3 Response of One-Degree-of-Freedom System to Harmonic Loading In this chapter, we will study the motion of structures idealized as single-degree-of- freedom systems excited harmonically, that is, structures subjected to forces or displacements whose magnitudes may be represented by a sine or cosine function of time. This type of excitation results in one of the most insportant motions in the study of mechanical vibrations as well as in applications to structural dynamics. Structures are very often subjected to the dynamic action of rotating machinery which produces harmonic excitations due to the unavoidable presence of mass eccentricities in the rotating parts of such machinery, Furthermore, even in those cases when the excitation is not a harmonic function, the response of the structure may be obtained using the Fourier Method, as the superposition of individual responses to the harmonic components of external excitation. This approach will be dealt with in Chapter 20 as a special topic. 3-1_Harmonlc Excitation: Undamped System The impressed force Fi) acting on the simple oscillator in Fig.3.| is assumed to be harmonic and equal to Fy sin@t where Fo is the peak amplitude and @ is the frequency of the force in radians per second.50_Harmonic Excitation - Undamped System a Fig. 3.1 (a) Undamped oscillator harmonically excited. (b) Free body diagram. ‘The differential equation obtained by summing all the forces in the free body diagram of Fig.3.1(b) is mit+ ku = Fy sinaot GB.) The solution of eq.(3.1) can be expressed as ut) = ue (O)+ up () (3.2) where 1, (1) is the complementary solution satisfying the homogeneous equation, that is, €9.(3.1) with the left hand-side set equal to zero; and w,(#) is the particular solution based on the solution satisfying the nonhomogeneous differential equation (3.1). The complementary solution, u, (1), is given by eq.(1.17) as u(t) = Acosax + Bsinax G3) o= (qm The nature of the forcing function in eq.3.1) suggests that the particular solution be taken as u,(@)=Usindt G4) where U is the amplitude of the particular solution. The substitution of eq.(3.4) into €q,(3.1) followed by cancellation of common factors gives ~ miU +kU = F,wi Response of Single-Degree-of Freedom System to Harmonic Loading _ 1 4a. = Gis) in which r represents the ratio (frequency ratio) of the applied forced frequency to the natural frequency of vibration of the system, that is, (8 Ce G6) Combining ¢qs.(3.3) through (3.5) with eq.(3.2) yields Aran sient Shey the oe k UW) = Acosa@ t+ Baines t+ tele sin@t G7) -r If the initial conditions for the displacement and for the velocity at time ¢ = are taken as zero (wy <0. Up =0), the constants of integration determined from €q.3.7pare: 7 which, upon substitution in eq.(3.7), results in — aes wrath pae-rad) G8) i if fm AS we can see from €9.(3.8), the response is given by the superposition of two harmonic terms of different frequencies. The resulting motion is not harmonic; however, in the practical case, damping forces will always be present in the system and will cause the last term, ie., the free frequency term in eq. (3.8), to eventually vanish. For this reason, this term is said to represent the transient response. The forcing frequency term in eq.(3.8), namely jfk y= 2 sin Be r Steals NAG oy is referred to as the steady-state response. It is clear from ¢q.(3.8) that in the case of no damping in the system, the transient will not vanish and the response is then given by ©q,3.8). It can also be seen from eq.(3.8) or e9.(3.9) that when the forcing frequency is equal to natural frequency (7 = 1.0), the amplitude of the motion becomes infinitely large. A. system acted upon by.an external excitation of frequency ‘coinciding with ney is said to be atresonance. In this circumstance, the amplitude will increase gradually to infinite. However, materials that are Slaw N= KU fore52_Harmonic Excitation - Undamped System commonly used in practice are subjected to strength limitations and in actual structures failures occur long before extremely large amplitudes can be attained. 3.2 Harmonic Excitation:|\Damped System\ Now consider the case of the one-degree-of-freedom system in Fig.3.2(a) vibrating under the influence of viscous damping. The differential equation of motion is obtained by equating to zero the sum of the forces in the free body diagram of Fig. 3.2(b). Hence mii+ ci+ ku= Fy sin Bt G.10) ‘The complete solution of this equation again consists of the complementary solution 1, (1) and the particular solution 1, (7) . The complementary solution is given for the underdamped case (c» Ap = FT, = 10,827 Ib (Ans.) ©) The corresponding phase angle from ¢q.(3.61) is pointes ceseeenee pr é=tan as (Ans.) Goh Shum ons ¢. 3.9 Seismic Instruments oe heed BA 5 Ue) When a system of the type shown in Fig. 3.15 is used for the purpose of vibration ‘measurement, the relative displacement between the mass and the base is recorded. Such an instrument is called a seismograoh and it can be designed to measure either the displacement or the acceleration of the base. ‘The peak relative response U/uy of the seismograph depicted in Fig. 3.15, for harmonic motion of the base. is given from eq.(3.52) by (3.62) SSSSSSSNSNSNNSSY VAZLIda AEA Fig. 3.15 Model of a seismograph. A plot of this equation as a function of the frequency ratio and damping ratio is 3.16. shown in Fig. 3.16. It may be seen from this figure that the response is essentially constant for frequency ratios r>1 and damping ratio ¢ = 0.5. Consequently, the response of a properly damped instrument of this type is essentially proportional to the base-displacement amplitude for high frequencies of motion of the base. The7 Free Vibration of a Shear Building In Part | we analyzed and obtained the dynamic response for structures modeled as a single-degree-of-freedom system. Only if the structure can assume a unique shape during its motion will the single-degree model provide the exact dynamic response. Otherwise, when the structure takes more than one possible shape during motion, the solution obtained from a single-degree model will be at best, only an approximation to the true dynamic behavior. ‘Structures cannot always be described by a single-degree-of-freedom model and, in general, have to be represented by multiple-degree models. In fact, structures are continuous systems and as such possess an infinite number of degrees of freedom. There are analytical methods to describe the dynamic behavior of continuous structures that have uniform material properties and reguiar geometry. These methods of analysis, though interesting in revealing information for the discrete modeling of structures, are rather complex and are applicable only to relatively simple actual structures. They require considerable mathematical analysis, including the solution of partial differential equations which will be presented in Part IV. For the present, we shall consider one of the most instructive and practical types of structure which involve many degrees of freedom, the multistory shear building. 7.1 Stiffness Equations for the Shear Building A shear building may be defined as a structure in which there is no rotation of a horizontal section at the level of the floors. In this respect, the deflected building will have many of the features of a cantilever beam that is deflected by shear forces only, hence the name shear building. To accomplish such deflection in a building, we must assume that: 1) the total mass of the structure is concentrated at the levels of the206 _ Stiffness Equations for the Shear Building floors; 2) the slabs or girders on the floors are infinitely rigid as compared to the columns; and 3) the deformation of the structure is independent of the axial forces present in the columns. These assumptions transform the problem from a structure with an infinite number of degrees of freedom (due to the distributed mass) to a structure that has only as many degrees as it has lumped masses at the floor levels. A three-story structure modeled as a shear building [Fig. 7.1{a)] will have three degrees of freedom, that is, the three horizontal displacements at the floor levels. The second assumption introduces the requirement that the joints between girders and colunins are fixed against rotation. The third assumption leads to the condition that the rigid girders will remain horizontal during motion. had Fig. 7.1 (8) Single-bay model representation of a shear building. (0) Free body diagram It should be noted that the building may have any number of bays and that it is only a matter of convenience that we represent the shear building solely in terms of a single bay. Actually, we can further idealize the shear building as a single column (Fig, 7.2(a)], having concentrated masses at the floor levels with the understanding that only horizontal displacements of these masses are possible. Another alternative is to adopt a multimass-spring system shown in Fig. 7.3(a) to represent the shear building. In any of the three representations depicted in these figures, the stiffness coefficient, or spring constant &;, shown between any two consecutive masses is the force required to produce a relative unit displacement of the two adjacent floor levelsFree Vibration of a Shear Buildi Fig. 7.2 (a) Single-column model representation of a shear building (b) Free body diagram. For a uniform column with the two ends fixed against rotation, the stiffness or spring constant, &, is given by 2EF be (0.1a) and for a column with one end fixed and the other pinned by (7.1), he Fig. 7.3 Multimass-spring mode! representation of a shear building.208 __ Stiffness Equations for the Shear Buildi where E is the material modulus of elasticity, / the cross-sectional moment of inertia, and L the length of the column. 1t should be clear that all of the three representations shown in Figs. 7.1 to 7.3 for the shear building are equivalent. Consequently, the following equations of motion for the thee-story shear building are obtained from any of the corresponding free body diagrams shown in these figures by equating to zero the sum of the forces acting oa each mass. Hence andi, + hw, ku, —u,)~ FQ) =0 iyi, + (uz —u,)— y(t -,)- Fy) = 0 02) myii, + kyu, ~u,)-F,()=0 This system of equations constitutes the stiffness formulation of the equations of motion for a three-story shear building. It may conveniently be written in matrix notation as (MG) +{K}u) = {F) (73) where [41] and [K} are the mass and stiffness matrices given, respectively, by m 0 0 {M]=;0 m, 0 (2.4) 0 0 m hth, =k 0 [K}=| -k kth ky 75) 0 =k hy and {u}, {ii}and {F} are, respectively, the displacement, acceleration and force vectors given by ty ii, Rw fu}=jurp, b= yi, (FIR FFD (7.6) ty diy Fy) It should be noted that the mass matrix, eq. (7.4), corresponding 10 the shear building. is a diagonal matrix (the non-zero elements are only in the main diagonal). The elements of the stiffness matrix, eq. (7.5), are designated stiffness coefficients. in general, the stiffness coefficient, 4, is defined as the force at coordinate i when a unit displacement is given at j, all other coordinates being fixed. For example, the coefficient in the second row and second cotunm of eq. (7.5), ka: = ky + ks, is the force required at the second floor when a unit displacement is given to this floor.Free Vibration of a Shear Building 209 7.2 Natural Frequencies and Normal Modes. ‘The problem of free vibration requires that the force vector {FF} be equal to zero in eq. (7.3). Namely, [Mt +[K]{u} = 0 On For free vibrations of the undamped structure, we seek solutions of eq. (7.7) in the form u,=a,sin@r—a), — 1=1,2, ‘or in vector notation {u} = {a}sin(wr—a) (7.8) where a, is the amplitude of motion of the ith coordinate and 7 is the number of degrees of freedom. The substitution of eq. (7.8) into eq, (7.7) gives «7 (M){a} sin(ew ta) +{K]{a} sin(@t-a) = 0 ‘or factoring out sin(@t—) and rearranging terms 1X] - 07 [J] (a} = (0) (7.9) which for the general case, is set for m homogenous (right-hand side equal to zero) algebraic system of linear equations with n unknown displacements a, and an unknown parameter a”. The formulation of eq. (7.9) is an important mathematical problem known as an gigenproblem. Its nontrivial solution, that is, the solution for which not all a,= 0, requires that the determinant of the matrix factor of {a} be equal to zero; in this case tn general, the expansion of the determinant in eq. (7.10) results in » polynomial equation of degree in w? which should be satisfied for m values of @?. This polynomial is : known as the characteristic equation of the system. For each of these values of «” satisfying the characteristic eq. (7.10) we can solve eq. (7.9) for a}, a, +5 @y in terms of an arbitrary constant. The necessary calculations are better explained through a numerical'example.210__Natural Frequencies and Normal Modes: Mlustrative Example 7.1 The structure to be analyzed is the two-story steel rigid frame shown in Fig, 7.4. The weights of the floors and walls are indicated in the figure and are assumed to include the structural weight as well. The building consists of a series of frames spaced 15 ft apart. It is further assumed that the structural properties are uniform along the length of the building and, therefore, the analysis to be made of an interior frame yields the response of the entire building. Determine (a) the natural frequencies and corresponding modal shapes, (b) the equations of motion with initial conditions for displacements toi, wan and for velocities tigy, and tips , respectively, for the first and second stories of the building. We, = 80mm Ayu Fig. 7.5 Multimass-spring model for a two-story shear building of Illustrative Example 7.1. (8) Model, (b) Free body diagram.Free Vibration of a Shear Building 211 Solution. (a) Natural Frequencies and Modal Shapes The building is modeled as a shear building and, under the assumptions stated, the entire building may be represented by the spring ~mass system shown in Fig. 7.5, The concentrated weights, which are each taken as the total floor weight plus that of the tributary walls, are computed as follows: W, =100%30%15+20%12.5x15%2 =52,500 386 im, =136 Ib.sec?/in W, = 50%30x15+20x5x15x2 = 25,500 Ib my = 66 Ib.sec?/in Since the girders are assumed to be rigid and fixed at the two ends, the stiffness (spring constant) of each story is given by eq. (7.1a) as IER) k 2B and the individual values for the steel column sections indicated are thus _ 12x30%10° x248%2 Ay + = 30,700 Ibvin (15x12) 12x30x10° x118x2 Ny sw ececnmemrmnnne 2 44,300 Ibvin Ef (10x12)? The equations of motion for the system, which are obtained by considering in Fig, 7.5(b) the dynamic equilibrium of each mass in free vibration, are amyl, + Ryn — ky (uy my) = 0 amyiiy + (try ~ 44) = 0 In the usual manner, these equations of motion are solved for free vibration by substituting, 4, =a, sin@t-a) uy = 03 sin(or-a) e for the displacements and 0? sin(wi-a) ii, = ~a,0? sin(wt-a) for the accelerations. In matrix notation, we obtain Aytky-mo?—~ky Ya] _ [0 -k ky -m,@? Ja, | [0212 Natural Frequencies and Normal Modes For a nontrivial solution, we require that the determinant of the coefficients be equal to zero, that is, () ‘The expansion of this determinant gives a quadratic equation in”, namely mm er* ~[(ky ~ ky), +m kz Jo? +k ky = 0 @ or by introducing the numerical values for this example, we obtain 8976a* ~10,974,800e +1.36x10% =0 © The roots of this quadratic are a} =140 o} = 1082 ‘Therefore, the natural frequencies of the structure are = 11.83 radisec @, = 32.89 rad/see or in eycles per second (cps) fy =o (2 = 1.88 ops fy 50g (2 = 5.24 ops and the corresponding natural periods: 1 T, =—=0.191 sec hh To solve eq. (b) for the amplitudes a, and a, , we note that by equating the determinant to zero in €q.(c), the number of independent equations is one less. Thus in the present case, the system of two equations is reduced to one independent equation. Considering the first equation in eq. (b) and substituting the first natural frequency, @, = 11.8 rad/sec, we obtain $5,960) ~44,300a,, =0 ® ‘We have introduced a second sub-index in a, and a; to indicate that the value @, hhas been used in this equation, Since in the present case there are two unknowns and only one equation, we can solve eq. (f) only for the relative value of a, to a. This relative value is known as the normal mode or modal shape corresponding to the first frequency. For this example, eq. (f) gives $28 21.263 ayFree Vibration of a Shear Building 213 1 is customary to describe the normal modes by assigning a unit value to one of the amplitudes: thus, for the first mode we set ay) equal to unity so that 4, = 1.000 ay 1.263 ® Similarly, substituting the second natural frequency, @, = 32.9 rad/sec into eq. (b) we obtain the second normal mode as 12 = 1.000 hy ayy = -1,629 id It should be noted that although we obtained only ratios, the amplitudes of motion could, of course, be found from initial conditions. We have now arrived at two possible simple harmonic motions of the structure which can take place in such a way that all the masses move in phase in the same frequency, either @, or @;. Such a motion of an undamped system is called 2 normal or natural mode of vibration. The shapes for these modes (azy/a11 and azyay2) for this example are called mode of simply modal shapes for the corresponding natural frequencies a, and @,. These two modes for this example are depicted in Fig. 7.6. ay 2128 7 = 11.80 rad fee >} 32.04 rad hve Fig. 7.6 Normal modes for Iilustrative Example 7.1 (@) First mode (b) Second mode. We often use the designation first mode or fundamental mode to refer to the mode associated with the lowest frequency. The other modes are sometimes called harmonics or higher harmonics. it is evident that the modes of vibration, each having its own frequency, behave essentially as single- degree-of-freedom systems. (b) Equations of Motion The total motion of the system, that is, the total solution of the equations of motion, eq. (7.7), is given by the superposition of the modal harmonic214 Natural Frequencies and Normal Modes vibrations which in terms of arbitrary constants of integration may be written as 4) = Chay silat ~ a4) +Cpa,2 sin(@,t—a5) 0 i 4, () = Chan, SiMe, a) +Chayy sin(w)1—ay) Here Cj and C3 as well as a, and a are four constants of integration to be determined from four initial conditions which are the initial displacement and velocity for each mass in the system. For a two-degree-of-freedom system, these initial conditions are 4, (0) = do» 4, (0) = oy @ 4;(0)=4q. (0) = agp For computational purposes, it is convenient to eliminate the phase angles [a, and a} in eq.(i)] in favor of other constants. Expanding the trigonometric functions in eq,(i) and renaming the constants, we obtain (1) = Cay sin yf + C24, COSA? + Cxayy Sin 4291+ Ca) COSHs &) U0) = Cay, Sin a+ C202 COSMAL+ Cay SiN @2f + Cay, COSM@2t in which C, , C, , C; and C, are the new renamed constants of integration. From the first two initial conditions in eq. @), we obtain the following two equations: Woy = Cray + Cady ny t= Cray #1 Cyan Since the modes are independent, these equations can always be solved for Cy and C,. Similarly, by expressing in €q.(k) the velocities at time equal to zero, we find fy =OyChay +0;Csa2 ui fgg = Cay) +0,Cya3y The solution of these two sets of equations, (1) and (m), allows us to express the motion of the system in terms of the two modal vibrations, each proceeding at its own frequency, completely independent of the other, the amplitudes and phases being determined by the initial conditions, 7.3 Orthogonality Property of the Normal Modes We shall now introduce an important property of the normal modes, the orthogonality property. This property constitutes the basis of the most important method for solvingFree Vibration of a Shear Building 215 dynamic problems, the Modal Superposition Method of multi-degree-of-freedom systems, We begin by rewriting the equations of motion in free vibration, eq, (7.7) as [X}ia} = @*[M}{a} 7.1) For the two-degree-of-freedom system, we obtain from ¢q.(b) of Iilustrative Example mM (b +43)4, ~ ya; = oma, a ka, +h,a, = @'m,a, ‘These equations are exactly the same as ¢q. (b) of Illustrative Example 7.1 but written in this form they may be given a static interpretation as the equilibrium equations for the system acted on by forces of magnitude @m,a, and @’m,a, applied to masses m, and m2, respectively. The modal shapes may then be considered as the i i ing from the forces on the right-hand side of eq. (7.12) for any of the two modes. This interpretation, as a static problem, allows us to use the results of the general static theory of linear structures. In particular, we may use of Betti's theorem which states: For a structure acted upon by two systems of loads and corresponding displacements, the work done by the first system of loads moving through the displacements of the second system is equal to the work done by this second system of loads undergoing the displacements produced by the first load system. The two systems of loading and corresponding displacements which we shall consider are as follows: System I: Forces ama. af may, Displacements ayy. an, ‘System Il: Forces OEMs OFM As, Displacements 2, dz “The application of Bettis theorem for these two systems yields 2 2 ae 2 092 m a4 042 +07 mea ,Aqy = 2} MA 2044 +03M,003, Conf 093 Koma ay + mpezyltz») = 0 Ifthe natural frequencies are different (a, ¥ 2, ), it follows that yyy 2yy +7 87:027 =0 which isthe socalled orthogonality relationship berween modal shapes of a two degree-of-freedom system. For an legree-of-freedom system in which the mass216 _Orthogonality Property of the Normal Modes ‘matrix is diagonal, the orthogonality condition between any two modes i and j may be expressed as, Tmpayay =O, for ie (7.13) i and in general for any m-degree-of-freedom system as {aiIM1ta}, =0 for is j (7.14) in which {a,} and {a,} are any two modal vectors and [Af] is the mass matrix of the system. As mentioned before, the amplitudes of vibration in a normal mode are only relative values which may be scaled or normalized to some extent as a matter of choice. The following is an especially convenient normalization for a general system: 2 (7.18) ae at une, which, for a system having a diagonal mass matrix, may be written as Ary (7.16) ts Em; in which ¢, is the normalized / component of the j modal vector. elie eigenvectors, the orthogonality condition is given by (VIB), =O forie j on) sl fori=j Another orthogonality condition is obtained by writing eq. (7.9) for the normalized j mode as {K]16}, = 23 [11493, (7.18) Then pre-multiplying eq. (7.18) by (6) we obtain, in view of eq. (7.17), the following orthogonality condition between eigenvectors: {PHTKUG), =0 for’ j =a} (1.19) fori =j Mustrative Example 7.2 For the two-story shear building of Hlustrative Example 7.1 determine a) the normalized modal shapes of vibration, and b) verify the orthogonality condition ‘between the modes, Solution:Free Vibration of a Shear Building 217 The substitution of eqs. (g) and (h) from Illustrative Example 7.1 together with the values of the masses from Illustrative Example 7.1 into the normalization factor required in eq. (7.16) gives Lejanseenes 2 ¥136X 1.00)? + (66\1.263)° = f24731 {esentem Gert YU36KT.00)? + 66X-1.629)? = VITOR nsequently, the normalized modes are an 1.00 1.00 eee = 0.06837, fy = = 0.0567 aw nak WO Fast 2 * Firo8 1.263 =1.829 __y o974 = = 0.0813, "Fart The normal modes may be conveniently arranged in the columns of a matrix known as the modal matrix of the system. For the general case of n degrees of freedom, the modal matrix is written as > © Mirae Ar fa~ Ae [®]=|# te the (7.20) Har Par Frm The orthogonality condition may then be expressed in general as Bist {oy [Mf] =< eRe 721) where {©]" is the matrix transpose of [6], and [Af] the mass matrix of the system. For this example of two degrees of freedom, the modal matrix is 0.06437 0.0567 ter-[ ne “com 7 To check the ity condition, we simply substitute the normal modes from | (@) into eq, (7.21) and obtain 4. (@) into eq. (7.21) ten [4] (ay ss [0.06437, ,,0.0813 7136 0 [0.06837 0.0567] _[1 0 0.0867" - 0.0924. 0.0813 ~0.0924]"|0 1. We have seen that to determine the natural frequencies and normal modes of vibration of a structural system, we have to solve an eigenvalue problem. The direct method of solution based on the expansion of the determinant and the solution of the resulting characteristic equation is limited in practice to systems having only a few degrees of freedom. For a system of many degrees of freedom, the algebraic and ‘numerical work required for the solution of an eigenproblem becomes so immense as218__Orthogonaiity Property of the Normal Modes to make the direct method impossible, However, there are many numerical methods available for the calculation of eigenvalues and eigenvectors of an eigenproblem. The discussion of these methods belongs in a mathematical text on numerical methods rather than in a text such as this on structural dynamics, One of the most popular methods for the numerical solution of an eigenproblem is the Jacobi Method, which is ‘an iterative method to calculate the eigenvalues and eigenvectors of the system. The basic Jacobi solution method has been developed for the solution of standard cigenproblems (.e., [MJ being the identity matrix). The method was proposed over a century ago and has been used extensively. This method can be applied to all symmetric matrices (K] with no restriction on the eigenvalues. It is possible to transform the generalized eigenproblem, [[K]-«@{M]] = {®} = {0} into the standard form and still maintain the symmetry required for the Jacobi Method. However, this transformation can be dispensed with by using a generalized Jacobi solution method (Bathe, K. J. 1982) which operates directly on {X] and (44). 7.4 Rayleigh's Quotient ‘Several iterative methods for the solution of an eigenproblem make use of the Rayleigh’s quotient. The Rayleigh’s quotient may be obtained by pre-multiplying eq. (7.18) by the transpose of the modal vector {g}7 . Hence, HIRI, =O} (ATG, ‘The property of the mass matrix [M] being positive definite’ renders the product {6}; (41169) , #0, thus, it is permissible to solve for 7 : 2 WATIKg (7,22) te IMG} fae in which for convenience the sub-index j has been omitted, The ratio given by eq. (7.22) is known as the Rayleigh’ ‘quotient. This quotient bas the following properties: 1) It provides the eigenvalue «7 when the corresponding eigenvector {¢},, is introduced in eq. (7.22). 2) When a vector {9} different from an ‘eigenvector is used, then eq, (7.22) provides a value a? that lies between the smallest eigenvalue, ce and the largest eigenvalue a3. 3) Finally, if a vector {4} that is an approximation to eigenvector {g},, correct to d decimals is used, then the value of @" obtained from eq. (7.22) is accurate to 2d number of decimals as an approximation to @?, "Matrix (4) is defined as positive definite if it satisfies the condition that for any arbitrary nonzero vector AU} , the prodver (0) [A]{v} > 0Free Vibration of a Shear Building 219 Mlustrative Example 7.3 Use Rayleigh’s quotient to calculate an approximate value for the first eigenvalue of the structure in Illustrative Example 7.1 beginning with the approximate eigenvector for the first mode {¢}" = {1.00 1.50}, then iterate using eqs. (7.12) and (7.22) to ‘converge to the eigenvalue and eigenvector for the first mode, Solution: The substitution of the given vector {9} = {1.00 1.50} and the matrices [A] and {M] into the numerator of eq. (7.22) results in 42.025 ‘1.00 sso 78s Peay = 44300 44,300 and also into the denominator 136 0 }f1.00 . = 2845 {1.00 10 [' 6 sot 284, which substituted into eq.(7.22) yields o? = 42825 1479 284.5 The use of the calculated value «” = 147.9 together with a; = 1.00 into the first eq. (7.12) yields @=1.00 and a) =1.24 A second iteration of eq. (7.22) with {@|" = {1.00 1.24} yields wo? = 140.02 This value of «7 is virtually equal to the solution «, = 140.02 obtained for the first mode in Illustrative Example 7.1 Another popular iterative method to solve an eigenproblem, that is, for structural dynamics, to calculate natural frequencies and modal shapes, is the Subspace Jteration Method. Commercial computer programs such as SAP2000 used in this book, usually provide several other methods in addition to the Jacobi and the Subspace Iteration methods. The program SAP2000 gives the user the option of solving for natural frequencies and modal shapes by any of the following methods: Jacobi, Subspace220 _Rayleigh’s Quotient eration, Lanczos, Inverse Iteration Power methods and Complex Eigenvalue Analysis. 7.5 Program 8-Natural Frequencies and Normal Modes. ‘The program presented in this section uses the generalized Jacobi method to determine the natural frequencies and corresponding modal shapes for a structure modeled as a discrete system. Illustrative Example 7.4. Use Program. 8 to solve the cigenproblem corresponding to a system having the following stiffness and mass matrices: 3000 ~1500 oO [K} =| -1500 3000 1500 0 -1500 1500 1 o oO [anj=|0 1 0 0 0 1 Solution: The execution of Program 8 to calculate natural frequencies and modal shapes requires the previous preparation of a file containing the stiffness and mass matrices of the system. This file is created during the execution of one of the programs to model the structure or by execution of the auxiliary Program XI. This program accepts as input the stiffness and mass matrices of the structure and creates the file required to execute Program 8. In the solution of Example 7.4, the required file was created by executing Program XI, Input Data and Output Results PROGRAM 8: NATURAL FREQUENCIES AND NORMAL MODES. DATA FILE: SK INPUT DATA: °"- STIFFNESS MATRIX," 0.30000E+04 -15000E+04 0,00000E+00 ~-15000E+04 0.300008+04 -.1S000E+04 0.00000E+00 -.15000E+04 0,15000E+04 0.10000E+01 0.00000E+00 0.00000E+00 0.00000E+00 0.10000E+01 0.00000E+00 0.00000E+00 0.00000E+01 1.00000E+00int 4 7 mlevior Frame spacing 16 Ft ! feo oe Jeo psh a ig k k oo i AA] mt Foe { edelb jes fee “eopst a |S 1 Ty | Wis 0% Sb e1S 4 205125 41542 = S52 500Lb oe i ae + : a J 386 in fee? : ome z om,> 196 Lb. sec? / jn Ws 50420415 4 2045 +15 x2 = 25500 Lb ; me = 66 Lb. sec*/in K ke = 122(202 0 9)9f248.6 02) Es s0%10% Lb/in* I Fiscu\t i ceri I, + 248.6 int = 30 t00 Lb/in 106.3 ind 12.» (30 *10° ) (106.3% 12» (30 «10° ) (106.3 »: (10% 72)8 = #4 300 LEfn equation = », {For Free Se solved : disp. % 24, SnCu a) of Ys a, in (wt ~ x) Acc. Yos-d,w2 _ z 2 - 4d, a ¥e-a w? 2 2 For nontrivial, solution ; -m,we ir resssed) {esreREERES mw cco ae A, mw Ry me, we nm, va, wo mw? h mw k =O ni, -(( Ait ) m, + k, vig ) 2? + &, A, 8976 wh _ 10 9% 300 w? » 1.36407 20 i + 10 $44,800 2V (6 x 2% B9%6 28 —— rad /sec i od rad /sec pw e j fe Fos 188 cycles/see E ee cycies ptekak, —m, 4 -k, : -k; R, =m, wJ® g 8 for we 118 vadfsec. ~» w*- to 30 F00+ 44300 - 156 «140 44300 Tf a _ 44.500 | | 4 Oo] ty [ #2632 -tl[¢@ =0 | ot 0. 95th. le 2 for g=t = 2632 for w=32.9 rad/sec ~~ w? 2 1082 ~ 1.6287 - [|e -1 -oc2 || 8]