MSC MECHANICAL ENGINEERING
ME 561
DYNAMICS 1
Lecture 5: Vibration
S. M. Sackey
sackeysm@yahoo.com // 0242 232 239
Jan 2014
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Examples of two degree of freedom systems
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If we define the matrix square root of a diagonal matrix, M, to be M1/2 such
that M1/2M1/2 = M, then
(5.1)
And the inverse of M1/2, denoted M-1/2, becomes simply
(5.2)
The to solve the equations of motion, we let the vector x be replaced with
x (t) = M-1/2q(t) (5.3)
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FORCED SYSTEMS WITH VISCOUS DAMPING
Example: Consider a building system with a force F4(t) applied to the fourth
floor, the result of an out-of-balance rotating machine on the fourth floor.
Equation of motion takes the form
(5.4)
Where F(t) = [0 0 0F4(t)]T and the matrix B is given by
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If the different forces are applied at each degree of freedom, B and F(t)
would take on the form
, (5.5)
Alternately, if only a single force is applied to the fourth coordinate then it
may be written as bF4(t), where b= [0 0 0 1]T.
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If it is assumed that the damping matrix C is proportional then, letting x(t)= (t)
in equation (5.4) and multiplying by yields
(5.6)
where .
Next calculate the eigenvalue problem for . Let q(t)= Pr(t), where P is the
matrix of eigenvectors of and multiply by PT. This yields
(5.7)
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The vectorhas elements that will be linear combinations of the forces applied to
each mass. Hence the decoupled modal equations take the form
(5.8)
This has the solution
(5.9)
where di and must be determined by the modal initial conditions and as before
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Numerical Example
Consider the simple two-degree-of-freedom system with a harmonic force
applied to one mass as indicated in Figure 5.2.
For this example, let m1= 9 kg, m2=1 kg, k1= 24 N/m, and k2= 3 N/m. Also
assume that the damping is proportional with = 0 and = 0.1, so that c1= 2.4 N·
s/m and c2= 0.3 N·s/m. Calculate the steady-state response.
2 Figure 5.2 Damped two-degree-of-freedom system for example above
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Solving the eigenvalue problem
q(t) = v where v is a vector of constants.
Substitution of this form yields
Now since v if motion is to result, letting above equation yields
~
( 𝐾 − 𝜆 𝐼 ) 𝐯 =0
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Example
This results in the two dependent scalar equations
and
Hence = , which defines the direction of the vector .
To fix a value for the elements of , the normalization condition of (3.36) is
used to force to have a magnitude of 1. This results in (setting = )
Solving for yields so that the normalized vector becomes
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Example, determining the P matrix
Similarly, substitution of= 4 into (3.34), solving for the
elements of and normalizing the result yields
Thus the matrix P is defined by
P = [v1 v2 v3 ….vn]
P=
2
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Remember solution to 1 dof system
and dividing by the mass m yields
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Here is used to denote the particular solution of the ith modal equation. Note that
F2(t) is excited at its resonance frequency but has high damping, so that the larger
but finite amplitude for is not unexpected.
Ignoring the transient, the steady-state response in physical coordinates is
so that in the steady state
It can be seen that vibration is large near the resonant frequency.
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Problems
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Thank You
For any concerns, please contact
elearning@knust.edu.gh
elearningknust@gmail.com
0322 191132
Jan 2014
