University of Architecture, Civil Engineering and Geodesy

1, Hristo Smirnenski blvd., 1046 Sofia, Bulgaria

http://www.uacg.bg/


Faculty of STRUCTURAL ENGINEERING
Degree Program: Structural Engineering ( )


Dynamics of Structures
(Course Id: 039.00, ECTS: 4.0, form of assessment: exam)
Alexander Taushanov
Department "Structural Mechanics"


LECTURES



The course includes many topics in the theory of structural dynamics and application of this theory to
earthquake analysis, response and design of structures.

The necessary background of the course includes:
Static analysis of structures, including statically indeterminate structures and matrix
formulation of analysis procedures
Basic structural design
Dynamics of rigid body
Ordinary differential equations
Linear algebra
Partial differential equations


Most of the course is covered by the book
Dynamics of Structures author professor
Anil Chopra from the University of California
at Berkeley.
.









The lectures are unfinished. This is not the final
version and therefore cant be use for sufficient
training for the exam.











LECTURE 1. INTRODUCTION. SDOF SYSTEMS


A static load is one which does not vary. A dynamic load is one which changes with time. If it
changes slowly, the structure's response may be determined with static analysis, but if it varies
quickly (relative to the structure's ability to respond), the response must be determined with a
dynamic analysis.
Static loading and dynamic loading
p p(t)
inertial forces



Structural dynamics is a subset of structural analysis which covers the behavior of structures
subjected to dynamic loading. Dynamic loads include wind, earthquake, people, traffic, wave, blast
and impact. Any structure can be a subject to dynamic loading.


Structural dynamics was developed historically along two distinct paths.


Vectorial dynamics, based on Newtons Laws

First Law. A particle (body) remains in its state of rest, or of uniform rectilinear motion,
unless compelled by force to change that state.

Second Law. The acceleration of a given element is proportional to the force, applied to it and
acts in the direction of that force.

Third Law. To every action there is an equal and opposite reaction.


Virtual work dynamics, based on the principle of conservation of energy

Bernoullis Principle of static equilibrium. A mechanical system is in a state of static
equilibrium if the virtual work done by all real forces and moments is zero for every virtual
displacement consistent with the constraints.

dAlemberts Principle of dynamic equilibrium. A mechanical system is in a state of dynamic
equilibrium at any instant if the virtual work done at that instant by all real and inertial forces
and moments is zero for every virtual displacement consistent with the constraints.

Both concepts lead to the same equations of motion.

We begin the study in structural dynamics with simple structures, which can be idealized as a
concentrate (lumped) mass m, supported by a massless structure with stiffness k (in the lateral
direction). For now let assume that the lateral motion of these structures (displacement u) is small in
the sense that deformation of the supporting structure is within their elastic limit.

We will consider the motion of structures as a function of time. We will use overdot to denote
the differentiation with respect of time. In this train of thought the velocity of the mass is , the
acceleration of the mass is . It is shown on the figure also the ground motion, presented with
acceleration
( )

u
ii
g
u , which is the basic case of earthquake, considered by civil engineers.

Stiffness is the value of reaction in the spring due to a given displacement (or rotation) of 1 unit.


Mass is the value of lumped mass in a point of structure. Every object contributes mass to the
structure from the mass density of its material. Mass values are in
2
forcetime
length
units. In structural
engineering design mass is in
2
kNsec
m
which is equal to ton (
2
kNsec
1 =1
m
ton ).
Mass moments of inertia
The rotational mass moments of inertia are in units. In structural engineering
design mass moment of inertia is in , i.e. .
2
forcelengthtime
1 kNmsec =1
2
kNmsec
2 2
tonm

Degrees of Freedom.
In mechanics, degrees of freedom (DOF) are the set of independent displacements and/or rotations
that specify completely the displaced or deformed position and orientation of the body or system.
This is a fundamental concept relating to systems of moving bodies in mechanical engineering,
aeronautical engineering, robotics, structural engineering, etc.
force
(or moment)
Some review from Strength of materials.
displacement
(or rotation)
k spring constant
1
spring constant k
u
[kN/m]
spring
constant k
v

[kN/m]
spring
constant k

[kNm/rad]
m
u(t)
..
u
g
(t)
u(t)
m
k k k
..
u
g
(t)
Some single degree of freedom systems (SDOF)