Vibration - Multiple Degrees of Freedom Systems and Mode Shapes

Multiple Degrees of Freedom Systems and Mode Shapes

The simple mass–spring damper model is the foundation of vibration analysis, but what about more complex systems? The mass–spring–damper model described above is called a single degree of freedom (SDOF) model since we have assumed the mass only moves up and down. In the case of more complex systems we need to discretize the system into more masses and allow them to move in more than one direction – adding degrees of freedom. The major concepts of multiple degrees of freedom (MDOF) can be understood by looking at just a 2 degree of freedom model as shown in the figure.

The equations of motion of the 2DOF system are found to be:

m_1 \ddot{x_1} + { (c_1+c_2) } \dot{x_1} - { c_2 } \dot{x_2}+ { (k_1+k_2) } x_1 -{ k_2 } x_2= f_1,
m_2 \ddot{x_2} - { c_2 } \dot{x_1}+ { (c_2+c_3) } \dot{x_2} - { k_2 } x_1+ { (k_2+k_3) } x_2 = f_2. \!

We can rewrite this in matrix format:

\begin{bmatrix}m_1 & 0\\ 0 & m_2\end{bmatrix}\begin{Bmatrix}\ddot{x_1}\\ \ddot{x_2}\end{Bmatrix}+\begin{bmatrix}c_1+c_2 & -c_2\\ -c_2 & c_2+c_3\end{bmatrix}\begin{Bmatrix}\dot{x_1}\\ \dot{x_2}\end{Bmatrix}+\begin{bmatrix}k_1+k_2 & -k_2\\ -k_2 & k_2+k_3\end{bmatrix}\begin{Bmatrix} x_1\\ x_2\end{Bmatrix}=\begin{Bmatrix} f_1\\ f_2\end{Bmatrix}.

A more compact form of this matrix equation can be written as:

\begin{bmatrix}M\end{bmatrix}\begin{Bmatrix}\ddot{x}\end{Bmatrix}+\begin{bmatrix}C\end{bmatrix}\begin{Bmatrix}\dot{x}\end{Bmatrix}+\begin{bmatrix}K\end{bmatrix}\begin{Bmatrix} x\end{Bmatrix}=\begin{Bmatrix} f \end{Bmatrix}

where and are symmetric matrices referred respectively as the mass, damping, and stiffness matrices. The matrices are NxN square matrices where N is the number of degrees of freedom of the system.

In the following analysis we will consider the case where there is no damping and no applied forces (i.e. free vibration). The solution of a viscously damped system is somewhat more complicated.

This differential equation can be solved by assuming the following type of solution:

\begin{Bmatrix} x\end{Bmatrix}=\begin{Bmatrix} X\end{Bmatrix}e^{i\omega t}.

Note: Using the exponential solution of is a mathematical trick used to solve linear differential equations. If we use Euler's formula and take only the real part of the solution it is the same cosine solution for the 1 DOF system. The exponential solution is only used because it easier to manipulate mathematically.

The equation then becomes:

Since cannot equal zero the equation reduces to the following.

Read more about this topic:  Vibration

Famous quotes containing the words multiple, degrees, freedom, systems, mode and/or shapes:

    “Combining paid employment with marriage and motherhood creates safeguards for emotional well-being. Nothing is certain in life, but generally the chances of happiness are greater if one has multiple areas of interest and involvement. To juggle is to diminish the risk of depression, anxiety, and unhappiness.”
    —Faye J. Crosby (20th century)

    “No sooner met but they looked; no sooner looked but they loved; no sooner loved but they sighed; no sooner sighed but they asked one another the reason; no sooner knew the reason but they sought the remedy; and in these degrees have they made a pair of stairs to marriage, which they will climb incontinent, or else be incontinent before marriage.”
    —William Shakespeare (1564–1616)

    “Life’s so ordinary that literature has to deal with the exceptional. Exceptional talent, power, social position, wealth.... Drama begins where there’s freedom of choice. And freedom of choice begins when social or psychological conditions are exceptional. That’s why the inhabitants of imaginative literature have always been recruited from the pages of Who’s Who.”
    —Aldous Huxley (1894–1963)

    “What is most original in a man’s nature is often that which is most desperate. Thus new systems are forced on the world by men who simply cannot bear the pain of living with what is. Creators care nothing for their systems except that they be unique. If Hitler had been born in Nazi Germany he wouldn’t have been content to enjoy the atmosphere.”
    —Leonard Cohen (b. 1934)

    “Literature exists at the same time in the modes of error and truth; it both betrays and obeys its own mode of being.”
    —Paul Deman (1919–1983)

    “The freedom of indifference, the indifference of freedom, the will dust in the dust of its object, the act a handful of sand let fall—these were some of the shapes he had sighted, sunset landfall after many days.”
    —Samuel Beckett (1906–1989)