Vibrations in undamped linear 2-dof systems

(last updated 2011-09-09)

Kjell Simonsson 1
 Aim

The aim of this presentation is to give a short review of basic vibration

analysis in undamped linear 2 degree-of-freedom (2-dof) systems.

The basic procedure how to analyze such a system, and the typical
features of it, will be discussed by looking at a specific example.

For a more comprehensive treatment of the subject, see any book on

vibration analysis.

Kjell Simonsson 2
 A simple example

Let us study some basic phenomena of linear 2 dof vibration analysis

(of un-damped) systems, by considering the example shown below!

F  F0 sin 0t
EI
a a a m
3m

By making a free body diagram of the (point) masses, we get

F  F0 sin 0t  : m1x1   S1  F 

 
 : m2 x2   S 2 
m1
x1 m2  m1x1  S1  F
x2 
S1 m2 x2  S 2  0
S1 S2 S2
Kjell Simonsson 3
 A simple example; cont.

Let us now express S1 and S2 as functions of

x1 and x2 by using superposition of tabulated
beam solutions (elementarfall in Swedish)

x1  1I  1II , x2   2I   2II

Kjell Simonsson 4
 A simple example; cont.

x1  1I  1II , x2   2I   2II

S  2 a 3
1  3 1 1  S a 3
1I  1   1
6 EI 2  4 2 8  6 EI
S
I  1
 2 a 2
1 1 3 S a 2
S
 1   2I   I a  1
a 3

6 EI 2 2 2 4 EI 4 EI

Kjell Simonsson 5
 A simple example; cont.

x1  1I  1II , x2   2I   2II

3 3
S a S a
1I  1 ,  2I  1
6 EI 4 EI

1II 
2 a 2
M    
1 1 Ma 2
S
 2
a 3

6 EI  2 8 4 EI 4 EI
M 2a 2 S 2 a 2
 II  
3EI 3EI

Kjell Simonsson 6
 A simple example; cont.

x1  1I  1II , x2   2I   2II

S1a 3 S1a 3
1I  , 2 
I
6 EI 4 EI
S2a3 2S2 a 2
1 
II
,  II
4 EI 3EI
S2a3 S a 3
2 S a 3
S a 3
 2II  2   II a  2  2  2
6 EI 3EI 3EI EI

Kjell Simonsson 7
 A simple example; cont.

x1  1I  1II , x2   2I   2II

S1a 3 S1a 3
1I  , 2 
I
6 EI 4 EI
S2a3 S2a3
1 
II
, 2 
II
4 EI EI
Thus
3 3
S a S a
x1  1I  1II  1  2
6 EI 4 EI
S1a 3 S 2 a 3
x2   2   2  
I II

4 EI EI
Kjell Simonsson 8
 A simple example; cont.

Solving for the forces as functions of the deflections

S1a 3 S 2 a 3 
x1  
6 EI 4 EI  

S1a 3 S 2 a 3 
x2   
4 EI EI 
 x1  a 3  2  3  S1 
      
 x2  12 EI  3 12  S 2 
 S1  12 EI 1 12 3  x1  4 EI 12 3  x1 
  3     3    
 2
S a 24  9  3 2   2  5a 
x 3 2   x2 

Kjell Simonsson 9
 A simple example; cont.

Finally, for the two equations of motion we get

 m1x1  S1  F 
 
 2 2
m 
x  S  0
2
 
 S1  4 EI 12 3  x1 
  3    
S 2  5a  3 2  x2 
m1 0   x1  4 EI 12 3  x1   F 
 0 m   x   5a 3  3 2  x    0  
 2  2    2   
3m 0   x1  4 EI 12 3  x1   F0 
 0 m  x   5a 3  3 2  x    0  sin 0t

  2      2    
M  x K  x F 

where the matrices (from the left) are referred to as the mass matrix,
acceleration matrix, stiffness matrix, displacement matrix and force matrix,
respectively.
Kjell Simonsson 10
 A simple example; cont.

Eigen/self-vibration
In order to study the self vibration of our system, we need to consider
the homogeneous problem
3m 0   x1  4 EI 12 3  x1  0
 0 m  x   5a 3  3 2  x   0

  2      2  
M  x K  x 0
Led by the results obtained in the
1 dof-context, we adopt the following ansatz for the mass displacements

x1  X 1 sin et    , x2  X 2 sin et   

Note that we have given both masses the same eigenfrequency and phase
angle, which means that they (depending on the sign of the X-factors) either
will move in phase or out of phase. Furthermore, it is to be understood that we
here consider the solution to the homogeneous problem.

Kjell Simonsson 11
 A simple example; cont.

Eigen/self-vibration; cont.
3m 0   x1  4 EI 12 3  x1  0 
 0 m  x   5a 3  3 2  x   0 

  2      2   
M  x K  x 0 
x1  X 1 sin et    , x2  X 2 sin et   
2 3m 0   X 1  4 EI 12 3  X 1  0
 e     3      
0 m  X 2  5a  3 2  X 2  0
    
M  X  K  X  0

 
 
2  3m 0  4 EI 12 3    X 1  0
e    3    
 0 m 5a  3 2  X 2  0
      
 M  K   X  0
As can be seen, this is an eigenvalue problem. By requiring a non-trivial
solution we must require that the determinant of the bracket is zero.
Kjell Simonsson 12
 A simple example; cont.

Eigen/self-vibration; cont.
 
 
 3m 0  4 EI 12 3 
det   e2      0 
 0 m  5a  3 2  
3
    
 M  K  
 
 
 m 0   11 12  
k k
det   e2  1    0 
 0m 2   k 21 k 22  
    
 M  K  
 k11  m1e2 k12 
det   0 
2
  k 21 k 22  m2e  
k11  m1e2 k22  m2e2  k12k21  0 
k11k 22  k11m2  k 22 m1 e2  m1m2e4  k12 k 21  0 
Kjell Simonsson 13
 A simple example; cont.

Eigen/self-vibration; cont.
k11k 22  k11m2  k 22 m1 e2  m1m2e4  k12 k 21  0 

e4 
k11m2  k22m1  2  k11k22  k12 k21   0 
e
m1m2 m1m2
 k11 k 22  2 k11k 22  k12 k 21 
e4   e  0 
 m1 m2  m1m2

1  k11 k 22  k11k 22  k12 k 21 

2
1  k11 k 22 
e2         
2  m1 m2  4  m1 m2  m1m2

1   k11 k 22   k11 k 22 
2
k11k 22 k12 k 21 
e   
2
    4 4 

2  m1 m2   m1 m2  m1m2 m1m2 
 
    
2 
e2    11  22    11  22   4 12 21 
1 k k k k k k
2   m1 m2   m1 m2  m1m2 

Kjell Simonsson 14 
 A simple example; cont.

Eigen/self-vibration; cont.
We have found the following two solutions to the 2 dof eigenvalue problem
    
2 
e2    11  22    11  22   4 12 21 
1 k k k k k k
2   m1 m2   m1 m2  m1m2 
 
By inserting the actual expressions for the stiffness- and mass components,
we get 
4 EI 1   12 2  
 12  2   4 3  3  
2
e2  3 
    
5ma 2   3 1   3 1 3 1 

e2 
4 EI 1
6  4  12  
4 EI 1
6  4    3  2  4 EI

5ma 3 2 5ma 3 2 5ma 3
 2  4 EI
 1 5ma 3
 4 EI
 22 
 ma 3
Kjell Simonsson 15
 A simple example; cont.

Eigen/self-vibration; cont.
In order to see the vibration (mode) form, we plug in the found
eigenfrequencies in the homogeneous form of the equations of motion.
For the lowest eigenfrequency we then find
  
  
  3m 0  4 EI 12 3   X  
     0 
2
e  1
 0 m 5a 3  3 2  X 2  0 
       
 M  K   X  0 
4 EI 
e  1 
2 2

5ma 3
4 EI  3  12 3   X 1  0
3     
5a  3  1  2  X 2  0
As can be seen, these two equations are idenitical. Thus, we can not get both
amplitudes; only their relation!

Kjell Simonsson 16
 A simple example; cont.

Eigen/self-vibration; cont.
Thus, for the first eigenmode we have the following vibration form

4 EI  3  12 3   X 1  0
3      
5a  3  1  2  X 2  0
3 X 1  X 2  0  X 2  3 X 1

As can be seen, the two masses move in an out of phase manner.

Kjell Simonsson 17
 A simple example; cont.

Eigen/self-vibration; cont.
For the second eigenmode we instead find

  
  
  3m 0  4 EI 12 3   X  
     0 
2
e 
 5a 3  3 2   X
1
 
0 m       0  
       2
 M  K   X  0 
4 EI 4 EI 
e   2  3  5 
2 2

ma 5ma 3
4 EI  15  12 3   X 1  0
3     
5a  3  5  2  X 2  0
As can be seen, these two equations are idenitical. Thus, we can not get both
amplitudes; only their relation!

Kjell Simonsson 18
 A simple example; cont.

Eigen/self-vibration; cont.
Thus, for the second eigenmode we have the following vibration form

4 EI  15  12 3   X 1  0
3      
5a  3  5  2  X 2  0
 X1  X 2  0  X 2  X1

As can be seen, the two masses move in an in phase manner. That this
eigenmode is associated with a higher frequency can be understood in that it
requires more strain energy to deform the beam like this.

Kjell Simonsson 19
 A simple example; cont.

Eigen/self-vibration; cont.
Some final comments
• The resulting motion will be a combination of the two eigenmodes

x1  X 1,mod e1 sin 1t  mod e1   X 1,mod e 2 sin 2t  mod e 2 

x2  X 2,mod e1 sin 1t  mod e1   X 2,mod e 2 sin 2t  mod e 2 

   
3 X1,mod e1 X1,mod e 2

where the 4 unknown constants are given by the initial conditions for
displacement and velocity of the two masses.
• In a stationary state ("fortvarighet" in Swedish) the eigenvibrations have
vanished, and only the forced vibration remains.

Kjell Simonsson 20
 A simple example; cont.

Forced vibration
In order to study the forced vibration of our system, we need to consider
the non-homogeneous problem
3m 0   x1  4 EI 12 3  x1   F0 
 0 m  x   5a 3  3 2  x    0  sin 0t

  2      2  
M  x K  x F 
Led by the form of the force, we now adopt the following ansatz
for the mass displacements
x1  X 1 sin 0t  , x2  X 2 sin 0t 
It is to be understood that we from now on consider the particular solution
(valid at stationary conditions). We get

 3 0  X 1  2 12 3  X 1   F0 / m 
 2
0     1      
0 1  X 2   3 2  X 2   0 
Kjell Simonsson 21
 A simple example; cont.

Forced vibration; cont.

 3 0  X 1  2 12 3  X 1   F0 / m 
  2
0     1      
0 1  X 2   3 2  X 2   0 
  302  1212 312   X 1   F0 / m 
 2    
 31 2
 0  21   X 2   0 
2

 X1  1
  
 X 2   30  121  0  21   91
2 2 2 2 4

  02  212  312   F0 / m 

 2   
  31  30  121   0 
2 2

Kjell Simonsson 22
 A simple example; cont.

Forced vibration; cont.

 X1  1
  
 X 2   30  121  0  21   91
2 2 2 2 4

  02  212  312   F0 / m 

 2   
  31  30  121   0 
2 2

 X1  1    2
 21  F0
2

   0
4  
 X 2   30  121  0  21   91   31  m
2 2 2 2 2

Looking at the denominator for the case that the applied load frequency is
equal to one of the eigenfrequencies of the system, we get

Kjell Simonsson 23
 A simple example; cont.

Forced vibration; cont.

1  As can be seen, the mass
  4

 30  121  0  21  91  
2 2 2 2 amplitudes go to infinity when
the applied load frequency
02  12  approaches any of the
eigenfrequencies of the system,
1
" "
 312  1212  
i.e. we get resonance!
 1  21  91
2 2 4

1 
  4

 30  121  0  21  91  
2 2 2 2

02  22  512 

1
" "
 1512  1212  2 2

 51  21  91
4

Kjell Simonsson 24
 Summary

The following features are common to all undamped linear 2-dof

systems
• They possess 2 eigenfrequencies
• If the applied loading frequency is equal to any of these we will
get resonance
• To each eigenfrequency there is an associated vibration mode;
a so called eigenmode
Corresponding results are valid for discrete n-dof systems, where
we find n eigenfrequencies etc

Kjell Simonsson 25