C. R. Yang, NTNU MT C. R.

Yang, NTNU MT

Chapter 5 Learning Objectives

Two Degree Freedom Systems  Formulate (用公式表示) the equations of motion of two-degree-of-
freedom systems
 Identify the mass, damping, and stiffness matrices from the
equations of motion

5
 Compute the eigenvalues or natural frequencies of vibration and the
modal (形態上的) vectors
 Determine the free-vibration solution using the known initial
conditions
 Understand the concepts of coordinate coupling and principal
coordinates
 Determine the forced-vibration solutions under harmonic forces
 Understand the concepts of self-excitation and stability of the
system
 Use the Laplace transform approach for solution of two-DOF systems
 Solve two-DOF free- and forced-vibration problems using MATLAB
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Chapter Outline 5.1

Introduction
5.1 Introduction
5.2 Equations of Motion for Forced Vibration
5.3 Free Vibration Analysis of an Undamped System
5.4 Torsional System
5.5 Coordinate Coupling and Principal Coordinates
5.6 Forced-Vibration Analysis

5.1
5.7 Semidefinite Systems
5.8 Self-Excitation and Stability Analysis
5.9 Transfer-Function Approach
5.10 Solutions Using Laplace Transform
5.11 Solutions Using Frequency Transfer Functions

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5.1 Introduction
隆起團塊的
• Two-degree-of-freedom systems are defined as systems that
require two independent coordinates to describe their motion,
as introduced in Fig. 1.12.

X (t)

(t)

Fig. 1.12 Two-degree-of-freedom systems

X1(t) X2(t)
Fig. 5.1 Lathe
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多層的

土地

X1(t)
X2(t)

Fig. 5.3 Multistory building

subjected to an earthquake

Fig. 5.2 Automobile

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5.1 Introduction
• The general rule for the computation of the number of degrees of
freedom can be stated as follows:

No. of masses in the system

No. of degrees of
freedom of the system = x
No. of possible types of motion of
each mass

Fig. 5.4 Packaging of an instrument • There are two equations of motion for a two-DOF system, one for
each mass (more precisely, for each degree of freedom). They are
Fig. 5.4(a) Illustrates the packaging of an instrument of mass m. generally in the form of coupled differential equations—that is, each
Assuming that the motion of the instrument is confined to the xy- equation involves all the coordinates.
plane, the system can be modeled as a mass m supported by springs
in the x and y directions, as shown in Fig. 5.4(b). Thus the system • If a harmonic solution is assumed for each coordinate, the
has one point mass m and two degrees of freedom, because the equations of motion lead to a frequency equation that gives two
mass has two possible types of motion (translations along the x and natural frequencies for the system. If we give suitable initial
y directions). excitation, the system vibrates at one of these natural frequencies.

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5.1 Introduction

• During free vibration at one of the natural frequencies, the

amplitudes of the two-DOFs (coordinates) are related in a specific
manner and the configuration is called a normal mode, principal
mode, or natural mode of vibration. Thus a two-DOF system has
two normal modes of vibration corresponding to the two natural
frequencies.

• If we give an arbitrary initial excitation to the system, the resulting

free vibration will be a superposition of the two normal modes of
vibration. However, if the system vibrates under the action of an
external harmonic force, the resulting forced harmonic vibration
take place at the frequency of the applied force.

• Under harmonic excitation, resonance occurs (i.e., the amplitudes

of the two coordinates will be maximum) when the forcing
frequency is equal to one of the natural frequencies of the system.

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5.2 5.2 Equations of Motion for Forced Vibration

Equations of Motion for Forced Vibration
• Consider a viscously damped two-degree-of-freedom spring-mass
system, shown in the figure below

5.2
k2=c2=0 uncouple

f f

Fig. 5.5 A two-DOF spring-mass-damper system

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5.2 Equations of Motion for Forced Vibration 5.2 Equations of Motion for Forced Vibration

• The application of Newton’s second law of motion to each of the • To rewrite the equations of motion as:
masses gives the equations of motion:
m1 x1  (c1  c2 ) x1  c2 x2  (k1  k2 ) x1  k2 x2  f1 (5.1)
 F  ma 
For mass m1 : m2 x2  c2 x1  (c2  c3 ) x2  k2 x1  (k2  k3 ) x2  f 2 (5.2)
f1  k2 ( x2  x1 )  c2 ( x2  x1 )  k1 x1  c1 x1  m1 x1
For mass m2 : • It can be seen that Eq. (5.1) contains terms involving x2

f 2  k2 ( x2  x1 )  c2 ( x2  x1 )  k3 x2  c3 x2  m2 x2 (i.e., c2 x2 and  k2 x2 ), whereas Eq. (5.2) contains terms involving x1

(i.e., c2 x1 and  k2 x1). Hence they represent a system of two coupled

m1 x1  (c1  c2 ) x1  c2 x2  (k1  k2 ) x1  k2 x2  f1 (5.1) second-order differential equations. We can therefore expect that
the motion of the mass m1 will influence the motion of the mass m2,
m2 x2  c2 x1  (c2  c3 ) x2  k2 x1  (k2  k3 ) x2  f 2 (5.2) and vice versa.

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• Both equations (5.1 and 5.2) can be written in matrix form as

[m]x(t )  [c]x(t )  [k ]x(t )  f (t ) (5.3)

where [m], [c], and [k] are called the mass, damping, and stiffness
matrices, respectively, and are given by

 m1 0  c1  c2  c2   k1  k2  k2 
[m ]    [c ]    [k ]   
 0 m2    c2 c 2  c 3    k2 k2  k3 

• It can be seen that the matrices [m], [c], and [k] are symmetric:

[m]T  [m], [c]T  [c], [k ]T  [k ]

where the superscript T denotes the transpose of the matrix.

• And the displacement and force vectors are given respectively:

 x1 ( t )   f1 ( t ) 
x( t )   , f (t )   
 x2 ( t )   f 2 ( t )
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5.3 5.3 Free-Vibration Analysis of an Undamped System

Free-Vibration Analysis of an Undamped System
• The solution of Eqs.(5.1) and (5.2) involves four constants of
integration (two for each equation). We shall first consider the free
vibration solution of Eqs.(5.1) and (5.2).

• By setting f1(t) = f2(t) = 0, and damping disregarded, i.e., c1 = c2 =

c3=0, and the equation of motion is reduced to:

5.3
Eq. (5.1) c1= c2=c3=0 m1x1 (t )  (k1  k2 ) x1 (t )  k2 x2 (t )  0 (5.4)
Eq. (5.2) f1(t)=f2(t)= 0 m2 x2 (t )  k2 x1 (t )  (k2  k3 ) x2 (t )  0 (5.5)

• Assuming that it is possible to have harmonic motion of m1 and m2

at the same frequency ω and the same phase angle Φ, but with
different amplitude, we take the solutions as

x1 (t )  X 1 cos(t   )
x2 (t )  X 2 cos(t   ) (5.6)

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5.3 Free-Vibration Analysis of an Undamped System 5.3 Free-Vibration Analysis of an Undamped System

• Substituting Eq. (5.6) into Eqs.(5.4) and (5.5), we obtain • For trivial solution, i.e., X1 = X2 = 0, which implies that there is no
vibration. For a nontrivial solution, the determinant of the
 
  m1 2  ( k1  k2 ) X 1  k2 X 2  cos( t   )  0
 coefficients of X1 and X2 must be zero:
 
  k2 X 1   m2  ( k2  k3 ) X 2  cos( t   )  0
2
(5.7)
 

  m1 2  (k1  k2 )  k 2 
det  0
• Since Eq.(5.7)must be satisfied for all values of the time t, the  k 2 m 1
2

 (k1  k2 ) 
terms between brackets must be zero. Thus, or
X 2  m1 2  ( k1  k2 )
 
 m1 2  ( k1  k2 ) X 1  k2 X 2  0   (m1m2 ) 4  (k1  k2 )m2  (k2  k3 )m1
 
X1 k2
 (k1  k2 )(k2  k3 )  k22  0 (5.9)
 2

 k2 X 1   m2  ( k2  k3 ) X 2  0 (5.8) 
X2

k2
X 1  m2 2  ( k2  k3 ) Eq. (5.9) is called the frequency or characteristic equation, because
which represent two simultaneous homogenous algebraic equations its solution yields the frequencies or the characteristic values of the
in the unknown X1 and X2. system.

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5.3 Free-Vibration Analysis of an Undamped System 5.3 Free-Vibration Analysis of an Undamped System
• To determine the values of X1 and X2, these values depend on the natural
• The roots of Eq. (5.9) are given by: frequencies 1 and 2. We shall denote the values of X1 and X2 corresponding
to 1 as X1(1) and X2(1) and those corresponding to 2 as X1(2) and X2(2). From
Eq. (5.8) gives
1  ( k1  k2 )m2  ( k2  k3 )m1 
12 ,  22    X 2(1)  m112  ( k1  k2 ) k2
2 m1m2  r1   
k k X 1(1) k2  m212  ( k2  k3 )
1  ( k1  k2 )m2  ( k2  k3 )m1 
2
 12  1 , 22  2 X 2(2)  m1 22  ( k1  k2 ) k2
[  m1 m2 r2    (5.11)
2  m1 m2  X 1(2) k2  m2 22  ( k2  k3 )
 ( k  k2 )( k2  k3 )  k22  1/ 2 • The normal modes of vibration corresponding to ω1 and ω22 can be 2

4  1 ] (5.10) expressed, respectively, as

 m1m2 

• The roots 1 and 2 are called natural frequencies of the system.  

 X1 
(1)
 
 X1 
(1)
  
 X1 
( 2)
 
 X1 
( 2)

X (1)   (1)    (1)  and X ( 2)   ( 2)    ( 2) 
(5.12)
  
 2  1 1 
X r X  
 2  2 1 
X  r X 

• The vectors X (1) and X (2), which denote the normal modes of vibration, are
known as the modal vectors of the system.
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5.3 Free-Vibration Analysis of an Undamped System • Initial conditions

As stated in Section 5.1, the system can be made to vibrate in its i-th
• The free-vibration solution or the motion in time can be expressed,
normal mode (i=1, 2) by subjecting it to the specific initial conditions.
using Eq. (5.6), as (1)
X2
r1  x1 ( t  0)  X 1( i )  some constant, x1 ( t  0)  0,
X 1(1)
x1 ( t )  X 1 cos( t   ) for m1 x2 ( t  0)  ri X 1( i ) , x2 ( t  0)  0
X 2(2 )
x2 ( t )  X 2 cos( t   ) for m2 (5.6) r2  (5.11)
However, for any other general initial conditions, both modes will be
X 1(2)
excited. The resulting motion, which is given by the general solution of Eqs.
 x1(1) ( t )  X 1(1) cos(1t  1 )  (5.4) and (5.5), can be obtained by a linear superposition of the two
x (1) ( t )   (1)      first mode normal modes, Eq.(5.13):
 x2 ( t )  r1 X 1 cos(1t  1 )
(1)

x(t )  c1 x1 (t )  c2 x2 (t ) (5.14)
 x1 ( t )  X 1 cos( 2 t  2 ) 
(2) (2)

x (2) ( t )   (2)      second mode (5.13)

 x2 ( t )  r2 X 1 cos( 2 t  2 )
(2)
where c1 and c2 are constants. Since x (1) (t ) and x (2) (t ) already involve the
unknown constants X1(1) and X 1(2) (see Eq. (5.13)), we can choose c 1=c2=1
with no loss of generality.
Where the constants X1 , X1 , 1 , and 2 are determined by the initial
(1) (2)

conditions.
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5.3 Free-Vibration Analysis of an Undamped System

5.3 Free-Vibration Analysis of an Undamped System
• Thus, the components of the vector x( t ) can be expressed, using • Substituting Eq. (5.16) into Eq.(5.15) leads to
Eq. (5.14) with c1=c2=1 and Eq. (5.13), as Four algebraic equations
x1 (0)  X 1(1) cos 1  X 1( 2) cos 2 in the unknowns
x1 ( t )  x1(1) ( t )  x1(2) ( t )  X 1(1) cos(1t  1 )  X 1(2) cos( 2 t  2 ) x1 (0)  1 X 1(1) sin 1  2 X 1( 2) sin 2 X 1 cos 1
(1)

x2 (0)  r1 X 1(1) cos 1  r2 X 1( 2) cos 2 X 1 cos 2

(2)

x2 ( t )  x2(1) ( t )  x2(2) ( t )  X 2(1) cos(1t  1 )  X 2(2) cos( 2 t  2 )

X 1 sin 1
(1)
x2 (0)  1r1 X 1(1) sin 1  2 r2 X 1( 2) sin 2 (5.17)
 r1 X 1(1) cos(1t  1 )  r2 X 1(2) cos( 2 t  2 ) (5.15)
X 1 sin 2
(2)

• The solution of Eq. (5.17) can be expressed as

The unknown constants X1 , X1 , 1 , and 2 can be determined from
(1) (2)
•
the initial conditions:  r x (0)  x2 (0)    r x (0)  x2 (0) 
X 1(1) cos 1   2 1 , X 1( 2) cos 2   1 1 
 r2  r1   r2  r1 
x1 ( t  0)  x1 (0), x1 ( t  0)  x1 (0),
  r x (0)  x2 (0)   r x (0)  x2 (0) 
X 1(1) sin 1   2 1 , X 1( 2) sin 2   1 1 
x2 ( t  0)  x2 (0), x2 ( t  0)  x2 (0) (5.16)  1 (r2  r1 )   2 (r2  r1 ) 

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5.3 Free-Vibration Analysis of an Undamped System Example 5.1 Frequencies of Spring-Mass System

• We can obtain the desired solution as

  X  
2 1/ 2
X 1(1)   X 1(1) cos 1
2
(1)
sin 1
 1

1/ 2
1   r2 x1 (0)  x2 (0) 
2

r2 x1 (0)  x2 (0) 

2

( r2  r1 )  12



  X  
2 1/ 2
X 1( 2)   X 1( 2) cos 2
2
( 2)
sin 2
 1

1/ 2
1  r x (0)  x2 (0) 
2

 r x (0)  x2 (0)  1 1

2

( r2  r1 )  1 1  22 


 X 1(1) sin 1  1   r2 x1 (0)  x 2 (0) 

1  tan 1    tan  
 X 1 cos 1   1[r2 x1 (0)  x2 (0) 
(1)

 X 1( 2) sin 2  1  r1 x1 (0)  x2 (0) 

2  tan 1    tan   (5.18)
 X 1 cos 2    2 [ r1 x1 (0)  x2 (0) 
( 2)

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k1 k
 12  , 22  2
m1 m2
for m1 vibration

superposition under 1 for m2 vibration

X 2(1)  r1 X1(1)
for m1 vibration
superposition
under 2
for m2 vibration
X 2(2)  r2 X1(2)

Fig. 5.6 Two-DOF system

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for m1 vibration 5.3 Free-Vibration Analysis of an Undamped System

for m2 vibration
Example 5.3
Free-Vibration Response of a Two-Degree-of-Freedom System

Find the free-vibration response of the system shown in Fig.5.5(a)

with k1 = 30, k2 = 5, k3 = 0, m1 = 10, m2 = 1 and c1 = c2 = c3 = 0 for
the initial conditions x1 (0)  1, x1 (0)  x2 (0)  x2 (0)  0 .

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5.3 Free-Vibration Analysis of an Undamped System 5.3 Free-Vibration Analysis of an Undamped System
Example 5.3
Example 5.3
Free-Vibration Response of a Two-Degree-of-Freedom System
Free-Vibration Response of a Two Degree of Freedom System
Solution
Solution
The natural frequencies can be found as

For the given data, the eigenvalue problem, Eq.(5.8), becomes 12  2.5, 22  6.0 or 1  1.5811, 2  2.4495 ( E.3)

 m1 2  k1  k 2 k 2   X 1  0 (1與2代入 (E.1)求得X1=rX2)

      The substitution of  2  12  2.5 in Eq. (E.1) leads to X 2  2 X1
(1) (1)
,
 k 2 m2 2  k 2  k3   X 2  0
while   2  6.0 yields X
2 2 ( 2)
 5 X1
( 2)
. Thus the normal modes
 10 2  35  5   X 1  0 2
      (E.1) (or eigenvectors) are given by (或1與2代入Eq. (5.11)求得r1與r2)
 -5  2  5  X 2  0

 X1(1) 
  1   X1( 2 ) 
   1
By setting the determinant of the coefficient matrix in Eq.(E.1) to zero, X (1)   (1)     X1(1) ( E.4) X ( 2 )   ( 2 )     X1( 2 ) ( E.5)
X2 
  2  X2 
  5
we obtain the frequency equation, 10 4  85 2  150  0 (E.2)

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5.3 Free-Vibration Analysis of an Undamped System 5.3 Free-Vibration Analysis of an Undamped System
Example 5.3 Example 5.3
Free-Vibration Response of a Two-Degree-of-Freedom System Free-Vibration Response of a Two-Degree-of-Freedom System
Solution
Solution
The free-vibration responses of the masses m1 and m2 are given by The solution of Eqs.(E.8) and (E.9) yields
(see Eq.5.15): The unknown constants
5 2
X 1(1) cos 1  ; X 1( 2) cos 2  (E.12)
X1 , X1 , 1 , and 2
(1) (2)
x1 (t )  X 1(1) cos(1.5811t  1 )  X 1( 2) cos(2.4495t  2 ) (E.6) 7 7
x2 (t )  2 X 1(1) cos(1.5811t  1 )  5 X 1( 2) cos(2.4495t  2 ) can be determined from
(E.7) The solution of Eqs.(E.10) and (E.11) leads to
the initial conditions:

By using the given initial conditions in Eqs.(E.6) and (E.7), we obtain X1(1) sin 1  0, X1(2) sin  2  0 (E.13)  sin 1  0, sin  2  0

x1 ( t  0)  1  X 1(1) cos 1  X 1(2) cos  2 (E.8)

Equations (E.12) and (E.13) gives
x2 ( t  0)  0  2 X 1(1) cos 1  5 X 1(2) cos  2 (E.9)
5 2
x1 ( t  0)  0  1.5811 X (1)
1 sin 1  2.4495 X (2)
1 sin  2 (E.10) X 1(1)  , X 1( 2)  , 1  0, 2  0 (E.14)
7 7
x2 ( t  0)  0  3.1622 X (1)
1 sin 1  12.2475 X (2)
1 sin  2 (E.11)

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5.3 Free-Vibration Analysis of an Undamped System 5.4

Torsional System

Example 5.3
Free-Vibration Response of a Two-Degree-of-Freedom System
Solution

Thus the free vibration responses of m1 and m2 are given by

5.4
5 2
x1 (t )  cos 1.5811t  cos 2.4495t (E.15)
7 7
10 10
x2 (t )  cos 1.5811t  cos 2.4495t (E.16)
7 7

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5.4 Torsional System

• Upon rearrangement become
• Consider a torsional system as shown in Fig.5.8. The three segments of the
shaft have rotational spring constants kt1, kt2, and kt3, The mass moments of J11  (kt1  kt 2 )1  kt 2 2  M t1
inertia of discs are J1 and J2, the applied torques Mt1 and Mt2, and the
J 22  kt 21  (kt 2  kt 3 ) 2  M t 2 (5.19)
rotational degrees of freedom 1 and 2.

• The differential equations of rotational motion for the discs can be derived as • For the free vibration analysis of the
system, Eq.(5.19) reduces to

J11   kt 11  kt 2 ( 2  1 )  M t 1 J11  (kt1  kt 2 )1  kt 2 2  0

 M  J 
J 2 2   kt 2 ( 2  1 )  kt 3 2  M t 2 J 22  kt 21  (kt 2  kt 3 ) 2  0 (5.20)

• Note that Eq. (5.20) is similar to Eqs. (5.4) and (5.5). In fact, Eq.
(5.20) can be obtained by substituting 1, 2, J1, J2, kt1, kt2, and kt3
for x1, x2, m1, m2, k1, k2, and k3 , respectively. Thus the analysis
presented in Section 5.3 is also applicable to torsional systems.

Fig. 5.8 Torsional system with discs mounted on a shaft

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5.4 Torsional System 5.4 Torsional System

Example 5.4
Example 5.4
Natural Frequencies of a Torsional System
Natural Frequencies of a Torsional System
Solution
Find the natural frequencies and mode shapes for the torsional system
shown in the figure below for J1 = J0 , J2 = 2J0 and kt1 = kt2 = kt .
The differential equations of motion, Eq.(5.20), reduce to (with kt3 = 0,
kt1 = kt2 = kt, J1 = J0 and J2 = 2J0):

J11  ( kt 1  kt 2 )1  kt 2 2  0 J 01  2kt1  kt 2  0

J 2 2  kt 21  ( kt 2  kt 3 ) 2  0 (5.20) 2 J 02  kt1  kt 2  0 (E.1)

Rearranging and substituting the harmonic solution:

Matrix
i (t )  i cos( t   ); i  1, 2 (E.2) form

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5.4 Torsional System 5.4 Torsional System

Example 5.4
Example 5.4
Natural Frequencies of a Torsional System
Natural Frequencies of a Torsional System
Solution
Solution
The amplitude ratios are given by
This gives the frequency equation of
(21) (5  17 )
r1   2 Similar to Eq. (5.13), we can
(5  17 )kt (5  17 )kt 1(1) 4 obtain-First mode and
2 4 J 02  5 2 J 0 kt  kt2  0 (E.3)  12  , 22 
4J 0 4J 0  (22) (5  17 ) Second mode
r2   2 (E.5)
The solution of Eq.(E.3) gives the natural frequencies 1( 2) 4

Equations (E.4) and (E.5) can also be obtained by substituting the

kt kt following values into Eqs.(5.10) and (5.11).
1  (5  17 ) and 2  (5  17 ) (E.4)
4J 0 4J 0
k1  kt1  kt , k 2  kt 2  kt ,
m1  J1  J 0 , m2  J 2  2 J 0 and k3  0
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Example 5.4
Natural Frequencies of a Torsional System
Solution
Similar to Eq. (5.13), we can obtain-First mode and
Second mode

 (1) ( t )   (1) cos(1t  1 ) 

 (1) ( t )   1(1)    1 (1)   first mode
 2 ( t )   r11 cos(1t  1 )

 ( t )    cos( 2 t  2 ) 
(2) (2)

 (2) ( t )   1(2)    1 (2)   second mode (5.13)

 2 ( t )   r2 1 cos( 2 t  2 )

Where the constants 1(1) , 1(2) , 1 , and 2 are determined by the initial Example 5.4
conditions. kt kt
1  (5  17 ) and 2  (5  17 ) (E.4)
4J 0 4J 0

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5.5 5.5 Coordinate Coupling and Principal Coordinates

Coordinate Coupling and Principal Coordinates

5.5
(一般化座標)

頭座
尾座

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Generalized coordinates
頭座 尾座 有四種表示方式：
x1 ( t ), x2 ( t ); x( t ),  ( t )
x1 ( t ),  ( t ); y( t ),  ( t )

Fig. 5.11 Lathe

Fig. 5.12 Modeling of a lathe
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5.5 Coordinate Coupling and Principal Coordinates

Equations of Motion using x(t) and (t) (支點在C.G.):

From the free-body diagram shown in Fig. 5.12 (a), with the
positive values of the motion variables as indicated, the force
equilibrium equation in the vertical direction can be written as
(向下為正)
mx  k1 ( x  l1 )  k2 ( x  l2 ) (5.21)  mx  (k1  k2 ) x  (k2 l2  k1l1 )  0
Equations of motion Using y(t) and θ(t) (支點在P):
And the moment equation about C.G. can be expressed as
(順時針為正) From Fig. 5.12(b), where y(t) and θ(t) are used as the generalized
J 0  k1 ( x  l1 )l1  k2 ( x  l2 )l2 (5.22)  J0  (k2 l2  k1l1 ) x  (k1l1  k2l2 )  0
2 2
coordinates of the system, the equations of motion for translation and
Eqs.(5.21) and (5.22) can be rearranged and written in matrix form rotation can be written as
作用在C.G.點的力
as (向下為正)
my  k1 ( y  l1 )  k2 ( y  l2 )  me  my  me  (k1  k2 ) y  (k2l2  k1l1)  0
m 0  x  (k1  k2 )  (k1l1  k2l2 )   x  0
0 J      (k l  k l )     
(k1l12  k2l 22 )   0
(5.23)
0   
(順時針為正)
  1 1 2 2
J P  k1 ( y  l1 )l1  k2 ( y  l2 )l2  mey  J P  mey  (k1l1  k2l2 ) y  (k1l1  k2l2 )  0
2 2

作用在C.G.點的轉矩
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5.5 Coordinate Coupling and Principal Coordinates

These equations can be rearranged and written in matrix form as

m me  y (k1  k2 ) (k2l2  k1l1)   y  0

me        
J P   (k1l1  k2l2 )
(5.25)
 (k1l12  k2l 22 )   0

即有me 和 mey不等於零項

固有的

=force ( my ) × moment arm (e)

=mass (m) × tangential acceleration ( e )

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5.5 Coordinate Coupling and Principal Coordinates 5.5 Coordinate Coupling and Principal Coordinates

Example 5.6 Principal Coordinates of Spring-Mass System

Example 5.6 Solution
Principal Coordinates of Spring- Approach: Define two independent solutions as principal coordinates
Mass System and express them in terms of the solutions x1(t) and x2(t).
The general motion of the system shown in Fig. 5.6 is given by Eq.
Determine the principal coordinates (E.10) of Example 5.1:
for the spring-mass system shown in
the figure 5.6.  k   3k 
x1 (t )  B1 cos t  1   B2 cos t  2 
 m   m 
 k   3k 
x2 (t )  B1 cos t  1   B2 cos t  2  (E.1)
 m   m 

Where B1  X1 , B2  X1 , 1 , and 2 are constants.

(1) (2)

Fig. 5.6 Two-DOF system

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5.5 Coordinate Coupling and Principal Coordinates 5.5 Coordinate Coupling and Principal Coordinates
Example 5.6 Principal Coordinates of Spring-Mass System
Solution
Example 5.6 Principal Coordinates of Spring-Mass System
We define a new set of coordinates q1(t) and q2(t) such that Solution
 
q1 ( t )  B1 cos 
k
t  1  Note that the equation of motion corresponding From Eqs.(E.1) and (E.2), we can write
m to the solution q=Bcos(t+) is given by q   2q  0
 
 3k  x1 (t )  q1 (t )  q2 (t )
q2 ( t )  B2 cos  t  2  (E.2)
m x2 (t )  q1 (t )  q2 (t ) (E.4)
 
Since q1(t) and q2(t) are harmonic functions, their corresponding The solution of Eqs.(E.4) gives the principal coordinates:
equations of motion can be written as
1
 k  These equations represent a two-DOF system q1 (t )  [ x1 (t )  x2 (t )]
q1    q1  0 whose natural frequencies are 2
m
1  k m and 2  3k m . 1
q2 (t )  [ x1 (t )  x2 (t )] (E.5)
 3k 
q2    q2  0 (E.3) Because there is neither static nor dynamic
2
 m coupling in the equations of motion (E.3), q1(t)
and q2(t) are principal coordinates.
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5.6 5.6 Forced-Vibration Analysis

Forced-Vibration Analysis
• The equations of motion of a general two-degree-of-freedom system under
external forces can be written as
m11 m12  x1  c11 c12   x1  k11 k12   x1  F1 
m               (5.27)
 12 m22  x2  c21 c22   x2  k21 k22   x2  F2 

Eqs. (5.1) and (5.2) can be seen to be special cases of Eq. (5.27), with
m11=m1, m22=m2, and m12=0.

5.6
• Consider the external forces to be harmonic:
Fj (t )  Fj 0e it , j  1, 2 (5.28)
where ω is the forcing frequency.

• We can write the steady-state solutions as

x j (t )  X j eit , j  1,2 (5.29)
Where X1 and X2 are, in general, complex quantities that depend on  and
the system parameters.

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5.6 Forced-Vibration Analysis 5.6 Forced-Vibration Analysis

• Substitution of Eqs. (5.28) and (5.29) into Eq. (5.27) leads to • We can write Eq.(5.30) as:
 
(  2 m11  i c11  k11 ) (  2 m12  i c12  k12 )   X 1 
Z (i)X  F0 (5.32)
   where
(  m12  i c12  k12 ) (  2 m22  i c22  k22 )   X 2 
2
Z11(i ) Z12 (i ) 
 F10 
Z (i )     Impedance matrix
  (5.30)  Z12 (i ) Z 22 (i )
 F20    X1 
X  
X 2 
as in Section 3.5 (Page 278), we define the mechanical impedance   F10 
Zrs(i) as F0  
 F20 
Zrs (i )   2 mrs  icrs  krs r , s  1, 2 (5.31)
 
1
• Eq.(5.32) can be solved to obtain: X  Z ( i ) F0 (5.33)

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5.6 Forced-Vibration Analysis 5.6 Forced-Vibration Analysis

• The inverse of the impedance matrix is given by Example 5.8
Steady-State Response of Spring-
1  a22  a12   Z 22 ( i ) - Z12 (i ) Mass System
  Z ( i ) 
1 1 1
A   
det A  a21 a11  Z11 ( i ) Z 22 (i )  Z122 (i )   Z12 (i ) Z11 (i )  Find the steady-state response of system
shown in Fig.5.15 when the mass m1 is
• Eqs.(5.33) and (5.34) lead to the solution excited by the force F1(t) = F10 cos ωt.
Also, plot its frequency response curve.
Z 22 ( i )F10  Z12 ( i )F20
X 1 ( i ) 
Z11 ( i ) Z 22 ( i )  Z122 ( i ) Solution
X   Z (i ) F0 (5.33) 
1

The equations of motion of the system

 Z12 ( i )F10  Z11 ( i )F20 can be expressed as (from Eq. (5.3))
X 2 ( i )  (5.35)
Z11 ( i ) Z 22 ( i )  Z122 ( i )
 m 0  x1   2k - k   x1   F10 cos  t 
• By substituting Eq. (5.35) into Eq. (5.29), we can find the complete  0 m   x    -k 2k   x     (E.1) Fig. 5.15 A two-mass system
solution, x1(t) and x2(t).   2   2  0 
i t subjected to harmonic force.
x j (t )  X j e , j  1, 2 (5.29)
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5.6 Forced-Vibration Analysis 5.6 Forced-Vibration Analysis

Example 5.8 Steady-State Response of Spring-Mass System Example 5.8 Steady-State Response of Spring-Mass System
Solution Solution
Comparison of Eq. (E.1) with Eq. (5.27) shows that Hence X1 and X2 are given by Eq. (5.35)

m11  m22  m , m12  0, c11  c12  c22  0, (  2 m  2k )F10 (  2 m  2k )F10

X 1 ( )   (E.4)
(  m  2k )  k
2 2 2
(  m 2  3k )(  m 2  k )
k11  k22  2k , k12   k , F1  F10 cos  t , F2  0
Since F10cost=Re(F10eit), we
kF10 kF10
We assume the solution to be as follows shall assume the solution also to X 2 ( )   (E.5)
be xj=Re(Xjeit)=Xjcost, j=1, 2. (  m 2  2k )2  k 2 (  m 2  3k )(  m 2  k )
x j (t )  X j cos  t; j  1, 2 (E.2)
By defining 12  k m and 22  3k m , Eqs.(E.4) and (E.5) can be expressed
Eq.(5.31) gives
as (E.6) and (E.7).
Z11 ( )  Z22 ( )   m 2  2k , Z12 ( )  k (E.3)

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    2 
 2     F10

X 1 ( )    1   (E.6)
   2    2      2 
k  2      1    
 1   1     1  

F10
X 2 ( )  ( E.7)
   2    2      2 
k       1    
2
  
 1   1     1  

Fig. 5.16 Frequency-response curves of example 5.8

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5.7
Semidefinite Systems 5.7 Semidefinite (半定) Systems

未拘束 退化

5.7 台灣師範大學機電科技學系 -71-

奇異的(行列式=0)

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5.7 Semidefinite Systems 5.7 Semidefinite Systems

• For Fig. 5.17 (a) and (b), the equations of motion can be written as

m1 x1  k ( x2  x1 )  m1 x1  k ( x1  x2 )  0
m2 x2   k ( x2  x1 )  m2 x2  k ( x2  x1 )  0 (5.36)

• For free vibration, we assume the motion to be harmonic:

x j (t )  X j cos(t   j ), j  1,2 (5.37)

• Substituting Eq.(5.37) into Eq.(5.36) gives

(m1 2  k ) X 1  kX 2  0
 kX1  (m2 2  k ) X 2  0 (5.38)

Fig. 5.17 Semidefinite systems with two-DOF

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5.7 Semidefinite Systems Example 5.9 Free Vibration of an Understrained System

• By equating the determinant of the coefficients of X1 and X2 to zero,

we obtain the frequency equation as

 2 [m1m2 2  k (m1  m2 )]  0 (5.39)

• From which the natural frequencies can be obtained:

k (m1  m2 )
1  0 and 2  (5.40)
m1m2

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5.8
Self-Excitation and Stability Analysis

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5.8 Self-Excitation and Stability Analysis

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Routh-Hurwitz criterion (羅斯 - 赫維茲準則)

四次方的

The same with Eq. (5.46)

羅斯 - 赫維茲

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Routh-Hurwitz criterion (羅斯 - 赫維茲準則)

a0 a 2
a1 a3 a0 a6
 A a1 0
a1   a6
a1
a1 a3
A B a1 0
 C
A A 0
 0
A
a0 a4
a1 a5
 B
a1
a1 a5
A a6
 D
A

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5.9
Transfer-Function Approach

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5.9 Transfer-Function Approach 5.9 Transfer-Function Approach

• For two-DOF system shown in Fig. 5.5, the equations of motion are
• Eqs. (5.52) and (5.53) can be rearranged to obtain
(Eqs. (5.1) and (5.2)):

m1x1  c1  c2 x1  c2 x2  k1  k2 x1  k2 x2  f1 5.50 [m1 s 2   c1  c2  s   k1  k2 ] X 1  s   (c2 s  k2 ) X 2  s   F1  s   5.54 
m2 x2  c2  c3 x2  c2 x1  k2  k3 x2  k2 x1  f 2 5.51  ( c2 s  k 2 ) X 1  s   [ m 2 s 2
  c2  c3  s   k2  k3 ) X 2  s   F2  s   5.53 

• Eqs. (5.54) and (5.55) indicate two simultaneous linear algebraic

• By taking the Laplace transforms of Eqs. (5.50) and (5.51),
equation in X1(s) and X2(s).These can be solved using Cramer’s rule
assuming zero initial conditions, we obtain
as
D1  s  D2  s 
m1s 2 X 1 s   c1  c2 sX1 s   c2 sX 2 s   k1  k2 X 1 s   k2 X 2 s   F1 s 
5.52 X1  s    5.56  and X 2  s    5.57 
D  s D  s
m2 s X 2 s   c2  c3 sX 2 s   c2 sX1 s   k2  k3 X 2 s   k2 X 1 s   F2 s  5.53
2
Apply inverse Laplace transforms  x1 (t) and x2 ( t )

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5.9 Transfer-Function Approach 5.9 Transfer-Function Approach

In Eqs. (5.56) and (5.57) • Note that
1. The denominator, D(s), in the expressions of X1(s) and X2(s)
given by Eq. (5.60), is a fourth-order polynomial in s and
denotes the characteristic polynomial of the system. Because
the characteristic polynomial is of order four, the model (or
system) is said to be a fourth-order model (or system).

2. Equations (5.56) and (5.57) permit us to apply inverse Laplace

transforms to obtain the fourth-order differential equations for
x1(t) and x2(t) , respectively.

3. Equations (5.56) and (5.57) can be used to derive the transfer

functions of x1(t) and x2(t) corresponding to any specified
forcing function. X  s X  s
Transfer function : H1  s   1
and H 2  s   2

F  s F  s
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5.10 5.10
Solutions Using Laplace Transform Solutions Using Laplace Transform

The computation of response of two-degree-of-freedom systems 建模

using the Laplace transform. 代數方程式
振動問題 聯立微分方程式 取£ (s的函數)
(ODEs) £[x] (僅需加減乘除運算，
解析 (t的函數) 可簡化求解的程序)
£[x]

5.10
Cramer’s rule
求解

解釋物理現 求解2 取£-1 求解1

象 x1(t)與x2(t) X1(s)與X2(s)

部份分式展開
轉換公式應用

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5.10 Solutions Using Laplace Transform

Example 5.12
Response Under Impulse Using Laplace Transform Method

Two railway cars, of masses m1 = M and m2 = m are connected by a

spring of stiffness k, as shown in the figure. If the car of mass M is
subjected to an impulse F0 t  , determine the time responses of the
cars using the Laplace transform method.

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5.10 Solutions Using Laplace Transform 5.10 Solutions Using Laplace Transform

Example 5.12 Example 5.12

Response Under Impulse Using Laplace Transform Method Response Under Impulse Using Laplace Transform Method

Solution Solution

The responses of the cars can be determined using either of the Using the second approach, the equations of motion of the cars can be
following approaches: expressed from Eq. (5.36)
a. Consider the system to be undergoing free vibration due to the Mx1  k  x1  x2   F0  t   E.1
initial velocity caused by the impulse applied to car M.
mx2  k  x2  x1   0  E.2
b. Consider the system to be undergoing forced vibration due to the
Using the Laplace transforms, Eqs. (E.1) and (E.2) can be written as
force F0 t  applied to car M (with the displacements and velocities
of cars M and m considered to be zero initially).
Ms 2

 k X 1 s   kX 2 s   F0 E.3
 
 kX1 s   ms2  k X 2 s   0 E.4 
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5.10 Solutions Using Laplace Transform 5.10 Solutions Using Laplace Transform

Example 5.12
Example 5.12 Response Under Impulse Using Laplace Transform Method
Response Under Impulse Using Laplace Transform Method Solution
Solution
Using partial fractions, Eqs. (E.5) and (E.6) can be rewritten as
Equations (E.3) and (E.4) can be solved by Cramer’s rule
F0  1 w 
X 1 s   E.7 
m
X 1 s  

F0 ms 2  k E.5
  
M  m  s 2 wM s 2  w2 
2
 
s Mms 2  k M  m  F0  1 1 w 
X 2 s      E.8
X 2 s   2 E.6 
F0 k M  m  s 2 w s 2  w2 
 
s Mms 2  k M  m  where
 1 1
w2  k    E.9 
M m
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5.10 Solutions Using Laplace Transform 5.11

Solutions Using Frequency Transfer Functions
Example 5.12
Response Under Impulse Using Laplace Transform Method The frequency transfer function can be obtained by substituting
i in place of s in the general transfer function of the system.
Solution

The inverse transforms of Eqs. (E.7) and (E.8), using the results of

5.11
Appendix D, yield the time responses of the cars as

F0  m 
x1  s   t  E.10 
M  m 
sin wt 
wM 
F0  1 
x2  s   t  sin wt   E.11
M  m  w 

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5.11 Solutions Using Frequency Transfer Functions 5.11 Solutions Using Frequency Transfer Functions

Example 5.13
Example 5.13
Derivation of Frequency Transfer Functions
Derivation of Frequency
Transfer Functions Solution

Derive the frequency transfer From the free-body diagrams of the masses, the equations
functions of x1(t) and x2(t) for of motion of the system is
the system shown in figure. (向下為正)
m1x1  c1 x1  k1 x1  c2 x1  x2   k2 x1  x2   p1  P0 sin wt E.1
m2 x2  c2 x2  x1   k2 x2  x1   p2  0 E.2 

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5.11 Solutions Using Frequency Transfer Functions 5.11 Solutions Using Frequency Transfer Functions

Example 5.13
Example 5.13
Derivation of Frequency Transfer Functions
Derivation of Frequency Transfer Functions
Solution
Solution

The solutions X1(s) and X2(s) of Eqs. (E.3) and (E.4) are
By taking the Laplace transforms of Eqs. (E.1) and (E.2), assuming
zero initial conditions, D1 s  D2 s 
X 1 s   E.5 and X 2 s   E.6 
Ds  Ds 
m1s 2 X 1 s   c1sX1 s   k1 X 1 s   c2  X 1 s   X 2 s   k2  X 1 s   X 2 s   P1 s  E.3 where
m2 X 2 s   c2  X 2 s   X 1 s   k2  X 2 s   X 1 s   0 E.4   
D1  s   m2 s 2  c2 s  k2 P1  s   E.7 
D2  s    c2 s  k2  P1  s   E.8

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5.11 Solutions Using Frequency Transfer Functions 5.11 Solutions Using Frequency Transfer Functions

Example 5.13 Example 5.13

Derivation of Frequency Transfer Functions Derivation of Frequency Transfer Functions
Solution Solution

We have The frequency transfer functions (s → i) of x1(t) and x2(t) is

Ds   m2 m2 s  m1c2  m2c1  m2c2 s  m1k2  m2 k1  m2 k2  c1c2 s
4 3 2
X 1 iw   m2 w2  iwc 2  k2 X 2 iw  iwc 2  k2
 c1k2  c2 k1 s  k1k2  E.9   E.12  and  E.13
P1 iw  Diw  P1 iw  Diw 
The general transfer functions is where
Diw   w4 m1m2 w4  iwm1c2  m2c1  m2c2 
X 1  s  m2 s 2  c 2 s  k 2 X 2  s  c2 s  k 2
  E.9  and   E.10   w2 m1k2  m2 k1  m2 k2  c1c2   iwc1k2  c2 k1   k1k2 
P1  s  D  s P1  s  D  s

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5.12 Examples using MATLAB

• To practice by yourself from Ex. 5.15 to Ex.5.21

• The source codes of all MATLAB programs are given
at the companion website

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