| | | | | INTRODUCTION TO STRUCTURAL DYNAMICSINTRODUCTION 70 STRUCTURAL DYNAMICS invite ie a Ain irr of Corn Cao ard umber 42088 BBN orcas? Preface "This beak hasbeen written to provide a sel-eontined text on structural dynamics for use in courses offered to seniors or frt-year graduate ftadents in evil engineering, ‘The material ix based on the authors ‘oles foreach a couse given at MIT during the past few years tit presumed that the student has completed the normal undergraduate workin applied mechanic, mathomatis, and structural engineering. "The emphasis in this txt is on the practical analysis and design of es strusturer rather than oa the mathemalal techniques of dytaie ‘nalysin ‘Throughout the book examples are give to lustre appa tion of the theory to atualstrustual problems. Much ofthe material hs boon drawn from the author's experiences a consulting engine. ‘With tis emphasis the book should be useful to practicing engineers, as voll esto studente whose abjotive isto become structure designers nthe author's opinion, structural dynamies i to often taught as 8 ‘coure in vanced tathematie for engineer, For some students this ‘spproach makes the eubject unnecssarly difcult. Other students find ‘he mathematica manipulation ao intriguing that they fl to develop the ‘hynical undertanding essential for good design. In this text the author that avoided raathenateal complestiee, whieh, although they may be ital in advanced resareh, aro Unncctsary for most design purpose. ‘Chaptees 1 snd 2, im vome respects, are n review of the dyzamice ormally taught in applied mechanics. "In addition, however, two other purposes ave served: (1) the basic theory is related to actual sructres {ind (2) numerical analysis, which i not normaly covered in applied tiechanies, i intrdveed. "The order of presentation, ir, nsmerea Aoaiynis before closed sohtion, is tomewhat unorthodox. ‘The author Teioves, a6 result of his teaching experience tht this order is prefer- ble, because numerical analysis exeeuted by hand develops a physical "ea" for dynamic behavior much more rapidly than does the solution of ferential equations ‘Chapters 3 and 4 are, perhape, the heart ofthe hook, since they conta the thoory of analysis for multdegre systems, ‘The suthor hat chowen not to Use matrix notation, which is eurrently so popular, because in his ‘opinion iti podagogieally unwise to do 20 at this introductory level or thoe tethers who prefer matrix formulation, the Appendix moy be helpful Chapter 4 contaies considerable material on beam of various ‘types, because this s believed to be particularly important to structuralChapter 6 is devoted to approximate methods of design, which are veloped on the basis of the theory presented in earlier chapter ‘Because many dynanie problems in evil enginceriag involve uncertain loading conditions, tha methods are often more appropriate thay the ‘more proce but time-consuming procedure Chapters 0,7, and 8 contain applications ofthe theory to some impor ‘tant typenaf structural problema.” These treatinente are incomplete, tt they are belived to be sufciently thorough to provide sound ited tion tthe subjects ‘The author wihes to acknowledge with gratitude the assistance of hie wife, Margaret C. Biggs, who ot only typed thé manuscript, but poe ided encouragement throughout the writing of this book. Dace ‘eltran-Muldonsdo was extromely helpful in preparing the figures nd proofreading the manasrpt. ‘The author i particularly indebted to hie teacher and caleague Prof Chaves 1H. Norris for instruction and inspiration over an extended period of tte ohn Me. Bigge Contents Chapter 1 Numerical Analysis of Simple Systeme 1 Ld Intedoeton 1 12 Opedapee late Systems 3 13 Twodepee Elatic Stems tt 14. Opecdeoe Ela Sytem with Damping 17 15. Opedegrs Blouse Stems 0 18 Atermtive Methods of Nunes Anajes 28 (Chapter 2 Rigorous Analysis of One-degree Systems 34 21 Introduction 24 22 Undauped Stone 35 23, VasiowsForig Funetooe (Undamped Systeme) 40 24 Damped Satame St 25 Respoone to's Pung Yore 58 26 Sapport Motion 27 Blatoplatie Sytem 6 2B Chart Sluins for Maxim Response of One-degree ndanped He peti etme 76 (Chapter 3 Lumped-mase Malidegree Systems 8% 3 Direct Deteranation of Natural Frequencies 8 33. Chraceatie Shaper 9 84 SiodoacVinaell Procedure for Natural Fregwaies and CCharcertis Shapes fr 35, Motifod Rayleigh Method fr Natura Bre- queecies 105 85 Ungrane’s Equation 111 87. Modal Saale of Mulder Syatoms 118 88 Meldnory Rigid Pramas Sbjpted to Laer lade 8 89, Bhatplatie Analy of Malidegrs Systran 138 ‘810 Damping in Moltegre Systema 150 Chapter 4 Structres with Distributed Mass and Load 150 42 otodtion 150 482. Slaglegpn Beame—Normal Mos of Vibe 143. Ford Vibration f Beams 158 44 Beas wih Variable Cros Sesto and Maat 170 45 Contiuoan Beas ita 48 Beuwsieler Stee Yay AT. Pte Sab Subjectel to Normal Loads 188 448 Bhst-plstis Anal of Beane Tea Chapter 5 Approximate Design Methods 189 ‘Sd Itrodueton 190 52 died Sytem ana 53 Truaormaton Factors 209 54 Dymuinie Reston a7 35 Reon Caletens 219 458 Dds Bsamplen 204 57” Approsinate Design of Mulder Stems 233, Chapter 6 Farthquake Analysis and Design 245 8 Introduction 245 62 Respmase of Maltdgree Syetems to Support Mota 218 68 Malstoryuiting Ams 250 84 Raspon Spectra 267 85 Fartquake Groond Motions 283 188. Barshqunke Spectrum Analee of Bflidegr® Sytem 28S (G7 Prato Dosgn for Earthquake 268 Chapter 7 Bast-resintant Design 276 TA teodseton 276 72. Woading Herts of Neca Explosions 27 7 Abovearound Rectangla Strature, 22 74. Aboveground Arche nd Done 287 15 Belomerond Struct Sts 78 Ground Motions 308 (Chapter 8 Beams Subjected to Moving Loads 315 81 Tnsvoduton 315 2 Constant Force with Contant Velocity 815 83 Pulating Force with Conant Vety 318 84 Dean Teavewed by a Ring Mae, 321 8 Beam Vibaton Due to Page of Spr Mass 322 0 Bridge Vibration Dus to Moving Vekicos 823 Appendix Matrix Formation of Modal Anatyaia 329 Referens Inder a Introduction ‘The eubjoet of this tert isthe analysis and design of structures subjected ‘to dynamic Toads, ic, ods which vary with time. Although the rnajonity of civibenginering structarea ean propery” be designed as ‘hough the loads were state, there are wine importa exceptions, and it 's obviously imperative thatthe designer beable to dtingnich between Stati and dynam loads Tn fact, no steutaral loads (with the posite exception of dead lad) ‘re realy static, since they must be applied to the structure in some ‘anne, sud thi involves atime variation of fore. It obviou, hom rer, that ifthe magnitude of force varios slowly eaough, it wll have mo dynamic eect and can be treated as sate. "Slowly enough” fe wt ‘definite, abd apparently th qutetion of whether or nt w led is dynarnie isa relative matter in th signionnt parameter, andi the load varie ovly relative to this Period, it may be considered to be sate. The natural pe, losty ‘efne, isthe time required fr the stricture to go trough one ele ok free vibration, i, vibration after the fore casing the motion has been ‘emaved oF has ered to vay, ‘The interest in structural desig for dynamic fod has been increasing steadily over the year, This i in part due to advancing techolony, ‘ich hs made posible more arcurae dign, Its sso due to the face ‘that more daring sruotares Carger,Hghter, et) are being etempied, ‘nd these arw more susoptive to dynamie eer because they are gen. ‘rally more esible and have longer natural periods, Examples of situs. ‘ons in which dynamie loading mnt be coosideed include ()stuetures ‘ubjeoted to alternating fores caused by onllstng machinery, (2) sue. tures which support moving loads och abridge, (2) structures subjected to suddenly applied foroee such as blast pressure or wind gust aod (4) cass where the supports ofthe structure move, ea bullding daring ‘urns out thet the natural period ofthe structure ‘The basic principles of structural analysis ar of sures not invalidated by the fact thatthe lod is dynamic. ‘The same relationships between delction and strew apply under both dynam and static conditions Dynami analysis consist primarily of the determination of the time ‘aration of defection, from which alreses ean te diretly computed Since the natural period depends upon tho mac and wines of the erie ture, these two quantities are of perp greater importance in dynamicIn this text considerable attention i given to tho inelastic behavior of structures, ie, behavior beyond the elastic limit. "This in partially important in dynamic design because iis often imprcteal or at leat lunceonomiaal, to dsign the structure 20 sto remain eompletly elastic, ‘The energy absorption which reals from th plastic deformation of the ‘material permita a much lighter structure than would be reine i ll energy had tobe absorbed by elastic sexi, ' Chapters 1 and 2 which deat with simple dynamic systems contain the ‘more elementary theory of stntaral dynamion In Chaplom 3 and thiathoory is extended to more complex structural systems Chapter 3 in preentation of spproximate design procedirs, which ae oft more ‘suitable for practical purposes than diet application of the theory. Finally, Chapters 6,7, and 8 contain applientions of the mater in res cadingchaptors to prantieal problems of importance, u 10 Ks, Kes Be, Kw » Lt wet ga List of Symbols ‘modal amplitude statis modal deletion eharacerstic amplitude, dimension constant vid frag cootcent ‘damping coeficient criti! damping consi Seiamie velocity flexibility coeficient total conerete thisknest constant Ayman load factor tffstive depth of eonerete section modus of elasticity Ieee ‘tural frequeney, eps nondiieasonal ime fonetion onatant ‘ovelertion of gravity Tight moment of inertia Inertia foree impules Kinetic energy ‘ransformatina Sectors spring constant san bending moment iat bending strogth ‘aes por unit Jeng ‘numberof modes ssl stro ressre, distributed ladHi Lat of Sombote » S88 get see escre et ane spase d= aye y= Pyar ue ” dynamic prose reflected preware flde-on overpreseure Initia side-on overprewire Aisplacoment weapon range radios hea claneing ditance atural period time interval Toad duration load eae time shock-front velocity ‘eloety of sound steal energy relative daplacenent relative velocity hear oF reaction ‘velocity, displacement vreight| vrork "eh per nt ath ‘weapon yield Aisplacenent or defection ‘elcity sowlertion slastiosimitdefsction Stati defection ‘support mation Aisplacement, coordinate constant, phase angle constant, damping coelicient (o/281) Dartsiption factor pring distortion ondimensional digplaements ssgle of rotation Tal-arch central sngle dct ratio 0, 66 i t time variable density ‘stl rti in concrete tres intensity ‘ynamie yield eteogth dynamic conorete compremive strength ‘ine variable Dertepation factor forcing frequency, rad/see ‘natural elreula frequency1 Numerical Analysis of Simple Systems 1A Introduction ‘The determination of the dynanie reponse of simple systems using ‘numerical procedures is iscumed in thie chapter. "The more trade ‘onal rigorous methode are introduced in Chap. 2 This onder of pros ‘sentation in followed because nomeresl analysis, rather than rigorous solution, & believed to be the most general and yet straightforward Sppresch posible and the best for introductory purposs,” Only base principles ‘of physics and the moet emuntary mathemalte are ed ‘Thus the render shouldbe uble to conoentrate onthe physical phenomena ‘avolved rather than on the mathematieal techniques employed. Te is hoped that this emphasis will help develop a physieal “fol” or intl tion, for dynamie reponse, which i nessary for suceoful analyia of ‘more complicated dynamic probleme. ‘The reader is unged to keep thin objective in mind duving his study ofthe following sctons Numerical analysis, that is, solation of the dierenial equations of ‘motion by arithmetic procedire, ie a much more general attack on the roblem than rigorous, or closed, solution, beeause the liter is pte ‘only when the londing and the rectance functions can be exprewed it risively simple mathematic! terme For the type of problems in hich we are interested, this in severe restrition, and thus the rigorous ‘pprosch is obviouly of Kmited usstulnes, The evulaiity of eleetrenie computers hee accelerated the adoption2 Intvatuetion to Structural Dynamies = E of numerical thods by structure! engineers. Solutions to many come plex dynamie problems which wore imposible in ear times ean now be obtained with relative ease Although computer programming x not dicuiwed in this text and the procedure are ilstrated by hand ‘aleilations, itis expected that, in practice, many of these computations ould be done electronically. ‘The fllowing sections dea with systems consisting of combinations of springs and masses. It should fo emphasised that thew are not merely academic exercises, but rather thatthe system idalted inthis ‘manner is 8 convenient representation of an actual structure, For txample in Fig. 12a, the weight I, ssppored by » beat and subjectod ‘0-0 dynamic load, may often be represented by the simple meseapring ‘system shown. The same is tue of the rgi.frame stuctare shown fa Fig. 110, where the mass is distributed along the girder and only bor ontal motions are considered. Ta order for the Wdeaived sytem, to Deform in the ane way at the actual stryture, tf oly neceeanry to inako s proper selection of the system parainctors, For example, the spring constant k can be determined trom the properties ef the bens or frame since itis merely tho ratio of foes 40 defection. Ta the sansa shown, the weight, or mas, ofthe idealised aytem ie the same as that of the actual structure wince the weight of the structural members is ‘assumed to be negligible. Tn other cae thie may not be true snd & factor must be applied to obtain the equivalent mam for the ilalzed YHoume 12 Ove dor satem—Aynanin equim, fp sytem. Such a futor would be neosrary ifthe tues were distributed over the straturo—a situation which will be dacune in later chapters. ‘The loud-tire relationship, ot load faction, is urally the ane forthe two systems, although the magnitude ofthe load may difer” "The ideal ‘prngsmace rysiem svelte such thatthe defection ofthe mao isthe ‘same ust wore point of sgnieance on the slrwcturo, for example, the ‘idepan ofthe beam. ‘The important point ie that at Mdealinedsyecem hich behaves timewise in exactly the sane fashion ao the seta stuce ‘re ean be constructed and then analysed with relative ene 12 One-degree Hate Stems AA onedegcesaystom is dafied as one in which oly one typeof motion is pombe, or in other words, the positon of the system af any instant ‘an be defined interme of a single coordinate, Such s eyetem is shown in Fig 1.2, where the mase ean move in a vertieal diction only and all the mast in the system deficta by Ube same amount (the opting it4 Intrtution to Structure Dynami ‘seeumed marese). Avan example of dyaamle analysis let us determine the motion ofthis mass resulting from the application of imesvarying fore ‘The ist sep i to iolate tho mass as shown in Fig. 1.28, "to thie ‘ntes we apply the external forces, in this ease the applnd force Fi) and the spring fores hy. Tt is uamomed here that the spring iy Hess, ke, that the foes in the speng iv always equal to the spring contend times the displacement. Nove that the weight, or gravity fore, docs ‘ot appear inthe figure. This implies thatthe dnplacemnss ya oes ‘red from the neutral postin, in ther words, the state prion whieh the mass would take if only the forew of gravity were acting “laving isolated the mans, we may write the equation of motion simply by applving the elementary formula F = Ma, "Fin of tourse the sey or algsbrsie, sum ofthe fores acting onthe mass, and the peive dice tion of fore isthe same as that fr depacement or acceleration, ‘Thus ‘the equation of motion fr this yetem at FO ~ by = Mg an This diflerential equation may be solved to determine the variation of isplacement with time oneo the loading futetion, the lita conditions, snd the other paramaters ate known. An altemative and very convenient way of writing the equation of ‘motion is by the use of D’Alember's principle of dymamie epuirium, ‘This method in illntrated in Fig. 125 where an additional imaginary fore i applic to the mass. This eth inti fore, and equal te he prvlet of the mass and the aceleration. Nee that it mis alway be ‘Applied in the diretion of negative aceeleration, or oppite to postive iplacement. “Having added this foros, we may tat the stuation shown in Vig. L.2e exactly as a problem in satle equibriam. ‘The uli equation ie Fl) ~ by ~My =0 ay 1 is sen that this approach results in exactly the same cuntion as that Previously obtained. In general, the sgond appro even, ir more convenient, expecially when distributed mames are involved Before considering & speci example we shall discus the process of ‘numerical integration in general terms, ‘The is « proeeure ty whi of ilremest with apc one orn her wnt the wee ot [Numerical Anaya of Simple Sytem 5 Tepe impabe pce o the diferential equation of motion i solved step by step, starting at sero time, when the displacement and velocity ere premumably Known, ‘Tho time wale is divided into diserte intervals, and one progresses by succomively extrapolating Uhe daplacenient from one time station 10 the next. ‘There are many uch methods avaiable, bat in Keeping with the polity stated for thie chapter, only eae of the more simple veions| will be presented here. ‘This might be ealled the conan, or Paomped-npulae, procare Suppose at analysis fr the determination of the displcerent-time variation for ® dynamic system was in progens as indisted ia Fig 13, Suppon, further, thatthe displacements y® at Gime station ¢ andy" at the preceding time station + ~ 1 had been previously dtermiued ‘The acceleration 7 ut time station + eau thon be determined ing the ‘equation of motion. ‘The problem ito determine the next diplacersent, 1", by extrapolation. Thi could be dose bythe following selfevidens forma yo 4+ dat aa) where ju tthe average velovty betwoon time stations ¢ and s+ 1, and ts the time interval between station. "The ererage veloity maybe ‘exprosoid by the folowing approximate forma ir)