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Dynamic Response of a Single Degree of Freedom (SDOF) System in some

Special Load Cases, based on the Duhamel Integral

Article · January 2008

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EngOpt 2008 - International Conference on Engineering Optimization
Rio de Janeiro, Brazil, 01 - 05 June 2008.

Dynamic Response of a Single Degree of Freedom (SDOF) System in some Special

Load Cases, based on the Duhamel Integral
Konstantin Savkov Kazakov

VSU “L.Karavelov”, Sofia, Bulgaria, kazakov@vsu.bg

1. Abstract
This paper is devoted to the application of the Duhamel integral in some special load cases to single degree of freedom (SDOF) mass
system. Here, this integral is treated as a special form of the Laplace integral transformation. Only single degree of freedom response
is investigated. The relations are given in a time domain.
First, the theoretical background of the response of undamped and damped single degree of freedom models, subjected to general
load, is reviewed in brief. Validations in some special dynamic load cases are also demonstrated and discussed. In details, some
positive general load cases are investigated and the analytical results, if exist, are compared with numerical solutions, obtained by
MathCAD.
The present research can be extended to the response of undamped and damped multi-degree of freedom (MDOF) models. Also a
transformation in the frequency domain can be obtained by the methods of Dynamic of MDOF systems, but it is not included in the
work. Examples by numerical integration are also given. Finally some basic application remarks are proposed.
2. Keywords: Finite Element Method, Dynamic of structures, Duhamel integral, Superposition methods, Numerical
Integration, Seismic design

3. Introduction
The Duhamel convolution integral describes the dependence of a system’s output (system’s response) from its output and can be
treated as a form of Laplace integral transformation, which is particularly useful in solving linear ordinary differential equations.
The general form of the Duhamel convolution integral is written as

t
Y (t ) = ∫ X (τ )h(t − τ )dτ ,
0

() () ( )
where X τ is the system’s input, Y t is the system’s output and h t − τ is weight function. As described in the above
equation, the system response in time t corresponds to the sum of the previous input during infinitesimally period of time multiplied
with a specific weighting term. In the dynamic of structures the weighting term is the harmonic (sine or cosine) term multiplied with
a function taking into account the damping of the system

sin ω (t − τ )e−ξω (t −τ ) ,

The Duhamel integral has significant application in dynamics in the case of general dynamic loading. This gives a good
approximation of the response of single and multi degree of freedom systems.
The Duhamel convolution integral can also be treated as a result of the classical Fourier transformation where X (τ ) is an original
function, Y (t ) is the obtained function and the function h(t − τ ) is typical transformation function.
4. Theoretical background
Lagrange equation for a damped single degree of freedom system can be written as

d  ∂T  ∂T
 − = f e (t ) + f d (t ) + f (t ) , (1)
dt  ∂q&  ∂q

where T and q are kinetic energy and generalised displacement of the system, respectively. The forces f e (t ) and f d (t ) are
elastic and damped force and can be expressed as f e (t ) = kq (t ) and f d (t ) = cq& (t ) . In this case the external force f (t )
assumed to be arbitrary varying force. Equation of motion at moment t is

f i (t ) + f e (t ) + f d (t ) = f (t ) (2)

or
 mq&&(t ) + cq& (t ) + kq(t ) = f (t ) . (3)

For single degree of freedom system the generalised displacement q(t ) can be indentified with a displacement u (t ) and then
equation (3) is written as

mu&&(t ) + cu& (t ) + ku (t ) = f (t ) . (4)

When f (t ) = 0 (free vibration), the solution of (3) is

 ξω  u&
u (t ) = u 0 exp(− ξωt ) cosϖt + sin ϖt  + 0 exp(− ξωt ) sin ϖt , (5)
 ϖ  ϖ

where ϖ = ω 2 − ξ 2 is the damped frequency.

When f (t ) ≠ 0 (forced vibration), the equation (3) can be solved as follows.
If the external force f (t ) is arbitrary varying force, for infinite small period of time dt , that force produces a change of the
velocity, written as du& add
. But from the other hand u& add
is an initial velocity of the vibrations produced from df (t ) or from the
change du& add for t ≥ t . Can be written that u& add = u& add 0 . Then the solution of equation (3) is

• when ξ ≤ω
 ξω  u&
u(t ) = u0 exp(− ξωt ) cosϖt + sinϖt  + 0 exp(− ξωt ) sinϖt +
 ϖ  ϖ
t
. (6)
1
+
mϖ ∫ f (t )sinϖ (t − t ) exp(− ξω(t − t ))dt
0

The equation (6) can also be given in the form as

t
1
u(t ) = A exp(− ξωt )(sinϖt + α ) +
mϖ ∫ f (t )sinϖ (t − t ) exp(− ξω(t − t ))dt ,
0
(7)

2 (u& 0 + ξu 0 )2 u& 0 + ξu 0
where A= u + 0 2 2
and ctgα = .
ω −ξ u0 ω2 −ξ 2

• when ξ =ω
t
1
u(t ) = [u 0 + (u& 0 + ξu 0 )t ]exp(− ξωt ) + ∫ f (t )sh(t − t ) exp(− ξωt )dt (8)
m0

• when ξ ≥ω
t
1
u(t ) = A exp(− ξωt )sh(ϖt + α ) +
mϖ ∫ f (t )shϖ (t − t ) exp(− ξω(t − t ))dt .
0
(9)

Suppose an arbitrary varying loading f (t ) , see Fig 1, is applied to an undamped single degree of freedom system as illustrated in
Fig 2.
 f (t ) f (t )

t dt
Figure 1. Illustration of the Duhamel integral

At moment t the intensity of the load is f (t ) . It is well known that if the load is acting during a very short interval of time ∆t the
approximate impulse is f (t )∆t . In the case ∆t approaches zero the produced response is

f (t )dt
du (t ) = sin ω (t − t ) , (10)
mω
where ω is the natural frequency.
If the system is linearly elastic the impulse response in an arbitrary chosen moment t ≥t is written as

t
1
mω ∫0
u (t ) = f (t )sin ω (t − t )dt . (11)

Now the total response of the system is

u& (0 )
t
1
mω ∫0
u (t ) =
t
sin (ωt ) + u (0) cos(ωt ) + f (t )sin ω (t − t )dt . (12)
ω
In the case of damping

u& (0 )
t
1
u t (t ) =
ω
sin (ωt ) + u (0) cos(ωt ) +
mϖ ∫ f (t )sinϖ (t − t )exp− ξω(t − t )dt ,
0
(13)

where ϖ is the damped frequency.

It was mentioned in the Introduction that Duhamel convolution integral can be treated as a result of the classical Fourier
transformation. In the structural analyses when u (0) = u& (0) = 0 the total response is written as

t
1
u (t ) = ∫ f (t )sinϖ (t − t )exp− ξω(t − t )dt ,
t
(14)
mϖ 0

() t
() (
where f t is an original function, u t is the obtained function and the function sin ϖ t − t exp− ξω t − t transforms ) ( )
the original to newly obtained function.
In the frequency domain, the response of the system can be obtained by application of the classical Fourier transformation to the load
in the form

∞
F (iω~ ) = ~
∫ f (t )exp(− iωt ).dt , (15)
−∞

where exp(− iϖt ) is treated as transformation function.

The transformation multiplier, that also takes into account the dynamic effect on the response, in that case is

1  1 
T (iω~ ) = 2  , (16)
2
(
mω  1 − β + 2iβξ  )
ω~
where β= . Finally the response can be expressed as follows
ω
∞
1 ~ ~ ~ ~
u (t ) = ∫ F (iω )T (iω )exp(iωt )dω
t
(17)
2π −∞

or

~ ) 
∞
1 1
u t (t ) = ∫−∞ F (i ω   exp(iω~t )dω~ .
2πmω 2 2
(
 1 − β + 2iβξ  ) (18)

4.1 Some special dynamic load cases

Here, three special dynamic load cases are investigated in brief.

4.1.1 Non varying loading, f (t ) = F = const.

Let assume that t = 0 . In this case, using eq. (11), the response in an arbitrary chosen moment t = T can be written as

t
1 F
u (t ) = ∫ ( ) ( ) cos(ωt )dt 0 ;
T
f t sin ω t dt = 2 (14)
mω 0 mω

• If t =T =
(2n + 1)π then u (t ) = ±
F
. This equation is identical to, and illustrates the maximum response
4 mω 2
when the amplitude of the harmonic load acts on the system.

• If t =T ≠
(2n + 1)π then u (t ) ≤ ±
F
.
4 mω 2
On the other hand

t
1 F
u (t ) = ∫
mω 0
f (t )sin ω (t )dt =
mω 2
(1 − cos ωt ) , (15)

F F
and if we use the relation u st = 2
= , the static response of the system, then
mω k

u (t ) = u st (1− cos ωt ) . (16)

The relation (16) shows that u max (t ) = 2u st .

()
4.1.2 Harmonically varying load, f t = F sin θt
In this case we can directly use the particular solution of the dynamic equilibrium equation with neglecting the damping written as

mu&&(t ) + ku (t ) = F sin θt , (17)

in the form
 F  1 
u (t ) = 1 − η 2  sin θt , (18)
k  
θ
where η= . In this case the response produced by the load and calculated by eq. (18) and by eq. (11) must be the same. Then
ω
can be written that

F  1 
t
1
u (t ) = ∫
mω 0
f (t )sin ω (t − t )dt =
mω 2 1 − η 2 
sin θt , (19)

where the stiffness k is replaced with mω 2 . Equation (19) shows that the response depends on the natural and external
frequencies.

4.1.3 Continuous load, f (t )

If the load is continues function and also n times differentiable in the interval t ∈ (0 ÷ T ) then we can apply n times integration by
parts rule in the form

∫ f ds = f .s − ∫ sdf , (20)

where f = f (t ) and ds = sin ω (t − t )dt . The result is


t
1 1 1 1 ( 4) 1 (n ) 
u(t ) = ∫
mω 0
f (t ) sinω(t − t )dt =
mω 2
 f (t ) − 2 &f&(t ) + 4 f (t ) + ... + n f (t ) cosω(t − t ) +
 ω ω ω 
1 1 1   1 1 
+  f& (t ) − 3 &f&&(t ) + ... + n−1 f (n−1) (t ) sinω(t − t ) −  f (0) − 2 &f&(0) + ... + n f (n) (0) cosω(t − t ) −
ω ω ω   ω ω 
1 1 1
−  f& (0) − 3 &f&&(0) + ... + n−1 f (n−1) (0)]sinω(t − t )}
ω ω ω
(21)
or can be written in the form


t
1 1 1 1 (4) 1 ( n) 
u(t ) = ∫
mω 0
f (t ) sinω(t − t )dt =
mω 2
 f (t ) − 2 &f&(t ) + 4 f (t ) + ... + n f (t ) cosωt +
 ω ω ω 
1 1 1   1 1 
+  f& (t ) − 3 &f&&(t ) + ... + n−1 f (n−1) (t ) sinωt −  f (0) − 2 &f&(0) + ... + n f (n) (0) cosω(0) −
ω ω ω   ω ω 
1 1 1
−  f& (0) − 3 &f&&(0) + ... + n−1 f (n−1) (0)]sinω(0)}
ω ω ω
(22)
~
If the load is applied at moment t , then eq. (12) can be expressed as
 1
t
1  1 1 (4) 1 (n) 
u(t ) = ∫
mω ~t
f (t ) sinω(t − t )dt =
mω 2
 f (t ) − 2 &f&(t ) + 4 f (t ) + ... + n f (t ) cosωt +
 ω ω ω 
1 1 1   1 1 
+  f& (t ) − 3 &f&&(t ) + ... + n−1 f (n−1) (t ) sinωt −  f (~
t ) − 2 &f&(~
t ) + ... + n f (n) (~
t ) cosω~
t −
ω ω ω   ω ω 
1 1 1
−  f& (~
t ) − 3 &f&&(~t ) + ... + n−1 f (n−1) (~t )]sinω~t}
ω ω ω
(23)
In the case when the load can be written as f (t ) = C = const and f (t ) = sin θt the response or the displacement is written,
respectively as

t
1 1
u (t ) = ∫
mω 0
f (t ) sin ω (t − t )dt =
mω 2
f (t ) cos ω (t − t ) (24)

and

1
t
1  n i

 ∑ (− 1) 1  sin θt cos ω (t − t ) .
u (t ) = ∫
mω 0
f (t )sin ω (t − t )dt =
mω 2  i =0 ω 
2 i
(25)

Suppose now that a load containing finite continuous portions, m is applied to the system, see Fig.2 .

f (t )

t1s t1e t 2s t 2e t 3s t 3e
Figure 2. Illustration of a load containing finite continuous portions

In such a case the response at moment t can be given by sum of Duhamel integrals as

te
cosωt i
m
u(t ) = ∑ ∫ f (ti )sin ω tie dti ( ) . (26)
i =1 mω t s
i

5. Numerical integration
The integration in the right side of eq. (11) can be done numerical or in some cases analytical. If numerical quadratures are used, then
an approximation û (t ) of u (t ) can be written in the form

1 n ~
u (t ) ≈ u~(t ) = ∑ Fi sin ω (t − ti )
mω i =1
, (27)

~
where the Fi = f (t i )∆t i and ∆t = T / n .
Another possible way is based on the summation by part rule written here as
 t
1 1 n
u (t ) =
mω ∫0
f (t ) sin ω (t − t )d t = ∑ f (t i )(sin ω (t − t i +1 ) − sin ω (t − t i )) =
mω i = 0
(28)
1  n

[ f (t n ) cos ω (t n ) − f (t 0 ) cos ω (t 0 )] − ∑ cos ω (t − t i +1 )( f (t i +1 ) − f (t i ))
mω  i =0 
or

t
1 1 n
u (t ) = ∫
mω 0
f (t ) sin ω (t − t )d t = ∑
mω i =0
f (t i )∆ii −1 sin ω (t − t ) =
. (29)
1  n

[ f (t n ) cos ω (t n ) − f (t 0 ) cos ω (t 0 )] − ∑ cos ω (t − t i +1 )∆ i −1 f (t i +1 )
i

mω  i =0 

where ∆ii −1 sin ω (t − t ) = sin ω (t − t i +1 ) − sin ω (t − t i ) and ∆ii −1 f (t i +1 ) = f (t i +1 ) − f (t i )

Now we can divide the interval t ∈ (0 ÷ T ) to n finite intervals ∆t = T / n and apply directly eq. (26) to evaluate numerically
the response u (t ) of the system to the input excitation and also discuss the dynamic effects.
6. Spectral density application
Very often in the engineering practice, there is some spectral density date on disposal. Earthquake load parameters, wind velocity and
so on are typical examples. Using Fourier-like transformation and introducing the function D (iω ) in the form

∞ T
D (iω ) = ∫
−∞
f (t )sinϖ (t )exp− ξω (t )dt = ∫ f (t )sinϖ (t )exp− ξω(t )dt ,
−T
(30)

the spectral density can be obtained in the form

1 2
S F (iω ) = limT →∞ D (iω ) (31)
2T
or

T 2
1
S F (iω ) = limT →∞
2T ∫ f (t )sinϖ (t )exp− ξω(t )dt
−T
. (32)

7. General positive load case

The positive general load, see Fig.3, can be split into two terms in the form

f (t )

t
Figure 3. Illustration of the positive general load

f (t ) = F + f (t ) , (33)
where F is the mid-value of the load intensity, see Fig.4, and calculated as

T
1
T ∫0
F = f (t ) , (34)

where T is a period of load duration.

f (t )
F

t
Figure 4. Illustration of positive general load and mid-value of the intensity

Now the total response, eq. (13), can be written as

[
u t (t ) = u c (t ) + u p (t ) = u c (t ) + u p + u p (t ) ], (35)

where c and p denote the complementary and partial solutions of dynamic equilibrium equation or

u& (0)
t
F 1
u t (t ) =
ω
sin (ωt ) + u (0) cos(ωt ) + +
k mϖ ∫ f (t )sinϖ (t − t )exp− ξω (t − t )dt
0
(36)

where ϖ is the damped frequency. When initial conditions are assumed as u (0) = u& (0) = 0 the total response now is

[
u t (t ) = u p (t ) = u p + u p (t ) ] (37)

or

t
F 1
u t (t ) = +
k mϖ ∫ f (t )sinϖ (t − t )exp− ξω(t − t )dt .
0
(38)

8. Special positive load cases

In this section some special load cases are investigated and also the analytic results, if exist, are compared with numerical solutions.
We shell also assume that the load can be given as smooth or non-smooth function but always continuous.

8.1 Smooth periodic load case (case 1)

The smooth positive load case can be illustrated as, see Fig.5, and the total response u t (t ) can be given as
f (t )
U .k = f max
F

t
Figure 5. Illustration of smooth periodic load

F
u t (t ) = + U sin (ωt + ϕ ) , (39)
k
 F
where U is the amplitude displacement towards, related to the displacement U = .
k
8.2 Non-smooth periodic load case (case 2)
The non-smooth positive periodic load case can be illustrated as, see Fig.6, and the total response u t (t ) can be given as

[
u t (t ) = u p (t ) = u p + u p (t ) ]. (40)

f (t ) f (t i )

t
ti
Figure 6. Illustration of non-smooth periodic load

8.3 Non-smooth general load case (case 3)

The non-smooth positive general load case can be illustrated as, see Fig.7, and the total response u t (t ) can be given as

f (t )

t
Figure 7. Illustration of non-smooth positive load in general form

[
u t (t ) = u p (t ) = u p + u p (t ) ]. (41)

9. Remarks and discussion

Here some remarks and a discussion based on the responses of the system to the load cases described in the previous section are
given. The terms sin ϖ t ( −t) for undamped system or sin ϖ (t − t ) exp− ξω (t − t ) for damped system ensure always the
continuity of the response.

9.1 Smooth periodic load case (case 1)

In this case the load and the response are smooth functions. If the strains and stresses in the system are related to first derivative of
u t (t ) ↔ ε (t ) and u t (t ) ↔ σ (t ) u t (t ) ↔ ε (t ) u t (t ) ↔ σ (t ) ,
I I II II
the displacements or to second derivative and
the graphs ε (t ) and σ (t ) are smooth.

9.2 Non-smooth periodic load case (case 2)

In this case the load is a non-smooth but continuous function. If the strains and stresses in the system are related to first derivative of
the displacements u t (t ) ↔ ε (t )
I
and u t (t ) ↔ σ (t )
I
the graph ε (t ) and σ (t ) are non-smooth but continuous functions.

u t (t ) ↔ ε (t ) u t (t ) ↔ σ (t ) , the graphs ε (t )
II II
When the strains and stresses are related to second derivative and and
σ (t ) are non-smooth and non-continuous functions.
 9.3 Non-smooth positive general load case (case 3)
In this case the load is a non-smooth but continuous function. If the strains and stresses in the system are related to first derivative of
the displacements u t (t ) ↔ ε (t )
I
and u t (t ) ↔ σ (t )
I
the graph ε (t ) and σ (t ) are non-smooth but continuous functions.

u (t ) ↔ ε (t ) u t (t ) ↔ σ (t ) , the graphs ε (t )
t II II
When the strains and stresses are related to second derivative and and
σ (t ) are non-smooth and non-continuous functions, see case2.
10. Numerical examples by Romberg rule
The Romberg rule (Romberg integration method) is applicable to most integrants. This method uses trapezoidal approximations
over an even number of subintervals, and then compares sequential estimates by summing the areas of the trapezoids. Because the
Romberg integration method divides the integration interval into four subintervals, then successively doubles the number of points, it
n
can be incorrect for periodic functions having periods 1 / 2 times the length of the interval. To avoid this problem the interval must
be divided into two uneven subintervals and integrate over each subinterval separately. Some programs set a limit on the number of
the iteration times.

11. Conclusion
This paper is devoted to the application of the Duhamel integral in dynamic of structures. Such an integral can be treated as a special
form of the Fourier integral transformation. Some special load cases are investigated. Finally the spectral density approach is
discussed in brief. The conclusions can be exposed as follows
• In some special load cases (for example f (t ) = F = const. ) the response of the system given by equation (11) is

identical with static response only in the cases t = T =

(2n + 1)π .
4
~
• Every load with finite duration, suppose T , and applied on the system can be written as a infinite or finite sum in the
∞
iπ n
iπ
form f (t ) = ∑ Ai sin ~ t. or f (t ) = ∑ Ai sin ~ t. respectively. Then the response given by equation (11) is
i =1 T i =1 T
t
1 n
iπ
u (t ) = ∫ ∑
mω 0 i =1
Ai sin ~ t sin ω (t − t )dt
T
.

12. Reference
[1] Clough R.W., Penzien J., “Dynamics of Structures”, McGraw-Hill, 1993.
[2] Chopra A.K., “Dynamics of Structures”, Prentice-Hill International, 1995.
[3] Lanczos C., “The Variational Principles of Mechanics”, Dover Publication, Inc., New York, 1986.
[4] Bathe K.J., “Finite element procedures in engineering analysis”. New Jersey: Prentice-Hill, 1982.
[5] Кazakov К.S., Finite element method for structural modeling ”, VSU, Sofia , 2006.

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