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Natural Frequencies in 2DOF Systems

mechanical vibration chapter 3

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16 views2 pages

Natural Frequencies in 2DOF Systems

mechanical vibration chapter 3

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Copyright
© All Rights Reserved
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MEng 4209 – MECHANICAL VIBRATION Chapter 4: Two Degree-of-Freedom Systems

Example 4.1
Determine the natural frequencies and the corresponding mode shapes for the system shown
in Figure 4.3 if m1 = m2 = m and k1 = k2 = k3 = k.

Figure 4.3: A Translational 2DOF System

For x2 > x1, the system’s FBD can be represented as in Figure 4.4, where k1 and k2 are in
tension and k3 is in compression.

Figure 4.4: Free Body Diagram of Figure 4.3

Performing +↓ ∑F = mẍ, the Differential Equation of Motion becomes;

m1 x1  k 2  x 2  x1   k1 x1  0 Eq. 4.17

m2 x2  k 2 x2  x1   k 3 x2  0 Eq. 4.18


MEng 4209 – MECHANICAL VIBRATION Chapter 4: Two Degree-of-Freedom Systems

For m1 = m2 = m and k1 = k2 = k3 = k, rearrange Eq. 4.17 and Eq. 4.18 and simplify will yield;

m x1  2k x1  k x2  0 Eq. 4.19

m x2  k x1  2k x2  0 Eq. 4.20


Again, we assume harmonic solutions for both masses for x1(t) and x2(t) in the form of;

x1 t   A1 cos nt    Eq. 4.21

x2 t   A2 cos nt    Eq. 4.22


where A1 and A2 are the maximum amplitudes for x1(t) and x2(t). Differentiate Eq. 4.21 and
4.22 twice, we have;
x1 t    n2 A1 cos nt    Eq. 4.23

x2 t    n2 A2 cos  n t    Eq. 4.24


Substitute back Eq. 4.21 to 4.24 into Eq. 4.19 and 4.20 to determine the nontrivial solution of
A1 and A2 using determinant.

det 

  m n2  2k  k 
 0
 k  
 m n2  2k 
Thus, the characteristic equation becomes;
 m 2  n4  4 k m  n2  3k 2  0
To find the roots of the characteristic equation, we can solve for the natural frequencies as;

 n1 
4km  16 k m 2  12 k 2 m 2
2
 
k Answer
2m 2 m

n2 
4km  16 k m 2  12 k 2 m 2
2
 
3k
2m 2 m Answer

Common questions

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In the analysis of a translational 2DOF system, when x2 exceeds x1, spring k3 is said to be in compression. This scenario is reflected in the system's free-body diagram (FBD), where the k3 spring force acts in the opposite direction of its typical expansion force due to the larger displacement x2 relative to x1. Therefore, the equations of motion account for this by appropriately embedding the compressive force term from k3 in their formulation, impacting the resultant equations for natural frequency calculation .

The analysis of the vibrational characteristics of the two-degree-of-freedom system assumes equal mass (m1 = m2 = m) and equal stiffness (k1 = k2 = k3 = k). Moreover, it is assumed that the system undergoes harmonic motion, which translates into assuming harmonic solutions for the displacements x1(t) and x2(t). These assumptions simplify the problem into solving a characteristic equation for natural frequencies using mathematical relationships derived from the system's free-body diagrams and motion equations .

Equal mass and stiffness in a two-degree-of-freedom system simplify the computational analysis significantly. This symmetry allows the differential equations derived from the free-body diagrams to become more manageable by leading to a more straightforward formulation of the characteristic equation. The equal parameters reduce the number of variables and eliminate terms that account for differences in mass or stiffness. As a result, the natural frequencies can be determined directly through basic algebraic manipulation rather than involving complex numerical techniques. This symmetry also leads to clearer mode shapes .

Harmonic solutions play a crucial role in simplifying the system of equations when analyzing vibrational frequencies. By assuming that the displacements x1(t) and x2(t) have harmonic forms, the equations of motion simplify into algebraic relations, allowing for the identification of natural frequencies through the roots of the resulting characteristic equation. This assumption leverages the periodic nature of vibration, where solutions take the form of sinusoidal functions, facilitating the application of mathematical techniques like determinant calculation to solve the system .

The roots of the characteristic equation derived for the two-degree-of-freedom system are found using quadratic solution techniques. The characteristic equation formulated as a determinant of the coefficient matrix yields a standard quadratic form in terms of the square of the natural frequency (ω²). Solving this quadratic equation, usually by applying the quadratic formula, provides the natural frequencies, which are the roots of the characteristic equation, thus defining the system's vibrational behavior .

Differentiating the harmonic equations twice is necessary because the equations of motion are second-order differential equations, representing Newton's second law (force equals mass times acceleration). The accelerations of the masses are required to be expressed in terms of displacement, which is obtained by second differentiation of the displacement harmonic equations. This process allows substituting into the differential equations to find terms involving the natural frequencies and further simplifies solving the characteristic equation for system frequencies .

Solving for both A1 and A2 in two-mode vibration analysis is significant because it provides the mode shapes – the relative amplitude of displacements of the masses when the system vibrates at its natural frequencies. The mode shapes represent the specific patterns of motion and are crucial for understanding how the system will behave dynamically under certain conditions. These solutions help in identifying how alterations in design parameters may affect the vibration response and stability of the mechanical system .

In the analysis of the two-degree-of-freedom system, the use of a determinant simplifies the solution of the system's differential equations into a solvable characteristic equation. By substituting the assumed harmonic solutions into the equations of motion and applying the determinant of the resulting coefficient matrix, it becomes possible to identify the condition under which nontrivial solutions for A1 and A2 exist. This condition leads directly to establishing the characteristic equation, whose roots correspond to the system's natural frequencies .

Mode shapes of a two-degree-of-freedom system are derived from its natural frequencies by analyzing the relative amplitudes corresponding to each frequency. Once the natural frequencies are calculated from the characteristic equation, these values are substituted back into the original motion equations. By solving the resulting system of equations, the ratio of amplitudes A1 to A2 for each frequency is obtained, describing the mode shapes. This ratio indicates the relative motion pattern between the masses as the system vibrates at these frequencies .

To determine the natural frequencies of a two-degree-of-freedom translational system with equal masses (m1 = m2 = m) and stiffness coefficients (k1 = k2 = k3 = k), we start with the system's free-body diagrams and derive the equations of motion for the system. The differential equations are simplified to Eq. 4.19 and Eq. 4.20. Assuming harmonic solutions for displacements x1 and x2, we substitute these harmonic equations into the motion equations. This leads to a characteristic equation whose roots, solved as a quadratic equation, provide the natural frequencies: ω₁ and ω₂, given by [m k m - (m k - 4k²/m)^(1/2) ]/2 and [m k m + (m k + 4k²/m)^(1/2) ]/2 .

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