Mechanical Vibrations Chapter 2

Undamped Vibrations of
n-Degree-of-Freedom Systems
Mechanical Vibrations

Part 1
Normal Modes of Vibrations
3
Vibrations about an equilibrium configuration

Lagrange equations in the general case

d  T2  T2 V * D   T1 

    Qs ( t )    Fs    ( s  1, , n )
dt  q s  qs qs q s t  q s 

where V *  V  T0
n
Fs   qr g rs
r 1

An equilibrium configuration i.e. a time-independent configuration

qs (t )  qs (0) ; q s (t )  0 ( s  1,  , n)

exists if V (q, t )  V (q) and Qs (t )  0 .

* *
4
Vibrations about an equilibrium configuration

If we further assume that the nonconservative forces are zero

when q s (t )  0 , it follows from Lagrange’s equations that an
equilibrium position is solution of

V *  (V  T0 )
 0 ( s  1, , n)
qs qs

where the imposed transport kinetic energy T0 is assumed to correspond

to a uniform rotation or translation.
5
Vibrations about a stable equilibrium position

If the system does not undergo overall motion, its kinetic energy reduces
to T  T2 (q ) and the equilibrium position is solution of

V
0 ( s  1, , n)
qs

Since the potential energy is defined only to a constant, we choose it to be

zero at equilibrium i.e.

V(0)  0 when qs  0 (s  1, …, n)
6
Vibrations about a stable equilibrium position

Linearization of potential energy

In the neighborhood of the equilibrium position qs  0 (s  1, …, n)
n
 V  1 n n
  2V 
V (q )  V (0)     qs      q r q s  O ( q 3
)
s 1  q s  q 0 2 s 1 r 1  q s q r  q 0
linearization

1 n n
  2V 
V (q)    krs qr qs with krs  k sr  
2 s 1 r 1 q q
 s r q  0
stiffness coefficients
Or, in the matrix form,

1 T
V (q)  q K q > 0 for q ≠ 0
2
Linear stiffness matrix
7
Vibrations about a stable equilibrium position

As k rs  k sr  KT  K

1 T
and V (q)  q K q  0 for q0
2
The stiffness matrix K is symmetric and positive definite.
8
Vibrations about a stable equilibrium position

Example of a pendulum Potential energy: V    m g  1  cos  

x2
V() = 0 at equilibrium ( = 0)
 
V  2V
 m g  sin  and  m g  cos 
m   2
x1

V V  2V
 0 and 0
  2

Instable equilibrium position

V  2V
 0 and 0
  2
 Stable equilibrium position
p 0 p
9
Vibrations about a stable equilibrium position

Linearization of kinetic energy

When the system does not undergo overall motion, the kinetic energy
reduces to the sole term

T  T2  q 
linearization
1 n n   2T2 
T2  q   
2 s 1
  q s qr  r s q
 q
  O 
q
 2
,q 
r 1  q  0

n n
1   2T 2 
T2 ( q )  
  mrs qr qs with mrs  msr   
2 s 1 r 1  q s q r q 0
inertia coefficients
10
Vibrations about a stable equilibrium position

In matrix form,
1 T
T2 (q )  q M q
2
Linear mass matrix

As mrs  msr  MT  M

1 T
and T2 (q )  q M q  0  0
for q
2
The mass matrix M is symmetric and positive definite.
11
Vibrations about a stable equilibrium position

Equations for free vibrations about a stable equilibrium position

Making use of the expressions

1 T 1 T
V (q )  q K q and T2 (q )  q M q
2 2

the Lagrange equations provide the system of equations of motion

governing the free vibrations about a stable equilibrium position

  K q  0
Mq
12
Vibrations about a stable equilibrium position

Example of coupled pendulums

D

T
1
2

m  2 12  22 
1
  
V  m g  1  cos 1  m g  1  cos  2   k2
2

where  1 , 2   L  D
     
2 2
L 1 , 2  a 2 cos  2  cos 1  a sin  2  a sin 1  D

Stable position : 1  0 ,  2  0

Linearized potential energy

1 2 2   2V 
V 
2 s 1
   s r  r s 2  
1
m g  1
2
 2
2 
1
2
k a2
 2  1  
2

r 1  θ  0
13
System undergoing steady motions

When the system undergoes steady motion, its equilibrium condition is

defined by
V *  (V  T0 )
 0 ( s  1, , n)
qs qs

Linearization of the effective potential energy

n n
1   2
T0 
V * (q)   ksr* qs qr where k sr  k sr  
 q q 
*
2 s 1 r 1  r s  q 0
Linearization of the relative kinetic energy

1 n n
T2 (q )   msr qs qr
2 s 1 r 1
14
System undergoing steady motions

Linearization of the coupling kinetic energy

n
T1 n n n
T1   qs   cs qs   f sr qs qr
s 1 qs s 1 s 1 r 1

 T1    2T1 
where cs    and f sr   
 qs q0  qs qr q0

From the definition of T1, it can be deduced that the coefficients cs

and fsr remain constant in a transport motion with uniform speed.
15
System undergoing steady motions

Equations for free vibrations about a stable equilibrium position

 m 
n

sr qr  ( f sr  f rs ) qr  ksr* qr  0 ( s  1,, n)

r 1

or, in matrix form

  G q  K * q  0
Mq

The structure of this equation renders the analysis of systems undergoing

overall motion more difficult.
16
System undergoing steady motions

Example
x = relative coordinate about the rotating axis
 Fixed coordinates:

k X  (a  x) cos  t Y  ( a  x) sin  t
m
X  (a  x)  sin  t  x cos  t
x
a Y  (a  x)  cos  t  x sin  t

1 1 1
V  k x2 and T  T0  T2  m  (a  x)  m x 2
2 2

2 2 2
The equilibrium configuration is obtained as the solution of
V * 
  k xeq  m  2
(a  xeq )  0
x  eq

m 2 a
Hence xeq  which shows that the system becomes unstable when   k / m
2
k  m 2
17
Neutrally stable equilibrium position

Examples
• A shaft in torsion and simply supported on its bearing,
• An airplane in rectilinear flight,
• A freely supported structure.

In these cases, non-zero displacement modes exist such that

1 T
V (q )  q K q  0 for q  0
2
They are solutions of Kq0 (dtm K  0)

These solutions, denoted u, are called rigid-body modes.

They correspond either to transport motion or to the existence of a

mechanism.
18
Normal modes of vibration

Let us seek a particular solution of

  K q  0
Mq

in the form q  x  (t ) temporal law

vector of constants

Substituting a solution of this type yields

 t  M x    t  K x  0
19
Normal modes of vibration

Systems with a stable equilibrium configuration (K is non-singular)

 t 
Kx Mx
 t 
It follows that

 t 
    2 and K   2
M x  0
 t 

The differential equation  t      t   0 has a solution of

2
harmonic type:

 (t )   cos  t   sin  t
circular frequency
20
Normal modes of vibration

 
The eigenvalue problem K   M x  0 gives non-trivial solutions:
2

 r2 called the natural frequencies

r  1,  , n
 x(r) called the normal modes

where r2 is a root of the algebraic equation


det K   2 M  0
21
Normal modes of vibration

Systems with a neutrally stable equilibrium configuration (K is singular)

The system admits rigid-body displacement modes which are solutions of

Ku0

In this case: q   (t ) u  (t ) M u  0

Since M is positive definite, we have: (t )  0

and the solution corresponds to a transport motion

 (t )  (   t )
The number of rigid-body modes u(i) is equal to the degree of singularity
of the stiffness matrix.
22
Normal modes of vibration

Example: system with N equal masses and N1 springs

q1 q2 qN 1 q N 1
k k k k k
m m m m

Mode 1 Mode 2 Mode 3

q q q

1
1 DOF n° 100 DOF n° 100 1 DOF n° 100

Mode 8
q

DOF n°
… 1 100
…
23
Normal modes of vibration

Example: vibration modes of a plate

24
Normal modes of vibration

Example: vibration modes of a glider wing

• Elastic deformation mode

• Rigid-body mode
25
Normal modes of vibration

Example:
vibration modes of a compressor blade

331 Hz

3878 Hz
26
Normal modes of vibration

Typical ranges Micro-accelerometer Micro-bolometer

Overall sizes: 10 - 104 mm

Natural frequencies: 104 - 109 Hz
Q values: 1 - 105

Micro-resonators are prime candidates

for experiencing nonlinear behaviour:
• excitation near resonance,
• light damping

 large amplitudes
Source: Polytech
27
Orthogonality of normal modes

The normal modes verify the orthogonality relationships

generalized stiffness of mode r

x(Ts ) K x( r )   r  rs r
with   r2
x(Ts ) M x( r )  m r  rs mr

generalized mass of mode r

 1 if r  s
Kronecker’s symbol  rs 
 0 if r  s

Note that the orthogonality relationships hold when several eigensolutions

degenerate and give rise to a multiple eigenvalue (which is the case when
rigid-body modes exist).
28
Orthogonality of normal modes

Physical meaning of the orthogonality relationships

x(Ts ) K x( r )   r  rs
x(Ts ) M x( r )  m r  rs

The virtual work produced by the inertia forces of mode r

in a virtual displacement described by mode s is zero.

Similarly,

The virtual work produced by the elastic forces of mode r

in a virtual displacement described by mode s is zero.
29
Orthogonality of normal modes

Normalization of modes

Very often, the modes are mass-normalized (mr  1) such that

x(Ts ) K x( r )  r2  rs
x(Ts ) M x( r )   rs

In matrix form Matrix of eigenmodes

XT M X = I X  [x(1)  x( n ) ]
where
T
X K X=Ω 2

Ω 2  diag 12  n2 
30
Spectral expansions using eigenmodes

As the normal modes form a vector basis which spans the n-dimensional
space, any vector admits a unique expansion
n
x    s x( s )
s 1

Premultiplying this equation by x(r)T M and making use of the

orthogonality relationships gives

xT( s ) M x
s 
ms

One obtains the modal expansion of x

n x T( s ) M x
x x(s)
s 1 ms
31
Spectral expansions using eigenmodes

n xT( s ) M x n x( s ) xT( s ) M
Noticing that x x( s )   x
s 1
ms s 1
ms

One deduces the spectral expansion of the unit matrix

n x ( s ) x T( s ) M
I
s 1 ms

spectral expansions of K, M, K-1, M-1, ...

32
Response to non-zero initial conditions

In the absence of external loading, the response of the system may be

determined by superposition of normal modes

qK q 0
M 
given q  0   q0 , q  0   q 0

Systems with a stable equilibrium position

Vector of normal coordinates
Let us write
η  [1 (t )   n (t )]
n
q(t )   x ( s )  s (t )  X η(t )
s 1 Matrix of eigenmodes

X  [x (1)  x ( n ) ]
33
Response to non-zero initial conditions

The equations of motion become

ηK X η  0
M X 

Premultiplying by XT and taking into account the orthogonality

relationships leads to the system of n uncoupled equations called
the normal equations

η  Ω2 η  0
 or r  r2  r  0 (r  1, , n)

Solution :  r   r cos  r t   r sin  r t

Thus the general solution is expressed in the form
n

q(t )    s cos  s t   s sin  s t x( s ) 
s 1
2 n constants obtained from the initial conditions
34
Response to non-zero initial conditions

Initial conditions

n n
q 0    s x s  q 0    s s x s 
s 1 s 1

Premultiplying by x(r)T M and making use of the orthogonality

relationships gives

x T( s ) M q 0 x T( s ) M q 0
s  s 
ms ms s
35
Response to non-zero initial conditions

Systems with neutrally stable equilibrium position

Let us write

Number of rigid-body modes Vector of normal co-ordinates

m nm
q(t )   u(i )  i (t )   x( s)  s (t )  U ξ(t )  X η(t )
i 1 s 1

Rigid-body mode matrix

General solution
 m n m

q(t )    u ( i ) u (i )   x ( s ) x ( s ) cos  s t  M q 0
T T

 i1 s 1 
 m n m x x T

   u (i ) uT(i ) t   ( s ) ( s ) sin  s t  M q 0
 i1 s 1 s 