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    Multi Degrees of Freedom System

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    Hani Banat
    This document discusses multi-degree of freedom (DOF) mechanical vibration systems. It provides the equations of motion for an N-DOF system using matrices for mass, stiffness, damping, and displacement/acceleration. It describes solving the eigenvalue problem to determine the natural frequencies and mode shapes of the undamped free vibration system. An example is shown for a 2-story building to illustrate the process of finding the natural frequencies and mode shapes.

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    © All Rights Reserved
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    Multi Degrees of Freedom System

    Uploaded by

    Hani Banat
    149 views23 pages
    This document discusses multi-degree of freedom (DOF) mechanical vibration systems. It provides the equations of motion for an N-DOF system using matrices for mass, stiffness, damping, and displacement/acceleration. It describes solving the eigenvalue problem to determine the natural frequencies and mode shapes of the undamped free vibration system. An example is shown for a 2-story building to illustrate the process of finding the natural frequencies and mode shapes.

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    Multi degrees of freedom system

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    This document discusses multi-degree of freedom (DOF) mechanical vibration systems. It provides the equations of motion for an N-DOF system using matrices for mass, stiffness, damping, and displacement/acceleration. It describes solving the eigenvalue problem to determine the natural frequencies and mode shapes of the undamped free vibration system. An example is shown for a 2-story building to illustrate the process of finding the natural frequencies and mode shapes.

    Copyright:

    © All Rights Reserved
    Download as PPT, PDF, TXT or read online from Scribd
    Download as ppt, pdf, or txt
    149 views23 pages

    Multi Degrees of Freedom System

    Uploaded by

    Hani Banat
    This document discusses multi-degree of freedom (DOF) mechanical vibration systems. It provides the equations of motion for an N-DOF system using matrices for mass, stiffness, damping, and displacement/acceleration. It describes solving the eigenvalue problem to determine the natural frequencies and mode shapes of the undamped free vibration system. An example is shown for a 2-story building to illustrate the process of finding the natural frequencies and mode shapes.

    Copyright:

    © All Rights Reserved
    Download as PPT, PDF, TXT or read online from Scribd
    Download as ppt, pdf, or txt
    of 23

    Mechanical Vibrations

    Multi Degrees of Freedom System

     Philadelphia University
     Engineering Faculty
     Mechanical Engineering Department

     Professor Adnan Dawood Mohammed


    Multi DOF system
    Multi-DOF systems are so similar to two-DOF.
    Equations of motion:

    M x  C x  K x  F


    They are obtained using: 1) Vector mechanics (Newton or D’ Alembert)
    2) Hamilton's principles
    3) Lagrange's equations

    [M] is the Mass matrix

    [K] is the Stiffness matrix

    [C] is the Damping matrix


    Un-damped Free Vibration: the eigenvalue problem
    Equation of motion:

    M q  K q  0 in terms of the generalized D.O.F. qi

    Write the matrix equation as:

      Kq  0,
    Mq (1)
    where M and K are the Mass and Stiffness matrices respectively.
     and q are the acceleration and displaceme nt vectors respectively.
    q
    -1 -1
    premultipl y equation (1) by M . Note that M M  I (unit matrix)
    -1
    M KA the system matrix. Equation 1 becomes :
      Aq  0
    Iq (2)
    Assuming harmonic motion:
    q  q, where    2 , Equation (2) becomes
    A - I{q}  0 (3)
    The characters tic equation of the system is the determinan t
    equated to ZERO, or
    A - I  0, (4) , the roots i of the
    characters tic equation are called the eigenvalues and the natural
    frequencie s of the system are determined from them by the relation
    i  i2 (5)
    By substituti ng i into the matrix equation (3), we obtain the correspond ing
    mode shape X i which is called the eigenvector.
    It is also possible to find the eigenvecto rs from the adjoint matrix
    of the system. Let B  A - I, and start with the definition of the
    adjB
    inverse B-1  . Premultipl y by B B to obtain,
    B
    B I  B adj B, or
    A - I I  A - IadjA - I (6)
    If now we let   i , an eigenvalue , then the determinan t on the
    left side of the equation is zero,
    0  A - i IadjA - i I
    The above equation is valied for all values i and represents " n"
    equations for the n - degrees of freedom system. Comparing
    this equation w ith equation (4) for the i th mode
    A - i I{q}i  0 , we recognize that the adjoint matrix adjA - i I
    must consists of columns, each of which is the eigenvecto r q i
    (multiplie d by an arbitraray constant)
    Example:
    Consider the multi-story building shown in figure. The
    Equations of motion can be written as:

    Pre-multiply by the inverse of mass matrix

    1 / 2m 0 
    M 1 
     0 1 / m
     ( k / 2m) 
    M 1 K   A  
    (3k / 2m)
      ( k / m) (k / m) 
    By letting    2 , equation (a) becomes
    (3k / 2m)    (k / 2m)   x1  0

      ( k / m) (k / m)     x2  0
    (b)

    The characteristic equation from the determinant of the above matrix is


    2
    5 k  k 
     
    2
         0, (c), from which
    2 m m
    1 k k
    1  2  2 (d)
    2m m

    The eigenvectors can be found from Eqn.(b) by substituting the above values of
    . The adjoint matrix from Eqn. (b) is

    (k / m)  i (k / 2m) 
    AdjA  I   
     (k / m) (3k / 2m)  i 

    Substituting 1 into Eqn. (e) we obtain:

     0 .5 0.5 k
     
    1.0 1.0  m
    Here each column is already normalized to unity and the first eigenvector is
    0.5
    X1   
    1.0 
    Similarly when   2  0.5k/m) the adjoint matrix gives;
      1. 0 0 .5  k
     
     1.0  0.5 m
    Normalizing to Unity;

     1.0 1.0 k
     
     1.0 1.0  m

    The second eigenvector from either column is;

      1. 0 
    X 
    2  1.0 

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