Lecture 23

Lecture -23
MODE SHAPE NORMALISATION
 Mode shapes can be normalized in different ways since mode shapes represent only
the relative displacement of the d.o.f.
 Consider the mode shape in the following example:
 1    0 .0 3 6 0 .0 3 6  0 .1 2 5 
T
 20 0 0 
 2   0 .1 5 8 0 .1 5 8 0  M   0 0  m
T
20
 3    0 .1 5 4 0 .1 5 4 0 .0 3   0 60 
T
0
 The normalization is done with the first value taken as unity and with maximum value
taken as unity; the corresponding mode shapes are,
1   1  1 3 .47  1   0 .288  0.288 1 
T T
 2   1 1 0   2   1 1 0 

T T
 3   1 1 0 .195   3    1 1 0 .195 

T T
 Another way of normalization is with respect to the mass matrix i.e.

1
 1    0 .0 1 4 4  0 .0 1 4 4 0 .0 5 
T
 1T M  1  m 1 ;
m1
1
 0 .0 5 0 .0 5 0 
T
 2T M  2  m 2 ; 2 
m2
1
  0 .0 1 6 7 0 .0 1 6 7 0 .0 0 3 2 5 
T
 3T M  3  m 3 ; 3 
m3 2
PROPERTIES OF MODE SHAPES AND FREQUENCIES
 If mode shapes are normalized as above then
 T M  I
 Un damped mode shapes have the following properties apart from the orthogonality:
 All points pass through their maximum and minimum values at the same instant.
 All points pass through zero at the same instant in time.
 The mode shapes can be described by a sign valued real number.
 All points are either totally in phase or out of phase with any other point on the structure.
 The mode shapes from the un damped case are same as the proportionally damped case.
 Since C matrix is not explicitely known, it is obtained by making certain assumptions.
 One of the common assumption is that C matrix is mass and stiffness proportional
i.e.
C M  K
values of a and b are determined with the help of the un damped natural frequencies
of the system; more information on the topic will be discussed in a subsequent lecture.
3
Contd.
 Un damped mode shapes and natural frequencies are extremely useful in solving
dynamic problems and are very popular in linear domain; the solution is obtained in
modal space which will be discussed later.
 But this is possible only for a class of damping matrix called classically damped
matrix which is also known as proportional damping matrix; however, there are many
problems which deal with non classical damping.
 In such situations, damped natural frequencies and mode shapes are required.
 For finding damped mode shapes, the damped free vibrations of MDOF is
considered as below .. .
M u  C u  Ku  0
Assuming u  u0e t
Problem is converted to an algebraic equation
Q ( )  M  2  C   K  0
the above problem is called quadratic eigen value problem; the problem is set as
Q (  )u  0
 Q (  )has 2n eigen values 𝜆; they are the roots of det  Q (  )   0.
4
Contd.
 A common way to solve the above problem is to first linearize it to a linear eigen
value problem by defining a vector
 u 
Z  
u 
 The equivalent linearized generalized eigenvalue problem is
Le    Z  0
M 0  C K
Le           G  D
0 I  I 0
leading to
DZ   GZ
which can be written in the form
Fq   q
1 1
 
where , F  G 2
DG 2
1
q  G Z
2
5
Contd.
 Other way of finding the damped shapes is to cast the equation of motion in the state
space with Z  AZ  0
u 
where , Z    and
 u 
 0 I 
A   1 1 
M K M C 
 Assuming
Z  Z 0 e  t
 Z 0 e  t  AZ 0 e  t
leading to classical eigenvalue problem
0  
AZwith Z 0values of
2n .
 Eigen values and eigenvectors of the above generalized eigenvalue or state space
eigenvalue problem are complex quantities leading to solving the dynamic problems
in complex domain.
6
Contd.
 Complex mode shapes have the following characteristics
 All the points do not pass through their maxima at the same in time- points
appear to have time log.
 All the points do not pass through zero at the same instant of time.
 Mode shapes can not be described by real valued numbers- the shapes are
complex valued.
 The different d.o.f will have some general phase relationship that will not
necessarily be in phase or 180 degrees out-of phase with other d.o.f.
Un damped mode shapes Damped mode shapes

7
Contd.
Example
Consider the following matrices.
2 0  2  1 0 0   0.4  0.1  0.4  0.1

M  K    C   0 ; ;
0 3    1 1   0    0.1 0.4    0.1 0 .1 
 1ST Case of C (Un damped)
 1  0.3737; 1   1 0.72  ;

T
2   1  0.387 
T
 2  1.0926; 
 2nd case of C (proportional damping   0.1,   0.1 )
 1   0.0579  0.3693 j ; 1   1 0.72  ;

T
 2   0.109 7  1.0871 j ; 2   1  0.3 8 7 

T
Residues
 3rd case of C (non proportional damping)
 1   0.0162  0.3736 j ; 1   0.2456  0.0143 j 0.4232  0.0095 j  ;
T
 2   0.1005  1.0872 j ;  2    0.3771  0.0142 j 0.145 1  0.0096 j 

T
8

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Lecture -23

MODE SHAPE NORMALISATION

 2   1 1 0   2   1 1 0 

 3   1 1 0 .195   3    1 1 0 .195 

 Another way of normalization is with respect to the mass matrix i.e.

 Since C matrix is not explicitely known, it is obtained by making certain assumptions.

which can be written in the form

leading to classical eigenvalue problem

Un damped mode shapes Damped mode shapes

Consider the following matrices.

2 0  2  1 0 0   0.4  0.1  0.4  0.1

 1ST Case of C (Un damped)

 1  0.3737; 1   1 0.72  ;

 1   0.0579  0.3693 j ; 1   1 0.72  ;

 2   0.109 7  1.0871 j ; 2   1  0.3 8 7 

 2   0.1005  1.0872 j ;  2    0.3771  0.0142 j 0.145 1  0.0096 j 

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