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Chapter 1
Introduction and Equations of
Motion
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Introduction
Structural Dynamics :
Determination of structural response (time-
varying displacements, stresses) induced by time-
varying loads (i.e. the magnitude, direction or
position of the loads vary with time).
Introduction
d’Alembert’s Principle
(inertia force)
damping force fD
– exact nature of damping is impossible to
determine
– dissipation of energy due to deformation of
structure
– viscous dashpot model: fD = c _ e (where
denotes rate of elongation)
Equations of Motion
Dynamic Equilibrium
CG
EOM:
Equations of Motion
Example 3 (Frictionless Pendulum)
• Case 2: Motion of a simple pendulum
EOM:
Example 4a (Ref.: Clough and Penzien, Dynamics of Structures)
P* (t ) m*Z c*Z k *Z
Equations of Motion
Principle of Virtual Displacement ( Work)
• If an equilibrated system is subjected to a virtual displacement,
the total work done by the induced forces (including real forces
and inertia forces) must vanish
• That is, W 0
• Since u is virtual displacement, u 0
Example 4b (Virtual Work)
Example 4c Axial load N
Including axial load N due to vertical displacement Z,
Assume small angle:
That is,
k* = 0 the system is in neutral equilibrium condition.
k* < 0 the system is unstable.
k *> 0 the system is stable (vibration occurs).
•for , k
24 EI C
h3
6 EI C
0 k
h3
Damping
The energy of the vibrating system is dissipated by
various mechanisms, and often more than one
mechanism may be present at the same time
sources:
in lab structures:
― thermal effect of repeated elastic straining of the materials
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