11/12/2021

Bayzoni

Department of Civil Engineering

Faculty of Engineering
University of Lampung
2020

DYNAMICS OF STRUCTURES
1. Introduction
2. Single-Degree-of-Freedom Systems
• Equation of Motion
• Solution of the Equation of Motion
• Evaluation of Damping in SDOF Systems
• Response to Harmonic Loading
• Response to Periodic Loading
• Response to Impulsive Loads
• Response to General Dynamic Loading
• Superpotition Method
• Step-by-step Method
• Nonlinear Analysis
• Generalized Single Degree of Freedom

3. Multi Degree-of-Freedom Systems

• Equations of Motion
• Vibration Mode Shapes and Frequencies
• Modal Equations of Motion

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Forced Vibrations
Harmonic Loading

 The particular solution is a solution that satisfies the equation of motion with
the loading included on the right-hand side of the equation

 The particular solution is particular to the loading function. As the first case,
the response of the SDOF system to a harmonic forcing function is studied.
The equation of motion is written as:

 Where p0 is the amplitude and ωp the angular velocity of the loading.

Forced Vibrations
Harmonic Loading - Non-Damped SDOF System

 Again, damping is first assumed to be zero, i.e., the equation of motion is

written as:

 The complementary solution of this equation is the free-vibration response

of Equation

 In this case, the particular solution can be found by “guessing” that the
solution is in the form of harmonic motion, i.e.,

 By substituting this “trial” solution, C is solved as:

 and the particular solution is:

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Forced Vibrations
Harmonic Loading - Non-Damped SDOF System

 The general solution is the combination of the complementary solution and

the particular solution:

 Constants A and B are solved based on initial conditions. For the specific
·
case of a system that is initially at rest, i.e., u(0) = 0 and u (0) = 0, the
constants are readily solved as:

Forced Vibrations
Harmonic Loading - Non-Damped SDOF System

 The the expression for the response becomes:

 Note that the first term on the right-hand side of equation, p0 /k, is the
displacement, ust, which force p0 would cause if applied statically. The rest
of the right-hand side of equation is termed the response ratio,R(t), and
expresses the momentary ratio of the total displacement to the static
displacement,i.e.,

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Forced Vibrations
Harmonic Loading - Non-Damped SDOF System

Forced Vibrations
Harmonic Loading - Non-Damped SDOF System

Untuk  < 1

Po  30 b  24

b
k  20   28     0.857


   
Po 1
v( t)    sin b  t    sin   t 
2 k 2
1 t  0  0.001 6

10

v( t ) 0

10
0 1 2 3 4 5 6
t

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Forced Vibrations
Harmonic Loading - Non-Damped SDOF System

Po  30 b  2

b
k  20   28     0.071


Po 1
u ( t) 
2 k

2
  
 sin b  t    sin (   t ) 
1

0.5

u( t ) 0

 0.5

1
0 2 4 6
t

Forced Vibrations
Harmonic Loading - Non-Damped SDOF System

Untuk  > 1

Po  30 b  35
b
k  20   28     1.25


Po 1
u( t) 
2 k

2
  
 sin b  t    sin (   t) 
1

u( t ) 0

2

4
0 2 4 6
t

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Forced Vibrations
Harmonic Loading - Non-Damped SDOF System

Untuk  >>> 1

Po  30 b  1000

b
k  20   28     35.714


Po 1
u(t) 
2 k

2
  
 sin b  t    sin (   t ) 
1

0.03
0.02
0.01
u( t ) 0
 0.01
 0.02
 0.03
0 2 4 6
t

Forced Vibrations
Harmonic Loading - Damped SDOF System

 The response of a SDOF system with damping is considered. The equation

of motion is:

 Dividing by m, and using notation of equation, c/m = 2 ξω, leads to:

 The complementary solution of this equation is the damped free-vibration

response (assuming that the structure is less than critically damped, as is
the case for all practical structures):

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Forced Vibrations
Harmonic Loading - Damped SDOF System

 The particular solution can be found by substituting in Equation of Motion

the following “trial” solution:

 (or, alternatively, up(t) =C3 sin (ωpt - θ). Note that, in general, the
response of a damped system is not in phase with the loading.)
 Coefficients C1 and C2 (or, alternatively, C3 and θ) can be solved readily
by equating (1) those terms that multiply sin (ωpt) and (2) those terms that
multiply cos (ωpt) . The general solution is the combination of the
complementary solution and the particular solution.
After denoting ωp / ω = α , the general solution is written as:

Forced Vibrations
Harmonic Loading - Damped SDOF System

 As before, the constants A and B could be evaluated based on the initial conditions.
However, as the complementary solution is attenuated by the exponential function
e−ξωt , and therefore typically diminishes quickly, the exact determination of the
complementary solution is often not called for. Also, consistent with the fact that it
typically diminishes quickly, the complementary solution is often referred to as the
transient response . The second term in equation above does not diminish with time
and is referred to as the steady-state response . The steady-state response involves
harmonic motion at a frequency equal to that of the applied loading but out of
phase with it as indicated by the presence of both the sin ωpt and cos ωpt terms. By
manipulation of the trigonometric terms, the steady-state response of equation
above can be cast to the following alternative form, directly indicating magnitude R
and phase angle θ :

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Forced Vibrations
Harmonic Loading - Damped SDOF System

 The ratio of the response amplitude, R, to the static displacement, p0/k,

caused by the static application of force p0 is the dynamic amplification factor,
D:

Dynamic amplification factor for harmonic force

at varying damping levels.

ForcedHarmonic
Vibrations
Loading - Response at Resonance

 The condition where the frequency of harmonic loading is equal to the undamped natural
frequency of an oscillator, i.e., α = 1, is called resonance. We readily observe from Figure
3.4 that the peak steadystate response occurs near the resonance frequency for lightly
damped systems and at slightly decreasing frequency ratios with increasing damping. Based on
Equations 3.43 and 3.44, the response ratio of an undamped system grows to infinity when the
frequency ratio α = 1. Equation 3.52 indicates that for a damped system at resonance, the
dynamic amplification factor is inversely proportional to the damping ratio :

 As indicated above, Dα=1 of equation above is not exactly the maximum value of the
amplification factor, but is close to it. The actual maximum value can be easily determined by
using basic differential calculus. The frequency ratio that maximizes D is found by setting the
first differential of the expression in Equation 3.52 with respect to α equal to zero, resulting in:

 and the corresponding peak response is:

 For typical levels of damping, the difference between Equation 3.55 and the simpler Equation
3.53 is negligible.

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ForcedHarmonic
Vibrations
Loading - Response at Resonance

Untuk  = 1

Po  20 k  20   28

Po
u( t)   ( sin (   t )    t  cos (   t ) )
2 k

100

50

u( t ) 0

 50

 100
0 1 2 3 4 5
t

Evaluation of Damping in SDOF

Systems
 Typically, mass and stiffness properties of structures can be determined adequately for engineering purposes
based on measurements and standard analysis procedures. In many respects, determination of the damping
in a structure is a more complicated phenomenon, and the typical assumed viscous damping is often a crude
representation of the energy dissipation mechanisms that are responsible for the decay of dynamic response.
Damping is inherent in the free vibration of any material, the level of damping depending on the material —
that is, damping is a material property. The elements of a building are constructed of a multitude of materials
and connected to each other in various ways. For small amplitude oscillations with low level elastic strains
prevailing, the material damping is an essential component of the overall building damping. With increasing
oscillation amplitude, phenomena such as small inelastic (hysteretic) deformations in the connections and
concrete cracking start occurring. This introduces additional damping, while the overall building response may
still be linear. Eventually, when amplitudes are large enough, significant material nonlinear, inelastic response
occurs within the main structural elements, with associated energy dissipation resulting in additional damping.
Thus, the level of damping increases with increasing response amplitude. Table 3.1 shows typically
recommended damping values for different types of construction.
 The significance of the approximations inherent in damping modeling depends on the type of problem at
hand. In general, the level of damping in very short duration dynamic phenomena, e.g., blast and impact
problems, has small influence on the response. On the other hand, as illustrated by the discussion above of the
steady-state response to harmonic loading, damping may be very essential in “controlling” response at
frequencies close to resonance.

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Evaluation of Damping in SDOF

Systems

Evaluation of Damping in SDOF

Systems
Where proper estimation of damping is important, experimental methods may
be useful in determining the damping ratio. Three simple methods to estimate
damping based on measurements are introduced in the following.

• Free-Vibration Amplitude Decay

• Amplification at Resonance
• Half-Power (Bandwidth) Method

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Evaluation of Damping in SDOF Systems

Free-Vibration Amplitude Decay

Consider the damped SDOF response

expressed by Equation

It is evident that rate of decay of the oscillatory response reflects the level of damping,
suggesting that if the decay rate can be measured, the level of damping can be
determined. Recognizing that for low to moderate damping levels, ωD ≈ ω , and
consequently TD ≈ T , the ratio from one peak value to the next, un/un+1 (or any two
response values one period apart), are related as:

from which the damping ratio can be solved as:

and if the peaks are measured m cycles apart, i.e.,

un and un + m , an estimate of the damping ratio can
be computed from:

The vibrations can be initiated by any convenient method, and only the relative displacement
amplitudes need be measured.

Evaluation of Damping in SDOF Systems

Amplification at Resonance

Measurement of amplification at resonance is based on determination of steady-state

harmonic response amplification at (essentially) resonance and requires application of
harmonic excitations to the structure at selected frequencies.

The method is based on the relationship expressed by Equation

From this, the damping ratio can be solved as:

Dα = 1 is not exactly the maximum amplification factor, which is easier

to determine by measurement, since the maximum amplification
factor is related to the damping factor as:

at a frequency defined by Equation

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Evaluation of Damping in SDOF Systems

Amplification at Resonance

at a frequency defined by Equation

For low and moderate damping

levels, the square root expression
in Equation above is essentially
unity, and the damping ratio can
be expressed as:

The method requires that the

frequency-response curve, i.e., the
plot of D = D(ωp), for the structure be
constructed by applying a harmonic Frequency-response curve for a
load at closely spaced frequencies moderately damped system.
extending up to the resonance
frequency.

Evaluation of Damping in SDOF Systems

Half-Power (Bandwidth) Method
Examination of Equation 3.52 and Figure 3.5 readily reveals that damping affects not
only the height of the peak of the D vs. α curve, but also the width of the peak. The half-
power bandwidth method of estimating damping value is based on a particular relationship
between the width of the peak of the D vs. α curve. Specifically, by using the relationship
of Equation 3.52, it can be shown that the difference between the two frequencies on
either side of the peak of the curve, α1 and α2, at which the response amplitude is reduced
to 1/√2 times the peak value, is related to the damping ratio as:

To illustrate the use of this method of estimating the damping ratio, a horizontal line
is shown across the curve at 1/√2 times the resonant-response value. According to
Equation 3.62, the difference between the frequencies at which this line intersects
the response curve is equal to twice the damping ratio.

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Evaluation of Damping in SDOF Systems

Half-Power (Bandwidth) Method
Examination of this equation and figure, readily reveals
that damping affects not only the height of the peak of
the D vs. α curve, but also the width of the peak. The
half-power bandwidth method of estimating damping
value is based on a particular relationship between the
width of the peak of the D vs. α curve. Specifically, by
using the relationship of equation above, it can be
shown that the difference between the two frequencies
on either side of the peak of the curve, α1 and α2, at
which the response amplitude is reduced to 1/√2 times
the peak value, is related to the damping ratio as:

To illustrate the use of this method of estimating the damping ratio, a horizontal line is
shown across the curve at 1/√2 times the resonant-response value. According to equation
above, the difference between the frequencies at which this line intersects the response
curve is equal to twice the damping ratio.

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