Mass-Spring Damper System. Time variable Exciting Force.

Duhamel Integral.

04 Duhamel Integral January 24 2021.mcd 1 PhD. Rafael Cedeño R.

 Dynamic Equation of Motion: D'Alambert Principle

Dynamic Equilibrium m  x''  c  x'  k  x  F ( t) = 0 m  x''  c  x'  k  x = F ( t)

c k F ( t) where:
Dividing by the mass m: x''   x'   x =
m m m m = structure mass
c = damping constant
k = constante del resorte
2 k c F(t) = exicitng force
Changing variables:  = =
m 2  m 
________________________________________________________________________________
Vibración Damped Vibration Under Arbitrary Dynamic Load. Duhamel Integral

2 F ( t)
x''  2      x'    x = Ec. 1
m

In most practical cases, the load P(t) is irregular and not periodic, such as the wind and earthquake forces.

One way to analyze this case, is to suppose that the irregular function of the applied force, is formed by a
sequence of very short impulses

The vibration causeed by all impulses, are

added to get the total answer, up to a
considered instant of time.

Firstable, the vibration caused by a single

impulse is obtained.

An impulse is: P ( t)  dt

The change in momentum is equal to

delivered impulse..

d ( mx') = P    d

P 
The change in velocity during this time interval (d) will bw: dx' =  d
m

This change in velocity is equivalent to the initial velocity x'o caused by an impulse applied at a very short
duration d and then removed.
04 Duhamel Integral January 24 2021.mcd 2 PhD. Rafael Cedeño R.
 The vibration at a later time "t" can be calculated from the equation:

 sin  '  t 
x= e
    t

  xo  cos  '  t  vo  xo       
 ' 

    t  sin  '  t      t  sin    t 

if xo = 0 x= e   vo   if ' =  x= e   vo  
 '    

P 
where: vo =  d In this equation the time period "t" must be replaced by (t - ) in order
m to estimate the response after the point t -  .

Substituting the previous values, we have:

    ( t )  P     d  sin    t    
dx ( t) = e    
 m  

Each impulse will produce a vibration of this form. The effect of each impulse is independent of the others,
and the total resulting motion can be obtained by the superposition principle.

Thus, in the limit, the previous equation can be integreted at 0 to t , obtaining the vibration at the instant t

t
1
  P     sin    t     e
     ( t )
x ( t) = d Ec. 2
m   0

This solution it is knokn as the Duhamel integral.

It can be integrated numerically for which it is convenient to transform the equation of the following shap

(     t)         t    
The exponential term will be: e = e e

04 Duhamel Integral January 24 2021.mcd 3 PhD. Rafael Cedeño R.

     t  t
  P     sin    t     e
e    
Duhamel integral will be: x ( t) = d
m   0

Substituting the expression: sin    t      = sin    t  cos       cos    t  sin     

 sin    t   cos    t 
    t t     t t
  P     cos       e   P     sin       e
e     e    
x ( t) = d  d
m  0 m  0

t t
         
Calling: A ( t) =  e  P     cos      d B ( t) =  e  P     sin      d
0 0

    t
  A ( t)  sin    t  B ( t)  cos    t 
e
then: x ( t) =
m 

1
or: x ( t) =   A ( t)  sin    t  B ( t)  cos    t  Ec. 3
   t
m   e

The integrals A(t) y B(t) can be obtained numerically, the trapezoid rule is sufficiently precise..

In the integral A(t), we need to

evaluate the function

 P     cos     
   
y= e

at equally spaced intervals such as

shown in the figure.

The area A1 will be:


A1 =   yo  y1
2

A2 =   y1  y2
2

04 Duhamel Integral January 24 2021.mcd 4 PhD. Rafael Cedeño R.

 The integral A(t) up the time "t" por example, will be: A ( t) = A1  A2  A3

If every time we calculate an area we accumulate it with the previousones, then:


at point 2 A' = A1  A2 eat point 3 A ( t) = A'  A3 A ( t) = A'    y2  y3
2


at the point "n" A ( n) = A'n-1    yn-1  yn where A'n -1 is the previous accumalated are
2

T
The integrals are obtained with sufficient precision considering an interval:  =
20

With the previous procedure, the integrals A(t) y B(t), can be calculated, for each time increment  and
consequently obtain the total response "x" for each time increment, thus knowing all the history of the
ansewer.

Example
The structure shown is subjected to the action of the force that is suddenly applied to the time t = 0 with
a magnitude of 30,000 N; decreasing linearly in time, until canceling out at the time 0.16 seg.

a) get the response history of the structure

b) the maximum displacement
c) the instant it occurs
d) the applied force and mechanical elements with which the structure will be designed
________________________________________________________________________________

6
m  5000 kg k  4.934800  10 N//m

  0.04 Po  30000 N

tf  0.15 seg g  9.81 m/s2

k 
  T  2 
m 

04 Duhamel Integral January 24 2021.mcd 5 PhD. Rafael Cedeño R.

   31.42 T  0.2 seg P ( t)  30000  200000  t if t  tf
0 otherwise

t t
         
A ( t)   e  P     cos      d B ( t)   e  P     sin      d
0 0

    t
  A ( t)  sin    t  B ( t)  cos    t 
e
x ( t)  1000  displacement in mm
m 

Exciting Force
40

30
Magnitude in kN

3 20
P ( t)  10

10

10
0 0.05 0.1 0.15 0.2 0.25
t
Time in Seconds

04 Duhamel Integral January 24 2021.mcd 6 PhD. Rafael Cedeño R.

 T  0.2   0.04 tf  0.15 i  0  0.1  1

Displacement in mm
10
x ( i) 
8 0
7.57
6 -6.01
5.3
4 -4.67
Displacement in mm

4.12
2 -3.63

x ( t) 3.2
0 -2.83
2.49
2 -2.2

10
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
t
Time in Seconds

04 Duhamel Integral January 24 2021.mcd 7 PhD. Rafael Cedeño R.