CHAPTER 6: MULTI DEGREE OF FREEDOM

SYSTEM
 Topics Covered
2

 Eigen values and Eigen vectors

 Influence co-efficients
 Approximate Methods
 Dunkerley’s method

 Rayleigh’s method

 Numerical Methods
 Matrix iteration method

 Stodola’s method

 Holzer’s method

Dr Asif Israr - Institute of Space Technology

 Introduction
3

 When ‘n’ independent coordinates are required to specify the positions of the
masses of a system, the system is of ‘n’ degree of freedom.
 Example: A block supported by springs could have six degrees of freedom,
three in translation and three in rotation.

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 Eigen Values and Eigen Vectors
4

 In vibration problems Eigen values are the natural frequencies and

Eigen vectors are modal vectors.

 This method is a basic tool, which can be used to analyze any

vibratory problems.

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 Eigen Values and Eigen Vectors
5

 Obtain natural frequencies Governing equations

and modal vectors of the Newton’s method
system K1x1
K1

m1 m1
x1
K2(x2-x1)
K2
m2 m2
x2

K3 K3(x3-x2)

m3 m3
x3
Force equilibrium diagram
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 Eigen Values and Eigen Vectors
6

Newton’s method
K1x1 Governing equations
m1x1  K1x1  K 2 (x2  x1 )  0
m1
m1x1  (K1  K 2 )x1  K 2 x 2  0
K2(x2-x1)
m2 x 2  K 2 (x 2  x1 ) - K 3 (x3  x 2 )  0
m2
m2x 2  K 2 x1  (K 2  K 3 )x 2  K 3 x 3  0
K3(x3-x2)
m3 x 3  K 3 (x3  x 2 )  0
m3
m3 x 3  K 3 x 2  K 3 x 3  0
Force equilibrium diagram
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 Eigen Values and Eigen Vectors
7

m1x1  (K1  K 2 )x1  K 2 x 2  0

m2x 2  K 2 x1  (K 2  K 3 )x 2  K 3 x 3  0 Eqns. of motion
m3 x 3  K 3 x 2  K 3 x 3  0

 In matrix form
m1 0 0  x1  (K1  K 2 )  K2 0  x1  0
0 m         
 2 0  x 2     K 2 (K 2  K 3 )  K 3  x 2   0
 0 0 m3  x3   0  K3 K 3  x 3  0
Symmetric about this axis
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 Eigen Values and Eigen Vectors
8

 Matrix form

Mx  K x  0

Mass matrix generalized
force vector

generalized Stiffness generalized

acceleration vector matrix displacement vector

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 Eigen Values and Eigen Vectors
9

Mx  K x  0

x  M1Kx  0
Dynamic matrix
x  Dx  0
AdjM
M1  Substitute
M

 For harmonic analysis with frequency, ω

x  ω2 x
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 Eigen Values and Eigen Vectors
10

Dx  ω2 x  0
 Substitute ω2  λ

Dx  λx  0
 1 0 0
0 1 0
λI - Dx  0 Identity matrix  
0 0 1
 Eigen values can be obtained by

λI - D  0
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 Eigen Values and Eigen Vectors
11

 For simplification, let us consider:

K1  K 2  K 3  K
m1  m2  m3  m

 The equations in matrix form changes to:

m 0 0  x1   2K  K 0  x1  0

 0 m 0  x    K 2K  K  x   0
  2    2   
 0 0 m x3   0  K K  x 3  0

Dr Asif Israr - Institute of Space Technology

 Eigen Values and Eigen Vectors
12

 We have D  M K

1

AdjM
M1 
M

M  m3

m2 0 0  1 0 0
1   1
M1  3  0 m2 0   0 1 0
m m
0 2
0 m  0 0 1


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 Eigen Values and Eigen Vectors
13

 We have D  M K

1

1 0 0 2K -K 0 
1   

D 
m
0 1 0  - K 2K - K 
0 0 1 0 - K K 
  

2 -1 0
D  - 1 2 - 1
K
m
 0 - 1 1 

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 Eigen Values and Eigen Vectors
14

 Eigen values can be obtained by

λI - D  0
 1 0 0 2 -1 0
λ 0 1 0 - - 1 2 - 1  0
  K
m
0 0 1  0 - 1 1 

(λ - 2K/m) - K/m 0 

 - K/m (λ  2K/m) - K/m 0
 
 0 - K/m (λ  K/m) 
Dr Asif Israr - Institute of Space Technology
 Eigen Values and Eigen Vectors
15

K K2 K3
λ  5λ
3
 6λ 2  3  0
2

m m m

 Solve the above Eqn. to get three values of 

K K
λ1  ω  0.198
2
1 ω1  0.44 rad/s
m m
K K
λ2  ω  1.55
2
2 ω 2  1.24 rad/s
m m
K K
λ3  ω  3.24
2
3 ω3  1.80 rad/s
m m
Dr Asif Israr - Institute of Space Technology
 Eigen Values and Eigen Vectors
16

 For obtaining Eigen vectors consider the equation

 1 0 0
λI - Dx  0 0 1 0
Identity matrix  
0 0 1
λI - DAsinωt  0
λI - DA  0 Eigen or modal vector

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 Eigen Values and Eigen Vectors
17

 First modal vector,

λ1I - DA1  0
  1 0 0  2 - 1 0   A11  0
 0.198K 0 1 0 - K - 1 2 - 1 ..A   0
 m   m    21  
 0 0 1  0 - 1 1   A 31 0

 1.802 1 0  A 11  0
 1     
  1.802 1 ..A 21  0
 0 1  0.802  A 31 0
Dr Asif Israr - Institute of Space Technology
 Eigen Values and Eigen Vectors
18

 First modal vector,

 1.802A 11  A 21  0
A 11  1.802A 21  A 31  0
A 21  0.802A 31  0

 
A 11 
A 11    In terms of amplitude
   A 21  
A1  A 21 A1    ratios
 11 
A
A  
 31   A 31 
 A 

 11

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 Eigen Values and Eigen Vectors
19

 First modal vector

A 21
 1.802A 11  A 21  0  1.802
A 11
A 11  1.802A 21  A 31  0
A 31
A 21  0.802A 31  0  2.247
A 11
 
A 11 
  1 
 A 21     In terms of amplitude
A1   A   1.802  ratios
 11 
 2.247 
 A 31   
 A 
11  

Dr Asif Israr - Institute of Space Technology
 Eigen Values and Eigen Vectors
20

 Second modal vector,

λ2 I - DA2 0

  1 0 0  2 - 1 0   A12  0
1.55K 0 1 0 - K - 1 2 - 1 ..A   0
 m   m    22   
 0 0 1  0 - 1 1   A 32  0

 0.445 1 0  A 12  0
 1     
  0.445 1 ..A 22   0
 0 1 0.55  A 32  0
Dr Asif Israr - Institute of Space Technology
 Eigen Values and Eigen Vectors
21

 Second modal vector,

 0.445A 12  A 22  0
A 12  0.445A 22  A 32  0
A 22  0.55A 32  0
 
A 12 
A 12   
   A 22   In terms of amplitude
A2  A 22  A2    ratios
 12 
A
A  
 32   A 32 
 A 

 12
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 Eigen Values and Eigen Vectors
22

 Second modal vector

A 22
 0.445A 12  A 22  0  0.445
A 12
A 12  0.445A 22  A 32  0
A 32
A 22  0.55A 32  0  -0.80
A 12
 
A 12 
  1 
 A   0.445  In terms of amplitude
A2   22   
 12 
A
 - 0.80  ratios
 A 32   
 A 
12  

Dr Asif Israr - Institute of Space Technology
 Eigen Values and Eigen Vectors
23

 Third modal vector,

λ3 I - DA3 0

  1 0 0  2 - 1 0   A13  0
 3.247K 0 1 0 - K - 1 2 - 1 ..A   0
 m   m    23   
 0 0 1  0 - 1 1   A 33  0

1.247 1 0  A13  0

 1     
 1.247 1 ..A 23   0
 0 1 2.247  A 33  0
Dr Asif Israr - Institute of Space Technology
 Eigen Values and Eigen Vectors
24

 Third modal vector,

1.247A 13  A 23  0
A 13  1.247A 23  A 33  0
A 23  2.247A 33  0
 
A 13 
A 13   
A3  
 A 23  A3   A 23 A  In terms of amplitude
A   13  ratios

 33   A 33 
 A 
13  

Dr Asif Israr - Institute of Space Technology
 Eigen Values and Eigen Vectors
25

 Third modal vector

A 23
1.247A 13  A 23  0  -1.247
A13
A 13  1.247A 23  A 33  0
A 33
A 23  2.247A 33  0  0.55
A 13
 
A 13 
  1 
 A 23     In terms of amplitude
A3     - 1.247 
 13 
A
 0.55  ratios
 A 33  

 A 
13  

Dr Asif Israr - Institute of Space Technology
 Eigen Values and Eigen Vectors
26

 Modal vectors
1 
A1  1.802 
2.247 
 
Modal matrix
1 
 
A2  0.445   1 1 1 
- 0.80  1.802 0.445  1.247 
  
1  2.247  0.80 0.55 
 
A3  - 1.247 
0.55 
 
Dr Asif Israr - Institute of Space Technology
 Eigen Values and Eigen Vectors Modal matrix
 1 1 1 
1.802  1.247 
27

 0.445
 Mode Shapes 2.247  0.80 0.55 

K1

m1
x1

K2
m2
x2

K3
m3
x3
Mode-I Mode-II Mode-III
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 Influence co-efficients
28

 It is the influence of unit displacement at one point

on the forces at various points of a multi-DOF
system. K1

OR m1
x1
 It is the influence of unit Force at one point on the
K2
displacements at various points of a multi-DOF
system. m2
x2

K3
m3
x3

Dr Asif Israr - Institute of Space Technology

 Influence co-efficients
29

 The equations of motion of a multi-degree freedom system can

be written in terms of influence co-efficients.

 A set of influence co-efficients can be associated with each of

matrices involved in the equations of motion.

Mx  K x  0

Dr Asif Israr - Institute of Space Technology

 Influence co-efficients
30

 For a simple linear spring the force necessary to cause unit

elongation is referred as stiffness of spring.

 For a multi-DOF system one can express the relationship between

displacement at a point and forces acting at various other points
of the system by using influence co-efficients referred as stiffness
influence coefficients.

Mx  K x  0

Dr Asif Israr - Institute of Space Technology

 Influence co-efficients
31

 The equations of motion of a multi-degree freedom system can

be written in terms of inverse of stiffness matrix referred as
flexibility influence co-efficients. Matrix of flexibility influence
co-efficients = K 1
 The elements corresponds to inverse mass matrix are referred as
flexibility mass/inertia co-efficients. Matrix of flexibility
mass/inertia co-efficients = M1
 The flexibility influence co-efficients are popular as these
coefficients give elements of inverse of stiffness matrix

Dr Asif Israr - Institute of Space Technology

 Stiffness Influence Co-efficients
32

 For a simple linear spring the force necessary to cause unit

elongation is referred as stiffness of spring.

 For a multi-DOF system one can express the relationship between

displacement at a point and forces acting at various other points
of the system by using influence co-efficients referred as stiffness
influence coefficients.
k 11 k 12 k 13 
F  K x K   k 21 k 22 k 32 
k 31 k 32 k 33 

Dr Asif Israr - Institute of Space Technology

 Stiffness Influence Co-efficients
33

k 11 k 12 k 13 
K   k 21 k 22 k 32  K1
k 31 k 32 k 33 
k11 m1
x1=1 Unit
 k11 = stiffness influence co-efficient at point 1
K2
due to a unit deflection at point 1
 k 21 = stiffness influence co-efficient at point 2 k21 m2
x2=0
due to a unit deflection at point 1
K3
 k 31 = stiffness influence co-efficient at point 3
k31 m3
due to a unit deflection at point 1 x3=0

Dr Asif Israr - Institute of Space Technology

 Stiffness Influence Co-efficients
34

K1x1= K1
k11  K 2  K1  0
K1
k11 m1
k11 m1 k11  K1  K 2
x1=1 Unit
K2(x2-x1) = -K2
K2
k 21  (K 2 )  0
k21 m2 k21 m2
x2=0 k 21  K 2
K3(x3-x2)= 0
K3
k31 k31 k 31  0
m3 m3
x3=0
Force equilibrium diagram
Dr Asif Israr - Institute of Space Technology
 Stiffness Influence Co-efficients
35

K1x1= 0
k12  K 2  0
K1
k12 m1
k12 m1 k12  -K2
x1=0
K2(x2-x1) = K2
K2 k 22  ( K 3 )  K 2  0
k22 m2 k22 m2
x2=1 Unit k 22  K 2  K 3
K3(x3-x2)= -K3
K3
k32 k32
k 32  -K 3
m3 m3
x3=0
Force equilibrium diagram
Dr Asif Israr - Institute of Space Technology
 Stiffness Influence Co-efficients
36

K1x1= 0

K1
k13 m1
k13 m1 k13  0
x1=0 K2(x2-x1) = 0
K2 k 23  K 3  0
k23 m2
k23 m2
x2=0 k 23  -K 3
K3(x3-x2)= K3
K3
k33 k33 m3 k 33  K 3
m3
x3=1 Unit
Force equilibrium diagram
Dr Asif Israr - Institute of Space Technology
 Stiffness Influence Co-efficients
37

k 11 k 12 k 13 
k ij  k ji
K1 K   k 21 k 22 k 32 
Maxwell’s reciprocal
k11 m1 k 31 k 32 k 33  theorem
x1=1 Unit

K2 K 1  K 2  - K2 0 
k21 m2
x2=0 K    - K 2 K 2  K 3  - K 3 
 0 - K3 K 3 
K3
k31 m3
Symmetric about this axis
x3=0
K matrix can be obtained without writing Eqns. of motion
Dr Asif Israr - Institute of Space Technology
 Equation of Motion - 3 DOFS
38

m1x1  (K1  K 2 )x1  K 2 x 2  0

m2x 2  K 2 x1  (K 2  K 3 )x 2  K 3 x 3  0
m3 x 3  K 3 x 2  K 3 x 3  0

 Matrix form

m1 0 0  x1  (K1  K 2 )  K2 0  x1  0

0 m     K     
 2 0  x 2    2 (K 2  K 3 )  K 3  x 2   0
 0 0 m3  x3   0  K3 K 3  x 3  0
Symmetric about this axis

Dr Asif Israr - Institute of Space Technology

 Flexibility Influence Co-efficients
39

F  K x
x  K1F
Matrix of Flexibility influence
x  αF co-efficients.

α11 α12 α13 

α  α21 α22 α32 
α31 α32 α33 

Dr Asif Israr - Institute of Space Technology

 Flexibility Influence Co-efficients
40

α11 α12 α13 

α  α21 α22 α32  K1
α31 α32 α33 
F1=1unit m1
X1=11
 α11 = flexibility influence co-efficient at point
K2
1 due to a unit deflection at point 1
 α 21 = flexibility influence co-efficient at point F2=0 m2
X2=21
2 due to a unit deflection at point 1 K3
 α 31 = flexibility influence co-efficient at point
F3=0 m3
3 due to a unit deflection at point 1 X2=31

Dr Asif Israr - Institute of Space Technology

 Flexibility Influence Co-efficients
41

K1 11

K1 F1=1 m1 K1α11  K 2 (α21  α11)  1

F1=1unit m1
X1=11 K2(21 - 11)
K2
F2=0 m2 K 2 (α21  α11)  K 3 (α31  α21)
F2=0 m2
X2=21
K3(31 - 21)
K3
F3=0 m3
F3=0 m3 K 3 (α31  α 21)  0
X3=31

Force equilibrium diagram

Dr Asif Israr - Institute of Space Technology
 Flexibility Influence Co-efficients
42

K1α11  K 2 (α21  α11)  1

K1
K 2 (α21  α11)  K 3 (α31  α21)  0
F1=1unit m1
X1=11 K 3 (α31  α 21)  0
K2 K1α11  1
F2=0 m2 1
X2=21 α11 
K1
K3
F3=0
α21  α11  0 ; α21  α11
m3 X3=31
α31  α 21  0 ; α31  α21
Dr Asif Israr - Institute of Space Technology
 Flexibility Influence Co-efficients
43

K1 12
K1 K1α12  K 2 (α22  α12 )
F1=0 m1
F1=0 m1
X1=12
K2(22 - 12)
K2
F2=1
K 2 (α22  α12 )  K 3 (α32  α22 )  1
m2
F2=1unit m2
X2=22
K3(32 - 22)
K3
K 3 (α32  α 22 )  0
F3=0 m3 F3=0 m3
X2=32
Force equilibrium diagram
Dr Asif Israr - Institute of Space Technology
 Flexibility Influence Co-efficients
44

K1α12  K 2 (α22  α12 )

K1 K 2 (α22  α12 )  K 3 (α32  α22 )  1
F1=0 m1 K 3 (α32  α 22 )  0
X1=12
K1α12  1
K2
1
F2=1unit m2 α12 
X2=22 K1
1 1
K3 α22  
K1 K 2
F3=0 m3 1 1
X2=32 α32  
K1 K 2
Dr Asif Israr - Institute of Space Technology
 Flexibility Influence Co-efficients
45

K1 13

K1 F1=0 m1 K 1α13  K 2 (α23  α13 )

F1=0 m1
X1=12 K2(23 - 13)

K2
F2=0 m2 K 2 (α23  α13 )  K 3 (α33  α23 )
F2=0 m2
X2=22
K3(33 - 23)
K3
F3=1 m3 K 3 (α33  α 23 )  1
F3=1unit m3 X2=32
Force equilibrium diagram
Dr Asif Israr - Institute of Space Technology
 Flexibility Influence Co-efficients
46

K 1α13  K 2 (α23  α13 )

K1 K 2 (α23  α13 )  K 3 (α33  α23 )
F1=0 m1 K 3 (α33  α 23 )  1
X1=12

K2
K 1α13  1
1
F2=0 m2
X2=22
α13 
K1
1 1
K3 α23  
K1 K 2
F3=1unit m3 X2=32 1 1 1
α33   
K1 K 2 K 3
Dr Asif Israr - Institute of Space Technology
 Flexibility Influence Co-efficients
47

1
α11  α21  α12  α31  α13 
K1

1 1 By applying unit
α22  α32  α23   force on mass 1
K1 K 2
α11 α12 α13 
α33 
1

1

1
α  α21 α22 α32 
K1 K 2 K 3
α31 α32 α33 
By applying unit By applying unit
force on mass 2 force on mass 3
Dr Asif Israr - Institute of Space Technology
 Flexibility Influence Co-efficients
48

 For simplification, let us consider :

K1  K 2  K 3  K
1 1
α11  α21  α12  α31  α13  
K1 K α11 α12 α13 
α  α21 α22 α32 
1 1 2
α22  α32  α23    α31 α32 α33 
K K K

1 1 1 3 1 1 1
α33    
K K K K α  1 2 2
1
K
1 2 3
Dr Asif Israr - Institute of Space Technology
 Flexibility Influence Co-efficients
49

1 1 1
α  1 1 2 2
K
1 2 3

α  K1
Very important
Try to verify
In Vibration analysis if there is need of K1 one can use
flexibility co-efficient matrix

Dr Asif Israr - Institute of Space Technology

 Problem: Flexibility Influence Co-efficients
50

 Obtain the Flexibility influence co-efficients of the system shown

in the figure

m
l

m
Dr Asif Israr - Institute of Space Technology
 Problem: Flexibility Influence Co-efficients
51

T sin θ  F  1
 T T cos θ  g(m  m  m)  3mg
l
11 1
m
F=1unit tan θ 
3mg
l
θ is small, tan θ  sin θ
m α11
sin θ 
l l
α11  l sin θ
m l
α11 
3mg
Dr Asif Israr - Institute of Space Technology
 Problem: Flexibility Influence Co-efficients
52

 l
l α11 
11 3mg
m l
l α22  α11 
T g(m  m)
F=1unit l l
22 m α22  
l 3mg 2mg
5l
m α22 
6mg

Dr Asif Israr - Institute of Space Technology

 Problem: Flexibility Influence Co-efficients
53

l
α11 
 3mg
l
11 l l
m α33  α11  
l
g(m  m) gm
l l l
α33   
22 m 3mg 2mg mg
l T
11l
F=1unit α33 
m 6mg

Dr Asif Israr - Institute of Space Technology

 Problem: Flexibility Influence Co-efficients
54

l
α11 
3mg
By applying unit
5l force on mass 1
α22 
6mg
α11 α12 α13 
11l α  α21 α22 α32 
α33 
6mg α31 α32 α33 
By applying unit
force on mass 2 By applying unit
force on mass 3

Dr Asif Israr - Institute of Space Technology