.

Modal Analysis of Undamped Forced MDOF Systems

21

211

Lecture 21: MODAL ANALYSIS OF UNDAMPED FORCED MDOF SYSTEMS

212

TABLE OF CONTENTS
Page

21.1. Modal Analysis of Forced Undamped MDOF System 21.1.1. Modal Forces . . . . . . . . . . 21.1.2. Modal Equations of Motion . . . . . . 21.1.3. Forced Response Example . . . . . . 21.1.4. Frequency Response Functions . . . . . 21.2. MDOF Under Prescribed Base Motion 21.3. Base Motion EOM 21.3.1. Modal Analysis . . . . . . . . . 21.3.2. Frequency Response Functions . . . . .

. . . . . .

. . . . . . . .

. . . .

. . . . . . . . .

213 . . . 214 . . . 214 . . . 215 . . . 217 217 218 . . . 218 . . . 2110

212

213

21.1 MODAL ANALYSIS OF FORCED UNDAMPED MDOF SYSTEM

The modal analysis method presented in the previous Lecture for unforced, undamped, MDOF dynamical systems, is extended here to the case of prescribed forces and/or base motions. It will be seen that extensions are relatively minor as long as the system is undamped. The main new concept required is that of modal forces. This ingredient makes the modal equations non-homogeneous, and requires computation of both homogeneous and particular solutions. If the prescribed force or base motion is harmonic, a comparison of the response amplitude to that of the static response will allow us to introduce the frequency response functions for MDOF. This generalizes the SDOF results of Lecture 17. 21.1. Modal Analysis of Forced Undamped MDOF System

;;
(a) k1 = 6

(b)

Static equilibrium position

Fs1 = k1 u1
Mass m 1 = 2

u 1 = u1(t)

p1 = p1(t)
Static equilibrium position

.. FI1 = m 1 u1 F s2

p1 = p1(t)

k2 = 3

F = k2 (u2u1) s2

u 2 = u2(t)

Mass m 2 = 1

p 2 = p2(t) x

.. FI2= m2 u 2

p 2 = p2(t)

Figure 21.1. Two-DOF, forced, undamped spring-mass example system: (a) conguration, (b) DFBD.

We again consider the two-DOF example of 22.1. As numerical values we take m 1 = 2, m 2 = 1, c1 = c2 = 0, k1 = 6, k2 = 3, p1 = p1 (t), p2 = p2 (t). (21.1)

where p1 (t) and p2 (t) are specied force histories applied to masses m 1 and m 2 , respectively. The resulting undamped but forced system is displayed in Figure 21.1. The known matrices and vectors in the general MDOF equation of motion (EOM): Mu + Cu + Ku = p, become M= 2 0 0 , 1 C= 0 0 0 , 0 K= 213 9 3 3 , 3 p= p1 (t) . p2 (t) (21.2)

Lecture 21: MODAL ANALYSIS OF UNDAMPED FORCED MDOF SYSTEMS

214

and the matrix EOM becomes 2 0 0 1 u1 9 + 3 u2 3 3 u1 u2 = p1 (t) . p2 (t) (21.3)

Comparing to the EOM in 23.1, it is seen that the only difference is the presence of specied forces on the RHS. As a result the general solution is the sum of the homogeneous and particular solutions. The modal analysis techniques described there can be reused with only minor modications described next. 21.1.1. Modal Forces It is convenient to write a system such as (21.2) in the compact matrix form M u(t) + K u(t) = p(t). (21.4)

Suppose that the modal eigenanalysis of the unforced version of (21.4), that is, M u + K u = 0, has been carried out as described in the previous two Lectures, and that the modal matrix has been constructed with the mass-orthogonalized eigenvectors i as columns. Modal analysis relies on the assumption introduced in 23.1.5 of Lecture 23: u(t) = (t), (21.5) where (t) is the vector of modal amplitudes i (t). (The relation (21.5) is also called modal superposition, modal decomposition, or spectral decomposition in the literature.) Because does not depend on time, u = (t) and u = (t). Insert these into (21.4) and then premultiply through by t to get T M (t) + T K (t) = T p(t). (21.6)

But T M = Mg and T K = Kg are the generalized mass and stiffness matrices, respectively, which are diagonal. Furthermore if the eigenvectors stacked as columns of have been massorthonormalized as stated, Mg = I, which is the identity matrix, whereas Kg = diag(i2 ) has the squared frequencies in its diagonal. To accomodate the RHS of (21.6) we introduce the denition f(t) = T p(t), (21.7)

The entries of f(t), denoted by f i (t), are called modal forces and also (in a wider context) generalized forces. To show how those forces are obtained, consider the example system, in which the modal matrix was displayed in 23.1.5 of Lecture 23. Applying (21.7) yields 1 f 1 (t) T 6 = p(t) = 1 f 2 (t) 3 21.1.2. Modal Equations of Motion Substitute (21.7) into (21.6), and account for the diagonal conguration of Mg = I and Kg = diag(i2 ) noted above. The matrix EOM in modal coordinates becomes (t) + diag(i2 ) (t) = f(t). 214 (21.9) p1 (t) + 2 p2 (t) 2 6 p1 (t) = 6 . 1 p1 (t) p2 (t) p2 (t) 3 3 (21.8)

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21.1 MODAL ANALYSIS OF FORCED UNDAMPED MDOF SYSTEM

These are called the modal EOM. For a n-DOF dynamical system governed by the physical EOM (21.4), (21.9) represents a set of n uncoupled, nonhomogeneous equations. To display this decoupling clearly, consider the example system. Using results of the previous Lecture as well as (21.8), we obtain the modal EOM in matrix form as 1 0 0 1 1 (t) 3/2 + 2 (t) 0 0 6 1 (t) = 2 (t) f 1 (t) , f 2 (t) (21.10)

which uncouples into two nonhomogeneous, second-order ODEs: 1 (t) + (3/2) 1 (t) = f 1 (t) = p1 (t) + 2 p2 (t) / 6, 2 (t) + 6 2 (t) = f 2 (t) = p1 (t) p2 (t) / 3.

(21.11)

The solution of each ODE is the sum of its homogeneous solution, which depends on the initial conditions (which can be obtained by the method presented in 23.1.7 of Lecture 23) and the particular solution, which depends on the forcing terms f 1 (t) and f 2 (t). Once the modal solutions are on hand, they can be transformed to physical coordinates via u = . 21.1.3. Forced Response Example To illustrate the analysis process for the example problem, assume rest initial conditions and a harmonic force of amplitude F2 , circular frequency , and cosine dependency, acting on mass 2: p(t) = 0 , F2 cos t u0 = 0 , 0 v0 = 0 , 0 (21.12)

Here F2 and will be kept as variables during the analysis to help the construction of frequency response function (FRF) graphs later. The modal forces are f 1 (t) = (2/ 6) F2 cos t and f 1 (t) = (1/ 3) F2 cos t. The modal equations are 1 (t) + (3/2) 1 (t) = (2/ 6) F2 cos t, 2 (t) + 6 2 (t) = (1/ 3) F2 cos t. (21.13)

Because all IC are zero, the homogeneous solution of each ODE vanishes and only its particular solution contributes. To nd that quickly, note that the particular solution of + 2 = A cos t is p = A cos t/(2 2 ). Thus (2/ 6) F2 cos t, 1 (t) = 2 1 2 (1/ 3) F2 2 (t) = 2 cos t, 2 2 (21.14)

Here we have kept the natural frequencies 1 and 2 as generic to make the conguration of the particular solutions more visible.
Recall from Lecture 21 that this are called transient and steady state solutions, respectively, by structural engineers when the system includes damping. To get that result, insert the guess 2 guess = B cos t in + = A cos t, and solve for B.

215

Lecture 21: MODAL ANALYSIS OF UNDAMPED FORCED MDOF SYSTEMS

216

Displacements

Displacements

2 1 0

u2(t) u1(t)

(a) = 0

2 1 0

u2(t)

(b) = 1

1 2 0 2

1 2 0 2 4 6

u1(t)
Time t
8 10 12

Time t

10

12

Displacements

Displacements

2 1 0

(c) = 3/ 2 = 2.1213 ... u2(t) = 0 u1(t)

0 2 4

3 2 1 0

(d) = 3 u2(t) u1(t)

0 2 4 6 8 10 12

1 2 3 6

1 2

Time t

10

12

Time t

Figure 21.2. Response of harmonically excited example system for 4 values of the excitation frequency : (a) = 0, a static force, (b) = 1, below both natural frequencies: masses oscillate in phase; (c) = 3/ 2 2.12132, which produces mass-2 antiresonance; and (d) = 3, higher than both natural frequencies: masses oscillate 180 out of phase.

Combining the solutions (21.14) as per u(t) = (t) yields 1 1 1 2 u 1 (t) 6 3 1 (t) = 1 F cos t 1 u(t) = = 3 2 2 1 2 u 2 (t) 2 (t) 2 1 6 3 2 2 F2 cos t F2 cos t 2 1 = 2 = 2 2 2 )(2 2 ) + 2 3 2 (6 2 )(3 2 (1 1 2 2
2 2 The last expression is obtained upon substituting 1 = 3/2 and 2 = 6.

2 2

1 + 2 1 2
2 2 2)

2 2

(21.15)
2

6 2(9 2

Velocities are obtained by direct differentiation with respect to t: u(t) = F2 sin t u 1 (t) = u 2 (t) (6 2 )(3 2
2)

6 2(9 2

(21.16)

Figure 21.2 plots displacement responses (21.15) for F2 = 2, over time range 0 t 12, for the following four values of the excitation frequency. =0 =1 Force p2 is static and equal to F2 = 2 for all time t. The static deections are u 1 = F2 /k1 = 1/3 and u 2 = F2 /k1 + F2 /k2 = 1. This excitation is low frequency in the sense that < 1 = 3/2 1.224 and < 2 = 6 2.449. The masses oscillate in phase. 216

217

21.2 MDOF UNDER PRESCRIBED BASE MOTION

(a)
|SS magnification factor| SS magnification factor
15 10 5 0 5 1000 100 10 1 0.1 0.01 0.001

(b)
Resonance at = 1

Mass 1 Mass 2

Mass 1 Mass 2

Resonance at = 2

10 0 1 2 3 4 5

15

Antiresonance of mass 2 at = 2.12132 0.1 0.2

Excitation frequency

Excitation frequency

0.5

10

Figure 21.3. Frequency Response Functions (FRF) of harmonically excited example system: (a) natural scale plot, (b) log-log plot.

=3/ 2 This excitation, with numerical value 2.12132, is intermediate frequency in the sense that > 1 = 3/2 1.224 and < 2 = 6 2.449. Under this particular it may be veried that u 2 (t) = 0 for all time since the second entry of the rightmost vector in (21.15) is identically zero. Thus mass 2 never moves. This phenomenon is called antiresonance. =3 This excitation is high frequency in the sense that > 1 = 3/2 1.224 and > 2 = 6 2.449. The masses oscillate iat 180 out of phase, moving in opposite directions. Note that vertical plot range: 3 to +3 is the same for all four plots in Figure 21.2, to facilitate visual amplitude comparison. 21.1.4. Frequency Response Functions Recall from Lecture 21 that a Frequency Response Function (FRF) is the ratio Ds of the steadystate displacement response amplitude to the static displacement, computed as a function of excitation frequency. The FRF, also called steady-state magnication factor, pinpoints at a glance the location of resonances. The log-log version of this plot is obtained by taking the absolute value of the magnication factor (to avoid taking the log of negative numbers). For a MDOF system, there are as many FRF as DOF. For our example the static displacements are u st1 = F2 cos t/k1 = F2 cos t/6 and u st2 = F2 cos t (1/k1 + 1/k2 = F2 cos t/2. (These values may be veried by making = 0 in (21.15).) The amplitude of the steady strate response is obtained by setting cos t = 1 in (21.15), which gives U1 = 6F2 /(6 2 )(3 2 2 ) and U2 = 2F2 (9 2 2 )/(6 2 )(3 2 2 ). Consequently the magnication factors at the point mass locations are U1 18 U2 2(9 2 2 ) Ds1 = , Ds2 = . (21.17) = = u st1 (6 2 )(3 2 2 ) u st2 (6 2 )(3 2 2 ) Figure 21.3(a) plots the FRF for masses 1 and 2 as the excitation frequency sweeps over the range 0 5. Figure 21.3(b) is a log-log plot version that covers a wider excitation spectrum. This version pinpoints resonances and the antiresonance better.
Antiresonance has important technical applications, such as vibration and noise mitigation.

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Lecture 21: MODAL ANALYSIS OF UNDAMPED FORCED MDOF SYSTEMS

;;;
(a) k1 = 6

218

(b)

u b (t) : prescribed

Static equilibrium position

Fs1 = k1 (u1 u b )
Mass m 1 = 2

u 1 = u1(t)

.. FI1 = m 1 u1
Static equilibrium position

F s2 k2 = 3 F = k2 (u2u1) s2

u 2 = u2(t)

Mass m 2 = 1

.. FI2 = m2 u 2

Figure 21.4. Two-DOF spring-mass system under prescribed base excitation.

21.2. MDOF Under Prescribed Base Motion The two-DOF example problem is taken to be unforced, as in the previous Lecture, but under prescribed base motion u b (t). See Figure 21.4(a). 21.3. Base Motion EOM Using the DFBD shown in Figure 21.4(b) we construct the matrix EOM m1 0 0 m2 u1 k + k2 + 1 u2 k2 k2 k2 u1 u2 = k1 u b (t) . 0 (21.18)

As specic values we take those used in previous cases: m 1 = 2, m 2 = 1, c1 = c2 = 0, k1 = 6, k2 = 3. (21.19)

The base motion, however, is for now left generic as well as k1 on the RHS, so (21.18) becomes 2 0 0 1 9 u1 + 3 u2 3 3 u1 u2 = k1 u b (t) . 0 (21.20)

218

219 21.3.1. Modal Analysis

21.3 BASE MOTION EOM

Since the LHS of (21.20) is the same as before, the modal analysis procedure described in S24.1 for forced case applied with only cosmetic changes, since the prescribed base motion is equivalent to a force p1 (t) = k1 u b (t) on mass 1 whereas p2 (t) = 0. In particular, the previously computed natural frequencies and mass-orthogonalized mode shapes, as well as the modal matrix formed with the latter, can be reused without change. Consequently the result (21.12) for the modal forces is applicable. Replacing there p1 (t) = k1 u b (t) and p2 (t) = 0 gives the modal forces p1 (t) + 2 p2 (t) 1 f 1 (t) 6 T = k1 u b (t) 6 = p(t) = 1 p1 (t) p2 (t) f 2 (t) 3 3 The modal equations, leaving 1 and 2 symbolic for the moment, are 1 2 1 (t) + 1 1 (t) = k1 u b (t), 6 1 2 2 (t) + 2 2 (t) = k1 u b (t). 3 (21.22) (21.21)

We will assume a state of rest at t = 0. Thus all IC (displacement and velocities) are zero, and both modal solutions reduce to the particular, a.k.a. steady-state, component. To solve for this we need a specic form for the RHS. To facilitate comparsion with the forced problem, we take a harmonically varying base motion of excitation frequency , amplitude Ub , and cosine dependence, whence u b (t) = Ub cos t and the modal EOM (21.22) become 1 2 1 (t) + 1 1 (t) = k1 Ub cos t, 6 The steady-state solutions are (1/ 6) 1 (t) = 2 k1 Ub cos t, 1 2 (1/ 3) 2 (t) = 2 k1 Ub cos t. 2 2 (21.24) 1 2 2 (t) + 2 2 (t) = k1 Ub cos t. 3 (21.23)

2 2 Combining these solutions as per u(t) = (t), and nally replacing k1 = 6, 1 = 3/2 and 2 = 6 yields 1 1 2 1 2 2 + 2 2 1 u 1 (t) 2 3 1 (t) = k U cos t 1 u(t) = = 6 1 b 1 1 2 u 2 (t) 2 (t) 6 2 1 2 2 1 2 2 6 3 (21.25) 2 1 + 2 6Ub cos t 3 3/2 2 6 2 = Ub cos t = . 1 1 3 (6 2 )(3 2 2 ) 3/2 2 6 2

Figure 21.5 plots displacement responses (21.24) for base amplitude motion Ub = 1, over time range 0 t 12, for the following four values of the excitation frequency. =0 Base motion is static and equal to Ub = 1 for all time t. The static deections are u 1 = u 2 = Ub = 1, since the system moves as a rigid body. This can be readily veried by setting = 0 in the last of (21.25). 219

Lecture 21: MODAL ANALYSIS OF UNDAMPED FORCED MDOF SYSTEMS

2110

4 3 2 1 0 1 2 3 4

Displacements

Displacements

u1(t)

u2(t)

(a) = 0

Time t

10

12

4 3 2 1 0 1 2 3 4

u2(t)

(b) = 1 u1(t)

Time t

10

12

4 3 2 1 0 1 2 3 4

Displacements

Displacements

(c) = 3 = 1.732 ...

u1(t)=0
0 2 4

u2(t)
6 8 10 12

4 3 2 1 0 1 2 3 4

(d) = 3 u2(t) u1(t)

0 2 4 6 8 10 12

Time t

Time t

Figure 21.5. Response of harmonically base-excited example system for 4 values of the excitation frequency : (a) = 0, a static force, (b) = 1, below both natural frequencies: masses oscillate in phase; (c) = 3 1.732, which produces mass-1 antiresonance; and (d) = 3, higher than both natural frequencies: masses oscillate 180 out of phase.

=1 = 3

This excitation is low frequency in the sense that 6 2.449. The two masses oscillate in phase.

< 1 =

3/2 1.224 and

< 2 =

=3

This excitation, with numerical value 1.732, is intermediate frequency in the sense that > 1 = 3/2 1.224 and < 2 = 6 2.449. Under this particular it may be veried from (21.25) that u 1 (t) = 0 for all time, i.e., mass 1 never moves. As noted in 24.1.3, this phenomenon is called antiresonance. This excitation is high frequency in the sense that > 1 = 3/2 1.224 and > 2 = 6 2.449. The masses oscillate at 180 out of phase, moving in opposite directions.

Note that the vertical range: 4 to +4, is the same for all four plots in Figure 21.5 so as to facilitate visual amplitude comparison. 21.3.2. Frequency Response Functions The steady-state amplication factors Ds1 and Ds2 are the ratio of the amplitudes of u 1 (t) and u 2 (t) to their static values. As noted above, the latter are u st1 = u st2 = Ub = 1. The amplitudes can be obtained from (21.25) by setting cos t = 1. Hence Ds1 = 3 2 (6 2 )(3 2
2)

Ds2 =

(6

3 2 )(3 2

2)

(21.26)

2110

2111
|SS magnification factor| SS magnification factor

21.3 BASE MOTION EOM

20 10 0

Mass 1 Mass 2

100 10 1 0.1 0.01 0.001 0.1

Resonance at = 1

Mass 1 Mass 2
Antiresonance of mass 1 at = 1.732 0.2

Resonance at = 2

10 20

Excitation frequency

Excitation frequency

0.5

10

Figure 21.6. Frequency Response Functions (FRF) of harmonically base-excited example system: (a) natural scale plot, (b) log-log plot.

The graph of Dsi versus excitation frequency are called the frequency response plots or FRF. For this example they are shown in Figure 21.6. Figure 21.6(a) shows the two FRF for masses 1 and 2 as sweeps over the range 0 5. Figure 21.6(b) is a log-log plot version that covers a wider excitation spectrum; in this case the absolute value of the amplitude is taken. The log-log displays both resonances and the antiresonance better.

2111