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Modul 9A

General Dynamic
Loading
Patria Kusumaningrum, ST, PhD
SI 3213 Dinamika Struktur
Fakultas Teknik Sipil dan Lingkungan & Rekayasa Gempa
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Materi Term 2
Mg. Topik Sub Topik
General Dynamic Loading Response of SDOF system excited by impulsive loading. Numerical
9 solution including Duhamel’s & step by step integration method
and Numerical Evaluation
Earthquake Resistant General concept of earthquake resistant buildings and the
10 importance of ductility factor
Building
11 Response Spectrum Analysis Concept and application of Response Spectrum (RS) analysis
Assembling of mass and stiffnes matrix, eigen vectors, eigen
12 MDOF values
MDOF: Modal Superposition
General concept of using modal superposition analysis to
13 Analysis and Normalization determine the responses of MDOF system
Mode of Vibration
General concept of using CQC and SRSS method, to determine the
14 MDOF: Maximum Response responses of MDOF system
General concept and application of Spectrum Response analysis
15 MDOF: RSA and ELF and Equivalent Lateral Force (ELF) procedure.
16 UAS
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General Dynamic Loading

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General Dynamic Loading

F(t)

Time, T

By general loading, it is meant that no simple

mathematical function defines the entire loading history.
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Response to Impulsive Forces

 Response to Simple Force Pulses

 Response to a Step Pulse

 Response to a RectangularPulse

 Response to Half-Sine Pulse

 Response to Half-cycle Force Pulses

 Response to Step force

 Response to Multi-Cycle Force Pulses

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Response to Impulsive Forces
Po
Let the duration of force,td be small compared to P(t)
the natural period of the system

The effect of the force in this case is equivalent to

an instantaneous velocity change without
corresponding change in displacement
t
td << T
The velocity,V0, imparted to the system is obtained
from the impulse-momentum relationship
mV0 = I = Area under forcing function = α P0 td

1 for a rectangular pulse

where , α 2 / π for a half-sine wave
1 / 2 for a triangular pulse
 Pt
0 d
Therefore, V 0=
m
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Response to Impulsive Forces
For an undamped system, the maximum response is determined from as ,

umax  V   P0 td   P0 ktd   (ust )0

0
td
m k m

Therefore, umax  2 ftd(ust )0

umax t
or
 2 ftd  2 d
(ust ) 0 T
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Response to Impulsive Forces

 Damping has much less importance in controlling maximum response of a

structure to impulsive load.

 The maximum will be reached in avery short time, before the damping

forces can absorb much energy from the structure

 For this reason, only undamped response to Impulsive loading is considered.

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Response to Simple Force Pulse
𝑚𝑢̈ + 𝑐𝑢̇ + 𝑘𝑢 = 𝑃(𝑡)
P(t)
𝑃(𝑡)
𝑢̈ + 2𝜁𝜔𝑢̇ + 𝜔 𝑢 =
𝑚
or
𝑢̈ + 2𝜁𝜔𝑢̇ + 𝜔 𝑢 = 𝜔 𝑢 (𝑡)

P(t)
t where, ust (t) 
k
= Static displacement induced by
exciting force at time, t

General Form of solution:

u(t) = u Complimentary/ + uparticular

homogeneous
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SDOF Response to Step Loading
p(t)
p(t) Load Function: constant force
u(t) po p(t) = po
m 𝑝
𝑢 =
t 𝑘
k

SDoF System Without Damping

Maximum displacement :
𝑢 𝑡 = 𝑢 1 − cos 𝜔 𝑡 = 𝑢 1 − cos
2𝜋𝑡
(2) uo  2u st o
𝑇
Normalized displacement :
SDoF System With Damping 𝑢 𝑡
=
𝜉 𝑢
𝑢 𝑡 = 𝑢 1−𝑒 cos 𝜔 𝑡 + sin 𝜔 𝑡 (3)
1−𝜉
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Derivation of Step Loading

𝑃
(1 − cos 𝜔𝑡)
𝑘
2𝑃
𝑘
𝑃
𝑘

𝑡𝑖𝑚𝑒 (𝑠)
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SDOF Response to Step Force
with Finite Rise Time

p(t)
p(t) 𝑝 𝑡/𝑡 𝑡≤𝑡
𝑝 𝑡 =
u(t) po 𝑝 𝑡≥𝑡

m Maximum displacement :
t
k • If tr < Tn/4 : uo ≈ 2(ust)o
tr • If tr > 3Tn : uo ≈ 2(ust)o
• If tr/Tn = 1,2,3, … uo = (ust)o

𝑡 sin 𝜔 𝑡
𝑢 𝑡 = 𝑢 − For t < tr (4) Normalized displacement :
𝑡 𝜔 𝑡
𝑢 𝑡
=
𝑢
1
𝑢 𝑡 = 𝑢 1− sin 𝜔 𝑡 − sin 𝜔 𝑡−𝑡 For t > tr (5)
𝜔 𝑡
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SDOF Response to Step Force
with Finite Rise Time
The response spectrum permits several
observations:

1. If tr < Tn/4 (i.e., a relatively short rise time), uo ≅

2(ust)o, implying that the structure “sees” this
excitation like a suddenly applied force.

2. If tr > 3Tn (i.e., a relatively long rise time), uo ≅

(ust)o, implying that this excitation affects the
structure like a static force.

3. If tr /Tn = 1, 2, 3, . . . , uo = (ust)o, because u(tr ) = 0 at

the end of the forcerise phase, and the system does
not oscillate during the constant-force phase
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Pulse Excitation
• We next consider an important class of excitations that consist of essentially a
single pulse

• Air pressure generated on a structure due to aboveground blasts or explosions

is an example of pulse force.

• Two phases of analysis: Force

1. Phase 1: t < td , i.e. during the applied loading

End of phase 1 is the beginning of phase 2 Time

2. Phase 2 t > td, i.e. after loading

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SDOF Response to Rectangular Pulse Force

p(t)
p(t)
u(t) po 𝑝 𝑡≤𝑡
𝑝 𝑡 =
m 0 𝑡≥𝑡
t
k
td
Phase 1 Phase 2
Free Vibration Forced Vibration
Normalized displacement :
𝑢 𝑡 2𝜋𝑡 Phase 1 (6)
= 1 − cos 𝜔 𝑡 = 1 − cos
𝑢 𝑇 For t < td
𝑢 𝑡 Phase 2
= cos 𝜔 𝑡−𝑡 − cos 𝜔 𝑡 (7)
𝑢 For t > td
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SDOF Response to Rectangular Pulse Force
• The maximum deformation is :
𝑝
𝑢 = 𝑢 𝑅 = 𝑅 (8)
𝑘

• With deformation response factor :

𝜋𝑡
𝑢 2 sin for 𝑡 ⁄𝑇 ≤ 1⁄2
𝑅 = = 𝑇 (9)
𝑢
2 for 𝑡 ⁄𝑇 ≥ 1⁄2

• The maximum value of the equivalent static force is :

𝑓 = 𝑘𝑢 = 𝑝 𝑅 (10)
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SDOF Response to Rectangular Pulse Force
Tn=2s, td=0.5 s, td/Tn=0.25, Po/k=2, 𝜁 = 0% Tn=2s, td=2 s, td/Tn=1, Po/k=2, 𝜁 = 0%

Phase 2 diminished as:

𝑢 𝑡
= cos 𝜔 𝑡 − 𝑡 − cos 𝜔 𝑡
𝑢
Forced v

Free Vibration

Tn=2s, td=1 s, td/Tn=0.5, Po/k=2, 𝜁 = 0% Tn=2s, td=3 s, td/Tn=1.5, Po/k=2, 𝜁 = 0%

Forced v Forced v
Free Vibration Free Vibration
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SDOF Response to
Rectangular Pulse Force
• td must be longer than Tn/2 for at
least one peak to develop during the
forced vibration phase. If more than
one peak develops during this phase,
they all have this same value and
occur at to = 3Tn/2, 5Tn/2, and so on.

• As a corollary, if td is shorter than

Tn/2, no peak will develop during the
forced vibration phase, and the
response simply builds up from zero
to u(td ).
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Response Spectrum: Rectangular Pulse Force
3
Impulsive solution, 2π f td
umax 2
ust 0
1

0
1 2 3
f td = t d/T
This diagram Is known as the response spectrum of the
system for the particular forcing function considered.

Note that with umax determined, the maximum spring force

Fmax = k umax

Fmax kumax umax

In fact,  
Fst 0
P0 ust  0
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SDOF Response to Half Cycle Sine Pulse Force

p(t)
p(t)
u(t) po

m
t
k
td

𝑢 𝑡 1 𝑡 𝑇 𝑡 For t < td
= sin 𝜋 − sin 2𝜋
𝑢 1 − 𝑇 ⁄2𝑡 𝑡 2𝑡 𝑇
For td/Tn ≠ ½

𝑢 𝑡 𝑇 ⁄𝑡 cos 𝜋𝑡 /𝑇 𝑡 1𝑡 For t > td

= sin 2𝜋 −
𝑢 𝑇 ⁄2𝑡 −1 𝑇 2𝑇
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SDOF Response to Half Cycle Sine Pulse Force
For td/Tn = ½

𝑢 𝑡 1 2𝜋𝑡 2𝜋𝑡 2𝜋𝑡

= sin − cos For t < td
𝑢 2 𝑇 𝑇 𝑇

For t > td
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SDOF Response to
Symmetrical Triangular Pulse Force
p(t)
p(t)
u(t) po
m
t
k
td/2 td
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Problem 1
A one-story, idealized as a 3,6 m high frame with
two columns hinged at the base and a rigid beam,
Rigid
has a natural period of 0,5 sec. Each column is a
wide-flange steel section W8x18. Its properties for
IWF 8 x 18
bending about its major axis are Ix = 2,570 cm4, S = 3,6 m
Ix/c = 249 cm3; E = 200 GPa. Neglecting damping,
determine the maximum response of this frame due
to a rectangular pulse force of amplitude 1,800 kgf
and duration td = 0,2 sec. The response quantities of
interest are displacement at the top of the frame and
maximum bending stress in the column.
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Recall: Portal Frame with Rigid Beam

(Modul 3 pg. 31)
𝑀 = 3𝐸𝐼 𝑀 = 3𝐸𝐼
ℎ ℎ

𝑃 = 3𝐸𝐼 𝑢 = ∆=1 𝑃 = 3𝐸𝐼

ℎ ℎ
𝑢 𝑢

𝑃 = 3𝐸𝐼 𝑃 = 3𝐸𝐼
ℎ ℎ

𝑀=0 𝑀=0
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Solution 1
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Assignment

1. Derive the solution of the Equation of Motion for triangular pulse with:

a. positive gradient

b. negative gradient

c. Draw the normalized displacement curves for point a and b by varying

td/Tn as in slide 13.

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Assignment
No. 2
• The elevated water tank in Fig weighs P(t)
W
45,5 tons when full with water.
• The tower has a lateral stiffness of k
145 kg/mm.
• Treating the water tower as an SDoF
system, estimate the maximum P(t)
lateral displacement due to each of 25 tons
the two dynamic forces shown
without any “exact” dynamic analysis. t (dt)
P(t) 0,2
Neglect damping.
25 tons

t (dt)
4
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Determining the Natural Frequency &

Damping
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Determination of Natural Frequency and Damping
Steady State Response Curves

 Structure subjected to a sinusoidally varying force of fixed amplitude for a

series of frequencies. The exciting force may be generated by two masses
rotating about the same axis in opposite direction
 For each frequency, determine the amplitude of the resulting steady-state
displacement (or a quantity which is proportional to u, such as strain in a
member) and plot a frequency response curve (response spectrum)
 For negligibly small damping, the natural frequency is the value of fe for which
the response is maximum. When damping is not negligible, determine =2πf

from .The damping factor , ζ may be determined as follows:

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Determination of Natural Frequency and Damping

Resonant Amplification Method

Half-Power or Bandwidth
Method Duhamel’s Integral
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Resonant Amplification Methods

Determine Dynamic Magnification Factor/ Deformation Response Factor:

Rd=(u0)max/ (ust)0

1 1
Evaluate 𝜁 from 𝑅 = or its simpler version, 𝑅 = 2𝜁 when 𝜁 is small
2𝜁 1 − 2𝜁

Limitations: It may not be possible to apply a sufficiently large P0 to

measure (ust)0 reliably, and it may not be possible to evaluate
(ust)0 reliably by analytical means.
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Half-Power or Bandwidth Method

In this method ζ is determined from the part of the spectrum near the peak steps
involved are as follows:
1. Determine Peak of curve, (u0)max

2. Draw a horizontal line at a response level of 𝑢 and determine the

intersection points with the response spectrum. These points are known as
the half-power points of the spectrum

3. Evaluate the bandwidth, defined as

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Half-Power or Bandwidth Method
𝑢

uo

1
𝑢
2
(uo)st

∆f fe

f
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Determination of Natural frequency and Damping

For small amounts of damping, it can be shown that ζ is related to the

bandwidth by the equation

Limitations:

Unless the peaked portion of the spectrum is determine accurately, it

would be impossible to evaluate reliably the damping factor.
As an indication of the frequency control capability required for the
exciter, note that for f = 5cps, and ζ = 0.01, the frequency difference

= 2(0.01)5 = 0.1cps
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Derivation
1
1 1  1  2

2 2  (1  2 )  (2 ) 2 

1 1

8 2 1 2   4 2 2 
2

 2  1 2 2 ± 2 1  2
12  1 2 2  2 1  2 1  1    2
22  1 2 2  2 1  2 2  1    2
1 1 ( f1  f2 ) ﾻ
(f1  f2 )
  (1  2 )  f
2 2 f 2
( f  f1 )
 ﾻ 2
( f1  f2 )
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Duhamel Integral
In this approach the forcing function is conceived as being made up of a series
of vertical strips, as shown in the figure, the effect of each strip is then
computed by application of the solution for free vibration, and the total effect is
determined by superposition of the component effects
P(t)
P()

x(t)

d

o t t
 
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Duhamel Integral
I = P ( τ ) d τ

The strip of loading shown shaded represents and impulse,

I = P() d
For an undamped SDF system, this induces a displacement
P(  )d 
u  sin  (t -  )
m

The displacement at time t induced by integration as

1  t
u(t)  P(  ) sin t   ) d 
m 𝜔   0
or
t
u ( t )  𝜔  u s t ( ) sin
0
t   ) d 
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Duhamel Integral
Implicit in this derivation is the assumption that the tsystem is initially (at t=0)
at rest. For arbitrary initial conditions, u ( t )  𝜔  u s t ( ) sin
0
t   ) d 
should be augmented by the free vibration terms as follows
t
V0
ut   u0 cos t sin t  𝜔 0 u s t ( ) sin t   ) d 
For viscously damped system with   1 ,becomes

P  d
u(t) 
m
e
 𝜔t 
sin d t  
d
t
Leading to the following counterpart of u ( t )  𝜔  u s t ( ) sin
0
t   ) d 
t
u t   ust e
 𝜔  t 
sin t  d
1 2 0
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Duhamel Integral

The effect of the initial motion in this case is defined by

𝑢̇ +𝜁𝜔 𝑢
𝑢 𝑡 =𝑒 𝑢 𝑐𝑜𝑠 (𝜔 𝑡) + 𝑠𝑖𝑛 (𝜔 𝑡)
𝜔
t
Eqns. u ( t )  𝜔  u s t ( ) sin
0
t   ) d  and
t
u t   ust e
 𝜔  t 
sin t  d
1 2 0
are referred to in the literature with different names. They are most commonly
known as Duhamel’s Integrals, but are also identified as the superposition
integrals, convolution integrals, or Dorel’s integrals.
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Numerical Solution

There are a variety of ways to solve the general loading • Fourier transform*
problem and all are carried out numerically on the • Duhamel integration*
computer. Any text on structural dynamics will provide • Direct Integration
the required details.
• Piecewise exact
The piecewise exact method is used primarily in the
• Newmark techniques
analysis of linear systems. The Newmark method is
useful for both linear and nonlinear systems.
• Central Differences
• Wilson -
All techniques are
carried out numerically.
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