NONLINEAR ANALYSES OF
STRUCTURAL SYSTEMS
F
Numerical Methods for Linear
Dynamic Response
–
D
SDOF Systems
Spring 2015
Prof.Dr. Bülent AKBAŞ
Departmant of Earthquake and Structural Engineering
Outline
• Introduction
• Time-Stepping Methods
• Piecewise Linear Interpolation
• Central Difference Method
• Newmark’s Method
• Stability
• Computational Error
Introduction
A closed-form or analytical solution of a SDOF or MDOF system subject
to an earthquake ground motion is not possible due to the fact that the
excitation varies arbitrarily with time or the structure is nonlinear. In such
case, the obvious solution to the problem is to use an appropriate
numerical method.
Time Stepping Methods
Equation of motion for an inelastic SDOF system:
Time Stepping Methods
Time Stepping Methods
Time Stepping Methods
Stepping from time i to i+1 is not a very straightforward procedure. The
selected numerical procedure should satisfy the following criteria:
1. Convergence : as the time step decreases, the numerical solution should
approach to the exact solution.
2. Stability: the stability of the numerical solution should be independent
of the numerical round-off errors.
3. Accuracy: the results obtained by using the numerical solution should
be close enough to the exact solution.
Time Stepping Methods
There are three time-stepping numerical methods commonly used in
practice:
1. Methods based on interpolation of the excitation function,
2. Methods based on finite difference expressions of velocity and
acceleration,
3. Methods based on assumed variation of acceleration.
Piecewise Linear Interpolation (Type a)
Duhamel’s integral for damped and undamped SDOF systems can be solved
by interpolating the excitation over time increment.
t Duhamel’s integral for an undamped
1
u (t )
mn p(t ) sin[ (t t )]dt
n SDOF with
0 u( 0 ) 0 ,u( 0 ) 0
1 t Duhamel’s integral for a damped
u (t ) [ug (t )]e (t t ) sin( D (t t ))dt SDOF subject to an earthquake
D 0
ground motion
Piecewise Linear Interpolation (Type a)
Linear interpolation will give satisfactory results when the time increment,
t, is short enough.
q
Elastic
P (applied force)
M, spring moment
Elasto-plastic
Actual p(t) pi
pi+1
p (t ) pi t
interpolated p(t) K (rijidity)
t i
pi
ti ti+1
K=10,000 kN-cm/rad
pi pi 1 pi
t (time)
t
My=1000 kN-cm
t
q, spring rotation
Figure . Dynamic force , p
Piecewise Linear Interpolation (Type a)
The equation of motion for an undamped SDOF systems becomes:
mu ku pi for t 0
p
mu ku pi i t q
t i
mu ku pi pi for t t
The solution of the above equation for u(t) over the time interval 0 t ti is
the sum of three parts:
a. Free vibration response due to initial displacement and velocity at t=0,
b. Response to step force pi with zero initial conditions,
c. Response to ramp force with zero initial conditions.
Piecewise Linear Interpolation (Type a)
Coefficients in piecewise linear interpolation:
Recurrence formulas in piecewise linear interpolation
Central difference Method (Type b)
Central difference Method (Type b)
Central difference Method (Type b)
Central difference Method (Type b)
Central difference Method (Type b)
Central difference Method (Type b)
Central difference Method (Type b)
Central Difference Method:
c 2mn
Note: If the structure is subjected to earthquake ground motion, then pi should be replaced by mug .
The computed values will be relative to the ground in this case.
Newmark’s Method (Type c)
Newmark’s Method (Type c)
Time Stepping MethodsNewmark’s Method (Type c)
Average and Linear Acceleration Methods:
Newmark’s Method (Type c)
Newmark’s Method (Type c)
Newmark’s Method (Type c)
Newmark’s Method (Type c)
Newmark’s Method (Type c)
Newmark’s Method (Type c)
Newmark’s Method (Type c)
Newmark’s Method (Type c)
Newmark’s Method (Type c)
Newmark’s Method:
Note: If the structure is subjected to earthquake ground motion, then pi should be replaced by mug .
The computed values will be relative to the ground in this case.
Newmark’s Method (Type c)
Newmark’s Method (Type c)
Stability
Conditionally Stable Procedures:
These procedures produce meaningful results only if the time step is shorter
than stability limit.
Unconditionally Stable Procedures:
These procedures (i.e. average acceleration method) produce meaningful
results regadless of the time step length.
Stability and Computational Error
Computational Error
Computational Error
Comparison of the theoretical and numerical results of a undamped free vibration
problem for t/Tn=0.1
Computational Error
Computational Error
Computational Error
Stability and Computational Error
References
• Shen,J., Seismic Retrofit and Earthquake Hazard Reduction,
Class Notes.
• Chopra, AK, Introduction to Eartquake Engineering.
• Graham Powell, A Presentation of CSI Educational Services,
Performance Based Design Using Nonlinear Analysis: Perform
3D.
• Bathe, KJ, Introduction to Finite Element Analyses.
• Chajes, A., Principles of Structural Stability Theory.
