DYNAMI C OF STRUCTURES

CHAPTER 5
NUMERI CAL EVALUATI ON OF
DYNAMI C RESPONSE
Department of civil engineering, University of North Sumatera
Ir. DANIEL RUMBI TERUNA, MT;IP-U
1
NUMERICAL METHODS
A. Time Stepping Method
For inelastic system with a linier viscous damping, the equation of
motion can be written as
( ) ( ) 1 ) ( , t p u u f u c u m
s
= + +
& & & &
The applied force is given by a set of discrete values
) (t p
. 0 ), ( ) ( N to i t p t p
i
= = The time interval
) 2 (
1 i i i
t t t =
+
2
TIME STEPPING METHODS
The equation (1) can be given at time
( ) ( ) 3
i
i
s i i
p f u c u m = + +
& & &
where ( ) ( )
i
i
s
i
s
ku f i time at force resisting the is f = ;
At the time interval eq.(1) lead to
1 + i
: i
for linier elastic system
( ) ( ) 4
1
1
1 1 +
+
+ +
= + +
i
i
s i i
p f u c u m
& & &
3
TIME STEPPING METHODS
Fig.1 Notation for time stepping methods
i
p
p
t
o
p
1
p
2
p
1 + i
p
o
t
1
t
2
t
i
t
1 + i
t
i
t
u
t
1
u
2
u
1 + i
u
1
t
2
t
i
t
1 + i
t
i
t
i
u
4
TIME STEPPING METHODS
The three(3) important requirement for a numerical procedure are:
CONVERGENCE
as the time step decreases, the numerical solution should approach
the exact solution
STABILITY
the numerical solution should be stable in the presence of
numerical round-off errors
ACCURACY
the numerical solution should provide result that are close enough
to the exact solution
5
TIME STEPPING METHODS
They are several methods of time stepping procedures :
Methods Based on Interpolation of the Excitation Function
6
Finite Diffrence Methods
Newmarks Methods
Houmbolt Methods
Wilson Methods

Methods Based on Interpolation of Excitation

( ) ) 5 (
i
i
i
p
t
p p

+ =

) 6 (
1 i i i
p p p =
+
In the time intervals , the excitation function is given by
where
1 +

i i
t t t
7
1 + i
p
i
p
p
t
o
p
o
t
i
t
1 + i
t
i
t

( ) p
i
p
8
Methods Based on Interpolation of Excitation
The diffrential equation of the system without damping at the time can
be given as
) 7 (
i
i
i
p
t
p ku u m

+ = +

& &

The response over the time interval is the sum of three

parts
( ) u
i
t 0
1. Free vibration due to initial conditions (displacement and velocity
at )
i
u
i
u&
0 =
2. Response to step force with zero initial conditions, and
i
p
3. Response to ramp force with zero initial conditions ( )
i i
t p /
( ) ( ) ) 8 (
sin
cos 1 sin cos
_
_
_
_
_
_
_
_

+ + + =
i n
n
i
i
n
i
n
n
i
n i
t t k
p
k
p u
u u

&
Methods Based on Interpolation of Excitation
9
The solution of this diffrential equation is
At gives the displacement and velocity at time
i
t =
1 + i
u
1 + i
u&
1 + i
( ) ( )
( ) j ( ) j
i n i n
i n
i
i n
i
i n
n
i
i n i i
t t
t k
p
t
k
p
t
u
t u u

+
+ + =
+

sin
1
cos 1
sin cos
1
&
(9)
10
Methods Based on Interpolation of Excitation
( ) ( )
( ) ( ) j
i n
i n
i
i n
i
i n
n
i
i n i
n
i
t
t k
p
t
k
p
t
u
t u
u

+
+ + =
+

cos 1
1
sin
cos sin
1
& &
(10)
These equations can be rewritten after substituting Eq.(2) as recurrence
formula:
) 11 (
1 1 + +
+ + + =
i i i i i
Dp Cp u B Au u &
) 12 (
1 1 + +
+ + + =
i i i i i
p D p C u B u A u & &
11
Methods Based on Interpolation of Excitation
These formula also apply for damped system with the following coeficients:
_
_
_
_
_
_
_
_
+

=

t t e A
D D
t
n

cos sin
1
2
_
_
_
_
_
_
_
_
=

t e B
D
D
t
n

sin
1
_
_
_
_
_
_
_
_
_
_
_
_
_
_
_
_
_
_

_
_
_
_
_
_
_
_

+
_
_
_
_
_
_
_
_

=

t t
t
e
k
C
D
t n
D
D
t
t n
n

cos
2
1 sin
1
2 1 2 1
2
2
_
_
_
_
_
_
_
_
_
_
_
_
_
_

=

t t
t
e
k
D
D
t n
D
D
t
t n
n

cos
2
sin
1 2 2
1
1
2
12
Methods Based on Interpolation of Excitation
_
_
_
_
_
_
_
_

=

t e A
D
n t
n

sin
1
2
_
_
_
_
_
_
_
_
_
_
_
_
_
_
_
_
_
_

+
_
_
_
_
_
_
_
_

+

=

t
t
t
t
e
t k
C
D D
n t
n

cos
1
sin
1 1
1 1
2 2
_
_
_
_
_
_
_
_
_
_
_
_
_
_
_
_
+

=

t t e
t k
D
D D
t
n

cos sin
1
1
1
2
_
_
_
_
_
_
_
_

=

t t e B
D D
t
n

sin
1
cos
2
13
Methods Based on Interpolation of Excitation
( ) t p
mm kg m / det 2533 . 0
2
=
mm kg k / 10 =
05 . 0 =
kg p,
. sec , t
( ) ( ) 6 . 0 / sin 10 t t p =
1 . 0
6 . 0
5
66 . 8
10
8095 . 0 cos 5871 . 0 sin 275 . 6 1 9691 . 0
2
= = = = =

t t e
D D n D
t
n

006352 . 0 01236 . 0 09067 . 0 8129 . 0 = = = = D C B A

1871 . 0 1709 . 0 7559 . 0 5795 . 3 = = = = D C B A
14
Methods Based on Interpolation of Excitation
i i i i i i i i
u Au u u B Dp Cp p t & &
1 +
0.0 0.000 0.0000 0.0318 0.0000 0.0000 0.0000 0.0000
0.1 5.000 0.0618 0.0550 0.0848 0.9354 0.0258 0.0318
0.2 8.660 0.1070 0.0635 0.2782 3.0679 0.1849 0.2274
0.3 10.00 0.1236 0.0550 0.4403 4.8558 0.5150 0.6336
0.4 8.660 0.1070 0.0318 0.4290 4.7318 0.9218 1.1339
0.5 5.000
0.6 0.000
0.7 0.000
0.8 0.000
0.9 0.000 0.0000 0.0000 -0.6272 -6.9177 -0.6160 -0.7577
1.0 0.000 0.0000 0.0000 -2.5171 -1.2432
15
i i i i i i i i
u u B u u A p D p C p t & &
+1
0.0 0.000 0.0000 0.9354 0.0000 0.0000 0.0000 0.0000
0.1 5.000 0.8544 1.6201 -0.1137 0.0318 0.7071 0.9354
0.2 8.660 1.4799 1.8707 -0.8140 0.2274 2.3192 3.0679
0.3 10.00 1.7088 1.6201 -2.2679 0.6336 3.6708 4.8588
0.4 8.660 1.4799 0.9354 -4.0588 1.1339 3.5771 4.7318
0.5 5.000
0.6 0.000
0.7 0.000
0.8 0.000
0.9 0.000 0.0000 0.0000 2.7124 -0.7577 -5.2295 -6.9177
1.0 0.000 0.0000 0.0000 -1.2432 -2.5171
Methods Based on Interpolation of Excitation
Central Difference Method
The central difference expression for velocity and acceleration at time are i
16
( )
2
1 1 1 1
2
2
t
u u u
u
t
u u
u
i i i
i
i i
i

+
=

=
+ +
& & &
(13)
Substituting Eq.(13) into Eq.(3), gives
( ) ( ) ( )
i i i i
u
t
m
k u
t
c
t
m
p u
t
c
t
m
_
_
_
_
_
_

_
_
_
_
_
_

=
_
_
_
_
_
_

+
2
1
2
1
2
2
2 2
(14)
In this equation and are assumed known (from implementation of
the procedure for the preceding time step).
( )
i i
i i i i i
p ku
t
u u
c
t
u u u
m = +

+
+ +
2
2
1 1
2
1 1
i
u
1 i
u
(15)
Central Difference Method
or
17
(16)
where
i i
p u k

1
=
+
(17)
(19)
( )
_
_
_
_
_
_

=
t
c
t
m
k
2

2
( ) ( )
i i i i
u
t
m
k u
t
c
t
m
p p
_
_
_
_
_
_

_
_
_
_
_
_

=

2
1
2
2
2

(18)
The unknown is then given by
1 + i
u
k
p
u
i
i

1
=
+
or
i i i i
bu au p p =
1

(20)
Central Difference Method
The values and are required to determine
18
For , from Eq. (13) we obtain
(21)
(20)
0
u
Solving for from the first equation and substituting in the second gives
( )
0
2
0 0 1
2
u
t
tu u u & &

+ =

1
u
1
u
0 = i
( )
2
1 0 1
0
1 1
0
2
2
t
u u u
u
t
u u
u

+
=

=

& & &
1
u
The initial displacement and initial velocity are given, and the
equation of motion at time 0
0
u
0
u&
( ) 0
0
= t
Central Difference Method
19
(24)
(23)
The specific requirement for stability
m
ku u c p
u
0 0 0
0

=
&
& &

1
<

n
T
t
The smaller time step should be chosen to obtain results that are accurate.
Typically, to define the response adequately 1 . 0 /
n
T t
0 0 0 0
p ku u c u m = + + & & & (22)
Central Difference Method Procedures
20
1. Initial calculation
m
ku u c p
u
0 0 0
0

=
&
& &
1.1
1.2
( )
0
2
0 0 1
2
u
t
tu u u & &

+ =

1.3
( )
_
_
_
_
_
_

=
t
c
t
m
k
2

2
1.4
( )
2
2
t
m
k b

=
( )
t
c
t
m
a

=
2
2
1.5
Central Difference Method Procedures
21
2. Calculation for time step
2.1
2.2
2.3 If required
3. Repetition for the next time step
i
i i i i
bu au p p =
1

k
p
u
i
i

1
=
+
( )
2
1 1 1 1
2
2
t
u u u
u
t
u u
u
i i i
i
i i
i

+
=

=
+ +
& & &
Replace by and repeat step 2.1, 2.2, and 2.3 for the next
time step
i 1 + i
Example
22
1. Initial calculation
0
0 0 0
0
=

=
m
ku u c p
u
&
& & 1.1
1.2
( )
0
2
0
2
0 0 1
=

+ =

u
t
tu u u & &
1.3
( )
13 . 26
2

2
=
_
_
_
_
_
_

=
t
c
t
m
k
1.4
( )
66 . 40
2
2
=

=
t
m
k b
( )
53 . 24
2
2
=

=
t
c
t
m
a
1.5
0 0 1592 . 0 10 2533 . 0
0 0
= = = = = u u c k m &
Example
23
2. Calculation for each time step
2.1
2.2
3. Computational step 2.1 and 2.2 repeated for
i i i i i i i
u u p bu au p p 66 . 40 53 . 24
1 1
= =

13 . 26

1
i i
i
p
k
p
u = =
+
,....... 3 2 , 1 , 0 = i
24
Numerical solution by CDM
1 1

+ i i i i i i
u p u u p t
0.0 0.000 0.0000 0.0000 0.0000 0.0000
0.1 5.000 0.0000 0.0000 5.0000 0.1914
0.2 8.660 0.0000 0.1914 16.4419 0.6293
0.3 10.00 0.1914 0.6293 30.8934 1.1825
0.4 8.660 0.6293 1.1825 41.3001 1.5808
0.5 5.000
0.6 0.000
0.7 0.000
0.8 0.000
0.9 0.000 -0.0247 -0,8968 -35.8598 -1.3726
1.0 0.000 -0.89680 -1.3726 -33.8058 -1.2940
Newmarks Method
25
Basic Procedures
In, 1959 Newmark develop the following equations:
( ) ( )( ) j ( ) j
1
2 2
1
5 . 0
+ +
+ + + =
i i i i i
u t u t u t u u & & & & &
( ) j ( )
1 1
1
+ +
+ + =
i i i i
u t u t u u & & & & & &
(25.b)
(25.a)
The parameter and define the variation of acceleration over a time
step and determine the stability and accuracy of the method.
Typical selection for is and is satisfactory from all point
of view, including that of accuracy.
2
1

4
1
6
1

Newmarks Method (Special Cases)
26
( )
i i i i
u u
t
u u & & & & & & +

+ =
+ + 1 1
2
( ) ( )
i i
u u u & & & & & & + =
+1
2
1

( ) ( )
i i i i
u u u u u & & & & & + + + =
+1
4

( ) ( )
i i i
u u u u & & & & & & + + =
+1
2

( )
i i i i i
u u
t
t u u u & & & & & +

+ + =
+ + 1
2
1
4
) (
Average Acceleration
(26)
(27)
(28)
(29)
(30)

1 + i
u& &
i
u& &
i
t
1 + i
t
t
t
u& &
Newmarks Method (Special Cases)
27
( )
i i i i
u u
t
u u & & & & & & +

+ =
+ + 1 1
2
( ) ( )
i i i
u u
t
u u & & & & & & & &

+ =
+1

( ) ( )
i i i i i
u u
t
u u u u & & & & & & &

+ + + =
+1
3 2
6 2


( ) ( )
i i i i
u u
t
u u u & & & & & & & &

+ + =
+1
2
2

( )
_
_
_
_
_
_
+ + + =
+ + i i i i i
u u t t u u u & & & & &
3
1
6
1
1
2
1
Linear Acceleration
(31)
(32)
(33)
(34)
(35)

1 + i
u& &
i
u& &
i
t
1 + i
t
t
t
u& &
Newmarks Method
28
Noniterative Formulation
Comparing Eqs.(28) ,(30) and Eqs.(33), (35) with Eq.(25.a) and (25.b)
demonstrated that Newmarks equation with and are the
same as those derived assuming constant average acceleration, and those
with and corespond to the assumption of linier varition of
acceleration
( ) ( )
i i i
u t u t u & & & & & + =
2
1
=
4
1
=
2
1
=
6
1
=
Equation (25) in the incremental form can be rewritten as
( )
( )
( )
i i i i
u t u
t
u t u & & & & & +

+ =
2
2
2

(36)
(37)
Newmarks Method
29
i i i i i i i i i
u u u u u u u u u & & & & & & & & & = = =
+ + + 1 1 1
where
( )
i i i i
u u
t
u
t
u & & & & &

2
1 1 1
2

=
(38)
(39)
i i i
p p p =
+1
Equation (37) can be solved for
(40)
Substituting Equation (40) into Eq.(36) gives
i i i i
u t u u
t
u & & & &
_
_
_
_
_
_
_
_
+

2
1
(41)
Newmarks Method
30
Next, Eqs. (40) and (41) are substituted into incremental equation of motion:
i i
p u k

=
(42)
This substitution gives
(43)
With and known from the system proprties and ,
Algorithm parameter and , and the and at the beginning
Of the time step, the incremental displacement is computed from
( )
m
t
c
t
k k
2
1

+ =

(44)
i i i i
p u k u c u m = + + & & &
where
i i i i
u c t m u c m
t
p p & & &
_
_
_
_
_
_
_
_
_
_
_
_
_
_
+ +
_
_
_
_
_
_
_
_
+

+ = 1
2 2
1 1

(45)
k

i
p k m, c

i
u&
i
u& &
i i i i
u b u a p p & & & + + =
(46)
Newmarks Method
31
k
p
u
i
i

= (46)
Once is known, and can be computed from Eqs.(41) and
(40), respectively, and and from Eq.(38)
(47)
i
u&
i
u
i
u& &
1 1
,
+ + i i
u u &
1 + i
u& &
The acceleration can also be obtained from the equation of motion at
1 + i
t
m
ku u c p
u
i i i
i
1 1 1
1
+ + +
+

=
&
& &
Rather than by Eqs.(40) and (38). Equation (47) is needed to obtain to
Start the computation [see Eq. (23)]
0
u& &
32
Newmarks Method Procedures (Special Cases)
Average Acceleration
Linear Acceleration
_
_
_
_
_
_
= =
4
1
,
2
1

_
_
_
_
_
_
= =
6
1
,
2
1

1.0 Initial calculation
1.1
m
ku u c p
u
0 0 0
0

=
&
& &
1.2 Select
1.3
1.4
( )
m
t
c
t
k k
2
1

+ =

t
c t m b and c m
t
a
_
_
_
_
_
_
_
_
+ = +

= 1
2 2
1
;
1

33
Newmarks Method Procedures (Special Cases)
2.0 Calculation for each time step
2.1
2.2
2.3
2.4
i i i i
u b u a p p & & & + + =
k
p
u
i
i

=
i i i i
u t u u
t
u & & & &
_
_
_
_
_
_
_
_
+

2
1
( )
i i i i
u u
t
u
t
u & & & & &

2
1 1 1
2

=
i i i i i i i i i
u u u u u u u u u & & & & & & & & & + = + = + =
+ + + 1 1 1
2.5
3.0 Repetition for the next time step. Replace by and
implement step 2.1 to 2.5 for the next time step
1 + i i
34
Newmarks Method (Special Cases)
Newmarks method is stable if
For ,indicates that the linier acceleration method is
Stable if
2
1
2
1

n
T
t
t
_
_
_
_
_
_
= =
4
1
,
2
1

n
T
t
This implies that the average acceleration method is stable for any
_
_
_
_
_
_
= =
6
1
,
2
1

For this condition becomes
551 . 0

n
T
t
35
Example
Average Acceleration _
_
_
_
_
_
= =
4
1
,
2
1

1.0 Initial calculation
1.1 0
0 0 0
0
=

=
m
ku u c p
u
&
& &
1.2 Select
1.3
1.4
( )
5 . 114
4 2

2
=

+ = m
t
c
t
k k
1 . 0 = t
5066 . 0 2 ; 45 . 10 2
4
= = = +

= m b and c m
t
a
0 0 1592 . 0 10 2533 . 0
0 0
= = = = = u u c k m &
36
Example
2.0 Calculation for each time step
2.1
2.2
2.3
2.4
i i i i i i i
u u p u b u a p p & & & & & & 5066 . 0 45 . 10 + + = + + =
5 . 114

i i
i
p
k
p
u

=

=
i i i i i
u u u u
t
u & & & 2 20 2
2
=

=
( )
( ) ( )
i i i i i i i
u u u u u t u
t
u & & & & & & & & 2 1 . 0 400 2
4
2
=

=
i i i i i i i i i
u u u u u u u u u & & & & & & & & & + = + = + =
+ + + 1 1 1
2.5
3.0 Repetition for the next time step. Replace by and
implement step 2.1 to 2.5 for the next time step
1 + i i
37