Outline of the Lecture

APSS 2010 Lecture Series

1. Introduction to SDOF Systems

Single-Degree-of-Freedom (SDOF) Systems

Narutoshi Nakata, Ph.D.

2. Free Vibration
3. Response to Harmonic and Periodic
E it ti
Excitations
4. Response to Arbitrary Excitations

Assistant Professor
Department of Civil Engineering

Theoretical Approaches
July 16, 2010, 99-11AM, University of Tokyo

Outline of the Lecture (Contd)

5. Numerical Methods for Dynamic
Response of Structures

1. Introduction to SDOF Systems

6. Nonlinear Inelastic Dynamic Analysis

7 Earthquake Spectrum
7.

Numerical Computational Approaches

1.1 What is SDOF System?

Definition: A system that can be described by a single variable

1.1 What is SDOF System? (Contd)

More Examples:

Examples:

Simply-Supported Bridge

Idealization:

Idealization:

Offshore Platform

Single Story Building

Off Road Truck

Governing DOF

Governing DOF
y

Water Tank Tower

Cantilever Crane

1.1 What is SDOF System? (Contd)

More Examples:

1.2 Equation of Motion

Free Body Diagram:
x

x

f
cx R ( x, x )

Newtons
Newton
s Second Law of Motion

Damping coefficient

= mx

cx R ( x, x ) + f = mx

Pendulum

Swing
Windmill

Generalized Equation of Motion:

mx + cx + R ( x, x ) = f

Idealization:
Governing DOF

Where R ( x, x ) is referred to as the restoring force.

1.3 MassMass-Damper
Damper--Spring Model
If R ( x, x ) = kx (Linear Elastic), the equation of motion yields.

1.4 Inelastic Systems

Under large deformation, structures often exhibit nonlinear inelastic
behavior.
R ( x, x )

mx + cx + kx = f

Systems with the above equation of motion can be viewed as a simple

mass-damping-spring
p g p g model shown below.
x
k

For such cases, the time/history-dependent nature of the restoring force

has to be incorporated into the equation of motion.

mx + cx + R ( x, x ) = f

The mass-damping-spring assumption is generally valid under small

displacement.

The above nonlinear equation of motion needs to be solved for dynamic

response analysis.

1.5 Earthquake Excitation

Free Body Diagram:
xg


x + 
xg

2. Free Vibration

cx R ( x, x )

0.25
0.2
0 15
0.15

xg

= m ( 
x + 
xg )

cx R ( x, x ) = m ( 
x + 
xg )
Equation of Motion:

mx + cx + R ( x, x ) = mxg

Displacement (m)

Fixed reference

Newtons
Newton
s Second Law of Motion

0.1
0.05
0
-0.05
-0.1
-0.15
-0.2
-0.25

10

12

14

16

18

20

Time (sec)

Note that the structural displacement x in the above equation of motion is

relative with respect to the ground.

2.1 Undamped Free Vibration

Free Vibration:

2.1 Undamped Free Vibration (Contd)

The solution to equation

x
m


x + n 2 x = 0

x ( t ) = A1 cos n t + A2 sin n t

Constants A1 and A2 can be determined from the initial conditions as

follows.

Equation of Motion:

A1 = x ( 0 )

mx + kx = 0

A2 =

x ( 0 )

Homogeneous second-order ordinary differential equation

Where n =

can be expressed as:


x + n 2 x = 0

k m is the angular natural frequency of the system.

Where x ( 0 ) and x ( 0 ) are the initial displacement and the initial velocity,
respectively.

2.1 Undamped Free Vibration (Contd)

Case Study:

2.2 Damped Free Vibration

Free Vibration:

System properties: m = 10.0 kg, k = 98.70 N/m, n = rad, f n = 0.5 Hz

Initial conditions:

x ( 0 ) = 0.1 m, x ( 0 ) = 0.0 m/s

Solution:

x ( t ) = 0.1cos nt

x
k

Equation of Motion:

mx + cx + kx = 0

Homogeneous second-order ordinary differential equation


x + 2n x + n 2 x = 0
Where ( = c 2mn ) is the damping ratio.

2.2 Damped Free Vibration (Contd)

The solution to equation 
x + 2n x + n 2 x = 0 can be expressed as:

x = et
Substituting the above expression, the solution must satisfy the
following characteristic equation of the system.

2 + 2n + n 2 = 0
The solution can be sorted by the range of the damping ratio.
i.
ii.
iii.

Overdamped > 1 ( or c > ccr )

Critically damped = 1 ( or c = ccr )
Underdamped 0 < < 1 ( or 0 < c < ccr )

2
Where ccr ( = 2mn ) is called the critical damping coefficient.

2.2 Damped Free Vibration (Contd)

i) Overdamped > 1 ( or c > ccr )

x ( t ) = A1e1t + A2 e2t
Where 1 and 2 are the roots of equation 2 + 2n + n 2 = 0.
And A1 and A2 are the constants that can be determined from the
1
initial conditions as:
A1 1 1 x ( 0 )
=

A2 1 1 x ( 0 )
ii) Critically damped = 1 ( or c = ccr )

x ( t ) = ( B1 + B2t ) en t
Where B1 and B2 are the constants that can be determined from the
initial conditions.
1
B1 1 0 x ( 0 )
=

B2 n 1 x ( 0 )

2.2 Damped Free Vibration (Contd)

2.2 Damped Free Vibration (Contd)

iii) Underdamped 0 < < 1 ( or 0 < c < ccr )

x (t ) = e

n t

Case Study:
System properties: m = 10.0 kg, k = 98.70 N/m, f n = 0.5 Hz

( C1 cos d t + C2 sin d t )

Initial conditions:

x ( 0 ) = 0.2 m, x ( 0 ) = 0.0 m/s

Damping ratios:

o = 2.0, c = 1.0, and u = 0.1

Free vibration

Delaying Amplitude

Constants C1 and C2 can be determined from the initial conditions as

follows.

C1 = x ( 0 )
C2 =

x ( 0 ) + n x ( 0 )

Where d is the damped angular natural frequency expressed as.

d = n 1 2

2.3 Effect of Damping Ratio

x (m)

Damping ratios:

o = 0.2, c = 0.05, and u = 0.01

0.2

3. Harmonic and Periodic

Excitations

= 0.01

0
-0.2
0

10

x (m)

Time ((sec))
0.2

= 0.05

0
-0.2
0

10

Time (sec)
x (m)

0.2

= 0.2

0
-0.2
0

10

Time (sec)

3.1 Harmonic Vibration of Undamped Systems

x + n 2 x =
Equation of Motion: 

Harmonic Excitation:

f = F0 sin 0t

x
m
k

3.1 Harmonic Vibration of Undamped Systems

The solution to the above equation can be expressed as a sum of

particular and contemporary solutions as:

f
t

Equation of Motion:

F0
sin 0 t
m

mx + kx = F0 sin 0t
F

x + n 2 x =0 0 sin 0t
m

Where F0 is the input amplitude and 0 is the input angular frequency.

The above equation is a nonhomogeneous linear second-order ordinary
differential equation.

x ( t ) = x p ( t ) + xc ( t )
Steady State:

x p ( t ) = A sin 0t

Transient:

xc ( t ) = B1 cos n t + B2 sin n t

The contemporary solution

and the initial conditions.
A=

F0
1
k 1 (0 n ) 2

xc is determined to satisfy 
xc + n 2 xc = 0 ,

B1 = x ( 0 ) and B2 =

x ( 0 )

F0
1
k 1 (0

3.1 Harmonic Vibration of Undamped Systems

(Contd)
Case Study:

3.2 Harmonic Vibration of Damped Systems

Harmonic Excitation:

Initial conditions:

x ( 0 ) = 0.1 m, x ( 0 ) = 0.0 m/s

Input frequency:

x ( t ) = 0.1cos n t

f = F0 sin 0t

m = 10.0 kg, k = 98.70 N/m, n = rad

System properties:

Equation of Motion:

mx + cx + kx = F0 sin 0t


x + 2n x + n 2 x =

F0
sin 0 t
m

The above equation is a nonhomogeneous linear second-order ordinary

differential equation.

3.2 Harmonic Vibration of Damped Systems

(Contd)
x + 2n x + n 2 x =
Equation of Motion: 

F0
sin 0 t
m

3.2 Harmonic Vibration of Damped Systems

(Contd)
Case Study:

The solution to the above equation can be expressed as a sum of

particular and contemporary solutions as:

x ( t ) = x p ( t ) + xc ( t )
Steady State:

x p ( t ) = A1 cos 0t + A2 sin 0t

Transient:

xc ( t ) = ent ( B1 cos n t + B2 sin n t )

System properties: m = 10.0 kg, k = 98.70 N/m, f n = 0.5 Hz

Initial conditions:

x ( 0 ) = 0.2 m, x ( 0 ) = 0.0 m/s

Damping ratios:

o = 2.0, c = 1.0, and u = 0.1

2 0 n
F
1 (0 n )
F0
A2 = 0
k 1 2 2 + 2 2
k 1 2 2 + 2 2 and
(
{ 0 n}
0
( 0 n ) { 0 n}
n)
2

A1 =

Where B1 and B2 are the constants that can be determined from the
initial conditions.

3.3 Response Factor and Phase Angle

Response Factor

x p ( t ) = x0 sin (0t + ) = ( xst )0 Rd sin (0t + )

x
Rd = 0 =
( xst )0

n )

} + {2

2 2

Phase Angle

= arctan

2 0 n

1 (0 n )

=0.01
=0.1

=0.2
=0.5

2
0

0.5

1.5

2.5

Frequency Ratio (0/n)

Phase Angle

{1 (

n}

Phase Angle (rad)

Where x0 = A + A2
is the magnitude of the steady-state response;
( xst )0 ( = F0 k ) is the static response (deformation); and Rd is the response
factor.
Response Factor
2

Response Factor

Steady--state Response
Steady

2
1

3.3 Response Factor and Phase Angle

(Contd)

=0.01
=0.1
-1

=0.2
=0.5

-2

-3
0

0.5

1.5

2.5

Frequency Ratio (0/n)

3.4 Response to Periodic Excitation

3.4 Response to Periodic Excitation (Contd)

Periodic Function

Fourier Series Expansion

A periodic function can be expressed using Fourier series expansion.

i =1

i =1

f ( t ) = a0 + ai cos ( i0t ) + bi sin ( i0t )

t

T0

T0

T0

T0

A function that satisfies the following condition is called a periodic function.

Where 0 is the fundamental angular frequency that is expressed as:

2
0 =
T0
The Fourier series coefficients are obtained as follows:

f ( t + iT0 ) = f ( t )

a0 =

Where T0 is the fundamental period of the function and i is the integer.

ai =

2
T0

2
bi =
T0

3.4 Response to Periodic Excitation (Contd)

Graphical Interpretation

1
T0

T0

f ( t ) dt
0

T0

f ( t ) cos ( i t ) dt
0

0
T0

f ( t ) sin ( i t ) dt
0

3.4 Response to Periodic Excitation (Contd)

Approximation Using the Fourier Series Expansion

A periodic function can be viewed as a sum of harmonic functions.

i =1

i =1

A periodic function can be approximated with a finite number of harmonic

functions.
n
n
f ( t )  f n ( t ) = a0 + ai cos ( i0t ) + bi sin ( i0t )
( i = 1,", n )

f ( t ) = a0 + ai cos ( i0t ) + bi sin ( i0t )

i =1

i =1

Example: Periodic Step Function

5 terms

t
T0

T0

a2

cos 0t

cos 20t

sin 0t

+ b1

1.2

0.8

0.8

0.8

0.6

0.6

0.6

+ b2

sin 20 t

a1

0.4

0.4

0.2

0.2

-0.2

-0.2

-0.2

0.4
0.2

Time (sec)

3.4 Response to Periodic Excitation (Contd)

15 terms

1.2

10 terms

1.2

a0

Time (sec)

Time (sec)

3.4 Response to Periodic Excitation (Contd)

Superposition:

Periodic Excitation:
x
k


x + 2n x + n 2 x =

m
f

Response to

a0
m

x0 ( t ) =

a0
k

Response to

ai
cos ( i0t )
m

xic ( t ) =

2
ai 2 i sin ( i0t ) + (1 i ) cos ( i0t )
2 2
k
(1 ) + ( 2 )2

t
T0

T0

n
n
1

a0 + ai cos ( i0t ) + bi sin ( i0 t )

m
i =1
i =1

Equation of Motion:

mx + cx + kx = f ( t )  f n ( t )


x + 2n x + n 2 x =

n
n
1

a0 + ai cos ( i0t ) + bi sin ( i0 t )

m
i =1
i =1

Using the Fourier series expansion, a periodic excitation can be broken

into a series of harmonic excitations.

b
Response to i sin ( i0 t )
m
where i =

2
b 2 i cos ( i0t ) + (1 i ) sin ( i0t )
x (t ) = i
2 2
k
(1 ) + ( 2 )2
s
i

i0

3.4 Response to Periodic Excitation (Contd)

Superposition:

3.4 Response to Periodic Excitation (Contd)

Case Study:

Suppose the transient response is delayed by the damping effect, the

steady-state response to a periodic excitation can be expressed as a sum
of the harmonic responses as:
n

System properties: m = 1.0 kg, k = 1000.0 N/m, f n = 5.0 Hz

Damping ratios: u = 0.15

x ( t ) = x0 ( t ) + x ( t ) + x ( t )
c
i

i =1

x (t ) =

i =1

s
i

2
a0 n ai 2 i sin ( i0t ) + (1 i ) cos ( i0t ) n bi 2 i cos ( i0t ) + (1 i ) sin ( i0t )
+
+
2
2 2
2 2
k i =1 k
k
=
i
1
(1 ) + ( 2 )
(1 ) + ( 2 )2
2

Steady--state Response to Periodic Excitation

Steady
x (t ) =

a0 n 1
+
k i =1 k (1

) + ( 2 )

2 2
i

2 i ai + (1 i 2 ) bi sin ( i0t )

2
+ (1 i ) ai 2 i bi cos ( i0t )

4.1 Impulse Response

4. Response to Arbitrary
Excitations

Unit Impulsive Force

f

Time integral of force f is unity.

t

fdt =

fdt = 1

Impulse Response
How can we express x ( t ) ?

4.1 Impulse Response

4.1 Impulse Response

Newtons Second Law of Motion

f =

Unit Impulse Response Functions

d
( mx )
dt

Undamped System

h (t ) = x (t ) =

Integrating both sides with respect to time t ,

t1

t1

fdt = mx2 mx1 = m+ x

Velocity at time t = due to an impulsive force is + x = x ( ) =

1
.
m

Prior to the impulse, the displacement is zero x ( ) = 0 .

1
sin {n ( t )}
mn

Damped System

h (t ) = x (t ) =

1 n ( t )
e
sin {d ( t )}
md

Impulse response is free vibration with the above initial conditions.

4.2 Arbitrary Excitations

4.2 Arbitrary Excitations

Arbitrary Excitation

Arbitrary Excitation
f

Time Domain Decomposition

f ( ) h ( t )

f ( 2 ) h ( t 2 )

f ( 3 ) h ( t 3 )

f ( 4 ) h ( t 4 )

f ( 5 ) h ( t 5 )

f ( 6 ) h ( t 6 )

f ( 7 ) h ( t 7 )

f ( 8 ) h ( t 8 )

f ( 9 ) h ( t 9 )

x ( t ) = f ( ) h ( t ) d
t

Convolution Integral
t

4.3 Convolution Integrals

Convolution Integral

4.3 Convolution Integrals (Contd)

Example

Undamped System

Step Excitation

f ( t ) = f0

f0

x ( t ) = f ( ) h ( t ) d
t

1
mn

f ( ) sin {n ( t )} d
Step Excitation

x ( t ) = h ( t ) d
t

Damped System

x ( t ) = f ( ) h ( t ) d

1
md

n ( t )

sin {d ( t )} d

sin {d ( t )} d

= ( xst )0 1 ent cos d t +

sin d t
2

4.3 Convolution Integrals (Contd)

4.3 Convolution Integrals (Contd)

1
md

(
f ( ) e
t

t )

Case Study:
System properties: m = 1.0 kg, k = 1000.0 N/m, f n = 2.0 Hz

Example
Step Excitation

Damping ratios: u = 0.10

f (t ) =

f0

f0
t
t0

Step Excitation

t0

x (t ) =

f0
h ( t ) d
t0

1
mn

f0
sin {n ( t )} d
t0

sin 2 t
Tn
t
= ( xst )0 +
t
2 t
n
Tn

4.3 Convolution Integrals (Contd)

Case Study:
System properties: m = 1.0 kg, k = 1000.0 N/m, f n = 2.0 Hz
Damping ratios: u = 0.10

5. Numerical Methods for Dynamic

Response of Structures
xn

xn 1

xn +1

tn 1

5.1 TimeTime-Stepping Methods

tn

mx + cx + R ( x, x ) = f

5.1 TimeTime-Stepping Methods (Contd)

f1

f
f0

Step i

However, theoretical solutions (closed-form solutions) to differential

equations are not always available.

x1

x2

xi +1

xi

mxi + cxi + R ( x, x )i = f i

xi , fi and R ( x, x )i are the response quantities at time i.

Where xi , xi , 

5.2 Central Difference Method

Assumptions

xi

xi =

xi +1

x x
x 2 xi + xi 1

xi = i +1 i 1 = i +1
2
2t
( t )

xi
t

ti +1

xi +1 xi 1
+ kxi = fi
2t
= f
kx
i +1
i

m
c
and f = f m c x k 2m x
k =
+
2
i
i
i 1
i
2
2
( t ) 2t
( t )
( t ) 2t

Formulation

Where

ti

xi +1 xi 1
2 t

xi +1 2 xi + xi 1

( t )

+c

xi +1 =

fi

ti = ti +1 ti

x0
t0 t1 t2

Alternative approach is to numerically solve the equation of motion at time

step i, i.e.,

Step i+1

fi +1

fi

f2

To obtain dynamic response of structures, the above differential equation

needs to be solved with initial conditions x ( 0 ) and x ( 0 ) .

ti 1

Graphical Interpretation

Generalized Equation of Motion:

xi 1

tn +1

ti ti +1

Requirements for TimeTime-Stepping Methods

Convergence
Stability
Accuracy

5.2 Central Difference Method (Contd)

Computational Procedure
Initial Calculations

( t ) 
f 0 cx0 kx0
x1 = x0 tx0 +
x0
,
2
m
m
c
2m
m
c
+

, and b = k
k =
, a=
2
2
2
( t )
( t ) 2t
( t ) 2t
2


x0 =

Calculations for Time Step i

fi = f i axi 1 bxi ,
xi =

xi +1 xi 1
2t

and

xi +1 =


xi =

fi

k
xi +1 2 xi + xi 1

( t )

Repetition until the end of the time step

5.2 Central Difference Method (Contd)

Computational Steps (Graphical Interpretation)

i 1
f
i 1

fi

xi 1

xi

x

x

5.2 Central Difference Method (Contd)

Computational Steps (Graphical Interpretation)

i +1

i 1
f
i 1

fi

fi +1

Cal. 1

xi 1

xi

xi +1

Cal. 2

xi 1

x

xi 1

xi

Cal. 3


xi 1

x


xi 1

xi

Cal. 4

i +1

Known or Given

Known or Given

5.2 Central Difference Method (Contd)

Assumptions

Computational Steps (Graphical Interpretation)

i 1
f

i 1

5.3 Newmarks Method

i +1

fi

fi +1

Displacement:

xi +1 = xi + txi +

Velocity:

xi +1 = xi + txi +

Truncating the above equations with

xi 1

xi

x

xi 1

xi


xi 1

x

( t )

2
2
( t )


xi +

( t )


xi + "


xi + "

and

xi +1

xi

( t )

Displacement:

xi +1 = xi + txi +

Velocity:

xi +1 = xi + txi + 

xi


xi + 
xi

Known or Given

5.3 Newmarks Method

5.3 Newmarks Method

Assumptions

Non Iterative Formulation

Linear Acceleration


x 
x

x = i +1 i
t

Incremental Quantities

xi = xi +1 xi , xi = xi +1 xi , 

xi = 
xi +1 
xi , and fi = fi +1 fi
Incremental Equation of Motion

Displacement:

xi +1 = xi + txi + ( 0.5 )( t ) 
xi + ( t ) 
xi +1

Velocity:

xi +1 = xi + (1 ) txi + txi +1

m
xi + cxi + k xi = fi

Where

= f
kx
i
i

1
k = k +
c+
m
2
t
( t )

1
1



1 c 
fi = f i +
m + c xi +
m + t
xi

t
2

2

xi =

fi

10

5.3 Newmarks Method

5.3 Newmarks Method

Computational Procedure

Computational Steps (Graphical Interpretation)

Initial Calculations

f 0 cx0 kx0
,
m
1

a=
m+ c
t

1
k = k +
c+
m
2
t
( t )


x0 =

and

Calculations for Time Step i

fi = f i + axi + bxi ,

xi =

1
1 c
b=
m + t
2
2

fi

xi =
xi xi + t 1
xi ,

t

,
k


xi =

( t )

i 1
f

i 1

xi 1
xi 1

x
x

1
1

xi
x
x
t i 2 i

xi +1 = xi + xi , xi +1 = xi + xi , and 

xi +1 = 
xi + 
xi ,

i +1


xi 1


x
x
x

xi 1
xi 1

xi
xi

x


xi 1

xi

Repetition until the end of the time step

Known or Given

5.3 Newmarks Method

5.3 Newmarks Method

Computational Steps (Graphical Interpretation)

Computational Steps (Graphical Interpretation)

i 1
f
i 1

i
f

xi 1
xi 1

xi
xi


xi 1


xi

x

xi 1
xi 1

xi
xi

xi +1
xi +1

x


xi 1

xi


xi +1

x
x

x
x

i +1
Cal. 1

Cal. 2

Cal. 3

x

Cal. 4


x
x

i 1
f
i 1

i
f

xi 1
xi 1

xi
xi


xi 1


xi

xi
xi

xi +1
xi +1

xi


xi +1

Cal. 6

x

xi 1
xi 1

Cal. 7

x


xi 1

Cal. 5

i +1

Known or Given

Known or Given

5.3 Newmarks Method

Parameter Setting
Typical range:

1
1
< <
6
4

Typical value: =

5.4 Stability
Conditionally Stable if:

1
2

1
2

Special Cases

1
1
=
and =
4
2

1
1
= and =
6
2


x + 
x

x = i +1 i
2


x = 
xi +

x

xi +1

x

xi +1

xi

xi

ti +1

Where

( xi +1 xi )

max

ti +1

and

max

is the highest natural frequency.

1
1
and
2
2

Tmin
ti

1
2

Unconditionally Stable if:

Linear Acceleration

Average Acceleration

ti

1
2
2

11