VIBRATION SIMULATION USING MATLAB

By
Park, Jeong Gyu
DEPARTMENT OF PRECISION ENGINEERING
KYOTO UNIVERSITY
KYOTO, JAPAN
MAY 2003
c _ Copyright by Park, Jeong Gyu, 2003
Table of Contents
Table of Contents ii
1 Basics of Matlab 1
1.1 Making matrix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.2 Matrix Manipulations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
1.3 Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
1.4 Plotting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
1.5 Programming in MATLAB . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
1.5.1 The m-les . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
1.5.2 Repeating with for loops . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.5.3 If statements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.5.4 Writing function subroutines . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
1.6 Saving and Loading . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
1.7 Help . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
2 Single Degree of Freedom System 7
2.1 Free Vibrations of Single-Degree-of-Freedom Systems . . . . . . . . . . . . . . . . . . 7
2.1.1 Viscous Damping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.2 Forced Vibration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.2.1 Direct Force Excitation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.2.2 Base Excitation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
2.3 Simulation with MATLAB . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
2.3.1 Transfer Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
ii
2.3.2 State Space Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
3 Multiple Degree of Freedom Systems 17
3.1 Some Basics Concepts for Linear Vibrating System . . . . . . . . . . . . . . . . . . . 17
3.1.1 Eigenvalue Problem . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
3.1.2 Orthogonality of normal modes . . . . . . . . . . . . . . . . . . . . . . . . . . 20
3.1.3 Normalization of Mode Shapes . . . . . . . . . . . . . . . . . . . . . . . . . . 21
3.1.4 Modal Coordinates . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
3.2 Proportional Damping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
3.3 Modal Analysis of the Force Response . . . . . . . . . . . . . . . . . . . . . . . . . . 25
3.4 State-Space Approach . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
3.4.1 Free Vibration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
3.4.2 Forced Vibration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
4 Design for Vibration Suppression 31
4.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
4.2 Vibration Absorber . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
4.2.1 SDOF with Undamped DVA . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
4.2.2 SDOF with damped DVA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
4.3 Isolation Design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
4.3.1 Passive Isolators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
4.3.2 Skyhook and Active Isolators . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
4.3.3 Semi-active Isolators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
5 Vibration of strings and rods 42
5.1 Strings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
5.2 Rods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
6 Bending of Beam 44
6.1 Equation of Motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
6.2 Eigenvalue Problem . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
6.2.1 Boundary condition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
6.3 Some Properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
iii
6.4 Forced Vibration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
6.4.1 Point force excitation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
6.4.2 Moment excitation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
7 Plate 54
7.1 Plate in Bending . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
7.2 Equation of Motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
8 Approximate Method 57
8.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
8.2 Rayleigh Ritz Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
9 Finite Element Analysis 69
9.1 Euler-Bernoulli Beam . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
9.1.1 Basic relation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
9.1.2 Finite Element Modeling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
9.2 Thin Plate Theory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
9.2.1 formulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
9.3 Finite Element Modeling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
9.4 Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
iv
Chapter 1
Basics of Matlab
Matlab R _(MathWorks, Inc., )
1
is an interactive program for numerical computation and data visu-
alization. It is used extensively by vibration and control engineers for analysis and design. There
are many dierent toolboxes available which extend the basic functions of MATLAB into dierent
areas.
1.1 Making matrix
Matlab uses variables that are dened to be matrices. A matrix is a collection of numerical values
that are organized into a specic conguration of rows and columns. Here are examples of matrices
that could be dened in Matlab.
A = [1 2 3 4;5 6 7 8;9 10 11 12]
Transpose of a matrix using the apostrophe
B=A
C=[2,2,3
4,4,6
5,5,8]
The colon operation : is understood by Matlab to perform special and useful operations. If two
integer numbers are separated by a colon, Matlab will generate all of the integers between these two
integers.
a = 1:8
generates the row vector,
a = [ 1 2 3 4 5 6 7 8 ]
1
see, http://www.mathworks.com/
1
2
If three numbers, integer or non-integer, are separated by two colons, the middle number is inter-
preted to be a range and the rst and third are interpreted to be limits. Thus
b = 0.0 : .2 : 1.0
generates the row vector
b = [ 0.0 .2 .4 .6 .8 1.0 ]
C=linspace(0,10,21)
D=logspace(-1,1,10)
eye(3)
zeros(3,2)
1.2 Matrix Manipulations
Element of matrix
A(2,3)
Size
size(A)
length(a)
Transpose
A
Column or row components
A(:,3)
Matrix addition, subtraction and multiplication
D = B * C
D = C * B
If you have a square matrix, like E, you can also multiply it by itself as many times as you like by
raising it to a given power.
E 3
Element addition, subtraction and multiplication
Another option for matrix manipulation is that you can multiply the corresponding elements of two
matrices using the .* operator (the matrices must be the same size to do this).
E = [1 2;3 4]
F = [2 3;4 5]
G = E.*F
If wanted to cube each element in the matrix, just use the element-by-element cubing.
E. 3
3
1.3 Functions
Matlab includes many standard functions. In Matlab sin and pi denotes the trigonometric function
sine and the constant .
fun=sin(pi/4)
To determine the usage of any function, type
help function-name
[Example] Verify the variables i, j, cos, exp,log, log10 in MATLAB
1.4 Plotting
One of Matlab most powerful features is the ability to create graphic plots. Here we introduce the
elementary ideas for simply presenting a graphic plot of two vectors. Example
Plot the sin(x)/x in the interval [/100, 10]

>>x=pi/100:pi/100:10*pi
>>y=sin(x)./x
>>plot(x,y)
>>grid
-
1.5 Programming in MATLAB
1.5.1 The m-les
It is convenient to write a number of lines of Matlab code before executing the commands. Files
that contain a Matlab code are called the m-les.
Table 1.1: Basic Matrix Functions
Symbol Explanations
inv Inverse of a matrix
det Determinant of a matrix
trace Summation of diagonal elements of a matrix
4
Figure 1.1: Sin(x)/x
Table 1.2: Basic Plotting Command
Command Explanations
plot(x,y) A Cartesian plot of the vectors x and y
subplot
loglog A plot of log(x) vs log(y)
semilogx(x,y) A plot of log(x) vs y
semilogy(x,y) A plot of x vs log(y)
title placing a title at top of graphics plot
xlabel
ylabel
grid Creating a grid on the graphics plot
5
1.5.2 Repeating with for loops
the for loops
Syntax of the for loop is shown below
for n=0:10
x(n+1)=sin(pi*n/10)
end
The for loops can be nested
H=zeros(5)
for k=1:5
for l=1:5
H(k,l)=1/(k+l-1)
end
end
1.5.3 If statements
If statements use relational or logical operations to determine what steps to perform in the solution
of a problem.
the general form of the simple if statement is
if expression
commands
end
In the case of a simple if statement, if the logical expression is true, the commands is executed.
However, if the logical expression is false, the command is bypassed and the program control jumps
to the statement that follows the end statement.
The if-else statement
The if-else statement allows one to execute one set of statements if logical expression is true and a
dierent set of statements if the logical statement is false. The general form is
if expression
commands(evaluated if expression is true)
else
commands(evaluated if expression is false)
end
6
1.5.4 Writing function subroutines
function [mean,stdev] = stat(x)
n = length(x);
mean = sum(x) / n;
1.6 Saving and Loading
All variables in the workspace can be viewed by command whos or who.
To save all variables from the workspace in binary MAT-le
save FILENAME
An ASCII le is a le containing characters in ASCII format, a format that is independent of mat-
lab or any other executable program. You can save variables from the workspace in ASCII format
with option
save lename.dat variable -ascii
To load variables you can use load command.
load FILENAME
To clear variables you can use load command.
clear
1.7 Help
To learn more about a function you can use help.
>> help for
If you do not remember the exact name of a function you can use lookfor
>>lookfor sv
Chapter 2
Single Degree of Freedom System
In this chapter we will study the responses of systems with a single degree of freedom. It is impor-
tant topic to master, since the complicated multiple-degree-of-freedom systems(MDOF) can often
treated as if they are simple collections of several single-degree-of-freedom(SDOF) systems. Once
the responses of SDOF are understood, the study of complicated MDOF becomes relatively easy.
2.1 Free Vibrations of Single-Degree-of-Freedom Systems
2.1.1 Viscous Damping
For the free vibration of a single-degree-of-freedom system with mass m, spring constant k, and
viscous damping c, the system undergoes a dynamic displacement x(t) measured from the static
equilibrium position of the mass. Applying Newtons law, the equation of motion of the system is
represented by
m
c
k
F
x
Figure 2.1: Single degree of freedom system.
7
8
m x +c x +kx = 0 (2.1.1)
subject to the initial conditions x(0) = x
0
and x(0) = v
0
. If we divide (2.1.1) by m we can reexpress
it in terms as
x + 2
n
x +
2
n
x = 0 (2.1.2)
where
n
=
_
k/m is natural angular frequency and = c/(2

km) is the damping ratio.

To solve the damped system of equation (2.1.2), assuming
x = Ae
st
(2.1.3)
Substituting equation (2.1.3) into equation (2.1.2) yields an algebraic equation in the form
s
2
+ 2
n
s +
2
n
= 0 (2.1.4)
The solutions of equation (2.1.4) are given by
s
1,2
=
n

n
_
(
2
1) (2.1.5)
There are three possible cases:
(a) Overdamped Motion
In this case, the damping ratio is greater than 1 ( > 1). The discriminant of equation (2.1.5) is
positive, resulting in a pair of distinct real roots. The solution of equation (2.1.1) then becomes
x(t) = e

n
t
(Ae

2
1t
+Be

2
1t
) (2.1.6)
which represents that the vibration will not occur since the damping force is so large that the
restoration force from the spring is not sucient to overcome the damping force.
(b) Underdamped Motion
In this case the damping ratio is less than 1 (0 < < 1) and the discriminant of equation (2.1.5) is
negative, resulting in a complex conjugate pair of roots. The solutions for this case can be expressed
as
x(t) = e

n
t
(Ae
j
n

1
2
t
+Be
j
n

1
2
t
)
= e

n
t
(Ae
j
d
t
+Be
j
d
t
)
= e

n
t
(C cos
d
t +Dsin
d
t)
= Xe

n
t
sin(
d
t +)
(2.1.7)
where j =

1, X and are constants. The the damped natural frequency is denoted by

d
=
_
1
2

n
(c) Critically Damped Motion
In this last case, the damping ratio is exactly 1(0zeta = 1). The solution takes the form
x(t) = (A+Bt)e

n
t
(2.1.8)
where the constants A and B are determined by the initial conditions.
9
Homework 2.1.1. Evaluate the constants A and B in equation (2.1.7) using the initial conditions
x(0) = x
0
and v(0) = v
0
.
Homework 2.1.2. Describe the denition of logarithmic decrement in free vibration.
2.2 Forced Vibration
2.2.1 Direct Force Excitation
For a single-degree-of-freedom system with viscous damping and subjected to a forcing function F(t)
as shown in gure 2.1, the equation of motion can be written as
m x +c x +kx = F(t) (2.2.1)
The complete solution to equation (2.2.1) consists of two parts, the homogenous solution (the com-
plementary solution) and the particular solution. The homogenous solution is the same as the free
vibration which was described in last section. It is often common to ignore the transient part of
the total solution and focus only on the steady-state response. Taking Laplace transformation of a
second order dierential equation with zero initial conditions, the transfer function is
X(s)
F(s)
=
1/m
s
2
+ 2
n
s +
2
n
(2.2.2)
where
n
=
_
k/m, = c/2m
n
.
Substituting j for s to calculate the frequency response, where j is the imaginary operator:
X(j)
F(j)
=
1/m
2
[(
n
/)
2
1] + 2j(
n
/)
(2.2.3)
Example 2.2.1. Plot the amplitude and phase angle of the single degree of freedom system.
Example MATLAB Code

clf; clear all;

m = 1;
zeta = 0.1:0.1:1;
k = 1;
wn = sqrt(k/m);
10
w = logspace(-1,1,400);
rad2deg = 180/pi;
s = j*w;
for cnt = 1:length(zeta)
xfer(cnt,:)=(1/m) ./ (s.2 + 2*zeta(cnt)*wn*s + wn2);
mag(cnt,:) = abs(xfer(cnt,:));
phs(cnt,:) = angle(xfer(cnt,:))*rad2deg;
end
for cnt = 1:length(zeta)
gure(1)
loglog(w,mag(cnt,:),k-)
title(SDOF frequency response magnitudes for zeta = 0.2 to 1.0 in steps of 0.2)
xlabel(Frequency(rad/sec))
ylabel(Magnitude)
grid
hold on
end
hold o
for cnt = 1:length(zeta)
gure(2)
semilogx(w,phs(cnt,:),k-)
title(SDOF frequency response phases for zeta = 0.2 to 1.0 in steps of 0.2)
xlabel(Frequency(rad/sec))
ylabel(Phase)
grid
hold on
end
hold o

11
Figure 2.2: SDOF
2.2.2 Base Excitation
Often, machines are harmonically excited through elastic mounting, which may be modeled by
springs and dashpots. For example, an automobile suspension system is excited by road surface.
Consider the single degree of freedom system in Figure 2.3(a). The structure with mass m is
connected to the base by stiness, k, and damping with viscous damping coecient c. The equation
12
x
y
m
k
c
x
y
m
c k
(a) (b)
Figure 2.3: Free diagram of base excited single degree of freedom system.
of motion is
m x +c( x y) +k(x y) = 0 (2.2.4)
(a)Derive the displacement transmissibility, X/Y and plot the magnitude and phase.
(b) The transmitted force by the base excitation to the structure is F
T
= k(x y) + c( x y).
The force transmissibility, F
T
/kY is dened as the dimensionless relation between maximum base
displacement Y and the transmitted force magnitude F
T
.Derive the force transmissibility and plot
as function of frequency ratio.
[Homework2]Sky hook damper
Consider the single degree of freedom system in gure 2.3(b).The structure with mass m is connected
to the base by stiness, k. Let us suppose that the viscous damping with viscous damping coecient
c is connected to the sky. (a)Derive the displacement transmissibility, X/Y and plot the magnitude
and phase.
(b) Derive the force transmissibility, F
T
= k(x y), and plot as function of frequency ratio.
2.3 Simulation with MATLAB
2.3.1 Transfer Function
The linear time invariant(LTI) systems can be specied by transfer functions. The corresponding
command is :
sys=tf(num,den)
The output sys is a model-specic data structure.
Example 2.3.1. Sample Matlab code for Bode plot
13
m=1
zeta=0.1
k=1
wn=sqrt(k/m)
den=[1 2*zeta*wn wn2]
num=[1/m]
sys=tf(num,den)
bode(sys)
Example 2.3.2. The function lsim simulates the response to more general classes of inputs. For
example,
t=0:0.01:50;
u=sin(t);
lsim(sys,u,t)
simulates the response of the linear system sys to a sine wave for a duration of 50 seconds.
Table 2.1: Basic Commends for Time and Frequency Response
Command Explanations
bode(sys) Bode plot
nyquist(sys) Nyquist plot
step(sys) step response
impulse(sys) impulse response
initial(sys, x0) undriven response to initial condition
lsim(sys,u,t,x0) response to input u
2.3.2 State Space Analysis
It is desirable to change the system equation for an n d.o.f system with n second order dierential
equation to 2n rst order dierential equations. The rst order form of equations for the system is
called as state space form.
Start by solving equation second order dierential equations.
m x +c x +kx = F(t) (2.3.1)
14
we dene the state vector as
x(t) =
_
x(t) x(t)
_
T
(2.3.2)
Then, adding the identity x = x, equation (2.3.1) can be written in the state form as
x(t) = Ax(t) +BF (2.3.3)
where the system matrix A and the input matrix B are :
A =
_
0 1
m
1
k m
1
c
_
(2.3.4)
and
B =
_
0
m
1
_
(2.3.5)
Schematically, a Single Input Single Output(SISO) state space system is represented as shown in
B
+
C
+
A
D
f(t)
Input
y(t)
Output
System Matrix
x(t)
Direct Transmission Matrix
dx(t)/dt
Integrate
Figure 2.4: State space system block diagram
Figure (2.4). The scalar input u(t) is fed into both the input matrix B and the direct transmission
matrix D. The output of the input matrix is a n 1 vector, where n is the number of states. The
output is fed into a summing junction to be added to the output of the C matrix.
The output of the B matrix is added to the feedback term coming from the system matrix and is
fed intro an integrator block. The output matrix has as many rows as outputs, and has as many
columns as states, n.
15
To account for the case where the desired output is not just the states but is some linear combination
of the states, and output matrix C is dened to relate the outputs to the states. Also, a matrix D,
know as the direct transmission matrix, is multiplied by the input F(t) to account for outputs that
are related to the inputs but that bypass the states.
y(t) = Cx(t) +DF (2.3.6)
The output matrix C has as many rows as outputs required and as many columns as states. The
direct transmission matrix D has the same number of columns as the input matrix B and as many
rows as the output matrix C.
Example 2.3.3. Numerically compute the free vibration of mass-spring-damper system using ini-
tial function in MATLAB. Example MATLAB Code
m=1;d=0.1;k =1;
A=[0 1;-k/m -c/m];
C=[1 0];
sys=ss(A,[],C,[]);
x0=[10,0];
initial(sys,x0)
Figure 2.5: Initial condition results
The result of free vibration of the one degree of freedom system is shown in gure 2.5.
16
Homework 2.3.4. One of the common excitation in vibration is a constant force that is applied for
a short period of time and then removed. Numerically calculate the response of mass-spring-dashpot
system to this excitation in MATLAB.
m x +c x +kx = F
o
[1 H(t t
1
)] (2.3.7)
where H is Heaviside function. stepfun is useful command to solve this problem.
Chapter 3
Multiple Degree of Freedom
Systems
3.1 Some Basics Concepts for Linear Vibrating System
3.1.1 Eigenvalue Problem
In the previous chapters a single degree of freedom system with a single mass, damper and spring
was considered. Real systems have multiple degrees of freedom and their analysis is complicated
by the large number of equations involved. To deal with them, matrix are used. The equation of
motion for n-degree of freedom equation can be written as
[m] x + [c] x + [k]x = [b
f
]f (3.1.1)
where the mass [m], damping [c], and stiness [k] matrices are symmetric.
First consider undamped vibration without excitation force. The system can be solved by assuming
a harmonic solution of the form
x = ue
jt
(3.1.2)
Here,u is a vector of constants to be determined, is a constant to be determined.
Substitution of this assumed form of the solution into the equation of motion yields
_

2
M +K
_
ue
jt
= 0 (3.1.3)
Note that the scalar e
jt
,= for any value of t and hence equation (3.1.1) yields the fact that and
u must satisfy the vector equation
(
2
M +K)u = 0
17
18
Note that this represents two algebraic equations in the three unknowns; , u
1
, u
2
where u =
[ u
1
u
2
]
T
.
This equation is satised for any u if the determinant of the above equation is zero.

2
M +K

= 0 (3.1.4)
The simultaneous solution of equation (3.1.4) results in the values of parameter
2
. The is called
as eigenvalues of the problem.
Once the value of is established, the value of the constant vector u can be found by solving
equation (3.1.3).
Example 3.1.1. Consider the system with two masses represented in gure 3.1.
c1
k1
x1
k2
c3
k3
x2
c2
m1 m2
F1
F2
Figure 3.1: 2dof
The equations of motion become
_
m
1
0
0 m
1
__
x
1
x
2
_
+
_
c
1
+c
2
c
2
c
2
c
2
+c
3
__
x
1
x
2
_
+
_
k
1
+k
2
k
2
k
2
k
2
+k
3
__
x
1
x
2
_
=
_
F
1
(t)
F
2
(t)
_
(3.1.5)
To determine the natural frequencies and natural mode shapes of the system, the undamped free
vibration of the system is rst considered. Thus the equations reduce to
_
m
1
0
0 m
1
__
x
1
x
2
_
+
_
k
1
+k
2
k
2
k
2
k
2
+k
3
__
x
1
x
2
_
=
_
0
0
_
(3.1.6)
Consider a numerical example for the system shown in gure (3.1). Let c
1
= c
2
= c
3
= 0, m
1
= 5kg,
m
2
= 10kg, k
1
= 2N/m, k
2
= 2N/m, k
3
= 4N/m. Substituting in equation (3.1.6) yields
_
5 0
0 10
__
x
1
x
2
_
+
_
4 2
2 6
__
x
1
x
2
_
=
_
0
0
_
(3.1.7)
19
Assume harmonic responses of the of the form x
1
= A
1
exp(it) and x
2
= A
2
exp(it). Equation
(3.1.6) becomes

2
_
5 0
0 10
__
A
1
A
2
_
=
_
4 2
2 6
__
A
1
A
2
_
(3.1.8)
Solving Eigenvalue Problem with MATLAB
The eigenvalue problem of a matrix is dened as
Au = u (3.1.9)
and generalized eigenvalue problem is
Ku = Mu (3.1.10)
The eig is subroutine for computing the eigenvalues and the eigenvectors of the matrix A or
>>[V,D]=eig(A)
>>[V,D]=eig(K,M)
The eigenvalues of system are stored as the diagonal entries of the diagonal matrix D and the
associated eigenvectors are stored in columns of the matrix V .
Example MATLAB Code
m=[5 0 ;0 10]; k=[4 -2;-2 6]; [v,d]=eig(k,m)
The function eig in MATLAB gives unsorted eigenvalues, so it will be help to make sorting the
eigenvalues of the system.
function [u,wn]=eigsort(k,m);
Omega=sqrt(eig(k,m));
[vtem,d]=eig(k,m);
[wn,isort]=sort(Omega);
il=length(wn);
for i=1:il
v(:,i)=vtem(:,isort(i));
end
disp(The natural frequencies are (rad/sec))
disp( )
wn
disp( )
disp(The eigenvectors of the system are)
v
20

The two natural frequencies are

1
=0.6325 rad/s,
2
=1 rad/s
The eigenvectors are u
1
=
_
1 1
_
T
, u
2
=
_
1 0.5
_
T
m1 m2
m1 m2
1 1
1
-1/2
Figure 3.2: Mode shapes for the two degree of freedom system
3.1.2 Orthogonality of normal modes
The modes are orthogonal with respect to the mass matrix and stiness matrix.
u
T
2
[m]u
1
= 0
u
T
2
[k]u
1
= 0
(3.1.11)
Mass normalizing equation (3.1.11), we can get the general relations as
u
T
i
[m]u
i
= m
i
, i = 1, 2
u
T
i
[k]u
i
= m
i

2
i
= k
i
, i = 1, 2
(3.1.12)
where m
i
and k
i
is called modal mass and modal stiness for the i-th modal vector of vibration.
The numerical values of the mode shape will be used to determine the modal mass and modal
stiness. The mode shapes were found to be u
1
=
_
1 1
_
T
for
1
=
_
2/5 rad/s, and u
2
=
_
1 0.5
_
T
for
1
= 1 rad/s
Verication with MATLAB
u1 = v(:, 1);
u2 = v(:, 2);
u1

[m] u1 = 15
21
u1

[m] u2 = 0
u2

[m] u2 = 7.5
k
1
=
2
1
m
1
= 6
k
2
=
2
2
m
2
= 15/2
3.1.3 Normalization of Mode Shapes
While above relations are related to the mass and stiness of the modal space, it is important to
remember that the magnitude of these quantities depends upon the normalization of the modal
vectors. Therefore, only the combination of a modal vector together with the associated modal
mass and stiness represent a unique absolute characteristic concerning the system being described.
When we scaled the eigenvector such that m
i
= 1, the equation (3.1.12) becomes
u
T
i
[m]u
i
= 1, i = 1, 2
u
T
i
[k]u
i
=
2
i
, i = 1, 2
(3.1.13)
This meas that m
i
is not unique. There are several ways to normalize the mode shapes.
(1) The mode shapes can be normalized such that the modal mass m
i
is set to unity.
(2) The largest element of the mode shape is set to unity.
(3) A particular element of the mode shape is set to unity.
(4) The norm of the mode vector is set to unity.
Example 3.1.2. Using the previous two degree of freedom example, normalize the modal vectors
such that u
T
i
[m]u
i
= 1, i = 1, 2 The mass normalization of the rst and second natural modes
are
u
1
=
1

m
1
_
_
1
1
_
_
=
1

15
_
_
1
1
_
_
u
2
=
1

m
2
_
_
1
1/2
_
_
=
1
_
15/2
_
_
1
1/2
_
_
The orthogonality of modes permit us to transform the coupled equations of motion dened in
physical coordinate to uncoupled system in the modal coordinate.
22
3.1.4 Modal Coordinates
In solving the equations of motion for an undamped system (3.1.6), the major obstacle encountered
when trying to solve for the system response x for a particular set of exciting forces and initial
conditions, is the coupling between the equations. The coupling is seen in terms of non-zero o
diagonal elements.
If the system of equations could be uncoupled, so that we obtained diagonal mass and stiness
matrices, then each equation would be similar to that of a single degree of freedom system, and could
be solved independent of each other. The process of deriving the system response by transforming
the equations of motion into an independent set of equations is known as modal analysis
Thus the coordinated transformation we are seeking, is one that decouples the system. The new
coordinate system can be found referring to orthogonal properties of the mode shapes discussed in
equation (3.1.12) and (3.1.13).
x(t) =
n

i=1
u
i
q
i
(t) (3.1.14)
where the physical coordinate, x(t) are related with the normal modes, u
i
and the normal
decoupled coordinate, q
i
.
Equation (3.1.14) may be written in matrix form as
x(t) = [P]q(t) (3.1.15)
where [P] is called the modal matrix. Thus, the modal matrix for a 2-DOF system can appear as
[P] = [ u
1
u
2
] (3.1.16)
Substituting equation (3.1.16) into the general equation (3.1.1), we obtain as
[m][P] q + [c][P] q + [k][P]q = f (3.1.17)
Multiplying on the left by [P]
T
,
[P]
T
[m][P] q + [P]
T
[c][P] q + [P]
T
[k][P]q = [P]
T
f (3.1.18)
We know that orthogonality of the modes with respect to mass and stiness matrices. Assuming
that the viscous damping can be decoupled by modal matrix, we obtain
q
i
(t) + 2
i

i
q(t) +
2
i
q
i
(t) = N
i
(t), i = 1, 2, (3.1.19)
where N
i
(t) is
N
i
(t) =
u
T
i
f(t)
u
T
i
[m]u
i
=
u
T
i
f(t)
m
i
(3.1.20)
The ratio in equation (3.1.20)
u
T
i
u
T
i
[m]u
i
(3.1.21)
23
is called modal participation factor. The displacement can be expressed as
x =

i=1
u
i
q
i
=

i=1
u
i
u
T
i
f(t)
m
i
[(
2
i

2
) + 2i
i

i
]
(3.1.22)
where
i
is the natural frequency in the i-th mode. If eigenvector u
i
is mass normalized, u
T
i
[m]u
i
=
1.
Numerical Simulation with MATLAB
[P]
T
[m] [P] =
_
1 0
0 1
_
[P]
T
[k] [P] =
_
0.4 0
0 1
_
[P]
T
=
_
0.2582 0.2582
0.3651 0.1826
_
Thus the equations of motion in modal coordinate are
_
1 0
0 1
__
q
1
q
2
_
+
_
0.4 0
0 1
__
q
1
q
2
_
=
_
0.2582f
1
+ 0.2582f
2
0.3651f
1
0.1826f
2
_
=
_
f

1
f

2
_
(3.1.23)
The matrix equation of (3.1.23) can be written in terms of algebraic dierential equations
q
1
+ 0.4q
1
= f
1

q
2
+q
2
= f
2

(3.1.24)
Hence, the system equations have been uncoupled by using the modal matrix as a coordinate trans-
formation.
Example 3.1.3. Calculate the response of the system illustrated in gure (3.3) to the initial dis-
placement x(0) =
_
1 1
_
T
with x(0) =
_
0 0
_
T
using modal analysis.
The initial conditions in modal space become
q(0) = [P]
T
x(0) =
_
0.5164 0.1826
_
T
q(0) = [P]
T
x(0) =
_
0 0
_
T
The modal solution of equation (3.1.24) is
q
1
(t) = q
1
(0) cos(
1
t) = 0.5164 cos(0.6325t)
24
5 10
1
2 2 4
2/5
1
1
x1 x2
q1 q2
f1 f2
f 2
f 1
Figure 3.3: The undamped two degree of freedom system and broken down to two single degree of
freedom systems
q
2
(t) = q
2
(0) cos(
2
t) = 0.1826 cos(t)
Using the transformation x(t) = Pq(t) yields that the solution in physical coordinates is
x(t) =
_
0.1333 cos(0.6325t) + 0.0667 cos(t)
0.1333 cos(0.6325t) 0.0333 cos(t)
_
3.2 Proportional Damping
Damping is present in all oscillatory systems. As there are several types of damping, viscous,
hysteretic, coulomb etc., it is generally dicult to ascertain which type of damping is represented
in a particular structure. In fact a structure may have damping characteristics resulting from a
combination of all types. In many cases, however, the damping is small and certain simplifying
assumptions can be made. The most common model for damping is proportional damping dened
as
[c] = [m] +[k] (3.2.1)
where [c] is damping matrix and , are constants. For the purposes of most practical problems,
the simpler relationship will be sucient.
Caughey
1
showed that there exists a necessary and sucient condition for system (3.1.1) to be
completely uncoupled is that [m]
1
[c] commute with [m]
1
[k].
([m]
1
[c])([m]
1
[k]) = ([m]
1
[k])([m]
1
[c]) (3.2.2)
1
T.K. Caughey, Classical Normal Modes in Damped Linear Systems, Journal of Applied Mechanics, Vol 27,
Trans. ASME, pp.269-271, 1960
25
Figure 3.4: Time response of mass 1 and mass 2
or
[c][m]
1
[k] = [k][m]
1
[c] (3.2.3)
3.3 Modal Analysis of the Force Response
The forced response of a multiple-degree-of-freedom system can also be calculated by use of modal
analysis.
Example 3.3.1 (See Example 4.6.1 in Inman, pp.296). For this example, let m
1
= 9kg,
m
2
= 1kg,k
1
= 24N/m, and k
2
= 3kg. Assume that the damping is proportional with = 0 and
= 0.1, so that c
1
= 2.4Ns/m, and c
1
= 0.3Ns/m. Also assume that F
1
= 0, and F
2
= 3cos2t.
Calculate the steady-state response.
_
_
9 0
0 1
_
_
_
_
_
x
1
x
2
_
_
_
+
_
_
2.7 0.3
0.3 0.3
_
_
_
_
_
x
1
x
2
_
_
_
+
_
_
27 3
3 3
_
_
_
_
_
x
1
x
2
_
_
_
=
_
_
0 0
0 1
_
_
_
_
_
F
1
F
2
_
_
_
(3.3.1)
26
Numerical Simulation with MATLAB
[P] =
_
0.2357 0.2357
0.7071 0.7071
_
[P]
T
[m] [P] =
_
1 0
0 1
_
[P]
T
[c] [P] =
_
0.2 0
0 0.4
_
[P]
T
[k] [P] =
_
2 0
0 4
_
[P]
T
[B] =
_
0 0.7071
0 0.7071
_
Hence the decoupled modal equations become
q
1
+ 0.2 q + 2q
1
= 0.7071 3 cos 2t
q
2
+ 0.4 q + 4q
2
= 0.7071 3 cos 2t
(3.3.2)
Comparing the coecient of q
i
to 2
i

i
yields

1
=
0.2
2

2
=
0.2
22
Thus the damped natural frequencies becoms

d1
=
1
_
1
2
1
1.41

d2
=
2
_
1
2
2
1.99
Note that while the force F
2
is applied only to mass m
2
, it becomes applied to both coordinate when
transformed to modal coordinates. Let the particular solutions of equations (3.3.2) be q
1p
and q
2p
.
c1
k1
x1
k2
x2
c2
m1 m2
F1
F2
Figure 3.5: Damped two-degree-of-freedom system
27
The steady state solution in the physical coordinate system is
x
ss
(t) = [P]q
p
(t) =
_
0.2357q
1p
(t) 0.2357q
2p
(t)
0.7071q
1p
(t) + 0.7071q
2p
(t)
_
3.4 State-Space Approach
Simulation by state-space method is a much easier way to obtain the systems response when com-
pared to computing the response by modal analysis. However, the modal approach is needed to
perform design and to gain insight into the dynamics of the system. In this section the simulation
method for free vibration and forced vibration by state space formulation will be discussed.
3.4.1 Free Vibration
Consider the forced response of a damped linear system. The most general case can be written as
[m] x + [c] x + [k]x = 0 (3.4.1)
with initial condition
x(0) = x
0
x(0) = x
0
Again it is useful to write this expression in a state-space form by dening the two n 1 vectors
y
1
= x and y
2
= x, then the equations (3.4.1) becomes
y(t) = Ay(t) (3.4.2)
where
A =
_
0 I
m
1
k m
1
c
_
(3.4.3)
The eigenvalues
i
will appear in complex conjugate pairs in the form

i
=
i
j
i
_
1
2
i

i
=
i
+j
i
_
1
2
i
(3.4.4)
Example 3.4.1. Consider the system shown in gure 3.1. Calculate the response of the system
to the initial condition using state-space method. Let c
1
= c
3
= 0, c
2
= 0.2Ns/m, m
1
= 2kg,
m
2
= 1kg, k
1
= 0.2N/m, k
2
= 0.05N/m, k
3
= 0.05N/m. The initial condition of m
1
is 0.1m and let
the other parameters be all zero.
Example MATLAB Code
28
-dof2ini.m-
m1=2;m2=1;
d1=0; d2=0.2; d3=0;
k1=0.2; k2=0.05;k3=0.05;
m=[m1 0;0 m2]; d=[d1+d2 -d2; -d2 d2+d3]; k=[k1+k2 -k2;-k2 k2+k3];
A=[zeros(2,2),eye(2);-inv(m)*k,-inv(m)*f]; C = [1 0 0 0];
x0=[0.1 0 0 0];
sys=ss(A,[],C,[])
initial(sys,x0)
The simulation result is shown in gure (3.6).
Response to Initial Conditions
Time (sec)
A
m
p
lit
u
d
e
0 50 100 150 200 250 300 350 400 450 500
0.1
0.08
0.06
0.04
0.02
0
0.02
0.04
0.06
0.08
0.1
T
o
:

Y
(
1
)
Figure 3.6: Time response of mass 1
Homework 5 Consider the system shown in gure 3.5. Let m
1
= 10kg, m
2
= 1kg, k
1
= 0.5N/m,
k
2
= 0.05N/m, and c
1
= 0, c
2
= 0.2Ns/m. The initial condition of m
1
is 0.1m and let the other
parameters be all zero. Plot the transient response of mass 1.
29
3.4.2 Forced Vibration
[m] x + [c] x + [k]x = [b
f
]f (3.4.5)
with initial condition
x(0) = x
0
x(0) = x
0
The state-space equations are
y(t) = Ay(t) +Bf (3.4.6)
where
A =
_
0 I
m
1
k m
1
c
_
(3.4.7)
and
B =
_
0
m
1
b
f
_
(3.4.8)
Example 3.4.2. Compare the frequency response function of the two degree of freedom shown
in gure (3.1) between c
2
= 0 and c
2
= 0.2Ns/m. The other parameters are as follows. Let
m
1
= 2kg,m
2
= 1kg, k
1
= 0.2N/m, k
2
= 0.05N/m, k
3
= 0.05N/m and c
1
= c
3
= 0 Ns/m and the
excitation force F
2
be zero.
Example MATLAB Code
-dof2frf.m-
m1=2;m2=1; c1=0; c2=0.0; c3=0;k1=0.2; k2=0.05;k3=0.05;
Bf=[1; 0]; m=[m1 0; 0 m2]; damp=[c1+c2 -c2; -c2 c2+c3]; K=[k1+k2 -k2;-k2 k2+k3];
A=[zeros(2,2),eye(2);-inv(m)*k,-inv(m)*damp];
B=[zeros(2,1); inv(m)*bf];C = [1 0 0 0]; D=zeros(size(C,1), size(B,2))
sys=ss(A,B,C,D)
d1=0; d2=0.02; d3=0;
damp1=[c1+c2 -c2; -c2 c2+c3];
Adamp=[zeros(2,2),eye(2);-inv(m)*k,-inv(m)*damp1];
sysdamp=ss(Adamp,B,C,D)
w=linspace(0.1, 1, 800)
30
bode(sys,sysdamp,w)
the result of simulation is shown in gure (3.7).
Bode Diagram
Frequency (rad/sec)
P
h
a
s
e

(
d
e
g
)
M
a
g
n
i
t
u
d
e

(
d
B
)
40
20
0
20
40
60
80
10
1
10
0
180
90
0
90
180
270
360
Figure 3.7: Frequency response fucntion of mass 1
Chapter 4
Design for Vibration Suppression
4.1 Introduction
A Dynamic Vibration Absorber (DVA) is a device consisting of a reaction mass, a spring element
with appropriate damping that is attached to a structure in order to reduce the dynamic response
of the structure. The frequency of dynamic absorber is tuned to a particular structural frequency so
that when that frequency is excited external force. The concept of DVA was rst applied by Frahm
in 1909 to reduce the rolling motion of ships as well as hull vibrations. A theroy for the DVA was
presented later by Ormondroyd and Den Hartog (1928)
1
. The detailed study of optimal tuning and
damping parameters was discussed in Den Hartogs on Mechanical Vibration (1940) book
2
.
4.2 Vibration Absorber
Figure (4.1) shows a SDOF system having mass m and stiness k, subjected to external forcing. A
dynamic absorber with mass m
2
, stiness k
2
, and dashpot c
2
is attached to the primary mass. What
we now have is a 2DOF problem rather than the original SDOF. The m
1
, c
1
, k
1
system is referred to
as the primary system, and m
2
, c
2
, k
2
system is known as the secondary system. The displacement
of primary mass and absorbing mass are x
1
and x
2
, respectively. With this notation, the governing
equations take the form
1
J.Ormondroyd, and J.P.Den Hartog, The theory of the dynamic vibration absorber, Trans. ASME, 50, 1928,
pp. 9-15
2
J.P.Den Hartog, Mechanical vibration, Dover, 4th ed. Reprint, 1984
31
32
_
m
1
0
0 m
2
__
x
1
x
2
_
+
_
c
1
+c
2
c
2
c
2
c
2
__
x
1
x
2
_
+
_
k
1
+k
2
k
2
k
2
k
2
__
x
1
x
2
_
=
_
F(t)
0
_
(4.2.1)
We set x
i
= Re[X
i
e
jt
] for steady-state response, which leads to the following complex amplitude-
frequency equations,
c1
k1
x1
k2
x2
c2
m1 m2
F1
Figure 4.1: SDOF system coupled with a DVA
_
[(k
1
+k
2
) +j(c
1
+c
2
) m
1

2
] (k
2
+jc
2
)
(k
2
+jc
2
) k
2
+jc
2
m
2

2
__
X
1
X
2
_
=
_
F
0
_
(4.2.2)
4.2.1 SDOF with Undamped DVA
Let us consider the case where damping is negligible, c
1
= c
2
= 0. We then nd from equation
(4.2.2) that
X
1
= F
(k
2
m
2

2
)
[(k
1
+k
2
)
2
m
1
](k
2
m
2

2
) k
2
2
(4.2.3)
X
2
= F
k
2
[(k
1
+k
2
)
2
m
1
](k
2
m
2

2
) k
2
2
(4.2.4)
where the determinant of the system of coecients in equation is
() = [(k
1
+k
2
)
2
m
1
](k
2
m
2

2
) k
2
2
. (4.2.5)
First, note from equation (4.2.3) that the magnitude of steady-state vibration, x
1
becomes zero
when the absorber parameters k
2
and m
2
is chosen to satisfy the tuning condition

2
= k
2
/m
2
(4.2.6)
33
In this case the steady-state motion of the absorber mass is calculated from equation (4.2.4)
X
2
=
F
k
2
(4.2.7)
With the main mass standing still and the secondary mass having a motion F/k
2
exp(jt) the force
in the damper spring varies as Fexp(jt), which is actually equal and opposite to the external
force.
For simplications we want to bring equation (4.2.3) and (4.2.4) into a dimensionless form and for
that purpose we introduce the following parameters:
x
st
= F/k
1
; static deection of primary system.

2
1
= k
1
/m
1
; natural frequency of primary system

2
2
= k
2
/m
2
; natural frequency of secondary system
= m
2
/m
1
; mass ratio=secondary mass/primary mass
With this denitions, also note that
k
2
k
1
=

2
2

2
1
= f
2
(4.2.8)
where frequency ratio f is f =
2
/
1
.
Then equationa (4.2.3)and (4.2.4) becomes
X
1
x
st
=
1
2
[1
2
][1 +f
2
(f)
2
] f
2
(4.2.9)
X
2
x
st
=
1
[1
2
][1 +f
2
(f)
2
] f
2
(4.2.10)
where frequency ratio is = /
2
.
The absolute value of this system is plotted in gure (4.2) for the case = 0.25.
In fact, if the driving frequency shifts such that [X
1
/x
s
t[ > 1, the force transmitted to the primary
system is amplied and the absorber system is not an improvement over the original design of the
primary system.
Let us consider the case that the frequency ratio f = 1, (i.e.,
2
=
1
, or k
2
/m
2
= k
1
/m
1
)
For this special case, equations (4.2.9) and (4.2.10) becomes
X
1
x
st
=
1
2
(1
2
)(1 +
2
)
(4.2.11)
X
2
x
st
=
1
(1
2
)(1 +
2
)
(4.2.12)
The natural frequencies are determined by setting the denominators equal to zero :
(1
2
)(1 +
2
) = 0

4
f
2
(2 +) + 1 = 0
(4.2.13)
34

Figure 4.2: Plot of normalized magnitude of the primary mass versus the normalized driving fre-
quency
The solutions are

2
= (1 +/2)
_
+
2
/4 (4.2.14)
This relation is plotted graphically in gure (4.3). Note that as is increased, the natural frequencies
split farther apart.
Homework 4.2.1. Inmans Book Example 5.3.1
Homework 4.2.2. Inmans Book Example 5.3.2
4.2.2 SDOF with damped DVA
The equations of motion are given in matrix form by equation (4.2.1). Note that these equations can-
not necessarily be solved by using the modal analysis technique of Chapter 3 because the equations
do not decouple (KM
1
C ,= CM
1
K).
The steady-state response of equation (4.2.1) can be obtained by assuming a solution of the form
by assuming a solution of the form
x(t) = X(t)e
jt
=
_
X
1
X
2
_
e
jt
(4.2.15)
where X
1
is the amplitude of vibration of the primary mass and X
2
is the amplitude of vibration of
the absorber mass. From the (4.2.2), we obtain that
35

Figure 4.3: Plot of mass ratio versus system natural frequency(normalized to the frequency of the
secondary system
X
1
F
=
(k
2
m
2

2
) +jc
2

det([K]
2
[M] +j[C])
(4.2.16)
X
2
F
=
k
2
+jc
2

det([K]
2
[M] +j[C])
(4.2.17)
which expresses the magnitude of the response of the primary mass and secondary mass, respectively.
Note that these values are complex numbers.
First, consider the case for which the internal damping of the primary system is neglected (c
1
= 0).
Using complex arithmetic, the amplitude of the motion of the primary mass can be written as the
real number
X
2
1
F
2
=
(k
2
m
2

2
)
2
+ (c
2
)
2
[(k
1
m
1

2
)(k
2
m
2

2
) m
2
k
2

2
]
2
+ [k
1
(m
1
+m
2
)
2
]
2
c
2
2

2
(4.2.18)
It is instructive to examine this amplitude in terms of the dimensionless ratios introduced for the
undamped vibration absorber. The amplitude x
1
is written in terms of the static deection x
st
= F/k
of the primary system. In addition, consider the mixed damping ratio dened by
=
c
2
2m
2

1
(4.2.19)
where =
_
k
1
/m
1
. Using the standard frequency ratio r = /
1
, the ratio of natural frequencies
36
f =
2
/
1
, and the mass ratio = m
2
/m
1
, equation (4.2.18) can be written as
X
1
x
st
=

(2r)
2
+ (r
2
f
2
)
2
(2r)
2
(r
2
1 +r
2
)
2
+ [r
2
f
2
(r
2
1)(r
2
f
2
)]
2
(4.2.20)
which expresses the dimensionless amplitude of the primary system. Note that the amplitude of the
primary system response is determined by four physical parameter values: mass ratio , the ratio
of the decoupled natural frequencies f the ratio of the driving frequency to the primary natural
frequency r and the damping ratio of absorber .
These four parameters can be considered as design variables and are chosen to give the smallest
possible value of the primary masss response, x
1
for a given application.
It is instructive to verify this result for several particular cases
Homework 4.2.3. Plot the compliance curves when the parameters of absorbers are: 1.
2
=
2.
2
= 0
3. = 0.10
4. = 0.10
for mass ratio = 1/20 and frequency ratio f = 1.
The dynamic vibration absorber said to be optimally tuned and damped when the two resonance
peaks are equal in magnitude. The optimal frequency ratio f and damping ratio are given as
f =
1
1 +
(4.2.21)
=

3
8(1 +)
3
(4.2.22)
Homework 4.2.4. Obtain the optimal frequency ratio f and optimal damping ratio when mass
ratio is = 1/20.
4.3 Isolation Design
4.3.1 Passive Isolators
In gure (4.5), a single-degree-of-freedom vehicle model is shown with (a) passive, (b) skyhook
suspensions.
The passive system using linear elements has the equation of motion.
x + 2
n
( x
1
x
0
) +
2
n
(x
1
x
0
) = 0 (4.3.1)
37
0.6 0.7 0.8 0.9 1.0 1.1 1.2 1.3
0
2
4
6
8
10
12
14
16
=1/20
f=1
zeta=0.10
zeta=0.32
zeta=inf.
zeta=0


x
1
/
x
s
t
Excitation frequency ratio (r)
Figure 4.4: Amplitudes of the main mass for various values of absorber damping. All curves pass
through the xed points
x1
x0
m
k
c
Figure 4.5: Schematic of passive isolators
38
where
2
n
= k/m, and = c/2

km. For the base excitation problem it is assumed that the base
moves harmonically such that
x
0
= X
0
exp(j
b
t) (4.3.2)
where X(0) denotes the amplitude of the base motion and
b
represents the frequency of the base
oscillation.
The displacement of mass divided by the amplitude of base excitation is obtained as
X
1
X
0
=
_
1 + (2r)
2
(1 r
2
)
2
+ (2r)
2
_
1/2
(4.3.3)
where the frequency ratio r =
b
/
n
.
The ratio is called the displacement transmissibility. Another quantity of interest in the base exci-
tation problem is the force transmitted to the mass as the result of a harmonic displacement of the
base. Hence the force transmitted to the mass is the sum of the force in the spring and the force in
the damper
F
T
(t) = k(x
1
x
0
) +c( x
1
x
0
) (4.3.4)
The force transmissibility is dened as
F
T
kX
0
= r
2
_
1 + (2r)
2
(1 r
2
)
2
+ (2r)
2
_
1/2
(4.3.5)
Figure (4.6) is a frequency response plot from equation (4.3.3).
4.3.2 Skyhook and Active Isolators
When active suspensions are used the suspension force can be generated based on control strategies.
using optimal control theory and a commonly used quadratic performance criterion it was shown
3
that an optimum single-degree-of-freedom isolator must generate suspension force as
F
a
/m = 2
n
x
1

2
n
(x
1
x
0
) = 0 (4.3.6)
leading to a sprung mass equation of motion as
x + 2
n
x
1
+
2
n
(x
1
x
0
) = 0 (4.3.7)
whici is the same as he governing equation of skyhook isolators shown in gure (4.7).
The displacement of mass divided by the amplitude of base excitation is obtained as
X
1
X
0
=
_
1
(1 r
2
)
2
+ (2r)
2
_
1/2
(4.3.8)
where the frequency ratio r =
b
/
n
3
Bender, E.K., Optimum linear preview control with application to vehicle suspension, ASME, Journal of basic
engineering, 90(2), June 1968, pp.213-221.
39

Figure 4.6: Displacement transmissibility for passive isolator

m
k
c
x0
x1
x1
x0
m
Fa
Figure 4.7: Schematic of passive isolators
40

Figure 4.8: Displacement transmissibility for skyhook isolator

41
4.3.3 Semi-active Isolators
Semi-active suspensions respresents a compromise between passive and active ones. The concept of
semi-active suspension was rst proposed by Crosby and Karnopp
4
in 1973
m
k
Fs
x1
x0
Figure 4.9: Schematic of semi-active isolators
F

s
= F
s
/m =
_
2
n
, x
1
( x
1
x
0
) > 0
0, x
1
( x
1
x
0
) < 0
_
(4.3.9)
4
Crosby, M.J., and Karnopp, D.C., The active damper - a new concept for shock and vibration control, The shock
and vibration bulletin, 43(4), June 1973, pp.119-133
Chapter 5
Vibration of strings and rods
5.1 Strings
5.2 Rods
Consider the vibation of an elastic rod (or bar) of length L and of varying cross-sectional area shown
in gure (5.1). The forces on the innitesimal element summed in the x direction are
L
x
x x+dx
F
F+dF
u(x,t)
Figure 5.1: Cantilevered rod in longitudinal vibration along x
F +dF F = A(x)dx
u(x, t)
t
2
(5.2.1)
where u(x, t) is the deection of the rod in the x direction. From the solid mechanics,
F = EA(x)
u(x, t)
x
(5.2.2)
42
43
where E is the Youngs modulus. The dierential form of F becomes
dF =
F
x
dx (5.2.3)
from the chain rule for partial derivatives. Substitution of equation (5.2.2) and (5.2.3) into (5.2.1)
and dividing by dx yields
A(x)

2
u(x, t)
t
2
=

x
_
EA(x)
u(x, t)
x
_
(5.2.4)
When A(x) is a constant this equation becomes

2
u(x, t)
t
2
=
_
E

2
u(x, t)
x
2
(5.2.5)
The quantity v =
_
E/ denes the velocity of propagation of the displacement (or stress wave) in
the rod.
Chapter 6
Bending of Beam
6.1 Equation of Motion
x
z
y
t
b
Figure 6.1: Beam
The equation of motion of Euler-Bernoulli Beam is
m(x)

2
w
t
2
+c
w
t
+EI

4
w
x
4
= f(x, t) (6.1.1)
where,m is mass per unit length of beam dened as m = A. If no damping and no external force is
applied so that c = 0, f(x, t) = 0, and EI(x) and m(x) are assumed to be constant, equation (6.1.1)
simplies

2
w
t
2
+
EI
m

4
w
x
4
= 0 (6.1.2)
Note that the free vibration equation (6.1.2) contains four spatial derivatives and hence requires
four boundary conditions. The two time derivatives requires that two initial conditions, one for the
displacement and one for the velocity.
44
45
6.2 Eigenvalue Problem
For the eigenvalue problem, assume the product solution as
w(x, t) = W(x)F(t) (6.2.1)
where W(x) depends on the spatial position alone and F(t) depends on time alone. Introducing
equation (6.2.1) into equation (6.1.2), we can obtain the following equation as
d
4
W(x)
dx
4

4
W(x) = 0 (6.2.2)
where
4
=

2
m
EI
, 0 < x < L.
L
x
t
Figure 6.2: Cramped-Free transverse beam
6.2.1 Boundary condition
Clamped-free
The boundary conditions for the clamped-free case are
W(0) = 0
dW(x)
dx
[
x=0
= 0
d
2
W(x)
dx
2
[
x=L
= 0
d
3
W(x)
dx
3
[
x=L
= 0
(6.2.3)
The solution of equation (6.2.2) is
W(x) = C
1
sin x +C
2
cos x +C
3
sinh x +C
4
cosh x (6.2.4)
Applying the boundary conditions for x = 0, we nd
C
2
+C
4
= 0
C
1
+C
3
= 0
(6.2.5)
so that the eigenfunction is reduced to x = L, we get
C
1
(sin L + sinh L) +C
2
(cos L + cosh L) = 0
C
1
(cos L + cosh L) C
2
(sin L sinh L) = 0
(6.2.6)
46
Equating the determinant of the coecients to zero, we obtain the characteristic equation
_
(sin L + sinh L) (cos L + cosh L)
(cos L + cosh L) (sin L sinh L)
__
C
1
C
2
_
=
_
0
0
_
(6.2.7)
The characteristic equation is
cos Lcosh L = 1 (6.2.8)
From the numerical analysis
1
L = 1.875,
2
L = 4.694,
3
L = 7.855

1
= (1.875)
2
_
EI
mL
4
rad/sec

2
= (4.694)
2
_
EI
mL
4
rad/sec

3
= (7.855)
2
_
EI
mL
4
rad/sec
(6.2.9)
We obtain the corresponding eigenfunctions
W
r
(x) = C
r
(cos x cosh x) +C
r
sin Lsinh L
cos L+cosh L
(sin x sinh x)
= A
r
[(sin
r
L sinh
r
L)(sin
r
x sinh
r
x) + (cos
r
L + cosh
r
L)(cos
r
x cosh
r
x)]
(6.2.10)
Example 6.2.1. The geometric and material properties are
(Density) L(Length) b(Width) t(Thickness) E
2750 kg/m
3
340 mm 22 mm 2 mm 7.0010
10
N/m
3
The natural frequencies are

1
= 88.6 rad/sec = 14.1 Hz

2
= 555.2 rad/sec = 88.4 Hz

3
= 1554.7 rad/sec = 247.4 Hz
(6.2.11)
Example 6.2.2. Plot the mode shapes of clamped-free beam with the same dimension specied
above example. Normalize the eignefunction as
_
L
0
W
2
i
dx = 1
A
1
= 0.56461, W
1
(x) = A
1
[1.72[cos(5.51x) cosh(5.51x)] 1.26[sin(5.51x) sinh(5.51x)]]
A
2
= 0.03139, W
2
(x) = A
2
[1.72[cos(13.81x) cosh(13.81x)] 1.75[sin(13.81x) sinh(13.81x)]]
A
3
= 0.00133, W
3
(x) = A
3
[1.71[cos(23.10x) cosh(23.10x)] 1.71[sin(23.1x) sinh(23.1x)]]
[Homework 7] Calculate the natural frequency and plot rst four mode shapes of beam with
free-free boundary condition .
47
0.05 0.1 0.15 0.2 0.25 0.3
0.5
1
1.5
2
2.5
3
3.5
0.05 0.1 0.15 0.2 0.25 0.3
-2
-1
1
2
3
0.05 0.1 0.15 0.2 0.25 0.3
-3
-2
-1
1
2
Figure 6.3: First three eigenfunctions for clamped-free beam
48
6.3 Some Properties
The normal modes must satisfy the equation of motion and its boundary conditions. The normal
modes W
i
are also orthogonal functions satisfying the relation
_
L
0
m(x)W
i
(x)W
j
(x)dx = 0 for j ,= i
and M
i
for j = i.
From the expansion theorem for self-adjoint distributed systems, the solution of equation (6.1.2) can
be expressed as
w(x, t) =

i=1
W
i
(x)q
i
(t) (6.3.1)
The generalized coordinate q
i
(t) can be determined from Lagranges equation by establishing the
kinetic and potential energies.
6.4 Forced Vibration
The forced response of a beam can be calculated using modal analysis just as in the lumped system.
The approach again uses the orthogonality condition of the unforced systems eigenfunctions to
reduce the calculation of the response to a system of decoupled modal equations for the time response.
m

2
w
t
2
+c
w
t
+EI

4
w
x
4
= f(x, t) (6.4.1)
First, expand the applied force p(x, t) in terms of the modes
f(x, t) =

i=1
f
i
(t)W
i
(x) (6.4.2)
Multiply both sides of this equation by W
j
and then integrate over the beam span,
f
i
(t) =
_
L
0
f(x, t)W
i
(x)dx (6.4.3)
Substituting equation (6.3.1) and (6.4.2) into equation (6.4.1) we obtain

i=1
[mW
i
(x) q
i
(t) +cW
i
q(t) +EIW

i
(x)q
i
(t)] =

i=1
f
i
(t)W
i
(x) (6.4.4)
We know that the modes are satisfying
EIW

i
(x) =
2
i
mW
i
(x)
Substituting this relation into equation (6.4.4) leads to

i=1
[mW
i
(x) q
i
(t) +cW
i
q(t) +
2
i
mW
i
(x))q
i
(t)] =

i=1
f
i
(t)W
i
(x) (6.4.5)
49
It is convenient to normalize the eigenfunction as
_
L
0
W
2
i
(x)dx = 1, i = 1, 2, (6.4.6)
Since the eigenfunction W
i
(t) are not zero, equation (6.4.5) becomes innite set of independent
modal equations:
q
i
(t) + 2
i

i
q(t) +
2
i
q
i
(t) = f
i
(t)/m, i = 1, 2, (6.4.7)
6.4.1 Point force excitation
The excitation force becomes
f(x, t) = F(t)(x x
1
) (6.4.8)
Equation (6.4.3) becomes
f
i
(t) =
_
L
0
F(t)(x x
1
)W
i
(x)dx = F(t)W
i
(x
1
) (6.4.9)
Equation (6.4.7) becomes
q
i
(t) + 2
i

i
q(t) +
2
i
q
i
(t) = F(t)W
i
(x
1
)/m, i = 1, 2, (6.4.10)
0 50 100 150 200 250 300 350 400 450 500
10
7
10
6
10
5
10
4
10
3
10
2
10
1
10
0
Frequency (Hz)
F
R
F

(
m
/
N
)
Figure 6.4: The frequency response function(FRF) obtained from the modal model.
Example 6.4.1. Obtain the frequency response function of the cantilever beam. The specication
of beam is the same with the Example 6.2.1. The excitation position, x
a
is 0.34mm and sensing
position, x
s
is 0.2m. The example MATLAB code is printed below and the frf was printed at gure
(6.4)
50
Example MATLAB Code
cantifrf.m-
clear
m = 3; n = 1; z = 0.001; rho = 2750; E = 70e9;
L = 0.34; b = 0.022; t = 0.002;
A = t*b; Is = t

3*b/12; mass=rho*A;
xa = [0.34];
xs = [0.2];
global betaL beta Ar
betaL=[1.875104 4.694091 7.854757];
beta=betaL/L;
Ar=[0.56461 0.031393 0.00133];
wn=[88.6 555.2 1554.7];
M = eye(m,m);
K = diag(wn(1:m).

2,0);
Damp=diag(2*z*wn(1:m),0);
Bf=zeros(m,n); ys=zeros(m,n);
for i = 1:n
for r = 1:m
Bf(r,i)=cantimode(r,xa)/mass;
end
end
for i = 1:n
for r = 1:m
ys(r,i)=cantimode(r,xs);
end
end
A = [zeros(m,m),eye(m);-inv(M)*K,-inv(M)*Damp];
B =[zeros(m,1);inv(M)*Bf(:,1)];
C = [ys,zeros(n,m)];
D =zeros(size(Cc,1),size(B,2));
w = linspace(0,500*2*pi,800);
[mag,phs] = bode(A,B,C,D,1,w);
semilogy(w/2/pi,mag(:,1))
-
-cantimode.m-
function y = cantimode(r,x)
51
global betaL beta Ar
y=Ar(r)*((sin(betaL(r))-sinh(betaL(r)))*(sin(beta(r)*x)-sinh(beta(r)*x))
+(cos(betaL(r))+cosh(betaL(r)))*(cos(beta(r)*x)-cosh(beta(r)*x)));

Homework 8 Obtain the frequency response function of the beam with free-free boundary condition.
The specication of the system is the same with above example.
6.4.2 Moment excitation
The excitation force becomes
f(x, t) = M
o

x
[(x x
2
) (x x
1
)] (6.4.11)
Equation (6.4.3) becomes
f
i
(t) =
_
L
0
M
o

x
[(x x
2
) (x x
1
)]W
i
(x)dx = M
o
[W

i
(x
2
) W

i
(x
1
)] (6.4.12)
Equation (6.4.7) becomes
q
i
(t) + 2
i

i
q(t) +
2
i
q
i
(t) = M
o
[W

i
(x
2
) W

i
(x
1
)]/m, i = 1, 2, (6.4.13)
Example 6.4.2. Plot the frequency response function of the cantilever beam excited by coupled
moment.
(Density) L(Length) b(Width) t(Thickness) E x
1
x
12
2750 kg/m
3
340 mm 22 mm 2 mm 7.0010
10
N/m
3
48 mm 80 mm
W

r
(x) = A
r
[
r
(sin
r
L sinh
r
L)(cos
r
x cosh
r
x)
r
(cos
r
L + cosh
r
L)(sin
r
x + sinh
r
x)]
(6.4.14)
Example MATLAB Code cantipzt.m
clear m = 3;
n = 1;
z = 0.001;
rho = 2750;
E = 70e9;
L = 0.34;
b = 0.022;
52
t = 0.002;
A = t*b;
Is = t3*b/12;
mass=rho*A;
xa1 = [0.048];
xa2 = [0.080];
xs = [0.340];
global betaL beta Ar
betaL=[1.875104 4.694091 7.854757];
beta=betaL/L; Ar=[0.56461 0.031393 0.00133];
wn=[88.6 555.2 1554.7];
M = eye(m,m);
K = diag(wn(1:m).2,0);
Damp=diag(2*z*wn(1:m),0);
Bf=zeros(m,n); ys=zeros(m,n);
for i = 1:n
for r = 1:m
Bf(r,i)=(dcantimode(r,xa2)-dcantimode(r,xa1))/mass;
end
end
for i = 1:n
for r = 1:m
ys(r,i)=cantimode(r,xs);
end
end
A = [zeros(m,m),eye(m);-inv(M)*K,-inv(M)*Damp];
B =[zeros(m,1);inv(M)*Bf(:,1)]; C = [ys,zeros(n,m)];
D =zeros(size(C,1),size(B,2));
w = linspace(0,500*2*pi,800);
[mag,phs]=bode(A,B,C,D,1,w); semilogy(w/2/pi,mag(:,1))
-
function y = dcantimode(r,x)
global betaL beta Ar
y1=beta(r)*(sin(betaL(r))-sinh(betaL(r)))*(cos(beta(r)*x)-cosh(beta(r)*x));
y2=-beta(r)*(cos(betaL(r))+cosh(betaL(r)))*(sin(beta(r)*x)+sinh(beta(r)*x));
y=Ar(r)*(y1+y2);
53
0 50 100 150 200 250 300 350 400 450 500
10
6
10
5
10
4
10
3
10
2
10
1
10
0
Frequency (Hz)
F
R
F

(
m
/
T
)
Figure 6.5: The frequency response function(FRF) excited by PZT.
Chapter 7
Plate
7.1 Plate in Bending
The bending behavior of plates can be understood with a direct extension of what we have already
learned about the bending of beams.
1

x
=

2
w
x
2
,
1

y
=

2
w
y
2
(7.1.1)
let u and v be components of displacements at any point in the plate,
u(x, y, z) = z
w
x
, v(x, y, z) = z
w
y
(7.1.2)
The strain are given as follows:

b
=
_
_
_
_

xy
_
_
_
_
=
_
_
_
_
u
x
v
y
u
y
+
v
x
_
_
_
_
= z
_
_
_
_

2
w
x
2

2
w
y
2
2

2
w
xy
_
_
_
_
(7.1.3)
Hookes law for plane stress relates these strains to the stress resultants,

x
=
E
1
2
(
x
+
y
) =
Ez
1
2
_

2
w
x
2
+

2
w
y
2
_
(7.1.4)

y
=
E
1
2
(
y
+
x
) =
Ez
1
2
_

2
w
y
2
+

2
w
x
2
_
(7.1.5)

xy
= 2Gz

2
w
xy
=
Ez
1 +

2
w
xy
(7.1.6)
The stress-strain relationships take the matrix form as

b
= [D
b
]
b
(7.1.7)
54
55
where
[D
b
] =
E
1
2
_
_
_
_
1 0
1 0
0 0
1
2
_
_
_
_
(7.1.8)
Each stress resultant is multiplied by its respective moment arm, yielding the following moments
M
x
=
_
h/2
h/2
z
x
dz = D
_

2
w
x
2
+

2
w
y
2
_
(7.1.9)
M
y
=
_
h/2
h/2
z
y
dz = D
_

2
w
y
2
+

2
w
x
2
_
(7.1.10)
M
xy
=
_
h/2
h/2
z
xy
dz = D(1 )

2
w
xy
(7.1.11)
where D = Eh
3
/12(1
2
) is called the exural rigidity of the plate. Equation (7.1.9)-(7.1.11) relate
moments to deection w.
D
_

4
w
x
4
+ 2

4
w
x
2
y
2
+

4
w
y
4
_
+h

2
w
t
2
= p(x, y, t) (7.1.12)
or
D
4
w +h w = p(x, y, t) (7.1.13)
7.2 Equation of Motion
The bending energy expression for the thin plate are
V =
1
2
_
v

b
d (7.2.1)
The bending energy becomes
V =
1
2
_
v

T
[D
b
]
b
d (7.2.2)
The kinetic energy of the plate is given by
T =
1
2
_
A
h w
2
dA (7.2.3)
The response of the structure is dened in physical coordinates as a series expansion over the
generalized coordinates:
w =
N

r=1

r
(x, y)q
r
(t) (7.2.4)
56
Substituting equation (7.2.4) into equation (7.2.3), one obtains an expression for the entry of the
i th row and j th column of the matrix
M
s,ij
= h
_
b
0
_
a
0

i
(x, y)
j
(x, y)dxdy (7.2.5)
Substituting equation (7.2.4) into equation (7.2.2), one obtains an expression for the entry of the
i th row and j th column of the stiness matrix
K
s,ij
= D
s
_
b
0
_
a
0
_

i
x
2

j
x
2
+

2

i
y
2

j
y
2
+
s
_

i
x
2

j
y
2
+

2

i
y
2

j
x
2
_
+ 2(1
s
)

2

i
xy

j
xy
_
dxdy
(7.2.6)
where D
s
=
h
3
12
E
s
1
2
s
Chapter 8
Approximate Method
8.1 Introduction
It is too dicult to obtain closed form solution for many problems that are more complex than a
group of lumped spring-mass systems or a simple continuous system, such as a string. This section
presents methods to obtain approximate solutions. With the techniques to be introduced in this
chapter, we can analyze quite general systems eciently and accurately.
8.2 Rayleigh Ritz Method
The Rayleigh Ritz method obtains an approximate solution to a dierential equation with given
boundary conditions using the functional of the equation. The procedure of this method can be
summarized in two steps as given below:
1. Assume an admissible solution which satises the geometric boundary condition and contains
unknown coecients.
2. Substitute the assumed solution into the kinetic and potential energy and nd the unknown
coecients.
Example 8.2.1. A clamped-pinned beam with dynamic vibration absorber.
we must select basis functions satisfy the boundary conditions that (x) = d(x)/dx = 0 at x = 0
and (x) = 0 at x = L. Hence the following functions satisfy these conditions.

r
(x) =
x
L
sin(
rx
L
) (8.2.1)
Three-term Ritz series are considered in this example. the transverse component of beam w is
57
58
expressed as summation of Ritz function as
w(x, t) =
3

r=1

r
(x)q
r
(t) (8.2.2)
and let the general displacement of m
a
be denoted as q
4
.
The kinetic energy and potential energy are
T =
1
2
_
L
0
m
b
w
2
dx +
1
2
m
a
q
2
4
(8.2.3)
V =
1
2
_
L
0
E
b
I
b
_

2
w
x
2
_
2
dx +
1
2
k[w(L/2, t) q
4
]
2
(8.2.4)
where m
b
is the mass per unit length of beam.
Substituting equation (8.2.2) into equation (8.2.3) and (8.2.4), one obtains
T =
1
2
3

r=1
3

s=1
_
m
b
_
L
0

s
dx
_
q
r
q
s
+
1
2
m
a
q
2
4
(8.2.5)
V =
1
2
E
b
I
b
3

r=1
3

s=1
_
L
0
_

r
x
2

s
x
2
dx
_
q
r
q
s
+
1
2
k
_
3

r=1
3

s=1

r
(L/2)
s
(L/2)
_
q
r
q
s
k
3

r=1

r
(L/2)q
r
q
4
+
1
2
kq
2
4
(8.2.6)
The mass and stiness matrices are
[M] = m
b
L
_

_
0.1413 0.0901 0.019 0
0.0901 0.1603 0.0973 0
0.019 0.0973 0.1639 0
0 0 0
_

_
(8.2.7)
L
L/2
ma
k
Figure 8.1: A clamped-pinned beam with dynamic vibration absorber
59
and
[K] =
E
b
I
b
L
3
_

_
43.376 + 0.25 74.570 75.873 0.25 /2
74.570 368.323 459.529 0
75.873 0.25 459.529 1559.3 + 0.25 /2
/2 0 /2
_

_
(8.2.8)
where = m
a
/(m
b
L) and = kL
3
/E
b
I
b
.
The generalized force are
Q(t) =
_
L
0
f(x, t)
r
(x)dx (8.2.9)
-pinclamp.nb-
Let the non-dimensional resonant angular frequency be w
r
=
_
m
b
L
4
E
b
I
b
w
r
. The resulting eigensolution
when = 0,and m
a
= 0, are
w
1
w
2
w
3
Ritz Method(N=3) 15.7563 50.6438 109.9433
Vibration Table 15.4182 49.9648 104.2477
The mode shapes are
q
1
q
2
q
3
Mode 1 1 0.1561 -0.0021
Mode 2 0.5047 1.0000 0.1723
Mode 3 0.3058 0.6543 1.000
The natural frequency when = 15.75,and
a
= 0.1,are
le.pc.m w
1
w
2
w
3
w
4
Ritz Method(N=3) 11.1152 17.7539 50.7127 110.0512
The mode shapes are
q
1
q
2
q
3
q
4
Mode 1 0.4282 0.0742 -0.0029 1.0000
Mode 2 1.0000 0.1457 0.0003 -0.4992
Mode 3 0.5101 1.0000 0.1731 -0.0110
Mode 4 0.3043 0.6536 1.000 0.0046
60
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
0
0.2
0.4
0.6
0.8
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
0.5
0
0.5
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
0.5
0
0.5
1
Figure 8.2: Mode shapes of pin-clamped beam/ pcmode1.m
Figure 8.3: Frequency response function of clamped-pinned beam/ pcmode1.m
61
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
0.5
0
0.5
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
0.5
0
0.5
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
0.5
0
0.5
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
0.5
0
0.5
Figure 8.4: Mode shapes of pin-clamped beam with dynamic absorber/ pcmode2.m
Figure 8.5: Frequency response function of clamped-pinned beam with dynamic vibration/pcfrf2.m
62
The mode shapes of beam with absorber mass are shown in gure (8.4)
Example 8.2.2. Beam with free-free boundary condition.
Ten-term Ritz series are considered in this example. the transverse component of tennis racket w is
expressed as summation of Ritz function as
w(x, t) =
10

r=1

r
(x)q
r
(t) (8.2.10)
A schematic diagram of tennis racket and ball model was shown in gure (8.6).
L L
x
z
Figure 8.6: A schematic diagram of beam with free-free boundary condition.
The translate rigid mode can be expressed by
1
(x) = 1. To represent rotational rigid mode we
select the basis function to be
2
(x) = x/L. Because there are no geometric boundary condition to
satisfy, the power series can be selected as basis function.

r
(x) =
_
x
L
_
r1
, r = 1, 2, , 10 (8.2.11)
The kinetic energy and potential energy are
T =
1
2
_
L
L
m
b
w
2
dx (8.2.12)
V =
1
2
_
L
L
E
b
I
b
_

2
w
x
2
_
2
dx (8.2.13)
Substituting equation (8.2.10) into equation (8.2.12) and (8.2.13), one obtains
T =
1
2
10

r=1
10

s=1
_
m
b
_
L
L

r
(x)
s
(x)dx
_
q
r
q
s
(8.2.14)
V =
1
2
10

r=1
10

s=1
_
E
b
I
b
_
L
L

r
x
2

s
x
2
dx
_
q
r
q
s
(8.2.15)
63
The elements of the matrices can be computed as follows :
M
rs
=
m
b
L
r+s1
[1 (1)
r+s1
], r, s = 1, 2, , 10
K
rs
= 0, r = 1, 2, and s = 1, 2 , 10
K
rs
= 0, s = 1, 2, and r = 1, 2 , 10
K
rs
=
E
b
I
b
(r1)(r2)(s1)(s2)
L
3
(r+s5)
[1 + (1)
r+s
], r, s = 3, 4, , 10
(8.2.16)
When the system parameters are E
b
I
b
= 121Nm, m
b
= 0.355kg/0.685m, 2L = 0.685m, the natural
frequencies of the free-free beam are

1

2

3

4

5

6
Ritz Method(N=6)(Hz) 0 0 116.9 329.3 1157.6 2361.7
Ritz Method(N=8)(Hz) 0 0 116.0 319.7 669.7 116.6
Ritz Method(N=10)(Hz) 0 0 116 320 628 104.2
Vibration Table 0 0 116 319.4 626.6 1035.9
Example 8.2.3. Tennis racket and ball
Ten-term Ritz series are considered in this example. A schematic diagram of tennis racket and ball
model was shown in gure (8.7). The displacements of m
B1
and m
B2
are denoted as q
11
and q
12
.
L
Ls
mB
kS
L
mB
kB
x
z
Figure 8.7: A schematic diagram of tennis racket and ball model
64
The kinetic energy and potential energy are
T =
1
2
_
L
L
m
b
w
2
dx +
1
2
m
B1
q
2
11
+
1
2
m
B2
q
2
12
(8.2.17)
V =
1
2
_
L
L
E
b
I
b
_

2
w
x
2
_
2
dx +
1
2
k
S
[w(L
S
, t) q
11
]
2
+
1
2
k
B
[q
N+1
q
N+2
]
2
(8.2.18)
Substituting equation (8.2.10) into equation (8.2.17) and (8.2.18), one obtains
T =
1
2
N

r=1
N

s=1
_
m
b
_
L
L

r
(x)
s
(x)dx
_
q
r
q
s
+
1
2
m
B1
q
2
N+1
+
1
2
m
B2
q
2
N+2
(8.2.19)
V =
1
2
N

r=1
N

s=1
_
E
R
I
R
_
L
L

r
x
2

s
x
2
dx
_
q
r
q
s
+
1
2
k
s
_
N

r=1
N

s=1

r
(L
s
)
s
(L
s
)
_
q
r
q
s
k
S
N

r=1

r
(L
s
)q
r
q
N+1
+
1
2
k
s
q
2
N+1
+
k
B
2
[q
2
N+1
2q
N+1
q
N+2
+q
2
N+2
]
(8.2.20)
The elements of the mass matrix can be computed as follows:
M
rs
=
m
b
L
r+s1
[1 (1)
r+s1
], r, s = 1, 2, , N
M
N+1,N+1
= m
B1
M
N+2,N+2
= m
B2
(8.2.21)
The elements of the stiness matrix are
K
rs,racket
=
E
b
I
b
(r1)(r2)(s1)(s2)
L
3
(r+s5)
[1 + (1)
r+s
] r, s = 3, 4, , N
K
rs,coupled
= k
s

r
(L
s
)
s
(L
s
), r, s = 1, 2 , N
K
r,N+1
= K
N+1,r
= k
S

r
(L
s
), r = 1, 2 , N
K
N+1,N+1
= k
B
+k
S
K
N+1,N+2
= K
N+2,N+1
= k
B
K
N+2,N+2
= k
B
(8.2.22)
EI = 121Nm,2L = 0.685m,m
B
= 0.355kg/0.685m, L
s
= 0.1575, m
B1
= m
B2
= 0.028kg, k
S
=
4.15e4N/m, k
B
= 7.98e4N/m.
Calculate the natural frequencies of the tennis racket and ball system.

1

2

3

4

5

6
Ritz Method(N=8)(rad/s) 0 0 113.5 142.4 325.5 409.9
Ritz Method(N=10)(Hz) 0 0 114 142 325 410
Ritz Method(N=12)(rad/s) 0 0 114 142 325 410
The mode shapes are
65
Mode q
1
q
2
q
3
q
4
q
5
q
6
q
7
q
8
q
9
q
10
q
11
q
12
Mode 1 -0.2 1 0 0 0 0 0 0 0 0 0.26 0.26
Mode 2 1 -0.2 0 0 0 0 0 0 0 0 0.91 0.91
Mode 3 0.25 -0.01 -1. -0.07 0.3 0.03 -0.03 0.0 -0.01 0. 0.17 0.2
Mode 4 0.32 -0.04 -0.8 0.56 0.7 -0.28 -0.5 -0.02 0.15 0.05 -0.72 -1
Mode 5 0. 0.37 -0.02 -1. 0.05 0.73 -0.04 -0.27 0.01 0.04 0.02 -0.04
Mode 6 -0.05 -0.37 0.38 0.97 -0.89 -0.85 0.76 0.45 -0.24 -0.11 1 -0.76
Figure 8.8: Mode shapes of tennis racket and ball model
66
Example 8.2.4. A cantilever beam with a surface mounted active material. Calculate the natural
frequencies and mode shapes by Ritz method.

r
=
x
L
sin(
rx
2L
) (8.2.23)
L
x
z
x1
x2
EbIb
mb
EpIp mp
Figure 8.9: A schematic diagram of beam with congured with a distributed piezoelectric device.
The kinetic energy and potential energy are
T =
1
2
_
L
0
m
b
w
2
dx +
1
2
_
L
0
2m
p
w
2
(H[x x
1
] H[x x
2
])dx (8.2.24)
V =
1
2
_
L
0
E
b
I
b
_

2
w
x
2
_
2
dx +
1
2
_
L
0
E
p
I
eq
_

2
w
x
2
_
2
(H[x x
1
] H[x x
2
])dx (8.2.25)
where m
b
is the mass per unit length of beam, EI
eq
is the eective stiness per unit length of the
combined piezoceramic elements.
Now, we expand the solution in terms of a nite set of comparison function:
w =
N

r=1

r
(x)q
r
(t) (8.2.26)
Substituting equation (8.2.26) into equation (8.2.24) and (8.2.25), one obtains
T =
1
2
N

r=1
N

s=1
__
m
b
_
L
0

r
(x)
s
(x)dx
_
+
_
2m
p
_
x
2
x
1

r
(x)
s
(x)dx
_
_
q
r
q
s
(8.2.27)
V =
1
2
N

r=1
N

s=1
__
_
L
0
E
b
I
b

r
(x)
x
2

s
(x)
x
2
dx
_
+
_
2E
p
I
eq
_
x
2
x
1

r
(x)
x
2

s
(x)
x
2
dx
_
_
q
r
q
s
(8.2.28)
67
Ms
rs
= m
b
_
L
0

r
(x)
s
(x)dx
Mp
rs
= 2m
p
_
x
2
x
1

r
(x)
s
(x)dx
Ks
rs
=
_
L
0
E
b
I
b

r
(x)
x
2

s
(x)
x
2
dx
Kp
rs
= 2E
p
I
eq
_
x
2
x
1

r
(x)
x
2

s
(x)
x
2
dx
(8.2.29)
where the equivalent area moment acting on a beam is written as
I
eq
=
b
p
t
3
p
12
+b
p
t
p
_
t
b
2
+
t
p
2
_
2
(8.2.30)
Let the non-dimensional resonant angular frequency be w
r
=
_
m
b
L
4
E
b
I
b
w
r
. The resulting eigensolu-
tions of cantilever beam are
w
1
w
2
w
3
w
4
Ritz Method(N=4) 3.5222 22.2704 67.41100 309.79199
Ritz Method(N=6) 3.5172 22.1179 62.3783 124.1380
Vibration Table 3.5160 22.0345 61.6972 120.9019
The specication of the cantilever beam are
(Density) L(Length) b(Width) t(Thickness) E
b
2750 kg/m
3
340 mm 25.4 mm 2 mm 7.0010
10
N/m
3
The natural frequencies of the cantilever beam are
f
1
f
2
f
3
f
4
Ritz Method(N=6) 14.11 Hz 88.70 Hz 250.16 Hz 497.84 Hz
The specication of the piezo element are given as
(Density) L
p
(Length) b
p
(Width) t
p
(Thickness) E
p
x
1
x
2
8200 kg/m
3
32.7 mm 22 mm 0.22 mm 1.45 10
11
N/m
3
30 mm 62.7 mm
The natural frequencies of the cantilever beam with piezoelectric materials are
f
1
f
2
f
3
f
4
Ritz Method(N=6) 16.37 Hz 93.24 Hz 250.17 Hz 495.25 Hz
68
Homework 8.2.5. A cantilever beam with lumped mass M is shown in gure. Calculate the
natural frequencies and mode shapes by Ritz method.
L
x
z
EbIb mb
M
Figure 8.10: A schematic diagram of cantilever beam with lumped mass
Chapter 9
Finite Element Analysis
9.1 Euler-Bernoulli Beam
9.1.1 Basic relation
The beam with length 2a and constant cross-sectional area A is shown in gure (??).
x
z
a a
pz
Figure 9.1: Mode shapes of tennis racket and ball model
We assume that the stress component
y
,
z
,
xy
, and
yz
are zero. It also assumes that the plane
sections which are normal to the undeformed axis remain plane after bending. With this assumption,
the axial displacement u at a distant z from the neutral axis is
u(x, z) = z
w
x
(9.1.1)
The strain component is

x
=
u
x
= z
w
2
x
2
(9.1.2)

xz
=
u
z
+
w
x
= 0 (9.1.3)
69
70
The strain energy stored in the elements is given by
U =
1
2
_
v

x
dV (9.1.4)
The normal stress is given by

x
= E
x
(9.1.5)
Substituting equation (9.1.5)and (9.1.2) into equation (9.1.4) gives , since dV = dA dx
U =
1
2
_
a
a
EI
y
_
w
2
x
2
_
dx (9.1.6)
where
I
y
=
_
A
z
2
dA (9.1.7)
The kinetic energy is given by
T =
1
2
_
a
a
A w
2
dx (9.1.8)
The virtual work done by external force for the element is
W
ext
=
1
2
_
a
a
p
z
wdx (9.1.9)
9.1.2 Finite Element Modeling
The displacement function can be represented by a polynomial having four constants
w =
1
+
2
+
3

2
+
4

3
(9.1.10)
The expression(9.1.10) can be written in the following matrix form
w = 1, ,
2
,
3
|
_

4
_

_
(9.1.11)
Dierentiating equation (9.1.10) gives
a
y
= a
w
x
=
w

=
2
+ 2
3
+ 3
4

2
(9.1.12)
Evaluating (9.1.10) and (9.1.12) at = 1 gives
_
_
_
_
_
_
_
w
1
a
y1
w
2
a
y2
_
_
_
_
_
_
_
=
_

_
1 1 1 1
0 1 2 3
1 1 1 1
0 1 2 3
_

_
_
_
_
_
_
_
_

4
_
_
_
_
_
_
_
(9.1.13)
71
Solving for gives
= [C]
e
w
e
(9.1.14)
where
v
T
e
= w
1
,
y1
, w
2
,
y2
| (9.1.15)
[m]
e
=
Aa
105
_

_
78 22a 27 13a
22a 8a
2
13a 6a
2
27 13a 78 22a
13a 6a2 22a 8a
2
_

_
(9.1.16)
[k]
e
=
EI
y
2a
3
_

_
3 3a 3 3a
3a 4a
2
3a 2a
2
3 3a 3 3a
3a 2a2 3a 4a
2
_

_
(9.1.17)
72
9.2 Thin Plate Theory
9.2.1 formulation
The bending energy expression for the thin plate are
U =
1
2
_
v

b
dV (9.2.1)
where bending stress and strain components are

b
=
x

y

xy

T
,
b
=
x

y

xy

T
(9.2.2)
The stress-strain relationships take the form

b
= [D
b
]
b
(9.2.3)
where
[D
b
] =
E
1
2
_
_
_
_
1 0
1 0
0 0
1
2
_
_
_
_
(9.2.4)
In deriving the energy functions for plate bending, the basic assumptions are that the direct stress
in the transverse direction,
z
, is zero. Also, a straight line normal to the middle surface of the
undeformed plate remains normal after deformation. Therefore, the displacements u and v are given
by
u(x, y, z) = z
w
x
, v(x, y, z) = z
w
y
(9.2.5)
where w(x, y) denotes the displacement of middle surface in the z-direction. The strain are given as
follows:

b
=
_
_
_
_

xy
_
_
_
_
=
_
_
_
_
u
x
v
y
u
y
+
v
x
_
_
_
_
= z
_
_
_
_

xy
_
_
_
_
(9.2.6)
where the curvature vector is given as follows:
=
x

y

xy

T
=

2
w
x
2

2
w
y
2
2

2
w
xy

T
(9.2.7)
Using (9.2.6), the strain matrix can be written in the form

b
= z (9.2.8)
Substituting (9.2.8) and (9.2.3) into (9.2.1)and integrating with respect to z gives
U =
1
2
_
A
h
3
12

T
[D
b
]dA (9.2.9)
73
The kinetic energy of the plate is given by
T =
1
2
_
A
h w
2
dA (9.2.10)
The normal displacement of plate, w, and the two rotations have relation as follows:

x
=
w
y
,
y
=
w
x
(9.2.11)
9.3 Finite Element Modeling
In terms of the master coordinates (9.2.11) becomes

x
=
1
b
w

,
y
=
1
a
w

(9.3.1)
Since the rectangular element has 12 degrees of freedom, the displacement function can be repre-
sented by a polynomial having twelve terms, that is
w =
1
+
2
+
3
+
4

2
+
5
+
6

2
+
7

3
+
8

2
+
9

2
+
10

3
+
11

3
+
12

3
(9.3.2)
The expression(9.3.2) can be written in the following matrix form
w = 1, , ,
2
, ,
2
,
3
,
2
,
2
,
3
,
3
,
3
| (9.3.3)
where
=
1
,
2
,
3
, ,
12
| (9.3.4)
Evaluating w, b
x
, and a
y
at = 1, = 1gives
w
e
= [A]
e
(9.3.5)
where
w
T
e
= w
1
, b
x1
, a
y1
, , w
4
, b
x4
, a
y4
| (9.3.6)
74
and
[A]
e
=
_
_
_
_
_
_
_
_
_
_
_
_
_
_
_
_
_
_
_
_
_
_
_
_
_
_
_
_
_
1 1 1 1 1 1 1 1 1 1 1 1
0 0 1 0 1 2 0 1 2 3 1 3
0 1 0 2 1 0 3 2 1 0 3 1
1 1 1 1 1 1 1 1 1 1 1 1
0 0 1 0 1 2 0 1 2 3 1 3
0 1 0 2 1 0 3 2 1 0 3 1
1 1 1 1 1 1 1 1 1 1 1 1
0 0 1 0 1 2 0 1 2 3 1 3
0 1 0 2 1 0 3 2 1 0 3 1
1 1 1 1 1 1 1 1 1 1 1 1
0 0 1 0 1 2 0 1 2 3 1 3
0 1 0 2 1 0 3 2 1 0 3 1
_
_
_
_
_
_
_
_
_
_
_
_
_
_
_
_
_
_
_
_
_
_
_
_
_
_
_
_
_
(9.3.7)
Solving (9.3.5) for gives
= [A]
1
e
w
e
(9.3.8)
where
A
1
=
1
8
_
_
_
_
_
_
_
_
_
_
_
_
_
_
_
_
_
_
_
_
_
_
_
_
_
_
_
_
_
2 1 1 2 1 1 2 1 1 2 1 1
3 1 1 3 1 1 3 1 1 3 1 1
3 1 1 3 1 1 3 1 1 3 1 1
0 0 1 0 0 1 0 0 1 0 0 1
4 1 1 4 1 1 4 1 1 4 1 1
0 1 0 0 1 0 0 1 0 0 1 0
1 0 1 1 0 1 1 0 1 1 0 1
0 0 1 0 0 1 0 0 1 0 0 1
0 1 0 0 1 0 0 1 0 0 1 0
1 1 0 1 1 0 1 1 0 1 1 0
1 0 1 1 0 1 1 0 1 1 0 1
1 1 0 1 1 0 1 1 0 1 1 0
_
_
_
_
_
_
_
_
_
_
_
_
_
_
_
_
_
_
_
_
_
_
_
_
_
_
_
_
_
(9.3.9)
75
The shape function in master elements are given as follows:
_

10

11

12
_

_
=
1
8
_

_
2 3 +
3
3 + 4
3
+
3

3
1
2
+
3
+ +
2

3

1 + + +
2

2

3
+
3
2 3 +
3
+ 3 4 +
3

3
+
3
1
2
+
3
+
2
+
3

1 +
2
+
2

3
+
3
2 + 3
3
+ 3 + 4
3

3

3
1 +
2
+
3
+
2
+
3

1 + + +
2

2

3

3
2 + 3
3
3 4 +
3
+
3
+
3
1 +
2
+
3
+ +
2

3

1 + + +
2
+
2

3

3
_

_
(9.3.10)
The nite element approximation of the displacement w over a given element with n nodes has the
form
w = N
1
(, ) N
2
(, ) N
3
(, ) N
4
(, )|w
e
= N(, )|w
e
(9.3.11)
where
w
T
e
= w
1

x1

y1
w
4

x4

y4
| (9.3.12)
and
N(, ) =
1
b
2
a
3

10
b
11
a
12
| (9.3.13)
Substituting (9.3.11)into (9.2.10) gives
T
e
=
1
2
w
T
e
[m]
e
w
e
(9.3.14)
where
[m]
e
=
_
A
hN(, )|
T
N(, )|dd
= hab
_
1
1
_
1
1
N(, )|
T
N(, )|dd
(9.3.15)
is the element inertia matrix.
Substitution (9.3.11) and (9.2.7) into (9.2.9)gives
U
e
=
1
2
w
T
e
[k]
e
w
e
(9.3.16)
76
where the stiness element matrix is
[k]
e
=
_
A
h
3
12
[B]
T
[D
b
][B]dA (9.3.17)
and the curvature vector in nite element [B] is
[B] =
_
_
_
_

2
x
2

2
y
2
2

2
xy
_
_
_
_
N(, )| =
_
_
_
_
1
a
2

2
1
b
2

2
2
ab

_
_
_
_
N(, )| (9.3.18)
The expression of curvature vector with respect to the shape function is as follows
[B] =
_

_
1
a
2

2
b
a
2

2
1
a

2

1
a
2

10

2
b
a
2

11

2
1
a

12

2
1
b
2

2
1
b

2
a
b
2

2

1
b
2

10

2
1
b

11

2
a
b
2

12

2
2
ab

2
a

2
b

2
ab

10

2
a

11

2
b

12

_
(9.3.19)
where derivatives of shape functions are as follows :

2
_

10

11

12
_

_
=
1
4
_

_
3 3
0
1 3 + 3
3 + 3
0
1 + 3 + 3
3 3
0
1 3 3
3 + 3
0
1 + 3 3
_

_
(9.3.20)
77

2
_

10

11

12
_

_
=
1
4
_

_
3 3
1 + 3 + 3
0
3 + 3
1 + 3 + 3
0
3 3
1 + 3 + + 3
0
3 + 3
1 + 3 3
0
_

_
(9.3.21)

10

11

12
_

_
=
1
8
_

_
4 3
2
3
2
1 + 2 3
2
1 2 + 3
2
4 + 3
2
+ 3
2
1 2 + 3
2
1 + 2 + 3
2
4 3
2
3
2
1 + 2 + 3
2
1 2 3
2
4 + 3
2
+ 3
2
1 2 3
2
1 + 2 3
2
_

_
(9.3.22)
9.4 Example
The natural frequency of simple supported thin plate is given by

mn
=
2
[(
m
L
1
)
2
+ (
n
L
2
)
2
]

D
E
h
(9.4.1)
where
D
E
=
Eh
3
12(1
2
)
(9.4.2)
is the exural rigidity of the plate.
78
The speculation of plate is as follows = 1, h = 1, E = 48, L
1
= 8, L
2
= 8, = 0.5 and 44 element
are used in nite element model.
Mode Number Analytical solution(rad/s) Finite Element Solution(rad/s)

11
0.7123 0.6875

12
=
21
1.7807 1.6977

22
2.8491 2.5488

13
=
31
3.5414 4.0931

23
=
32
4.6298 4.0931

33
6.4104 5.4184