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AppendixC 2012

This document derives the equations of motion for a multi-degree of freedom (MDOF) mechanical system using two methods: the principle of conservation of mechanical energy and Lagrange's equations. It first considers the kinetic and potential energies of the MDOF system. Taking the time derivative of the conservation of energy equation provides the equations of motion in matrix form involving the mass, stiffness, damping matrices, and external forces. The document then uses Lagrange's approach, expressing the kinetic and potential energies, dissipated power, and work terms as functions of generalized coordinates. Taking derivatives and setting them equal provides the equations of motion, again in matrix form involving the system parameters and forcing terms.

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Daniel Liaw
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39 views

AppendixC 2012

This document derives the equations of motion for a multi-degree of freedom (MDOF) mechanical system using two methods: the principle of conservation of mechanical energy and Lagrange's equations. It first considers the kinetic and potential energies of the MDOF system. Taking the time derivative of the conservation of energy equation provides the equations of motion in matrix form involving the mass, stiffness, damping matrices, and external forces. The document then uses Lagrange's approach, expressing the kinetic and potential energies, dissipated power, and work terms as functions of generalized coordinates. Taking derivatives and setting them equal provides the equations of motion, again in matrix form involving the system parameters and forcing terms.

Uploaded by

Daniel Liaw
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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MEEN 617, Appendix C: Derivation of EOMs for MDOF system.

L San Andrs (2012) C-1


APPENDIX C. DERIVATION OF EQUATIONS OF
MOTION FOR MULTIPLE DEGREE OF FREEDOM
SYSTEM

Consider a linear mechanical system with n-independent degrees of
freedom. Let
{ }
( ) ( ) ( ) ( )
1 2 3
, , ,....
t t t t
n
x x x x =
T
x
be the independent coordinates
describing the motion of the system about the equilibrium position, and
with { }
( ) ( ) ( ) ( )
1 2 3
, , ,....
t t t t
n
F F F F =
T
F
as the set of external forces applied at
each degree of freedom.

The kinetic (T) and potential energy (V) of the system are written as,

1 1
2 2
, T V = =
T T
x Mx x Kx

(1)

where
{ }
1 2 3
.......
T
n
x x x x = x
is the vector of velocities.
, , 1,
{ }
i j i j n
m
=
= M
and
, , 1,
{ }
i j i j n
k
=
= K
are the (n x n) matrices of generalized inertia (mass) and
stiffness coefficients, respectively. The elements of these matrices are
constant coefficients.

Note that energies are scalar functions, i.e. T=T
T
and V=V
T
. Eq. (1)
above is correct only if the stiffness and mass matrices are symmetric.
That is, from

( ) ( ) ( )
1
2
1 1
2 2
T
V
V
=
= = =
T
T T
T
T T T T
x Kx
x Kx Kx x x K x
(2a)

Above (A
T
B)
T
=B
T
A, where A and B are general matrices.

MEEN 617, Appendix C: Derivation of EOMs for MDOF system. L San Andrs (2012) C-2
Thus
( )
1 1
2 2
0
T
V V = = =
=
T T T T T
T
x Kx x K x x K K x
K K
(2b)
similarly, M=M
T


The viscous power dissipation and viscous dissipated energy are of
the form
0
t
v v v
P E Pdt = =
}
T
x Dx

(3)
where
, , 1,
{ }
i j i j n
D
=
= D
is a matrix of constant damping coefficients. Above,
=
D
F Dx
is a vector of viscous damping (reaction) forces

The work performed by external forces is ,
( ) t
W =
}
T
dx F
(4)

Note that
1 1 2 2
......
n n
dx F dx F dx F = + +
T
dx F
=dW is the differential of work
exerted by the external forces on the system.

The principle of conservation of mechanical energy (PCME)
establishes that for any instant of time,

0 0 v
T V E W T V + + = + +
(5)

where
1 1
0 0 0 0 0 0 2 2
, T V = =
T T
x Mx x Kx
, with
{ }
0 0
, x x
as the
initial state of the system.

Now, take the time derivative of Eq. (5) the PCME- to obtain
MEEN 617, Appendix C: Derivation of EOMs for MDOF system. L San Andrs (2012) C-3
( )
0
v
d
T V E W
dt
+ + =
(6)

Using the definitions in Eq. (1)
( )
( )
( ) ( )
( )
( )
1
2
1 1 1 1
2 2 2 2
1 1
2 2
1 1
2 2
1
2
;
d T d
dt dt
d T
dt
= =
= + = +
= + =
= +
= + =
=
T
T
T T T T
T
T
T T
T T T
T T T
T
x Mx
x Mx x Mx x Mx x Mx
x Mx Mx x
x Mx x M x
x M M x M M
x Mx






(7)
where { }
1 2 3
.......
T
n
x x x x = x
is a vector of accelerations; and
( )
( )
( ) ( )
( )
1
2
1 1 1 1
2 2 2 2
1 1
2 2
1 1
2 2
1
2
;
dV d
dt dt
dV
dt
= =
= + = +
= + =
= +
= + =
=
T
T
T T T T
T
T
T T
T T T
T T T
T
x Kx
x Kx x Kx x Kx x Kx
x Kx Kx x
x Kx x K x
x K K x K K
x Kx



(8)

MEEN 617, Appendix C: Derivation of EOMs for MDOF system. L San Andrs (2012) C-4
In addition,
( )
0
t
v
v v
d E d
P dt P
dt dt
= = =
}
T
x Dx
(9)

and
0
t
dW d
dt dt dt
= = =
}
T
T T
dx
dx F F x F
(10)

Substitution of Eqs. (8-10) into Eq. (7) gives
( ) ( ) ( ) ( )
0 =
T T T T
x Mx +x Kx +x Dx - x F

Or
( )
0 + + =
T
x Mx Kx Dx F



And since for most times
= x 0

, then


+ + = Mx Kx Dx F 0

(11)

The difficulty in using this approach is to devise a simple method to
establish ALL the elements in the system parameter matrices M, K, D.
The use of the Lagrangian Method is particularly useful in this case.


MEEN 617, Appendix C: Derivation of EOMs for MDOF system. L San Andrs (2012) C-5

Derivation of equations of motion using Lagranges
approach
1

Consider a mechanical system with n-independent degrees of freedom,
and where
{ }
n ,.... 1 i
i i
x , x
=

are the generalized coordinates and velocities for


each degree of freedom in the system. The work performed on the
system by external generalized forces is

( )
} }
=
= + + + =
n
1 i
i i n n 4 3 2 2 1 1
dx F dx F .... dx F dx F dx F W
(12)

Here the term generalized denotes that the product of a generalized
displacement, say x
i
, and the generalized effort, F
i
, produces units of
work [N.m]. For example if x
2
=

denotes an angular coordinate, then
the effort F
2
must correspond to a moment or torque.

Let the total kinetic energy and potential energy of the n-dof
mechanical system be given by the generic expressions

{ }
{ }
1 2 3 1 2
1 2
....... , , ,....., ,
, ,....., ,
n n
n
T f x x x x x x x t
V g x x x t
=
=

(13)

The kinetic energy above is a function of the generalized displacements,
velocities and time, while the potential energy in a conservative
system is only a function of the generalized displacements and time.

The viscous dissipated power is a general function of the velocities,
i.e.,


1
Sources Meirovitch, L., Analytical Methods in Vibrations, pp. 30-50, and San Andrs, L., Vibrations Class Notes, 1996.
MEEN 617, Appendix C: Derivation of EOMs for MDOF system. L San Andrs (2012) C-6
{ }
n 3 2 1 v v
x ....... x x x P P =
(14)

The n-equations of motion for the system are derived using the
Lagrangian approach
2
, i.e.,

1
1,2,.... 2
v
i i n
i i i i
P T T V
F
dt x x x x
=
| |
c c c c c
+ + =
|
c c c c
\ .

(15)

Once you have performed the derivatives above for each coordinate,
i=1,n, the resulting equations are of the form:

n n nn 1 1 n n nn 1 1 n n nn 1 1 n
2 n n 2 1 21 n n 2 1 21 n n 2 1 21
1 n n 1 1 11 n n 1 1 11 n n 1 1 11
F x k .... x k x d ..... x d x m .... x m
....
F x k .... x k x d ..... x d x m .... x m
F x k .... x k x d ..... x d x m .... x m
= + + + + + + + +
= + + + + + + + +
= + + + + + + + +



(16)

or written in matrix form as
+ + = Mx Kx Dx F

(17)=(11)



2
A later lecture will demonstrate the derivation of the Lagrangian Equations

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