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Mata Kuliah : Dinamika Struktur & Pengantar Rekayasa Kegempaan

Kode : TSP – 302
SKS : 3 SKS

Multi Degree of Freedom System

Free Vibration
Pertemuan – 6, 7
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 TIU :
 Mahasiswa dapat menjelaskan tentang teori dinamika struktur.
 Mahasiswa dapat membuat model matematik dari masalah teknis yang
ada serta mencari solusinya.

 TIK :
 Mahasiswa mampu mendefinisikan derajat kebebasan, membangun
persamaan gerak sistem MDOF
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 Sub Pokok Bahasan :

 Penentuan derajat kebebasan
 Properti matrik kekakuan, massa dan redaman
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 Structures cannot always be described by a SDoF

model
 In fact, structures are continuous systems and as such
possess an infinite number of DoF
 There are analytical methods to describe the
dynamic behavior of continuous structures, which
are rather complex and require considerable
mathematical analysis.
 For practical purposes to study Multi Degree of
Freedom System (MDoF), we shall consider the
multistory shear bulding model.
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 A shear building may be defined as a structure in which there

is no rotation of a horizontal section at the level of the floors
 Assumption for shear building
 The total mass of the structure is concentrated at the
levels of the floors
 The slabs/girders on the floors are infinitely rigid as
compared to the columns
 The deformation of the structure is independent of the
axial forces present in the columns
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u3
F3(t) m3 F3(t) m 3ü 3

k3(u3 u2)
k3 k3
u2 k3(u3 u2)
F2(t) m2 F2(t) m 2ü 2

k2(u2 u1)
k2 k2 u1 k2(u2 u1)
F1(t) m1 F3(t) m 1ü 1

k1u1
k1 k1
Free Body Diagram

Shear Building w/ 3 DoF

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 By equating to zero the sum of the forces acting on each

mass :
m1u1  k1u1  k 2 u2  u1   F1 t   0
m2u2  k 2 u2  u1   k3 u3  u2   F2 t   0 (1)
m3u3  k3 u3  u2   F3 t   0

 Eq. (1) may conveniently be written in matrix notation as :

M u  K u  F  (2)

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 Where :
m1 0 0 k1  k 2  k2 0 
M    0 m2 0 K     k2 k 2  k3  k3 
0 m3   0  k3 k3 
 0 

 And :
 u1   u1   F1 t 
u  u2  u  u2  F   F2 t 
u3  u3   F3 t 
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Natural Frequencies and Normal Modes

 EoM for MDoF system in free vibration is :

M u K u  0 (3)

 Solution of Eq. (3) is :
u  n qn t   n  An cos nt  Bn sin nt  (4)

 The substitution of Eq. (4) into Eq. (3) gives :

K   
n n
2
M n qn t   0 (5)
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 The formulation of Eq (5) is known as an eigenvalue problem.

 To indicate the formal solution to Eq. (5), it is rewritten as :

K    n
2
M n   0 (6)

 Eq (6) has non trivial solution if :

K   n 2 M   0 (7)
 Eq.(7) gives a polynomial equation of degree n in n2, known
as characteristic equation of the system

A vibrating system with n DoF has n natural vibration frequencies n, arranged in
sequence from smallest to largest
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 The n roots of Eq. (7) determine the n natural frequencies n

of vibration.
 These roots of the characteristic equation are also known as
eigenvalues
 When a natural frequency n is known, Eq.(6) can be solved
for the corresponding vector n
 There are n independent vectors , which are known as
natural modes of vibration, or natural mode shape of
vibration
 These vectors are also known as eigenvector.
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Example 1
 Determine : W2 = 24.000 kgf
u2
1. The natural frequencies and

W10x21
W10x21
corresponding modal shapes 3m
W10x21  I = 4,900 cm4
W1 = 11.600 kgf u1
W10x45 I = 10,300 cm4

W10x45

W10x45
E = 200.000 MPa
4,5 m

1  10 ,76  2  38,28

   11 12  0 ,6809  3,0385


 22   1 1 
 21
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Modal & Spectral Matrices

 The N eigenvalues, N natural frequencies, and n natural
modes can be assembled compactly into matrices
11 12 ... 1n  DoF 1
   ...21 ...22 ...  2 n 
... ... 
2
Modal matrix
 …..
 n1  n 2 ...  nn  n
Mode 1 2 n

12 
 
 
 
2

2 2



Spectral matrix
 2
n 

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Orthogonality of Modes
 The natural modes corresponding to different natural
frequencies can be shown to satisfy the following
orthogonality conditions :

n T K r   0
When n ≠ r
n  M r   0
T
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Free Vibration Response : Undamped System

 EoM for MDoF Undamped Free Vibration is :

M u K u  0 (8)

 The differential equation (8) to be solved had led to the

matrix eigenvalue problem of Eq.(6).
 The general solution of Eq. (8) is given by a superposition of
the response in individual modes given by Eq. (4).
u  1q1  2 q2  3 q3  ...  n qn (9)

 Or u    q
N

n n
u   q (10)
n 1
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 Premultiply Eq. (10) with {n}T[M] :

n T M u  n T M  qn  (11)
 n  M 1q1  n  M 2 q2  ....
T T

 n  M N qN

T

 Regarding the orthogonality conditions :

n  M u  n  M n qn
T T

 From which :
  M u   M u
T T

q  also q  n
(11)
  M  
n

  M  
T n T
n
n n n n
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 If Eq. (8) is premultiplied by the transpose of the nth mode-

shape vector {n}T, and using Eq.(10) with its second
derivative it becomes :

  M  q    K  q

n
T
n n n
T
n n
0 (11)

Mn Kn
Generalized mass Generalized stiffness
 Eq.(11) is an EoM from SDoF Undamped System for mode n,
which has solution :
qn 0 
qn t   qn 0 cos nt  sin nt (12)
n
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 Solution for Eq. (8) becomes :

 qn 0  
u  n qn 0cos nt 
N
sin nt  (13)
n 1  n 

 The procedure described above can be used to obtain an

independent SDoF equation for each mode of vibration of
the undamped structure.
 This procedure is called the mode-superposition method
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Example 2
 Based on data from Example 1, and the
following initial condition, for each DoF plot
the time history of displacement, regarding
the 1st, and 2nd mode contribution.

 6  103   0 
ut 0    8  103 m ut 0   0 ,20m/s
10  103   0 
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Free Vibration Response : Damped System

 EoM for MDoF Damped Free Vibration is :

M u  C u  K u  0 (14)

 Using Eq. (10) and its derivative :

M  q  C  q  K  q  0 (15)

 Premultiply Eq. (15) with {}T :

  M  q    C  q    K  q  0

T T T
(16)

Mn Cn Kn
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 Eq.(16) is an EoM from SDoF Damped System for mode n,

which has solution :
 qn 0    nn qn 0  
qn t   e  n n t
qn 0 cos nDt  sin nDt  (17)
  nD 
 The displacement response of the system is then obtained by
substituting Eq. (17) in Eq. (10)

 q 0    nn qn 0  
u t    n e   t qn 0 cos nDt  n
N
n n
sin nDt  (18)
n 1  nD 