Beruflich Dokumente
Kultur Dokumente
16, 2002
Topic 3
mi u&&i + ∑ k ir u r = Pi (t )
r
P (t) mi
i
where i = mass 1,2,3 …. n and k ir is the term in the
stiffness matrix associated with the force at node r,
generated by a unit displacement at node i.
P (t) m1
1
In matrix notation, the equation of motion is:
[m]{u&&}+ [k ]{u} = {P }
We assume that the external forces are “harmonic”,
or of the form Pi (t ) = Pi sin ωt which, in matrix notation is {P } = {Po }sin ωt .
The Particular Solution provides the Steady Response and is {u(t )} = {u}sin ωt ,
where {u} is an amplitude vector, describing the amplitude of the individual forces.
This acceleration is of the following form:
Page 1 of 4
CEE490b Jan. 16, 2002
In general, there are two types of damping that one has to examine with damped
vibrations.
The relative velocity is the velocity at station ( i ) - the velocity at station ( i-1)
Since absolute damping depends only on the absolute motion of each mass, the
damping matrix is diagonal. Since relative damping depends on the inter-storey
motion, then off-diagonal terms are present in the damping matrix. Similarly,
stiffness can also be relative, or absolute. In our previous example of the shear
building we had relative stiffness in the inter-storey columns
Page 2 of 4
CEE490b Jan. 16, 2002
We can expand the 3-storey shear building of last week to include both types of
stiffness and damping components. Recall that the stiffness constant for the
columns of the shear building was of the form:
12EI i
ki = ⋅ N ; where N was the number of columns per storey
l3
Applying Newton’s second law to the individual masses (mass x acceleration = sum
of forces), the equations of equilibrium are:
Page 3 of 4
CEE490b Jan. 16, 2002
We can use the double subscripted notation as before to further generalize the
equations for each mass:
n n
mi u&&i + ∑ k ir u r + ∑ c ir u& r = Pi (t ) for each of i=1,2,…n
r =1 r =1
m1 0 0 u1 P1
[m] = 0 m2
0 , {u} = u 2 , {P } = P2
0 0 m3 u P
3 3
k 1 + k 2 + k 4 − k2 0 k 11 k 12 k 13
[k ] = − k 2 k2 + k3 + k5 − k 3 = k 21 k 22 k 23
0 − k3 k 3 + k 6 k 31 k 32 k 33
Note that both the damping and stiffness matrices are symmetric, since k ij = k ji and
c ij = c ji . The elements of the damping matrix are analogous to those elements of the
stiffness matrix. The element c ij is the force required at mass i (in the direction of
u i to produce a unit velocity at mass j, while the velocities at all other masses are
zero. The equations of motion are are established by forming the stiffness, damping
and mass matrices for the whole structure.
Page 4 of 4