Rose-Hulman Institute of Technology

Mechanical Engineering
Vibrations
Todays Objectives:
Students will be able to:
a) Find the steady state
response of 2DOF forced
systems
b) Use Simulinkfor MDOF
systems
Forced two degree of freedom systems
Rose-Hulman Institute of Technology
Mechanical Engineering
Vibrations
Finish Example from last time

+ +
+ +
+

0
0
0
0
2
2 2
2
1 1 2 2 1 1
2 2 1 1 2 1
0

G G
x
L k L k k L k L
k L k L k k
x
J
m
& &
& &
2 1
1 2
in
L L
x x
s
+

=
2
2 1
1
1
2 1
2
G
2
2
1
1
x so x
L L
L
x
L L
L
L
x x
L
x x
G G
+
+
+
=

k
1
k
2
m, J
0
L
1
L
2
Lets use the displacement at both
ends as our coordinates
x
1
x
2
Note:


= =
= =
0 G 0


0
M J M
dt
dL
F x m F
dt
dP
sys
G
sys
x

& &
& &
So
Rose-Hulman Institute of Technology
Mechanical Engineering
Vibrations
Finish Example from last time
0
2 2 1 2
2 1
1
1
2 1
2
= + +
+
+
+
x k x k x
L L
mL
x
L L
mL
& & & &
2 2 2 1 1 1
2 1
1 2
0 0 0
L x k L x k
L L
x x
J J M
dt
dL
G
sys
=
+

= =

& & & &

& &

x
1
x
2
k
1
x
1
k
2
x
2
0
2 2 2 1 1 1 1
2 1
0
2
2 1
0
= +
+

+
L x k L x k x
L L
J
x
L L
J
& & & &
In matrix form we get
0
2
1
2 2 1 1
2 1
1
2
2 1
0
2 1
0
2 1
1
2 1
2
=

+ +

+ +
x
x
L k L k
k k
x
x
L L
J
L L
J
L L
mL
L L
mL
& &
& &
Notes
2 2 1 2
2 1
1
1
2 1
2
x k x k x
L L
mL
x
L L
mL
x m F
dt
dP
G
sys
x
=
+
+
+
= =

& & & & & &

Rose-Hulman Institute of Technology
Mechanical Engineering
Vibrations
Finish Example from last time - Matlab
evec1 =
-0.0315 0.0032
0.0059 0.0574
eval1 =
4981.3 0
0 6785.3
freq =
70.5785
82.3732
evec2 =
-1.0000 -0.5187
-0.7780 1.0000
eval2 =
4981.3 0
0 6785.3
freq2 =
70.5785
82.3732
Rose-Hulman Institute of Technology
Mechanical Engineering
Vibrations
Forced vibrations 2 DOF systems
t sin
F
x
x
k k
k k
x
x
m
m

0 0
0
1
2
1
22 12
12 11
2
1
2
1
& &
& &
{ } { } { }
p c
x x x + =
t sin
X
X
x
x

2
1
2
1
Consider the 2-DOF system with the following EOM:
We know there will be a particular solution (satisfies right hand side) and a
homogeneous solution (satisfied RHS =0)
Lets look at the particular solution. Since the RHS is a sin lets assume
Substituting into EOM we get

0
1
2
1
2
2 22 12
12
2
1 11
F
X
X
m k k
k m k

Rose-Hulman Institute of Technology

Mechanical Engineering
Vibrations
Steady-state response (cont.)
( ) [ ] Z
( ) [ ]
( ) [ ]
( ) [ ]

0 0
1 1
1
2
1
F
Z det
Z int adjo
F
Z
X
X

From previous page

0
1
2
1
2
2 22 12
12
2
1 11
F
X
X
m k k
k m k

So, we can solve for {X

1
X
2
}
T
by premultiplyingby [Z()]
-1
Quick matrix review of the inverse of a 2x2 matrix:

a c
b d
bc ad
d c
b a
1
1
Rose-Hulman Institute of Technology
Mechanical Engineering
Vibrations
( ) [ ] ( ) ( )( )
2
12
2
2 22
2
1 11 `
k m k m k w Z det + =
( ) [ ] ( ) ( )( )
( )( )
2 2
2
2 2
1 2 1
2 2
2
2 2
1 2 1


=
=
m m
m m w Z det
The determinant of [Z()] is
This can be factored and written in terms of the natural
frequencies as
( )

0
1
1
2
1 22 12
12
2
2 22
2
1
F
m k k
k m k
Z
X
X

So we get
X
1
=
X
2
=
Rose-Hulman Institute of Technology
Mechanical Engineering
Vibrations
Sketch these
( )
( )( )
2 2
2
2 2
1 2 1
1
2
2 22
1




=
m m
F m k
X
( )( )
2 2
2
2 2
1 2 1
1 12
2

=
m m
F k
X
X
1

1

2
X
2

1

2
These are frequency response plots
Rose-Hulman Institute of Technology
Mechanical Engineering
Vibrations
Summary
1. Find equations of motion:
2. Assume simple harmonic motion
3. This gives
4. Find natural frequencies
5. Substitute in natural frequencies
and find natural modes
6. Write homogeneous solution
1. Find equations of motion:
2. To find the particular solution
assume:
3. This gives
4. Solve for {X}
[ ]{ } [ ]{ } { } 0 = + x K x M & &
[ ] [ ] ( ){ } { } 0
2
= + X K M
[ ]{ } [ ] { } 0
2
= + K x M
[ ] [ ] ( ){ } { } 0
2
= +
i i
X K M
Homogeneous Solution
2DOF Steady State Solution
(with harmonic forcing)
[ ]{ } [ ]{ } { } t sin F x K x M = + & &
{ } { } t sin X x =
[ ] [ ] ( ){ } { } F X K M = +
2

{ } [ ] [ ] ( ) { } F K M X
1
2

+ =
{ } { }
t i
e X x

=
Known!
Forcing frequency
Natural frequency
Natural
mode
Magnitude of sint
Rose-Hulman Institute of Technology
Mechanical Engineering
Vibrations
There is a nice website in Australia
http://www.mech.uwa.edu.au/bjs/Vibration/TwoDOF/default.html
Rose-Hulman Institute of Technology
Mechanical Engineering
Vibrations
What do we do if we have damping?
[ ]{ } [ ]{ } [ ]{ } { } F x K x C x M = + + & & &
( ) { } ( ) [ ] ( ) { } ( ) [ ] ( ) { } s F s H s F s B s X = =
1
[ ] [ ] [ ] ( )
( )
( ) { } ( ) { } s F s X K C s M s
s B
= + +

4 4 4 3 4 4 4 2 1
2
If we have
If we take the Laplace Transform
so
If we let s =j
( ) [ ] matrix function response frequency = j H
We can determine this from
experimental data and use it for
system ID
Rose-Hulman Institute of Technology
Mechanical Engineering
Vibrations
Using Simulink
Sometimes you have to add small
damping to get rid of transient solution
0 50 100 150 200 250 300
-0.5
0
0.5
0 50 100 150 200 250 300
-1
0
1
0 50 100 150 200 250 300
-0.5
0
0.5
0 50 100 150 200 250 300
-1
0
1