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3m
3m
3m
(a) (b) (c)
5m 5m 5m
For each of the frame structures shown, calculate the stiffness k of the frame in the direction of the force. Assume uniform
flexural stiffness EI and neglect axial deformation.
Solution:
Structure (a) (b) (c)
k 1
[ ] 0.0417 0.121 0.538
EI m 3
Problem 2
EA = 5000 k 15 ft
EA = 5000 k
8 ft
(b)
(a)
6 ft 6 ft moment connection!
April 1, 2009
ARCE 412: STRUCTURAL DYNAMICS
Homework 1-Solution
Problem 1
3m
3m
3m
(a) (b) (c)
5m 5m 5m
For each of the frame structures shown, calculate the stiffness k of the frame in the direction of the force. Assume uniform
flexural stiffness EI and neglect axial deformation.
1.500 0.5870
0.5870
1.500
3.00
0.9130 0.9130
Displacement Calculation
1 2 1
(a) EI Δ = ⋅ 3 ⋅ (3.00 + 5.00) = 24 →k = = 0.0417 ⋅ EI
3 Δ
1 1
(b) EI Δ = ⋅ 1.52 ⋅ 2 ⋅ (3.00 + 2.50) = 8.25 →k = = 0.1212 ⋅ EI
3 Δ
1 1 1
(c) EI Δ = ⋅ (0.9132 + 0.5872 − 0.587 ⋅ 0.913) ⋅ 2 ⋅ 3.00 + ⋅ 0.5872 ⋅ 2 ⋅ 2.50 = 1.86 →k = = 0.538 ⋅ EI
3 3 Δ
Problem 2
7 ft
20, 000 k-ft2
15 ft
EA = 5000 k
EA = 5000 k
8 ft
(b)
(a)
6 ft 6 ft moment connection!
7 M
(a)
1 1 1
Δ = ⋅ ⋅ 7 2 ⋅ (7 + 8) + ⋅ 3.1252 ⋅ 10 = 0.01225 + 0.01953 = 0.03178 ft/k
20000 3 5000
N = 3.125
1
k = = 31.46 k/ft(ans )
0.03178
(b)
⎛15 ⎞
α = tan -1 ⎜⎜ ⎟⎟⎟ = 68.2D cos α = 0.3714 cos2 α = 0.1379
⎝6⎠
3 ⋅ EI EA 3 ⋅ 20000 5000
k = + cos2 α = + ⋅ 0.1379 = 17.78 + 42.69 = 60.46 k/ft(ans )
L13 L2 153 16.155
April 1, 2009
ARCE 412: STRUCTURAL DYNAMICS
Reading: Chopra Sections 2.1 and 2.2, Review mass moment of inertia
Problem 1
W EI
u
20 ft 4 ft 6 ft 6 ft 4 ft 20 ft
W = 10.35 k
C
6 ft
EI = 20, 000 k-ft2 (j)
EI W
A B C
B
EA = 5000 k u
10 ft 10 ft
6 ft
(h) (i)
D A
8 ft
Problem 2
(a) Plot three cycles of a free vibration response of a SDF system with a mass of 1.0 k-s2 /in and a stiffness of 5 k/in
subjected to an initial displacement of 2 inches and zero initial velocity. LabelT , f , u(0), u(0) and u 0 .
(b) Double the stiffness of the SDF system in (a) and replot the response. LabelT , u(0), u(0) and u 0 .
(c) Plot the response of the system in (b) for an initial displacement of 2inches and an initial velocity of 10 in/sec. Label
T , u(0), u(0) and u 0 .
April 6, 2009
ARCE 412: Structural Dynamics
Homework 2-Solution
W EI
u
20 ft 4 ft 6 ft 6 ft 4 ft 20 ft
W = 10.35 k
C
6 ft
EI = 20, 000 k-ft2
EI W (j)
A B C
B
EA = 5000 k u
10 ft 10 ft
6 ft
(h) (i)
D A
8 ft
Problem 1
k1 + k 2
(a) k = k1 + k 2 →ω= (ans )
m
1 k ⋅k k1k2
(b) k = = 1 2 →ω= (ans )
1 1 k 1 + k2 (k1 + k2 ) m
+
k1 k 2
(c) k =
1
=
1
=
1
=
( )
k1 + k 2 k 3
→ω=
(k 1 )
+ k2 k 3
(ans )
1 1 1 1 k1 + k 2 + k 3 (k1 + k2 + k 3 ) (k1 + k2 + k 3 ) m
+ +
k12 k 3 k1 + k 2 k 3 (k1 + k2 ) k 3
GJ G πd 4 1 k G πd 4
(d) k = = , MMI = mR 2 →ω= = (ans )
L 32L 2 MMI 16LmR 2
48EI 48EI
(e) k = →ω= (ans )
L3 L3m
⎛1 1 1 ⎞ EI EI
(g) EI Δ= ⎜⎜ ⋅ 22 ⋅ 20 + ⋅ 22 ⋅ 4 + ⋅ 32 ⋅ 6⎟⎟⎟ ⋅ 2 = 100 → k = = 0.01 EI → ω = 0.1 (ans )
⎝3 3 3 ⎠ 100 m
EA
(h) k = cos2 α (stiffness of each of the 4 cables)
L
EA EA EA EA EA
k =4 cos2 45D = 4 ⋅ 0.5 = 2 →ω= 2 = 1.189 (ans )
2h 2h h hm hm
1 1 1 50.76 ⋅ 32.2
(i) Δ= ⋅ 62 ⋅ 12 + ⋅ 2.52 ⋅ 10 = 0.01970 ft/k → k = = 50.76 k/ft →ω= = 12.57 rad/sec (ans )
20,000 5,000 0.01970 10.35
1 1
(j) EI Δ = ⋅ (3.752 + 3.1252 − 3.75 ⋅ 3.125) ⋅ 10 + ⋅ 3.1252 ⋅ 10 = 72.917
3 3
EI 0.01371EI EI
k = = 0.01371 k/ft →ω= = 0.1171 (ans )
72.917 m m
work for g i
P =1 P =1
C
6 ft
EI = 20, 000 k-ft2
M 6 B
2 2 EA = 5000 k
6 ft
N BD =2.5
− −
M
+ D A
[k-ft] 8 ft
work for j
P =1
A
B
10 ft 10 ft
3.75
−
M
+
[k-ft]
3.125
stiffness matrix
⎡0.024 0 0.060⎤⎥
⎢
K = ⎢⎢0 0.800 0.200⎥⎥ use EI = 1 dofs are 1,2,3 = ΔA, ϕA, ϕB
⎢0.060 0.200 0.400⎥⎥
⎣⎢ ⎦
e = [2 3](eliminate) r = 1(retain)
Flexibility and stiffness approaches lead to the same scalar stiffness k and hence to the same natural frequency.
Problem 2
(a) Plot three cycles of a free vibration response of a SDF system with a mass of 1.0 k-s2 /in and a stiffness of 5 k/in
subjected to an initial displacement of 2 inches and zero initial velocity. LabelT , f , u(0), u(0) and u 0 .
(b) Double the stiffness of the SDF system in (a) and replot the response. LabelT , u(0), u(0) and u 0 .
(c) Plot the response of the system in (b) for an initial displacement of 2inches and an initial velocity of 10 in/sec. Label
T , u(0), u(0) and u 0 .
u(0) = slope of
4 u(t ) at t = 0
u0
3
u(0) u0 u0
2
Displacement [in]
1 (a)
0
(b)
−1
−2
T T
−3 (c)
T
−4
0 2 4 6 8 10
Time [sec]
April 6, 2009
ARCE 412: Structural Dynamics
k =50 k/in
The structure above with given lateral stiffness k is set into free vibration with an initial displacement of 0.5 in. and an
initial velocity of 10 in/sec. Make the following assumptions regarding damping:
(a) undamped
(b) 1% damped ( ζ =0.01 )
(c) 20% damped ( ζ =0.20 )
Find the solution for the displacement u(t ) and use MATLAB to plot three cycles of vibration.
Problem 2:
(a) What is the amplitude of motion of the system in Problem 1 for the undamped case?
(b) What is the maximum displacement of the system in Problem 1 for the damped cases?
(c) What is the required damping ratio ζ to reduce the displacement at 1.5 sec to 1”?
For (b) and (c) use MATLAB to calculate the response u(t ) for closely spaced time points. Then use the max command for
(b) and trial and error for (c).
April 6, 2009
ARCE 412: STRUCTURAL DYNAMICS
Homework 3-Solution
Problem 1
Use MATLAB to plot three cycles of displacement response u(t ) of the structure above (rigid girder, column fixed at the
base). The structure is set into free vibration with an initial displacement of 0.5 in. and an initial velocity of 10 in/sec. Make
the following assumptions regarding damping:
m=2 k sec2/in u(t )
(a) undamped
(b) 1% damped ( ζ =0.01 )
(c) 20% damped ( ζ =0.20 )
k=50 k/in
2.5
2
ζ =0
ζ = 0.01
1.5
1
Displacement [in]
0.5
ζ = 0.20
−0.5
−1
−1.5
−2
−2.5
0 0.5 1 1.5 2 2.5 3 3.5 4
Time [sec]
Problem 2:
(a) What is the amplitude of motion of the system in Problem 1 for the undamped case?
(b) What is the maximum displacement of the system in Problem 1 for the damped cases?
(c) What is the required damping ratio ζ to reduce the displacement at 1.5 sec to 1”?
2
⎡ u(0) ⎤ 2
(a) u 0 = [u(0)] + ⎢
2
⎥ = 0.52 + ⎡⎢ 10 ⎤⎥ = 2.06 "
⎢ ω ⎥ ⎢⎣ 5 ⎥⎦
⎣ n ⎦
1 ⎡⎢ u1 ⎤⎥ 1 ⎡ 1 ⎤ ln(10) 0.366
ln ⎢ ⎥ = 2πζ → ln ⎢ ⎥ = 2πζ j10% = =
j ⎢ u j +1 ⎥ j10% ⎢⎣ 0.1 ⎥⎦ 2πζ ζ
⎣ ⎦
1500 ⋅ 386
ωD = ωn 1 − ζ 2 = 1 − 0.9082 = 5.28 rad/sec
3640
Problem 5 (Chopra 2.15) MOVED TO HW #4
The stiffness and damping properties of a mass-spring-damper system are to be determined by a free vibration test; the mass
is given as m m = 0.1 lb-sec 2/in . In this test the mass is displaced 1 in. by a hydraulic jack and then suddenly released. At
the end of 20 complete cycles, the time is 3 sec and the amplitude is 0.2 in. Determine the stiffness and damping coeffi-
cients.
1 ⎡ u ⎤ 1 ⎡ 1 ⎤
ζ= ln ⎢⎢ 1 ⎥⎥ = ln ⎢ ⎥ = 0.0128 = 1.28%
2π j ⎢ u j +1 ⎥ 2π ⋅ 20 ⎢⎣ 0.2 ⎥⎦
⎣ ⎦
3 2π
TD = = 0.15 sec Tn ≈ TD = 0.15 sec ωn = = 41.89 rad/sec
20 0.15
(2) The stiffness coefficient is
k = ωn2 ⋅ m = 41.892 ⋅ 0.1 = 175.5 lb/in
Problem 3: An SDF structure is excited by a sinusoidal force. At resonance the amplitude of displacement was mea-
sured to be 2 in. At an exciting frequency of one-tenth the natural frequency of the system, the displacement amplitude
was measured to be 0.2 in. Estimate the damping ratio of the system.
Problem 4: In a forced vibration test under harmonic excitation it was noted that the amplitude of motion at resonance
was exactly four times the amplitude at an excitation frequency 20% higher than the resonant frequency. Determine the
damping ratio of the system.
Problem 5: The displacement response of a SDF structure to harmonic excitation and initial conditions u(0) and u(0) is
given by
−ζωn t
u(t ) = e
⋅ [A cos ωD t + B sin ωD t
] +C sin ωt
+ D cos ω
t
transient vibration steady-stae vibration
Find expressions for the constants of integration A and B in terms of C , D, u(0), u(0), ωn , ωD , ω, and ζ .
Solution:
A = u(0) − D
u(0) + ωn ζ [u(0) − D ] − C ω
B=
ωD
Problem 6: W =40 k
p(t ) = 15 sin(10 t ) [k]
E = 29000 ksi
I = 175 in 4 15 ft
20 ft
Determine and plot the response of the frame above ( 0 ≤ t ≤ 5 sec ). Assume the girder is rigid and neglect the mass of
the columns.
(a) Assume at rest initial conditions and zero damping.
(b) Assume 5% damping and initial conditions u(0)=1 in and u(0)=50 in/sec .
Submit two figures, one for (a) and one for (b), containing three plots each (the transient, stead-state and total
responses). Write the numerical values for constants A, B, C , D on the figures.
Problem 7:
k = 20 k/in
W = 50 k
p(t ) = p0 sin(ωt )
(a) Calculate the vertical displacement of the cantilever tip due to gravity.
Assume 5% damping and consider steady state motion only:
(b) For p0 =10 k and ω = 5, 10,15 rad/sec calculate the amplitude of motion. Which of the three forcing frequencies
causes the largest displacement? Explain.
(c) For ω = 15 rad/sec calculate the maximum allowable amplitude p0 of the forcing function such that the deflection of
the cantilever due to gravity plus dynamic action is downward at all times.
Homework 4-Solution
Problem 1
For a system with damping ratio ζ , determine the number of free vibration cycles required to reduce the displacement
amplitude to 10% of the initial amplitude; the initial velocity is zero.
1 ⎡⎢ u1 ⎤⎥ 1 ⎡ 1 ⎤ ln(10) 0.366
ln ⎢ ⎥ = 2πζ → ln ⎢ ⎥ = 2πζ j10% = =
j ⎣⎢ u j +1 ⎦⎥ j10% ⎣⎢ 0.1 ⎦⎥ 2πζ ζ
Problem 3
A SDF system is excited by a sinusoidal force. At resonance, the amplitude of displacement was measured to be 2in. At
an exciting frequency of one-tenth the natural frequency of the system, the displacement amplitude was measured to be
0.2 in. estimate the damping ratio ζ of the system.
At ω = ωn
1
(a) u 0 = (ust )0 =2
2ζ
At ω = 0.1ωn
u 0 ≈ (ust )0 = 0.2 (β = 0.1 → excitation is so slow, that it can be considered static)
Substituting (ust )0 = 0.2 in (a) gives
ζ = 0.05
If we don’t want to make the assumption of static response for β = 0.1 , we can use the approach followed in Problem 4
(see below).
Problem 4
In a forced vibration test under harmonic excitation it was noted that the amplitude of motion at resonance was exactly
four times the amplitude at an excitation frequency 20% higher than the resonant frequency. Determine the damping
ratio of the system.
We assume that damping is small enough to justify the approximation that the resonant frequency is ωn and the
resonance amplitude is 1 / 2ζ . The given data then implies:
1
(a) (u 0 )ω=ωn = (ust )0
2ζ
1 1
(b) (u 0 )ω=1.2ωn = (ust )0 = (ust )0
2 2
( ) ( )
2 2
(1 − β 2 ) + 2ζ β (1 − 1.22 ) + 2 ζ 1.2
Problem 5
The displacement response of a SDF structure to harmonic excitation and initial conditions u(0) and u(0) is given by
−ζωn t
u(t ) = e
⋅ [A cos ωD t + B sin ωD t
] +C sin ωt
+ D cos ω
t
transient vibration steady-stae vibration
Find expressions for the constants of integration A and B in terms of C , D, u(0), u(0), ωn , ωD , ω, and ζ .
u(0) = A + D
→ A = u(0) − D (ans )
Problem 6
Determine and plot the response of the frame above ( 0 ≤ t ≤ 5 sec ). Assume the girder is rigid and neglect the mass of
the columns. Identify the steady state and the transient portion of the response (both in the equations and on the plot).
(a) Assume at rest initial conditions and zero damping.
(b) Assume 5% damping and initial conditions u(0)=1 in and u(0)=50 in/sec .
Submit two figures, one for (a) and one for (b), containing three plots each (the transient, stead-state and total
responses). Indicate the numerical values for constants A, B, C , D on the figures.
(a) W =40 k
p(t ) = 15 sin(10 t ) [k]
24EI 24 ⋅ 29000 ⋅ 175
k = 3 = 3
= 20.88 k/in
L (15 ⋅ 12)
20.88 ⋅ 386.4 E = 29000 ksi
ωn = = 14.20 rad/sec
40 I = 175 in 4 15 ft
p0 = 15 k
ω = 10 rad/sec
ω 10 20 ft
β = = = 0.7042
ωn 14.20
p0 1 − β2 p0 −2ζβ
C = D=
k (1 − β 2 )2 + (2ζβ )2 k (1 − β )2 + (2ζβ )2
2
ζ =0
p0 15
C = = = 1.425
k (1 − β 2
) 20.88 (1 − 0.70422 )
D =0
A =0
ω
B = −C = −C β = −1.425 ⋅ 0.7042 = −1.0036
ωn
p0 β p0 1
u(t ) = − 2
sin ωn t + 2
sin wt
k −β
1
k 1 − β
0.5
Displacement [in]
−0.5
−1
−1.5
−2
−2.5
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
Time [sec]
(b)
−ωn ζt
u(t ) = uc (t ) + u p (t ) = e
(A cos ω
D t + B sin ωD t
) + C sin ωt
+ D cos ω
t
transient response steady state response
p0 1 − β2 p0 −2ζβ u(0) + ωn ζ [u(0) − D ] − C ω
C = D= A = u(0) − D B=
k (1 − β 2 )2 + (2ζβ )2 k (1 − β 2 )2 + (2ζβ )2 ωD
A = 1.195 in B = 2.600 in C = 1.397 in D = −0.195 in
4
u(0) = 1 " u(0) = 50 "/ sec ζ = 5%
A = 1.195 B = 2.600 C = 1.397 D = −0.195
3
1
Displacement [in]
−1
−2
total
−3 transient
steady-state
−4
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
Time [sec]
Problem 7
k = 20 k/in
W = 50 k
p(t ) = p0 sin(ωt )
(a) Calculate the vertical displacement of the cantilever tip due to gravity.
W 50
(a) ust = = = 2.5 "(ans )
k 20
20 ⋅ 386.4
(b) ωn = = 12.43 rad/sec
50
5 10 k
ω1 = 5 rad/sec β1 = = 0.402 u0 = ⋅ 1.192 = 0.596 in (ans )
12.43 20 k/in
10 10 k
ω2 = 10 rad/sec β2 = = 0.804 u0 = ⋅ 2.763 = 1.38 in (ans )
12.43 20 k/in
15 10 k
ω3 = 15 rad/sec β3 = = 1.206 u0 = ⋅ 2.122 = 1.06 in (ans )
12.43 20 k/in
Excitation frequency ω2 is closest to resonance → largest amplitude
p0 p
(c) u = ust − ⋅ Rd = 2.5 − 0 ⋅ 2.122 > 0 → p0 < 23.6 k (ans )
k 20
12 ft
W 36 x 170 W 36 x 170
ζ =10 %
15 ft
ug (t )
The single bay/single story moment frame above with floor weight of 400 kips above is subject to ten cycles of harmonic
ground motion
2π
ug (t ) = 10 in ⋅ sin ωt 0 < t < 10T T =
ω
whose frequency ω is twice that of the natural frequency ωn .
Determine the constants A1, B1,C , D in the expressions below for the displacement of the floor relative to the moving
ground
2π
u(t ) = e −ζωnt ⋅ (A1 cos ωD t + B1 sin ωD t ) + C sin ωt + D cos ωt 0 < t < 10T T =
ω
After 10 cycles the ground motions stops and the structure vibrates freely. Determine the constants A2 , B2 in the expression
below for 2 seconds of free vibration after the ground has stopped moving.
u(t1 + 10T ) = e −ζωnt1 ⋅ (A2 cos ωD t1 + B2 sin ωD t1 ) 0 < t1 < 2 sec
10
T = 0.175 sec
0
−20
A2 = 1.852 in, B2 = 25.36 in
−30
0 1 2 3 4
Time [sec]
C:\calpoly\arce412\homework\spring_2009\hw5.doc 4/17/2009
California Polytechnic State University Department of Architectural Engineering
Spring Quarter 2009 Instructor: Ansgar Neuenhofer
April 20, 2009
ARCE 412: STRUCTURAL DYNAMICS
Homework 5-Solution
Problem
W 36 x 135 W = 400 k u(t )
12 ft
W 36 x 170 W 36 x 170
ζ =10 %
15 ft
ug (t )
The single bay/single story moment frame above with floor weight of 400 kips above is subject to harmonic ground motion
2π
ug (t ) = 10 in ⋅ sin ωt 0 < t < 10T T =
whose frequency ω is twice that of the natural frequency ωn . ω
Determine the constants A1, B1,C , D in the expressions below for the displacement of the floor relative to the moving
ground for 10 cycles of ground motion
2π
u(t ) = e −ζωnt ⋅ (A1 cos ωD t + B1 sin ωD t ) + C sin ωt + D cos ωt 0 < t < 10T T =
ω
After 10 cycles the ground motions stops and the structure vibrates freely. Determine the constants A2 , B2 in the expression
below for 2 seconds of free vibration after the ground has stopped moving.
u(t1 + 10T ) = e −ζωnt1 ⋅ (A2 cos ωD t1 + B2 sin ωD t1 ) 0 < t1 < 2 sec
30 ground displacement ug (t )
displacement u(t ) of floor (mass) relative to ground
20
Displacement [in]
10
−10
−20
−30
0 1 2 3 4
Time [sec]
72 k"
1 1 1 1
f = ⋅ ⋅ 722 ⋅ 144 ⋅ 2 + ⋅ ⋅ 722 ⋅ 180 = 3.0094 ⋅ 10−3 in/k
304.5 ⋅ 106 3 226.2 ⋅ 106 3
1 1
k = = = 332.29 k/in
f 3.0094 ⋅ 10−3 in/k
m 400 / 386.4
Tn = 2π = 2π = 0.351 sec
k 332.29
2π 2π
ωn = = = 17.92 rad/sec
Tn 0.351
1
T = ⋅ Tn = 0.5 ⋅ 0.351 = 0.1753 sec
β
2π 2π
ω = = = 35.84 rad/sec
T 0.1753
ug (
= 10 in ⋅ sin 35.84 t )
ug ( )
= 35.832 ⋅ 10 ⋅ sin 35.84 t = 12, 840 in/sec2 ⋅ sin 35.83 t ( )
p0 = −m ⋅ ug 0 = 400 k / 386.4 in/sec2 ⋅ 12, 840 in/sec2 = −13292 k
−ωn ζt
u(t ) = uc (t ) + u p (t ) = e
(A1 cos ω
D t + B1 sin ωD t
)+ C sin ωt
+ D cos ω
t
transient response steady state response
p0 1 − β2
C =
k (1 − β 2 )2 + (2ζβ )2
p0 −2ζβ
D =
k (1 − β )2 + (2ζβ )2
2
A1 = u(0) − D
u(0) + ωn ζ [u(0) − D ] − C ω
B1 =
ωD
13292 1 − 22
C =− ⋅ = 13.01 in
332.29 (1 − 22 )2 + (2 ⋅ 0.1 ⋅ 2)2
13292 −2 ⋅ 0.1 ⋅ 2
D =− ⋅ = 1.747 in
332.29 (1 − 2 )2 + (2 ⋅ 0.1 ⋅ 2)2
2
A = 0 − 1.747 = −1.747 in
u(t ) = e −ζωnt ⋅ (A1 cos ωD t + B1 sin ωD t ) + C sin ωt + D cos ωt 0 < t < 10T = 1.753 sec
u(t = 10T ) = 1.852 in
u(t ) = e −ωn ζt (−AωD sin ωD t + B ωD cos ωD t ) − ωn ζe −ωn ζt (A cos ωD t + B sin ωD t ) + C ω cos ωt − D ω sin ωt
u(t = 10T ) = 448.8 in/sec
A2 = u(0) = 1.852 in
Problem 1
An SDF system has the following properties: m =0.2533 k sec2 /in, k =10 k/in,ζ =0.05 . Use the NEWMARK average
acceleration method to calculate and plot the displacement response u(t ) of this system to a force p(t ) = 10 sin(πt ) (at
rest initial conditions).
(a) Use hand calculation with Δt = 0.1 sec for as many times ti that you need to understand the procedure.
(b) Implement the NEWMARK average acceleration method for a SDF system in MATLAB by writing a function
function u = newmark(m,c,k,p,delt)
where m, c, k are the mass, viscous damping coefficient, and stiffness, respectively of the SDF structure, p is a row vector
containing the loading function and Δt is the time step. The output argument u is a vector (say row vector) containing
the displacement response of the SDF system.
(c) Test your algorithm by calculating the displacement response u(t ) for 0 ≤ t ≤ 10 sec . Use time
steps Δt = 0.5, 0.1, 0.02 sec . Also plot the exact solution. The exact solution is (see HW 4)
Problem 2
Use the NEWMARK average acceleration method to calculate and plot the displacement response (the lateral
deformation) of two SDF systems with natural periodsTn = 2 sec andTn = 0.5 sec , respectively to the 1989 Loma
Prieta earthquake (recorded at Gilroy). Assume 5% damping. The record lomaprieta.dat (on blackboard) contains
1001ground acceleration data points in cm/sec2 at a spacing of 0.02 sec.
600
400
Acceleration [cm/s2]
200
−200
Loma Prieta Ground Acceleration
−400
−600
0 2 4 6 8 10 12 14 16 18 20
Time [s]
Submit: Single page with two plots (ground acceleration in units of g and relative displacement response in [in] (the
output of the NEWMARK function), single plot for the two periods).
Homework 6-Solution
Problem 1
An SDF system has the following properties: m =0.2533 k sec2 /in, k =10 k/in,ζ =0.05 . Use the NEWMARK average
acceleration method to calculate and plot the displacement response u(t ) of this system to a force p(t ) = 10 sin(πt ) (at rest
initial conditions).
(a) Use hand calculation with Δt = 0.1 sec for as many times ti that you need to understand the procedure.
(b) Implement the NEWMARK average acceleration method for a SDF system in MATLAB by writing a function
function u = newmark(m,c,k,p,delt)
where m, c, k are the mass, viscous damping coefficient, and stiffness, respectively of the SDF structure, p is a row vector
containing the loading function and Δt is the time step. The output argument u is a vector (say row vector) containing the
displacement response of the SDF system.
(c) Test your algorithm by calculating the displacement response u(t ) for 0 ≤ t ≤ 10 sec . Use time
steps Δt = 0.5, 0.1, 0.02 sec . Also plot the exact solution. The exact solution is (see HW 4)
Δt = 0.5
Δt = 0.10
3
i t p(t ) u(t ) u(t ) u(t ) Δt = 0.02, exact(virtually identical)
1 0.00 0.0000 0.0000 0.0000 0.0000 2
2 0.10 3.0902 10.7951 0.5398 0.0270
Displacement [in]
Problem 2
Use the NEWMARK average acceleration method to calculate and plot the acceleration, velocity and displacement response
of two SDF systems with natural periodsTn = 2 sec andTn = 0.5 sec , respectively to the 1989 Loma Prieta earthquake
(recorded at Gilroy). Assume 5% damping. The record (\ansgar\lomaprieta.dat on the ARCE shared drive) contains
1001ground acceleration data points in cm/sec2 at a spacing of 0.02 sec.
600
400
Acceleration [cm/s2]
200
−200
Loma Prieta Ground Acceleration
−400
−600
0 2 4 6 8 10 12 14 16 18 20
Time [s]
Submit: Single page with two plots (ground acceleration in units of g and relative displacement response in [in] (the output
of the NEWMARK function), single plot for the two periods).
0.8
0.6
Ground Acceleration [g]
0.2
−0.2
−0.4
−0.6
−0.8
0 5 10 15 20
t [sec]
Tn = 2 sec
20 Tn = 0.5 sec
ζ = 0.05
Displacement [in]
10
0
−10 u max = 20.6 in
−20 u max = 3.35 in
0 5 10 15 20
Time [s]
Loma Prieta ground acceleration and displacement response of two SDF structures (displacement is relative to the ground)
with 5% damping.
Submit: Two plots (spectral displacement and acceleration), single plot for the two EQ motions and table with spectral
values (see below) Hint: Cut and paste spectral values A and D from MATLAB into EXCEL
Solution:
80 Northridge 2.5
Spectral Displacement [cm]
70
30 1
Loma Prieta
20
0.5
10
Northridge
0 0
0 0.5 1 1.5 2 2.5 3 0 0.5 1 1.5 2 2.5 3
Tn [sec] Tn [sec]
Homework 7-Solution
Problem 1
Calculate the 5% damped displacement (in cm) and acceleration response spectra (in g) for the Loma Prieta and North-
ridge earthquakes (in directory ansgar on the ARCE shared drive). Consider 51 natural periodsTn equally spaced be-
tween Tn = 0.2 sec and Tn = 3 sec .
Submit: Two plots (spectral displacement and acceleration), single plot for the two motions. Table (see below) with
spectral values. Hint: Cut and paste spectral values A and D from MATLAB into EXCEL
80
Spectral Displacement [cm]
70
ζ = 0.05
60
50
40
30
20 Northridge
10 Loma Prieta
0
0 0.5 1 1.5 2 2.5 3
Tn [sec]
2.5
Spectral Acceleration [g]
1.5 ζ = 0.05
Northridge
1 Loma Prieta
0.5
0
0 0.5 1 1.5 2 2.5 3
Tn [sec]
MATLAB statements
%HW 7, NEWMARK METHOD, ground acceleration, response spectrum
clear all
close('all')
width = 1.5;
width1 = 1.0
size1=16;
size2=20;
load c:\calpoly\arce412\eqrecords\lomaprieta.dat;
load c:\calpoly\arce412\eqrecords\northridge.dat;
delT = (3 - 0.2)/50;
T = [0.2:delT:3];
for i=1:2
for j=1:length(T);
j
TT = T(j);
k = 4*pi^2 ./ TT^2;
c = zeta * 2 * sqrt( k * m);
[u,udot,uddot] = newmark(m,c,k,-input(:,i)'*m,delt);
dis(i,j) = max(abs(u));
acc(i,j) = dis(i,j) .* k / 981;
end
end
col = ['b';'r'];
st=['- ';'--']
figure(1)
hold on
for i=1:2
plot(T,dis(i,:),col(i,:),'linewidth',width,'linestyle',st(i,:));
ty = [col(i,:) '*']
plot(T,dis(i,:),ty,'linewidth',width1);
end
xlabel('\itT_n \rm[sec]','fontsize',size2);
ylabel('Spectral Displacement [cm]','fontsize',size2);
set(gca,'plotboxaspectratio',[1.5 1 1]);
set(gca,'fontsize',size1);
print -depsc -r1200 -tiff c:\calpoly
figure(2)
hold on
for i=1:2
plot(T,acc(i,:),col(i,:),'linewidth',width,'linestyle',st(i,:));
ty = [col(i,:) '*']
plot(T,acc(i,:),ty,'linewidth',width1);
end
xlabel('\itT_n \rm [sec]','fontsize',size2);
ylabel('Spectral Acceleration [g]','fontsize',size2);
set(gca,'plotboxaspectratio',[1.5 1 1]);
set(gca,'fontsize',size1);
stop
%build table
Numerical results
Problem 2
A 10-ft-long vertical cantilever made of a 6-in nominal-diameter standard steel pipe supports a 3000-lb weight attached
at the tip as shown. The properties of the pipe are: outside diameter=6.625, inside diameter=6.6065 in. Find (1) the peak
deformation, (2) the equivalent static force and (3) the bending stress resulting from the Northridge and Loma Prieta
earthquakes. Ignore the weight of the pipe.
π
I =(6.6254 − 6.0654 ) = 28.14 in 4
64
3EI 3 ⋅ 29, 000 ⋅ 28.14
k = 3 = = 1.417 k/in
L 1203
W = 3000 lbs
3000
Tn = 2π = 0.465 sec
1.417 ⋅ 103 ⋅ 386.4
4.59cm
Northridge: D(Tn = 0.465, ζ = 0.05) = = 1.81 in (ans )
2.54 cm/in
F = 1.81 ⋅ 1.417 = 2.56 k (ans )
M = 2.56 ⋅ 120 = 307 k-in
307
σ = ⋅ 6.625 / 2 = 36.2 ksi (ans )
28.14
Note: Section properties are calculated based on nominal dimensions. Use of steel manual results in smaller section
properties and correspondingly larger stresses. The results are
Problem 1
A uniform rigid bar of total mass m is supported on two springs k1 and k2 at the two ends and
subjected to dynamic forces as shown in the figure. Formulate the equations of motion with
respect to the two DOFs defined at the left end of the bar.
Partial Solution:
⎡ mL ⎤
⎡k1 + k2 k2L ⎤ ⎢m ⎥
⎢ 2 ⎥
k = ⎢⎢ ⎥ m = ⎢ ⎥
⎢⎣ k2L k2L2 ⎥⎥ ⎢ mL mL2 ⎥
⎦ ⎢ ⎥
⎣⎢ 2 3 ⎦⎥
Problem 2
Find the 2x2
(a) mass,
(b) flexibility (using PVF hand calculation)
(c) stiffness (use beam element in MATLAB, eliminate unwanted DOFs)
matrices of the beam for the two DOFs shown. Check whether the stiffness and
flexibility matrices are the inverse of each other.
Partial Solution:
L3 ⎡⎢ 8 7 ⎤⎥
f =
486EI ⎢⎣⎢7 8⎥⎦⎥
Problem 3
A rigid bar is supported by a weightless column as shown. Find the 2x2
(a) mass
(b) flexibility (using PVF hand calculation)
(c) stiffness (by inverting the flexibility matrix)
matrices of the system defined for the two DOFs shown.
Find the stiffness matrix by inverting the flexibility matrix.
L3 ⎡2 5 ⎤
f = ⎢ ⎥
6EI ⎢5 14⎥
⎢⎣ ⎥⎦
Problem 4
Solution for (4.1)
⎡6 0 0 ⎤⎥
⎢
⎢ ⎥ 12EI
K = k ⎢0 6 −b ⎥ , with k=
⎢ ⎥ h3
⎢ ⎥
⎢⎣ 0 −b 3b 2 ⎥
⎦
⎡ ⎤
⎢ ⎥
⎢m 0 0 ⎥
⎢ ⎥
M = ⎢⎢ 0 m 0 ⎥⎥
⎢ ⎥
⎢ b2 ⎥
⎢0 0 m ⎥
⎣⎢ 6 ⎦⎥
The figure shows a uniform slab supported on four columns rigidly attached to the slab and clamped at the base. The
slab has a total mass m and is rigid in plane and out of plane. Each column is of circular cross section with moment of
inertia I or 2I . With the DOFs selected as ux , uy , uθ
(1) at the center of mass of the slab (as shown)
(2) at the center of stiffness of the slab (not shown)
find the mass and stiffness matrices in terms of m and the lateral stiffness k = 12 EI / h 3 of the smaller column.
Problem 5 Solution
t = 0.5 ft
γC = 150 #/ft3 ⎡0.064 0 0 ⎤⎥
⎢
⎢ ⎥
y z
x K = EA ⎢ 0 0.0295 −0.7071⎥ [ft,k]
⎢ ⎥
⎢ 0 −0.7071 26.19 ⎥⎥
12 ' ⎢⎣ ⎦
⎡2.683 0 0 ⎥ ⎤
⎢
⎢ ⎥
EA 16 ' M =⎢ 0 2.683 0 ⎥ [ft, k, sec]
⎢ ⎥
12 ' 16 ' ⎢ 0 0 644.0⎥⎥
⎢⎣ ⎦
12 ' 16 ' Wslab = 86.4 k
Find the mass and stiffness matrices with respect to the three in plane degrees-of-freedom ux , uy , ϕz . In-plane stiffness is
provided by the three diagonal braces.
May 6, 2009
ARCE 412: STRUCTURAL DYNAMICS
Homework 8-Solution
Relative displacement, velocity and acceleration response time history for Loma Prieta Earthquake (ζ = 5%) .
Problem 2c
Using the beam element with four degrees-of-freedom the stiffness matrix with respect to the 8 free degrees-of-freedom
(4 rotations and 2 translations) is
⎡ 12 − 54 6 0 0 0 ⎤
⎢ ⎥
⎢−54 648 0 − 324 54 0⎥
⎢ ⎥
⎢ 6 0 24 − 54 6 0 ⎥⎥
Kfree = ⎢ ⎢ use E = 1, I = 1, L = 1
⎢ 0 − 324 − 54 648 0 53⎥⎥
⎢ ⎥
⎢ 0 54 6 0 24 6⎥
⎢ ⎥
⎢ 0 0 0 53 6 12 ⎥
⎣ ⎦
Since zero mass is associated with the rotations, we eliminate the four rotations to generate a stiffness matrix with
respect to the two translations only.
EI ⎡ 259.2 - 226.8⎤⎥
K final = 3 ⎢⎢ (ans )
L ⎣ - 226.8 259.2⎥
⎦
Below are the corresponding MATLAB statements
free = [2 3 4 5 6 8];
Kfree = K(free,free);
r = [2 4];
e = [1 3 5 6];
Krr = Kfree(r,r);
Kre = Kfree (r,e);
Ker = Kfree (e,r);
Kee = Kfree (e,e);
%Final 2x2 st. matrix
Kfinal = Krr - Kre*inv(Kee) * Ker
Problem 4.2
When we apply the degrees-of-freedom at the center of rigidity all off-diagonal terms of the stiffness matrix a zero (that
is the definition of the center of rigidity). Furthermore, the diagonal elements related to the displacements are the same
as before. Hence we only need to calculate element K 33 of the stiffness matrix. The mass matrix is no longer diagonal,
coupling exists between the acceleration in the y -direction and the moment (and also, by symmetry) between the angular
acceleration and the y -force). Element M 33 of the mass matrix also changes.
13 25
d1 = b, d2 = b
36 36
13 2 25 2 17 2
K 33 = 2 ⋅ 2 ⋅ kd12 + 2 ⋅ kd22 = 4k b + 2k b = bk
36 36 6
2
1 ⎛1⎞ 7
M 33 = m (b 2 + b 2 ) + m ⋅ ⎜⎜ ⎟⎟⎟ b 2 = mb 2
12 ⎝6⎠ 36
⎡ ⎤
⎢ ⎥ ⎡ ⎤
⎢6 0 0 ⎥ ⎢6 0 0 ⎥
⎢ ⎥ ⎢ ⎥ 12EI
K = k ⎢0 6 0 ⎥ = k ⎢0 6 0 ⎥ (ans ), with k = 3
⎢ ⎥ ⎢ ⎥ h
⎢ ⎥ ⎢ ⎥
⎢ 0 0 17 b 2 ⎥ ⎢ 0 0 2.833b 2 ⎥
⎢⎣ ⎣ ⎦
6 ⎥⎦
⎡ ⎤
⎢1 0 0 ⎥⎥ ⎡ ⎤
⎢ ⎢1 0 0 ⎥
⎢ ⎥ ⎢ ⎥
⎢ 1 ⎥
M = ⎢0 1 b ⎥ m = ⎢0 1 0.1667b ⎥ m (ans )
⎢ 6 ⎥ ⎢ ⎥
⎢ ⎥ ⎢ ⎥
⎢ 1 7b 2 ⎥ ⎢ 0 0.1667b 0.1944b 2 ⎥
⎢0 b ⎥ ⎣ ⎦
⎣⎢ 6 36 ⎦⎥
Problem 5
t = 0.5 ft
γC = 150 #/ft3
y z
x
12 '
EA 16 '
12 ' 16 '
12 ' 16 '
Find the mass and stiffness matrices with respect to the three in plane degrees-of-freedom ux , uy , ϕz . In-plane stiffness is
provided by the three diagonal braces.
EA EA
k11 = 2 ⋅ cos2 α = 2 ⋅ 0.82 = 0.0640 EA
L 20
k21 = k12 = 0
k 31 = k13 = 0
EA EA
k22 = cos2 α = 0.7072 = 0.02950 EA
L 16.971
k 32 = k23 = −0.02950 EA ⋅ 24 = −0.7071 EA
⎛ 1 1 ⎞
k 33 = EA ⎜⎜2 ⋅ ⋅ 0.802 ⋅ 122 + ⋅ 0.70712 ⋅ 242 ⎟⎟⎟ = 26.19 EA
⎝ 20 16.971 ⎠
⎡0.0640 0 0 ⎥ ⎤
⎢
⎢ ⎥
K = EA ⎢ 0 0.0295 −0.7071⎥ k, ft(ans )
⎢ ⎥
⎢ 0 −0.7071 26.19 ⎥⎥
⎣⎢ ⎦
12 ft
12 ft
⎢ 0
⎢ ⎥ k 32
M =⎢ 0 2.683 0 ⎥ [ft, k, sec](ans ) k 31 k11 k12
⎢ ⎥
⎢ 0 644.0⎥⎥
12 ft
12 ft
0
⎣⎢ ⎦ 0.032 EA
16 ft 16 ft 16 ft 16 ft 16 ft 16 ft
EA
⋅ 0.707 2 ⋅ 24
16.971
= 0.7071 EA EA
⋅ 0.82 ⋅ 12
20
= 0.384 EA
k23
12 ft
k 33
k13 u1 = 0, u2 = 0, u 3 = 1
12 ft
0.384 EA
16 ft 16 ft 16 ft
May 8, 2009
ARCE 412: STRUCTURAL DYNAMICS
Problem 1
Determine the natural vibration frequencies and mode shapes
of the structure for k1 =k and k2 =2k . Sketch the mode shapes. m (total mass)
Use the mass and stiffness matrices determined in HW 8.
Solution:
k k ⎡ 1 ⎤ ⎡ 1 ⎤
ω1 = 1.592 ω2 = 3.076 φ1 = ⎢⎢ ⎥
⎥ φ2 = ⎢⎢ ⎥
⎥
m m ⎢⎣−0.634 / L ⎥⎦ ⎢⎣−2.366 / L ⎥⎦
Problem 2
Determine the natural vibration frequencies and mode shapes of the structure
in terms of m, EI and L . Sketch the mode shapes.
Use the mass and stiffness matrices determined in HW 8.
Solution:
EI EI ⎡1⎤ ⎡1⎤
ω1 = 9.859 ω2 = 38.184 φ1 = ⎢⎢ ⎥⎥ φ2 = ⎢⎢ ⎥⎥
mL4 mL4 1 −1
⎣⎢ ⎦⎥ ⎣⎢ ⎦⎥
Problem 3:
Determine the natural vibration frequencies and mode shapes of the structure (rigid beams) in terms of m, EI and h .
Sketch the mode shapes. Use MATLAB’s eig function to calculate the eigenvalues (natural frequencies) and
eigenvectors (mode shapes). Normalize the mode shapes such that the value at the roof level has unit value. In Matlab,
use E = 1, I = 1, h = 1, m = 1 . Model the frame in RISA or ETABS, perform a frequency analysis to find the mode
shapes and frequencies. Compare the results. A correct model should give you the exact same frequencies and mode
shapes.
Solution:
⎡0.314 ⎤ ⎡−0.5⎤ ⎡ 3.186 ⎤
⎢ ⎥ ⎢ ⎥ ⎢ ⎥
EI EI EI ⎢ ⎥ ⎢ ⎥ ⎢ ⎥
ω1 = 2.241 ω2 = 4.899 ω3 = 7.140 φ1 = ⎢ 0.686⎥ φ2 = ⎢−0.5⎥ φ3 = ⎢−2.186⎥
mh 3 mh 3 mh 3 ⎢ ⎥ ⎢ ⎥ ⎢ ⎥
⎢ 1 ⎥ ⎢ 1 ⎥ ⎢ 1 ⎥
⎣⎢ ⎦⎥ ⎣⎢ ⎦⎥ ⎣⎢ ⎦⎥
Homework 9-Solution
Problem 10.12
Problem 1
For the structure of HW 8, P 4 (rigid slab on four columns), find the three natural periods Tn and corresponding mode
shapes Φ for in-plane vibrations. Define the degrees-of-freedom
(1) at the center of mass of the slab (as shown)
(2) at the center of stiffness of the slab (not shown)
and show that both frequencies and mode shapes are independent of where we apply the degrees-of-freedom. Order the
periods in descending order and sketch the mode shapes. Use MATLAB.
(3) Model the structure in ETABS or RISA 3D and calculate natural periods and mode shapes. Include plots of the mode
shapes in your submittal. Model the columns as fixed-fixed.
UseW = 32.2 k (total weight of slab), b = 30 ft, k = 12EI / h 3 = 100 k/ft .
Problem 2 25 k
u3
12 ft
W 14 x 48
50 k
u2
12 ft
W 14 x 90
50 k
u1
12 ft
W 14 x 120
Shape I [in 4 ]
W 14x48 485
W 14x90 999
W 14x120 1380
(1) Determine the natural periods Tn and modes φn of the three-story frame above. Sketch the mode shapes and
identify the associated natural frequencies. Normalize each mode so that the modal mass M n = φTn m φn has
unit value.
Solution:
⎡0.2554 0.4103 0.6407 ⎤⎥
⎢
Φ = ⎢0.5313 0.3876 -0.4600⎥ for m in k, sec, ft
⎢ ⎥
⎢⎣0.7701 -0.8068 0.2097⎥
⎦
T = [ 0.270 0.124 0.084 ] sec
⎡0.885 1.421 2.219 ⎤
⎢ ⎥
Φ= ⎢1.840 1.343 -1.593 ⎥ for m in k, sec, in
⎢ ⎥
⎢⎣2.668 - 2.795 0.726⎥
⎦
(2) Determine the free vibration response of the frame for the following three vectors of initial displacements (the
initial velocity is zero). Neglect damping. Consider 0 ≤ t ≤ 1.0 sec .
T T T
u I = ⎡⎢1 2 3⎤⎥ u II = ⎡⎢− 1 0.25 1⎤⎥ u III = ⎡⎢1 −1 1⎤⎥ [in]
⎣ ⎦ ⎣ ⎦ ⎣ ⎦
Comment on the relative contribution of the three vibration modes to the response produced by the three initial displace-
ments.
Submit:
(1) Summary of analysis. Sketch of mode shapes.
(2) One plot for each vector of initial displacements showing the roof response in modes 1, 2, and 3 and the total
roof response (i.e. 4 lines per plot).
(3) Use hand calculation to calculate at t = 1 sec for the three initial conditions:
3.1 The total (all modes combined) first floor displacement.
3.2 The roof displacement in mode 2.
3.3 The second floor displacement in mode 1.
Homework 10-Solution
Problem 1
For the structure of HW 8, P 4 (rigid slab on four columns) find the three natural periods Tn and corresponding mode
shapes Φ for in-plane vibrations. Define the degrees-of-freedom
(1) at the center of mass of the slab (as shown)
(2) at the center of stiffness of the slab (not shown)
and show that both frequencies and mode shapes are independent of where we apply the degrees-of-freedom.
Order the periods in descending order and sketch the mode shapes.
UseW = 32.2 k (total weight of slab), b = 30 ft, k = 12EI / h 3 = 100 k/ft .
%sort ⎡ 0 1.0000 0 ⎤
⎢ ⎥
[omega j] = sort(omega); ⎢ ⎥
phi = phi(:,j); ΦCR =⎢ 0.9027 0 − 0.5932⎥ Mode 2 Mode 3
⎢ ⎥
T = 2*pi ./ omega ⎢ 0.0157 0 0.0801 ⎥⎥
⎢⎣ ⎦
T1 = 0.267 sec,T2 = 0.256 sec T3 = 0.146 sec
Since 0.9813 = 0.9027 + 5 ⋅ 0.0157 and −0.1926 = −0.5932 + 5 ⋅ 0.0801 , the two mode shape describe identical
motions.
Problem 2 25 k
u3
W 14 x 48
50 k
u2
W 14 x 90
50 k
u1
W 14 x 120
(1) Determine the natural periods Tn and modes φn of the three-story frame above. Sketch the mode shapes and
identify the associated natural frequencies. Normalize each mode so that the modal mass M n = φTn m φn has
unit value.
Solution:
⎡0.885 1.421 2.219 ⎤⎥
⎢
T = [ 0.270 0.124 0.084 ] sec Φ = ⎢ 1.840 1.343 -1.593 ⎥
⎢ ⎥
⎢⎣2.668 - 2.795 0.726⎥
⎦
(2) Determine the free vibration response of the frame for the following three vectors of initial displacements (the
initial velocity is zero). Neglect damping. Consider 0 ≤ t ≤ 1.0 sec .
T T T
u I = ⎡⎢1 2 3⎤⎥ u II = ⎡⎢− 1 0.25 1⎤⎥ u III = ⎡⎢1 −1 1⎤⎥ [in]
⎣ ⎦ ⎣ ⎦ ⎣ ⎦
Comment on the relative contribution of the three vibration modes to the response produced by the three initial displace-
ments.
Submit:
(1) Summary of analysis. Sketch of mode shapes.
(2) One plot for each vector of initial displacements showing the roof response in modes 1, 2, and 3 and the total
roof response (i.e. 4 lines per plot).
(3) Use hand calculation to calculate at t = 1 sec for the three initial conditions:
3.1 The total (all modes combined) first floor displacement.
3.2 The roof displacement in mode 2.
3.3 The second floor displacement in mode 1.
MATLAB code
%3-story frame (rigid girders)
clear all
close('all')
E = 29000;
k1 = 24*E*1380 /144/12^3;
k2 = 24*E* 999 /144/12^3;
k3 = 24*E* 485 /144/12^3;
K = [k1+k2 -k2 0; -k2 k2+k3 -k3; 0 -k3 k3]/12;
M = [m 0 0; 0 m 0; 0 0 m/2];
%frequencies
[phi lam] = eig(K,M); omega = sqrt(diag(lam))
N = length(T);
%normalize phi
for i=1:N
Mn(i) = phi(:,i)' * M * phi(:,i);
phi(:,i) = phi(:,i) ./ sqrt(Mn(i));
end
%initial conditions
%u0 = [1 2 3]';
u0 = [-1 0.25 1]';
%u0 = [1 -1 1]';
q0 = inv(phi) * u0;
%modal displacements
for i=1:3
q(i,:) = q0(i) .* cos(omega(i) .* t);
end
col = ['r';'g';'b';'k'];
figure
hold on
for i=1:3
plot(t,umode(3,:,i),col(i,:));
end
plot(t,utot(3,:),col(4,:));
axis([0 1 -3 3]);
q0 = Φ-1u 0
⎡0.1145
⎢ 0.2381 0.1726⎤⎥ ⎡⎢1⎤⎥ ⎡ 1.1086⎤
⎢ ⎥
⎢ ⎥⎢ ⎥ ⎢ ⎥
q 0,1 = Φ-1u 0,1 = ⎢0.1839 0.1737 -0.1808⎥ ⎢2⎥ = ⎢-0.0111 ⎥
⎢ ⎥⎢ ⎥ ⎢ ⎥
⎢0.2872 -0.2062 0.0470⎥⎥ ⎢⎢ 3⎥⎥ ⎢ 0.0158 ⎥
⎣⎢ ⎦⎣ ⎦ ⎣⎢ ⎦⎥
⎡0.1145
⎢ 0.2381 0.1726⎤⎥ ⎡⎢ −1 ⎤⎥ ⎡ 0.1177 ⎤
⎢ ⎥
⎢ ⎥⎢ ⎥ ⎢ ⎥
q 0,2 = Φ-1u 0,2 = ⎢0.1839 0.1737 -0.1808⎥ ⎢ 0.25⎥ = ⎢ -0.3213⎥
⎢ ⎥⎢ ⎥ ⎢ ⎥
⎢0.2872
⎢⎣ -0.2062 0.0470⎥⎥ ⎢⎢ 1 ⎥⎥ ⎢ -0.2917⎥
⎢⎣ ⎥⎦
⎦⎣ ⎦
⎡0.1145 0.2381 ⎤ ⎡
0.1726⎥ ⎢ 1 ⎥ ⎤ ⎡ 0.0489 ⎤
⎢ ⎢ ⎥
-1 ⎢ ⎥⎢ ⎥ ⎢ ⎥
q 0,3 = Φ u 0,3 = ⎢0.1839 0.1737 -0.1808⎥ ⎢−1⎥ = ⎢-0.1706 ⎥
⎢ ⎥⎢ ⎥ ⎢ ⎥
⎢0.2872
⎢⎣ -0.2062 0.0470⎥⎥ ⎢⎢ 1 ⎥⎥ ⎢ 0.5404 ⎥
⎢⎣ ⎥⎦
⎦⎣ ⎦
⎡ ⎤ ⎡-0.2812⎤
⎢ cos ω1 ⋅ 1⎥ ⎢ ⎥
⎢ ⎥ ⎢ ⎥
⎢ cos ω2 ⋅ 1⎥ = ⎢ 0.8305⎥
⎢ ⎥ ⎢ ⎥
⎢ cos ω3 ⋅ 1⎥ ⎢ 0.7550⎥
⎢⎣ ⎥⎦ ⎣⎢ ⎦⎥
For IC 1
3.1 u1 = 0.885 ⋅ 1.1086 ⋅ (−0.2812) + 1.421 ⋅ (−0.0111) ⋅ 0.8305 + 2.219 ⋅ 0.0158 ⋅ 0.7550 = −0.263 in
3.2 u3,2 = −2.795 ⋅ (−0.0111) ⋅ 0.8305 = 0.026 in
3.3 u2,1 = 1.840 ⋅ 1.1086 ⋅ (−0.2812) = −0.574 in other IC analogous
Summary
displacement in [in]
3.1 3.2 3.3
IC 1 −0.26 0.026 −0.57
IC 2 −0.90 0.75 −0.061
IC 3 0.69 0.40 −0.025
Plots
2
roof displacement [in]
−2
−3
0 0.2 0.4 0.6 0.8 1
time [sec]
Sketch of mode shapes
Roof displacement for IC 2
3
mode 1
mode 2
2
mode 3
roof displacement [in]
total
1
−1
−2
−3
0 0.2 0.4 0.6 0.8 1
time [sec]
total
1
−1
−2
−3
0 0.2 0.4 0.6 0.8 1
time [sec]
48.3 k u3
k = 2625 k/ft
96.6 k u2
k = 2625 k/ft
96.6 k u1
k = 1500 k/ft
18 f
girders assumed rigid
k = story stiffness
Calculate the response of the three-story frame above to the Loma Prieta ground motion. Select 5% damping.
Plot the response in modes 1 and 2 and the total response for 0 < t < 12 sec . Don't include the third mode (its
contribution is virtually zero and the plots would become too busy). Distinguish the three lines by color or line-style. On
your plot, clearly mark the maximum absolute value of the response in each mode as well as the maximum of the total
response. Why is the maximum value of the sum (sum of all modes) not equal to the sum of the maximum modal
values? Develop a table summarizing the maximum value of each result quantity in the first mode and the total ma-
ximum value. Comment on the effects of the second mode on the total maximum. Which of the four response quantities
is most affected by the second mode?
d2 = u(1,:) - u(2,:);
d21 = u1(1,:)- u1(2,:);
d22 = u2(1,:)-u2(2,:);
d23 = u3(1,:)-u3(2,:);
Some Solutions:
T1 = 0.500 sec
T2 = 0.162 sec
T3 = 0.111 sec
Γ1 = 2.6980
Γ2 = −0.4606
Γ3 = 0.09207
Note:
Γ 's are obtained with mass-orthonormal mode shape using units of feet.
−0.3
−0.2
−0.1
0.1
0.2
0.3
0.4
0
2
4 0
t [s]
6
8
10
12
Mode 1
Mode 2
Total
Homework 11-Solution
48.3 k u3
k = 2625 k/ft
96.6 k u2
k = 2625 k/ft
96.6 k u1
k = 1500 k/ft
18 f
girders assumed rigid
k = story stiffness
Calculate the response of the three-story frame above to the Loma Prieta ground motion. Select 5% damping.
Plot the response in modes 1 and 2 and the total response for 0 < t < 12 sec . Don't include the third mode (its
contribution is virtually zero and the plots would become too busy). Distinguish the three lines by color or line-style. On
your plot, clearly mark the maximum absolute value of the response in each mode as well as the maximum of the total
response. Why is the maximum value of the sum (sum of all modes) not equal to the sum of the maximum modal
values? Develop a table summarizing the maximum value of each result quantity in the first mode and the total ma-
ximum value. Comment on the effects of the second mode on the total maximum. Which of the four response quantities
is most affected by the second mode?
d2 = u(1,:) - u(2,:);
d21 = u1(1,:)- u1(2,:);
d22 = u2(1,:)-u2(2,:);
d23 = u3(1,:)-u3(2,:);
Some Solutions:
T1 = 0.500 sec
T2 = 0.162 sec
T3 = 0.111 sec
Γ1 = 2.6980
Γ2 = −0.4606
Γ3 = 0.09207
Note:
Γ 's are obtained with mass-orthonormal mode shape using units of feet.
Solution:
Table 1: Modal and combined maximum values of four response quantities considered.
Mode 1 Mode 2 Mode 3 Total
DR 1 [%] 0.3341 0.0389 0.0012 0.3143
DR 2 [%] 0.1630 0.0558 0.0048 0.2072
DR 3 [%] 0.0578 0.0435 0.0071 0.0961
OTM [k-ft] 1962 244 13 2116
Note: Mode 2 and Mode 3 columns not required in HW.
In time history analysis we first calculate the sum of the individual modal time histories and then take the maximum of
this summation. We thus calculate the maximum of the sum. Since the modal maximum values usually occur at different
time, the maximum of the sum is commonly smaller than the sum of the maximum values. The sum of the maximum
values gives us an overly conservative estimate of the maximum response. The maximum of the sum over all modes can
also be smaller than the maximum in mode 1, since higher modes may contribute with different signs. The combined
drift ratio in story 1 (0.3143), for example, is smaller than that in mode 1 (0.3341%) since the effects of modes 2 and 3 is
negative. Higher modes increase the drift ratio in story 2 by about 27% (0.2072/0.1630=1.27) and the drift ratio in story
3 by about 66%. As already mentioned higher modes reduce the drift ration in story 1. Higher modes only have a small
effect on the overturning moment, which is clearly dominated by mode 1 (2116/1962=1.08).
−0.3
−0.2
−0.1
0.1
0.2
0.3
0.4
0
2
4 0
t [s]
6
8
10
12
Mode 1
Mode 2
Total
−0.3
−0.2
−0.1
0.1
0.2
0.3
0.4
0
2
4 0
t [s]
6
8
10
12
Mode 1
Mode 2
Total
−0.4
−0.3
−0.2
−0.1
0.1
0.2
0.3
0.4
0
2
4 0
t [s]
6
8
10
12
Mode 1
Mode 2
Total
−2000
−1500
−1000
−500
1000
1500
2000
2500
500
0
2
4 0
t [s]
6
8
10
12
Mode 1
Mode 2
Total
ETABS model:
MATLAB
0.4991 sec
0.1620 sec
0.1108 sec
A time history analysis in ETABS yields the following results for the inter-story drift ratio (MATLAB results are from
Table 1):
MATLAB
0.000961
0.00207
0.00314