Structural Dynamics

Structural Dynamics
7/29/2005 Dynamic Analysis 1
Spring-Mass system subjected to a time dependent load.
k F(t)
m
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Dynamic Analysis
Free-body diagram of the mass.
T = kx m
F(t)
=
Dynamic Analysis
& ma = m& x
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& F(t ) k x = m & x & + k x = F(t ) m& x

Solution of D.E. is sum of homogeneous and particular solutions:
Homogeneous :
F(t ) = 0 &+kx = 0 m& x

Let : k = m Then :
2
& &+ x = 0 x
2
2 is the natural circular frequency

2 =
is the period (measured in seconds)
Displacement due to simple harmonic motion.
xm
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Dynamic Analysis
One Dimensional Bar Element
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Dynamic Analysis
Step 1 - Select Element Type

d 1x
e f1x (t )
1
x
d 2x
e f 2 x (t )
L
E - modulus of elasticity A - cross-sectional area - mass density
Step 2 - Select a Displacement Function

= a1 + a 2 x u +N d = N 1d u 1x 2 2x x N1 = 1 L x N2 = L
Step 3 - Define Strain/Displacement and Stress/Strain Relationships

u { x } = = [B ] d x 1 1 [B ] = L L d = 1x d d 2x
{}
{}
} {} = [D ]{ x } = [D ][B ]{d
Step 4 - Derive Element Stiffness and Mass Matrices and Equations

With time dependent loading
f1 x f 2 x
Newtons Second Law
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Dynamic Analysis
14
NODAL EQUILIBRIUM EQUATIONS
d e 1x f1x = f1x + m1 2 t 2 d e 2x f2x = f2x + m 2 2 t

2
m1 and m2 are obtained by lumping the total mass of the bar equally at the two nodes
AL m1 = 2 AL m2 = 2
Lumped Mass Model

d 1x e (t ) f 1x
1 2
x
m1
m2 L
d 2x e (t ) f 2x
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Dynamic Analysis
17
Equilibrium in Matrix Form

e f f m 1 1x 1x e = + 0 f f 2x 2x
d 1x 2 0 t m 2 d 2x 2 t
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Dynamic Analysis
18
Equilibrium in Matrix Form
& & ] d f (t ) = k d + [m
e
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Dynamic Analysis
19
Defining Terms
1 1 AE [k ] = L 1 1 AL 1 0 [m ] = 2 0 1 d 2 d & & d = t2 Element Stiffness Matrix Element Lumped Mass Matrix Nodal Displaceme nts Nodal Accelerati ons
{}
{}
{}
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Dynamic Analysis
20
Consistent Mass Matrix
{ }
e
& & X = u
V
{}
T
{f b } = [N ] {X} dV {f b } = [N ]
V
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{}
& & dV u
21
} = [N ] d {u & & = [N ] d u & & & & = [N ] d u

& & dV {f b } = [N ] [N ] d
T V
& & {f b } = [m ] d
V
] = [N ] [N ] dV [m
T
Dynamic Analysis 23
{}
{}
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Consistent Mass Matrix Bar Element ] = [N ] [N ] dV [m

T V
1 x L x [m ] = x 1 V L L x L 1 L x [m ] = A x 1 0 L L
dV x L dx x L
24
Consistent Mass Matrix Bar Element

x x L 1 1 L L [m ] = A x x 0 1 L L A L 2 ]= [m 6 1
x x 1 L L d x x x L L 1 2
25
STEP 5 - Assemble the Global Equations and Apply B.C.s
& & {F(t )} = [K ]{d} + [M ]{d}
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Dynamic Analysis
26
& & {F(t )} = [K ]{d} + [M ]{d}

Now must solve coupled set of ODEs instead of set of linear algebraic equations!
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Dynamic Analysis
27
[m ] = [N ] [N ] dV
T V
Beam Element
, v y
,m 1 1
,m 2 2 2
, d f 1y 1y
, d f 2y 2y
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Dynamic Analysis
29
Shape Functions
( 2x 3x L + L ) L3 1 3 L 2x 2 L2 + x L3 ) ( N2 = x 3 L 1 3 + 3x 2L) ( 2x N3 = 3 L 1 3 2 2 ( N4 = x Lx L ) 3 L
N1 = 1
3 2 3
Shape Functions
1.000
N1
0.500
N3
N2
L
0.000
0
-0.500
N4
31
[m] = [N] [N] dV

T V
22L 156 22L 2 4 L m [m] = 420 54 13L 2 13L 3L

13L 2 3L 156 22L 2 22L 4L 54 13L

32
Lumped Mass Matrix

1 0 m [m] = 0 2 0
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0 2 L 210 0 0
Dynamic Analysis
0 0 1 0
0 0 0 2 L 210
33
Lumped Mass Matrix

2nd and 4th terms account for rotary inertia. = 0 if this is ignored. = 17.5 if mass moment of inertia of bar spinning about one end is selected
m L 2 2 I= 3
34
Consistent Mass Matrix - CST

Q 0 [m] = 0 Q 2 1 1 u1 m [Q] = 1 2 1 u 2 12 1 1 2 u3
For each degree of freedom
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Dynamic Analysis
35
Consistent Mass Matrix - CST

2 0 At 1 [m] = 12 0 1 0
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0 1 0 1 0 2 0 1 0 1 0 2 0 1 0 1 0 2 0 1 0 1 0 2 0 1 0 1 0 2
Dynamic Analysis 36
Lumped Mass Matrix - CST

Q 0 [m] = 0 Q 1 0 0 u 1 m [Q] = 0 0 1 u 2 3 0 0 1 u3
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Dynamic Analysis
37
Lumped Mass Matrix - CST

1 0 At 0 [m] = 3 0 0 0
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0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 1
38
Dynamic Analysis
Consistent Mass Matrix - Quad

Q 0 [m] = 0 Q 4 2 2 4 [Q] = m 36 1 2 2 1 m = At
1 2 2 1 4 2 2 4
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Dynamic Analysis
39
Consistent Mass Matrix - Quad

4 0 2 m 0 [m] = 36 1 0 2 0
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0 2 0 1 0 2 0 4 0 2 0 1 0 2 0 4 0 2 0 1 0 2 0 4 0 2 0 1 0 2 0 4 0 2 0 1 0 2 0 4 0 2 0 1 0 2 0 4 0 2 0 1 0 2 0 4
Dynamic Analysis 40
Hybrid Methods
Attempts have been made to combine consistent and lumped mass approaches to achieve some of the benefits of each!
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Dynamic Analysis
41
HRZ Lumping
1. Hinton, Rock, and Zienkiewicz 2. Compute the diagonal terms of consistent
mass matrix. 3. Compute total mass of element, m 4. Compute s by adding diagonal coefficients associated with translational D-O-F that are in same direction. 5. Scale all diagonal coefficients by multiplying by m/s
HRZ - Bar Element

A L 2 1 ]= [m 6 1 2 m = AL AL s = 4 6 m 3 = s 2 A L 3 0 ]= [m 6 0 3
HRZ - Beam Element

22L 54 13L 156 22L 2 2 4 13 3 L L L m [m] = 420 54 13L 156 22L 2 2 13L 3L 22L 4L m = AL AL s = 312 420 m = 420 s 312
HRZ - Beam Element

420 312 156 0 m ]= [m 420 0 0 0 420 4 L2 312 0 0 0 0 420 156 312 0 0 39 2 0 L m = 78 39 0 2 L 420 2 4L 312
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Dynamic Analysis
45
HRZ Quadratic Serendipity

3 76 16 76
3x3 Gauss Rule
1 36 8 36
2x2 Gauss Rule
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Dynamic Analysis
46
HRZ Quadratic Lagrangian

1 36 4 36
3x3 Gauss Rule
1 36 4 36
2x2 Gauss Rule
16 36
16 36
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Dynamic Analysis
47
% error in natural frequencies of a thick simply-supported plate. Half of the plate modeled with 8-noded 24 d-o-f elements
Mode m n 1 1 2 1 2 2 3 1 3 2 3 3 4 2 Type of Mass Matrix Consistent (%) HRz Lumping (%) Ad Hoc Lumping (%) 0.11 0.32 0.32 0.4 0.45 0.45 0.35 2.75 4.12 5.18 0.05 5.75 4.68 2.96 10.15 13.78 5.18 19.42 16.88 1.53 31.7
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Dynamic Analysis
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Optimal Lumping
Only translational d-o-f Based on consistent mass matrix Use appropriate quadrature rule Chose integration points to coincide
with nodal locations [m] will be diagonal
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Dynamic Analysis
49
Let p be the highest order complete
polynomial in shape function N let m be the highest order derivative in strain energy (m = 1 elasticity, m = 2 bending) Chose quadrature rule with degree of precision 2(p-m)
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Dynamic Analysis
50
Three noded bar element p=2 m=1 2(p-m) = 2 Three point quadrature rule. Newton -Cotes has points at the nodes. (Simpson Rule)
1 4 b+a 1 f ( x )dx = (b a ) f (a ) + f + f (b ) 6 2 6 6 a
m ij = A N i N jdx = N i N j J d
1
L J= 2 L 4 1 1 m ij = A (1 ( 1)) N i ( 1)N j ( 1) + N i (0)N j (0 ) + N i (1)N j (1) 2 6 6 6 i j m ij = 0
1 0 0 AL [m] = 0 1 0 6 0 0 4
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Dynamic Analysis
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Serendipity
1 12 1 3
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Dynamic Analysis
53
Lagrangian
1 36 1 9
4 9
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Dynamic Analysis
54
Mass Matrices
Product [m]{a} must yield the correct total force on
an element (F = ma) when {a} represents a rigidbody translational acceleration. Consistent mass matrices, [m] and [M] are positive definite. Lumped mass matrix is positive semi-definite when zero terms appear on main diagonal. Lumped mass matrix is indefinite when negative terms appear on main diagonal.
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Dynamic Analysis
55
Mass Matrices
Special treatment may be needed to
handle the last two cases.
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Dynamic Analysis
56
Best Type ?
1. Consistent matrices usually
more accurate for flexural problems. 2. Consistent matrices give upper bounds on natural frequencies.
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Dynamic Analysis
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Best Type ?
1. Lumped matrices usually give natural 2. 3. 4. 5.
frequencies less than exact values. Simpler to form. Occupy less storage. Require less computational effort. Usually more important in time-history than in vibration problems.
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Dynamic Analysis
58
Damping
1. Structural damping is not viscous. 2. Due to mechanisms such as hysteresis and 3. 4. 5. 6.
slip in connections. Mechanisms not well understood. Awkward to incorporate into structural dynamic equations. Makes equations computationally difficult. Effects usually approximated by viscous damping.
Dynamic Analysis
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Types of Damping Models

Phenomenological Damping Methods

(models actual dissipative mechanisms)

Elastic-Plastic Hysteresis Loss Structural Joint Friction Material Micro-cracking Introduce Viscous Damping Relies on Fraction of Critical Damping
Dynamic Analysis 60
Spectral Damping Methods

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Critical Damping
Fraction of Critical Damping =1 Critical Damping
Critical Damping marks the transition between oscillatory and non- oscillatory response of a structure
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Dynamic Analysis
61
Critical Damping Ratio

0 .5 % 5 % 2% 15% 2% 15% Steel Piping Bolted or riveted steel structures Reinforced or Prestresses Concrete
Actual value may depend on stress level.

Rayleigh or Proportional Damping

Damping matrix is a linear combination of stiffness and mass matrices:
[C] = [K ] + [M ]
Rayleigh or Proportional Damping

[C] is orthogonal damping matrix. Modes may be uncoupled by eigenvectors associated with undamped problem.
1 = 2
If critical damping ratio is known at two frequencies then:

1 = 2 ( 2 2 1 1 ) =2 2 2 2 1
= 2 1 2
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( 1 2 2 1 )
2 2
2 1
Dynamic Analysis
65
Natural Frequencies and Mode Shapes Undamped, Unforced Response
{D} = {D }sin t
2
{D }
& } = {D }cos t {D && } = {D }sin t {D amplitudes of nodal d - o - f circular frequency f = 2 ( Hz )

Dynamic Analysis 66
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Results in generalized eigenproblem
([K ] [M ]){D } = {0}

=
2
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Dynamic Analysis
67
Trivial Solution:
[K ] [M ]
{D } = 0
Dynamic Analysis 68
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Nontrivial Solution:
[K ] [M ]
{D} 0
=0
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Dynamic Analysis
69
Roots of Characteristic Polynomial (eigenvalues) Associated Eigenvectors
{D }
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Dynamic Analysis
70
i Natural Frequencies
{D }
Normal Modes
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Dynamic Analysis
71
Natural Frequencies
[K] and [M] n x n then there are n eigenvalues and n eigenvectors [K] and [M] positive definite then eigenvalues are
all positive Mii = 0 infinite eigenvalue Mii < 0 negative eigenvalue - imaginary frequency Use condensation to remove ith equation if Mii = 0
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Dynamic Analysis
72
Rayleigh Quotient
{D}
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[K ] symmetric [M ] positive definite

approximat ion to i eigenvector
th th
{ D} [K ]{D} = {D} [M ]{D}

T T
approximat ion to i eigenvalue

Dynamic Analysis 73
Rayleigh Quotient
min min max
{ v } [K ]{v } max T {v } [M ]{v }

T
smallest eigenvalue l arg est eigenvalue
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Dynamic Analysis
74
Modal Methods
When [K], [C], [M] are known and time independent the problem is linear.
ext & & & [M ]{D }+ [C ]{D }+ [K ]{D} = R
& (0 )}, {D (0 )} {D
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}
75
given as initial conditions

Dynamic Analysis
Modal Methods
Assume orthogonal damping, such as Rayleigh Damping. Modes can be uncoupled:
{D } [M ]{D } = 0 {D } [K ]{D } = 0 {D } [C ]{D } = 0

T i j T i j T i j
ij
{D } [M ]{D } = 1 {D } [K ]{D } = {D } [C ]{D } = 2

T i i T i i 2 i T i i i
77
Eigenvectors are linearly independent
[] = matrix of
{Z}
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eigenvectors (mode shapes) {D} = []{Z} modal amplitudes

Dynamic Analysis 78
Substitute into:
ext & & & [M ]{D }+ [C ]{D }+ [K ]{D} = R & (0 )}, {D (0 )} given {D
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Dynamic Analysis
79
ext & & & [M ][ ]{Z }+ [C ][ ]{Z }+ [K ][ ]{Z } = R & ( 0 ) } = {D & (0 )} [ ]{Z
[ ]{Z ( 0 ) } = {D (0 )}
given
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Dynamic Analysis
80
Mode Displacement Method
2 & & & [I ]{Z }+ [ ]{Z }+ {Z } = {p}
[ ]
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Dynamic Analysis
81

Pre-multiply by []T
[ ] T T ext + [ ] [K ][ ]{Z } = [ ] {R } & ( 0 ) } = {D & (0 )} [ ]{Z [ ]{Z ( 0 ) } = {D (0 )} given

T
T & & &} [M ][ ]{Z }+ [ ] [C ][ ]{Z
82
[ ] [M ][ ] = [I ] T [ ] [C ][ ] = [ ] T 2 [ ] [K ][ ] = [ ]
T
2 & & & [I ]{Z }+ [ ]{Z }+ {Z } = {p}
[ ]
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Dynamic Analysis
84
Modes Uncouple:
2 & & & [I ]{Z }+ [ ]{Z }+ {Z } = {Z } 2 & & & Z + 2 Z + Z = p i = 1, n i i i i i i
[ ]
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Dynamic Analysis
85
& ( 0 ) } = {D & (0 )} [ ]{Z [ ]{Z ( 0 ) } = {D (0 )} T T & & (0 )} [ ] [M ][ ]{Z ( 0 ) } = [ ] [M ]{D T & & (0 )} [I ] {Z ( 0 ) } = [ ] [M ]{D T & & (0 )} {Z ( 0 ) } = [ ] [M ]{D T {Z ( 0 ) } = [ ] [M ]{D (0 )}
Reduce size of problem:
m << n eq
{D} = {}i Z i
i =1
Error Estimate:
&& } [C ]{D & } [K ]{D } {R } [M ]{D {R }
ext ext
e( t ) =
For an accurate analysis : e ( t ) 1%
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Dynamic Analysis
88
In many structural dynamics problems, more modes participate in the quasi-static response than in the dynamic response. For a small m value, the mode displacement method may have difficulty in predicting the quasi-static response.
Mode Acceleration method Method

2 & & & [I ]{Z }+ [ ]{Z }+ {Z } = {p}
[ ]
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Dynamic Analysis
90
Modal transformation only on inertial and damping terms

ext & & & [M ][ ]{Z }+ [C ][ ]{Z }+ [K ]{D} = R & ( 0 ) } = {D & (0 )} [ ]{Z
[ ]{Z ( 0 ) } = {D (0 )}
Dynamic Analysis
given
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91
&& } [C ][ ]{Z &} [K ]{D } = {R } [M ][ ]{Z

ext
{D } = [K ]
&& } [C ][ ]{Z & }) {R } [K ] ([M ][ ]{Z

ext 1
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Dynamic Analysis
92
[ ] [M ][ ] = [I ] T [M ][ ] = [ ]
T
{D} = [K ] {R } [K ]
1 ext
&& } [C ][ ]{Z & }) ( [ ] {Z

T
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Dynamic Analysis
94
[ ] [K ][ ] = [ ] T 2 1 [ ] [K ][ ][ ] = [I ] T T 2 1 [K ][ ][ ] = [ ] [I ] = [ ] T 2 1 1 [ ][ ] = [K ] [ ]
T 2
{D} = [K ] {R } [K ] [] 1 ext 2 1 && 1 &} {D} = [K ] {R } [][ ] {Z}+ [K ] [C][]{Z

1 ext 1 T
1 & & &} {Z}+ [K ] [C][]{Z
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Dynamic Analysis
96
{D} = [K ] {R } [K ] [] T T ext 1 2 1 && 1 &} {D} = [K ] {R } [][ ] {Z}+ [K ] [] [] [C][]{Z ext 1 2 1 && 2 1 &} {D} = [K ] {R } [][ ] {Z}+ [][ ] []{Z
1 ext 1 T 1 & & &} {Z}+ [K ] [C][]{Z
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Dynamic Analysis
97
{D } = [K ] {R } [ ][
1 ext
2 1
&& }+ [ ]{Z & }) ] ({Z
{D} = [K ] {R }
1 ext
1 && 2 i & {}i + Z Z i i 2 i =1 i i

m
First term on RHS represents quasi-static response, the second term represents corrections for inertia and viscous effects.
Solve for Z terms as before:
2 & & & Z i + 2 i i Z i + i Z = p i
i = 1, n
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Dynamic Analysis
99
Mass Condensation
Reduces number of d-o-f. Reduces expense of computing
eigenvalues. Detrimental to accuracy. Not used with optimal lumping.
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Dynamic Analysis
100
Guyan Reduction
K mm KT ms K ms M mm T K ss M ms M ms Dm = D M ss s 0 0
m - master degree of freedom s - slave degree of freedom

Guyan Reduction
m - master degree of freedom s - slave degree of freedom Basic Assumption: For lowest frequency modes the inertial forces on slave d-o-f are less important than elastic forces transmitted by master d-o-f. Thus we ignore all mass except Mmm
Guyan Reduction
K mm KT ms K ms M mm K ss 0
1 s ss
{D } = [K ] [K ] {D }
T ms m
0 Dm = D 0 s
0 0
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Dynamic Analysis
103
Guyan Reduction
Dm = [T ]{D m } Ds I [ T ] = 1 T K ss K ms
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Dynamic Analysis
104
Guyan Reduction
( [K r ] [M r ] ){D m } = {0} T [K r ] = [T ] [K ][T ] T [M r ] = [T ] [M ][T ]

Both [Kr] and [Mr] are generally full. [Mr] contains both mass and stiffness terms
Guyan Reduction
[C r ] = [T ] [C ][T ] T ext ext {R r } = [T ] {R } ext & & & [M r ]{D m }+ [C r ]{D m }+ [K r ]{D m } = {R r }
T
Compute Slaves
{D }
s
= [K ss i M ss ]
[K
T ms
iM
T ms
]{D }
m
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Dynamic Analysis
107
Choosing Master D-O-F

Choose d-o-f where inertia is most important These are characterized by large mass to
stiffness ratios. Each d-o-f that has a time varying applied load should be chosen. Master d-o-f should not be clustered. Process can be automated
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Dynamic Analysis
108
Process for Choosing Master D-O-F

Scan diagonal coefficients of [K] and [M]. Choose d-o-f for which Kii/Mii is largest. This becomes first slave. Condense [K] and [M] by one order. Repeat process using condensed matrices till
a user specified number of d-o-f remain. These are Master d-o-f chosen in near optimal way.
109
Number of Master D-O-F

Choose cut-off frequency c Take this to be about three times the highest
frequency of interest. Terminate selection of master d-o-f when Kii/Mii < c2 Can combine manual and automatic selection (i.e. Choose each d-o-f that has a time varying applied load and then automatically select others.) Number of Master d-o-f may be 10% - 20% of total d-o-f.

Structural Dynamics

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Structural Dynamics

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Structural Dynamics

7/29/2005 Dynamic Analysis 1

Spring-Mass system subjected to a time dependent load.

Free-body diagram of the mass.

& F(t ) k x = m & x & + k x = F(t ) m& x

Solution of D.E. is sum of homogeneous and particular solutions:

F(t ) = 0 &+kx = 0 m& x

2 is the natural circular frequency

Displacement due to simple harmonic motion.

One Dimensional Bar Element

Step 1 - Select Element Type

Step 2 - Select a Displacement Function

Step 3 - Define Strain/Displacement and Stress/Strain Relationships

Step 4 - Derive Element Stiffness and Mass Matrices and Equations

Newtons Second Law

NODAL EQUILIBRIUM EQUATIONS

d e 1x f1x = f1x + m1 2 t 2 d e 2x f2x = f2x + m 2 2 t

Lumped Mass Model

Equilibrium in Matrix Form

Equilibrium in Matrix Form

Consistent Mass Matrix

Consistent Mass Matrix

} = [N ] d {u & & = [N ] d u & & & & = [N ] d u

Consistent Mass Matrix

Consistent Mass Matrix Bar Element ] = [N ] [N ] dV [m

Consistent Mass Matrix Bar Element

STEP 5 - Assemble the Global Equations and Apply B.C.s

& & {F(t )} = [K ]{d} + [M ]{d}

& & {F(t )} = [K ]{d} + [M ]{d}

Consistent Mass Matrix

Consistent Mass Matrix

[m] = [N] [N] dV

22L 156 22L 2 4 L m [m] = 420 54 13L 2 13L 3L

13L 2 3L 156 22L 2 22L 4L 54 13L

Lumped Mass Matrix

Lumped Mass Matrix

Consistent Mass Matrix - CST

For each degree of freedom

Consistent Mass Matrix - CST

Lumped Mass Matrix - CST

Lumped Mass Matrix - CST

Consistent Mass Matrix - Quad

Consistent Mass Matrix - Quad

HRZ - Bar Element

HRZ - Beam Element

HRZ - Beam Element

HRZ Quadratic Serendipity

HRZ Quadratic Lagrangian

Let p be the highest order complete

L J= 2 L 4 1 1 m ij = A (1 ( 1)) N i ( 1)N j ( 1) + N i (0)N j (0 ) + N i (1)N j (1) 2 6 6 6 i j m ij = 0

Types of Damping Models

(models actual dissipative mechanisms)

Spectral Damping Methods

Critical Damping Ratio

Actual value may depend on stress level.

Rayleigh or Proportional Damping

Rayleigh or Proportional Damping

If critical damping ratio is known at two frequencies then:

Natural Frequencies and Mode Shapes Undamped, Unforced Response

& } = {D }cos t {D && } = {D }sin t {D amplitudes of nodal d - o - f circular frequency f = 2 ( Hz )

Results in generalized eigenproblem

([K ] [M ]){D } = {0}

Roots of Characteristic Polynomial (eigenvalues) Associated Eigenvectors

[K ] symmetric [M ] positive definite