Multi-Degree-of-Freedom Systems

Multi-Degree-of-Freedom Systems
Degree-of-Freedom is two or more
Degree-of-Freedom is the number of independent
displacement coordinates necessary to describe the
motion of the system.
k
u

m
Examples of Single-Degree-of-Freedom Systems
u

k
m
u

k
m
m
k
u

c
1
u
1

c
2
k
1 k
2
m
1
m
2
p
1
(t) p
2
(t)
u
2

Examples of Two-Degree-of-Freedom Systems
u
1

k
1

m
1

k
2

m
2

u
2

2-DOF
2-DOF
u
1

u
2

2-DOF
Rigid bar
Example of Two-Degree-of-Freedom System
k
1

k
2

m
1

m
2

u
1

u
2

2-DOF
Shear
building
Example of Three-Degree-of-Freedom System
c
1
u
1

c
2
c
3
k
1 k
2
k
3
m
1
m
2
m
3
p
1
(t)
p
2
(t) p
3
(t)
u
2
u
3

Example of Three-Degree-of-Freedom System
p
1
(t)
p
2
(t)
m
1

u
1

u
2

c
1

c
2

k
1

k
2

p
3
(t)
u
3

k
3

m
2

m
3

c
3

c
1
u
1

k
1
m
1
m
2
p
1
(t) p
2
(t)
u
2

Degree of Freedom does not necessarily mean the number
of lumped masses
u
1

k
1

m
1

m
2

u
2

1-DOF
1-DOF
Rigid bar

u
1
=

u
2
Rigid bar

u
1
=

u
2
Equation of Motion of a Two-
Degree-of-Freedom System
Two-Degree-of-Freedom Spring System (Classical)
c
1
u
1

c
2
k
1 k
2
m
1
m
2
p
1
(t)
p
2
(t)
u
2

c
1
u
1

c
2
k
1
k
2
m
1
m
2
p
1
(t)
p
2
(t)
u
2

u
1

p
1
(t)
p
2
(t)
u
2

c
1
u
1

c
2
(u
2
-u
1
)
k
1
u
1

k
2
(u
2
-u
1
)
c
2
(u
2
-u
1
)
k
2
(u
2
-u
1
)
m
1
u
1

m
1
u
1

Spring System
u
1

p
1
(t)
p
2
(t)
u
2

c
1
u
1

c
2
(u
2
-u
1
)
k
1
u
1

k
2
(u
2
-u
1
)
c
2
(u
2
-u
1
)
k
2
(u
2
-u
1
)
m
1
u
1

m
2
u
2

m
1
u
1

+ + = p
1
(t)
c
1
u
1
k
1
u
1
c
2
(u
2
-u
1
)
-
k
2
(u
2
-u
1
) -
m
2
u
2

+ +
=
p
2
(t)
k
2
(u
2
-u
1
) c
2
(u
2
-u
1
)
Spring System
c
1
u
1

m u(t) + c u(t) + k u(t) = p(t)
c
2
k
1 k
2
m
1
m
2
p
1
(t)
p
2
(t)
u
2

Equation of Motion
m
1
0


0 m
2
u
1

u
2

+
c
1
+c
2
-

c
2

- c
2
c
2
u
1

u
2

+
k
1
+k
2
-

k
2

- k
2
k
2
u
1

u
2

=
p
1
(t)

p
2
(t)
Spring System
c
1
u
1

m v(t) + c v(t) + k v(t) = p(t)
c
2
c
3
k
1 k
2
k
3
m
1
m
2
m
3
p
1
(t)
p
2
(t) p
3
(t)
u
2
u
3

Equation of Motion
m
1
0 0

0 m
2
0
0 0 m
3

+
c
1
+c
2
-

c
2
0

- c
2
c
2
+c
3
-c
3
0 -c
3
c
3
+
k
1
+k
2
-

k
2
0

- k
2
k
2
+k
3
-k
3
0 -k
3
k
3
=
p
1
(t)
p
2
(t)
p
3
(t)
u
1
u
2
u
3

u
1
u
2
u
3

u
1
u
2
u
3

Two-Story Shear Building
(Assumptions)
Beams and floor systems are rigid (infinitely stiff)
in flexure
Axial deformations of beams and columns are
neglected
Effect of axial force on stiffness of the columns
are neglected
Mass is concentrated at the floor levels
Linear viscous damping is associated with
deformational motions of each story

Two-Story Shear Building
p
1
(t)
p
2
(t)
m
1

m
2

u
1

u
2

c
1

c
2

k
1

k
2

u
2

u
1

Using Newtons Second Law of Motion
p
2
(t)
p
1
(t)
Using Newtons Second Law of Motion
p
2
(t)
p
1
(t)
Using Newtons Second Law of Motion
p
2
(t)
p
1
(t)
Using Newtons Second Law of Motion
p
2
(t)
p
1
(t)
m
2
u
2

k
2
(u
2
-u
1
)
k
1
u
1
c
1
u
1

m
2
u
2

+ +
=
p
2
(t)
m
1
u
1

+ + = p
1
(t)
m
1
u
1

c
1
u
1
k
1
u
1
c
2
(u
2
-u
1
)
k
2
(u
2
-u
1
) c
2
(u
2
-u
1
)
k
2
(u
2
-u
1
) c
2
(u
2
-u
1
)
c
2
(u
2
-u
1
)
-
k
2
(u
2
-u
1
) -
Using Newtons Second Law of Motion
m
2
u
2

+ +
=
p
2
(t)
m
1
u
1

+ + = p
1
(t)
c
1
u
1
k
1
u
1
k
2
(u
2
-u
1
) c
2
(u
2
-u
1
)
c
2
(u
2
-u
1
)
-
k
2
(u
2
-u
1
) -
m
2
u
2

-
+ =
p
2
(t)
k
2
u
2

c
2
u
1
c
2
u
2
+
k
2
u
1
-
m
1
u
1

+
-
=
p
1
(t) k
2
u
2

(c
1
+c
2
)u
1
c
2
u
2
-
+ (k
1
+k
2
)u
1
Using Newtons Second Law of Motion
m
2
u
2

-
+ =
p
2
(t)
k
2
u
2

c
2
u
1
c
2
u
2
+
k
2
u
1
-
m
1
u
1

+
-
=
p
1
(t) k
2
u
2

(c
1
+c
2
)u
1
c
2
u
2
-
+(k
1
+k
2
)u
1
m
1
u
1

+ 0 u
2

+ (k
1
+k
2
)u
1
k
2
u
2
-
(c
1
+c
2
)u
1
c
2
u
2
-
=
p
1
(t)
0 u
1

+
m
2
u
2
- c
2
u
1
+
c
2
u
2
+
k
2
u
1
-
+ k
2
u
2

=
p
2
(t)
m
1
0


0 m
2
u
1

u
2

+
c
1
+c
2
-

c
2

- c
2
c
2
u
1

u
2

+
k
1
+k
2
-

k
2

- k
2
k
2
u
1

u
2

=
p
1
(t)

p
2
(t)
Using Newtons Second Law of Motion
m
1
0


0 m
2
u
1

u
2

+
c
1
+c
2
-

c
2

- c
2
c
2
u
1

u
2

+
k
1
+k
2
-

k
2

- k
2
k
2
u
1

u
2

=
p
1
(t)

p
2
(t)
m

u

+
c

u
+
k

u

=
p(t)
mass
matrix

acc.
vector

damping
matrix

vel.
vector

stiffness
matrix

disp.
vector

loading
vector

Using Newtons Second Law of Motion
m
1
0


0 m
2
u
1

u
2

+
c
1
+c
2
-

c
2

- c
2
c
2
u
1

u
2

+
k
1
+k
2
-

k
2

- k
2
k
2
u
1

u
2

=
p
1
(t)

p
2
(t)
m

u

+
c

u
+
k

u

=
p(t)
This is the equation of motion of the two-story shear
building
The matrix equation represents two ordinary differential
equations
Each equation contains both u1 and u2, and, therefore,
coupled.
General Form of the Equation of Motion
m
11
m
12

m
21
m
22

u
1

u
2

+
u
1

u
2

+
u
1

u
2

=
p
1
(t)

p
2
(t)
Physical meaning of each element of the matrices
m
ij
, c
ij
, k
ij
is the force at the i
th
mass due to a unit
acceleration, velocity or displacement at the j
th
mass,
respectively, with all other accelerations, velocities
and displacements equal to zero.
c
11
c
12

c
21
c
22

k
11
k
12

k
21
k
22

Using Newtons Second Law of Motion
p
2
(t)
p
1
(t)
m
2
u
2

k
2
(u
2
-u
1
)
k
1
u
1
c
1
u
1

m
2
u
2

+ +
=
p
2
(t)
m
1
u
1

+ + = p
1
(t)
m
1
u
1

c
1
u
1
k
1
u
1
c
2
(u
2
-u
1
)
k
2
(u
2
-u
1
) c
2
(u
2
-u
1
)
k
2
(u
2
-u
1
) c
2
(u
2
-u
1
)
c
2
(u
2
-u
1
)
-
k
2
(u
2
-u
1
) -
Equation of Motion of a Three-
Degree-of-Freedom System
Equation of Motion of a 3-DOF System
m
1
0 0

0 m
2
0
0 0 m
3

u
1
u
2
u
3

+
c
1
+c
2
-

c
2
0

- c
2
c
2
+c
3
-c
3
0 -c
3
c
3
u
1
u
2
u
3

+
k
1
+k
2
-

k
2
0

- k
2
k
2
+k
3
-k
3
0 -k
3
k
3
u
1
u
2
u
3

=
p
1
(t)
p
2
(t)
p
3
(t)
p
1
(t)
p
2
(t)
m
1

u
1

u
2

c
1

c
2

k
1

k
2

p
3
(t)
u
3

k
3

m
2

m
3

c
3

Problem: Formulate the equation of motion of the given system.
Level Weight (ton) Stiffness
(ton/cm)
5 100 53
4 100 61.5
3 100 96
2 100 115
1 100 114
5
4
3
2
1
m = W/g = W ton/980 cm/sec2
100 0 0 0 0 y1
-115 -115 0 0 0
y1 0
0 100 0 0 0 y2
-115 211 -96 0 0
y2 0
0 0 100 0 0 y3 +
0 -96 157.5 -61.5 0
y3 = 0
0 0 0 100 0 y4
0 0 -61.5 114.5 -53
y4 0
0 0 0 0 100 y5
0 0 -53 53
y5 0
1/980
ton-sec2/cm
cm
ton/cm
cm ton
Equation of Motion of a Two-
Degree-of-Freedom System
(Base Excitation, Undamped)
SDOF System One-storey building with rigid girder
(Influence of Support Excitation)

f
i
x
e
d

r
e
f
e
r
e
n
c
e

a
x
i
s

v
g
(t)
v
T
(t)
v(t)
f
s
(t)
2
f
s
(t)
2
f
D
(t)
f
I
(t)
m
k
2
k
2
f
D
(t)= c v(t)
f
s
(t)= k v(t)
f
I
(t)= m v
T
(t)
F = 0 inertia force
- f
S
(t) - f
D
(t) - f
I
(t) = 0
- k v(t) -
c v(t) - m (v
g
(t) + v

(t) ) = 0
m v(t)
+
+ k v(t)
=
c v(t)
- m v
g
(t)
2-DOF System Two-storey building with
rigid girder (Influence of Support Excitation)

f
i
x
e
d

r
e
f
e
r
e
n
c
e

a
x
i
s

v
g

v1
T

v1
m1
k
2
k
2
m2
k
2
k
2
v2
T

v2
Applications:
1. Motion of building caused by
earthquake
2. Motion of equipment due to
motion of building where it is
housed
2-DOF System Two-storey building with
rigid girder (Influence of Support Excitation)
=
+
v1
disp of mass1 rel to
moving support/base
total disp of mass1 rel
to fixed reference axis
v
g

v1
T

disp of frame support
rel to fixed reference
axis

f
i
x
e
d

r
e
f
e
r
e
n
c
e

a
x
i
s

v
g

v1
T

v1
m1
k
2
k
2
m2
k
2
k
2
v2
T

v2
2-DOF System Two-storey building with
rigid girder (Influence of Support Excitation)
=
+
disp of mass2 rel to
moving support/base
total disp of mass2 rel
to fixed reference axis
v
g

v2
T

disp of frame support
rel to fixed reference
axis

f
i
x
e
d

r
e
f
e
r
e
n
c
e

a
x
i
s

v
g

v1
T

v1
m1
k
2
k
2
m2
k
2
k
2
v2
T

v2
v2

f
i
x
e
d

r
e
f
e
r
e
n
c
e

a
x
i
s

v
g

m1 v1
T

k1v1
v1
v2
v1) - k2(v2
m2 v2
T

v1) - k2(v2 +
=
0
v1) - k2(v2
m1 v1
T
+
k1v1 - v1) - k2(v2 = 0
m2 v2
T

v
g
displacement of support/ground from a fixed reference axis
v
1
displacement of mass1 relative to the base
v
2
displacement of mass2 relative to the base
m
2
v
2
T
v
1
) - k
2
(v
2
+
=
0
m
1
v
1
T
+
k
1
v
1
- v
1
) - k
2
(v
2
= 0
=
+
v
1
v
g

v
1
T

=
+
v
g

v
2
T

v
2
v
1
=
+
v
1
v
g

v
1
T

=
+
v
g

v
2
T

v
2
v
1
m
2
v
2
k
2
v
2
+
k
2
v
1
-
=
m
1
v
1
+
(k
1
+ k
2
) v
1
-
k
2
v
2

= -
m
1
v
g

-
m
2
v
g

m
2
v
2
k
2
v
2
+
k
2
v
1
-
=
m
1
v
1
+
(k
1
+ k
2
) v
1
-
k
2
v
2

= -
m
1
v
g

-
m
2
v
g

m
1

0
0
m
2

+
v
1

v
2

k
1
+k
2
- k
2
- k
2
k
2
v
1

v
2

= -
m
1

0
0
m
2

1
1
v
g

M v
+ K
v
= -
M
1 v
g

Quiz
m
1

0
0
m
2

+
v
1

v
2

k
1
+k
2
- k
2
- k
2
k
2
v
1

v
2

= -
m
1

0
0
m
2

1
1
v
g

MULTIPLY THE MATRICES
2 x 2 2 x 1 2 x 2 2 x 1
2 x 2
2 x 1
Quiz
m
1

0
0
m
2

+
v
1

v
2

k
1
+k
2
- k
2
- k
2
k
2
v
1

v
2

= -
m
1

0
0
m
2

1
1
v
g

MULTIPLY THE MATRICES
ANSWER
m
1

v
1

0
v
1

+ 0 v
2

m
2

+
v
2

+
( k
1
+k
2
) v
1
- k
2
v
2

- k
2
v
1

+ k
2
v
2

=
- m
1

v
g

- m
2

v
g

2 x 1 2 x 1 2 x 1
Quiz
ADD THE MATRICES
m
1

v
1

0
v
1

+ 0 v
2

m
2

+
v
2

+
( k
1
+k
2
) v
1
- k
2
v
2

- k
2
v
1

+ k
2
v
2

=
- m
1

v
g

- m
2

v
g

2 x 1 2 x 1 2 x 1
Quiz
ADD THE MATRICES
ANSWER
m
1

v
1

0
v
1

+ 0 v
2

m
2

+
v
2

+
( k
1
+k
2
) v
1
- k
2
v
2

- k
2
v
1

+ k
2
v
2

=
- m
1

v
g

- m
2

v
g

2 x 1 2 x 1 2 x 1
m
1

v
1
+ 0 v
2

( k
1
+k
2
) v
1
- k
2
v
2

+
0
v
1

m
2

+
v
2

- k
2
+ k
2
v
2

2 x 1
=
- m
1

v
g

- m
2

v
g

2 x 1
Quiz
WHAT ARE THE RESULTING TWO EQUATIONS?
m
1

v
1
+ 0 v
2

( k
1
+k
2
) v
1
- k
2
v
2

+
0
v
1

m
2

+
v
2

- k
2
+ k
2
v
2

2 x 1
=
- m
1

v
g

- m
2

v
g

2 x 1
Quiz
WHAT ARE THE RESULTING TWO EQUATIONS?
ANSWER
m
1

v
1
+ 0 v
2

( k
1
+k
2
) v
1
- k
2
v
2

+
0
v
1

m
2

+
v
2

- k
2
+ k
2
v
2

2 x 1
=
- m
1

v
g

- m
2

v
g

2 x 1
m
1

v
1
+ 0 v
2

( k
1
+k
2
) v
1
- k
2
v
2

+ =
- m
1

v
g

0
v
1

m
2

+
v
2

- k
2
+ k
2
v
2

- m
2

v
g
=
Quiz
COMBINE THE TWO EQUATIONS INTO ONE MATRIX EQUATION
m
1

v
1

( k
1
+k
2
) v
1
- k
2
v
2

+ =
- m
1

v
g

m
2
v
2

- k
2
+ k
2
v
2

- m
2

v
g
=
Quiz
COMBINE THE TWO EQUATIONS INTO ONE MATRIX EQUATION
m
1

v
1

( k
1
+k
2
) v
1
- k
2
v
2

+ =
- m
1

v
g

m
2
v
2

- k
2
+ k
2
v
2

- m
2

v
g
=
ANSWER
m
1

0
0
m
2

+
v
1

v
2

k
1
+k
2
- k
2
- k
2
k
2
v
1

v
2

= -
m
1

0
0
m
2

1
1
v
g

k4= 1600 kN/m
k4= 1600 kN/m
k3= 1200 kN/m k3= 1200 kN/m
m4= 4500 kg
k2= 800 kN/m
k2= 800 kN/m
m3= 3000 kg
m2= 3000 kg
k1= 400 kN/m
k1= 400 kN/m
m1= 1500 kg
x1
x2
x3
x4
k4= 1600 kN/m k4= 1600 kN/m
k3= 1200 kN/m k3= 1200 kN/m
m4= 4500 kg
k2= 800 kN/m k2= 800 kN/m
m3= 3000 kg
m2= 3000 kg
k1= 400 kN/m k1= 400 kN/m
m1= 1500 kg
x1
x2
x3
x4
x1=1
x2=0
x3=0
x4=0
800 kN
800 kN
800 kN
- 800 kN
0
0
k4= 1600 kN/m k4= 1600 kN/m
k3= 1200 kN/m k3= 1200 kN/m
m4= 4500 kg
k2= 800 kN/m k2= 800 kN/m
m3= 3000 kg
m2= 3000 kg
k1= 400 kN/m k1= 400 kN/m
m1= 1500 kg
x1
x2
x3
x4
x1=0
x2=1
x3=0
x4=0
800 kN
800 kN
1600 kN
1600 kN
- 800 kN
2400 kN
- 1600
0
k4= 1600 kN/m k4= 1600 kN/m
k3= 1200 kN/m k3= 1200 kN/m
m4= 4500 kg
k2= 800 kN/m k2= 800 kN/m
m3= 3000 kg
m2= 3000 kg
k1= 400 kN/m k1= 400 kN/m
m1= 1500 kg
x1
x2
x3
x4
x1=0
x3=1
x2=0
x4=0
1600 kN
1600 kN
2400 kN
2400 kN
0
- 1600 kN
4000 kN
-2400 kN
k4= 1600 kN/m k4= 1600 kN/m
k3= 1200 kN/m k3= 1200 kN/m
m4= 4500 kg
k2= 800 kN/m k2= 800 kN/m
m3= 3000 kg
m2= 3000 kg
k1= 400 kN/m k1= 400 kN/m
m1= 1500 kg
x1
x2
x3
x4
x1=0
x4=1
x2=0
x3=0
2400 kN
2400 kN
3200 kN
3200 kN
0
0
-2400 kN
5600 kN
800
- 800
0
0
- 800
2400
- 1600
0
0
- 1600
4000
-2400
0
0
-2400
5600
F1
F2
F3
F4
=
x1
x2
x3
x4
1 2 3
4
1500
0
0
0
0
3000
0
0
0
0
3000
0
0
0
0
4500
F1
F2
F3
F4
=
x1
x2
x3
x4
1 2 3
4
0
0
x4
1500
0
0
0
0
3000
0
0
0
0
3000
0
0
0
0
4500
x1
x2
x3
x4
1 2
3 4
+
800
- 800
0
0
- 800
2400
- 1600
0
0
- 1600
4000
-2400
0
0
-2400
5600
x1
x2
x3
1
2
3 4
=
0
0
M x
+
K x
=
0
M x
+
K x
=
0
Equation of motion:
Let
x
= a sin ( t )
x
=
a sin ( t ) -
2

(a)
(b)
Substitute (b)
to (a) results in
K
-

2

M
a
=
0
=
1
2
.
.
n
a1 =
a11
a21
.
.
an1
a2 =
a12
a22
.
.
an2
etc.
Mode1 Mode2
END