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    MDOF

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    Amanuel
    Teaching material of mechanical vibration in Multi degree of freedom system.

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    MDOF

    Uploaded by

    Amanuel
    7 views20 pages
    Teaching material of mechanical vibration in Multi degree of freedom system.

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    © © All Rights Reserved

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    PPTX, PDF, TXT or read online from Scribd

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    Teaching material of mechanical vibration in Multi degree of freedom system.

    Copyright:

    © All Rights Reserved
    Download as PPTX, PDF, TXT or read online from Scribd
    Download as pptx, pdf, or txt
    7 views20 pages

    MDOF

    Uploaded by

    Amanuel
    Teaching material of mechanical vibration in Multi degree of freedom system.

    Copyright:

    © All Rights Reserved
    Download as PPTX, PDF, TXT or read online from Scribd
    Download as pptx, pdf, or txt
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    CHAPTER FOUR

    MULTI DEGREE-OF- FREEDOM SYSTEMS


     Most engineering systems are continuous and have
    an infinite number of degrees of freedom.
     The vibration analysis of continuous systems
    requires the solution of partial differential
    equations, which is quite difficult.
     For many partial differential equations, in fact,
    analytical solutions do not exist.
     The analysis of a multi degree of- freedom system,
    on the other hand, requires the solution of a set of
    ordinary differential equations, which is relatively
    simple.
     Hence, for simplicity of analysis, continuous
    systems are often approximated as multi degree-of-
    freedom systems.
     All the concepts introduced in the preceding
    chapter can be directly extended to the case of
    multi degree-of-freedom systems. For example,
    there is one equation of motion for each degree of
    freedom; if generalized coordinates are used, there
    is one generalized coordinate for each degree of
    freedom.
     The equations of motion can be obtained from
    Newton’s second law of motion or other methods.
     There are n natural frequencies, each associated
    with its own mode shape, for a system having n
    degrees of freedom.
     The method of determining the natural frequencies
    from the characteristic equation obtained by
    equating the determinant to zero also applies to
    these systems.
     However, as the number of degrees of freedom
    increases, the solution of the characteristic
    equation becomes more complex.
    Modeling of Continuous Systems as
    Multi degree-of-Freedom Systems
     Different methods can be used to approximate a
    continuous system as a multi degree-of freedom
    system.
     A simple method involves replacing the distributed
    mass or inertia of the system by a finite number of
    lumped masses or rigid bodies.
     The lumped masses are assumed to be connected by
    massless elastic and damping members.
     Linear (or angular) coordinates are used to describe
    the motion of the lumped masses (or rigid bodies).
     Such models are called lumped-parameter or
    lumped-mass or discrete-mass systems.
     The minimum number of coordinates necessary to
    describe the motion of the lumped masses and rigid
    bodies defines the number of degrees of freedom of
    the system.
     Some problems automatically indicate the type of
    lumped-parameter model to be used. For example,
    the three-story building shown in Figure (a)
    automatically suggests using a three-lumped-mass
    model, as indicated in Figure (b) below.
     In this model, the inertia of the system is assumed to be
    concentrated as three point masses located at the floor
    levels, and the elasticities of the columns are replaced
    by the springs.
    Using Newton’s Second Law to Derive Equations of
    Motion
    The following procedure can be adopted to derive the
    equations of motion of a multi degree of- freedom
    system using Newton’s second law of motion:
    1) Set up suitable coordinates to describe the positions
    of the various point masses and rigid bodies in the
    system. Assume suitable positive directions for the
    displacements, velocities, and accelerations of the
    masses and rigid bodies.
    2) Determine the static equilibrium configuration of the
    system and measure the displacements of the masses
    and rigid bodies from their respective static
    3) Draw the free-body diagram of each mass or rigid
    body in the system. Indicate the spring, damping,
    and external forces acting on each mass or rigid
    body when positive displacement and velocity are
    given to that mass or rigid body.
    4) Apply Newton’s second law of motion to each
    mass or rigid body shown by the free body diagram
    as
    Eigenvalue Problem
     The free vibration of the undamped system is
    governed by the equation

     The solution of Eq. (4.1) is assumed to be harmonic


    as
    where X is the vector of amplitudes of x(t), ø is the
    phase angle, and ω is the frequency of vibration.
    Substituting Eqs. (4.2) and (4.3) into Eq. (4.1), we
    obtain

    Equation (4.4) represents a system of n algebraic


    homogeneous equations in unknown coefficients
    X1, X2, . . . , Xn (amplitudes of x1, x2, . . . , xn ) with ω2
    playing the role of a parameter.
     For a nontrivial solution of the vector of
    coefficients , the determinant of the coefficient
    matrix must be equal to zero:

    Equation (4.5) is a polynomial equation of nth degree


    in ω2 (ω2 is called the eigenvalue) and is called the
    characteristic equation or frequency equation.
    The roots of the polynomial give the n eigenvalues,
    ω12, ω22, . . . , ωn2.
    The positive square roots of the eigenvalues yield the
    natural frequencies of the system, ω1, ω2, . . . , ωn.
    The natural frequencies are usually arranged in
    increasing order of magnitude, so that ω 1 ≤ ω2 ≤ . . . ≤
    ωn.
     The lowest frequency ω1 is referred to as the
    fundamental frequency.
    For each natural frequency ωi , a corresponding
    nontrivial vector can be obtained from Eq. (4.4):
    The vector is called the eigenvector, characteristic
    vector, modal vector, or normal mode corresponding
    to the natural frequency ωi.
    Free Vibration Analysis of an Undamped
    System Using Modal Analysis
     The free vibration of an undamped n-degree-of-
    freedom system is governed by the equations

     The n coupled second-order homogeneous


    differential equations represented by Eq. (1) can be
    uncoupled using modal analysis.
    In the analysis the solution, x(t), is expressed as a
    superposition of the normal modes X(i, i = 1, 2, . . . , n:

    where [X] is the modal matrix, ηi (t) are unknown


    functions of time, known as modal coordinates, and
    η(t) is the vector of modal coordinates:
    Equation (2) represents the expansion theorem, which
    implies that any vector, such as x(t), in n-dimensional
    space can be generated by a linear combination of a
    set of linearly independent vectors, such as the
    eigenvectors X(I , i = 1, 2, . . . , n.
     Substitution of Eq. (2) into Eq. (1) gives

     Pre multiplication of Eq. (4) by [X]T leads to


    Eq. (5) reduces to
    which denotes a set of n uncoupled second-order
    differential equations:

    If the initial conditions of the system are given by


    the corresponding initial conditions on η(t) can be
    determined as follows.
    Pre multiply Eq. (2) by [X]T[m]
    The solution of Eq. (7) can be expressed as

    Once ηi (t) are determined, the free vibration solution,


    x(t), can be found using Eq. (2).

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