MEEM 3700 Mechanical Vibrations

Mohan D. Rao Chuck Van Karsen

Mechanical Engineering-Engineering Mechanics Michigan Technological University
Copyright 2003

MEEM 3700
Lecture 17- Multiple DOF Free Vibration

MEEM 3700
Lecture 17- Multiple DOF Free Vibration

MEEM 3700
Lecture 17- Multiple DOF Free Vibration

X1

K X 2

Rear Suspension
MEEM 3700
Lecture 17- Multiple DOF Free Vibration

Front Suspension
4

M X1 X2

c Mt X3
K

c
Wheels/tires

Mt
K

X4
5

MEEM 3700
Lecture 17- Multiple DOF Free Vibration

x1
k1

x2
k2

m1

m2

k3

Given a set of initial conditions, determine the free vibration response of the system.

& & x1 (0) x1 (0) x2 (0) x2 (0) x1 (t ) = ?

Lecture 17- Multiple DOF Free Vibration

x2 (t ) = ?
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F.B.D. for mass 1

x1
k1x1

m1

k2(x1-x2)

x1

k1 x k2 ( x1 x2 ) = m1 &&1 x

= Feff = m1 &&1 x

m1 &&1 + ( k1 + k2 ) x1 k2 x2 = 0 x
MEEM 3700
Lecture 17- Multiple DOF Free Vibration

EOM #1
7

F.B.D. for mass 2 k2(x1-x2)

x2

m2

k3x2

x2

k2 ( x1 x2 ) k3 x2 = m2 &&2 x

= Feff

m2 &&2 + ( k2 + k3 ) x2 k2 x1 = 0 x
MEEM 3700
Lecture 17- Multiple DOF Free Vibration

EOM #2
8

m1&&1 + ( k2 + k1 ) x1 k2 x2 = 0 x

m2 &&2 + ( k2 + k3 ) x2 k2 x1 = 0 x
2nd order differential equations Linear Homogeneous Constant coefficients Coupled

MEEM 3700
Lecture 17- Multiple DOF Free Vibration

For a solution to simultaneous equations, rewrite in matrix form.

m1 0

x 0 &&1 k1 + k2 + m2 &&2 k2 x

k2 x1 0 = k2 + k3 x2 0

x [ m]{&&} + [ k ]{ x} = 0
Mass matrix stiffness matrix Acceleration vector Displacement vector

MEEM 3700
Lecture 17- Multiple DOF Free Vibration

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 m1 0

x 0 &&1 k1 + k2 + m2 &&2 k2 x

k2 x1 0 = k2 + k3 x2 0

assume solution and substitute

x1 X 1 = sin ( t + ) x2 X 2

x X &&1 2 1 = sin ( t + ) x &&2 X2

MEEM 3700
Lecture 17- Multiple DOF Free Vibration

11

m 2 1 0 2 m1 0

0 X1 k1 + k2 X sin ( t + ) + k m2 2 2 0 k1 + k2 + m2 k2

k2 X 1 0 X sin ( t + ) = 0 k 2 + k3 2

k2 X 1 0 X sin ( t + ) = 0 k 2 + k3 2

2 m1 0 k1 + k2 k 2 X 1 0 = + k k2 + k3 x2 0 2 0 m2 k1 + k2 2 m1 X 1 0 k2 = 2 k2 k2 + k3 m2 X 2 0
A solution to this set of equations exists if the determinant of the coefficient matrix is equal to zero.
MEEM 3700
Lecture 17- Multiple DOF Free Vibration

12

 k1 + k2 2 m1 det k2

0 = k2 + k3 m2 0 k2
2

(k

2 + k2 2 m1 )( k2 + k3 2 m2 ) k2 = 0

let : = 2

( k1 + k2 m1 )( k2 + k3 m2 ) k22 = 0 ( k1 + k2 )( k2 + k3 ) m2 ( k1 + k2 ) 2 m1m2 k22 = 0

2 m1m2 2 m2 ( k1 + k2 ) + m1 ( k2 + k3 ) + ( k1 + k2 )( k2 + k3 ) k2 = 0

MEEM 3700
Lecture 17- Multiple DOF Free Vibration

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2 m1m2 2 m2 ( k1 + k2 ) + m1 ( k2 + k3 ) + ( k1 + k2 )( k2 + k3 ) k2 = 0

A quadratic equation in
1,2 =
b b 2 4ac 2a 2a
2

2 m2 ( k1 + k2 ) + m1 ( k2 + k3 ) m2 ( k1 + k2 ) + m1 ( k2 + k3 ) 4m1m2 ( ( k1 + k2 )( k2 + k3 ) k2 ) 1,2 =

2m1m2

2m1m2

Recall Therefore

= 2 1 = 1
MEEM 3700

2 = 2
14

1 and 2 are the natural frequencies of the system

Lecture 17- Multiple DOF Free Vibration

 x1 X 1 = sin ( t + ) x2 X 2
X 11 for each value of 1 and 2 there is a corresponding vector 1 X2 X 12 2 X2

X 11 1 X2

X 12 2 are called the mode shapes of the system X2

The total solution is:

1 X1 X 12 x1 (t ) = A 1 sin (1t + 1 ) + B 2 sin (2t + 2 ) X2 X2 x2 (t )
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Lecture 17- Multiple DOF Free Vibration

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Alternative Solution method: Eigen-Solution

2 m1 0 k1 + k2 k 2 X 1 0 = + k k2 + k3 x2 0 2 0 m2 k2 X 1 0 X1 m k1 + k2 2 1 k x = 0 m x k 2 + k3 2 2 2 2 2 Let =

[ k ]{ x} = [ m]{ x}
Eigenvalue problem
MEEM 3700
Lecture 17- Multiple DOF Free Vibration

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[ k ]{ x} = [ m]{ x}
eigenvalues = 1 , 2 , 3 ,.......N where N = the number of degrees of freedom

1 X 1 X 12 X 13 and associated eigenvectors 1 , 2 , 3 ,............. X2 X2 X2

X 1N N X2

The natural frequencies are the square root of the eigenvalues

i = i
The eigenvectors are also called the mode shapes of the system

MEEM 3700
Lecture 17- Multiple DOF Free Vibration

17