Example 3.

3 Find the natural vibration frequency & mode of system

Solution: m m m  2
X1
2m 2 X 2
11m 2 X1  12 2m 2 X 2  X1 EI y2 X1
y1
 21m 2 X1   22 2m 2 X 2  X 2 l EI
X2
l
1
Let   1 1
 11m1 2 l
 21
212  11  12  22
(1 ) X1  X2  0
11
 21  22 l
X1  (2  ) X 2  0 1  3/ 4
11 11 0
3 / 8 1/ 2  
4 l3 1 l3
 11   12   21  (1   )(1 / 2   )  9 / 32  0
3 EI3 2 EI
1 l 1  1.336 2  0.1637
 22 
3 EI EI EI
1  0.749 3
; 2  2.140
ml ml 3
Example 3.3 Find the natural vibration frequency & mode of system
Solution:
m m m 2 X 1
2m 2 X 2
11m 2 X1  12 2m 2 X 2  X1 EI y2 X1
y1
 21m 2 X1   22 2m 2 X 2  X 2 l EI
1 X2
Let   l
 11m1 2 1 1
l
212  21
(1 ) X1  X2  0  11  12  22
11
X11 3/ 4 l
  2.23
X 21 1 1 0.897
2.23
X12 3/ 4 1
  0.897
X 22 1 2 1
2.23  0.897 X 1 X 2
X 1   ;X 2   
 1   1 
§3.2 Vibration of structure under harmonic loading
Equation of motion
P1 sin t P2 sin t

m1 m2  y1   11 (m1 y1 )   12 (m2 y2 )  1P sin t


y1 EI y2  y2   21 (m1 y1 )   22 (m2 y2 )   2 P sin t
 m1 y1  m2 y2  y1  A1 sin t
P1 P2 Give special solution: 
 sin t  y2  A2 sin t
1 P 2P (m111 1/ 2 ) A1  m212 A2  1P / 2

1
m1 21A1  (m2 22 1/  2 ) A2  2P /  2
 ( m1 y1 ) Solve the equation and obtain
 11  21 D D
A1  1 A2  2
1 D D
where
 ( m2 y2 ) m212 1P /  2
 12  22 D1 
m2 22  1 /  2  2 P /  2
§3.2 Vibration of structure under harmonic loading
m111  1 /  2 1P /  2 4. When θ→ω1 or θ→ω2,
D2  
m1 21 2P /  2 A1   A2  
The system with N degrees of freedom
m111  1 /  2 m212 correspond to N resonance regions.
D 5. Build amplitude equation to find
m1 21 m2 22  1 /  2
stable vibration amplitude:
1. During stable stage, the system I1 (t )  m1y1  m1 A1 2 sint  I1 sint
vibrates in the simple harmonic way
I1  m1 A1 2
and the vibration frequency is the ----inertial force amplitude
same as loading one. I 2  m2 A2 2

2. When θ → 0 P1 sin t P2 sin t

A1  1P A2   2 P m1 m2
(m111 2 1) A1  m212 A2 2  1P y1 EI y2
I1 I2
 2m1 21A1  ( 2m2 22 1) A2  2P A1  11I1  12I 2  1P
3.When    A1  0 A2  0 A2   21I1   22I 2  2P
§3.2 Vibration of structure under harmonic loading
4. When θ→ω1 or θ→ω2,
A1  I1 / m1 2
A2  I2 / m2 2

A1   A2  
(11 1/ m1 )I1  12I 2  1P  0
2
The system with N degrees of freedom
 21I1  ( 22 1/ m2 )I 2  2P  0
2
correspond to N resonance regions.
5. Build amplitude equation to find
6. Calculation of internal force
stable vibration amplitude:
amplitude
1. During stable stage, the system
I1 (t )  m y

1 1  m A
1 1 2
sint  I1 sint
vibrates in the simple harmonic way I1  m1 A1 2
and the vibration frequency is the ----inertial force amplitude
I 2  m2 A2 2
same as loading one.
P1 sin t P2 sin t
2. When θ → 0 时
A1  1P A2   2 P m1 m2
(m111 2 1) A1  m212 A2 2  1P y1 EI y2
I1 I2
 2m1 21A1  ( 2m2 22 1) A2  2P A1  11I1  12I 2  1P
A2   21I1   22I 2  2P
3.When    A1  0 A2  0
Example 3.4 Find the stable amplitude and draw the dynamic bending moment
amplitude diagram.
Known：m 1  m 2  m ,   3 . 415 EI P sin t
ml 3 m1 m2
Solution：
A1  11(P  I1 )  12I 2 y1 EI y2
l /3 l /3 l /3
A2   21(P  I1 )   22I 2
P
A1  I1 / m1 2
A2  I2 / m2 2
A1 A2
(11 1/ m1 2 )I1  12I2  12P  0 I1 I2

 21I1  ( 22 1/ m2 2 )I 2   21P  0 1.2936 P 0.2689 P

7 l3 8 l3
 12   21   11   22 
486 EI 486 EI
 0.0693I1  0.0144I 2  0.0165P  0 0.2035Pl
0.3173Pl
0.0144I1  0.0693I 2  0.0144P  0
I1  0.2936P I 2  0.2689P No unified dynamic coefficient
3
3
A1  0.02517Pl / EI 2A  0.02306Pl / EI
A simplified calculation using the symmetry of system:

Symmetrical load:  11  0.03087l 3 / EI P sin t

m m
P
sin t  2  32.394 EI / ml 3
2
 2  11.662 EI / ml 3 P P
sin t sin t
2 2
  1.5625
1
y st  0.015435 Pl 3 / EI
P P
sin t sin t
l /3 A  0.024117 Pl 3 / EI 2 2
Antisymmetrical load:
 11  0.00206l 3 / EI
P
sin t
2  2  486.003EI / ml 3 A1  A1s  A1a
 2  11.662 EI / ml 3  0.025177 Pl 3 / EI
1   1.0246
A2  A2 s  A2 a
y st  0.0103Pl 3 / EI
l /9  0.023057 Pl 3 / EI
A  0.00106 Pl 3 / EI
§3.3 Modal decomposition/superposition method
3.3.1. Orthogonality of vibration mode m1 i2 X 1i m2 i2 X 2i mN  i2 X Ni
 X 

1i
m1 m2 mN
 X 2 i 
Mode i  X i   
  
 X Ni  X 1i X Ni
X 2i
 m 1 i2 X 1 i  m1   X 1i 
Inertial force in 
 m 2 i X 2 i
2   m2  X 


  
2    2 i 
   i2 m  X i
Mode i:   
i
    
 m N  i2 X Ni    
 mN   X Ni
 X1j 
 X 2 j 
Mode j  X  
   m1 2j X 1 j m2 2j X 2 j mN  2j X Nj
j
  
 X N j 
m1 m2 mN
Virtual work done by Inertial force in
Mode i in going through Mode j:
X1 j X Nj
W ij  m 1 i2 X 1 i  X 1 j  m 2  i2 X 2 i  X 2 j   X2j
According to the virtual work reciprocal
  i2  X  j m  X i
T
theorem: W ji  W ij
Virtual work done by Inertial force in
  i2 )  X  j m  X i  0
T
Mode j in going through Mode i: ( 2
j

W ji   2j  X i m  X  j   j  X  j m  X i
T 2 T X Tj mX i 0
(a)Physical meaning of mode orthogonality to mass
W ij   i2  X Tj m  X i 0
m1 X 1i i
2 m2 i2 X 2i mN  i2 X Ni
Virtual work done by Inertial force in Mode m1 m2 mN
i on going through Mode j is equal to 0.
(b)Physical meaning of modal X 1i X Ni
X 2i
orthogonality to stiffness:
k  X i  2
m  X i 2  2
m1 X 1 j 2 j X 2 j
m mN  2j X Nj
i j

m1 m2 mN
 X  k  X i
T
j  i
2
 X  m  X i
T
j

X1 j X Nj
X  k X i
T
j 0 X2j

P1 P2 PN

P   k  X i
X 1i X Ni
 X  P    X  k  X i
T
j
T
j 0 X 2i

Virtual work done by Elastic force in Mode

I in going through Mode j is equal to zero.
(c) Application of mode orthogonality
1) Verify the correction of calculated vibration modes;
2) Conduct a Decoupling solution to coupling m m
differential equation of motion. y2
EI
… y1
Example 3.5 Verify the mode of the structure. l EI

2.23  0.897 l
X 1   ;X 2   
 1   1 
 12 18 
   EI
m 
m    k    1   7 7
 3
 2 m  
18 48
 l
 7 7 
m 0   0.897
X  mX 2  2.23 1
T
1     0.00031m
 0 2m  1 
 12 / 7  18 / 7   0.897 
X 1 k X 2  2.23 1
T
    0 . 000154 ( EI / l 3
)
 18 / 7 48 / 7   1 
Example 3.6 Find the 2nd mode by the known 1st mode, for the given structure.
m m
EI y2
Known: 2.23
X 1   ; l EI
y1
 1 
l
Solution:
m 0  X12 
X  mX 2  2.23 1
T
1   0
 0 2mX 22 
2.23mX12  2mX22  0

X12 2

X 22 2.23

 0.897
X 2   
 1 
Example 3.7 Known: the vibrating amplitude of the given structure
m m
3.1145
A    EI y2
3.5000 y1
Find the 2ndmode component from the given l EI
vibrating amplitude.
l
Solution: 2.23  0.897
A  D1X 1  D2 X 2 X 1   ; X 2   
 1   1 
X 1T mA  D1X 1T mX 1  D2 X 1T mX 2
X 1 mA 13.945m
T
D1   2
X 1 mX 1 6.9729m
T

 3.1145 2.23 1.3455

A  A D1X 1    2   
 3.5   1   1.5 
  1.3455  0.897  1.5X 
A     1.5    2
2 1.5   1 
A   X i Di  D1X 1  D2 X 2  2  X 1  1.5  X 2
i 1
Please finish all problems in A4 paper，then take pictures for
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Send them by WeChat or Email, on October 26, 2020.

2020/10/21
PROBLEMS 10.1 on Page 442 in Chopra’s book.