DOCUMENTATION Index (Double-click on an erogenous cell to jump to its section)

Spreadsheet title Current version Author Summary Copyright Licensing conditions Disclaimer Modification history Detailed description Units Tips and tricks "Tweaking" the spreadsheet's behaviour Test problem Use of "protection" within the spreadsheet Assumptions / limitations Known bugs / anomalies Spreadsheet title Current version Author Dynamics_of_TwoDOF_System 3.00 Robert Niall rmniall48@gmail.com http://www.rmniall.com

Summary This spreadsheet performs a rigorous analysis of the dynamics of a linear two-degree-of-freedom structural dynamics problem. It calculates the natural frequencies, and the harmonic response under a set of harmonic loadings. It can also perform a time-history analysis for the system under the combined effects of arbitrary forces and arbitrary foundation movements. Copyright Licensing conditions This spreadsheet is free software. You can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. See the GNU General Public License for more details. You should have received a copy of this license along with the spreadsheet. If not, see <http://www.gnu.org/licenses/>. Disclaimer This spreadsheet is distributed in the hope that it will be useful. However it is distributed WITHOUT ANY WARRANTY, without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. Copyright 1985, 2001, 2013 Robert Niall

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The spreadsheet cannot be guaranteed to give correct results, and anyone who uses it must check its results by hand calculations or other means. All information it presents is for review, verification, interpretation, approval and application by a suitably qualified Professional Engineer. Modification history Version A B and C 3.00 Detailed description This spreadsheet performs a completely rigorous analysis of a general 2-dof structural dynamics problem under the (possibly) simultaneous excitations of two ground motions and two forces. Although it can handle all four excitations simultaneously, for most problems only one source of excitation will apply. The method used to calculate the natural frequencies is direct eigenvalue extraction, as described in any dynamics text book. See, for example, "Computational Methods for the Solution of Engineering Problems", by C.A.Brebbia and A.J.Ferrante, ISBN 0-8448-1079-7, Section 2.4. Damping is ignored in the calculation of the natural frequencies. The method used to determine the harmonic response is to express the two equations of motion in terms of their sine and cosine components. Then for a steady state (ie harmonic) solution the coefficients of sine and cosine must be zero in both equations. This gives four equations, which can be solved simultaneously for the four unknowns (the sine and cosine components of the resulting motions of the two masses). Again, this is a relatively well documented procedure. See, for example, "Dynamics of Structures", by R.W.Clough & J.Penzian, ISBN 0-07-011392-0, Section 4-2. When calculating the harmonic response, damping is properly considered. The damping values input to the calculations are the force-per-unit-velocity ones: some corresponding "damping ratio" values will be calculated and displayed as a rough guide to the validity of the entered values. For the harmonic analysis the excitation actions are specified by their sine and cosine components, through which their relative phases are implied. (Their calculated phases are presented in the output.) The method used in the time history calculations is a numerical solution to the two equations of motion. It uses a constant time step, and assumes that accelerations and applied forces vary linearly over each time step. This applies to the accelerations of the masses, as well as to the ground accelerations. The timestep to be used should be small enough to provide an adequate point-by-point description of the disturbing forces and ground acceleration. It should also be no greater than one eighth of the period of the higher natural frequency of the system. Units The spreadsheet allows the user to state the units being used. This is done on the Harmonic calcs worksheet, in cell M3 (which is outside the main print area). The sets of units offered in this cell are all consistent sets. The designated units are used only for cosmetic purposes, and the so user is not obliged to use any of the offered sets. All that is required is that the units be consistent with each other, and be consistent with time being measured in seconds. (Any user who does not understand what is meant by the term consistent units should not be dabbling with structural dynamics in the first place.) Comments Originally developed as a Fortran program. First release as a spreadsheet. Various minor fixes and improvements over the years. First release under the GNU General Public License. When released 1985 Oct 2001 Jan 2013 By whom released R M Niall R M Niall R M Niall R M Niall

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Tips and tricks The spreadsheet allows for each of the two masses to be independently attached to ground. Most of the structures likely to be modelled will have only one of their masses attached to ground. This situation can readily be accommodated by setting either k1 and c1 or k3 and c3 to zero. If your problem has only a single degree of freedom, make the two masses independent of each other by setting k2 and c2 to very small values (but not to zero). This effectively converts the problem to two uncoupled single-degree-of-freedom subsystems. Use one of these for your problem, and ignore the other. On the Time-history worksheet, once you have expanded the number of timesteps do not reduce it by deleting entire rows. The solution method the worksheet uses central differences to calculate the derivatives of the pre-known actions (applied forces and ground motions). Thus if you delete an entire line you will get some #REF! warnings in some of the cells in the line above. Instead, you can copy an unused, completely blank cell from beneath the used part of the results table, then paste this cell over the top of that part of the table you want to obliterate. (But be sure not to do this to any of the first three lines in the table.) "Tweaking" the spreadsheet's behaviour The spreadsheet includes a means for the user to make some minor changes to the way it behaves. This is initiated by running a macro called the Tweaker , whose shortcut is Ctrl-Shift-T. When you run the Tweaker you are invited to enter an integer number which encodes the changes you want to activate. Each change has its own integer component, and you enter the sum of the components corresponding to your desired changes. This sum is called the Tweak Level . The possible changes are: 256 Show the spreadsheet's Introduction Screen again The Tweak Level is always set to zero whenever you fire up the spreadsheet. Any value you subsequently assign to it will persist until you explicitly change it again by re-running the Tweaker macro (or until you close the spreadsheet). If you want to see the current Tweak Level without changing it, run the macro but enter a null response to its request for a new value. Test problem Input

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Output

Use of "protection" within the spreadsheet All worksheets in this spreadsheet are "protected", with the only unlocked cells being those in which the user is expected to enter data. This is done purely as a way of ensuring that any cells containing formulae cannot be overwritten in a careless moment. As a visual aid to the user, the unlocked cells have been given a faint yellow background colour. There is no password enforcing the protection, so you can readily "unprotect" any worksheet if you want to. However this is not recommended unless you have a good reason, and so to make such behaviour a bit more difficult the protection is automatically re-applied whenever the spreadsheet is opened. The macro code (the "VBA Project") that forms part of the spreadsheet is also protected, but with a password enforcing the protection. This is done so that if the VBA code encounters an error it will not expose itself

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to the user. The password that has been used for this purpose is "TwoDOF". Assumptions / limitations On the Time-history worksheet for the first two timesteps, the derivatives of the pre-known actions (the applied forces and the imposed ground motions) are calculated by different methods from those used further down the table. The Time-history calculations assume that the timestep is sufficiently small that these pre-known actions will vary smoothly between and across successive timesteps (whatever this means). If this is not the case a smaller timestep will probably be required. Known bugs / anomalies None.

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DYNAMICS OF TWO-DEGREE-OF-FREEDOM SYSTEM Test problem (as described on the "Documentation" worksheet) Structural and harmonic loading parameters: Frequency of applied disturbances (radian/sec) Oscillation of ground 1 (m) 3 sin(wt)

19-Mar-14

w=
+

0.9 4 cos(wt)

Stiffness of spring 1 (ground 1 to mass 1) (N/m) 7 Damper 1 (ground 1 to mass 1) Actual damping (N.s/m) = 3 (Damping ratio = 0.2535463 of critical) Mass 1 (kg) Force applied to mass 1 (N) 1 sin(wt) 5 2 cos(wt) 4 1 10 3 cos(wt)

c1 m1

k1

Stiffness of spring 2 (mass 1 to mass 2) (N/m) Damper 2 (mass 1 to mass 2) Actual damping (N.s/m) = Mass 2 (kg) Force applied to mass 2 (N) 4 sin(wt)

c2 m2

k2

Stiffness of spring 3 (mass 2 to ground 2) (N/m) 3 Damper 3 (mass 2 to ground 2) Actual damping (N.s/m) = 2 (Damping ratio = 0.1825742 of critical) Oscillation of ground 2 (m) 2 sin(wt) + 1 cos(wt) Harmonic results:
Ground 1 movement (m) Force on mass 1 (N) Force on mass 2 (N) Ground 2 movement (m) Movement of mass 1 (m) Movement of mass 2 (m) Tension in spring 1 (N) Tension in damper 1 (N) Tension in spring 2 (N) Tension in damper 2 (N) Tension in spring 3 (N) Tension in damper 3 (N)

c3

k3

Undamped natural vibration modes: Frequency Mode shape (radian/s) Mass 1 Mass 2 Mode one 0.715 0.428 0.904 Mode two 1.546 0.973 -0.230 Energy flows per cycle: Ground 1 movement Damper 1 Force on mass 1 Damper 2 Force on mass 2 Damper 3 Ground 2 movement TOTALS In 429.71112 19.293559 166.50496 105.06464 442.07668 216.92031 770.98962 770.98962 (N.m) Out 162.40798

Amplitude 5 2.236068 5 2.236068 2.9077642 7.8012847 30.629852 11.814372 31.300918 6.9065301 26.525212 15.915127

Phase () -36.9 -26.6 -53.1 -63.4 -97.4 -174.1 -1.5 88.5 -15.7 74.3 172.2 -97.8

The phases given above are measured anticlockwise from the real axis in the Argand plane, and define the orientation of the quantity's phasor at time zero. Phasors rotate anticlockwise. Thus the real component of a quantity is given by: amplitude*cos(wt+phase).

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DYNAMICS OF TWO-DEGREE-OF-FREEDOM SYSTEM Test problem (as described on the "Documentation" worksheet)

19-Mar-14

Brief instructions: Enter heading and structural data on the "Harmonic calcs" worksheet. Enter the time step on this one. Copy the third row of the results table into as many subsequent rows as will be required. Define the applied forces and ground displacements at each time step in the table. Give (in the first row of the table) starting values for displacements and velocities. Structural parameters: Stiffness of spring 1 (ground 1 to mass 1) (N/m) Damper 1 (ground 1 to mass 1) Actual damping (N.s/m) = Mass 1 (kg) Stiffness of spring 2 (mass 1 to mass 2) (N/m) Damper 2 (mass 1 to mass 2) Actual damping (N.s/m) = Mass 2 (kg) Stiffness of spring 3 (mass 2 to ground 2) (N/m) Damper 3 (mass 2 to ground 2) Actual damping (N.s/m) = Calculated undamped natural frequencies (radian/sec) 7 3 5 4 1 10 3 2 0.715 1.546 99 (sec)
Ground 1

c1 m1 c2 m2 c3
Ground 2

k1

k2

k3

Time increment: Step-by-step results table: Ground 1 Displ't (m)

TOO LARGE

Time (s) 0 99 198

Ext force (N)

Mass 1 Displ't (m) 0 0

Velocity (m/s) 0 0

Ext force (N)

Mass 2 Displ't (m) 0 0

Velocity (m/s) 0 0

Ground 2 Displ't (m)

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