Modal Analysis of Multi-Storey Frames... Ubani Obinna U.

(2016)

Modal Dynamic Analysis of a One-Bay Three Storey Rigid Frame

Ubani Obinna Uzodimma
Works/Engineering Services Department
Ritman University, Ikot Ekpene, Akwa Ibom State
E-mail: rankiesubani@gmail.com

1.1 Introduction

A structure undergoes free vibration when it is brought out of static equilibrium and can then oscillate
without any external dynamic excitation. Free vibration of structures occurs with some frequencies
which depend only on the parameters of the structures such as boundary conditions, distribution of
masses, stiffnesses within the members etc, and not on the reason for the vibration. At each natural
frequency of free vibration, the structure vibrates in simple harmonic motion where the displaced
shape (mode shape) of the structure is constant but the amplitude of the displacement is varying in a
sinusoidal manner with time. The number of natural frequencies in a structure coincides with the
number of degrees of freedom in the structure. These frequencies are inherent to the given structure
and are often referred to as eigenfrequencies. Each mode shape of vibration shows the form of an
elastic curve which corresponds to a specific frequency.

A method of obtaining the natural frequencies and mode shapes of vibration is modal analysis. This is
a technique by which the equations of motion, which are originally expressed in physical coordinates,
are transformed to modal coordinates using the eigenvalues and eigenvectors gotten by solving the
undamped frequency eigenproblem. The transformed equations are called modal equations.
For an undamped free vibration, the equation of motion is;

Mü + ku = 0 ------------------------ (1)

If we consider an undamped 2-DOF system;

Figure 1.1: An undamped 2-DOF system

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 Modal Analysis of Multi-Storey Frames... Ubani Obinna U. (2016)

From Figure 1.1, following equation can be developed;

M1Ü1 + K1U1 + K2 (U1 − U2) = 0
M2 Ü2 + K2(U2 − U1) = 0

This can be expanded to give;

M1Ü1 + U1(K1 + K2) + U2(−K2) = 0

M2Ü2 + U1(-K2) + U2(K2) = 0

Arranging it in matrix form we obtain;

M1 0 Ü1 K + K2 −K 2 U1 0
[ ][ ] + [ 1 ] [ ] = [ ] ------------------------------------ (2)
0 M2 Ü 2 −K 2 K 2 U2 0

The characteristic polynomial equation is thus;

(K1 + K 2 ) − M1 ω2 −K 2
det[ ] = 0 ------------------------------- (3)
−K 2 K 2 − M2 ω2

The solution of the equation is;

U1 = A1sin(𝜔𝑡 + 𝜑), U2 = A2sin(𝜔𝑡 + 𝜑)

Where Ai is the amplitudes of the displacement of mass Mi, and 𝜑 is the initial phase of vibration.

[(K1 + K 2 ) − M1 ω2 ]A1 − K 2 A2 = 0

−K 2 A1 + (K 2 − M2 ω2 ) A2 = 0

To obtain the frequency equation, a non-trivial solution exists (non-zero amplitudes Ai), if the
determinant of the coefficients to the amplitude is zero. This is also called the characteristic
polynomial equation and is thus;

(K1 + K 2 ) − M1 ω2 −K 2
det[ ] = 0 ------------------------------- (3)
−K 2 K 2 − M2 ω2

The solution of equation (3) presents the eigenfrenquencies of the system.

The system does not allow us to determine amplitudes directly, but we can find the ratio between
these amplitudes. Hence for equation 3 above;

𝐴2 (K1 +K2 )−M1 ω2 ) 𝐴2 K2

𝐴1
=− K2
or 𝐴1
= − (K +K 2 -------------------- (4)
1 2 )−M2 ω )

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 Modal Analysis of Multi-Storey Frames... Ubani Obinna U. (2016)

If we assume A1 = 1.0, then entries [1 𝐴2 ]𝑇 defines for each eigenfrequency, the column 𝜑 of the
modal matrix Φ. The shape of each mode of free vibration is unique but the amplitude of the mode
shape is undefined. The mode shapes are usually normalised such that the largest term in the vector is
1.0 [4]. The mode shapes have the important property of being orthogonal with respect to the mass
and stiffness matrix of the structure.

1.2 Solved Example

A frame with an infinitely rigid floor is supported by 300 x 300 mm columns. If it is loaded as shown
carry out the full dynamic analysis of the structure. (EI = 2.1 × 107 KN/m2)

Figure 1.2: Three Story Rigid Frame

Solution

1.2.1 Geometrical properties of the sections

Columns = 30cm x 30cm = 0.3m x 0.3m
0.3 ×0.33
Moment of inertia of column IC = = 6.75 × 10-4 m4
12
EIC = (6.75 × 10-4 m4) × (2.1 × 107 KN/m2) = 14175 KN.m2

10 0 0
Mass matrix of the structure m = 103 [ 0 15 0 ]
0 0 15

1.2.2 Development of the stiffness matrix of the structure

Bending moment diagram caused by unit displacement of the constraint 1 is shown in Fig. 1.3. Elastic
curve is shown by dotted line. Since cross bars are absolutely rigid members (stiff floor beams and
slabs), then joints cannot be rotated and each vertical member should be considered as fixed-fixed
6𝐸𝐼𝐶 12𝐸𝐼𝐶
member. In this case, specified ordinates are and the corresponding reaction is .
𝐿2 𝐿3
For the columns, the total reaction due to unit horizontal displacement at level 1 is;

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 Modal Analysis of Multi-Storey Frames... Ubani Obinna U. (2016)

12𝐸𝐼𝐶 12𝐸𝐼𝐶
𝐾11 = 𝐿3
+ 𝐿3

Case 1 (Z1 = 1.0, Z2 = 0, Z3 = 0)

12𝐸𝐼𝐶 12 × 14175
= = 787.5 𝐾𝑁/𝑚
𝐿3 33

Hence; K11 = 787.5 + 787.5 = 1575

KN/m

K21 = − 2(787.5 + 787.5) = − 1575

KN/m

K31 = 0

For other cases following the same

procedure;

Figure 1.3: Unit State Diagram for unit horizontal displacement at point 1

Case 2 (Z1 = 0, Z2 = 1.0, Z3 = 0)

K12 = − 2(787.5 + 787.5) = − 1575 KN/m

K22 = 4(787.5) = 3150 KN/m

K32 = − 2(787.5 + 787.5) = − 1575 KN/m

Case 3 (Z1 = 0, Z2 = 0, Z3 = 1.0)

K13 = 0

K23 = − 2(787.5 + 787.5) = − 1575 KN/m

K33 = 4(787.5) = 3150 KN/m

Hence, the stiffness matrix is;

1575 −1575 0
K = 103 [−1575 3150 −1575] Note that multiplying by 103 converts KN to N.
0 −1575 3150

You can verify that this corresponds with the stiffness for 3 DOF spring and mass system knowing
24𝐸𝐼𝐶
that each storey has a stiffness of .
𝐿3

𝑘1 −𝑘1 0
K = 103 [−𝑘1 𝑘1 + 𝑘2 −𝑘2 ]
0 −𝑘2 𝑘2 + 𝑘3

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 Modal Analysis of Multi-Storey Frames... Ubani Obinna U. (2016)

1.2.3 Frequency Equation

In modal analysis using stiffness method, the frequency equation is given by;

|𝑘 − 𝑚𝜔𝑛 |A = 0

Therefore the frequency equation;

(𝑘11 − 𝑚1 𝜔2 )𝐴1 (𝑘12 )𝐴2 (𝑘13 )𝐴3

D=| (𝑘21 )𝐴1 (𝑘22 − 𝑚2 𝜔2 )𝐴2 (𝑘13 )𝐴3 |=0
(𝑘31 )𝐴1 (𝑘32 )𝐴2 (𝑘11 − 𝑚3 𝜔2 )𝐴3

[(1575 × 103 ) − 10000𝜔2 ] −1575 × 103 0

D=| −1575 × 10 3
[(3150 × 10 3)
− 15000𝜔2 ] −1575 × 103 |=0
0 −1575 × 103 [(3150 × 103 ) − 15000𝜔2 ]

((1575 × 103 ) − 10000𝜔12 )(7.441875 × 1012 − 9.45 × 1010 𝜔2 + 2.25 × 108 𝜔4 ) + (1575 ×
103 )(−4.96125 × 1012 + 2.3625 × 1010 𝜔2 ) = 0

This leads us to the frequency polynomial;

− 2.25 × 1012 𝜔8 + 1.299375 × 1015 𝜔4 − 1.86046875 × 1017 𝜔2 + 3.90698438 × 1018 = 0

On solving the polynomial equation;

𝜔12 = 25.262 rad2/sec2 𝜔22 = 189.488 rad2/sec2 𝜔32 = 362.749 rad2/sec2

Which implies that; 𝜔1 = 5.026 rad/sec, 𝜔2 = 13.765 rad/sec, 𝜔3 = 19.045 rad/sec

To calculate the mode shapes;

|𝑘 − 𝑚𝜔𝑛 |A = 0

For the 1st mode, 𝜔12 = 25.262

1.322380 × 106 𝐴1 −1575 × 103 𝐴2 0

| −1575 × 103 𝐴1 −2.771070 × 106 𝐴2 −1575 × 103 𝐴3 | = 0
0 −1575 × 103 𝐴2 −2.771070 × 106 𝐴3

If we let A1 = 1.0, we obtain; A2 = 0.8396, A3 = 0.4772

For the 2nd mode, 𝜔22 = 189.488

−319880𝐴1 −1575 × 103 𝐴2 0

|−1575 × 103 𝐴1 307680𝐴2 −1575 × 103 𝐴3 | = 0
0 −1575 × 103 𝐴2 307680𝐴3

If we let A1 = 1.0, we obtain; A2 = − 0.2031, A3 = −1.0396

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 Modal Analysis of Multi-Storey Frames... Ubani Obinna U. (2016)

For the 3rd mode, 𝜔22 = 362.749

−2052490𝐴1 −1575 × 103 𝐴2 0

|−1575 × 103 𝐴1 −2291235𝐴2 −1575 × 103 𝐴3 | = 0
0 −1575 × 103 𝐴2 −2291235𝐴3

If we let A1 = 1.0, we obtain; A2 = − 1.3032, A3 = −0.8958

Therefore;

1.000 1.000 1.000

Φ1 = [0.8396] Φ2 = [−0.2031] Φ3 = [−1.3032]
0.4772 −1.0396 −0.8958

Figure 1.4: Mode 1 Vibration Parameters

Figure 1.5: Mode 2 Vibration Parameters

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 Modal Analysis of Multi-Storey Frames... Ubani Obinna U. (2016)

Figure 1.6: Mode 3 Vibration Parameters and Displaced shape

1.2.4 Generalised Mass and Stiffness of the structure

For generalised mass (Modal Mass)

𝑀𝑖 = Φ𝑖𝑇 𝑚𝑖 Φ𝑖
̅̅̅

Therefore;

10000 0 0 1.000
̅̅̅̅1 = [1.0000 0.8396 0.4772] [ 0
𝑀 15000 0 ] [0.8396]
0 0 15000 0.4772
1.000
̅̅̅̅ [ ]
𝑀1 = 10000 12594 7158 [0.8396] = 23989.72 kg
0.4772

10000 0 0 1.000
̅̅̅̅
𝑀2 = [1.0000 −0.2031 −1.0396] [ 0 15000 0 ] [ −0.2031]
0 0 15000 −1.0396
1.000
̅̅̅̅
𝑀2 = [10000 −3046.5 −15594] [−0.2031]= 26830.266 kg
−1.0396

10000 0 0 1.000
̅̅̅̅
𝑀3 = [1.0000 −1.3032 0.8958] [ 0 15000 0 ] [−1.3032]
0 0 15000 0.8958

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 Modal Analysis of Multi-Storey Frames... Ubani Obinna U. (2016)

1.000
̅̅̅̅
𝑀3 = [10000 −19548 13437] [−1.3032]= 47511.818 kg
0.8958
For generalised stiffness (Modal Stiffness)

̅̅̅1 = Φ𝑖𝑇 𝑘𝑖 Φ𝑖
𝑘

Therefore;

1575 × 103 −1575 × 103 0 1.000

̅̅̅1 = [1.0000 0.8396 0.4772] [−1575 × 103
𝑘 3150 × 103 −1575 × 10 3] [0.8396]
0 −1575 × 103 3150 × 103 0.4772
1.000
̅̅̅1 = [252630 318150 180810] [0.8396] = 606031.273 kg/m
𝑘
0.4772

1575 × 103 −1575 × 103 0 1.000

̅̅̅2 = [1.0000 −0.2031
𝑘 −1.0396] [−1575 × 103 3150 × 103 −1575 × 10 3] [−0.2031]
0 −1575 × 103 3150 × 103 −1.0396
1.000
̅̅̅2 = [1894882.5 −577395 −2954857.5] [−0.2031]= 5084021.283 kg/m
𝑘
−1.0396

1575 × 103 −1575 × 103 0 1.000

̅̅̅3 = [1.0000 −1.3032
𝑘 0.8958] [−1575 × 103 3150 × 103 −1575 × 10 3] [−1.3032]
0 −1575 × 103 3150 × 103 0.8958
1.000
̅̅̅̅
𝑀3 = [3627540 −7090965 4874310] [−1.3032]= 17234892.49 kg/m
0.8958
As a verification;
̅̅
𝑘̅̅ 606031.273
1
̅̅̅̅
𝑀1
= 23989.72
= 25.262 = 𝜔12

̅̅
𝑘̅̅ 5084021.283
2
̅̅̅̅
𝑀
= 26830.266
= 189.488 = 𝜔22
2

̅̅
𝑘̅̅ 17234892.49
3
̅̅̅̅
𝑀3
= 47511.818
= 362.749 = 𝜔32

23989.72 0 0
Therefore the generalised mass matrix = [ 0 26830.266 0 ]
0 0 47511.818

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 Modal Analysis of Multi-Storey Frames... Ubani Obinna U. (2016)

606031.273 0 0
Therefore the generalised stiffness matrix = [ 0 5084021.283 0 ]
0 0 17234892.49

1.2.5 Eigenvector mass orthonormalization

The idea is to obtain;

Φ𝑖𝑇 𝑚𝑖 Φ𝑖 = 1.0

The conversion factor;

1
Ci = ̅̅̅̅𝑖
√𝑀

1.000 0.006456
1 1
C1 = ̅̅̅̅𝐼
= = 0.006456; Thus ϕ1 = 0.006456 [0.8396] = [0.005420]
√𝑀 √23989.72
0.4772 0.003081
1.000 0.006105
1 1
C2 = ̅̅̅̅
= = 0.006105; Thus ϕ2 = 0.006105 [−0.2031] = [−0.001239]
√𝑀 2 √26830.266
−1.0396 −0.006347
1.000 0.004587
1 1
C3 = ̅̅̅̅
= = 0.004587; Thus ϕ3 = 0.004587[−1.3032] = [−0.005978]
√𝑀 3 √47511.818
0.8958 −0.004109
0.006456 0.006105 0.004587
ϕ = [0.005420 −0.001239 −0.005978]
0.003081 −0.006347 −0.004109

Let xi(t) be the generalised coordinate which represent the amplitude of the orthonormalised mode
shape. Therefore the displacement time history response;

u(t) = ϕ xi(t)

But modal equation of motion;

Mü + ku = 0 ------------------------ (1)
u(t) = ϕ xi(t); u̇(t) = ϕ 𝑥̇ i(t); ü (t) = ϕ 𝑥̈ i(t)
Also realise that;

1 0 0
ϕT m ϕ = Mg = 1 = [0 1 0]
0 0 1
25.262 0 0
ϕT k ϕ = Kg = diag[𝜔2 ] = [ 0 189.488 0 ]
0 0 362.749

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 Modal Analysis of Multi-Storey Frames... Ubani Obinna U. (2016)

Substituting u and ü into equation (1) and multiplying by ϕT;

ϕTMgϕ𝑥̈ + ϕTKgϕx = 0
This implies that;

𝑥̈ + Kgx = 0
From the above relationship, we can then deduce the following differential equations for the problem
we have been solving;

𝑥̈ 1(t) + 25.262 x1(t) -------------------------------------- (Mode 1 equation)

𝑥̈ 2(t) + 189.488 x2(t) -------------------------------------- (Mode 2 equation)

𝑥̈ 3(t) + 362.749 x3(t) -------------------------------------- (Mode 3 equation)

Let us assume the initial condition in all cases x(0) = 0; 𝑥̇ (0) = 1.0

Solving the differential equation by Laplace transform;

(𝑆 2 𝑥̅ − 𝑆𝑥0 − 𝑥1 ) + 25.262𝑥̅ = 0

Inserting the initial conditions; x(0) = 0; 𝑥̇ (0) = 1.0

1
𝑆 2 𝑥̅ − 1 + 25.262𝑥̅ = 0 ⟹ 𝑥̅ (𝑆 2 + 25.262) = 1.0 ⟹ 𝑥̅ = 𝑆 2 + 25.262

1
Therefore; x1 = sin(√25.262𝑡) = 0.19896 sin(5.0261𝑡)
√25.262

In similar fashion;
1
x2 = sin(√189.488𝑡) = 0.07264 sin(13.7654𝑡)
√189.488

1
x3 = 362.749
sin(√362.749𝑡) = 0.0525 sin(19.0459𝑡)
√

These can be transformed back to physical coordinates via the modal matrix, as per u(t) = Φx(t). Here
are the calculations for the mass displacement responses.

𝑢1 (𝑡) 0.006456 0.006105 0.004587 0.19896 sin(5.0261𝑡)

[𝑢2 (𝑡)] = [0.005420 −0.001239 −0.005978] [0.07264 sin(13.7654𝑡)]
𝑢3 (𝑡) 0.003081 −0.006347 −0.004109 0.0525 sin(19.0459𝑡)

The displacement time history response is therefore;

𝑢1 (𝑡) = 0.00128448 sin(5.0261𝑡) + 0.00044346 sin(13.7654𝑡) + 0.0002408175 sin(19.0459𝑡)

𝑢2 (𝑡) = 0.00107836 sin(5.0261𝑡) – 0.00009 sin(13.7654𝑡) − 0.000313845 sin(19.0459𝑡)

𝑢3 (𝑡) = 0.00061299 sin(5.0261𝑡) – 0.00046104 sin(13.7654𝑡) + 0.0002157225 sin(19.0459𝑡)

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 Modal Analysis of Multi-Storey Frames... Ubani Obinna U. (2016)

The velocity time history response is obtained by direct differentiation of the displacement time
history equations;

𝑢̇ 1 (𝑡) = 0.0064559 cos(5.0261𝑡) + 0.0061044 cos(13.7654𝑡) + 0.0045865cos(19.0459𝑡)

𝑢̇ 2 (𝑡) = 0.0054199 cos(5.0261𝑡) – 0.0012388 cos(13.7654𝑡) − 0.00597746 cos(19.0459𝑡)

𝑢̇ 3 (𝑡) = 0.0030809 cos(5.0261𝑡) – 0.0063464 cos(13.7654𝑡) + 0.0041086 cos(19.0459𝑡)

The acceleration time history response is obtained by direct differentiation of the velocity time history
equations;

𝑢̈ 1 (𝑡) = −0.032448 sin(5.0261𝑡) − 0.0840295 sin(13.7654𝑡) – 0.087354 sin(19.0459𝑡)

𝑢̈ 2 (𝑡) = −0.02724 sin(5.0261𝑡) + 0.0170525 sin(13.7654𝑡) + 0.113846 sin(19.0459𝑡)

𝑢̈ 3 (𝑡) = −0.0154849 sin(5.0261𝑡) + 0.0873607 sin(13.7654𝑡) – 0.0782519 sin(19.0459𝑡)

The time history response of displacement, velocity, and acceleration has been plotted using
MATLAB and are shown in Figures 1.7 to 1.9

Figure 1.7: Displacement – Time history graph

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 Modal Analysis of Multi-Storey Frames... Ubani Obinna U. (2016)

Figure 1.8: Velocity – Time history graph

Figure 1.9: Acceleration – Time history graph

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