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Structures
Giacomo Boffi
Dynamics of
Structures
Giacomo Boffi
Introduction
Part I
Introduction
Definitions
Characteristics of
a Dynamical
Problem
Formulation of a
Dynamical
Problem
Formulation of the
equations of
motion
Dynamics of
Structures
Giacomo Boffi
Introduction
Characteristics of
a Dynamical
Problem
Formulation of a
Dynamical
Problem
Formulation of the
equations of
motion
Definitions
Dynamics of
Structures
Giacomo Boffi
Introduction
Characteristics of
a Dynamical
Problem
Formulation of a
Dynamical
Problem
Formulation of the
equations of
motion
Dynamics of Structures
Dynamics of
Structures
Giacomo Boffi
Introduction
Characteristics of
a Dynamical
Problem
Formulation of a
Dynamical
Problem
Formulation of the
equations of
motion
Dynamics of
Structures
Giacomo Boffi
Introduction
Characteristics of
a Dynamical
Problem
Formulation of a
Dynamical
Problem
Formulation of the
equations of
motion
Dynamics of
Structures
Giacomo Boffi
Introduction
Characteristics of
a Dynamical
Problem
Formulation of a
Dynamical
Problem
Formulation of the
equations of
motion
Dynamics of
Structures
Giacomo Boffi
Introduction
Characteristics of
a Dynamical
Problem
Formulation of a
Dynamical
Problem
Formulation of the
equations of
motion
Dynamics of
Structures
Giacomo Boffi
Introduction
Characteristics of
a Dynamical
Problem
Formulation of a
Dynamical
Problem
Formulation of the
equations of
motion
Dynamics of
Structures
Giacomo Boffi
Introduction
Characteristics of
a Dynamical
Problem
Formulation of a
Dynamical
Problem
Formulation of the
equations of
motion
Dynamics of
Structures
Giacomo Boffi
Introduction
Generalized Displacements
Characteristics of
a Dynamical
Problem
Formulation of a
Dynamical
Problem
Formulation of the
equations of
motion
Dynamics of
Structures
Giacomo Boffi
Introduction
Characteristics of
a Dynamical
Problem
Formulation of a
Dynamical
Problem
Formulation of the
equations of
motion
Dynamics of
Structures
Giacomo Boffi
Introduction
Characteristics of
a Dynamical
Problem
Formulation of a
Dynamical
Problem
Formulation of the
equations of
motion
Dynamics of
Structures
Giacomo Boffi
Introduction
Characteristics of
a Dynamical
Problem
Formulation of a
Dynamical
Problem
Formulation of the
equations of
motion
Dynamics of
Structures
Giacomo Boffi
Introduction
Characteristics of
a Dynamical
Problem
Formulation of a
Dynamical
Problem
Formulation of the
equations of
motion
Dynamics of
Structures
Giacomo Boffi
Introduction
Characteristics of
a Dynamical
Problem
Formulation of a
Dynamical
Problem
Formulation of the
equations of
motion
Dynamics of
Structures
Giacomo Boffi
Introduction
Characteristics of
a Dynamical
Problem
Formulation of a
Dynamical
Problem
Formulation of the
equations of
motion
Dynamics of
Structures
Giacomo Boffi
Introduction
Characteristics of
a Dynamical
Problem
Formulation of a
Dynamical
Problem
Formulation of the
equations of
motion
DAlembert principle
By Newtons II law of motion, for any particle the rate of
change of momentum is equal to the external force,
d
d~u
~p (t) = (m ),
dt
dt
where ~u (t) is the particle displacement.
In structural dynamics, we may regard the mass as a
constant, and thus write
Dynamics of
Structures
Giacomo Boffi
Introduction
Characteristics of
a Dynamical
Problem
Formulation of a
Dynamical
Problem
Formulation of the
equations of
motion
~p (t) = m~u ,
where each operation of differentiation with respect to time
is denoted with a dot.
If we write
~p (t) m~u = 0
and interpret the term m~u as an Inertial Force that
contrasts the acceleration of the particle, we have an
equation of equilibrium for the particle.
Dynamics of
Structures
Giacomo Boffi
Introduction
Characteristics of
a Dynamical
Problem
Formulation of a
Dynamical
Problem
Formulation of the
equations of
motion
Dynamics of
Structures
Giacomo Boffi
Introduction
Characteristics of
a Dynamical
Problem
Formulation of a
Dynamical
Problem
Formulation of the
equations of
motion
Dynamics of
Structures
Giacomo Boffi
Introduction
Characteristics of
a Dynamical
Problem
Formulation of a
Dynamical
Problem
Formulation of the
equations of
motion
Variational approach
Dynamics of
Structures
Giacomo Boffi
dt xi
xi
Introduction
Characteristics of
a Dynamical
Problem
Formulation of a
Dynamical
Problem
Formulation of the
equations of
motion
Dynamics of
Structures
Giacomo Boffi
1 DOF System
Free vibrations of
a SDOF system
Part II
Single Degree of Freedom System
Free vibrations of
a damped system
1 DOF System
Dynamics of
Structures
Giacomo Boffi
1 DOF System
Free vibrations of
a SDOF system
Free vibrations of
a damped system
1
F (y , y ) = f (y , y )
m
y =
.
It is difficult to integrate the above equation in the general
case, but its easy when the motion occurs in a small
neighborhood of the equilibrium position.
Dynamics of
Structures
Giacomo Boffi
1 DOF System
Free vibrations of
a SDOF system
Free vibrations of
a damped system
f
f
(y yeq. ) +
(y 0) + O(y , y ).
y
y
f (y , y ) = f (yeq. , 0) +
Dynamics of
Structures
Giacomo Boffi
a
=
2
a2
b.
4
1 DOF System
Free vibrations of
a SDOF system
Free vibrations of
a damped system
Dynamics of
Structures
Giacomo Boffi
1 DOF System
Free vibrations of
a SDOF system
Free vibrations of
a damped system
Dynamics of
Structures
Giacomo Boffi
1 DOF System
Free vibrations of
a SDOF system
Dynamics of
Structures
k
m
c
(a)
p(t)
fS (t)
fD (t)
Free vibrations of
a damped system
fI (t)
(b)
p(t)
Giacomo Boffi
1 DOF System
Free vibrations of
a SDOF system
Free vibrations of
a damped system
Dynamics of
Structures
Giacomo Boffi
1 DOF System
x(t)
Free vibrations of
a SDOF system
k
m
c
p(t)
fS (t)
fD (t)
(a)
Free vibrations of
a damped system
fI (t)
p(t)
(b)
Dynamics of
Structures
Giacomo Boffi
1 DOF System
Free vibrations of
a SDOF system
Free vibrations of
a damped system
fD (t) = c x(t).
Finally, the elastic force is the product of the elastic
stiffness k and the displacement,
fS (t) = k x(t).
The differential equation of dynamic equilibrium
m x(t) + c x(t)
+ k x(t) = p(t).
Note that this differential equation is a linear differential
equation of the second order, with constant coefficients.
Dynamics of
Structures
Giacomo Boffi
1 DOF System
Free vibrations of
a SDOF system
Free vibrations of
a damped system
Dynamics of
Structures
Giacomo Boffi
st
1 DOF System
x
(t)
x
x(t)
k
Free vibrations of
a SDOF system
kst
p(t) fS (t)
fD (t)
m
c
W
fI (t)
(a)
p(t)
Free vibrations of
a damped system
(b)
m x(t) + c x(t)
+ k x(t) = p(t) + W ,
but expressing the total displacement as the sum of a
constant, static displacement and a dynamic displacement,
x(t) = stat + x(t),
substituting in we have
m x(t) + c x(t)
+ k stat + k x(t) = p(t) + W .
Dynamics of
Structures
Giacomo Boffi
1 DOF System
Free vibrations of
a SDOF system
Free vibrations of
a damped system
Dynamics of
Structures
Giacomo Boffi
1 DOF System
xtot (t)
Free vibrations of
a SDOF system
k
2
k
2
c
xg (t)
x( t)
Free vibrations of
a damped system
xtot (t)
k
2
k
2
Dynamics of
Structures
Giacomo Boffi
1 DOF System
Free vibrations of
a SDOF system
Free vibrations of
a damped system
x( t)
While the elastic and damping forces are still proportional to relative
displacements and velocities, the inertial force is proportional to the
total acceleration,
fI (t) = m
xtot (t) = m
xg (t) + m
x (t).
Writing the EOM for a null external load, p(t) = 0, is hence
or,
m x(t) + c x(t)
+ k x(t) = m xg (t) peff (t).
Support motion is sufficient to excite a dynamic system:
peff (t) = m xg (t).
Free Vibrations
Dynamics of
Structures
Giacomo Boffi
1 DOF System
Free vibrations of
a SDOF system
Free vibrations of
a damped system
m x(t) + c x(t)
+ k x(t) = p(t)
is a linear differential equation of the second order, with
constant coefficients.
Its solution can be expressed in terms of a superposition of
a particular solution, depending on p(t), and a free
vibration solution, that is the solution of the so called
homogeneous problem, where p(t) = 0.
In the following, we will study the solution of the homogeneous problem, the so-called homogeneous or
complementary solution, that is the free vibrations of the
SDOF after a perturbation of the position of equilibrium.
(k + s 2 m) = 0 s =
k
m
Dynamics of
Structures
Giacomo Boffi
1 DOF System
Free vibrations of
a SDOF system
Free vibrations of
a damped system
Dynamics of
Structures
Giacomo Boffi
k
,
m
1 DOF System
Free vibrations of
a SDOF system
Free vibrations of
a damped system
Dynamics of
Structures
x(0)
= x 0
Giacomo Boffi
1 DOF System
Free vibrations of
a SDOF system
Free vibrations of
a damped system
= x 0
x(t) =
exp(i n t) + exp(i n t)
exp(i n t) exp(i n t) x 0
x0 +
2
2i
n
exp(i n t) + exp(i n t)
exp(i n t) exp(i n t) x 0
x0 +
2
2i
n
Dynamics of
Structures
Giacomo Boffi
1 DOF System
Free vibrations of
a SDOF system
Free vibrations of
a damped system
Dynamics of
Structures
Giacomo Boffi
1 DOF System
Free vibrations of
a SDOF system
Free vibrations of
a damped system
B=
x 0
.
n
Dynamics of
Structures
Giacomo Boffi
1 DOF System
Free vibrations of
a SDOF system
x(t)
Free vibrations of
a damped system
arctan x 0
x0
t
T =
Dynamics of
Structures
Giacomo Boffi
1 DOF System
Free vibrations of
a SDOF system
Free vibrations of
a damped system
Under-critically damped
SDOF
Critically damped SDOF
Over-critically damped
SDOF
Measuring damping
Dynamics of
Structures
Giacomo Boffi
m x(t) + c x(t)
+ k x(t) = 0,
substituting the solution exp st in the preceding equation
and simplifying, we have that the parameter s must satisfy
the equation
m s2 + c s + k = 0
1 DOF System
Free vibrations of
a SDOF system
Free vibrations of
a damped system
Under-critically damped
SDOF
Critically damped SDOF
Over-critically damped
SDOF
Measuring damping
c
s + n2 = 0
m
2m
c2
n2 .
4m2
Critical Damping
Dynamics of
Structures
Giacomo Boffi
1 DOF System
Free vibrations of
a SDOF system
Free vibrations of
a damped system
Under-critically damped
SDOF
Critically damped SDOF
Over-critically damped
SDOF
Measuring damping
Critical Damping
Dynamics of
Structures
Giacomo Boffi
1 DOF System
Free vibrations of
a SDOF system
Free vibrations of
a damped system
Under-critically damped
SDOF
Critically damped SDOF
Over-critically damped
SDOF
Measuring damping
Damping Ratio
Dynamics of
Structures
Giacomo Boffi
1 DOF System
c
,
ccr
c = ccr = 2n m
Free vibrations of
a SDOF system
Free vibrations of
a damped system
Under-critically damped
SDOF
Critically damped SDOF
Over-critically damped
SDOF
Measuring damping
x(t) + 2n x(t)
+ n2 x(t) = 0
Dynamics of
Structures
Giacomo Boffi
1 DOF System
Free vibrations of
a SDOF system
Free vibrations of
a damped system
Under-critically damped
SDOF
Critically damped SDOF
Over-critically damped
SDOF
Measuring damping
p
s = n n 1 1 2 = n i D
Initial Conditions
Dynamics of
Structures
Giacomo Boffi
exp(i D t) + exp(i D t)
x(t) = exp(n t)
u0 +
2
exp(i D t) exp(i D t) v0 + n u0
.
2i
D
Using the Euler formulas, we finally have the preferred
format of the general integral:
x(t) = exp(n t) [A cos(D t) + B sin(D t)]
with
A = u0 ,
B=
v0 + n u0
.
D
1 DOF System
Free vibrations of
a SDOF system
Free vibrations of
a damped system
Under-critically damped
SDOF
Critically damped SDOF
Over-critically damped
SDOF
Measuring damping
Dynamics of
Structures
Giacomo Boffi
1 DOF System
Free vibrations of
a SDOF system
Free vibrations of
a damped system
Under-critically damped
SDOF
x(t)
x0
t
=
T =
x20 +
x 0 +x0
D
2
Dynamics of
Structures
Giacomo Boffi
1 DOF System
Free vibrations of
a SDOF system
Free vibrations of
a damped system
Under-critically damped
SDOF
Critically damped SDOF
Over-critically damped
SDOF
Measuring damping
Giacomo Boffi
2 1 = n
p
= n 2 1
Dynamics of
Structures
1 DOF System
Free vibrations of
a SDOF system
Free vibrations of
a damped system
Under-critically damped
SDOF
Critically damped SDOF
Over-critically damped
SDOF
Measuring damping
Measuring damping
Dynamics of
Structures
Giacomo Boffi
1 DOF System
Free vibrations of
a SDOF system
Logarithmic Decrement
Free vibrations of
a damped system
Under-critically damped
SDOF
Critically damped SDOF
Over-critically damped
SDOF
Measuring damping
Dynamics of
Structures
Giacomo Boffi
1 DOF System
Free vibrations of
a SDOF system
Free vibrations of
a damped system
Under-critically damped
SDOF
Critically damped SDOF
Over-critically damped
SDOF
Measuring damping
exp(n n2/D )
= exp(2mn /D )
exp(n (n + m)2/D )
Dynamics of
Structures
Giacomo Boffi
1 DOF System
p
Substituting D = n 1 2 and taking the logarithm of
both members we obtain
ln(
un
un+m
) = 2m p
1 2
ln
(2m)2
un
un+m
2 .
un
+ ln un+m
Free vibrations of
a SDOF system
Free vibrations of
a damped system
Under-critically damped
SDOF
Critically damped SDOF
Over-critically damped
SDOF
Measuring damping
Simplified solution
Dynamics of
Structures
Giacomo Boffi
Starting from
un
un+m
1 DOF System
2m
,
= exp p
1 2
Free vibrations of
a SDOF system
Free vibrations of
a damped system
Under-critically damped
SDOF
Critically damped SDOF
Over-critically damped
SDOF
Measuring damping
2m
un
exp
1 + 2m +
un+m
1
Solving for ,
1 un un+m
.
2m un+m
Errors
Dynamics of
Structures
Giacomo Boffi
Free vibrations of
a SDOF system
Free vibrations of
a damped system
m=1
m=2
0.875
/ '
1 DOF System
Under-critically damped
SDOF
Critically damped SDOF
0.75
Over-critically damped
SDOF
0.625
0.5
Measuring damping
0.05
0.1
0.15
0.2
'