Beruflich Dokumente
Kultur Dokumente
(2016)
1.1 Introduction
A structure undergoes free vibration when it is brought out of static equilibrium and can then oscillate
without any external dynamic excitation. Free vibration of structures occurs with some frequencies
which depend only on the parameters of the structures such as boundary conditions, distribution of
masses, stiffnesses within the members etc, and not on the reason for the vibration. At each natural
frequency of free vibration, the structure vibrates in simple harmonic motion where the displaced
shape (mode shape) of the structure is constant but the amplitude of the displacement is varying in a
sinusoidal manner with time. The number of natural frequencies in a structure coincides with the
number of degrees of freedom in the structure. These frequencies are inherent to the given structure
and are often referred to as eigenfrequencies. Each mode shape of vibration shows the form of an
elastic curve which corresponds to a specific frequency.
A method of obtaining the natural frequencies and mode shapes of vibration is modal analysis. This is
a technique by which the equations of motion, which are originally expressed in physical coordinates,
are transformed to modal coordinates using the eigenvalues and eigenvectors gotten by solving the
undamped frequency eigenproblem. The transformed equations are called modal equations.
For an undamped free vibration, the equation of motion is;
Mü + ku = 0 ------------------------ (1)
M 0 Ü K +K −K U 0
+ = ------------------------------------ (2)
0 M Ü −K K U 0
(K + K ) − M ω −K
det = 0 ------------------------------- (3)
−K K −M ω
U1 = A1sin( + ), U2 = A2sin( + )
Where Ai is the amplitudes of the displacement of mass Mi, and is the initial phase of vibration.
[(K + K ) − M ω ]A − K A = 0
−K A + (K − M ω ) A = 0
To obtain the frequency equation, a non-trivial solution exists (non-zero amplitudes Ai), if the
determinant of the coefficients to the amplitude is zero. This is also called the characteristic
polynomial equation and is thus;
(K + K ) − M ω −K
det = 0 ------------------------------- (3)
−K K −M ω
The system does not allow us to determine amplitudes directly, but we can find the ratio between
these amplitudes. Hence for equation 3 above;
( ) )
= − or = − -------------------- (4)
( ) )
If we assume A1 = 1.0, then entries [1 ] defines for each eigenfrequency, the column of the
modal matrix Φ. The shape of each mode of free vibration is unique but the amplitude of the mode
shape is undefined. The mode shapes are usually normalised such that the largest term in the vector is
1.0 [4]. The mode shapes have the important property of being orthogonal with respect to the mass
and stiffness matrix of the structure.
A frame with an infinitely rigid floor is supported by 300 x 300 mm columns. If it is loaded as shown
carry out the full dynamic analysis of the structure. (EI = 2.1 × 107 KN/m2)
10 0 0
Mass matrix of the structure m = 10 0 15 0
0 0 15
Bending moment diagram caused by unit displacement of the constraint 1 is shown in Fig. 1.3. Elastic
curve is shown by dotted line. Since cross bars are absolutely rigid members (stiff floor beams and
slabs), then joints cannot be rotated and each vertical member should be considered as fixed-fixed
member. In this case, specified ordinates are and the corresponding reaction is .
For the columns, the total reaction due to unit horizontal displacement at level 1 is;
= +
×
= = 787.5 /
K31 = 0
Figure 1.3: Unit State Diagram for unit horizontal displacement at point 1
K13 = 0
1575 −1575 0
K = 103 −1575 3150
3
−1575 Note that multiplying by 10 converts KN to N.
0 −1575 3150
You can verify that this corresponds with the stiffness for 3 DOF spring and mass system knowing
24
that each storey has a stiffness of 3 .
− 0
K = 103 − + −
0 − +
In modal analysis using stiffness method, the frequency equation is given by;
| − |A = 0
( − ) ( ) ( )
D= ( ) ( − ) ( ) =0
( ) ( ) ( − )
| − |A = 0
Therefore;
=Φ Φ
Therefore;
10000 0 0 1.000
= [1.0000 0.8396 0.4772] 0 15000 0 0.8396
0 0 15000 0.4772
1.000
= [10000 12594 ]
7158 0.8396 = 23989.72 kg
0.4772
10000 0 0 1.000
= [1.0000 −0.2031 −1.0396] 0 15000 0 −0.2031
0 0 15000 −1.0396
1.000
= [10000 −3046.5 −15594 ] −0.2031 = 26830.266 kg
−1.0396
10000 0 0 1.000
= [1.0000 −1.3032 0.8958] 0 15000 0 −1.3032
0 0 15000 0.8958
1.000
= [10000 −19548 13437] −1.3032 = 47511.818 kg
0.8958
= Φ Φ
Therefore;
As a verification;
.
= = 25.262 =
.
.
= = 189.488 =
.
.
= = 362.749 =
.
23989.72 0 0
Therefore the generalised mass matrix = 0 26830.266 0
0 0 47511.818
606031.273 0 0
Therefore the generalised stiffness matrix = 0 5084021.283 0
0 0 17234892.49
Φ Φ = 1.0
Ci =
1.000 0.006456
C1 = = = 0.006456; Thus ϕ1 = 0.006456 0.8396 = 0.005420
√ .
0.4772 0.003081
1.000 0.006105
C2 = = = 0.006105; Thus ϕ2 = 0.006105 −0.2031 = −0.001239
√ .
−1.0396 −0.006347
1.000 0.004587
C3 = = = 0.004587; Thus ϕ3 = 0.004587 −1.3032 = −0.005978
√ .
0.8958 −0.004109
0.006456 0.006105 0.004587
ϕ= 0.005420 −0.001239 −0.005978
0.003081 −0.006347 −0.004109
Let xi(t) be the generalised coordinate which represent the amplitude of the orthonormalised mode
shape. Therefore the displacement time history response;
u(t) = ϕ xi(t)
Mü + ku = 0 ------------------------ (1)
u(t) = ϕ xi(t); u̇ (t) = ϕ ̇ i(t); ü (t) = ϕ ̈ i(t)
Also realise that;
1 0 0
ϕT m ϕ = Mg = 1 = 0 1 0
0 0 1
25.262 0 0
ϕT k ϕ = Kg = diag[ ]= 0 189.488 0
0 0 362.749
ϕTMgϕ ̈ + ϕTKgϕx = 0
This implies that;
̈ + Kgx = 0
From the above relationship, we can then deduce the following differential equations for the problem
we have been solving;
Let us assume the initial condition in all cases x(0) = 0; ̇ (0) = 1.0
( ̅ − − ) + 25.262 ̅ = 0
In similar fashion;
These can be transformed back to physical coordinates via the modal matrix, as per u(t) = Φx(t). Here
are the calculations for the mass displacement responses.
The velocity time history response is obtained by direct differentiation of the displacement time
history equations;
The acceleration time history response is obtained by direct differentiation of the velocity time history
equations;
The time history response of displacement, velocity, and acceleration has been plotted using
MATLAB and are shown in Figures 1.7 to 1.9