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presentation_05_dynamics_v3
presentation_05_dynamics_v3
presentation_05_dynamics_v3
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Learning Goals
Reference:
M.A. Dokainish, K. Subbaraj, A survey of direct time-integration
methods in computational structural dynamicsI. Explicit methods, In
Computers & Structures, Volume 32 : 6, pp. 1371 − 1386, 1989.
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Introduction to Dynamic Analysis
(
Mü(t) + Cu̇(t) + Ku(t) = f(t)
or alternatively:
u(t0 ) = u0 , u̇(t0 ) = u̇0
FI (t) + FD (t) + FE (t) = f(t)
where:
where:
M: Mass Matrix
K: Stiffness Matrix FI (t) = Mü(t) Inertial Force
u: Displacements FD (t) = Cu̇(t) Damping Force
u̇ : Velocities FE (t) = Ku(t) Internal Force
ü : Accelerations
f: external force vector
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Introduction to Dynamic Analysis
Example: 3-dof system
m1 0 0 k1 + k2 + k3 −k2 −k3
M = 0 m2 0 , K = −k2 k2 + k4 0
0 0 m3 −k3 0 k3 + k5
u1 f1 (t)
u = u2 , f(t) = f2 (t)
u3 f3 (t)
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Introduction to Dynamic Analysis
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Learning Goals
Objective
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Direct Integration Methods
Direct implies: The equations are solved in their original form, with
two main ideas utilized:
1. The equilibrium equations are satisfied only at time steps, i.e., at
discrete times with intervals ∆t
2. A particular variation of displacements, velocities and
accelerations within each time interval is assumed.
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Direct Integration Methods
where,
M : mass matrix.
C : damping.
K : stiffness matrix.
f : external force vector.
uk+1 , u̇k+1 , ük+1 : displacement, velocity and acceleration
vectors at tk+1 .
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Direct Integration Methods
Accuracy depends on the previously defined assumptions as well as
the choice of time intervals!
U(t)
t - Δt t t + Δt
U(t)
t - Δt t t + Δt
t - Δt t t + Δt
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Direct Integration Methods
Most Commonly used Direct Integration Methods
U(t)
Acceleration
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Direct Integration Methods
Most Commonly used Direct Integration Methods
The Newmark Method
Displacement Velocity
The Newmark method uses a second order Taylor expansion for approximating Velocities and
U! t+Δt = U! t + ΔtU!!V
Accelerations: !! !!
Δt 2 !! , where UV ,U D are approximations of the Acceleration
U t+Δt = U t + ΔtU!!V + U
2 D
if if
t t + Δt t t + Δt
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Focus Case: The Newmark Algorithm
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The Newmark Method
Remark:
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Linear Implementation of the Newmark Algorithm
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Linear Implementation of the Newmark Algorithm
Implicit/explicit algorithm:
← uk + u̇k ∆t + ük 12 − β ∆t 2
1: ũk+1
2: ũ˙ k+1 ← u̇k + ük (1 − γ) ∆t
−1
3: ük+1 ← M + Cγ∆t + Kβ∆t 2 f (tk+1 ) − Cũ˙ k+1 − Kũk+1
4: u̇k+1 ← ũ˙ k+1 + ük+1 γ∆t
5: uk+1 ← ũk+1 + ük+1 β∆t 2
β = 0 : explicit algorithm
β 6= 0 : implicit algorithm → inversion of K
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The Newmark Algorithm
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The Newmark Algorithm
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The Newmark Algorithm
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The Newmark Algorithm
β = 0 : explicit algorithm
β 6= 0 : implicit algorithm → inversion of K
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The Central Difference Method
Swiss Federal Institute of Technology Page 15
Di t Integration
Direct I t ti Methods
M th d
Example - 2 DOF system
k1 = 4
m1 = 2 R1 = 0
U1 ,U1 ,U1
⎡ 2 0 ⎤ ⎡U1 ⎤ ⎡ 6 −2 ⎤ ⎡U1 ⎤ ⎡ 0 ⎤
k2 = 2 ⎢ 0 1 ⎥ ⎢ ⎥ + ⎢ −2 4 ⎥ ⎢U ⎥ = ⎢10 ⎥
⎣ ⎦ ⎣U 2 ⎦ ⎣ ⎦⎣ 2⎦ ⎣ ⎦
m2 = 1 R2 = 10
U 2 ,U 2 ,U2
k3 = 2
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The Newmark Method
2dof system example ∆t = 0.28s
3
Displacement
−1
−2
0 1 2 3 4 5 6 7 8 9 10
time
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The Newmark Method
2dof system example ∆t = 1s
−5
−10
0 2 4 6 8 10
time
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State Space Equation Formulation
2dof Mass Spring System
FBD F1 ( t ) F2 ( t )
F1 ( t ) F2 ( t )
k1 k2 k1 x1 k2 ( x2 − x1 ) k2 ( x2 − x1 )
m1 m2 m1 m2
c1 x1 c2 ( x2 − x1 ) c2 ( x2 − x1 )
c1 c1
x1 ( t ) x2 ( t ) (Lumped Mass System)
T
We introduce the augmented state vector: x = u1 u2 v1 v2
(controllable form equivalent). Then,
u̇1 0 0 1 0 u1 0 0
u̇2 0 0 0 1 u2 + 0 0 f1 (t)
v̇1 =
v1 −1 f2 (t)
−m−1 k −m−1 c
m
v̇2 v2
ẋ = Ax + Bp(t)
where m, c and k are mass, damping and stiffness matrix of the
underlying second order mechanical system.
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State Space Equation Formulation
ẋ = Ax + Bp(t)
0 0 0 0 x4
y = Cx + Dp(t)
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State Space Equation Formulation
From phase-space to state-space (nonlinear):
with,
I 0 0 u −v 0
M = 0 m 0 , x = v , R = r(u, v, s) , F(t) = f(t)
0 0 I s g(u, v, s) 0
and,
r is the nonlinear restoring force vector that depends on
displacement u, velocity v and additional state variables s.
g is an additional nonlinear function that determines the
evolution of the additional state variables s.
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State Space Equation Formulation
Using the state space representation we have converted a 2nd order ODE
into an equivalent 1st order ODE system. We can now use any 1st order
ODE integration method to convert the continuous system into a
discrete one and obtain an approximate solution:
ü + ωc2 u = 0
State-space representation:
d u 0 1 u
=
dt u̇ −ωc2 0 u̇
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Back to Time Stepping Algorithms
ü + ωc2 u = 0
State-space representation:
d u 0 1 u u
= 2 =A
dt u̇ −ωc 0 u̇ u̇
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Analysis of Time Stepping Algorithms
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Analysis of the Newmark Algorithm
1
1 0 −β∆t 2 − β ∆t 2
uk+1 1 ∆t 2 uk
0 1 −γ∆t u̇k+1 = 0 1 (1 − γ) ∆t u̇k
ωc2 0 1 ük+1 0 0 0 ük
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Analysis of the Newmark Algorithm
−1 1
1 0 −β∆t 2 − β ∆t 2
uk+1 1 ∆t 2 uk
u̇k+1 = 0 1 −γ∆t 0 1 (1 − γ) ∆t u̇k
ük+1 ωc2 0 1 0 0 0 ük
uk+1 uk
u̇k+1 = Ad u̇k
ük+1 ük
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The Newmark Algorithm: Stability
Ad Φd = λd Φd
↓
λk+1
uk+1 u0 d,1 0 0 u0
u̇k+1 = Ak+1 u̇0 = Φd k+ −1
d 0 λd,2 0 Φd u̇0
ük+1 ü0 0 0 0 ü0
↓
(
ρ ≤ 1 stable
ρ = max |λd,j | :
j ρ > 1 unstable
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The Newmark Algorithm: Spectral Radius
ü + ωc2 u = 0
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The Newmark Algorithm: Distortions
AΦ = λΦ Ad Φd = λd Φd
↓ ↓
Φ−1 AΦ = Φ−1d Ad Φd =
√ 2
λ = ±iωc λd = e (−ξd ωd ±iωd 1−ξd )∆t
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The Newmark Algorithm: Frequency Distortion
ü + ωc2 u = 0
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The Newmark Algorithm: Damping Distortion
ü + ωc2 u = 0
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Analysis of the Newmark Algorithm: Order of Accuracy
The order of accuracy p can be evaluated numerically:
∆(u) = |uk − u(tk )| ∝ ∆t p
where.
ωc is the c-th frequency of the model
ωe is the frequency of the e-th element
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The Newmark Method
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The Newmark Method
source: csiberkeley.com
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Nonlinear Time Stepping Integration
(
Mün + r (un , u̇n ) = f (tn )
u(t0 ) = u0 , u̇(t0 ) = u̇0
where,
M : mass matrix.
r : restoring force.
f : external force vector.
un , u̇n , ün : displacement, velocity and acceleration vectors at tn .
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Nonlinear Implementation of the Newmark Algorithm
Discretization of the IVP with a time step ∆t = tk+1 − tk :
(
Mük+1 + r (uk+1 , u̇k+1 ) = f (tk+1 )
u(t0 ) = u0 , u̇(t0 ) = u̇0
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Nonlinear Implementations of the Newmark Algorithm
1: for i = 1 to I do 1: for i = 1 to I do
2: ri,k+1 ← elementForce (Zi uk+1 ) 2: Ki,k+1 ← elementStiff (Zi uk+1 )
3: rk+1 ← rk+1 + ZTi ri,k+1 3: Kk+1 ← Kk+1 + ZTi Ki,k+1 Zi
4: end for 4: end for 42 / 55
Nonlinear Implementations of the Newmark Algorithm
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Explicit Integration for Nonlinear Problems
∆ük+1 ← (M + Cγ∆t)−1 ε
In the above:
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Explicit Integration for Nonlinear Problems
∆ük+1 ← (M + Cγ∆t)−1 ε
If further:
M is lumped (diagonal)
C is either lumped or zero
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Dynamic Relaxation
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Implicit Vs Explicit integration
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Nonlinear Implementation of the Newmark Algorithm
1: for i = 1 to I do 1: for i = 1 to I do
2: ri,k+1 ← elementForce (Zi uk+1 ) 2: Ki,k+1 ← elementStiff (Zi uk+1 )
3: rk+1 ← rk+1 + ZTi ri,k+1 3: Kk+1 ← Kk+1 + ZTi Ki,k+1 Zi
4: end for 4: end for
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Nonlinear Implementation of the Newmark Algorithm
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Analysis of the HHT-α Algorithm: Spectral Radius
ü + ωc2 u = 0
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Analysis of the HHT-α Algorithm: Frequency Bias
ü + ωc2 u = 0
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Analysis of the HHT-α Algorithm: Damping Bias
ü + ωc2 u = 0
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Algorithmic Damping Comparison
Free-decay response of a S-DoF system:
ü + ωc2 u = 0
ωc = 2π5, u0 = 1m, v0 = 0 ms , ∆t = 2e − 4s
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Algorithmic Damping Comparison
Free-decay response of a S-DoF system:
ü + ωc2 u = 0
ωc = 2π5, u0 = 1m, v0 = 0 ms , ∆t = 2e − 2s
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Recalling the Eigenvalue Analysis
The eigen-problem is obtained as the solution to the undamped, free
vibration equation:
Mü + Ku = 0
ω1
ω2
Ω2 =
Φ= φ1 , φ2 , ... φn
...
ωn
K − MΩ2 Φ = 0
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Mode Superposition Method
M − Orthonormality
We may scale Φ, as they form a basis, and we can chose these such that:
ΦT MΦ = I → ΦT KΦ = Ω2
Using the transformation u(t) = Φq(t), the IVP is transformed to its
modal counterpart:
q̈(t) + ΦT CΦq̇(t) + Ω2 q(t) = ΦT f(t)
q0 = ΦT Mu0 ; q̇0 = ΦT Mu̇0
under a Proportional Damping Assumption: φTi Cφj = 2ωi ξi δij , where ξi is a
modal damping parameter and δij is the Kronecker delta
Therefore, we end up with n decoupled SDOF equations, one for each qi :
q̈i (t) + 2ωi ξi q̇i (t) + ωi2 qi (t) = ri (t)
Complete Response
The solution of all n SDOF equations are calculated and the finite
element nodal point displacements are obtained by superposition of
the response in each mode:
n
X
u(t) = Φq(t) ⇒ û(t) = φi qi (t)
i=1
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