

Convention: : Row vector.

: Column vector.

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Structural Dynamics Lecture 4

: Story mass of infinite stiff story beams. : Shear stiffness of linear elastic story columns. : Damping constant in story columns. : Horizontal displacement of support. : Displacement of the th story beam relative to the ground surface. Shear force between th and th story beam:

The shear forces and are applied to the ith story mass in the opposite direction and the direction of , respectively. Next Newtons 2nd law is applied to all free story masses:

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Structural Dynamics Lecture 4

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Structural Dynamics Lecture 4

Matrix formulation:

where:

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Structural Dynamics Lecture 4

Example 2 : Torsional eigenvibrations of multi-degree-of-freedom system.

: Rotation of flywheel , [rad]. : Mass moment of inertia of flywheels, [kgm2]. : St. Venant torsional stiffness of shaft, [Nm2] : Distance between flywheels.

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Structural Dynamics Lecture 4

Lagrange equations of motion: Kinetic energy:

Potential energy:

where:

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Structural Dynamics Lecture 4

At first the following partial derivative of the Lagrangian are evaluated ( ):

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Structural Dynamics Lecture 4

Then:

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Structural Dynamics Lecture 4

The mass- and stiffness matrices have the same structure as those of the shear frame, cf. Eqs. (34) and (36). In this case the parameter is given as:

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Structural Dynamics Lecture 4

Properties of

and

Strain energy: Non-negative scalar.

must be symmetric. Supported system: is positive definite. Unsupported system: In this case so-called rigid body motions exist, which are related with zero strain energy. is positive semi-definite.

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Structural Dynamics Lecture 4

Rigid body motions fulfill:

Existence of non-trivial solutions

to (49) requires that:

Kinetic energy: Positive scalar.

is a symmetric positive definite matrix, so (i.e. ).

exist

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Structural Dynamics Lecture 4

Linear viscous damping forces:

Mechanical energy must be dissipated during any motion with non-zero velocity vector :

Hence, the damping matrix must be positive definite. The damping matrix may be decomposed into a symmetric part and an anti-symmetric part : where:

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Structural Dynamics Lecture 4

Since, follows that:

, it

It follows that only the symmetric part of dissipates energy. Antisymmetric viscous damping matrices occur, when the equations of motion are formulated in a rotating coordinate system, where they are denoted gyroscopic damping matrices. The eigenvalues of are real, because is a symmetric matrix. positive definite, if all eigenvalues are positive. is

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Structural Dynamics Lecture 4

Undamped Eigenvibrations Undamped vibrations : Eigenvibrations From (2) and (4): :

Generalized Eigenvalue Problem: Linear independent solutions to the homogeneous matrix differential equation (58) are searched. : Trivial solution. Only solutions are of interest. , the

Guess: Solutions are harmonic motions with the amplitude vector angular frequency and the common phase angle .

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Structural Dynamics Lecture 4

Next, the amplitude vector , the angular frequency and the phase angle are determined, so the homogeneous matrix differential equation (58) is fulfilled. Velocity and acceleration vectors:

Insertion of (59) and (60) into (58):

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Structural Dynamics Lecture 4

(61) is called a generalized eigenvalue problem (GEVP). If , Eq. (61) has the solution:

, i.e. the trivial solution. Hence, non-trivial solutions requires that is singular. This implies that must fulfill the following characteristic equation:

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Structural Dynamics Lecture 4

: Invariants. Roots:

: ith undamped angular eigenfrequency. For a solution : ith eigenmode. The phase angle in (59) is undetermined, and may be chosen arbitrarily. Any value of produces a useful solution. exists to (61).

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Structural Dynamics Lecture 4

If is a solution to (61), then so is where is an arbitrary constant. Hence, the components of can only be determined within a common arbitrary factor. Then, we may choose one component of equal to . The remaining components are obtained from any of the homogeneous linear equations in (61) ( choices. Any of these choices give the same result). Example 3 : GEVP for 2DOF system

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Structural Dynamics Lecture 4

Let:

Characteristic equation:

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Structural Dynamics Lecture 4

Determination of

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Structural Dynamics Lecture 4

The two solutions for

given by (67) are identical, if:

This is indeed the case, if is an eigenvalue.

fulfils the characteristic equation, i.e. if

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Structural Dynamics Lecture 4

Hence, the following eigenmodes are obtained:

The eigenmodes (70) have been illustrated in Fig. 7.

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Structural Dynamics Lecture 4

Box 1 : Determination of the jth eigenmode It is assumed that the jth eigenvalue equation is fulfilled: is known, so the characteristic

Then, is determined as indicated below, so the following homogeneous equations are fulfilled:

linear

1. Choose an arbitrary component of , so has the structure:

to

, e.g. the first component

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Structural Dynamics Lecture 4

2. Choose any determine

linear equations among the from these.

linear equations (72), and

There are possible ways of choosing of (72). All choices provides the same solution, if equation (71).

linear equations from fulfils the characteristic

Notice that the normalization used in (73) cannot be used, if . In this case any of the possible systems of linear equations for the determination of becomes singular. Instead, one of the other components are set to .

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Structural Dynamics Lecture 4

Example 4 : Matematical double pendulum

The equations of motion for the indicated double pendulum is formulated using dAlemberts principle.

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Structural Dynamics Lecture 4

Moment equilibrium around the support points provides:

Next, the undamped eigenfrequency and eigenmodes will be determined for small vibrations around the equilibrium state . Linearization around : ,

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Structural Dynamics Lecture 4

Eigenvalues and eigenmodes become:

(This follows also immediately from symmetry!)

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Structural Dynamics Lecture 4

Example 5 : Eigenfrequencies and mode shapes for shear building The generalized eigenvalue value problem reads, cf. Eq. (34):

where is given by (36). (78) may be restated into the following component equations:

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Structural Dynamics Lecture 4

A solution to (79) is searched on the form:

and are next determined, so all Insertion into the equations for

equations in (79) are fulfilled. provides:

(81) is fulfilled for , which corresponds to the trivial solution. Hence, in order to fulfill (81) for non-trivial solutions , the following relation must hold between and :

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Structural Dynamics Lecture 4

Insertion of (80) into the first equation in (79) again provides the relation (82) between and . Finally, insertion of (80) into the last equation of (79) provides:

where (82) has been used to eliminate

. (83) has the solutions:

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Structural Dynamics Lecture 4

The first solution implies that , and hence provides trivial solutions. The second solution determines the non-trivial solutions to the problem. Then, the components of the th eigenmode become:

The undamped angular eigenfrequencies follow from (78), (82) and (84):

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Structural Dynamics Lecture 4

Summary of Lecture 4
Multi-Degrees-of-Freedom Systems. Formulation of Equations of Motion.
Newtons 2nd law of motion for free masses. DAlemberts principle. Basic Equations of Motion for Forced Vibrations of Linear Viscous Damped Systems. Analytical dynamics.

Properties of

and

Undamped Eigenvibrations.
Generalized eigenvalue problem. Eigenvalues , eigenmodes . Analytical solution for plane shear frame.

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