Академический Документы
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By
Inno Odira
c Copyright by Inno Odira, 2018
Table of Contents
Bibliography 6
REFERENCES 6
iii
1
0.1 MDOF Modal Analysis
Example:
Consider a simple 2DOF mass- spring system Fig. 3
In a familiar form
M Ẍ + KX = F (2)
• In this case, the system is stiffness (spring) coupled. There are off-diagonal terms
in K
Note:
2
• For this other example, the mass/inertia matrix (M ) has off-diagonal terms, so the
system is inertially (mass) coupled
" #
1 1 1
U = √
2 1 −1
|{z}
Explained later
| {z }
eigenvectors as columns
" #
r1
H =
r2
" #
x1
X =
x2
M Ẍ + KX = F̄ cos ωt
Let X = UH
Plug this in the EOM
M U Ḧ + KU H = F̄ cos ωt (6)
4
Pre-multiply (6) by U T
T T T
U
| {zM U} Ḧ + U
| {zKU} H = U
| {zF̄} cos ωt (7)
Ḿ Ḱ F́
• ri variable is referred to as modal coordinate with the physical meaning - The response
of a single mode
• Mathematically- It means the dot product is zero i.e. No component of one vector is
in the direction of the other (AT B = 0)
5
• Eigenvectors are orthogonal, but not in this way.
– They are orthogonal with respect to the mass and stiffness matrices
– i.e. UiT M Uj = 0 and UiT KUj = 0 for all i 6= j
0.1.3 Normalization
" #
1 1 1
• Earlier we used √
2 1 −1
|{z}
normalization constant
| {z }
eigenvectors as columns
• So, we want UiT M Ui = 1 but In general, this is not true. (Here UiT M Ui = 2)
• If they have been normalized, then they are also normal, making the eigenvectors
orthonormal.