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t p(τ)
If the applied-loading function is integrable, the dynamic response of the structure can be
evaluated by the formal integration of Eq. (B-2) or (B-5). In many practical cases,
however, the loading is known only from experimental data, and the response must be
evaluated by numerical processes. For such analyses it is useful to note the trigonometric
identity, sin (ωt- ωτ) = sin ωt cos ωτ - cos ωt sin ωτ, and to write Eq. (B-2) in the form
(zero initial conditions being assumed)
t t
1 1
x(t ) = sin ωt ∫
mω 0
p ( τ ) cos ωτ dτ − cos ωt
mω ∫0
p ( τ ) sin ωτ dτ
or
v(t ) = A(t ) sin ωt − B(t ) cos ωt (B-6)
t
1
mω ∫0
where A(t ) = p( τ ) cos ωτ dτ
t
1
mω ∫0
B(t ) = p ( τ ) sin ωτ dτ (B-7)
in which y(τ) = p(τ) cos ωτ and 1/ ζ ∑ζA represents the numerical summation process, the
specific form of which depends on the order of the integration approximation being used.
For three elementary approximation procedures, the summations are performed as
follows:
p(τ)
p3
p0 p1 p2
p4 p5 p6 τ
cosωτ
τ
Δτ Δτ Δτ Δτ Δτ Δτ
p(τ)cos ωτ
=y(τ)
y3
y0 y1 y2 τ
y4 y5 y6
∑ (t ) =y
1
0 + y1 + y2 + + y N −1 (B-9a)
∑ (t ) =y
2
0 + 2 y1 + 2 y2 + + 2 y N −1 + y N (B-9b)
∑ (t ) =y
3
0 + 4 y1 + 2 y2 + + 4 y N −1 + y N (B-9c)
v
W=96.6 k
p(t)
96.6 k
p(t)
k=2,700 k/ft t
0.025 s 0.025 s
fs Loading history
Figure B-3 Water tower subjected to blast load.
time t - Δτ.
The evaluation of the term B (t) can be carried out in exactly the same way, that
is,
∆τ 1 B
B(t ) =
mω ζ ζ
∑ (B-11)
kg 2,700(32.2) 2π
ω= = = 30rad / s T= = 0.209 s
W 96.6 ω
The time increment used in the numerical integration was Δτ = 0.005 s, which
corresponds to an angular increment in free vibrations of ωΔτ = 0.15 rad
(probably a longer increment would have given equally satisfactory results). In
this undamped analysis, the Simpson's rule summation was used; hence the factor
ζ = 3 was used in Eqs. (B-10) to (B-12).
A hand solution of the first 10 steps of the undamped response is
presented in a convenient tabular format in Table 1, pg. 8. The operations
performed in each column are generally apparent from the labels at the top. ΔĀ
and Δ B represent the summing of column 7 (or column 12) by groups of three
terms, as indicated by the braces. Column 17 is the term in square brackets of Eq.
(B-12), and the displacements given in column 18 were obtained by multiplying
column 17 by G=Δτ/mωζ. The forces in the last column are given by fs = kv(t). It
should be noted that this is slide-rule work, so that the final results, which involve
differences of large numbers, are rather rough.
Since the blast loading terminates at the end of these 10 time steps, the
values of Ā and B remain constant after this time. If these constant values of the
integrals designated Ā* and B *, the free vibrations which follow the blast loading
are given by [see Eq. (B-6)]
∗ ∗
x(t ) = A sin ωt − B cos ωt
[ ∗ ∗
]
1/ 2
and the amplitude of motion is vmax = ( A ) 2 + ( B ) 2 .
The Duhamel integral could easily have been evaluated by formal integration for
this simple form of loading, but the advantage of the numerical procedure is that it
can be applied to any arbitrary loading history, even where the loads have been
determined by experiment and cannot be expressed analytically.
The derivation of the Duhamel integral equation which expresses the response of a
damped system to a general dynamic loading is entirely equivalent to the undamped
analysis except that the free-vibration response initiated by the differential load impulse
p(τ)dτ is subjected to exponential decay. Thus setting x(0) = 0 and letting x (0) =
[p(τ)dτ]/m in equation B-6 leads to
−ξ ( t −τ ) p (τ ) dτ
dx(t ) = e (1) sin ω D (t − τ ) t>τ (B-13)
mω D
in which the exponential decay begins as soon as the load is applied at time t = τ.
Summing these differential response terms over the entire loading interval then results in
t
1
x(t ) =
mω D 0 ∫ p (τ ) e −ξω (t −τ ) sin ω D (t − τ ) dτ (B-14)
Comparing Eq. (B-14) with the convolution integral of Eq. (B-3) shows that the
unit-impulse response for a damped system is given by
1 −ξω(t −τ )
h(t − τ ) = e sin ωD (t − τ ) (B-15)
mωD
For numerical evaluation of the damped-system response, Eq. (B-14) may be
written in a form similar to Eq. (B-6):
x(t ) = A(t ) sin ω D t − B(t ) cos ω D t (B-16)
Where, in this case,
eξωτ
t
1
mωD ∫0
A(t ) = p ( τ ) cos ωD τ dτ
eξωt
eξωτ
t
1
mωD ∫0
B (t ) = p (t ) sin ωD τ dτ (B-17)
eξωt
The B(t) term is given by similar expressions involving the sine functions.