Chapter 12: Forced dynamic response of MDOF systems
The dynamic response of a MDOF system is governed by the following equation
(1)
An effective way of solving Eqs. 1 is to use the mode superposition method, introduced in
Chapter 10 for the solution of free vibration equations for MDOF systems. This method of
solution relies on the transformation of the system to a set of coordinates referred to as the
normal coordinates. Such transformation uncouples the equations so that they are now
reduced to N independent SDOF equations whose solutions are relatively easily obtained
Normal coordinate transformation
A normal coordinate transformation is given by
or (2)
where is the matrix of undamped mode shapes and y is the vector of normal coordinates.
Mode superposition analysis
The steps involved in a mode superposition analysis are as follows
1. Formulate the equations of motion from the specified physical properties giving Eq. 1.
For the mode superposition to be successful, the damping matrix should become
diagonal under transformation to normal coordinates. In most cases, the physical
damping characteristics are not known; the damping is then specified at the modal
level and C need not be determined.
2. Obtain the free-vibration mode shapes and frequencies of the associated undamped
system by solving the following eigenvalue problem
or (3)
in which is a frequency and is the corresponding mode shape. As stated earlier, in a
mode superposition analysis, only the lower few modes, say the first M, make
significant contribution to the response. It is not therefore necessary to obtain all N
mode shapes, just M mode shapes and the corresponding frequencies.
Mode superposition analysis
3. Apply the transformation shown in Eq. 2 to Eq. 1 to get
(3)
where
(4)
Because of the orthogonality property of mode shapes matrices and are diagonal. In
fact for mass orthonormal mode shapes the diagonals on are all unity. When C is of a
special form, is also diagonal.
4. The nth equation in the uncoupled equations represented by Eq. 3 is
(5)
where , , and . For mass orthonormal mode shapes
Mode superposition analysis
Equation 5 is the equation of motion for a SDOF system. On dividing that equation by we
get
(6)
or
(7)
If C was not determined, can be assigned at this stage
5. From the given initial conditions in the physical coordinates, obtain the values of and , the
initial displacements and initial velocities respectively in the normal coordinates as follows
(8)
(9)
Mode superposition analysis
6. Obtain solutions to the M single-degree-of-freedom equations given by Eq. 5 for The
solution given by Duhamel’s equation is
(10)
The integral in Eq. 10 can be evaluated mathematically if is a simple function;
otherwise method of numerical integration must be used
7. The response in physical coordinates can now be obtained by superposing the modal
responses
(11)
8. If desired, the spring forces can be obtained from
(12)
Example
Obtain the equations of motion for the
system shown
3
1
Sum of horizontal forces zero
4
2 (2)
2 For equilibrium
5 1
4
(1)
For equilibrium
(3)
Combine Eqs. 1, 2, and 3
2 2𝑚 −𝑚 0 𝑢
¨1 5𝑘 −2𝑘 −2𝑘 𝑢1 0
[−𝑚
0
3𝑚
0
0 𝑢
2𝑚 𝑢][ ] [
¨ 2 + −2 𝑘
¨3 −2 𝑘
2𝑘
0
0
2𝑘 ][ ] [ ]
𝑢2 = 0
𝑢3 𝐹
Example
Derive the equations of motion for
the system shown in the Figure and
obtain its response to suddenly
applied force F. Given
Figure Three-degree-of-freedom system, forced vibrations
The equations of motion for the system are
(a)
Eigenvalue solution of Eq. a gives
(b)
Example
The mode shapes are
(c)
The modal matrix is
(d)
Transformation to normal coordinates leads to
, (e)
which gives
(f)
Example
The solutions to Eq. f are of the form
(g)
So that
(h)
Back transforming to physical coordinates we get
(i)