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Numerical Evaluation of Duhamel's Integral: Undamped System

The document discusses numerical evaluation of Duhamel's integral for an undamped single degree of freedom system subjected to arbitrary loading. It presents the trapezoidal rule and Simpson's rule to numerically evaluate the integrals in Duhamel's integral equation. An example problem is provided to calculate the dynamic response of a tower subjected to blast loading using these numerical integration techniques.

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452 views11 pages

Numerical Evaluation of Duhamel's Integral: Undamped System

The document discusses numerical evaluation of Duhamel's integral for an undamped single degree of freedom system subjected to arbitrary loading. It presents the trapezoidal rule and Simpson's rule to numerically evaluate the integrals in Duhamel's integral equation. An example problem is provided to calculate the dynamic response of a tower subjected to blast loading using these numerical integration techniques.

Uploaded by

Feynman
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Numerical Evaluation of

Duhamel’s Integral
Undamped System
Numerical evaluation of Duhamel’s integral-Undamped system

For any arbitrary loading, the general equation (Duhamel integral) of a


SDOF system without damping with zero initial conditions is given by:

1 𝑡
𝑥 𝑡 = න 𝐹 𝜏 sin 𝜔 𝑡 − 𝜏 𝑑𝜏
𝑚𝜔 0
Using the trigonometric identity sin 𝜔 𝑡 − 𝜏 = sin 𝜔𝑡 cos 𝜔𝜏 −
cos 𝜔𝑡 sin 𝜔𝜏 , the above equation can be written as:

𝑡 𝑡
1 1
𝑥 𝑡 = sin 𝜔𝑡 න 𝐹 𝜏 cos 𝜔𝜏 𝑑𝜏 − cos 𝜔𝑡 න 𝐹 𝜏 sin 𝜔𝜏 𝑑𝜏
𝑚𝜔 0 𝑚𝜔 0

1
= 𝑚𝜔 𝐴 𝑡 sin 𝜔𝑡 − 𝐵 𝑡 cos 𝜔𝑡
Numerical evaluation of Duhamel’s integral-Undamped system

1
𝑥 𝑡 = 𝑚𝜔 𝐴 𝑡 sin 𝜔𝑡 − 𝐵 𝑡 cos 𝜔𝑡
Where,
𝑡 𝑡
𝐴 𝑡 = න 𝐹 𝜏 cos 𝜔𝜏 𝑑𝜏 , and 𝐵 𝑡 = න 𝐹 𝜏 sin 𝜔𝜏 𝑑𝜏
0 0

The calculation of Duhamel’s integral requires the evaluation of the


integrals 𝐴 𝑡 and 𝐵 𝑡 numerically.

 Several numerical integration techniques have been used for this


evaluation.

The most popular numerical integration techniques are:


 Trapezoidal rule
 Simpson rule
Trapezoidal rule:
Consider the integration of a general function 𝐼 𝜏
𝑡
𝐴 𝑡 = න 𝐼 𝜏 𝑑𝜏
0
𝐹 𝜏

𝐹 𝑡𝑖+1
𝐹 𝑡𝑖−1

∆𝑡𝑖
𝜏
𝑡𝑖−1 𝑡𝑖 𝜏 𝑡𝑖+1

The elementary operation required for the trapezoidal rule is


𝟏
𝑨 𝒕 = ∆𝝉 𝑰𝟎 + 𝟐𝑰𝟏 + 𝟐𝑰𝟐 + ⋯ + 𝟐𝑰𝒏−𝟏 + 𝑰𝒏
𝟐
Simpson rule:

For Simpson's rule


𝟏
𝑨 𝒕 = ∆𝝉 𝑰𝟎 + 𝟒𝑰𝟏 + 𝟐𝑰𝟐 + 𝟒𝑰𝟑 + 𝟐𝑰𝟒 … + 𝟒𝑰𝒏−𝟏 + 𝑰𝒏
𝟑

Where, 𝑛 = 𝑡/∆𝜏

 The implementation of these rules is straight forward.


 The response obtained will be approximate since these rules are
based on the substitution of the function for -
 A piecewise linear function for the trapezoidal rule, or
 Piecewise parabolic function for Simpson’s rule.
Numerical evaluation of Duhamel’s integral-Undamped system

We know,
𝑡
𝐴 𝑡 = න 𝐹 𝜏 cos 𝜔𝜏 𝑑𝜏 , and
0

𝑡
𝐵 𝑡 = න 𝐹 𝜏 sin 𝜔𝜏 𝑑𝜏
0

To provide a complete response history, it is more convenient to express


the integrations in the above equations in incremental form as:
𝑡𝑖
𝐴 𝑡𝑖 = 𝐴 𝑡𝑖−1 + න 𝐹 𝜏 cos 𝜔𝜏 𝑑𝜏 , and
𝑡𝑖−1
𝑡𝑖
𝐵 𝑡𝑖 = 𝐵 𝑡𝑖−1 + න 𝐹 𝜏 sin 𝜔𝜏 𝑑𝜏
𝑡𝑖−1
Numerical evaluation of Duhamel’s integral-Undamped system
𝐹 𝜏

Assuming that the forcing


𝐹 𝑡𝑖+1
function is approximated by a
piecewise linear function 𝐹 𝜏
𝐹 𝑡𝑖
∆𝐹𝑖
as shown in the figure. 𝐹 𝑡𝑖−1
𝐹 𝜏

We may write, 𝑡𝑖−1 𝜏 𝑡𝑖 𝑡𝑖+1


∆𝑡𝑖
∆𝐹
𝐹 𝜏 = 𝐹 𝑡𝑖−1 + ∆𝑡 𝑖 𝜏 − 𝑡𝑖−1 , 𝑡𝑖−1 ≤ 𝜏 ≤ 𝑡𝑖
𝑖

Where, ∆𝐹𝑖 = 𝐹 𝑡𝑖 − 𝐹 𝑡𝑖−1 , and


∆𝑡𝑖 = 𝑡𝑖 − 𝑡𝑖−1
Numerical evaluation of Duhamel’s integral-Undamped system
Thus,

𝑡𝑖
∆𝐹𝑖
𝐴 𝑡𝑖 = 𝐴 𝑡𝑖−1 + න 𝐹 𝑡𝑖−1 + 𝜏 − 𝑡𝑖−1 cos 𝜔𝜏 𝑑𝜏
𝑡𝑖−1 ∆𝑡𝑖

∆𝐹𝑖
𝐴 𝑡𝑖 = 𝐴 𝑡𝑖−1 + 𝐹 𝑡𝑖−1 − 𝑡𝑖−1 sin 𝜔𝑡𝑖 − sin 𝜔𝑡𝑖−1 /𝜔 +
∆𝑡𝑖
∆𝐹𝑖
cos 𝜔𝑡𝑖 − cos 𝜔𝑡𝑖−1 + 𝜔 𝑡𝑖 sin 𝜔𝑡𝑖 − 𝑡𝑖−1 sin 𝜔𝑡𝑖−1
𝜔2 ∆𝑡𝑖

Similarly,
∆𝐹𝑖
𝐵 𝑡𝑖 = 𝐵 𝑡𝑖−1 + 𝐹 𝑡𝑖−1 − 𝑡𝑖−1 cos 𝜔𝑡𝑖−1 − cos 𝜔𝑡𝑖 /𝜔 +
∆𝑡𝑖
∆𝐹𝑖
sin 𝜔𝑡𝑖 − sin 𝜔𝑡𝑖−1 + 𝜔 𝑡𝑖 cos 𝜔𝑡𝑖 − 𝑡𝑖−1 cos 𝜔𝑡𝑖−1
𝜔2 ∆𝑡𝑖
Example 1:

Find the dynamic response of a tower subjected to blast loading. The


idealization of the structure and the blast loading are shown in the
figure. Neglect damping.

𝐹 𝑡 𝑚 = 100 kg
𝐹(𝑡)

120 kN
𝑘 = 100 kN/m

𝑡
0.02 0.04 0.06

𝑥𝑡
Solution:
𝑚 = 100 kg, 𝑘 = 100 kN/m

𝑘 100×103
Natural frequency, 𝜔 = = = 31.62 rad/s
𝑚 100
Now, 𝑡𝑖
∆𝐴 𝑡𝑖 = 𝐴 𝑡𝑖 − 𝐴 𝑡𝑖−1 = න 𝐹 𝜏 cos 𝜔𝜏 𝑑𝜏
𝑡𝑖−1
𝑡𝑖
∆𝐵 𝑡𝑖 = 𝐵 𝑡𝑖 − 𝐵 𝑡𝑖−1 = න 𝐹 𝜏 sin 𝜔𝜏 𝑑𝜏
𝑡𝑖−1

After 0.06 sec, free vibration will occur as loading is absent.


Therefore, after 𝑡 = 0.06 sec, ∆𝐴 𝑡 and ∆𝐵 𝑡 will be zero.
The response of a SDOF system without damping:

1
𝑥 𝑡 = 𝑚𝜔 𝐴 𝑡 sin 𝜔𝑡 − 𝐵 𝑡 cos 𝜔𝑡
Substituting the values of A and B evaluated at 𝑡 = 0.06 in the response
equation, we get

𝑥 𝑡 = 2571 sin 31.62𝑡 − 3585 cos 31.62𝑡 /3162

𝑥 𝑡 = 0.813 sin 31.62𝑡 − 1.1338 cos 31.62 for 𝑡 ≥ 0.06 sec

𝑡 𝐹 𝜏 𝜔𝑡 𝑥 𝑡
∆𝐴 𝑡 𝐴 𝑡 ∆𝐵 𝑡 𝐵 𝑡
(sec) (N) (rad) (mm)
0.00 0 0 0 0 0 0 0
0.02 120,000 0.6324* 1082 1082 486 486 0.078
0.04 120,000 1.2649 1376 2458 1918 2404 0.512
0.06 0 1.8974 113 2571 1181 3585 1.134
0.08 0 2.5298 0 2571 0 3585 1.395
0.10 0 3.1623 0 2571 0 3585 1.117
180
*Note: 0.6324 rad = 0.6324 × = 36.225°
𝜋

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