Structural Dynamics Lecture

Basic structural dynamics II
Wind loading and structural response - Lecture 11

Dr. J.D. Holmes
Topics :
multi-degree-of freedom structures - free vibration
response of a tower to vortex shedding forces
multi-degree-of freedom structures - forced vibration
Basic structural dynamics I
Multi-degree of freedom structures - :
Consider a structure consisting of many masses connected
together by elements of known stiffnesses
x
1
x
n
x
3
x
2
m
1
m
2
m
3
m
n
The masses can move independently with displacements x
1
, x
2
etc.
Multi-degree of freedom structures free vibration :
Each mass has an equation of motion
For free vibration:
0 x .......k x k x k x k x m
n 1n 3 13 2 12 1 11 1 1
= + + + +

0 x .......k x k x k x k x m
n 2n 3 23 2 22 1 21
2
2
= + + + +

0 x .......k x k x k x k x m
n nn 3 n3 2 n2 1 n1 n n
= + + + +

.
mass m
1
:
mass m
2
:
mass m
n
:
Note coupling terms (e.g. terms in x
2
, x
3
etc. in first equation)
stiffness terms k
12
, k
13
etc. are not necessarily equal to zero
In matrix form :
Assuming harmonic motion : {x }= {X}sin(et+|)
| |{ } | |{ } { } 0 x k x m = +

| |{ } | |{ } X k X m
2
=
This is an eigenvalue problem for the matrix [k]
-1
[m]
| | | |{ } { } X ) (1/ X m k
2 1
=

There are n eigenvalues,
j
and n sets of eigenvectors {|
j
}
for j=1, 2, 3 n
Then, for each j :
e
j
is the circular frequency (2tn
j
); {|
j
} is the mode shape for mode j.
They satisfy the equation :

The mode shape can be scaled arbitrarily - multiplying both sides of the
equation by a constant will not affect the equality
| | | |{ } { } { }
j
2
j j j j
1
) (1/ m k | | | = =
| |{ } | |{ }
j j
2
j
k m | | =
Mode shapes - :
Number of modes, frequencies = number of masses = degrees of freedom
Mode 2
m
1
m
2
m
3
m
n
m
1
m
2
m
3
m
n
Mode 3 Mode 1
m
1
m
3
m
n
m
2
Multi-degree of freedom structures forced vibration
For forced vibration, external forces p
i
(t) are applied
to each mass i:
m
1
m
2
m
3
m
n
x
1
x
n
x
3
x
2
P
n
P
3
P
2
P
1
i
(t) are applied
to each mass i:
(t) p x .......k x k x k x k x m
1 n 1n 3 13 2 12 1 11 1 1
= + + + +

(t) p x .......k x k x k x k x m
2 n 2n 3 23 2 22 1 21
2
2
= + + + +

(t) p x .......k x k x k x k x m
n n nn 3 n3 2 n2 1 n1 n n
= + + + +

.
These are coupled differential equations of motion
i
(t) are applied
to each mass i:
(t) p x .......k x k x k x k x m
1 n 1n 3 13 2 12 1 11 1 1
= + + + +

(t) p x .......k x k x k x k x m
2 n 2n 3 23 2 22 1 21
2
2
= + + + +

(t) p x .......k x k x k x k x m
n n nn 3 n3 2 n2 1 n1 n n
= + + + +

.
These are coupled differential equations
i
(t) are applied
to each mass i:
(t) p x .......k x k x k x k x m
1 n 1n 3 13 2 12 1 11 1 1
= + + + +

(t) p x .......k x k x k x k x m
2 n 2n 3 23 2 22 1 21
2
2
= + + + +

(t) p x .......k x k x k x k x m
n n nn 3 n3 2 n2 1 n1 n n
= + + + +

.
These are coupled differential equations
In matrix form :
Mass matrix [m] is diagonal
| |{ } | |{ } { } p(t) x k x m = +

Stiffness matrix [k] is symmetric
{p(t)} is a vector of external forces
each element is a function of time
Modal analysis is a convenient method of solution of
the forced vibration problem when the elements of
the stiffness matrix are constant i.e.the structure is
linear
The coupled equations of motion are transformed
into a set of uncoupled equations
Each uncoupled equation is analogous to the equation
of motion for a single d-o-f system, and can be solved
in the same way
for i = 1, 2, 3.n
m
i
x
i
(t)
a
j
(t) is the generalized coordinate representing the variation of the
response in mode j with time. It depends on time, not position
Assume that the response of each mass can be written as:
|
ij
is the mode shape coordinate representing the position of the
ith mass in the jth mode. It depends on position, not time
=
=
n
1 j
j ij i
(t) .a (t) x |
|
i1

= a
1
(t)
Mode 1
+ a
2
(t)
|
i2

Mode 2
+ a
3
(t)
|
i3

Mode 3
In matrix form :
[|] is a matrix in which the mode shapes are written as
columns
([|]
T
is a matrix in which the mode shapes are written as
rows)
Differentiating with respect to time twice :
{ } | |{ } a(t) x | =
{ } | |{ } (t) a x

| =
By substitution, the original equations of motion reduce
to:
The matrix [G] is diagonal, with the jth term equal
to :
The matrix [K] is also diagonal, with the jth term equal to :

G
j
is the generalized mass in the jth
mode
| |{ } | |{ } | | { } p(t) a K a G
T
| = +

2
ij
n
1 i
i j
m G |
=
=
j
2
j
2
ij
n
1 i
i
2
j j
G m K = =

=
|
The right hand side is a single column, with the jth
term equal to :
P
j
(t) is the generalized force in the jth mode
| |{ } | |{ } | | { } p(t) a K a G
T
| = +

{ } { } (t) .p p(t) (t) P
i
n
1 i
ij
T
j j

=
= = | |
We now have a set of independent uncoupled
equations. Each one has the form :
This is the same in form as the equation of motion of a
single d.o.f. system, and the same solutions for a
j
(t)
can be used
(t) P a K a G
j j j j j
= +

| |{ } | |{ } | | { } p(t) a K a G
T
| = +

Gen. mass
(t) P a K a G
j j j j j
= +

| |{ } | |{ } | | { } p(t) a K a G
T
| = +

Gen. stiffness
j
(t)
can be used
j
(t)
can be used
(t) P a K a G
j j j j j
= +

| |{ } | |{ } | | { } p(t) a K a G
T
| = +

Gen.
force
j
(t)
can be used
(t) P a K a G
j j j j j
= +

| |{ } | |{ } | | { } p(t) a K a G
T
| = +

Gen.
coordinate
f(t)
Cross-wind response of slender towers
Cross-wind force is
approximately
sinusoidal in low
turbulence conditions
Sinusoidal excitation model :
Assumptions :
sinusoidal cross-wind force variation with time
full correlation of forces over the height
constant amplitude of fluctuating force coefficient
Deterministic model - not random
Sinusoidal excitation leads to sinusoidal response (deflection)
Equation of motion (jth mode):
(t) P a K a G
j j j j j
= +

|
j
(z) is mode shape
P
j
(t) is the generalized or effective force =
G
j
is the generalized or effective mass =
}
h
0
2
j
dz (z) m(z)|
}
h
0
j
dz (z) t) f(z, |
Applied force is assumed to be sinusoidal with a frequency
equal to the vortex shedding frequency, n
s

Maximum amplitude occurs at resonance when n
s
=n
j

C
l
= cross-wind (lift) force coefficient
Force per unit length of structure =
) t n sin(2 b (z) U C
2
1
j
2
a
+
|
.
|
\
|
t
l
b

= width of tower
Then generalized force in jth mode is :
P
j,max
is the amplitude of the sinusoidal generalized force
) t n sin(2 P
j max j ,
+ = t
} }
+
|
.
|
\
|
= =
h
0
j
2
j a
h
0
j j
dz (z) (z) U ) t n sin(2 b C
2
1
dz (z) t) f(z, (t) P | |
l
}
|
.
|
\
|
=
h
0
j
2
a
dz (z) (z) U b C
2
1
|
l
Then, maximum amplitude
j j
2
j
2
max j ,
j j
max j ,
max
G n 8
P
2K
P
a = =
Note analogy with single d.o.f system result
(Lecture 10)
Substituting for P
j,max
:
Then, maximum deflection on structure at height, z,
(Slide 14 - considering only 1
st
mode contribution)
max j max
(z).a (z) x | =
j j
2
j
2
z2
z1
j
2
a
max
G n 8
dz (z) (z) U b C
2
1
a
}
|
.
|
\
|
=
|
l
Maximum deflection at top of structure
(Section 11.5.1 in Wind Loading of Structures)
where ,
j
is the critical damping ratio for the jth mode, equal to
j j
j
K G
C
2
) (z U
b n
) (z U
b n
St
e
j
e
s
= =
(Scruton Number or mass-damping parameter)
m = average mass/unit height
Strouhal Number for vortex shedding
z
e
= effective height (~ 2h/3)
2
a
j
b
m 4
Sc
, t
=
}
} }
= =
L
0
2
j
2
h
0
j
2
j j
2
h
0
j
2
a
max
dz (z) St Sc 4
dz (z) C
St G 16
dz (z) b C
b
(h) x
|
| |
l l

End of Lecture
John Holmes
225-405-3789 JHolmes@lsu.edu

Structural Dynamics Lecture

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Basic structural dynamics II

Wind loading and structural response - Lecture 11

Basic structural dynamics I

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