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Structural Dynamics & Earthquake Engineering

This document discusses the state-space formulation and numerical solution of the equation of motion for a single-degree-of-freedom oscillator. It presents the state-space representation of the oscillator's dynamics, Duhamel's integral solution, and a step-by-step numerical solution method based on transition matrices to compute the oscillator response at discrete time steps.

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Hema Chandra Reddy Karimireddy
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362 views8 pages

Structural Dynamics & Earthquake Engineering

This document discusses the state-space formulation and numerical solution of the equation of motion for a single-degree-of-freedom oscillator. It presents the state-space representation of the oscillator's dynamics, Duhamel's integral solution, and a step-by-step numerical solution method based on transition matrices to compute the oscillator response at discrete time steps.

Uploaded by

Hema Chandra Reddy Karimireddy
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Structural

Dynamics
& Earthquake
Engineering

Dr Alessandro
Palmeri
Structural Dynamics
& Earthquake Engineering
Lectures #6 and 7: State-space equation of motion
and Transition matrix for SDoF oscillators

Dr Alessandro Palmeri

Civil and Building Engineering @ Loughborough University

Tuesday, 25th February 2014


State-Space Formulation

Structural
Dynamics
The equation of motion for a SDoF oscillator reads:
& Earthquake
Engineering 1
ü(t) + 2 ζ0 ω0 u̇(t) + ω02 u(t) = f (t) (1)
Dr Alessandro
Palmeri
m
and can be posed in the alternative matrix form:
ẏ(t) = A · y(t) + b f (t) (2)
where y(t) is the array of the state variables (displacement
and velocity) for the oscillator:
 
u(t)
y(t) = (3)
u̇(t)
while:
   
0 1 0
A= 2 , b= (4)
−ω0 −2 ζ0 ω0 1/m
Duhamel’s Solution

Structural
Dynamics
& Earthquake
Engineering Let us consider a scalar first-order inhomogeneous ODE:
Dr Alessandro
Palmeri
ẏ (t) = A y(t) + b f (t) (5)

The integral solution of Eq. (5) can be formally written as:


Z t
y(t) = Θ(t) y(0) + Θ(t − τ ) b f (τ ) dτ (6)
0

where y(0) is the initial condition at time t = 0, while the


transition function Θ(t) is so defined:

Θ(t) = eA t (7)
Duhamel’s Solution

Structural
Dynamics
& Earthquake
Engineering

Dr Alessandro
This integral solution can be extended to systems with many
Palmeri state variables as:
Z t
y(t) = Θ(t) · y(0) + Θ(t − τ ) · b f (τ ) dτ (8)
0

where the array y0 = y(0) collects the initial conditions at


time t = 0, and the transition matrix Θ(t) is evaluated as the
exponential matrix of [A t]:

Θ(t) = eA t (9)
Step-by-Step Numerical Solution

Structural
Dynamics
& Earthquake
Engineering
For t = ∆t, and assuming a linear variation of the forcing
Dr Alessandro
term f (t) in the time interval [0, ∆t]:
Palmeri
f1 − f0
f (t) = f0 + t (10)
∆t
one can mathematically prove that the Duhamel’s integral
gives:

y1 = Θ(∆t) · y0 + Γ0 (∆t) · {b f0 } + Γ1 (∆t) · {b f1 } (11)

where y1 = y(∆t) collects the state variables at t = ∆t,


while the integration matrices Γ0 (∆t) and Γ1 (∆t) can be
computed from the transition matrix Θ(∆t) and the matrix of
coefficients A.
Step-by-Step Numerical Solution

Structural
Dynamics
& Earthquake
Engineering

Dr Alessandro
Palmeri That is:
Γ0 (∆t) = [Θ(∆t) − L(∆t)] · A−1 (12)
Γ1 (∆t) = [L(∆t) − I2 ] · A−1 (13)
in which I2 is the 2-dimensional identity matrix, while the
loading matrix L(∆t) is given by:

1
L(∆t) = [Θ(∆t) − I2 ] · A−1 (14)
∆t
Step-by-Step Numerical Solution

Structural
Dynamics
& Earthquake
Engineering
Moreover:
Dr Alessandro
Palmeri
   
ζ0 ω0 1
C+ ω0 S ω0 S
Θ(∆t) = e−ζ0 ω0 ∆t  ω02
   (15)
− ω0 S C − ζω0 ω00 S

in which
q C = cos(ω 0 ∆t), S = sin(ω 0 ∆t) and
ω0 = 1 − ζ02 ω0 , while:
" #
− 2ωζ00 − ω12
A−1 = 0 (16)
1 0
Step-by-Step Numerical Solution

Structural
Dynamics
& Earthquake
Engineering

Dr Alessandro
Palmeri The incremental solution offered by Eq. (11) for the time
interval [0, ∆t] can be extended to a generic time instant
tn = n ∆t as:

yn+1 = y(tn+1 ) =Θ(∆t) · yn


+ Γ0 (∆t) · {b f (tn )} (17)
+ Γ1 (∆t) · {b f (tn+1) }

for n = 1, 2, 3, · · ·

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