Course Overview

Forced-Vibration Response (2)

• Overview and Basic Concepts
Forced-Vibration
• SDOF Systems
Harmonic Loading
• Free-Vibration Response Resonance
• Forced-Vibration Response Periodic Loading
• MDOF Systems Fourier representation of Periodic Function
• Introduction to Advanced Topics Impulsive Loading

2006/2007 CE4258: Structural Stability & Dynamics 3

Forced-Vibration (2) Harmonic Loading

• Equation of motion of SDOF system: Equation of motion of SDOF system subjected to
mu ( t ) + cu ( t ) + ku ( t ) = p ( t ) a harmonically varying load
u(t ) mu ( t ) + cu ( t ) + ku ( t ) = p0 sin ω t
k Why do we want to study this case?
m p(t )
– There is such loading in practice and we want to know
c how the system response (e.g. maximum displacement,
velocity, acceleration, stresses)
• Other types of dynamic loads, p(t) – There is exact mathematical solution to the model
– Harmonic Loading equation of motion
– Periodic Loading – Other practical loadings can be expressed as the
– Impulsive Loading summation of many harmonic loadings, each of different
– General Dynamic Loading
amplitude and frequency. Superposition can be applied
for linear systems to obtain the system response.
2006/2007 CE4258: Structural Stability & Dynamics 5 2006/2007 CE4258: Structural Stability & Dynamics 6
 Harmonic Loading Particular Solution
Equation of motion of SDOF system subjected to Response to harmonic loading can be assumed to be
a harmonically varying load harmonic and in phase with applied loading, i.e.
mu ( t ) + cu ( t ) + ku ( t ) = p0 sin ω t u p ( t ) = G sin ω t
Let us first consider the undamped case Substituting into equation of motion leads to
mu ( t ) + ku ( t ) = p0 sin ω t
− mω 2G sin ω t + kG sin ω t = p0 sin ω t
General solution consists of
– Complementary solution which is the free vibration ⎛ ω2 ⎞ p p ⎛ 1 ⎞
response ∴ ⎜1 − 2 ⎟ G = 0 ⇒ G = 0 ⎜ ⎟
⎝ ω ⎠ k k ⎝1− β 2 ⎠
uc ( t ) = A sin ω t + B cos ω t
ω
– Particular solution,
solution, i.e. specific behavior generated by where β≡
form of the dynamic loading ω
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Response to Harmonic Load

General Solution u(t ) =
p0 1
( sin ω t − β sin ω t )
k 1− β 2
General solution to harmonic excitation of undamped We have obtained this ealier using
system is given by combination of complementary and where Duhamel’s Integral – numerical example
particular solutions: p0 static displacement due to load p0 applied
= ust
statically
u ( t ) = uc ( t ) + u p ( t ) k
1 magnification factor (MF) representing
p0 1
= A sin ω t + B cos ω t + sin ω t 1− β 2 dynamic amplification effect of applied load
k 1− β 2
steady-
steady-state response component at
Values of A and B depends on initial conditions. For the sin ω t frequency of applied load; induced effect
.
system starting from rest, i.e. u(0) = u(0) = 0, we have directly related to the load
p β transient response component at natural
A=− 0 B=0 β sin ω t vibration frequency; free-
free-vibration effect
k 1− β 2
induced by the initial conditions
2006/2007 CE4258: Structural Stability & Dynamics 9 2006/2007 CE4258: Structural Stability & Dynamics 10
 up
Response Ratio ust MF
β = 23
t
• Response ratio, R(t) - a convenient measure of MF × sin ω t Steady-state
Tp = 2π
influence of dynamic character of load: ω

u(t ) u(t )
uc
+
R(t ) = = ust β × MF
ust p0 k t Transient
Tc = 2π
• For harmonic loading on undamped system, ω
u − β × MF × sin ω t =
p 1
u(t ) = 0 ( sin ω t − β sin ω t ) ust
k 1− β 2 Total R(t)
t
1
∴ R(t ) = ( sin ω t − β sin ω t ) Zero slope
1− β 2 R(t ) =
1
( sin ω t − β sin ω t )
1− β 2
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Damped System Damped System

Equation of motion of less than critically damped Particular solution to the harmonic loading is of
systems (practical structures) the form u p ( t ) = G1 sin ω t + G2 cos ω t
mu ( t ) + cu ( t ) + ku ( t ) = p0 sin ω t sine and cosine needed because response & load may not be
in phase
c k p
u(t ) + u ( t ) + u ( t ) = 0 sin ω t Upon differentiating, substituting into equation
m m m
p of motion and separating multiples of sin from
u ( t ) + 2ξω u ( t ) + ω 2 u ( t ) = 0 sin ω t
m cos terms, we get
Complementary solution is the damped free- ⎡ −G1ω 2 − G2ω ( 2ξω ) + G1ω 2 ⎤ sin ω t = p0 sin ω t
⎣ ⎦ m
vibration response
uc ( t ) = e −ξωt ( A sin ω D t + B cos ω D t ) ⎡ −G2ω 2 + G1ω ( 2ξω ) + G2ω 2 ⎤ cos ω t = 0
⎣ ⎦
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 Damped System General Solution
General solution to harmonic excitation of damped
⎡ −G1ω 2 − G2ω ( 2ξω ) + G1ω 2 ⎤ sin ω t = p0 sin ω t
⎣ ⎦ m system is given by combination of complementary
and particular solutions:
⎡ −G2ω 2 + G1ω ( 2ξω ) + G2ω 2 ⎤ cos ω t = 0
⎣ ⎦
u ( t ) = uc ( t ) + u p ( t )
These 2 relationships must be satisfied individually
because the sin and cos terms vanish at different times.
Solving equations simultaneously, we obtain ∴ u ( t ) = e −ξωt ( A sin ω D t + B cos ω D t )
G1 =
p0
k
(1 − β 2 D2) where
1
D=
(1 − β ) ( )
2
+ ( 2ξβ )
p0 ⎡
1 − β 2 sin ω t − 2ξβ cos ω t ⎤ D 2
p0 2
( −2ξβ ) D 2
2
G2 = +
k k ⎣ ⎦
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Steady-state response in phase plane

Response of Damped System (Argand diagram) or (phase plot)
Imaginary, vel/ω
• Transient Response
p0
– Constants A and B can be evaluated for any initial ( 2ξβ ) D 2 ωt Real , u(t)
k
conditions
– This term damps out quickly and generally is of little ρ
γ
p0
k
(
1 − β 2 D2)
interest and is thus omitted for harmonic loading case ωt

• Steady-State Response u( t ) =
p0 ⎡
k ⎣ ( )
1 − β 2 sin ω t − 2ξβ cos ω t ⎤ D 2 = ρ sin γ
⎦
– Response at the frequency of applied loading but
generally out of phase with it Resultant ρ of the 2 vectors represents the amplitude of
– Steady-
Steady-state displacement behavior can be the steady-state response:
interpreted easily from Argand diagram
p0 2
(1 − β ) p0
2
ρ= + ( 2ξβ ) =
2 2
D D
k k
2006/2007 CE4258: Structural Stability & Dynamics 17 2006/2007 CE4258: Structural Stability & Dynamics 18
 Steady-state response in phase plane Using phase plot to find damping Imaginary, vel/ω

(Argand diagram) or (phase plot) p0

( 2ξβ ) D 2 ωt Real , u(t)
k
Imaginary
ρ
γ
p0
k
(
1 − β 2 D2 )
p0
( 2ξβ ) D 2 ωt Real ωt
k p
u(t ) = ρ sin(ω t − θ ) = 0 D sin(ω t − θ )

ρ
p0
k
( )
1 − β 2 D2
k
u( t )
ωt u(t ) = ωρ cos(ω t − θ ) ⇒ = ρ cos(ω t − θ )
θ ω
2
( u(t ) )2 + ⎛⎜
u( t ) ⎞
p0 ⎡
( ) p D ⎟ =ρ ⇒ circle of radius ρ
2
u( t ) = 1 − β 2 sin ω t − 2ξβ cos ω t ⎤ D 2 = 0 sin(ω t − θ ) ⎝ ω ⎠
k ⎣ ⎦ k
If we normalize the equation by (ust)2 throughout, then the
Phase angle θ by which the response lags behind radius of the circle is D where D ≡ ρ = ρ = 1
ust po / k
(1 − β )
2
applied load: + ( 2ξβ )
2 2

2ξβ
θ = tan −1
1− β 2
( 0 < θ < 180 ) 0
At resonance loading, β = 1 and hence radius = 1/(2ξ)
2006/2007 CE4258: Structural Stability & Dynamics 19 2006/2007 CE4258: Structural Stability & Dynamics 20

Dynamic Magnification Factor Dynamic Amplification (D)

10 1
ξ=0
D=
(1 − β ) sin ω t − 2ξβ cos ω t ⎤⎦ D (1 − β )
2
u(t ) =
p ⎡ + ( 2ξβ )
2 2 9 2 2
0
k ⎣ 8
ξ = 0.05
Steady-state response can also be written as 7

⎛p ⎞
6 Dynamic magnification
u ( t ) = ρ sin (ω t − θ ) = ⎜ 0 D ⎟ sin (ω t − θ ) 5
ξ = 0.1
factor, D, varies with
⎝ k ⎠
4 frequency ratio β and
Ratio of resultant response amplitude to the static damping ratio ξ
3 ξ = 0.2
displacement produced by force p0 is called the dynamic
2 ξ = 0.5 ξ = 0.3
magnification factor D:
1
ρ ρ 1 ξ=1
D≡ = = 0
ust po / k
(1 − β )
2
+ ( 2ξβ )
2 2 0 0.5 1 1.5 2 2.5 3
Frequency ratio (β)

2006/2007 CE4258: Structural Stability & Dynamics 21 2006/2007 CE4258: Structural Stability & Dynamics 22
 p0 ⎡
u(t ) =
k ⎣
( )
1 − β 2 sin ω t − 2ξβ cos ω t ⎤ D 2
⎦
D = 1/ (1 − β 2 ) + ( 2ξβ )
2 2

β << 1:Amplification
Dynamic static (force slowly
(D) varying), DF ≈1, Phase angle, θ, also varies with
u(static), in phase with load, & independent of ξ
u ≈ u(static),
10 frequency ratio β and damping ratio ξ
9
β ≈ 1: force frequency close to
8 system frequency, DF > 1 ξ=0
ξ = 0.05
7 /2ξ, 90°
u ≈ ustatic/2ξ 90° phase with ξ = 0.05
force, max displ.
displ. when force=0, ξ = 0.1

Phase angle, θ
6
controlled by damping
ξ = 0.1 ξ = 0.2
5

4
β >> 1: force rapidly varying,
DF →0, insensitive to ξ, ξ=1
3 ξ = 0.2
ξ = 0.5 /mωn, controlled by
u ≈ p0/mω ξ = 0.3 ξ = 0.5
ξ = 0.3 2ξβ
2
mass and opposite θ = tan −1
1 phase with load 1− β 2
ξ=1
0
0 0.5 1 1.5 2 2.5 3
Frequency ratio, β
Frequency ratio (β)

2006/2007 CE4258: Structural Stability & Dynamics 23 2006/2007 CE4258: Structural Stability & Dynamics 24

Example Solution
2ξβ 1− β 2
A portable harmonic-
harmonic-loading machine can be used in the field Damping coefficient: tan θ = ⇒ξ = tan θ
1− β 2 2β
for evaluating dynamic properties of structures. By operating
at 2 different frequencies and measuring resulting structural-
structural- ω ω2 − ω2
β≡ ⇒ξ = tan θ
response amplitude and phase angle, one can determine the ω 2ωω
mass, damping and stiffness of a SDOF system. Using data from the first test, we obtain
In one test on a single-
single-storey building, the machine was ω 2 − 162 ω 2 − 252
tan15° = tan 55° ⇒ ω = 27.9 rd / s
operated at frequencies of ω1, ω2 = 16 and 25 rad/s,
rad/s, 32ω 50ω
respectively, with a force amplitude of 2.225 kN in each case.
ω2 − ω2 27.8932 − 162
Response amplitudes and phase angles are: ⇒ξ = tan θ = tan15° = 0.1567
2ωω 2(27.893)(16)
ρ1 = 0.183 mm θ1 = 150 p0 p 1
ρ= D= 0
ρ 2 = 0.368 mm θ 2 = 550 k k
(1 − β )
2
+ ( 2ξβ )
2 2

2006/2007 CE4258: Structural Stability & Dynamics 25 2006/2007 CE4258: Structural Stability & Dynamics 26
 ω
Solution β1 ≡ =
16
ω 27.893
= 0.5736 Resonant Response
1
p p 1 D=
ρ= 0 D= 0
(1 − β )
2
+ ( 2ξβ )
2 2
k k
(1 − β )
2
+ ( 2ξβ )
2 2
Dynamic Amplification (D)

2225 1 10 • Peak steady-state response

0.183 × 10−3 = 9 ξ=0
occurs at a frequency ratio
k
(1 − 0.5736 )
2
+ ( 2 * 0.1567 * 0.5736 )
2 2
8
ξ = 0.05 near unity for lightly damped
systems
7

⇒ k = 17.5 MN / m 6

5 ξ = 0.1
• The condition when β = 1, i.e.
k 17500000
k 4
ω= ⇒m= 2 = = 22497 kg when frequency of applied
ω ξ = 0.2
3
m 27.8932 2
ξ = 0.5 ξ = 0.3 load = natural frequency is
∴ c = ξ cc = ξ ( 2mω ) = 0.1567 ( 2 × 22497 × 27.893) 1 called resonance
ξ=1
0

= 196661 kg / s = 196.661kN .s / m 0 0.5 1 1.5

Frequency ratio (β)
2 2.5 3

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Resonant Response Resonant Response

ρ ρ 1
D≡ = =
ust po / k
(1 − β ) How does the system starts from rest and progress
2
+ ( 2ξβ )
2 2

1 to the resonant condition or displacement?

For undamped system, ξ = 0 and hence D =
(1 − β ) 2 Necessary now to consider general response
equation (i.e. transient + steady-state)
For damped system, at resonance (β ≈ 1), D is At resonant exciting frequency (β = 1), this
1
inversely proportional to damping ratio ξ: D β =1 = equation becomes
2ξ p0 cos ω t
To be more precise, we differentiate equation u ( t ) = e −ξω t ( A sin ω D t + B cos ω D t ) −
k 2ξ
with respect to β and equate to 0, giving Assuming system starts from rest, then
1 p0 ω p 1 p0 1
β peak = 1 − 2ξ 2 Dmax = A= = 0 B=
k 2ω D k 2 1− ξ 2 k 2ξ
2ξ 1 − ξ 2
2006/2007 CE4258: Structural Stability & Dynamics 29 2006/2007 CE4258: Structural Stability & Dynamics 30
 R(t )
Resonant Response
General response equation becomes
1 p0 ⎡ −ξωt ⎛ ξ ⎞ ⎤
u(t ) = ⎢e ⎜ sin ω D t + cos ω D t ⎟ − cos ω t ⎥ t
2ξ k ⎢ ⎜ 1− ξ 2 ⎟ ⎥
⎣ ⎝ ⎠ ⎦

Response ratio, R(t)

1 e −ξωt 1 −ξω t 1
R(t ) ≅ sin ω D t + e cos ω D t − cos ω t R(t ) =
1
( sin ω t − ω t cos ω t )
2 1− ξ 2 2ξ 2ξ 2
R(t )
For practical structural systems where ξ is small, ωD ≈ ω,
1 e −ξωt
1
R(t ) ≅
2 1− ξ 2
sin ω t +
1 −ξωt
2ξ
e (
− 1 cos ω t ) 2ξ

t
u(t )
R(t ) = ≅
p0 k 2ξ
1 −ξω t
e (
− 1 cos ω t )
1
For undamped systems, R(t ) =
2
( sin ω t − ω t cos ω t ) R(t ) ≅
2ξ
e(
1 −ξω t
)
− 1 cos ω t
2006/2007 CE4258: Structural Stability & Dynamics 31 2006/2007 CE4258: Structural Stability & Dynamics 32

Response to Resonant Loading

• Plots show that response builds up gradually in cases 1
of resonant excitation with or without damping 2ξ

• Undamped System
ξ = 0.02
– Response continues to grow by amount π for each ξ = 0.1 ξ = 0.05
cycle 1
4ξ
– Eventually produce distress in system ξ = 0.2
• Damped System
No. of response cycles
– Damping limits resonant-
resonant-response amplitude 2 4 6 8 10 12
– Number of cycles for damped resonant response to 0 4π 8π 12π 16π 20π 24π
reach essentially its limit depends on amount of Duration of loading, ω t
damping
2006/2007 CE4258: Structural Stability & Dynamics 33 2006/2007 CE4258: Structural Stability & Dynamics 34
 Question 2-5
A vibration sensitive equipment of mass m is placed on some isolation
Periodic Loading
springs so that the vibration of the surrounding factory operation does
not disturb the equipment. Consider only vertical motion and ignore
Consider a SDOF system subjected to the loading
transient resonse. Let the total vertical stiffness of the springs be k. The p (t )
p s in 2 π t 0 Tp
supporting floor vibrates at a frequency of f (Hz) with an amplitude u0.

(a) Write the equation of motion in

p0
terms of absolute (total)
displacement. t
Tp /2
(b) Derive an expression for the
maximum absolute displacement of or a SDOF system subjected to the loading
the equipment vibration. p (t )
2π
(c) If f = 30 Hz, u0 = 1.6 mm, m = 1500 p 0 sin Tp
t
kg, determine the spring stiffness k
such that the equipment will have a p0
maximum absolute displacement of
0.2 mm. t
Tp / 2 Tp / 2 Tp / 2 Tp / 2
(d) Determine the corresponding
maximum force exerted on the
supporting floor.
The solution to the two loadings are the same for time 0 < t < Tp
2006/2007 CE4258: Structural Stability & Dynamics 35 2006/2007 CE4258: Structural Stability & Dynamics 36

Periodic Loading Periodic Functions

p (t )
2π
p 0 sin Tp
t • The concept of periodic loadings can be extended
to many kind of loading functions besides the half-
p0 sinusoidal function illustrated above, such as
t p( x )
Tp / 2 Tp / 2 Tp / 2 Tp / 2
x
• Note that the above function has the relationship Tp Tp Tp Tp
p(t + Tp) = p(t) for Tp > 0.
p (t )

• Such a function is called a periodic function. The p0

number Tp is called a period of p(x). The graph of t

such a function is obtained by periodic repetition t1 t

of its graph in any interval of length Tp. Period, Tp

2006/2007 CE4258: Structural Stability & Dynamics 37 2006/2007 CE4258: Structural Stability & Dynamics 38
 Fourier Representation of Period Functions Fourier Representation of Period Functions
⎛ ⎞ ⎛ ⎞
Any periodic function of period Tp that is piecewise Since an cos ⎜⎜ 2nπ t ⎟⎟ + bn sin ⎜⎜ 2nπ t ⎟⎟
smooth and square integrable over (α, α+Tp), where α ⎝ Tp ⎠ ⎝ Tp ⎠
is any real number, can be represented as ⎛ 2nπ ⎞
can be written as an2 + bn2 sin ⎜ t + θ ⎟ = cn sin (ωn t + θ n )
⎜ T ⎟
∞ ⎛ ⎛ 2nπ ⎞ ⎛ 2nπ ⎞⎞ ⎝ p ⎠
1 where
p(t ) = a0 + ∑ ⎜ an cos ⎜ t ⎟ + bn sin ⎜ t ⎟⎟ 2π an
2 ⎜ ⎜ T ⎟ ⎜ T ⎟⎟ ωn = n = nω p , cn = an2 + bn2 , θ n = tan −1
n =1
⎝ ⎝ p ⎠ ⎝ p ⎠⎠ Tp bn
α +Tp
2 ⎛ 2nπ ⎞ ∞
∫ a0 + ∑ ( an cos (ωn t ) + bn sin (ωn t ) )
an = p(t ) cos ⎜ n = 0,1, 2,..., 1
⎜ T ⎟⎟ Hence, p( t ) =
t dt
Tp α ⎝ p ⎠ 2 n =1
α +Tp
⎛ 2nπ ⎞ 1 ∞
2 a0 + ∑ cn sin (ωn t + θ n )
=
bn =
Tp ∫ p(t )sin ⎜
⎜ T ⎟⎟
t dt n = 1, 2,...,
2 n =1
α ⎝ p ⎠
p(t)
p(t) = constant load (average load value)+ sum of harmonic
loads each with amplitude cn and frequency ω n
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α +Tp
Example: Compute the Fourier represent the following load 2 ⎛ 2nπ ⎞
p (t )
2π
bn =
Tp ∫ p(t )sin ⎜
⎜ T
t ⎟ dt
⎟
n = 1, 2,...,
p 0 sin Tp
t α ⎝ p ⎠
Tp / 2 ⎧ p0
2p 2π 2nπ ⎪ n =1
p0 ∴bn = 0
Tp ∫ sin
Tp
t sin
Tp
t dt = ⎨ 2
0 ⎪⎩ 0 n >1
t
Tp / 2 Tp / 2 Tp / 2 Tp / 2

1. Compute the Fourier coefficients 2. Fourier series representation of p(t)

p0 ⎛ π 2 2 ⎞
∴ p( t ) = ⎜1 + sin ω1t − cos 2ω1t − cos 4ω1t +
α +Tp
2 ⎛ 2nπ ⎞ ⎟
an = ∫ p(t ) cos ⎜
⎜ T
t ⎟ dt
⎟
n = 0,1, 2,..., π ⎝ 2 3 15 ⎠
Tp α ⎝ p ⎠
p0 ⎛ π π 2
Tp / 2
2π 2nπ
⎧
⎪
0 n = odd or p( t ) = ⎜1 − cos(ω1t + ) − cos 2ω1t
2 p0 π ⎝ 2
∴an =
Tp ∫ sin
Tp
t cos
Tp
t dt = ⎨ p0 2
n = even
2 3
⎪ π 1 − n2 2 2 ⎞
⎩
0
− cos 4ω1t − cos 6ω1t − ⎟
15 35 ⎠
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 Response of SDOF System to Periodic Load
Fourier series representation of p(t)
a0 omega1 omega2 p3(t) omega4 p4(t) p5(t)
1.2 •Periodic load can be represented as a constant load + sum of
1 harmonic loads (each with different amplitude and frequency)
0.8 1 ∞
load (*po) 0.6 p( t ) = a0 + ∑ cn sin (ωn t + θ n )
2 n =1
0.4
0.2 •Solution of SDOF system under harmonic load p(t ) = p0 sin ω t
0
has been shown earlier
-0.2 0 0.25 0.5 0.75 1 1.25 1.5
-0.4
∴ u ( t ) = e −ξωt ( A sin ω D t + B cos ω D t )
-0.6
Tp
+
p0 ⎡
k ⎣
( )
1 − β 2 sin ω t − 2ξβ cos ω t ⎤ D 2
⎦
p0 ⎛ π π 2 •For linear SDOF system, principle of superposition can be
p(t ) = ⎜ 1 − cos(ω1 t + ) − cos 2ω1 t
π ⎝ 2 2 3 used to derive the response under periodic load as the sum of
2 2 ⎞ responses of SDOF system under each harmonic load
− cos 4ω1 t − cos 6ω1 t − ⎟
15 35 ⎠
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Damped SDOF System Damped SDOF System

Steady-
Steady-state responses of a damped SDOF structure due to
harmonic loadings p0 sin(ω t) and p0 cos( cos(ω t) are given by Steady-
Steady-state response of a damped structure due to a periodic
loading can be written as
p
( )
u ( t ) = 0 ⎡ 1 − β 2 sin ω t − 2ξβ cos ω t ⎤ D 2
(
∞
1 ⎡1
k ⎣ ⎦ u(t ) = ⎢ 0a + ∑ (
Dn2 ⎡ 2ξβ n an + 1 − β n2 bn ⎤ sin nω1t
⎣ ⎦ )
( )
p k ⎣2
)
n =1
u ( t ) = 0 ⎡ 1 − β 2 cos ω t + 2ξβ sin ω t ⎤ D 2
k ⎣ ⎦
⎣ ( )
+ ⎡ 1 − β n2 an − 2ξβ n bn ⎤ cos nω1t ⎤
⎦ ⎦⎥
The steady-
steady-state response of a damped structure due to a −1/ 2
(
Dn = ⎡⎢ 1 − β n2 ) + ( 2ξβ n ) ⎤⎥
2 2
periodic loading can be written as where
⎣ ⎦
(
∞
1 ⎡1
k ⎣2 ⎣ (
u ( t ) = ⎢ a0 + ∑ Dn2 ⎡ 2ξβ n an + 1 − β n2 bn ⎤ sin nω1t
⎦ ) Steady-
Steady-state response of an undamped SDOF structure due to
n =1 a periodic loading can be written as:
⎣ ( )
+ ⎡ 1 − β n2 an − 2ξβ n bn ⎤ cos nω1t ⎤
⎦ ⎦⎥ ) 1 ⎡1 1 ∞ ⎤
2 ∑( n
−1/ 2 u ( t ) = ⎢ a0 + b sin nω1t + an cos nω1t ) ⎥
( )
Dn = ⎡⎢ 1 − β n2 + ( 2ξβ n ) ⎤⎥ 1 − β n n=1
2 k ⎣2
where 2
⎦
⎣ ⎦
2006/2007 CE4258: Structural Stability & Dynamics 45 2006/2007 CE4258: Structural Stability & Dynamics 46
 Example Solution
Determine the steady-
steady-state response of a 1-
1-storey building, 1. Fourier series representation of p(t)
p0 ⎛ π 2 2 ⎞
idealized as shown above with natural period of 0.75Tp , ∴ p( t ) = 1 + sin ω1t − cos 2ω1t − cos 4ω1t +
π ⎜⎝ 2 3 15
⎟
⎠
subject to a periodic loading defined as shown in the figure
below. The building may be idealized as a SDOF system. 2. Steady-State Undamped Response:
Ignore the effects of damping. Tp 4 ω1 3 2ω1 3
= ≡ β1 = ≡ β2 =
u ω ω
p (t )
T 3 4 2
m
1 ⎡1 ∞
1 ⎤
u(t ) = ⎢ a0 + ∑ 2( n
b sin nω1t + an cos nω1t ) ⎥
k ⎣2 n =1 1 − β n ⎦
k k
p (t )
2 2
2π p0 ⎡ π 1 2 1 ⎤
p 0 sin t u(t ) = ⎢⎣1 + 2 1 − 0.752 sin ω1t − 3 1 − 1.52 cos 2ω1t + ⎥⎦
kπ
Tp

p0 ⎡ 8π 8 8 ⎤
p0
u(t ) = ⎢⎣1 + 7 sin ω1t + 15 cos 2ω1t + 60 cos 4ω1t + ⎥⎦
t kπ
Tp / 2 Tp / 2 Tp / 2 Tp / 2
2006/2007 CE4258: Structural Stability & Dynamics 47 2006/2007 CE4258: Structural Stability & Dynamics 48

Response of SDOF under periodic loading

a0 omega1 omega2 p3(t) omega4 p4(t) Complex Fourier Form

2

1.5
If function p(t) is
1
o periodic of period Tp over the t-axis, and
displacement(*po/k)

0.5
o piecewise smooth over (α, α + Tp), and
0
o square integrable in (α, α + Tp), then for all t it
0 0.25 0.5 0.75 1 1.25 1.5 1.75 2 can be expressed in complex Fourier form as
-0.5
2nπ
1 ∞ +i t
-1
p( t ) = ∑ α n e
Tp

-1.5
2 n=−∞
Tp α + Tp 2nπ
−i t
2 ⌠
⎡ 8π where α n =
Tp
p0 8 8 ⎤ ⎮ p( t ) e dt
u(t ) = ⎢⎣1 + 7 sin ω1t + 15 cos 2ω1t + 60 cos 4ω1t + ⎥⎦ Tp
⎮
⌡
kπ α
2006/2007 CE4258: Structural Stability & Dynamics 49 2006/2007 CE4258: Structural Stability & Dynamics 50
 Complex Fourier Series Solution Complex Frequency Response
Complex frequency response to a forcing frequency
Equation of motion due to unit complex forcing function:
ωn = nω1 can be written as
mu ( t ) + cu ( t ) + ku ( t ) = e iω t 1
H ( nω1 ) =
Steady-state solution has the following form
where (
k 1 − β n2 + 2 β nξ i )
u ( t ) = H (ω ) e iω t
2π ω nω
ω1 = β1 = 1 β n = 1 = nβ1
where H(ω), the complex-frequency-response function, Tp ω ω
can be obtained by differentiating and substituting into 1
∴ H ( nω1 ) =
equation of motion:
(
k 1 − n β1 + 2nβ1ξ i
2 2
)
H (ω ) ⎡( iω ) m + ( iω ) c + k ⎤ e = e iω t iω t
2
From principle of superposition, the total steady-state
⎣ ⎦ response to any periodic function can be written as
1
∴ H (ω ) = Complex-frequency- 1 ∞
(
k 1 − β + 2 βξ i
2
)
response-function u ( t ) = ∑ H ( nω1 ) α ne inω1t
2 n=−∞
2006/2007 CE4258: Structural Stability & Dynamics 51 2006/2007 CE4258: Structural Stability & Dynamics 52

Impulsive Loading Response Spectra for Block Impulse

– Maximum response produced in an undamped SDOF
– Consists of a single principal impulse that is typically
structure by a rectangular form of impulsive loading
large in magnitude, such as that due to blast on a
depends only on t1/T. This can be seen by the dynamic
structure, impact on or caused by vehicles such as trucks,
magnification factor D vs t1/T plot, known as the response
traveling cranes p (t )
spectra plot
– Generally is of relatively short duration t1 p0
– Earlier we have discuss the case of block pulse and
obtained the max response factor (or response spectra) t
t1
– Question: is shape of pulse important and how to t

determine whether it is impulsive. Phase 1

p (t )
For practical purposes, loading is
considered impulsive when t1 < T/4

t
t1
2006/2007 CE4258: Structural Stability & Dynamics 53 2006/2007 CE4258: Structural Stability & Dynamics 54
 Effect of pulse duration on maximum response Impulse Loadings
p 0 s in ω t
(t )
•If duration > half * period, max. response factor = 2 p
Magnitude of impulse
and occurs during the forced vibration phase p0 t1

•If duration < half * period, max. response factor < 2 Area=0.637pot1 I = ∫ p ( t ) dt
t
and occurs during the free vibration phase t1 t 0

Phase 1 Phase 2
Forced vibration phase, max. response factor = 2 p (t )
u(t )
= (1 − cos ω t ) = 2sin 2 12 ω t p0
ustatic p (t ) Area=pot1
t
Free vibration phase, u ( t ) = 2sin 1 ω t sin ω ( t − 1 t )
p0 t1 t

1 Phase 1
2 2 1
ustatic
Area=0.5pot1
t1
t
t
max. response factor = 2sin 12 ω t1
Phase 1 Phase 2
2006/2007 CE4258: Structural Stability & Dynamics 55 2006/2007 CE4258: Structural Stability & Dynamics 56

Effect of pulse shape (same peak force

and duration) on maximum response
2.5

Rectangular
Dynamic magnification factor, D

2
Half sine wave

1.5

Triangular

0.5

0
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
t1
Impulse length ratio,
T
2006/2007 CE4258: Structural Stability & Dynamics 57 2006/2007 CE4258: Structural Stability & Dynamics 58
 Effect of pulse shape (same impulse Effect of viscous damping on max response
magnitude) on maximum response Because loading is a single pulse, damping has much less
importance in affecting the maximum response of a structure
because umax is reached in very short time before damping can absorb
much energy from structure. E.g. half-
half-cycle sine pulse of duration
td/Tn=1/2, ξ increases from 1 to 10%, umax decreases by only 12%.

td/Tn < ½ (free vibration phrase controls), impulse magnitude (area) is

important.
td/Tn > ½ (forced vibration phrase controls), pulse shape is important.
2006/2007 CE4258: Structural Stability & Dynamics 59 2006/2007 CE4258: Structural Stability & Dynamics 60

Computation of max response of SDOF

system under sine and triangular pulse Sine Wave Impulse
p 0 sin ω t
p (t )
• For completeness, the remaining of this chapter
provides the solution for SDOF system subjected to
sine and triangular single pulse. p0

• There are two approaches, (i) analytical or (ii)

t
numerical. t1 t
• The numerical approach to solve has been Phase 1 Phase 2

previously illustrated (e.g. Newmark time Response divided into 2 phases:

integration method) Phase 1:
1: Structure is subjected to harmonic loading,
• So, we shall now illustrate how the analytical starting from rest
solutions (illustrated previously) can be applied to Phase 2:
2: Free-
Free-vibration motion occurs
. and depends on
these two loadings. displacement u(t1) and velocity u(t1) at end of phase 1
2006/2007 CE4258: Structural Stability & Dynamics 61 2006/2007 CE4258: Structural Stability & Dynamics 62
 Sine Wave Impulse Response Due To Sine Pulse
Phase 1: Undamped response, including transient and u(t ) =
p0 1
( sin ω t − β sin ω t )
k 1− β 2
steady-state is given by (see harmonic load solution) R (t ) u ( t1 )
u( t ) = sin ω t + u ( t1 ) cos ω t
p 1 ω
u(t ) = 0 ( sin ω t − β sin ω t ) 1.77
k 1− β 2 p (t )
where 0 ≤ t ≤ t 1 1
k
This solution is based on a sine loading function with
period 2t1 or frequency ϖ = π/t1.
t
t1 = 3
4
T
Phase 2: Free-vibration response may be expressed as
u ( t1 ) Phase 1 Phase 2
u(t ) = sin ω t + u ( t1 ) cos ω t
ω
where t = t − t1 ≥ 0 T

Magnitude of dynamic response depends on

2006/2007 CE4258: Structural Stability & Dynamics 63 2006/2007 ratio of load Structural
CE4258: duration t1 to&period
Stability of vibration T
Dynamics 64

Maximum Response Solving the equation on the previous slide

• In general, maximum response produced by impulsive Recall sin X + sin Y = 2sin ( X 2+Y ) cos ( X 2−Y )
load is of interest to structural engineer
sin X − sin Y = 2cos ( X 2+Y ) sin ( X 2−Y )
• In the forced vibration phase, the time when peak
response occurs can be obtained by usual calculus, i.e. cos X + cos Y = 2cos ( X 2+Y ) cos ( X 2−Y )
du ( t ) p
=0= 0
1
(ω cos ω t − ω cos ω t ) cos X − cos Y = −2sin ( X 2+Y ) sin ( X 2−Y )
dt k 1− β 2
du ( t ) p 1
⇒ ω t = 2nπ ± ω t n = 0, ±1, 2,3,… ( solution next page ) =0= 0 (ω cos ω t − ω cos ω t )
dt k 1− β 2
• Since this time must be within t1,
2nπ (ω cos ω t − ω cos ω t ) = 0
ωt = < ω t1 = π ⇒ 1 + (ω / ω ) > 2n or β < 1/(2n − 1)
1 + (ω / ω ) cos ω t − cos ω t = −2sin ( ω t +2ω t ) sin ( ω t −2ω t ) = 0
When load frequency approaches free-
free-vibration frequency, ω t +ω t = nπ ω t −ω t = nπ
i.e. ω → ω , the time of peak response is given by n = 1 or 2
or 2
2π 2πβ
β < 1 ⇒ ω < ω ωt = = ω t = 2nπ − ω t or ω t = 2nπ + ω t
1 + (ω / ω ) 1 + β
2006/2007 CE4258: Structural Stability & Dynamics 65 2006/2007 CE4258: Structural Stability & Dynamics 66
 Maximum Response
For β > 1 the maximum response occurs during the free-
free-
Example
vibration phase, i.e. t > t1, where ω t1 = π
Determine the maximum dynamic magnification
Initial conditions for this phase are:
are: factor of a SDOF system subjected to a sine pulse
p0 1 ⎛ π⎞
u ( t1 ) = 2⎜
sin π − β sin ⎟ 1) of long-duration where β = 2/3 (t1/T = 3/4)
k 1− β ⎝ β⎠
p ω ⎛ π⎞ 2) of short-duration where β = 4/3 (t1/T = 3/8)
u ( t1 ) = 0 cos π − cos ⎟
k 1 − β 2 ⎜⎝ β⎠
Maximum free vibration response is : Also, find the maximum dynamic magnification factor
due to
1/ 2
⎧⎪ ⎡ u ( t ) ⎤
2 ⎫
2⎪ p0 / k ⎛
1/ 2
π⎞ 2 β p0 / k π
ρ = ⎨⎢ ⎥ + ⎡⎣ u ( t1 ) ⎤⎦ ⎬ = β ⎜ 2 + 2cos ⎟ =
1
c os
⎪⎩ ⎣ ω ⎦ ⎪⎭ 1− β 2 ⎝ β⎠ 1− β 2 2β 3) a resonant sine impulsive loading (β = 1)
Hence, dynamic magnification factor for this condition is
u 2β π ω T t 1
D = max = cos Note : β = = ⇒ 1=
p0 / k 1 − β 2
2β ω 2t1 T 2β
2006/2007 CE4258: Structural Stability & Dynamics 67 2006/2007 CE4258: Structural Stability & Dynamics 68

Solution Solution
1) Long-duration sine pulse loading: t1 > T/2 2) Short-duration sine pulse loading:
For β = 2/3 < 1, peak response occurs during pulse loading: For β = 4/3 > 1, peak response occurs during free-
free-vibration
phase and the peak dynamic magnification factor is
2π 2π 4 ωt 6
ωt = = = π ; ωt = = π
1 + (1/ β ) 1 + ( 3/ 2 ) 5 β 5 2β π 2 ( 43 ) π
D= cos = = cos = 1.31
1− β 2
2 β 1 − 169 2 ( 43 )
Hence, peak dynamic magnification factor is
1 3) Resonant sine pulse loading:
D= ( sin ω t − β sin ω t )
1− β 2 For β = 1, the maximum response occurs at the end of the
impulse, i.e. ω t = π . Making use of the resonance equation
equation
∴D =
1
( sin 54 π − 23 sin 65 π ) = 1.77
1− 9
4
R ( t ) = 12 ( sin ω t − ω t cos ω t ) ⇒ D = π2 = 1.57
2006/2007 CE4258: Structural Stability & Dynamics 69 2006/2007 CE4258: Structural Stability & Dynamics 70
 Triangular Impulse Triangular Impulse
p (t )
Phase 1
p0
Particular solution to this loading is
p0 ⎛ t⎞
t1 t
t
up (t ) = ⎜1 − ⎟
k ⎝ t1 ⎠
Phase 1 Phase 2

• Phase 1: Loading during this phase is If zero initial conditions are assumed, the free-vibration
constants in the general solution can be evaluated,
p ( t ) = p0 (1 − t / t1 ) leading to

• Phase 2: Loading during this phase is p0 ⎛ sin ω t t ⎞

u(t ) = ⎜ − cos ω t − + 1⎟
k ⎝ ω t1 t1 ⎠
p(t ) = 0
2006/2007 CE4258: Structural Stability & Dynamics 71 2006/2007 CE4258: Structural Stability & Dynamics 72

Triangular Impulse Maximum Response

Phase 2 • Maximum values of response are found by finding
At the end of phase 1 (t = t1), we have times at which zero-velocity condition is achieved
p0 ⎛ sin ω t1 ⎞ • For loadings of very short duration (t1/T < 0.4), this
u ( t1 ) = ⎜ − cos ω t1 ⎟ occurs during free vibrations of phase 2; otherwise it
k ⎝ ω t1 ⎠ occurs during loading interval of phase 1
p0ω ⎛ cos ω t1 1 ⎞
u ( t1 ) = ⎜ + sin ω t1 − Dynamic Magnification Factor for
k ⎝ ω t1 ω t1 ⎟⎠
Triangular Impulse Loading
which can be substituted into
t1/T 0.05 0.20 0.40 0.50 0.75 1.00 1.50 2.00
u ( t1 )
u( t ) = sin ω t + u ( t1 ) cos ω t tm/t1 5.33 1.58 0.95 0.80 0.58 0.45 0.31 0.24
ω
to obtain the free-vibration response in phase 2 D 0.16 0.60 1.05 1.20 1.42 1.55 1.69 1.76
2006/2007 CE4258: Structural Stability & Dynamics 73 2006/2007 CE4258: Structural Stability & Dynamics 74
 0.15 0.16 1 1.05 1.42 1.5 1.69
0.1 1
0.5 1
0.05 0.5
0.5

5.33 10 20 30 40
0.95 2 4 6 8
0.58
1 2 3 4
-0.05
-0.5 -0.5 0.310.5 1 1.5 2 2.5
-0.1 -0.5
-1
-0.15 -1 -1

t1 / T = 0.05 t1 / T = 0.40 t1 / T = 0.75 t1 / T = 1.50

0.6
0.60 1.20 1.5 1.55 1.5
1.76
1
0.4 1
1
0.5
0.2
0.5
0.5

1.58
2 4 6 8 10 12 14 0.801 2 3 4 5
-0.2
-0.5
0.45
0.5 1 1.5 2 2.5 3
0.24 0.5 1 1.5 2
-0.5 -0.5
-0.4
-1
-0.6 -1 -1

t1 / T = 0.20 t1 / T = 0.50 t1 / T = 1.00 t1 / T = 2.00

2006/2007 CE4258: Structural Stability & Dynamics 75 2006/2007 CE4258: Structural Stability & Dynamics 76

Shock Spectra
2.5
Response spectra also serve to indicate the response of
Rectangular
structure to an acceleration impulse applied to its base
Dynamic magnification factor, D

2
Half sine wave
Effective impulsive loading due to applied based
1.5 acceleration is given by
peff ( t ) = − mug ( t )
Triangular

Maximum effective impulsive load is

0.5
p0,eff = − mug 0
0 where ug ( t ) = applied base acceleration
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2

Impulse length ratio,

t1 ug 0 = maximum base acceleration
T
2006/2007 CE4258: Structural Stability & Dynamics 77 2006/2007 CE4258: Structural Stability & Dynamics 78
 Shock Spectra Shock Spectra
Dynamic magnification factor for this case is
ut ,max
umax umax kumax ω 2 umax D=
D= = = = ug 0
p0,eff / k mug 0 / k mug 0 ug 0
where ut ,max = maximum total acceleration of mass
in which only the absolute magnitude of response generally
is of interest. Accordingly, response spectrum plots may therefore be
used to predict
In undamped system, under impulsive base acceleration, – maximum acceleration response of mass m to an
the inertia force given by the product of mass and total impulsive base acceleration
acceleration is equal to magnitude of elastic spring force – as well as maximum displacement response to
ku mut ,max u impulsive loads
∴ D = max = = t ,max
mug 0 mug 0 ug 0 When used to predict maximum acceleration response,
the plots are generally referred to as shock spectra

2006/2007 CE4258: Structural Stability & Dynamics 79 2006/2007 CE4258: Structural Stability & Dynamics 80

Question 2-6
Structure is subjected to load history as shown
above. Estimate the maximum base shear and
moment sustained by the structure given the
following equivalent SDOF parameters:
MDOF Systems
m = 45355 kg, k = 1436 kN/m, ζ = 1.23%
Introduction
Matrix Equation of Motion
Undamped Free Vibrations
Dynamic Response

2006/2007 CE4258: Structural Stability & Dynamics 81