Dynamic of Structures

MultiDOF
Systems
Giacomo Boffi
Introductory
Remarks
The Homogeneous
Problem
Multi Degrees of Freedom Systems
Modal Analysis
Examples
Giacomo Boffi
Dipartimento di Ingegneria Civile e Ambientale, Politecnico di Milano
April 23, 2015
Outline
Introductory Remarks
An Example
The Equation of Motion, a System of Linear
Differential Equations
Matrices are Linear Operators
Properties of Structural Matrices
An example
The Homogeneous Problem
The Homogeneous Equation of Motion
Eigenvalues and Eigenvectors
Eigenvectors are Orthogonal
Modal Analysis
Eigenvectors are a base
EoM in Modal Coordinates
Initial Conditions
Examples
2 DOF System
MultiDOF
Systems
Giacomo Boffi
Introductory
Remarks
The Homogeneous
Problem
Modal Analysis
Examples
MultiDOF
Systems
Giacomo Boffi
Introductory
Remarks
An Example
The Equation of Motion
Consider an undamped system with two masses and two degrees of freedom.
p1 (t)
Properties of Structural
Matrices
p2 (t)
m1
k1
An example
The Homogeneous
Problem
m2
k2
Matrices are Linear

Operators
k3
Modal Analysis
Examples
x1
x2
MultiDOF
Systems
Giacomo Boffi
Introductory
Remarks
An Example
p1 (t)
Matrices
p2 (t)
m1
k1
An example
The Homogeneous
Problem
m2
k2
Matrices are Linear

Operators
k3
Modal Analysis
Examples
x1
x2
We can separate the two masses, single out the spring forces and, using the
DAlembert Principle, the inertial forces and, finally, write an equation of
dynamic equilibrium for each mass.
MultiDOF
Systems
p1 (t)
p2 (t)
m1
m2
Giacomo Boffi
Introductory
Remarks
An Example
k1
k2
Matrices are Linear

Operators
k3
Matrices
x1
An example
x2
We can separate the two masses, single out the spring forces and, using the
DAlembert Principle, the inertial forces and, finally, write an equation of
dynamic equilibrium for each mass.
p1
k2 (x1 x2 )
k1 x1
m1 x1
m1 x1 + (k1 + k2 )x1 k2 x2 = p1 (t )
k2 (x2 x1 )
p2
k3 x2
m2 x2
m2 x2 k2 x1 + (k2 + k3 )x2 = p2 (t )
The Homogeneous
Problem
Modal Analysis
Examples
The equation of motion of a 2DOF system
MultiDOF
Systems
Giacomo Boffi
Introductory
Remarks
An Example
Matrices are Linear
Operators
With some little rearrangement we have a system of two

linear differential equations in two variables, x1 (t) and x2 (t):
(
m1 x1 + (k1 + k2 )x1 k2 x2 = p1 (t),
m2 x2 k2 x1 + (k2 + k3 )x2 = p2 (t).
Matrices
An example
The Homogeneous
Problem
Modal Analysis
Examples
The equation of motion of a 2DOF system
MultiDOF
Systems
Giacomo Boffi
Introductory
Remarks
An Example
Introducing the loading vector p, the vector of inertial

forces f I and the vector of elastic forces f S ,

p1 (t)
fI ,1
fS,1
p=
, fI =
, fS =
p2 (t)
fI ,2
fS,2
Matrices are Linear

Operators
Matrices
An example
The Homogeneous
Problem
Modal Analysis
Examples
we can write a vectorial equation of equilibrium:

fI + fS = p(t).
fS = K x
MultiDOF
Systems
Giacomo Boffi
Introductory
Remarks
It is possible to write the linear relationship between f S and

T
the vector of displacements x = x1 x2
in terms of a
matrix product.
In our example it is

k1 + k2
k2
fS =
x = Kx
k2
k2 + k3
introducing the stiffness matrix K.
The stiffness matrix K has a number of rows equal to the
number of elastic forces, i.e., one force for each DOF and a
number of columns equal to the number of the DOF.
The stiffness matrix K is hence a square matrix K
ndofndof
An Example
Matrices are Linear
Operators
Matrices
An example
The Homogeneous
Problem
Modal Analysis
Examples
f I = M x
MultiDOF
Systems
Giacomo Boffi
Introductory
Remarks
An Example
Analogously, introducing the mass matrix M that, for our

example, is

m1 0
M=
0 m2
Matrices are Linear

Operators
Matrices
An example
The Homogeneous
Problem
Modal Analysis
we can write
Examples
fI = M
x.
Also the mass matrix M is a square matrix, with number of
rows and columns equal to the number of DOFs.
Matrix Equation
MultiDOF
Systems
Giacomo Boffi
Introductory
Remarks
Finally it is possible to write the equation of motion in

matrix format:
M x + K x = p(t).
An Example
Matrices are Linear
Operators
Matrices
An example
The Homogeneous
Problem
Modal Analysis
Examples
Matrix Equation
MultiDOF
Systems
Giacomo Boffi
Introductory
Remarks
Finally it is possible to write the equation of motion in

matrix format:
M x + K x = p(t).
An Example
Matrices are Linear
Operators
Matrices
An example
The Homogeneous
Problem
Modal Analysis
Of course, we can consider the damping forces too, taking into

introducing a damping matrix C
account the velocity vector x,
and writing
M
x + C x + K x = p(t),
however it is now more productive to keep our attention on
undamped systems.
Examples
Properties of K
MultiDOF
Systems
Giacomo Boffi
Introductory
Remarks
An Example
K is symmetrical, because the elastic force that acts on

mass i due to an unit displacement of mass j, fS,i = kij
is equal to the force on mass j due to unit diplacement
of mass i , fS,j = kji in virtue of Bettis theorem.
Matrices are Linear

Operators
Matrices
An example
The Homogeneous
Problem
Modal Analysis
Examples
Properties of K
MultiDOF
Systems
Giacomo Boffi
Introductory
Remarks
An Example
K is symmetrical, because the elastic force that acts on

mass i due to an unit displacement of mass j, fS,i = kij
is equal to the force on mass j due to unit diplacement
of mass i , fS,j = kji in virtue of Bettis theorem.
The strain energy V for a discrete system can be
written
1
1
V = xT f S = xT K x,
2
2
because the strain energy is positive it follows that K is
a positive definite matrix.
Matrices are Linear

Operators
Matrices
An example
The Homogeneous
Problem
Modal Analysis
Examples
Properties of M
MultiDOF
Systems
Giacomo Boffi
Introductory
Remarks
An Example
Restricting our discussion to systems whose degrees of

freedom are the displacements of a set of discrete masses,
we have that the mass matrix is a diagonal matrix, with all
its diagonal elements greater than zero. Such a matrix is
symmetrical and definite positive, as well as the stiffness
matrix is symmetrical and definite positive.

Matrices are Linear
Operators
Matrices
An example
The Homogeneous
Problem
Modal Analysis
Examples
Properties of M
MultiDOF
Systems
Giacomo Boffi
Introductory
Remarks
An Example
Restricting our discussion to systems whose degrees of

freedom are the displacements of a set of discrete masses,
we have that the mass matrix is a diagonal matrix, with all
its diagonal elements greater than zero. Such a matrix is
symmetrical and definite positive, as well as the stiffness
matrix is symmetrical and definite positive.
En passant, take note that the kinetic energy for a discrete
system is
1
T = x T M x.
2

Matrices are Linear
Operators
Matrices
An example
The Homogeneous
Problem
Modal Analysis
Examples
Generalisation of previous results
MultiDOF
Systems
Giacomo Boffi
Introductory
Remarks
An Example
Matrices are Linear
Operators
The findings in the previous two slides can be generalised to

the structural matrices of generic structural systems, with
one exception.
Matrices
An example
The Homogeneous
Problem
Modal Analysis
Examples
Generalisation of previous results
MultiDOF
Systems
Giacomo Boffi
Introductory
Remarks
An Example
Matrices are Linear
Operators
The findings in the previous two slides can be generalised to

the structural matrices of generic structural systems, with
one exception.
For a general structural system, M could be semi-definite
positive, that is for some particular displacement vector the
kinetic energy could be zero.
Matrices
An example
The Homogeneous
Problem
Modal Analysis
Examples
The problem
MultiDOF
Systems
Giacomo Boffi
Graphical statement of the problem
Introductory
Remarks
An Example
p(t)

Matrices are Linear
Operators
m1
k1
m2
k2
Matrices
An example
The Homogeneous
Problem
k1 = 2k,
x1
x2
k2 = k;
m1 = 2m, m2 = m;
p(t) = p0 sin t.
Modal Analysis
Examples
The problem
MultiDOF
Systems
Giacomo Boffi
Introductory
Remarks
An Example
p(t)

Matrices are Linear
Operators
m1
k1
m2
k2
Matrices
An example
The Homogeneous
Problem
k1 = 2k,
x1
x2
k2 = k;
m1 = 2m, m2 = m;
p(t) = p0 sin t.
The equations of motion
m1 x1 + k1 x1 + k2 (x1 x2 ) = p0 sin t,
m2 x2 + k2 (x2 x1 ) = 0.
Modal Analysis
Examples
The problem
MultiDOF
Systems
Giacomo Boffi
Introductory
Remarks
An Example
p(t)

Matrices are Linear
Operators
m1
k1
m2
k2
Matrices
An example
The Homogeneous
Problem
k1 = 2k,
x1
x2
k2 = k;
m1 = 2m, m2 = m;
p(t) = p0 sin t.
The equations of motion
m1 x1 + k1 x1 + k2 (x1 x2 ) = p0 sin t,
m2 x2 + k2 (x2 x1 ) = 0.
... but we prefer the matrix notation ...
Modal Analysis
Examples
The steady state solution
MultiDOF
Systems
Giacomo Boffi
because using the matrix notation we can follow the same steps
we used to find the steady-state response of a SDOF system.
First, the equation of motion

3 1
1
2 0
x+k
x = p0
sin t
m
1 1
0
0 1
Introductory
Remarks
An Example
Matrices are Linear
Operators
Matrices
An example
The Homogeneous
Problem
Modal Analysis
Examples
MultiDOF
Systems
Giacomo Boffi

3 1
1
2 0
x+k
x = p0
sin t
m
1 1
0
0 1
substituting x(t) = sin t and simplifying sin t, dividing by k,
with 02 = k/m, 2 = 2 /02 and st = p0 /k the above equation
can be written
Introductory
Remarks
An Example
Matrices are Linear
Operators
Matrices
An example
The Homogeneous
Problem
Modal Analysis
Examples
MultiDOF
Systems
Giacomo Boffi

3 1
1
2 0
x+k
x = p0
sin t
m
1 1
0
0 1
can be written

3 1
2 0
3 2 2
1
1
2
=
st
1 1
0 1
1
1 2
0
Introductory
Remarks
An Example
Matrices are Linear
Operators
Matrices
An example
The Homogeneous
Problem
Modal Analysis
Examples
MultiDOF
Systems
Giacomo Boffi

3 1
1
2 0
x+k
x = p0
sin t
m
1 1
0
0 1
can be written

3 1
2 0
3 2 2
1
1
2
=
st
1 1
0 1
1
1 2
0
solving for /st gives
Introductory
Remarks
An Example
Matrices are Linear
Operators
Matrices
An example
The Homogeneous
Problem
Modal Analysis
Examples
MultiDOF
Systems
Giacomo Boffi

3 1
1
2 0
x+k
x = p0
sin t
m
1 1
0
0 1
can be written

3 1
2 0
3 2 2
1
1
2
=
st
1 1
0 1
1
1 2
0
solving for /st gives

1 2
1
1
1 2
1
3 2 2 0
1
=
=
.
4
2
2
st
2 5 + 2
(2 1)( 2 2)
Introductory
Remarks
An Example
Matrices are Linear
Operators
Matrices
An example
The Homogeneous
Problem
Modal Analysis
Examples
The solution, graphically
MultiDOF
Systems
Giacomo Boffi
Steady-State Response for a 2 DOF System, Harmonic Load
Introductory
Remarks
An Example
Normalized Displacement

Matrices are Linear
Operators
1 /st
2 /st
Matrices
An example
The Homogeneous
Problem
Modal Analysis
1
0
Examples
0.5
2
2 = 2 /02
Homogeneous equation of motion
MultiDOF
Systems
Giacomo Boffi
To understand the behaviour of a MDOF system, we start

writing the homogeneous equation of motion,
M
x + K x = 0.
Introductory
Remarks
The Homogeneous
Problem
The Homogeneous
Equation of Motion
Eigenvalues and
Eigenvectors
Eigenvectors are
Orthogonal
Modal Analysis
Examples
MultiDOF
Systems
Giacomo Boffi

M
x + K x = 0.
Introductory
Remarks
The Homogeneous
Problem
The Homogeneous
Equation of Motion
Eigenvalues and
Eigenvectors
The solution, in analogy with the SDOF case, can be

written in terms of a harmonic function of unknown
frequency and, using the concept of separation of variables,
of a constant vector, the so called shape vector :
x(t) = (A sin t + B cos t).
Eigenvectors are
Orthogonal
Modal Analysis
Examples
MultiDOF
Systems
Giacomo Boffi

M
x + K x = 0.
Introductory
Remarks
The Homogeneous
Problem
The Homogeneous
Equation of Motion
Eigenvalues and
Eigenvectors
The solution, in analogy with the SDOF case, can be

written in terms of a harmonic function of unknown
frequency and, using the concept of separation of variables,
of a constant vector, the so called shape vector :
x(t) = (A sin t + B cos t).
Substituting in the equation of free vibrations, we have

K 2 M (A sin t + B cos t) = 0
Eigenvectors are
Orthogonal
Modal Analysis
Examples
Eigenvalues
MultiDOF
Systems
Giacomo Boffi
The previous equation must hold for every value of t, so it

can be simplified removing the time dependency:

K 2 M = 0.
Introductory
Remarks
The Homogeneous
Problem
The Homogeneous
Equation of Motion
Eigenvalues and
Eigenvectors
Eigenvectors are
Orthogonal
Modal Analysis
Examples
Eigenvalues
MultiDOF
Systems
Giacomo Boffi


K 2 M = 0.
This is a homogeneous linear equation, with unknowns i
and the coefficients that depends on the parameter 2 .
Introductory
Remarks
The Homogeneous
Problem
The Homogeneous
Equation of Motion
Eigenvalues and
Eigenvectors
Eigenvectors are
Orthogonal
Modal Analysis
Examples
Eigenvalues
MultiDOF
Systems
Giacomo Boffi


K 2 M = 0.
Speaking of homogeneous systems, we know that there is
always a trivial solution, = 0, and that different non-zero
solutions are available when the determinant of the matrix
of coefficients is equal to zero,

det K 2 M = 0
Introductory
Remarks
The Homogeneous
Problem
The Homogeneous
Equation of Motion
Eigenvalues and
Eigenvectors
Eigenvectors are
Orthogonal
Modal Analysis
Examples
Eigenvalues
MultiDOF
Systems
Giacomo Boffi


K 2 M = 0.
Speaking of homogeneous systems, we know that there is
always a trivial solution, = 0, and that different non-zero
solutions are available when the determinant of the matrix
of coefficients is equal to zero,

det K 2 M = 0
The eigenvalues of the MDOF system are the values of 2
for which the above equation (the equation of frequencies)
is verified.
Introductory
Remarks
The Homogeneous
Problem
The Homogeneous
Equation of Motion
Eigenvalues and
Eigenvectors
Eigenvectors are
Orthogonal
Modal Analysis
Examples
Eigenvalues, cont.
MultiDOF
Systems
Giacomo Boffi
For a system with

N degrees of freedom the expansion of
det K 2 M is an algebraic polynomial of degree N in
2 .
A polynomial of degree N has in general N real or complex
conjugate roots.
When the matrices involved are symmetric, as it is always
the case for structural matrices, the roots, i2 , i = 1, . . . , N
are all real.
If both K and M are positive definite matrices, condition
that is always satisfied by stable structural systems, the
roots (the eigenvalues) are also positive,
i2 > 0 for i = 1, . . . , N.
Introductory
Remarks
The Homogeneous
Problem
The Homogeneous
Equation of Motion
Eigenvalues and
Eigenvectors
Eigenvectors are
Orthogonal
Modal Analysis
Examples
Eigenvectors
MultiDOF
Systems
Giacomo Boffi
Substituting one of the N roots i2 in the characteristic

equation,

K i2 M i = 0
the resulting system of N 1 linearly independent equations
can be solved (except for a scale factor) for i , the
eigenvector corresponding to the eigenvalue i2 .
Introductory
Remarks
The Homogeneous
Problem
The Homogeneous
Equation of Motion
Eigenvalues and
Eigenvectors
Eigenvectors are
Orthogonal
Modal Analysis
Examples
Eigenvectors
MultiDOF
Systems
Giacomo Boffi

equation,

K i2 M i = 0
A common choice for the normalisation of the eigenvectors
is normalisation with respect to the mass matrix,
T
i M i = 1
Introductory
Remarks
The Homogeneous
Problem
The Homogeneous
Equation of Motion
Eigenvalues and
Eigenvectors
Eigenvectors are
Orthogonal
Modal Analysis
Examples
Eigenvectors
MultiDOF
Systems
Giacomo Boffi

equation,

K i2 M i = 0
A common choice for the normalisation of the eigenvectors
is normalisation with respect to the mass matrix,
T
i M i = 1
Please consider that substituting different values
for i2 in the characteristic equation you obtain
different linear systems, with different solutions.
Introductory
Remarks
The Homogeneous
Problem
The Homogeneous
Equation of Motion
Eigenvalues and
Eigenvectors
Eigenvectors are
Orthogonal
Modal Analysis
Examples
Initial Conditions
MultiDOF
Systems
Giacomo Boffi
Introductory
Remarks
The Homogeneous
Problem
The most general expression (the general integral) for the

displacement of a homogeneous system is
The Homogeneous
Equation of Motion
Eigenvalues and
Eigenvectors
Eigenvectors are
Orthogonal
x(t) =
N
X
Modal Analysis
i (Ai sin i t + Bi cos i t).
i=1
In the general integral there are 2N unknown constants of

integration, that must be determined in terms of the initial
conditions.
Examples
Initial Conditions
MultiDOF
Systems
Usually the initial conditions are expressed in terms of initial

displacements and initial velocities x0 and x 0 , so we start deriving
the expression of displacement with respect to time to obtain
x(t)
=
N
X
i i (Ai cos i t Bi sin i t)
i=1
x(0) =
i=1
i Bi = x0 ,
Introductory
Remarks
The Homogeneous
Problem
The Homogeneous
Equation of Motion
Eigenvalues and
Eigenvectors
Eigenvectors are
Orthogonal
and evaluating the displacement and velocity for t = 0 it is

N
X
Giacomo Boffi
x(0)
=
N
X
i=1
Modal Analysis
Examples
i i Ai = x 0 .
Initial Conditions
MultiDOF
Systems
Usually the initial conditions are expressed in terms of initial

displacements and initial velocities x0 and x 0 , so we start deriving
the expression of displacement with respect to time to obtain
x(t)
=
N
X
i i (Ai cos i t Bi sin i t)
i=1
x(0) =
i Bi = x0 ,
x(0)
=
N
X
i i Ai = x 0 .
The above equations are vector equations, each one

corresponding to a system of N equations, so we can compute
the 2N constants of integration solving the 2N equations
i=1
ji Bi = x0,j ,
The Homogeneous
Problem
The Homogeneous
Equation of Motion
Eigenvalues and
Eigenvectors
N
X
i=1
ji i Ai = x 0,j ,
Modal Analysis
Examples
i=1
i=1
N
X
Introductory
Remarks
Eigenvectors are
Orthogonal
and evaluating the displacement and velocity for t = 0 it is

N
X
Giacomo Boffi
j = 1, . . . , N.
Orthogonality - 1
MultiDOF
Systems
Giacomo Boffi
Take into consideration two distinct eigenvalues, r2 and s2 ,

and write the characteristic equation for each eigenvalue:
Introductory
Remarks
The Homogeneous
Problem
The Homogeneous
Equation of Motion
K r =
K s =
r2 M r
s2 M s
Eigenvalues and
Eigenvectors
Eigenvectors are
Orthogonal
Modal Analysis
Examples
Orthogonality - 1
MultiDOF
Systems
Giacomo Boffi
Take into consideration two distinct eigenvalues, r2 and s2 ,

and write the characteristic equation for each eigenvalue:
Introductory
Remarks
The Homogeneous
Problem
The Homogeneous
Equation of Motion
K r =
K s =
r2 M r
s2 M s
Eigenvalues and
Eigenvectors
Eigenvectors are
Orthogonal
Modal Analysis
Examples
premultiply each equation member by the transpose of the

other eigenvector
2 T
T
s K r = r s M r
2 T
T
r K s = s r M s
Orthogonality - 2
MultiDOF
Systems
Giacomo Boffi
Introductory
Remarks
The term T
s K r is a scalar, hence
T
T
s K r = s K r
T
The Homogeneous
Problem
The Homogeneous
Equation of Motion
T
= T
r K s
but K is symmetrical, KT = K and we have
Eigenvalues and
Eigenvectors
Eigenvectors are
Orthogonal
Modal Analysis
Examples
T
T
s K r = r K s .
By a similar derivation
T
T
s M r = r M s .
Orthogonality - 3
MultiDOF
Systems
Giacomo Boffi
Substituting our last identities in the previous equations, we

have
2 T
T
r K s = r r M s
2 T
T
r K s = s r M s
subtracting member by member we find that

(r2 s2 ) T
r M s = 0
Introductory
Remarks
The Homogeneous
Problem
The Homogeneous
Equation of Motion
Eigenvalues and
Eigenvectors
Eigenvectors are
Orthogonal
Modal Analysis
Examples
Orthogonality - 3
MultiDOF
Systems
Giacomo Boffi
Substituting our last identities in the previous equations, we

have
2 T
T
r K s = r r M s
2 T
T
r K s = s r M s
subtracting member by member we find that

(r2 s2 ) T
r M s = 0
We started with the hypothesis that r2 6= s2 , so for every
r 6= s we have that the corresponding eigenvectors are
orthogonal with respect to the mass matrix
T
r M s = 0,
for r 6= s.
Introductory
Remarks
The Homogeneous
Problem
The Homogeneous
Equation of Motion
Eigenvalues and
Eigenvectors
Eigenvectors are
Orthogonal
Modal Analysis
Examples
Orthogonality - 4
MultiDOF
Systems
Giacomo Boffi
Introductory
Remarks
The eigenvectors are orthogonal also with respect to the

stiffness matrix:
2 T
T
s K r = r s M r = 0,
for r 6= s.
The Homogeneous
Problem
The Homogeneous
Equation of Motion
Eigenvalues and
Eigenvectors
Eigenvectors are
Orthogonal
Modal Analysis
Examples
Orthogonality - 4
MultiDOF
Systems
Giacomo Boffi
Introductory
Remarks
The eigenvectors are orthogonal also with respect to the

stiffness matrix:
2 T
T
s K r = r s M r = 0,
for r 6= s.
The Homogeneous
Problem
The Homogeneous
Equation of Motion
Eigenvalues and
Eigenvectors
Eigenvectors are
Orthogonal
Modal Analysis
Examples
By definition
Mi = T
i M i
and
2
T
i K i = i Mi .
MultiDOF
Systems
Giacomo Boffi
The eigenvectors are linearly independent, so for every

vector x we can write
x=
N
X
Introductory
Remarks
The Homogeneous
Problem
j qj .
j=1
Modal Analysis
Initial Conditions
The coefficients are readily given by premultiplication of x

by T
i M, because
T
i Mx
N
X
T
T
i M j qj = i M i qi = Mi qi
j=1
in virtue of the ortogonality of the eigenvectors with respect

to the mass matrix, and the above relationship gives
qj =
T
j Mx
.
Mj
Examples
MultiDOF
Systems
Giacomo Boffi
Generalising our results for the displacement vector to the

acceleration vector, we can write
x(t) =
N
X
j qj (t),
x(t) =
j=1
xi (t) =
N
X
N
X
j=1
xi (t) =
N
X
j qj (t),

Initial Conditions
Examples
ij qj (t).
j=1
Introducing q(t), the vector of modal coordinates and ,

the eigenvector matrix, whose columns are the eigenvectors,
x(t) = q(t),
The Homogeneous
Problem
Modal Analysis
j=1
ij qj (t),
Introductory
Remarks
(t).
x(t) = q
EoM in Modal Coordinates...
MultiDOF
Systems
Giacomo Boffi
Substituting the last two equations in the equation of

motion,
+ K q = p(t)
Mq
Introductory
Remarks
The Homogeneous
Problem
Modal Analysis
premultiplying by T

Initial Conditions
+ T K q = T p(t)
T M q
introducing the so called starred matrices we can finally
write
+ K? q = p? (t)
M? q
where p? (t) = T p(t), and the scalar equation are
X
X
pi? =
mij? qj +
kij? qj .
Examples
... are N independent equations!
MultiDOF
Systems
Giacomo Boffi
We must examine the structure of the starred symbols.

The generic element, with indexes i and j, of the starred
matrices can be expressed in terms of single eigenvectors,
Introductory
Remarks
The Homogeneous
Problem
Modal Analysis
mij? = T
i M j
kij?
T
i K j
where ij is the Kroneker symbol,

1 i =j
ij =
0
i 6= j
ij Mi ,
i2 ij Mi .

Initial Conditions
Examples
... are N independent equations!
MultiDOF
Systems
Giacomo Boffi
We must examine the structure of the starred symbols.

The generic element, with indexes i and j, of the starred
matrices can be expressed in terms of single eigenvectors,
Introductory
Remarks
The Homogeneous
Problem
Modal Analysis
mij? = T
i M j
kij?
T
i K j
ij Mi ,
i2 ij Mi .
where ij is the Kroneker symbol,

1 i =j
ij =
0
i 6= j
Substituting in the equation of motion, with pi? = T

i p(t)
we have a set of uncoupled equations
Mi qi + i2 Mi qi = pi? (t),
i = 1, . . . , N

Initial Conditions
Examples
Initial Conditions Revisited
MultiDOF
Systems
Giacomo Boffi
The initial displacements can be written in modal

coordinates,
x0 = q0
and premultiplying both members by T M we have the

following relationship:
T
Premultiplying by the inverse of M? and taking into

account that M? is diagonal,
and, analogously,
q i0 =
i T M x 0
Mi
qi0 =
The Homogeneous
Problem
Modal Analysis
Initial Conditions
Examples
M x0 = M q0 = M q0 .
q0 = (M? )1 T M x0
Introductory
Remarks
T
i M x0
Mi
2 DOF System
MultiDOF
Systems
Giacomo Boffi
Introductory
Remarks
m1
k1
The Homogeneous
Problem
m2
k2
p(t)
Modal Analysis
Examples
2 DOF System
k1 = k,
x1
x2
k2 = 2k;
m1 = 2m, m2 = m;
p(t) = p0 sin t.

x1
0
x=
, p(t) =
sin t,
x2
p0

2 0
3 2
M=m
, K=k
.
0 1
2 2
Equation of frequencies
MultiDOF
Systems
Giacomo Boffi
The equation of frequencies is

3k 2 2 m

2k
2
= 0.
K M =
2
2k
2k m
Introductory
Remarks
The Homogeneous
Problem
Modal Analysis
Examples
2 DOF System
MultiDOF
Systems
Giacomo Boffi

3k 2 2 m

2k
2
= 0.
K M =
2
2k
2k m
Introductory
Remarks
The Homogeneous
Problem
Modal Analysis
Developing the determinant

2
Examples
2 DOF System
(2m ) (7mk) + (2k ) = 0,
(1)
with 02 = k/m and 2 = 02 ,

2
2 7 + 2 = 0
33
(2)
MultiDOF
Systems
Giacomo Boffi

3k 2 2 m

2k
2
= 0.
K M =
2
2k
2k m
Introductory
Remarks
The Homogeneous
Problem
Modal Analysis
Developing the determinant

2
Examples
2 DOF System
(2m ) (7mk) + (2k ) = 0,
(1)
with 02 = k/m and 2 = 02 ,

2
2 7 + 2 = 0
33
Solving the algebraic equation in 2
k 7 33
k 7 + 33
2
2
1 =
2 =
m
4
m
4
k
k
12 = 0.31386
22 = 3.18614
m
m
(2)
Eigenvectors
MultiDOF
Systems
Giacomo Boffi
Substituting 12 for 2 in the first of the characteristic

equations gives the ratio between the components of the
first eigenvector,
Introductory
Remarks
The Homogeneous
Problem
Modal Analysis
k (3 2 0.31386)11 2k21 = 0
while substituting 22 gives
k (3 2 3.18614)12 2k22 = 0.
Examples
2 DOF System
Eigenvectors
MultiDOF
Systems
Giacomo Boffi
Substituting 12 for 2 in the first of the characteristic

equations gives the ratio between the components of the
first eigenvector,
Introductory
Remarks
The Homogeneous
Problem
Modal Analysis
k (3 2 0.31386)11 2k21 = 0
while substituting 22 gives
k (3 2 3.18614)12 2k22 = 0.
Solving with the arbitrary assignment 21 = 22 = 1 gives
the unnormalised eigenvectors,

+0.84307
0.59307
1 =
, 2 =
.
+1.00000
+1.00000
Examples
2 DOF System
Normalisation
MultiDOF
Systems
Giacomo Boffi
We compute first M1 and M2 ,

Introductory
Remarks
M1 = T
1 M 1

2m 0
0.84307
0
m
1

0.84307
= 1.68614m, m
= 2.42153m
1

= 0.84307,
M2 = 1.70346m
the adimensional normalisation factors are
2 = 1.70346.
1 = 2.42153,
Applying the normalisation factors to
eigenvectors and collecting them in a
normalised eigenvectors

+0.54177
=
+0.64262
the respective unnormalised

matrix, we have the matrix of
0.45440
+0.76618
The Homogeneous
Problem
Modal Analysis
Examples
2 DOF System
Modal Loadings
MultiDOF
Systems
Giacomo Boffi
Introductory
Remarks
The Homogeneous
Problem
The modal loading is
Modal Analysis
Examples
p? (t) = T p(t)

+0.54177 +0.64262
0
sin t
= p0
0.45440 +0.76618
1

+0.64262
sin t
= p0
+0.76618
2 DOF System
Modal EoM
MultiDOF
Systems
Giacomo Boffi
Substituting its modal expansion for x into the equation of

motion and premultiplying by T we have the uncoupled
modal equation of motion
(
m
q1 + 0.31386k q1 = +0.64262 p0 sin t
m
q2 + 3.18614k q2 = +0.76618 p0 sin t
Note that all the terms are dimensionally correct. Dividing
by m both equations, we have
q1 + 12 q1 = +0.64262 0 sin t
m
p
q2 + 22 q2 = +0.76618 0 sin t
m
Introductory
Remarks
The Homogeneous
Problem
Modal Analysis
Examples
2 DOF System
Particular Integral
MultiDOF
Systems
Giacomo Boffi
We set
= 2 C1 sin t
1 = C1 sin t,
and substitute in the first modal EoM:

p?
C1 12 2 sin t = 1 sin t
m
solving for C1
C1 =
1
p1?
m 12 2
with 12 = K1 /m m = K1 /12 :
C1 =
p1?
12
1
(1)
= st
K1 12 2
1 12
(1)
with st =
p1?
p0
= 2.047
and 1 =
K1
k
1
of course
(2)
C2 = st
1
1 22
(2)
with st =
p2?
p0
= 0.2404
and 2 =
K2
k
2
Introductory
Remarks
The Homogeneous
Problem
Modal Analysis
Examples
2 DOF System
Integrals
MultiDOF
Systems
The integrals, for our loading, are thus
(1) sin t
q1 (t) = A1 sin 1 t + B1 cos 1 t + st 1 2

1
sin t
q2 (t) = A2 sin 2 t + B2 cos 2 t + (2)

st
1 22
Giacomo Boffi
Introductory
Remarks
The Homogeneous
Problem
Modal Analysis
Examples
for a system initially at rest
1
(1)
q1 (t) = st 1 2 (sin t 1 sin 1 t)
2 DOF System
q2 (t) = (2)
st
1
(sin t 2 sin 2 t)
1 22
we are interested in structural degrees of freedom, too... disregarding

transient
!

(1)
(2)
1.10926
st
st
0.109271
sin
t
=
+
x
(t)
=
1
11
12
1 12
1 22
1 12
1 22
!

(1)
(2)
1.31575
0.184245
x (t) = st + st
sin t =
+
21
22
2
1 12
1 22
1 12
1 22
p0
sin t
k
p0
sin t
k
The response in modal coordinates
MultiDOF
Systems
To have a feeling of the response in modal coordinates, lets say

that the frequency of the load is = 20 .
2.0
This implies that 1 = 1 = 0.31386
= 6.37226 and
2.0
2 = 2 = 3.18614 = 0.62771.
Giacomo Boffi
Introductory
Remarks
The Homogeneous
Problem
qi/st
Modal Analysis
2.5
2
1.5
1
0.5
0
-0.5
-1
-1.5
-2
Examples
q1()/st
10
q2()/st
15
20
2 DOF System
25
= o t
In the graph above, the responses are plotted against an

adimensional time coordinate with = 0 t, while the
ordinates are adimensionalised with respect to st = pk0
30
The response in structural coordinates
MultiDOF
Systems
Giacomo Boffi
Introductory
Remarks
Using the same normalisation factors, here are the response

functions in terms of x1 = 11 q1 + 12 q2 and
x2 = 21 q1 + 22 q2 :
The Homogeneous
Problem
xi/st
Modal Analysis
2.5
2
1.5
1
0.5
0
-0.5
-1
-1.5
-2
Examples
x1()/st
10
x2()/st
15
= o t
20
2 DOF System
25
30

Dynamic of Structures

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MultiDOF

Multi Degrees of Freedom Systems

April 23, 2015

Matrices are Linear

Matrices are Linear

The Equation of Motion

Matrices are Linear

The equation of motion of a 2DOF system

With some little rearrangement we have a system of two

The equation of motion of a 2DOF system

Introducing the loading vector p, the vector of inertial

Matrices are Linear

we can write a vectorial equation of equilibrium:

It is possible to write the linear relationship between f S and

Analogously, introducing the mass matrix M that, for our

Matrices are Linear

Finally it is possible to write the equation of motion in

Finally it is possible to write the equation of motion in

Of course, we can consider the damping forces too, taking into

K is symmetrical, because the elastic force that acts on

Matrices are Linear

K is symmetrical, because the elastic force that acts on

Matrices are Linear

Restricting our discussion to systems whose degrees of

The Equation of Motion

Restricting our discussion to systems whose degrees of

The Equation of Motion

Generalisation of previous results

The findings in the previous two slides can be generalised to

Generalisation of previous results

The findings in the previous two slides can be generalised to

Graphical statement of the problem

The Equation of Motion

Graphical statement of the problem

The Equation of Motion

Graphical statement of the problem

The Equation of Motion

The steady state solution

The steady state solution

The steady state solution

The steady state solution

The steady state solution

The solution, graphically

Steady-State Response for a 2 DOF System, Harmonic Load

The Equation of Motion

Homogeneous equation of motion

To understand the behaviour of a MDOF system, we start

Homogeneous equation of motion

To understand the behaviour of a MDOF system, we start

The solution, in analogy with the SDOF case, can be

Homogeneous equation of motion

To understand the behaviour of a MDOF system, we start

The solution, in analogy with the SDOF case, can be

The previous equation must hold for every value of t, so it

The previous equation must hold for every value of t, so it

The previous equation must hold for every value of t, so it

The previous equation must hold for every value of t, so it

For a system with

Substituting one of the N roots i2 in the characteristic

Substituting one of the N roots i2 in the characteristic

Substituting one of the N roots i2 in the characteristic

The most general expression (the general integral) for the

i (Ai sin i t + Bi cos i t).