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Structural Dynamics and Earthquake Engineering
Structural Dynamics and Earthquake Engineering
Course 1 Introduction. Single degree of freedom systems: Equations of motion, problem statement, solution methods.
Course notes are available for download at http://www.ct.upt.ro/users/AurelStratan/
Dynamics of structures
p(t)
Dynamics of structures determination of response of structures under the effect of dynamic loading Dynamic load is one whose magnitude, direction, sense and point of application changes in time
p(t)
p(t)
g(t)
Objective: find out response of SDOF system under the effect of:
a dynamic load acting on the mass a seismic motion of the base of the structure
The number of degree of freedom (DOF) necessary for dynamic analysis of a structure is the number of independent displacements necessary to define the displaced position of masses with respect to their initial position
Force-displacement relationship
Force-displacement relationship
Linear elastic system:
elastic material first order analysis
fS = k u
Inelastic system:
f = f ( u, u )
Damping force
Damping: decreasing with time of amplitude of vibrations of a system let to oscillate freely Cause: thermal effect of elastic cyclic deformations of the material and internal friction
Damping
Damping in real structures:
friction in steel connections opening and closing of microcracks in r.c. elements friction between structural and non-structural elements
Mathematical description of these components impossible Modelling of damping in real structures equivalent viscous damping
Damping
Relationship between damping force and velocity: c - viscous damping coefficient units: (Force x Time / Length) Determination of viscous damping:
free vibration tests forced vibration tests
fD = c u
Equivalent viscous damping modelling of the energy dissipated by the structure in the elastic range
External force p(t), displacement u(t), velocity u (t ) and acceleration u (t ) are positive in the positive direction of the x axis Newtons second law of motion:
p f S f D = mu mu + f S + f D = p mu + cu + ku = p (t )
D'Alambert principle: a system is in equilibrium at each time instant if al forces acting on it (including the inertia force) are in equilibrium
fI + fS + fD = p
f I = mu mu + f S + f D = p
mu + cu + ku = p (t )
=p
f I = mu
u t (t ) = u (t ) + u g ( t )
fD = c u
f I = mu t
fI + fS + fD = 0
mu t + cu + ku = 0
u t (t ) = u (t ) + u g (t )
mu + cu + ku = mu g
mu + cu + ku = p (t )
Equation of motion in the case of seismic excitation
mu + cu + ku = mu g
Equation of motion for a system subjected to seismic motion described by ground acceleration u g is identical to that of a system subjected to an external force mu g Effective seismic force
peff (t ) = mu g (t )
Problem formulation
Fundamental problem in dynamics of structures: determination of the response of a (SDOF) system under a dynamic excitation
a external force ground acceleration applied to the base of the structure
f s (t ) = ku (t )
Forces in structural elements by static analysis of the structure subjected to equivalent seismic forces fS
Inelastic systems: superposition of effects NOT possible dynamic response must take account of deformations and forces existing in the structure before application of dynamic excitation
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mu (t ) + cu (t ) + ku (t ) = p (t )
differential linear non-homogeneous equation of second order In order to completely define the problem: initial displacement u (0) initial velocity u (0) Solution methods:
Classical solution Duhamel integral Numerical techniques
Classical solution
Complete solution u(t) of a linear non-homogeneous differential equation of second order is composed of
complementary solution uc(t) and particular solution up(t) u(t) = uc(t) +up(t)
Second order equation 2 integration constants initial conditions Classical solution useful in the case of
free vibrations forces vibrations, when dynamic excitation is defined analytically
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mu + ku = p0
Particular solution: u p (t ) =
p0 k
Complementary solution: uc (t ) = A cos n t + B sin n t where A and B are integration constants and n = k m The complete solution
u (t ) = A cos n t + B sin n t +
p0 k
A=
p0 k
p0 (1 cos n t ) k
Duhamel integral
Basis: representation of the dynamic excitation as a sequence of infinitesimal impulses Response of a system excited by the force p(t) at time t sum of response of all impulses up to that time
1 u (t ) = mn
p( )sin[ (t )]d
n 0
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mu + ku = p0
t p0 cos n (t ) 1 u (t ) = p sin[ ( t )] d = = 0 n mn mn n = 0 0 p = 0 (1 cos n t ) k
=t
Equation of motion
u (t ) =
p0 (1 cos n t ) k
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