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Duhamel S Integral Tutorial 1
Duhamel S Integral Tutorial 1
dx(t ) =
p ( ) d
sin (t )
m
(B-1)
In this expression, the term dx(t) represents the differential response to the differential
impulse over the entire response history for t > ; it is not the change of x during a time
interval dt.
p()
1
x(t ) =
p( ) sin (t ) d
m 0
(B-2)
Equation (B-2) is generally known as the Duhamel integral for an undamped system. It
may be used to evaluate the response of an undamped SDOF system to any form of
dynamic loading p(t), although in the case of arbitrary loadings the evaluation will have
to be performed numerically.
Equation (B-2) may also be expressed in the form
t
x(t ) = p ( ) h(t ) d
(B-3)
t
1
x (0)
sin t + x(0) cos t +
x(t ) =
p ( ) sin (t ) d
m 0
(B-5)
1
1
x(t ) = sin t
p ( ) cos d cos t
p ( ) sin d
m 0
m 0
or
v(t ) = A(t ) sin t B(t ) cos t
(B-6)
where
A(t ) =
1
p( ) cos d
m 0
t
1
B (t ) =
p ( ) sin d
m 0
(B-7)
The numerical integration of the Duhamel integral thus requires the evaluation of the
integrals (t) and B (t) numerically. Consider, for example, the first of these; the function
to be integrated is depicted graphically in Fig. B-2. For convenience of numerical
calculation, the function has been evaluated at equal time increments , successive
values of the function being identified by appropriate subscripts. The value of the integral
can then be obtained approximately by summing these ordinates multiplied by
appropriate weighting factors. Expressed mathematically, this is
t
1
1 A
(B-8)
A(t ) =
y
(
)
d
(t )
m 0
m
in which y() = p() cos and 1/ A represents the numerical summation process, the
specific form of which depends on the order of the integration approximation being used.
For three elementary approximation procedures, the summations are performed as
follows:
p()
p0
p1
p3
p2
p4
cos
p5
p6
p()cos
=y()
y0
y1
y3
y2
y4
y5
y6
(t ) =y
+ y1 + y2 + + y N 1
(B-9a)
+ 2 y1 + 2 y2 + + 2 y N 1 + y N
(B-9b)
(t ) =y
Simpsons rule (=3):
(t ) =y
+ 4 y1 + 2 y2 + + 4 y N 1 + y N
(B-9c)
(t ) = (t ) + p(t ) cos (t )
(B-10a)
v
W=96.6 k
p(t)
96.6 k
p(t)
k=2,700 k/ft
0.025 s 0.025 s
fs
Loading history
=
(
t
)
3
3 (t 2 ) + + 4 p(t ) cos (t ) + p(t ) cos t (B-10c)
A
in which (t-) represents the value of the summation determined at the preceding
time t - .
The evaluation of the term B (t) can be carried out in exactly the same way, that
is,
1 B
(B-11)
B(t ) =
m
A
in which B (t) can be evaluated by expressions identical to Eqs. (B-10) but with sine
functions replacing the cosine functions. Substituting Eqs. (B-8) and (B11) into Eq. (B6) leads to the final response equation for an undamped system:
B
1 A
(B-12)
x(t ) =
(
t
)
sin
t
(t ) cos t
kg
2,700(32.2)
2
=
= 30rad / s
T=
= 0.209 s
W
96.6
The time increment used in the numerical integration was = 0.005 s, which
corresponds to an angular increment in free vibrations of = 0.15 rad
(probably a longer increment would have given equally satisfactory results). In
this undamped analysis, the Simpson's rule summation was used; hence the factor
= 3 was used in Eqs. (B-10) to (B-12).
A hand solution of the first 10 steps of the undamped response is
presented in a convenient tabular format in Table 1, pg. 8. The operations
performed in each column are generally apparent from the labels at the top.
and B represent the summing of column 7 (or column 12) by groups of three
terms, as indicated by the braces. Column 17 is the term in square brackets of Eq.
(B-12), and the displacements given in column 18 were obtained by multiplying
column 17 by G=/m. The forces in the last column are given by fs = kv(t). It
should be noted that this is slide-rule work, so that the final results, which involve
differences of large numbers, are rather rough.
Since the blast loading terminates at the end of these 10 time steps, the
values of and B remain constant after this time. If these constant values of the
integrals designated * and B *, the free vibrations which follow the blast loading
are given by [see Eq. (B-6)]
=
1/ 2
( t ) p ( ) d
t>
(B-13)
sin D (t )
dx(t ) = e (1)
m D
in which the exponential decay begins as soon as the load is applied at time t = .
Summing these differential response terms over the entire loading interval then results in
t
1
x(t ) =
p ( ) e (t ) sin D (t ) d
(B-14)
m D 0
Comparing Eq. (B-14) with the convolution integral of Eq. (B-3) shows that the
unit-impulse response for a damped system is given by
1 (t )
(B-15)
h(t ) =
e
sin D (t )
mD
For numerical evaluation of the damped-system response, Eq. (B-14) may be
written in a form similar to Eq. (B-6):
(B-16)
x(t ) = A(t ) sin D t B(t ) cos D t
Where, in this case,
t
e
1
A(t ) =
p
(
)
cos D d
mD 0
et
e
1
p
t
(
)
sin D d
mD 0
et
t
B (t ) =
(B-17)
(B-19a)
1 (t ) = 1 (t ) + p(t ) cos D (t ) exp( )
(t ) = (t ) + p(t ) cos
2
(t ) exp ( )
+ p (t ) cos D t
(B-19b)
=
(
t
)
3
( t 2 ) + p(t 2 ) cos D (t 2 ) exp( 2 ) (B-19c)
3
The B(t) term is given by similar expressions involving the sine functions.