Introduction Structural Dynamics 1, BASIC CONCEPTS 1.1 Introduction Structural Dynamics is past of Structural Mechanics which estimates the response of structures subjected to dynamic loading. ‘The term dynamic may be defined as simply as time-varying. Thus, a dynamic load is any load of which the magnitude, direction or position varies with time. The structural response to a dynamic load is also time-varying A structural dynamic problem differs from a static problem in two essential aspects. The first difference is the time-varying nature of the excitation (applied loads) and the response (the resulting displacements, internal forces, stresses, strains, etc.). That is, both are function of time in a structural dynamic problem. As a result, a dynamic problem does not have a single solution, as a static problem does. In this case, a succession of solutions corresponding to all times of interest in the response history has to be established. Thus, a dynamic analysis is more complex and computationally intensive than a + static analysis. However, the most important feature differentiating a dynamic problem from the corresponding static problem is the occurrence of inertia forces when the loading is dynamically applied. Inertia is the property of matter by which it remains at rest or in motion at a constant speed along a straight line so long as it is not acted by an external force. For a translation motion, the measurement of inertia is the mass m while for a rotational motion, the measurement of inertia is the mass moment of inertia Jo For example, if the cantilever shown in Fig. 1a, is subjected to a static force F, the resulting shear force V, bending moment M and the associated deflections and stresses in the structure can be computed from the basic static structural analysis principles and are directly proportional to force F. If a time- varying force F(t) is applied to the cantilever, Fig. Ib., the structure starts vibrating and experiences accelerations. The resulting displacements of the cantilever are associated with accelerations which produce inertia forces resisting the accelerations, Thus the internal forces in the cantilever must equilibrate not only the external force but also the inertia forces resulting from the accelerations of the cantilever. mo. i Vit) Fe) Tera fore Fig. 1 Cantilever subjected to: a. static load, b. dynamic load 1.2 Dynamic analysis procedure An appropriate methodology for conducting a dynamic structural analysis is essential to achieve a viable solution, There are three basic phases of a dynamic analysis: identification of the physical problem, definition of the mechanical model and solution of the mechanical model. These steps are summarized in Fig. 2. 1, Identification of the physical problem — includes accurately identifying and describing the physical structure or siructural component and the source of the dynamic loading.Introduction Structural Dynamics 2. Definition of the mechanical model - involves defining a mechanical model that accurately represents the dynamic behaviour of the physical problem in terms of geometry, loading, boundary conditions. In general, structures are very complex systems and it is impossible to consider all the details for the analytical model. Only the most important features are considered in the analysis to predict the behaviour of the system. The idealisation of the physical problem to a mechanical model generally involves some simplifying assumptions. Often the overall behaviour of the system can be determined by considering just a simple model of the complex physical system. 3. Solution of the mechanical model ~ the governing differential equations (mathematical model) are solved to obtain the dynamic response of the system. The mathematical mode! should include enough details to be able to describe the system in terms of equations without making it too complex. The mathematical model may be linear or non-linear, depending on the system’s components, For complex structures, it may be necessary to refine the analysis by considering a more detailed mechanical model or to introduce design improvements for structural optimization. ees Hoste coins | [nerorerecaacaa woe] ie —————— Fig, 2 Dynamic analysis procedure C5] 1.3 Dynamic modelling of structures The most important step in the dynamic anelysis procedure is defining a mechanical model that accurately represents the physical problem, In order to completely specify the position of all points on the structure at any instant of time, a number of independent geometrical coordinates are required. These coordinates are called degrees of freedom (DOF) or dynamic coordinates. There are two types of geometrical coordinates: Linear displacements (translations), x(¢) © Angular displacements (rotations), 9(¢) ‘Theoretically, all structures posses an infinite number of DOF. However, most practical analyses are conducted on mechanical models having e finite number of DOF. 1.3.1 Modelling In the process of structural modelling, there are three main procedures used for the discretization of a structure:Introduction Structural Dynamics Lumped mass procedure ‘The mass of the system is assumed to be concentrated (localized/lumped) in various discrete points around the system, Fig. 3. In this case, it is necessary to define the displacements and accelerations only at these discrete points. A structural system modelled this way, which considers a lumped mass model of the building, is referred as a discrete/ finite model. xt, 30, m ms 4 - [ ww at” a 8 a Fig, 3 Lumped mass (discrete) mode! [5J a, physical representation, b. SDOF model, c. three DOF model ‘The representation shown in Fig. 3 b. is a single-degree-of-freedom (SDOF) system, in which the entire mass m of the structure is localized at the top of the structure, The independent displacement =(¢) of the mass is a function of time alone. Thus, the single resulting equation of motion is an ordinary differential equation. The lumped mass model shown in Fig. 3 c. is a three DOF system in which the mass of the structure is localized at three locations. Each lumped mass m,, m, and m, bas its own displacement x,(f), x,(f) and x(t). The resulting equations of motion for this model are a set of three simultaneous ordinary differential equations. A system which has more than one DOF is called multi- degree-of freedom (MDOF) system. Other examples of MDOF systems are represented in Fig. 4 @arw Os | Pe ne) i i tao Oo mm me ' a @—_6—-@-a~ B30 t +t ¢ o~ oxen a = ‘ Fig. 4 MDOF systems a. two horizontal translations, 5. three vertical translations, cc. one horizontal translation and one vertical translation Jn general, there is no connection between the number of DOF and the number of masses considered in the model. In Fig. 5 the mass of the structure is considered being concentrated in one point but the number of DOF attributed to the mass is equal to three (two translations and one rotation).Introduction Structural Dyneonics i) pan —O-W tow Fig, 5 System with one mass and three DOF Continuous (distribute) model In this model the mass is considered uniformly distributed throughout the system. A large number of practical systems can be described using a finite number of degrees of freedom. In reality, structures have am infinite number of degrees of freedom. As an example, consider the cantilever structure in Fig. 6. Since the structure has an infinite number of mass points, an infinite number of coordinates are necessary to specify its deflected configuration. ‘The infinite number of coordinates defines its elastic deflection curve. y 0) Fig. 6 Continuous (distributed) model £5] ‘ For a continuous model, the mathematical formulation of the problem results in a system of partial ~ differential equations. Using the continuous model, 2 better accuracy of the results can be achieved in a dynamic analysis than by the lumped mass model. However, the analysis of a discrete model is much simpler than that of a continuous model. Furthermore, the accuracy of the results can be improved by increasing the number of degrees of freedom in a lumped mass model. Finite element model This model combines the two models described above, The structure is divided into elements, which are connected at discrete points called notes, Fig. 7. ‘The nodes are allowed to displace in a prescribed manner to represent the motion of the structure, The sum of the displacements (translations and rotations) represents the total number of degrees of freedom for the system. The mass of the system is concentrated within each element.