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Jiří Máca
List of lectures
2
Finite element method in structural dynamics II
Numerical evaluation of dynamic response
M ΦT mΦ ; C ΦT cΦ ; K ΦT kΦ ; P(t ) ΦT p(t )
(Modal analysis can only be used if the system does not respond into the non-linear range…)
Dynamic response analysis
- The direct solution (using numerical methods) of the NxN system of equations
mu cu ku p(t )
- Numerical methods can also be used within the modal analysis for system with
nonclassical damping
2. TIME-STEPPING PROCEDURE
- Equations of motion for linear MDOF system excited by force vector p(t) or
earthquake-induced ground motion ug (t )
mu cu ku p(t ) or mιu g (t )
initial conditions u(0) u0 and u(0) u0
time scale is divided into a series of time steps, usually of constant duration
t ti 1 ti
pi p(ti ) ui u(ti ) ui u(ti ) ui u(ti )
unknown vectors ui 1 ui 1 ui 1
- Modal equations for linear MDOF system excited by force vector p(t)
J
u t q t Φq(t )
n 1
n n
M q C q K q P(t )
M ΦT mΦ C ΦT cΦ K ΦT kΦ P(t ) ΦT p(t )
M qi C qi K qi Pi M qi 1 C qi 1 K qi 1 Pi 1
unknown vectors qi 1 qi 1 qi 1
3. CENTRAL DIFFERENCE METHOD
1
1 1 2 1 1
xn1 2 M C f n K 2 M xn 2 M C xn1
t 2t t t 2t
K̂ b a
Central difference method
1
1 1
for diagonal M and C, finding an inverse of
t 2 M C
is trivial (uncoupled equations) 2t
time step
conditionally stable method - stability is controlled by the highest frequency
or shortest period TM (function of the element size used in the FEM model)
T
t M
the time step should be small enough to resolve the motion of the structure.
For modal analysis it is controlled by the highest mode with the period TJ
TJ
t
20
the time step should be small enough to follow the loading function –
acceleration records are typically given at constant time increments (e.g.
every 0.02 seconds) which may also influence the time step.
Central difference method
(initial conditions)
for direct solution: delete steps 1.1, 1.2, 2.1 and 2.5
replace (1) q by u, (2) M, C, K and P by m, c, k and p
4. NEWMARK’S METHOD
K̂ fˆn1
Newmark’s method
Kˆ xn 1 fˆn 1 xn 1
for direct solution: delete steps 1.1, 1.2, 2.1 and 2.7
replace (1) q by u, (2) M, C, K and P by m, c, k and p
5. STABILITY AND COMPUTATIONAL ERROR OF TIME INTEGRATION
SCHEMES
TJ
t
TJ
t
Stability and computational error of time integration schemes
(t 0.1Tn )
ag (t ) / g
m
3.10m
0.2 1.2
k 3.10m
m
1.7
3.10m 3.10m
1.0 2.5 3.4 T sec
k
0.30m / 0.30m
1
0 f1 K (1,1) K (1,2) x1 x1 x1
x1 2 M (1,1)
x t x 2 x x
2 n1 0 1 2 n
f K ( 2,1) K ( 2, 2 ) 2 n 2 n 2 n1
M (2,2)
t 2
xn1
1
M (1,1)
f1 K (1,1) * x1n K (1,2) * xn2 2 * x1n x1n1
t 2
x 2
n 1
M (2,2)
f 2 K (2,1) * x1n K (2,2) * xn2 2 * xn2 xn21
Example – direct integration – central difference method
t 2
x 1
n 1
M (1,1)
M (1,1) * an K (1,1) * x1n K (1,2) * xn2 2 * x1n x1n1
t 2
x 2
n 1
M (2,2)
M (2,2) * an K (2,1) * x1n K (2,2) * xn2 2 * xn2 xn21
t 2
x 1
n1
60
60 * an 18640 * x1n 18640 * xn2 2 * x1n x1n1
t 2
xn21
60
60 * an 18640 * x1n 37280 * xn2 2 * xn2 xn21
Example – direct integration – central difference method
t 0.01sec
Example – direct integration – central difference method
t 0.05sec
Example – direct integration – central difference method
Tmin 0.22
t 0.08 sec tcrit 0.07
inaccurate solution
Example – direct integration – central difference method
unstable solution
(unstable solution)
7. ANALYSIS OF NONLINEAR RESPONSE – AVERAGE ACCELERATION
METHOD
(assumption)
1 1
4 ; 2
cont.
M N-R method
tn 1 tn 1 t
HHT method
3 parameters – values for unconditional stability and second-order accuracy:
1
1 4 0.3 0
2
2
the smaller value of α – more numerical damping is introduced to the system
for α = 0 – Newmark’s method with no numerical damping