Structural Dynamic

3/22/2014 Dynamic Analysis 1
Structural
Dynamics
Spring-Mass system subjected
to a time dependent load.
k
F(t)
m
Free-body diagram of the mass.
F(t)
m
T =kx
=
m
x m ma

=
t F x k x m
x m x k t F

0 x k x m
0 t F
: s Homogeneou

Solution of D.E. is sum
of homogeneous and
particular solutions:
0 x x
: Then
m
k
: Let
2
2

e
2
is the natural circular frequency
2
t is the period (measured in seconds)
x
m

t
Displacement due to simple harmonic motion.
One Dimensional
Bar Element

( ) t f
e
x 1
( ) t f
e
x 2
x 2
d
x 1
d
1
2
x
L
Step 1 - Select Element Type
E - modulus of elasticity
A - cross-sectional area
- mass density
Step 2 - Select a
Displacement Function
L
x
N
L
x
1 N
d
N d
N u
a a u
2
1
x 2 2 x 1 1
2 1
=
=
+ =
+ =
Step 3 - Define
Strain/Displacement and
Stress/Strain Relationships
{ } | |{ }
| |
{ }
{ } | |{ } | || |{ } d
B D D
d
L L
B
d
B
x
x
x
x
x
= c = o
)
`
=
(
=
=
c
c
= c
2
1
1 1
Step 4 - Derive Element
Stiffness and Mass Matrices
and Equations
x 2 x 1
f
With time dependent loading

a m f

=
Newtons Second Law
2
2
2
2 2 2
2
1
2
1 1 1
t
d
m f
t
d
m f
x
x
e
x
x
x
e
x
c
c
+ =
c
c
+ =
NODAL EQUILIBRIUM
EQUATIONS
2
AL
m
2
AL
m
2
1
m
1
and m
2
are obtained by
lumping the total mass of the
bar equally at the two nodes
( ) t f
e
x 1
( ) t f
e
x 2
x 2
d
x 1
d
1
2
x
L
m
1
m
2
Lumped Mass Model
c
c
c
c
(
2
x 2
2
x 1
2
1
x 2
x 1
e
x 2
e
x 1
t
d
t
d
m 0
0 m
f
Equilibrium in Matrix Form

( ) { } | |{ } | |{ } d
t f
e

+ =
Equilibrium in Matrix Form
| |
| |
{ }
{ }
{ }
ons Accelerati Nodal
nts Displaceme Nodal
Matrix Mass Lumped Element
Matrix Stiffness Element
2
2
1 0
0 1
2
1 1
1 1
t
d
AL
m
L
AE
k
c
c
=
(
=
(

=

Defining Terms
{ } { }
{ } | | { }
{ } | | { }dV u
N f
dV X N f
u
X
V
T
b
V
T
b
e
}}}
}}}
=
=
=

Consistent Mass Matrix
{ } | |{ }
{ } | |{ }
{ } | |{ } d
N u
N u
N u
=
=
=
{ } | | | |{ }
{ } | |{ }
| | | | | |dV N N m
f
dV d
N N f
V
T
b
V
T
b
}}}
}}}
=
=
=

| | | | | |
| |
| | x
d
L
x
L
x
L
x
L
x
A m
dV
L
x
L
x
L
x
L
x
dV N N m
L
V
V
T
}
}}}
}}}
(

=
(

=
=
0
1
1
1
1
Bar Element
| |
| |
(
=
(
(
(
|
.
|
\
|
|
.
|
\
|
|
.
|
\
|
|
.
|
\
|

|
.
|
\
|
|
.
|
\
|

|
.
|
\
|

|
.
|
\
|

=
}
2 1
1 2
6
1
1 1 1
0
L A
m
d
L
x
L
x
L
x
L
x
L
x
L
x
L
x
L
x
A m
L
Bar Element
d M d K t F

STEP 5 - Assemble the Global
Equations and Apply B.C.s
d M d K t F

Now must solve coupled set
of ODEs instead of set of
linear algebraic equations!
| | | | | |dV N N m
V
T
}}}
=
v
, y
y 2 y 2
d
, f
1 1
m
|
2 2
m
|
y 1 y 1
d
, f
L
1 2
Beam Element
Shape Functions
2 2 3
3
4
2 3
3
3
3 2 2 3
3
2
3 2 3
3
1
L x
L x
L
1
N
L x
3 x
2
L
1
N
L x
L x
2 L x
L
1
N
L L x
3 x
2
L
1
N
=
+ =
+ =
+ =
-0.500
0.000
0.500
1.000
0
N
1

N
3

N
2

N
4

L
Shape Functions
| | | | | |
| |
(
(
(
(
=
=
}}}
2 2
2 2
4 22 3 13
22 156 13 54
3 13 4 22
13 54 22 156
420
L L L L
L L
L L L L
L L
m
m
dV N N m
V
T
210
L
0 0 0
0 1 0 0
0 0
210
L
0
0 0 0 1
2
m
m
2
2
Lumped Mass Matrix
2nd and 4th terms account for rotary inertia.
o = 0 if this is ignored.
o = 17.5 if mass moment of inertia of bar
spinning about one end is selected
3
2
L
2
m
I
2
|
.
|
\
|
|
.
|
\
|
=
Lumped Mass Matrix
| |
| |
3
2
1
u
u
u
2 1 1
1 2 1
1 1 2
12
m
Q
Q 0
0 Q
m
(
(
(
=
(
=
For each degree of freedom
Consistent Mass Matrix - CST
2 0 1 0 1 0
0 2 0 1 0 1
1 0 2 0 1 0
0 1 0 2 0 1
1 0 1 0 2 0
0 1 0 1 0 2
12
At
m
Consistent Mass Matrix - CST
| |
| |
3
2
1
u
u
u
1 0 0
1 0 0
0 0 1
3
m
Q
Q 0
0 Q
m
(
(
(
=
(
=
Lumped Mass Matrix - CST
| |
(
(
(
(
(
(
(
(
=
1 0 0 0 0 0
0 1 0 0 0 0
0 0 1 0 0 0
0 0 0 1 0 0
0 0 0 0 1 0
0 0 0 0 0 1
3
At
m
Lumped Mass Matrix - CST
| |
| |
At m
m
Q
Q
Q
m
=
(
(
(
(
=
(
(
=
4 2 1 2
2 4 2 1
1 2 4 2
2 1 2 4
36
0
0
Consistent Mass Matrix - Quad
(
(
(
(
(
(
(
(
(
(
(
=
4 0 2 0 1 0 2 0
0 4 0 2 0 1 0 2
2 0 4 0 2 0 1 0
0 2 0 4 0 2 0 1
1 0 2 0 4 0 2 0
0 1 0 2 0 4 0 2
2 0 1 0 2 0 4 0
0 2 0 1 0 2 0 4
36
m
m
Consistent Mass Matrix - Quad
Hybrid Methods
Attempts have been made to combine
consistent and lumped mass approaches
to achieve some of the benefits of each!
HRZ Lumping
1. Hinton, Rock, and Zienkiewicz
2. Compute the diagonal terms of consistent
mass matrix.
3. Compute total mass of element, m
4. Compute s by adding diagonal coefficients
associated with translational D-O-F that are
in same direction.
5. Scale all diagonal coefficients by multiplying
by m/s
HRZ - Bar Element
| |
| |
(

=
=
=
=
(

=
3 0
0 3
6
L A
m
2
3
s
m
6
L A
4 s
L A m
2 1
1 2
6
L A
m

HRZ - Beam Element
| |
312
420
420
312
4 22 3 13
22 156 13 54
3 13 4 22
13 54 22 156
420
2 2
2 2
=
=
=
(
(
(
(
=
s
m
L A
s
L A m
L L L L
L L
L L L L
L L
m
m
HRZ - Beam Element
| |
(
(
(
(
(
(
=
(
(
(
(
(
(
(
(
(
=
2
2
2
2
L
39
L
39
78
m
L 4
312
420
0 0 0
0 156
312
420
0 0
0 0 L 4
312
420
0
0 0 0 156
312
420
420
m
m

HRZ Quadratic Serendipity
36
1
36
8
76
3
76
16
3 x 3
Gauss Rule
2 x 2
Gauss Rule
HRZ Quadratic Lagrangian
36
1
36
4
36
1
36
4
36
16
36
16
3 x 3
Gauss Rule
2 x 2
Gauss Rule
m n Consistent (%) HRz Lumping (%) Ad Hoc Lumping (%)
1 1 0.11 0.32 0.32
2 1 0.4 0.45 0.45
2 2 0.35 2.75 4.12
3 1 5.18 0.05 5.75
3 2 4.68 2.96 10.15
3 3 13.78 5.18 19.42
4 2 16.88 1.53 31.7
Mode Type of Mass Matrix
% error in natural frequencies of a thick
simply-supported plate.
Half of the plate modeled with 8-noded
24 d-o-f elements
Optimal Lumping
Only translational d-o-f
Based on consistent mass matrix
Use appropriate quadrature rule
Chose integration points to coincide
with nodal locations
[m] will be diagonal

Let p be the highest order complete
polynomial in shape function N
let m be the highest order derivative
in strain energy (m = 1 elasticity, m
= 2 bending)
Chose quadrature rule with degree of
precision 2(p-m)
Three noded bar element
p = 2
m = 1
2(p-m) = 2
Three point quadrature rule.
Newton -Cotes has points at the nodes.
(Simpson Rule)
( ) ( ) ( )
(
+
|
.
|
\
|
+
+ = b f
6
1
2
a b
f
6
4
a f
6
1
a b dx ) x ( f
b
a
( ) ( ) ( ) ( ) ( ) ( ) ( ) ( )
0 m j i
1 N 1 N
6
1
0 N 0 N
6
4
1 N 1 N
6
1
1 1
2
L
A m
2
L
J
d J N N dx N N A m
ij
j i j i j i ij
1
1
j i j i ij
= =
(
+ + =
=
= =
} }

| |
(
(
(
=
4 0 0
0 1 0
0 0 1
6
AL
m
1
2
3
Serendipity
12
1
3
1
Lagrangian
36
1
9
1
9
4
Mass Matrices
Product [m]{a} must yield the correct total force on
an element (F = ma) when {a} represents a rigid-
body translational acceleration.
Consistent mass matrices, [m] and [M] are positive
definite.
Lumped mass matrix is positive semi-definite when
zero terms appear on main diagonal.
Lumped mass matrix is indefinite when negative
terms appear on main diagonal.

Mass Matrices
Special treatment may be needed to
handle the last two cases.

Best Type ?
1. Consistent matrices usually
more accurate for flexural
problems.
2. Consistent matrices give upper
bounds on natural frequencies.

Best Type ?
1. Lumped matrices usually give natural
frequencies less than exact values.
2. Simpler to form.
3. Occupy less storage.
4. Require less computational effort.
5. Usually more important in time-history than
in vibration problems.
Damping
1. Structural damping is not viscous.
2. Due to mechanisms such as hysteresis and
slip in connections.
3. Mechanisms not well understood.
4. Awkward to incorporate into structural
dynamic equations.
5. Makes equations computationally difficult.
6. Effects usually approximated by viscous
damping.
Types of Damping Models
Phenomenological Damping Methods
(models actual dissipative mechanisms)
Elastic-Plastic Hysteresis Loss
Structural Joint Friction
Material Micro-cracking
Spectral Damping Methods
Introduce Viscous Damping
Relies on Fraction of Critical Damping
Critical Damping
Damping Critical
Damping Critical of Fraction
1 =
Critical Damping marks the transition between

oscillatory and non- oscillatory response of a
structure
Critical Damping Ratio
Concrete s Prestresse or Reinforced
structures steel riveted or Bolted
Piping Steel
% 15 % 2
% 15 % 2
% 5 % 5 . 0
s s
s s
s s
Actual value may depend on stress level.
Rayleigh or Proportional
Damping
M K C
Damping matrix is a linear combination of
stiffness and mass matrices:
Rayleigh or Proportional
Damping
[C] is orthogonal damping matrix.
Modes may be uncoupled by eigenvectors
associated with undamped problem.
|
.
|
\
|
e
|
e o =
2
1
If critical damping ratio is known
at two frequencies then:
2
1
2
2
1 2 2 1
2 1
2
1
2
2
1 1 2 2
2
2
2
1
e e
e e
e e = |
e e
e e
= o
|
.
|
\
|
e
|
e o =
Natural Frequencies and Mode Shapes
Undamped, Unforced Response
) Hz (
D
t sin D D
t cos D D
t sin D D
2
t
e
=
e
e e =
e e =
e =
2
f
frequency circular
f - o - d nodal of amplitudes


Results in generalized eigenproblem
2
0 D M K
0 D
0 M K
Trivial Solution:
| | | |
{ } 0
0
=
=
D
M K
Nontrivial Solution:
rs Eigenvecto Associated
es) (eigenvalu Polynomial
stic Characteri of Roots

i
i
D
Modes Normal D
s Frequencie Natural
i
i
Natural Frequencies
[K] and [M] n x n then there are n eigenvalues
and n eigenvectors
[K] and [M] positive definite then eigenvalues are
all positive
M
ii
= 0 infinite eigenvalue
M
ii
< 0 negative eigenvalue - imaginary frequency
Use condensation to remove i
th
equation if M
ii
= 0
Rayleigh Quotient
{ } | |{ }
{ } | |{ }
| |
| |
{ }
eigenvalue i to ion approximat
r eigenvecto i to ion approximat
definite positive
symmetric
th
th
=
D
M
K
D M D
D K D
T
T
Rayleigh Quotient
eigenvalue est arg l
eigenvalue smallest
v M v
v K v
max
min
max
T
T
min
s s
Modal Methods
When [K], [C], [M] are known and time
independent the problem is linear.
conditions initial as given 0 D , 0 D
R D K D C D M
ext

= + +
Modal Methods
Assume orthogonal damping, such as
Rayleigh Damping. Modes can be uncoupled:
j i
0 D C D
0 D K D
0 D M D
j
T
i
j
T
i
j
T
i
=
=
=
=
i i i
T
i
2
i i
T
i
i
T
i
2 D C D
D K D
1 D M D
Eigenvectors are linearly independent
| |
{ } | |{ }
{ } amplitudes modal
shapes) (mode
rs eigenvecto of matrix
Z
Z D | =
= |
Substitute into:
given 0 D , 0 D
R D K D C D M
ext

= + +
given 0 D ) 0 ( Z
0 D ) 0 ( Z
R Z K Z C Z M
ext
= |
= |
= | + | + |

Mode Displacement Method
p Z Z Z I
2
= e + +

Pre-multiply by [|]
T

given 0 D ) 0 ( Z
0 D ) 0 ( Z
R Z K
Z C Z M
ext
T T
T T
= |
= |
| = | | +
| | + | |

2
T
T
T
K
C
I M
e = | |
= | |
= | |
p Z Z Z I
2
= e + +

Modes Uncouple:
n , 1 i p Z Z 2 Z
Z Z Z Z I
i
2
i i i i i
2
= = e + e +
= e + +

0 D M ) 0 ( Z
0 D M ) 0 ( Z
0 D M ) 0 ( Z I
0 D M ) 0 ( Z M
0 D ) 0 ( Z
0 D ) 0 ( Z
T
T
T
T T
| =
| =
| =
| = | |
= |
= |

=
m
1 i
i i
eq
Z D
n m
Reduce size of problem:
Error Estimate:
{ }
% 1 ) t ( e
R
D K D C D M R
) t ( e
ext
ext
s

=
: analysis accurate an For

In many structural dynamics
problems, more modes
participate in the quasi-static
response than in the dynamic
response. For a small m value,
the mode displacement method
may have difficulty in predicting
the quasi-static response.
Mode Acceleration method
Method
p Z Z Z I
2

given 0 D ) 0 ( Z
0 D ) 0 ( Z
R D K Z C Z M
ext
= |
= |
= + | + |

Modal transformation only on
inertial and damping terms
| |{ } { } | || |{ } | || |{ }
{ } | | { } | | | || |{ } | || |{ } ( ) Z C Z M K R K D
Z C Z M R D K
ext
ext

| | =
| | =
1 1
T
T
M
I M

Z C Z K R K D
T
1 ext 1

| | =

T
1
1
2
T T
1
2
1
2
T
2
T
K
I K
I K
K
| = e |
| = | = e |
= e | |
e = | |
{ } | | { } | | | | { } | | | || |{ }
{ } | | { } | || | { } | | | || |{ } Z C K Z R K D
Z C K Z K R K D
ext
T
ext

| + e | =
| + | =

1
1
2 1
1 1 1
{ } | | { } | | | | { } | | | || |{ }
{ } | | { } | || | { } | | | | | | | || |{ }
{ } | | { } | || | { } | || | | |{ } Z Z R K D
Z C K Z R K D
Z C K Z K R K D
ext
T T
ext
T
ext

e | + e | =
| | | + e | =
| + | =

1
2
1
2 1
1
1
2 1
1 1 1
=
|
|
.
|
\
|
e
+
e
| =
+ e | =
m
1 i
i
i
i
i
2
i
i
ext 1
1
2 ext 1
Z
2
Z
1
R K D
Z Z R K D

First term on RHS represents quasi-static
response, the second term represents
corrections for inertia and viscous effects.
n , 1 i p Z Z 2 Z
i
2
i i i i i
= = e + e +

Solve for Z terms as before:
Mass Condensation
Reduces number of d-o-f.
Reduces expense of computing
eigenvalues.
Detrimental to accuracy.
Not used with optimal lumping.
Guyan Reduction
|
|
.
|
\
|
(
(

(
(
0
0
D
D
M M
M M
K K
K K
s
m
ss
T
ms
ms mm
ss
T
ms
ms mm
m - master degree of freedom
s - slave degree of freedom
Guyan Reduction
m - master degree of freedom
s - slave degree of freedom

Basic Assumption:
For lowest frequency modes the inertial
forces on slave d-o-f are less important
than elastic forces transmitted by master
d-o-f. Thus we ignore all mass except M
mm

Guyan Reduction
{ } | | | | { }
m
T
ms
1
ss s
s
m mm
ss
T
ms
ms mm
D K K D
0
0
D
D
0 0
0 M
K K
K K
=

)
|
|
.
|
\
|
(
(

(
(

Guyan Reduction
| |{ }
| |
(
(
=
=
T
ms
1
ss
m
s
m
K K
I
T
D T
D
D
Guyan Reduction
T M T M
T K T K
0 D M K
T
r
T
r
m r r
=
=
=
Both [K
r
] and [M
r
] are generally full.
[M
r
] contains both mass and stiffness terms
Guyan Reduction
ext
r m r m r m r
ext
T
ext
r
T
r
R D K D C D M
R T R
T C T C
= + +
=
=

Compute Slaves
i
m
T
ms i
T
ms
1
ss i ss
i
s
D M K M K D =

Choosing Master D-O-F
Choose d-o-f where inertia is most important
These are characterized by large mass to
stiffness ratios.
Each d-o-f that has a time varying applied
load should be chosen.
Master d-o-f should not be clustered.
Process can be automated
Process for Choosing Master D-O-F
Scan diagonal coefficients of [K] and [M].
Choose d-o-f for which K
ii
/M
ii
is largest.
This becomes first slave.
Condense [K] and [M] by one order.
Repeat process using condensed matrices till
a user specified number of d-o-f remain.
These are Master d-o-f chosen in near
optimal way.
Number of Master D-O-F
Choose cut-off frequency e
c

Take this to be about three times the highest
frequency of interest.
Terminate selection of master d-o-f when K
ii
/M
ii

< e
c
2
Can combine manual and automatic selection (i.e.
Choose each d-o-f that has a time varying applied
load and then automatically select others.)
Number of Master d-o-f may be 10% - 20% of
total d-o-f.

Structural Dynamic

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Structural Dynamic

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3/22/2014 Dynamic Analysis 1

With time dependent loading

Equilibrium in Matrix Form

3/22/2014 Dynamic Analysis 44

3/22/2014 Dynamic Analysis 46

Critical Damping marks the transition between

3/22/2014 Dynamic Analysis 67

3/22/2014 Dynamic Analysis 94

3/22/2014 Dynamic Analysis 104

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