CE 137 - Chapter 4

Chapter 4 – Response of SDOF Systems to General Dynamic Loads
CE 137 – STRUCTURAL DYNAMICS AND

EARTHQUAKE ENGINEERING
Engr. JJCA / 1st Semester, AY 2016-2017 08/08/2019 10:58 AM
OUTLINE OF PRESENTATION
4.1 Introduction
4.2 Derivation of Duhamel’s Integral
4.2.1 Dirac-Delta Function
4.2.2 Response Due to a Unit Impulse
4.2.3 Response Due to Arbitrary Time-Varying Force
4.3 Duhamel’s Integral
2
OUTLINE OF PRESENTATION
4.4 Response Due to Elementary Forces

4.4.1 Step Force
4.4.2. Ramp Force
4.4.3. Step Force with a Finite Rise Time
4.5 Response Due to Pulse Excitations
3
4.1. INTRODUCTION
 Consider the generalized equation of motion for

SDOF systems:
𝑚𝑢ሷ + 𝑐 𝑢ሶ + 𝑘𝑢 = 𝐹(𝑡) Eq. 4-1
 Dynamic excitations are usually composed of a

series of excitations which are of different
functions of time.
Figure 5-1. Complex dynamic excitation. (Chopra, 1995)

4
4.1. INTRODUCTION
 Solving the equation of motion at different time

intervals will be very difficult to evaluate.
 A general procedure is developed to evaluate
the response for more complex dynamic
excitations.
Duhamel’s Integral
 F(t) will be divided into a series of impulsive

forces having infinitesimal duration.
5
4.1. INTRODUCTION
 The response of the whole system will be the

sum of the individual responses due to these
impulsive forces.
6
4.2. DERIVATION OF DUHAMEL’S INTEGRAL
 Response due to a unit impulse

F
Dirac-Delta Function
 0 if 𝑡 ≠ 𝜏
 (t   )   Eq. 4-2
  if 𝑡 = 𝜏
1/𝜀
  (t   )d  1
t
𝜀 Eq. 4-3
𝜏
Figure 5-2. Impulsive force. (Chopra, 1995)
7

 Figure 5-2 shows a unit impulse which is
represented by a rectangular strip occurring at a
time 𝑡 = 𝜏, with a very short duration of 𝜀.
 Unit impulse is defined as a force occurring at a

very short period of time having a magnitude of
unity
td 1
(t )   F (t )dt  Fdt  1    1 Eq. 4-4
0 
, 1
 0  Eq. 4-5

8

 The generalized equation of motion is given by
𝑚𝑢ሷ + 𝑐 𝑢ሶ + 𝑘𝑢 = 𝐹(𝑡) Eq. 4-6
 For an SDOF system subjected to an impulse

loading, the spring and the damper does not have
enough time to respond. Thus, for a very
infinitesimal duration 𝜀 → 0,
𝑚𝑢ሷ = 𝐹(𝑡) Eq. 4-7
9

 From Newton’s second law of motion,
du
F m Eq. 4-8
dt
 Integrating with respect to time,
td u 2
0
Fdt   mdu
u1
Eq. 4-9
Fdt  mu2 u1   mu

td

0
Eq. 4-10
10

 Integrating with respect to time,
Fdt  mu2 u1   mu
td

0
Eq. 4-11
Unit impulse
 Obtaining instantaneous velocity at t = 𝜏

1 td
u ( )   Fdt
td

0
Fdt  mu ( )
m 0
Eq. 4-12
11

 Assuming that the initial displacement after time
t = 𝜏 will be
u ( )  0 Eq. 4-13
 This impulsive force will create free vibration having

the initial boundary conditions 𝑢(𝜏) and 𝑢(𝜏).
ሶ
12
Figure 5-3. (a) Impulsive force (b) Response due

to a unit impulse (Chopra, 1995) 13

 The response for undamped free vibration is given
by
u (0)
u (t )  u (0) cos n t  sin  n t Eq. 4-14
n
 Substituting the initial boundary conditions at t = 𝜏,

the response h(t = 𝜏) is given by
1  td
h(t   )  u ( )   0 Fdt  sin n t    Eq. 4-15
m n  
Unit impulse response function 14


 The response for damped free vibration is given by
 nt  u (0)  nu (0) 

u(t )  e  u (0)  cos Dt   sin Dt  Eq. 4-16
 D 
 Substitutingthe initial boundary conditions at t = 𝜏,

the response h(t = 𝜏) is given by
1  td Fdt  sin t   
 0
 n ( t  )
h(t   )  u ( )  e Eq. 4-17
m D  D
Unit impulse response function 15

 Response due to arbitrary

time-varying force
 The magnitude of impulse
at time t = 𝜏 is given by
F ( )d Eq. 4-18
 It can be seen previously

that the response u(t) can
be expressed as
u (t )    F (t )dt ht 
 td
Eq. 4-19
 0  Figure 5-4. Response due to arbitrary
force.
16
 Response due to arbitrary time-varying force

 Therefore, at 𝑡 ≥ 𝜏 , the change in deformation
becomes
du (t )  F  d  ht    Eq. 4-20
 Obtainingthe total response of the SDOF System

due to the sum of responses from individual
responses gives
u (t )   F  h(t   )d Eq. 4-21
17
 Response due to arbitrary time-varying force

 This expression is called the convolution integral,
which is used to solve for responses of linear
dynamic systems at certain interval of time.
u (t )   F  h(t   )d Eq. 4-22
 Convolutioncomes from the latin verb convolvere

which means to turn, to return, or to roll around
18
 Substituting the expression of unit impulse

response factor, the integral for undamped
case becomes
F  sin n t   d
1
u (t ) 
mn  Eq. 4-23
 and damped case, Duhamel’s Integral
F ( ) sin  D t   d
1

 n ( t  )
u (t )  e Eq. 4-24
m D
19
4.3. DUHAMEL’S INTEGRAL

 Duhamel’s Integral provides a solution to
obtain response of linear SDOF systems
subjected to arbitrary forces
 This method does not apply to nonlinear

systems
 This method assumes at rest conditions 𝑢 0 =

𝑢ሶ 0 = 0
20
 If there are existing initial boundary conditions,

then for undamped case (damped case is
implicit)
. u (0)
F  sinn t   d
1
u (t )  u (0) cos nt 
n
sin nt 
mn  Eq. 4-25
21

 Linearity and Superposition Principle
 Linearity of Structures
 Dynamic parameters of structures (mass, damping
coefficient and stiffness) are constants or independent
of time.
 Structure is not allowed to

deform beyond the
proportional limit.
𝑚𝑢ሷ + 𝑐 𝑢ሶ + 𝑘𝑢 = 𝐹(𝑡)
Figure 5-6. Stress-strain diagram of steel. 22

 Linearity and Superposition Principle

 Superposition Principle
Recallfrom Properties of Differential Equations:
Given a differential equation in the form of
ay ' 'by 'cy  g ( x) Eq. 4-26
If 𝑦0 (𝑥) is a solution to the differential equation, 𝑦1 (𝑥) is

a solution to 𝑔1 𝑥 , 𝑦2 (𝑥) is a solution to 𝑔2 (𝑥) and so
on, and 𝑔 𝑥 = σ 𝑔𝑖 (𝑥), then
n
y ( x )   yi ( x ) Eq. 4-27
i 0
23
Figure 5-6. Explanation of Convolution Integral. (Chopra, 1995) 24

4.4. RESPONSE DUE TO ELEMENTARY

FORCES
 If the loading time history is an elementary
function, then the displacement can be
obtained exactly by evaluating the Duhamel’s
Integral.
 For not well-defined loading function, the

integral must be evaluated numerically (i.e.
Rectangular Strips, Simpson’s One-Third Rule,
etc.)
25
4.4.1. RESPONSE TO STEP FORCE

 Step Force (Constant Force)
 A force which jumps from zero to a value 𝐹0
 Fo if 𝑡 ≥ 0 Eq. 4-28
F (t )  
 0 if 𝑡 < 0
Figure 4-7. (a) SDOF model (b) force

(Chopra, 1995)
 Can be viewed as a suddenly applied load

26
SAMPLE PROBLEM 4.1
Show that the response of an undamped SDOF

system subjected to a step force 𝐹 𝑡 = 𝐹0 is
given by
u (t )  u st o 1  cos nt 
27
 Using Duhamel’s Integral, the response of an

undamped SDOF system is given by
 2t 
u (t )  ust o 1  cos nt   ust o 1  cos  Eq. 4-29
 Tn 
Figure 4-7. (a) SDOF model (b) graph (c) response at varying damping ratios
of a step force excitation. (Chopra, 1995)
28
 The response is shifted to a new equilibrium

position (which is the static deformation).
 The dynamic deformation is twice than that of a

static deformation.
u0  2ust o Eq. 4-30
29

 Using Duhamel’s Integral, the response of a
damped SDOF system is given by
   
u (t )  u st o 1  e  n t 
cos  D t  sin  D t  Eq. 4-31
    2 
 1 
 Effects of damping
 The system approaches static deformation as 𝑡 → ∞
 The higher the damping, the faster it approaches static
deformation
30
4.4.2. RESPONSE TO RAMP FORCE
 Ramp Force
 Force increases linearly up to some time tr (rise
time) where response is elastic range
F t   Fo
t
Eq. 4-32
tr
Figure 4-8. Undamped (a) SDOF model (b) graph

(c) response of a ramp force. (Chopra, 1995) 31
4.4.2. RESPONSE TO RAMP FORCE

 Using Duhamel’s Integral, the response of an
undamped SDOF system is given by
 t sin nt 
u (t )  ust o    Eq. 4-33
r
t  n r 
t
 The static deformation response varies linearly

with time
 The dynamic response oscillates at the static
deformation response
32
4.4.3. RESPONSE TO STEP FORCE WITH A FINITE

RISE TIME
 Step force occur in seldom in actual conditions
without a finite rise time.
 t
 Fo 𝑡 ≤ 𝑡𝑟
F t    t r Eq. 4-34
 Fo 𝑡 > 𝑡𝑟
Figure 4-9. Undamped (a) SDOF model (b) graph of a step force
33
with a finite rise time. (Chopra, 1995)

RISE TIME
 There are two phases of excitation:
 Ramp Phase / Rise Phase
 Constant Phase
34

RISE TIME
 Ramp Phase
 Theresponse due to the ramp phase is previously
given by the equation
 t sin nt 
u (t )  u st o   , t  tr Eq. 4-35
 tr nt r 
 The structure is initially at rest (equilibrium

conditions).
35

RISE TIME
 Constant Phase
 At t = tr, the lumped mass will have ‘initial boundary
conditions’ and thus will have displacement and
velocity in this time.
 The shift from ramp phase to constant phase will
produce transient vibration.
 Steady-state vibration will be induced by the
constant phase.
36

RISE TIME
 Constant Phase
 The response due to constant phase is given by
u (t r )
u (t )  u (t r ) cos n (t  t r )  sin n (t  t r )  u st o 1  cos n (t  t r ) Eq. 4-36
n
 Solving for ‘initial boundary conditions’ for transient

vibration gives
 sin ntr 
u (tr )  ust o 1   Eq. 4-37
  t 
ust o
n r
u (tr )  1  cos ntr  Eq. 4-38

tr
37

RISE TIME
 Constant Phase
 Substituting ‘initial boundary conditions’ to the
response at constant phase and simplifying by
trigonometric identities gives
 
u (t )  u st o 1 
1
sin nt  sin n (t  tr ), t  tr Eq. 4-39
 nt r 
38

RISE TIME
Figure 4-10. Response of an SDOF system subjected to a step force

39
with a finite rise time at varying tr/Tn ratios. (Chopra, 1995)

RISE TIME
 Observations from the plots
 At tr/Tnratios equal to a whole number, the velocity
at t = tr is zero; the response does not oscillate
during constant phase.
 The response behaves like a static deformation
response.
40

RISE TIME
 Observations from the plots
 At tr = Tn, the response oscillates at the static
deformation response for both ramp phase and
constant phase.
 For smaller tr/Tn ratios, the dynamic response
behaves the same with the response at a sudden
step force.
 For larger smaller tr/Tn ratios, the dynamic response
behaves like a static response.
41

RISE TIME
 The maximum response of the system occurs in
the constant phase and is given by
 
uo  ust o 1  1  cos ntr 
1
 sin ntr 
2 2
Eq. 4-40
 n t r 
 By simplication, the dynamic response factor Rd

is given by
uo sin t r / Tn 
Rd   1 Eq. 4-41
ust o t r / Tn
42

RISE TIME
 Structural engineers are only concerned with
the peak response of structures (static
idealization).
 One way to show the maximum response
(displacement, velocity and acceleration) at
varying natural periods of structures is through
response spectrum (to be discussed more in
depth in Chapter 6).
43

RISE TIME
Figure 4-11. Response Spectrum for a step force with

a finite rise time. (Chopra, 1995) 44

RISE TIME
 Observations from response spectrum:
 At tr/Tn ratios equal to a whole number, the velocity
at t = tr is zero and the dynamic response is equal
to maximum static deformation.
 At tr < Tn/4, the dynamic response is approximately
twice the maximum static deformation, as if the
sructure experiences a sudden step force.
45

RISE TIME
 Observations from response spectrum:
 At tr> 3Tn, the dynamic response is approximately
equal the maximum static deformation, as if the
structure experiences a static force.
46
SAMPLE PROBLEM 4.2

 A one-story building as shown in Figure 4-12 is
idealized as a 12-ft high frame with two columns
hinged at the base and a rigid beam has a natural
period of 1.0 sec. Each column is an American
standard wide flanged steel section W8 x 18. Its
properties are Ix = 69.4 in4 and E = 30,000 ksi.
Neglecting damping, determine the maximum
displacement response of this frame due to a
dynamic force as shown in the figure. Use a)
approximate b) exact dynamic analysis.
47
SAMPLE PROBLEM 4.2
F (t ) u (t ) F (kips)
W8 x 18 50
12 ft
0.2 t, sec
Figure 4-12. Sample Problem 4.2
48
4.5. RESPONSE TO PULSE EXCITATIONS
 Pulse Excitations
 Excitations which are defined only at a given
duration of time 𝑡𝑑 . Free vibration exists after
application of load.
 Examples of Pulses
 Rectangular
 Triangular
 Half-Sine
 Earthquake/Ground Motion
49
 Rectangular Pulse
 Fo if 𝑡 ≥ 0
mu  ku  F (t )   Eq. 4-42
0 if 𝑡 < 0
(a) (b)
Figure 4-13. a) SDOF model b) Rectangular Pulse
Force (Chopra, 1995) 50
 There are two phases of motion:
 Constant Phase
Response is same as that of the suddenly applied step
force, but applied at a very short time 𝑡𝑑 .
u(t )  ust 0 1  cos nt  t  t d Eq. 4-43
 2t 
u(t )  ust 0 1  cos 
Eq. 4-44
 Tn 
51
 FreeVibration Phase: Solving for initial boundary
conditions at 𝑡 = 𝑡𝑑 , we have
u (td )  ust 0 n sin ntd u(td )  ust 0 1  cos ntd  Eq. 4-45
 The equation of free vibration is given by

u (t d )
u (t )  u (t d ) cos n (t  t d )  sin n (t  t d ) Eq. 4-46
n
52
 Substitutinginitial boundary conditions to the free
vibration equation, and simplifying yields
u(t )  ust o cos n t  td   cos nt  Eq. 4-47
53

 Triangular Pulse
  t 

 Fo 1   if 𝑡 ≤ 𝑡𝑑 Eq. 4-48
F (t )    t d 
0 if 𝑡 > 𝑡𝑑

(a) (b)
Figure 4-14. a) SDOF model b) Triangular Pulse Force
(Chopra, 1995; Paz & Leigh, 2004) 54

 Half-Sine Pulse
 Fo sin t if 𝑡 ≤ 𝑡𝑑 Eq. 4-49
F (t )  
0 if 𝑡 > 𝑡𝑑
(a) (b)
Figure 4-15. a) SDOF model b) Half-Sine Pulse Force
(Chopra, 1995) 55
 Earthquake Pulses
𝑢𝑔 (𝑡) = 𝑢𝑔𝑜 sin 𝜔 𝑡
u (t )
k
m
c
Figure 4-16. Model of a structure subjected to support

displacement. (Chopra, 1995)
56
Rewriting the equation of motion in
terms of relative motion displacement 𝑢
gives
mu  ug   cu  ku  0 Eq. 4-50
Simplifying the expression yields

mu  cu  ku  mug  peff Eq. 4-51
57
The expression at the right becomes the
effective earthquake force.
58

 For design purposes, it is the maximum
response that is of our interest, which can be
defined again by the dynamic response factor
Rd.
uo uo uo
* Rd    Eq. 4-52
po / k u st ugo
 Therefore, a shock spectra can be used to
obtain responses given a pulse excitation.
*Valid for accelerations if the system is said to be undamped or conservative.
59
Figure 4-17. Shock Spectra as a function td/Tn. (Paultre, 2010)

60
 This plot can be used for loads located at the

top of the structure (for columns and frames) or
at the support level.
 For ground accelerations, negative sign can be

neglected because of the absolute value sign.
61
 Generally, given an impulse function I, the

maximum deformation is given by
𝐼 2𝜋
𝑢𝑜 = Eq. 4-53
𝑘 𝑇𝑛
62
SAMPLE PROBLEM 4.3

The steel frame shown in Figure 4-18 is subjected to a
horizontal force applied at the girder level. The force is a
rectangular pulse force having 𝐹𝑜 = 5 kips and 𝑡𝑑 = 0.6
sec. Assume that the columns are massless and the
girder is rigid. For a W8x24 section, E = 30,000 ksi,
IW8x24 = 82.8 in4).
Determine the horizontal deflection of the frame:

a.) at t = 0.5 sec
b.) at t = 1.0 sec
63
SAMPLE PROBLEM 4.3
F (t ) W = 20 kips u (t )
W8 x 24
15 ft
5 ft
Figure 4-18. Sample Problem 4.3 64

SAMPLE PROBLEM 4.4

 A water tank full of water weighing 100.03 k is
supported with a tower with a period of 1.12 s,
stiffness of 8.2 k/in and 𝜁 = 1.23%. Determine the
base shear and bending moment at the base of the
tower due to the p(t) shown. Use Trapezoidal Rule.
Figure 4-19. Sample Problem 4.4

65
Engr. JJCA / 2nd Semester, AY 2014-2015 8/8/2019 10:58:37 AM
REFERENCES
 Paultre, P. (2012). Dynamics of Structures.

John Wiley & Sons, Inc.
 Chopra, A. K. (1995) Dynamics of Structures:
Theory and Applications to Earthquake
Engineering. Prentice-Hall.
 Paz, M. & Leigh, W. (2004). Structural
Dynamics – Theory and Computation. 5th ed.
Springer.
66
REFERENCES
 Zafra, Richelle G. CE 137 Structural Dynamics

and Earthquake Engineering Lecture Notes.
University of the Philippines – Los Baños.
67
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CE 137 - Chapter 4

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Chapter 4 – Response of SDOF Systems to General Dynamic Loads

CE 137 – STRUCTURAL DYNAMICS AND

4.4 Response Due to Elementary Forces

 Consider the generalized equation of motion for

 Dynamic excitations are usually composed of a

Figure 5-1. Complex dynamic excitation. (Chopra, 1995)

 Solving the equation of motion at different time

 F(t) will be divided into a series of impulsive

 The response of the whole system will be the

4.2. DERIVATION OF DUHAMEL’S INTEGRAL

 Response due to a unit impulse

4.2. DERIVATION OF DUHAMEL’S INTEGRAL

 Unit impulse is defined as a force occurring at a

4.2. DERIVATION OF DUHAMEL’S INTEGRAL

 Response due to a unit impulse

 For an SDOF system subjected to an impulse

4.2. DERIVATION OF DUHAMEL’S INTEGRAL

 Response due to a unit impulse

Fdt  mu2 u1   mu

4.2. DERIVATION OF DUHAMEL’S INTEGRAL

 Response due to a unit impulse

 Obtaining instantaneous velocity at t = 𝜏

4.2. DERIVATION OF DUHAMEL’S INTEGRAL

 Response due to a unit impulse

 This impulsive force will create free vibration having

4.2. DERIVATION OF DUHAMEL’S INTEGRAL

 Response due to a unit impulse

Figure 5-3. (a) Impulsive force (b) Response due

4.2. DERIVATION OF DUHAMEL’S INTEGRAL

 Response due to a unit impulse

 Substituting the initial boundary conditions at t = 𝜏,

Unit impulse response function 14

4.2. DERIVATION OF DUHAMEL’S INTEGRAL

 Response due to a unit impulse

 nt  u (0)  nu (0) 

 Substitutingthe initial boundary conditions at t = 𝜏,

Unit impulse response function 15

4.2. DERIVATION OF DUHAMEL’S INTEGRAL

 Response due to arbitrary

 It can be seen previously

4.2. DERIVATION OF DUHAMEL’S INTEGRAL

 Response due to arbitrary time-varying force

 Obtainingthe total response of the SDOF System

4.2. DERIVATION OF DUHAMEL’S INTEGRAL

 Response due to arbitrary time-varying force

u (t )   F  h(t   )d Eq. 4-22

 Convolutioncomes from the latin verb convolvere

4.2. DERIVATION OF DUHAMEL’S INTEGRAL

 Substituting the expression of unit impulse

 and damped case, Duhamel’s Integral

4.3. DUHAMEL’S INTEGRAL

 This method does not apply to nonlinear

 This method assumes at rest conditions 𝑢 0 =

4.3. DUHAMEL’S INTEGRAL

 If there are existing initial boundary conditions,

4.3. DUHAMEL’S INTEGRAL

 Structure is not allowed to

Figure 5-6. Stress-strain diagram of steel. 22

4.3. DUHAMEL’S INTEGRAL

 Linearity and Superposition Principle

ay ' 'by 'cy  g ( x) Eq. 4-26

If 𝑦0 (𝑥) is a solution to the differential equation, 𝑦1 (𝑥) is

4.3. DUHAMEL’S INTEGRAL