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1 2900803 PDF
1 2900803 PDF
J. Chung
Structural Dynamics With
Graduate Research Assistant.
Improved Numerical Dissipation:
G. M. Hulbert
Assistant Professor,
The Generalized-en? Method
Assoc. Mem. ASME.
A new family of time integration algorithms is presented for solving structural
Department of Mechanical Engineering, dynamics problems. The new method, denoted as the generalized-a method, pos-
and Applied Mechanics, sesses numerical dissipation that can be controlled by the user. In particular, it is
The University of Michigan, shown that the generalized-a method achieves high-frequency dissipation while min-
Ann Arbor, Ml 48109-2125 imizing unwanted low-frequency dissipation. Comparisons are given of the gener-
alized-a method with other numerically dissipative time integration methods; these
results highlight the improved performance of the new algorithm. The new algorithm
can be easily implemented into programs that already include the Newmark and
Hilber-Hughes-Taylor-a time integration methods.
1 Introduction
The need has been long recognized for step-by-step time method of Hoff and Pahl (1988a, 1988b) (also Hoff et al.
integration algorithms to possess algorithmic damping when (1989)).
solving structural dynamics problems. In particular, it is de- The matrix equation of linear structural dynamics is
sirable to have controllable numerical dissipation in the higher
frequency modes since, using standard finite elements to dis- MX+CV+KX=F (1)
cretize the spatial domain, the spatial resolution of these high- where M, C, and K are the mass, damping, and stiffness ma-
frequency modes typically is poor. By using algorithms with trices, respectively, F is the vector of applied loads (a given
high-frequency dissipation, spurious high-frequency response function of time), X is the vector of displacement unknowns,
may be damped out. Also, when solving highly nonlinear prob- and superposed dots indicate differentiation with respect to
lems, high-frequency numerical dissipation has been found to time. The initial value problem consists of finding a function
improve the convergence of iterative equation solvers. How- X = X(0 which satisfies (1) for all t(.[0,tN], tN>0, and the
ever, the addition of high-frequency dissipation should not initial conditions
incur a loss of accuracy nor introduce excessive algorithmic X(0) = d (2)
damping in the important low frequency modes. For example,
the Newmark family of algorithms contains methods that pos- X(0) = v (3)
sess high-frequency dissipation (Newmark, 1959); however, where d and v are given vectors of initial displacements and
these methods are only first-order accurate and are too dis- velocities, respectively. The numerically dissipative time in-
sipative in the low-frequency domain. Numerous dissipative tegration algorithms listed above have the following common
algorithms have been developed that attain high-frequency form: d„, Vj, and a„ are given approximations to X(?„),
dissipation with little low-frequency damping while maintain- X(^„), and X(t„), respectively. Expressions for d„ + , and v„ +)
ing second-order accuracy; e.g., the 6 method of Wilson (1968), are specified as linear combinations of d,„ v„, a„ and a„ + i. An
the HHT-a method of Hilber, Hughes and Taylor (1977), the additional equation is needed to determine a„+1. This addi-
WBZ-a method of Wood, Bossak, and Zienkiewicz (1981), tional equation represents a modified version of Eq. (1). Each
the p method of Bazzi and Anderheggen (1982) and the d\- algorithm is defined by the specific form of the displacement
and velocity update equations and the modified balance equa-
tion. Algorithms having this form may be classified as one-
Contributed by the Applied Mechanics Division of THE AMERICAN SOCIETY step, three-stage (or three-level) time integration methods. The
OF MECHANICAL ENGINEERS for presentation at the First Joint ASCE-EMD, algorithms are one-step methods because the solution at time
ASME-AMD, SES Meeting, Charlottesville, VA, June 6-9, 1993. t„+i depends only on the solution history at time t„. The three-
Discussion on this paper should be addressed to the Technical Editor, Pro-
fessor Lewis T. Wheeler, Department of Mechanical Engineering, University of stage designation refers to the solution being described by the
Houston, Houston, TX 77204-4792, and will be accepted until four months after three solution vectors: d„, v„, and a„.
final publication of the paper itself in the ASME JOURNAL OF APPLIED M E -
CHANICS.
In this paper, we present a new family of one-step, three-
Manuscript received by the ASME Applied Mechanics Division, Dec. 2, 1991; stage, numerically dissipative time integration algorithms. This
final revision, Aug. 17, 1992. Associate Technical Editor: C. F. Shih. family, which we call the generalized-a method, contains the
Paper No. 93-APM-20. HHT-a and WBZ-a algorithms; in addition, we identify a new
0.95
Tw \
\\ \
Generalized
P
Generalized-a \\ HHT-a, Q, _. _
\\ WBZ
\
0.90
\\
4
0.85 - \\
\
\^ ^~
0.80
0.75 -
.01 10 100 1000
\^ — _ 1i
At/T
-Ai,2 -
Fig. 2 Comparison of spectral radii of numerically dissipative algo-
Fig. 1 Classification of generalized-a method in «„, - a, space rithms
5Conclusions
A new family of time integration methods has been presented
for solving structural dynamics problems. The new scheme
includes both the HHT-a and WBZ-a methods; indeed, the
new generalized-a method may be considered as a synthesis
or generalization of these two methods. An analysis of the
generalized-a method was performed to define appropriate
values of the algorithmic parameters. Expressions were pro-
vided that define the algorithmic parameters in terms of a user-
specified value of high-frequency dissipation. The resultant
time integration algorithm is unconditionally stable, second-
order accurate and possesses an optimal combination of high-
0 0.05 0.10 0.15 0.20 0.25 0.30 0.35 0.40 frequency and low-frequency dissipation. That is, for a desired
level of high-frequency dissipation, the low-frequency dissi-
At/T pation is minimized. The generalized-a method was shown to
Fig. 4 Relative period errors of time integration algorithms have better numerical dissipation characteristics, and smaller
period and displacement errors than other numerically dissi-
pative schemes. We emphasize that the improved performance
of the algorithm is not obtained by increasing the complexity
of the algorithm beyond that associated with the HHT-a and
X,,2 = exp(o>Af(-$±0) (26) WBZ-a methods. This is important from a practical viewpoint
where £ and to are the algorithmic damping ratio and algo- since the generalized-a method can be directly implemented
rithmic frequency, respectively. The relative period error is with minimal additional coding into programs that already
given by (T- T)/T, where T=2ir/o> and T=2TT/W. include the Newmark, HHT-a or WBZ-a methods.
Figure 3 shows algorithmic damping ratios for the dissipative The generalized-a method has been presented for structural
algorithms. For the same value of high-frequency dissipation, dynamics. Of interest is extending the method to systems of
it can be seen that the generalized-a method has substantially first-order ordinary differential equations. Research efforts are
less low-frequency dissipation. Relative period errors are shown underway in this area as well as developing improved implicit-
in Fig. 4; also included is the relative period error of the explicit time integration methods using the generalized-a
trapezoidal rule algorithm. The trapezoidal rule possesses the method as the parent implicit algorithm.
smallest period error of second-order accurate, unconditionally
stable linear multistep methods and thus its period error may
be used as a basis to compare the period errors of the nu- Acknowledgment
merically dissipative methods. From Fig. 4, it can be seen that We would like to acknowledge support provided by a Korean
the period error of the generalized-a method is closest to that Government Overseas Scholarship for the first author.
of the trapezoidal rule algorithm.
As a final comparison, (14) was solved using different time
integration algorithms with a> = w, £ = 0, d= 1 and v=l. The References
displacement error (difference between the exact and numerical B'azzi, G., and Anderheggen, E., 1982, "The p-Family of Algorithms for
displacement values) was computed at tN=0.4. Figure 5 shows Time-Step Integration with Improved Numerical Dissipation," Earthquake En-
this error as a function of the number of time steps, N, for gineering and Structural Dynamics, Vol. 10, pp. 537-550.
various algorithms. All algorithms shown achieve second-order ods," Dahlquist, G., 1963, "A Special Stability Problem for Linear Multistep Meth-
BIT, Vol. 3, pp. 27-43.
accuracy; the p-method is not included as it is only first-order Hilber, H. M„ Hughes, T. J. R., and Taylor, R. L., 1977, "Improved Nu-
accurate. Dahlquist (1963) proved that the trapezoidal rule has merical Dissipation for Time Integration Algorithms in Structural Dynamics,"
the smallest error of unconditionally stable, second-order ac- Earthquake Engineering and Structural Dynamics, Vol. 5, pp. 283-292.
curate methods; from Fig. 5 it may be seen that amongst the 'Overshoot' Hilber, H. M., and Hughes, T. J. R., 1978, "Collocation, Dissipation and
for Time Integration Schemes in Structural Dynamics," Earthquake
numerically dissipative algorithms investigated, the general- Engineering and Structural Dynamics, Vol. 6, pp. 99-118.
ized-a method has the smallest error. Hoff, C , and Pahl, P. J., 1988a, "Development of an Implicit Method with
The United States National Congress of Applied Mechanics is organized by the United States National Committee on
Theoretical and Applied Mechanics under the general sponsorship of the National Academy of Sciences and the National
Academy of Engineering. Cooperation Societies are: American Institute of Aeronautics and Astronautics, American Institute
of Chemical Engineers, American Mathematical Society, American Physical Society, American Society of Civil Engineers,
American Society of Mechanical Engineers, American Society for Testing and Materials, Society of Engineering Science, Society
for Experimental Mechanics, Society for Industrial and Applied Mathematics, Society for Naval Architects and Marine
Engineers, Society of Rheology.