ME730A Modal Analysis: Theory and Practice

HW Assignment 1

Date assigned: 24th Jan. 2017

Due: 7th Feb. 2017 in class

This assignment has three questions. Assignment is worth 10% of the final grade.

State all assumptions made in your analyses.

Please provide your insights when asked for commenting to be considered for a full grade.

Please append your MATLAB scripts at the end of your report.

Problem 1 [02 marks]

A single degree of freedom lumped parameter system has the following mass and stiffness values:
= 1 kg, = 100 N/m. Assume damping, i.e. lies somewhere between 1% and 10%. Select a
value for from within this range and state your selected value.

Generate the following plots of the receptance frequency response function (FRF). Use log-log scales
or dB-log scales as and where appropriate.

a. Magnitude (m/N) vs. frequency (Hz) and phase (deg) vs. frequency (Hz)
b. Real part (m/N) vs. frequency (Hz) and imaginary part (m/N) vs. frequency (Hz)
c. Nyquist plot, i.e. Real part (m/N) vs. imaginary part (m/N) for all frequencies
d. For the same system, generate the mobility and accelerance FRFs. Represent mobility and
accelerance FRFs only in terms of its real and imaginary parts. Comment on the nature of the
real and imaginary parts in relation to the real and imaginary parts of the receptance FRF.
Discuss the differences, if any.

Problem 2 [04 marks]

Shown below is a multi degree of freedom lumped paramter system. Units for mass and stiffness are
kg and MN/m respectively.

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 a. Obtain the equation of motion in matrix form (symbolically).
b. Solve the undamped eigenvalue problem form of the equation of motion to obtain the
natural frequencies (eigenvalues) and mode shapes (eigenvectors). Mass-normalize the
eigenvectors. Plot the receptance FRF between DOFs 2 and 6, i.e. obtain |26 |. For this,
assume a uniform damping ratio, of all vibration modes, and that this damping, i.e. lies
somewhere between 1% and 3%. Select a value for from within this range and state your
selected value. Also plot the receptance FRF at location 1, i.e. obtain |11 |. How many
degrees of freedom does the model have, how many modes do you see in the two different
FRFs? Are the magnitudes of all modes you see in the two different FRFs the same? If not,
why? Comment on all these questions. (Hint: Use log-log scales or dB-log scales as and
where appropriate)
c. Now assume a proportional damping model of the form [] = [] + []. For your
selected value of , what are one set of candidate values for and , such that the
receptance |11 | obtained using the complex matrix inversion method is similar to that
obtained in (b)? (You will have to compute |11 | using the complex matrix inversion
method.) If you find any differences between |11 | obtained in (b) and that obtained here,
what could be the reasons for that? (Hint: use the hold on command in MATLAB to overlay
figures on each other).
Note:
1. For (b) use [V,D] = eig(K,M) to solve the eigenvalue problem in MATLAB, wherein V are
the eigenvectors and D the eigenvalues. Take care to sort V and D in ascending order.
Also note that D = 2 .
Use this to mass normalize the eigenvectors:
% Mass normalize the eigenvector
for mode = 1:length(omega)
u = V(:,mode);
phi(:,mode) = u/sqrt(u'*M*u);
end
2. For (c), use either the inv or pinv (if necessary) function in MATLAB for complex matrix
inversion.

Problem 3 [04 marks]

Consider a machine tool kept on a first floor of a building in a factory. The machine is composed of a
base, a table, a column, a spindle head, a spindle and a tool. See figure (a). Assume the mass of the first
floor of the building to be 10 tons. (1 ton = 1000 Kg). The mass of the base combined with the mass of the
table is 2 tons. The mass of the column combined with the mass of the spindle head is 1 ton. You may
neglect the mass of the spindle and tool. You may assume that there exists hysteric damping in the
system. The flexibility of the floor of the building may be assumed to be equivalent to two spring-
dampers in parallel, with the stiffness of each spring, = 2.5 106 N/m, with a damping coefficient
of = 250 . The entire machine is supported on four spring-dampers in parallel and is fixed on to
the floor with a spring stiffness of = 1.25 105 N/m, with a damping coefficient of =
12.5 each. Assume the spindle head to be rigidly fixed to the column. The column and the spindle head
combination is fastened onto the machine base with two spring-dampers in parallel that each have a
spring stiffness of = 1 106 N/m with a damping coefficient of = 100.

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a. Assume that the machine on the floor, shown in figure (a) can be modelled as a three degree of
freedom (DOF) system. Make an equivalent three DOF lumped parameter model for this system,
and derive the equation of motion. Take care in noting the parallel arrangement of spring-
dampers. Is this a proportionally damped hysteric system? If yes, what are and ?
b. Solve the eigenvalue problem form of the equation of motion to obtain the natural
frequencies (eigenvalues) and mode shapes (eigenvectors), and mass-normalize the
eigenvectors. Are any of these complex? Compute the phase of each element of the
eigenvector matrix.
c. Now assume that this three DOF lumped parameter model can be better approximated using a
non-proportional hysteric damping model, and that = 0.1 , and that =
= 0. Solve again the eigenvalue problem form of the equation of motion to obtain
the natural frequencies (eigenvalues) and mode shapes (eigenvectors), and mass-normalize
the eigenvectors. Compute again the phase of each element of the eigenvector matrix.
Comment on how the eigenvalues and eigenvectors are different, if at all, than those
computed in (b).
For the remainder of the problem, assume that the machine can be approximated as shown in figure
(b), and that the machine is mounted on the floor that undergoes ground motion.

d. Derive the equation of motion (governing equation) for this system. Take equal to the sum
of all of the masses shown in figure (a). Similarly, take and to be the sum of all of the
equivalent spring-mass dampers shown in figure (a). Remember that this is still a model with
hysteric damping. Pay due attention to the total number of spring-damper elements. Assume
base motion to be harmonic. Calculate the ratio of the response of the machine (x) to the base
motion input (y). Plot the response ratio (magnitude only) as a function of frequency. Suggest
two ways to minimize the maximum response at the machine by 20%.

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