MatLab Programming Eigenvalue Problems and Mechanical Vibration

x1 k1 m1 k2

x2 k3 m2

x3 k4 m3

x4

m4

k5 k6
Figure by MIT OCW.

Cite as: Peter So, course materials for 2.003J/1.053J Dynamics and Control I, Spring 2007. MIT OpenCourseWare (http://ocw.mit.edu), Massachusetts Institute of Technology. Downloaded on [DD Month YYYY].

A Coupled Mass Vibration Problem

x1 k1 m k2 m x2 k1

Figure by MIT OCW.

EOM:

m&&1 + k1 x1 k 2 ( x2 x1 ) = 0 x m&&2 + k1 x2 + k 2 ( x2 x1 ) = 0 x
Cite as: Peter So, course materials for 2.003J/1.053J Dynamics and Control I, Spring 2007. MIT OpenCourseWare (http://ocw.mit.edu), Massachusetts Institute of Technology. Downloaded on [DD Month YYYY].

Vibration Solutions harmonic response Trial solution:

x1 c1 x = c cos(t + ) 2 2

Matrix representation of EOM:

2 + (k1 + k 2 ) / m c1 k2 / m = 0 2 k2 / m + (k1 + k 2 ) / m c2

Cite as: Peter So, course materials for 2.003J/1.053J Dynamics and Control I, Spring 2007. MIT OpenCourseWare (http://ocw.mit.edu), Massachusetts Institute of Technology. Downloaded on [DD Month YYYY].

Vibrational Frequencies and Mode Shapes Characteristic Equation (Determinant = 0 ):

k1 + k 2 m 2 = k 2

k1 = m
2 1

k1 + 2k 2 = m
2 2

c1 1 c = A1 1 2 1 c1 1 c = A2 1 2 2

Cite as: Peter So, course materials for 2.003J/1.053J Dynamics and Control I, Spring 2007. MIT OpenCourseWare (http://ocw.mit.edu), Massachusetts Institute of Technology. Downloaded on [DD Month YYYY].

Vibrations as a general class of Eigenvalue Problems Recast EOM:

2 + (k1 + k 2 ) / m c1 k2 / m = 0 2 k2 / m + (k1 + k 2 ) / m c2

As:
k 2 / m c1 2 (k1 + k 2 ) / m k /m c = (k1 + k 2 ) / m 2 0 2 k 2 / m c1 (k1 + k 2 ) / m 2 1 k /m c = 0 (k1 + k 2 ) / m 2 2 A x = I x ( A I ) x = 0
Cite as: Peter So, course materials for 2.003J/1.053J Dynamics and Control I, Spring 2007. MIT OpenCourseWare (http://ocw.mit.edu), Massachusetts Institute of Technology. Downloaded on [DD Month YYYY].

0 c1 2 c2 0 c1 c 1 2

Eigenvalue equation, Eigenvalues, Eigenvectors Eigenvalue equation:

A x = x ( A I ) x = 0

Eigenvalues (angular frequencies of the vibration):

Eigenvectors (mode shape of the vibration):

c1 x= c2

Cite as: Peter So, course materials for 2.003J/1.053J Dynamics and Control I, Spring 2007. MIT OpenCourseWare (http://ocw.mit.edu), Massachusetts Institute of Technology. Downloaded on [DD Month YYYY].

Solving Eigenvalue Problem in MatLab Look at the problem numerically:

m = 1kg
Simple m-file:

k1 = 1N / m k 2 = 2 N / m

m=1; k1=1; k2=2; A=[(k1+k2)/m -k2/m; -k2/m (k1+k2)/m] [X,L]=eig(A); X L

Cite as: Peter So, course materials for 2.003J/1.053J Dynamics and Control I, Spring 2007. MIT OpenCourseWare (http://ocw.mit.edu), Massachusetts Institute of Technology. Downloaded on [DD Month YYYY].

MatLab output of simple vibration problem eigenvector 1 eigenvector 2 X= -0.7071 -0.7071 -0.7071 0.7071

L= eigenvalue 1 1.0000 0 eigenvalue 2 0 5.0000 Ok, we get the same results as solving the characteristics equation so what is the big deal?
Cite as: Peter So, course materials for 2.003J/1.053J Dynamics and Control I, Spring 2007. MIT OpenCourseWare (http://ocw.mit.edu), Massachusetts Institute of Technology. Downloaded on [DD Month YYYY].