1

Vibration of spring-mass-
damper chain
By program SpringMass_Vibration

B.P. WANG

University of Texas at Arlington
Feb 16 ,2012




2

SpringMass_Vibration_Doc.doc

%% diary SpringMass_Vibration_Examples.doc
%%16-Feb-2012, in : E:\2012-Vibration\Daily-Notes\Feb-15-MKC-model


Introduction

This document describes vibration analysis of a chain of spring=mass-
damper systems by Matlab program SpringMass_Vibration.

SpringMass_Vibration is an easy-to-use, menu driven program that performs
the same function as the general analytical tool, MDOF_Analytical_1A.


To use SpringMass_Vibration, the user type the name in the command window
and then user the mouser to select an action item and input data from the
command window. Additionally, a program that can be used to formulate
M,K,C matrices for arbitrarily connected spring-mass system (mkc_model)
is described at the end of this document.


3

Sample problem


Consider the 2-dof system shown below, with K1-25 N/m, K2=20 N/m, M1= kg
and M2=2 kg.








We will solve this system by SpringMass_Vibration for the following

1. Eigensolutions
2. Response to initial conditions
With initial displacement u0=[2;1], initial velocity v0=[-1;1]
3. Response to step input
With force Ft=P0, where P0=[20;20], zero initial conditions
4. Response to sine input
With force Ft=P0*sin(2*t), where P0=[20;20], zero initial
conditions
5. Response to cosine input
With force Ft=P0*cos(2*t), where P0=[20;20], zero initial
conditions
6. Frequency response
With force Ft=P0*sin(W*t), where P0=[20;20]

To use this program type the name SpaingMass_Vibration in the
command window: The



M
1
x
1
K
1
M
2
x
2
K
2
2-dof system
4



SpringMass_Vibration

The following MENU will show up in the command window:



Select first item (Input data) to get the following:
Input data

CHOICE =

1

Input mass, spring and damper data:
Masses = [1 2]
Spring constant = [25 20]
Damper constants = [0 0]

Next, choose each items in turn to get the following.
(Note that the solutions, figures will be shown in the command window.)

5

Compute eigensolutions


CHOICE =

2

------------------------------------------------------------------------
program : MDOF_Analytical_1
Compute time domain responses of MDOF sysmes
for IC, step input ,sine input or cosine input individually
Author: B.P. Wang
Department of Mechanical and Aerospace Engineering
University of Texas at Arlington
Version No.1
23-Jan-2011

This code comes with no guarantee or warranty of any kind.
------------------------------------------------------------------------
Modal analysis of undamped system:
Matrix M =
1 0
0 2

Matrix K =
45 -20
-20 20

Eigensolutions
Vector Eigenvalues =
5.0000
50.0000

Matrix Mass-normalized Modal matrix =
-0.3333 -0.9428
-0.6667 0.2357

Matrix Max-normalized Modal matrix (for component No.1) =
0.5000 1.0000
1.0000 -0.2500

Matrix Component-normalized Modal matrix =
1.0000 1.0000
2.0000 -0.2500



6

Response to initial conditions

CHOICE =

3

Input initial displacements = [2 1]
Input initial velocities = [-1 1]
Input time points = linspace(0,10,200);

Response to initial conditions:

Matrix u0 =
2
1

Matrix v0 =
-1
1

Matrix F =
0
0

U(1(t))=
(-3.9752) sin(2.2361 t)+
(-0.095647) sin(7.0711 t)+
(4.7826) sin(2 t)
U(2(t))=
(-7.9505) sin(2.2361 t)+
(0.023912) sin(7.0711 t)+
(8.8043) sin(2 t)


7



0 1 2 3 4 5 6 7 8 9 10
-2
-1.5
-1
-0.5
0
0.5
1
1.5
2
Response to IC
Time
u
1
(
t
)
0 1 2 3 4 5 6 7 8 9 10
-2
-1.5
-1
-0.5
0
0.5
1
1.5
2
Response to IC
Time
u
2
(
t
)
8

Response to step input
CHOICE =
4
Input step forces = [20 10]
Input time points = linspace(0,10,200);


Response to Step input:
U(1(t))=1.2+
(-0.88889) cos(2.2361 t) +
(-0.31111) cos(7.0711 t)
U(2(t))=1.7+
(-1.7778) cos(2.2361 t) +
(0.077778) cos(7.0711 t)Response to cosine input











0 1 2 3 4 5 6 7 8 9 10
0
0.5
1
1.5
2
2.5
Response to Step input
Time
u
1
(
t
)
0 1 2 3 4 5 6 7 8 9 10
-0.5
0
0.5
1
1.5
2
2.5
3
3.5
4
Response to Step input
Time
u
2
(
t
)
9

Response to sine input

CHOICE =5

Input magnitude of cosine forces = [20 10]
Input forcing frequency = 2
Input time pointslinspace(0,10,200);

Response to Sine input:
U(1(t))=
(-3.9752) sin(2.2361 t)+
(-0.095647) sin(7.0711 t)+
(4.7826) sin(2 t)
U(2(t))=
(-7.9505) sin(2.2361 t)+
(0.023912) sin(7.0711 t)+
(8.8043) sin(2 t)




0 1 2 3 4 5 6 7 8 9 10
-8
-6
-4
-2
0
2
4
6
8
Total Response to Sine input
Time
u
1
(
t
)
0 1 2 3 4 5 6 7 8 9 10
-15
-10
-5
0
5
10
15
Total Response to Sine input
Time
u
2
(
t
)
10

Response to cosine input

CHOICE =6

Input magnitude of cosine forces = [20 10]
Input forcing frequency = 2
Input time pointslinspace(0,10,200);

Response to F*cos(W*t) input(time domain):




Response to CoSine input:
U(1(t))=
(-4.4444) cos(2.2361 t) +
(-0.33816) cos(7.0711 t) +
(4.7826) cos(2 t)
U(2(t))=
(-8.8889) cos(2.2361 t) +
(0.084541) cos(7.0711 t) +
(8.8043) cos(2 t)



0 1 2 3 4 5 6 7 8 9 10
-8
-6
-4
-2
0
2
4
6
8
10
Total Response to Cosine input
Time
u
1
(
t
)
0 1 2 3 4 5 6 7 8 9 10
-15
-10
-5
0
5
10
15
20
Total Response to Cosine input
Time
u
2
(
t
)
11

Frequency Response

CHOICE =

7



Analytical solution of frequency responses
U(1)(w)= Us*sin(w*t)
where Us=
+(0.31111)/(0.02- w^2)
+(0.88889)/(0.2- w^2)
Analytical solution of frequency responses
U(2)(w)= Us*sin(w*t)
where Us=
+(-0.077778)/(0.02- w^2)
+(1.7778)/(0.2- w^2)
Alternative form of Output : I -----------------------
Analytical solution of frequency responses
U(1)(w)= Uc*cos(w*t)
where Uc=
+(0.31111/0.02)/(1- w^2/0.02)
+(0.88889/0.2)/(1- w^2/0.2)
Analytical solution of frequency responses
U(2)(w)= Uc*cos(w*t)
where Uc=
+(-0.077778/0.02)/(1- w^2/0.02)
+(1.7778/0.2)/(1- w^2/0.2)
Alternative form of Output : II -----------------------
Analytical solution of frequency responses
U(1)(w)= Uc*cos(w*t)
where Uc=
+(15.5556)/(1- w^2/0.02)
+(4.4444)/(1- w^2/0.2)
Analytical solution of frequency responses
U(2)(w)= Uc*cos(w*t)
where Uc=
+(-3.8889)/(1- w^2/0.02)
+(8.8889)/(1- w^2/0.2)

12


End

CHOICE =
8


0 1 2 3 4 5 6 7 8 9 10
10
-2
10
-1
10
0
10
1
10
2
10
3
Frequency response of 2-dof system
|
U
(
1
)
(

)
|
Frequency, (rad/s)
13

Program mkc_model


% function [OUT]=MKC_MODEL(springs,mass,Elec,IDS,damper,ElecD)
%% Purpose:
% formulate model for general spring-mass-damper system and conpute
eigenvalues
%% Usage
% [OUT]=MKC_MODEL(springs,mass,Elec,IDS,damper,ElecD)
% Input:
% springs = spring constants=[1 2 3]
% Elec = spring connectivity=[1 2;2 3 ;1 3];
% mass =lumped masse =[3 2 1];
% IDS = ID of fixed dof's=[1];
% damper =damper constant
% ElecD =damper connectivity=[1 2;2 3 ;1 3];
%% Output:
%
% OUT = output structural array
% contains the following
% H: [4x3 double] % Stiffness formulation matrix
% IDF: [2 3 4] % Free dof
% NDOF: 4 % totla dof(including supported dof)
% Elec: [3x2 double] %spring connectivity=
% IDS: 1 % specified dof ( fixed boundary dof)
% K: [4x4 double] % stiffness matrix
% M: [4x4 double] % mass matrix
% Mff: [3x3 double] % mass matrix for free dof
% Kff: [3x3 double] % stiffness matrix for free dof
% Cff: [3x3 double] % damping matrix for free dof
% C: [4x4 double] % damping matrix
% Egn: [3x3 double] % undamped eigenvalue matrix
% Phi: [3x3 double] % modal matrix
%
%% B.P. Wang, MAE UTA, Feb 15,2012
%% ----------------------------------------------------------

14

%% Sample run
k=[1 1 2 ]
Elec=[1 2;2 3;3 4 ];
mass=[3 1 1 1 ];
IDS=[1];
damper=0*k;ElecD=Elec;
[OUT]=MKC_MODEL(k,mass,Elec,IDS,damper,ElecD);

Results:

Mff=OUT.Mff
Mff =
1 0 0
0 1 0
0 0 1
>> Kff=OUT.Kff
Kff =
2 -1 0
-1 3 -2
0 -2 2
>> Cff=OUT.Cff
Cff =
0 0 0
0 0 0
0 0 0
>> Eg=diag(OUT.Egn)
Eg =
0.2087
2.0000
4.7913
>> Phi=OUT.Phi
Phi =
-0.3490 0.8944 0.2796
-0.6252 0.0000 -0.7805
-0.6981 -0.4472 0.5592