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Multi Degrees of Freedom System

This document discusses multi-degree of freedom (DOF) mechanical vibration systems. It provides the equations of motion for an N-DOF system using matrices for mass, stiffness, damping, and displacement/acceleration. It describes solving the eigenvalue problem to determine the natural frequencies and mode shapes of the undamped free vibration system. An example is shown for a 2-story building to illustrate the process of finding the natural frequencies and mode shapes.

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Hani Banat
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233 views23 pages

Multi Degrees of Freedom System

This document discusses multi-degree of freedom (DOF) mechanical vibration systems. It provides the equations of motion for an N-DOF system using matrices for mass, stiffness, damping, and displacement/acceleration. It describes solving the eigenvalue problem to determine the natural frequencies and mode shapes of the undamped free vibration system. An example is shown for a 2-story building to illustrate the process of finding the natural frequencies and mode shapes.

Uploaded by

Hani Banat
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPT, PDF, TXT or read online on Scribd
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Mechanical Vibrations

Multi Degrees of Freedom System

 Philadelphia University
 Engineering Faculty
 Mechanical Engineering Department

 Professor Adnan Dawood Mohammed


Multi DOF system
Multi-DOF systems are so similar to two-DOF.
Equations of motion:

M x  C x  K x  F


They are obtained using: 1) Vector mechanics (Newton or D’ Alembert)
2) Hamilton's principles
3) Lagrange's equations

[M] is the Mass matrix

[K] is the Stiffness matrix

[C] is the Damping matrix


Un-damped Free Vibration: the eigenvalue problem
Equation of motion:

M q  K q  0 in terms of the generalized D.O.F. qi

Write the matrix equation as:

  Kq  0,
Mq (1)
where M and K are the Mass and Stiffness matrices respectively.
 and q are the acceleration and displaceme nt vectors respectively.
q
-1 -1
premultipl y equation (1) by M . Note that M M  I (unit matrix)
-1
M KA the system matrix. Equation 1 becomes :
  Aq  0
Iq (2)
Assuming harmonic motion:
q  q, where    2 , Equation (2) becomes
A - I{q}  0 (3)
The characters tic equation of the system is the determinan t
equated to ZERO, or
A - I  0, (4) , the roots i of the
characters tic equation are called the eigenvalues and the natural
frequencie s of the system are determined from them by the relation
i  i2 (5)
By substituti ng i into the matrix equation (3), we obtain the correspond ing
mode shape X i which is called the eigenvector.
It is also possible to find the eigenvecto rs from the adjoint matrix
of the system. Let B  A - I, and start with the definition of the
adjB
inverse B-1  . Premultipl y by B B to obtain,
B
B I  B adj B, or
A - I I  A - IadjA - I (6)
If now we let   i , an eigenvalue , then the determinan t on the
left side of the equation is zero,
0  A - i IadjA - i I
The above equation is valied for all values i and represents " n"
equations for the n - degrees of freedom system. Comparing
this equation w ith equation (4) for the i th mode
A - i I{q}i  0 , we recognize that the adjoint matrix adjA - i I
must consists of columns, each of which is the eigenvecto r q i
(multiplie d by an arbitraray constant)
Example:
Consider the multi-story building shown in figure. The
Equations of motion can be written as:

Pre-multiply by the inverse of mass matrix

1 / 2m 0 
M 1 
 0 1 / m
 ( k / 2m) 
M 1 K   A  
(3k / 2m)
  ( k / m) (k / m) 
By letting    2 , equation (a) becomes
(3k / 2m)    (k / 2m)   x1  0

  ( k / m) (k / m)     x2  0
(b)

The characteristic equation from the determinant of the above matrix is


2
5 k  k 
 
2
     0, (c), from which
2 m m
1 k k
1  2  2 (d)
2m m

The eigenvectors can be found from Eqn.(b) by substituting the above values of
. The adjoint matrix from Eqn. (b) is

(k / m)  i (k / 2m) 
AdjA  I   
 (k / m) (3k / 2m)  i 

Substituting 1 into Eqn. (e) we obtain:

 0 .5 0.5 k
 
1.0 1.0  m
Here each column is already normalized to unity and the first eigenvector is
0.5
X1   
1.0 
Similarly when   2  0.5k/m) the adjoint matrix gives;
  1. 0 0 .5  k
 
 1.0  0.5 m
Normalizing to Unity;

 1.0 1.0 k
 
 1.0 1.0  m

The second eigenvector from either column is;

  1. 0 
X 
2  1.0 

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