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Earth Quake Text App BDuhamel
Earth Quake Text App BDuhamel
(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()
Figure B-1 Derivation of the Duhamel integral (undamped). The entire loading history may be considered to consist of a succession of such short impulses, each producing its own differential response of the form of Eq. (B-1). For this linearly elastic system, then, the total response can be obtained by summing all the differential responses developed during the loading history, that is, by integrating Eq. (B1) as follows:
x(t ) = 1 p ( ) sin (t ) d m 0
t
(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
x (t ) = p ( ) h(t ) d
0 t
(B-3)
(B-4)
Equation (B-3) is called the convolution integral; computing the response of a structure to an arbitrary loading using this integral is known as obtaining the response through the time domain. The function h(t - ) is generally referred to as the unit-impulse response (defined in this case for an undamped system), because it expresses the response of the system to an impulse of unit magnitude applied at time t = . In Eq. (B-2) it has been tacitly assumed that the loading was initiated at time t = 0 and that the structure was at rest at that time. For any other specified initial conditions, x(0) 0 and x (0) 0, an additional free-vibration response must be added to this solution; thus, in general,
x(t ) =
t x(0) 1 sin t + x(0) cos t + p ( ) sin (t ) d m 0
(B-5)
or
v (t ) = A(t ) s t B (t ) c s t in o
(B-6)
where
B (t ) =
A(t ) =
t
1 p ( ) cos d m 0
1 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 Richard P. Ray 2/9
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
1 1 A(t ) = y ( ) d = m m 0
A
(t )
(B-8)
in which y() = p() cos and 1 / 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 cos p1 p2 p3 p4 p5 p6
p()cos =y() y0
y1
y2
y3 y4 y5 y6
Figure B-2 Formulation of numerical summation process for Duhamel integral. Simple summation ( = 1):
(t ) =y
1
+ y1 + y2 + + y N 1
(B-9a)
(t ) =y
2
+ 2 y1 + 2 y2 + + 2 y N 1 + y N
(B-9b)
(t ) =y
3
+ 4 y1 + 2 y2 + + 4 y N 1 + y N
(B-9c)
where N = t/ must be an even number for Simpsons rule. Using any of the summation processes of Eq. (B-9) with Eq. (B-8) leads to an approximation of the integral for the specific time t under consideration. Generally, however, the entire history of response is required rather than merely the displacement at some specific time; in other words, the response must be evaluated successively at a sequence of times t1, t2, ., where the interval between these times is (or 2 if Simpson's rule is used). To provide this complete response history it is more convenient to express the summations of Eq. (B-9) in incremental form: Simple summation ( = 1):
(t ) = (t ) + p(t ) cos (t )
1 1
(B-10a)
Figure B-3 Water tower subjected to blast load. Trapezoidal rule (=2):
A 2 A 2
in which A (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,
B(t ) = 1 m
(B-10c)
(B-11)
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 x(t ) = (t ) sin t (t ) cos t (B-12) m EXAMPLE B.1 The dynamic response of a water tower subjected to a blast loading has been calculated to illustrate the numerical evaluation of the Duhamel integral. The idealizations of the structure and of the blast loading are shown in Fig. E71. For this system, the vibration frequency and period are
= kg = W 2,700 (32 .2) = 30 rad / s 96 .6 T= 2 = 0.209 s
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)]
x (t ) = A
sin B co t s t
and the amplitude of motion is vmax = ( A ) 2 + ( B ) 2 . The Duhamel integral could easily have been evaluated by formal integration for this simple form of loading, but the advantage of the numerical procedure is that it can be applied to any arbitrary loading history, even where the loads have been determined by experiment and cannot be expressed analytically.
1/ 2
p ( ) d sin D (t ) mD
t>
(B-13)
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
x (t ) = 1 mD
p( ) e
0
t ) (
sin D (t ) d
(B-14)
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
h(t ) = 1 e ( t ) sin D (t ) mD
(B-15)
For numerical evaluation of the damped-system response, Eq. (B-14) may be written in a form similar to Eq. (B-6): x (t ) = A(t ) sin D t B (t ) cos D t (B-16) Where, in this case,
A(t ) = 1 mD
p( )
0 t
e cos D d e t
B (t ) =
1 mD
p(t )
0
e sin D d e t
(B-17)
These integrals can be evaluated by an incremental summation process equivalent to that used previously but taking account of the exponential decay in the process. The first integral is given by
1 A(t ) = mD
(B-18)
(t )
in which the summations can be expressed for the different processes considered before as follows: Simple summation ( = 1):
A (t ) = (t ) + p (t ) cos D (t ) exp( ) 1 1
A
(B-
19a)
Simpsons rule (=3): A (t ) = ( t 2 ) + p(t 2 ) cos D (t 2 ) exp( ) 2 3 3 +4 p(t ) cos D (t ) exp( ) + p(t ) cos D t
A
(B-19c) The B(t) term is given by similar expressions involving the sine functions.