Dynamics of Structures - MDOF

MULTI DEGREE OF FREEDOM (MDOF) SYSTEM
UN-DAMPED FREE VIBRATION OF MDOF SYSTEM

Infinitely stiff beams
m2 -k2 1 k2
k2
m1 1 k1+k2 -k2
m1 m2
k1 k1 k2
Figure 24. Idealization of 2- DOF building frame
Ignore axial deformation, infinitely stiff beams  2

degree of freedom (dof) system (2 independent lateral
translations at floor levels).
By d’Alembert equilibrium of forces:

P inertia + P damping + P stiffness = P external
m v (t) + c v (t) + k v(t) = P(t)
viscous damping mechanism elastic force
Elastic forces on the masses are found from the free

body diagrams:
1
Equations of motion for un-damped free vibration of
the masses:
m1v1 + (k1 + k 2 )v1 − k 2 v 2 = 0 (1a)
m2 v2 − k 2 v1 + k 2 v 2 = 0 (1b)
2
or in matrix form:
m1 0   v1  k1 + k 2 − k 2   v1  0

0   +    = 
 m2  v2   − k 2 k 2  v 2  0 (2)
For n degrees of freedom (dof) system:
m1 0 k11 k12 ... k1n 

   k 22 ... k 2 n 
[m] = 
m2  [k ] = 
 ...   ... ... 
   
0 mn   k nn 
[m]{v} + [k ]{v} = [0] (3)
Pre multiplying by [m]-1
{v} + [m]−1 [k ]{v} = [0]

or
{v} + [D]{v} = [0] (4)
where [D] = [m]−1 [k ] = Dynamic matrix
3
Solution for this equation:
vi = Ai sin(ωt + ψ ) , where i = 1, 2,….n (5)
Ai = amplitude of the deflected shape at ith

coordinate
vi = ωAi cos(ωt +ψ )
vi = −ω 2 Ai sin(ωt + ψ ) = −ω 2 vi
Thus,
− ω 2 {vi } + [D ]{vi } = [0] (6)
[[D] − ω [I ]]{v } = [0]

2
i (7)
Equation 7 is called EIGEN VALUE or

CHARACTERISTIC VALUE problem. ω 2 are the
Eigen values, indicating the square of free-vibration
frequencies. [vi] express the corresponding shapes of
the vibrating system.
Non-trivial solution for equation (7)
4
[D] − ω 2 [I ] = 0 (8)
This determinant gives n degree polynomial in ω 2 .

The mode having the lowest frequency is called the
first mode, the next higher frequency is the second
mode etc.
For each ω 2 , an Eigen vector can be found which is

relative amplitudes of the displacements at nodes,
called NATURAL MODES. If one amplitude is set to
unity, the amplitude vector is normalized to give the
NORMAL MODE CHARACTERISTIC SHAPE.
Normal Coordinates
In general, any deflection represented by coordinate

D can be described by arbitrary set of compatible
mode shape Φ with undetermined amplitude u
D = Φu
u is known as generalized coordinates.
5
Φ31 Φ 32 Φ 33
Φ 21 Φ 22 Φ 23
Φ 11 Φ 12 Φ 13
3-dof system Mode 1 Mode 2 Mode 3
Figure 25. Modal shapes and normal coordinates
Φ is formed by Eigen values for n natural mode.
EXAMPLE : Natural frequency and mode shapes of MDOF systems
m1= m2
m2 EI constant
L
Determine:
m1 - Natural frequencies
L - Corresponding normal mode characteristic
shape
Figure 26.
m1 0  m 0
0  m
Mass matrix [m] =
 m2  =  0
 k1 + k 2 − k2  EI  48 − 24
Stiffness [k] =  −k k 2 
= L3 − 24 24 
 2 
6
EI  48 − 24
Dynamic matrix [D] = [m] [k] =-1
− 24 24 
mL3  
And so,
[D] − ω 2 [I ] = 0
EI  48 − 24 1 0
− 24 24  − ω 2
0 1  = 0
mL3    
EI
for simplicity of solution, let mL3 = 10 (This is
calculated by using the actual values of E, I, L and
m).
480 − ω 2 − 240
=0
− 240 240 − ω 2
for λ = ω , gives λ2 − 720λ + 57600 = 0

2
The roots are λ1 = 91.7  ω1 = 9.6 rad/sec
λ2 = 628.3  ω2 = 25.1 rad/sec
So the natural frequencies of the 2 DOF system are:

ω1 = 9.6 rad/sec and ω2 = 25.1 rad/sec
7
Mode shapes corresponding to the natural
frequencies:
For the first natural frequency, substitution of
ω1 2 = 91.7 to equation (7) gives:
480 − 91.7 − 240   A1  0

 − 240 −   A  = 0 
 240 91 .7  2   
Here, A1 and A2 are the mode shape coordinates.
Letting A2=1, gives solution
 A1  0.618
A  =  1 
 2  
Similarly, for the second natural frequency,

substitution of ω2 = 628.3 , to equation (7) gives:
2
480 − 628.3 − 240   A1  0

 − 240    = 
 240 − 628.3  A2  0
Letting A2=1, gives solution
8
 A1  − 1.62
A  =  1 
 2  
This can be shown diagrammatically as follows:
1 1
0.618 -1.62
Mode 1 ω1 = 9.6 rad / sec Mode 2 ω2 = 25.1 rad / sec
Figure 27: Normal mode characteristic shapes

Dynamics of Structures - MDOF

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Dynamics of Structures - MDOF

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MULTI DEGREE OF FREEDOM (MDOF) SYSTEM

UN-DAMPED FREE VIBRATION OF MDOF SYSTEM

Figure 24. Idealization of 2- DOF building frame

Ignore axial deformation, infinitely stiff beams  2

By d’Alembert equilibrium of forces:

m v (t) + c v (t) + k v(t) = P(t)

viscous damping mechanism elastic force

Elastic forces on the masses are found from the free

m1v1 + (k1 + k 2 )v1 − k 2 v 2 = 0 (1a)

m1 0   v1  k1 + k 2 − k 2   v1  0

For n degrees of freedom (dof) system:

m1 0 k11 k12 ... k1n 

[m]{v} + [k ]{v} = [0] (3)

Pre multiplying by [m]-1

{v} + [m]−1 [k ]{v} = [0]

{v} + [D]{v} = [0] (4)

where [D] = [m]−1 [k ] = Dynamic matrix

vi = Ai sin(ωt + ψ ) , where i = 1, 2,….n (5)

Ai = amplitude of the deflected shape at ith

vi = ωAi cos(ωt +ψ )

− ω 2 {vi } + [D ]{vi } = [0] (6)

[[D] − ω [I ]]{v } = [0]

Equation 7 is called EIGEN VALUE or

Non-trivial solution for equation (7)

This determinant gives n degree polynomial in ω 2 .

For each ω 2 , an Eigen vector can be found which is

In general, any deflection represented by coordinate

u is known as generalized coordinates.

3-dof system Mode 1 Mode 2 Mode 3

Figure 25. Modal shapes and normal coordinates

Φ is formed by Eigen values for n natural mode.

EXAMPLE : Natural frequency and mode shapes of MDOF systems

for λ = ω , gives λ2 − 720λ + 57600 = 0

The roots are λ1 = 91.7  ω1 = 9.6 rad/sec

λ2 = 628.3  ω2 = 25.1 rad/sec

So the natural frequencies of the 2 DOF system are:

480 − 91.7 − 240   A1  0

Here, A1 and A2 are the mode shape coordinates.

Letting A2=1, gives solution

Similarly, for the second natural frequency,

480 − 628.3 − 240   A1  0

Letting A2=1, gives solution

This can be shown diagrammatically as follows:

Mode 1 ω1 = 9.6 rad / sec Mode 2 ω2 = 25.1 rad / sec

Figure 27: Normal mode characteristic shapes

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