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and
N
2
imn
*
mn
e E
; H is a (NxN) diagonal
matrix composed with the complex frequency response functions at the discrete frequencies
( ) 1 N , , 2 , 1 , 0 m
T
2
m m
p
m
K
; and T
p
is the extended period. The generic term of H is
( ) ( ) [ ] { }
1
m
2
m m
2 i 1 k H
+ + sgn (4)
where k is the system stiffness;
; m
m
m
is the natural frequency, is the
damping ratio; and is the hysteretic damping factor. It is worthwhile to mention that the
complex frequency response function of Equation 4 can take into account viscous and
hysteretic damping. The discrete frequencies
m
must be considered in accordance with
Tables 1 and 2 where the symmetry of positive and negative frequencies is expressed.
Table 1. Discrete frequencies (N odd) Table 2. Discrete frequencies (N even)
m
m
m
m
0
1
2
0
2
0
1
2
0
2
(N-1)/2
(N+1)/2
N-2
N-1
[(N-1)/2]
[-(N-1)/2]
-2
-
(N/2)-1
(N/2)
(N/2)+1
N-2
N-1
[(N/2)-1]
(N/2)
-[(N/2)+1]
-2
-
3 MATRIX FORMULATION OF TD DYNAMIC ANALYSIS
The TD abalysis is performed through the unit-impulse transfer function h(t) which is the
inverse Fourier Transform of the complex-frequency transfer function ( ) H . Thus, by
definition,
F. Venancio Filho, F.S. Barbosa and A.M. Claret
259.4
( ) ( ) ( )
d e P H
2
1
t h
t i
t
0
(5)
where ( ) P is the FT of the loading p(t).
The discrete form of Equation 5 is
( ) ( )
( )
( ). r s e H
2
h t t h
1 N
0 m
t t i
m sr r s
r s m
(6)
Taking into account that t
s
=st, t
r
= st, and m , and separating the positive and
negative exponents, Equation 6 transforms into
( ) ( ) . e H e
2
h t t h
N
2
irm
1 N
0 m
m
N
2
ism
sr r s
(7)
(NxN) matrices E* and E with generic terms
N
2
ism
*
sm
e E
and
N
2
irm
mr
e E
, respectively,
are now introduced. Considering these matrices and the (NxN) diagonal matrix H whose
generic term is given in Equation 4, the unit-impulse transfer matrix derives from Equation 7
as
E H E h
2
. (8)
Substituting now E* H E from the foregoing equation into Equation 1 and considering that
N
1
2
t
, leads to
p h v t (9)
which expresses the TD response.
The response in the generic time t
s
is, from Equation 9,
( ) ( ) ( ). t t h t p t t h
1 N
0 s
r s r s
(10)
Equation 10 is the discrete form of the convolution equation ( ) ( ) ( ) d t h p t v
t
0
.
Comparing now Equations 1 and 9 and taking into account that
N
2
t
one obtains
e h
t
1
. (11)
F. Venancio Filho, F.S. Barbosa and A.M. Claret
259.5
Equation 11 expresses the relation between the ImFT matrix (analysis in the FD domain) and
the unit-impulse transfer matrix (analysis in the TD domain).
4 CONVERGENCE ANALYSIS
The convergence analysis is presented along two lines. First, it is shown that, when N is
even, there is an imaginary term in the generic response v(t
n
) and then, proven that this term
tends to zero when N tends to infinity. In the sequel a proof is given that, with increasing N,
v(t
n
) converges to the real solution.
The generic response v(t
n
), in the generic time t
n
, is derived from Equation 1 as
( ) ( ) ( )
1 N
0 n
N
mn
2 i
n m
1 N
0 m
N
mn
2 i
n
e t p H e
N
1
t v
. (12)
Taking into account the discrete frequencies of Table 1 (N odd), the first summation
,
_
1 N
0 m
in
Equation 12 is a summation of pairs of complex conjugates whose generic pair is
( ) ( )
1 N
0 n
N
mn
2 i
n m
N
mn
2 i
m , m
e t p H e C
m
(13)
where the subscripts m and m correspond, respectively, to positive and negative frequencies
(Tables 1 and 2).
When N is even (Table 2) a complex term, C
N/2
, associated with the Nyquist frequency,
N/2
, is present in Equation 12. Substituting
2
N
for m in Equation 13 leads to
( ) ( )
1 N
0 n
n 2 / N 2 / N
n cos t p H n cos C . (14)
As N is even the summation in the RHS of Equation 7 can be developed as a summation of
pairs as follows:
( ) ( ) ( ) [ ] ( ) ( ) [ ]
( ) ( ) [ ] ( ) ( ) [ ] , t p t p t p t p
t p t p t p t p n cos t p
1 N 2 N 1 r r
1 N
0 n
3 2 1 0 n
+
+ +
+ + +
K
K
(15)
with r even. All the pairs in the previous equation can be expressed, like the generic one, as
( ) ( ) [ ] ( )
1
1
]
1
,
_
+
+
N
T
t p t p t p t p
p
r r 1 r r
. (16)
F. Venancio Filho, F.S. Barbosa and A.M. Claret
259.6
In the limit, when N tends to infinity, the following result is obtained:
( ) ( ) ( ) 0 t p t p
N
T
t p t p lim
r r
p
r r
N
1
1
]
1
,
_
+
. (17)
Therefore, when N tends to infinity, the central complex term given by Equation 14 tends to
zero.
Consider now the modulus of the terms of the generic pair of Equation 13
( ) ( )
1 N
0 n
n m m m
t p H C C . (18)
where, from Equation 4,
( )
( ) ( )
2 / 1
2
m
2
2
m
m
2 1
1
k
1
H
1
]
1
+ +
sgn
. (19)
The maximum value of ( )
m
H occurs only when one of the discrete frequencies
m
sgn +
. (20)
Taking into that ( )
1 N
0 n
n
t p , Equation 18, tends to zero, according to Equations 15, 16 and 17
and that ( )
m
H , Equation 20, is limited,
m
C and
m
C , Equation 18, tend also to zero.
Therefore v(t
n
), Equation 12, converges to the real solution.
5 CAUSALITY OF THE RESPONSE
The causality of the response is the property that the response at any time t is not influenced
by the excitation at all the times greater than t. With the consideration of Equations (1) and (9)
the causality property corresponds to the lower triangularity of matrices e and h. In order that
h be lower triangular the load p(t
r
) (r>s) should not contribute to the response at time t
s
with is
equivalent to h(t
s
-t
r
)=0 for the r>s. To prove this consider Equation 7 with the exponents
gathered:
( ) ( )
( )
1 N
0 m
N
2
s r im
m sr r s
e H
2
h t t h
. (21)
F. Venancio Filho, F.S. Barbosa and A.M. Claret
259.7
The maximum absolute value of ( )
m
H occurs when, eventually,
m
. Then from
Equation 4:
( ) ( )
2 i k
1
H H
max
m
. (22)
Therefore the following inequality is verified:
( ) ( ) H H
m
. (23)
Introducing this inequality in Equation 21 the modulus
sr
h of h
sr
is expressed as
( )
1 N
0 m
m sr
Z H
2
h
. (24)
where
( ) s r e Z
N
2
) s r ( im
m
>
. (25)
Now the series
m
Z is a geometric one with ratio
( )
N
2
s r i
e Z
and it is proven that it is
absolutely convergent
6
, that is,
( ) 1 Z
Z 1
Z 1
Z Z Z 1
N
N 2
+ + + + L . (26)
On the other hand, from Equation 25, Z
N
=1. Then from Equation 26 the series
n
Z
converges to zero. In consequence, from Equation 25, the terms such as h
sr
(r>s) converge to
zero as N tends to infinity. This conclusion proves finally the causality of the response in the
TD and FD dynamic analysis expressed, respectively, by Equations 9 and 1.
The causality of the response is closely related to the period extension. When the extended
period tends to infinity a causual response is obtained
7
.
6 NUMERICAL EXAMPLES OF CONVERGENCE AND CAUSALITY
The response of a SDOF system to a short duration impulsive load with time duration
t
d
=0.275 sec whose peak is 15kN. The properties of the system are: natural frequency: =5.71
rd/sec; natural period: T=1.1sec; damping ratio =0.10. The response is calculated from
Equation 1 with an extended period given by s 07 . 8
605 . 4
T
p