Identification Methods For Structural Systems: Prof. Dr. Eleni Chatzi Lecture 4 - 09. March, 2016

Identification Methods for Structural Systems
Prof. Dr. Eleni Chatzi

Lecture 4 - 09. March, 2016
Institute of Structural Engineering Identification Methods for Structural Systems

Fundamentals
Overview
Multiple DOF Systems
State-space Formulation
Eigenvalue Analysis
The Mode Superposition Method
The effect of Damping on Structural Response

Fundamentals
Overview
Eigenvalue Analysis

Fundamentals
Overview
Eigenvalue Analysis

Fundamentals
Overview
Eigenvalue Analysis

Fundamentals
Overview
Eigenvalue Analysis

Lets revisit the simple 2DOF system
FBD F1 ( t ) F2 ( t )
F1 ( t ) F2 ( t )
k1 k2 k1 x1 k2 ( x2 x1 ) k2 ( x2 x1 )
m1 m2 m1 m2
c1 x1 c2 ( x2 x1 ) c2 ( x2 x1 )
c1 c1
x1 ( t ) x2 ( t ) (Lumped Mass System)
The equations of motion can be written as
m1 x1 + (c1 + c2 )x1 c2 x2 + (k1 + k2 )x1 k2 x2 = F1 (t)

m2 x2 + c2 x2 c2 x1 + k2 x2 k2 x1 = F2 (t)
The system can be written in matrix form as follows:

m1 0 x1 c1 + c2 c2 x1 k1 + k2 k2 x1 F1 (t)
+ + =
0 m2 x2 c2 c2 x2 k2 k2 x2 F2 (t)
Eq. (1)

State Space Equation Formulation for MDOF systems
2dof Mass Spring System
or otherwise more compactly:
Mxd + Cxd + Kxd = F

T
where xd = x1 x2
We now introduce the augmented state vector:

T
x = x1 x2 x1 x2 . Then,

0 0 1 0 x1 0 0
0 0 0 1 x2 0 0 F1
x =
x1
+
1 F2
1 1

M K M C M
x2

State Space Equation Formulation
2dof Mass Spring System
We obtain the following equivalent 1st order ODE system

x = Ax + Bu
T
where u = F1 F 2
Assume you would like to monitor (measure) both displacements x1 ,

x2 . Then the observation vector is:

1 0 0 0 x1
0 1 0 0 x2

y=
0
+ O 42 u(t)
0 0 0 x3
0 0 0 0 x4
y = Cx + Du
State Space Equation Formulation
Note
Using the state space representation we have converted a 2nd order

ODE into an equivalent 1st order ODE system.
We can now use any of the aforementioned 1st order ODE

integration methods in order to convert the continuous system into
a discrete one and obtain an approximate solution
For instance MATLABs ode45, which is a Runge Kutta integration

scheme may be used.
What are other integration schemes that may be utilized?

Numerical Integration for 1st order ODEs
Using these methods a continuous system is brought into an equivalent
discrete formulation and an approximative solution is sought. 1st order
ODE Integration Methods
dy
Assume = f (t, y (t)), y (t0 ) = 0
dt
Forward Euler Method
yn+1 = yn + hf (tn , yn )
where h is the integration time step. This explicit expression is

obtained from the truncated Taylor Expansion of y (tn + h)
Backward Euler Method
yn+1 = yn + hf (tn+1, yn+1 )
This implicit expression (since yn+1 is on the right hand side) is

obtained from the truncated Taylor Expansion of y (tn+1 h)

Numerical Integration for 1st order ODEs
2nd Order Runge Kutta (RK2)
1 1
k1 = hf (tn , yn ), k2 = hf (tn + h, yn + k1 )
2 2
3
yn+1 = yn + k2 + O(h )
4th Order Runge Kutta (RK4) - MATLAB ode45

funcction
1 1
k2 = hf (tn + h, yn + k1 )
k1 = hf (tn , yn ),
2 2
1 1
k3 = hf (tn + h, yn + k2 ), k4 = hf (tn + h, yn + k3 )
2 2
1 1 1 1
yn+1 = yn + k1 + k2 + k3 + k4 + O(h5 )
6 3 3 6
The Eigenvalue Problem
The state-space formulation provides an easy way for solving the

equations of motion and is a method that is directly implementable
in the time domain.
An alternative however exists for solving the problem and for

additionally extracting significant information on the properties of
the system in the frequency domain, meaning its natural
frequencies, modal shapes and damping characteristics.

The state-space formulation provides an easy way for solving the

equations of motion and is a method that is directly implementable
in the time domain.
An alternative however exists for solving the problem and for

additionally extracting significant information on the properties of
the system in the frequency domain, meaning its natural
frequencies, modal shapes and damping characteristics.

The system of equations (1) is coupled in the sense that each

equation involves more than one coordinate (DOF)
furthermore, it can be rewritten in matrix - vector notation as:
Mx + Cx + Kx = F(t)
r
k
For an SDOF system the natural frequency is obtained as n = .
m
In a similar manner for an n-DOF system we consider the following:
The undamped - free vibration case can be written as:
Mx + Kx = 0nn

As for the SDOF system, the general solution for this 2nd order
homogeneous (free response) problem is of the following type
(harmonic):

x1 X1
= e it
x2 X2
We can plug this in the homogeneous differential equation:

2 m1 0 k1 + k2 k2 X1 it 0
+ e =
0 m2 k2 k2 X2 0

For x1 = x2 = 0 we obtain the trivial solution x(t) = 0. So, instead

we demand:

2 m1 0 k1 + k2 k2 X1 0
+ =
0 m2 k2 k2 X2 0
From det(K M 2 ) = 0 we obtain the eigenfrequencies (or natural
frequencies) 1,2 . Then for = 1 we have that:
[12 m1 + (k1 + k2 )]X1 k2 X2 = 0
k2 X1 + [12 m2 + (k2 + k3 )]X2 = 0
The two equations are linearly dependent, hence we solve one to
finally obtain:
X11

k2 1
X11 = X 1 1 = = X11 1st eigenvector
12 m1 + (k1 + k2 ) 2 X21 1
| {z }
1

Similarly we solve for = 2 to obtain the 2nd eigenvector:

2
2 = X12
1
The total solution occurs through the superposition of the two
modes:

x1 (t)
= C1 1 e i1 t + C1 2 e i2 t
x2 (t)
Example: for m1 = 2m, m2 + m, k1 = k2 = k
F1 ( t )
1st mode 2nd mode k1 k2
2
2
m1
1 1 c1 c1
(out of x1 ( t )
(in phase) phase)
Institute of Structural F1 ( t )
FBD Engineering (t )
F2 Systems
Identification Methods for Structural
Properties of Eigenvectors
The previously described process is known as:

Solution of the Eigenproblem
2 M + K = 0 (eigenproblem)
The above homogeneous linear system of equations can only have a

solution if the determinant is equal to 0:
2
M + K = 0
The solution of the above equation will yield:

n eigenvalues i2 , i = 1, ..., n
with 0 1 ...n (the eigenfrequencies) and
The solution of 2 M = K (eigenproblem) will yield:
n eigenvectors (or modal vectors) i

M-Orthonormality
From Matrix Properties we know that (AB)T = B T AT ,

Thus, for two eigenvectors n , r we obtain:
(Tn Kr )T = Tr KT n
Since the Stiffness matrix is symmetric, K = KT , hence
(Tn Kr )T = Tr Kn
The same applies for the Mass matrix, M = MT , yielding:
(Tn Mr )T = Tr Mn

M-Orthonormality
Then eigenproblem for vector r can then be written as: (multiply

with Tn on the left)
transpose
r2 Tn Mr = Tn Kr r2 Tr Mn = Tr Kn
and the eigenproblem for vector n is: (multiply with Tr on the left)
n2 Tr Mn = Tr Kn
By subtracting the two previous formulas we obtain:
(r2 n2 )Tr Mn = 0
We conclude that for n 6= r Tr Mn = 0, Tr Mn = 0,

M-Orthonormality
We choose n , such that:
T M = I
therefore from M2 = K we have that:
T K = 2
The principle of M-orthonormality can then be written as:

T 1, n=r
r Mn =
0, n 6= r
2
n , n=r
Tr Kn =
0, n 6= r

Mode Superposition Method
Matrix Form
Defining a matrix whose columns are the eigenvectors i and a

diagonal matrix 2 which stores the eigenvalues i2 on its diagonal,
i.e:

1
2
= 1 , 2 , ... n ; 2 =

;
...
n
we can write the n solutions to the eigenproblem as:
M2 = K

Mode Superposition Method
Decoupling the Equation of Motion
Assume a regular coupled system where we note the displacement

vector as U(t) and therefore we can write the following equation of
motion:
MU + CU + KU = F(t)
We can now use as a transformation matrix by defining:
U(t) = X(t)
Which leads to the transformed equilibrium equation:
X(t) + T CX(t) + 2 X(t) = T R(t)
where using the property of M-orthonormality, the initial conditions
will be:
0
X = T M0 U; 0
X = T M0 U

Dynamic Response with Damping Neglected
If we neglect the velocity dependent damping effects the equilibrium

equation reduces to:
X (t) + 2 X(t) = T R(t)
i.e n individual equations of the form (since 2 is diagonal):
xi (t) + i2 xi (t) = ri (t)

i = 1, 2, ..., n
ri (t) = Ti R(t)
with
0
xi = Ti M0 U; 0
xi = Ti M0 U

Individual SDOF system response

Each equation of the previous system describes a single degree of freedom
system with unit mass and stiffness i2 . The solution to this equation for a
random input excitation can either be obtained by using the SDOF
integration methods (like direct integration) or by using the Duhamel
Integral:
1 t
Z
xi (t) = ri ( )sini (t ) d + i sini t + i cosi t
i 0
where i , i are determined from the initial conditions. Therefore, the

SDOF response id owed to two contributions
A dynamic (steady - state) response obtained by multiplying the static
response by a dynamic load factor (this is the particular solution of
the governing differential equation), and
An additional dynamic response called the transient response

Complete Response
The solution of all n SDOF equations are calculated and the finite
element nodal point displacements are obtained by superposition of
the response in each mode:
n
X
U(t) = X(t) U(t) = i xi (t)
i=1
Therefore the solution scheme is:

Solve for the eigenvalues and eigenvectors of problem
Solve for the response of the decoupled SDOF equations
Use superposition to find the total response.

Superposition Principle
An alternative View
Superposition
A dynamic load can be designed as
AdynamicloadcanbedesignedasFourierseries
Fourier series of harmonic sine and cosine
contributions
Thetotalsolutionofsuchaproblemisequalto
The total solution of such a problem is
thesuperpositionofsolutionoftheFourierterms.
equal to the superposition of solution of
the Fourier terms.
n
X
U(t) = X(t) U(t) = i xi (t)
i=1
13.11.2009 ModeSuperposition 11

Swiss Federal Institute of Technology Pag
Example - 2 DOF system

Di t Integration
Direct I t ti Methods
M th d
Calculate the displacement response of the system
k1 = 4
m1 = 2 R1 = 0
U1 ,U1 ,U1
2 0 U1 6 2 U1 0
k2 = 2 0 1 + 2 4 U = 10
U 2 2
m2 = 1 R2 = 10
U 2 ,U 2 ,U2
k3 = 2
Method of Finite Elements II

Eigenproblem Setup

2 0 6 2
n2 Mn = Kn n2 = n
0 1 2 4
Eigenvalue Calculation
2

K n2 M = 0 6 2n 2 4 2

2 = 2n 14n + 20 = 0

2 4 1n

14 196 160 14 + 196 160
12
= = 2, 22 = =5
4 4
Eigenvector Calculation

2 2 11 11 1
K 12 M 1 = 0

=0 =
2 2 12 12 1

Use of M - orthonormality
1
T1 M1 = 1 2 (m1 + m2 ) = 1 =
3
1
2

3 2 3
Hence, 1 = 1 Similarly, 2 =

2

3 3
Transformed Equilibrium Equation

X(t) + 2 X(t) = T R(t)
1 1

2, 0
3 3 0
X(t) + X(t) =
0 5 2 2 10

2 3 3
Decoupled SDOF equations
r
10 2
x1 + 2x1 = x2 + 5x2 = 10
3 3
Initial Conditions
U(0) = 0 xi (0) = Ti MU(0)
and
U(0) = 0 xi (0) = Ti MU(0)
x1 (0) = 0, x1 (0) = 0, x2 (0) = 0, x2 (0) = 0

Then the exact solutions to the ODEs are:

r
5 2
x1 = (1 cos 2t) x2 = 2 (1 + cos 5t)
3 3
And the total solution is:
n
X
U(t) = i xi (t)
i=1

Note
In this case we dealt with a 2DOF example and used an analytical
solution to solve the two decoupled SDOF system equations
In practice for multi degree of freedom systems, higher modes are

neglected and instead of an analytical solution we use a numerical
scheme in order to solve for each SDOF ODE
Neglecting higher modes offers the tremendous advantage of

obtaining a Reduced Order System (ROM).

The effect of Damping
The presence of damping reduces the dynamic load factor (which then
Problemswithneglecteddampi
cannot be infinite) and damps out the transient response
The response in the

modes with large is

negligible

For close to zero the

system follows the loads
statically
Effectively only the first p modes need to be used p n, in order to obtain

a good approximate solution.
13.11.2009 ModeSuperposition

Analysis Including Damping
Transformed Equilibrium Equation
X(t) + T CX(t) + 2 X(t) = T R(t)
Proportional Damping Assumption
Ti Cj = 2i i ij (1)
where i is a modal damping parameter and ij is the Kronecker delta

(ij = 1 for i = j, ij = 0 for i 6= j)

Therefore, we still end up with Decoupled SDOF equations for

each xi :
xi (t) + 2i i xi (t) + i2 xi (t) = ri (t)
with the Duhamel Integral now being:
1 tn
Z
xi (t) = ri ( ) e i i (t ) sini (t ) d
i 0
o
+ e i i t (i sini t + i cos i t)
q
where i = i 1 i2

Rayleigh Damping
If there are only two different damping ratios i , i = 1, 2 Rayleigh

Damping can be used:
C = M + K (2)
Eqns (1), (2) now yield:
Ti (M + K)i = 2i i
+ i2 = 2i i
The 2 2 system can be solved to obtain , .

In actual analysis it may well be that the damping ratios are known
for many more than two frequencies. In that case two average values
say 1 , 2 are used to evaluate , .

Example - Damping for an MDOF system
Assume that the approximate damping to be specified for a multiple degree of
freedom system is as follows:

Example - Damping for an MDOF system
Damping as function of frequency
A problem with Rayleigh

damping is that higher
modes are much more
damped than lower modes.
However, in general
Rayleigh damping provides
a good approximation

Identification Methods For Structural Systems: Prof. Dr. Eleni Chatzi Lecture 4 - 09. March, 2016

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Identification Methods for Structural Systems

Prof. Dr. Eleni Chatzi

Institute of Structural Engineering Identification Methods for Structural Systems

Multiple DOF Systems

The Mode Superposition Method

The effect of Damping on Structural Response

Institute of Structural Engineering Identification Methods for Structural Systems

Multiple DOF Systems

The Mode Superposition Method

The effect of Damping on Structural Response

Institute of Structural Engineering Identification Methods for Structural Systems

Multiple DOF Systems

The Mode Superposition Method

The effect of Damping on Structural Response

Institute of Structural Engineering Identification Methods for Structural Systems

Multiple DOF Systems

The Mode Superposition Method

The effect of Damping on Structural Response

Institute of Structural Engineering Identification Methods for Structural Systems

Multiple DOF Systems

The Mode Superposition Method

The effect of Damping on Structural Response

Institute of Structural Engineering Identification Methods for Structural Systems

The equations of motion can be written as

m1 x1 + (c1 + c2 )x1 c2 x2 + (k1 + k2 )x1 k2 x2 = F1 (t)

The system can be written in matrix form as follows:

Institute of Structural Engineering Identification Methods for Structural Systems

2dof Mass Spring System

or otherwise more compactly:

Mxd + Cxd + Kxd = F

We now introduce the augmented state vector:

Institute of Structural Engineering Identification Methods for Structural Systems

We obtain the following equivalent 1st order ODE system

Assume you would like to monitor (measure) both displacements x1 ,

Using the state space representation we have converted a 2nd order

We can now use any of the aforementioned 1st order ODE

For instance MATLABs ode45, which is a Runge Kutta integration

What are other integration schemes that may be utilized?

Institute of Structural Engineering Identification Methods for Structural Systems

Forward Euler Method

where h is the integration time step. This explicit expression is

yn+1 = yn + hf (tn+1, yn+1 )

This implicit expression (since yn+1 is on the right hand side) is

Institute of Structural Engineering Identification Methods for Structural Systems

4th Order Runge Kutta (RK4) - MATLAB ode45

The Eigenvalue Problem

The state-space formulation provides an easy way for solving the

An alternative however exists for solving the problem and for

Institute of Structural Engineering Identification Methods for Structural Systems

The Eigenvalue Problem

The state-space formulation provides an easy way for solving the

An alternative however exists for solving the problem and for

Institute of Structural Engineering Identification Methods for Structural Systems

The Eigenvalue Problem

The system of equations (1) is coupled in the sense that each

furthermore, it can be rewritten in matrix - vector notation as:

Institute of Structural Engineering Identification Methods for Structural Systems

The Eigenvalue Problem

We can plug this in the homogeneous differential equation:

Institute of Structural Engineering Identification Methods for Structural Systems

For x1 = x2 = 0 we obtain the trivial solution x(t) = 0. So, instead

Institute of Structural Engineering Identification Methods for Structural Systems

Similarly we solve for = 2 to obtain the 2nd eigenvector: