By Tom Irvine
Email: tom@vibrationdata.com
July 6, 2015
__________________________________________________________________________
Introduction
x2
m2
kx22
x1
m1
k1
yy
Figure 1.
1
k2 ( x2 - x1 )
x1
m1
k1 ( x1 - y )
Figure 2.
F m1 x1 (1)
m1 x1 k1 x1 k 2 x 2 x1 k1 y (3)
x2
m2
k2 (x2-x1)
Figure 3.
2
Derive the equation of motion for mass 2.
F m 2 x 2 (6)
m 2 x 2 k 2 x 2 x1 (7)
m 2 x 2 k 2 x 2 x1 0 (8)
m 2 x 2 k 2 x 2 k 2 x1 0 (9)
Let
m 0
M 1 (11)
0 m2
k k 2 k2
K 1
k 2
(12)
k2
k y
F 1 (13)
0
M x Kx F (14)
3
Seek a solution of the form
m 0 k1 k 2 k 2
det 2 1 k 0
k 2
(21)
0 m 2 2
k k m 2 k2
det 1 2 1
0 (22)
k 2 k 2 m 2 2
k
1 k 2 m1
2
k 2 m 2
2
k 2
2
0 (23)
k 2
2
1 k 2 m1 k 2 m 2 k 2 k1 k 2 k 2 0
2
(24a)
4
The eigenvalues are the roots of the polynomial.
b b 2 4ac
12 (25)
2a
b b 2 4ac
2 2 (26)
2a
where
a m1m 2 (27)
c k1k 2 (29)
m k m 2 k1 k 2 m1k 2 m 2 (k1 k 2 )2 - 4m1m 2 k1k 2
12 1 2 (30)
2m1m 2
K 1 2 M q 1 0 (32)
K 22 M q 2 0 (33)
where
q
q 1 11 (34)
q12
5
q
q 2 21 (35)
q 22
An eigenvector matrix Q can be formed. The eigenvectors are inserted in column format.
Q q1 | q2 (36)
q q 21
Q 11 (37)
q12 q 22
Q̂ T M Q̂ I (38)
and
Q̂ T K Q̂ (39)
where
superscript T represents transpose
I is the identity matrix
is a diagonal matrix of eigenvalues
Note that
q̂ q̂12
Q̂ 11 (40)
q̂ 21 q̂ 22
q̂ q̂ 21
Q̂ T 11
q̂ 22
(41)
q̂12
6
Now define a modal coordinate ( t ) such that
x Q̂ (42)
x 2 q̂ 21 1 q̂ 22 2 (44)
M Q̂
K Q̂ F (45)
Q̂ T M Q̂
Q̂ T K Q̂ Q̂ T F (46)
Q̂ T F
I (47)
1 0
1 2 0 1 q̂11 q̂ 21 k1y
0 1 1
q̂ 22 0
(48)
2 0 2 2 2 q̂12
Note that the two equations are decoupled in terms of the modal coordinate.
2 2 2 2 q̂12 k1 y
(50)
7
Let
By substitution
2 2 2 2 q̂12 k1 A sint
(53)
1 12 1 Lq̂11k1 A sint
L (54)
Let
1 (s) L 1 t (55)
s 2
s1 (0)
1 (0) 12 1 (s) q̂11k1
A
s2 2
(56)
A
1 (s) q̂11k1
s 2
12 s 2 2 (58)
8
The inverse Laplace transform from Reference 1 is
1
sin t sin 1t , 1
1 1
1 ( t ) q̂11k1A (59)
1 1
2 2
Similarly,
1
sin t sin 2 t , 2
1 1
2 ( t ) q̂12 k1A (60)
2 2
2 2
1
sin t sin 1t
1 1
x 1 ( t ) q̂11 q̂11k1A
12 2 1
1
sin t sin 2 t
1 1
q̂12 q̂12 k1A
2 2 2 2
(62)
x 2 q̂ 21 1 q̂ 22 2 (63)
1
sin t sin 1t
1 1
x 2 ( t ) q̂ 21 q̂11k1A
12 2 1
1
sin t sin 2 t
1 1
q̂ 22 q̂12 k1A
2 2 2 2
(64)
9
Reference
APPENDIX A
Initial Conditions
Thus
x0 Q̂ 0 (A-2)
Premultiply by Q̂ T M .
Q̂ T M x0 Q̂ T M Q̂ 0 (A-3)
Recall
Q̂ T M Q̂ I (A-4)
Q̂ T M x0 I 0 (A-5)
Q̂ T
M x0 0 (A-6)
10
Finally, the transformed initial displacement matrix is
0 Q̂ T M x0 (A-7)
11