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    Lecture 1-Multi Degree of Freedom Systems

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    This document discusses modeling continuous and discrete multi-degree of freedom systems. Continuous systems have properties that are assumed to be continuous throughout the system and require partial differential equations to model. Discrete systems can be modeled as lumped masses connected by massless springs and dampers, described by ordinary differential equations. Lumped mass representations are commonly used to approximate actual continuous systems for analysis. The equations of motion for a multi-degree of freedom system can be derived by drawing free body diagrams of each mass and applying Newton's second law, resulting in a system of differential equations that can be solved.

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    Lecture 1-Multi Degree of Freedom Systems

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    iJordanScribd
    74 views15 pages
    This document discusses modeling continuous and discrete multi-degree of freedom systems. Continuous systems have properties that are assumed to be continuous throughout the system and require partial differential equations to model. Discrete systems can be modeled as lumped masses connected by massless springs and dampers, described by ordinary differential equations. Lumped mass representations are commonly used to approximate actual continuous systems for analysis. The equations of motion for a multi-degree of freedom system can be derived by drawing free body diagrams of each mass and applying Newton's second law, resulting in a system of differential equations that can be solved.

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    This document discusses modeling continuous and discrete multi-degree of freedom systems. Continuous systems have properties that are assumed to be continuous throughout the system and require partial differential equations to model. Discrete systems can be modeled as lumped masses connected by massless springs and dampers, described by ordinary differential equations. Lumped mass representations are commonly used to approximate actual continuous systems for analysis. The equations of motion for a multi-degree of freedom system can be derived by drawing free body diagrams of each mass and applying Newton's second law, resulting in a system of differential equations that can be solved.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    74 views15 pages

    Lecture 1-Multi Degree of Freedom Systems

    Uploaded by

    iJordanScribd
    This document discusses modeling continuous and discrete multi-degree of freedom systems. Continuous systems have properties that are assumed to be continuous throughout the system and require partial differential equations to model. Discrete systems can be modeled as lumped masses connected by massless springs and dampers, described by ordinary differential equations. Lumped mass representations are commonly used to approximate actual continuous systems for analysis. The equations of motion for a multi-degree of freedom system can be derived by drawing free body diagrams of each mass and applying Newton's second law, resulting in a system of differential equations that can be solved.

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    © All Rights Reserved
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    Download as pdf or txt
    of 15

    Lecture 1- Modelling systems as

    multi degree of freedom systems

    Learning Outcomes
    At the end of this session you should be able to:
    Describe continuous and discrete systems
    Assess the suitability of lumped parameter
    models
    Derive equations of motion from free body
    diagrams

    Continuous System
    It is not possible to identify
    discrete masses, dampers or
    springs
    Properties assumed to be
    continuous
    Every point in body performs
    simple harmonic motion
    Infinite number of points= infinite
    number of degrees of freedom
    Partial differential equations
    Harder to solve
    Exact solution (if can be solved)

    http://en.wikipedia.org/wiki/File:Standing_waves_on_a_string.gif#file

    Discrete System
    Mass, damping and elasticity
    present only at certain
    discrete points
    Masses are rigid
    x1
    Springs are massless
    Ordinary differential
    equations
    x
    Easy to solve

    Dont actually exist!

    c1

    k1
    m1

    k
    m2

    c2

    F1(t)

    F2(t)
    k2

    Lumped mass representations of continuous systems


    Continuous system:
    Lumped mass representation:
    rigid masses
    massless uniform elastic
    members

    Continuous
    system:

    lumped mass
    representation:

    fundamental frequency (rad/s)

    Accuracy of lumped parameter models


    Effect of number of degrees of freedom on fundamental
    frequency calculated for the longitundinal vibration of a
    steel rod
    lumped
    15900
    parameter
    15800
    model
    15700
    15600

    exact
    solution for
    continuous
    system

    15500
    15400
    0

    1
    2
    3
    4
    5
    6
    degrees of freedom used in model

    Continuous or discrete?

    Type of system
    Purpose of analysis
    Influence of analysis on design
    Computational time available

    Analysing multi degree of freedom systems


    1. Form equations of motion
    The general form of the differential equations for a
    linear system with viscous damping is:
    + + =
    Where:
    is a n x n mass matrix
    is a n x n damping matrix
    is a n x n stiffness matrix
    is a n x1 force vector
    is a n x 1 vector of generalised coordinates

    2. Solve equations of motion

    Free body diagrams and Newtons 2nd law


    Draw free body diagrams for all of the
    masses in the system/ model
    Apply Newtons 2nd law to each mass
    Rearrange equations
    Put in matrix form
    (solve)

    Tips for drawing free body diagrams


    Spring forces should be drawn in the opposite
    direction to the direction of mass motion
    The number of springs attached to a mass is
    equal to the number of spring forces acting on
    the mass
    If a spring is not attached to a mass it cannot
    exert a force on that mass
    The forces acting on opposite ends of a spring
    are equal and opposite

    Example
    The figure to the right shows a
    four storey structure consisting of
    4 slabs of masses m1, m2, m3 and
    m4. The slabs are supported by
    light columns of total shear
    stiffness k1, k2, k3 and k4.
    Assuming that the columns are
    rigid in tension and compression,
    derive the equations of motion
    for the slabs.

    m4
    k4
    m3
    k3
    m2
    k2
    m1
    k1

    Free body diagram practice


    Draw free body diagrams for the masses in these
    systems:
    x1

    k1

    m1

    x2

    x3

    k2

    m2

    mc

    kp

    m3

    xg

    mb
    kt1

    kt3

    kt2
    J1

    J2

    J3

    xf

    kt4

    kq
    ma
    kr

    J1, J2 and J3 have the angular displacements


    of 1, 2 and 3 respectively

    xh

    Summary
    In discrete systems rigid masses are connected by
    massless springs and dampers and so are described by
    ordinary differential equations
    In continuous systems the properties (mass, stiffness
    and damping) are assumed to be continuous so their
    behaviour is described by partial differential equations
    Lumped mass representations are often used to
    represent actual systems since this simplifies the
    analysis
    The equations of motion for a multi-DOF system can be
    derived by drawing free body diagrams of the masses
    and applying Newtons 2nd law

    Further Reading
    Rao, S.S. Mechanical Vibrations (fifth edition in SI
    units). Pearson Prentice Hall, 2011, Section 1.4.4Discrete and continuous systems, pg 16
    Rao, S.S. Mechanical Vibrations (fifth edition in SI
    units). Pearson Prentice Hall, 2011, Sections 6.16.3, pg 555-562

    Tutorial Questions
    1. Derive the differential equations governing the motion of the three
    degree of freedom shown in Figure 1. (answer in form + = )
    k2

    k1
    Figure 1

    m1
    x1

    k4

    k3
    m2
    x2

    m3
    x3

    2. Two rotors supported in rigid bearings are shown in Figure 2. The


    rotors of mass moments of inertia J1 and J2 are connected to light
    shafts of torsional stiffness kt1 and kt2.
    i. Derive the differential equations governing the motion of the rotors.
    ii. Given that kt1= 36 kNm/rad, kt2= 42 kN/m, J1=0.5 kg m2 and J2=0.8
    kg m2 find the natural frequencies of the system..
    Figure 2

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