Fundamental of structural dynamics

Dr Deepak Kumar
Department of Ocean Engineering
IIT Madras

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SDOF system
m
Force (F) Disp (u) Static analysis
Forces involved
External= F
K Internal= ku
F
Displacement (u ) =
K

Dynamic analysis
m
Force (F(t)) Disp.(u (t )) Forces involved
Vel.(u (t )) External= F(t)
Acc.(u (t )) Internal
Restoring force= f s = ku (t )
C K Damping force= f D = cu (t )
Inertia force= f I = mu (t )

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 SDOF system: Formation of Equation
Forces acting on mass
External= F (t )
Internal
Restoring force= − f s = − k u
Damping force= − f = −cu D

Inertia force= − f = −mu I

For equilibrium
F (t ) − mu (t ) − cu (t ) − ku = 0

m u (t ) + c u (t ) + k u = F (t )

Mass Damping Stiffness External force

Coefficient
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SDOF system: un-damped system (free vibration)

m u (t ) + k u = 0 u

Assume solution is u
u = A cos(t ) + B sin(t ) Differentiating once => u = − A sin(t ) +  B cos(t )

Differentiating twice=> u = − 2 A cos(t ) −  2 B sin(t )

−m 2 ( A cos(t ) + B sin(t ) ) + k ( A cos(t ) + B sin(t ) ) = 0

( −m 2
+ k ) ( A cos(t ) + B sin(t ) ) = 0
u

( −m 2 + k ) = 0 => =
k
m
Structural frequency
0.5
If boundary conditions are known
u = u0 at t = 0 A = u0
disp (x)

=>
u = 0 at t = 0 B=0 0

General solution
u = u0 cos(t ) -0.5
0 2 4 6 8
4
10
Time (sec)
SDOF system: damped system (free vibration)
= mu
m u (t ) + c u (t ) + k u = 0
Assume solution is
u = Ce pt
m p 2 + cp + k = 0 = ku
= cu
2
p1 c  c  k
=− + ( −)   −
p2 2m  2m  m
Conditions of damping AA
1. Critically damp
AA = 0
2. Over damp
AA  0
3. Under damp
AA  0 5
SDOF system: damped system (free vibration)
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p1 c  c  k
=− + ( −)   −
p2 2m  2 m  m
k c
Using 2 = and 2 =
m m
p1 = − +   − 12 p2 = − −   2 − 1

Putting back in solution assumed previously

u (t ) = C e
( − + )
 2 −1 t
+C e
( − − )
 2 −1 t
1 2
Conditions of damping 0.01    0.1 so

u (t ) = C e
( − + i 1− )t2

+C e
( − − i 1− )t 2

1 2
Assume  d =   2 −1 and simplify the above Eq.

u (t ) = C1e −t cos (d t ) + C2e −t sin (d t )

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SDOF system: damped system (free vibration)
u (t ) = C1e −t cos (d t ) + C2e −t sin (d t )
If boundary conditions are known

u = u0 at t = 0 C1 = u0
=>
u = u0 at t = 0 u0 + u0
C2 =
General solution d

  u + u  
u (t ) = e −t
u0 cos (d t ) +  0 0
 sin (d t ) 
  2 

  1−  

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SDOF system: Decay of motion

u (t ) Td
 2 
=e = exp  
u (t + Td )  −  2 
 1 
Taking log on both side
2
log e u (t ) − log e u (t + T ) =
1−  2
Generally  is of the range of 0.01 to 0.1
log e u (t ) − log e u (t + T )
=
2
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SDOF system: Forced vibration
m u (t ) + c u (t ) + k u = F (t )
If external force is working then free vibration
solution will have additional term i.e particular
solution

Other way of having solution is numerical

technique, mainly
1. Duhmel integration
2. Central difference
3. Newton-Raphson iteration
4. Newmark’s beta
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SDOF system: Duhmel’s integral
• Duhmel’s integral is based on the assumption that
loading is consists of several impulses.

• Unit impulse response function is

developed based on unit impulse
• According to Newton’s second law
d
(mu ) = p
dt
p = mu

p =  mu dt = m ( u2 − u1 ) = mu
t2 t2
t1 t1
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SDOF system: Duhmel’s integral
• Based on previous equation initial condition can be
developed.
• Just before impulse force
displacement and velocity of
system are zero
1 0
p =  mu dt = m ( u2 − u1 ) = mu
t2 t2
t1 t1

1
u2 = u = and u=0 Initial condition for
m vibration
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SDOF system: Duhmel’s integral
• Putting the initial condition in damped free
vibration response 1
u=
0 0 m
   u + u  
u (t ) = e−t u0 cos (d t ) +  0 0
 sin (d t ) 
   1−   2

 

 1 
 sin (d ( t −  ) )
− ( t − )
u (t ) = h(t −  ) = e 
 md 

Unit impulse response function

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SDOF system: Duhmel’s integral
• If excitation is considered to be consists of several
impulses then response can be superimposition of all
responses due to all impulses

sin (d ( t −  ) )d

1
p ( ) e
t −n ( t − )
u (t ) =
mw 
0

• Duhmel’s integral is basically convolution formulae or

it can be said that its superimposition of responses at
particular time due to several impulses before it.

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SDOF system: Duhmel’s integral

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 SDOF system: Duhmel’s integral
• Using convolution techniques Duhmel’s integral can
be converted to numerical technique
• Suppose discrete Loading p(t) and unit impulses
response function h(t) is obtained
0.1

0.05
p(t)

-0.05

-0.1
0 5 10 15 20 25 30 35 40 45 50
t
0.1

0.05
h(t)

-0.05

-0.1
0 5 10 15 20 25 30 35 40 45 50
t

u (n) = h(n) p (1) + h(n − 1) p (2) + h(n − 2) p (3)...... + h(1) p (n15)

SDOF system: Newmarks technique
mui +1 + cui +1 + kui +1 = pi +1

ui +1 = ui +  (1 −  )t  ui + ( t ) ui +1
ui +1 = ui + tui + (0.5 −  )t 2  ui + ( t 2 ) ui +1
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SDOF system: Nemarks technique

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Runge kutta method
m u (t ) + c u (t ) + k u = F (t )

u =u
c k F
u =− u− u+
m m m
0 1  0
u    u   
 =k c    +  1  F (t )
u  − u   
m m m
u 
Assume a state variable X such that X =  
0 1  0 u 
 
X =k 
c X +  1  F (t ) X = AX + BF (t )
 −
m m  m 
First order differential equation
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 Runge kutta method
dX 0 
= f (t, X ) X =   Initial condition
dt 0 

Time stepping constant

K1 = dt f ( ti , X i )  dt 1   3dt 3 9 
K 2 = dt f  ti + , X i + K1  K3 = dt f  ti + , X i + K1 + K 2 
 4 4   8 32 32 

 12dt 1932 7200 7296 

K 4 = dt f  ti + , Xi + K1 − K2 + K3 
 13 2197 2197 2197 
 439 3680 845 
K 5 = dt f  ti + dt , X i + K1 − 8K 2 + K3 − K4 
 216 513 4104 
 dt 8 3544 1859 11 
K 6 = dt f  ti + , X i − K1 + 2 K 2 − K3 + K 4 − K5 
 2 27 2565 4104 40 
Response at next time step
16 6656 28561 9 2
X i +1 = X i + K1 + K3 + K 4 − K5 + K6 19
135 12825 56430 50 55
Ode45 in matlab (uses Runge kutta method)
• Ode45 is inbuilt function of MATLAB

• It utilizes the Runge Kutta method to solve the

first order differential equation

• It is capable of handling nonlinear system

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MDOF system: general

m1u1 + c1u1 − c2 (u2 − u1 ) + k1u1 − k2 (u2 − u1 ) = p1 (t )

m2u2 + c2 (u2 − u1 ) + k2 (u2 − u1 ) = p2 (t )

 m1 0   u1  c1 + c2 −c2   u1   k1 + k2 −k2   u1   p1 (t ) 

 0 m  u  +  −c   + 
c2  u2   −k2   = 
 2 2  2 k2  u2   p2 (t )
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Concept of modal analysis

Undamped free vibration

Initial condition

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Concept of modal analysis

u2  21 
u =   =   q1
 u1  11 

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 u2  22 
u =   =   q2
 u1  12 

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Concept of modal analysis
• Total response

u2  21  22 

u =   =   q1 +   q2
 u1  11  12 

u2 
 =
 u1 
q1 + q2

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MDOF system: general
M u + K u = 0

Assume that final response is combination of all modes

u (t ) = qn (t )n Mode shape

Modal response
Modal response time varying and oscillating
qn (t ) = An cos (nt ) + Bn sin (nt ) First mode Second mode

u (t ) = n ( An cos (nt ) + Bn sin (nt ) )

 −n2 M n + Kn  qn (t ) = 0 => Kn = n2 M n =>  K − n2 M  n = 0

Eigen value problem

Solving eigenvalue problem, will give modeshapes and frequencies
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Orthogonality of modes

It can be proved as follows

From eigenvalue problem
Multiplying both sides
Similarly for “r” mode also

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 MDOF system: general
M u + C u + K u = F (t )
Changing the above Equation in modal Equation
Mqn + Cqn + K qn = F (t ) u (t ) = qn (t )n  K − n2 M  n = 0

Multiplying with transpose of mode shape

 T M  qn +  T C qn +  T K  qn =  F
Modal mass Modal damping
Modal Stiffness

Mqn + Cqn + K qn = F
Modal equation is uncoupled second order differential equation. Number of equation is
equal to number of mode considered for analysis. Solution of each equation
(separately) will give modal response of particular mode. After combining the all modal
response ( u (t ) = qn (t )n ), final responses of MDOF system can be obtained.

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Damping in MDOF system
• Rayleigh Damping

For nth mode

only
Similarly for ith and jth mode can be obtained

With a assumption that damping

ration in both modes are same
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Solution of MDOF system using Newmark’s

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SDOF system: Nemarks technique

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End

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