MDOF SYSTEMS – APPROXIMATE METHODS

o In many engineering problems it is required to quickly

estimate the first (fundamental) natural frequency.

o Approximate methods like Dunkerley’s method,

Rayleigh’s method are used in such cases.

Dr Asif Israr - Institute of Space Technology

 DUNKERLEY’S METHOD
2

 Dunkerley’s formula can be determined by frequency equation

  2 M  K   0

 K    2 M  0

 2 
I  K  M  0
1 1

 2 
I  αM  0
1
ω
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 DUNKERLEY’S METHOD
3


1
I  αM  0
ω 2

For ‘n’ DOF system

1 0 . 0 α11 α12 . α1n  m1 0 . 0

0 1 . 0 α α22 . α2n   0 m2 . 0 
 0
1   
 2  21

ω .   .  . 
    
0 0 . 1 αn1 αn2 . αnn   0 0 . mn 

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 DUNKERLEY’S METHOD
4

 1  

 ω2  α11 1 
m α12m2 . α1nmn

  
  1  
  2  α22m2 
  0
0 . α2nmn
  ω 
 . . . . 
  1 
 αn1m1 αn2m2 .   2  αnnmn 
  ω 

Solve the determinant

Dr Asif Israr - Institute of Space Technology

 DUNKERLEY’S METHOD
5
n n 1
 1   1 
 2   α11m1  α22 m2  ...  αnn mn  2 
ω  ω 

 α11α22 m1m2  α11α33 m1m3  ...  αnn mn  ...  0 

o It is the polynomial equation of nth degree in (1/2)

o Let the roots of above Eqn. are:

1 1 1
, 2 , ...... 2
ω1 ω2
2
ωn
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 DUNKERLEY’S METHOD
6

 1 1  1 1   1 1 
  2 ,  2  2 , ...... 2  2 
ω 2
ω  ω ω  ω ω 
 1  2   n 
n n 1
 1   1 1 1  1 
  2    2  2  ......  2  2   ...  0
ω  ω ω ω ω 
   1 2 n  
Comparing this Eqn. with the earlier one
n n 1
 1   1 
 2   α11m1  α22 m2  ...  αnnmn  2 
ω  ω 
 α11α22 m1m2  α11α33 m1m3  ...  αnn mn  ...  0 
Dr Asif Israr - Institute of Space Technology
 DUNKERLEY’S METHOD
7

 1 1 1 
 2  2  ......  2   α11m1  α22m2  ...  αnnmn 
 ω1 ω2 ωn 

o In mechanical systems higher natural frequencies are much larger

than the fundamental (first) natural frequencies.
o Approximately, the first natural frequency is:

 1 
 2   α11m1  α22m2  ...  αnnmn 
 ω1 

Dr Asif Israr - Institute of Space Technology

 DUNKERLEY’S METHOD
8

 1 
 2   α11m1  α22m2  ...  αnnmn 
 ω1 

The above formula is referred as Dunkerley’s formula, which can

be used to estimate first natural frequency of a system
approximately.
1 K1
ω1n  
α11m1 m1

The Dunkerley’s formula can 1 1 1 1

 2  2  ......  2
be written as: ω1
2
ω1n ω2n ωnn
Dr Asif Israr - Institute of Space Technology
 DUNKERLEY’S METHOD

1 1 1 1
 2  2  ......  2
ω1
2
ω1n ω2n ωnn

ω1n, ω 2n, ..... Natural frequency of SDOF system

The above formula can be used for any mechanical/structural

system to obtain first natural frequency

9 Dr Asif Israr - Institute of Space Technology

 PROBLEM 1: DUNKERLEY’S METHOD
10

K
Obtain the approximate fundamental m
natural frequency of the system shown in x1
the figure using Dunkerley’s method K
m
x2

K
m
x3

Dr Asif Israr - Institute of Space Technology

 PROBLEM 1: DUNKERLEY’S METHOD
11

Dunkerley’s formula

 1 
 2   α11m1  α22m2  ...  αnnmn 
 ω1 
OR
1 1 1 1
   ...... 
ω12 ω1n
2
ω22n ωnn
2

Any one of the above formula can be used

Dr Asif Israr - Institute of Space Technology

 PROBLEM 1: DUNKERLEY’S METHOD
12

Find influence flexibility coefficients:

1
α11  α21  α12  α31  α13 
K
K
2 3
m α22  α32  α23  α33 
x1 K K
 1 
K
 2   α11m1  α22m2  α33m3 
m  ω1 
x2
 1   m 2m 3m  6m
K  2      
 ω1   K K K  K
m
x3 ω1  0.40 K/m
Dr Asif Israr - Institute of Space Technology
 PROBLEM 1: DUNKERLEY’S METHOD
13
One can use the Eqn.
1 1 1 1
 2  2  ......  2
ω1
2
ω1n ω2n ωnn
K
For using the above Eqn., find natural
m frequency of each system separately and
x1
substitute
K K
ω1n 
2

m
x2
m
K eq K
ω2n 
2
K eq  springs are in series
K m 2
K K
m ω2n 
2
ω3n 
2
x3 2m 3m
Dr Asif Israr - Institute of Space Technology
 PROBLEM 1: DUNKERLEY’S METHOD
14

1 1 1 1
 2  2  2
K
ω1
2
ω1n ω2n ω3n

m
x1
 1   m 2m 3m  6m
K  2      
 ω1   K K K  K
m
x2
ω1  0.40 K/m
K
m
x3
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 PROBLEM 1: DUNKERLEY’S METHOD
15

m1 m2
1 2

180 120

Find the lowest natural frequency of the system shown in the

figure by Dunkerley’s method.

m1 = 100 kg, m2 = 50 kg

Dr Asif Israr - Institute of Space Technology

 PROBLEM 1: DUNKERLEY’S METHOD
16

m1 m2
1 2

180 120

1.944 10 -3
9  10-3
α11  α22 
EI EI
 1 
   α11m1  α22 m2 
ω 2
 1 
ω1  1.245 rad/s

Dr Asif Israr - Institute of Space Technology

 RAYLEIGH’S METHOD
17

m1 m2 m3
1 2 3
A B

y1 y3
y2

 It is an approximate method of finding fundamental natural

frequency of a system using energy principle
 m1, m2 and m3 are masses of rotors on shaft supported by two
bearings at A and B
 y1, y2 and y3 are static deflection of shaft at points 1, 2 and 3

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 RAYLEIGH’S METHOD
18

m1 m2 m3
1 2 3
A B

y1 y3
y2

For the given system maximum potential energy and kinetic

energies are:
1 n
Vmax   migy i
2 i 1
ω2 n
y i  ω yi  ii
n
1
  mi y i2  2
Tmax Tmax m y
2 i 1 2 i 1
For SHM
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 RAYLEIGH’S METHOD
19

According to Rayleigh’s method Vmax  Tmax

 m gy i i
ω2  i 1
n

 ii
m y
i 1
2

y1  α11m1g  α12m2g  α13m3 g

y 2  α21m1g  α22m2g  α23m3 g

y 3  α31m1g  α32m2g  α33m3 g

Dr Asif Israr - Institute of Space Technology

 PROBLEM 1: RAYLEIGH’S METHOD
20

Obtain the approximate fundamental natural 2K

frequency of the system shown in the figure 1 2m
using Rayleigh’s method. x1

K
m = 1kg, K = 1000 N/m 2 2m
x2

K
3 m
x3

Dr Asif Israr - Institute of Space Technology

 PROBLEM 1: RAYLEIGH’S METHOD
21

1
α11  α21  α12  α31  α13 
2K
2K
3 5
1 2m
x1 α22  α32  α23  α33 
2K 2K
K
2 2m y1  α11m1g  α12m2g  α13m3 g
x2

mg 5mg 5g
K
y1  2  2  1  
3 m 2K 2K 2000
x3

Dr Asif Israr - Institute of Space Technology

 PROBLEM 1: RAYLEIGH’S METHOD
22

1
α11  α21  α12  α31  α13 
2K
2K

1 2m 3 5
x1 α22  α32  α23  α33 
2K 2K
K
2 2m y 2  α21m1g  α22m2g  α23m3 g
x2

K mg 11mg 11g
y2  2  6  3  
3 m 2K 2K 2000
x3

Dr Asif Israr - Institute of Space Technology

 PROBLEM 1: RAYLEIGH’S METHOD
23

1
α11  α21  α12  α31  α13 
2K
2K

1 2m 3 5
x1 α22  α32  α23  α33 
2K 2K
K
2 2m y 3  α31m1g  α32m2g  α33m3 g
x2

K mg 13mg 13g
y3  2  6  5  
3 m 2K 2K 2000
x3

Dr Asif Israr - Institute of Space Technology

 PROBLEM 1: RAYLEIGH’S METHOD
24
n

 m gy i i
ω2  i 1
n

 ii
m y
i 1
2

 5 11 13  2
 2   2  2 g
ω 
2  2000 2000 2000 
2 2 2
 5   11   13  2
2   2   2  g
 2000   2000   2000 

ω  12.41 rad/s

Dr Asif Israr - Institute of Space Technology

 PROBLEM 2: RAYLEIGH’S METHOD
25

m1 m2
1 2
A B

160 80 180

Find the lowest natural frequency of transverse vibrations of the

system shown in the figure by Rayleigh’s method.

E = 196 GPa, I = 10-6 m4, m1 = 40 kg, m2 = 20 kg

Dr Asif Israr - Institute of Space Technology

 PROBLEM 2: RAYLEIGH’S METHOD
26

Step-1: Find deflections at point of loading from strength of

materials principle. x W

a
b
l
 Wbx 2 2 2
  
l  x  b for 0  x  a 

 6EIl 
y 
 Wa(l - x) 2 2 

 6EIl

a  x  2lx for a  x  l


For the given problem deflection at loads can be obtained by
superposition of deflections due to each load acting separately
Dr Asif Israr - Institute of Space Technology
 PROBLEM 2: RAYLEIGH’S METHOD
27

Deflections due to 20 kg mass

x W

b
l

y1' 
9.81 20 0.18  0.16 0.42 2

 0.162  0.182 
0.265
6EI 0.42 EI

y'2 
9.81 20 0.18  0.24 0.42 2

 0.242  0.182 
0.29
6EI 0.42 EI
Dr Asif Israr - Institute of Space Technology
 PROBLEM 2: RAYLEIGH’S METHOD
28

Deflections due to 40 kg mass

W x

b Length dimensions in meters

l

y1'' 
9.81 40 0.16  0.26 0.42 2

 0.262  0.162 
0.538
6EI 0.42 EI

y'2' 
9.81 40 0.16  0.18 0.42 2

 0.182  0.162 
0.53
6EI 0.42 EI

Dr Asif Israr - Institute of Space Technology

 PROBLEM 2: RAYLEIGH’S METHOD
29

 
x W Wa(l - x) 2
y a  x2  2lx for a  x  l
6EIl
b

y''

9.81 40 0.26  0.16
0.42 2
 0.16  0.26 
2 0.538
2

6EI 0.42
1
EI

y ''

9.81 40 0.16  0.42 - 0.24
0.16 2

 0.242  2  0.42 0.24 
0.53
6EI 0.42
2
EI

Dr Asif Israr - Institute of Space Technology

 PROBLEM 2: RAYLEIGH’S METHOD
30

0.803
y1  y  y 
'
1
''
1
EI One can also find flexibility influence
0.82 co-efficient to solve the problem
y2  y  y 
'
2
''
2
EI
n

 m gy i i
9.8140  0.803  20  0.82
ω2  ω 
   
i 1 2

40  0.8032  20  0.822
n

 ii
m y
i 1
2

ω  1541.9 rad/s

Dr Asif Israr - Institute of Space Technology

 Summary
31

Multi degree of freedom Systems

Approximate Methods of obtaining fundamental natural

frequency
Dunkerley’s and Rayleigh’s Methods
Some solved problems

Dr Asif Israr - Institute of Space Technology