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Dynamics of Structures
Dynamics of Structures
A Brief Introduction
u1 u2 u3 u4 u5 u6 u7
(b)
The beam shown in the Figure (a) has an infinite number of degrees of
freedom but can be idealized as a system with finite number of degrees of
freedom consisting of lumped masses connected by mass-less deformable
elements as shown in Figure (b)
Single degree of freedom
Rigid beams
Axially rigid, light
columns
p1 (t ) = f S = ku
p 2 (t ) = f D = cu
p 3 (t ) = f I = mu
Inertia force, D'Alembert's principle
⚫ Newton’s second law of motion
states: the rate of change of
momentum is proportional to the
net force acting on the system
⚫ The term mu has the unit of force
and can be viewed as a force that
acts in a direction opposite to the
direction of motion, is fI
⚫ proportional to the acceleration,
and is balanced by part of the m
external force, P1(t). Force mu is
known as the inertia force. This
conceptualization is referred to as
the d'Alembert's principle. 𝑢ሷ
Damping force
⚫ Dynamic motion usually encounters resistance arising from dry friction,
air resistance, and structural straining. It is customary to lump all of the
resisting forces and represent them as viscous damping force that
opposes motion and is proportional to the velocity, similar to the
resistance encountered by a piston moving in a cylinder full of oil. Thus
𝑓𝐷
c
▪ where c is known as the
c
damping constant and has the
units of force per unit velocity
𝑢ሶ
Spring force
⚫ An elastic body undergoing
deformation under an applied
force sets up internal forces
that resist the deformation. f S = ku
The force of elastic constraint
or spring force is given by
displacement.
u
k has the units of force c has the units of
per unit displacement or force per unit velocity
N/m or N.s/m
f I = mu t
f D = cu
f S = ku
mu t + cu + ku = 0
u = u + u g
t
mu + cu + ku = −mu g
Undamped free vibration
+ ku = 0
mu
⚫ Solution: uc (t ) = A cos t + B sin t
⚫ Where = m k
is known as the natural circular
frequency and has the unit 1/sec
2 m
⚫ T=
= 2
k is the natural period with the unit of second
1
⚫ f =
T
is the natural frequency in cycles per second or Hertz
⚫ Constants A and B are determined from the given initial
displacement and the initial velocity
v0
u (t ) = u 0 cos t + sin t
Prescribed initial conditions
60
50
40
30
Displacement, mm
20
10
0
-10 0 2 4 6 8 10 12 14 16 18 20
-20
-30
-40
-50
-60
Time, s
u = sin (t + )
k 2
= T=
m
u0
2
v0
= u +
2
tan =
0
v0
Damped free vibration system
mu + cu + ku = 0
⚫Try a solution of the form
u = Ge t , u = Ge t , u = G2 e t
⚫ Substitution in the equation of motion gives
m 2 + c + k = 0
2
c c k
1 =− + −
2m 2 m m
2
c c k
2 =− − −
2m 2m m
Damped free vibration system
⚫ Critically-damped system
c = c crit = 2 km = 2m
c
1 = 2 = − = −
2m
u (t ) = (C1 + C 2 t )e −t
e ix = cos( x ) + i sin ( x )
e −ix = cos( x ) − i sin ( x )
u (t ) = e − t ( Acos d t + Bsin d t )
⚫ Substitution of initial conditions gives
− t v0 + u 0
u(t ) = e u 0 cos d t + sin d t
d
Damped free vibration response
25
20
15
Dispmacent, mm
10
0
0 50 100 150 200 250
-5
-10
-15
-20
Time, s
= 1 critically damped
> 1 overdamped
< 1 underdamped
mu + cu + ku = 0
Figure:: Free vibrations of a damped system with different levels of damping
Damped free vibrations mu + cu + ku = 0
Damped free vibration
u = e − t sin (d t + )
2
v0 + u0
= u +
2
d
0
d = 1 − 2
Td = 2 d
u 0 d
tan =
v0 + u0
Undamped free vibrations, m = 100 kg, k = 3,950 N/m, T = 1s
Undamped free vibrations, m = 100 kg, k = 987 N/m, T = 2s
Undamped free vibrations, m = 100 kg, k = 15,800 N/m, T = 0.5s
Undamped free vibrations, m = 100 kg, k = 35,500 N/m, T = 1/3s
Damped free vibrations, m = 100 kg, k = 3,950 N/m, damping 5%
m = 91000 kg
m
u 0 = 30 mm
u1 = 20 mm
Td = 0.5 s
Find k, c,
u ( t1 ) = e − t1
sin (d t1 + )
t 2 = t1 + 2 d
u (t 2 ) = e − ( t1 + 2 d )
sin (d t1 + )
u (t1 ) 2 d 2 1− 2 2
=r=e =e e
u (t 2 )
= ln (r ) = ln (30 20 ) = 2
= 0.0645
Td = 0.5 s
d = 2 Td = 12.566
= d 1 − = 12.593
2
k = m = 1.443 10 N / m
2 7
ut = e − t
A cos d t + B sin d t
Harmonic forcing function
2
tan =
1− 2
Transient solution
Total solution
For = 1
1
Peak
2
Variation of phase angle with frequency ratio and damping ratio
General dynamic loading
v0
u(t ) =
I Fdt
sin t = sin t = sin t
m m
For a damped system
u (t ) =
I
e − t sin d t
m d
Response to Impulsive load,
Duhamel's Integral
F ( )d
du (t ) = sin (t − )
m
−t u 0 + u 0
t
1
F( )e
− ( t − )
u( t ) = e u
0 cos t + sin t
d
+ sin d ( t − )d
d m d
d
0
Numerical integration
Rectangular
summation
Trapezoidal
method
Simpson’s method
Duhamel’s integral
Transient component
− t v0 + u 0
ut = e u 0 cos d t + sin d t
d
Direct integration methods
⚫ Solutions based on Duhamel's Integral are valid only for
linear systems where superposition can be used
⚫ For nonlinear systems the methods of direct numerical
integration may be used
⚫ A class of direct numerical acceleration methods known by
the general term Newmark-β methods include
– Constant acceleration method
– Average acceleration method
– Linear acceleration method
Average acceleration method
(t ) = (un + un +1 )
1
u
2
Integrating and substituting u = u n
at t = 0 and u = u n +1 at t = h
u (t ) = un +(un + un+1 )
t
2
un+1 = un + (un + un+1 )
h
(a)
2
6 m 2c 6 6
2 + + k u n +1 = p n +1 + m 2 u n + u n + 2u n +
h h h h
3 h
c u n + 2u n + u n
h 2
Velocity SV = SD
Accelerati on SA = SD
2
+ Cu + Ku = p
Mu
Mu + Cu + Ku = 0
t
Mu + Ku = 0
= A jq j ( j t + j )
N
j=1
Mode shapes and frequencies
1 , 2 , , N
Corresponding to each frequency there is
a mode shape
q1 , q 2 , , q N
Properties of mode shapes
q Kq j = 0 i j
T
i
q Mq j = 0 i j
T
i
q iT Kq i
T
= i
2
q i Mqi
+ Cu + Ku = −M1ug
Mu
Let u = q n yn
Substitute in the equation of motion
Multiply both sides by q nT , we get
q Tn Mqn yn + q Tn Cq n y n + q nT Kq n yn = −q Tn M1ug
or
T
q n M1
yn + 2n n y n + n yn = − T
2
ug = n ug
q n Mqn
Mode superposition analysis
Solve the SDOF equations using say the
first M modes
yn + 2n n y n + yn = nug
2
n