Professional Documents
Culture Documents
Lecture 1
Lecture 1
DYNAMICS OF STRUCTURES
By: Dr. Mohammad Ashraf (engineerashraf@yahoo.com)
Office: CE: B109
Course Contents
Introduction to SDOF, MDOF and Continuous Systems
Formulation of Equation of Motion for SDOF Systems
Principles of Analytical Mechanics
Free, Forced, Damped and Un-damped Response of SDOF and
Continuous Systems
Dynamic response to General Dynamic Loading and Transient Response
Approximate and Numerical Methods for Analysis of SDOF and
Continuous Systems
Analysis of Response in Frequency Domain
Wave Propagation Analysis/MDOF System Analysis
Dynamics of Structures 2
1
Recommended Books
DYNAMICS OF STRUCTURES by Jagmohan L. Humar
Grading Criteria
Assignments : 15%
Term Paper : 10%
Mid Term : 25%
Final Term : 50%
Dynamics of Structures 4
2
Module-1
Overview and Introduction
Dynamics of Structures 5
Dynamics of Structures 6
3
Why to Study Dynamics of Structures?
The response of structure to static load is different than its response to
dynamic load
Dynamic loading may cause large displacement and severe stresses,
especially in cases where the frequency of loading is close to the natural
frequency of structures
Fluctuating stress, even of moderate intensity, may cause material failure
through fatigue
Oscillatory motion may at times cause wearing and malfunction of
machinery
The vibration from one machine may transferred to a delicate instrument
through support structures
Vibration cause discomfort to the occupants
Dynamics of Structures 7
Dynamics of Structures 8
4
Sources of Dynamic Loads
Rotating or reciprocating machinery
(sinusoidal vibration)
Wind (time-varying drag and lift
forces)
Bomb blast (The force on structure due
to blast load depends on the distance
from the center of explosion and the
strength of explosive.
Earthquakes
Earthquake Load
Dynamics of Structures 9
Dynamics of Structures 10
5
Formulation of Equation of Motion
A set of differential equations governing the motion of
dynamic system, by defining the dynamic displacements, is
known as Equation of Motion
mu&& + cu& + ku = p(t )
Equation of Motion is formulated by different approaches:
z d’Alembert’s Principle or direct equilibrium
z Principle of Virtual Displacement
z Hamilton Principle
d’Alembert’s Principle:
This principle converts a dynamic problem to an equivalent
static problem
d ⎛ du ⎞
Q(t ) = ⎜ m ⎟ = mu&&
dt ⎝ dt ⎠
Dynamics of Structures 11
k u
δu (Fδu − kuδu ) = 0
F ku F
⇒ F = ku
P
δWi = 0
a
⎛ aδu ⎞
δWe = R(δu ) − P⎜
aδu/L δu
⎟
⎝ L ⎠
L R aP
δW = 0 ⇒ R =
L
Dynamics of Structures 12
6
Formulation of Equation of Motion (Cont..)
Hamilton’s Principle:
The variation of kinetic and potential energy plus the variation of the work done
by the non-conservative forces (which changes during the dynamic response)
considered during any time interval t1 to t2 must equal to zero.
∫ δ (T − V )dt + ∫
t2 t2
δWnc dt = 0
t1 t1
For static problem, the kinetic energy is zero and the expression converts to the
well-known principle of minimum potential energy, i.e.
δ (V − Wnc ) = 0
u
k d ⎛1 2 ⎞
F ⎜ ku − Fu ⎟ = 0 ⇒ F = ku
du ⎝ 2 ⎠
Dynamics of Structures 13
I x = ∫ (dm ) y 2 = mr 2
m
mL2
1 2 I1 =
3
L/2 L/2
mL2
I2 =
12
Dynamics of Structures 14
7
Mass Moment of Inertia (Cont..)
Rigid Plate
z Rectangular mb 2
I1 =
z Circular 3
b/2
z Ellipse 2
mb 2
I2 =
12 b/2
1
mR 2 Ip =
(
m a2 + b2 ) a
I1 = 12
4 1 R
mR 2
Ip =
2 a/2
mb 2
I1 =
1 16
b/2 Ip =
(
m a2 + b2 )
16
Dynamics of Structures 15
Dynamics of Structures 16
8
Stiffness: Linearly Elastic System
Static Condensation
⎡ 24 EI c 6 EI c 6 EI c ⎤
⎢ h3 h2 h2 ⎥ u
⎥⎡ 1 ⎤ ⎡ s ⎤ ⎡ K
f
⎢ 6 EI 4 EI c 4 EI b 2 EI b K12 ⎤ ⎡U1 ⎤ ⎡ F ⎤
⎢ 2c + ⎥ ⎢u2 ⎥ = ⎢ 0 ⎥ ⇒ ⎢ 11 =
⎢ h h L L ⎥ ⎢ ⎥ ⎢ ⎥ ⎣ K 21 K 22 ⎥⎦ ⎢⎣U 2 ⎥⎦ ⎢⎣ 0 ⎥⎦
⎢ 6 EI c 2 EI b 4 EI c 4 EI b ⎥ ⎢⎣u3 ⎥⎦ ⎢⎣ 0 ⎥⎦
⎢⎣ h 2 +
L h L ⎥⎦
⇒ K 21U1 + K 22U 2 = 0 ⇒ U 2 = −[K 22 ] K 21U1
−1
[ {
⇒ F = K11U1 + K12U 2 = K11 + K12 − [K 22 ] K 21 U1
−1
}]
Dynamics of Structures 17
Module-2
Single Degree of Freedom System:
Formulation of Equation of Motion
Dynamics of Structures 18
9
Single Degree of Freedom System
A system whose dynamic response can be described by specifying displacement
along only one coordinate.
True Engineering Systems are Multi-degree System; SDOF Systems are
Idealization
For many Engineering Systems SDOF Idealization is Satisfactory
Dynamic Analysis of SDOF Systems is Simple and can be extended to more
complex MDOF Systems
Dynamics of Structures 19
f I + f D + f S = p (t )
mu&& + cu& + ku = p(t )
Dynamics of Structures 20
10
Inertia and Spring Force
Inertia Force:
The force produced in a dynamic system due to:
z Translational Acceleration of mass (Inertial force, f I = mu&& )
z Rotational Acceleration of mass (Inertial Moment, M I = Iθ&& )
Spring Force:
Internal Forces induced in a body undergoing deformation.
z Spring force exist both in static and dynamic system
z For elastic system the spring force is directly proportional to the deformation produced
and is equal to stiffness times the deformation ( f S = ku )
z For inelastic system the spring force is dependent on both displacement and velocity.
Dynamics of Structures 21
Damping Force
Damping Force:
Damping is the process by which free vibration steadily diminishes in amplitude
due to dissipation of energy and the corresponding force is called damping force.
There are many energy dissipating mechanisms:
z Heating of the material due to internal friction
z Opening and closing of micro cracks
z Friction between structural and non-structural components
z Connections
z External devices
Equivalent Viscous Damping force f D = cu&
Dynamics of Structures 22
11