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Lecture 17 SD Multi Degrees of Freedom System Mode Superposition Method

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23 views18 pages

Lecture 17 SD Multi Degrees of Freedom System Mode Superposition Method

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xrestha101
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© © All Rights Reserved
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Theory of Vibration

Multiple Degrees of Freedom (MDOF)


System (6)
Mode Superposition method
Lecture 17

M.Sc. in Earthquake Engineering


Thapathali Campus, Institute of Engineering
2020
Normal Coordinates
For a N-degrees of freedom system, the displaced
position is defined by the N – components of the
displacement vector {v}. However, for dynamic
response analysis of linear systems, a much more
useful representation of the displacement is
provided by the free vibration mode shapes.

v   y vˆ1   1 y1 vˆ 2    2 y2 vˆ 3    3 y3


Normal Coordinates
Total displacement:
v   1 Y1   2 Y2   3 Y3  ...............   N Y N
N
   n Yn (25)
n 1

v   Y  (26)


in which, {Y} – normal coordinates.
Premultiplying equation (26) by {ϕn}T[m]
Normal Coordinates
 n T m v   n T m  Y  (27)
  n  m  1 Y1   n  m  2 Y2  .......
T T

...............   n  m  n Yn  .........   n  m  N Y N


T T

Considering I orthogonality condition,

 n  mv   n  m n Yn


T T

 n  mv T

Yn  (28)
 n  m n 
T
Uncoupled Equations of Motion
Undamped System:

mv  k v  pt  (29)


- Coupled equations of motion
Applying v   y
v   y
m y  k  y  pt  (30)
Premultiplying by  n  ,
T
Uncoupled Equations of Motion

 n  T
m y   n  k  y   n  pt 
 T T

 n 
T
m n y n   n  k  n y n   n  pt  (31)
 T T

M nYn  K nYn  Pn t  (32)

--A SDOF equation of motion for mode n


Uncoupled Equations of Motion
In which,
M n   n  m  n  Normal Coordinate
T

 generalized mass, stiffness and


K n   n  k  n  
T
load for mode n
 (33)
Pn t    n  P t   respectively
T

If k  n    n2 m  n  is premultiplied by {ϕn}T

 n T k  n    n2  n T m  n  (34)


K n   n2 M n (35)
Uncoupled Equations of Motion
The procedure described above can be used
to obtain an independent SDOF equation for
each mode of vibration of the undamped
structure.
Thus the use of the normal coordinates
serves to transform the equations of motion
from a set of N simultaneous differential
equations, which are coupled by the off
diagonal terms in the mass and stiffness
matrices, to a set of N independent normal
coordinate equations.
Uncoupled Equations of Motion
The dynamic response therefore can be
obtained by solving separately for the
response of each normal (modal)
coordinate and then superposing these by
Equation (26) to obtain the response in the
original geometric coordinates. This
procedure is known as the mode -
superposition method, or more precisely
the mode displacement superposition
method.
Uncoupled Equations of Motion
Damped System:

mv  cv  k v  pt  (36)


- Coupled equations of motion
Applying
v   y , v   y and
,

v   y
m y  c y  k  y  pt  (37)
Premultiplying by  n  ,
T
Uncoupled Equations of Motion

 n T m y   n T c y   n T k  y   n T pt 


(38)

M nYn  C nYn  K nYn  Pn t  (39)

- Uncoupled equations of motion


- (a SDOF equation of motion for mode n)
Uncoupled Equations of Motion
Alternatively,

P t 
Yn  2 n nYn   Yn  n2
n (40)
Mn
In which,
M n   n m  n 
  
T


K n   n  k  n    n2 M n 
T
(41)

C n   n  c  n   2 n n M n 
T


Pn t    n  P t 
T

Mode Superposition Method
Example E121. Various aspects of the mode-
superposition procedure will be illustrated by
reference to the three story frame structure of
the figure shown. For convenience, the physical
and vibration properties of the structure are
summarized here:
Mode Superposition Method
Mode Superposition Method
Mode Superposition Method
Mode Superposition Method
Mode Superposition Method

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