Response of SDoF systems subjected to time-dependent external force

u(t)
fI(t)
f(t) t=0 t>0 M f(t)

C fS(t)

fD(t)

Ic Ic K=2*12EIc /H3

Equation of motion
Assumptions 1. Small deflections
2. Linearly elastic material behavior

d 2u t 
Inertial force f I t   M  Mut 
dt 2
du t 
Damping force f D t   C  Cu t  Viscous damping
dt
Spring force f S t   Ku t  Linearly elastic material behavior

f I t   f t  f S t   f D t 

Mut   f t   Ku t   Cu t  t  0
Mut   Cu t   Ku t   f t  t  0

du t  d 2 u t 
u t   ut  
dt dt 2

M mass ton, kN s 2/ m
K lateral stiffness kN / m
C damping coefficients kN s / m
f(t) time-dependent external load kN
u(t) time-dependent (lateral) displacements m

Assoc. Prof. A. Necmettin GÜNDÜZ (PhD) – IKU Department of Civil Engineering – e-mail: n.gunduz@iku.edu.tr 1
Conservation of energy

  t   Cu
Mu   t   Ku  t   f  t 
t t t

  Mu  t   Cu  t   Ku  t  du    Mu  t   Cu  t   Ku  t  u  t  dt   f  t  u  t  dt

t 0 t 0 t 0

 
t t t t
1 2 t
   t  u  t  dt  M
Mu  u  t  u  t  dt  M  u  t u  t  dt M  u  t  du  t   2 M u  t  
t 0
t 0 t 0 t 0 t 0

1

 M u  t    u  t  0  
2
2 2

 
t t t
1 t
Ku  t  u  t  dt  K u  t  u  t  dt  K t 0 u  t  du  t  dt  2 K u  t  
2

t 0

t 0
t 0



1
2

K u  t    u  t  0  
2 2

t

 Cu  t  u  t  dt
t 0
t

 f  t  u  t  dt
t 0

   
t t
1 1
M u  t    u  t  0     Cu  t  u  t  dt  K u  t    u  t  0     f  t  u  t  dt
2 2 2 2

2 t 0
2 t 0
t t
1 1 1 1
M u  t     Cu  t  u  t  dt  K u  t     f  t  u  t  dt  M u  t  0    K u  t  0  
2 2 2 2

2 t 0
2 t 0
2 2

Undamped system
C 0
t
1 1 1 1
M u  t    K u  t     f  t  u  t  dt  M u  t  0    K u  t  0  
2 2 2 2

2 2 t 0
2 2
t
1 1 1 1
M u  t    K u  t     f  t  u  t  dt  M  u0   K  u0 
2 2 2 2

2 2 t 0
2 2
Initial conditions u  t  0   u0 u  t  0   u0

Assoc. Prof. A. Necmettin GÜNDÜZ (PhD) – IKU Department of Civil Engineering – e-mail: n.gunduz@iku.edu.tr 2
Free (Natural ) vibration of SDoF systems

Mut   Cu t   Ku t   f t   0 t  0
Second order Ordinary Differential Equation (ODE) with constant coefficients.

Mut   Cu t   Ku t   f t   0 t  0
u t   et u t   et ut    2 et  is a real or a complex number
M  2  C  K  et  0 et  0
M  2  C  K  0
C K
2   0
M M
C K K
 2     n   0  n   n 
2 2

M M M
 C   C 
2 2
C K C
1,2             n 
2
 
 
2M  2M  M 2M  2M 
K
 n   n2
2

M
K
n  Natural angular  frequency of the structure s1 ,rs1
M
2 M
Tn   2 Natural period of the structure s
n K

General solution u t   C1e1t  C2 e2t

Critical damping

 C 
2
 Ccr
 2M   n 
  0  n
2

2M
Critical damping coefficient Ccr  2M n
C C
Damping ratio  
Ccr 2M n
C
C  2 M  n  n
2M
Critical damping  1 C  Ccr  2M n
C
1  2     Two folded root
2M
C

u t   C1e  tC2 e  C1  tC2  e  C1  tC2  e  C1  tC2  ent
t
t t t
General solution 2M

Assoc. Prof. A. Necmettin GÜNDÜZ (PhD) – IKU Department of Civil Engineering – e-mail: n.gunduz@iku.edu.tr 3
Overdamped systems

 C 
2
    n   0
2
 1

 2M 
C C
 C  Ccr  2 M n
Ccr 2M n
 C   C 
2 2
C K C
1,2           n 
2

 
 Two real roots
2M  2M  M 2M  2M 

 
 C 
2
C
1                       2  12 n
2 2 2
 

2M  2M  n n n n

 
 C 
2
C
2       n   n  n   n       1 n
2 2 2 2 2

2M 
 2M 
C  Ccr  2 M n

General solution u t   C1e  C2 e  C1e

1t   2 t   C e
 2 12 n t 
 2 12 n t
2

Underdamped systems

 C 
2

 2M   n 
  0  1
2

C C C
 C  Ccr  2 M n  n
Ccr 2M n 2M

C  C 2 K C  K  C 2 
1,2   
         
2M  2M  M 2M M  2M  
 
 n  1 n   n   n  i n  n   n   i 1   2
2 2 2 2
  Two complex roots

 
1  n 1  i 1   2  n  in 1   2  n  i nD i  1

   1  i
2 n 1       i
2
n n 1   2  n  inD

Natural frequency of damped system nD  n 1   2

2 2 2 1 Tn
Natural period of damped system TnD    
nD n 1   2 n 1   2
1  2
u t   C1e1t  C2 e2t  C1e
n inD t
 C2 e
n inD t
General solution  C1ent einDt  C2 ent einDt 
 en t C1einDt  C2 einDt   ent C1 sin nDt   C2 cos nD t 

Assoc. Prof. A. Necmettin GÜNDÜZ (PhD) – IKU Department of Civil Engineering – e-mail: n.gunduz@iku.edu.tr 4
 u t   C1e1t  C2 e2t  C1e
n inD t
 C2 e
n inD t
General solution  C1ent einDt  C2 ent einDt 
 ent C1einDt  C2 einDt   ent C1 sin nD t   C2 cos nDt 
Euler Formula ei  cos    i sin  
u t   ent C1einDt  C2 einDt   ent C1 cos nD t   i sin nD t   C2 cos nD t   i sin nD t  
 ent i C1  C2  sin nDt   C1  C2  cos nD t   ent C1 sin nD t   C2 cos nDt 
i C1  C2   C1 C1  C2  C2

u t   ent C1 sin nD t   C2 cos nD t 

u t   n  ent C1 sin nD t   C2 cos nDt   nD  ent C1 cos nD t  C2 sin nDt  
 ent n  C1  nD  C2  sin nD t   nD C1  n  C2  cos nD t 
1 
ut    Cu t   Ku t 
M

Assoc. Prof. A. Necmettin GÜNDÜZ (PhD) – IKU Department of Civil Engineering – e-mail: n.gunduz@iku.edu.tr 5
Initial conditions

It is required two conditions to determine integration constant C1 and C2. It is reasonable and more
convenient to prescribe these condition at the begining of motion.

u t   ent C1 sin nD t   C2 cos nDt 

u t   n  ent C1 sin nD t   C2 cos nDt   nD  ent C1 cos nD t  C2 sin nD t  
 ent n  C1  nD  C2  sin nD t   nD C1  n C2  cos nD t 

u t  0   u0  C2 C2  u0
1
u t  0   u0  nD  C1  n  C2  nD  C1  n  u0 C1  u0  nu0 
nD
 1   u  nu0 
u t   ent  u0  nu0  sin nD t   u0 cos nD t   ent  0 sin nD t   u0 cos nD t 
    
 nD   nD 

 
 u0  nu0 
 
 u   u   
2
 0 nD u0
u t   ent   u0   sin nDt   cos nD t 
n 0 2
    
 u   u   u   u 
2 2
  0  
  u0    u0 
nD 2 2
 n 0
 0 n 0

  nD   nD  
u0  nu0
nD u0
 cos    sin  
 u   u   u   u 
2 2
 0 n 0
  u0 
2  0 n 0
  u0 
2

  nD
   nD


 u   u 
2

u t   en t  0 n 0
  u0  cos   sin nD t   sin   cos nD t  
2

  nD


 u0  nu0 
2

e nt    u0  sin nD t   

2

  nD


Assoc. Prof. A. Necmettin GÜNDÜZ (PhD) – IKU Department of Civil Engineering – e-mail: n.gunduz@iku.edu.tr 6
  u0  n u0   2
u t   e 
n t
sin nD t   u0 cos nDt    u0  nu0   u 2 ent sin  t    
 nD   nD 

0 nD
 
 At  sin nDt   

 u0  n u0 2 nD u0

At   
u0
  u0  ent tg    
2

  nD

 u0  nu0 u0  n u0
nD

f t   A sin nDt   B cos nDt 

A
A A  B2
2 sin nD tm 
f t   nD  Acos nD t  B sin nD t   0 tg nD tm    
B B cos nD tm 
A B
2 2

f t      A sin  t   B cos  t 

nD  nD nD 

A2  B 2
Maximum  f t   f tm   A sin  nD tm   B cos nD tm    A2  B 2
A B
2 2

Undamped system
C  0    0, nD  n
 u0  n u0   
2

u t   e 
n t
sin nD t   u0 cos nDt    u0  nu0   u 2 ent sin  t    
 nD    

0 nD
  nD

 At  sin nDt   

 u  n u0 
2

A t    0   u0  ent
2

  
nD

C  0    0, nD  n

u  u0 2
u t   0 sin nt   u0 cos nt      u 2 sin  t   A sin  t  0
n    0 n 0 n
n

 u 
2

A0   0   u0 
2

  n

Assoc. Prof. A. Necmettin GÜNDÜZ (PhD) – IKU Department of Civil Engineering – e-mail: n.gunduz@iku.edu.tr 7
Determination of damping ratio of structures, Logarithmic decrement

 u0  n u0   2
u t   e 
n t
sin nD t   u0 cos nD t   ent  u0  n u0   u 2 sin  t    
 nD    

0 nD
  nD

 A t  sin nDt   
u t  0   u0 u t  0   u0  0

 u0  nu0 2

u  nTnD   un     u0  en nTnD  sin  nD  nTnD     
2

  nD

 u  nu0 
2

  0   u0  en nTnD  sin nnDTnD    

2

  
nD

 u  nu0   
2 2

  0   u0  en nTnD  sin 2n    

2  u0  n u0   u 2 en nTnD  sin   
   
  
0
nD nD
n
2n
 u0 e nD
 un

u   
 ln  n   2n n  2n
un 2n n
e nD
 n Logarithmic decrement
u0  u0  nD 1  2
2 n
n   2n 
2 2

1  2
 1  2 n 2  2n2  2   2 n   2n    n 

2 2


2

n   2n 
2 2

n
For   1  2  0 n   2n   2 
2 2

2n

Assoc. Prof. A. Necmettin GÜNDÜZ (PhD) – IKU Department of Civil Engineering – e-mail: n.gunduz@iku.edu.tr 8