MODAL TRANSIENT ANALYSIS OF A MULTI-DEGREE-OF-FREEDOM

SYSTEM WITH ENFORCED MOTION

Revision C

By Tom Irvine
Email: [email protected]

August 5, 2011

______________________________________________________________________________

Variables

M Mass matrix
K Stiffness matrix
F Applied forces
Fd Forces at driven nodes
Ff Forces at free nodes
I Identity matrix
 Transformation matrix
u Displacement vector
ud Displacements at driven nodes
uf Displacements at free nodes

The equation of motion for a multi-degree-of-freedom system is

[M][u]  [K][u]  F (1)

u 
[u ]   d  (2)
u f 

1
Partition the matrices and vectors as follows

M dd M df  u d  K dd K df  u d  Fd 
M  
M ff  u f   K fd K ff   u f   Ff 
(3)
 fd

The equations of motions for enforced displacement and acceleration are given in Appendices A and
B, respectively.

Create a transformation matrix such that

u d   ud 
 u    u  (4)
 f  w

I 0
   (5)
T1 T2 

M dd M df   u d  K dd K df   u d  Fd 
M    
M ff  u w   K fd K ff  u w   Ff 
(6)
 fd

Premultiply by  T ,

M M df   u d  K K df   u d  F 
 T  dd       T  dd      T  d  (7)
 M fd M ff  u w   K fd K ff  u w   Ff 

2
 APPENDIX A

Enforced Displacement

Again, the partitioned equation of motion is

M M df   u d  K K df   u d  F 
 T  dd       T  dd      T  d  (A-1)
 M fd M ff  u w   K fd K ff  u w   Ff 

Transform the equation of motion to uncouple the mass matrix so that the resulting mass matrix
is

M̂ dd 0 
  (A-2)
 0 M̂ ww 

Apply the transformation to the mass matrix

 I T T  M dd M df   I 0
T M    1 
T  
M ff  T1 T2 
(A-3)
0 T2   M fd

 I T T  M dd  M df T1 M df T2 
T M    1 
T   (A-4)
0 T2   M fd  M ff T1 M ff T2 

M  M T  T T M  M T  M T  T T M T 
 T M    dd df 1 1 fd ff df 2 1 ff 2  (A-5)
 T2 M fd  M ff T1 
T T2 M ff T2 
T


3
 M  M T  T T M  M T 
 T M    dd df 1 1 fd ff 1 Mdf  T1T Mff T2  (A-6)
 T2 M fd  M ff T1 
T T2 T M ff T2  

fd df 
M  T T M  M  T T M T
 T M    dd 1 1 ff 1  Mdf  T1T Mff T2  (A-7)
 T2 M fd  M ff T1 
T T2 T M ff T2  

Let

T2  I (A-8)

 T M    dd 1 fd 
M  T T M  M  T T M T
df 1 ff 1  Mdf  T1T Mff   M̂dd 0 

 M fd  M ff T1  M ff   0 M̂ ww 

(A-9)

M df  T1T M ff  0 (A-10)

T1T   M df M ff 1 (A-11)

T1   M ff 1M fd (A-12)

The transformation matrix is

I 0
   dd
I ff 
(A-13)
 T1

 
M̂ dd  M dd  T1T M fd  M df  T1T M ff T1 (A-14)

4
 M̂ ww  M ff (A-15)

I T1T  K dd K df  I dd 0
 T K    dd 
K ff   T1 I ff 
(A-16)
 0 I ff   K fd

By similarity, the transformed stiffness matrix is

 k̂ dd
 

k̂ dw  K dd  T1T K fd  K df  T1T K ff T1  K df  T1T K ff  (A-17)
k̂ wd k̂ ww   K fd  K ff T1  K ff 


 Fd  I dd T1  Fd 
 
I ff   Ff 
(A-18)
F̂w   0


 Fd  I dd Fd  T1Ff 
    (A-19)
F̂w   I ff Ff 


 Fd  Fd  T1Ff 
    (A-20)
F̂w   Ff 


M̂ dd 0   u d   k̂ dd k̂ dw   u d   Fd 
      (A-21)
 0 M̂ ww  u w  k̂ wd k̂ ww  u w  F̂w 

M̂ ww u w  k̂ wd u d  k̂ ww u w  F̂w (A-22)

5
The equation of motion is thus

M̂ ww u w  k̂ ww u w  F̂w  k̂ wd u d (A-23)

The final displacement are found via

u d   ud 
 u    u  (A-24)
 f  w

 I dd 0
 1  (A-25)
 M ff M fd I ff 

6
 APPENDIX B

Enforced Acceleration

Again, the partitioned equation of motion is

M M df   u d  K K df   u d  F 
 T  dd       T  dd      T  d  (B-1)
 M fd M ff  u w   K fd K ff  u w   Ff 

Transform the equation of motion to uncouple the stiffness matrix so that the resulting stiffness
matrix is

K̂ dd 0 
  (B-2)
 0 K̂ ww 

 I T T  K dd K df   I 0
T K    1 
T  
K ff  T1 T2 
 (B-3)
0 T2   K fd

I T1T  K dd  K df T1 K df T2 
T K   
T  (B-4)
0 T2   K fd  K ff T1 K ff T2 

K  K T  T T K  K T  K T  T T K T 
 T K    dd df 1 1 fd ff df 2 1 ff 2  (B-5)
 T2 K fd  K ff T1 
T T2 K ff T2  
T

7
 K  K T  T T K  K T 
 T K    dd df 1 1 fd ff 1 K df  T1T K ff T2  (B-6)
 T2 K fd  K ff T1 
T T2 T K ff T2  

fd df
K  T T K  K  T T K T
 T K    dd 1 1 ff 1  K df  T1T K ff T2  (B-7)
 T2 K fd  K ff T1 
T T2 T K ff T2  

Let

T2  I (B-8)

1 fd 
K  T T K  K  T T K T
 T K    dd df 1  K df  T1T K ff   K̂ dd
ff 1 0 

 K fd  K ff T1  K ff   0 K̂ ww 

(B-9)

K df  T1T K ff  0 (B-10)

T1T   K df K ff 1 (B-11)

T1   K ff 1K fd (B-12)

I 0
   dd
I ff 
(B-13)
 T1

8
 
K̂ dd  K dd  T1T K fd  K df  T1T K ff T1  (B-14)

K̂ ww  K ff (B-15)

I T1T  M dd M df  I dd 0
 T M    dd 
M ff   T1 I ff 
(B-16)
 0 I ff   M fd

By similarity, the transformed mass matrix is

 m̂ dd
m̂ 

m̂ dw  M dd  T1T M fd  M df  T1T M ff T1  Mdf  T1T Mff 
m̂ ww  
(B-17)
 wd M fd  M ff T1  M ff 


 Fd  I dd T1  Fd 
 
I ff   Ff 
(B-18)
F̂w   0


 Fd  I dd Fd  T1Ff 
    (B-19)
F̂w   I ff Ff 


 Fd  Fd  T1Ff 
    (B-20)
F̂w   Ff 


 m̂ dd m̂ dw   u d  K̂ dd 0   u d   Fd 
m̂    
m̂ ww  u w   0
(B-21)
 wd K̂ ww  u w  F̂w 

9
 m̂ wd u d  m̂ ww u w  K̂ ww u w  F̂w (B-22)

The equation of motion is thus

m̂ ww u w  K̂ ww u w  F̂w  m̂ wd u d (B-23)

The final displacement are found via

u d   ud 
u    u  (B-24)
 f  w

 I dd 0
 1  (B-25)
 K ff K fd I ff 

10
 APPENDIX C

Enforced Acceleration Example

The diagram of a sample system is shown in Figure 1.

x5
m5

k5

x4
m4

k4

x3
m3

k3

x2
mm
a,22

k2
x1
mm
a,11

k1
Figure C-1.

k1 10e+07 m1 65,000
English units:
k2 10e+07 m2 65,000 stiffness (lbf/in), mass(lbf sec^2/in), force(lbf)
k3 8e+07 m3 65,000
Assume modal damping of 5% for all modes.
k4 8e+07 m4 60,000
k5 6e+07 m5 45,000

11
The equation of motion is

m1 0 0 0 0   x1 
 0 m 0 0 0  x 2 
 2
 0 0 m3 0 0   x 3 
  
 0 0 0 m4 0  x 4 
 0 0 0 0 m 5   x 5 

 k1  k 2  k2 0 0 0   x1   f1 
 k k 2  k3  k3 0 0   x 2  f 2 
 2
  0  k3 k3  k 4  k4 0   x 3   f 3 
    
 0 0  k4 k 4  k5  k 5   x 4  f 4 
 0 0 0  k5 k 5   x 5  f 5 
(C-1)

Now set all of the applied forces f i to zero.

Drive mass 4 with acceleration as follows:

a4(t) = (386 in/sec^2) sin [ 2 (4 Hz) t ] , 0 < t < 3 sec (C-2)

Set the sample rate at 200 samples/sec.

The results are shown in Figure C-2, as calculated by Matlab script: enforced_acceleration.m.

12
 Acceleration
1500
dof 1
dof 2
dof 3
1000 dof 4
dof 5

500
Accel(G)

-500

-1000

-1500
0 0.5 1 1.5 2 2.5 3
Time(sec)

Figure C-2.

>> enforced_acceleration

enforced_acceleration.m ver 2.1 March 9, 2011

by Tom Irvine

Enter the units system

1=English 2=metric
1
Assume symmetric mass and stiffness matrices.
Select input mass unit
1=lbm 2=lbf sec^2/in
2
stiffness unit = lbf/in

Select file input method

1=file preloaded into Matlab
2=Excel file
1

Mass Matrix
Enter the matrix name: mass_5dof

13
Stiffness Matrix
Enter the matrix name: stiff_5dof
Input Matrices

mass =

65000 0 0 0 0
0 65000 0 0 0
0 0 65000 0 0
0 0 0 60000 0
0 0 0 0 45000

stiff =

200000000 -100000000 0 0 0
-100000000 180000000 -80000000 0 0
0 -80000000 160000000 -80000000 0
0 0 -80000000 140000000 -60000000
0 0 0 -60000000 60000000

Select modal damping input method

1=uniform damping for all modes
2=damping vector
1

Enter damping ratio

0.05

number of dofs =5

Enter the starting time (sec)

0

Enter the end time (sec)

10

Enter the sample rate (samples/sec)

200

Enter the number of dofs with enforced acceleration. (maximum = 4)

1

Each input file must have two columns: time & acceleration

Enter the first dof

4
The input file must have: time(sec) & accel
Enter the applied acceleration input matrix name for this dof.
sine

14
MT =

1.0e+005 *

1.5495 0.1444 0.2889 0.4694 0.4500

0.1444 0.6500 0 0 0
0.2889 0 0.6500 0 0
0.4694 0 0 0.6500 0
0.4500 0 0 0 0.4500

KT =

1.0e+008 *

0.2222 0.0000 -0.0000 0 -0.0000

0.0000 2.0000 -1.0000 0 0
-0.0000 -1.0000 1.8000 -0.8000 0
0 0 -0.8000 1.6000 0
-0.0000 0 0 0 0.6000

Natural Frequencies
No. f(Hz)
1. 1.8283
2. 4.9465
3. 7.4613
4. 9.7491
5. 11.171

Modes Shapes (column format)

ModeShapes =

0.0023 -0.0008 -0.0016 -0.0027 -0.0011

0.0002 0.0018 0.0023 -0.0013 0.0024
0.0002 0.0026 0.0018 0.0020 -0.0021
0.0002 0.0018 -0.0008 0.0036 0.0026
0.0003 -0.0020 0.0040 0.0041 0.0015

Mwd =

1.0e+004 *

1.4444
2.8889
4.6944
4.5000

15
Mww =

65000 0 0 0
0 65000 0 0
0 0 65000 0
0 0 0 45000

Kww =

200000000 -100000000 0 0
-100000000 180000000 -80000000 0
0 -80000000 160000000 0
0 0 0 60000000

Natural Frequencies
No. f(Hz)
1. 4.5268
2. 5.8115
3. 8.2749
4. 11.021

Modes Shapes (column format)

ModeShapes =

0.0019 0 0.0024 0.0024

0.0028 0 0.0006 -0.0027
0.0021 0 -0.0030 0.0014
0 0.0047 0 0

Participation Factors

part =

435.2223
212.1320
0.9398
74.7038

16
 APPENDIX D

Enforced Displacement Example

Displacement dof 1
8 dof 2
dof 3
dof 4
6
dof 5

4
Displacement(in)

-2

-4

-6

-8
0 0.5 1 1.5 2 2.5 3
Time(sec)

Figure D-1.

Consider the spring-mass system from Appendix C.

Drive mass 2 with displacement as follows:

d2(t) = (1 inch) sin [ 2 (3 Hz) t ] , 0 < t < 3 sec (D-1)

The results are shown in Figure D-1, as calculated by Matlab script: enforced_displacement.m.

17
>> enforced_displacement

enforced_displacement.m ver 1.5 March 9, 2011

by Tom Irvine

Enter the units system

1=English 2=metric
1
Assume symmetric mass and stiffness matrices.
Select input mass unit
1=lbm 2=lbf sec^2/in
2
stiffness unit = lbf/in

Select file input method

1=file preloaded into Matlab
2=Excel file
1

Mass Matrix
Enter the matrix name: mass_5dof

Stiffness Matrix
Enter the matrix name: stiff_5dof
Input Matrices

mass =

65000 0 0 0 0
0 65000 0 0 0
0 0 65000 0 0
0 0 0 60000 0
0 0 0 0 45000

stiff =

200000000 -100000000 0 0 0
-100000000 180000000 -80000000 0 0
0 -80000000 160000000 -80000000 0
0 0 -80000000 140000000 -60000000
0 0 0 -60000000 60000000

Select modal damping input method

1=uniform damping for all modes
2=damping vector
1

Enter damping ratio

0.05

number of dofs =5

18
Enter the starting time (sec)
0

Enter the end time (sec)

5

Enter the sample rate (samples/sec)

200

Enter the number of dofs with enforced displacement. (maximum = 4)

1

Each input file must have two columns: time & displacement

Enter the first dof

2
The input file must have: time(sec) & disp(inch)
Enter the applied displacement input matrix name for this dof.
sine

MT =

65000 0 0 0 0
0 65000 0 0 0
0 0 65000 0 0
0 0 0 60000 0
0 0 0 0 45000

KT =

180000000 -100000000 -80000000 0 0

-100000000 200000000 0 0 0
-80000000 0 160000000 -80000000 0
0 0 -80000000 140000000 -60000000
0 0 0 -60000000 60000000

Natural Frequencies
No. f(Hz)
1. 1.8283
2. 4.9465
3. 7.4613
4. 9.7491
5. 11.171

19
 Modes Shapes (column format)

ModeShapes =

0.0013 0.0023 0.0011 -0.0008 -0.0025

0.0007 0.0017 0.0020 0.0019 0.0021
0.0019 0.0013 -0.0020 -0.0017 0.0018
0.0023 -0.0008 -0.0016 0.0027 -0.0011
0.0026 -0.0027 0.0024 -0.0015 0.0004

Kwd =

-100000000
-80000000
0
0

Kww =

200000000 0 0 0
0 160000000 -80000000 0
0 -80000000 140000000 -60000000
0 0 -60000000 60000000

Mww =

65000 0 0 0
0 65000 0 0
0 0 60000 0
0 0 0 45000

Natural Frequencies
No. f(Hz)
1. 2.7278
2. 6.9133
3. 8.8283
4. 9.9997

Modes Shapes (column format)

ModeShapes =

0 0 0.0039 0
0.0014 0.0027 0 0.0024
0.0025 0.0013 0 -0.0029
0.0033 -0.0031 0 0.0015

20
Participation Factors

part =

392.7638
115.3874
254.9510
49.2174

21