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    m11l23 PDF

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    Pradip Gupta
    The document discusses different types of coordinate coupling that can occur in multi-degree of freedom systems. It begins by presenting the general coupled equations of motion using a mass and stiffness matrix. It then describes static coupling, which occurs when the mass matrix is diagonal, and dynamic coupling, which occurs when the mass matrix is non-diagonal. Examples are given of rigid bars and elastic points to illustrate different coupling scenarios. The document concludes by applying the concepts to solve a problem involving a two-degree of freedom rigid bar system, determining its normal modes of vibration.

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    © All Rights Reserved
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    m11l23 PDF

    Uploaded by

    Pradip Gupta
    76 views7 pages
    The document discusses different types of coordinate coupling that can occur in multi-degree of freedom systems. It begins by presenting the general coupled equations of motion using a mass and stiffness matrix. It then describes static coupling, which occurs when the mass matrix is diagonal, and dynamic coupling, which occurs when the mass matrix is non-diagonal. Examples are given of rigid bars and elastic points to illustrate different coupling scenarios. The document concludes by applying the concepts to solve a problem involving a two-degree of freedom rigid bar system, determining its normal modes of vibration.

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    The document discusses different types of coordinate coupling that can occur in multi-degree of freedom systems. It begins by presenting the general coupled equations of motion using a mass and stiffness matrix. It then describes static coupling, which occurs when the mass matrix is diagonal, and dynamic coupling, which occurs when the mass matrix is non-diagonal. Examples are given of rigid bars and elastic points to illustrate different coupling scenarios. The document concludes by applying the concepts to solve a problem involving a two-degree of freedom rigid bar system, determining its normal modes of vibration.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    76 views7 pages

    m11l23 PDF

    Uploaded by

    Pradip Gupta
    The document discusses different types of coordinate coupling that can occur in multi-degree of freedom systems. It begins by presenting the general coupled equations of motion using a mass and stiffness matrix. It then describes static coupling, which occurs when the mass matrix is diagonal, and dynamic coupling, which occurs when the mass matrix is non-diagonal. Examples are given of rigid bars and elastic points to illustrate different coupling scenarios. The document concludes by applying the concepts to solve a problem involving a two-degree of freedom rigid bar system, determining its normal modes of vibration.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    of 7

    Module: 11

    Lecture: 4
    Co-ordinate Coupling:
    m11
    m
    21

    m12
    x1 K11

    m22
    x2 K 21

    K12 x1 0
    - most general case of coupling
    K 22 x2 0

    Static Coupling m12 m21 0 when mass matrix is diagonal


    Mass /Dynamics Coupling:
    When, mass matrix is non-diagonal.
    Rigid Bar
    G
    l1

    l2
    K2

    K1

    G Centre of mass
    K1, K2 Spring Constants
    Co-ordinatex&

    mg
    After given a displacement and rotation,
    x

    K1 x l1

    J
    K 2 x l2

    mx

    Assume is small cos 1


    J= mass moment of inertia about a lateral axis passing through G.
    mr2

    30.6.2014

    Page 1

    mx K1 x l1 K 2 x l2 0
    J K 2 x l2 l2 cos K1 x l1 l1 cos 0
    since, cos 1 (for a small value of )
    x K1 K 2
    m 0


    0 J K 2l2 K1l

    K 2l2 K1l1
    K1l12 K 2l2 2

    x
    0
    0

    static coupling case


    If K1l1 K 2l2 no coupling (2 independant co-ordinate)

    Elastic Point
    C

    K1

    Point C K1l3 K 2l4

    l3

    l4

    K2

    When the force applied normal to a bar produces translation.


    Assume x and are independent co-ordinate at elastic point C.
    me

    xc

    J c
    K1 x l1

    xc

    K 2 xC l2

    mxC

    mxC

    30.6.2014

    Page 2

    [Mass travels a distance of e tan e ]

    F
    M

    X
    C

    0 mxC me cos K1 xc l3 K 2 xC l4 0
    0 mx e me 2 cos J K x l l cos K
    C

    xC l4 l4 cos 0

    Since, cos 1
    K 2l4 K1l3
    xC K1 K 2


    2
    2
    K 2l4 K1l3 K1l3 K 2l4
    dynamic coupling exit.

    me
    m

    2
    me J c me
    Where, K 2l4 K1l3

    xC
    0

    Say we choose the origin at the left hand of the ber.

    l2

    l1

    K1

    K2

    mg
    x1

    ml1

    l l1 l2

    K1 x1

    J1

    l1

    K 2 x1 l

    mX1

    x, Co-ordinate

    F
    M

    X
    1

    0 mX1 ml1 cos K1 x1 K 2 x1 l 0


    2
    0 mX1l1 cos J1 K 2 x1 l l cos ml1 cos 0

    ml1

    30.6.2014

    ml1
    2
    J1 ml1

    x K1 K 2

    K 2l

    K 2l
    K1l 2

    x
    0

    Page 3

    Problem:
    (we may have find some other set of mechanical values)

    l1

    K1

    l l1 l2

    l2

    Rigid bar

    K2

    w 14323N

    l1 1.3716m

    g 9.81m / s 2

    l2 1.6764m

    l 3.048m

    r 37944 N / m

    w 2
    r 2170kg -m
    g
    K1 35025 M m
    JG

    K 2 37944 N m
    Determine the normal modes of vibration Frequencies and mode shapes
    x

    K1 x l1

    30.6.2014

    K 2 x l2

    Page 4

    x K1 K 2
    m 0
    0 J
    g
    K 2l2 K1l1

    For harmonic oscilations


    x Aei t

    K 2l2 K1l1 x
    0 1
    K1l12 K 2l2 2
    2

    0 ei t

    Substituting (2) in (1)


    K1 K 2 2 m
    A
    K 2l2 K1l1


    2
    2
    2
    K1l1 K 2l2 J G 0
    K 2l2 K1l1
    Eigen value sets 1 6.90rad / s 1.10 Hz

    2 9.06rad / s 1.44 Hz
    A
    4.45m / rad
    0 1
    A
    0.33m / rad
    0 2

    0.33

    Practical Examples
    1.

    x
    l2

    l1

    G
    K1

    30.6.2014

    K2

    Page 5

    G= Centre of mass
    K1= Total stiffness of a pair of springs representing the main loading gear.
    K2 = Stiffness of the spring of the main loading gear.
    R= Radius of gyration of the a/c around the lateral axis through the centre of mass.
    Same problem like a car
    2.
    - restrained in translation and
    torsion
    - Radius of gyration, r.

    K
    KT
    C

    e
    x

    30.6.2014

    Location of
    Inertia Axis

    Page 6

    Forced vibration due to Harmonic excitation


    m11
    m
    12

    m12
    x1 c11

    m22
    x2 c12

    c12 x1 k11

    c22 x2 k12

    k12 x1 F1
    sin t ----- (1)
    k22 x2 F2

    For steady state response,

    x1 (t ) A1 sin t
    x2 (t ) A2 sin t

    ----------- (2)

    Substituting equation (2) in (1),

    2 m11 i c11 k11


    2
    m12 i c12 k12

    Z ( ) A F

    2 m12 i c12 k12 A1 F1



    2 m22 i c22 k22 A2 F2

    Impedence matrix

    A Z ( ) F
    Adj Z ( )
    1
    Z ( )
    1

    Z ( )

    Z 22 ( ) Z12 ( )
    1
    2
    Z11 ( ) Z 22 ( ) Z12 ( ) Z12 ( ) Z11 ( )

    (k22 2 m2 ) F1
    A1 ( )
    2
    2
    2
    (k11 m1 )(k22 m2 ) k12
    F2 0 and cij 0

    k12 F1
    A2 ( )
    2
    2
    2
    (k11 m1 )(k22 m2 ) k12
    k11 k1 k2
    m11 m1
    k22 k2 k3

    m22 m2

    k12 k2

    m12 0

    30.6.2014

    Page 7

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