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This project, developed for the University Consortium on Instructional Shake Tables
has been generously contributed by:
Shirley J. Dyke
Associate Professor
Department of Civil Engineering
Washington University in St. Louis
***** INSTRUCTOR’S GUIDE *****
INTRODUCTION TO DYNAMICS OF
STRUCTURES
A PROJECT DEVELOPED FOR THE
UNIVERSITY CONSORTIUM ON INSTRUCTIONAL SHAKE TABLES
http://ucist.cive.wustl.edu/
Required Equipment:
• Instructional Shake Table
• Two Story Building
• Three Accelerometers
• MultiQ Board
• Power Supply
• Computer
• Software: Wincon and Matlab
Developed by:
Mr. Juan Martin Caicedo (jc11@cive.wustl.edu)
Ms. Sinique Betancourt
Dr. Shirley J. Dyke (sdyke@seas.wustl.edu)
Washington University in Saint Louis
NOTE: If you do not have the Real-Time Workshop installed on your computer, you must add the
following directory to the MATLAB path before proceeeding with this experiment
(c:\matlabr11\toolbox\rtw).
ANSWER
Figure 1 provides example acceleration records obtained from the ground, first and second
floor for the white noise input.
0.15
0.1
Displacement (in)
Acceleration (g)
0.05
0 0
-0.05
-0.1
-0.15
-0.2 -0.5
0 50 100 150 0 50 100 150
Time (sec) Time (sec)
(c) 1st Floor Acceleration Record (d) 2nd Floor Acceleration Record
First Floor Acceleration First Floor Acceleration
2
2 1.5
1
1
Acceleration (g)
Acceleration (g)
0.5
0 0
-0.5
-1
-1
-2 -1.5
-2
0 50 100 150 0 50 100 150
Time (sec) Time (sec)
Figure 1. Typical time history records for a) shake table command signal, b) acceleration
at ground level, c) first floor acceleration, and d) second floor acceleration.
Amplitude (dB)
0
-50
0 2 4 6 8 10
Transfer Function Ground - Second Floor Acceleration
50
Amplitude (dB)
0
-50
0 2 4 6 8 10
Frequency (Hz)
ANSWER
The mode shapes of the test structure are shown in figure 3. The first mode has zero nodes
and the second mode has one node.
ANSWER
(a) First Mode Responses (b) Second Mode Responses
First Floor - First Mode First Floor - Second Mode
4
1 3
2
0.5
Acceleration (g)
Acceleration (g)
1
0 0
-1
-0.5
-2
-1 -3
-4
0 5 10 15 20 25 30 0 5 10 15 20 25 30
Time (sec) Time (sec)
1 2
Acceleration (g)
Acceleration (g)
0.5 1
0 0
-0.5 -1
-1 -2
-3
-1.5
0 5 10 15 20 25 30 0 5 10 15 20 25 30
Time (sec) Time (sec)
ANSWER
ANSWER
MODE 1: fb – fa
(estimating values f a = 1.935 ζ 1 = --------------
- = 2.5%
from plots) f b = 2.035 fb + f a
MODE 2: fb – fa
(estimating values f a = 5.73 ζ 2 = --------------
- = 1.04%
from plots) f b = 5.85 fb + fa
The computed damping values are approximately the same order of magnitude using both
methods. The half-power bandwidth technique results in significant errors when the damping in
the system is small because: 1) the actual peak in the transfer function is difficult to capture, and
2) interpolation is required to estimate the half-power points. On the other hand, the decrement
technique is more effective for lightly damped systems.
5.0 References
CHOPRA, A. K., Dynamics of Structures, Prentice Hall, N.J., 1995
HUMAR, J. L., Dynamics of Structures, Prentice Hall, N.J., 1990
PAZ, M., Structural Dynamics, Chapman & Hall, New York, 1997
http://ucist.cive.wustl.edu/
Required Equipment:
• Instructional Shake Table
• Two Story Building
• Three Accelerometers
• MultiQ Board
• Power Supply
• Computer
• Software: Wincon and Matlab
Developed by:
Mr. Juan Martin Caicedo (jc11@cive.wustl.edu)
Ms. Sinique Betancourt
Dr. Shirley J. Dyke (sdyke@seas.wustl.edu)
Washington University in Saint Louis
Objective: The objective of this experiment is to introduce you to principles in structural dynam-
ics through the use of an instructional shake table. Natural frequencies, mode shapes and damping
ratios for a scaled structure will be obtained experimentally.
1.0 Introduction
The dynamic behavior of structures is an important topic in many fields. Aerospace engineers
must understand dynamics to simulate space vehicles and airplanes, while mechanical engineers
must understand dynamics to isolate or control the vibration of machinery. In civil engineering, an
understanding of structural dynamics is important in the design and retrofit of structures to with-
stand severe dynamic loading from earthquakes, hurricanes, and strong winds, or to identify the
occurrence and location of damage within an existing structure.
In this experiment, you will test a small test building of two floors to observe typical dynamic
behavior and obtain its dynamic properties. To perform the experiment you will use a bench-scale
shake table to reproduce a random excitation similar to that of an earthquake. Time records of the
measured absolute acceleration responses of the building will be acquired.
f i = m ⋅ x·· (3)
where the x· is the first derivative of the displacement with respect to time (velocity) and x·· is the
second derivative of the displacement with respect to time (acceleration).
Summing the forces shown in figure 3b we obtain
where the mass m and the stiffness k are greater than zero for a physical system.
Using equations (6) and (7) in equation (5) and making p ( t ) equal to zero we obtain
mα 2 e αt + ke αt = 0 (8)
e αt [ mα 2 + k ] = 0 . (9)
–k
α 2 = ----- (10)
m
k
α = ± i ---- . (11)
m
x ( t ) = Ae ωn it + Be –ωn it (12)
where A and B are constants based on the initial conditions, and the natural frequency ω n is de-
fined as
k-
ωn = --- . (13)
m
or,
where C and D are constants that are dependent on the initial conditions of x(t).
From equation (19) it is clear that the response of the system is harmonic. This solution is
called the free vibration response because it is obtained by setting the forcing function, p(t), to ze-
ro. The value of ω n describes the frequency at which the structure vibrates and is called the natu-
ral frequency. Its units are radians/sec. From equation (13) the natural frequency, ω n , is
determined by the stiffness and mass of the structure.
The vibration of the structure can also be described by the natural period, Tn . The period of
the structure is the time that is required to complete one cycle given by
T n = 2π
------ . (20)
ωn
x ( t ) = e αt (21)
and
x· ( t ) = αe αt (22)
x·· ( t ) = α 2 e αt . (23)
Using equations (21), (22) and (23) in equation (5) and making the forcing function p ( t ) equal to
zero we have
e αt [ mα 2 + cα + k ] = 0 . (24)
– c ± c 2 – 4km-
α 1, 2 = -------------------------------------- (25)
2m
c cr = 4km (26)
α 1, 2 = – ζω n ± iω n 1 – ζ 2 . (28)
ωd = ωn 1 – ζ 2 (29)
α 1, 2 = – ζω n ± iω d . (30)
Thus, the solution for the differential equation of motion for a damped unforced system is
time
2π
T ≅ ------
T ωd
where M, C and K are matrices that describe the mass, damping and stiffness of the structure, p(t)
is a vector of external forces, and x is a vector of displacements. A system with n degrees of free-
dom has mass, damping, and stiffness matrices of size n × n, and n natural frequencies. The solu-
tion to this differential equation has 2n terms.
The structure described by Eq. (34) will have n natural frequencies. Each natural frequency,
ω n , has an associated mode shape vector, φ n , which describes the deformation of the structure
when the system is vibrating at each associated natural frequency. For example, the mode shapes
for the four degree of freedom structure in figure 5 are shown in figure 6. A node is a point that re-
mains still when the structure is vibrating at a natural frequency. The number of nodes is related
with the natural frequency number by
\#nodes = n – 1 (35)
m m m m
Node
[ x· ( t ) ] = i2πfX ( f ) (37)
2
[ x··( t ) ] = – ( 2πf ) X ( f ) (38)
Plugging this into the equation of motion (equation (5)) for the SDOF system, we obtain
2
[ – ( 2πf ) m + i2πfc + k ]X ( f ) = P ( f ) (39)
and the ratio of the frequency domain representation of the output to the frequency domain repre-
sentation of the input is determined
( f -) = [ k – ( 2πf ) 2 m + i2πfc ] –1
H( f) = X
--------- . (40)
P(f)
which is called the complex frequency response function, or transfer function. Note that this is a
function of the frequency, f, and provides the ratio of the structural response to the input loading at
each frequency.
Figure 7 shows an example of a transfer function
for a two degree of freedom structure. Here the magni- Natural frequencies.
Amplitude (dB)
y
δ = ln ----1- (42)
y2
y1
y2
time
From the solution of the damped system (equation (33)) we can say that y 1 and y 2 can be
written as
y 1 = Ce – ζωn t (43)
y 2 = Ce – ζωn ( t + T ) (44)
where the constant C includes the terms of the sine and cosines in equation (33), and T is the pe-
riod of the system. Using equations (43) and (44) in equation (42)
y Ce –ζωn t
δ = ln ----1- = ln ----------------------------- = ζω n T (45)
y2 Ce –ζωn ( t + T )
δ ≅ 2πζ . (46)
Solving for ζ
y
ln ----1-
δ- = ----------
y2
ζ = ----- - (47)
2π 2π
A
A 2 = ------1- (48)
2
and A 1 is the amplitude at the peak. The frequencies f a and f b associated with the half power
points on either side of the peak are obtained, as shown in figure 9. Then the damping ratio ζ is
obtained using the formula
fb – f a
ζ = --------------
- (49)
fb + f a
The damping ratio associated with each natural frequency can be obtained using the half power
bandwidth method.
A1
Amplitude
A
A 2 = ------1-
2
fa fb Frequency (Hz)
Figure 9. Half Power Bandwidth method.
Power supply
Sensor (accelerometer)
Figure 11. Bench scale shake table. Figure 12. Deadman button.
• The “safety override” button on the power supply should ALWAYS remain in
the off position.
• Turn the power supply off if you turn off or reboot the computer.
• The deadman switch must be depressed to excite the shake table. Press
this button and hold it before you begin each segment of the experiment
(before you hit the “Start” button on the Wincon server).
• It may be necessary to reboot the computer if it locks up during the test.
5.0 References
CHOPRA, A. K., Dynamics of Structures, Prentice Hall, N.J., 1995
HUMAR, J. L., Dynamics of Structures, Prentice Hall, N.J., 1990
PAZ, M., Structural Dynamics, Chapman & Hall, New York, 1997