Structural Dynamics: Introduction

Dr. Hongwei Huang

Department of Bridge Engineering
Tongji University
We make our living in dynamics, structural health monitoring
and vibration control
DYNAMICS OF STRUCTURES
Theory and methods for analyzing response of structures
under dynamic loads
Structures: beam, frame building, bridge, etc.
Response:
Deformation
Stress
Acceleration
WHY/ HOW
if
M
c k
u
p(t)
Input force
Output
displacement
M
k
u
c
0
) ( p t p =
t ) (
0
sin p t p =
k
p
u
0
=
) t 1 (
0
cos
k
p
u =
) (t p ku u c u m = + +

Math modeling
1. Essential characteristics of a dynamic problem
1.1 Typical dynamical problems:
A Structural vibration under seismic excitation;
A Vibration of large span bridge and high-rise building under turbulent wind
loads;
A Vehicle vibration due to road roughness;
A Bomb blast pressure on civil engineering structures.
1.2 Differences between static and dynamic loads:
A Static loads: magnitude, direction and position remains constant or varies
slowly with time, such as structural self weight, snow loads and etc..
A Dynamic loads: magnitude, direction and position varies rapidly with time or
the loads are suddenly applied to or removed from the structure.
1.3 Essential characteristics
Time varying nature: a succession of solutions has to be established
corresponding to all times of interest in the response history.
Inertial forces: represent a significant component of the total loads, the
dynamic characteristics of the problem are reflected in its solution.
2. Dynamic loads and analyzing methods
2.1 Prescribed dynamic loading:
A The time varying characteristics of the loading is fully prescribed, even
though it may be highly oscillatory or irregular in form.
A Deterministic analysis: a direct structural time history responses computation
corresponding to the prescribed loading history.
P(t )
t
2.2 Random dynamic loading:
A The time varying characteristics is not completely prescribed but can be
defined in a statistical sense.
A Nondeterministic analysis: provides only statistical information about the
structural response from the statistically defined loading.
2.3 Prescribed dynamic loading can be categorized as periodic loadings and
nonperiodic loadings:
A Periodic loading
(1) harmonic loading
loading in the form of sinusoidal variation
e.g. loading due to rotating machinery
(2) Other periodic loadings
Complex periodic loading which can not be represented by a harmonic
function but by the sum of a series of simple harmonic components
e.g. hydrodynamic pressures generated by a propeller at the stern of a ship
Nonperiodic loading
(1) Impulsive loading
short-duration high intensity loading which is generally described by
sine-wave, triangular or rectangular function
e.g. blast or explosion loadings
(2) General forms of loading
Represented by any function or just some data sets
e.g. earthquake excitations
3. Formulation of Equation of Motion
Equation of motion (EOM): the mathematical expressions defining the dynamic
displacements. Its solution provides the required displacement time histories.
3.1 Basic dynamic system
A SDOF (Single-Degree-of-Freedom-System): structural vibration state can be
determined by only one generalized coordinates
A Some system which can be simplified to be a SDOF system:
Two Typical SDOF Systems
(b) Mass-spring-damper system
(a) A one-floor shear type frame
A Essential physical properties:
lumped mass m; damping c;
stiffness k
A Two systems are the equivalent
and thus their vibration responses
can be described by the same
EOM
(1) Inertial Force
Inertial forcethe force which keep the original state of the system. It equals
to the product of the mass and acceleration and its direction is opposite to the
direction of acceleration
I Inertial;
m Mass;
Acceleration of the mass.
(2) Spring Resisting Force
Spring resisting force. It equals to the product of the spring stiffness and
displacement and its direction is opposite to the direction of displacement
s Spring
k Spring Stiffness
u Displacement of the mass
u m f
I

=
ku f
s
=
(3) Damping Force
Damping force: the force which induces the energy loss of the system. It
equals to the product of the damping coefficient and velocity of mass.
D Damping
c Damping coefficient
Velocity of mass
Determination of the damping coefficient c
It cannot be obtained directly from the geometry of the structure. It is
generally obtained via structural vibration tests.
Viscous (velocity proportional) damping is the most generally used
damping mechanism.
Other general damping mechanism:
Friction damping: the damping due to friction, generally is a constant;
Hysteretic damping: a damping mechanism proportional to the displacement
amplitude but in phase with the velocity;
Liquid damping: the damping force is proportional to the square of
velocity of the mass.
u c f
D

=
3.2 Formulation of EOM
(1) The Newtons second law of motion
s D
f f t p F = ) (
) (t p f f ma
s D
= + +
ma F =
u a

=
ku f
s
=
u c f
D

=
The EOM of a SDOF system
) (t p ku u c u m = + +

(2) Direct Equilibrium using dAlembert Principle
DAlemberts principle: a mass develops an inertial force proportional to its
acceleration and opposing it. It permits the equation of motion to be
expressed as equations of dynamic equilibrium.
ku f
s
=
u c f
D

=
u m f
I

=
) (t p ku u c u m = + +

The EOM of a SDOF system
0 ) ( =
s D I
f f f t p
(3) Principle of Virtual Displacements
Principle of virtual displacements: if a system, which is in equilibrium
under the action of a set of externally applied forces, is subjected to a
virtual displacement, the total work done by the set of forces will be zero.
Here, the virtual displacement is a displacement pattern compatible with the
systems constraints.
Assuming a virtual displacement u of the system, the virtual work done by
the set of forces is:
ku f
s
=
u c f
D

=
0 ) ( = u f u f u f u t p
s D I
o o o o
0 ) ( =
s D I
f f f t p
u m f
I

=
) (t p ku u c u m = + +

The EOM of a SDOF system
(4) Variational approach (Hamiltons principle)
Hamiltons principle is an integral principle, which means that it
considers the entire motion of a system between time t1 and t2. In each
time duration [t1, t2], the variation of system kinetic energy, potential
energy and work done by nonconservation force equals to 0.
where,
T Kinetic energy of the system
V Potential energy of a system
WncWork done by the system due to all nonconservation force
variation with time.
0 ) (
2
1
2
1
= +
} }
dt W dt V T
t
t
t
t
nc
o o
j
j
ncj nc
u P W o o

=
Kinetic energy Potential energy
Variation of energy
Variation of the work done by nonconservation force
Substitute them into Hamilton Pinciple:
2
2
1
u m T

=
2
2
1
ku V =
u ku u u m V T o o o =

) (
u u c u t p W
nc
o o o

= ) (
0 ) (
2
1
2
1
= +
} }
dt W dt V T
t
t
t
t
nc
o o
0 ] ) ( [
2
1
= +
}
dt u t p u ku u u c u u m
t
t
o o o o

2 2 2
1 1 1
2 2 2
2
1
1 1 1
( ) ( )
( )
t t t
t t t
t t t
t
t
t t t
d d
mu udt mu u dt mu u dt
dt dt
mud u mu u mu udt mu udt
o o o
o o o o
= =
= = =
} } }
} } }


}
= +
2
1
0 )] ( [
t
t
udt t p ku u c u m o

) (t p ku u c u m = + +

(5) Lagrange equation of motion
Kinetic energy
Potential Energy
Work done by non-conservation force
So
Substitute them into Lagrange equation
) (t p ku u c u m = + +

The EOM of a SDOF system
N j t P
u
V
u
T
u
T
dt
d
ncj
j j j
, , 2 , 1 , ) ( ) (

= =
c
c
+
c
c

c
c
2
2
1
u m T

=
2
2
1
ku V =
) (t p u c P
nc
+ =

u m u m
dt
d
u
T
dt
d

= =
c
c
) ( ) (
0 =
c
c
u
T
ku
u
V
=
c
c
) ( ) ( t P
u
V
u
T
u
T
dt
d
nc
=
c
c
+
c
c

c
c

4. Dynamic Analysis of SDOF Structure

4.1 EOM and problem statement
Equation of motion:
Problem statement:
Structural dynamic response analysis is to find the solution in closed form or
in numerical form to this second order ordinary differential equation under
initial disturbance or/and external dynamical forces.
) (t p ku u c u m = + +

4.2 Free vibration of undamped SDOF system
Free vibration: motions caused by initial disturbance and with no applied forces.
Undamped: the energy loss mechanism is not considered.
No dampingc = 0
Free vibrationp(t) = 0
EOM
Initial disturbance
) 0 ( ), 0 (
0 0
u u u u
t t

= =
= =
0 = +ku u m

Assuming the solution to the ODE is of the following form
where s is a coefficient; A is an arbitrary complex constant
s can be determined according to
The solutions of the above equation are
st
Ae t u = ) (
0 = + ku u m
0 ) (
2
= +
st
Ae k ms
2
0 ms k + =
n n
i s i s e e = =
2 1
,
m
k
i
n
= = e 1
Therefore, the total response includes two terms as follows
Considering the following relationship
The solution to the EOM is
where A, B are constant determined by initial conditions.
Velocity can be obtained by taking one step derivatives on u(t)
Concerning the initial conditions
t i t i t s t s
n n
e A e A e A e A t u
e e
+ = + =
2 1 2 1
2 1
) (
cos sin ; cos sin
ix ix
e x i x e x i x

= + =
t B t A t u
n n
e e sin cos ) ( + =
t B t A t u
n n n n
e e e e cos sin ) ( + =

B u u
A u u
n t
t
e = =
= =
=
=
) 0 (
) 0 (
0
0

(0),
(0)
n
A u
u
B
e
=
=

Dynamic response of free vibration of an undamped SDOF system is
where
is called the natural frequency or resonant frequency depending on the material
and the structure
Response is a simple harmonic motion..
Period:
Maximum response:
t
u
t u t u
n
n
n
e
e
e sin
) 0 (
cos ) 0 ( ) (

+ =
m
k
n
= e
n
n
T
e
t 2
=
2 2
]
) 0 (
[ )] 0 ( [
n
m

u
u u

+ =
4.3 Free vibration of damped SDOF system
Free vibrationp(t) = 0
EOM
Initial disturbance
Assuming that the solution is in the following form
where s is a coefficient; A is an arbitrary complex constant.
s can be determined according to
0 = + + ku u c u m

) 0 ( ), 0 (
0 0
u u u u
t t

= =
= =
st
Ae t u = ) (
2
0 ms cs k + + =
2 2
2 , 1
)
2
(
2
n
m
c
m
c
s e =
If , the SDOF system will not vibrate.
If , the system will vibrate.
The c satisfying is called the critical damping, denoted as
0 )
2
(
2
2
>
n
m
c
e
0 )
2
(
2
2
<
n
m
c
e
0 )
2
(
2
2
=
n
m
c
e
km m c
n cr
2 2 = = e
Damping ratio: the ratio between the damping coefficient c and the critical
damping coefficient c
cr
, denoted as :
(1) if 1, under damped;
imaginary oscillation
(2) if 1, critically damped;
no vibration
(3) if 1, over damped.
no vibration
For steel structure,
For RC structure,
n cr
m
c
c
c
e
,
2
= =
0.01 , =
0.03
0.05
lowmagnitudevibration
strong vibration
,
,
=

Underdamped Systems: most of civil engineering structures are underdamped

system.
For underdamped system, substituting into
we obtain
Subsequently, the free vibration response under initial disturbance can be
obtained as
where
D
is the damped natural frequency of the system.
n
m c ,e 2 =
2 2
2 , 1
)
2
(
2
n
m
c
m
c
s e =
2
2 , 1
1 , e ,e =
n n
i s
] sin )
) 0 ( ) 0 (
( cos ) 0 ( [ ) ( t
u u
t u e t u
D
D
n
D
t
n
e
e
,e
e
,e
+
+ =


2
1 , e e =
n D
D
D
T
e
t 2
=
2 2
1 1
2
, , e
t

=
n
n
D
T
T
Measurement of damping ratio:
The damping ratio of an underdamped system affects greatly the structure
free vibration response, and therefore, has to be evaluated either theoretically or
experimentally.
Observing the free vibration response curve of a SDOF system,
Logarithmic decrement of damping is
and thus the damping ratio can be determined as
If the damping level is relatively low,
it can also be approximated as
)
1
2
exp( ) exp(
) (
) (
2
1 ,
t,
,e

= =
+
=
+
D n
D i
i
i
i
T
T t u
t u
u
u
2
1 1
2
ln
,
t,
o

= =
+ i
i
u
u
2
) 2 ( 1
2
t o
t o
,
+
=
t
o
,
2
~
4.4 Forced vibration under harmonic excitations
EOM
where p
0
magnitude of the loading
circular frequency of the loading
Initial conditions:
The EOM is a second order ODE, and the solution is as follows:
Taking into account the initial conditions
t p ku u m e sin
0
= +
) 0 ( , ) 0 (
0 0
u u u u
t t

= =
= =
t
k
p
t B t A
t u t u t u
n
n n
p c
e
e e
e e sin
) / ( 1
1
sin cos
) ( ) ( ) (
2
0

+ + =
+ =
t
k
p
t
k
p u
t u t u
n
n
n
n
n
n
e
e e
e
e e
e e
e
e
sin
) / ( 1
1
sin
) / ( 1
/ ) 0 (
cos ) 0 ( ) (
2
0
2
0

+
(

+ =

4.5 Forced vibration under periodic excitations
Any periodical loading p(t) can be expanded using Fourier series as follows:
Tpperiod of the loading


=

=
+ + =
1 1
0
sin cos ) (
j
j j
j
j j
t b t a a t p e e
p
j
T
j j
t
e e
2
1
= =
}
}
}
= =
= =
=
p
p
p
T
j
p
j
T
j
p
j
T
p
n dt t t p
T
b
n dt t t p
T
a
dt t p
T
a
0
0
0
0
, 3 , 2 , 1 ) sin( ) (
2
, 3 , 2 , 1 ) cos( ) (
2
) (
1

e
e
4.6 Harmonic excitation of damped system
Let u
p
have the form:
0
2
n n 0
p
mu(t) cu(t) ku(t) p cos t
u(t) 2 u(t) u(t) p cos t
u (t) Ucos t
now includes a phase shift
( )
+ + = e
+ ,e + e = e
= e + u

M
k
u
Displacement
c
p=p
0
coset
p s s
2 2 1
s
s s
s
p s s
2 2
p s s
u (t) A cos t B sin t
B
U A B , tan
A
u A sin t B cos t
u A cos t B sin t

= e + e
| |
= + u =
|
\ .
= e e + e e
= e e e e

Substitute into the equations of motion

Using matrix representation
Solving for As and Bs, and substitute the values of As and Bs into u
p
:
( )
2 2
s n s n s 0
2 2
s n s n s
2 2
n s n s 0
2 2
n s n s
( A 2 B A p ) cos t
B 2 A B sin t 0
( )A (2 )B p
( 2 )A ( )B 0

for all time.
e + ,e e + e e
+ e + ,e e + e e =

e e + ,e e =
,e e + e e =
2 2
s n n 0
2 2
s
n n
A ( ) 2 p
B 0
2 ( )
( e e ,e e
( (
=
(
( (
,e e e e


1
0 n
p
2 2
2 2 2 2
n
n n
X
p 2
u (t) cos( t tan )
( ) (2 )

u
| | ,e e
= e
|
e e
e e + ,e e \ .

Things to notice about damped forced response

If , = 0, undamped equations result
Steady state solution prevails for large t
Often we ignore the transient term (how large is ,, how long is t?)
Coefficients of transient terms (constants of integration) are effected by the initial
conditions AND the forcing function
|
.
|

\
|

=

2
1
1
2
r
r ,
u tan
Magnitude:
Dynamic magnification
Factor (DMF):
Phase:
Frequency ratio:
Characterization of the response
0
2 2 2 2
n n
p
U
( ) (2 )
=
e e + ,e e
2
n
2 2 2
0 0
U U 1
p / k p
(1 r ) (2 r)
e
= =
+ ,
n
r
e
e
=
Magnitude plot
0 0.5 1 1.5 2
-20
-10
0
10
20
30
40
r
X

(
d
B
)
, =0.01
, =0.1
, =0.3
, =0.5
, =1
d
2 2 2
1
R
(1 r ) (2 r)
=
+ ,
Resonance is close to r = 1
For , = 0, r =1 defines
resonance
As , grows resonance moves
r <1
The exact value of r, can be
found from differentiating
the magnitude
Phase plot
Resonance occurs at | =
t/2
The phase changes more
rapidly when the damping
is small
From low to high values
of r the phase always
changes by 180
0
or t
radians
0 0.5 1 1.5 2
0
0.5
1
1.5
2
2.5
3
3.5
r
P
h
a
s
e

(
r
a
d
)
, =0.01
, =0.1
, =0.3
, =0.5
, =1
|
.
|

\
|

=

2
1
1
2
r
r ,
u tan
( )
( )
d
2 2 2
2
d
max
2
d d 1
R 0
dr dr
(1 r ) (2 r)
r 1 2 1 1/ 2
1
R
2 1
peak
| |
| = =
|
+ ,
\ .
= , < , <
=
, ,
Compute max peak by differentiating:
d
2 2 2 2
2 2 2
R 1 1
2
2 2 1 (1 r ) (2 r)
r (1 2 ) 2 1
= =
, , + ,
= , , ,
Experimental evaluation of damping using half-power bandwidth:
for small ,, ,
2
= 0
2
r 1 2 r 1 2 ~ , = ,
Expand using Taylor expansion
r 1 2 = ,
a b b a
r 1 higher terms
r 1 r 1 r r 2 , ,
= , +
= +, = , = ,
4.7 Response to general dynamic loading
EOM
(1) Response to impulse
Newtons second law
at
Introduce initial velocity, then response is free vibration with initial velocity.
mu cu ku P + + =
( ) 0, ( ) 0
, ( )
u u
t d u d du
t t
t t t t
= =
= + + =

1
( ) ( )
du
P mu m du P d
d m
t t t
t
= = =

t t =
0
( )
( ) ( )
d
P
u d u d
m
t
t
t t t t
~
+ ~ =

(2) Response to general dynamic loading
For a linear undamped system
Duhamels integral (only valid for linear system).
For a linear damped system
( )
sin ( )
n
n
P d
du t
m
t t
e t
e
=
0
( ) 1
sin ( ) ( ) sin ( )
t
n n
n n
P d
u du t d P t d
m m
t t
e t t t e t t
e e
= = =
} } }
( )
( ) cos sin sin ( ) for >
n n n
n
u
u t A t B t t
t
e e e t t
e
= + =

( )
( ) [ cos ( ) sin ( )]
n
t
D D
u t e A t B t
,e t
e t e t

= +
( )
0
1
( ) sin ( )
n
t
t
D
D
u P e t d
m
,e t
t e t t
e

=
}
x
1
x
2
k
1
m
1
m
2
k
2
5. Multi-Degree of Freedom System
Two Degrees of Freedom
( )
( )
0 ) ( ) ( ) (
0 ) ( ) ( ) ( ) (
: g Rearrangin
) ( ) ( ) (
) ( ) ( ) ( ) (
2 2 1 2 2 2
2 2 1 2 1 1 1
1 2 2 2 2
1 2 2 1 1 1 1
= +
= + +
=
+ =
t x k t x k t x m
t x k t x k k t x m
t x t x k t x m
t x t x k t x k t x m




Initial conditions:
Two coupled, second -order, ordinary differential equations with
constant coefficients
Needs 4 constants of integration to solve
Thus 4 initial conditions on positions and velocities
Solution by Matrix Methods
1 1 1
2 2 2
1 1 2 2
2 2 2
x x x
0
0
0
x (t) x (t) x (t)
(t) , (t) , (t)
x (t) x (t) x (t)
m k k k
,
m k k
( ( (
= = =
( ( (

+
( (
= =
( (

+ =
M K
Mx Kx

0
0
2 2 1 2 2 2
2 2 1 2 1 1 1
= +
= + +
) ( ) ( ) (
) ( ) ( ) ( ) (
t x k t x k t x m
t x k t x k k t x m


Initial Conditions:
10 10
20 20
x x
(0) , (0)
x x

( (
= =
( (

x x

( )
( )
2
2
Let ( )
1, , unknown
-
-
j t
j t
t e
j
e
e
e
e
e
e
=
= =
/
+ =
+ =
x u
u 0
M K u 0
M K u 0
( )
2
1
2
-
two algebraic equation in 3 uknowns
= , and
u
u
e
e
+ =
(
(

M K u 0
u
Solution:
Changes ode into algebraic
equation:
Condition for Solution:
( )
( )
( )
2
1
2
inv - exists
Require does not exist
or det -
e
e

+ =
=
/
+ =
M K u 0
u 0
M K 0
One equation in one unknown e
Back to our specific system: the characteristic equation
( )
2
2
1 1 2 2
2
2 2 2
4 2
1 2 1 2 2 1 2 2 1 2
det - 0
det 0
( ) 0
m k k k
k m k
m m m k m k m k k k
e
e
e
e e
+ =
(
+ +
( =
(
+

+ + + =
M K
2
1 1
2
2 2
( )
( )
e
e
+ =
+ =
M K u 0
M K u 0
A vector equation for each square frequency
Calculating the corresponding vectors u
1
and u
2
and:
Return now to the time response:
( ) ( )
n integratio of constants are and , , , where
) sin( ) sin(
) (
) (
, , , ) (
2 1 2 1
2 2 2 2 1 1 1 1
2 1
2 2 1 1
2 2 1 1
2 2 1 1
2 2 1 1
2 2 1 1
| |
| e | e
e e e e
e e e e
e e e e
A A
t A t A
de ce be ae t
e d e c e b e a t
e e e e t
t j t j t j t j
t j t j t j t j
t j t j t j t j
u u
u u x
u u u u x
u u u u x
+ + + =
+ + + =
+ + + =
=



We have four solutions:
Since linear we can combine as:
determined by initial conditions
Physical interpretation of all the math
Each of the TWO masses is oscillating at TWO natural frequencies e
1
and e
2
The relative magnitude of each sine term, and hence of the magnitude of
oscillation of m
1
and m
2
is determined by the value of A
1
and A
2
The vectors u
1
and u
2
are called mode shapes
First note that A
1
,A
2
, |
1
and |
2
are determined by the initial conditions
Choose them so that A
2
= |
1
= |
2
=0
Then:
Thus each mass oscillates at (one) frequency e
1
with magnitudes
proportional to u
1
the 1st mode shape
What is a mode shape?
1 1 1 1
(t) A sin( t ) = e + x u
Mode shapes:
Mode 1:
k
1
m
1
x
1
m
2
x
2
k
2
Mode 2:
k
1
m
1
x
1
m
2
x
2
k
2
x
2
=A
x
2
=A
x
1
=A/3
x
1
=-A/3
(

=
1
3
1
1
u
(

=

1
3
1
2
u
Solution as a sum of modes
x(t) = u
1
cos e
1
t + u
2
cos e
2
t
Determines how the first
frequency contributes to the
response
Determines how the second
frequency contributes to the
response
Things to note
Two degrees of freedom implies two natural frequencies
Each mass oscillates at with these two frequencies present in
the response
Orthogonality property of mode shapes
| |
1 2
1
2
1
2
. .
.
.
.
.
n
T
n
T
n
,
m
m
m
k
k
k
=
(
(
(
( =
(
(
(

(
(
(
( =
(
(
(

U u u u
U MU
U KU
Normalization of mode shapes
ij
ij
T
j j
u
| =
u Mu
When M is diagonal matrix (shear building)
1
ij
ij
n
k kj
k
u
m u
|
=
=

The orthogonal property becomes

2
1
2
2
2
.
.
T
T
n
e
e
e
=
(
(
(
(
=
(
(
(
(

M I
K
Thank you!
Questions?