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SYSTEM
INTRODUCTION
(5.1)
(5.2)
[m]x (t ) [c]x (t ) [k ]x (t ) F (t )
(5.3)
0
m
2
c1 c2 c2
[c ]
c
c
c
2
2
3
k1 k 2 k2
[k ]
k
k
k
2
2
3
x1 (t )
F1 (t )
x (t )
F (t )
x2 (t )
F2 (t )
It can be seen that the matrices [m], [c], and [k] are
all 2 x 2 matrices whose elements are known
masses, damping coefficient and stiffnesses of the
system, respectively.
[m]T [m],
[c]T [c],
[k ]T [k ]
(5.6)
m (k k )X k X cos(t ) 0
k X m (k k )X cos(t ) 0
2
(5.7)
m
1
(k1 k2 )X 1 k2 X 2 0
k2 X 1 m2 (k2 k3 )X 2 0
2
(5.8)
m1 2 (k1 k 2 )
det
k 2
0
2
m1 (k1 k 2 )
k 2
or
(m1m2 ) 4 (k1 k2 )m2 (k2 k3 )m1
(k1 k2 )(k2 k3 ) k22 0
(5.9)
2
m1m2
2
1
2
2
2
m1m2
1/ 2
(k1 k 2 )(k 2 k3 ) k
4
m1m2
2
2
(5.10)
X 2( 2 ) m122 (k1 k 2 )
k2
r2 ( 2 )
X1
k2
m222 (k 2 k3 )
11
X1
k2
m212 (k 2 k3 )
(5.11)
X
X
X
X
1 1
1 1
( 2)
X (1) (1) and X ( 2)
( 2)
X 2
r1 X 1
X 2
r2 X 1
(5.12)
(1)
(1)
x
(
t
)
X
(1)
1
1 cos(1t 1 )
x (t ) (1) (1)
first mode
x2 (t )
r1 X 1 cos(1t 1 )
( 2)
( 2)
x
(
t
)
X
( 2)
1
1 cos(2t 2 )
x (t ) ( 2)
second mode
( 2)
x2 (t )
r2 X 1 cos(2t 2 )
(5.17)
x1 (t 0) 0,
x2 (t 0) ri X 1(i ) ,
x2 (t 0) 0
13
x (t ) c1 x1 (t ) c2 x2 (t )
(5.14 )
Thus the components of the vector can be expressed
as
x1 (t ) x1(1) (t ) x1( 2) (t ) X 1(1) cos(1t 1 ) X 1( 2 ) cos(2t 2 )
x2 (t ) x2(1) (t ) x2( 2) (t )
r1 X 1(1) cos(1t 1 ) r2 X 1( 2 ) cos(2t 2 )
(5.15 )
x1 (t 0) x1 (0),
x2 (t 0) x2 (0)
(5.16)
(5.17)
r x (0) x2 (0)
X 1(1) sin 1 2 1
,
1 (r2 r1 )
r x (0) x2 (0)
X 1( 2) cos2 1 1
r
2
1
r x (0) x2 (0)
X 1( 2) sin 2 1 1
(
r
r
)
2 2 1 14
(1)
1
cos1 X
2
(1)
1
sin 1
2 1/ 2
15
(1)
1
1
r2 x1 (0) x 2 (0)
2
r2 x1 (0) x2 (0)
(r2 r1 )
12
( 2)
1
( 2)
1
cos2 X
2
( 2)
1
sin 2
1/ 2
2 1/ 2
1
r
x
(
0
)
x
(
0
)
2
1 1
2
r1 x1 (0) x2 (0)
(r2 r1 )
22
1/ 2
(1)
1 (0) x2 (0)
X
1
1 r2 x
1 sin 1
1 tan (1)
tan
X
cos
[
r
x
(
0
)
x
(
0
)
1
2
1
1 2 1
( 2)
X
r1 x1 (0) x2 (0)
1
1
1 sin 2
2 tan ( 2)
tan
X
cos
r
x
(
0
)
x
(
0
)
2
2
1
2 1 1
(5.18)
16
2
k 2
m2 k2 k3 X 2 0
or
10 2 35
5 X 1 0
(E.1)
2
-5
5 X 2 0
EXAMPLE 5.3
SOLUTION
(E.4)
(E.5)
17
EXAMPLE 5.3
SOLUTION
(E.7)
18
(E.8)
(E.9)
(E.11)
EXAMPLE 5.3
SOLUTION
(E.12)
(E.13)
(1)
1
5
,
7
( 2)
1
2
,
7
1 0, 2 0
(E.14)
19
EXAMPLE 5.3
SOLUTION
5
2
x1 (t ) cos1.5811t cos 2.4495t
7
7
10
10
x2 (t ) cos1.5811t cos 2.4495t
7
7
(E.15)
(E.16)
20
TORSIONAL SYSTEM
x
1
a
n
TORSIONAL SYSTEM
2 2
t2
t3 2
t2
J11 (kt1 kt 2 )1 kt 2 2 M t1
J 22 kt 21 (kt 2 kt 3 ) 2 M t 2
(5.19)
J11 (kt1 kt 2 )1 kt 2 2 0
J 22 kt 21 (kt 2 kt 3 ) 2 0
(5.20)
22
J11 kt11 kt 2 ( 2 1 ) M t1
J k ( ) k M
J 01 2kt1 kt 2 0
2 J 02 kt1 kt 2 0
(E.1)
Fig.5.7:
Torsional system
23
EXAMPLE 5.4
SOLUTION
(E.3)
kt
2
(5 17 ) (E.4)
4J 0
24
EXAMPLE 5.4
SOLUTION
r2
( 2)
2
( 2)
1
(5 17 )
2
4
25
(21)
(5 17 )
r1 (1) 2
1
4
(E.5)
k1 kt1 kt ,
k 2 k t 2 kt ,
m1 J1 J 0 , m2 J 2 2 J 0 and
k3 0
26
mx k1 ( x l1 ) k2 ( x l2 )
(5.21)
(5.22 )
27
(5.23)
28
m 0 x (k1 k 2 )
0 J (k l k l )
0
11
2 2
(5.24 )
me y (k1 k 2 )
J P (k1l1 k 2l2 )
(k 2l2 k1l1) y 0
2
2
(k1l1 k 2l 2 ) 0
(5.25)
(5.26)
31
EXAMPLE 5.6
SOLUTION
x1 (t ) B1 cos
x2 (t ) B1 cos
3k
t 1 B2 cos
t 2
m
3k
k
t 1 B2 cos
t 2
m
(E.1)
EXAMPLE 5.6
SOLUTION
33
q1 (t ) B1 cos
t 1
m
3k
q2 (t ) B2 cos
t 2
m
(E.2)
(E.3)
EXAMPLE 5.6
SOLUTION
x2 (t ) q1 (t ) q2 (t )
34
x1 (t ) q1 (t ) q2 (t )
(E.4)
(E.5)
Fj (t ) Fj 0e , j 1,2
(5.28)
x j (t ) X j e , j 1,2
(5.29)
35
(5.31)
36
2
( m12 ic12 k12 ) (2 m22 ic22 k 22 ) X 2
F10
(5.30)
F20
(5.32)
Where,
Z11 (i ) Z12 (i )
Z (i )
Impedancematrix
Z12 (i ) Z 22 (i )
X1
X
X 2
F10
F0
F20
37
Z (i)X F0
1
X Z (i) F0
(5.33)
Z (i )
Z 22 (i ) -Z12 (i )
1
Z (i ) Z (i ) (5.34)
2
Z11 (i ) Z 22 (i ) Z12 (i ) 12
11
(5.35)
38
39
EXAMPLE 5.8
SOLUTION
0 m x -k 2k x
0
2
2
(E.1)
j 1,2
(E.2)
Eq.(5.31) gives
Z11 ( ) Z 22 ( ) m 2 2k ,
Z12 ( ) k
(E.3)
40
EXAMPLE 5.8
SOLUTION
Hence,
(E.4)
41
( 2 m 2k ) F10
( 2 m 2k ) F10
X 1 ( )
2
2
2
( m 2k ) k
(m 2 3k )(m 2 k )
kF10
kF10
X 2 ( )
2
2
2
(m 2k ) k
(m 2 3k )(m 2 k )
(E.5)
(E.6)
EXAMPLE 5.8
SOLUTION
X 2 ( )
F10
k 2 1
1 1 1
2
(E.7)
42