9/18/2014

Numerical Evaluation of Dynamic Response

Chopra, Chapter 5

Numerical Evaluation of Dynamic Response

Limitations of Duhamel’s Integral

• Assumes linear function
• Closed Form solution not always possible
(specially earthquake loading)
• Not generalized solution - for each load, separate
solution; it is not scalable

Hence, we resort to Numerical Integration

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Numerical Evaluation of Dynamic Response

• Almost all structural analysis software use

numerical integration.
• Numerical solutions can accommodate
nonlinear systems
• Solution can be generalized and computerized

Numerical Evaluation of Dynamic Response

• Time Stepping Methods

The applied force p(t) is given by a set of discrete values
pi = p(ti), i = 0, 1,2, …N. The time interval
∆ti = ti+1 - ti
is usually taken to be constant, although this is not necessary.

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Numerical Evaluation of Dynamic Response

At any time interval the DEM must be satisfied:
m
 + c
 i + (fs)i = pi (5.1.3)
where (fs)i is the resisting force at time ti ; (fs)i = kui for a
linearly elastic system but would depend on the prior history
of displacement and the velocity at time ti if the system were
inelastic.

Response at time ti :
 ,
 i , ui must satisfy Eq 5.1.3

Numerical Evaluation of Dynamic Response

• Numerical procedures enable us to determine the response

quantities
 i+1 ,
 i+1 , ui+1 at time ti+1 that should satisfy:

m
 i+1 + c
 i+1 + (fs) i+1 = pi+1 (5.1.4)

The known initial conditions, uo = u(0) and
 o =
 0 ,
provide the information to start the procedure.

• Requirements for a numerical procedure:

Convergence – as the time step decreases, the numerical solution should

approach the exact solution

Stability – the numerical solution should be stable in the presence of
numerical round-off errors

Accuracy – should provide results that are close enough to the exact
solution

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Numerical Evaluation of Dynamic Response

Three types of time stepping procedure
presented in this chapter:
• Methods based on interpolation of the excitation
function
• Methods based on finite difference expressions of
velocity and acceleration
• Methods based on assumed variation of
acceleration

Numerical Evaluation of Dynamic Response

• Method based on interpolation of excitation function

Note:
Linear interpolation is
satisfactory if the time
intervals are short

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Numerical Evaluation of Dynamic Response

• Method based on interpolation of excitation function.
Consider undamped case
∆
Eq. 5.2.2 m
 + ku = pi + ∆  


Response within ∆ is the sum of 3 parts:

1. Free vibration due to initial displacement and velocity
at τ = 0 (Sec. 2.1)
2. Response to step force pi without initial condition
(Sec. 4.3)
∆
3. Response to ramp force ( ∆ )τ without initial
condition (Sec 4.4)

Numerical Evaluation of Dynamic Response

Evaluate at τ = ∆ gives

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Numerical Evaluation of Dynamic Response

• Recurrence formulas

ui+1 = Aui + B
 i + Cpi + Dpi+1 5.2.5a

 i+1 = A’ui + B’
 i + C’pi + D’pi+1 5.2.5b

• Coefficients A to D’ can be computed from Eq 5.2.4 a and b.

• For underdamped system (ζ<1), the equations can be
modified accordingly. The coefficients for this case are
summarized in Table 5.2.1.
• If the time step ∆t is constant, the coefficients need to be
computed only once.

Numerical Evaluation of Dynamic Response

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Numerical Evaluation of Dynamic Response

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3. Compute the theoretical response.

4. Check the accuracy of the numerical results.

Numerical Evaluation of Dynamic Response

• Central Difference Method

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Numerical Evaluation of Dynamic Response

• Central Difference Method

Numerical Evaluation of Dynamic Response

Central Difference Method

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Numerical Evaluation of Dynamic Response

• Central Difference Method

Numerical Evaluation of Dynamic Response

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Numerical Evaluation of Dynamic Response

• Central Difference Method

Numerical Evaluation of Dynamic Response

• Central Difference Method

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Numerical Evaluation of Dynamic Response

• Newmark’s Method
– Family of Integration Methods all focused on acceleration
• Constant

• Average

• Linear


Numerical Evaluation of Dynamic Response

• Newmark’s Method

Other combinations of  and  are possible.

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Numerical Evaluation of Dynamic Response

• Newmark’s Method

The parameters  and γ define the variation of

acceleration over a time step and determine the
stability and accuracy characteristics of the method.

Typical selection for γ is ½ and !

≤  ≤ #

Numerical Evaluation of Dynamic Response

• Newmark’s Method

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Numerical Evaluation of Dynamic Response

Newmark’s Method
Define the incremental quantities:

Eq. 5.4.1 can be rewritten as:

Numerical Evaluation of Dynamic Response

• Newmark’s Method

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Numerical Evaluation of Dynamic Response

• Newmark’s Method

Numerical Evaluation of Dynamic Response

• Newmark’s Method

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Numerical Evaluation of Dynamic Response

• Newmark’s Method

Numerical Evaluation of Dynamic Response

• Newmark’s Method

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Numerical Evaluation of Dynamic Response

• Newmark’s Method

Numerical Evaluation of Dynamic Response

• Newmark’s Method

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Numerical Evaluation of Dynamic Response

• Newmark’s Method

Numerical Evaluation of Dynamic Response

• Newmark’s Method

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Numerical Evaluation of Dynamic Response

• Newmark’s Method

Numerical Evaluation of Dynamic Response

• Newmark’s Method

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Numerical Evaluation of Dynamic Response

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