Beruflich Dokumente
Kultur Dokumente
Vibration 3
2DOF and
Multiple DOF systems
x1 x2
m1 m2
k1
k2
Textbook: Chapter 5
2-
1
-
Free-Body Diagram
k2(x2 -x1)
k1 x1 m1 m2
x1 x2
Equations of Motion
m1 &x&1 (t ) = k1 x1 (t ) + k 2 ( x2 (t ) x1 (t ) )
m2 &x&2 (t ) = k 2 ( x2 (t ) x1 (t ) )
Rearranging :
m1 &x&1 (t ) + (k1 + k 2 ) x1 (t ) k 2 x2 (t ) = 0
m2 &x&2 (t ) k 2 x1 (t ) + k 2 x2 (t ) = 0
2
-
Initial Conditions
Two coupled, second -order, ordinary
differential equations with constant
coefficients
Needs 4 constants of integration to solve
Thus 4 initial conditions on positions and
velocities
x (t ) x& (t ) &x& (t )
x(t ) = 1 , x& (t ) = 1 , &x&(t ) = 1
x2 (t ) x& 2 (t ) &x&2 (t )
m 0 k + k k2
M = 1 ,K = 1 2
0 m2 k2 k 2
M&x& + Kx = 0
3
-
Initial Conditions
x10 x&10
x(0) = , x& (0) =
x20 x& 20
Solution:
Let x(t ) = ue jt
j = 1, u =/ 0, unknown
( )
- 2 M + K ue jt = 0
(
- 2M + K u = 0 )
8
4
-
(- 2
)
M +K u=0
two algebraic equation in 3 uknowns
u
u = 1 , and
u 2
inv(- 2 M + K ) exists u = 0
or det(- 2 M + K ) = 0
10
5
-
6
-
Numerical example
13
7
-
continued
u11 1 1
= u11 = u12 from both equations :
u12 3 3
only the direction, not the magnitude can be determined!
This is because : det (12 M + K ) = 0.
The magnitude is arbitrary.
Suppose u1 satisfies
(12 M + K )u1 = 0, so does au1 , a arbitrary :
(12 M + K ) au1 = 0 (12 M + K )u1 = 0
15
u21
For 22 = 4, let u2 = then we have
u22
(-12 M + K)u = 0
27 9(4) 3 u21 0
=
3 3 (4) u22 0
1
9u21 3u22 = 0 or u21 = u22
3
Note that the other equation is the same
16
8
-
Choose:
13
u12 = 1 u1 =
1
Choose:
13
u22 = 1 u 2 =
1
17
18
9
-
Physical interpretation
20
10
-
21
Mode shapes:
1/3 1
Mode 1: m1 m2
-1/3 1
Mode 2: m2 m2
22
11
-
27
Things to note
28
14