Noise and Vibration

Two Degree of Freedom Systems

DR MUHD HAFEEZ ZAINULABIDIN

2-DOF System
( a basic understanding in multi-DOF)

2
 Deriving 2-DOF
mathematical model
F1 F2

F1 F2
x1 x2
k1x1 k2 (x2-x1) k3x2
c1 x1 m1 c2  x 2  x1  m2 c3 x 2

3
 F1
x1
k1x1 k2 (x2-x1)
c1 x1 m1 c2  x 2  x1 

m1 x1  F1  k1 x1  c1 x1  k2 ( x2  x1 )  c2 ( x 2  x1 )

m1 x1  (c1  c2 ) x1  c2 x 2  (k1  k2 ) x1  k2 x2  F1
F2
x2
k2 (x2-x1) k3x2
c2  x 2  x1  m2 c3 x 2

m2 x2  F2  k2 ( x2  x1 )  c2 ( x 2  x1 )  k3 x2  c3 x 2
m2 x2  c2 x1  (c2  c3 ) x 2  k2 x1  (k2  k3 ) x2  F2

4
m1x1  (c1  c2 ) x1  c2 x 2  (k1  k2 ) x1  k2 x2  F1

m2 x2  c2 x1  (c2  c3 ) x 2  k2 x1  (k2  k3 ) x2  F2

Rearrange in matrix notation

   x1     x1     x1   F1 
   x      x     x   F 
  2   2   2  2

 m1 0   x1   c1  c2  c2   x1   k1  k2  k2   x1   F1 

0            
 m2   x2   c2  c2  c3    x 2   k2  k2  k3    x2   F2 

5
General Multi-DOF Equation

 M   x   C   x    K   x   F 

 M  ,  C  and  K  are symmetric matrices n x n

 x ,  x  and  x are vectors n row
n is the number of the degrees of freedom
n is the number of natural frequencies

6
 Free Vibration of an Undamped 2-DOF
System
m1 x1  k1 x1  k2 ( x2  x1 )  F1  0
m1 x1  (k1  k2 ) x1  k2 x2  0
k1 m2 x2  k2 ( x2  x1 )  F2  0
m1 m2 x2  k2 x1  k2 x2  0
x1
m1 x1  (k1  k2 ) x1  k2 x2  0
k2 m2 x2  k2 x1  k2 x2  0
can be written in matrix
m2 x2
 m1 0   x1   (k1  k2 )  k2   x1  0 
0     
 m2   x2    k2 k2   x2  0 

x1  A1 sin(t ) x2  A2 sin(t )

x1   A1 2 sin(t ) x2   A2 2 sin(t )

7
x1  A1 sin(t )
x2  A2 sin(t )  m1 0   x1   ( k1  k2 ) k2   x1  0 
0        
x1   A1 2 sin(t )  m2   x2    k2
 k2   x2  0 
x2   A2 2 sin(t )
 m1 2 0   A1  (k1  k2 ) k2   A1  0 
      
 0 m2 2   A2    k2 k2   A2  0 

  (k1  k2 )  m1 2   k2   A  0 
    1   
  k  k2  m2 2    A2  0 
 2 

(k1  k2 )  m1 2  k2

Can be solved 0
only if  k2  k2  m2 
2

8
 (k1  k2 )  m1 2  k2
0
 k2  k2  m2 
2

(m1m2 ) 4   (k1  k2 )m2  k2 m1   2  (k1  k2 )k2  k2 2  0

 (k1  k2 )m2  k2 m1    (k1  k2 )m2  k2 m1 

2
 4(m1m2 ) (k1  k2 )k2  k2 2 
12 , 2 2 
2(m1m2 )

1  first natural frequency  n1

2  first natural frequency  n 2

9
   (k1  k2 )  m1n12   k2   A  0 
at first natural frequency  =n1     1   
  k  k2  m2n12    A2  0 
 2 

A2 (1) (k1  k2 )  m1n12

 (k1  k2 )  m1n12  A1(1)  k2 A2 (1)  0 r1  (1) 
A1 k2
A2 (2) (k1  k2 )  m1n 2 2
(k1  k2 )  m1n 2 2  A1(2)  k2 A2 (2)  0 r2  (2) 
A1 k2


 A (1)

 
 A (1)

Modal vector A   (1)    (1) 
(1) 1 1
First mode
 A2  r1 A1 
 A1(2)   A1(2) 
A(2)   (2)    (2)  Second mode
 A2   r2 A1 
10
For a case (m1m2 ) 4   (k1  k2 )m2  k2 m1   2  (k1  k 2 )k 2  k 2 2  0
m1 = m2 = m
k1 = k2 = k (m 2 ) 4   3km   2  k 2  0

k 3km  9k 2 m 2  4m 2 k 2 3km  5m 2 k 2
 n1
2
 2

2m 2m 2
m
x1 3k 5k 2 3 k 5 k
   
2m 4m 2 2 m 4m
k
k
m
n1  1.618
x2 m
k
n 2  0.618
m
11
 Mode shapes

A2(1)
(2k )  m(1.618) ( k / m)
2 A2 (1) (2k )  m(0.618) 2 ( k / m)
  0.618 (1)
  1.618
A1(1)
k A1 k

 1.0 
1.0  1.0  1.0 2   
1    1.618 
  0.618 

-0.618 1.618

12
 Free vibration with initial conditions

For a specific condition, the system can be made to

vibrate in its ith normal mode (i = 1, 2) by subjecting it to
the specific initial conditions

x1 (t  0)  A1(i )  some constant,

x 1 (t  0)  0,

x2 (t  0)  ri A1(i ) ,
x 2 (t  0)  0.

13
However, for any other general initial conditions, both
modes will be excited. The resulting motion can be
obtained by a linear superposition of the two normal
modes
  
x (t )  c1 x1 (t )  c2 x2 (t )

where c1 and c2 are constants.

 
Since x (1) (t ) and x ( 2 ) (t ) already involve the unknown constants
A1(1) and A1( 2) , we can choose c1  c2  1 with no loss of generality .

Thus the components of the vector x (t ) can be expressed as

x1 (t )  x1(1) (t )  x1( 2) (t )  A1(1) cos(1t  1 )  A1( 2) cos(2t  2 )

x2 (t )  x2(1) (t )  x2( 2 ) (t )  r1 A1(1) cos(1t  1 )  r2 A1( 2) cos(2t  2 )
14
where the unknown constants A1(1) , A1( 2 ) , 1 and 2 can be determined
from the initial conditions :

x1 (t  0)  x1 (0), x 1 (t  0)  x 1 (0)
x2 (t  0)  x2 (0), x 2 (t  0)  x 2 (0)

x1 (0)  A1(1) cos 1  A1( 2 ) cos 2

x 1 (0)  1 A1(1) sin 1  2 A1( 2 ) sin 2
x2 (0)  r1 A1(1) cos 1  r2 A1( 2 ) cos 2
x 2 (0)  1r1 A1(1) sin 1  2 r2 A1( 2 ) sin 2
15
 Free 2-DOF Undamped Torsional System

k1 θ1

θ2
k2
I11   k11  k2 ( 2  1 )
I1 k3
I   (k  k )  k   0
1 1 1 2 1 2 2

I2

I 22   k2 ( 2  1 )  k3 2
I   k   (k  k )  0
2 2 2 1 2 3 2
can be written in matrix
 I1 0  1  (k1  k2 ) k2  1  0 

 0 I      k    
 2   2   2 k2  k3  2  0 

16
Coupling Coordinate
(e.g. vibration of automobile/motorcycle)

17
 General Equation of Coupling

 m11 m12   x1   k11 k12   x1  0 

m        
 21 m22   x2   k21 k22   x2  0 

Dynamic Static
Coupling Coupling

Static Coupling: when stiffness matrix is not diagonal

Dynamic Coupling: when mass matrix is not diagonal

18
 Selection principal coordinate

There are three possibilities of coordinate

1. Using the center of gravity
2. Using an eccentric point off the center of gravity
3. Using the end point of the model

x x x
e

1 2 3

19
 Case 1, Using center of gravity

l1 l2

xc-x1
xc xc
m xc+x2
x1
θ
x2
Io
k1(xc-x1)

k2(xc+x2)

x1 x2
   x1   l1 x2   l2
l1 l2
20
Translation mxc  k1 ( xc  x1 )  k2 ( xc  x2 )
mxc  k1 ( xc   l1 )  k2 ( xc   l2 )  0
mxc   k1  k2  xc   k2l2  k1l1    0

Rotation I o  k1 ( xc  x1 )l1  k2 ( xc  x2 )l2

I o  k1 ( xc   l1 )l1  k2 ( xc   l2 )l2  0
 
I o    k1l1  k2l2  xc  k2l2 2  k1l12   0
Combine Translation and Rotation
 m 0   xc   k1  k2 k2l2  k1l1   xc  0 
 0 I       k l  k l      Static Coupling
k2l2 2  k1l12     0 
 o   2 2 11

If k2l2  k1l1 then uncoupling static and dynamic

21
 Case 2, Using eccentric coordinate

l1 l2

xp-x1 xp x p
m
x1 e xp+x2
xe
IP θ
x2
Io
k1(xp-x1)

k2(xp+x2)

x1 x2 xe
    x1   l1 x2   l2 xe  e
l1 l2 e
22
Translation mxc  mxe   k1 ( x p  x1 )  k2 ( x p  x2 )
mx p  me  k1 ( x p   l1 )  k2 ( x p   l2 )  0
mx p  me   k1  k2  x p   k2l2  k1l1    0
Rotation I P  mx p e  k1 ( x p  x1 )l1  k2 ( x p  x2 )l2
I p  mex p  k1 ( x p   l1 )l1  k2 ( x p   l2 )l2  0

 
I p  mex p    k1l1  k2l2  x p  k2l2 2  k1l12   0
Combine Translation and Rotation
Static and
 m me   x p   k1  k2 k2l2  k1l1   x p  0 
 me I          Dynamic
 p     k2l2  k1l1 k2l2 2  k1l12     0  Coupling

If k2l2  k1l1 then dynamic uncoupling

23
 Case 3, Pinned at one end

x1 x1
l1
IP m xe x1+x2
θ x2

k1(x1)

k2(x1+x2)

x2 xe
   x2   l xe   l1
l l1
24
Translation mx1  mxe   k1 ( x1 )  k2 ( x1  x2 )
mx  ml   k x  k ( x   l )  0
1 1 1 1 2 1

mx p  ml1   k1  k2  x1  k2l  0

Rotation I P  mx1l1  k2 ( x1  x2 )l

I   ml x  k ( x   l )l  0
P 1 1 2 1

I P  ml1x1  k2lx1  k2l2 2  0

Combine Translation and Rotation
Static and
 m ml1   x1   k1  k2 k2l2   x1  0
 me I          Dynamic
 p     k2l2 k2l2 2     0 Coupling

25
 2 DOF Forced Vibration

The equation of motion of a general 2 DOF system under

external forces can be written as
 m11 m12   x1  c11 c12   x 1   k11 k12   x1   F1 
m        [1]
 12 m22  x2  c12 c22   x 2  k12 k 22   x2   F2 

Consider the external forces to be harmonic:

F j (t )  F j 0 e it , j  1,2 [2]

where  is the forcing frequency.

The steady-state solution can be written as
x j (t )  X j e it , j  1,2 [3]

where X1 and X2 are, in general, complex quantities

that depend on  and the system parameters. 26
Substitution of Equations [2] and [3] into [1] leads to
 ( 2 m11  i c11  k11 ) ( 2 m12  i c12  k12 )   X 1   F10 
      [4]
( m12  i c12  k12 ) ( m22  i c22  k 22 )  X 2   F20 
2 2

Define the mechanical impedance Zrs(i) as

Z rs (i )   2 mrs  i crs  k rs , r , s  1,2
and write Equation [4] as
 
[ Z rs (i )] X  F0 [5]

where
 Z11 (i ) Z12 (i ) 
[ Z rs (i )]     Impedance matrix
Z
 12 (i  ) Z 22 (i ) 
  X1    F10 
X    and F0   
X 2   F20  27
Equation [5] can be solved to obtain X1 and X2 since
 
X  [ Z (i )] F0
1 [6]
Where the inverse of the impedance matrix is given by
1  Z 22 (i )  Z12 (i )
[ Z (i )]1 
Z11 (i ) Z 22 (i )  Z122 (i )  Z12 (i ) Z11 (i ) 
[7]

Equations [6] and [7] lead to the solution

Z 22 (i ) F10  Z12 (i ) F20
X 1 (i ) 
Z11 (i ) Z 22 (i )  Z122 (i )
 Z12 (i ) F10  Z11 (i ) F20 [8]
X 2 (i ) 
Z11 (i ) Z 22 (i )  Z122 (i )

The complete solution of x1(t) and x2(t) can be found by

substituting Equation [8] into Equation [3]. 28