ADVANCED DYNAMICS OF

STRUCTURES
(INS6602)
- LESSON 10 -
Assist. Prof. Dr. Muzaffer BÖREKÇİ
Email: mborekci@inm.yildiz.edu.tr
ANALYSIS OF NONLINEAR RESPONSE
For a SDOF system, the equation of dynamic equilibrium:
𝒇𝑰 + 𝒇𝑫 + 𝒇𝑺 = 𝒑(𝒕)

When the damping is viscous in nature and the displacements

are small, the equation of dynamic equilibrium can be expressed
as:
𝒎𝒖 + 𝒄𝒖 + 𝒌𝒖 = 𝒑(𝒕)

Since the state variables (𝑢, 𝑢, 𝑢) raised only to the power 1, that
equation is linear as long as the mass, damping constant, and
stiffness do not change with time.
However, there are also many physical systems for which linear
differential equations with constant coefficients are inadequate to
describe the motion, and the analysis of such systems requires
the solution of nonlinear differential equations.

Assist. Prof. Dr. Muzaffer BÖREKÇİ Advanced Dynamics of Structures

Elimination of the possibility of variable mass allows the general
form of the differential equation describing a nonlinear SDOF
system to be expressed as:

𝒖 + 𝒇 𝒖, 𝒖, 𝒕 = 𝒑(𝒕)

Methods that involve the superposition of responses are valid only

when linearity is ensured. The Duhamel integral method and the
mode superposition method also rely on the superposition
responses. When the system equation is nonlinear, methods that
involve superposition are no longer valid.

Assist. Prof. Dr. Muzaffer BÖREKÇİ Advanced Dynamics of Structures

 Classification of Nonlinear Analyses
It was assumed that the displacements of the system were
infinitesimally small and the material behavior was linear elastic
in the formulations of the equations of motion until this topic.
Also it was assumed that the system boundary conditions
remained unchanged during application of the loads.
With these assumptions, the resulting equations corresponded
to a linear analysis because the displacement response was a
linear function of the applied loads.
Nonlinearity can be categorized into two basic classifications:
 Material nonlinearity (Stress – Strain relationship is nonlinear)

 Geometric nonlinearity (Structural displacements are large)

Assist. Prof. Dr. Muzaffer BÖREKÇİ Advanced Dynamics of Structures

Material Nonlinearity
The most frequently conducted type of nonlinear dynamic
analysis is Material Nonlinearity. In a material nonlinearity
analysis, geometric nonlinearity is excluded and the nonlinear
effect resides solely in the nonlinear stress – strain relation.
Since the displacements and strains are infinitesimally small, the
standard engineering stress and strain measures can be
employed in the response description. If the stress – strain
relation is nonlinear, but elastic, there is unique relation between
stress and strain. However, if there are plastic strains, the stress
– strain relation is path dependent and not unique.

Assist. Prof. Dr. Muzaffer BÖREKÇİ Advanced Dynamics of Structures

Consider the uniform rod of cross-sectional area A and length L
subjected to a time-varying force F(t).
σ
du
σ = F/A
Differential element
ET
σy 1
F(t)
x E
dx 1 ε
εy ε = du/dx
Stress – strain relation

As the bar elongates, a differential element in the bar experiences

a deformation «du». The stress in the element at any instant of
time:
𝑭
𝝈=
𝑨

Assist. Prof. Dr. Muzaffer BÖREKÇİ Advanced Dynamics of Structures

 σ
du
σ = F/A
Differential element
ET
σy 1
F(t)
x E
𝑭 dx
𝝈= 1 ε
𝑨 εy ε = du/dx
Stress – strain relation

 If σ < σy, then the response is linear elastic and the strain
is determined by Hooke’s law.
 If σ > σy, then the response is nonlinear and the strain is
determined by
𝒅𝒖 𝝈𝒚 𝝈 − 𝝈𝒚
𝜺= = +
𝒅𝒙 𝑬 𝑬𝑻

Assist. Prof. Dr. Muzaffer BÖREKÇİ Advanced Dynamics of Structures

Stress – strain relation of concrete is given below according to
Mander Model. This model is also suggested by Turkish Seismic
Code for Buildings 2018.

Assist. Prof. Dr. Muzaffer BÖREKÇİ Advanced Dynamics of Structures

Stress – strain relation of rebar steel is given below. This model is
also suggested by Turkish Seismic Code for Buildings 2018.

Assist. Prof. Dr. Muzaffer BÖREKÇİ Advanced Dynamics of Structures

Geometric Nonlinearity
In most engineering problems, equilibrium equations are written
with respect to undeformed (original) geometry. However,
equilibrium equations are written with respect to the deformed
geometry which is not known in advance due to large
displacements and large rotations. Geometric nonlinearity is
categorized into two classifications as
 Large displacement (large rotation) and small strains

 Large displacement (large rotation) and large strains

Although displacements or rotations of a system are large, strains

may be small and stress – strain relation can be either linear or
nonlinear, but the strains in the deformed state remain small.
In some cases, displacements or rotations of a system are large
and strains are large, too. This is the most general case of
geometric nonlinearity. In its deformed configuration the
differential element is significantly distorted.

Assist. Prof. Dr. Muzaffer BÖREKÇİ Advanced Dynamics of Structures

Applications of Geometric Nonlinearity
1) Let’s consider a simple pendulum:

𝒈 The well-known linearized (small angles

𝜽+ 𝜽=𝟎
L 𝑳 of oscillation θ) equation of motion
m
L.sinθ

For oscillations that cannot be considered small, then sinθ ≠ θ

𝒈
𝜽 + 𝒔𝒊𝒏𝜽 = 𝟎
𝑳
𝜽𝟑 𝜽𝟓 𝜽𝟕
𝒔𝒊𝒏𝜽 = 𝜽 − + − +⋯ Series expansion for sinθ
𝟑! 𝟓! 𝟕!
Neglecting the terms higher than third order in the series:
𝒈 𝜽𝟑
𝜽 + (𝜽 − ) = 𝟎
𝑳 𝟔

Assist. Prof. Dr. Muzaffer BÖREKÇİ Advanced Dynamics of Structures

 L 𝒈 𝒈 𝜽𝟑
𝜽+ 𝜽=𝟎 𝜽 + (𝜽 − ) = 𝟎
𝑳 𝑳 𝟔
m
L.sinθ Linear Nonlinear

This is a simple example of geometric nonlinearity.

 Restoring force in the linearized system is linearly
proportional to the amplitude of oscillation θ
 In the nonlinear system, the restoring force is proportional
to (θ – θ3/6) and therefore decreases as the amplitude
increases. This characteristic is known as softening.
Linear

Softening

Assist. Prof. Dr. Muzaffer BÖREKÇİ Advanced Dynamics of Structures

 L 𝒈 𝒈 𝜽𝟑
𝜽+ 𝜽=𝟎 𝜽 + (𝜽 − ) = 𝟎
𝑳 𝑳 𝟔
m
L.sinθ Linear Nonlinear

 Natural period (frequency) of the system is constant for any

θ. Such system is referred to as isochronous.
 As θ increases, the natural period of the nonlinear system
increases. Systems in which the period is dependent on the
amplitude are nonisochronous.

Assist. Prof. Dr. Muzaffer BÖREKÇİ Advanced Dynamics of Structures

Applications of Geometric Nonlinearity
2) Let’s consider a pretensioned cable with a concentrated
mass m:

From the free-body diagram, the nonlinear equation of motion

may be expressed as (neglecting the mass of the cable)
𝑨𝑬𝜹
𝒎 𝒙 + 𝟐 𝑻𝒊 + 𝒔𝒊𝒏𝜽 = 𝟎
𝑳

Assist. Prof. Dr. Muzaffer BÖREKÇİ Advanced Dynamics of Structures

 𝑨𝑬𝜹
𝒎 𝒙 + 𝟐 𝑻𝒊 + 𝒔𝒊𝒏𝜽 = 𝟎
𝑳

𝐿+𝛿 = 𝐿2 + 𝑥 2

𝛿 𝑥 2 𝑥2
= 1+ −1≅ 2
𝐿 𝐿 2𝐿
𝑥 𝑥
𝑠𝑖𝑛𝜃 = ≅
𝐿2 + 𝑥 2 𝐿

𝑨𝑬𝒙𝟐
𝒎 𝒙 + 𝟐 𝑻𝒊 + 𝒙=𝟎
𝟐𝑳𝟐

Assist. Prof. Dr. Muzaffer BÖREKÇİ Advanced Dynamics of Structures

 𝑨𝑬𝒙𝟐
𝒎 𝒙 + 𝟐 𝑻𝒊 + 𝒙=𝟎
𝟐𝑳𝟐
 Similar to the nonlinear simple pendulum system, this system
is also nonisochronous.
 Restoring force increases as the Linear

amplitude of oscillation x increases. This

characteristic is referred to as hardening.
Hardening

 For systems exhibiting hardening, the natural period

decreases as the vibration amplitude increases.

Assist. Prof. Dr. Muzaffer BÖREKÇİ Advanced Dynamics of Structures

 𝑨𝑬𝒙𝟐
𝒎 𝒙 + 𝟐 𝑻𝒊 + 𝒙=𝟎
𝟐𝑳𝟐

For small oscillations, the x3 term can be neglected, and the

linearized equation of motion for the corresponding isochronous
system is
𝟐
𝒎 𝒙 + 𝑻𝒊 𝒙 = 𝟎
𝑳

Assist. Prof. Dr. Muzaffer BÖREKÇİ Advanced Dynamics of Structures

Hysteretic Behavior
All materials degrade under cyclic loadings. Hysteretic behavior
of the systems depends on the material.

RC Structure Steel Structure

Assist. Prof. Dr. Muzaffer BÖREKÇİ Advanced Dynamics of Structures

Many methods have been proposed in the literature to estimate
hysteretic behavior of the systems analytically.

Hysteretic behavior of an RC column

Assist. Prof. Dr. Muzaffer BÖREKÇİ Advanced Dynamics of Structures

Modified Clough and Johnston Model Takeda Model Bouc-Wen Model

Ramberg – Osgood Model

Bilinear Model

Stiffness and Strength Degraded

Peak-Oriented Model

Assist. Prof. Dr. Muzaffer BÖREKÇİ Advanced Dynamics of Structures

Response of Elastoplastic SDOF Systems
Consider a one-story structural steel shear frame building
subjected to a horizontal static force F.

The girder in the structure is considered to be infinitely rigid

relative to the columns. Therefore, as the load is monotonically
increased, plastic hinges will eventually form at the ends of the
columns.

Assist. Prof. Dr. Muzaffer BÖREKÇİ Advanced Dynamics of Structures

The plot of the resistance versus
displacement relationship is linear up to point
«a» corresponding to a resistance Ry, where
first yielding in the cross section occurs. As
the load is increased, the resistance curve
becomes nonlinear as the column cross
section plasticizes and the system softens.
The girder in the structure is considered to
be infinitely rigid relative to the columns.
Therefore, as the load is monotonically
increased, plastic hinges will eventually
form at the ends of the columns. Upon
unloading, the system rebounds elastically
along the line «bc», parallel to the initial
linear portion of the curve (non-degrading
behavior).

Assist. Prof. Dr. Muzaffer BÖREKÇİ Advanced Dynamics of Structures

Hysteretic behavior and its idealization are given below:

Cyclic behavior of the given system Idealization of cyclic behavior of the given system

Assist. Prof. Dr. Muzaffer BÖREKÇİ Advanced Dynamics of Structures

Displacement response history of an elastoplastic system can be
described as given below:
Elastic path
 This stage is defined between O and a.
 0 ≤ x ≤ xel ; x > 0

 The restoring force Fs = k.x

 Unloading occurs when x < 0

Assist. Prof. Dr. Muzaffer BÖREKÇİ Advanced Dynamics of Structures

Displacement response history of an elastoplastic system can be
described as given below:
Hardening (plastic) path
 This stage is defined between a and b.
 xel ≤ x ≤ xmax ; x > 0 (xmax is the maximum displacement
value within the hysteresis loop)
 The restoring force in this stage Fs = Rm

Assist. Prof. Dr. Muzaffer BÖREKÇİ Advanced Dynamics of Structures

Displacement response history of an elastoplastic system can be
described as given below:
Unloading path
 This stage is defined between b and c.
 (xmax - 2xel) ≤ x ≤ xmax ; x < 0

 The restoring force in this stage Fs = Rm – k(xmax – x)

Assist. Prof. Dr. Muzaffer BÖREKÇİ Advanced Dynamics of Structures

Displacement response history of an elastoplastic system can be
described as given below:
Reloading path
 This stage is defined between d and e.

 x < (xmax - 2xel) ; x < 0

Assist. Prof. Dr. Muzaffer BÖREKÇİ Advanced Dynamics of Structures