Dynamic Response of
MDOF Structures
Equilibrium of forces condition gives the equations of motions:
m2 0 u& k2
2 (t )
& k2 u2 (t ) p2 (t )
0 m1 u&
& k2
1 (t ) k1 k2 u1 (t ) p1 (t )
Example: 2-DOF, identical mass & stiffness
Free vibration
p1 (t ) 0
p2 (t ) 0
How do we solve this set of coupled equations?
By observation, the solution should be harmonic.
ui (t ) f (sin( wt ),cos( wt ))
ui (t ) w ui (t )
&& 2
Substituting into the equations of motion:
Need to find non-trivial solution coefficient matrix has to be singular
Natural frequencies
of the 2-DOF system.
1 2
Example: 5-DOF, identical mass & stiffness
Free vibration
Method for Uncoupling the Equations of Motion
Orthogonality Properties of Modeshapes
Scaling the Modeshapes
• Arbitrary
Set one modeshape coefficient equal to
unity (ex: coeff. at roof level = 1.0)
iT Mi 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
Repeat the 2-DOF example
Forced Vibration
M x&& K x f
% % %
x(t ) i qi (t )
N
modal representation
% i 1 %
q1 (t )
q (t )
2
x(t ) 1 2
% % %
L
N
% M %
q(t )
qN (t )
M x&& K x f
% % %
M q&&(t ) K q(t ) f
% % %
M q&&(t ) K q(t ) %f (t )
T T T
% %
% M % 0
T
i j
i j
% K % 0
T
i j
i j
% M % q&& % K % q % %f
T T T
i i i i i i i i 1, 2,L , N
i
M i*q&
&i K *
q
i i f i
*
i 1, 2,L , N
M i M i : generalized mass (“modal mass”) for mode i
T
*
i
%T %i
%T
Ki* i K i : generalized stiffness (“modal stiffness”) for mode i
%
fi* i
% %
f : generalized force (“modal force”) for mode i
t
1 1 1
qi (t ) *
M i wi
0
fi * ( ) sin wi (t )d qi (0) cos wi t
wi
q&i (0)sin wi t
How to find the initial conditions in the modal space?
x(0) j q j (0)
N
%
T
% j 1 % Premultiply by M
i
x&(0) j q&j (0)
N
% j 1 %
%
N N
M x(0) i M j q j (0) i M j q j (0) i M i qi (0)
T T T T
i
% % j 1 % j 1 % % % %
i M x&(0) i M i q&i (0)
T T
% % % %
M M
T T
x(0) x&(0)
i i
q (0) % q&(0) %
% M % % % M % %
i T i T
i i i i
q(0) x(0)
q(0) x(0)
1
% % % %
%
q&(0) x&(0)
%
q&(0) x&(0)
%
1
%
Including damping
M i*q&
&i C *
i i
&
q K *
q
i i f i
*
i 1, 2,L , N
T
fi * i f
i 2i wi qi w q %T % i 1, 2,L , N
2
q&
& &
i i *
Mi i M i
% %
t
1 1
i wi ( t )
qi (t ) * f i
*
( ) e sin wd ,i (t )d
M i wd ,i 0
1
e i wi t
qi (0) cos wd ,i t q&i (0) i wi qi (0) sin wd ,it
wd ,i
wd ,i wi 1 i2
x(t ) i qi (t )
N
% i 1 %
MDOF Examples
find 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 k k 0 0 0 0 0 1 1
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 0
0 0 m 0 0 0 0 0 0 1 0 0 0 0
M 0 0 0 m 0 0 0
100
0 0 0 1 0 0 0 kip×sec2 /ft
32.2
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 0 0 0 m 0 0 0 0 0 0 1
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 %
2
0 , which is valid for any mode, we have
%
K 43.95 M %
2
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
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 0 0 0 23 0
0 0 0 0 1 2 1 0 0 0 0 0 1 0
0 1 1 0 0 0 0 0 0 1
0 0 0 0
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
If we want to normalize this modeshape with respect to M , i.e. normalize the modeshape
such that 3 M 3 I , we first use the modeshape we have just found and compute
T
% %
3 M 3 .
T
% %
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
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
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
7
Mode 1
0
-0.40 -0.20 0.00 0.20 0.40
7
4
Mode 1
Mode 2
3
0
-0.40 -0.20 0.00 0.20 0.40
7
4
Mode 1
Mode 2
Mode 3
3
0
-0.40 -0.20 0.00 0.20 0.40
7
4
Mode 2
Mode 3
Mode 4
3
0
-0.40 -0.20 0.00 0.20 0.40
7
4
Mode 3
Mode 4
Mode 5
3
0
-0.40 -0.20 0.00 0.20 0.40
7
4
Mode 5
Mode 6
3
0
-0.40 -0.20 0.00 0.20 0.40
7
4
Mode 6
Mode 7
3
0
-0.40 -0.20 0.00 0.20 0.40
7
4
Mode 1
Mode 7
3
0
-0.40 -0.20 0.00 0.20 0.40
71
72
Example
wn
