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k
F(t)
m
T = kx F(t) ma = m&x&
m
= m
m &x& + k x = F(t )
F(t ) = 0
m &x& + k x = 0
7/29/2005 Dynamic Analysis 5
Let :
k
ω =2
m
Then :
&x& + ω x = 0
2
τ
xm
d̂1x 1 2 d̂ 2 x
x̂
f̂ e
1x (t ) f̂ e
2x (t )
L
E - modulus of elasticity
A - cross-sectional area
ρ - mass density
{} ⎧ d̂ 1x ⎫
d̂ = ⎨ ⎬
⎩d̂ 2 x ⎭
{σ} = [D ]{ε x } = [D ][B ]{d̂}
7/29/2005 Dynamic Analysis 12
Step 4 - Derive Element
Stiffness and Mass Matrices
and Equations
f̂1x ≠ f̂ 2 x
∂ d̂1x 2
f̂ = f̂1x + m1
e
1x
∂t 2
∂ d̂ 2 x 2
f̂ e
2x = f̂ 2 x + m 2
∂t 2
ρAL
m1 =
2
ρAL
m2 =
2
7/29/2005 Dynamic Analysis 16
Lumped Mass Model
d̂1x 1 2 d̂ 2 x
m1 x̂ m2
f̂1ex (t ) f̂ 2ex (t )
L
f̂ (t ) = k̂ d̂ + [m̂ ] d̂
e &&
{ } &&
X = −ρ û
e
{}
{f b } = ∫∫∫ [N ] {X} dV
T
{f b } = − ∫∫∫ ρ[N ] T
{}
&û& dV
V
{û} = [N ] d̂
&û = [N ] d̂&
&û& = [N ] d̂
&&
7/29/2005 Dynamic Analysis 22
Consistent Mass Matrix
{f b } = − ∫∫∫ ρ[N ] [N ] d̂ dV
&& T
{}
{}
V
{f b } = −[m̂ ] d̂
&&
⎧1 − x̂ ⎫
⎪ L ⎪ ⎡ x̂
[m̂ ] = ∫∫∫ ρ⎨ x̂ ⎬ ⎢1 − x̂ ⎤ dV
V ⎪ ⎪⎣ L L ⎥⎦
⎩ L ⎭
L ⎧1 −
x̂ ⎫
⎪ L ⎪ ⎡ x̂
[m̂ ] = ρ A ∫ ⎨ x̂ ⎬ ⎢1 − x̂ ⎤ dx̂
0 ⎪ ⎪⎣ L L ⎥⎦
⎩ L ⎭
7/29/2005 Dynamic Analysis 24
Consistent Mass Matrix
Bar Element
⎡ ⎛
L ⎜1 −
x̂ ⎞ ⎛ − x̂ ⎞ ⎛⎜1 − x̂ ⎞⎟⎛⎜ x̂ ⎞⎟ ⎤
⎢⎝ L ⎠⎝ L ⎟⎠ ⎟ ⎜ 1
⎝ L ⎠⎝ L ⎠ ⎥ dx̂
[m̂ ] = ρ A ∫ ⎢ ⎥
⎛
0 ⎢ ⎜1 −
x̂ ⎞ ⎛
⎟⎜ ⎟
x̂ ⎞ ⎛⎜ x̂ ⎞⎟⎛⎜ x̂ ⎞⎟
⎥
⎣ ⎝ L ⎠⎝ L ⎠ ⎝ L ⎠⎝ L ⎠ ⎦
ρ A L ⎡2 1⎤
[m̂ ] = ⎢ ⎥
6 ⎣1 2⎦
[m ] = ∫∫∫ ρ[N ] [N ] dV T
ŷ , v̂
φ̂ 1 , m̂ 1
1 x̂ 2 φ̂ , m̂
2 2
L
f̂1y , d̂ 1y f̂ 2y , d̂ 2y
N1 =
L3
1
(2x̂ − 3x̂ L + L )
3 2 3
N2 =
L
1 3
3
(x̂ L − 2x̂ 2 L2 + x̂L3 )
N3 =
L
1
3
(− 2x̂ 3 + 3x̂ 2 L )
N4 =
L
1 3
3
(x̂ L − x̂ L )
2 2
N1 N3
0.500
N2
L
0.000
0 N4
-0.500
⎡1 0 0 0 ⎤
⎢ αL 2
⎥
m ⎢ 0 0 0 ⎥
[m] = ⎢0 210
0 1 0 ⎥
⎥
2⎢
⎢0 αL ⎥
2
0 0
⎢⎣ 210 ⎥⎦
⎡Q 0 ⎤
[m] = ⎢ ⎥
⎣ 0 Q ⎦
⎡1 0 0⎤ u 1
m⎢ ⎥
[Q] = ⎢0 0 1⎥ u 2
3
⎢⎣0 0 1⎥⎦ u 3
⎡Q 0 ⎤
[m] = ⎢ 0 Q ⎥
⎢⎣ ⎥⎦
⎡4 2 1 2⎤
⎢2 4 ⎥
[Q] = m ⎢
2 1⎥
36 ⎢1 2 4 2⎥
⎢ ⎥
⎣2 1 2 4⎦
m = ρAt
m = ρAL
ρAL
s = 312 ×
420
m = 420
s 312
⎡ 420 ⎤
⎢ 312 × 156 0 0 0 ⎥ ⎢ 39 ⎥
⎢ 420 ⎥ ⎢ ⎥
⎢ 0 × 4 L2 0 0 ⎥ ⎢ L2
⎥
m ⎢ m
[m̂ ] = 312 ⎥= ⎢ ⎥
420 ⎢ 420 ⎥ 78 ⎢ 39 ⎥
⎢ 0 0 × 156 0 ⎥
312 ⎢ ⎥
⎢ ⎥ ⎢
⎣ ⎥⎦
2
⎢ 420 2 ⎥
L
0 0 0 × 4L
⎢⎣ 312 ⎥⎦
3 1
76 36
16 8
76 36
3x3 2x2
Gauss Rule Gauss Rule
1 1
36 36
4 16 16 4
36 36 36 36
3x3 2x2
Gauss Rule Gauss Rule
L
J=
2
L ⎡1 4 1 ⎤
m ij = ρA (1 − (− 1))⎢ N i (− 1)N j (− 1) + N i (0)N j (0 ) + N i (1)N j (1)⎥
2 ⎣6 6 6 ⎦
i ≠ j m ij = 0
⎡1 0 0⎤ 1 3 2
ρAL ⎢ ⎥
[m] = ⎢ 0 1 0⎥
6
⎢⎣0 0 4⎥⎦
7/29/2005 Dynamic Analysis 52
Serendipity
1
−
12
1
3
1
36
4 1
9 9
0 .5 % ≤ ξ ≤ 5 % Steel Piping
2% ≤ ξ ≤ 15% Bolted or riveted steel structures
2% ≤ ξ ≤ 15% Reinforced or Prestresses Concrete
[C] = α [K ] + β [M ]
7/29/2005 Dynamic Analysis 63
Rayleigh or Proportional
Damping
[C] is orthogonal damping matrix.
Modes may be uncoupled by eigenvectors
associated with undamped problem.
1⎛ β⎞
ξ = ⎜αω− ⎟
2⎝ ω⎠
{D} = {D }sin ωt
{D& } = ω{D }cos ωt
{D&& } = − ω {D }sin ωt
2
{D } amplitudes of nodal d - o - f
ω circular frequency
ω
f = ( Hz )
2π
7/29/2005 Dynamic Analysis 66
Results in generalized eigenproblem
[K ] − λ [M ] ≠0
{D } = 0
[K ] − λ[M ] =0
{D} ≠ 0
λ=
{D} [K ]{D}
T
{D} [M ]{D}
T
[K ] symmetric
[M ] positive definite
{D} th
approximat ion to i eigenvector
λ approximat ion to i eigenvalue
th
{v } [K ]{v }
T
λ min ≤ ≤ λ
{v } [M ]{v }
T max
{D } [M ]{D } = 0
T
i j
{D } [K ]{D } = 0
T
i j
{D } [C ]{D } = 0
T
i j
i≠j
7/29/2005 Dynamic Analysis 76
{D } [M ]{D } = 1
T
i i
{D } [K ]{D } = ω
T
i i
2
i
{D } [C ]{D } = 2 ξ ω
T
i i i i
& & 2
[ ]
[I ]{Z }+ [ξ ]{Z }+ ω {Z } = {p}
&
[φ ] T
[M ][φ ]{Z }+ [φ ] [C ][φ ]{Z& }
&& T
+ [φ ] [K ][φ ]{Z } = [φ ] {R }
T T ext
[φ ]{Z& ( 0 ) } = {D& (0 )}
[φ ]{Z ( 0 ) } = {D (0 )} given
[φ ] [M ][φ ] = [I ]
T
[φ ] [C ][φ ] = [ξ ]
T
[φ ] [K ][φ ] = [ω ]
T 2
& & 2
[ ]
[I ]{Z }+ [ξ ]{Z }+ ω {Z } = {p}
&
[I ]{Z }+ [ξ ]{Z }+ ω {Z } = {Z }
&& & 2
[ ]
&Z& + 2 ξ ω Z & + ω 2 Z = p i = 1, n
i i i i i i
[I ] {Z ( 0 ) } = [φ ] [M ]{D& (0 )}
& T
{Z ( 0 ) } = [φ ] [M ]{D& (0 )}
& T
{Z ( 0 ) } = [φ ] [M ]{D (0 )}
T
m << n eq
m
{D} = ∑ {φ}i Z i
i =1
e( t ) =
{R } ext
& & 2
[ ]
[I ]{Z }+ [ξ ]{Z }+ ω {Z } = {p}
&
{D } = [K ] −1
{R }− [K ] ([M ][φ ]{Z&& }− [C ][φ ]{Z& })
ext −1
[M ][φ ] = [φ ] −T
[φ ] [K ][φ ][ω ] = [I ]
T 2 −1
[K ][φ ][ω ] = [φ ] [I ] = [φ ]
2 −1 −T −T
[φ ][ω ] = [K ] [φ ]
2 −1 −1 −T
&Z& + 2 ξ ω Z& + ω2 Z = p i = 1, n
i i i i i i
⎛ ⎡ K mm K ms ⎤ ⎡ M mm M ms ⎤ ⎞ ⎧⎪ D m ⎫⎪ ⎧⎪ 0 ⎫⎪
⎜⎢ ⎥ − λ⎢ ⎥ ⎟⎨ =
⎜ ⎢ KT ⎬ ⎨ ⎬
⎝ ⎣ ms K ss ⎥⎦ ⎢⎣ M ms
T
M ss ⎥⎦ ⎟⎠ ⎪⎩ D s ⎪⎭ ⎪⎩ 0 ⎪⎭
Basic Assumption:
For lowest frequency modes the inertial
forces on slave d-o-f are less important
than elastic forces transmitted by master
d-o-f. Thus we ignore all mass except Mmm
⎛ ⎡ K mm K ms ⎤ ⎡ M mm 0 ⎤ ⎞ ⎧⎪ D m ⎫⎪ ⎧⎪ 0 ⎫⎪
⎜⎢ ⎥ − λ⎢ ⎥ ⎟⎨ =
⎜ ⎢ KT ⎬ ⎨ ⎬
⎝ ⎣ ms K ss ⎥⎦ ⎢⎣ 0 0 ⎥⎦ ⎟⎠ ⎪⎩ D s ⎪⎭ ⎪⎩ 0 ⎪⎭
{D } = − [K ] [K ] {D }
s ss
−1
ms
T
m
⎧⎪ D m ⎫⎪
⎨ ⎬ = [T ]{D m }
⎪⎩ D s ⎪⎭
⎡ I ⎤
[ T ] = ⎢ −1 T ⎥
⎢⎣ − K ss K ms ⎥⎦
( [K r ] − λ [M r ] ){D m } = {0}
[K r ] = [T ] [K ][T ]
T
[M r ] = [T ] [M ][T ]
T
[C r ] = [T ] [C ][T ]
T
{R r } = [T ] {R }
ext T ext
{D }
s i
= − [K ss − λ i M ss ]
−1
[K T
ms − λiM T
ms ]{D }
m i