Time-Dependent Response of a Floating Flexible Plate to an Impulsively- Started Steadily Moving Load W.S. Nugroho, K. Wang, R.J. Hosking, and F. Milinazzo DMS-784-IR August 1997Time-dependent response of a floating flexible plate to an impulsively-started steadily moving load By W.S. Nugroho'}, K. Wang”, R.J. Hosking’, av F. Milinazzo! ‘Department of Mathematics and Statistics, Univesity of Victoria, Victoria, B.C., Canada ew 3P4 *Department of Mathematics and Statistics, James Cook University of North Queensland, "Townsville Q 4811, Australia ‘The time-dependent response of a floating flexible plate to an impulsively-started steadily moving load defines the time taken to approach a steady state deflexion due to the load, or indeed whether such a steady state is achieved at all. The asymptotic analysis for large time reported here, for both 2 concentrated point Jond and a uniformly distributed circular load, confirms that a steady state deflexion is achieved at both subcritical and supercritical load speeds. This analysis also predicts a logarithmically growing response near the critical speed corresponding to the minimum phase speed of the hybrid waves generated, but an eventual steady-state response when the load speed moves at the shallow water wave speed. These results are supported by numerical computation 1. Introduction ‘Theory for the deflexion of a continuously-supported beam or plate due to a moving load is applicable to various transport systems. The beam or plate may represent a rail or road surface, an airport runway or a floating ice sheet in a cold region. The moving load might be a conventional vehicle, a landing aeroplane ot a hovercraft. Moving loads on ice plates is the subject of a recent monograph (Squire et al., 1996), where it is emphasised that the deflexion can be much greater when the load is moving than when itis stationary. Kerr (1983) pointed out that the minimum phase speed cin of ybrid waves, largely determined by the flexural rigidity of the plate and the properties of the underlying foundation, coincided with a classical critical speed. Davys et al. (1985) subsequently noted that wave energy may accumulate beneath a load travelling at or near speeds coincident with both the group speed and the phase speed of generated waves. They’ also showed inter alia that gravity-dominated trailing waves may propagate away behind a localised load moving over a floating ice plate only if Vcos3 < vgH, where Vis the load speed and @ is the angle that the normal to any wave crest makes with the direction in which the load is moving. The water wave speed /gH, where g is the gravitational acceleration and H is the depth of the underlying water, is thus another critical speed candidate. Leading shorter flexural waves correspond to wave numbers where the group speed exceeds the phase speed, and longer gravity-dominated waves to wave numbers where the reverse is the case, } Present address; Fakultas Imu Komputer - Universitas Indonesia, Kampus Ul-Depok Box 3442, Jakarta, Indonesia2 W.S. Nugroho, K. Wang, R.J. Hosking, and F. Milinaszo Tn analysis for the response of a thin floating elastic plate to a steadily moving concen- trated line load, on the implicit. assumption that a steady state exists, Kheysin (1967) originally identified two critical speeds where the deftexion is theoretically infinite. Nevel (1970) subsequently analyzed the deflexion due to a steadily moving load uniformly dis- tributed over a circular area, and inter alia noted that his integral for the defiexion directly beneath the load centre is unbounded at a particular load speed, so it emerged that such singularities were not due to load concentration or dimensionality. Kheysin (1971) recognized that a time-dependent analysis might help explain the sin- gular deffexion at critical speed. Thus he set out to examine whether or not the deflexion, evidently so dependent on the load speed, actually approaches a steady state ~ and if it does, to ascertain the time taken for transients to die out. He found that an impulsively started concentrated line load produces a deftexion eventually growing in time as ¢# when V = cminy Consistent with continuous energy accumulation under the load at that speed (Davys ef al. 1985). Schulkes & Sneyd (1988) provided a much more complete asymp- totic analysis for an impulsively-started concentrated line load, confirming this O(t!/?) growth when V = cyain and showing inter alia that the deflexion also grows as th when V = VF (ast + 0). Steady wave patterns, originally derived by Davys et al. (1985) for a uniformly moving point load, have largely been reproduced for uniform rectangular load distributions by Milinazzo ‘et al. (1995), with some small variations depending on load aspect rati However, they noted that whereas no bounded steady state is possible when V" = cmin (in the absence of dissipation), their steady state solution when V = gH appears bounded, Squire et al. (1996) nevertheless chose to refer to VgH as critical”, pending the development of further relevant time-dependent analysis. In this paper, we discuss the response of a floating flexible plate to an impulsively. started concentrated point load and an impulsively-started load uniformly distributed over a circular area, to investigate in particular whether the time-dependent, deflexion at various load speeds V differs from that found by Schulkes & Sneyd (1988) for the one- dimensional case of a line load. The mathematical model we use is outlined in details in section 2. 2. Mathematical Model We consider a thin elastic homogeneous plate of infinite extent, with thickness h and density p' floating on water of uniform depth H. The upper undisturbed water surface ig at z = 0 and the seafloor is at : = —H, where the z,y plane coincides with the thin plate. The water density is denoted by p. If f(z,y,t) denotes the moving load on the plate, then the linearized equation for the vertical plate deflexion 1)(x.y,) is (see Davys et al, 1985, Schulkes & Sueyd 1988) OF = —p(éy)y-0-pan—Slayst) for -o0 <,y <0 (2.1) where the gravitational acceleration g is in the negative y direction and (2, y.2.t) rep resents the velocity potential for irrotational and incompressible flow in the water. The velocity’ potential thus satisfies the Laplace equation ae -Hez<0 (22)‘Time-dependent response of a floating plate to a steadily moving load 3 subject to the boundary conditions $2 (2, y, ~H, ) = Oand the kinematic (non-cavitation) condition 2¢(r,y,0,t) = $2.29. The flexural rigidity coefficient for a thin elastic plate is commonly given in terms of Young's modulus E and Poisson's ratio » as En? 1a) although corrections can be made, such as to account theoretically for plate inhomogene- ity for example (Kerr and Palmer 1972; Squire et al. 1996). D 3. Time-dependent deflexion due to a point load By considering a line load, Schulkes & Sneyd (1988) reduced the problem to one spatial dimension. In this paper, we consider a moving concentrated point load and then ‘a uniformly distributed circular load in the next section, to discuss the time development of disturbances that: may propagate in directions other than in the line of motion of the load. ‘Taking an impulsively-started point load subsequently travelling with uniform speed V in the positive x direction, we write f(x,y,t) = Poi(x — Vt}5(y)U(t) where Py is the load pressure per unit area, 6 is the Dirac delta function and ; woe (0 188 is the Heaviside unit step function, Then taking the Fourier transform of (2.1) and (2.2) in x and y denoted by the hat superscript, we obtain DiS + pari + pine + pde( 0,1) ae G1) for t > 0, with bee PG =0 (3.2) BAK-Ht) =O G(s 0\0) = th where k = \/k] +k is the wave number with Cartesian components (k,, hy), and the f and 2 subscripts indicates partial differentiation, Solving (3.2), substituting the result into (3.1) and using the initial conditions (7)¢a0 = 0, (i)r=o = 0, we obtain (oh + B coth(kHt)) fs + DE + pai = (3.3) Given that we ave interested in wavelengths much larger than the plate thickness h, we neglect the plate acceleration term with coefficient p’h in (3.3). Upon solving the ferential equation (3. 7 wwe thus obtain ee fae aie (ety a “ai i ak, t) = tanh (#7) (a) where #; = ke— kV’ and Wy = ke+ kV are suitable phase functions. The phase speed ¢=u/k, where w is the angular frequency, is given by the dispersion relation (see also Figure 1) (PE a0) tan (KE) (38) ° i It is convenient to introduce the coordinate X = x ~ Vt corresponding to a reference4 W.S. Nugroho, K. Wang, RJ. Hosking, and F. Milinazzo frame moving with the load, so the expression for the plate deflexion obtained by the inverse Fourier transform is X98) PF F tanh (bl) es xeeand af [ay dkydhs. (8.6) ‘The phase speed c(K) is positive for real k and the zeros of the denominators $y, 2 are also zeros of the respective numerators, so this expression is analytic in some neighbour- hood of the real axis in the kyky-plane. Some direct numerical computation using (3.6) is described later. To get. asymptotic expansions for large time, we need only consider the term involving Vy, since the other phase function 2 is monotonically increasing with f. We prefer to use an equivalent polar form for this purpose, however. Using the polar coordinate transformation X = roosg, y = rsing , ky = keos®, sin @ , we re-express (3.6) as nl §,t) wo F Pp f [Smee oe asta J elk) e— Veosd = eiklerVeousye et Ve0sd pana) (a7) where 32(2) denotes the real past of 2. An alternative expression for the defiexion in these polar coordinates is f ktanh(kif) nr §,) aRy f cintercosta = 6) +h(e+ Veos0)s) —sin|krcos(@ — ) ~ ke ~ Veos )s] }dsd0dk Po f Bean (Ki) 2xp J (hy slttysin (hesytatk (38) 2 where A= y/(rcos§ + Both (3.7) and (3.8) define the deflexion at any field point (7. €) in the plane of the fexible plate. For t + oo and V < ¢(k), (3.8) can be used to show that the maximum deflexion occurs at the concentrated point load (i.e. at r= 0 where 4 = Vs), as one might lave anticipated in the absence of visco-elasticity (Takizawa 1988, Squire et al. 1996) +r sin’ 4, Local defiexion due to a distributed circular load Let us now generalize the idea of Nevel (1970), to obtain the time-dependent deftexion under the centre of a load uniformly distributed over a citcular area of radius R. Thus ‘we introduce noe neds f [MPa aaTime-dependent response of a floating plate to « steadily moving load so from equation (3.8) we have tanh(kH)Ji(kR) alt) aor [ ee f Jo( BV s)sin(kes)dsdh. (4a) ek) We note that the Bessel function Ji(KR) in this result characterises the distributed load, jin comparison with (3.8) for the concentrated point load. ‘The eventual evolved solution corresponds to setting ‘evolved deflexion under the centre of the circular load is 4 f tanh(REDJ(ER) f in (cos) Jo(hV's)dsdk ce in (4.1). Thus the fully ae eth) Po Ff tanh(kH)A(kR)_U(6=V) --4 / dk ck) VRE - V4) and on introducing @ = ke2/[gtanh(k#)] and § = kV?/{gtank(kH)] we obtain the integral form derived by Nevel (1970): nee Py FER) UO=Y emp) R Jala —b) __ FF AER/O Ve~D Foal | ~ RIC Jaco 85 where U is the Heaviside unit step function introduced earlier and € = kL is the nondi- Jnensional wave number (where ! = (D/pq)!/* is a characteristic length). Non-zero con- inibutions to the integral correspond to wave numbers k where V < c(h), or equivalently a > b, Nevel noted that his integral in (4.2) is unbounded when a = band da/dg = db/dé, which in the deep water limit where tanh(kA)=1 corresponds to (4.2) v= Ge, the critical speed originally identified by Kheysin (1967) that is equivalent t0 erin ‘We could numerically evaluate the deflexion given by (4.1) at various times f, to exam ine the evolution of the response for any given load speed ¥, including this critical speed. However, we are content to evaluate the integral in (4.1) asymptotically (as t — 90) in section 6; since the results obtained generally confirm the asymptotic analysis for the concentrated point load given in the next section, 5. Large time asymptotic analysis for the point load Rather than asymptotically estimating the deflexion 7 for large t directly, we can often simplify our calculation by first differentiating with respect to t and estimating 7 instead, Since the integrand is a continuous fanction of k and @. We use the method of stationary ‘hase (Nayfeh 1981, Lighthill 1978). Thus taking the derivative of (3.7) with respect to {, and retaining only the component which can contribute asymptotically due to points6 W.S. Nugroho, K. Wang, RJ. Hosking, and F. Mfilinazzo of stationary phase, we consider Pog (Ff Besant (ki ero -8 sa, . mrs6t) = Feag3 nO eae (a) where © = k(c~V cos 4) and 9(2) denotes the imaginary part of z. We can then integrate ‘Gur asymptotic results for 7, to get asymptotic estimates (as t > 00) for the deflexion n (Olver 1974). ‘Major contzibutions to the integral come from the neighbourhood of points of station ary phase. ‘The stationary points of the double integral correspond to the (6) pairs Satisfying the two equations u(k,6) = c — Vcos@ = 0 and Bo(t,0) = KV sind = 0 (with subseripts k and 6 indicating partial differentiation), where ¢, = dus/dl denotes the group speed (Jones and Kline 1958, Cooke 1982). Note that the stationary points depend crucially on the load speed V. Unless k = 0, they correspond to 6 = 0. In Figure 1 for example, we depict the zeros of We (the two points of intersection ka, kp of the ordinate representing load speed V' with the cyeurve) when Cain 0, when Ke = 0 we have c, = yl] so there are likewise stationary points on the boundary of this semi-infinite strip where @ = cos"! (VgH/V), for V > voll. ‘We now discuss the asymptotic contribution to the double integral in (5.1) from the neighbourhood of these stationary points for various Toad speeds V in a fashion similar to the discussion given by Schulkes & Sneyd (1988) for the single integral in the case of dine load ~ cf, also Squire et al. (1996). Note that: here it is the second or some higher ‘rder partial derivative in the phase function # = k(c ~ V cos@) that is mon-zero at the stationary point, in each case, Case 1: Suberitical load speeds V < comin Case 102 V < egmin If the load speed V is less than ymin; the minimum value of the group speed, then 4 is a monotonically increasing function of k for any @ so there are no real stationary points. It fellows that the deflexion decays exponentially with time, hence the steady state is approached relatively rapidly. Case tb: V = egmin When 1° = epminy there is only a single stationary point - viz. a point of inflexion relative to k, which we denote by (ky,0). The Taylor expansion of the phase function ¥ in (5.1) about this point is thus Brow a Pras (0) = HU 0) + SHE bt + Gk by) + Mee (62) where the partial derivatives are evaluated at the stationary point. We have that Vincth,0) = (cy)ua(hss0) > 0, Boole, 0) = keV’ > 0, and Weox(bs.0) = V > 0, $0 introducing (5.2) into (5.1) givesTime-dependent response of a floating plate to a steadily moving load 7 mrt) 2 Bo() i [eehdapenroe tt) — ert eno SMR ASME HEUAI) aga) ‘191h.0) ° a since ¢ > 0 can be replaced by oo in the limit t+ oo and the integrand is even in 6. ‘To the leading order term, the integral can be evaluated to yield n(n 6st) ® Pov3 ‘anh (Ks) es Lg kyr e08Ep—iF —g~WH(R 0) a 6Vaip elke) Viv Teyai tt We now integrate (5.4) from t to oo where ¢ > T and T is a sufficiently large fixed time (Olver 1974). Then after integrating by parts twice, we obtain (as t ++ 00) nlrsgt) = Pov Ve tanh (bell) py GVaIp oth) aye oa enittkeo) si % mirWlk.0) . aig | Stee). oo For a concentrated line load at this load speed (V = Cymin), Schulkes & Sneyd (1988) found that the most persistent transient decay is t~#, whereas from (5.5) we conclude that transients due to a point load decay more quickly (as #~). ‘Thus the deflexion produced by an impulsively-started concentrated point, load tends rather more rapidly to the eventual steady state, by an additional factor #73 ie Ot GWG, Case 2: Subcritical load speeds cymin < VV < Cin and supercritical load speeds min << VGH In these two load speed regimes, the two interior stationary points are denoted by (4,0) and (k,0), as illustrated in Figure 1 for the supercritical regime cinin 0, Var (ka,0) <0, Woo(ks,0) > 0, Yoo(ka,0) > O (and Pie = Box = 0 at both k4 and kg). We also write 4 to denote #(k4,0) and a to denote W (kr, 0) Further evaluation as before yields nln &t) Py, [ tanb (hy, H) eS ka ay, fost Vo et —Fa_y ( tanb(he, H) eo Ba ita f o-s*__V2e" ___ ag 7 elkad Lez Fix Ra OO) f oo viet ay Lo Ve Woalka.0) tanh (kgH) eif#T OE ky wee fee Viet ig (kay LS Vital, 0) Veet yy vi Waolka.0) Pog (tanh (pH) oft8" 8 hg an rp \ctke)/¥urlka,0)VWorlkn,0) t 7 We again integrate from t to oe for t > T where T is a sufficiently large fixed time, to obtain (after integrating by parts twice)‘Time-dependent response of a floating plate to a steadily moving load 9 nlrs&0) = Pa, tanh (aH) eltarees® ka Bap” \clka) Werle. OV Yaalka,0) 2 Peis i] +l) _ Pop (tanh (ee) ikarcos€ ky (kp) / Win (Be 0) Von(ke.0) ive : 2 Pete [sero a ar / = “) (3) Equation (5.8) shows that, in the two load speed regimes discussed in this section, the transients due to a concentrated point load decay as t~!. This decay rate is again faster by a factor t-#/2, compared with the case of a concentrated line load discussed by Schulkes & Sneyd (1988). Case 8: Supercritical load speeds V > V7 ‘When the load speed Vis greater than /gHT, the stationary points near the origin are given by (0, #cos!(VgH/V)).. ‘The thitd stationary point away from the origin is given by (ky,0). At the stationary point (0,84) where 8, = cos™*(V@H/V), the non- Gero derivatives up to the third order are Yip = Vor = V'sinBs, Yeas = (¢y)ae < 0 Yoon = V cos, 50 we get mr §.t) rege si) . se ecmteventene ye LOSE MAP) wu) Po can cikoe cose 2 24 Ree 92) Pog / | cau kyl eg into 2hh(s-tor + $0 aya ie ‘ J elke) (9) In the limit f + 00, we again replace ¢ > 0 by co, and evaluate the last integral in (5.9) as in the previous cases, The first two. integrals in (5.9) can be combined and the inner 9 integral then evaluated however, so we obtain10 W.S. Nugroho, K. Wang, R.J. Hosking, and F. Milinazzo alr st) © BofH_e 2 costs tan® i= Hp), $0(Saema/* . “ Po, tanhkpH cere kg eta 2p \ olka) /uetke,0) VWoslkn.0) t ‘The integral in (5.10) can be estimated using the method of steepest descent (see Nugroho 1997 for details). Thus we obtain (6.10) Po | _Htané, Mr ED~ Dep | SOCcaasl t _ Fag (__tenbkol Dep \ kn) /¥rxlko.0) VWootks,0 ‘We again integrate from t to co for t > T where T is a sufficiently large fixed time, to obtain gut) = Be (Hen — MN Fe6 \ el) Mle deal ge nee era viel Vv oxy eandayn \~ Teast) tan dy wheal Perv HREM cat taney | Pog (tanh (kp) olt# "OS kp clea) Fas 5-0) / Wools 0) aap = i 2 fete . [ses orp war | «) eee Hence waves behind the load, which correspond to the contribution from the stationary points (0,0,). disappear exponentially - ie. much faster than the waves in front. The contribution from the stationary point (kp.0) defines the slower decay (as t=") of the transients associated with the leading shorter flexural waves. Once again, this decay is faster by a factor ¢~"/? compared with the case of a concentrated line load discussed by Schulkes & Sneyd (1988).Time-dependent response of « floating plate to a steadily moving load n Case 4: Critical load speed V = ¢min For the critical load speed V = Cminy Schulkes & Sneyd (1988) showed that the de- flexion grows in time as t/2, consistent with Kheysin (1971). For our double ‘integral, at this load speed there are again two interior stationary points which we denote by (ka, 0) sind (ecies0), Where Rin is the wave number at émin- Since W(Krnin»0) = 0, the Taylor ‘expansion of the phase function W(k,0) about k = Kinin 1S py. Wik 2, Meege yg. (0) = SEE man)? + oo and we note that e(K4,0) <0, Wer (kminsO) > 0; Boo(kas0) > 0, Hoe(Kmins0) > 0 ‘Thus we obtain (r,t) Pog (__tanh (salt) eikarcon’ fy ena Bap» \clkal/ [Bena 0) V¥eolKa.0) _ fog tanh (Kyindf) emir? 58 min 1 Dep \ clin) Wax mins 0) VE oe(Krnins 0) # In this ease, rather than integrating from t to oo, we integrate from T to t where T is a sufficiently large fixed time, to get (6.13) nr. 6.0) Pag (__tanh (kal) torent ka Dep» \clka)/unlka, OV Poo(Fa0) Weg eit i 2 pets Sar ta ar TP wa [ore ; ape (aes ration") ow ‘Thus the deflexion grows logarithmically in the limit # + oo. This is similar to the case of a concentrated line load, in that there is no steady solution at the critical load Speed Coan (Isheysin 1971, Schulkes & Sneyd 1988), but the growth rate predicted for the concentrated point load is O(Int) rather than O(t/?) Case 5: Load speed V = Vg ‘As V+ VGH from below, the stationary point (4,0) nearer to the origin (0.0) approaches it along 0 =O, so in the lint (k4,0) = (0,0) is a boundary stationary point When V" > gH from above, the two interior stationary points (0, cost! V9M/V") rnerge into the origin, In passing, we recall that Schulkes & Sneyd (1988) noted that their relevant phase function, corresponding to setting = 0 in our ¥ = k(e~ V cos 8), has a triple zeto. At the origin, in our analysis we have that all partial derivatives of up to second order vanish and Weak = (Cs)ae <0. Wee = ~KV sind = 0: one = V', and Yous 0, Once again, introducing Taylor expansions into (5.1) we obtain2 W.S. Nugroho, K. Wang, R.J. Hosking, and F. Milinazz0 mult 6st) fog FL ga iw tseeees eet) i (/ | [are soa tote ¢ 4 Pog (7 iE tanh kp Hl #8 kp cys Hee (k— ke) 4 EO) ant). tp cle) (6.15) where each of the derivatives is evaluated at the relevant stationary point. Further evaluation yields ae (_8_)* MG) 1 ms.) 12Vr%p (0) (vem) Vav 8 Po ( tanh kpH eltareot§ kp Bro” \clkn) /Waulke.0) VPaelkn.0) t ) We again integrate from t to oo where t > T for sufficiently large fixed 7’, to obtain (as tien) oH (_8_)F 1 nesin™ ceseay (Tem) ae Po ( tanh ke H ells" "8 kp o(ke)/Wee(k,0) y/Voo(ks,0) 2 fem +) (5.16) war | ‘The transient due to the stationary point (0,0) decays as ¢~!, whereas that due to the stationary point (ka,0) decays more quickly (as ~). This behaviour is in con- trast to that for load speed V = ygH im the case of a concentrated line load, where Schulkes & Sneyd (1988) found that the defiexion grows as t#. A growing deffexion has not been reported when V = VgH (see Takizawa 1985, Squire et al. 1985); and Schulkes & Sneyd (1988) observed “It is possible that 1” = (gH)"/? does not represent. 4 critical speed for two-dimensional sources, because wave energy could radiate in all directions - not just along the line of motion”. Our result shows that the time-dependent response is transient for a concentrated point load, so that the eventual defiexion at = VGH is steady state. This is consistent with the observation by Milinazzo et al, (1995), who found that the deflexion due to a uniformly moving distributed rectan- gular load is finite at the load speed /gH. -2 6. Large time asymptotic analysis for the distributed circular load ‘The time-dependent response for a uniformly distributed circular load is clarified by introducing the dimensionless time t* = kV't, so that for the inner integral of (4.1) weTime-dependent response of a floating plate to a steadily moving load 13 have if Jols)sin(As)de = i [ J cos(ssin#)dBsin(As)ds Ta gitt(acsing) (2) a) (61) where A = e(k)/V. Noting that { 2n/VRT, >I 0, st and returning to the original notation of (4.1), as t + oo we therefore have Ule=V) pgp __MIH, ig yy JAVA) Ta Re~V) ” Substituting into (4.1), the time-independent component on the RHS of (6.2) produces the result. (4.2) due to Nevel (1970) outlined in section 4. The time-dependent component on the RHS of (6.2) corresponds to the dominant time-dependent contribution (as t -¥ 00) to the integral on the RHS of equation (6.1), arising from the neighbourhood of the point of stationary phase where cos@ = 0 (i.e. 9 = 3). Thus from equation (4.1) we have the dominant time-dependent contribution to the deflexion (as t -> 00), supplementing the evolved (t = 20) solution (4.2) due to Nevel (1970), in the form: ii Jo(ie¥"s)sin(kes)ds = 3 Po F vanh(kH) Ji (kR) etHe-V 64 oR TENT Viee(k) Ke ‘The integral in equation (6.3) sverbes the integral fy analysed by Schulkes & Sneyd (1988) for a line load, except that the range of integration is (0.50) and the integrand has additional entries that are unimportant asymptotically -viz.k~# and the Bessel function. Ji(KR} corresponding to the uniformly distributed circular load of radius R. Accord ingly, the time-dependence they found in the vicinity of a line load is moderated by the factor t+ outside the integral in equation (6.3). Thus we find the transient decay rates, produced by the distributed load precisely the same as for the concentrated point load xiven in the previous section, for the respective suberitical and supercritical load speed regimes; via ‘© enhanced exponential decay if V" < ¢ymin, but O(t~8) decay if V = eymins and # O(t-!)} decay if cymin < V <€min OF Cin Jae. Consequently, the defiexion produced by an impulsively-started uniformly distributed circular load likewise tends rather more rapidly to the evolved steady state (in this case ‘Nevel’s solution) due to the factor t~+, in comparison with the transients in these regimes for a concentrated line load discussed by Schulkes & Sneyd (1988). We can also deduce the time-dependent behaviour when the load speed 1" approaches the critical minimum phase speed ¢min of hybrid waves, or the water wave speed /97. Recall that for cmin < V < gH there are two points of stationary phase k= ka, ke(0 < ky < kp) for the integral in (6.3), as illustrated in Figure 1, where the wave group speed coincides with the load speed (cy = V). The dominant. time-dependent contribution alt) dk, (63)u W.S. Nugroho, K. Wang, R.J. Hosking, and F. Milinazzo js produced in the neighbourhood of ka for the upper limiting speed YH, and in the neighbourhood of kx for the lower limiting speed cmin- . Gur previous analytical approach was to first investigate the asymptotic behaviour (as toc) of the time-derivative of the deflexion and then deduce the corresponding asymptotic behaviour of the time-dependent component of the daflexion. Thus from ‘equation (4.1) we have the exact time-derivative Po F tanh(sit)Ji (ER) wR J clk) a) Jo(RV t)sin(ket) dks (64) so invoking the well known asymptotic form Jol) = \Zoote i for the Bessel function, we may first consider the behaviour of the asymptotic form for the time-derivative (as ¢~100) r400 (6.5) vp —_Po__1_f tanh(hld) (KR) aan rear | Vie(b) rather than the asymptotic form for the deflexion 7(¢) given by equation (6.3). In passing, ‘ve note that the asymptotic form in equation (6.6) also follows by differentiating the asymptotic form in equation (6.3), and itis an analytical advantage that the integral in equation (6.6) is regular at both critical load speeds (Cmin and v97). When the load speed V” approaches the water wave speed gH from below (V — Vl), the dominant contribution to the integral in equation (6.3) arises in the de. Treasing small but finite interval (0,4), since the origin is then the limiting value of the first point of stationary phase k. In particular, on neglecting the plate acceleration sin(k(c— V)t+ Flak. (6.6) term the dispersion equation for propagated waves is (c.f. Schulkes & Sneyd 1988; Squire et al, 1996) oe RH ek) g)ztanh(kH) = VgH( ~~ +--) (67) so we have elk) — Hence when the load speed approaches the water wave speed from below (V-+v@H-), from equation (6.6) we find 1/(t) = O(t-4) as t-t00, so that (0) = Olt" 4) as t-400. Thus we find transients that eventually die away relatively slowly at the centre of @ ‘unifonnly distributed circular load, in contrast to the O(¢) growth in the deflesion found by Sehulkes & Sueyd (1988) for an impulsively-started line load. Of greater interest is the case of time-dependence at the critical load speed ¥ = cyain, the minimum phase speed of propagated waves. In this case we write e(k) sin + Be bin CR — Bn oy auhere kin denotes the wave number corresponding to the minimum phase speed Cin Of generated waves. Thus as the load speed approaches this minimum phase speed from above (V—scmin-t)s the dominant contribution to the integral in equation (6.6) arisesTime-dependent response of a floating plate to a steadily moving load 15 in a decreasing but significant small interval (kminyka), where ke is the second point of stationary phase. We therefore find 1/(t) = O(t") so that n(t) = OlInt), as t-r00. Consequently, the deflexion due to an impulsively-started uniform circular load eventually grows logarithmically with time, in comparison with the O(t#) growth as t-y00 found by Schulkes & Sneyd (1988) for an impulsively-started line load. ‘We can also evaluate the asymptotic time-dependent response (as ¢ ~> 00) directly from (4.1). Thus first exchanging the order of the integration and then introducing the asymptotic form (6.5) for the Bessel function, we get no=-2 ff tanh (EH)J (ER) in (kes) Jo(AV 8) dhs ae mR elk) Po__ J AF tanh (ict) (bR) ae ava] vl Vie e(k) (sinta(e— v)s-+ 4] + sin A(e + V)0~ 3) ats (6.8) for sufficiently large fixed T’ > 0. Consequently, we consider the stationary points for the integral F san (#1) JER) paje-v I(t)=3 — dk |. (6.9) (t) ( Viclt) (6.9) ‘Thus, when V + /@HT from below and recalling (6.7), we have integral (6.9) represented asymptotically by Beer atsar = 05-8), (6.10) and hence the transient component of the deflexion in (6.8) is orf Le-tas) = 010-4) (6.11) 4 vs as before. In the neighbourhood of k = kimin, @ similar asymptotic evaluation of integral {6.9} produces a result of O(s"#), so that the growth rate as V -> ¢min from above is confirmed as fj o¢ f 7as- tas) = O11nt). (6.12) i a |A similar analysis based upon (3.8) can be made for the concentrated point load, serving to emphasise that load concentration does not affeet the time-dependence of the deflexion underneath the centre of the load, and that this time-dependence is to be seen at any field position where the disturbance is measurable. 7. Numerical Computation ‘To support the asymptotic results obtained in the previous sections, the double integral for the ive deflesion 7 in (3.6) was evaluated numerically using the Fast Fourier Transform (FFT), with from 512 to 4096 points in each direction. At the largest values of t, in some16 W.S. Nugroho, K. Wang, R.J. Hosking, and F. Milinazz0 ‘cases it was necessary to use the greatest resolution in order to obtain acceptable results. In Figure 2 the effect on the numerical results of increasing the resolution from 912 by 512 to 2048 by 2048 can be seen. The curves (18, 18,¢) obtained using the FFT become Smoother as the resolution increases. The curve corresponding to the 2048 by 2048 grid js smooth up to about t = 170. Since the asymptotic estimates for 1 are obtained by integrating 7 with respect to 4, it is necessary to account for the constant that comes from the integration before & comparison with the numerical results can be made. This is achieved by adding a vertical offset to the asymptotic estimate so that the asymptotic and numerical estimates agree at ‘fixed point in time. The offset thus corresponds to the prior or steady state solution and fs such depends on (X,y). Figures 2-7 compare the numerical and asymptotic estimates of the values of n(X,y,t) for various values of (X,y). The parameter values are taken from Takizawa (1985). In all cases, the agreement is very good 8. Conclusions ‘The steady state deflexion, caused by either a concentrated point load or a uniformly distributed circular load moving over a flexible floating plate, is generally reached more Gquickly in all load speed regimes than the time-dependent theory for a concentrated Tine load suggested. In the subcritical load speed regime cymin < V <¢mins and in the ‘supercritical load speed regimes min v/gH, the transient responses decay faster by a factor t-"/2, Furthermore, a concentrated point load or a uniformly distributed circular load travelling at the critical speed cin produces a deflexion that ‘rows logarithmically with time (viz. O(in¢) rather than O(#/?) as t > 00); but when travelling at the shallow water wave speed /@H, there isa transient response that decays Felatively slowly (viz. O(-/2)). All of these conclusions are independent of direction or distance from the load. 9. Acknowledgement ‘This research was supported, in part, by the Natural Sciences and Engineering Re- search Council of Canada under Grant OGP0009360-90 to F. Milinazzo, One of us (K, Wang) also acknowledges the award of an Overseas Postgraduate Research scholar- ship by the Commonwealth Government of Australia.Time-dependent response of a floating plate to a steadily moving load 17 pmin ah o a a 06 & (m4) Fictne 1, Dispersion relation. The parameters are D = 2.5x10°, v 8m, 9=9.8 msW.S. Nugroho, K. Wang, R.J. Hosking, and F. Milinazzo — FFT ~-> Asymptotic 512 ' i L L j 2 40 6080 100 120 140 160 180 200 220 1 2. Deflexion at a field point ahead of the load, at the subcritical load speed ms”'. The figure shovs the deflexion in meters against time in seconds at the observa- tion point X = 18.0 m and y = 18.0 m. The results obtained using the Fast Fourier ‘Tyansform (512 by 512 grid to 2048 by 2048 grid) are shown as the solid cur using the asymptotic approximation (5.8) is shown as the di D= 25x10" v= $,h= 0175 mH = GS in, y= 9.8 ns Fiore eo whereas the result obtai curve. The parameters areTime-dependent response of a floating plate to a steadily moving load 19 x10" 25} — FFT “== Asymptotic ft 0 20 4 6 80 100 {20 140 160 180 200 RE 9. Deffexion at a field point behind the load, 7.0 ms-'. ‘The figure shows the deflexion in servation point X = —18.0 m and y = 18.0 m, The solid curve represents the result obvained using the Fast Fourier Transform (1024 by 1024 grid) and the dashed curve represents the secant ‘obtained using the asymptotic approximation (5.8). The parameters are De se10" a N= 0175 mH = 68m. = 9.8 ms4 1 = 7.0 mse! I, at the supercritical speed eters against time in seconds at the oh-20 WS. Nugroho, K. Wang, RJ. Hosking, and F. Milinazzo — FT v= Asymptotic 05) 1 (mn) Of 0.5) -25- 4 1 . L L 0 20 40 60 8 100 fl 120 140 180 «180 200 Ficcne 4. Deflexion at a field point directly behind the load, at the supercritical load speed |" = 7.0 ms~'. The figure shows the deflexion in meters against time in seconds at the observation point X= -50.0:m and y = 0.0 m, The result obtained using from the Fast Fourier Transform (2048 by 2048 grid) is shown as the solid curve and the result obtained he agrmprorie approximation (5.8) i shown as the dashed curve. The parameters are Ru = 4h = 0175 mH = 68m. g = 98 ms? Va 7.0 msTime-dependent response of a floating plate to a steadily moving load an — FFT Asymptotic 0 20 40 6 & 100 120 140 160 180 200 Fictes: 5. Deflexion at a field point directly behind the load, at the critical load speed 1° =6.2 ms~! (cmin). The figure shows the deflesion in meters against time in seconds at the observation point X= ~18.0 mand y = 0.0 m. The result obtained usin ransform (2048 by 2048 grid) is shown as the solid curve, and the result nsi proximation (3.14) is shown as the dashed curve. The parameters are Thm, H= 68m. 9 = 98 m6"4, = 6.2 ms!W.S. Nugroho, K. Wang, Rul. Hosking, and F. Milinaszo x10 25 — FFT - Asymptotic a ee 0 4 «60 80 400 120 140 160 180 200 220 Fiat 6. Au illustration of the deflexion versus time at the load speed /GH. Thc Figure shows the detiexion in meters against time in seconds at the observation point Xo 18.0 0.0m. The solid curve represents the result obtained using the Fast Fourier Tranctorce 6 by 4096 grid), and the dasbed curve represents the result obtained using the asrerprore (5.26). The parameters are D= 25x10, =! h = 0173 me Hee eeTime-dependent response of a floating plate to a steadily moving load 23 — FT vos Asymptotic a 100 120 140 16 180 200 Fictut 7. An illustration of the deflexion versus time at the load speed VHF. The figure shows the dellesion in me st time in seconds at the obsercation point mand y = (lim. The solid curve represents the result obtained using the Fast Fourier Transform (4096 hy 4096 ‘the dashed curve approsination (3.16). The p the result obtained 1 We = k= 0. the asymptotic 1 = 68m 9 = 98 me 2, P= SO anu W.S. Nugroho, K. Wang, Rud. Hosking. and B. Milin REFERENCES COOKE, J.C. 1982 Stationary phase in two dimensions. Journal of the Institute of Mathemaries and Ils Applications 29, 29-37. DAVYS, IW. HOSKING, R.J., & SNEYD, A-D. 1985. Waves due to a steadily moving source on a flonting ice plate, Journal of Fluid Mechanics 158. 269-287. JONES, DS. & KLINE, M. 1958 Asymptotic expansion of multiple integrals and the method of stationary phase, Journal of Mathematical Physics 87. 1-28, KERR, A.D. & PALMER, W.T. 1972 The Deformation and Stresses of Floating Ice Plares. ‘Acta Mechanica 18. 57-12. KHEYSIN, Ye 1967 Dynamics of the Ice Cover. Gidrometeorologicheskoe Izdat-el's1v. Leningrad. ‘Teclinical ‘TransIntion FSTC-HT-23-485-69. U.S. Army Foreign Science and Technology Center KHEYSIN, Ye 1971 Some unsteady-state problems in ice-cover dynamics, Studies in Toe Ph ‘and Tee Engineering , ed. G.N. Yakovlev, Israel Program for Scientific Translations. 81 LIGHTHILL, M.J. 1978 | Waves Jn Fluids. Cambridge University Press. MILINAZZO, F., M. SHINBROT. M.. & EVANS, N.W. 1995 A Mathematical analysis of the steady response of floating ice to the uniform motion of a rectangular Load, Journal of Fluid Mechanics 287. 173-197. NAYFEH, AH. 1981. Introduction to Perturbation Technigues, John Wiley & Sons. NEVEL, D.E. 1970 Moving londs on a floating ice sheet. Cold Regions Research and Engineering Laboratory Research Report 262. Hanover, New Hampshire, U.S.A. NUGROHO, WS. 1997 Waves generated by a load moving on an ice plate over water. Pb.D. Dissertation, University of Victoria. Canada. OLVER, FW.J. 1974 Introduction to Asymptoties and Special Functions. Academic Press. Inc., New York. SCHULKES, R.MS.M. & SNEYD. A.D, 1988 Time-dependent response of floating, ice plate to a steadily moving load, Journal of Fluid Mechanics 186, 25-46. SQUIRE. V.A.. HOSKING, R-J., KERR. A.D, & LANGHORNE. P.J. 1996 Moving Loads on Ter Plates, Kluwer Academie Publishers SQUIRE. V.A., ROBINSON, W-H.. HASKELL, T.G, & MOORE. S.C. 1955. Dynamic strain response of lake and sea ice to moving loads, Cold Regions Seience and Technology 11, 125-139. TAKIZAWA. T. 1085 Defiection of a foating sea ice sheer induced by a moving load. Cold Regions Science and Technology 11. 171-180. TAKIZAWA. T. 1988 Response of a floating sea ice shoor to a steadily moving load, Jonat ‘af Geophysiral Research 98, 3100-5112.