Vibration

Natural Frequency Analysis

05/2024
Takesue

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 Modal Frequency Response
(Modal superposition)

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 Vibration – Modal superposition
 Difference between direct frequency response and modal frequency response
Direct Frequency Response Modal Frequency Response
• Solves the complete equations of motion directly for • Leverages the system's natural modes (modal shapes) to
each specific frequency. predict its response at various frequencies.
• More computationally demanding, especially for • Generally more efficient for analyzing a broad range of
large models with many degrees of freedom. frequencies.
 Advantages:  Advantages:
• Efficient for analyzing a limited range of frequencies, • Provides valuable insights into the system's natural
particularly high frequencies. vibration patterns (modes).
 Disadvantages: • More computationally efficient for analyzing a wide
• Doesn't provide information about the system's frequency range, especially for large models.
natural vibration modes (modal shapes).  Disadvantages:
• Solving a large set of complex equations can be • May not be as accurate for analyzing high-frequency
computationally intensive. responses.

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Vibration – Modal superposition
 Modal superposition
The modal superposition method is a powerful technique used in structural dynamics to analyze the dynamic
response of linear structures:
 Basic Idea:
• The method aims to uncouple equations of motion by utilizing free vibration mode shapes.
• Instead of directly solving for the entire system, we express the displacement vector as a linear combination of
mode shape vectors.
• The resulting uncoupled equations are expressed in terms of new variables called modal coordinates.
 Modal Superposition Steps:
• Modal Coordinates: We solve each modal equation independently to find the modal coordinates.
• Superposition: By combining the modal coordinates, we obtain the solution for the original equations of motion.
 Orthogonality of Mode Shapes:
• Mass orthogonality: The mode shapes are orthogonal with respect to mass.
• Stiffness orthogonality: The mode shapes are orthogonal with respect to stiffness.

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Vibration – Modal superposition
 Modal superposition
The modal superposition method is a powerful technique used in structural dynamics to analyze the dynamic
response of linear structures:
 Basic Idea:
• The method aims to uncouple equations of motion by utilizing free vibration mode shapes.
• Instead of directly solving for the entire system, we express the displacement vector as a linear combination of
mode shape vectors.
• The resulting uncoupled equations are expressed in terms of new variables called modal coordinates.
 Modal Superposition Steps:
• Modal Coordinates: We solve each modal equation independently to find the modal coordinates.
• Superposition: By combining the modal coordinates, we obtain the solution for the original equations of motion.
 Orthogonality of Mode Shapes:
• Mass orthogonality: The mode shapes are orthogonal with respect to mass.
• Stiffness orthogonality: The mode shapes are orthogonal with respect to stiffness.

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Vibration – Modal superposition
 Modal superposition
 Uncoupling Equations of Motion:
• The displacement vector can be expressed as a linear combination of mode shape vectors.
• The equations of motion are then uncoupled using mass and stiffness orthogonality.
• Each modal equation represents an equivalent single degree of freedom system.
 Damping Considerations:
• We can choose a damping matrix that combines mass and stiffness matrices.
• The mode shapes remain orthogonal with respect to the damping matrix, allowing uncoupling of the equations
of motion.
 Free Vibration Solution:
• The exact solution involves all mode shapes.
• Approximate solutions can be obtained using the first few mode shapes.

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Vibration – Modal superposition
1. Introduction

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Vibration – Modal superposition
2. Modal superposition for undamped systems – Uncoupling of the Equations of motion

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Vibration – Modal superposition
2. Modal superposition for undamped systems – Uncoupling of the Equations of motion

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Vibration – Modal superposition
2. Modal superposition for undamped systems 3. Modal superposition for undamped systems
– Uncoupling of the Equations of motion – Solution of the modal equations

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Vibration – Modal superposition
4. Example

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Vibration – Modal superposition
4. Example

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Example for Direct and
Modal frequency response

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Vibration – Direct and Modal frequency response

Newton’s 2nd law:

 (2)
𝐾 2(𝑋 1−𝑋 ¿¿2)¿

𝐾 2(𝑋 1−𝑋 ¿¿2)¿ Newton’s 2nd law:

 (1)

𝐾1 𝑋1
F rom (1 )∧( 2 ) :

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Vibration – Direct and Modal frequency response
1. Direct Frequency response (108)
 Steps of solution:
1. Obtain [K] and [M]
2. Obtain and (EIGENVALUES), and (FREQUENCIES) from |[K] – [M]| = {0}
3. Obtain { and { (MODE SHAPES = EIGENVECTOR) from [[K] – [M]].{X} = {0}
 Detail:
1. Obtain [K] and [M]
K==
M==

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Vibration – Direct and Modal frequency response
1. Direct Frequency response (108)
2. Obtain and from |[K] – [M]| = {0}
Characteristic equation:
([K] – [M]). = 0  EIGENVALUE PROBLEM
Find w:
det([K] – [M]) = 0
 =0
 5000 - 25000 +20000 = 0  

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Vibration – Direct and Modal frequency response
1. Direct Frequency response (108)
3. Obtain { and { from [[K] – [M]].{X} = {0}
Characteristic equation:
([K] – [M]). = 0
 . =0
• With = 1 (rad/s) 
• With = 2 (rad/s) 

MODE SHAPES = EIGENVECTOR

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Vibration – Direct and Modal frequency response
2. Modal Frequency response (111)
 Steps of solution:
1. Obtain [K] and [M]
2. Obtain { and { from [[K] – [M]].{X} = {0} with Physical Coordinates x
3. Substitute Transformation matrix from Physical Coordinates x to Modal Coordinates

(MODE SHAPES = EIGENVECTOR)

4. From motion equation with Modal Coordinates  and (EIGENVALUES), and (FREQUENCIES)

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 Vibration – Direct and Modal frequency response

Characteristic equation:
([K] – [m]). = 0  EIGENVALUE PROBLEM
Find w:
det([K] – [m]) = 0


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Vibration – Direct and Modal frequency response
2. Modal Frequency response (111)
 Detail:
2. Obtain { and { from [[K] – [M]].{X} = {0} with
1. Obtain [K] and [M]
Physical Coordinates x
K==
Characteristic equation:
M==
([K] – [M]). = 0
 . =0
• With = 1 (rad/s) 
• With = 2 (rad/s) 

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Vibration – Direct and Modal frequency response
2. Modal Frequency response (111)
3. Substitute Transformation matrix from Physical Coordinates x to Modal Coordinates

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Vibration – Direct and Modal frequency response
2. Modal Frequency response (111)
3. Substitute Transformation matrix from Physical Coordinates x to Modal Coordinates

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 Complex Eigenvalues

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Vibration – Complex Eigenvalues
1. Direct Frequency response (108)

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