Lecture 4 - Pulse Loading SDOFs

Structural Dynamics
Prof. Eduardo Miranda
Nov. 20th – Dec. 16th, 2006

Rose School, Pavia, Italy
Structural Dynamics
Prof. Eduardo Miranda
4. Response of SDOF systems to pulse excitations
Structural Dynamics 2 © Eduardo Miranda
1
OBJECTIVES
OBJECTIVES
1. To discuss various types of pulse loadings.
2. To study the dynamic response of undamped and damped SDOF

systems when subjected to pulse excitations.
3. To study the approximate response to “short” pulse excitations.
Pulse
Pulse excitations
excitations
There are many different kind of pulse excitations that can act on structures:
P(t) P(t) P(t)
p0 p0 p0
t t t
td td
Step excitation Step function with Rectangular pulse
finite rise time
P(t) P(t) P(t)
p0 p0 p0
t
td td td
Half-cycle sine pulse Triangular pulse Triangular pulse
2
Pulse-type
Pulse-type excitations
excitations
Although the dynamic response of structures to many kinds of pulses was studied many
years ago (primarily in the 50’s and 60’s), there is a renewed interest in this type of
excitation because of its relevant in near-fult ground motions affected by forward directivity.
(after Malhotra, 1999, Response Of Buildings To Near-field Pulse-like Ground Motions)
Pulse-type
excitations
Examples of early research with pulses:
(after Cuesta and Aschheim, 2001, Isoductile strengths and strength reduction factors
of elasto-plastic SDOF systems subjected to simple waveforms)
3
Pulse-type
excitations
(after Cuesta and Aschheim, 2001, Isoductile strengths and strength reduction factors
of elasto-plastic SDOF systems subjected to simple waveforms)
Pulse-type
excitations
(after Cuesta, Aschheim and Fajfar, 2003, Simplified R-factors Relationships for Strong Ground Motions )
4
Pulse-type
excitations
(after Makris and Black, 2004, Dimensional Analysis of Bilinear Oscillators

under Pulse-Type Excitations)
Pulse-type
excitations
(after Alavi and Krawinkler, 2004, Behavior of moment-resisting frame structures subjected to
near-fault ground motions)
5
Pulse-type
excitations
(after Mylonakis and Reinhorn, 2001, Yielding Oscillator Under Triangular

Ground Acceleration Pulse)
Pulse-type
excitations
(after Mylonakis and Reinhorn, 2001, Yielding Oscillator Under Triangular

Ground Acceleration Pulse)
6
Pulse-type
excitations
(after Mavroeidis and Papageorgiou, 2003, A Mathematical Representation of Near-Fault Ground Motions)
Pulse-type
excitations
(after Mavroeidis and Papageorgiou, 2003, A Mathematical Representation of Near-Fault Ground Motions)
7
Pulse
Pulse excitations
excitations
Here we will focus on the following five pulse-type excitations:
P(t) P(t) P(t)
p0 p0 p0
t t t
td td
Step excitation Step function with Rectangular pulse
finite rise time
P(t) P(t)
p0 p0
t
td
Half-cycle sine pulse Triangular pulse
Step
Step excitation
excitation
Graphical representation of the excitation:
P(t)
p0
Step excitation t
Mathematical representation of the excitation:
P(t)=p0 (for t>0)
(NOTE: A common situation for this type of loading is the sudden application of gravity to a structure)
8
Undamped
Undamped response
response to
to step
step loading
loading
UNDAMPED SDOF
Fi(t) u(t)
m p(t)
0.5Fs(t) 0.5Fs(t)
Equation of motion: P(t)
mu&&(t ) + ku (t ) = p (t ) p0
where
p (t ) = p0 t
Step excitation
Undamped
Undamped response
response to
to step
step loading
loading
The solution is given by:
p0
u (t ) = ( A cos ωnt + B sin ωn t ) +
k
Complementary Particular
solution solution
Taking initial conditions as null (i.e., at rest) we obtain

p0
A=−
k
B=0
Substituting:
⎛ 2π t ⎞
u (t ) = (u st ) 0 (1 − cos ωnt ) = (u st ) 0 ⎜⎜1 − cos ⎟
⎝ Tn ⎟⎠
9
Undamped
Undamped response
response to
to step
step loading
loading
Example:
Tn=1,0 s P0/k=100/39,478=2,533
k=39,478 ωn=2π/Tn=2π/1,0=6,283
p0=100
u (t ) = (u st ) 0 (1 − cos ωnt ) = 2,533[1 − cos(6,283t )]
u(t) Response to step excitation

6,0
5,0
4,0
3,0
2,0
1,0
0,0
0 1 2 3 4 5 6 7 8 9 10
Time [s]
Response
Response response
response to
to pulse
pulse loading
loading
DAMPED SDOF
Fi(t) u(t)
m p(t)
Fd(t)
0.5Fs(t) 0.5Fs(t)
mu&&(t ) + cu& (t ) + ku (t ) = p (t ) p0
where
p (t ) = p0 t
Step excitation
10
Damped
Damped response
response to
to step
step loading
loading
p0
u (t ) = e −ζω nt ( A cos ω D t + B sin ω D t ) +
k
Complementary Particular
solution solution
Taking initial conditions as null (i.e., at rest) we obtain

p0
A=−
k
p0 ζ
B=−
k 1− ζ 2
Substituting:
⎡ ⎛ ζ ⎞⎤
u (t ) = (u st ) 0 ⎢1 − e −ζω nt ⎜ cos ω D t + sin ω D t ⎟⎥
⎢⎣ ⎜ 1− ζ 2 ⎟⎥
⎝ ⎠⎦
Damped
Damped response
response to
to step
step loading
loading
Example: Repeat same problem but consider ζ=0,05
Tn=1,0 s P0/k=100/39,478=2,533
k=39,478 ωn=2π/Tn=2π/1,0=6,283
p0=100
Response to step excitation

u(t)
5,0
4,5
4,0
3,5
3,0
2,5
2,0
1,5
1,0
0,5
0,0
0 1 2 3 4 5 6 7 8 9 10
Time [s]
11
Damped
Damped response
response to
to step
step loading
loading
Effect of damping ratio on the response to the step excitation
u(t)/ust Response to step excitation

2,5
ζ=0,01
2,0 ζ=0,05
ζ=0,10
1,5
ζ=0,20
1,0
0,5
0,0
0 1 2 3 4 5 6 7 8 9 10
Time [s]
Observe that the amount of damping controls the amount of overshoot over
the static response (i.e., the peak amplitude) and the rate at which the
oscillations decay. Provided that there is some finite amount of damping in the
system, the response will always settles down in the static deformation.
Step
Step excitation
excitation with
with finite
finite raise
raise time
time
P(t)
p0
t
tr
Step function with
finite rise time
⎧ p (t / t r ) t ≤ t r
p (t ) = ⎨ 0
⎩ p0 t ≤ tr
(NOTE: A common situation for this type of loading is the gradual application of gravity to a structure)
12
Undamped
Undamped response
response to to aa step
step loading
loading with
with
finite raise time
finite raise time
UNDAMPED SDOF
Fi(t) u(t)
m p(t)
0.5Fs(t) 0.5Fs(t)
P(t)
Equation of motion: p0
mu&&(t ) + ku (t ) = p (t )
where t
tr
⎧ p (t / t r ) t ≤ t r Step function with
p (t ) = ⎨ 0
⎩ p0 t ≤ tr finite rise time
Undamped
Undamped response
step loading
loading with
with
finite
finite raise
raise time
time

⎛ t sin ωn t ⎞
u (t ) = (u st ) 0 ⎜⎜ − ⎟ t ≤ tr
⎝ tr ωnt r ⎟⎠
u& (t )
u (t ) = u (t r ) cos ωn (t − t r ) + r sin ωn (t − t r ) + (u st ) 0 [1 − cos ωn (t − t r )] t > tr
ωn
The displacement and velocity of the system at tr can be obtained from the
first equation and substituted in the second equation from which we obtain:
⎧ 1 ⎫
u (t ) = (u st ) 0 ⎨1 + [(1 − cos ωntr ) sin ωn (t − tr ) − sin ωntr cos ωn (t − tr )]⎬ t ≥ tr
⎩ ωntr ⎭
And further simplified to:
⎧ 1 ⎫
u (t ) = (u st ) 0 ⎨1 − [sin ωnt − sin ωn (t − tr )]⎬ t ≥ tr
⎩ ω t
n r ⎭
13
Undamped
Undamped response
step loading
loading with
with
finite raise time
finite raise time
Undamped
Undamped response
step loading
loading with
with
finite
finite raise
raise time
time
The peak response will always occur in the second segment and is given by:
⎡ 1 ⎤
u (t ) = (u st ) 0 ⎢1 + (1 − cos ω nt r ) 2 + (sin ωnt r ) 2 ⎥
⎣ ωnt r ⎦
Which can be simplified to:
u0 sin(π t r / Tn )
Rd ≡ = 1+
(u st ) 0 π t r / Tn
14
Undamped
Undamped response
step loading
loading with
with
finite raise time
finite raise time
u0 sin(π t r / Tn )
Rd ≡ = 1+
(u st ) 0 π t r / Tn
Possible
Possible approach
approach to
to obtain
obtain the
the response
response to
to
pulse
pulse excitations
excitations
15
Rectangular
Rectangular pulse
pulse
P(t)
p0
t
td
Rectangular pulse
⎧p t ≤ td
p (t ) = ⎨ 0
⎩0 t ≤ td
Undamped
Undamped response
response to
to aa rectangular
rectangular pulse
pulse
UNDAMPED SDOF
Fi(t) u(t)
m p(t)
0.5Fs(t) 0.5Fs(t)
mu&&(t ) + ku (t ) = p (t ) p0
where
⎧p t ≤ td t
p (t ) = ⎨ 0 td
⎩0 t ≤ td
Rectangular pulse
16
Undamped
Undamped response
response to
to aa rectangular
rectangular pulse
pulse
Forced vibration phase:

u (t ) 2π t
= 1 − cos ωn t = 1 − cos t ≤ td
(u st ) 0 Tn
Free vibration phase:

u (t ) ⎛ πt ⎞ ⎡ ⎛ t 1 td ⎞⎤
= ⎜ 2 sin d ⎟⎟ sin ⎢2π ⎜⎜ − ⎟⎟⎥ t ≥ td
(u st ) 0 ⎜⎝ Tn ⎠ ⎣ ⎝ Tn 2 Tn ⎠⎦
Undamped
Undamped response
response to
to aa rectangular
rectangular pulse
pulse
17
Undamped
Undamped response
response to
to aa rectangular
rectangular pulse
pulse
Peak response during the forced vibration response phase:
u0 ⎧1 − cos(2π t d / Tn ) t d / Tn ≤ 1
Rd = =⎨ 2
(u st ) 0 ⎩ 2 t d / Tn ≥ 1
2
Peak response during the free vibration response phase:
u0 πt
Rd = = 2 sin d
(u st ) 0 Tn
Undamped
Undamped response
response to
to aa rectangular
rectangular pulse
pulse
u0 ⎧1 − cos(2π t d / Tn ) t d / Tn ≤ 1
Rd = =⎨ 2
(u st ) 0 ⎩ 2 t d / Tn ≥ 1
2
u0 πt
Rd = = 2 sin d
(u st ) 0 Tn
18
Undamped
Undamped response
response to
to aa rectangular
rectangular pulse
pulse
Overall maximum response
u0 ⎧2 sin (π t d / Tn ) t d / Tn ≤ 1
Rd = =⎨ 2
(u st ) 0 ⎩2 t d / Tn ≥ 1
2
Undamped
Undamped response
response to
to aa rectangular
rectangular pulse
pulse
u0 ⎧2 sin (π t d / Tn ) t d / Tn ≤ 1
Rd = =⎨ 2
(u st ) 0 ⎩2 t d / Tn ≥ 1
2
19
Half-cycle
Half-cycle sine
sine pulse
pulse
P(t)
p0
t
td
Half-cycle sine pulse
⎧ p sin(π t / t d ) t ≤ td
mu&& + ku = p(t ) = ⎨ 0
⎩0 t ≥ td
Undamped
Undamped response
response to
to aa rectangular
rectangular pulse
pulse
UNDAMPED SDOF
Fi(t) u(t)
m p(t)
0.5Fs(t) 0.5Fs(t)
P(t)
Equation of motion:
mu&&(t ) + ku (t ) = p (t ) p0
where
t
⎧ p sin(π t / t d ) t ≤ td td
p(t ) = ⎨ 0
t ≥ td Half-cycle sine pulse
⎩0
20
Undamped
Undamped response
response to
to aa rectangular
rectangular pulse
pulse
CASE 1: td/Tn ≠ 1/2
u (t ) 1 ⎡ ⎛ t ⎞ Tn ⎛ t ⎞⎤
= ⎢sin ⎜⎜ π ⎟⎟ − sin ⎜⎜ 2π ⎟⎟⎥ t ≤ td
(u st ) 0 1 − (Tn / 2t d ) 2 ⎣ ⎝ d⎠ t 2t d ⎝ T n ⎠⎦

u (t ) (Tn / t d ) cos(π t d / Tn ) ⎡ ⎛ t 1 t d ⎞⎤
= sin ⎢2π ⎜⎜ − ⎟⎟⎥ t ≥ td
(u st ) 0 (Tn / 2t d ) 2 − 1 ⎣ ⎝ Tn 2 Tn ⎠⎦
CASE 2: td/Tn = 1/2

u (t ) 1 ⎛ 2π t 2π t 2π t ⎞
= ⎜ sin − cos ⎟ t ≤ td
(u st ) 0 2 ⎜⎝ Tn Tn Tn ⎟⎠

u (t ) π ⎛ t 1⎞
= cos 2π ⎜⎜ − ⎟⎟ t ≥ td
(u st ) 0 2 ⎝ Tn 2 ⎠
Undamped
Undamped response
response to
to aa rectangular
rectangular pulse
pulse
21
Undamped
Undamped response
response to
to aa rectangular
rectangular pulse
pulse
Triangular
Triangular pulse
pulse
P(t)
p0
td
Triangular pulse
22
Triangular
Triangular pulse
pulse
(
⎧ 2 tt − 2πTnt sin 2π Tt ) 0 ≤ t ≤ t2d
u (t ) ⎪
{ [ ]}
d d n
= ⎨ 2 1 − ttd + 2πTntd 2 sin 2Tπn (t − 12 t d ) − sin 2π Ttn td

2 ≤ t ≤ td
(u st ) 0 ⎪
{ [
⎩ 2 2π td 2 sin Tn (t − 2 t d ) − sin Tn (t − t d ) − sin 2π
Tn 2π 1 2π t
Tn
]} t ≥ td
Triangular
Triangular pulse
pulse
23
Triangular
Triangular pulse
pulse
Approximate
Approximate response
response for
for short
short duration
duration pulses
pulses
For very short pulses, relative to the period of vibration of the system (e.g., td/Tn<1/4)
the peak response will occur during the phase of free vibration and its amplitude is
controlled by the area under the pulse (the amplitude of the impulse)
td
I = ∫ p (t ) dt
0
The undamped response is directly proportional to the impulse and given by

⎛ 1 ⎞
u (t ) = I ⎜⎜ sin ωnt ⎟⎟
⎝ m ω n ⎠
The peak response will occur when the sine reaches its maximum which is given by
I I 2π
u0 = =
mωn k Tn
24
Approximate
response for
for short
short duration
duration
pulses
pulses P(t)
For the rectangular pulse
td
I = ∫ p (t ) dt = p0t d p0
0
t
substituting
td
Rectangular pulse
I p t 2π
u0 = = 0d
mωn k Tn
Normalizing by the static displacement
u0 t
= 2π d
(u st ) 0 Tn
Approximate
response for
for short
short duration
duration
pulses
pulses P(t)
For the half-cycle sine pulse
td 2 p0
I = ∫ p (t ) dt = p0 t d
0 π
t
td
substituting Half-cycle sine pulse
I pt 4
u0 = = 0d
mωn k Tn
u0 t
=4 d
(u st ) 0 Tn
25
Approximate
response for
for short
short duration
duration
pulses
pulses
For the half-cycle sine pulse
td 1 P(t)
I = ∫ p (t ) dt = p0 t d
0 2
p0
substituting
I pt π
u0 = = 0d td
mωn k Tn
Triangular pulse
u0 t
=π d
(u st ) 0 Tn
Approximate
response for
for short
short duration
duration pulses
pulses
In the next page we show a comparison of the approximate and exact response of
the maximum response of SDOF systems subjected to the rectagular pulse, to the
half-cycle sine pulse and the triangular pulse.
It can be seen that for very short pulses, relative to the period of vibration of the
system (e.g., td/Tn<1/4) the approximate solution leads to very good results.
26
Approximate
response for
for short
short duration
duration pulses
pulses
Approximate
response for
for short
short duration
duration pulses
pulses
As mentioned before, for very short pulses, relative to the period of vibration of the
system (e.g., td/Tn<1/4) the peak response will occur during the phase of free
vibration (when the pulse has finished) so the shape of the pulse is not so important,
only its area.
In order to show that this is indeed the case, the next figure shows the three pulses
but now all three have the same area.
It is shown that despite the difference in shape, if the area is the same, the pulses of
short duration will be the same.
27
Approximate
response for
for short
short duration
duration pulses
pulses
Effect
Effect of
of damping
damping on
on shock
shock spectra
spectra
28

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Structural Dynamics

Prof. Eduardo Miranda

Nov. 20th – Dec. 16th, 2006

4. Response of SDOF systems to pulse excitations

Structural Dynamics 2 © Eduardo Miranda

1. To discuss various types of pulse loadings.

2. To study the dynamic response of undamped and damped SDOF

3. To study the approximate response to “short” pulse excitations.

Structural Dynamics 3 © Eduardo Miranda

(after Malhotra, 1999, Response Of Buildings To Near-field Pulse-like Ground Motions)

Structural Dynamics 5 © Eduardo Miranda

Examples of early research with pulses:

Structural Dynamics 6 © Eduardo Miranda

Structural Dynamics 7 © Eduardo Miranda

Structural Dynamics 8 © Eduardo Miranda

(after Makris and Black, 2004, Dimensional Analysis of Bilinear Oscillators

Structural Dynamics 9 © Eduardo Miranda

Structural Dynamics 10 © Eduardo Miranda

(after Mylonakis and Reinhorn, 2001, Yielding Oscillator Under Triangular

Structural Dynamics 11 © Eduardo Miranda

(after Mylonakis and Reinhorn, 2001, Yielding Oscillator Under Triangular

Structural Dynamics 12 © Eduardo Miranda

Structural Dynamics 13 © Eduardo Miranda

Graphical representation of the excitation:

Mathematical representation of the excitation:

P(t)=p0 (for t>0)

Structural Dynamics 16 © Eduardo Miranda

Equation of motion: P(t)

Structural Dynamics 17 © Eduardo Miranda

The solution is given by:

Taking initial conditions as null (i.e., at rest) we obtain

Structural Dynamics 18 © Eduardo Miranda

u(t) Response to step excitation

Structural Dynamics 19 © Eduardo Miranda

Equation of motion: P(t)

Structural Dynamics 20 © Eduardo Miranda

The solution is given by:

Taking initial conditions as null (i.e., at rest) we obtain

Structural Dynamics 21 © Eduardo Miranda

Example: Repeat same problem but consider ζ=0,05

Response to step excitation

Structural Dynamics 22 © Eduardo Miranda

Effect of damping ratio on the response to the step excitation

u(t)/ust Response to step excitation

Structural Dynamics 23 © Eduardo Miranda

Graphical representation of the excitation:

Structural Dynamics 24 © Eduardo Miranda

Structural Dynamics 25 © Eduardo Miranda

The solution is given by:

Structural Dynamics 26 © Eduardo Miranda

Structural Dynamics 27 © Eduardo Miranda

Which can be simplified to:

Structural Dynamics 28 © Eduardo Miranda

Structural Dynamics 29 © Eduardo Miranda

Structural Dynamics 30 © Eduardo Miranda

Graphical representation of the excitation:

Mathematical representation of the excitation:

Structural Dynamics 31 © Eduardo Miranda

Equation of motion: P(t)

Structural Dynamics 32 © Eduardo Miranda

The solution is given by:

Forced vibration phase:

Free vibration phase:

Structural Dynamics 33 © Eduardo Miranda