Structural Dynamics

Lecture 12
Dynamic analysis and response of linear systems:
modal analysis

Zili Zhang
Department of Structural Engineering
[email protected]
 ― Lecture 3: 单自由度系统：谐波激励1―

1
P A R T

Modal expansion of displacement and free vibration

Modal expansion of displacement

3
Modal expansion of displacement

4
Free vibration response
Free vibration of linear MDOF system (without damping) is governed by the
following equation:

That satisfies the initial conditions:

5
Free vibration response
Free vibration of linear MDOF system (without damping) is governed by the
following equation:

That satisfies the initial conditions:

A general solution of the above equation is given by superposition of the

response in individual modes:

6
Free vibration response
Setting 𝑡𝑡 = 0, we have

From the modal expansion of displacement and velocity (page 3), we can
write

where

Using equivalence of the equations in the red and blue boxes

7
Free vibration response
Therefore, the free vibration response can be written as

or alternatively,

8
Free vibration response: Example 8

Free vibration response of the 2-story shear frame due to initial displacement

9
Free vibration response: Example 9

Free vibration response of the 2-story shear frame due to initial displacement

Solution?
 ― Lecture 3: 单自由度系统：谐波激励1―

2
P A R T

Damping in MDOF systems

 Revisit: Introduction of damping force in the
SDOF system
• Damping provides a non-conservative force
• The force must dissipate energy in the system

• Introduction of energy is not physically possible/mathematically allowable

• The damping force must be directed opposite the direction of motion

(velocity)
• Equation of motion including damping
• 𝑚𝑚𝑥𝑥̈ 𝑡𝑡 + 𝑘𝑘𝑘𝑘 𝑡𝑡 = 𝑓𝑓 𝑡𝑡 − 𝑓𝑓𝑑𝑑 𝑡𝑡

• Here 𝑓𝑓𝑑𝑑 𝑡𝑡 is the non-conservative damping force

• Generally, 𝑓𝑓𝑑𝑑 𝑡𝑡 is in phase with the velocity 𝑥𝑥̇ 𝑡𝑡 , i.e. 𝑥𝑥̇ 𝑡𝑡 𝑓𝑓𝑑𝑑 𝑡𝑡 ≥ 0

𝑘𝑘


𝑚𝑚 
𝑓𝑓 𝑡𝑡 − 𝑓𝑓𝑑𝑑 (𝑡𝑡) 𝑥𝑥 𝑡𝑡 , 𝑥𝑥̇ 𝑡𝑡 , 𝑥𝑥(𝑡𝑡)
̈
12
 Revisit: Some fundamental damping models
• Governing equation with non-conservative damping force
• 𝑚𝑚𝑥𝑥̈ 𝑡𝑡 + 𝑘𝑘𝑘𝑘 𝑡𝑡 = 𝑓𝑓 𝑡𝑡 − 𝑓𝑓𝑑𝑑 𝑡𝑡 ; 𝑥𝑥̇ 𝑡𝑡 𝑓𝑓𝑑𝑑 𝑡𝑡 ≥ 0
• Three damping models
𝑥𝑥̇
• Coulomb friction: 𝑓𝑓𝑑𝑑 𝑡𝑡 = 𝑐𝑐 ; 𝑐𝑐 > 0 (scales with 𝜔𝜔0 )
𝑥𝑥̇

• Linear viscosity: 𝑓𝑓𝑑𝑑 𝑡𝑡 = 𝑐𝑐 𝑥𝑥̇ ; 𝑐𝑐 > 0 (scales with 𝜔𝜔1 )

• Fluid damping: 𝑓𝑓𝑑𝑑 𝑡𝑡 = 𝑐𝑐 𝑥𝑥̇ 𝑥𝑥̇ ; 𝑐𝑐 > 0 (scales with 𝜔𝜔2 )

𝑓𝑓𝑑𝑑 𝑡𝑡 𝑓𝑓𝑑𝑑 𝑡𝑡 𝑓𝑓𝑑𝑑 𝑡𝑡
𝑐𝑐 𝑐𝑐𝑐𝑐𝑐𝑐 𝑐𝑐(𝐴𝐴𝜔𝜔)2
𝐴𝐴 𝐴𝐴 𝐴𝐴
𝑥𝑥 𝑡𝑡 𝑥𝑥 𝑡𝑡 𝑥𝑥 𝑡𝑡

Coulomb friction Linear viscosity Fluid damping

13
 Revisit: Forced vibration of linear viscous
damped SDOF system
• Equation of motion and initial conditions
• 𝑚𝑚𝑥𝑥̈ 𝑡𝑡 + 𝑐𝑐 𝑥𝑥̇ 𝑡𝑡 + 𝑘𝑘𝑘𝑘 𝑡𝑡 = 𝑓𝑓 𝑡𝑡 ; 𝑥𝑥 0 = 𝑥𝑥0 ; 𝑥𝑥̇ 0 = 𝑥𝑥̇ 0
• Alternative form obtained by division by 𝑚𝑚
1 𝑘𝑘 𝑐𝑐 𝑐𝑐
• 𝑥𝑥̈ 𝑡𝑡 + 2𝜁𝜁𝜔𝜔0 𝑥𝑥̇ 𝑡𝑡 + 𝜔𝜔02 𝑥𝑥 𝑡𝑡 = 𝑓𝑓 𝑡𝑡 ; 𝜔𝜔0 = ; 𝜁𝜁 = =
𝑚𝑚 𝑚𝑚 2𝑚𝑚𝜔𝜔0 2 𝑚𝑚𝑚𝑚

• 𝜁𝜁 is known as the damping ratio

𝑘𝑘  
 

𝑓𝑓𝑖𝑖 𝑡𝑡 = 𝑘𝑘𝑘𝑘(𝑡𝑡)



𝑚𝑚 𝑓𝑓 𝑡𝑡 𝑥𝑥 𝑡𝑡 , 𝑥𝑥̇ 𝑡𝑡 , 𝑥𝑥(𝑡𝑡)
̈
𝑓𝑓𝑑𝑑 𝑡𝑡 = 𝑐𝑐 𝑥𝑥̇ 𝑡𝑡
𝑐𝑐

14
Damping in MDOF structures

15
Recommended damping values in structures

16
 Classical damping matrix (proportional
damping)
• Classical damping is an appropriate idealization if similar
damping mechanisms are distributed throughout the structure
(e.g. a multistory building with a similar structural system and
structural materials over its height). It’s also called proportional
damping in some other books. Classical damping is what we
are going to consider in this course.
• Classical damping is not appropriate if the system consists of
two or more parts with significantly different levels of damping.
Examples are: a structure-soil system; structure installed with a
local damper. Then, non-classical damping matrix (non-
proportional damping matrix) needs to be used. We don’t
discuss that in this course.
17
 Classical damping matrix (proportional
damping)
• Mass-proportional damping and stiff-proportional damping:
• 𝐂𝐂 = 𝑎𝑎0 𝐌𝐌 and 𝐂𝐂 = 𝑎𝑎1 𝐊𝐊 , respectively

• From the orthogonality properties, we can prove (black board):

• 𝑐𝑐𝑛𝑛 = 𝑎𝑎0 𝑚𝑚𝑛𝑛 and 𝑐𝑐𝑛𝑛 = 𝑎𝑎1 𝑘𝑘𝑛𝑛 , respectively, for mode 𝑛𝑛

18
 Classical damping matrix (proportional
damping)
• 𝑐𝑐𝑛𝑛 = 𝑎𝑎0 𝑚𝑚𝑛𝑛 and 𝑐𝑐𝑛𝑛 = 𝑎𝑎1 𝑘𝑘𝑛𝑛 , respectively, for mode 𝑛𝑛

• Then, for mass-propostional damping matrix, the modal

damping ratio 𝜁𝜁𝑛𝑛 becomes:
𝑐𝑐𝑛𝑛 𝑎𝑎0 𝑚𝑚𝑛𝑛 𝑎𝑎0 1
• 𝜁𝜁𝑛𝑛 = = = , for mode 𝑛𝑛
2𝑚𝑚𝑛𝑛 𝜔𝜔𝑛𝑛 2𝑚𝑚𝑛𝑛 𝜔𝜔𝑛𝑛 2 𝜔𝜔𝑛𝑛

• For stiffness-propostional damping matrix, 𝜁𝜁𝑛𝑛 becomes:

𝑐𝑐𝑛𝑛 𝑎𝑎1 𝑘𝑘𝑛𝑛 𝑎𝑎1
• 𝜁𝜁𝑛𝑛 = = = 𝜔𝜔 , for mode 𝑛𝑛
2𝑚𝑚𝑛𝑛 𝜔𝜔𝑛𝑛 2𝑚𝑚𝑛𝑛 𝜔𝜔𝑛𝑛 2 𝑛𝑛

19
 Rayleigh damping model
• Rayleigh damping matrix (mass and stiffness proportional):
• 𝐂𝐂 = 𝑎𝑎0 𝐌𝐌 + 𝑎𝑎1 𝐊𝐊

• The damping ratio for mode 𝑛𝑛 becomes:

𝑎𝑎0 1 𝑎𝑎1
• 𝜁𝜁𝑛𝑛 = + 𝜔𝜔
2 𝜔𝜔𝑛𝑛 2 𝑛𝑛
 Rayleigh damping model
• The damping ratio for mode 𝑛𝑛 becomes:
𝑎𝑎0 1 𝑎𝑎1
• 𝜁𝜁𝑛𝑛 = + 𝜔𝜔
2 𝜔𝜔𝑛𝑛 2 𝑛𝑛

• The damping ratios in two eigenmodes can be matched

1 𝜔𝜔1 1 𝜔𝜔1 −1
𝜁𝜁1 2𝜔𝜔1 2 𝑎𝑎0 𝑎𝑎0 2𝜔𝜔1 2 𝜁𝜁1
• E.g. modes 1 and 2: = ⇒
𝜁𝜁2 1 𝜔𝜔2 𝑎𝑎1 𝑎𝑎1 = 1 𝜔𝜔2 𝜁𝜁2
2𝜔𝜔2 2 2𝜔𝜔2 2

𝑎𝑎0 1 𝑎𝑎1
• Damping ratios in other modes is obtained from 𝜁𝜁𝑛𝑛 = + 𝜔𝜔𝑛𝑛 . These
2 𝜔𝜔𝑛𝑛 2
damping ratios don’t normally match reality (compared with measurement
if we have)
 ― Lecture 3: 单自由度系统：谐波激励1―

3
P A R T

Modal analysis: a classical method for solving the

MDOF system
 Modal analysis of forced vibrations:
Response in terms of undamped eigenmodes
• Equations of motion for the undamped MDOF system
• 𝐌𝐌𝐱𝐱̈ 𝑡𝑡 + 𝐊𝐊𝐊𝐊 𝑡𝑡 = 𝐅𝐅 𝑡𝑡 ; 𝐱𝐱 0 = 𝐱𝐱 0 ; 𝐱𝐱̇ 0 = 𝐱𝐱̇ 0
• Generalized eigenvalue problem
• 𝐊𝐊 − 𝜆𝜆𝑗𝑗 𝐌𝐌 𝚽𝚽 𝑗𝑗 = 𝟎𝟎 ; 𝜆𝜆𝑗𝑗 = 𝜔𝜔𝑗𝑗2
• Solution in terms of undamped eigenmodes
• The mode shapes 𝚽𝚽 1 , 𝚽𝚽 2 , … , 𝚽𝚽 𝑛𝑛 form a vector base for 𝐱𝐱 𝑡𝑡
• 𝐱𝐱 𝑡𝑡 = 𝑞𝑞1 𝑡𝑡 𝚽𝚽 1 + 𝑞𝑞2 𝑡𝑡 𝚽𝚽 2 + ⋯ + 𝑞𝑞𝑛𝑛 𝑡𝑡 𝚽𝚽 𝑛𝑛 (often truncated)
𝑞𝑞1 𝑡𝑡
𝑞𝑞2 𝑡𝑡
• 𝐱𝐱 𝑡𝑡 = 𝚽𝚽 1 𝚽𝚽 2 ⋯ 𝚽𝚽 𝑛𝑛 = 𝐒𝐒𝐪𝐪 𝑡𝑡 ~ coordinate transformation
⋮
𝑞𝑞𝑛𝑛 𝑡𝑡
• The functions 𝑞𝑞𝑗𝑗 𝑡𝑡 , 𝑗𝑗 = 1, 2, … , 𝑛𝑛, are called “modal coordinates”
• For undamped eigenvibrations: 𝑞𝑞𝑗𝑗 𝑡𝑡 = 𝑎𝑎𝑗𝑗 cos 𝜔𝜔𝑗𝑗 𝑡𝑡 + 𝑏𝑏𝑗𝑗 sin 𝜔𝜔𝑗𝑗 𝑡𝑡
 Modal analysis of forced vibrations:
Response in terms of undamped eigenmodes
• Equations of motion in modal coordinates
• 𝐦𝐦𝐪𝐪̈ 𝑡𝑡 + 𝐜𝐜𝐪𝐪̇ 𝑡𝑡 + 𝐤𝐤𝐤𝐤 𝑡𝑡 = 𝒇𝒇 𝑡𝑡

• Modal mass matrix: 𝐦𝐦 = 𝐒𝐒𝑇𝑇 𝐌𝐌𝐒𝐒 The reformulation will only be

useful if the three matrices are
• Modal damping matrix: 𝐜𝐜 = 𝐒𝐒 𝑇𝑇 𝐂𝐂𝐒𝐒 all diagonal. Then the original
• Modal stiffness matrix: 𝐤𝐤 = 𝐒𝐒 𝑇𝑇 𝐊𝐊𝐒𝐒 MDOF system is decoupled to
a number of SDOF systems.
• Modal force vector: 𝒇𝒇 𝑡𝑡 = 𝐒𝐒𝑇𝑇 𝐅𝐅 𝑡𝑡

• Initial conditions in modal coordinates

• Initial displacements: 𝐱𝐱 0 = 𝐒𝐒𝐒𝐒 0 = 𝐱𝐱 0 ⇒ 𝐪𝐪 0 = 𝐪𝐪0 = 𝐒𝐒−1 𝐱𝐱0

• Initial velocities: 𝐱𝐱̇ 0 = 𝐒𝐒𝐪𝐪̇ 0 = 𝐱𝐱̇ 0 ⇒ 𝐪𝐪̇ 0 = 𝐪𝐪̇ 0 = 𝐒𝐒−1 𝐱𝐱̇ 0

• Note: We do not like to take the inverse of 𝐒𝐒

 Modal analysis of forced vibrations:
Response in terms of undamped eigenmodes
• The modal mass matrix

• 𝐦𝐦 = 𝐒𝐒 𝑇𝑇 𝐌𝐌𝐒𝐒 = 𝚽𝚽 1 𝚽𝚽 2 ⋯ 𝚽𝚽 𝑛𝑛 𝑇𝑇 𝐌𝐌 𝚽𝚽 1 𝚽𝚽 2 ⋯ 𝚽𝚽 𝑛𝑛

𝑗𝑗 𝑇𝑇 𝑗𝑗
• Modal mass related to eigenmode 𝑗𝑗: 𝑚𝑚𝑗𝑗 = 𝚽𝚽 𝐌𝐌𝚽𝚽

𝑖𝑖 𝑇𝑇 𝑗𝑗
• We can prove the orthogonality property: 𝚽𝚽 𝐌𝐌𝚽𝚽 = 0 for 𝑖𝑖 ≠ 𝑗𝑗

𝑚𝑚1
𝑚𝑚2
• Hence, the matrix is diagonal: 𝐦𝐦 = 𝐒𝐒 𝑇𝑇 𝐌𝐌𝐒𝐒 =
⋱
𝑚𝑚𝑛𝑛

• Initial conditions: 𝐪𝐪 0 = 𝐪𝐪0 = 𝐦𝐦−1 𝐒𝐒 𝑇𝑇 𝐌𝐌𝐱𝐱 0 ; 𝐪𝐪̇ 0 = 𝐪𝐪̇ 0 = 𝐦𝐦−1 𝐒𝐒 𝑇𝑇 𝐌𝐌𝐱𝐱̇ 0

• Since 𝐦𝐦 is diagonal, the operation 𝐦𝐦−1 𝐒𝐒 𝑇𝑇 𝐌𝐌 is very fast compared to 𝐒𝐒 −1

 Modal analysis of forced vibrations:
Response in terms of undamped eigenmodes
• The modal stiffness matrix

• 𝐤𝐤 = 𝐒𝐒𝑇𝑇 𝐊𝐊𝐒𝐒 = 𝚽𝚽 1 𝚽𝚽 2 ⋯ 𝚽𝚽 𝑛𝑛 𝑇𝑇 𝐊𝐊 𝚽𝚽 1 𝚽𝚽 2 ⋯ 𝚽𝚽 𝑛𝑛

𝑗𝑗 𝑇𝑇 𝑗𝑗
• Modal stiffness related to eigenmode 𝑗𝑗: 𝑘𝑘𝑗𝑗 = 𝚽𝚽 𝐊𝐊𝚽𝚽

𝑖𝑖 𝑇𝑇 𝑗𝑗
• We can prove the orthogonality property: 𝚽𝚽 𝐊𝐊𝚽𝚽 = 0 for 𝑖𝑖 ≠ 𝑗𝑗

𝑘𝑘1
𝑘𝑘2
• Hence, the matrix is diagonal: 𝐤𝐤 = 𝐒𝐒 𝑇𝑇 𝐊𝐊𝐒𝐒 =
⋱
𝑘𝑘𝑛𝑛

• If the modal mass is normalized to one, i.e. 𝑚𝑚1 = 𝑚𝑚2 = ⋯ = 𝑚𝑚𝑛𝑛 = 1, the
modal stiffnesses become 𝑘𝑘1 = 𝜔𝜔12 , 𝑘𝑘2 = 𝜔𝜔22 , … , 𝑘𝑘𝑛𝑛 = 𝜔𝜔𝑛𝑛2 , i.e. 𝐤𝐤 = 𝛀𝛀𝛀𝛀
 Modal analysis of forced vibrations:
Response in terms of undamped eigenmodes
• The modal damping matrix

• 𝐜𝐜 = 𝐒𝐒𝑇𝑇 𝐂𝐂𝐒𝐒 = 𝚽𝚽 1 𝚽𝚽 2 ⋯ 𝚽𝚽 𝑛𝑛 𝑇𝑇 𝐂𝐂 𝚽𝚽 1 𝚽𝚽 2 ⋯ 𝚽𝚽 𝑛𝑛

𝑗𝑗 𝑇𝑇 𝑗𝑗
• Modal damping related to eigenmode 𝑗𝑗: 𝑐𝑐𝑗𝑗 = 𝚽𝚽 𝐂𝐂𝚽𝚽

𝑖𝑖 𝑇𝑇 𝑗𝑗
• We assume the orthogonality property: 𝚽𝚽 𝐂𝐂𝚽𝚽 = 0 for 𝑖𝑖 ≠ 𝑗𝑗

𝑐𝑐1
𝑐𝑐2
• Hence, the matrix is diagonal: 𝐜𝐜 = 𝐒𝐒 𝑇𝑇 𝐂𝐂𝐒𝐒 =
⋱
𝑐𝑐𝑛𝑛

• The diagonality of 𝐂𝐂 is ensured if the structure is lightly damped and the

eigenmodes are well spaced—or if 𝐂𝐂 = 𝛼𝛼𝐌𝐌 + 𝛽𝛽𝐊𝐊 (Rayleigh damping)
 Modal analysis of forced vibrations:
Response in terms of undamped eigenmodes
• Equation of motion for mode 𝑗𝑗
• 𝑚𝑚𝑗𝑗 𝑞𝑞̈ 𝑗𝑗 𝑡𝑡 + 𝑐𝑐𝑗𝑗 𝑞𝑞̇ 𝑗𝑗 𝑡𝑡 + 𝑘𝑘𝑗𝑗 𝑞𝑞𝑗𝑗 𝑡𝑡 = 𝑓𝑓𝑗𝑗 𝑡𝑡 (i.e. equivalent SDOF system)

𝑗𝑗 𝑇𝑇 𝑗𝑗
• Modal mass: 𝑚𝑚𝑗𝑗 = 𝚽𝚽 𝐌𝐌𝚽𝚽

𝑗𝑗 𝑇𝑇 𝑗𝑗
• Modal damping: 𝑐𝑐𝑗𝑗 = 𝚽𝚽 𝐂𝐂𝚽𝚽

𝑗𝑗 𝑇𝑇 𝑗𝑗
• Modal stiffness: 𝑘𝑘𝑗𝑗 = 𝚽𝚽 𝐊𝐊𝚽𝚽

𝑗𝑗 𝑇𝑇
• Modal force: 𝑓𝑓𝑗𝑗 𝑡𝑡 = 𝚽𝚽 𝐅𝐅 𝑡𝑡

• Initial conditions
• Displacements: 𝐪𝐪 0 = 𝐪𝐪0 = 𝐦𝐦−1 𝐒𝐒𝑇𝑇 𝐌𝐌𝐱𝐱 0 ; 𝑞𝑞𝑗𝑗 0 = 𝑞𝑞0𝑗𝑗

• Velocitites: 𝐪𝐪̇ 0 = 𝐪𝐪̇ 0 = 𝐦𝐦−1 𝐒𝐒𝑇𝑇 𝐌𝐌𝐱𝐱̇ 0 ; 𝑞𝑞̇ 𝑗𝑗 0 = 𝑞𝑞̇ 𝑗𝑗𝑗

 Modal analysis of forced vibrations:
Response in terms of undamped eigenmodes
• Equation of motion for 𝑗𝑗
1
• 𝑞𝑞̈ 𝑗𝑗 𝑡𝑡 + 2𝜁𝜁𝑗𝑗 𝜔𝜔𝑗𝑗 𝑞𝑞̇ 𝑗𝑗 𝑡𝑡 + 𝜔𝜔𝑗𝑗2 𝑞𝑞𝑗𝑗 𝑡𝑡 = 𝑓𝑓 𝑡𝑡 ; 𝑞𝑞𝑗𝑗 0 = 𝑞𝑞0𝑗𝑗 ; 𝑞𝑞̇ 𝑗𝑗 0 = 𝑞𝑞̇ 𝑗𝑗𝑗
𝑚𝑚𝑗𝑗 𝑗𝑗

• Full solution for under-critically damped systems

• 𝑞𝑞𝑗𝑗 𝑡𝑡 = complimentary solution + particular solution
𝑞𝑞̇ 𝑗𝑗0 +𝜁𝜁𝑗𝑗 𝜔𝜔𝑗𝑗 𝑞𝑞𝑗𝑗𝑗 𝑡𝑡
𝑥𝑥𝑐𝑐 𝑡𝑡 = e−𝜁𝜁𝑗𝑗 𝜔𝜔𝑗𝑗 𝑡𝑡 𝑞𝑞𝑗𝑗0 cos 𝜔𝜔𝑑𝑑𝑗𝑗 𝑡𝑡 + sin 𝜔𝜔𝑑𝑑𝑗𝑗 𝑡𝑡 + ∫0 ℎ𝑗𝑗 𝑡𝑡 − 𝜏𝜏 𝑓𝑓𝑗𝑗 𝜏𝜏 d𝜏𝜏
𝜔𝜔𝑗𝑗𝑑𝑑
𝑐𝑐𝑗𝑗 𝑐𝑐𝑗𝑗
• Modal damping ratio: 𝜁𝜁𝑗𝑗 = =
2 𝑚𝑚𝑗𝑗 𝑘𝑘𝑗𝑗 2𝑚𝑚𝑗𝑗 𝜔𝜔𝑗𝑗
𝑘𝑘𝑗𝑗
• Modal undamped angular eigenfrequency: 𝜔𝜔𝑗𝑗 =
𝑚𝑚𝑗𝑗

• Modal damped angular eigenfrequency: 𝜔𝜔𝑑𝑑𝑗𝑗 = 𝜔𝜔𝑗𝑗 1 − 𝜁𝜁𝑗𝑗2

1
• Modal impulse response function: ℎ𝑗𝑗 𝑡𝑡 = e−𝜁𝜁𝑗𝑗 𝜔𝜔𝑗𝑗 𝑡𝑡 sin 𝜔𝜔𝑑𝑑𝑗𝑗 𝑡𝑡 ; 𝑡𝑡 ≥ 0
𝑚𝑚𝑗𝑗 𝜔𝜔𝑑𝑑𝑗𝑗
 Final step: modal superposition

• After obtaining 𝑞𝑞𝑗𝑗 𝑡𝑡 for each mode 𝑗𝑗

𝑞𝑞1 𝑡𝑡
𝑞𝑞2 𝑡𝑡
• 𝐱𝐱 𝑡𝑡 = 𝚽𝚽 1 𝚽𝚽 2 ⋯ 𝚽𝚽 𝑛𝑛
= 𝐒𝐒𝐪𝐪 𝑡𝑡
⋮
𝑞𝑞𝑛𝑛 𝑡𝑡
 Modal analysis of forced vibrations:
“Node of mode”—modal mass and modal force
• Each mode can have a number of “nodes” where the
displacement amplitude is zero
• At such a “node of mode”, the velocity and acceleration
amplitudes are also zero
• Mass or external force
applied at a “node of mode” “Node of mode”
Load or mass placed
does not affect the modal here has no influence
mass and modal force
𝑗𝑗 𝑇𝑇 𝑗𝑗
• Modal mass: 𝑚𝑚𝑗𝑗 = 𝚽𝚽 𝐌𝐌𝚽𝚽
𝑇𝑇 A load or mass
𝑗𝑗
• Modal force: 𝑓𝑓𝑗𝑗 𝑡𝑡 = 𝚽𝚽 𝐅𝐅 𝑡𝑡 placed here has
maximum
• Full influence only at points
influence
with full displacement
 Shear frame: a simple MDOF system

• The beams and floor systems are rigid in flexure

𝑚𝑚4
• Axial deformation of the beams and columns neglected
𝑘𝑘4
• The mass is concentrated at the floor levels

𝑚𝑚3
𝑘𝑘3

𝑚𝑚2
𝑘𝑘2

𝑚𝑚1
𝑘𝑘1
 Modal expansion of displacements 1
Mode 1 Mode 2
The specified displacement vector
modal coordinate: 1.486 modal coordinate: -0.5903

Mode 3 Mode 4

modal coordinate: -0.2197 modal coordinate: 0.2094

 Modal expansion of displacements 2
Mode 1 Mode 2
The specified displacement vector
modal coordinate: 0 modal coordinate: 1

Mode 3 Mode 4

modal coordinate: -7.149e-17 modal coordinate: 1.457e-16

Modal analysis and dynamic responses

Ground acceleration time series

3

0
]
2
[m/s

-1
g
a

-2

-3

-4

0 10 20 30 40 50 60

Time [s]
 Modal analysis and dynamic responses
Dynamic response of the system
(1)
Floor 1 q (t)
Mode 1
1
0.5

0.1

0
( t ) [m]

( t ) [m]
0
-0.1 Duhamel

15

1
Newmark
1

-0.2

q
u

-0.5

0 20 40 60 0 20 40 60

t [s]
t [s]

(2)
Floor 2 q (t)
Mode 2
2

0.2
0.2
10
( t ) [m]

( t ) [m]

0 0

-0.2
2
2

-0.2
q
u

0 20 40 60 0 20 40 60

t [s]
t [s]

(3)
Floor 3 5 q (t)
Mode 3
3
0.05
0.2
( t ) [m]

( t ) [m]

0
0
3

-0.2
3

-0.05
q
u

0 20 40 60 0 20 40 60

t [s]
0
t [s]

(4)
Floor 4 q (t)
Mode 4
4

0.05
0.4

0.2
( t ) [m]

( t ) [m]

0
0

-0.2 -5
4
4

-0.05
u

0 20 40 60 0 20 40 60

t [s]
t [s] -2 0 2 4 6