Derivation and numerical evaluation of Duhamel's integral.

1. Derivation of Duhamel's integral:

Let's start by considering the equation of motion of a damped single degree of freedom system
subjected to arbitrary loading.
fig.1 Schematic representation
fig.2 orces acting on mass ! along the " direction
!ass equilibrium:
f t () F
el
F
in
F
c
0
1 ( )

m
2
t
x t ( )
d
d
2
c
t
x t ( )
d
d
+ k x t ( ) + f t ( )
2 ( )
#here:
f t ( )

is a general real$valued function of time t
%he solution to equation &2' can be obtained by ta(ing the Laplace transform of equation &2'
L m
2
t
x t ( )
d
d
2
c
t
x t ( )
d
d
+ k x t ( ) +

,
L f t ( ) ( )
3 ( )
m L
2
t
x t ( )
d
d
2

,
c L
t
x t ( )
d
d

,
+ k L x t ( ) ( ) + L f t ( ) ( )
4 ( )
m s
2
X s ( ) s x 0 ( )
t
x 0 ( )
d
d

,
c s X s ( ) x 0 ( ) ( ) + k X s ( ) +F s ( )
5 ( )
in equation &)'
X s ( )

is the Laplace transform of
x t ( )

and
Fs ( )

is the Laplace transform of
f t ( )
*y rearranging the terms in equation &)' and factoring
X s ( )
#e obtain the follo#ing equation:
m s
2
c s +k +
( )
X s ( ) F s ( ) m
t
x 0 ( )
d
d
+m s x 0 ( ) +c x 0 ( ) +
6 ( )
or
X s ( )
F s ( )
m s
2
c s +k +
m
t
x 0 ( )
d
d

m s
2
c s +k +
+
m s c + ( ) x 0 ( )
m s
2
c s +k +
+
7 ( )
+e#rite
c
as
c 2 m
#here

is a constant, and
k
2
m

ms
2
c s +k +ms
2
2 s +
2
+
( )
8 ( )

in equation &-' represents the natural frequency of the undamped SD system:

.f #e solve equation
s
2
2 s +
2
+0
for
s
, #e obtain the follo#ing roots:
S
1
i
2

2
+ i

+
9 ( )
S
2
i
2

2
i

in equations &/',

represents the natural frequency of the damped SD system.
0o# equation &-' can be re#ritten as:
ms
2
2 s +
2
+
( )
ms S
1

()
s S
2

()
ms i

+
( )
s +i

+
( )

or
m s
2
2 s +k +
( )
m s + ()
2
i

()
2

1
]
m s + ()
2

()
2
+

1
]

10 ( )
1ence equation &2' becomes:
X s ( )
F s ( )

m s + ( )
2

( )
2
+

1
]

t
x 0 ( )
d
d

s + ( )
2

( )
2
+

1
]

+
s 2 + ( )x 0 ( )
s + ( )
2

( )
2
+
+
11 ( )

X s ( )
F s ( )

m
L e
t
sin

t
( )

( )

t
x 0 ( )
d
d

L e
t
sin

t
( )

( )
+
s + ( ) x 0 ( ) x 0 ( ) +
s + ( )
2

( )
2
+
+
...
12 ( )

X s ( )
F s ( )

m
L e
t
sin

t
( )

( )

t
x 0 ( )
d
d

L e
t
sin

t
( )

( )
+
x 0 ( ) L e
t
cos

t
( )

( )

x 0 ( )

L e
t
sin

t
( )

( )
+ +
...
13 ( )

X s ( )
1

m
L
0
t
f
( )
e
t
( )

sin

t ( )

1
]

1
1
1
]

t
x 0 ( )
d
d

Le
t
sin

t
( )

( )
x 0 ( ) Le
t
cos

t
( )

( )
+ +
...
x 0 ( )

Le
t
sin

t
( )

( )
+
...
14 ( )

X s ( ) L
1

m
0
t
f
()
e
t
( )

sin

t ( )

1
]

d
t
x 0 ( )
d
d

e
t
sin

t
( )

( )
x 0 ( ) e
t
cos

t
( )

sin

t
( )
+

,
+ +
...

1
1
1
1
1
1
1
]
15 ( )
0o# the general solution to equation &2' is finally:
x t ( )
1

m
0
t
f
()
e
t
( )

sin

t ( )

1
]

d
t
x 0 ( )
d
d

e
t
sin

t
( )

( )
+
x 0 ( ) e
t
cos

t
( )

sin

t
( )
+

,
+
...
16 ( )
D t ( )
1

m
0
t
f
()
e
t
( )

sin

t ( )

1
]

d
is the 3onvolution integral
&Duhamel's integral' and represents the displacement due to the forcing function only

2. 0umerical evaluation of the 3onvolution integral
A

the time span of the forcing function is 45 6 %7

the forcing function is given at discrete time points,
t
0
0t
1
,t
2
,!!!!!!!!!!!! , t
i
,!!!!!!!!!!!!!!!!!! , t
n
" ,
f t
0
()
f
0
f t
1
()
f
1
, f t
2
()
f
2
, !!!!!!!!!!!!!! ,f t
n
()
f
n
,
#e define a linear appro8imation of
f t ( )
at time interval 4ti 6 ti917 :
for t

4ti 6 ti917
f
l
t ( ) f t
i
()
f t
i 1 +
( )
f t
i
()

t
i 1 +
t
i

t t
i

( )
+
17 ( )
or
f
l
t ( ) f
i
f
i 1 +
f
i

t
i 1 +
t
i

t t
i

( )
+
18 ( )
let
t t
i

f
l
t ( )

f
l

( )
f
i
f
i 1 +
f
i

t
i
+

4
0
6
t
i
7
assume #e are interested in the solution #ithin time interval 4ti 6 ti917. %he solution is:
for
t

4
0
6
t
i
7
x t ( )
1

m
0
t
f
l

()
e
t
( )

sin

t ( )

1
]

d
t
X t
i
()
d
d

e
t
sin

t
( )

( )
+
X t
i
()
e
t
cos

t
( )

sin

t
( )
+

,
+
...
19 ( )
t
X t
i
( )
d
d
and
Xt
i
( )
in equation &1/' are the velocity and displacement respectively &the initial
conditions', at time point
t
i
Since
f
l
t ( )
is linear in
t
#ithin time interval 4
0
6
t
i
7, the first term on the right hand side of
equation &1/' can be evaluated analytically. Such analytic evaluation yields the follo#ing
e8pression for the first term: &it is a particularly long e8pression, therefore analytic evaluation
details have been omitted.'
1

m
0
t
f
l

()
e
t
( )

sin

t ( )

1
]

d ! !

( )
2

f
l
t ( ) 2

t
f
l
t ( )
d
d

( )
2

1
]
2

( )
2

f
i
e
t
cos

t
( )
+
t
f
l
0 ( )
d
d
f
l
0 ( ) +

1
1
]

( )
2

1
]
e
t
sin

t
( )
2

t
f
l
0 ( ) e
t

cos

t
( )

( )
2

1
]
2

d
d
+ +
...
2
2

t
f
l
0 ( ) e
t
sin

t
( )

d
d

( )
2

1
]
2
+
...
20 ( )
#it$
t
f
l
0 ( )
d
d
f
i 1 +
f
i

t
i
t
f
l
t ( )
d
d

f
l
t ( ) f
i
f
i 1 +
f
i

t
i
t +

%nd

f
l
0 ( ) f
i
:quation &25' represents the solution due to the forcing function only, #ithin time interval
4
0
6
t
i
7
*y rearranging the terms in equation &25' and adding the initial condition terms to equation &25'
the solution
x t ( )
#ithin time interval 4
0
6
t
i
7 or 4
t
i
6
t
i 1 +
7 can be re#ritten as follo#s:
x t ( )
1

( )
2

f
i

e
t
cos

t
( )
e
t
sin

t
( )

( )

f
i 1 +
f
i

t
i

t 2

( )
2

e
t
sin

t
( )

2

( )
2

e
t
cos

t
( )
+
...
2
2
e
t
sin

t
( )

( )
2

+
...

1
1
1
1
1
1
1
1
1
1
]
+
...

1
1
1
1
1
1
1
1
1
1
1
1
]

t
X t
i
( )
d
d

e
t
sin

t
( )

( )
X t
i
( )
e
t
cos

t
( )

sin

t
( )
+

,
+ +
...
21 ( )
*y ta(ing the derivative of
x t ( )
#ith respect to time #e obtain the follo#ing e8pression for the
velocity
t
x t ( )
d
d
:
t
x t ( )
d
d
1

( )
2

f
i

( )
2
e
t
sin

t
( )

e
t
cos

t
( )
+

e
t
cos

t
( )

2
e
t
sin

t
( )
+ +
...

1
1
1
]

f
i 1 +
f
i

t
i

e
t
cos

t
( )
e
t
sin

t
( )
+
2

( )
2

e
t
sin

t
( )

e
t
cos

t
( )
+
...

,
+
...
2
2

( )
2

e
t
cos

t
( )

e
t
sin

t
( )
+
...

,
+
...

1
1
1
1
1
1
1
1
]
+
...

1
1
1
1
1
1
1
1
1
1
1
]

t
X t
i
( )
d
d

e
t
cos

t
( )
e
t
sin

t
( )

( )
+
...
X t
i
( )
e
t

sin

t
( )
cos

t
( )
+
( )
e
t
cos

t
( )

sin

t
( )
+
...

1
1
1
1
]
+
...
22 ( )
:8pressions &21' and &22' can be used to compute the displacement and velocity at time point
t
i 1 +
by replacing
t
#ith
t
i
. %he displacement and velocity at time point
t
i 1 +
are then used as
initial conditions for the solution in the ne8t time interval. %his process is repeated for the ne8t
time interval and so on.