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CEE490b Jan.

16, 2002

Topic 3

Forced Vibration of Multi-Degree-of-Freedom Systems – I


We will be using modal analysis to solve problems involving Forced Vibration of
Multi Degree of Freedom Systems, so the “direct” method which follows is not
generally used. This is because the damping term adds a phase shift which
generally makes this method impractical for real situations where damping is
present.

Forced Undamped Vibration

Equations of motion due to external excitation are


readily obtained from the equations of free vibration
P (t) by adding excitation terms Pi (t ) to the right hand
n mn
side of the MDF equation:

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:

{u&&(t )} = −{u}ω 2 sinωt


Substituting these expressions for displacement and acceleration in the equation of
motion yields:

− [m ]ω 2 {u}sin ωt + [k ]{u}sin ωt = {Po }sin ωt


( )
or [k ] − ω 2 [m ] {u} = {Po }

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CEE490b Jan. 16, 2002

This is a set of nonhomogeneous algebraic equations for the unknown


amplitudes, {u}. The frequency, ω is given, since it is the frequency of excitation,
and so the resulting amplitudes of vibration can be calculated directly as a solution
of simultaneous linear equations, using standard software. A system with n-degrees
of freedom has n resonances. At resonances with the natural frequencies, ω = ω j ,
the amplitudes grow to infinite amplitudes when there is no damping present.

Forced Damped Vibration

In general, there are two types of damping that one has to examine with damped
vibrations.

RELATIVE DAMPING ABSOLUTE DAMPING


- Good for structural damping - Good for aerodynamic damping
- Depends only on inter-storey motion - Depends only on storey motion
- Damping force = c i x relative velocity - Damping force = c i x absolute velocity

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

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CEE490b Jan. 16, 2002

c 2 ,c 3 - Relative Damping k 2 ,k 3 - Relative Stiffness


c1, c 4 , c 5 , c 6 - Absolute Damping k1, k 4 , k 5 , k 6 - Absolute Stiffness

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:

For the first mass:

m1u&&1 = −(k 1 + k 4 + k 2 )u1 + k 2u 2 − (c1 + c 2 + c 4 )u&1 + c 2u& 2 + P1

For the second mass:

m2u&&2 = k 2u1 − (k 2 + k 3 + k 5 )u 2 + k 3 u 3 + c 2 u&1 − (c 2 + c 3 + c 5 )u& 2 + c 3 u& 3 + P2

For the third mass:

m3 u&&3 = k 3 u 2 − (k 3 + k 6 )u 3 + c 3 u& 2 − (c 3 + c 6 )u& 3 + P3

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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

This in matrix form is:

[m]{u&&}+ [c ]{u&}+ [k ]{u} = {P}


where:

m1 0 0  u1   P1 
   
[m] =  0 m2 
0  , {u} = u 2  , {P } = P2 
 0 0 m3  u  P 
 3  3

c1 + c 2 + c 4 − c2  c11 c12 c13 


[c ] =  − c 2 c2 + c3 + c5 − c 3  = c 21 c 22 c 23 
 − c3 c 3 + c 6  c 31 c 32 c 33 

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.

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