N M - S ' M: Fundamental Natural Frequency and Modal Vector
N M - S ' M: Fundamental Natural Frequency and Modal Vector
N M - S ' M: Fundamental Natural Frequency and Modal Vector
Principle / steps
x1 1
K1 1. Assume a modal vector of system x 2 1
x 1
m1 3
x1
K2
2. Find out inertia forces of system at each mass point
m2
x2
F1 m1ω 2 x1 Mass 1
K3
F2 m2ω 2 x 2 Mass 2
m3
x3 F3 m3ω2 x 3 Mass 3
Dr Asif Israr - Institute of Space Technology
NUMERICAL METHODS – STODOLA’S METHOD
3
Principle / steps
Principle / steps
4.
K1
x1 x1 Stop iterating. Find natural
frequency by:
m1
x1 x 2 x2
x x x1 1 F1α11 F2α12 F3 α13
K2 3 3
m2
x2
5. If assumed modal vector is not equal to modal vector
K3 obtained in step 3, then consider obtained deflection
m3
vector as new vector and iterate till convergence.
x3
2K
Find the fundamental natural frequency and
2m
modal vector of a vibratory system using x1
Stodola’s method
K
2m
x2
K
m
x3
F 1
α11
2K K eq 2K
F1=1unit 2m
11
F 1 1 1 3 3
K α22 α22
K eq K eq 2K K 2K 2K
F2=1unit 2m
22
F 1 1 1 1 5
α33
K K eq K eq 2K K K 2K
F3=1unit m 33 α33
5
2K
Dr Asif Israr - Institute of Space Technology
PROBLEM 1: STODOLA’S METHOD
8
1
α11 α21 α12 α31 α13
2K
2K 3 5
α22 α32 α23 α33
2m
2K 2K
x1
3. Find new deflection vector using flexibility
K influence coefficients
2m
x2 x1 F1α11 F2α12 F3 α13
K x2 F1α21 F2α22 F3 α23
x F α F α F α
m 3 1 31 2 32 3 33
x3
x1 5
mω
2
2K 4. New deflection vector is: x2 11
x 2K
2m 3 13
x1
K x1 1
5mω
2
2m
x2 2.2
x2 x 2K
3 2.6 u2
K
The new deflection vector u2 u1
m
Iterate again using new deflection vector u2
x3
Second iteration
x1 1
2K 1. Initial vector of system x2 2.2
x 2.6
2m 3
x1
x1 9
mω
2
2K 4. New deflection vector is: x
2 23
x 2K
2m 3 28.2
x1
K x1 1
9mω
2
2m x2 2.55
x2 x 2K
3 3.13 u3
K
The new deflection vector u3 u2
m
Iterate again using new deflection vector u3
x3
Third iteration
x1 1
2K 1. Initial vector of system x
2 2.55
x 3.13
2m 3
x1
2m
x2
F1 m1ω 2 x1 2mω 2
K F2 m2ω2 x2 5.1mω2
m
x3 F3 m3ω2 x3 3.13mω2
x1 10.23
mω
2
2K 4. New deflection vector is: x
2 26.69
x 2K
2m 3 33.8
x1
K x1 1
10.23mω
2
2m x2 2.60
x2 x 2K 3.30
3 u4
K
m The new deflection vector u4 u3 stop Iterating
x3
2K x1 1
10.23mω
2
2m x2 2.60
x1 x 2K 3.30
3
K
10.23mω2
2m
x2
1
2K
1
A1 2.60
K
K
ω 0.44
m m 3.30
x3
Fundamental natural frequency, modal vector
Dr Asif Israr - Institute of Space Technology
PROBLEM 2: STODOLA’S METHOD
18
3K
For the system shown in figure find the lowest
4m
natural frequency by Stodola’s method (carryout x1
two iterations) K
2m
x2
K
m
x3
1
3K α11 α21 α12 α31 α13
3K
4m
x1 4 7
α22 α32 α23 α33
K 3K 3K
2m
x2 x1 1
K 1. Assume a modal vector of system x 2 1
x 1
m
3
x3
3K F1 m1ω 2 x1 4mω 2
4m
x1
F2 m2ω2 x 2 2mω2
K F3 m3ω2 x 3 mω2
x1 7
mω
2
3K 4. New deflection vector is: x2 16
x 3K
4m 3 19
x1
K x1 1
7mω
2
2m
x 2 2.28
x2 3K
x
K
3 2.71 u2
m
x3
Second iteration
x1 1
3K 1. Initial vector of system x
2 2.28
x 2.71
4m 3
x1
2m
x2
F1 m1ω 2 x1 4mω 2
K F2 m2ω2 x2 4.56mω2
m
x3
F3 m3ω2 x3 2.71mω2
x1 11.27
mω
2
3K 4. New deflection vector is: x
2 33.08
x 3K
4m 3 41.21
x1
K x1 1
3.75mω
2
2m x2 2.93
x2 x K 3.65
3 u3
K
m Stop Iterating as it is asked to carry only two
x3
iterations
Dr Asif Israr - Institute of Space Technology
PROBLEM 2: STODOLA’S METHOD
27
6K 6K 6K
4m 4m 4m
x1
4K 4K 4K
2K 2K 2K
3m 3m 3m
x2
2m 2m 4K 2m 4K
x3
4K
J K ( )
3 3 2 2 3
2 J11 K1 (1 2 )
2 J 2 2 K1 (1 2 ) K 2 ( 2 3 ) Eqn. 2
2 J 3 3 K 2 ( 2 3 )
i i 0
J
i 1
2 Eqn. 3
i i 0
J
i 1
2 Eqn. 4
To begin with, J K ( ) K ( )
2
2 2 1 1 2 2 2 3
J K ( ) 2
Calculate 3 from
1 1
the second equation in Eqn. 2, that is, J1 2
2 1 1
K1
2
3 2 ( J11 J 2 2 )
Dr Asif Israr - Institute of Space Technology K2
Holzer’s Procedure for Torsional Systems
34
J i 2 i 0
i 1
Dr Asif Israr - Institute of Space Technology
Holzer’s Procedure for Torsional Systems
35
The amplitudes i , i=1,2,…,n, also give the mode shape for the
given natural frequency.
Also note that there is one node for the first mode, two for the
second mode etc., the mode of vibration can be determined from
the sign changes in i . For example, if there are two sign changes
in i , the frequency must be the second harmonic.
Find the natural frequencies and locate the nodes for the
torsional system shown in the figure.
1 103 20
kt kN m / rad
1 / kt1 1 / kt 2 1 / 10 1 / 20 3
kt kt 20 / 3 103 20 / 3 103
173 rad / sec
J1 J 2 J 3 0.4 0.1 0.4
2 j 1
j j 1 J i i j 2,3,, n
K j 1 i 1
As we can see in the table for the first trial the residual torque is
-0.92 KN-m, which is not zero
The –ive sign indicates that the trial frequency is too high for the
first mode.
Similarly, a frequency ω = 165 rad/sec is used for the second
trail and the residual torque is 1.13 KN-m.
A linear interpolation between the first and the second trail gives
ω = 170 rad/s.
The natural frequencies for the second and third harmonics are
found in like manner, and the mode shapes are illustrated as
follows:
Dr Asif Israr - Institute of Space Technology
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