OVERVIEW OF LINEAR AND NON-

LINEAR ANALYSIS FOR

PRACTICING STRUCTURAL
ENGINEERS
BY
VARANASI .V.S.H.RAMA RAO
DISCIPLINE PROJECT MANAGER ( CIVIL AND STRUTURAL)
 CONTENTS
LINEAR ANALYSIS

• Linear Static Analysis

• Frequency Analysis
• Linear Dynamic Analysis
• Modal Time History Analysis
• Harmonic Analysis
• Random Vibration Analysis
• Response Spectrum Analysis
• Linearized Buckling Analysis

NON LINEAR ANALYSIS

• Solution procedures
• Introduction to Non-Linear dynamic analysis
 LINEAR STATIC ANALYSIS
When loads are applied to a body the body deforms and the effects of loads are
transmitted throughout the body

The external forces induce internal forces and reactions to render the body into a state of
equilibrium

What are the assumptions for Linear Static Analysis?

•All loads are applied gradually and slowly until they reach their full magnitude

•After reaching full magnitude the loads remain constant

•Inertial and damping forces to small velocities and accelerations are neglected
You can make linearity assumption if:
All material in the model comply with Hooke’s Law

The induced displacements are so small that they cause negligible change in the
geometric and material properties and hence the stiffness

The structure subjected to loading has negligibly small Accelerations and

Velocities

The boundary conditions doesn’t change during loading.

Time variant loads that induce considerable inertial and damping forces may
warrant Dynamic Analysis
What does linear static analysis do?

It calculates the displacements, stresses, strains and reaction forces under the affect of
applied loads.
General Equation of motion

[M] x’’(t) + [C] x‘ ( t) + [K] x(t) = F

Since static analysis ignores time dependent effects i.e acceleration

and velocities due to relatively small magnitude, the above
equation shrinks to
[K] x = F

In the above equation x is independent of time.

External Load
Linearity

Non Linearity

Displacement

Linear Elastic : The curve is the linear and holds the same equation for both loading
and un loading

Non Linear –Elastic: The curve is non linear and holds the same equation for both
loading and unloading ( not true for structural steels but can be true for materials
like rubber)
Before entering into the subject of linear dynamic analysis we
will learn the following :

FREQUENCY ANALYSIS

•Every structure has a tendency to vibrate at a certain frequency

known as natural frequency or resonant frequency

•Each natural frequency is associated with a particular deflection

pattern of the structure and this pattern is known as mode
shape

Mode shapes

•When a structure is properly excited by dynamic load with

frequency that coincides with natural frequency of the structure,
it undergoes large displacements and stresses. In such cases
Static Analysis cannot be used.
If your design is subjected to dynamic environments of considerably severe nature,
Static studies cannot be used to evaluate the response

Frequency studies:

•can help us to design a structure which has natural frequencies considerably away
from the frequency for the loading.

•help us to design vibration isolation systems

•Form the basis for evaluating the response of linear dynamic systems where the
response of a system to dynamic environment is assumed to be summation of the
responses of various modes considered in the analysis.
LINEAR DYNAMIC ANALYSIS:

Static analysis assumes that the loads are constant or applied very slowly until
they reach their full values. Because of this assumption, the velocity and
acceleration of each particle of the model is assumed to be zero. As a result, static
studies neglect inertial and damping forces.

For many practical cases, loads are not applied slowly or they change with time or
frequency. For such cases, use a dynamic analysis. Generally if the frequency of a
load is larger than 1/3 of the lowest (fundamental) frequency, a dynamic study
should be used

Objectives of a dynamic analysis include:

•Design structural and mechanical systems to perform without failure in dynamic
environments.
•Modify system's characteristics (i.e., geometry, damping mechanisms, material
properties, etc.) to reduce vibration effects.
Linear Static vs Dynamic analysis

[M] x’’(t) + [C] x‘ ( t) + [K] x(t) = F(t)

In linear static analysis the Mass, Acceleration, Damping velocity are

neglected.

Where as , In dynamic analysis the above are considered and also force
is time dependent.

In dynamic analysis the response is give in terms of time history (

response vs time or in terms of peak response vs frequency)

In Linear Dynamic Analysis the basic assumption is Mass, Damping and

stiffness matrices in the above equation remain unchanged during the
duration of loading and un loading.
Dynamic loads

Dynamic loads are two types deterministic and non deterministic

Deterministic loads are well defined functions of time and can be predicted precisely.
They can be harmonic, periodic or non periodic- Example :centrifugal machine loading

Non deterministic loads cannot be defined explicitly as functions of time and they are
best described by statistical parameters- Example :earthquake loading

Typical dynamic loadings

Damping effects

•If you apply some force and leave a system to vibrate, it will come to rest after
some time. This phenomenon is called damping

•Damping is a physical phenomenon that dissipates energy by various

mechanisms like internal and external friction, air resistance etc

•It is difficult to represent damping mathematically as it happens through

several mechanisms

•For many cases damping effects are represented by equivalent viscous dampers

•A viscous damper generates a force that is proportional to velocity .

There are four approaches for Linear Dynamic Analysis

• Modal Time History Analysis

• Harmonic Analysis

• Random Vibration Analysis

• Response Spectrum Analysis

MODAL TIME HISTORY ANALYSIS

Use modal time history analysis when the variation of each load with time is
known explicitly, and you are interested in the response as a function of time.

Typical loads include:

•shock (or pulse) loads
•general time-varying loads (periodic or non-periodic)
•uniform base motion (displacement, velocity, or acceleration applied to all
supports)
•support motions (displacement, velocity, or acceleration applied to selected
supports non-uniformly)
•initial conditions (a finite displacement, velocity, or acceleration applied to a
part or the whole model at time t =0)
Modal Analysis Procedure

[M] x’’(t) + [C] x‘ ( t) + [K] x = F(t)

The above differential equation is a system of n simultaneous ordinary differential

equations with constant coefficients.

The objective of the modal analysis is to transform the coupled system into a set
of independent equations by using modal matrix as transformation matrix

The above is modal matrix

The normal modes and eigenvalues of the system are derived from the solution of
the eigenvalue problem:
For linear systems, the system of n equations of motion can be de-coupled into
n single-degree-of-freedom equations in terms of the modal displacement
vector {x}:

[x]= {Φ}u

Substituting this in the main equation of motion and pre multiplying {Φ} T with
we get

{Φ} T[M] {Φ} u’’(t) + {Φ} T [C] {Φ} u‘ ( t) + {Φ} T [K] {Φ} u = {Φ} T F(t)
The normal modes satisfy the orthogonality property, and the modal matrix is
normalized to satisfy the following equations:

{Φ} T[M] {Φ} =1

{Φ} T [C] {Φ} = 2 [ζ] [ω]
{Φ} T [K] {Φ}= [ω2]
The resultant equation after substituting the above is
u’’ + u‘2 [ζ] [ω] + [ω2] u = {Φ} T F(t)

The above is system of n –independent second order differential equations which is

solved by step by step integration methods like wilson theta

HARMONIC ANALYSIS

This analysis is used to calculate steady state peak response due to harmonic
loading or base excitations.

Although you can create a modal time history study and define loads as functions of
time, you may not be interested in the transient variation of the response with
time. In such cases, you save time and resources by solving for the steady-state
peak response at the desired operational frequency range using harmonic analysis.
RANDOM VIBRATION ANALYSIS

Use a random vibration study to calculate the response due to non-deterministic

loads.

Examples of non-deterministic loads include:

•loads generated on a wheel of a car traveling on a rough road
•base accelerations generated by earthquakes
•pressure generated by air turbulence
•pressure from sea waves or strong wind

In a random vibration study, loads are described statistically by power spectral density
(psd) functions. The units of psd are the units of the load squared over frequency as a
function of frequency.

The solution of random vibration problems is formulated in the frequency domain.

After running the analysis, you can plot root-mean-square (RMS) values, or psd results
of stresses, displacements, velocities, etc.
RESPONSE SPECTRUM ANALYSIS

What is response spectrum?

Response spectrum is a plot of peak response vs modal frequency ( for a given

damping)of various single degree freedom systems ( representing various modes of
vibration of the structure) subjected to same dynamic loading.

The normal modes are calculated first to decouple the equations of motion with the use of
generalized modal coordinates. The maximum modal responses are determined from the base
excitation response spectrum. With the use of modal combination techniques, the maximum
structural response is calculated by summing the contributions from each mode
LINEARIZED BUCKLING ANALYSIS

Slender structural members tend to buckle under axial loading.

Buckling is a sudden deformation which occurs when stored axial energy is converted
in to bending energy without change in the externally applied load

Mathematically when buckling occurs the stiffness matrix becomes singular

The linearized buckling model solves an eigen value problem to determine the critical
buckling factors and the associated mode shapes

A model can buckle in different shapes under different levels of loading. The shape the
model takes while buckling is called buckling mode shape and the corresponding
loading is called the critical buckling load

Engineers are interested in the lowest buckling mode because it is associated with
the lowest critical buckling load
 NON LINEAR ANALYSIS

All structures behave non linearly in one way or other beyond a particular level
of loading.
In some cases linear analysis may be adequate but in many cases the linear
analysis may produce an erroneous results as the assumptions on which linear
analysis is done may be violated in real time structure.

Non linear analysis is the most generalized form of analysis and linear analysis is
a sub-set of it.

Non linear analysis is needed if the loading produces a significant changes in the
stiffness
Major sources of structural non-linearities:

Geometrical Non Linearity

Large displacements change geometry

Material Non linearity

Non linear relationship between stress and strain

E.g. Yielding of beam column connections during earthquake

Contact Non linearity

E.g. gear-tooth contacts, fitting problems, threaded connections, and impact

bodies
• When a load causes significant changes in stiffness, the load-deflection curve
becomes nonlinear.
• The challenge is to calculate the nonlinear displacement response using a linear
set of equations.

External Load Linear Response

Nonlinear Response

Displacement
• One approach is to apply the load gradually by dividing it into a series of
increments and adjusting the stiffness matrix at the end of each increment.

• The problem with this approach is that errors accumulate with each load
increment, causing the final results to be out of equilibrium.

Error
External Load

Nonlinear Response
Calculated
Response

Displacement
Other Approach : Newton-Raphson algorithm:
• Applies the load gradually, in increments.
• Also performs equilibrium iterations at each load increment to drive the incremental
solution to equilibrium.
• Solves the equation [KT]{Du} = {F} - {Fnr} [KT]
[KT] = tangent stiffness matrix F
4 equilibrium
Fnr 3
{Du} = displacement increment 2 iterations

{F} = external load vector 1

{Fnr} = internal force vector Du
• Iterations continue until {F} - {Fnr}
(difference between external and internal Displacement
loads) is within a tolerance.
• Some nonlinear analyses have trouble converging. Advanced analysis techniques are
available in such cases.
NON LINEAR DYNAMIC ANALYSIS

In this analysis ,unlike linear dynamic analysis the mass , damping and stiffness matrix
are varying and get updated during each iteration.

In nonlinear dynamic analysis, the equilibrium equations of the dynamic system at

time step, t+δt, are:

[M] t+ δ t {U '' } (i) + [C] t+ δ t {U ' } (i) + t+ δ t [K] (i) t+ δ t [ D U] (i) = t+ δ t {R} - t+ δ t {F} (i-1)
Thank you