ME 440

Intermediate Vibrations
Tu, April 28, 2009
Chapter 6: Multi-degree of Freedom (MDOF) Systems
~ The Lumped-Mass Approach ~
http://sbel.wisc.edu/Courses/ME440/2009/index.htm

Dan Negrut, 2009

ME440, UW-Madison

Quote of the Day:

An intellectual is a man who takes more words than necessary to tell more than
he knows.
Dwight D. Eisenhower

Before we get
started
Last Time:

Reviewed approach to obtain the response of forced undamped and

underdamped MDOF systems
Covered two examples (falling beam, and then forced longitudinal vibration)

Today:

Finish third example of last time

Lumped mass approach for finding the time evolution of distributed-mass
systems

Beam (transverse vibration)

Rod (longitudinal vibration)

HW assigned (due May 5):

6.74 forced vibration, three DOF undamped system

6.80 bike hitting curb, leads to step function; find response

A look ahead:

On Th and Tu cover Lagranges equations

Comprehensive exam: on Th of next week (during regular class hours)

Review session: Wd, May 6 th, at 7:15 PM (well meet in this room, 3126ME)

[AO]

Example: Force Response,

Undamped System

[Recall This]

Getting Modal Matrix Based on

[a]

The characteristic equation:

In other words, first solve for the equation

and then compute the natural frequencies as

Finally, compute the eigenvectors (the modal vectors) that

together will make up the modal matrix [u]

[Cntd]

Example

Recall discussion last time:

Instead of getting [k], much easier for beams to determine flexibility matrix [a]

Like last time, use formula for y(x):

Use symmetry of the flexibility matrix [a] to determine all entries

based on four measurements of y(x)

I = 1674.7;
E = 30e6;
L = 40*12;
forceVec = [0 ; 3E4; 0];
x = 10*12;
b = L - x;
a11 = sag(x, 1, E, I, L, b)

function [s]= sag(x, P, E, I, L, b)

s = P*b*x;
s = s/(6*E*I*L);
dummy = L*L - x*x - b*b;
s = s*dummy;

b = L/2;
a12 = sag(x, 1, E, I, L, b)
b = 10*12;
a13 = sag(x, 1, E, I, L, b)
b = L/2;
x = L/2;
a22 = sag(x, 1, E, I, L, b)

aMat = [ a11 a12 a13 ; a12 a22 a12; a13 a12 a11]
mMat = diag([2.487 ; 2.487 ; 2.487])
[uMat, invOmegaMat] = eig((aMat*mMat))
omega3 = 1/sqrt(invOmegaMat(1,1))
omega2 = 1/sqrt(invOmegaMat(2,2))
omega1 = 1/sqrt(invOmegaMat(3,3))
uMat = [uMat(:,3)/uMat(1,3) uMat(:,2)/uMat(1,2) uMat(:,1)/uMat(1,1)]

M_Mat = uMat'*mMat*uMat
F_Vec = uMat'*forceVec
fHat_Vec = M_Mat\F_Vec;

[New Topic]

Lumped-Mass Modeling of
Beams
(Transverse Vibration)

What is the general idea?

First, identify points on the rod/beam that are fixed

The amount of mass associated with these points is neglected (this

mass doesnt move, after all)

Recall beam example we just discussed today

Next example is similar as well

Relevant as well are masses at the free *end[s]* of the beam

They dont account for full mass because there is a lack of material on
one side

[Cntd]

Lumped-Mass Modeling of
Beams
(Transverse Vibration)
Go back to problem at hand:

Given to you:

Need n(i) and [u]

First get n(i). The characteristic equation:

[Short Detour]

Computing the Flexibility Matrix

[a]

We are dealing with a fixed-pinned beam with overhang

See below but also consult the handout

Disp. at Blue:

Disp. at Blue:
Disp. at Green (x a):
9

Disp. at Green (x l):

- not needed anymore

[Cntd]

Lumped-Mass Modeling of
Beams
(Transverse Vibration)

Problem at hand:

Mass and flexibility matrices obtained as

End up with the following natural frequencies and modal matrix:

10

11

12

[New Topic]

Lumped-Mass Modeling of Rods

(Axial Vibration)

As the number of properly selected lumped masses used to represent the system
increases, the accuracy of the frequencies and mode shapes increases as well
What does it mean properly selected? Use example in figure at left and below

Maybe counterintuitive in the beginning:

If you use n lumped masses, dont just

divide the rod in n equal masses
Rather, first acknowledge that the mass at
the right end of rod sees only half as much
material as a lumped mass somewhere in
the middle of the rod
Also, note that m/(2n) is associated with the
left end (lumped mass which doesnt move)

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This effectively means lumped masses add

up to

[Computing k]

Lumped-Mass Modeling of Rods

(Axial Vibration)

Uniform rod, cross-sectional area A, mass density is , length l

Equivalent spring induced by presence of short rod element in
between two consecutive lumped masses

From strength of materials:

The good model:

The other model:

14

[AO]

Example: Using *Four* Lumped

Masses
(Axial Vibration)

Uniform rod, cross-sectional area A, mass density , length l

Modulus of elasticity: E
Use four lumped masses

Compare the good model

against the other model

Incidentally, according to the

analytical solution of the wave
equation, the natural
frequencies are

15

[AO]

Example: Using *Four* Lumped

Masses
(Axial Vibration)

The good case:

The other case:

16

[Cntd.]

Using Four Lumped

Masses
(Axial Vibration)

Notation
:

Note: for a five lumped mass model, the error for

predicting Mode 1 in the good model is 0.4 %

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