Chapter 4: Response To Periodic Loading 4.1 Fourier Series Expressions of Periodic Loading

Chapter 4- Periodic loading
Chapter 4: Response to periodic loading

4.1 Fourier series expressions of periodic loading
Periodic loading is the load varying on time t where p x + T p = p ( x )

Periodic loading of period T p can be expressed in a Fourier series
series form
with harmonic loading components at discrete values of frequency.
frequency.
p( x)
Trigonometric form
x
Tp
Tp
Tp
n =1
n =1
p ( t ) = a0 + an cos nt + bn sin nt
(4.1)
Tp
(4.2)
n = n 1 = n
in which
Tp
1 Tp
a0 = 0 p ( t ) dt
Tp
2 Tp
& harmonicharmonic-amplitude coefficients an = 0 p ( t ) cos t dt n = 1, 2,3,...
Tp
can be evaluated by
(4.3)
2 Tp
bn = p ( t ) sin t dt n = 1, 2,3,...
Tp 0
Response is obtained by adding up the responses to the individual

individual
1
harmonic loadings
Undamped systems:
systems: (omitting the transient response term) response by
b 1
a sinesine-wave loading term bn sin 2 n : v ( t ) = n
sin nt (4.4)
Tp
k 1 n 2
2 n
a 1
(4.5)
a cosinecosine-wave term an cos
: v (t ) = n
cos nt
with
Tp
n n
k 1 n 2
(4.6)
v0 = a0 k
(4.7)
1
1
a
a cos nt + bn sin n t )
+
0
2 ( n
k
n =1 1 n
(4.8)
the constant load a0 is the static deflection

Total periodic response:
v (t ) =
For damping system, using (3.17) the total response is given by
v (t ) =

1
1
2
2 an n + bn (1 n ) sin n t
(a0 +
2
2
k
n =1 (1 n ) + ( 2 n )
2
+ an (1 n ) 2 bn n cos n t} )
(4.9)
2
m
k
2
Example 4.1
p (t )
k
2
One-story building system is subjected the periodic load as

shown. This load consists of the positive portion of a simple
sine function having amplitude p0 = 54 kN & the period
Tp = 4 3 T = 1.733 s . Plot the response of system.
p0 sin 2T t
p( t )
Solution:
Determine Fourier coefficients by (4.3)
p0
t
Tp 2
Tp 2
Tp 2
1
an =
Tp
Tp 2
Tp 2
1
bn =
Tp
1
Tp
Tp 2
p0 sin
p
2 t
dt = 0
Tp
n odd
0
2 t
2 n t
p0 sin
cos
dt = p0 1
Tp
Tp
1 n 2 n even
Tp 2
a0 =
p0
2 t
2 n t
p0 sin
dt = 2
sin
Tp
Tp
0
n =1
n >1
Using (4.1)
p (t ) =
p0
2
2
2
1 + sin 1t cos 2 1t cos 4 1t cos 6 1t + ...

2
3
15
35
rad
where 1 = 2 Tp = 2 1.733 = 3.625 s
Using (4.8), total response :
p
v (t ) = 0
k
( k = 180 kN
(a)
cm )
8
1
8
sin 1t + cos 2 1t + cos 4 1t + ...

1 +
7
15
60
(b)
The load (a) & response (b) are plotted as shown

p (t )
The period load (a) (kN)
Response (b) of the building
v ( t ) (cm )
54 kN
Tp = 1.733 s
4
When p ( t ) is of arbitrary periodic form, the integrals in (4.3)

(4.3) must be
evaluated numerically by applying approximate integration
Tp into N equal intervals t = Tp N
Divide the period
Evaluate ordinates of the integrands at discrete values of t = tm = m t

( m = 1, 2,...N ) and denote them by q0 , q1 , q2 .., qN
Then apply the trapezoidal rule of integration
Tp
q
q N 1
p ( t ) dt t 0 + qm + N
2
2 m =1
In practical solutions,
q0 & q N
Tp
can be set to equal to zero

zero
N 1
p ( t ) dt t qm
(4.10)
m =1
The harmonic amplitude coefficients of (4.3) then may be expressed

expressed
a0
2t N
an =
qm
Tp m =1
bn
where
2 p ( tm )
qm = p ( t m ) cos n ( m t ) (4.11)
p ( t m ) sin n ( m t ) 5
Exponential form (Complex form)
Exponential form of (4.1) is obtained by substituting the inverse

inverse Euler
relations
cos n t =
1 int
e + e int
2
into (4.1) & (4.3), we have
and
p(t ) =
sin n t =
Pe
m =
in which
Pn =
1
Tp
It should be noted:
their sum is real.
Tp
p ( t )e in t dt
i n t
i int
e e int
2
n = 0, 1, 2,...
)
(4.12)
(4.13)
Pm & P m are complex conjugate pairs, therefore,
If the loading is expressed in terms of individual harmonics of (4.12),

total response of a damped SDOM can be found by superposition:
- Equation of motion due to unit complex forcing function:
function:
mv( t ) + cv ( t ) + kv ( t ) = 1.e i t
- SteadySteady-state solution has the following form
v ( t ) = H ( ) e i t
where H ( ) , the complexcomplex-frequencyfrequency-response function, can be

obtained by differentiating and substituting into EoM:
EoM:
2
H ( ) ( i ) m + ( i ) c + k e i t = e i t
H ( ) =
Complex-frequencyresponse-function
k + 2i + 1
2
(4.14)
Thus, H ( n ) correspondingly to
1
H ( n1 ) =
the n-th term of loading (4.12)
2
k n + 2i n + 1
with n = n1 can be written as
where
1 =
2
Tp
1 =
H n H ( n1 ) =
n =
n1
= n1
k n2 12 + 2in1 + 1
(4.15)
(4.16)
H n expresses the harmonic response due to a unit harmonic loading
at the frequency n
From principle of superposition, the
total steadysteady-state response to any
periodic function can be written as
Chapter 5- Impulsive loading
p (t )
v (t ) =
1
H n Pne in1t (4.17)
7
2 n=
Chapter 5: Response to impulsive loading

5.1 General nature of impulsive loading
Impulsive load consists of

- a single principal impulse that is typically large in magnitude
- generally is of relatively short duration t1
t Maximum response, including displacements, velocity,
t1
acceleration, will be reached in a very short time.
So, damping forces absorb less energy from structure & have much
much less
importance. In order to simplify, only undamped response are consider
The response is divided into two phases corresponding to
- first, the forcedforced-vibration phase in the loading interval ( 0 t t1 )
- second, the freefree-vibration phase ( t t1 )
Maximum response by impulse loading depends only on the ratio of
impulse duration t 1 to natural period T of structure, i.e on t1 T
Maximum response vmax is not strongly
influenced by shape of loading but rather
depends mainly on magnitude of the impulse:
impulse:
t1
I = p ( t ) dt
0
Impulsive or shock loads are of importance in

design of vehicles such as trucks, traveling cranes
5.2 SineSine-wave impulse

The response is divided into two phases corresponding to
p0 sin t
p (t )
Phase I ( 0 t t1 ) : Structure is subjected to harmonic

loading starting from rest. Response consisting of
steady & transient terms is (from (3.19))
p0
v (t ) =
t
t
t1
Phase 1
Phase 2
p0 1
( sin t sin t )
k 1 2
(5.1)
Phase II ( t = t t1 0 ) : Free vibration depends on v ( t1 ) & v ( t1 ) at the

end of Phase I.
v ( t = 0) = v ( t1 )
Like (2.19) :
v(t ) =
&
v ( t1 )
v ( t = 0) = v ( t1 )
(5.2)
sin t + v ( t1 ) cos t
(5.3)
Depend on the ratio t1 T the maximum value of response occurs

occurs in
Phase I or Phase II.
- If
vmax in Phase I t < t1 = , from (5.1):
dv ( t ) p0 1
=
( cos t cos t ) = 0
dt
k 1 2
cos t = cos t t = 2 n t ( n = 0, 1, 2,...)

Substitute (5.4) into (5.1), vmax is determined.
, i.e = < 1
n = 1 & sign ((-) in (5.4), we have: t =
Special case,
taking
(5.4)
2
2
=
1+ 1+1
Substituting it into (5.1) gets the peak value.

If
> 1 , i.e > : vmax
will fall just in Phase II,

II, freefree-vibration
response with the initial conditions

(5.1) at t = t1 =
v ( t1 ) & v ( t1 )
determined
determined from
10
v ( 0) =
p0 1
0 sin
2
k 1
& v ( 0) =
This freefree-vibration response,

response, (2.20) :
p0 1
1 cos
2
k 1
v ( t ) = cos ( t )
(5.5)
v ( t1 )
2
p0
2 + 2 cos
with amplitude:
amplitude: =
+ v ( t1 ) =
2
k (1 )

2
(5.6)
Dynamic magnification factor:
D=
vmax
2 1 + cos
=
=
2
p0 k p0 k 1
by using the trigonometric identity
D=
2 (1 + cos ) = 2 cos
cos
2
1
2
(5.7)
11
p (t )
5.3 Rectangular impulse
t1
Phase 1
Phase I 0 t t1 : The load applies suddenly &

remains constant during this phase (step
(step loading)
loading) .
-Particular solution is simply the static deflection:
t
p0
t
Phase 2
v p = p0 k
(5.8)
p0
(5.9)
(1 cos t )
k T
p
From dv ( t ) dt = 0 sin t = 0 t = At t = = : vmax = 2 0
k
2
T
t
(5.10)
1
, we have D = 2 with
Thus, if t t1 , i. e t1
0.5
2
T
Phase II ( t = t t1 0 ) : Like (5.3), freefree-vibration response:
v ( t1 )
v ( t ) = cos ( t )
or
v(t ) =
12
2 12
v ( t ) 2
2
p0 2 2
p
t
2
1
t1 + 1 cos t1 = 0 2sin 1
= vmax =
+ v ( t1 ) = sin
k
T
T
k
T

(5.10)
-General solution at the rest initial conditions: v ( t ) =
Thus,
D=
vmax
t
= 2sin 1
po k
T
with
t1
0.5
T
(5.11)
12
p (t )
p0
5.4 Triangular impulse
Triangular impulse p ( t ) = p0 1 causes response

t1
consisting 2 phases
Phase I ( 0 t t1 ) :
p t
t
v p ( t ) = 0 1
Particular
solution
p ( t ) = p0 1
k t1
t1 t
- At the restrest-initial conditions, general solution:
t1
Phase 1
v (t ) =
Phase 2
dv ( t ) dt = 0 vmax
at
t=
p0 sin t
t
cos t + 1
k t1
t1
p0 arctg t
= 2 1
k
t1
2arctg t1
t1
(5.12)
t1
0.371
T
From (5.12): The condition to occur

maximum response in Phase I:
(5.13)
arctg t1
D = 2 1
t1
(5.14)
13
Phase II
(t
Free-vibration response determined from the

= t t1 0 ) : Free-
initial conditions corresponding at the end of Phase I, i.e at
v ( t = 0 ) = v ( t1 ) & v ( t = 0 ) = v ( t1 )
v ( t1 ) =
v ( t1 )
v(t ) =
sin t + v ( t1 ) cos t with
v t =
( 1)
v t = cos t
Like (2.19):
( )
t = t1 :
p0 sin t1
cos t1
k t1
p0 cos t1
t1
k t1
From (5.5) & (5.6), the amplitude
v ( t )
p
+ 1 = 0
k

2
= v ( t1 )
v
D = max =
p0 k
(1 cos t1 ) + ( t1 sin t1 )
2
t1
(1 cos t1 ) + ( t1 sin t1 )
2
(5.15)
(5.16)
t1
The condition to occur the maximum response in Phase II:
t1
< 0.371
14
T
5.5 Shock or Response Spectra
Dynamic magnification factor, D
Maximum response produced by each type of impulsive loading

depends only on the ratio of impulse duration to natural period
period of
structure, i.e on t1 T
2.5
Rectangular
Half sine wave

2
1.5
Triangular
Useful to plot to magnification factor D

(maximum value of response ratio Rmax )
as a function of t1 T for various forms
of impulsive loading.
0.5
Such plots are called

displacementdisplacement-response spectra
or simply response spectra
0
0
0.2
0.4
0.6
0.8
1.2
1.4
1.6
1.8
t1 T = Impulse duration / Period
Note:
D <
Structure is stiffer, the dynamic effect is greater

It
Its used to predict the maximum effect from a given type of loads.
It
Its used to indicate response of structure to a base acceleration pulse.
15
Response spectra also serve to indicate the response of structure to

an acceleration impulse applied to its base
Effective impulsive loading due to applied
peff ( t ) = mvg ( t )
(5.17)
based acceleration is given by
(5.18)
p0,eff ( t ) = mvg 0
Maximum effective impulsive load is
applied
base
acceleration

vg (t ) =
vg 0 = maximum base acceleration & measured by accelerometers
Dynamic magnification factor D = vmax = vmax = kvmax

for this case is
p0,eff / k
mvg 0 / k
mvg 0
in which only the absolute magnitude of response generally is of interest
Since in undamped system,
D=
t
f s = f I kv max = mvmax
t
kvmax
mvmax
vt
=
= max
mvg 0
mvg 0
vg 0
(5.19)
t
(vmax
: maximum total acceleration of the mass)
Accordingly, response spectrum plots may therefore be used to predict

predict
maximum acceleration response of mass m to an impulsive base
16
acceleration. So the plots are referred to as shock spectra
Example 5.1
A single-story building to triangular blast

load. By using the above response spectrum,
p(t )
determine the maximum response.
Solution: The natural period of structure
Total weight W = 2670 kN
Total lateral stiffness:

k = 17500 kN/cm
Blast load p ( t )
4450 kN
t
t1 = 0.05 s
W
2670
= 2
= 0.078 s
kg
17500 981
t1 0.05
Ratio of impulse duration to
=
= 0.64
natural period becomes:
T 0.078
T=
= 2
From the above response spectrum for triangular

impulsive load, dynamic magnification factor D = 1.33
Maximum displacement will be:
p
1450
v max = D v st = D 0 = 1.33
= 0.038 cm
17500
k
The maximum total elastic force developed in the structure is:
f S ,max = k vmax = 17500 0.332 = 5810 kN

t1 = 0.005 s t1 T = 0.064 D = 0.2
If
For impulse of very short duration, a large part of the load is
17
resisted by the inertia of structure.
5.6 Approximate analysis of impulsiveimpulsive-load response

From study response spectra, 2 general conclusions:
1- For longlong-duration loads,
loads, t1 T > 1 , D depends on the rate of increase
of the load to its maximum value.
For step loads: D = 2 ; for a very gradual increase: D = 1
2- For shortshort-duration,
duration, t1 T < 0.25, vmax depends on the magnitude of impulse
t1
& is not strongly influenced by the form of the load.
I = p ( t ) dt
However, D is quite dependent on the form of impulse.
0
p (t )
From the equilibrium,
t
I = p ( t ) dt
1
f I + f S = p ( t ) mv = p ( t ) kv ( t )
t1
t1
dv
= p ( t ) kv ( t ) m v = p ( t ) kv ( t ) dt
0
dt
2
For small t1 , v ( t1 ) is of the order ( t1 ) v ( t1 ) is neglected.
Thus, approximately
m v p ( t ) dt
t1
1 t1
v = p ( t ) dt = v ( t1 ) v ( 0 )
m 0
18
1 t1
p ( t ) dt = v ( t1 ) v ( 0 )
m 0
1 t1
Since v ( 0 ) = 0,
v ( t1 ) =
p ( t ) dt
v =
(5.20)
The response after termination of loading is the free vibration
v(t ) =
v ( t1 )
v(t ) =
1
m
t1
(5.21)
p ( t ) dt sin t
Example E5.2
Weight W=8900 kN
Lateral Stiffness
k=89.5 kN/cm
Using the approximate formula, consider

response of the SDF one-store building to
impulsive load as shown.
Its physical properties:
total weight W = 222 kN
p0 = 222.5 kN total lateral stiffness k = 89.5 kN cm
p (t )
p0
t , sec
0.1
0.1
19
t1
0.1
Solution:
The natural frequency & period of the system
Weight W=8900
kN
Lateral Stiffness
k=89.5
kN/cm
p (t )
kg
89.5 981
=
= 3.14
W
8900
&
T=
2
= 2s
3.14
Equivalent instantaneous pulse:
p0
I = p ( t ) dt = 44.5 kN
t1
p0 = 222.5kN
t , sec
0.1
0.1
0.1
t1
v(t ) =
Since t1 T = 0.3 2 = 0.15 < 0.25, shortshort-duration,

approximate response is (5.18)
g
981
I sin t =
44.5sin t = 1.56sin t
W
8900 3.14
Maximum response results when
sin t = 1, that is v max = 1.56 cm
Maximum lateral elastic force in the building is
f S ,max = k vmax = 89.5 1.56 = 139.6 kN

The exact v max determined by direct integration of the equation of
motion: 1.53 cm
The error in the approximate result is less than 2%.
20
Thus, the approximate analysis in this case is quite accurate.
10

Chapter 4: Response To Periodic Loading 4.1 Fourier Series Expressions of Periodic Loading

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