Soil Mechanics and Foundation Engineering, Vol. 49, No. 3, July, 2012 (Russian Original No.

3, May-June, 2012)

APPLICATION OF MATRICES AND COORDINATE TRANSFORMATIONS

TO ANALYSIS OF VIBRATIONS OF BLOCK AND WALL MACHINE
FOUNDATIONS OF ASYMMETRIC FORM
M. L. Kholmyanskii

UDC 624.131.551.5

N. M. Gersevanov Scientific-Research Institute of Foundations and

Underground Structures; and publicly owned joint-stock company
NITs Stroitel'stvo, Moscow, Russia.

A method is proposed for analysis of vibrations of foundations of complex form, making

it possible to employ more complex technical solutions, including the reconstruction of
active establishments, or, when necessary, their strengthening. The results are incorporated in the Construction Rules and Regulations "Dynamically loaded machine foundations,"
which are presently being implemented.

Introduction

Traditional and widespread methods of analyzing vibrations of block and wall foundations under
machinery generating dynamic loads are based on use of a model of a massive rigid body (foundation
with machine) on a viscoelastic bed (soil).
As a rule, the assumption concerning the existence of two vertical planes of symmetry, which
can be adopted as coordinate planes of a rectangular coordinate system, is used to analyze the vibrations
of machine foundations. Moreover, a linear differential equation with constant coefficients, or systems of
two of these equations are used [1, 2]. The first case corresponds to vertical vibrations (or torsional
vibrations during which rotation of the foundation occurs relative to the vertical coordinate axis), and
the second to horizontal-rotational vibrations in each of the two vertical coordinate planes. Computational formulas are presented in [1, 2] for both cases.
In providing reliability, an economic design may require use of foundation structures of a more
complex form, which are distinguished by lack of the symmetry indicated. Machine foundations of a
complex asymmetric form are particularly critical under conditions where active establishments are
being reconstructed or strengthened [3], when it is expedient, or even necessary to utilize the existing
foundations. In some of these cases, systems with an eccentric center of mass with only one plane of
symmetry are considered; they are described by a system of differential equations [2, 4].
This paper presents methods for analysis of the vibrations of both block and wall machine foundations of arbitrary asymmetric form, which do not require modeling of the dynamic behavior of the soil
as a continuum, and also the means of determining corresponding initial data. The results obtained generalize both the recommendations of [1, 2], and also results available in the literature.
General Equations of Vibrations in Matrix Form and Inertia Matrix

In the general case of the vibration analysis of an absolutely solid body, it is assumed that it has
six degrees of freedom, as is recommended in the Eurocode [5], where it is also permitted to reduce the
number of degrees of freedom.

Translated from Osnovaniya, Fundamenty i Mekhanika Gruntov, No. 3, pp. 6-9, May-June, 2012.
0038-0741/12/4903-0087

2012 Springer Science+Business Media, Inc.

87

In analyzing the interaction between a structure and the soil, their properties are usually
described by stiffness and damping coefficients. Coefficients of subgrade reaction and relative damping
[1, 2], the selection of which is based on a model of an elastic inertial half space [6-8], are employed
for their determination.
Matrix writing has been employed for the vibration equations of the common type of block foundations [9]. The matrix form of the equation for small vibrations of a rigid body on an elastic bed
assumes the form of basic FEM equations, or the general matrix method of structural mechanics in displacements
Mq(t ) + Bq(t ) + Kq(t ) = f (t ) ,

(1)

where q(t) and f(t) are the vectors-columns of the generalized displacements and generalized forces
related to them, and M, B, and K are matrices of inertia, damping, and stiffness. In the general case of
a rectangular coordinate system xyz, there are six degrees of freedom (generalized displacements)
three displacements q1 = x, q2 = y, and q3 = z of the origin of coordinates O, and three angles of rotation of the rigid foundation q4 = , q5 = , and q6 = relative to the x, y, and z axes, respectively. The
dimensions of the matrix are 66, and the vector-column 61. Hereinafter, the generalized displacements and forces will be called displacements and forces.
Selection of the coordinate origin and axes is arbitrary. As a rule, the z axis is directed vertically upward, and the x and y axes are selected coincident with the axes of the foundation. The center of
mass of the system is adopted as the coordinate origin. As indicated below, another selection of coordinate system is also useful.
In an arbitrary rectangular coordinate system, it is necessary to have a formula for the inertia
matrix. It can be derived, for example, on the basis of the expression for the kinetic energy of a solid
body, which can be given by Konig's theorem using the Steiner's theorem [10]:
m

0
0
M=
0

mdz

-md y

md z

-md z

md y

-md x

-mdz

md y

x 0

-J xy 0

-md x

-J xy 0 0

md x

-J xz 0

-J yz 0

-md y

md x

0
,
-J xz 0

-J yz 0

(2)

where m is the mass of the solid body (the machine-bearing foundation), 0, 0, 0, and Jxy0, Jyz0, Jzx0 are
the moments of inertia about the axes of the selected arbitrary rectangular coordinate system, and the corresponding centrifugal moments of inertia, and dx, dy, and dz are the coordinates of the center of mass.
Inertia, Damping, and Stiffness Matrices for Foundations with Two Planes of Symmetry

The equations of vibrations for foundations with two planes of symmetry xz and yz are known
[2]. Owing to symmetry, it is possible to examine the horizontal-rotational vibrations in the xz and yz
planes, and the vertical and torsional vibrations separately. A coordinate system related to the center O
of the machine-bearing foundation is normally employed. It is expedient to use matrix writing.
In examining the horizontal-rotational vibrations in the xz plane, expressions for the corresponding 22 matrices can be established on the basis of equations given in [2, 11].
We can then convert to the coordinate system x'y'z', which is linked to the center of stiffness
(center of gravity of the lower surface), which is located lower by h2 on the same vertical as the center
88

of mass. The axes of both coordinate systems are parallel. Here, x' = x h2 , ' = , and the 22
damping and stiffness matrices for the horizontal-rotational vibrations are diagonal in one plane:
Bx
B =
0

0
Kx
; K =

B
0

0
,
K

(3)

while the inertia matrix acquires the form

m
M =
mh2

mh2
.
0

(4)

Here and below, the notations are the same as those in the Construction Rules and Regulations [1].
The equations of the horizontal-rotational vibrations in the yz plane are similar; x', ', and h2 are
replaced by y', ', and h2. The equations of the vertical and torsional vibrations in the xyz and x'y'z'
coordinate systems assume a similar form. For the general type of vibrations, therefore, the inertia
matrix in the system under consideration is
m
0

0
M =
0
mh2

mh2

-mh2

-mh2

x0
0

0
0
0
.
0
0

(5)

The stiffness matrix is diagonal. Its elements are expressed in terms of the coefficients of uniform and nonuniform elastic compression, and uniform and nonuniform elastic shear [1, 2]:
K11
= K 22
= K = C x A ; K 33
= K z = Cz A ;
K 44
= K = K mgh2 ; K = C I ;
K 55
= K = K mgh2 ; K = C I ;

(6)

K 66
= K = C I ; K ij = 0 (i j; 1 i 6; 1 j 6) ,

where I is the moment of inertia of the area of the lower surface of the foundation about horizontal
axis x', and K is the coefficient of stiffness under elastic nonuniform compression.
The damping matrix is also diagonal; its elements are found from the following formulas [2, 4]:
B11
= B22
= 2x K x m ; B33
= 2z K z m ;
B44
= 2 K 0 ; B55
= 2 K 0 ;

(7)

B66
= 2 K ; Bij = 0 (i j; 1 i 6; 1 j 6) .
89

z'

y'
'
'

'

x'
O'

Fig. 1. Asymmetric foundation and x'y'z coordinate system.

Stiffness and Damping Matrices for Asymmetric Foundations; Dynamic Loads

In the general case of an asymmetric foundation, let us select the origin O' of coordinate system
x'y'z' at the center of gravity of the lower surface of the foundation. Let us combine the horizontal axes
x and y' with the principal axes of inertia of the lower surface (the z' axis is directed vertically upward
(see Fig. 1). Let us retain the assumption adopted in [1, 2] concerning uniform distribution of the coefficients of subgrade reaction (elastic uniform and nonuniform compression and shear) along the lower
surface. As a result, formulas (6), which are derived for symmetric systems, are also valid in this case.
The coefficients of elastic uniform and nonuniform compression and shear, and also the relative damping can be determined from [1, 2].
Let us assume that selection of the x'y'z' coordinate system, for which the stiffness matrix is
diagonal, will also permit adoption of a diagonal damping matrix. Here, formulas (7) should be used,
making it possible to determine completely the damping properties of the bed of the asymmetric foundation. If these machine foundations are installed to a significant depth, the corresponding increase in
stiffness and damping can be defined more precisely using the recommendations cited in [12].
The general formula (2) for the inertia matrix is, of course, also valid for asymmetric foundations. Thus,
matrix equation (1) of the vibration of an asymmetric block (wall) foundation can be written in the general
case. The expression required for the forces (dynamic loads acting on the foundation) takes on the form
f' = Sf .

(8)

Matrix S can be determined in the following manner. A coordinate system with its origin at point
O' and with axes parallel to the axes of coordinate system xyz is introduced initially. Using formulas for
the variation in the moment with varying reduction center, an expression can then be derived for the
matrix of the transformation of the vector-column of forces when the coordinate origin is transferred
from point O to point O'. The familiar expressions for transformation of the components of an arbitrary
vector (including the force and moment vectors) are then written for rotation of the coordinate system.
Superposition of the two coordinate replacements yields an expression for the 61 matrix of vector-column transformation, which contains the forces:
cos
-sin

0
S = -sin d
z

-cos d
z

dy

90

sin

cos

cos dz

-cos d y + sin d x

-sin dz

cos d x + sin d y

-d x

0
0
0
0
0
0
0

cos sin 0 ,
-sin cos 0

0
0
1
0

(9)

where dx, dy, and dz are the coordinates of point O' in the xyz system, is the angle through which the
x (or y) axis should turn about the z axis in the positive direction to attainment of its parallelism and
codirectionality with the x' (or y') axis; here, the z and z' axes are parallel.
Shekhter [4] had previously derived and solved equations for the vibrations of a foundation with
an eccentric mass and stiffness (with one vertical plane of symmetry x'z'). These equations (for dy = 0
and symmetry of the lower surface) correspond to those under consideration.
Solution of Differential Equations for Vibrations of Machine
Foundations Subject to Periodic and Pulsed Dynamic Loads

The problem of analyzing the vibrations of asymmetric block and wall machine foundations with
dynamic loads is reduced to solution of differential Eq. (1) in terms of vector-column displacements.
Moreover, recommendations are given for determination of all initial parameters required (inertia, stiffness, and damping matrices, and the matrix of vector-column forces). The x'y'z' coordinate system, in
conformity with which matrices M, K, and B, and the vector-column matrices q and f are provided with
a prime, is used. Instructions for solution of this linear vector differential equation with constant matrix
coefficients are given below. Three types of dynamic loads are isolated in analyzing the vibrations of
machine foundations: periodic, pulsed, and random [1, 2]. Only the periodic and pulsed loads are examined below.
The periodic loads are reduced to superposition of harmonic loads; the actions (and, consequently, also the responses) are harmonically dependent on time t at an angular frequency , i.e.,
f ' = F'exp(it) and q' = U'exp(it). We have
-1
U' = (- 2M' + iB' + K') F'.

(10)

The free vibrations are calculated in the case of pulsed loads. The initial displacements q'(0) are
(0) are determined from the laws of conservation of
assumed to be zero, and the initial velocities q
impulse and its momentum. These conditions render solution of an equation of the form of (1) possible
with use of numerical or analytical methods.
Verification of Fulfillment of Computational Criterion of Performance Conditions

In analyzing the vibrations, their amplitudes are determined separately with respect to directions
and corresponding frequencies, which are then compared with their limiting allowable values. Here, the
functions of several amplitudes are utilized in a number of cases. When rotational components are present, the vibration amplitudes differ for different points of the foundation. Instructions for selection of
the coordinates of observation points, for which the amplitudes are subject to evaluation and comparison
with limiting allowable values, are given in [1].
When coordinate systems similar to those cited above are replaced for the derivation of equations in terms of q', it is possible to make use of the following expression for displacements corresponding to the initial xyz coordinate system:
q = Tq',
where

cos

sin
0
T =
0

0
0

(11)

-sin

-sin dz

cos
0

0
cos dz
1 -cos d y + sin d x

-cos dz
-sin dz
cos d x + sin d y

cos

-sin

0
0

0
0

sin
0

cos
0

dy

- dx
0
,
0

0
1

(12)

91

It is readily apparent that the matrices of direct transformation of forces S and inverse transformation of displacements T are obtained by transposition of one from the other; this follows from the
general rule: generalized forces are transformed contravariantly [13].
Formula (11) makes it possible to determine the displacements in the initial coordinate system,
and, consequently, obtain the unknown vibration amplitudes.
Conclusion

The method
dations with use of
technical solutions.
for example, under
technical problems,
porated into urgent
tions."

proposed for analysis of the vibrations of asymmetric block and wall machine founmatrices and various coordinate systems makes it possible to employ more complex
Asymmetric foundations may be found more economic, and in a number of cases,
conditions where industrial establishments are reconstructed, provide a solution for
which is disallowed with use of other methods. The results obtained are being incorediting of Construction Rulesand Regulations "Dynamically loaded machine founda-

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1.
2.
3.
4.
5.
6.
7.
8.
9.
10.
11.
12.
13.

92

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