Structural Dynamics

Lecture 13
Systems with distributed mass and elasticity

Zili Zhang
Department of Structural Engineering
[email protected]
1
Lateral vibration of a flexible string

 : Constant prestressing force of string, [N].

 : External dynamic load per unit length in the -direction, [N/m].
 : Constant mass per unit length, [kg/m].
 : Displacement in the -direction, [m].
 : Rotation angle of cross-section in the -direction, [rad].
 : Total length of string, [m].

2
 Lateral vibration of a flexible string

Force equilibrium together with D’Alembert’s principle:

Relation between and :

3
Lateral vibration of a flexible string

Boundary conditions: (simply supported)

Initial conditions:

Eigenvibration problem ( )

This is also known as the wave equation, and is the phase velocity.
 Natural frequencies and mode shapes
Solution by separation of variables:

Insertion into

The left-hand side of the equation is a function of , and the right-hand side is a function
of . This can only be true, if the left- and right-hand sides are equal to the same
constant, which is chosen as . Hence, the solution of the type
are the correct solution, only if the following conditions are fulfilled by the functions
and :
 Natural frequencies and mode shapes
Solution by separation of variables:

The solutions to the above two equations are given as:

Boundary conditions:
 Natural frequencies and mode shapes

: Angular eigenfrequency of the string.

Then, the eigenmode functions become:

Eigenmode functions of a vibration string

Look back again:
 Time function in the separation method : Modal coordinate.
 Spatial function in the separation method : Eigenmode function.

Infinite many modal coordinates for a continuous system. Using superposition principle, the
eigenvibration (undamped free vibration) of the sting becomes:
Torsional vibration of a cylindrical rod

 : Torsional moment, [Nm].

 : External torsional moment load per unit length, [Nm/m].
 : Rotational angle in the -direction of a cross-section, [rad].
 : Mass moment of inertia per unit length, [kgm2/m].
 : Mass density, [kg/m3].
 : Torsional constant of a circular cylindrical bar, [m4].
 : Shear modulus, [N/m2].
 Torsional vibration of a cylindrical rod

Force equilibrium together with D’Alembert’s principle:

Constitutive relation of St. Venant torsion:

Similar as for the string vibration

where is again the phase velocity

Equation of motion of an Euler-Bernoulli beam

10
 Equation of motion (undamped)

• Force equilibrium
𝜕𝜕𝑉𝑉 𝜕𝜕2 𝑢𝑢
• = 𝑝𝑝 − 𝑚𝑚 2
𝜕𝜕𝑥𝑥 𝜕𝜕𝑡𝑡

• Moment equilibrium
𝜕𝜕𝑀𝑀
• 𝑉𝑉 =
𝜕𝜕𝑥𝑥

• Moment-curvature relation
𝜕𝜕2 𝑢𝑢
• 𝑀𝑀 = 𝐸𝐸𝐸𝐸 2
𝜕𝜕𝑥𝑥

• The equation of motion (partial differential equation)

𝜕𝜕2 𝑢𝑢 𝜕𝜕2 𝜕𝜕2 𝑢𝑢
• 𝑚𝑚 𝑥𝑥 + 𝐸𝐸𝐸𝐸(𝑥𝑥) 2 = 𝑝𝑝(𝑥𝑥, 𝑡𝑡)
𝜕𝜕𝑡𝑡 2 𝜕𝜕𝑥𝑥 2 𝜕𝜕𝑥𝑥

11
 Natural frequencies and mode shapes
𝜕𝜕 2 𝑢𝑢 𝜕𝜕 2 𝜕𝜕 2 𝑢𝑢
𝑚𝑚 𝑥𝑥 + 𝐸𝐸𝐸𝐸(𝑥𝑥) 2 = 𝑝𝑝(𝑥𝑥, 𝑡𝑡)
𝜕𝜕𝑡𝑡 2 𝜕𝜕𝑥𝑥 2 𝜕𝜕𝑥𝑥

• Solution by separation of variables:

• 𝑢𝑢 𝑥𝑥, 𝑡𝑡 = 𝜙𝜙 𝑥𝑥 𝑞𝑞(𝑡𝑡)
• Substitute into the partial differential equation:
• 𝑚𝑚 𝑥𝑥 𝜙𝜙 𝑥𝑥 𝑞𝑞̈ 𝑡𝑡 + 𝑞𝑞(𝑡𝑡) 𝐸𝐸𝐸𝐸(𝑥𝑥)𝜙𝜙" 𝑥𝑥 " = 0
• Divided by 𝑚𝑚 𝑥𝑥 𝜙𝜙 𝑥𝑥 𝑞𝑞(𝑡𝑡):
𝑞𝑞̈ 𝑡𝑡 𝐸𝐸𝐸𝐸(𝑥𝑥)𝜙𝜙𝜙 𝑥𝑥 "
• − =
𝑞𝑞 𝑡𝑡 𝑚𝑚(𝑥𝑥)𝜙𝜙 𝑥𝑥

• The two expressions above must be constant, thus:

𝑞𝑞̈ 𝑡𝑡 𝐸𝐸𝐸𝐸(𝑥𝑥)𝜙𝜙𝜙 𝑥𝑥 "
• − = 𝜔𝜔2 and = 𝜔𝜔2
𝑞𝑞 𝑡𝑡 𝑚𝑚(𝑥𝑥)𝜙𝜙 𝑥𝑥

• Therefore:
• 𝑞𝑞̈ 𝑡𝑡 + 𝜔𝜔2 𝑞𝑞 𝑡𝑡 = 0
• 𝐸𝐸𝐸𝐸(𝑥𝑥)𝜙𝜙𝜙 𝑥𝑥 " − 𝜔𝜔2 𝑚𝑚(𝑥𝑥)𝜙𝜙 𝑥𝑥 = 0
12
 Natural frequencies and mode shapes
𝐸𝐸𝐸𝐸(𝑥𝑥)𝜙𝜙𝜙 𝑥𝑥 " − 𝜔𝜔2 𝑚𝑚(𝑥𝑥)𝜙𝜙 𝑥𝑥 = 0

• For uniform beam, the second equation becomes:

• 𝐸𝐸𝐸𝐸𝐸𝐸′′′′ 𝑥𝑥 − 𝜔𝜔2 𝑚𝑚𝑚𝑚 𝑥𝑥 = 0
• which can be rewritten as:
4 4 𝜔𝜔2 𝑚𝑚
• 𝜙𝜙𝜙𝜙𝜙𝜙 𝑥𝑥 − 𝛽𝛽 𝜙𝜙 𝑥𝑥 = 0 where 𝛽𝛽 = unit of 𝛽𝛽 4 [m−4 ] !!!
𝐸𝐸𝐸𝐸
• The general solution to the above equation is:
• 𝜙𝜙 𝑥𝑥 = 𝐶𝐶1 sin 𝛽𝛽𝛽𝛽 + 𝐶𝐶2 cos 𝛽𝛽𝛽𝛽 + 𝐶𝐶3 sinh 𝛽𝛽𝛽𝛽 + 𝐶𝐶4 cosh 𝛽𝛽𝛽𝛽
• The unknown constants 𝐶𝐶1 to 𝐶𝐶4 and 𝛽𝛽 depend on the boundary
conditions

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 Natural frequencies and mode shapes: uniform
simply supported beam 𝜙𝜙 𝑥𝑥 = 𝐶𝐶1 sin 𝛽𝛽𝛽𝛽 + 𝐶𝐶2 cos 𝛽𝛽𝛽𝛽 + 𝐶𝐶3 sinh 𝛽𝛽𝛽𝛽 + 𝐶𝐶4 cosh 𝛽𝛽𝛽𝛽

• The two boundary conditions at 𝑥𝑥 = 0 are:

• 𝑢𝑢 0, 𝑡𝑡 = 0 ⇒ 𝜙𝜙 0 = 0 ⇒ 𝐶𝐶2 +𝐶𝐶4 = 0
• 𝑀𝑀 0, 𝑡𝑡 = 0 ⇒ 𝜙𝜙′′ 0 = 0 ⇒ −𝐶𝐶2 + 𝐶𝐶4 = 0
• Therefore 𝐶𝐶2 = 𝐶𝐶4 = 0, and we have:
• 𝜙𝜙 𝑥𝑥 = 𝐶𝐶1 sin 𝛽𝛽𝛽𝛽 + 𝐶𝐶3 sinh 𝛽𝛽𝛽𝛽
• The two boundary conditions at 𝑥𝑥 = 𝐿𝐿 are:
• 𝑢𝑢 𝐿𝐿, 𝑡𝑡 = 0 ⇒ 𝜙𝜙 𝐿𝐿 = 0 ⇒ 𝐶𝐶1 sin 𝛽𝛽𝐿𝐿 + 𝐶𝐶3 sinh 𝛽𝛽𝛽𝛽 = 0
• 𝑀𝑀 𝐿𝐿, 𝑡𝑡 = 0 ⇒ 𝜙𝜙𝜙𝜙 𝐿𝐿 = 0 ⇒ 𝛽𝛽 2 (−𝐶𝐶1 sin 𝛽𝛽𝛽𝛽 + 𝐶𝐶3 sinh 𝛽𝛽𝛽𝛽) = 0
• Therefore we have:
• 𝐶𝐶3 = 0 and 𝐶𝐶1 ≠ 0
• 𝛽𝛽𝛽𝛽 = 𝑛𝑛𝑛𝑛, 𝑛𝑛 = 1,2,3 …
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 Natural frequencies and mode shapes: uniform
simply supported beam 𝜙𝜙 𝑥𝑥 = 𝐶𝐶1 sin 𝛽𝛽𝛽𝛽 + 𝐶𝐶2 cos 𝛽𝛽𝛽𝛽 + 𝐶𝐶3 sinh 𝛽𝛽𝛽𝛽 + 𝐶𝐶4 cosh 𝛽𝛽𝛽𝛽

• 𝐶𝐶3 = 0 and 𝐶𝐶1 ≠ 0

𝑛𝑛𝑛𝑛
• 𝛽𝛽𝛽𝛽 = 𝑛𝑛𝑛𝑛, 𝑛𝑛 = 1,2,3 … ⇒ 𝛽𝛽𝑛𝑛 = , 𝑛𝑛 = 1,2,3
𝐿𝐿
• The natural vibration frequencies become:
4 𝐸𝐸𝐸𝐸
𝛽𝛽𝑛𝑛 𝑛𝑛2 𝜋𝜋2 𝐸𝐸𝐸𝐸
• 𝜔𝜔𝑛𝑛 = = , 𝑛𝑛 = 1,2,3 …
𝑚𝑚 𝐿𝐿2 𝑚𝑚

• The mode shapes become:

𝑛𝑛𝑛𝑛
• 𝜙𝜙𝑛𝑛 𝑥𝑥 = 𝐶𝐶1 sin 𝑥𝑥 , 𝑛𝑛 = 1,2,3 …
𝐿𝐿

15
Simply supported beam: mode shapes

Mode 1 Mode 2 Mode 3 Mode 4

1 = 8.903 rad/s 2 = 35.61 rad/s 3 = 80.13 rad/s 4 = 142.5 rad/s

4 4 4
4

2 2 2
2

0 0 0
0

-2 -2 -2
-2

-4 -4 -4
-4

0 2 4 6 8 0 2 4 6 8 0 2 4 6 8 0 2 4 6 8

L [m] L [m] L [m] L [m]

Mode 5 Mode 6 Mode 7 Mode 8

5 = 222.6 rad/s 6 = 320.5 rad/s 7 = 436.3 rad/s 8 = 569.8 rad/s

4 4 4 4

2 2 2 2

0 0 0 0

-2 -2 -2 -2

-4 -4 -4 -4

0 2 4 6 8 0 2 4 6 8 0 2 4 6 8 0 2 4 6 8

L [m] L [m] L [m] L [m]

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 Natural frequencies and mode shapes: uniform
cantilever beam
𝜙𝜙 𝑥𝑥 = 𝐶𝐶1 sin 𝛽𝛽𝛽𝛽 + 𝐶𝐶2 cos 𝛽𝛽𝛽𝛽 + 𝐶𝐶3 sinh 𝛽𝛽𝛽𝛽 + 𝐶𝐶4 cosh 𝛽𝛽𝛽𝛽

• The two boundary conditions at 𝑥𝑥 = 0 are:

• 𝑢𝑢 0, 𝑡𝑡 = 0 ⇒ 𝜙𝜙 0 = 0 ⇒ 𝐶𝐶2 +𝐶𝐶4 = 0 ⇒ 𝐶𝐶4 = −𝐶𝐶2
• 𝑢𝑢𝑢 0, 𝑡𝑡 = 0 ⇒ 𝜙𝜙′ 0 = 0 ⇒ 𝐶𝐶1 +𝐶𝐶3 = 0 ⇒ 𝐶𝐶3 = −𝐶𝐶1
• Therefore we have:
• 𝜙𝜙 𝑥𝑥 = 𝐶𝐶1 (sin 𝛽𝛽𝛽𝛽 − sinh 𝛽𝛽𝛽𝛽) + 𝐶𝐶2 (cos 𝛽𝛽𝛽𝛽 − cosh 𝛽𝛽𝛽𝛽)
• The two boundary conditions at 𝑥𝑥 = 𝐿𝐿 are:
• 𝑀𝑀 𝐿𝐿, 𝑡𝑡 = 0 ⇒ 𝜙𝜙 ′′ 𝐿𝐿 = 0
⇒ 𝐶𝐶1 sin 𝛽𝛽𝛽𝛽 + sinh 𝛽𝛽𝛽𝛽 + 𝐶𝐶2 (cos 𝛽𝛽𝛽𝛽 + cosh 𝛽𝛽𝛽𝛽) = 0
• 𝑉𝑉 𝐿𝐿, 𝑡𝑡 = 0 ⇒ 𝜙𝜙 ′′′ 𝐿𝐿 = 0
⇒ 𝐶𝐶1 cos 𝛽𝛽𝛽𝛽 + cosh 𝛽𝛽𝛽𝛽 + 𝐶𝐶2 (−sin 𝛽𝛽𝛽𝛽 + sinh 𝛽𝛽𝛽𝛽) = 0

17
 Natural frequencies and mode shapes: uniform
cantilever beam
• 𝐶𝐶1 sin 𝛽𝛽𝛽𝛽 + sinh 𝛽𝛽𝛽𝛽 + 𝐶𝐶2 (cos 𝛽𝛽𝛽𝛽 + cosh 𝛽𝛽𝛽𝛽) = 0
• 𝐶𝐶1 cos 𝛽𝛽𝛽𝛽 + cosh 𝛽𝛽𝛽𝛽 + 𝐶𝐶2 (−sin 𝛽𝛽𝛽𝛽 + sinh 𝛽𝛽𝛽𝛽) = 0
• In the matrix form:
sin 𝛽𝛽𝛽𝛽 + sinh 𝛽𝛽𝛽𝛽 cos 𝛽𝛽𝛽𝛽 + cosh 𝛽𝛽𝛽𝛽 𝐶𝐶1 0
• =
cos 𝛽𝛽𝛽𝛽 + cosh 𝛽𝛽𝛽𝛽 −sin 𝛽𝛽𝛽𝛽 + sinh 𝛽𝛽𝛽𝛽 𝐶𝐶2 0
• The coefficient matrix needs to be singular:
sin 𝛽𝛽𝛽𝛽 + sinh 𝛽𝛽𝛽𝛽 cos 𝛽𝛽𝛽𝛽 + cosh 𝛽𝛽𝛽𝛽
• det =0
cos 𝛽𝛽𝛽𝛽 + cosh 𝛽𝛽𝛽𝛽 −sin 𝛽𝛽𝛽𝛽 + sinh 𝛽𝛽𝛽𝛽
• Leading to:
• 1 + cos 𝛽𝛽𝛽𝛽 cosh 𝛽𝛽𝛽𝛽 = 0

18
 Natural frequencies and mode shapes: uniform
cantilever beam 𝛽𝛽𝑛𝑛4 𝐸𝐸𝐸𝐸
𝜔𝜔𝑛𝑛 =
𝑚𝑚

• 1 + cos 𝛽𝛽𝛽𝛽 cosh 𝛽𝛽𝛽𝛽 = 0

• The above equation can only be solved numerically:
• 𝛽𝛽𝑛𝑛 𝐿𝐿 = 1.8751, 4.6941, 7.8548, 10.996 for 𝑛𝑛 = 1,2,3,4
• For 𝑛𝑛 > 4, 𝛽𝛽𝑛𝑛 𝐿𝐿 ≃ 2𝑛𝑛 − 1 𝜋𝜋/2
• The corresponding natural frequencies:
3.516 𝐸𝐸𝐸𝐸 22.03 𝐸𝐸𝐸𝐸 61.70 𝐸𝐸𝐸𝐸 120.9 𝐸𝐸𝐸𝐸
• 𝜔𝜔1 = 𝜔𝜔2 = 𝜔𝜔3 = 𝜔𝜔4 =
𝐿𝐿2 𝑚𝑚 𝐿𝐿2 𝑚𝑚 𝐿𝐿2 𝑚𝑚 𝐿𝐿2 𝑚𝑚

• The mode shapes:

cos 𝛽𝛽𝑛𝑛 𝐿𝐿+cosh 𝛽𝛽𝑛𝑛 𝐿𝐿
• 𝜙𝜙𝑛𝑛 𝑥𝑥 = 𝐶𝐶 cosh 𝛽𝛽𝑛𝑛 𝑥𝑥 − cos 𝛽𝛽𝑛𝑛 𝑥𝑥 − sinh 𝛽𝛽𝑛𝑛 𝑥𝑥 − sin 𝛽𝛽𝑛𝑛 𝑥𝑥
sin 𝛽𝛽𝑛𝑛 𝐿𝐿+sinh 𝛽𝛽𝑛𝑛 𝐿𝐿

19
Cantilever beam: mode shapes

Mode 1 Mode 2 Mode 3 Mode 4

1 = 3.172 rad/s 2 = 19.87 rad/s 3 = 55.66 rad/s 4 = 109.1 rad/s

4 4 4
4

2 2 2
2

0 0 0
0

-2 -2 -2
-2

-4 -4 -4
-4

0 2 4 6 8 0 2 4 6 8 0 2 4 6 8 0 2 4 6 8

L [m] L [m] L [m] L [m]

Mode 5 Mode 6 Mode 7 Mode 8

5 = 180.3 rad/s 6 = 269.3 rad/s 7 = 376.2 rad/s 8 = 500.8 rad/s

4 4 4 4

2 2 2 2

0 0 0 0

-2 -2 -2 -2

-4 -4 -4 -4

0 2 4 6 8 0 2 4 6 8 0 2 4 6 8 0 2 4 6 8

L [m] L [m] L [m] L [m]

20
 Orthogonality conditions of mode shapes

• From slide 13, we know that

• 𝐸𝐸𝐸𝐸(𝑥𝑥)𝜙𝜙𝜙 𝑥𝑥 " = 𝜔𝜔2 𝑚𝑚(𝑥𝑥)𝜙𝜙 𝑥𝑥 holds for each of the modes
• Then, the mass orthogonality condition can be derived:
𝐿𝐿
• ∫0 𝑚𝑚 𝑥𝑥 𝜙𝜙𝑛𝑛 𝑥𝑥 𝜙𝜙𝑟𝑟 𝑥𝑥 𝑑𝑑𝑑𝑑 = 0 , for 𝑛𝑛 ≠ 𝑟𝑟

• Similarly, the stiffness orthogonality condition is:

𝐿𝐿
• ∫0 𝐸𝐸𝐸𝐸 𝑥𝑥 𝜙𝜙′′𝑛𝑛 𝑥𝑥 𝜙𝜙′′𝑟𝑟 𝑥𝑥 𝑑𝑑𝑑𝑑 = 0 , for 𝑛𝑛 ≠ 𝑟𝑟

Blackboard derivations (integration by parts).

You can also verify these orthogonality properties by Matlab programming 21

 Modal analysis of forced dynamic response
• Equation of motion:

𝜕𝜕2 𝑢𝑢 𝜕𝜕2 𝜕𝜕2 𝑢𝑢

• 𝑚𝑚 𝑥𝑥 + 𝐸𝐸𝐸𝐸(𝑥𝑥) 2 = 𝑝𝑝(𝑥𝑥, 𝑡𝑡)
𝜕𝜕𝑡𝑡 2 𝜕𝜕𝑥𝑥 2 𝜕𝜕𝑥𝑥

• The displacement is given by a linear combination of modes

22
 Modal analysis of forced dynamic response

• This equation can then be rewritten as

where

• Once the modal coordinates have been determined, the displacement can be
obtained as:

23
 Modal analysis of forced dynamic response
• Example 1

• Natural frequencies and mode shapes:

24
 Modal analysis of forced dynamic response
• Example 1

• Generalized mass (modal mass) and generalized stiffness (modal stiffness)

25
 Modal analysis of forced dynamic response
• Example 1

• The generalized force (modal force)

• The nth modal equation becomes:

26
 Modal analysis of forced dynamic response
• Example 1

• For a special case of we have: