Chapter 12 Structural Dynamics 1

Chapter 12
Structural
Dynamics
12.1 Basics of Structural Dynamics
12.2 Step-by-Step: Lifting Fork
12.3 Step-by-Step: Two-Story Building
12.4 More Exercise: Ball and Rod
12.5 More Exercise: Guitar String
12.6 Review
Chapter 12 Structural Dynamics Section 12.1 Basics of Structural Dynamics 2

Section 12.1
Basics of Structural
Dynamics Viscous Damping
Key Concepts
Material Damping
Coulomb Friction
Lumped Mass Model Modal Analysis
Single Degree of Freedom Harmonic Response Analysis
Model Transient Structural Analysis
Undamped Free Vibration Explicit Dynamics
Damped Free Vibration Response Spectrum Analysis
Damping Coefficient Random Vibration Analysis
Damping Mechanisms
Chapter 12 Structural Dynamics Section 12.1 Basics of Structural Dynamics 3

Lumped Mass Model: The Two-Story

Building
[4] Total [5] Total
bending bending [3] Total mass
stiffness of the [2] Total stiffness of lumped at the
first-floor's mass the second- roof floor.
beams and lumped at floor's beams
columns. the first and columns.
floor.
[1] A two-degrees-of-
freedom model for
finding the lateral
displacements of the
m1 m2 two-story building.
k1 k2

c1
[6] Energy [7] Energy
c2
dissipating dissipating
mechanism of the mechanism of the
first floor. second floor.
Chapter 12 Structural Dynamics Section 12.1 Basics of Structural Dynamics 4

Single Degree of Freedom

Model
x

m
k

We will use this single-degree-of-freedom lumped mass

model to explain some basic behavior of dynamic
response.
The results can be conceptually extended to general
multiple-degrees-of-freedom cases.
Chapter 12 Structural Dynamics Section 12.1 Basics of Structural Dynamics 5

Undamped Free
Vibration

If no external forces exist, the equation 2π

T=
ω
for the one-degree-of-freedom system
becomes

If the damping is negligible, then the

equation becomes

The

Natural frequency: (rad/s) or (Hz)

Natural period:
Chapter 12 Structural Dynamics Section 12.1 Basics of Structural Dynamics 6

Damped Free Vibration

2π
Td = Td
ωd
If the damping c is small (smaller
than ), then the general solution is

Where
,,
The quantity is called the critical
damping coefficient and the
quantity is called the damping ratio.
Chapter 12 Structural Dynamics Section 12.1 Basics of Structural Dynamics 7

Damping Mechanisms

Damping is the collection of all energy dissipating

mechanisms.
In a structural system, all energy dissipating mechanisms
come down to one word: friction. Three categories of
frictions can be identified:
friction between the structure and its surrounding fluid,
called viscous damping;
internal friction in the material, called material
damping, solid damping, or elastic hysteresis;
friction in the connection between structural members,
called dry friction or Coulomb friction.
Chapter 12 Structural Dynamics Section 12.1 Basics of Structural Dynamics 8

Analysis System

The foregoing concepts may be generalized

to multiple-degrees-of-freedom cases,

Where {D} is the nodal displacements

vector, {F} is the nodal external forces
vector, [M] is called the mass matrix, [C] is
called the damping matrix, and [K] is the
stiffness matrix.
Note that when the dynamic effects
(inertia effect and damping effect) are
neglected, it reduces to a static structural
analysis system,
Chapter 12 Structural Dynamics Section 12.1 Basics of Structural Dynamics 9

Modal Analysis

For a problem of n degrees of freedom, it has at most n solutions,

denoted by . These solutions are called mode shapes of the
structure. Each mode shape can be excited by an external
excitation of frequency, called the natural frequency of the mode.
In a modal analysis, since we are usually interested only in the
natural frequencies and the shapes of the vibration modes, the
damping effect is usually neglected to simplify the calculation,
Chapter 12 Structural Dynamics Section 12.1 Basics of Structural Dynamics 10

Harmonic Response
Analysis

<Harmonic Response> analysis solves a special form of the

equation, in which the external force on ith degree of freedom is
of the form

where is the amplitude of the force, is the phase angle of the

force, and is the angular frequency of the external force. The
steady-state solution of the equation will be of the form

The goal of the harmonic response analysis to find the magnitude

and the phase angle , under a range of frequencies of the external
force.
Chapter 12 Structural Dynamics Section 12.1 Basics of Structural Dynamics 11

Transient Structural
Analysis

<Transient Structural> analysis solves the general form of the

equation. External force {F} can be time-dependent forces. All
nonlinearities can be included. It uses a direct integration method
to calculate the dynamic response.
The direct integration method used in <Transient
Structural> analysis is called an implicit integration method.
Chapter 12 Structural Dynamics Section 12.1 Basics of Structural Dynamics 12

Explicit Dynamics

Similar to <Transient Structural>, <Explicit Dynamics> also

solves the general form of equation. External force {F} can be
time-dependent forces. All nonlinearities can be included. It also
uses a direct integration method to calculate the dynamic
response.
The direct integration method used in <Explicit Dynamic>
analysis is called an explicit integration method.
Chapter 12 Structural Dynamics Section 12.2 Lifting Fork 13

Section 12.2
Lifting Fork

Problem Description

During the
handling, the
fork accelerates
upward to a
velocity of 6 m/s
in 0.3 second,
and then
decelerates to a
full stop in
another 0.3
second, causing
the glass panel
to vibrate.
Chapter 12 Structural Dynamics Section 12.2 Lifting Fork 14

Static Structural Simulation

The
maximum
static
deflection is
15 mm.
Chapter 12 Structural Dynamics Section 12.2 Lifting Fork 15

Transient Structural
Simulation
Chapter 12 Structural Dynamics Section 12.3 Two-Story Building 16

Section 12.3
Two-Story Building

Problem Description Harmonic

loads will
apply on this
floor deck.
Two scenarios are
investigated:
Harmonic load of magnitude of
10 psf due to the dancing on
the floor.
Harmonic load of magnitude of
0.1 psf due to rotations of a
machine.
Chapter 12 Structural Dynamics Section 12.3 Two-Story Building 17

Modal
Analysis
[1] The first
mode (1.55
Hz).

[2] The sixth

mode (9.59
Hz).

[3] The
eighth mode
(10.33 Hz)
Chapter 12 Structural Dynamics Section 12.3 Two-Story Building 18

The dancing frequency is close to the

fundamental mode (1.55 Hz), that's why we pay
attention to this mode, which is a side sway
mode (in X-direction).
For the rotatory machine, we are concerned
about the floor vibrations in vertical direction.
That's why we pay attention on the sixth and
eighth modes.
Chapter 12 Structural Dynamics Section 12.3 Two-Story Building 19

Side Sway Due to

Dancing
Amplitude of side
sway due to
At dancing frequency harmonic load of
magnitude of 1
of 1.55 Hz, the psf.

structure is excited
such that the
maximum X-
displacement is
0.0174 in (0.44 mm).
This value is too
small to be worried
about.
Chapter 12 Structural Dynamics Section 12.3 Two-Story Building 20

Vertical Deflection of the Floor Due to Rotatory

Machine
Although high frequencies do excite the floor, but the
values are very small. At frequency of 10.3 Hz, the
excitation reaches a maximum of 0.0033 in (0.1 times
of 0.033 in), or 0.084 mm. The value is too small to
cause an issue.
Amplitude of
vertical deflection
of the floor due to
harmonic load of
magnitude of 1
psf.
Chapter 12 Structural Dynamics Section 12.4 Disk and Block 21

Section 12.4
Disk and Block

Problem Description [1] Before the

impact, the
block rests on
the surface.

[3] Both the disk and

the block are made of
a very soft polymer of
Young's modulus of 10
kPa, Poisson's ratio of [2] Right before the
0.4, and mass density impact, the disk
of 1000 kg/m3. moves toward the
block with a
velocity of 0.5 m/s.
Chapter 12 Structural Dynamics Section 12.4 Disk and Block 22

Results
Chapter 12 Structural Dynamics Section 12.4 Disk and Block 23

Solution Behavior
Chapter 12 Structural Dynamics Section 12.5 Guitar String 24

Section 12.5
Guitar String

The main purpose of this exercise is to demonstrate

how to use the results of a static simulation as the
initial condition of a transient dynamic simulation