Multi Degree of Freedom System

Group members ID
1. Kidus mesfin 0690/10

2. Kinfemikael simeneh 0695/10 Multi degree of freedom system
3. Kirubel mulugeta 0707/10
 Dunkerley’s method
4. Leul Solomon 0733/10
5. Kirubel temesgen  Rayleigh’s Method and
6. Mesfin sleshe
 Holzer’s method
Degree of freedom
 It is the minimum number of independent coordinates required to specify the

motion of a system at any instant.
 In general it is equal to the number of independent displacements that are
possible.
 This number varies from zero to infinity.
 Zero degree of freedom: when a body is at rest then no coordinates are required
to specify the motion of the system.
 Single degree of freedom: there is only one independent coordinate to specify the
configuration.
 Two degrees of freedom: there are two independent coordinates to specify the
configuration.
Multi-degree-of-freedom (multi-DOF) systems
 The system having more than one degree of freedom are known as several or multi
degrees of freedom systems.
 Multi-degree-of-freedom (multi-DOF) systems are defined as those requiring two or
more coordinates to describe their motion. This excludes continuous systems, which
theoretically have an infinite number of freedoms. However, with the almost
universal application of the finite element (FE) method, systems that would, in the
past, have been treated as continuous have now become multi-DOF systems.
Cont’d
 In principle the vibration analysis of two degrees of freedom system is not that
much different to that of multi degree of freedom system except the latter requires
much more mathematical analysis.It will be quite relevant here to discuss some
approximate methods like Rayleigh’s method, Holzer’s method, Dunkerley’s
method, Stodola method, Matrix method, Rayleigh-Ritz method, etc….
 Dunkerley’s formula and Rayleigh s method are useful only for estimating the
fundamental natural frequency. Holzer s method is essentially a tabular method
that can be used to find partial or full solutions to eigenvalue problems.
 This slide focuses on methods like Rayleigh’s method, Holzer’s method and
Dunkerley’s method
Fig: a typical multi D.O.F system
Fig: Torsional semidefinite
Fig: three degree of freedom spring mass system

Dunkerley’s method
 Dunkerley’sequation is one of the classical methods, which results in a

lower bound to the fundamental frequency of linear Multi-Degree-of-
Freedom vibration system.
 Natural frequency of structures are evaluated by this method.
 This method is used to find natural frequency of transverse vibration, the
load of the system is uniformly distributed.
 The Dunkerley's equation can be generalized for the undamped linear
positive semidefinite system (p s-d system) based on a new concise
method for making the system's matrices nonsingular
Cont’d
 The Dunkerley's equation can be generalized for the undamped linear
positive semidefinite system (p s-d system) based on a new concise method
for making the system's matrices nonsingular.
 For the undamped linear p s-d system, in which masses are connected in
series with springs, the reciprocal of its fundamental frequency squared is
approximately equal to the sum of the reciprocals of the natural
frequencies squared as the system is divided into two groups of masses
rigidized according to their connection relationship of springs.
 Dunkerley’s formula gives the approximate value of the fundamental
frequency of a composite system in terms of the natural frequencies of its
component parts.
Dunkerley’s Formula
To derive Dunkerley’s formula, consider a general n-degree-of-freedom system whose eigenvalues can be
determined by solving the frequency equation
The method of generalization Dunkerley’s equation for p s-d system
 As a matter of convenience, a 3-DOF system is discussed as an example, which is shown in figure 1.
 Obviously the above equation is too complex to transform further, and a more concise method should be
adopted. a more simple equation can be gained, in which mass matrix and stiffness matrix have been
nonsingular:
This example shows that the following steps should be adopted

in order to use Dunkerley’s equation for p s-d system.
 The first step is to make the stiffness matrix nonsingular
 The second step is to obtain the dynamical matrix, and
 the final step is to substitute into equation (1), obtain the
lower bound to the fundamental frequency.
Rayleigh’s Method
The method is based on Rayleigh s principle, which can be stated as follows:
The frequency of vibration of a conservative system vibrating about an equilibrium
position has a stationary value in the neighborhood of a natural mode. This
stationary value,
in fact, is a minimum value in the neighborhood of the fundamental natural mode.
 This method is used to find the natural frequency of the system when transverse
point loads are acting on the beam or shaft.
 The maximum kinetic energy is equated to maximum potential energy of the
system to determine the natural frequency.
Cont’d
 The kinetic and potential energies of an n-degree-of-freedom discrete system can

be expressed as
 To find the natural frequencies, we assume harmonic motion to be

Cont’d
 Where denotes the vector of amplitudes (mode shape) and represents the natural frequency
of vibration. If the system is conservative, the maximum kinetic energy is equal to the maximum
potential energy:
By equating Tmax and Vmax, we obtain
which
Holzer’s method
 The Holzer's method is a tabular method for the analysis of multi mass lumped
parameter systems. It is applicable for the study of free and forced vibrations,
systems with or without damping, systems with any boundary conditions, and
systems with angular or rectilinear motion.
 The Holzer's method is a trial and error method. It can be used to find natural
frequencies, and each frequency can be determined independently of the others.
In addition to the natural frequencies, this method also gives the amplitude ratio
of the masses and the nodes in a system at its principal nodes of vibration.
 This method can be used for the analysis of damped, undamped, semidefinite
systems with fixed ends having linear and angular motions.
 A trial frequency of the system is first assumed, and a solution is found when the assumed
frequency satisfies the constraints of the system. This generally requires several trials.
Depending on the trial frequency used, the fundamental as well as the higher frequencies
of the system can be determined. The method also gives the mode shapes.
 This method is an iterative method and can be used to determine any number of
frequencies for a multi-d.o.f system. Consider a typical multi-rotor system as shown in
Figure below.
fig. typical multi-rotor system

The equations of motion for free vibration can be readily written as
follows:
For harmonic vibration, we assume
Thus:
Summing up all the equations of motion, we get:
This is a condition to be satisfied by the natural frequency of the freely vibrating

system.
Holzer's method consists of the following iterative steps:

Step 1: Assume a trial frequency
Step 2: Assume the first generalized coordinate

Step 3: Compute the other d.o.f. using the equations of motion as follows:
Step 4: Sum up and verify if the above equation is satisfied to the prescribed
degree of accuracy.
 If Yes, the trial frequency is a natural frequency of the system.
 If not, redo the steps with a different trial frequency.
In order to reduce the computations, therefore one needs to start with a good trial
frequency and have a good method of choosing the next trial frequency to converge fast.
 Two trial frequencies are found by trial and error such that is a small
positive and negative number respectively than the mean of these two trial
frequencies
 (i.e. bisection method) will give a good estimate of for which
Thank you

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Group members ID

1. Kidus mesfin 0690/10

 It is the minimum number of independent coordinates required to specify the

Fig: Torsional semidefinite

Fig: three degree of freedom spring mass system

 Dunkerley’sequation is one of the classical methods, which results in a

This example shows that the following steps should be adopted

 The kinetic and potential energies of an n-degree-of-freedom discrete system can

 To find the natural frequencies, we assume harmonic motion to be

By equating Tmax and Vmax, we obtain

fig. typical multi-rotor system

For harmonic vibration, we assume

This is a condition to be satisfied by the natural frequency of the freely vibrating

Holzer's method consists of the following iterative steps:

Step 2: Assume the first generalized coordinate

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