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Orthogonality of The Natural Modes

The document discusses the orthogonality of natural modes in multi-degree of freedom systems. It shows that the natural modes, also called mode shapes, form an orthogonal basis. Specifically: 1) The mode shapes are orthogonal with respect to the mass and stiffness matrices, such that their inner products are zero, meaning the modes do not interact or couple with each other. 2) This orthogonality allows the system of equations to be decoupled into independent modal coordinates corresponding to each mode shape. 3) An example is provided to demonstrate the orthogonality condition and compute the modal matrix containing the normalized mode shapes.

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Eduardo Oroz
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159 views

Orthogonality of The Natural Modes

The document discusses the orthogonality of natural modes in multi-degree of freedom systems. It shows that the natural modes, also called mode shapes, form an orthogonal basis. Specifically: 1) The mode shapes are orthogonal with respect to the mass and stiffness matrices, such that their inner products are zero, meaning the modes do not interact or couple with each other. 2) This orthogonality allows the system of equations to be decoupled into independent modal coordinates corresponding to each mode shape. 3) An example is provided to demonstrate the orthogonality condition and compute the modal matrix containing the normalized mode shapes.

Uploaded by

Eduardo Oroz
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
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Orthogonality of the Natural

Modes
Background:
| |{ } | |{ } { } 0 = + y K y M
{ } { } ) sin( o e = t a y let
{ } { } ) sin(
2
o e e = t a y
(a)
(b)
Subst. (b) to (a) results in
| | | | { } { } 0 ) (
2
= a M K e
Thus the solution of the equation of motion for the underdamped
vibration of the system with n-DOF gives n values of the natural
frequency and a corresponding modal vector (eigenvector for each).
{ }

=
n
w
w
w
.
.
2
1
e { }

=
1
21
11
1
.
.
n
a
a
a
a { }

=
2
22
12
2
.
.
n
a
a
a
a
etc.
Mode 1 Mode 2
Orthogonality:
If vibrating under mode r: { }
r r r
a ; ;
2
e e
| |{ } | |{ }
r r r
a K a M =
2
e
| | | | { } { } 0 ) (
2
= a M K e
If vibrating under mode s: { }
s s s
a ; ;
2
e e
| |{ } | |{ }
s s s
a K a M =
2
e
(1)
(2)
Pre-multiply (1) by:
{ }
T
s
a
Pre-multiply (2) by:
{ }
T
r
a
{ } | |{ } { } | |{ }
r
T
s r
T
s r
a K a a M a =
2
e
{ } | |{ } { } | |{ }
s
T
r s
T
r s
a K a a M a =
2
e
(4)
(3)
{ } | |{ } { } | |{ }
r
T
s r
T
s r
a K a a M a =
2
e
{ } | |{ } { } | |{ }
s
T
r s
T
r s
a K a a M a =
2
e
(4)
(3)
Note that:
{ } | |{ } { } | |{ }
s
T
r r
T
s
a K a a K a =
{ } | |{ } { } | |{ }
s
T
r r
T
s
a M a a M a =
{ } | |{ } 0 ) (
2 2
=
r
T
s s r
a M a e e
Subtract (4) from(3) and note that:
| | | | | | | |
| | | | . symmetric are M and K because
M M and K K
T T
= =
Note that:
0 ) (
2 2
=
s r
e e since mode r is different from mode s
(5)
{ } | |{ } 0 ) (
2 2
=
r
T
s s r
a M a e e
Subtract (4) from(3) and note that:
| | | | | | | |
| | | | . symmetric are M and K because
M M and K K
T T
= =
Note that:
0 ) (
2 2
=
s r
e e since mode r is different from mode s
(5)
Hence from (5):
{ } | |{ } 0 =
r
T
s
a M a
This is orthogonality of amplitudes a, with
respect to [M].
Also:
{ } | |{ } 0 =
r
T
s
a K a
This is orthogonality of amplitudes a, with
respect to [K].
{ } | |{ } 0 =
j
T
i
a M a
{ } | |{ } 0 =
j
T
i
a K a
Hence :
If ij
If ij
Or :
| | | | | || | 0
*
= = a M a M
T
is a diagonal matrix
| | | | | || | 0
*
= = a K a K
T
is a diagonal matrix
where :
| | { } { } { } | |
n
a a a a . . .
2 1
=
Mode shapes
Modal matrix or mode shape matrix
Other authors use [ ] instead of [a]
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:
{ } | |{ }
j
T
i
ij
ij
a M a
a
= |
Example:
(

=
(

618 . 0 618 . 1
000 . 1 000 . 1
22 21
12 11
a a
a a
{ }
m m
m
m
526 . 0
618 . 3
0 . 1
618 . 1
0 . 1
0
0
618 . 1 0 . 1
0 . 1
11
= =
)
`

= |
(

=
22 21
12 11
| |
| |
|
Example:
(

=
(

618 . 0 618 . 1
000 . 1 000 . 1
22 21
12 11
a a
a a
{ }
m m
m
m
526 . 0
618 . 3
0 . 1
618 . 1
0 . 1
0
0
618 . 1 0 . 1
0 . 1
11
= =
)
`

= |
{ }
m m
m
m
851 . 0
618 . 3
618 . 1
618 . 1
0 . 1
0
0
618 . 1 0 . 1
618 . 1
21
= =
)
`

= |
{ }
m m
m
m
851 . 0
382 . 1
0 . 1
618 . 0
0 . 1
0
0
618 . 0 0 . 1
0 . 1
12
= =
)
`

= |
{ }
m m
m
m
526 . 0
382 . 1
618 . 0
618 . 0
0 . 1
0
0
618 . 0 0 . 1
618 . 0
22

=

=
)
`

= |
(

=
22 21
12 11
| |
| |
|
{ } | |{ }
j
T
i
ij
ij
a M a
a
= |
Example:
(

=
(

618 . 0 618 . 1
000 . 1 000 . 1
22 21
12 11
a a
a a
{ }
m m
m
m
526 . 0
618 . 3
0 . 1
618 . 1
0 . 1
0
0
618 . 1 0 . 1
0 . 1
11
= =
)
`

= |
{ }
m m
m
m
851 . 0
618 . 3
618 . 1
618 . 1
0 . 1
0
0
618 . 1 0 . 1
618 . 1
21
= =
)
`

= |
{ }
m m
m
m
851 . 0
382 . 1
0 . 1
618 . 0
0 . 1
0
0
618 . 0 0 . 1
0 . 1
12
= =
)
`

= |
{ }
m m
m
m
526 . 0
382 . 1
618 . 0
618 . 0
0 . 1
0
0
618 . 0 0 . 1
618 . 0
22

=

=
)
`

= |
Modal Matrix:
| | =
(

=
22 21
12 11
| |
| |
|
(
(
(
(

m m
m m
526 . 0 851 . 0
851 . 0 526 . 0
Example:
(

=
(

618 . 0 618 . 1
000 . 1 000 . 1
22 21
12 11
a a
a a
Modal Matrix:
| | =
(

=
22 21
12 11
| |
| |
|
(
(
(
(

m m
m m
526 . 0 851 . 0
851 . 0 526 . 0
Check Orthogonality Condition:
(

=
(
(
(
(

(
(
(
(

1 0
0 1
526 . 0 851 . 0
851 . 0 526 . 0
0
0
526 . 0 851 . 0
851 . 0 526 . 0
m m
m m
m
m
m m
m m
T
| | | || | | | I M
T
= | |
in
s k
m
2
1
0 . 1

=
in
s k
m
2
2
5 . 1

=
in
s k
m
2
3
2

=
in
k
k 600
1
=
in
k
k 1200
2
=
in
k
k 1800
3
=
Initial Conditions:
in t y

= =
3 . 0
4 . 0
5 . 0
) 0 (
sec /
0
9
0
) 0 ( in t y

= =

=
0 . 2
0
0
0
5 . 1
0
0
0
0 . 1
m

=
1800
1200
0
1200
1800
600
0
600
600
3
2
0
2
3
1
0
1
1
600 k

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