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Numerical Evaluation of Dynamic Response

Chopra, Chapter 5

Numerical Evaluation of Dynamic Response

Limitations of Duhamels Integral
Assumes linear function
Closed Form solution not always possible
(specially earthquake loading)
Not generalized solution - for each load, separate
solution; it is not scalable
Hence, we resort to Numerical Integration

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Numerical Evaluation of Dynamic Response

Almost all structural analysis software use
numerical integration.
Numerical solutions can accommodate
nonlinear systems
Solution can be generalized and computerized

Numerical Evaluation of Dynamic Response

Time Stepping Methods
The applied force p(t) is given by a set of discrete values
pi = p(ti), i = 0, 1,2, N. The time interval
ti = ti+1 - ti
is usually taken to be constant, although this is not necessary.

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Numerical Evaluation of Dynamic Response

At any time interval the DEM must be satisfied:
m
 + c
 i + (fs)i = pi
(5.1.3)
where (fs)i is the resisting force at time ti ; (fs)i = kui for a
linearly elastic system but would depend on the prior history
of displacement and the velocity at time ti if the system were
inelastic.
Response at time ti :
 ,
 i , ui must satisfy Eq 5.1.3

Numerical Evaluation of Dynamic Response

Numerical procedures enable us to determine the response
quantities
 i+1 ,
 i+1 , ui+1 at time ti+1 that should satisfy:

m
 i+1 + c
 i+1 + (fs) i+1 = pi+1

(5.1.4)

The known initial conditions, uo = u(0) and
 o =
 0 ,

provide the information to start the procedure.
Requirements for a numerical procedure:

Convergence as the time step decreases, the numerical solution should
approach the exact solution

Stability the numerical solution should be stable in the presence of
numerical round-off errors

Accuracy should provide results that are close enough to the exact
solution

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Numerical Evaluation of Dynamic Response

Three types of time stepping procedure
presented in this chapter:
Methods based on interpolation of the excitation
function
Methods based on finite difference expressions of
velocity and acceleration
Methods based on assumed variation of
acceleration

Numerical Evaluation of Dynamic Response

Method based on interpolation of excitation function

Note:
Linear interpolation is
satisfactory if the time
intervals are short

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Numerical Evaluation of Dynamic Response

Method based on interpolation of excitation function.
Consider undamped case

Eq. 5.2.2
m
 + ku = pi +   

Response within  is the sum of 3 parts:
1. Free vibration due to initial displacement and velocity
at = 0
(Sec. 2.1)
2. Response to step force pi without initial condition
(Sec. 4.3)

3. Response to ramp force (  ) without initial
condition (Sec 4.4)

Numerical Evaluation of Dynamic Response

Evaluate at =  gives

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Numerical Evaluation of Dynamic Response

Recurrence formulas
ui+1 = Aui + B
 i + Cpi + Dpi+1

5.2.5a

 i+1 = Aui + B
 i + Cpi + Dpi+1

5.2.5b

Coefficients A to D can be computed from Eq 5.2.4 a and b.

For underdamped system (<1), the equations can be
modified accordingly. The coefficients for this case are
summarized in Table 5.2.1.
If the time step t is constant, the coefficients need to be
computed only once.

Numerical Evaluation of Dynamic Response

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Numerical Evaluation of Dynamic Response

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3. Compute the theoretical response.

4. Check the accuracy of the numerical results.

Numerical Evaluation of Dynamic Response

Central Difference Method

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Numerical Evaluation of Dynamic Response

Central Difference Method

Numerical Evaluation of Dynamic Response

Central Difference Method

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Numerical Evaluation of Dynamic Response

Central Difference Method

Numerical Evaluation of Dynamic Response

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Numerical Evaluation of Dynamic Response

Central Difference Method

Numerical Evaluation of Dynamic Response

Central Difference Method

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Numerical Evaluation of Dynamic Response

Newmarks Method
Family of Integration Methods all focused on acceleration
Constant

Average

Linear


Numerical Evaluation of Dynamic Response

Newmarks Method

Other combinations of  and  are possible.

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Numerical Evaluation of Dynamic Response

Newmarks Method
The parameters  and define the variation of
acceleration over a time step and determine the
stability and accuracy characteristics of the method.
Typical selection for is and

 #

Numerical Evaluation of Dynamic Response

Newmarks Method

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Numerical Evaluation of Dynamic Response

Newmarks Method
Define the incremental quantities:

Eq. 5.4.1 can be rewritten as:

Numerical Evaluation of Dynamic Response

Newmarks Method

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Numerical Evaluation of Dynamic Response

Newmarks Method

Numerical Evaluation of Dynamic Response

Newmarks Method

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Numerical Evaluation of Dynamic Response

Newmarks Method

Numerical Evaluation of Dynamic Response

Newmarks Method

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Numerical Evaluation of Dynamic Response

Newmarks Method

Numerical Evaluation of Dynamic Response

Newmarks Method

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Numerical Evaluation of Dynamic Response

Newmarks Method

Numerical Evaluation of Dynamic Response

Newmarks Method

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Numerical Evaluation of Dynamic Response

Newmarks Method

Numerical Evaluation of Dynamic Response

Newmarks Method

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Numerical Evaluation of Dynamic Response

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