03 multipledof
TRANSCRIPT
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Multiple Degree of Freedom SystemsMaged Mostafa
Multiple Degree of Freedom Systems
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Multiple Degree of Freedom SystemsMaged Mostafa
Objectives• What is a multiple degree of freedom system?• Obtaining the natural frequencies of a multiple
degree of freedom system• Interpreting the meaning of the eigenvectors of a
multiple degree of freedom system• Understanding the mechanism of a vibration
absorber
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Multiple Degree of Freedom SystemsMaged Mostafa
Two Degrees of Freedom Systems
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Multiple Degree of Freedom SystemsMaged Mostafa
Two Degrees of Freedom Systems
• When the dynamics of the system can be described by only two independent variables, the system is called a two degree of freedom system
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Multiple Degree of Freedom SystemsMaged Mostafa
Two Degrees of Freedom
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Multiple Degree of Freedom SystemsMaged Mostafa
Free-Body Diagram
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Multiple Degree of Freedom SystemsMaged Mostafa
Equations of Motion
)()()(
)()()()(
12222
1221111
txtxktxmtxtxktxktxm
0)()()(0)()()()(
221222
2212111
txktxktxmtxktxkktxm
Rearranging:
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Multiple Degree of Freedom SystemsMaged Mostafa
Initial Conditions
• Two coupled, second -order, ordinary differential equations with constant coefficients
• Needs 4 constants of integration to solve
• Thus 4 initial conditions on positions and velocities
202202101101 )0(,)0(,)0(,)0( xxxxxxxx
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Multiple Degree of Freedom SystemsMaged Mostafa
In Matrix Form
)()(
)(,)()(
)(,)()(
)(2
1
2
1
2
1
txtx
ttxtx
ttxtx
t
xxx
22
221
2
1 ,0
0kkkkk
Km
mM
0xx KM Where:
With initial conditions:
20
10
20
10 )0( ,)0(xx
xx
xx
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Multiple Degree of Freedom SystemsMaged Mostafa
Recall: For SDOF• The ODE is• The proposed
solution:• Into the ODE you get
the characteristic equation:
• Giving:
0)()( tkxtxm taetx )(
02 tt aemkae
mk
2mkj
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Multiple Degree of Freedom SystemsMaged Mostafa
Solving the system• The ODE is• The proposed
solution:• Into the ODE you get
the characteristic equation:
• Giving:
tjet ax )(
02 tjtj ee KaMa
0xx KM
02 tje aKM
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Giving:
02
1
aa
aEither:
Trivial solution;No motion!
02 KMOR:
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Giving:
022
22
22112
kmk
kkkm
0)( 212
2212214
21 kkkmkmkmmm
Which can be solved as a quadratic equation in 2.
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NOTE!
• For spring mass systems, the resulting roots are always positive, real, and distinct
• Which give two couples of distinct roots.224,3
212,1 &
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Example
• m1=9 kg,m2=1kg, k1=24 N/m and k2=3 N/m
• In Matrix form:
033327
1009
xx
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Multiple Degree of Freedom SystemsMaged Mostafa
Example (cont’d)• The proposed solution:• Into the ODE you get the characteristic equation:
4-62+8=(2-2)(2-4)=0• Giving:
2 =2 and 2 =4
tjet ax )(
Each value of 2 yields an expression for a:
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Multiple Degree of Freedom SystemsMaged Mostafa
Calculating the corresponding
vectors a1 and a2
0a
0a
222
121
)(
)(
KM
KM
A vector equation for each square frequency
And:
4 equations in the 4 unknowns (eachvector has 2 components, but...
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Multiple Degree of Freedom SystemsMaged Mostafa
Computing the vectors a
let 2,=For 12
111
21
aa
a
2 equations, 2 unknowns but DEPENDENT!03 and 039
00
)2(333)2(927
)(-
12111211
12
11
21
aaaaaa
KM 0a
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0a0a
a0a
u
1211
21
1121
1
21
121112
11
)()(
:arbitrary , does so ,)(
satisfies Suppose arbitrary. is magnitude The
.0 :because is This
!determined becan magnitude not the direction, only the
:equationsboth from 31
31
cKMcKM
ccKM
KM
aaaa
continued
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For the second value of 2:
31aor 039
00
)4(333)4(927
)(-
have then welet 4,=For
22212221
22
21
21
22
212
22
aaa
aa
KM
aa
0a
a
Note that the other equation is the same
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What to do about the magnitude!
11
11
31
222
31
112
a
a
a
a
Several possibilities, here we just fix one element:
Choose:
Choose:
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Thus the solution to the algebraic matrix equation is:
1 ,2
1 ,2
31
24,2
31
13,1
a
a
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Return now to the time response:
nintegratio of constants are and ,,, where
)sin()sin( )(
)(
,,,)(
2121
22221111
21
2211
2211
2211
2211
2211
AA
tAtAdecebeaet
edecebeat
eeeet
tjtjtjtj
tjtjtjtj
tjtjtjtj
aaaax
aaaax
aaaax
We have four solutions:
Since linear we can combine as:
determined by initial conditions
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Physical interpretation of all that math!
• Each of the TWO masses is oscillating at TWO natural frequencies 1 and 2
• The relative magnitude of each sine term, and hence of the magnitude of oscillation of m1 and m2 is determined by the value of A1a1 and A2a2
• The vectors a1 and a2 are called mode shapes
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What is a mode shape?
• First note that A1,A2, 1 and 2 are determined by the initial conditions
• Choose them so that A2 = 1 = 2 =0• Then:
• Thus each mass oscillates at (one) frequency 1 with magnitudes proportional to a1 the1st mode shape
taa
Atxtx
t 112
111
2
1 sin)()(
)(
x
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Things to note
• Two degrees of freedom implies two natural frequencies
• Each mass oscillates at these two frequencies present in the response
• Frequencies are not those of two component systems
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Multiple Degree of Freedom SystemsMaged Mostafa
Multiple Degrees of Freedom
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Multiple Degree of Freedom SystemsMaged Mostafa
Eigenvalues and Eigenvectors
• Can connect the vibration problem with the algebraic eigenvalue problem
• This will give us some powerful computational skills
• And some powerful theory• All the codes have eigensolvers so these
painful calculations can be automated
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Multiple Degree of Freedom SystemsMaged Mostafa
Compound Pendulum
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Multiple Degree of Freedom SystemsMaged Mostafa
Pendulum Video
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Multiple Degree of Freedom SystemsMaged Mostafa
Frequency Response
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Multiple Degree of Freedom SystemsMaged Mostafa
Frequency Response• Similar to SDOF systems, the frequency
response of a MDOF system is obtained by assuming harmonic excitation.
• An analytical relation between all the possible input forces and output displacements may be obtained, called transfer function
• For our course, we will pay more attention to the plot of the relation.
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Dynamic Stiffness• The system of equations we obtain for an
undamped vibrating system is always in the form
fKxxM • For harmonic excitation harmonic
response, we may write
fxKM 2fxKD
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Dynamic Stiffness
• Now, we have a system of algebraic equations that may be solved for the amplitude of vibration of each DOF as a response to given harmonic excitation at a certain frequency!
fKx D1
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The Decibel or dB scaleIt is often useful to use a logarithmic scale to plot vibration levels (or noise
levels). One such scale is called the decibel or dB scale. The dB scale is always relative to some reference value x0. It is define as:
dB 10 log10xx0
2
20 log10xx0
(1.22)
For example: if an acceleration value was 19.6m/s2 then relative to 1g (or 9.8m/s2) the level would be 6dB,
10 log1019.69.8
2
20 log10 2 6dB
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Example
• For the three DOF system given in the sketch, consider all stiffness values to be 2 and m1=2, m2=1, m3=3
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Example
• The equations of motion may be written in the form:
3
2
1
3
2
1
3
2
1
420242
024
300010002
fff
xxx
xxx
FKxxM
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Example
• Getting the eigenvalues, and frequencies
796.0295.1241.2
,633.0000677.1000023.5
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Multiple Degree of Freedom SystemsMaged Mostafa
Getting the Frequency Response
300010002
420242
0242DK
010
3
2
1
fff
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Notes:• For all degrees of freedom, as the
frequency reaches one of the natural frequencies, the amplitudes grows too much
• For some frequencies, and some degrees of freedom, the response becomes VERY small. If the system is designed to tune those frequencies to a certain value, vibration is absorbed: “Vibration absorber”
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Vibration Absorber
The first passive damping technique we will learn!
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For a 2-DOF System• For the shown 2-DOF
system, the equations of motion may be written as:
• Where:
fxx KM
2
1
ff
f
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For Harmonic Excitation• We may write the
equation for each of the excitation frequency in the form of:
• Then we may add both solutions!
0
11 tCosfKM
xx
tCosf
KM22
0
xx
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Consider the first force• We may write the
equation in the form:
• And the solution in the form:
• Which will give:
tCosfKM 101
xx
tCosxx
2
1x
xx 2
2
12
tCosxx
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The equation of motion becomes
• Get x1() and find out when does it equal to zero!
000 1
2
1
22
221
22
12 f
xx
kkkkk
mm
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Using the Dynamic Stiffness Matrix
• Writing down the dynamic stiffness matrix:
Getting the inverse:
01
2
1
222
2
22112 f
xx
KmKKKKm
0
12
2222
2112
2112
2
2222
2
1 fKKmKKm
KKmKKKm
xx
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Obtaining the Solution
• Multiply the inverse by the right-hand-side
• For the first degree of freedom:
12
1222
212
212124
212
1 1fK
fKmKKKmKKmmmx
x
0
212
212124
21
1222
1
KKKmKKmmmfKm
x
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Multiple Degree of Freedom SystemsMaged Mostafa
Vibration Absorber
• For the first degree of freedom to be stationary, i.e. x1=0
• The excitation frequency have to satisfy:
• Note that this frequency is equal to the natural frequency of the auxiliary spring-mass system alone
2
2
mK
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Multiple Degree of Freedom SystemsMaged Mostafa
Vibration absorber
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Multiple Degree of Freedom SystemsMaged Mostafa
Damped Vibration
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Multiple Degree of Freedom SystemsMaged Mostafa
Generic Example:• If the damping
mechanisms are known then
• Sum forces to find the equations of motion
c1 Ý x 1
c2( Ý x 2 Ý x 1)
c2( Ý x 2 Ý x 1)
Free Body Diagram:
)()()()(
12212222
122111221111
xxkxxcxmxxkxkxxcxcxm
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Matrix form of Equations of Motion:
00
)()(
)()(
)()(
00
2
1
22
221
2
1
22
221
2
1
2
1
txtx
kkkkk
txtx
ccccc
txtx
mm
The C and K matrices have the same form.
It follows from the system itself that consisted damping and stiffness elements in a similar manner.
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Homework #3
• Repeat the example of this lecture using f2=f3=0 and f1=1 AND f1=f2=0 and f3=1
• Plot the response of each mass for each of the excitation functions
• Comment on the results in the lights of your understanding of the concept of vibration absorber
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Multiple Degree of Freedom SystemsMaged Mostafa
Homework #3 (cont’d)
• Use modal decomposition (diagonalization) to obtain the same results.