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{ } f
q
q
Z
I
q
q
T
I
1
]
1
'
1
]
1
'
0
2
0
2
{ } f
q
q
Z x
x
x
T
I A A A
V
D
A
V
D
1
1
1
]
1
'
1
1
1
]
1
'
0
0
2
0
0
2
where:
- Diagonal matrix of modal frequencies (rad/sec)
Z - Diagonal matrix of modal damping ratios
I
- ode shape coefficients at inputs
D
- ode shape coefficients at displacement outputs
V
- ode shape coefficients at !elocit" outputs
A
- ode shape coefficients at acceleration outputs
#n terms of $astran matrices (assuming %%&#) this is:
{ }
G T
I
f
PHG q
q
BHH KHH
I
q
q
1
]
1
'
1
]
1
'
0 0
{ }
G
T
I A A A
V
D
A
V
D
f
PHG PHG
q
q
BHH PHG KHH PHG
PHG
PHG
x
x
x
1
1
1
]
1
'
1
1
1
]
1
'
0
0
0
0
'nl" rows of (%) associated with input forces are retained in the * matrix and onl"
rows associated with desired outputs are retained in the + matrix, $ow consider the case
where we are ha!e a cutoff frequenc"- so are neglecting certain modes, .e would li/e to
express the displacement outputs including the quasi-static terms from the neglected
modes as follows:
{ } [ ]{ } [ ][ ] [ ] { }
G
T
IN N DN DR D
f PHG KHH PHG q PHG x
0
+
So the total equations can 1e written in $astran format as:
{ }
G T
IR R
R
R R R
R
f
PHG q
q
BHH KHH
I
q
q
1
]
1
'
1
]
1
'
0 0
{ }
G
T
IR AR
T
IN N DN
R
R
R AR R AR
VR
DR
A
V
D
f
PHG PHG
PHG KHH PHG
q
q
BHH PHG KHH PHG
PHG
PHG
x
x
x
1
1
1
]
1
'
1
1
1
]
1
'
0 0
0
0
.here the su1script 234 denotes the retained modes and the su1script 2$4 denotes the
neglected modes,
#f there are other outputs such as element forces these are handled as the displacement
outputs- 1" replacing the displacement mode shape coefficient matrix PHG
D
1" the
element force shape coefficients,
$ow consider the case where the input is an enforced acceleration- and start with a +raig-
*ampton model:
'
'
1
]
1
'
1
1
]
1
0 0
0
2
b b bb b
qb
T
qb bb
f
q
x K
q
x
I M
M M
Expanding out the 1ottom row and adding modal damping gi!es us:
{ } [ ][ ]{ } [ ] { } [ ]{ }
b qb
x M q q Z q + +
2
2
#n state space form this is:
{ }
b
qb
x
M q
q
Z
I
q
q
1
]
1
'
1
]
1
'
0
2
0
2
5he pro1lem is that displacement outputs depend on 1oth 6q7 and 6x
b
7- so we need to
include 6x
b
7 in the equations as follows:
{ }
b
qb
b
b
b
b
x
M
I
q
x
q
x
Z
I
I
q
x
q
x
1
1
1
1
1
]
1
'
1
1
1
1
]
1
'
0
0
2 0 0
0 0 0 0
0 0 0
0 0 0
2
5he data reco!er" part is as follows:
{ }
b
qb Aq Ab
b
b
A A
Vb Vb
Dq Db
A
V
D
x
M
q
x
q
x
Z x
x
x
1
1
1
]
1
'
1
1
1
]
1
'
0
0
2 0 0
0 0
0 0
2
.here
Db