Single Degree of Freedom Systems

STRUCTURES UNDER BLAST AND • Analytical solutions

IMPACT – Equation giving the the displacement as a function of time

– Possible for simple systems subjected to mathematically-simple time
variation of load
– Difficult to employ for more complex conditions
Lecture 5 – Many practical cases can be idealized into a simple form

Dynamic Analysis – Enable to identify certain types of response with certain types of load-
time functions, e.g.
• Effect of a suddenly-applied load vs. one which builds up slowly
• Effect of a decaying load vs. a constant load with time
• Duration of the applied load relative to the natural period of the
Prof. Michael Seica system
Department of Civil Engineering • General effect of damping
University of Toronto – Non-dimensional charts can provide response of SDOFs to certain
standardized load types

Dynamic Analysis Ÿ Single Degree of Freedom Systems 2

Single Degree of Freedom Systems Undamped Systems

• Typical SDOF system • Free vibration
– Equation of motion – There is no damping, c = 0, and F = 0
– System requires an initial disturbance
, where • Initial displacement, y0 (mass displaced and released at t =0 )
• F1[f(t)] = load-time function • Initial velocity (produced by an impulse or impact)
• F1 = constant force value, can be chosen arbitrarily • Combination of the two
• f(t) = non-dimensional time function – The resulting motion is ‘free vibration’
– Will develop closed-form solutions for various load-time functions

– The solution of the differential equation is

Dynamic Analysis Ÿ Single Degree of Freedom Systems 3 Dynamic Analysis Ÿ Undamped Systems 4
 Free Vibration Free Vibration
• Letting • Solution for no external force

– C1 and C2 depend upon the initial conditions

• e.g. if initial displacement and initial velocity are known at t = 0

• Following solutions are obtained for the constants

Dynamic Analysis Ÿ Undamped Systems 5 Dynamic Analysis Ÿ Undamped Systems 6

Free Vibration Forced Vibration

• Natural period and frequency • Forced vibration
– Harmonic vibrations, displacements, etc. vary sinusoidally with time – There is no damping, c = 0, and F = F(t)
– Harmonic motion defined by amplitude and natural period – Assume that the system begins at rest
– Initial conditions affect only the amplitude of vibration • Both displacement and velocity are zero at t = 0
• Natural circular frequency (or angular velocity) • Not a necessary condition (solutions could be obtained for any
combination)
– Case 1: F(t) = F1
[rad/sec]
• Constant magnitude
• Suddenly applied and indefinite duration
• Since ωT = 2π, the natural period, T, and natural frequency, f

[sec] [Hz] – The solution of the differential equation is

Dynamic Analysis Ÿ Undamped Systems 7 Dynamic Analysis Ÿ Undamped Systems 8

 Forced Vibration Forced Vibration
• Where • Solution for constant external force

– C1 and C2 depend upon the initial conditions

• e.g. since initial velocity and initial displacement are zero at t = 0
• The axis of vibration shifts by an amount equal to F1/k

• Following solutions are obtained for the constants

Dynamic Analysis Ÿ Undamped Systems 9 Dynamic Analysis Ÿ Undamped Systems 10

Dynamic Load Factor Dynamic Load Factor

• Maximum displacement is twice the displacement if the force • DLF is non-dimensional and independent of load magnitude
was applied statically • Typically, the maximum DLF is of interest
– If a constant force is applied suddenly to a linear elastic system, the
• If the load is not constant, usually the maximum is selected
resulting displacement is exactly twice that for the same force applied
statically during the period of interest
• Dynamic load factor • In a linear-elastic system, dynamic forces / stresses are
– Ratio of the dynamic deflection at any time to the static deflection, proportional to displacements
resulting from the application of an external force

– Substituting the solution of the equation of motion

Dynamic Analysis Ÿ Undamped Systems 11 Dynamic Analysis Ÿ Undamped Systems 12

 Forced Vibration General Load Function
• Various forcing functions
– There is no damping, c = 0, and F = F(t)
– Case 2: Finite duration load; two scenarios
• Short load duration (td < 0.1T)
• Long load duration (td > 0.1T)
– Short duration loading, F, applied to a system at rest
• Mass will begin to move with initial acceleration • Increment of velocity over dτ
• Since td is very short, little spring resistance will be developed – Can be considered as initial velocity imparted to a system at rest

• Resulting acceleration will be constant, and the velocity is

– Displacement at time t due to the load applied during dτ (if initial
displacement is zero)
• Shape of load-time function is irrelevant

Dynamic Analysis Ÿ Undamped Systems 13 Dynamic Analysis Ÿ Undamped Systems 14

General Equation for Undamped System Rectangular Pulse Force

• Superposition employed to find the total displacement at t, as • Suddenly applied constant load with limited duration td
the sum of all elements of impulse between 0 and t • Up to time td, use equation of vibration under constant force

– Static deflection due to F1

• After td, use the general equation for vibration, with initial
conditions at td and f(τ) = 0

– Superimposing the solution for free vibration (to account for effects of
initial displacement and velocity)

Dynamic Analysis Ÿ Undamped Systems 15 Dynamic Analysis Ÿ Undamped Systems 16

 Rectangular Pulse Force Rectangular Pulse Force
• One can now calculate the DLF, since F1/k is the static • Response of one-degree elastic system
deflection

– The ratio of load duration to natural period is important

Dynamic Analysis Ÿ Undamped Systems 17 Dynamic Analysis Ÿ Undamped Systems 18

Triangular Pulse Force Triangular Pulse Force

• Consider a system at rest subjected to a suddenly applied – After td
force F1 which decreases linearly to 0 at time td
• Response can be calculated in two stages using the general
equation
– Before td

Dynamic Analysis Ÿ Undamped Systems 19 Dynamic Analysis Ÿ Undamped Systems 20

 Triangular Pulse Force Rectangular and Triangular Pulse Forces
• Response of one-degree elastic system • Maximum dynamic load factors
– For rectangular pulse, if td/T >0.5, the DLF is same as for infinite force
– For triangular pulse, DLF è 2 when td/T becomes large

Dynamic Analysis Ÿ Undamped Systems 21 Dynamic Analysis Ÿ Undamped Systems 22

Rectangular and Triangular Pulse Forces Symmetric Triangular Pulse Force

• Time of maximum response (e.g. deflection, stress) • Shape of an isosceles triangle
– Total force duration is td
• General equation applied in three stages
– Results at end of a stage become initial conditions for the next stage
– Load-time functions for the three stages

Dynamic Analysis Ÿ Undamped Systems 23 Dynamic Analysis Ÿ Undamped Systems 24

 Symmetric Triangular Pulse Force Symmetric Triangular Pulse Force
• DLF is obtained following a similar procedure as previously • Response of one-degree elastic system

Dynamic Analysis Ÿ Undamped Systems 25 Dynamic Analysis Ÿ Undamped Systems 26

Symmetric Triangular Pulse Force Symmetric Triangular Pulse Forces

• Maximum dynamic load factors • Time of maximum response (e.g. deflection, stress)
– Occurs when td ≈ T

Dynamic Analysis Ÿ Undamped Systems 27 Dynamic Analysis Ÿ Undamped Systems 28

 Constant Force with Finite Rise Time Constant Force with Finite Rise Time
• In reality no force can be applied instantaneously • DLF is obtained following a similar procedure as previously
– Rise time is tr
– Total force duration is infinite
• General equation applied in two stages
– Results at end of a stage become initial conditions for the next stage
– Load-time functions for the two stages

Dynamic Analysis Ÿ Undamped Systems 29 Dynamic Analysis Ÿ Undamped Systems 30

Constant Force with Finite Rise Time Constant Force with Finite Rise Time
• Response of one-degree elastic system • Maximum dynamic load factors
– If tr is larger than T, dynamic effect is negligible – If tr is less than about 1/4T, similar effect to suddenly applied force
– Shorter rise times may be ignored in practical design
– If tr is a multiple of T, similar response as if F1 is applied statically

Dynamic Analysis Ÿ Undamped Systems 31 Dynamic Analysis Ÿ Undamped Systems 32

 Constant Force with Finite Rise Time Constant Force with Finite Rise Time
• Time of maximum response (e.g. deflection, stress) • Example
– tr = 0.075 sec and F1 = 20 kips
– Weight of beam is negligible
– What is the maximum dynamic elastic bending stress?

Dynamic Analysis Ÿ Undamped Systems 33 Dynamic Analysis Ÿ Undamped Systems 34

Constant Force with Finite Rise Time Constant Force with Finite Rise Time
• Example • Example
– Spring constant defined as the midspan force to cause a unit – Maximum dynamic stress
deflection

– Natural period of vibration of the single-degree system

– tr/T = 0.075/0.111 = 0.68 and – Time when the maximum stress occurs
• From chart on slide 32, DLFmax = 1.38
• From chart on slide 33, tm/tr = 1.23

Dynamic Analysis Ÿ Undamped Systems 35 Dynamic Analysis Ÿ Undamped Systems 36

 Damped Systems Free Damped Vibration
• Damping has minimum effect on first peak of response • Knowing the initial displacement and velocity (at t = 0)
• If interest is beyond the first peak, damping must be considered
• General equation of motion

• Free Vibration
– Damping, c ≠ 0, and F = 0
– System requires an initial disturbance
• Displacement, velocity or combination of both
– Solution of the equation of motion
– Following solutions are obtained for the constants

– β is a measure of the damping present

– ωd is the natural circular frequency of the damped system

Dynamic Analysis Ÿ Damped Systems 37 Dynamic Analysis Ÿ Damped Systems 38

Free Damped Vibration Free Damped Vibration

• The total response is given by

• Special case: β = ω, then

– Motion is no longer harmonic or periodic

– System merely creeps back to the neutral position

Dynamic Analysis Ÿ Damped Systems 39 Dynamic Analysis Ÿ Damped Systems 40

 Critical Damping Logarithmic Decrement
• The amount of damping which removes all vibration (β = ω) is • Difference between the logarithms of two consecutive peaks
the ‘critical damping’ – Or the logarithm of the ratio of two consecutive peaks
– Useful as a reference, e.g. typical structures have 5-10% of critical – Assume one peak at time t and the next peak at time t + Td
• Td = damped natural period

• Critical damping is given by

– If, say, a system has 10% of typical damping, or β = 0.1ω

– If a system has 10% of critical damping (β = 0.1ω)
• Logarithmic decrement = 0.2π
– The damped circular frequency is only slightly different • Ratio of successive peaks is e0.2π, or 1.87
– Decrease in natural frequency may be ignored for practical purposes • Each and every peak has a magnitude 0.534 times the preceding

Dynamic Analysis Ÿ Damped Systems 41 Dynamic Analysis Ÿ Damped Systems 42

Forced Damped Vibration Forced Damped Vibration

• Generalized solution obtained as for undamped systems • Sudden constant force, F1, applied to a system at rest
– The response due to an element of impulse (slide 14) – The solution is obtained for f(τ) = 1 and ωd ≈ ω

– Total response obtained after summing the effects of all elements of

impulse and superimposing the effects of initial conditions

– Same equation as that for undamped systems if β = 0 (slide 15)

Dynamic Analysis Ÿ Damped Systems 43 Dynamic Analysis Ÿ Damped Systems 44

 Forced Damped Vibration Coulomb Damping
• First peak occurs when ωt ≈ π • Viscous damping is the most commonly assumed for
structural analysis
• Friction or constant damping should also be considered
– Magnitude of friction force, Ff, is constant and depends on
• Coefficient of friction
• Weight of body
– Assuming structure has 10% of critical damping
– Direction of friction force always opposes direction of velocity of mass
• β = 0.1ω and ymax = 1.73F1/k
• For an undamped system, ymax = 2F1/k
• Hence a reduction of first peak response by 13.5%
• Upper limit for most typical structures
• For practical considerations, damping can be ignored for first peak
response

Dynamic Analysis Ÿ Damped Systems 45 Dynamic Analysis Ÿ Damped Systems 46

Coulomb Damping Coulomb Damping

• Equation of motion for free vibration • Response is the superposition of effects

– Positive sign for Ff applies when and only the velocity is positive
– Any solution would apply during a time interval when the velocity sign
remains unchanged
– If a mass has an initial displacement, y0, and zero velocity
– Velocity is negative during the first half-cycle of response
– The first, negative peak is

– Same as a system with a suddenly applied force and initial

displacement

Dynamic Analysis Ÿ Damped Systems 47 Dynamic Analysis Ÿ Damped Systems 48

 Coulomb Damping Coulomb Damping
• During the second half-cycle • The second, positive peak is
– Velocity is positive

– Same response as during the first half-cycle if

• Successive positive peaks are given by
• Sign of the force term is changed
• Time is measured from the first negative peak, t = π/ω
– Before, time was measured from the initial displacement, or
the first positive peak , where

– n = represents the number of complete cycles, or multiples of the

natural period

Dynamic Analysis Ÿ Damped Systems 49 Dynamic Analysis Ÿ Damped Systems 50

Coulomb Damping Pulsating Force

• Damping envelope are two straight lines • Response to pulsating force of the form
• Each half-cycle is a pure cosine function
• Response is completely damped at t = (kT/4Ff)y0
– Where T = natural period – e.g. dynamic force applied by a rotation machine to its supports
• Consider an undamped system with sinusoidal force of
indefinite duration

– Solution is of the following form

Dynamic Analysis Ÿ Damped Systems 51 Dynamic Analysis Ÿ Pulsating Force, Undamped 52

 Undamped System Undamped System
• If the system starts at rest

• Solving for C1 and C2 and substituting in the general solution

– The response consists of two parts

• ‘Free’ part having the natural circular frequency of the system
• ‘Forced’ part having the frequency of the forcing function

Dynamic Analysis Ÿ Pulsating Force, Undamped 53 Dynamic Analysis Ÿ Pulsating Force, Undamped 54

Undamped System Undamped System

• Maximum DLF can be determined by • For practical applications (DLF)max overestimates the response
– Differentiating and setting equal to zero the DLF equation – Even a small amount of damping quickly eliminates the free vibrations
– Solving for the time of maximum response, tm – In the long term is reasonable to assume free vibrations damped out
– Substituting tm back into the DLF equation • Removing the free vibration term from the DLF equation
– Complex mathematical procedure – Maximum response occurs when sinΩt = 1
• Alternatively, an upper limit (sufficiently accurate for practical
purposes) may be obtained by assuming in the DLF equation
– sinΩt = 1 and sinωt = -1, at a specific time

• Solution implies that damping is so small that the forced

vibration is not affected
– Maximum response contains both the free and forced components – Forced vibration solution – ‘steady-state’ response
– Free vibration solution – ‘transient’ response

Dynamic Analysis Ÿ Pulsating Force, Undamped 55 Dynamic Analysis Ÿ Pulsating Force, Undamped 56
 Resonance Resonance
• For either solution • In the DLF equation, for Ω = ω, y = 0/0 (indeterminate solution)
– (DLF)max approaches 1 as Ω/ω approaches 0 (static load effect) – Using the l’Hospital rule
– (DLF)max approaches 0 as Ω/ω approaches ∞ (mass remains stationary)
– (DLF)max approaches ∞ as Ω ≈ ω (‘resonance’ condition)

– With Ω = ω, this becomes

• The DLF does become infinite

– But only after an infinite time
– ‘Many’ cycles of vibrations must occur (but will happen in a short time)

Dynamic Analysis Ÿ Pulsating Force, Undamped 57 Dynamic Analysis Ÿ Pulsating Force, Undamped 58

Resonance Resonance
• In practice, exact resonance does not occur • Substituting the values of ωt into the (DLF)Ω = ω equation
– Systems are never completely linear
– For large distortions plastic deformations, etc. change the
characteristics of the system
– Or
– Deflections of structure become large and intolerable
• Amplitude of response after a number of cycles at resonance , where
– Maximize the DLF by differentiating it
• n = number of half-cycles after the beginning of the response
– Maximum deflection of an undamped system is
• π/2 times the static deflection after 1/2 cycle of loading
• π times the static deflection after 1 cycle of loading
• 3π/2 times the static deflection after 1-1/2 cycles of loading
– Therefore
• etc.

Dynamic Analysis Ÿ Pulsating Force, Undamped 59 Dynamic Analysis Ÿ Pulsating Force, Undamped 60
 Resonance Damped System
• Initial stage of response at resonance • Consider a damped system with sinusoidal force of infinite
duration
– Equation of motion

– Solution is of the form

Dynamic Analysis Ÿ Pulsating Force, Undamped 61 Dynamic Analysis Ÿ Pulsating Force, Damped 62

Damped System Resonance

• The contribution of the free part becomes negligible after a • (DLF)max is often called ‘dynamic magnification factor’
few cycles of response
– Consider only the forced (steady-state) component of the response
– Given by the second term in the solution of the equation of motion

– Response is maximized when sinΩt = 1 and

Dynamic Analysis Ÿ Pulsating Force, Damped 63 Dynamic Analysis Ÿ Pulsating Force, Damped 64
 Resonance Elasto-Plastic Systems
• For critical damping (β/ω = 1) • Consider a single-degree of freedom system
– Maximum resonant deflection is half the static deflection – Bilinear resistance function
• Even when damping is very small, theoretical infinite – Suddenly applied, constant load
amplitudes do not occur at resonance
• The maximum dynamic load factor at resonance

– The maximum value is attained only after many cycles of vibration

Dynamic Analysis Ÿ Pulsating Force, Damped 65 Dynamic Analysis Ÿ Elasto-Plastic Systems 66

Elasto-Plastic Systems Elasto-Plastic Systems

• Two discontinuities require three stages of analysis • First stage, y ≤ yel
– Elastic response up to the elastic limit, yel – Zero initial displacement and velocity
– Plastic response between the elastic limit and maximum response, ym
– Rebound, or elastic response after maximum has occurred , where
• Displacements start to decrease
– Initial conditions for a stage are final conditions for preceding stage
– If applied force is not constant
• Additional stages for each force discontinuity are required
– Very laborious process and numerical analysis is recommended – Time at which yel is reached

Dynamic Analysis Ÿ Elasto-Plastic Systems 67 Dynamic Analysis Ÿ Elasto-Plastic Systems 68

 Elasto-Plastic Systems Elasto-Plastic Systems
• Second stage, yel ≤ y ≤ ym • Using initial conditions at t1 = 0
– Let t = t – tel and initial conditions – Solve for C1 and C2
– Substitute back into the solution

– Differentiating and setting the result to zero, the time of maximum

– Equation of motion response

– Solution by direct integration

– Substituting t1m into he equation for y yields the maximum
displacement, ym
• Third stage use suitable equation of motion with initial
conditions from the end of the second stage

Dynamic Analysis Ÿ Elasto-Plastic Systems 69 Dynamic Analysis Ÿ Elasto-Plastic Systems 70

Elasto-Plastic Systems Elasto-Plastic Systems

• Easier procedure can be used for stage three • Example (same beam as on slide 35)
– Residual vibration, elastic and harmonic
– When the mass is in the neutral position, the spring force is equal to
the applied load, F1
– Amplitude of vibration = amount of deflection decrease below ym to
reach the neutral position is (Rm – F1)/k
– Equivalent to an initial displacement of this amount on a system
whose neutral position is ym – (Rm – F1)/k
– Hence, the response is given by

, where • Total maximum resistance

, where
– Mp is the plastic bending moment based on 33 ksi yield stress

Dynamic Analysis Ÿ Elasto-Plastic Systems 71 Dynamic Analysis Ÿ Elasto-Plastic Systems 72

 Elasto-Plastic Systems Elasto-Plastic Systems
• Since the beam supports a dead load of 10 kips, the maximum • Stage 1: t ≤ tel
force available to resist the dynamic load
– Assuming lateral-torsional buckling of the beam is prevented

– Parameters required for analysis

• k = 83.4 kips/in
• M = 0.0259 kip-sec2/in • Stage 2: tel ≤ t ≤ tm
• T = 0.111 sec
• ω = 56.8 rad/sec
• Rm = 45.3 kips
• yel = Rm/k = 0.543 in
• yst = F1/k = 0.360 in
– Since Rm < 2F1, the response will reach the plastic range

Dynamic Analysis Ÿ Elasto-Plastic Systems 73 Dynamic Analysis Ÿ Elasto-Plastic Systems 74

Elasto-Plastic Systems Charted Solutions – Response Spectra

• Stage 3: t ≥ tm • Closed form solutions are cumbersome to employ
• Maximum response can be obtained from charts
• Four types of loading given in the charts
– Suddenly applied constant force
– Triangular force pulse
• Complete solution – Constant force with finite rise time
– Isosceles triangular force pulse
• Input parameters are td/T and Rm/F1
– For system which starts at rest and has no damping
• Output provided
– μ = ym/yel and ξmax = tm/td or tm/tr
• Bottom curve (Rm/F1 = 2.0) represents elastic response
– If Rm/F1 > 2.0, the elastic response charts should be used (slides 22, 23,
27, 28, 32, 33)

Dynamic Analysis Ÿ Elasto-Plastic Systems 75 Dynamic Analysis Ÿ Elasto-Plastic Systems 76

 Charted Solutions Charted Solutions
• Suddenly applied constant force, μ = ym/yel • Suddenly applied constant force, tm/td

Dynamic Analysis Ÿ Elasto-Plastic Systems 77 Dynamic Analysis Ÿ Elasto-Plastic Systems 78

Charted Solutions Charted Solutions

• Triangular force pulse, μ = ym/yel • Triangular force pulse, tm/td

Dynamic Analysis Ÿ Elasto-Plastic Systems 79 Dynamic Analysis Ÿ Elasto-Plastic Systems 80

 Charted Solutions Charted Solutions
• Constant force with finite rise time, μ = ym/yel • Constant force with finite rise time, tm/tr

Dynamic Analysis Ÿ Elasto-Plastic Systems 81 Dynamic Analysis Ÿ Elasto-Plastic Systems 82

Charted Solutions Charted Solutions

• Isosceles triangular force pulse, μ = ym/yel • Isosceles triangular force pulse, tm/td

Dynamic Analysis Ÿ Elasto-Plastic Systems 83 Dynamic Analysis Ÿ Elasto-Plastic Systems 84

 Lumped Mass Multi-Degree Systems Coupled DOF Systems
• Finite number of masses connected by springs • Equations of motion for a coupled two degree of freedom
• Number of degrees of freedom equal to number of system
independent types of motions possible
– Number of independent coordinates necessary and sufficient to define
completely the configuration of the system
– Not necessarily equal to the number of masses

Dynamic Analysis Ÿ Lumped Mass MDOF Systems 85 Dynamic Analysis Ÿ Lumped Mass MDOF Systems 86

Uncoupled DOF Systems Close- and Far-Coupled DOF System

• Equations of motion for an uncoupled two degree of freedom • Rigid girders (b)
system – No force is transmitted directly to the floors below
– No additional spring needed, e.g. between the third and first floors
– ‘Close-coupled’ system
• Flexible girders (c)
– Joints will rotate and columns below will be distorted
– Forces will be applied to lower floors
– ‘Far-coupled’ system

Dynamic Analysis Ÿ Lumped Mass MDOF Systems 87 Dynamic Analysis Ÿ Lumped Mass MDOF Systems 88
 Beams with Several Masses Natural Modes of Vibration
• Are always far-coupled systems • Also known as ‘normal’ modes of vibration
– e.g. a deflection of mass 1, but not of mass 2, will cause a reaction • Number of natural modes equal number of DOF
force at support 3; accounted for by spring k4 • Each mode is characterized by two parameters
– Natural circular frequency (frequency, period)
– Characteristic shape
• Natural mode
– The system can vibrate freely in that mode such that the ratio of
displacements of any two masses is constant with time
– These ratios define the characteristic shape
• Complete motion of the system is obtained by superimposing
the independent motions of the individual modes
• First step in a dynamic analysis
– Determination of natural frequencies
– Determination of characteristic modes

Dynamic Analysis Ÿ Lumped Mass MDOF Systems 89 Dynamic Analysis Ÿ Lumped Mass MDOF Systems 90

Natural Circular Frequencies Natural Circular Frequencies

• Equations of motion for a free system with n masses and DOFs • Equations of motion can be rewritten

• And rearranged
• During a given mode, displacements of masses are in the
same proportions
– i.e. all possible positions are geometrically similar

Dynamic Analysis Ÿ Lumped Mass MDOF Systems 91 Dynamic Analysis Ÿ Lumped Mass MDOF Systems 92
 Natural Circular Frequencies Natural Circular Frequencies
• The left sides of all equations are identical • Substituting – ω2 in the equations of motion
– One can name

– Therefore, the equation of motion for the mode becomes

• Cramer’s rule for homogeneous equations
– Right side of the equations is zero
– And has the following solution – Nontrivial values of amplitudes exist only if determinant of coefficients
of a1,…,an is zero

– Which indicates that the motion is harmonic with a natural circular

frequency, ω
– Applies to all natural modes

Dynamic Analysis Ÿ Lumped Mass MDOF Systems 93 Dynamic Analysis Ÿ Lumped Mass MDOF Systems 94

Natural Circular Frequencies Characteristic Shapes

• Expansion of the determinant • Once the eigenvalues are known
– Circular frequency equation – They can be substituted into the equations of motion
– Can solve for ω – Solve for ‘characteristic amplitudes’
– n amplitudes for each mode: a1, a2,...,an
– One real root for each natural mode, n circular frequencies
• Arbitrary value can be given to one amplitude
• Termed ‘characteristic-value problem’
– All other amplitudes defined with respect to the reference value
– ω2 are ‘characteristic values’ or ‘eigenvalues’
– ‘Characteristic vector’ – defines the characteristic shape
• Solution of the natural circular frequencies • Amplitude of a natural mode are always maintained
– Exact method – Mode shape is maintained regardless of the cause of vibration
• Extremely cumbersome for large number of natural modes • Any two natural modes of vibration are orthogonal
– Iterative methods
• e.g. Stodola-Vianello procedure
– Approximate methods
– m, n = any two natural modes of the system
• e.g. Modified Rayleigh method – r = rth mass out of a total of j masses

Dynamic Analysis Ÿ Lumped Mass MDOF Systems 95 Dynamic Analysis Ÿ Lumped Mass MDOF Systems 96
 Modal Displacement Modal Equation of Motion
• For each mode, n, it is convenient to select a modal • Modal equation of motion can be derived
displacement, An
– All individual mass displacements may be expressed in terms of An
– An is taken as the displacement of one arbitrarily selected mass, r
– Similar form as that for a SDOF system

– Therefore, the modal equation of motion may be associated with a

SDOF system
– Similarly, the distortion of a spring, g, in nth mode

• ϕrn and ϕΔgn = normalized deflection coordinates for the nth mode
• Constants for a given mode

Dynamic Analysis Ÿ Lumped Mass MDOF Systems 97 Dynamic Analysis Ÿ Lumped Mass MDOF Systems 98

Equivalent SDOF System Effect of Damping

• Analogy between a given mode and an equivalent SDOF • Difficult to estimate damping in a MDOF system
system – Not sure what arrangements and coefficients of damping
– The equivalent one degree is one for which the – May assume a reasonable percentage of critical damping in each
• Kinetic energy mode
• Internal strain energy – In numerical analyses actual coefficients must be determined and
• Work done by all external forces must be related to the percentage of critical damping for each mode
are at all times equal to the same quantities for the complete MDOF • General equation of free motion for the rth mass of a lumped-
system when vibrating in this normal mode alone parameter system

– cri = damping coefficient which applies to the ith velocity in the rth
equation of motion

Dynamic Analysis Ÿ Lumped Mass MDOF Systems 99 Dynamic Analysis Ÿ Lumped Mass MDOF Systems 100
 Effect of Damping Structures with Distributed Mass and Force
• The modal equation for the nth mode • All structures are in reality distributed mass systems
– Massless springs are physically impossible
• Some structures can be closely approximated by lumped mass
systems
– Equation is similar to the equation of motion for SDOF systems – Mass of springs is small compared to mass concentrations at points
between the springs
– Critical damping in the nth mode is defined by
– e.g. multi-storey building frames
• Other systems may not be easily modelled as lumped-mass systems
– Must solve the equations based on the continuous-mass system
– And the damping coefficients can be calculated from – e.g. beams and slabs
• Continuous-mass systems have an infinite number of DOFs
– Each small element could be considered a discrete mass connected by
springs to the other
• Cn = ratio of actual to critical damping in the nth mode – Only a few lower modes have responses of significance practically
• For each of n modes there is one equation for each of the n masses – Natural frequencies and characteristic shapes will be determined
• Results in n2 equations and n2 damping coefficients to be computed – Modal responses are computed and superimposed

Dynamic Analysis Ÿ Lumped Mass MDOF Systems 101 Dynamic Analysis Ÿ Distributed Mass and Force 102

Single-Span Beams Equation of Motion

• Assume a beam with • Relationships between bending moment, load and deflection
– m = mass intensity, assumed uniform along the span [kg/m]
– p = load intensity, varies in time and along the span [N/m]

– The equation of motion for transverse vibration of the beam

– The net load intensity on the element • EI = bending stiffness of the beam
• Partial derivatives are used since y is a function of t as well as x
– Solution of equation represents beam deflection as a function of time
and location along the beam
• Positive load is in the same direction as positive y

Dynamic Analysis Ÿ Distributed Mass and Force 103 Dynamic Analysis Ÿ Distributed Mass and Force 104
 Solution of Equation of Motion Elasto-Plastic Analysis of Beams
• Shear deformation and rotation of element is ignored • Analysis can be very cumbersome
– For slender beams neither are important and can be neglected – Option 1: Step-by-step incremental analysis as plastic hinges form or
• Equation of motion can be rewritten load hinge rotation reverses
– Option 2: Replace the system by a lumped mass MDOF system
• Typically, a beam must be divided into at least 10 segments
– Results in nine DOFs
• And the solution is • Mass and load concentrated only at each mass location
• Plastic hinges may form only at each mass location
• Stiffness coefficients determined by unit deflections at each mass
point
• When a plastic hinge forms a pin is introduced and the stiffness
coefficients re-evaluated
– Φn(x) = amplitude of the characteristic shape for the nth mode – Option 3: Computer modelling
– Constants C1,...,C4 can be determined by consideration of boundary • Finite differences
conditions (deflection, rotation, curvature) at the ends of the beam • Finite elements
Dynamic Analysis Ÿ Distributed Mass and Force 105 Dynamic Analysis Ÿ Distributed Mass and Force 106

Elasto-Plastic Analysis of Beams

Dynamic Analysis Ÿ Distributed Mass and Force 107 © Michael Seica (2010-2020)