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Topics
Nature of equations of motion and uncoupling
Classical and non - classical damping models
Input - output relations in time domain
Input - output relations in frequency domain
Forced vibration analysis using modal expansion
Two DOF-s
1 Translation
1 Rotation
O1 : Elastic centre k1 L1 k2 L2
O2 : Centre of gravity
l1 l2 L1 L2 L
3
my k1 y l1 k2 y l2 0
I k2 y l2 l2 k1 y l1 l1 0
m 0 y k1 k2
0 I k l k l
11 2 2
k1l1 k2l2 y
0
2
2
k1l1 k2l2
m me z k1 k2
me m 0
z
0
2
2
k1L1 k2 L2
0
m ml1 x k1 k2
ml
1 m k2 L
k2 L x
0
2
k2 L
Remarks
Remarks (continued)
The best choice of coordinate system is the one
in which the coupling is absent. That is, the structural
matrices are all diagonal.
These coordinates are called the natural coordinates
for the system. Determination of these coordinates for
a given system constitutes a major theme in structural
dynamics. Theory of ODEs and linear algebra help us.
MX CX KX F t
X 0 X 0 ; X 0 X 0
M , C and K , in general, are non-diagonal
Equations are coupled
Suppose we introduce a new set of dependent
variables Z (t ) using the transformation
X (t ) TZ t
where T is a n n transformaiton matrix, to be
selected.
9
MX CX KX F t
X 0 X 0 ; X 0 X 0
X (t ) TZ t
MTZ t CTZ t KTZ t F (t )
T t MTZ t T t CTZ t T t KTZ t T t F (t )
MZ t CZ t KZ t F (t )
M , C , & K structural matrices in the new coordinate system.
F (t ) force vector in the new coordinate system
Question
Can we select T such that M , C , & K are all DIAGONAL?
If yes, equation for Z (t ) would then represent a set of uncoupled
equations and hence can be solved easily.
10
,n
2 MR KR exp it 0
2 RM KR 0
KR 2 MR
This is a algebraic eigenvalue problem.
Note
K K t ; M M t
K is positive semi-definite
M is positive definite
12
KR 2 MR
K 2 M R 0
Let K M
2
exist.
K M K 2 M R 0
IR 0 R 0
2
K M
2
K 2M 0
This is called the characteristic equaiton.
This leads to the characteristic values
12 22
R1 , R2 ,
, Rn .
(1)
KRs s2 MRs
(2)
(1) Rst
R KRr R MRr
t
s
2
r
t
s
(3)
Rst MRr 0
rs
R KRr 0
rs
t
s
(2) Rrt
Rrt KRs s2 Rrt MRs
(4)
2
s
t
s
Normalization
Rst MRs 1
R KRs
t
s
2
s
(5)
R
r s s MRr 0
14
Introduce
R1
R2
Rn
Diag 12 22
( nn )
n2
Orthogonality relations
M I
t
K
t
Select T
15
MX KX F t
X 0 X 0 ; X 0 X 0
X (t ) Z t
Consider
Undamped
Forced
Vibration
Analysis
M Z t K Z t F (t )
t M Z t t K Z t t F (t )
IZ t Z t F (t )
zr r2 zr f r t ; r 1, 2,
,n
16
zr t zr 0 cos r t
zr 0
sin r t
0
sin r t f r d
X t Z t
n
xk t kr zr t
r 1
zr 0
1
kr zr 0 cos r t
sin r t sin r t f r d
r
r
r 1
0
17
t C t M t K
I
19
C M K
T C T [ M K ]
T I T K
[I ]
Diag[i2 ]
cn n2
2n
2
Rayleigh damping model imposes prescribed variations
on modal damping values as function of the mode count
There are only two free parameters.
These parameters can be determined using known values of damping ratios
for two modes.
20
10
eta
10
-2
10
-3
10
-4
10
10
10
10
10
frequency rad/s
21
IZ t t C Z t Z t F (t )
Z 0 t MX (0) & Z 0 t MX (0)
zr 2rr zr r2 zr f r t ; r 1, 2,
,n
exp rr t f r d
dr
22
dr
exp rr t f r d
xk t kr zr t
r 1
t
1
r 1
0
k 1, 2, , n
n
23
MX CX KX F exp it
F 0 0
0 0
s th entry
lim X rs t ?
t
24
MX CX KX F exp it
F 0 0
0 0
lim X t X 0 exp it
t
X t X 0i exp it
X t X 0 2 exp it
MX 0 2 exp it CX 0i exp it KX 0 exp it F exp it
2 M iC K X 0 exp it F exp it
2 M iC K X 0 F
25
2 M iC K X 0 F
X t X 0 exp it Z 0 exp it
t M I & t K
C is classical t C (Diagonal) with nn 2nn
2 M iC K Z 0 F
t 2 M iC K Z 0 t F
2 t M i t C t K Z 0 t F
2 I i Z 0 t F
Diagonal
26
2 I i Z 0 t F
N
Z0n
2
n
k 1
2
t
nk
Fk
i 2 nn
2
n
k 1
2
kn
Fk
i 2 nn
Recall
F 0 0
Z0n
sn
2
n
2 i 2nn
n 1
rn sn
n 1
2
n
i 2nn
2
exp it
X rs t H rs exp it
rn sn
H rs
n 1
2
n
2 i 2 nn
27
rn sn
X rs t
n 1
2
n
i 2 nn
2
rn sn
H rs
n 1
exp it
2
2
n i 2nn
Remarks
X rs t X sr t
H rs H sr
H H rs
H is symmetric but not Hermitian
N
rn sn
H M iC k 2
2
n 1 n i 2 nn28
2
H M iC k
2
Conceptually simple
Computationally difficult to implement
N* N
rn sn
H
2
2
n 1 n i 2nn
Computationally easier to implement
MX CX KX F t
X 0 0; X 0 0
F 0 0
0 0
s th entry
MX CX KX F t
F 0 0
0 0
X t Z t
t M I & t K
C is classical t C (Diagonal) with nn 2nn
M Z t C Z t K Z t F t
t M Z t t C Z t t K Z t t F t
IZ Z Z t F t
31
IZ Z Z t F t
N
zn 2 nn zn z jn Fj t ns t
2
n n
j 1
zn 0 0; zn 0 0
zn t ns hn t
sn
dn
X Z
N
X r t rn zn t
n 1
N
hrs t rn sn
n 1
dn
X r t hrs t rn sn
n 1
dn
Remarks
hrs t hsr t
h t hrs t Matrix of impulse response functions
h t h t
X rs t hrs t f s d
0
t
1
f s rn sn
exp nn t sin dn t d
dn
n 1
33
2nd family
Consider n2 M n Kn
In
n2
M 1 Kn
t
1
KM
Kn 0 for n k
2 k
is orthogonal to KM 1 K
Consider In
n2
M 1 Kn
t
1
1
KM
KM
Kn 0 for n k
2 k
is orthogonal to KM 1 KM 1 K
this leads to an infinite family of orthogonality relations.
35
Remarks
The generalization admits as many free parameters as is needed
to model damping. This number can match the number of modes for
which damping ratio is known.
In fact, damping can be specified independently for all the modes
without worrying about the underlying C matrix. Thus, for example,
we can say that damping is 5% for all modes. A C matirx can be derived,
if needed, consistent with this information, using generalized Rayleigh
damping model.
37
t C Diagonal 2ii
1
Naive approach: C= 1
More helpful approach:
t
t M I t M 1 1
1 t M
1
Similarly M
t
M
C M t M
t
eqn
n n
r Er
r 1
s
E
r 1
n
r
40
0 M X -M
M C 0
X
Introduce
X
0
y ; A
M
X 2 N 1
0 X 0
K X F t
M
-M
;B
C 2 N 2 N
0
0
0
; p t
F
t
K 2 N 2 N
241
N 1
Ay By p t
y t is the new 2 N 1 response vector (state vector)
A and B are the new structural matrices of size 2 N 2 N
A and B are symmetric At A; B t B
A and B are not positive defninite
A and B are in general non-diagonal equations are coupled.
Strategy: Transform y Tz
T 2 N 2 N transformation matrix to be selected such that
the transformation would uncouple the above equations of motion.
y Tz ATz BTz p t
T t ATz T t BTz T t p t q t
Az Bz q t (equations in the transformed coordinate system)
Aspiration: to select T such that A and B are both diagonal so that
Az Bz q t represents a set of 2 N uncoupled equations which can
be solved easily.
42
Ay By p t
Strategy: Determine T by determining the
eigensolutions associated with A and B matrices.
Free vibration analysis
Ay By 0
Seek solutions of the form y t R exp( t )
AR exp( t ) BR exp( t ) 0
BR AR
The required transofrmation matrix would be obtained by solving
this eigenvalue problem.
B A R 0
For nontrivial soutions the inverse of B A must not exist
characteristic equation B A 0
43
If , R is an eigenpair we have
BR AR
Taking conjugation on both sides we get
BR* * AR* Note: A and B are real valued and A A* & B B*
If , R is an eigenpair, * , R* is also an eigenpair
Eigenvalues: 1 , 2 ,
Eigenvectors: R1 , R2 ,
Recall
, N , 1* , 2* ,
, RN , R1* , R2* ,
, N*
, RN*
X
y if X t exp t X t exp t
X
y exp t R
44
Orthogonality relations
Consider the mth and nth eigenpairs m , Rm & n , Rn
BRm m ARm
BRn n ARn
45
kk
R Rk
k
Define the modal matrix
= R1
R2
RN
R1*
R2*
RN*
11 22
2
1
Let
= 1 2
NN 1*1* 2*2*
N
1*
2*
1 0
0
2
N &
**
N* N*
*
N
0
0
N
46
We have
Rmt ARn 0m n & Rmt BRn 0m n
Select the normalization constant such that
Rnt ARn 1 so that Rnt BRn n .
We also have
kk
R Rk
k
Define the modal matrix
= R1
R2
RN
R1*
R2*
RN*
11 22
2
1
N N 1*1* 2*2*
N
1*
2*
N* N*
N*
47
Let = 1 2
1 0
0
2
N &
0
0
**
48
*
0
0
I z
z q t
*
0
This represents a set of 2 N uncoupled first order equations.
t
Missions accomplished!
49
** 0
0
I z
z
*
*
F
t
0
u
Let z
v
u 0 u t t 0
*t *
*
*t
F
t
v
0
u u t F (t )
v *v *t F (t )
Initial conditions
y 0 z 0 z 0 t Ay 0
50
1 r -th dof
1 exp it
t
u u t F (t )
v *v *t F (t )
N
u j j u j nj F (t ) jr exp it ; j 1, 2,
,N
n 1
N
,N
n 1
lim u j t
t
jr exp it
i j
& lim v j t
t
*jr exp it
i *j
x ** u
*
x
t
*
v
x
*
*
kj
jr
kj
jr
*
xk t kj u j t kj v j t lim xk t
exp it
*
t
51
j 1
j 1
i j i j
N
kj jr *kj *jr
lim xk t
exp it kr exp it
*
t
j 1
i j i j
Frequency response function
N
kj jr *kj *jr
kr
*
j 1
i j i j
N
52