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CND 013 08 081006 PDF
CND 013 08 081006 PDF
CND 013 08 081006 PDF
Continuous Kinetic
Samuel Jung
Mechanical Engineering,
Pusan National University,
Damping—Part I: Basic Algorithm
Busan 609-735, South Korea
e-mail: jung40L@hanmail.net Dynamic relaxation (DR) is the most widely used approach for static equilibrium analy-
ses. Specifically, DR compels dynamic systems to converge to a static equilibrium
Tae-Yun Kim through the addition of fictitious damping. DR methods are classified by the method in
Mechanical Engineering, which fictitious damping is applied. Conventional DR methods use a fictitious mass
Pusan National University, matrix to increase the fictitious damping while maintaining numerical stability. There are
Busan 609-735, South Korea many calculation methods for the fictitious mass matrix; however, it is difficult to select
e-mail: tykid76@gmail.com the appropriate method. In addition, these methods require a stiffness matrix of a model,
which makes it difficult to apply nonlinear models. To resolve these problems, a new DR
Wan-Suk Yoo1 method that uses continuous kinetic damping (CKDR) is proposed in this study. The pro-
posed method does not require the fictitious mass matrix and any tuning coefficients, and
Professor
it possesses a second-order convergence rate. The aforementioned advantages are unique
Fellow ASME
and significant when compared to those of conventional methods. The stability and con-
Mechanical Engineering,
vergence rate were analyzed by using an eigenvalue analysis and demonstrated by simu-
Pusan National University,
lating nonlinear models of a pendulum and cable. Simple but representative models were
Busan 609-735, South Korea
used to clearly demonstrate the features of the proposed DR method and to enable the
e-mail: wsyoo@pusan.ac.kr
reproducibility of the verification results. [DOI: 10.1115/1.4039838]
1
Corresponding author.
Contributed by the Design Engineering Division of ASME for publication in the
JOURNAL OF COMPUTATIONAL AND NONLINEAR DYNAMICS. Manuscript received July 7,
2017; final manuscript received March 21, 2018; published online July 6, 2018.
Assoc. Editor: Zdravko Terze. Fig. 1 Kinetic energy history of kinetic relaxation
where M and C denote the mass and damping matrices, respec- If Tkþ1 < Tk is detected when Eqs. (11) and (12) are repeatedly
tively; and p and f denote the internal and external force vectors, calculated, then it is necessary to reset vkþ1 to zero. This process
respectively. Additionally, a, v, and d denote the acceleration, is repeated such that rk converges to zero, and the kinetic energy
velocity, and displacement, respectively. The VDR method intro- peaks disappear, as shown in Fig. 1. When the norm of rk
duces the following artificially damped dynamic system for fast decreases below a tolerance, the KDR process is terminated, and
energy dissipation to the original dynamic system of Eq. (1) as the last displacement vector is output; this approximately satisfies
follows: Eq. (10).
Ma ¼r
þ cDR Mv (2) 2.3 Drawbacks of Conventional Dynamic Relaxation
Methods. The VDR and KDR methods are widely used for static
r ¼ f pðdÞ (3) equilibrium analysis and are applied to certain commercial soft-
ware packages for structural analysis, such as RADIOSS [7]. How-
where cDR is the fictitious damping coefficient, r is a residual ever, the conventional DR method requires the resolution of the
force vector, and M is the fictitious mass matrix and assumed to following two problems.
be diagonal. There are many methods for calculating the fictitious First, conventional DR methods require the calculation of the
mass matrix, which are introduced in detail in Ref. [2]. Assuming fictitious mass matrix for the stability of the algorithm. The ficti-
that the fictitious mass matrix is given, Eq. (2) is expressed as tious mass matrix can be calculated from the actual stiffness
follows: matrix, and there are many calculation methods according to
Ref. [2]. However, finding a suitable method is one of the difficul-
ii ai þ cDR m
m ii vi ¼ r i (4) ties of applying conventional DR methods.
Second, the KDR method performs a conditional process due to
To solve Eq. (4), various time integrators are used according to kinetic energy peak detection, and this yields discontinuous
the specific purpose [6,7]. However, in the present study, the fol- results, as shown in Fig. 1. This discontinuity makes it difficult to
lowing implicit Euler method is used to enable a fair comparison predict the convergence rate and stability of the method.
with the CKDR method as follows: To resolve these problems, the present study proposes the
CKDR method that does not require the fictitious mass matrix and
qkþ1 ¼ qk þ hq_ kþ1 (5) any tuning coefficients, and it is performed in a continuous pro-
cess. In Sec. 3, the CKDR method is derived, and its characteris-
where h and k denote the step size and step index, respectively. tics are analyzed in detail.
The second-order form of Eq. (5) is expressed as follows:
y kþ1 ¼ R
L yk (18) where P^ denotes the amplification matrix of CKDR, and its eigen-
values are as follows:
where
1
2 3 2 3 z1;2 ¼ ; 1 (27)
dk 1 0 1 h2 xn 2 þ 1
6 7 6 7
yk ¼ 4 hvk 5; L ¼ 4 0 1 1 5;
From the eigenvalues, the differential displacement response
h2 ak h 2 xn 2 2fhxn 1 can be expressed as [11] follows:
2 3
1 1 0
6 7 dn ¼ c1 zn1 þ c2 zn2 (28)
R¼4 0 1 05
h2 xn 2 2fhxn 1 where n denotes the step number, and c1 and c2 denote undeter-
mined coefficients. Because z1 < 1 and z2 ¼ 1 for hxn > 0, the
The continuous kinetic damping is applied to a dynamic system initial displacement d0 and static displacement dst are expressed
by resetting the velocity to zero at every step. This is implemented as follows:
by deleting the second row and column of L and R, which is a
technique used to handle a fixed constraint [9] d 0 ¼ c1 þ c2 (29)
2 32 3 2 32 3
L11 6 L12 L13 dkþ1 R11 6 R12 R13 dk dst ð¼ d1 Þ ¼ c2 (30)
6 76 7 6 76 7
4 6 L21 6 L22 6 L23 54 hvkþ1 5 ¼ 4 6 R21 6 R22 6 R23 54 hvk 5
Substituting Eqs. (29) and (30) into Eq. (28) results in the
L31 6 L32 L33 h2 akþ1 R31 6 R32 R33 h2 ak discrete displacement response by the CKDR method that is
(19) expressed as follows:
This technique allows vkþ1 to be fixed at zero at every step. The dn ¼ ðd0 dst Þgn þ dst (31)
displacement and velocity equations of Eq. (19) are expressed for
the k þ 1 step as follows: where g is defined as the amplification factor of CKDR, and it
replaces the principal eigenvalue z1 of Eq. (27) as follows:
L11 dkþ1 þ L13 h2 akþ1 ¼ R11 dk þ R13 h2 ak (20)
1
g¼ (32)
hvkþ1 ¼ 0 (21) h2 xn 2 þ1
From Eqs. (20) and (21), the equations of the CKDR method According to Eq. (31), an increase in the step number n leads to
are derived as follows: the convergence of dn from d0 to dst with the convergence rate
Implicit Euler 1
h2 xn 2 þ 1
Central finite difference 1
Trapezoidal h2 xn 2 4
h2 xn 2 þ 4
Runge–Kutta fourth 1 4 4 1 2 2
h xn h xn þ 1
24 2
Generalized-a 2
h2 xn 2 þ 2
Fig. 2 Amplification factor of CKDR
Further, from the second row of Eq. (25), the acceleration con-
vergence is expressed as follows:
Input: d0 , t0 , h, ac
v0 0, a0 0, k 0
While Do
Find akþ1 satisfying wðakþ1 Þ ¼ 0
dkþ1 dk þ h2 akþ1
If kakþ1 k1 < ap , Then break while, End
k kþ1
End
Return: dkþ1
where
vkþ1 ¼ 0 (39)
tkþ1 ¼ t0 (40)
5 Verification Simulations
Static equilibrium simulations of simple pendulum and cable
models were performed to verify the CKDR method. The acceler-
ation tolerance ap corresponded to 0.001. The built-in “fsolve.m” Fig. 6 Number of time steps of KDR and CKDR for the pendu-
function of MATLAB was used to solve the implicit equations. The lum model
same time-step, termination condition, and integrator were used to
facilitate a fair comparison of KDR and CKDR. shows the convergence of angles by KDR and CKDR. Although
physical damping was absent, the angle of the pendulum con-
5.1 Simple Pendulum Model. The simple pendulum is one verged quickly from the initial angle to zero in both methods. The
of the simplest nonlinear models, and it is used in the verification KDR method exhibited an underdamped response due to the
of commercial software [13]. The simple pendulum consists of a discontinuous process of KDR. This transient response makes it
mass m that hangs from a string of length L, as shown in Fig. 4. difficult to predict the convergence results. In contrast, CKDR dis-
The equation of motion for the model is given as follows: played a very stable convergence process that is similar to that of
a first-order system, as predicted in Sec. 3.2.
€h ¼ g sin h (42) The number of time steps of each method differed on the basis
L of the step size, as shown in Fig. 6. It should be noted that the step
size of DR is only a parameter that controls the convergence
where g ¼ 9:81 m=s2 , L ¼ 1 m, and h0 ¼ p=4. The natural fre- speed. Therefore, a comparison of the number of time steps at the
quency of the simple pendulum at h ¼ 0 is as follows: same step size does not reveal the efficiency difference between
pffiffiffiffiffiffiffiffi the two methods. However, the change in the number of time
xn ¼ g=L 3:13 rad=s (43) steps according to the step size change indicates the convergence
characteristic of each method. In case of KDR, the number of
The results obtained by KDR and CKDR were first compared, time steps converged to a specific value after exhibiting an incon-
and the convergence rate of CKDR is considered in detail. Figure 5 sistent change when the step size increased. This irregularity
Fig. 10 Number of time steps of KDR and CKDR for the pendu-
lum model
convergence rate of CKDR is closely related to the step size; thus, Altair, Troy, MI.
[8] Chung, J., and Hulbert, G. M., 1993, “A Time Integration Algorithm for Struc-
proper step size selection is very important. Hence, an adaptive tural Dynamics With Improved Numerical Dissipation: The Generalized-a
step size method will be proposed in Part 2 to facilitate the practi- Method,” ASME J. Appl. Mech., 60(2), pp. 371–375.
cal use of CKDR. [9] Petyt, M., 2010, Introduction to Finite Element Vibration Analysis, 2nd ed.,
Cambridge University Press, Cambridge, UK.
[10] Hilber, H. M., Hughes, T. J. R., and Taylor, R. L., 1977, “Improved Numerical
Dissipation for Time Integration Algorithms in Structural Dynamics,” Earth-
Funding Data quake Eng. Struct. Dyn., 5(3), pp. 283–292.
[11] Hulbert, G. M., and Chung, J., 1994, “The Unimportance of the Spurious Root
This research was supported by a grant for a project managed by of Time Integration Algorithms for Structural Dynamics,” Commun. Numer.
the Agency for Defense Development, “Technology develop- Methods Eng., 10(8), pp. 591–597.
[12] Cellier, F. E., and Kofman, E., 2006, Continuous System Simulation, Springer
ment for rescue robots capable of lifting over 120 kgf,” which Science & Business Media, Berlin.
was funded by the Civil-Military Technology Cooperation [13] FunctionBay, 2014, “Theoretical Manual: RecuryDyn/Solver,” FunctionBay,
Program. Gyeonggi-do, South Korea.