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 x2 x1

m3 m2 m1

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: mass m2: mass mn:
 m 1 1  k 11 x 1  k 12 x 2  k 13 x 3  .......k 1n x n ! 0 x

 m 2 2  k 21 x 1  k 22 x 2  k 23 x 3  .......k 2n x n ! 0 x

.
 m n n  k n1 x 1  k n2 x 2  k n3 x 3  .......k nn x n ! 0 x

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 :

?mA a ?k A xa! _ a _ _ 0 x ?mA_ a! ?k A Xa X _ ?k A1 ?mA Xa! (1/ 2 )_ a _ X

2

Assuming harmonic motion : {x }= {X}sin([t+J)

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, Pj and n sets of eigenvectors {Jj}

for j=1, 2, 3 n Then, for each j :

?k A1 ?mA_ j a j _ j a! (1/ J ! J

2 j

) Jj

_a

[j is the circular frequency (2Tnj); {Jj} is the mode shape for mode j.

They satisfy the equation :

2 j

?mA_ j a! ?k A_ j a J 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 m2 m1

m3 m2 m1 m1 m2

m3

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 pi(t) are applied to each mass i:
Pn P3 P2 P1
mn xn m3 m2 m1 x3 x2 x1

Basic structural dynamics II

Multi-degree of freedom structures forced vibration For forced vibration, external forces pi(t) are applied to each mass i:
 m 1 1  k 11 x 1  k 12 x 2  k 13 x 3  .......k 1n x n ! p 1 (t) x

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

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

These are coupled differential equations of motion

Basic structural dynamics II

Multi-degree of freedom structures forced vibration For forced vibration, external forces pi(t) are applied to each mass i:
 m 1 1  k 11 x 1  k 12 x 2  k 13 x 3  .......k 1n x n ! p 1 (t) x

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

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

These are coupled differential equations

Basic structural dynamics II

Multi-degree of freedom structures forced vibration For forced vibration, external forces pi(t) are applied to each mass i:
 m 1 1  k 11 x 1  k 12 x 2  k 13 x 3  .......k 1n x n ! p 1 (t) x

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

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

These are coupled differential equations

Basic structural dynamics II

Multi-degree of freedom structures forced vibration In matrix form : a ?mA_  ?k A_ a! _ a x 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:

x i (t) !

j!1

J ij .a j (t)

for i = 1, 2, 3.n

Jij 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
Ji1

xi(t) mi

= a1(t) v

+ a2(t) v

Ji2

+ a3(t) v

Ji3

Mode 1

Mode 2

Mode 3

Basic structural dynamics II

Multi-degree of freedom structures forced vibration In matrix form :

_ a! ?J A a(t)a x _

[J] is a matrix in which the mode shapes are written as columns ([J]T is a matrix in which the mode shapes are written as rows) Differentiating with respect to time twice :

a J _ _ ! ? A(t)a x a

Basic structural dynamics II

Multi-degree of freedom structures forced vibration By substitution, the original equations of motion reduce to:  ?G A  ?K A a ! ?J AT _ a _a _a a p(t) The matrix [G] is diagonal, with the jth term equal to : n 2 Gj is the generalized mass in the jth ! m i J ij j mode i !1

The matrix [K] is also diagonal, with the jth term equal to :

2 j

i !1

2 m i J ij !

2 j

Basic structural dynamics II

Multi-degree of freedom structures forced vibration

 ?G A  ?K A a ! ?J AT _ a _a _a a p(t)
The right hand side is a single column, with the jth term equal to :

P j (t) ! J j

T _ a _p(t)a! J ij .p i (t) 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 a ! ?J AT _ a _a _a a p(t)
We now have a set of independent uncoupled equations. Each one has the form :  a j j  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 aj(t) can be used

Basic structural dynamics II

Multi-degree of freedom structures forced vibration

 ?G A  ?K A a ! ?J AT _ a _a _a a p(t)
We now have a set of independent uncoupled equations. Each one has the form :  a j j  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 aj(t) can be used

Basic structural dynamics II

Multi-degree of freedom structures forced vibration

 ?G A  ?K A a ! ?J AT _ a _a _a a p(t)
We now have a set of independent uncoupled equations. Each one has the form :  a j j  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 aj(t) can be used

Basic structural dynamics II

Multi-degree of freedom structures forced vibration

 ?G A  ?K A a ! ?J AT _ a _a _a a p(t)
We now have a set of independent uncoupled equations. Each one has the form :  a j j  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 aj(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):

 a j j

ja j
h

! P j (t)

Gj is the generalized or effective mass =

Jj(z) is mode shape

m(z)J j 2 (z) dz

Pj(t) is the generalized or effective force =

f(z, t) J (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 ns=nj
1 Force per unit length of structure = 2

C N 2 (z) b sin(2Tn j t  ) U a

CP = 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 :
1 (t) ! f(z, t) J j (z) dz ! j 0 2

b aCN

sin(2 n j t  )

(z) J j (z) dz

! P j, max sin(2Tn j t  )

Pj,max is the amplitude of the sinusoidal generalized force

1 ! 2
a CN b

(z) J j (z) dz

Basic structural dynamics II

Cross-wind response of slender towers

Then, maximum amplitude
a max ! P j, max 2
j j

P j, max 8
2

n j2G j

Note analogy with single d.o.f system result (Lecture 10)

1 2

Substituting for Pj,max :

a CN b

a max !

z2

z1

(z) J j (z) dz
j

n j2G j

Then, maximum deflection on structure at height, z,

x max (z) ! J 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)
a CN b 2

x max (h) ! b

J (z)
0 j

dz
!

C N J j (z) dz
0

16

G j j St 2

Sc St

J j (z) dz Cj 2 GjK j

where ^j is the critical damping ratio for the jth mode, equal to

n jb nsb ! St ! (z e ) (z e )

Strouhal Number for vortex shedding ze = effective height (} 2h/3) (Scruton Number or mass-damping parameter) m = average mass/unit height

Sc !

4Tm^ j b2 a

End of Lecture
John Holmes
225-405-3789 JHolmes@lsu.edu