Structural Dynamics

Lecture 11
Free vibration of MDOF system

Zili Zhang
Department of Structural Engineering
[email protected]
Observation：Free vibration of shear frame
due to initial displacement
An arbitrary initial displacement

Undamped structure

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Observation：Free vibration of shear frame
due to initial displacement
Initial displacement being the 1st natural mode of vibrion

Undamped structure
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Observation：Free vibration of shear frame
due to initial displacement
Initial displacement being the 2st natural mode of vibrion

Undamped structure

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 Shear frame: a simple MDOF system

• The beams and floor systems are rigid in flexure

𝑚𝑚4
• Axial deformation of the beams and columns neglected
𝑘𝑘4
• The mass is concentrated at the floor levels

𝑚𝑚3
𝑘𝑘3

𝑚𝑚2
𝑘𝑘2

𝑚𝑚1
𝑘𝑘1

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 Undamped eigenvibrations of an MDOF system:
Eigenfrequencies and eigenmodes
• 𝐊𝐊 − 𝜔𝜔2 𝐌𝐌 𝝓𝝓 = 𝟎𝟎

• This can be reformulated into a generalized eigenvalue problem

• 𝐊𝐊 − 𝜆𝜆𝐌𝐌 𝝓𝝓 = 𝟎𝟎 ; 𝜆𝜆 = 𝜔𝜔2

• 𝜆𝜆 is an eigenvalue

• 𝝓𝝓 is an eigenvector

• Since, physically, 𝝓𝝓 defines a mode of deformation, we will use the

terminology “eigenmode” instead of the mathematical term “eigenvector”

• Often, the terminology “mode shape” is also employed for 𝝓𝝓

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 Undamped eigenvibrations of an MDOF system:
Eigenfrequencies and eigenmodes
• Trivial solution
−1
• det 𝐊𝐊 − 𝜆𝜆𝐌𝐌 ≠ 0 ⇒ 𝝓𝝓 = 𝐊𝐊 − 𝜆𝜆𝐌𝐌 𝟎𝟎 = 𝟎𝟎

• Non-trivial solutions require that 𝐊𝐊 − 𝜆𝜆𝐌𝐌 is singular

• This means that for a given value of 𝜆𝜆 the dynamic stiffness vanishes
𝜔𝜔
• Equivalent to the SDOF system where 𝐷𝐷 𝜁𝜁, → ∞ for 𝜁𝜁 = 0 ; 𝜔𝜔 → 𝜔𝜔0
𝜔𝜔0

• Hence, 𝜆𝜆 must fulfil the characteristic equation or frequency

equation
• 𝑝𝑝𝑛𝑛 𝜆𝜆 = det 𝐊𝐊 − 𝜆𝜆𝐌𝐌 = 𝑎𝑎0 + 𝑎𝑎1 𝜆𝜆 + ⋯ + 𝑎𝑎𝑛𝑛 𝜆𝜆𝑛𝑛 = 0

• The coefficients 𝑎𝑎0 , 𝑎𝑎1 , … , 𝑎𝑎𝑛𝑛 are invariants

• 𝑎𝑎0 = det 𝐊𝐊 and 𝑎𝑎𝑛𝑛 = det 𝐌𝐌 (only if 𝐌𝐌 is diagonal)

• The polynomial 𝑝𝑝𝑛𝑛 𝜆𝜆 is known as the characteristic polynomial

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 Undamped eigenvibrations of an MDOF system:
Eigenfrequencies and eigenmodes
• Eigenvalues are found as the roots of 𝑝𝑝𝑛𝑛 𝜆𝜆
• 0 ≤ 𝜆𝜆1 ≤ 𝜆𝜆2 ≤ ⋯ ≤ 𝜆𝜆𝑛𝑛 ≤ ∞ ⇒ 0 ≤ 𝜔𝜔1 ≤ 𝜔𝜔2 ≤ ⋯ ≤ 𝜔𝜔𝑛𝑛 ≤ ∞
• 𝜔𝜔𝑗𝑗 = 𝜆𝜆𝑗𝑗 is the 𝑗𝑗th undamped angular eigenfrequency (natural vibration
frequencies), 𝑗𝑗 = 1, 2, … , 𝑛𝑛

• The generalized eigenvalue problem

• 𝐊𝐊 − 𝜆𝜆𝐌𝐌 𝝓𝝓 = 𝟎𝟎 ; 𝜆𝜆 = 𝜔𝜔2
• For each eigenvalue 𝜆𝜆 = 𝜆𝜆𝑗𝑗 a solution 𝝓𝝓 = 𝝓𝝓(𝑗𝑗) exists
• 𝝓𝝓(𝑗𝑗) is the 𝑗𝑗th eigenmode (or natural mode of vibration, or mode shape, or
normal mode), 𝑗𝑗 = 1, 2, … , 𝑛𝑛

• Comments on the solution of the eigenvalue problem

• The phase angle 𝜓𝜓 in cos 𝜔𝜔𝜔𝜔 − 𝜓𝜓 is undetermined
• If 𝝓𝝓(𝑗𝑗) is a solution, so is 𝑐𝑐𝝓𝝓(𝑗𝑗) (the scaling is discussed later) 8
 Mode shapes (or eigenmodes, or normal modes)
Mode 1 Mode 2 Mode 3 Mode 4

1 = 0.4635 rad/s 2 = 0.9695 rad/s 3 = 1.633 rad/s 4 = 2.044 rad/s

16 16 16 16

14 14 14 14

12 12 12 12

10 10 10 10

8 8 8 8

6 6 6 6

4 4 4 4

2 2 2 2

0 0 0 0

-2 -2 -2 -2

-4 -4 -4 -4
0 2 4 6 0 2 4 6 0 2 4 6 0 2 4 6

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Example 1: a 2DOF system
Generalized eigenvalue problem

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Example 2: Mathematical double pendulum
Generalized eigenvalue problem

Linearization:

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Example 3: modeling of a car
1. The first set of DOFs

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Example 3: modeling of a car
1. The first set of DOFs

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Example 3: modeling of a car
2. The second set of DOFs

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Example 3: modeling of a car
2. The second set of DOFs

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 Orthogonality properties of mode shapes
If the eigenmodes and are associated with different eigenvalues, i.e. ,
then the following orthogonality properties are fulfilled:

𝑇𝑇
𝝓𝝓(𝑗𝑗) 𝐌𝐌𝝓𝝓 𝑘𝑘
= 0 for 𝑗𝑗 ≠ 𝑘𝑘
𝑇𝑇
𝝓𝝓(𝑗𝑗) 𝐊𝐊𝝓𝝓 𝑘𝑘
= 0 for 𝑗𝑗 ≠ 𝑘𝑘

Proof:
𝑗𝑗 𝑗𝑗
𝐊𝐊𝝓𝝓 = 𝜆𝜆𝑗𝑗 𝐌𝐌𝝓𝝓 𝑇𝑇
The 1st equation is pre-multiplied by 𝝓𝝓(𝑘𝑘) . Use
𝐊𝐊𝝓𝝓 𝑘𝑘
= 𝜆𝜆𝑘𝑘 𝐌𝐌𝝓𝝓 𝑘𝑘 of 𝐊𝐊 = 𝐊𝐊 𝑇𝑇 and 𝐌𝐌 = 𝐌𝐌 𝑇𝑇 provides:

𝑇𝑇 𝑇𝑇
𝝓𝝓(𝑘𝑘) 𝐊𝐊𝝓𝝓 𝑗𝑗
= 𝜆𝜆𝑗𝑗 𝝓𝝓(𝑘𝑘) 𝐌𝐌𝝓𝝓 𝑗𝑗
⇒
𝑇𝑇 𝑇𝑇
𝝓𝝓(𝑗𝑗) 𝐊𝐊 𝑇𝑇 𝝓𝝓 𝑘𝑘
= 𝜆𝜆𝑗𝑗 𝝓𝝓(𝑗𝑗) 𝐌𝐌 𝑇𝑇 𝝓𝝓 𝑘𝑘
⇒
𝑇𝑇 𝑇𝑇
𝝓𝝓(𝑗𝑗) 𝐊𝐊𝝓𝝓 𝑘𝑘
= 𝜆𝜆𝑗𝑗 𝝓𝝓(𝑗𝑗) 𝐌𝐌𝝓𝝓 𝑘𝑘
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 Orthogonality properties of mode shapes
Proof (continue):
𝑗𝑗 𝑗𝑗
𝐊𝐊𝝓𝝓 = 𝜆𝜆𝑗𝑗 𝐌𝐌𝝓𝝓 𝑇𝑇
The 2nd equation is pre-multiplied by 𝝓𝝓(𝑗𝑗) . Use of
𝐊𝐊𝝓𝝓 𝑘𝑘
= 𝜆𝜆𝑘𝑘 𝐌𝐌𝝓𝝓 𝑘𝑘 𝐊𝐊 = 𝐊𝐊 𝑇𝑇 and 𝐌𝐌 = 𝐌𝐌 𝑇𝑇 provides:

𝑇𝑇 𝑇𝑇
𝝓𝝓(𝑗𝑗) 𝐊𝐊𝚽𝚽 𝑘𝑘
= 𝜆𝜆𝑘𝑘 𝝓𝝓(𝑗𝑗) 𝐌𝐌𝝓𝝓 𝑘𝑘

Comparing with the equation in the previous slide

𝑇𝑇
0 = (𝜆𝜆𝑗𝑗 − 𝜆𝜆𝑘𝑘 ) 𝝓𝝓(𝑗𝑗) 𝐌𝐌𝝓𝝓 𝑘𝑘

𝑇𝑇
Since 𝜆𝜆𝑗𝑗 ≠ 𝜆𝜆𝑘𝑘 , the above equation can only be fulfilled, if 𝝓𝝓(𝑗𝑗) 𝐌𝐌𝝓𝝓 𝑘𝑘
= 0. Then,
𝑇𝑇
𝝓𝝓(𝑗𝑗) 𝐊𝐊𝝓𝝓 𝑘𝑘
= 0 as well for 𝑗𝑗 ≠ 𝑘𝑘.

Verify these orthogonality properties by the various examples ! 17

Example 1b: a 2DOF system
Orthogonality conditions

From Example 1

The modal masses and stiffnesses become

As seen and . Further, it follows that

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Example 3b: a 2DOF system
Orthogonality conditions

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Example 4: a massless cantilever beam (2DOF)
Generalized eigenvalue problem and orthogonality conditions

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Example 5: a massless cantilever beam (4DOF)
Generalized eigenvalue problem

Matlab solver:

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Example 6: a two-story frame (6DOFs)
Generalized eigenvalue problem

Matlab solver:

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Example 7: a two-story frame (2DOFs)
After static condensation: Generalized eigenvalue problem

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Interpretation of modal orthogonality
1. The work done by the nth mode inertia force in going through the rth mode
displacement is zero

which is zero because of the modal orthogonality 24

Interpretation of modal orthogonality
2. The work done by the equivalent static forces associated with displacement
in the nth mode in going through the rth mode displacement is zero

which is zero because of the modal orthogonality

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Modal expansion of displacement

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Modal expansion of displacement

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Free vibration response
Free vibration of linear MDOF system (without damping) is governed by the
following equation:

That satisfies the initial conditions:

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Free vibration response
Free vibration of linear MDOF system (without damping) is governed by the
following equation:

That satisfies the initial conditions:

A general solution of the above equation is given by superposition of the

response in individual modes:

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Free vibration response
Setting 𝑡𝑡 = 0, we have

From the modal expansion of displacement and velocity (page 26), we can
write

where

Using equivalence of the equations in the red and blue boxes

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Free vibration response
Therefore, the free vibration response can be written as

or alternatively,

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Free vibration response: Example 8

Free vibration response of the 2-story shear frame due to initial displacement

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Free vibration response: Example 9

Free vibration response of the 2-story shear frame due to initial displacement

Solution?

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