12 DYNAMIC ANALYSIS 12.1 DYNAMIC EQUATIONS OF MOTION In dynamic problems the displacements, velocities, strains, stresses, and loads are all time dependent. The procedure involved in deriving the finite element equations of a dynamic problem can be stated by the following steps: Step 1: Idealize the body Into £ finite elements. Step 2: Assume the displacement model of element as . ule.y.2.8) . Glewe) =) element) b= IN(ey. 28) (a24y way.) where is the vector of eisplacements, [N] is the matrix of shape functions. and Q' is the vector of nodal displacements that is assumed to be a function of time ¢ Step 3: Derive the clement characteristic (stifiness and mass) matrices and character- istic (load) vector, From Eq. (12.1), the strains cau be expressed as = (Be (12.2) and the stresses as = (Die = (D156 (23) By differentiating Eq, (12.1) with respect to time. the velocity field can be obtained as. hayyst) = (Ma. ys) (2) where Qi? is the vector of nodal velocities. To derive the dynamic equations of motion of a structure, we can use either Lagrange equations {12.1] or Hamilton's principle stated in Section 8.3.2. The Lagrange equations are given by HS}-(}(3B}-m aana2 DYNAMIC ANALYSIS ‘where L=T-7, (126) Js called the Lagrangian function, T is the kinetic energy. ny is the potential energy, R is the dissipation function. Q is the nodal displacement, and Q is the nodal velocity. The kinetic and potential energies of an element “e” can be expressed as rea} [ff roteav 27) and (228) where V‘© is the volume. p is the density, and { is the vector of velocities of element e. By assuming the existence of dissipative forces proportional to the relative velocities, the dissipation function of the element e can be expressed as 5 fff wre (129) Re where 41 can be called the damping coefficient, In Eqs. (12.7)-(12.9). the volume integral hhas to be taken over the volume of the element. and in Bq, (12.8) the surface integral has to be Laken over that portion of the surface of the element on which distributed surface forces are preseribed. By using Eqs, (12.1) (12.3), the expressions for Tm. and R can be written as LE fforrve g (22.10) ¥ f[firoreie|¢ ¥fforrFoas.+ [ffir soav (Pi (t) + RU) + Belt)424 DYNAMIC ANALYSIS By substituting Fags. (12.18)-(12.20) into Eq. (12.5). we obtain the desired dynamic equations of motion of the structure or body as (ales + 1c}Gw + ci = Bee (2a) shore Q is the vector of nodal accelerations in the global system. If damping is nelected, the eqistions of motion can be written as LWl@+{K1G = B (12.22) Steps 6 and 6: Solve the equations of motion by applying the boundary and initial con- ditions. Fqations (12:21) or (12.22) ean be solved by sing any ofthe techniques discussed in Section 7-4 for propagation problems. Once the time history of nodal displacements, Qlt), is known. the time histories of stresses and strains in the elements can be found as in the cage of static problems. Special space tte fte elements have also been developed for the solution of dynamic solid and stractural mechanics problems (122 12.3) 122 CONSISTENT AND LUMPED MASS MATRICES Equation (12.18) for the mass matrix was first derived by Archer (124) and is called ‘the “consistent” mass matrix of the element. It is called consistent because the same displacement model that is used for deriving the element stiffness matrix is used for the derivation of mass matrix. It is of interest 10 note that several dynamic problems have been and are being solved with simpler forms of mass matrices. The simplest form of mass matrix that can be used is that obtained by placing point (concentrated) masses m, ‘at node points # in the directions of the assumed displacement degrees of freedom. The concentrated masses refer to translational and rotational inertia of the element and are calculated by assuming that the material within the mean locations on either side of the particular displacement behaves like a rigid body while the remainder of the element does not participate in the motion. Thus. this assumption excludes the dynamic coupling that exists between the element displacements, and hence the resulting element mass matrix is purely diagonal and is called the “lumped” mass matrix. As an example, consider the pin-jointed bar element that can deform only in the local - direction as shown in Figure 9.1. For a linear displacement model. we have ima" (12.28) where (] 6-)@) (2.20 eo taeCONSISTENT MASS MATRICES IN GLOBAL COORDINATE SYSTEM 425, and w is the axial displacement parallel to the x axis. The consistent mass matrix of the Clement is sven by [ffosroaw FF J] (2.26) where A is the uniform cross-sectional area, and 1 is the length of the element. Thus, the consistent mass matrices, in general, are fully populated. On the other hand, the lumped ‘mass matrix of the element can be obtained (by dividing the total mass of the element equally between the two nodes) as Im"! wpe o . a a ‘The lumped mass matrices will lead to nearly exact results if sinall but massive objects are placed at the nodes of a lightweight structure. The consistent mass matrices will be exact If the actual deformed shape (under dynamic conditions) is contained in the displacement shape functions [N], Since the deformed shape uncler dynamic conditions is not known. frequently the static displacement distribution is used for LN]. Hence. the resulting tras distribution will only be approximate: however. the accnracy is generally adequate for most practical purposes. Since lumped element matrices are diagonal. the assembled or overall ‘mass matrix of the structure requires less storage space than the consistent mass matrix, ‘Moreover, the diagonal lumped mass matrices greatly facilitate the desired computations. 12.3 CONSISTENT MASS MATRICES IN GLOBAL COORDINATE SYSTEM ‘To reduce the computational efort. generally the consistent mass matrices of unassembled cloments are derived in suitable local coordinate systems and then transformed into the slobal system selected for the assembled structure. If fn'"!]. g'"!. and G' denote the ‘mass matrix. nodal displacement vector. and nodal velocity vector in the local coordinate system, the kinetic energy associated with the motion of the element can be expressed as eT tg (12.28) If the element nodal displacements and nodal velocities are denoted as Q! and QI" in the global systein. we have the transformation relations ne (12.29) and ajar (1230) i By substituting Bq, (12:30) into Eg, (12.28). we obtain T= {QUT mi yprig (12.31)426 DYNAMIC ANALYSIS By denoting the mass matrix of the element in the global coordinate system as [41°] the kinetic energy associated with the motion of the element cane expressed as Tie (12.32) Since kinetic energy is a sealar quantity. it must be independent of the coordinate system. By equating Eqs, (12.91) and (12.82). we obtain the consistent mass matrix of the element in the global system as pro (bn IB) (1233) Notice that this transformation relation is similar to the oue used in the case of the element stifness matrix, Not (Tn deriving the element mass matrix from the relation inns [ff osiisi-av (123) the matrix [V] must refer to all nodal displacements even it. the local coordi- nate system. Thus. for thin plates subjected to inplane forces only (membrane elements), the transverse deflection must also be considered (in addition to the inplane displacements considered in the derivation of element stffuess matrices) in formulating the matrix [N) (@) For elements whose nodal degrees of freedom correspond to translational displace- rents only. the consistent mass matrix is invariant with respect co the orientation and position of the coordinate axes. Thus. the matrices (m'!] and [AK] will be the same for pin-jointed bars. membrane elements. and three-dimensional ele- ments such as solid tetrahedra having only translational degrees of freedom. On the other hand, for elements stich ay frame elements and plate bending elements. which have bending stiffness. the consistent mass matrices [y!*'] and [AI‘"!] will be differen, 12.3.1 Consistent Mass Matrix of a Pin-Jointed (Space Truss) Element As in the case of the derivation of stiffness matrix. a linear displacement model is assumed 1s (Figure 12.1) wl) viz) IM) ge (12.35) wif 86 ber wheie oo Foo il ) ofa (0235) oo 008CONSISTENT MASS MATRICES IN GLOBAL COORDINATE SYSTEM 427. “ t Figure 12.1. A Truss Element in Space and Ge= where Qsi-2. Qsi-1, and Qs, are the components of displacement of node i (local node 1) and Qs;~2, Qsy-1, and Qs, ate the components of displacement of node j (local node 2) in the global XYZ system. If the density (p) and cross-sectional area (.1) of the bar are constant, the consistent mass mnatrix of the element ean be obtained as im = tary = fff aati -av Ro ol. bo 20010 _pat ja 0 200.4 12.38) 3 |: 00200 ) oO Loo 20 oo100Q428 DYNAMIC ANALYSIS 12.3.2 Consistent Mass Matrix of a Space Frame Element A space frame element will have 12 degrees of freedom. six deflections. ane six rotations, as shown in Figure 9.6(a). By taking the origin of the local coordinate system at node L the x axis along the length of the element. and the y and = axes along the principal axes of the element cross section. the displacement model can be expressed as ua) v(r} awe! (12.39) oa) — Fe oo 0 hers +0) 0 0 0 ° hae m2 09 0 0 ° he o 0 = 122" 312") oo > eo 0 re ee) oa) shears) 0 wet) "0 sd ae gad” (12.41) ou ‘The consistent mass matrix of the elt J[ffoorvse in the local rye system ean be derived asCONSISTENT MASS MATRICES IN GLOBAL COORDINATE SYSTEM 429 1 a8 se 00 0 0 0 0 1 pa}? 310) io 3 8 18 i B 00 8 0 0 0 n o 8 A 0-8 0 12.42) where p is the density, A is the cross-sectional area, Fis the length. and J is de polar moment of inertia of the element 12.3.3 Consistent Mass Matrix of a Planar Frame Element For the planar frame element shown in Figure 9.11. only axial and inplane bending degrees ‘of freedom will be there and the consistent mass matrix will be 13 Symmersic 013/35 im] ny210 F105, foun o o 13 ao 9/7 Asya 135 0 181/220 Fn =1t/210 F/O, 12.3.4 Consistent Mass Matrix of a Beam Element For a beam bending element. the axial displacement degrees of freedom need not be ‘considered (Figure 9.12) and the consistent mass matrix becomes 186 or Is pat) ar 4st 3 ag | 54 13h 156 — 221 aia) -3F ra aay430 DYNAMIC ANALYSIS ‘The transformation matrices needed for the derivation of element mass matrices in the slobal coordinate system from those given by Eqs, (12.12). (12-43). and (12.4) are given by Eqs. (91) (9.63) and (9.66). respectively If the cross section of the frame (or eant) element is not sana. the effects of rotatory inertia and shear deformation becore important in the dynamic aualysis, The derivation of stfiness and mass matrices of bean elements. including the effects of rotatory inertia and shear deformation, eat be found in Ret. 12.5) and (12.6) 12.3.8 Consistent Mass Matrix of a Triangular Membrane Element By considering all the nine degrees of freedom of the clement (shown in Figure 10.3). linear shape fictions in terms of the local coordinates aad y can he used to express the displacement field as uly) . ving) b= (NIG! (1245) wiry) where M0 0 XM 0 0 XM oO 0 Vong=]o Ma) 0 0 M0 (12.46) y ob NM 0 0 MO OX, with Ns(e.g). Nalaey). and Na(aey) given by Eq. (10.5). and BIH 1 Q5e-2 Qavt se Qa Qa Gay Qua Qari Qa! (i247) ‘The consistent mass matrix of the element (applicable in any coordinate system) can be strand = [fase (124s) By carrying out the necessary integration (in the local zy coordinate system. for bn simplicity), the mass mateis can he derived as o1rootoe 0010010 2001008 0200109) [a] = bn! oo 20010 (12.49) 1002001 w100200 woroo2.0 roo 1002 where f is the thickness of the elementCONSISTENT MASS MATRICES IN GLOBAL COORDINATE SYSTEM = 431, 12.3.6 Consistent Mass Matrix of a Triangular Bending Element For the triangular plate bending element shown in Figure 10.11, the stiffness matrix has been derived in Section 10.7 by assuming the displacement mode! wie) = (i) (1250) where [7] and @ are given by Eqs. (10.61) and (10.62). respectively. By using Eqs. (12.50) ‘and (10.64), the transverse displacement can be expressed as wey «tated a" 25) were [seven by Ea. (1065), Due to rotation of normals tothe mide plan about the » and y axes, any point located at a distance of = from the middle plane will have inplane displacement components given by Be Or Be Oy (12.52) ‘Thus. the three translational displacements can be expressed. using Et (1252), as (1251) and Hh {i 2} hy B tew= quinn) =| abn) Sat w(z.t} “Oy ti) = (mi) bb? gic! sie (1253) FeO ggg 9X1 where On: 0-20 ys 0 anv {205} = che, [O82 2800 'Q1= any? [1.5260 2.0530] _ PAL [61 wn" [ta] DAB fs =i (= Tf 1 ‘Thus, it cam be verified that arinia=[ §] ana "wiia (2) [9 .tbor] ‘The generalized load vector is given by Qi" Flo 1 { 0.8812 1.5260] 0 ga [23 el {a parr {rom}-* ‘The undamped equations of motion. Hq, (12.77). are given by o, E 985)? oO a(S sitorl 1 fase arr {205} which, in seal foo, repre 4 SOME, _ 1526; mt ore = (pane (Ei) (2) (Bs) (es) (Bs) (Es) (Es) () (Bx) (En) (Ex)452 DYNAMIC ANALYSIS. and 2.62 2.003 Ps + ORE, = 2 Fra ins = Gary is) By assuming that all the initial displacements and velocities are zero, we obtain (Psa) so that 0) =4 and jo) =6 (Ess) ‘Thus, the solutions of Eqs. (Ei2) and (Es) can be expressed as [from Bq. (12.97)) i= f senrinentt nar that is, m= (PE) (cos) (see (ss) "aaa fo = (4) (0.7686) | Py(r)sin { 985 (4) a a} dr (xe) and mi= 2 rstepinastt err w= (PE) (etn) [Baas poe (sis) ox afo = (5) “wane frimanforn (2) "e-nber ‘The solutions of Eqs. (Exe) and (Er) for the given loading can be expressed as follows: Fort < te: rate) = 0.38720 ( (a)DYNAMIC RESPONSE USING FINITE ELEMENT METHOD 453 ‘and ray oora n (445) "[renfsase( Ze) af] on For t> to: m(t)=0.38720 Py and mide ourm (Siz) [oof (2) “wrafeonfasee( ts) "4] (Ea) ‘The physic! displacements ae given by G09 = (30) = tat = alors [WP bass] (OH = pa {Se myszos mo} oo Thus, for t< to: t= fae oss {1085 (£,) “1 socnannfoa00( 2) 4] (Eas) uty Fee fos ostaranfios(£)""e}sousesnfsioe(,)" “| (Be) and for € > to a= BE fase {1985 ( £2)" 13} -aasrnon {98 (-52) “*} oars {2300 ( #2)" ap} conan {save ( J)" (Ess)454 DYNAMIC ANALYSIS ce = acon {ase (4)° (=m | os teeGi) soso fun )"v-o esau)" (Es) ‘To determine the average dynamic stresses in the two elements, we use cme) 2 [rau -snaco {sss (£)""} =i ent ena} samo) J] eos we coat (252) 1 ora —soatnon {so (5)"1} emf) fort t (as) lm, m - camino em & srcNONCONSERVATIVE STABILITY AND FLUTTER PROBLEMS 455 12.7 NONCONSERVATIVE STABILITY AND FLUTTER PROBLEMS ‘The stability of nonconservative systems was considered by the finite element method in Refs, (12.8) and [12.9]. The problem of panel Gutter was treated by Olson (12.10) and Kariappa and Somashekar (12.11). The flutter analysis of three-dimensional structures (e-g., supersonic sitcraft wing structures) that involve modeling by different types of finite elements was presented by Rao [12.12, 12.13), Flutter analysis involves the solution of double eigenvalue problem that ean be expressed as [Ix] - 4? [M) + (Qe =6 (12.98) where [K] and [IM] are the usual stiffness and mass matrices. respectively. wis the utter frequency, (Q] is the aerodynamic matrix. and € isthe vector of generalized coordinates. ‘The matrix (Q] isa function of utter frequency w and flutter velocity V, whiel are both unknown. For a nontrivial solution of € the determinant of the coeficient matrix of € must vanish, ‘Thus, the flutter eqiation becomes [IK] -~7[a1] + [Qi] =0 299) Since two unknowns, namely w and V. are in Bq, (12.99). the problem is called a double tigenvalue problem. ‘The details of the generation of aerodynamic matrix (Q] and the solution of Bq, (12.99) are given in Ref. [12.10] and [12.12} 12.8 SUBSTRUCTURES METHOD In the finite element analysis of large systems. the number of equations to be solved for an accurate solution wall be quite large. In such eases. the method of substructures can be used to reduce the number of equations to manageable size. The system (or structure) is divided into a number of parts or segments, each called @ substructure (see Figure 12.6), Bach substructure, in turn, is divided into several finite elements. The element matrix equations of each substructure are assembled to generate the substructure equations. By treating, each substructure as a large element with many interior and exterior (boundary) nodes, and using a procedure known as static condensation (12.14). the equations of the substrac- ture are reduced to a form involving only the exterior nodes of that particular substructure. ‘The reduced substructure equations can then be assembled to obtain the overall system equations involving only the boundary unknowns of the various substructures. The num- ber of these system equations is much less compared 10 the total number of unknowns. ‘The solution of the system equations gives values of the boundary unknowns of each sub- structure. The known boundary nodal values can then be used as prescribed boundary conditions for each substructure to solve for the respective interior nodal unknowns. The concept of substructuring has been used for the analysis of static, dymamic, as well as nonlinear analyses (12.15, 12.16) REFERENCES 121 D.P. Greenwood: Principles of Dynamics, Prentice-Hall. Englewood Clifs, NJ. 1965, 12.2 CL Bajer: Triangular and tetrahedral space-time finite elements in vibration anal- ysis, International Journal for Numerical Methods in Engineering. 25. 2081-2048, 1986.456 123 124 125 126 127 128 DYNAMIC ANALYSIS Circles numbers indicate ‘the boundaries of substructures Figure 12.6. A Large Structure Divided into Substructures CLL. Bajer: Notes on the stability of non-rectangular space-time finite International Journal for Numerical Methods in Engineering, 24. 1721-1739, 1987. IS. Archer: Consistent mass matrix for distributed mass systems, Journal of Structural Division. Proc. ASCE, 89. No. ST. 161-178, 1963, A.K. Gupta: fect of rotary inertia on vibration of tapered beams, International Journal for Numeral Methods 1n Engineering, 23, 871-882, 1986. R.S, Gupta and SS. Rao: Finite element eigenvalue analysis of tapered and twisted lements, Timoshenko beams. Journal of Sound and Vibration, 56, 187-200. 1978. L. Meiroviteh: Analytical Methods in Vibrations, Macmillan, New York, 1967. RS. Barsoum: Finite element method applied to the problem of stability of a ing, &, 03-87, 1971 C.D. Mote and G.Y, Matsumoto: Coupled. nonconservative stability-finite element, Journal of Engineering Mechanics Division, 98, No. EM3, 595-608. 1972. MD. Olson: Finite elements applied to panel flutter. ALAA Journal, 5, 2267-2270, 1967, V. Kariappa and B.R. Somashekar: Application of matrix displacement methods in the study of panel flutter, ALLA Journal. 7, 50-53, 1969. tem, International Journal for Numerical Methods in Engincer-REFERENCES 457 12,12 SS. Rao: Finite element flutter anal Sound and Vibration, 98, 233-244, 1975. 12.13 SS. Rao: A finite clement approach to the aeroclastic analysis of lifting surface type structures, Infernational Symposium on Diserete Methods in Engineering Proceedings, 512-625, Milan, September 1974 12.14 1S, Preemieniecki: Theory of Matrix Structural Analysis, McGraw-Hill, New York. 1968, 12.15 RH. Dodds, Jr., and L.A. Lopez: Substructuring.in linear and nonlinear analysis, International Journal for Numerical Methods in Engineering. 15, 83-597, 1980. 12.16 M. Kondo and G.B. Sinclair: A simple substructaring procedure for finite element analysis of stress concentrations, Communications in Applied Numerical Methods. 4, 215-218, 1985. of maltineb wing structures, Journal of458 DYNAMIC ANALYSIS PROBLEMS Ra 2 123-125, 123 124 125 126 127 Find the solution of Example 12.1 using the lomped mass matrix Find the solution of Example 12.2 using the loraped mass matrix Find the natural frequencies and modes of vibration fr the folowing cases: ne-lement cantilever beam one-clement simply supported beara twovelement simply supported beam by taking advantage of the symmetry bout the midpoint Find the natural frequencies and mode shapes of the rod shown in Figure 127 in axial vibration, ‘Sometimes it is desirable to suppress less important or unwanted degrees of freedom from the orginal system of equations ih wha" nha ie) to reduce the size of the problem to be solved. This procedure. known ‘static condensation or condensation of unwanted do, consists of partitioning Ea. (E1) a8 Ku) Ke x expt peal] pet (2) Kn x xp} axa) gx whore Xz is the vector of unwanted degrees of freedom, Equation (Ea) gives A (Ea) 6 (Ea) [mu]Xi + [Kua)X2 (Kor)Xi + [eal Xe Solving Ba. (Es) for Xo and subntiting the result in Ea. (Es) Yad to the desired condensed st of equations ik) X= B (es) puppet” ped Derive the expressions of [Kt and B aero mee Bea feo 4 é Le pe ei Figure 12.7.. PROBLEMS 459 Length = 100 in.. width = 20 in... depth = 10 in, Din, B= 30x 10° psi, v= 0.3, Py = Pp = 1000 Ib 12.9 Pind the natural frequencies of longitudinal vibration of the stepped bar shown in Figure 12.8 using consistent mass matrices. 12.10 Solve Problem 12.9 using lumped mass 12.11 Find the natural frequencies of longitudinal vibration of the stepped bar shown in Figure 12.9 using consistent mass matrices, 12.12 Solve Problem 12.11 using lumped mass matrices. 12.18 Find the mode shapes of the stepped bar shown in Figure 12.8 correspond ing to the natural frequencies found in Problem 12.9. 12.14 Find the mode shapes of the stepped bar shown in Figure 12.8 correspond ing to the natural frequencies found in Problem 12.10 ists f 7 er £30 x 10° psi, 9 =0.289 btn? Figure 12.8. axe é tsets . a £=90x 10° psi =0.289 tin? Figure 12:460 1215, 1216 war 128 1219 12220 DYNAMIC ANALYSIS (6, 10, 15) in £=30x 10° psi p= 0.289 iin? A=2in? (10,5, 0) in Orthogonalize the mode shapes found in Problem 12.13 with respect to the corresponding, mass matrix. Orthogonalize the mode shapes found in Problem 12.14 with respect to the corresponding mass matrix. Find the consistent and lumped mass matrices of the bar clement shown in Figure 12.10 in the XYZ coordinate system, (a) Derive the stiffness and consistent mass matrices of the two-bar truss shown in Figure 12.1]. (b) Determine the natural frequencies of the truss (using the consistent mass matrix) (a) Derive the lumped mass matsix of the two-bar truss shown in Pigure 12.11 (b) Determine the natural frequencies of the truss (using the lumped ‘mass matrix) The properties of the two elements in the stepped beam shown in Figure 12.12 are given below Element 1: E = 30 x 10° psi. p = 0.283 Ibffin.®, cross section = circular, 2in, diameter Element 2: B= 11x 10° psi, p = 0.1 Ibffin.’, cross section = circular, Lin. diameter Find the natural frequencies of the stepped beam.PROBLEMS 461 = 30x 10° psi ea p= 0283 tir? dia Je we te oe | Figure 12.11,462 DYNAMIC ANALYSIS a “ = @ Element 2 Www = TTT +.» 9 ——_+| —_ Figure 12.12. 1-205 Gpa 3 p= 7EANine t | ie ‘| i tf — = Figure 12.13.PROBLEMS 463 = 30% 10° pst ys03 p= 0.289 tied 3(0.0,19)n 200,501 oy Py (10.10.5) x Figure 12.14, Force (bf) 100 o — Time, (sec) 1 Figure 12.15.464 DYNAMIC ANALYSIS 9, Cross-section: 1" x1" a =0.283 Ibn? 20" ——_ f@ Force (i) 109] ~ Time, t(sec) a + 1t{30e) ©) Figure 12.16. 12.21 Find the mode shapes of the stepped beam considered in Problem 12.20. 12.22 Find the natural frequencies of the triangular plate shown in Pigure 12.1 using the consistent mass matrix. Use one triangular membrane element for modeling, 12.28 Solve Problem 12.22 using the humped mass matrix. 12.24 Consider the tetrahedron element shown in Figure 12.14, Find the natural frequencies of the element by fixing the face 123. 12.25 Consider the stepped bar shown in Figure 12.9. If the force shown in Figure 12.15 is applied along Q;. determine the dynamic response, Q:(0). 12.26 The cantilever beam shown in Figure 12.16(a) is subjected to the force indi- cated in Figure 12.16(b) along the cirection of Qs. Determine the responses Q.(0) and Qa.