Numerical

Evaluation of
Dynamic
Response
Chapter 5

January 26, 2015

CC Chang / HKUST

Time-Domain Analysis

given

mx i cx i kx i pi
mx i 1 cx i 1 kx i 1 pi 1
seek

Displacement x

mx (t) cx (t) kx(t) p(t)

Loading p

n
e
v
i
g

pi
p1 p

pi+1

Time stepping k
e

x1
x2
t1 t 2

time

se

xi

xi+1
t i tj

time

Time-Domain Analysis
Interpolation of Excitation Method
Central Difference Method
Newmarks Method
Wilson- Method
Commercial Software

Interpolation of Excitation
mx i cx i kx i pi
t i t t i 1

pi

linear pi
t i pi+1
pi

t i

pi
mx t cx t kx t pi

t i
mx i 1 cx i 1 kx i 1 pi 1

ti

pi

ti 1

Interpolation of Excitation
pi
mx cx kx pi

t i
constant

linear ramp

Solution of x(t) consists of 3 parts

- Step response due to pi
- Ramp response due to Pi
- Free vibration response

t i

Interpolation of Excitation
Displacement
x i 1 A x i B x i C p i D p i 1
where
A e t (

sin D t cos D t )

1
1
B e t (
sin D t )
D

2
1 2

t 1 2
C
e
[(

) sin D t (1
) cos D t ]
k t
D t
t

1 2

1
2
2
t 2 1
D 1
e
(
sin D t
cos D t )
k
t
D t
t

Interpolation of Excitation
Velocity

x i 1 A x i B x i C p i D p i 1

where
A e t (

sin D t )

B e t (cos D t

sin D t )

1
1

t
C e
[(

) sin D t cos D t ]
2
2
k t
t

t
1

1
1 e t ( sin D t cos D t )
D
kt
1 2

Interpolation of Excitation

Interpolation of Excitation
Note:
Linear system
SDOF system
Accuracy depends on the linear
interpolation of loading p

Central Difference Method

Finite difference

mx i cx i kx i p i

x x i 1 x i 1
i
2 t

x 2x i x i 1
x i i 1

t 2

xi
x i 1

x i 1
x i

x i 1 x i 1

2t

x i 1 2 x i x i 1
x i 1 x i 1
m
c
kx i pi
2
2 t
( t )
m
c
m
c
2m
[

]x i 1 pi [

]x i 1 [ k
]x i
( t ) 2 2t
( t ) 2 2t
( t ) 2

unknown

Pi

Central Difference Method

[

m
( t ) 2

c
m
c
2m
]x i 1 pi [

]x i 1 [ k
]x i
2
2
2t
2 t
( t )
( t )

At t=0, given x 0 and x 0

p cx 0 kx 0
x 0 0
m
x x1 x 1
0
2 t

x 2x 0 x 1
x 0 1

t 2

find
need
To find x1 we need x0 and x-1

mx i cx i kx i p i

x x i 1 x i 1
i
2t

x 2x i x i 1
x i i 1

t 2
( t ) 2
x 1 x 0 tx 0
x 0
2

Central Difference Method

Summary
Given m, c, k, p, x 0 and x 0

p0 cx 0 kx 0
( t ) 2
x 1 x 0 tx 0
x 0
x 0
m
2
m
c
2m
m
c
a

bk
k

( t ) 2 2 t
( t ) 2
( t ) 2 2 t

For step i
pi pi a x i 1 b x i
p
x i 1 i
k
x
x i 1
x i i 1
2 t

x 2 x i x i 1
x i i 1
t 2

Time-Domain Analysis

given

mx i cx i kx i pi
mx i 1 cx i 1 kx i 1 pi 1
seek

Displacement x

mx (t) cx (t) kx(t) p(t)

Loading p

n
e
v
i
g

pi
p1 p

pi+1

Time stepping k
e

x1
x2
t1 t 2

time

se

xi

xi+1
t i tj

time

Newmarks Method
Given

mx i cx i kx i pi

Seek

mx i1 cx i1 kx i1 pi1
Too many unknowns ! Need assumptions.
x i 1
x

x i

( x i x i 1 )
2

x i 1
x x i

x i

x i 1
x i

x i

xi

t
( x i x i 1 )
2

( x i 1 x i )
t

x i 1 x i

x i

t
( x i x i 1 )
2

x i 1 x i x i t

x i 1 x i x i t

t 2

( x i x i 1 )
4

xi

t 2
t 2
x i
x i 1
3
6

Newmarks Method
Given

mx i cx i kx i pi

Seek

mx i1 cx i1 kx i1 pi1

x i 1 x i [(1 ) t ]x i ( t )x i 1

1
2
2
x

t
x

[(

t
]
x

t
)x i 1

i
i
i
i 1
2
, are Newmarks parameters

Newmarks Method
Average acceleration
x

( x i x i 1 )
2

x i 1 x i

1
1
,
2
4

t
( x i x i 1 )
2

t 2
x i 1 x i x i t
( x i x i 1 )
4

x i

x i 1
x

( x i x i 1 )
2
x i 1

x i

x i

t
( x i x i 1 )
2

x i 1 x i x i t

xi

t 2

( x i x i 1 )
4

Newmarks Method
1
1
,
2
6

Linear acceleration
x x i

( x i 1 x i )
t

x i 1 x i

x i

t
( x i x i 1 )
2
2

x i 1
x x i

( x i 1 x i )
t

x i 1 x i

t
t

x i 1
x

i 1
i
i
i
3
6

x i

t
( x i x i 1 )
2

x i 1 x i x i t

xi

t 2
t 2
x i
x i 1

3
6

Newmarks Method
Incremental form
mx i cx i kx i pi

mx cx
i 1
i 1 kx i 1 pi 1

x i 1 x i [(1 ) t ]x i ( t ) x i 1

(1)
(2)
(3)

x i 1 x i tx i [( ) t 2 ]x i ( t 2 ) x i 1 (4)
2
(2) - (1) gives mx i cx i kx i pi
(5)

(3) gives x i x i 1 x i tx i ( t )x i

(6)

1 2
2

t
x

t
x

t
)x i (7)
(4) gives
i
i 1
i
i
i
2

Newmarks Method
From (6) and (7)

(5)

x i tx i ( t ) x i

(6)

x i tx i

1
1

x i
x i
xi
2
t
2
t

x i
x i x i t (1 ) x i
t

2
x i

mx i cx i kx i pi

1 2
t x i (t 2 ) x i (7)
2

(8)
(9)

(8) & (9) into (5)

kx i pi

1
k k
c
m
2
t
t
m
c
m

pi pi (
) x i [ t ( 1)c]x i
t
2
2

Newmarks Method
- Summary
Given m, c, k, p, x 0 and x 0
1

Assume and ( 2 , 6 4 )
1) Initialize

2) For each time step i ( i = 0,1,2,)

p cx 0 kx 0
x 0 0
m

1
k k
c
m
2
t
t
m
c
a

t
m

b
t ( 1)c
2
2

pi pi 1 pi ax i bx i
x i pi / k
x i

x i

1
1
x i
x i
t
2

t 2

x i
x i x i t (1 ) x i
t

Newmarks Method
- Example
Case study:
Given:
Physical properties of an SDF system:
2

m 0.253 kip sec / in, k 10 kips / in,

T 1 sec ( 6.28 rad / sec), 0.05

Half-cycle sine pulse force (shown right)

p, kips
10

10 sin(t / 0.6)

t, sec
0.6

Newmarks Method
- Example
Average acceleration using

t 0.1 sec

1.0 Initial calculations:

m 0.253 k 10 c 0.159
u 0 0 u 0 0 p0 0

1.1
1.2
1.3
1.4

p cx 0 kx 0
x 0 0
0
m
t 0.1

1
1
,
2
4

p cx 0 kx 0
x 0 0
m

1
k k
c
m
2
t
t
m
c
a

t
m

b
t ( 1)c
2
2

2
4
k k c
m 114 .5
2
t
( t )
4
a
m 2c 10.45; and b 2 m 0.507.
t

Newmarks Method
- Example
Average acceleration using

t 0.1 sec

2.0 calculations for each time step

2.1

pi pi ax i bx i pi 10.45x i 0.507 x i

2.2

x i

2.3

x i

2.4

x i

2.5

x i 1 x i x i , x i 1 x i x i , x i 1 x i x i

pi
pi

114 .5
k
2

x i 2 x i 20x i 2 x i
t
4

( x i tx i ) 2x i 400( x i 0.1x i ) 2x i
2
( t )

Newmarks Method
- Example
Average acceleration using
Results

t 0.1 sec

Newmarks Method
- Example
Linear acceleration using

t 0.1 sec

1.0 Initial calculations:

m 0.253 k 10 c 0.159
x 0 0 x 0 0 p0 0

1.1

p cx 0 kx 0
x 0 0
0
m

1.2

t 0.1

1.3

3
6
k k c
m 166.8
2
t
( t )

1.4

1
1
,
2
6
p cx 0 kx 0
x 0 0
m

1
k k
c
m
2
t
t
m
c
a

t
m

b
t ( 1)c
2
2

6
t
m 3c 15.68; and b 3m c 0.768.
t
2

Newmarks Method
- Example
Linear acceleration using

t 0.1 sec

2.0 calculations for each time step

2.1

pi pi ax i bx i pi 15.68x i 0.7679x i

2.2

x i

2.3

x i

2.4

x i

2.5

x i 1 x i x i , x i 1 x i x i , x i 1 x i x i

pi
pi

166.8
k
3
t

x i 3x i x i 30x i 3x i 0.05x i .
t
2
6

( x i tx i ) 3x i 600( x i 0.1x i ) 3x i
2
( t )

Newmarks Method
- Example
Linear acceleration using
Results

t 0.1 sec

Newmarks Method - Stability

To keep the algorithm stable
t
1

T 2

Average acceleration

1
2

1
1
,
2
4

Unconditional stable
Linear acceleration

1
1
,
2
6

Conditional stable
Usually for accuracy t 0.1T or less!

t
0.55
T

Newmarks Method
for nonlinear systems

EOM of nonlinear system

mx ( t ) cx ( t ) f ( x ) p( t )
mx i ( t ) cx i ( t ) f ( x i ) p i
mx i 1 ( t ) cx i 1 ( t ) f ( x i 1 ) p i 1
mx i cx i f i pi
f i f ( x i 1 ) f ( x i )

f i

x i ( k i ) T x i
x i

Tangential stiffness
function of displacement

Linear
( k i )T

f i 1

fi

x i

f i

Nonlinear
xi

x i 1 x

Newmarks Method
for nonlinear systems

mx i ( t ) cx i ( t ) (k i ) T x i p i
Newmarks Scheme

x i

x i 1, x i 1, x i 1

Correction (minimize the unbalanced force)

mx i ( t ) cx i f i pi

Original

Approximate mx i ( t ) cx i ( k i ) T x i pi
Unbalanced
x i

( j)

R ( j)

( k i )T

f i ( k i )T x i R
Newton-Raphson Iteration

x i t x i x i (1) x i ( 2)

Newmarks Method
for nonlinear systems

Given m, c, k, p, x 0 and x 0
1

Assume and ( 2 , 6 4 )

1) Initialize
p cx 0 (fs )0
x 0 0
m
m
c
a

t
m

b
t ( 1)c
2
2

Newmarks Method
for nonlinear systems

2) For each time step i ( i = 0,1,2,)

pi pi ax i bx i
x

( j)

R ( j)

k
T

R (i ) pi
x i 1(0) x i

k k c 1 m
i
i
t
t 2

x i 1( j) x i 1( j1) x ( j)

j=1, 2, ...

f ( j) f s( j) fs( j1) ( k T k T ) x ( j)
R ( j1) R ( j) f ( j)

1
k T k T
c
m
(Newton-Raphson iteration)
2
t
t

x i
x i

1
1
x i

x i
x i
2
t
2
t

x i x i t (1 ) x i
t

Newmarks Method
for nonlinear systems

Case study
Given:
Physical properties of an SDOF system:
m 0.253 kip sec 2 / in, 0.05
Force-deformation relation is elastoplastic with x y 0.75 in
Half-cycle sine pulse force
f, kips
7.5

p, kips
10

e
o

0.75
d

10 sin( t / 0.6)

x, in.

10
c

10
1

t, sec
0.6

Newmarks Method
for nonlinear systems

Average acceleration without iteration using

t 0.1 sec

1.0 Initial calculations:

m 0.253 k 10 c 0.159
x 0 0 x 0 0 p0 0
1.1
1.2
1.3

p0 cx 0 kx 0
x 0
0
m
t 0.1

4
a
m 2c 10.45; and b 2 m 0.507.
t

Newmarks Method
for nonlinear systems

Average acceleration without iteration using

t 0.1 sec

2.0 calculations for each time step

2.1

pi pi ax i bx i pi 10.45x i 0.507x i

2.2

ki k

2.3
2.4
2.5

for branches oa, bc and de; and

2
4
k i k i c
m k i 104.5
2
t
( t )
pi
x i
k
2
x i x i 2 x i 20x i 2x i
t

2.6

x i 1 x i x i , x i 1 x i x i

2.7

(fs )i 1 (fs )i k i x i .

2.8

p cx i 1 (fs )i 1
x i 1 i 1
.
m

ki 0

for ab and cd

Newmarks Method
for nonlinear systems

Average acceleration without iteration using

Results

t 0.1 sec

Newmarks Method
for nonlinear systems

Newton-Raphson iteration using

t 0.1 sec

1.0 Initial calculations:

m 0.253 k 10 c 0.159
x 0 0 x 0 0 p0 0
1.1

p cx 0 kx 0
x 0 0
0
m

1.2

t 0.1

1.3

4
m 2c 10.45; and b 2 m 0.507.
t

Newmarks Method

for nonlinear systems

Newton-Raphson iteration using t 0.1 sec
2.0 calculations for each time step
2.1
2.2

pi pi ax i bx i pi 10.45x i 0.507 x i

2.3

2
4
k i k i c
m k i 104.5
2
t
( t )
( j)
R
x ( j)
x i 1( j) x i 1( j1) x ( j)
k
T

2.4

2.5
2.6
2.7

ki k

for branches oa, bc and de; and k i 0 for ab and cd

f ( j) fs( j) fs( j1) ( k T k T ) x ( j)

R ( j1) R ( j) f ( j)

1
k T k T
c
m
2
t
t
2
x i
x i 2 x i 20x i 2 x i
t
4
4
x i
x i
x i 2x i 400x i 40 x i 2 x i
2
t
( t )
x i 1 x i x i ,

for nonlinear systems

Linear acceleration using

Results

t 0.1 sec

No iteration

Newmarks Method

Wilson- Method

Modification of the Newmarks linear acceleration meth

1
1
,
2
6

Incremental form
mx i cx i kx i pi

x i tx i ( t ) x i

1 2
t x i (t 2 ) x i
x i 1
2
Linear acceleration and
force
x i
between
t
and
t
mx i ci x i i+
kx i pi
x i tx i

1
tx i
2
1
1
x i tx i t 2 x i t 2 x i
2
6
x i tx i

x i

x i
t

ti

t i 1
t t

ti

time

Wilson- Method
mx i cx i kx i pi

where

pi
x i
k
3
6
k k
c
m
2
t
t

6
t
m 3c x i 3m
c x i
2
t

3
t
x i 3x i x i
t
2
1
6
6

x i

x i x i 3x i
i
2

t
t

pi pi 1 pi

then

x i
x i

Wilson- Method
- Summary
Given m, c, k, p, x 0 and x 0
x i pi / k
Assume t and 1 normally 1.4
1) Initialize
p cx 0 kx 0
x 0 0
m
3
6
k k
c
m
2
t
t
6
m 3c
t
1
b 3m tc
2

2) For each time step i ( i = 0,1,2,)

pi pi 1 pi ax i bx i
pi
k
3
t
x i x i 3x i x i
t
2
6
6
1
x i x i
x i
x i x i 3x i

t 2
1
x i tx i tx i
2
1
1
x i tx i t 2 x i t 2 x i
2
6
x i

Commercial Software - MATLAB

Demonstration

- SDOF structure under earthquake excitation

1940 El Centro EQ
ground acc. m/s

4
2

-2
-4

10
time s

15

20

75-story building
m 4.61 107 kg
c 1.04 106 N - s/m (1%)
k 5.83 107 N/m

x g

Commercial Software - MATLAB

load elcen;

ground acc. m/s

clear all;

Response of a tall building under earthquake

4
2
0

-2

m=4.61*10^7; c=1.04*10^6; k=5.83*10^7;

-4

A=[0 1; -k/m -c/m]; B=[0;-1]; C=[1 0]; D=[0];

10

15

20

10
time s

15

20

0.4

[x temp]=lsim(A,B,C,D,acc,time);
subplot(2,1,1);
plot(time,acc);
ylabel('ground acc. m/s^2');
title('Response of a tall building under earthquake');
subplot(2,1,2);
plot(time,x);
xlabel('time');
ylabel('disp. m');

disp. m

0.2
0

-0.2
-0.4

Commercial Software - MATLAB

The lsim command operates in the STATE-SPACE domai

cx kx p

Original 2nd ordermx

State-Space 1st order mx cx kx p

1
0
x
k c
x
m
m
output

x x

x 0
1 p
x m

x
y 1 0 0 p
x

Commercial Software - MATLAB

AX BU
X
Y CX DU
1
0
c
A k

m
m

x
X
x
0
B 1
m

C and D depend on the output desired.

[x temp]=lsim(A,B,C,D,-acc,time);

Demonstration !

Summary

mx (t) cx (t) kx(t) p(t)

5 methods are introduced

Interpolation of Excitation Method

Central Difference Method
Newmarks Method
Wilson- Method
Commercial Software

Accuracy
Extension to multiple degrees and/or nonlinear
structures
Newmarks Method
Wilson- Method
Commercial Software