DYNAMI C OF STRUCTURES

CHAPTER 9
SYSTEMS WI TH DI STRI BUTED MASS
AND ELASTI CI TY
Department of civil engineering, University of North Sumatera
Ir. DANIEL RUMBI TERUNA, MT;IP-U
MODAL ANALYSIS OF FORCED DYNAMIC RESPONSE
We return to the partial diffential equation of simply beam
subjected to force
The displacement is given by a linier combination of the modes:
( )
( )
( )
( )
( ) ) 1 ( ,
, ,
2
2
2
2
2
2
t x p
t
t x u
x m
x
t x u
x EI
x
=

+
_
_
_
_
_
_

Subtituting Eq.(2) in Eq.(1) gives

( ) t x p ,
( ) ( ) ( ) ) 2 ( ,
1
t q x t x u
r
r
r

=
=
( ) ( ) ( ) ( ) ( ) j ( ) ( ) ) 3 ( ,
1 1
t x p t q x x EI t q x x m
r
r
r r
r
r
=

+


=

=
& &
Multiply each term by , integrate it over the length of the beam gives ( ) x
n

MODAL ANALYSIS OF FORCED DYNAMIC RESPONSE

( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) j ( ) ( ) ) 4 ( ,
0
1
0
1
0
dx x t x p dx x x EI x t q dx x x x m t q
L
n
r
r
L
n r
r
r
L
n r

=
& &
This equation can be written as
n r =
By use orthogonality properties of modes, all term left side vanish except
the one term for which . Thus, Eq.(4) becomes
( ) ( ) ( ) j ( ) ( ) ( ) ( ) j ( ) ( ) ) 5 ( ,
0 0
2
0

=

+
L
n n
L
n n
L
n n
dx x t x p dx x x EI x t q dx x x m t q & &
( ) ( ) ( ) ) 6 ( t p t q K t q M
n n n n n
= + & &
where
( ) ( ) j ( ) ( ) ( ) j ( ) ( ) ( ) j dx x x EI x dx x x EI x K dx x x m M
n
L
n n
L
n n
L
n n
2
0 0
2
0
, =

= =

( ) ( ) ( ) ) 7 ( ,
0

=
L
n n
dx x t x p t P
MODAL ANALYSIS OF FORCED DYNAMIC RESPONSE
Equation (6) governs the modal coordinate , and the generalized
properties , , and depend only on the mode .
Thus we have infinite number of equation like Eq.(6), one for each mode. The
partial diffrential equation equation (1) in the unknown fungtion has
been transformed to an infinite set of ordinary diffrential equation (6) in
unknowns .
Once the have been determined, the contribution of the mode to the
displacement is given by:
The generalized mass and generalized stiffness for mode
are related
( ) t x u ,
n
M
n
K
th
n
) 8 (
2
n n n
M K =
( ) t q
n
th
n
n
M
n
K ( ) t P
n
th
n
( ) x
n

( ) t q
n
( ) t q
n
( ) ( ) ( ) ) 9 ( , t q x t x u
n n n
=
th
n
( ) t x u ,
MODAL ANALYSIS OF FORCED DYNAMIC RESPONSE
( ) ( ) ( ) ( ) ) 10 ( , ,
1 1
t q x t x u t x u
n
n
n
n
n

=

=
= =
( ) x u
( ) ( ) ( ) ( ) ( ) ( ) j ) 11 (

= = x u x EI x V x u x EI x M
4. Specialize
The bending moment and shear force at any section along the length of the
beam are related to displacement as follows:
The static relationships apply at each instant of time with replaced by
which is given by Eq.(10). Thus
( ) x u
( ) t x u ,
( ) ( ) ( ) ( ) ( ) ( ) ( ) j ( ) ) 12 ( , ,
1 1


=

= =
n
n n
n
n n
t q x x EI t x V t q x x EI t x M
EXAMPLE
( ) ) ( sin
2
2 2
a
L
x n
x
m
EI
L
n
n n

= =
0
p
L
EI m,
x

0
p
t
SOLUTION
1. Determined the natural frequencies and modes
2. Determined the generalized mass, stiffness and force
( ) ( ) j ) (
2
sin
0
2
0
b
mL
dx
L
x n
m dx x x m M
L L
n n
=
_
_
_
_
_
_
= =

EXAMPLE
( ) ( ) ( ) j ) (
2
sin
3
4 4
2
0
4
4 4
0
c
L
EI n
dx
L
x n
L
n
EI dx x x EI x K
L
n
L
n n

=
_
_
_
_
_
_
=

=

( ) ( ) ( ) ) ( ,
0
0
e p dx x t x p P
n
L
n n
= ==

3. Set up modal equation

The n th modal equation is
( ) ( ) ( )
( ) ( )
( )
n
n
n
n
n
n n n n n
M
p
t q t q or
f t p t q K t q M

0
2
) (
= +
= +
& &
& &
) (
2
3
4 4
2
d
L
EI n
M K or
n n n

= =
EXAMPLE
( ) ( ) ( )
( )
) ( sin cos
0
g
K
p
t B t A t q
n
n
n n n n n

+ + =
( ) 0 0 =
n
q
4. Solved modal equation
If at , and , we get
0 = t
( ) 0 0 =
n
q&
( )
) ( 0
0
h B
K
p
A
n
n
n
n
=

=

Subtituting Eq.(h) in Eq.(g) lead to
( )
( )
( )
( )
) (
2
cos 1
4 4
3
0 0
i
n EI
L p
t
K
p
t q
n
n
n
n
n

= =
Subtituting Eq.(i) in Eq.(10) , we obtained the displacement response
( ) t x u ,
MODAL ANALYSIS OF FORCED DYNAMIC RESPONSE
( )
( )
( ) ) ( sin cos 1
2 / 2
,
1
4 4
3
0
h
L
x n
t
n
L
EI
L p
t x u
n
n
n

=
=
4. Specialiaze for
where
) (
,... 11 , 7 , 3 1
,... 9 , 5 , 1 1
,... 6 , 4 , 2 0
2
j
n
n
n
L
n
_
_
_
_
_
=
=
=
=
_
_
_
_
_
_

2 / L =
Subtituting Eq. (j) in Eq.(h) gives
( )
) ( . ..........
7
sin
2401
cos 1 5
sin
625
cos 1
3
sin
81
cos 1
sin
1
cos 1 2
,
7 5
3 1
4
3
0
k
L
x t
L
x t
L
x t
L
x t
EI
L p
t x u
_
_
_
+

_
_
_
+

MODAL ANALYSIS OF FORCED DYNAMIC RESPONSE

Displacement at mid span is
The displacement for the first mode contribution only can be expressed as
) ( . ..........
2401
cos 1
625
cos 1
3
sin
81
cos 1
1
cos 1 2
,
2
7 5
3 1
4
3
0
l
t t
L
x t t
EI
L p
t
L
u
_
_
_
+

_
_
_
+

=
_
_
_
_
_
_

( ) ) ( cos 1
6 . 48
,
2
1
3
0
m t
EI
L p
t
L
u =
_
_
_
_
_
_
dynamic displacement
amplication factor
Static
displacement
MODAL ANALYSIS OF FORCED DYNAMIC RESPONSE
( )
) ( . ..........
7
sin
49
cos 1 5
sin
25
cos 1
3
sin
9
cos 1
sin
1
cos 1 2
,
7 5
3 1
2
0
k
L
x t
L
x t
L
x t
L
x t L p
t x M
_
_
_
+

_
_
_
+

The bending moment are obtained by subtituting Eq.(h) in Eq.(12)

The bending moment at mid span is
) ( . ..........
49
cos 1
25
cos 1
9
cos 1
1
cos 1 2
,
2
7 5
3 1
2
3
0
o
t t
s
t t L p
t
L
M
_
_
_
+

_
_
_
+

=
_
_
_
_
_
_

MODAL ANALYSIS OF FORCED DYNAMIC RESPONSE

The bending moment for the first mode contribution only can be expressed as
( ) ) ( cos 1
93 . 4
,
2
1
0
p t
EI
L p
t
L
M =
_
_
_
_
_
_
Moment dynamic
amplication factor
Static bending
moment
Solution for by use Duhamel integral
( ) ( ) ( ) ( ) ( )

d t p
m
d t p
m
t q
n
t
n
n
n
t
n
n
= =

sin
1
sin
1
0
0
0
( ) t q
n
( )
( )
( ) j
( )
( ) t
n
p
t
m
p
t q
n
n
t
n
n
n
n

cos 1
2
cos
4 4
0
0 2
0
= =