.

Response bV Direct lntegration

418 A CHAPTER 13 Analysis of Dvnarnic
TABLE _S. Sl<'p•hY·•Sl<'P Solullon U1'1n!l Newmork lnl<'Jlrnllon ~Tl'lhod
13

A. 1ni'fal
1' cAklllAtions:
'ff tri x (kJ. mnss nmtnx. 1ml, nnd dampmg
. matri x. le]- - - - - -
l. lnput sl1 ncss n1n ')
2. Input initial conditio~s {x}onnd {., o
Cnkulntc {.i.'}o from Eq. (J.'.U )
_-:! ,

{.Vio = ¡mr'({F(0)} - icJUl o + lkl{ .1}¡,)

_ Sc lc,ct a time stcp Ar. pammctcrs a and 8. and calculatc intcgnllion constants
4
2
8 "' 0.50 a ;,, 0.25(0.5 + 8)
1 8 1
00 = a (.11)
2 ª• = aAt º' a.1t a,
i;; - 1

a4
8
= ;; - 1 o =~-{~
2 a - 2) ª• .11( ) - 8 )
o, S4,

5. Fonn the cffcctivc stiffncss matri x {kJ

B. For each time step:

I. Calculate thc effcctivc force vector al time t + At
{FJ, . , , = {FJ, u, +[m](a0 {x }, + a 2 {x }, + a ,{.t) ,)
+ [c](a 1{x}, + a4 {x), + a, {,VJ,)

2. Solve for the di splacements at time t + dt

3. Calculatc the acceleration s and velocities at time t + 61

{.i'J, . , , = a 0 ({x}, .,, - {xJ,)- a 2 {x), - a 3 {XI,

{ x}, .,, = {.i}, + a.{f}, + a 7 {f }, + A,

EXAMPLE 13.3 'I'

(a) Write a computer program for the Newmark method to evaiuate the dynamic
response of a nonclassically damped 11-DOF MDOF system subject to arbi-
u-ary dynamic forces.
(b) The four-story shear building with general damping shown in Figure 13.8 is
subjecl to dynamic forces described by Figure 13.9. Delermine the dynamic
response by the Newmark method. Plot time histories for {x(t)) in the time
interval O :,;; t ,;; 5 sec. Select in1egra1ion parameters a = 1/4 and 8 = 112
and a time step .11 = 0.002 sec. Assume k = 50 kips/in, e = 0.5 kip-sec/in,
and W = 200 kips.
 13.4 The Newmark Method A 419

Solutlon
(a) Thc input paramcter,,¡ for the shear framc building are

j,J
o o
1m l = ['m"oo 1.0352
o
o
1.0352
kip-sec 2/in

o o o

lkl
[..1
= -
2
- 200
300
- 100
- 100
200
o

-,~
kips/in

o - 100 100

lcJ
[ - ;;
1.5
o
- 1.5
2.5
- 1.0
o
- 1.0
1.5
_l,j kip-secrin

o o - 0.5 0.5

~ ,,
tl.6F(t) 2W Rigid

F(t)kips

2W Rigid 40
---+ -lz

30

2k 2k 20

2\V Rigid 10
- - + •ti

o t (s«)
Flgure13.8 o 0.25 0.50 0.75

Four-story shear frame 2k 2k Figure 13.9

building with general Timc-'íarying force used in
damping of Example 13.3. Example 13.3.
420 4 CHAPTER 13 Analysis of Dynamic Response by Direct lntegration

Figure 13.10
Time hi~t1'lric-~ for lloor
di~ph1CTmcnt!- for fa.nmplc 1:u .

Timc(scc)

(b) The integration constants are (refer to A.4 of Table 13.5 1

ó
a 0 = - -2 = 4 X 10 6 a 1 a di = 2000 ,,, -- i-;;
1
a(d1) - 1~1.o

a, = - 1 1.0
a

a6 = di( 1 - ó) = 0.0005 a, = M1 = 0.0005

(e) Time histories for the tloor displacements are prescnted in Figure 13.10.
The FORTRAN computcr program, NEWB , used to cvaluate the dynamic
response. is available from the author's web site (refer to Preface).

13.5 PRACTICAL CONSIDERATIONS FOR DAMPING

lf damping is to be includcd in the direct numerical integration analysis of MDOF sys·
tcms, thc physical damping matrix le] must be defined explicitly. In the previous exa~·
ples, discrete dashpots were specified for each DOF, from which the damping matnx
was calculated. Howevcr, for most MDOF systcms the specification of discrcte damp·
ing elcments is generally not feasible nor desirable.
 13.5 Practica! Considerations for Damping • 421

. fn Chaptcr 12, proccdure for constructíng a system dampíng malrix for propor-
t1onal damping (spcc1fically, Rayleígh dampíng) wa, detincd by

[cj = a[mJ + /3[kJ (12.39)

whcre a and /3 are lhe proportíonalíty paramctcrs dcrermíncd from rhe símuflaneous
sofulíon of the expression

Í, = (~ + /3w,) (13.21)

for two spccitied values of í~ the damping factor corrc., ponding to the rth normal
modc. The dísadvantage of Rayleigh damping is that the higher modes of large MDOF
systems are considcrably more damped than the lower modes for which the parameters
a and /3 have been sclected.
An aflcrnatíve procedure for formulating the physical damping matrix can be
dcrived from consideration of the modal damping matrix refationship described in
Chaptcr 12, given by

[C] = [<~J'[cj[<I>] = diag(2(, w,M, ) (13.22)

w:1ere IC] = modal damping matrix
[<I>] = modal matrix
w, = natural circular frequency for the rth normal mode
M, = modal mass for the rth normal mode
Thc physical damping matrix [e] can then be determined from Eq. (1 3.22) by

[cj = ([<l>]'f 1[CJ[<l>¡- 1 (13.23)

An expcdient procedure for expressing the inverse of the modal matrü can be evolved
from consideration of the mass orthogonality relationship given by

[M] = [<l>J'[ml[<I>] (13.24)

where [M] is the modal mass matrix. Noting that the identity matri., [/] may be
expressed as

(13.25)
it is evident that the modal matrix inverse is

(13.26)
The physical damping matrix is now given by substituting Eq. (13.26) into Eq. (13.23),

[e] = [[ml[<l>][M¡-'J[CJ[[M] - 1[<1>]'[,n]] (13.27)

Because [M] and [C] are diagonal, Eqs. (13.23) and (13.27) can be combined to give

(e] = I( 2
,-1 M,
Í,"',)[111l{<l>},[[m]{<l>},J' (13.28)