Civil Engineering Department

Structural Analysisspring 2013

(single degree of freedom general Dynamic Loading)

Fawad Muzaffar
M.Sc. Structures (Stanford University) Ph.D. Structures (Stanford University)

Response to General Dynamic Loading Superposition Methods

Response to Unit Impulse: For a unit magnitude of impulse p approaches as 0 From Newtons 2nd Law Rate of change of momentum = Force or For constant mass

Equation -1 or
Fawad Muzaffar

Magnitude of Impulse = Rate of Change of Momentum

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Response to General Dynamic Loading Superposition Methods

Note: spring and damper effects are neglected because duration of impulse is short and these components dont have time to respond. For a freely vibrating dampless system, the response is given by ---Equation 2 (0) can be calculated using Equation-1 (0) is calculated by noting that Plugging initial conditions into Equation 2 results in
1 = sin [( )]

For a freely vibrating damped system, the response is given by ----Equation 3

Fawad Muzaffar 3

Response to General Dynamic Loading Superposition Methods

Plugging in the initial values into equation 3
1 = sin ()

Response to Arbitrary Loading: An arbitrary load can be represented as a series of infinitesimally short impulses. The response to any one of the impulses is given by = > The response of the system at time t is the sum of responses upto this time i.e.

=
0

Note: Above Integral is known as Convolution Integral.

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The convolution integral for SDOF damped system is called Duhamels Integral i.e. 1 = = () sin () 0 For an undamped system 1 = ()sin [( )] 0 Suitability: Can be used to evaluate response of SDOF systems due to arbitrary forces. Limitations:
This technique can only be applied to linear systems. For an arbitrary ,the Duhamel Integrals need to be calculated numerically
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Response to General Dynamic Loading Superposition Methods

Response to General Dynamic Loading Numerical Methods

The Problem Statement
Variation of applied force with time is given. The duration of applied force is divided into segments, each long. The value of applied force, at the end of each discrete time interval is evaluated. , and at the start of each discrete interval are known and satisfy Calculate + , + and + such that

Requirements of Numerical Procedures

Three essential requirements are i. Convergence Numerical solution should approach exact solution with decrease of time step, ii. Stability Numerical solution should be stable despite of round off errors. iii. Accuracy Numerical solution should be close enough to exact solution.

Response to General Dynamic Loading Numerical Methods

Types of Numerical Solution Three types of numerical procedures are commonly used i. Methods based on interpolation of excitation function. ii. Methods based on finite difference of velocity and acceleration. iii. Methods based on assumed variation of acceleration. Methods Based on Interpolation of Excitation Function (Piecewise Exact Method)

Calculation Procedure: i. The excitation function is divided into discrete intervals, usually defined by significant changes of slope. ii. For notation, refer to adjacent figure
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Response to General Dynamic Loading Numerical Methods

The assumed linearly varying loading during time step is given by The equation of motion of a structural system leads to The total response consists of 3 components (for a dampless system). i. Free response due to initial displacement (0) and velocity (0). ii. Response due to step force with at rest initial conditions. iii.Response due to ramp force with at rest initial conditions.
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Response to General Dynamic Loading Numerical Methods

The displacement response of the system is given by Differentiating the above equation yields

At = ; = +1 and = +1 , the above equations can be written as

Response to General Dynamic Loading Numerical Methods

The above equations can be written in recursive form as

For an under-critically damped system, the coefficients of above equations becomes

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Response to General Dynamic Loading Numerical Methods

Example 1 - Accuracy of Piecewise Linear Solution Algorithm Properties of the Structure:

Approximation of Loading Function:

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Response to General Dynamic Loading Numerical Methods

Calculated Response:

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Response to General Dynamic Loading Numerical Methods

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Response to General Dynamic Loading Numerical Methods

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Response to General Dynamic Loading Numerical Methods

Advantages: i. The calculation procedure is highly efficient. ii. The only restriction on step length is the slope of the loading function. The Central Difference Method Problem Statement The , () and () at time 1 needs to be evaluated such that + + = --- Equation 3 Step # 1: Calculate approximate values of 1 and 1 . This is done by first approximating 1/2 and 1/2
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Response to General Dynamic Loading Numerical Methods

The acceleration at 0 can then be evaluated or Plugging this value of 0 into equation 3 Solving for the displacement at the end of the time step

1 still needs to be evaluated and this is done by assuming that

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Response to General Dynamic Loading Numerical Methods

From this expression Substituting the above value of 1 , the displacement at 1 is given by To calculate velocity at 1 , the following approximate relationship is used From which Advantage: This is an explicit method. Disadvantage: The method is only conditionally stable. The condition will blow up if

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Response to General Dynamic Loading Numerical Methods

Integration Methods Euler-Gauss Method (Constant Acceleration Method) Acceleration is assumed to remain constant during time step. Algorithm: i. Acceleration at start of step is known. ii. The acceleration at end of step is assumed. iii. Calculate 1 and 1
For constant acceleration assumption

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Response to General Dynamic Loading Numerical Methods

iv. Using 1 and 1 calculated in step iii, calculate 1 1 + 1 + 1 = 1 1 = 1 (1 1 1 ) iv. Compare 1 calculated in step iv with assumed value. Iterate if necessary. Advantage: i. The method is unconditionally stable. Linear Acceleration Method: This calculation algorithm is identical to previous algorithm, except that variation of acceleration is assumed to be linear in this case.

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