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Module 3 - Spring 2020 (Compatibility Mode)
Module 3 - Spring 2020 (Compatibility Mode)
Engineering
MODULE 3:
FUNDAMENTALS OF DYNAMIC ANALYSIS
(S.D.O.F SYSTEMS)
1
Structural Degrees of Freedom
2
Discrete vs. Continuous systems
3
Discrete vs. Continuous systems
u1
u2
u3
etc
Continuous or distributed system
4
Single Degree-of-Freedom (SDOF) System
In a single degree of freedom system, the deformation of
the entire structure can be described by a single number equal to
the displacement of a point from an at-rest position.
Single Degree of freedom systems do not normally exist in real
life. We live in a three-dimensional world and all mass is
distributed resulting in systems that have an infinite number of
degrees of freedom. There are, however, instances where a
structure may be approximated as a single degree of freedom
system.
The study of SDOF systems is an integral step in understanding
the responses of more complicated and realistic systems.
5
Idealization of a structural system as SDOF system
6
Idealization of a structural system as SDOF system
7
Equivalent lumped mass SDOF system of a cantilever
wall with uniform x-sectional area
0.227 ρ .H
Ψ(y)
H
Equivalent lumped mass model is
determined using a shape function (?),
Ψ(y) = [1-Cos (πy/2H)].
u2(t)
u1(t)
m2
u2(t)
m1
u1(t)
m u1 m
u1
u2 =0
u2 u2
11
Home Assignment No. 3.1
Determine the DOF of systems shown in given figures. Support
you answer with argument(s)
(a)
(d)
(b)
(e)
12
(c)
Vibrations
13
Physical Explanation of Vibration
Activity….
Graphically represent the position of mass for positions 0,1,2, 3
14
Physical Explanation of Vibration
1 2
3
15
Periodic and Random vibrations
The vibration can be Periodic (cyclic) or Random (arbitrary).
If the motion is repeated after equal intervals of time, it is
called Periodic motion.
The simplest type of periodic motion is Harmonic motion.
u
16
Periodic and Random vibrations
Random vibration
17
Free vibrations vs. Forced vibrations
When a structure vibrates without any externally applied
forces, such as when it is pulled out of position, and then released.
The vibration of strings
on a musical instrument
after they are struck is a
common example of free
vibration.
Free vibration of a SDOF lumped mass system when released after being
stretched by a displacement u(0) at the top end .
18
Free vibrations vs. Forced vibrations
Damped vibration
20
Damping
21
Damping
22
Damping
Dash Pot
25
Damping
Figure a shows a linear viscous damper subjected to a force
fD along the DOF u. The internal force in the damper is equal and
apposite to the external force fD (Figure b). The damping force fD
is related to the velocity across the linear viscous damper by:
f D c u
Where the constant c is the viscous damping coefficient
26
Formulation of Equation of motion (E.O.M) for a SDOF
system subjected to dynamic force, p(t)
27
Formulation of E.O.M using newton’s second law of
motion
Equilibrium along
x-axis requires that:
-fS - fD – fI + p(t) = 0 or;
fS + fD + fI = p(t) or;
ku cu mu p(t)
29
CE-409: MODULE 2 ( Fall 2013)
CE-409: MODULE 2 ( Fall 2013)
STIFNESS OF SPRINGS IN PARALLEL
Centre of stiffness/ rigidity
p p1 p2
k eu k 1u 1 k 2 u 2
Since u1 u2 u
k eu k 1u k 2 u
ke k1 k2
31
STIFNESS OF SPRINGS IN PARALLEL
ke k1 k2
EAXMPLE
P
u1 u2
k2
k1
System of springs
Equivalent spring
p p1 p 2
u u1 u 2
ke k1 k2
p p p
Since p 1 p 2 p
ke k1 k 2
1 1 1
k e k1 k 2
34
STIFNESS OF SPRINGS IN SERIES
EAXMPLE
k1
k2 u
35
Stiffness of beams in the direction of applied action
k P / max 3EI / l 3
k P / max 48EI / l 3
36
Stiffness of beams in the direction of applied action
k= ?
37
STIFFNESS CONSTANTS OF SOME
STRUCTURAL ELEMENTS
38
STIFFNESS CONSTANTS OF SOME
STRUCTURAL ELEMENTS
39
Calculate the stiffness of simply supported beam
subjected to an end moment , M
k= ?
Effect of relative stiffness of beams and
columns on the stiffness of a structural system
41
Effect of relative stiffness of beams and
columns on the stiffness of a structural system
42
Effect of relative stiffness of beams and
columns on the stiffness of a structural system
43
Effect of relative stiffness of beams and
columns on the stiffness of a structural system
44
LATERAL STIFFNESS OF A SINGLE STORY FRAME
Problem 3.1
I, 10ft
I, 15ft
45
Solution M3.1
46
LATERAL STIFFNESS OF A CANTILEVER BEAM
CONNECTED TO A SPRING SYSTEM
Problem M 3.2
Determine the stiffness of cantilever beam by assuming that the self weight of
beam is negligible Take E = 29,000 ksi, kspring= 200 lb/ft.
W
47
Solution M3.2
48
Home Assignment No. 3.2
1. Determine the equivalent stiffness of system shown in Figure a
(Answer = 2.6k)
2. Determine the equivalent stiffness of system shown in Figure b
(Answer= 7.03 * 107 N/m)
Figure a
Figure b 49
Home Assignment No. 3.2
3. Determine the equivalent stiffness of the systems (in vertical
direction when vertical force is applied at point A) shown in Figures c
& d. Take k1= 1 kN/m and kbeam = 5 kN/m
A
Fig. c Fig. d
50
4. Determine the rotational stiffness of given beam. M= 25fk.k, l =10 ft,
E=3000 ksi and I= 2000 in4
51
E.O.M FOR A SINGLE STORY FRAME UNDER
LATERAL DYNAMIC FORCE
Problem M 3.3
Develop the equation of motion of the frame shown in problem M 3.1
under the action of a lateral dynamic force p(t). Consider a uniformly
Distributed gravity load of 5 k/ft acting on the beam.
Neglect damping effect
20 ft
p(t)
I, 10ft
I, 15ft
52
Solution M3.3
3106 slugs
fI u
Using D-Alembert’s Principle of dynamic equilibrium
P(t)
fs2
fs1
k= 3759k/ft
3106 u 3 . 76 * 10 6 u p(t) Where u & p(t) are in ft and lb, respectively
53
E.O.M FOR A CANTILVER BEAM UNDER
LATERAL DYNAMIC FORCE
Problem M 3.4
Develop the equation of motion for the cantilever beam under the action of
p(t). Neglect the self weight of beam as well as damping effect. Take E=
29000 ksi & I = 150 in4
p(t)
54
A
fI
fs
A′
55
However, the gravity loads must be considered if they act as either restoring
forces ( e.g., Pendulum) or as destabilizing forces (inverted pendulum).
57
O
58
Home Assignment No. 3.3
Q1: Develop the EOMs for the cantilever beam along axes which are
parallel and perpendicular to the beam, under the action of p(t).
Neglect the self weight of beam as well as damping effect. Take E=
29000 ksi and I = 200 in4 , A= 50 in2. Ignore the dimensions of 1000
lb weight
30o p(t)
59
Home Assignment No. 3.3
Q 2. Develop the equation of motion for the cantilever beam under the
action 1000 lb weight. A weight of 500 lb is placed on already acting
weight of 1000 lb. Assume that the time required to place the 500 lb
weight on beam is insignificant as compared to natural time period of
beam. Neglect the self weight of beam as well as damping effect.
Take E = 29000 ksi & I = 150 in4
2. Duhamel’s Integral
4. Numerical methods
61
CE-409: MODULE 2 ( Fall 2013)