Dynamic Response of

MDOF Structures-Part 2

1
 Outline

• Frequency and Modal shape Analysis:

Free Undamped Vibration
• Modal Analysis: Uncoupling the
Equations of Motion:Free,Forced and
Damped Vibration
• Modal Response Combination:

2
MDOF Summary

3
Method for Uncoupling the Equations of Motion

4
Method for Uncoupling the Equations of Motion

5
Orthogonality Properties of Mode shapes

6
Orthogonality Properties of Mode shapes

7
 Scaling the Modeshapes
• Arbitrary

Set one mode shape coefficient equal to

unity (ex: coeff. at roof level = 1.0)
iT Mi  1
Mass normalized  M  I
T
iT Mj  0 for i  j

 w12 0 0 0
 
T K K*  0 w22 0 0
 * = 
 M M  0
T
0 ... 0 
 
0 0 wn2 
 0 8
Repeat the 2-DOF example

9
Uncoupling -2-DOF

10
Combine-Back-SDFO to
physical coordinates

11
 Forced-Undamped Vibration-
Uncoupling

 M x   K x   f 

x(t )  i qi (t )

N
modal representation
i 1

 q1 (t ) 
 q (t ) 
 
x(t )  1 2 N   2
 
    q(t )
 
qN (t )  12
 Forced-Undamped Vibration-Uncoupling

 M x   K x   f 

 M q(t )   K q(t )   f 

  M q(t )    K q(t )  

T T T
 f (t )
 M   0
T
i j
i j

 K   0
T
i j
i j
13
 Forced-Undamped Vibration-Uncoupling

  M   q     K   q     f 
T T T
i i i i i i i i  1, 2, , N
i

M i*qi  Ki*qi  fi* i  1, 2, ,N

   M   : generalized mass (“modal mass”) for mode i

T
M  i*
i i
i

    K   : generalized stiffness (“modal stiffness”) for mode i

T
*
K i i i

    f  : generalized force (“modal force”) for mode i

T
*
fi i

t
1 1 1
qi (t )  *
M i wi 
0
fi* ( )sin wi (t  )d  qi (0)cos wti 
wi
qi (0)sin wti

14
 How to find the initial conditions in the modal space?
x(0)   j q j (0)
N

 
T
j 1 Premultiply by i M
x(0)   j q j (0)
N

j 1

    M  q (0)    M  q (0)    M   q (0)

N N
M  x(0)  i
T T T T
i j j i j j i i i
j 1 j 1

    M   q (0)
M  x(0)  i
T T
i i i

 M  M
T T

q (0)  x(0) q (0)  x(0)

i i

  M     M  
i T i T
i i i i

 
 q(0)  x(0)  
q(0)    
1
x(0)

q(0)  x(0) q(0)   1
x(0) 15
Uncoupling-Including damping and Forced Vibration

M i*qi  Ci*qi  Ki*qi  fi* i  1, 2, ,N


T
f * i f
qi  2i wi qi  wi qi  * 
2 i
i  1, 2, , N
 
T
Mi i M i
t
1 1
qi (t )  *
M i wd ,i 0
fi* ( )ei wi (t  ) sin wd ,i (t  )d

 1 
e i wi t
qi (0) cos wd ,it   qi (0)  i wi qi (0)  sin wd ,it 
 wd ,i 

wd ,i  wi 1  i2
x(t )  i qi (t )
N
16
i 1
Example-2-Forced Undamped-3DOF
(Carefully Read-Each Slide-Word by Word)

17
Solution: Frequency and Mode Shapes

18
Uncoupling

19
Solution: Uncoupled SDOF-Forced Free
Vibration



wn

Note:Where

Ω- Excitation Frequency
ω n- structure n mode frequency

20
Forced-Steady-State Solution

21
22
Displacement Response of Building
Combining Different Modes effects

23
Note:Resonace Effects( Excitation
and Modes Frequency-nearly equal!

24
Note:Resonace Effects( Excitation
and Modes Frequency-nearly equal!

25
Example 3-7 MDOF

26
7-MDOF Example Contd…

27
Find Natural Frequency and Normal modes

det  M   w2  K   0

 2k k 0 0 0 0 0   2 1 0 0 0 0 0 
k 2k k 0 0 0 0  1 2 1 0 0 0 0 
   
 0 k 2k k 0 0 0   0 1 2 1 0 0 0 
 K    0 0 k 2k k 0 0   6000  0 0 1 2 1 0 0  kip/ft
 0 0 0 k 2k k 0   0 0 0 1 2 1 0 
   
 0 0 0 0  k 2k  k   0 0 0 0 1 2 1
 0 0 0 0 0 k k   0 0 0 0 0 1 1 
   

m 0 0 0 0 0 0 1 0 0 0 0 0 0
0 m 0 0 0 0 0  0 1 0 0 0 0 0
 
0 0 m 0 0 0 0  0 0 1 0 0 0 0
 M    0 0 0 m 0 0
 100 
0 
32.2 
0 0 0 1 0 0

0 kip×sec2 /ft
0 0 0 0 m 0 0 0 0 0 0 1 0 0
   
0 0 0 0 0 m 0 0 0 0 0 0 1 0
0 28
 0 0 0 0 0 m 0
 0 0 0 0 0 1 
Natural Frequency and Normal modes
Contd…
 w1 , w2 , w3 , w4 , w5 , w6 , w7   9.19, 27.17, 43.95,58.82,71.12,80.31,85.99 rad/sec


Let’s illustrate how we can find a modeshape i once we know wi . Let’s try it for
mode 3 for which the natural [angular] undamped frequency is w3  43.95 rad/sec.

Using  K   w  M   0 , which is valid for any mode, we have

2

 K   43.95  M   0

2

29
 Normal Mode shapes
  2 1 0 0 0 0 0  1 0 0 0 0 0 0   13  0
  

1 2 1 0 0 0 0 
 
0
 1 0 0 0 0 0   23  0
  0 1 2 1 0 0 0  0 0 1 0 0 0 0   33  0
   100     
 6000  0 0 1 2 1 0 0  -43.95 2
0 0 0 1 0 0 0   43   0
32.2
  0 0 0 1 2 1 0  0 0 0 0 1 0 0   53  0
       
  0 0 0 0 1 2 1 0 0 0 0 0 1 0   63  0


 0 0 0 0 0 1 1 
 
0
 0 0 0 0 0 1   73  0

  2 1 0 0 0 0 0  1 0 0 0 0 0 0   13  0
  

1 2 1 0 0 0 0 
 
0
 1 0 0 0 0 0   23  0
  0 1 2 1 0 0 0  0 0 1 0 0 0 0   33  0
       
 6000  0 0 1 2 1 0 0  -6000 0 0 0 1 0 0 0   43   0
  0 0 0 1 2 1 0  0 0 0 0 1 0 0   53  0
       
  0 0 0 0 1 2 1 0 0 0 0 0 1 0  63  0


 0 0 0 0 0 1 1 
 
0
 0 0 0 0 0 1   73  0

 1 1 0 0 0 0 0  13  0
 
1 1 1 0  23  0
30
 0 0 0
 
 0 0 0 1 2 1 0  0 0 0 0 1 0 0  
    
 0 0 0 0 1 2 1 0 0 0 0 0 1 0  
Normal Mode shapes contd…


0
 0 0 0 0 1 1  0 0 0 0 0 0 1  
 

 1 1 0 0 0 0 0  13  0
1 1 1 0 0 0 0    0
   23   
 0 1 1 1 0 0 0  33  0
    
6000  0 0 1 1 1 0 0  43   0
 0 0 0 1 1 1 0  53  0
    
 0 0 0 0 1 1 1 63  0
 0 0 0 0 0 1 0    0
   73   
13  1 
   
 23  1 
33  0 
   
 
3  43   1
  1
 53   
63  0 
  1 
73   
31
 Mode Shape Normalization
If we want to normalize this modeshape with respect to  M  , i.e. normalize the modeshape

   M     I  , we first use the modeshape we have just found and compute
T
such that 3 3

   M   .
T
3 3

1
 
1
 
0
  100
    1 1 0 1 1 0 1 1 
100
3  M  3 
T
5  15.528
32.2   32.2
1
 
0
 
 1 
32
 Mode Shape Normalization
 
Scaling 3 with
1
15.528
 0.2538

we find the mass-normalized modeshape for the 3rd mode as

 1   0.2538 
   
 1   0.2538 
   
0  0 
   
   
 
3 
1
1  0.2538
15.528    
1 0.2538
   
0  0 
   
 1   0.2538 

33
 Table of Summary of 7-Modes Shapes and
Periods and Normalized Mass

Mode #
1 2 3 4 5 6 7
Period (sec) 0.68 0.23 0.14 0.11 0.09 0.08 0.07
Freq (Hz) 1.5 4.3 7.0 9.4 11.3 12.8 13.7
7 0.29 0.28 0.25 0.22 0.17 0.12 -0.06
6 0.28 0.17 0.00 -0.17 -0.28 -0.28 0.17
Floor Level

5 0.25 0.00 -0.25 -0.25 0.00 0.25 -0.25

4 0.22 -0.17 -0.25 0.12 0.28 -0.06 0.29
3 0.17 -0.28 0.00 0.28 -0.17 -0.17 -0.28
2 0.12 -0.28 0.25 -0.06 -0.17 0.29 0.22
1 0.06 -0.17 0.25 -0.29 0.28 -0.22 -0.12
0 0.00 0.00 0.00 0.00 0.00 0.00 0.00

Mass-normalized modeshapes

34
Mode-1 Mode Shape (deformed shape)
7

Mode 1

0
-0.40 -0.20 0.00 0.20 0.40

35
Mode-2 and 2- Mode Shape (deformed shape)
7

4
Mode 1
Mode 2
3

0
-0.40 -0.20 0.00 0.20 0.40

36
Mode-1,2 and 3 Mode Shape (deformed shape)
7

4
Mode 1
Mode 2
Mode 3
3

0
-0.40 -0.20 0.00 0.20 0.40

37
Mode-1,2 and 3 Mode Shape (deformed shape)

4
Mode 2
Mode 3
Mode 4
3

0
-0.40 -0.20 0.00 0.20 0.40

38
Mode-3,4 and 5 Mode Shape (deformed shape)

4
Mode 3
Mode 4
Mode 5
3

0
-0.40 -0.20 0.00 0.20 0.40

39
Mode-5 and 6 Mode Shape (deformed shape)
7

4
Mode 5
Mode 6
3

0
-0.40 -0.20 0.00 0.20 0.40

40
Mode-6 and 7 Mode Shape (deformed shape)
7

4
Mode 6
Mode 7
3

0
-0.40 -0.20 0.00 0.20 0.40

41
Mode-1 and 7 Mode Shape (deformed shape)
7

4
Mode 1
Mode 7
3

0
-0.40 -0.20 0.00 0.20 0.40

42
Uncoupling

43
Solution of Uncoupled SDOF

44
Displacement Response of Building
Combining Different Modes effects

71

72

45
46
 Text books and references
1. Dynamics of Structures- Theory and Applications to
Earthquake Engineering by Anilk. Chopra, Prentice-
Hall, , Fifth Edition in SI Units, Pearson Education
Limited, 2020 (Text Book)
2. Dynamics of Structures- by Ray W. Clough and Joseph
Penzien, Computers & Structures, Inc., 2003.
3. Structural Dynamics-Theory and Computation by Mario
Paz, 1997.
4. Additional online related materials on websites
Thank you

48