Wind loading and structural response - Lecture 11

Dr. J.D. Holmes

Basic structural dynamics II

 Basic structural dynamics II

Topics :
multi-degree-of freedom structures - free vibration

multi-degree-of freedom structures - forced vibration

response of a tower to vortex shedding forces

 Basic structural dynamics I

Multi-degree of freedom structures - :

Consider a structure consisting of many masses connected

together by elements of known stiffnesses
mn
xn

x3
m3
m2 x2

m1 x1

The masses can move independently with displacements x1, x2 etc.

 Basic structural dynamics I

Multi-degree of freedom structures free vibration :

Each mass has an equation of motion

For free vibration:

mass m1: m 1 x 1 k 11 x 1 k 12 x 2 k 13 x 3 .......k 1n x n 0

mass m2: m 2 x 2 k 21 x 1 k 22 x 2 k 23 x 3 .......k 2n x n 0

.
mass mn: m n x n k n1 x 1 k n2 x 2 k n3 x 3 .......k nn x n 0

Note coupling terms (e.g. terms in x2, x3 etc. in first equation)

stiffness terms k12, k13 etc. are not necessarily equal to zero
 Basic structural dynamics I

Multi-degree of freedom structures free vibration :

In matrix form : m x k x 0
Assuming harmonic motion : {x }= {X}sin(t+)

2 m X k X

k 1 m X (1/ 2 ) X

This is an eigenvalue problem for the matrix [k]-1[m]

 Basic structural dynamics I

Multi-degree of freedom structures free vibration :

There are n eigenvalues, j and n sets of eigenvectors {j}

for j=1, 2, 3 n

Then, for each j : k 1 m j j j (1/ j 2 ) j

j is the circular frequency (2nj); {j} is the mode shape for mode j.
They satisfy the equation :

2j m j k j

The mode shape can be scaled arbitrarily - multiplying both sides of the
equation by a constant will not affect the equality
 Basic structural dynamics I

Mode shapes - :

mn mn
mn

m3 m3 m3

m2 m2 m2

m1 m1 m1

Mode 1 Mode 2 Mode 3

Number of modes, frequencies = number of masses = degrees of freedom

 Basic structural dynamics II

Multi-degree of freedom structures forced vibration

For forced vibration, external forces p i(t) are applied to each mass i:

mn
Pn xn

m3 x3
P3
P2 m2 x2

P1 m1 x1
 Basic structural dynamics II

Multi-degree of freedom structures forced vibration

For forced vibration, external forces p i(t) are applied to each mass i:

m 1 x 1 k 11 x 1 k 12 x 2 k 13 x 3 .......k 1n x n p 1 (t)

m 2 x 2 k 21 x 1 k 22 x 2 k 23 x 3 .......k 2n x n p 2 (t)

m n x n k n1 x 1 k n2 x 2 k n3 x 3 .......k nn x n p n (t)

These are coupled differential equations of motion

 Basic structural dynamics II

Multi-degree of freedom structures forced vibration

For forced vibration, external forces p i(t) are applied to each mass i:

m 1 x 1 k 11 x 1 k 12 x 2 k 13 x 3 .......k 1n x n p 1 (t)

m 2 x 2 k 21 x 1 k 22 x 2 k 23 x 3 .......k 2n x n p 2 (t)

m n x n k n1 x 1 k n2 x 2 k n3 x 3 .......k nn x n p n (t)

These are coupled differential equations

 Basic structural dynamics II

Multi-degree of freedom structures forced vibration

For forced vibration, external forces p i(t) are applied to each mass i:

m 1 x 1 k 11 x 1 k 12 x 2 k 13 x 3 .......k 1n x n p 1 (t)

m 2 x 2 k 21 x 1 k 22 x 2 k 23 x 3 .......k 2n x n p 2 (t)

m n x n k n1 x 1 k n2 x 2 k n3 x 3 .......k nn x n p n (t)

These are coupled differential equations

 Basic structural dynamics II

Multi-degree of freedom structures forced vibration

In matrix form :

m x k x p(t)
Mass matrix [m] is diagonal

Stiffness matrix [k] is symmetric

{p(t)} is a vector of external forces

each element is a function of time
 Basic structural dynamics II

Multi-degree of freedom structures forced vibration

Modal analysis is a convenient method of solution of the

forced vibration problem when the elements of the
stiffness matrix are constant i.e.the structure is linear

The coupled equations of motion are transformed

into a set of uncoupled equations

Each uncoupled equation is analogous to the equation of

motion for a single d-o-f system, and can be solved in the
same way
 Basic structural dynamics II

Multi-degree of freedom structures forced vibration

Assume that the response of each mass can be written as:
n
x i (t)
j1
ij .a j (t)
for i = 1, 2, 3.n

ij is the mode shape coordinate representing the position of the

ith mass in the jth mode. It depends on position, not time
aj(t) is the generalized coordinate representing the variation of the
response in mode j with time. It depends on time, not position

xi(t) i1 i3
mi = a1(t) + a2(t) i2 + a3(t)

Mode 1 Mode 2 Mode 3

 Basic structural dynamics II

Multi-degree of freedom structures forced vibration

In matrix form :
x a(t)
[] is a matrix in which the mode shapes are written as
columns
([]T is a matrix in which the mode shapes are written as
rows)
Differentiating with respect to time twice :
x a(t)
 Basic structural dynamics II

Multi-degree of freedom structures forced vibration

By substitution, the original equations of motion reduce to:

G a K a T p(t)
The matrix [G] is diagonal, with the jth term equal to :
n
Gj
i 1
m i ij2 Gj is the generalized mass in the jth mode

The matrix [K] is also diagonal, with the jth term equal to :
n
K j 2j i 1
m i ij2 2j G j
 Basic structural dynamics II

Multi-degree of freedom structures forced vibration

G a K a T p(t)
The right hand side is a single column, with the jth term equal to :

n
T p(t) ij .p i (t)
P j (t) j
i 1

Pj(t) is the generalized force in the jth mode

 Basic structural dynamics II

Multi-degree of freedom structures forced vibration

G a K a T p(t)
We now have a set of independent uncoupled equations. Each one has the form :

G ja j K j a j P j (t)
Gen. mass

This is the same in form as the equation of motion of a single

d.o.f. system, and the same solutions for a j(t) can be used
 Basic structural dynamics II

Multi-degree of freedom structures forced vibration

G a K a T p(t)
We now have a set of independent uncoupled equations. Each one has the form :

G ja j K j a j P j (t)

Gen. stiffness

This is the same in form as the equation of motion of a single

d.o.f. system, and the same solutions for a j(t) can be used
 Basic structural dynamics II

Multi-degree of freedom structures forced vibration

G a K a T p(t)
We now have a set of independent uncoupled equations. Each one has the form :

G ja j K j a j P j (t)
Gen.
force

This is the same in form as the equation of motion of a single

d.o.f. system, and the same solutions for a j(t) can be used
 Basic structural dynamics II

Multi-degree of freedom structures forced vibration

G a K a T p(t)
We now have a set of independent uncoupled equations. Each one has the form :

G ja j K j a j P j (t)
Gen.
coordinate

This is the same in form as the equation of motion of a single

d.o.f. system, and the same solutions for a j(t) can be used
 Basic structural dynamics II

Cross-wind response of slender towers

f(t)

Cross-wind force is
approximately
sinusoidal in low
turbulence conditions
 Basic structural dynamics II

Cross-wind response of slender towers

Sinusoidal excitation model :

Assumptions :
sinusoidal cross-wind force variation with time
full correlation of forces over the height
constant amplitude of fluctuating force coefficient
Deterministic model - not random

Sinusoidal excitation leads to sinusoidal response (deflection)

 Basic structural dynamics II

Cross-wind response of slender towers

Sinusoidal excitation model :

Equation of motion (jth mode):

G ja j K j a j P j (t)

h
Gj is the generalized or effective mass =
0
m(z) j 2 (z) dz

j(z) is mode shape

h
Pj(t) is the generalized or effective force =
f(z, t) (z)
0
j dz
 Basic structural dynamics II

Cross-wind response of slender towers

Sinusoidal excitation model :

Applied force is assumed to be sinusoidal with a frequency
equal to the vortex shedding frequency, ns

Maximum amplitude occurs at resonance when n s=nj

1 2
Force per unit length of structure a C U (z) b sin(2n j t )
2
=
C = cross-wind (lift) force coefficient

b = width of tower
 Basic structural dynamics II

Cross-wind response of slender towers

Then generalized force in jth mode is :

h 1 h

P j (t) f(z, t) j (z) dz a C b sin(2 n j t )
0 2
0
U 2 (z) j (z) dz

P j, max sin(2n j t )

Pj,max is the amplitude of the sinusoidal generalized force

1 h
a C b
2 0
U 2 (z) j (z) dz
 Basic structural dynamics II

Cross-wind response of slender towers

P j, max P j, max
Then, maximum amplitude a max
2K j j 8 2 n j 2 G j j
Note analogy with single d.o.f system result
(Lecture 10)

1 z2

Substituting for Pj,max :

a C b
2
z1
U 2 (z) j (z) dz
a max
8 2 n j 2 G j j

Then, maximum deflection on structure at height, z, x max (z) j (z).a max

(Slide 14 - considering only 1st mode contribution)

 Basic structural dynamics II

Cross-wind response of slender towers

Maximum deflection at top of structure

(Section 11.5.1 in Wind Loading of Structures)

h h

2
x max (h) a C b 0 j (z) dz C j (z) dz
0

b 16 2 G j jSt 2 L

j 2 (z) dz
2
4 Sc St
0
Cj
where j is the critical damping ratio for the jth mode, equal to
2 GjK j
nsb n jb
St Strouhal Number for vortex shedding
U(z e ) U(z e ) ze = effective height ( 2h/3)
4m j (Scruton Number or mass-damping parameter)
Sc
a b2 m = average mass/unit height
 End of Lecture
John Holmes
225-405-3789 JHolmes@lsu.edu