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k 3 =1.5 NM
Programa:
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% Anlisis modal de un sistema
% con tres grados de libertad
% |--> x1 |--> x2
% ------- ------- -------
%|--/\/\/--| m1 |--/\/\/--| m2 |--/\/\/--| m3 |
% k1 ------- k2 ------- k3 -------
% O O O O O O
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
m1 = 2; m2 = 1; m3 = 0.5; % Masas
k1 = 6; k2 = 3; k3 = 1.5; % Constantes de rigidez
% Matriz de masa
M = [ m1 0 0
0 m2 0
0 0 m3]
% Matriz de rigidez
K = [ k1+k2 -k2 0
-k2 k2+k3 -k3
0 -k3 k3]
% Calculo de autovalores y autovectores
[avec aval] = eig(inv(M)*K);
% Normalizacion de los autovectores
for(k=1:Ngdl)
avec(:,k) = avec(:,k)/max(abs(avec(:,k)));
end
aval
avec
%%%%%%%%%%%% Animation %%%%%%%%%%%%%
x0 = [3 6 9]';
for(k=1:Ngdl)
w(k) = sqrt(aval(k,k));
end
wmax = max(w);
T = 2*pi/wmax;
t = linspace(0,20*T,10*T*10);
for(k=1:length(t))
y = zeros(1,Ngdl);
% Modo 1
subplot(3,1,1)
x = x0 + avec(:,1)*sin(w(1)*t(k))/2;
plot(x,y,'.-b','MarkerSize',50,'LineWidth',3);
hold on
plot([0 x(1) x(2)],y,'-b','LineWidth',3);
grid
hold off
axis([0 10 -0.4 0.4])
xlabel('x')
title(strcat('Modo 1 -- \omega=',num2str(w(1))))
% Modo 2
subplot(3,1,2)
x = x0 + avec(:,2)*sin(w(2)*t(k))/2;
plot(x,y,'.-b','MarkerSize',50,'LineWidth',3);
hold on
plot([0 x(1) x(2)],y,'-b','LineWidth',3);
grid
hold off
axis([0 10 -0.4 0.4])
xlabel('x')
title(strcat('Modo 2 -- \omega=',num2str(w(2))))
% Modo 3
subplot(3,1,3)
x = x0 + avec(:,3)*sin(w(3)*t(k))/2;
plot(x,y,'.-b','MarkerSize',50,'LineWidth',3);
hold on
plot([0 x(1) x(2)],y,'-b','LineWidth',3);
grid
hold off
axis([0 10 -0.4 0.4])
xlabel('x')
title(strcat('Modo 3 -- \omega=',num2str(w(3))))
%%%%%%%
drawnow
pause(0.05)
end
Respuesta de la simulacin:
La matriz M est dada por:
M=
2.0000 0 0
0 1.0000 0
0 0 0.5000
9.0000 -3.0000 0
-3.0000 4.5000 -1.5000
0 -1.5000 1.5000
7.2204 0 0
0 3.7940 0
0 0 0.9856
Agarrando la matriz wn2 y sacndole la raz podemos encontrar las 3 frecuencias naturales del
sistema y obtenemos que:
rad
w n1 =2.6871
s
rad
w n 2=1.9478
s
rad
w n3 =0.99278
s
Comprobacin a mano:
Dado el sistema masa-resorte de 3 grados de libertad:
Sacando las energas:
1 1 1
Ec = m1x 21 + m2x22 + m3x 23
2 2 2
1 1 1
E p= k 1x 21+ k 2x 22+ k 3x 23
2 2 2
[ ][ ][ ][ ]
2 0 0 x1 9 3 0 x1
0= 0 1 0 x2 + 3 4.5 1.5 x2
0 0 0.5 x3 0 1.5 1.5 x3
w 2n=eigVl ( [ k ][ m ] )
1
Entonces:
[ ]
7.2204 0 0
2
w = 0
n 3.79397 0
0 0 0.985615
rad
w n 2=1.9478
s
rad
w n3 =0.99278
s