5 Single Degree of Freedom System: Impulse Loading 5,1 INTRODUCTION In many practical situations, the forcing function is neither harmonic nor periodic. It may be a single impulse loading having a very large magnitude but a very short dura- tion #,, It may be a sine impulse, a rectangular impulse, a ramp impulse or any other similar impulse having a total duration of ¢, as shown in Figure 5.1. Such impulses may be produced by a blast loading. The response of such an impulse depends upon the ratio ¢/7, where T is a natural period of the SDOF system. The response of such arbi- trary single impulse excitation is presented for an undamped SDOF system because the effect of damping on the response of a SDOF system due to single impulse exci- tation is usually not significant. The maximum response to an impulse force will be reached in a very short time. The damping force will not be able to absorb energy from the structure during this time. Duhamel integral is used to determine the response of a SDOF system subjected to such loadings. The concept of shock spectrum is introduced to represent the response in graphical form, which is very easy to understand. pl / vd) ta130 Part 4: Single Degree of Freedom Systems P ‘Time dt @ () Figure 5.2 (a) Unit impulse; (b) Impulse loading. or, Pdt= mi (51) or, =P dim (52) For undamped free vibrations in a SDOF, it was shown in Chapter 2 that: x(t)=Asinot+Beosor Constants A and B can be expressed in terms of initial conditions, that is, x(0) and (0) att=0. ; TERY =z eas . The initial displacement is zero prior to and up to the impulse, therefore, An impulse is shown i short impulses of duratiChapter 5: Si ipter 5: Single Degree of Freedom System: Impulse Loading 131 = fpaysinatt- rill t)dt (5.6) itis called Duhamel integral. It can also be written as ? x= fo@)h@—t)ar ere) Hl where ie | A@-7) no O(t-1) cat) Equation (5.7) is called the convolution integral, The function h(~ 2) is called unit impulse response for undamped systems, Equation (5.6) or (5.7) can be evaluated using numerical integration. In these equations, it is implicit that the initial conditions of the SDOF system is at rest, that is,x(0) =0 and (0) =0. If not, then the resulting free vibration response given by Equation (5.3) should also be considered, 5.4 DAMPED SYSTEM The steady state response of a damped SDOF system for a single pulse of magnitude pand duration drat instant ran be written as follows: ahs mo, Unit impulse response for a damped system is given by the convolution integral e*') sin @, (tT) (5.8a) h(t—2) =e sina, (t—2) (5.8b) my or, for the single pulse, the total response is given as x(t)= poh(t-7) (5.8c) where p, = p dr= magnitude of impulse. i : . Fora nee of three impulses of magnitude p,,?, and p, at different instants 7,, z, and 1, respectively, the response can be written as: x(t)= pyh(t-t )+ pyht(t—t))+ psh(t—t5) or, ; ( (5.84) (58e) response can be writ- 680) (5.88) the ‘convolution432 Part 1: Single Degree of Freedom Systems 5.5 SHOCK SPECTRA tion £,, its maximum response ca is i impulse of dura’ Ifa SDOF system is subjected to an imp™ n naxim be pee haa the Duhamel’s integral. The dynamic magnification factor cay be computed. By changing the duration of the impulse ofa ener ger ome Value, of the dynamic magnification factor can be obtained. A plot cai rane A etWeen dynamic magnification factor and f/T for a give shape of the om ae a plot referred to as shock spectra. Similar plots can be made for other shapes o! the impuly function. Shock spectra is very useful in designing SDOF tens subjected to impulse Joading. The Duhamel integral can be easily evaluated using MATLAB. 5.6 ILLUSTRATIVE EXAMPLES Example 5.1 Find the steady state response of an undamp\ impulse as shown in Figure 5.3. ed SDOF system subjected to a constant step Po} ) o Time Figure 5.3. Step impulse, Solution The steady state response can be written as follows: a =-* |ple)sinott-nde @Chapter 5: pI Single Degree of Freedom System: Impulse Loading 133 gxample 5.2 damped oe yes Tee Se e ramp impulse as shown in Figure 5.4. Find sa (b) shock ESS and free vibration states using Duhamel integral PO Po ty Timer Figure 5.4 Ramp impulse, Solution (a) Steady State Response The forcing function can be expressed as Ot, ) tis now possible to plot the steady state response x(0)/x,, versus 1/7 for the down ramp impulse for a SDOF system and develop a shock spectra using Equations (4) and (7). The MATLAB code Dos5_S is written to compute it. The shock spectra is shown in Figures 5.11(a) and 5.11(b) on log and normal scales.154 Part 1: Single Degree of Freedom ‘Systems. x = zeros (Rmax/Rstep, tmax/AT) 7 for R = Rmin:Rstep:Fmax rert1; %R = td/T td = 0.507 = td/R; w= 2+pi/T: xst = ly “static k=0; for t =0:d! kektl; [x(r)k)] = calc_x5 (td, ty we xst)7 end rtmax end R = Rmin:Rstep:Rmax; xmax = max (x!) 7 semilogx(R, xmax, ’ grid on; legend (*xmax/xst!) xlabel (‘td / T ') ylabel (‘Maximum dynamic response’) oye figure; plot (R,xmax,’.-k’); grid on; legend (*xmax/xst!) xlabel(*td / T ‘) ylabel (‘Maximum dynamic response’) CODE cale_x5 % calc_xS called by:DosS_5 % Undamped Forced Vibrations of a SDOF System - Impulse loading % Decreasing ramp force impulse % function [x] = cale_x5 (td, t,w,xst) % compute shock spectra % xamp decreasing functionChapter 5: Single Degree of Freedom ‘System: Impulse Loading 155. (b) Given: spring stiffness k= 4 x 10° N/m, natural fi © nn and duration of triangular impulse = O46 cen 1 ueney 1= 45 Hi, peak force y Period of vibration T= 1/f=1/4.5 =0.29 see :. The dynamic amplification factor for the down ramp impulse for the given t/T=140. i =Po__50 State displacement x, = 20— 7) «0.9195 m= 125 mm . Dynamic displacement ¥,., = Dx, =1.40x12.5=17.5 mm Elastic spring force = k xyq = 4000%0.0175=70 kN fe Example 55 An undamped SDOF system is subjected to a down Tamp impulse as shown in Figure 5.12. The maximum amplitude of the force is 5 KN and its duration is 0.04 sec. Estimate the elastic force developed in the system, If the duration of the impulse is reduced to 0.01 sec only, what is the elastic force? M=2500kg, PO) K=6250kNim Each tq Time,t (a) (b) Figure 5.12 (a) SDOF system; (b) Down ramp impulse. Solution (a) For two columns, the total lateral stiffness = 2 x 6250 x 10° = 12500000 Nim K _ [125x100000 _ 79,79 rad/sec Natural frequency @= fe Oa 1 Qn Period ao sec456 Part 1: Single Degree of Freedom Systems (b) If duration of the impulse loading was only 0.01 sec, then ty 0010 _ 941 = 0.40 x 0,38 = 0.152 mm :, Dynamic displacement amplitude x,,.. = 125 x 10° x (0.152 x 10) Corresponding maximum elastic force produced = k Xu. =1900N << 5650 N in case (a) For an impulse of very small duration, a large part of th system. ¢ load is resisted by inertia ofthe Qo Example 5.6 ‘An overhead water tank (Figure 5.13(a)) has an effective weight of 1800 KN at its top when filled with water. Its lateral stiffness is 20000 kN/m. Estimate the maximum latera) displacement of its top when itis subjected to a dynamic force as shown in Figure 5.13(4) and Figure 5.13(c). Maximum amplitude of force p(#) = 200 kN and duration of impulse is 0.15 sec. Po Po! ta as Time i ‘Time @ (b), © Figure 5.13 Overhead water tank under impulse loading. \—> (0), Solution For the water tank, lateral stiffness = 20000 kN/m. 20000 = J——=10. Tao0 70 = 10-54 rad/sec : 2n_ On Period T= “= 4 =04 Te apag 70.60 see ‘There is a need to develop shock spectra for the imy i i v ;pulse loading shown in Figures 5.13(0) cad SS CVARERa RR aR MMO citertores) Natural frequency of the OHT @ = £ 12.50 mm.Chapter 5: ter 5: Single Degree of Freedom System: Impulse Loading 157 (b) When subjected to the half sine impulse shown in Figure 5.13(c) For {/7=0.25, amplification factor D = 0,86 by making use of shock spectra +. Dynamic displacement = = 200 A,xD= 2000 *0:86=0.0086 m or, 860mm 1 PROBLEMS MATLAB APPLICATIONS 5.1 An undamped system is subjected to a rect: i i n n angular impulse force of amplitude p, and duration f, a8 shown in Figure PS.1. Derive the equations for the response to this impulse starting from rest during the forced vibration phase and free vibration phase. Po rma Figure P51 (a) Plot the response x(1)/x,, vs. /T for various values of ¢/T. (b) Plot the maximum response ratio x,,,/x, against ¢/7, where x,,,. is defined as the abso- lute value of x(¢) during (i) the forced vibration phase and ({i) the free vibration phase. (c) Plot the shock spectra. 52. An undamped system is subjected to a symmetric triangular impulse force as shown in Figure P5.2. Derive the equations for the response to this impulse starting from rest dur- ing the forced vibration phase and free vibration phase, is defined as the the free vibrationChapter 5: Single Degree of Freedom System: Impulse Loading 56 A damped system with ¢ = Figure P56 Plot the response x(t)/x,, vs #/T for various valu ies of t/T using MATLAB, Po 010° 020 030 + ‘Time (sec) Figure P57 REFERENCES f i Kk. Biggs, JM. (1964) Introduction to Structural Die Mc enn: Bok, os eis oA i ed., Pearson , Chopra, A.K. (2001) Dynamics of Structures, Paes Cough Wie Penzien, J. (1993) Dynamics of Structures, Me Graw Hill Book New York.