CVEN 657 Dynamic Loads and Structural Behavior November 2014

Prof. Niedzwecki
 
 
Newmark β Method

There are several forms in which the equations of motion can be expressed. One form is the
following general matrix form

{ }
⎡⎣ m ⎤⎦ {v!!} + ⎡⎣ c ⎤⎦ {v!} + ⎡⎣ k ⎤⎦ {v} = p ( t ) (1)

However, before dealing with a system of equations consider the equation of motion for a single
degree of freedom in order to simplify the development of the Newmark β method equations and
the solution approach. Consider the following equation

m v!!i+1 + c v!i+1 + k vi+1 = pi+1 (2)

where, and v!!i+1 is the acceleration, v!i+1 is the velocity, vi+1 is the displacement and pi +1 is the
applied force. The mass, damping and stiffness are represented by the usual symbols. The index
indicates the values of the kinematics at time step ti +1 and the previous time step is ti . The
Newmark β method expresses the velocity and displacement as

v!i+1 = v!i + (1− δ ) Δt v!!i + δ Δt v!!i+1 (3)

Note that both of the velocity and displacement equations are expressed at time step ti +1 but both
involve acceleration at same time step. If one chooses to stop here an iterative solution will be
required as ai +1 is unknown. This form of the Newmark β method is thus classified as an
implicit method. However, it is possible to develop an explicit form of the Newmark β method.
The idea is to utilize equations (3) and (4) to develop expressions that can replace the
acceleration and velocity at time step ti +1 and be substituted into equation of motion. So starting
with equation (4) one can solve for v!!i+1 , that is
1 ⎡ ⎛1 ⎞ ⎤
v!!i+1 = v − vi − Δt v!i − ⎜ − β ⎟ Δt 2 v!!i ⎥
2 ⎢ i+1
β Δt ⎣ ⎝2 ⎠ ⎦ (5)
1 1 ⎛ 1 ⎞
2 ( i+1
v!!i+1 = v − vi ) − v!i − ⎜ − 1⎟ v!!i
β Δt β Δt ⎝ 2β ⎠

  1
CVEN 657 Dynamic Loads and Structural Behavior November 2014
Prof. Niedzwecki
 
 
Then substituting this result into equation (3) and simplifying one obtains

⎡ 1 1 ⎛ 1 ⎞ ⎤
v!i+1 = v!i + (1− δ ) Δt v!!i + δ Δt ⎢ 2 ( i+1
v − vi ) − v!i − ⎜ − 1⎟ v!!i ⎥
⎣ β Δt β Δt ⎝2β ⎠ ⎦
(6)
δ ⎛ δ⎞ ⎛ δ ⎞
v!i+1 =
β Δt
( vi+1 − vi ) + ⎜ 1− ⎟ v!i + ⎜ 1 −
⎝ β⎠ ⎝ 2β ⎟⎠
Δt v!!i

These equations can be further simplified by introducing the following coefficients

1 δ 1
a0 = a1 = a2 =
β Δt 2 β Δt β Δt
(7)
1 δ ⎛ δ ⎞
a3 = −1 a4 = 1− a5 = ⎜ 1 − Δt
2β β ⎝ 2β ⎟⎠

For the usual case where δ = 1/ 2 these coefficients can be further simplified
1 1 1
a0 = a1 = a2 =
β Δt 2 2β Δt β Δt
(8)
1 1 ⎛ 1 ⎞
a3 = −1 a4 = 1− a5 = ⎜ 1 − Δt
2β 2β ⎝ 4β ⎟⎠

This then yields the compact from of the velocity and acceleration expressions

v!i+1 = a1 ( vi+1 − vi ) + a4 v!i + a5 v!!i (9)

v!!i+1 = a0 ( xi+1 − xi ) − a1 v!i − a2 v!!i (10)

Substituting these results into the equation (2) one obtains

m ⎡⎣ a0 ( vi+1 − vi ) − a2 v!i − a3 v!!i ⎤⎦ + c ⎡⎣ a1 ( vi+1 − vi ) − a4 v!i − a5 v!!i ⎤⎦ + k vi+1 = pi+1 (11)

(a m + a c + k ) v
0 1 i+1
= pi+1 + ( a0 m+ a1 c ) vi + ( a2 m − a4 c ) v%i + ( a3 m − a5 c ) v%%i
!#"#$ !#"#$ !#"#$
A B C
(!"$
A+ k) v i+1
= pi+1 + A vi + B v%i + C v%%i
!### #"#### $
(12)
K P
K vi+1 = P

  2
CVEN 657 Dynamic Loads and Structural Behavior November 2014
Prof. Niedzwecki
 
 
The explicit solution for the structural kinematics can now be evaluated as follows

vi+1 = K −1 P
v!i+1 = a1 ( vi+1 − vi ) + a4 v!i + a5 v!!i (13)
v!!i+1 = a0 ( vi+1 − vi ) − a1 v!i − a2 v!!i

The solution sequence given the appropriate structural description can be summarized in the
following sequence
1 1 1
a0 = a1 = a2 =
β Δt 2
2β Δt β Δt
(14)
1 1 ⎛ 1 ⎞
a3 = −1 a4 = 1− a5 = ⎜ 1 − Δt
2β 2β ⎝ 4β ⎟⎠

A = a0 m + a1 c
B = a2 m − a4 c (15)
C = a3 m − a5 c

K = A+ k
(16)
P = pi+1 + A vi + B v!i + C v!!i

vi+1 = K −1 P
v!i+1 = a1 ( vi+1 − vi ) + a4 v!i + a5 v!!i (17)
v!!i+1 = a0 ( vi+1 − vi ) − a1 v!i − a2 v!!i

These equations are easily interpreted for multi-degree of freedom systems as represented by
equation (1).

  3