Damping

code_aster, salome_meca course material

GNU FDL licence (http://www.gnu.org/copyleft/fdl.html)
Outline
Damping in dynamic analysis
Objectives and theoretical topics
Kinds of damping modelling
Overall models
Localised models
Dissipative time integration schemes
Constitutive models
Getting started with Code_Aster for dynamic analysis with damping

Modal analysis calculation with damping

Solving the quadratic eigenvalue problem : principles
Methods and algorithms implemented in Code_Aster

nota bene 1 : gyroscopy (rotor dynamics, [R5.05.07]) and acoustics [R4.02.01] skipped

nota bene 2 : some slides could be skipped

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Damping : overviews
Damping
1 energy losses (dissipation) within the
different materials constitutive of the structure
connections between structural elements
and with the surrounding media (fluid and soil domains, or TMD, via dynamic interactions)

Energy balance : cumulative contribution of damping

MJ Wext  Wext   E cin 

 
 E déf

  Wamo  W sch

Fext t . U  .M. U
U  R int U t . U  .C. U
U
Wamo time
energy integration
  2% actual stored
energy loss
input
 (viscous)
energy
energy
loss
E déf (other)

Ecin
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Damping : overviews peak 21 1   2 
1 / 2

10
amplitude 
9


Damping
8
7
6
5

2 response amplitude decay and decrease at resonance 4

3
2
 ; W ,W
U, U 1
/
ext amo 0
0 1 2 3 4 5

3 resonance frequency decrease (even no more resonance)

r   1  2 2

4 response phase shift (in terms of displacement-velocity-stresses history)

180
160
phase  
140

120

5 dynamic energy transfer between modes (see HASSELMAN criterion)  /2

100
80

inducing modal responses statistical correlation 2 /   k  1

60
40
20
0
/
0 0,5 1 1,5 2

no more influence beyond cut-off frequency of excitations

“Negative” damping : energy input, amplitude increase  instability!

Damping = unavoidable topic in dynamic analysis

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Outline

Kinds of overall damping modelling within Code_Aster

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Damping : available models in Code_Aster
k
k.u
Overall damping linear models RO Fexcit
O M .u M x
c
Added viscous internal forces 
Fvis  C.U
c.u
u

Energy losses rate D amo  12 U .C.U Rheological model

Kelvin-Voigt’s
M u+c u+k u=Fexcit
Properties
Mode-shape orthogonality conditions apply
Available for both linear and nonlinear dynamics, time domain and frequency response domain
No objectivity : dependence on reference frame for velocities

Rayleigh viscous damping Wilson and Penzien damping Hysteretic linear damping
Both time-domain and Both time-domain and (structural damping)
frequency response analyses frequency response analyses Frequency response analyses
only
C  K  M C  M.Φ.diag2. .Φ1 Fˆ int  1  i K.U
ˆ

parameters to be calibrated modal basis loss factor

modal damping ratio & freq

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 Damping : available models in Code_Aster
Overall damping linear models
Rayleigh viscous damping Wilson and Penzien damping Hysteretic damping
 
C  K  M t
  .C. 
2   t   
E dissip per cycle
 E dissip ,   0
  .M.  2 Eelas _ max
 4 . . f1. f 2
 
  f1  f 2  f1  f 2  0 beyond cut-off frequency
parameters calibration
1  C  M. Φ .diag 2  . .Φ 1
i   i
2
 
 i 
0,08 viscous forces
0,07 


Fvis  C.U
0,06
0,05 calibration on each
0,04 4% 4% diagonal matrix or any symmetric one sub-domain/system
0,03
 min  
0,02
f1 f2
hyst
Eéq  E 1  i   E * 
0,01 calibration on whole domain/system
éq  1  i . K
K hyst
0,00
0 1 fˆm  f21 f 2 3 f (Hz ) 4
calibration for a specific modal basis

r   1  22 r  

E dissip per cycle k u t 
  2   /  Fvisc t     u t 
2 E elas _ max  u t 
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Damping : available models in Code_Aster
Overall damping linear models: specific focus
Rayleigh viscous damping

Coefficients are calibrated from two separate modes, using 3 methods:

Enforcing  value at 1 and 2 : 
 4 . . f1. f 2
  f1  f 2  
f1  f 2

Mean value  between 1 and 2 and minimum value :

1 2    . ln2 / 1  2 2 2 / 1
2 éq       d   1 2     1 2    min     
2  1 1   2  1 1 2 1  2 / 1

 2 f 2  1 f1 4 f1 f 2
Enforcing 1 and 2 values at 1 and 2 :   1 f 2   2 f1 

 f 22  f12  f 22  f12

If distinct calibration on each sub-domain/system

 non-proportional damping : mode-shape orthogonality conditions doesn’t apply

Outside frequency interval  2 , 2   overdamped domain

1 1 1 1
 

Case of damaged stiffness  0   t . 0 ,   1

4% 4%
~
     0   / 0 
1
   2 /2
2
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Damping : available models in Code_Aster
Overall damping linear models: implementation
Rayleigh viscous damping

Coefficients are defined with the material properties in MAT=DEFI_MATERIAU

AMOR_ALPHA and AMOR_BETA
AFFE_MATERIAU (MAILLAGE=mail, AFFE=(_F(GROUP_MA='ZON1', MATER=MAT,)...),);

Damping matrix calculation, assembly and dynamic calculation

CALC_MATR_ELEM(OPTION='AMOR_MECA'), then ASSE_MATRICE ; or
ASSEMBLAGE (OPTION='AMOR_MECA') with the same dofs numbering than
for mass and stiffness matrices

RESLIN=DYNA_VIBRA(BASE_CALCUL='PHYS', MATR_AMOR=matamo,
TYPE_CALCUL='TRAN‘ / TYPE_CALCUL=‘HARM‘,)

PROJ_BASE(BASE=modes,
MATR_ASSE_GENE=(_F(MATRICE=CO('amopro'),MATR_ASSE=matamo,),
RESLIG=DYNA_VIBRA(BASE_CALCUL='GENE', MATR_AMOR=amopro,...
TYPE_CALCUL='TRAN' / TYPE_CALCUL=‘HARM‘,)

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Damping : available models in Code_Aster
Overall damping linear models: implementation
Rayleigh viscous damping

Damping matrix calculation for BASE_CALCUL='GENE',

« proportional » damping
If homogeneous damping  diagonal matrix  very efficient calculations
i.e. « Basile’s hypothesis »

If heterogeneous damping  symmetric matrix with off-diagonal terms  less efficient

Damping and stiffness matrix selection for nonlinear dynamics

RESNLI= DYNA_NON_LINE(CHAM_MATER=CHMAT,
◊ AMOR_RAYL_RIGI = /'ELASTIQUE', C  K  M
/'TANGENTE'...) C   K t   M
not recommended due
to the decrease of
damping in HF range
◊ MATR_ELEM_AMOR = matela added to other contributions

Case AFFE_MODELE(MODELISATION=‘*_*HM*’)
Rayleigh viscous damping not yet available

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 Damping : available models in Code_Aster
Overall damping linear viscous models: implementation
Wilson and Penzien damping

Define an normalized eigenmodes basis, or a reduced Ritz’ one

MODES=CALC_MODES(CALC_FREQ=_F(...), MATR_RIGI=, MATR_MASS=...)
EPOT=POST_ELEM(RESULTAT= MODES,ENER_POT=_F(GROUP_MA=‘ZON1’,),)
Modal damping
RESLIN=DYNA_VIBRA( RESLIN=DYNA_VIBRA(
BASE_CALCUL=‘GENE',TYPE_CALCUL=‘TRAN', BASE_CALCUL=‘PHYS',TYPE_CALCUL=‘TRAN',
AMOR_MODAL=_F(AMOR_REDUIT=lar)),[l_R] AMOR_MODAL=_F(MODE_MECA=MODES, NB_MODE=nn,
or LIST_AMOR=l_a [listr8] AMOR_REDUIT=lar)), [l_R]
or LIST_AMOR=l_a [listr8]
RESHAR=DYNA_VIBRA( RESNLI=DYNA_NON_LINE(xxxxxx,
BASE_CALCUL=‘GENE',TYPE_CALCUL=‘HARM', AMOR_MODAL=_F(MODE_MECA=MODES, NB_MODE=nn,
AMOR_MODAL=_F(AMOR_REDUIT=lar)), [l_R] AMOR_REDUIT=lar)), [l_R]
or LIST_AMOR=l_a [listr8] or LIST_AMOR=l_a [listr8]

Fvis  C.U
integrated in the second side of motion equations

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Damping : available models in Code_Aster
Overall damping linear viscous models: implementation
Wilson and Penzien damping

Comparison of Rayleigh and Wilson and Penzien damping models

Both models allow a damping modal uncoupling (in homogeneous case)
Fluid potential added mass with MATR_AJOU
natively included in W&P damping, not in Rayleigh one  add discrete elements for that

Define a modal damping list (regulatory Civ.Eng.) [RCC CW, U4.52.13]

L_AMOR=CALC_AMOR_MODAL(
AMOR_INTERNE=_F(ENER_POT=EPOT,GROUP_MA=(‘ZON1’),AMOR_REDUIT=lar
AMOR_SOL=_F(AMOR_REDUIT=las,FONC_AMOR_GEO=(axx),),
ENER_SOL=_F(MODE_MECA=MODES,METHODE='RIGI_PARASOL',xxx),...);
 [listr8]
Response spectrum method and modal damping [U4.84.01]
COMB_SISM_MODAL(AMOR_REDUIT=lar,[l_R] or LIST_AMOR=l_a, [listr8]
or AMOR_GENE=amopro ...); only diagonal
matrix allowed

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Damping : available models in Code_Aster
Overall damping linear models: implementation
Hysteretic damping

MAT=DEFI_MATERIAU (AMOR_HYST)
CALC_MATR_ELEM(OPTION='RIGI_MECA_HYST'), then ASSE_MATRICE ; or
ASSEMBLAGE (OPTION='RIGI_MECA_HYST')
RESLIN=DYNA_VIBRA(BASE_CALCUL='PHYS', TYPE_CALCUL='HARM',
MATR_RIGI=mathys,...)
PROJ_BASE(BASE=modes,
  
1  i K   2 .M .uˆ    Fˆ  
MATR_ASSE_GENE=(_F(MATRICE=CO(‘hyspro'),MATR_ASSE=mathys,),
RESLIG=DYNA_VIBRA(BASE_CALCUL='GENE', TYPE_CALCUL='HARM',
MATR_RIGI=hyspro,...)

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 Damping : available models in Code_Aster
Overall damping linear models: compendium
DYNA_VIBRA
BASE_CALCUL TYPE_CALCUL Rayleigh Hysteretic Wilson & Penzien
'PHYS' 'TRAN' MATR_AMOR Ø MODES+AMOR_REDUIT
/LIST_AMOR
'PHYS' 'HARM' MATR_AMOR MATR_RIGI Hyst Ø
'GENE' 'TRAN' MATR_AMOR (PROJ) Ø AMOR_REDUIT/LIST_
AMOR
'GENE' 'HARM' MATR_AMOR (PROJ) MATR_RIGI Hyst AMOR_REDUIT/LIST_
(PROJ) AMOR

DYNA_NON_LINE
AMOR_RAYL_RIGI Ø MODES+AMOR_REDUIT
MATR_ELEM_AMOR /LIST_AMOR
COMB_SISM_MODAL
Ø Ø AMOR_REDUIT/LIST_
AMOR/AMOR_GENE

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Damping : available models in Code_Aster
Energy balance for time-history calculation [R4.09.01]

Contribution of Rayleigh and “modal” Wilson and Penzien damping seen as Wamo
Contribution of absorbing boundaries and contact-friction DEFI_CONTACT seen as Wliais
Contribution of strain energy in any FE included discrete elements seen as E déf

RESDVN=DYNA_VIBRA (ENERGIE=_F(),BASE_CALCUL=‘PHYS’,TYPE_CALCUL='TRAN',),
RESDNL=DYNA_NON_LINE(ENERGIE=_F()),

Not available for BASE_CALCUL=‘GENE’ calculations

Table extraction
ENER=RECU_TABLE(CO=RESDNL, NOM_TABLE='PARA_CALC',);
IMPR_TABLE(TABLE=ENER);

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Outline

Localised damping linear viscous models within Code_Aster

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Damping : available models in Code_Aster
C u
Localised damping linear viscous models Fvis
Linear proportional linear viscous damping Fvis  C.u
Discrete dampers are introduced with AFFE_CARA_ELEM
CARAC=AFFE_CARA_ELEM(MODELE=MODELE,
DISCRET=(_F(GROUP_MA='POI_A',CARA=‘A_TR_D_N', or other kinds of A_*
VALE=(ax,ay,az,arx,ary,arz),)
option AMOR_HYST kc = 1 + i.ηdiscret i  kdiscret i
discret i
To be specified in DYNA_* operators : CARA_ELEM = carac

Localised damping linear viscous models for nonlinear models

RESDNL= DYNA_VIBRA(COMPORTEMENT=_F(RELATION='DIS_CHOC',
AMOR_NOR=xx, AMOR_TAN=xx, FROTTEMENT = / 'NON', / 'COULOMB')


Localised damping nonlinear viscous model Fvis  C.sgn V . V
RESDVN=DYNA_VIBRA(COMPORTEMENT=_F(RELATION='DIS_VISC', C=c,
PUIS_ALPHA=al,...)
ZENENL=DEFI_MATERIAU(DIS_VISC=_F(C=c, PUIS_ALPHA=al,...),),
RESDNL=DYNA_NON_LINE(COMPORTEMENT=_F(RELATION='DIS_VISC',
GROUP_MA=‘ZON1’,),), CARA_ELEM=CARAC...)
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Damping : available models in Code_Aster
Other linear damping models (not considered in details)
Soil-structure interface dynamic stiffness (from CALC_MISS)
In frequency response domain
Interface dofs K    1  i s .K   i  .C   2 .M   ...

Absorbing boundaries
 
DYNA_VIBRA (MATR_IMPE_PHI / IMPE_FACE) p x, t   Z .u x, t .n
~

Radiative boundaries (Sommerfeld’s radiation conditions)

Specific finite elements
AFFE_MODELE(MODELISATION=‘3D_ABSO’/’3D_FLUI_ABSO’)
 
“Constitutive” relation σ .n   C p .v .n  n   Cs .v . t  t
    
p  0 c .u x, t .n
~

Added damping due to incompressible fluid potential flows (Laplace equation)

CALC_MATR_AJOU(OPTION = ‘AMOR_AJOU‘, POTENTIEL = phi)

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Outline

Dissipative time integration schemes within Code_Aster

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Damping : available schemes in Code_Aster
Dissipative time integration schemes
Dimensionless time increment (undamped SDOF)  0  0 t
Amplification matrix A  0 ,    spectral ratio  A  Max i A 0 ,  
i

Explicit scheme TRBDF2, unconditionally L1-stable

DYNA_VIBRA(SCHEMA = 'TRBDF2’)
  2  2   A  0

Explicit scheme TCHAMWA, conditionally A-stable

DYNA_NON_LINE(SCHEMA = 'TCHAMWA’, PHI = fi)
2 (undamped SDOF)
Amplitude attenuation on a period 1 e  num


 
ln 1   02 1    1
  0   1   03 1   2
1
2 0 2 4 modif
mean
Implicit scheme HILBER-HUGHES-TAYLOR accel HHT
DYNA_NON_LINE(SCHEMA = 'HHT’, 1
 A  1
ALPHA = al, MODI_EQUI = ’OUI’) 1
Implicit scheme modified mean acceleration 
( -method)
DYNA_NON_LINE(SCHEMA = 'HHT’,  0  0 t
ALPHA = al, MODI_EQUI = ’NON’)
for   0 and   0,1
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Outline

Damping viscous constitutive models within Code_Aster

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Damping : constitutive models in Code_Aster
Damping viscous constitutive models (not considered in details)
Viscoelastic constitutive model
DEFI_MATERIAU (ELAS_VISCO)
CALC_MATR_ELEM(OPTION='RIGI_MECA_HYST‘, RIGI_MECA=xx),
then matvsc=ASSE_MATRICE()
vscpro=PROJ_MATR_BASE(BASE=modes, MATR_ASSE=matvsc,)
RESDVE=DYNA_VIBRA(BASE_CALCUL=‘GENE’,TYPE_CALCUL=‘HARM',),
 frequency response domain calculation

NL σ
Viscous regularisation
DEFI_MATERIAU (VISC_ELAS) C
DYNA_NON_LINE (COMPORTEMENT = _F(RELATION = ‘softening rate
constitutive model’, REGU_VISC=’OUI’),)
 time-history domain calculation
Avoid any noticeable contribution to the stress response: calibrate properly the parameter
Constitutive models for interfaces with damping AMOR_NOR
DEFI_MATERIAU (JOINT_MECA_FROT) AMOR_TAN
DYNA_NON_LINE (COMPORTEMENT = _F(RELATION = ‘JOINT_MECA_FROT’),)
DEFI_MATERIAU (DIS_CONTACT)
DYNA_NON_LINE (COMPORTEMENT = _F(RELATION = ‘DIS_CONTACT’/‘DIS_CHOC),)

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Damping : constitutive models in Code_Aster
Damping constitutive models (not considered in details)
Norton-Lemaître’s type visco-elastoplastic rate-dependent models
DEFI_MATERIAU (ECRO_NL)
DYNA_NON_LINE (COMPORTEMENT = _F(RELATION = ‘VISC_ISOT_NL’),)
DEFI_MATERIAU (LEMAITRE)
DYNA_NON_LINE (COMPORTEMENT = _F(RELATION = ‘LEMAITRE’),)
Without
DYNA_NON_LINE (COMPORTEMENT = _F(RELATION = ‘NORTON’),)
yield stress
DEFI_MATERIAU (CIN*_CHAB, LEMAITRE)
DYNA_NON_LINE (COMPORTEMENT = _F(RELATION = ‘VISC_CIN*_CHAB’),)
DEFI_MATERIAU (VISCOCHAB)
DYNA_NON_LINE (COMPORTEMENT = _F(RELATION = ‘VISCOCHAB’),)
DEFI_MATERIAU (VISC_TAHERI, LEMAITRE)
DYNA_NON_LINE (COMPORTEMENT = _F(RELATION = ‘VISC_TAHERI’),)
DEFI_MATERIAU (KICHENIN_NL)
DYNA_NON_LINE (COMPORTEMENT = _F(RELATION = ‘KICHENIN_NL’),)
DEFI_MATERIAU (VISC_ENDO, LEMAITRE)
DYNA_NON_LINE (COMPORTEMENT = _F(RELATION = ‘VISC_ENDO_LEMA’),)
DEFI_MATERIAU (BETON_BURGER)
DYNA_NON_LINE (COMPORTEMENT = _F(RELATION = ‘BETON_BURGER’),)
 time-history domain calculation

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Outline

Solving the quadratic eigenvalue problem: damping and complex

conjugate eigenmodes

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Solving the quadratic eigenvalue problem [R5.01.02]

Quadratic EV problem : finding  &  such as  M    C  K    0

2

symmetric
   M 0   C K       0  matrices
Linear form :    .     .    
 0 K K 0   0
    
    
M quad K quad
Usual algorithm for normal real modes

Meaning of conjugate eigenvalues ;  is kept alone

    i. 1   2

t t
      
1 Φ .C.Φ 
2 t Φ .M.Φ

2
 2  t
Φ .K.Φ
Φ .M.Φ 
 

 is the pulsation,   is the damping of complex mode Φ 

For low damping (with m  1 )

k Ck real Cf. HASSELMAN criterion
   i   C / 2 Φ  Φreal  i   2   2 Φ 2 /   k  1
 1,..., N k 
k 
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Solving the quadratic eigenvalue problem
 
Spectral transform  different strategies u 

Shift & Invert with complex shift s

K quad  u   M quad  
u  K quad  s M quad M u 
 

1

s
1
u 
A


1 1 1 
For high damping : real arithmetic Re A       
2   s  s 
1  1 1 
For low damping : imaginary arithmetic ImA       
2 j   s  s 
1
More generally : complex approach A 
 s

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Quadratic eigenvalue problem in Code_Aster
Power iteration methods (inverse methods) in CALC_MODES
Only for a couple of frequencies
Subspace iteration methods in CALC_MODES
METHODE=‘TRI_DIAG’
Real approach
shift = 0 => OPTION = ‘PLUS_PETITE’ or ‘CENTRE’
Non-zero shift => OPTION=‘CENTRE’
Imaginary approach
Non-zero shift => OPTION=‘CENTRE’
METHODE=‘SORENSEN’
Real approach
shift = 0 => OPTION = ‘PLUS_PETITE’ or ‘CENTRE’
Non-zero shift => OPTION=‘CENTRE’
Imaginary approach
Non-zero shift => OPTION=‘CENTRE’
Complex approach
Non-zero shift => OPTION=‘CENTRE’

Decomposition method in the complex space METHODE=‘QZ’

Very robust
Only for small problems : it computes all the modes !

Nota Bene : No OPTION=‘BANDE’ and no verifications on the amount of

eigenvalues
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QEP in three steps with modal reduction


Problem to solve : c c such as K   c M   c C  c  0
2

First step : normal modes without damping
  such as
K    M    0
2

Second step : modal reduction by projection

K g   t K  M g   t M  C g   t C
Third step : quadratic problem on a reduced basis
  M g 0   C g K g   c  g 
  c       0
 
0   g 
  0 K g  K g
Only for low damping
Far more robust & effective method
use CALC_MODE(METHODE=‘QZ’,) for the third step
Always use PROFIL=‘PLEIN’ for numbering (and assembly)
Default option in NUME_DDL and ASSEMBLAGE commands
No possibility to compute any reduced basis dynamic response with these
complex eigenmodes
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Conclusion
To properly define damping in dynamic simulation
Calibrate damping parameters according to the phenomenological range in view
Adopt a graduated approach from linear to nonlinear dynamics
Produce in any engineering study the dynamic energy balance (time history)
Implementation
On the whole structure: material parameters or overall modal damping ones,
and assembled matrices for all the damping contributions
On localised parts of the structure: element characteristics; discrete elements
By constitutive models: embedded contributions to the internal forces

For more information: documentations

http://www.code-aster.org
R5.05.04: Modeling of damping in linear dynamics https://code-
aster.org/V2/doc/default/fr/man_r/r5/r5.05.04.pdf
U2.06.03: Modeling of the mechanical damping https://code-
aster.org/V2/doc/default/fr/man_u/u2/u2.06.03.pdf

4  Coe_Aste n SoeMec couse tei NU L Licence

 End of presentation

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