Finite element method for structural dynamic

and stability analyses

Modules-2 & 3

Finite element analysis of dynamics of planar trusses

and frames. Analysis of equations of motion.

Lecture-7: FE modeling of planar structures: system with

constraints, shear building models, modeling of stress field. Models
for damping

Prof C S Manohar
Department of Civil Engineering
IISc, Bangalore 560 012 India

1
 Modeling systems with constraints
y, v x, t
EI , AE, m, l
x, u x, t
B

A
EIv mv 0
iv

AEu mu
u 0, t 0; v 0, t 0; v 0, t 0 Reaction parallel to AB=0
EIv l , t 0 Translation normal to AB=0
u l , t sin v l , t cos 0
AEu l , t cos EIv l , t sin 0
u x , 0 u0 x ; u x , 0 u 0 x
How to allow this
in FE modelling?
v x, 0 v0 x ; v x, 0 v0 x 2
 1

2 1 1 3 3

3 2 2
2 3 3
3 1 2 2

1 1

Ball and socket joint

3
 Beam on an inclined roller with an intermediate hinge

10 1 9 5
EI , AE, m, l1 EI , AE, m, l2
11 2 8
7
B

3 4 6
12 Hinge
A
BCS: u10 u11 u12 0
Constraints 5
u7 u5 cot
u8 u2
7
u9 u1 u7 sin u5 cos

E 210 GPa; =7800 kg/m3 ;B=0.2 m; D=0.3 m; l1 2 m; l2 3 m; =400

u7 u5 cot , u8 u2 , u9 u1

u1
u
2
u3

0 0 0 0 cot 0 1 0 0 u4
0 1 0 0
0 0 0 1 0 u5 0
1 0 0 0 0 0 0 0 1 u6

u7
u
8
u9
U I
GI GII 0 GIU I GIIU II 0
U II
U II GII1GIU I 5
 U II GII1GIU I
I 66
U 91 G 1G U I 61 U U I
II I 36
1 t
T U MU
2 M U I KU I t F
1
U It t M U I
2
1 t
U I M U I with M t M
2
1 t
V U KU
2
1 t t
U I K U I
2
1 t
U I K U I with K t K 6
2
 u2 t , P2 t
2D beam
element u5 t , P5 t

u1 t , P1 t u4 t , P4 t

EI , AE, m, l , c
u3 t , P3 t u6 t , P6 t
140 0 0 70 0 0
0 156 22l 0 54 13l

mL 0 22l 4l 2 0 13l 3l 2
M
420 70 0 0 140 0 0
0 54 13l 0 156 22l
2
0 13l 3l 2 0 22l 4l
7
 l 2 l
2

0 0 0 0
r r
0 12 6l 0 12 6l
2
EI 0 6l 4l 2 0 6l 2l I
K 3 2 2 ;r
l A
l l
0
r
0 0 0
r

0 12 6l 0 12 6l
0 6l 2l 2 0 6l 4l 2

8
 0 0 0 0 0 0 0 0 0 0 1 0
0 0 0 0 0 0 0 0 0 1 0
0

0 0 0 0 0 0 0 0 0 0 0 1
A1
0 1 0 0 0 0 0 0 0 0 0 0
1 0 0 0 0 0 0 0 0 0 0 0

0 0 1 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 1 0 0 0 0
0 0 0 0 0 0 0 0 1 0 0 0

0 0 0 1 0 0 0 0 0 0 0 0
A2
0 0 0 0 0 0 1 0 0 0 0 0
0 0 0 0 1 0 0 0 0 0 0 0

0 0 0 0 0 1 0 0 0 0 0 0 9
 1.0000 0 0 0 0 0
0 1.0000 0 0 0 0

0 0 1.0000 0 0 0

0 0 0 0 -1.1918 0 0 0 0 1.0000 0 0
G I = 0 -1 0 0 0 0 ; 0 0 0 0 1.0000 0

-1 0 0 0 0 0 0 0 0 0 0 1.0000
0 0 0 0 1.1918 0

0 1.0000 0 0 0 0
1.0000 0
0 0 0 0
1.2168 0 -0.2206 0.3922 0.2407 -0.2318
0 1.0920 0 0 0.3718 0

-0.2206 0 0.1203 0 0 0
M 103 Nat freq HZ
0.3922 0 0 0.2853 0.2318 -0.2139
0.2407 0.3718 0 0.2318 1.5816 -0.3922
16.2557
63.4080
-0.2318 0 0 -0.2139 -0.3922 0.2853
0.0597 0 -0.0630 0.0354 -0.0177 0.0354
173.5123
0 7.3500 0 0 -3.7540 0 200.9014

-0.0630 0 0.1260 0 0 0 304.3834
K 109 607.6123
0.0354 0 0 0.0945 -0.0354 0.0472
-0.0177 -3.7540 0 -0.0354 4.4916 -0.0354

0.0354 0 0 0.0472 -0.0354 0.0945
10
Mode 1

Mode 2

Mode 3

Mode 5 11
 2 5
Neglect
1
axial
deformation 4
3 6

Hinge
B 8 20 11

A 7 19 23 10
9

u16 cos u17 sin 21 22 12
u1 u4 24
u7 u19
u19 u22 14 17
u22 u10 13 16
u5 u17 18
15 B
u11 u17
u2 u8
u8 u14 A
u13 u14 u15 0 12
Shear building models
Popularly used in earthquake response analysis of buildings

Rigid slab

Flexible
columns

12 EI
K 2
l3
M Mass of slab
+ a fraction of mass of columns

How to obtain a sdof model but still be able to

include joint roations?
13
Strategy: Relate rotations to translations
4
through relations valid under static conditions
1
1
2
1 2 3 3
u4 0
24 6l 6l 1
K 3 6l 8l 2 2l 2 2
EI
4 4
l
6l 2l 2 8l 2 3 5
7
6

24 6l 6l u1 f
EI 2
6l 8l 2
2l u2 0
l3
6l 2l 2 8l 2 u3 0
14
 kuu ku uT f
k Remark
u k u 0 The strategy of relating certain
kuu uT ku u f dof-s to others through relations
valid under static conditions
k u uT k u 0
is known as static condensation
u k1k u uT technique.
1
kuu uT ku k k u uT f Dof-s retained: master dof-s.
Dof-s eliminated: slave dofs.
1
keq kuu ku k k u
SDOF approximation
Mu keq u f t
15
 24 EI EI
kuu 3 ; ku 3 6l 6l
l l
EI 6l EI 8l 2 2l 2
k u 3 ; k 3 2 2
l 6l l 2l 8l
1
24 EI EI l 8l 3 2
2l EI 6l
2
keq 3 3 6l 6l 2 2 3
l l EI 2l 8l l 6l
EI
16.8 3
l
SDOF approximation
EI EI
Mu 16.8 3 u f t instead of Mu 24 3 u f t
l l 16
 8 m1 11
10 Approximations
9 7 Lump masses at slab level
12
14 Neglect axial deformations
5 m2
13
6 4 u2 u5 u8 0
15
17 u17 u14 u11 0
2 m3
16 u7 u10 ; u4 u13 ; u1 u16
3 1 Remaining dof-s=18-6-3=9
18
Relate rotations to translations as
if static equillibrium relations are valid.

17
 1 4 7 3 6 9 12 15 18
1
kuu ku 4 kuu ku uM PM
k


7

u k uS 0
3 kuu uM ku uS P
K 6
k u uM k uS 0
k u k 9
12
uS k1k u uM
15


18
kuu ku k1k u uM P

m1 0 u1
0 u1
0 m u k k k 1k u P
2 2 uu u u 2
0
0 0 m3 u3 u
3
18
General format for static condensation
MX CX KX F t
X M Master dof-s
X
S
X Slave dof-s
P
F t Slave dof-s are not externally driven
0
K MM K MS X M P
K More on this
SM K SS X S 0
1
X S K SS K SM X M later.
XM I
X 1 X M TX M
X S K SS K SM
MTX M CTX M KTX M F t
T t MTX M T t CTX M T t KTX M T t F t
M R X M CR X M K R X M FR t 19
 Modeling of stresses

1 s 1 2
s2 3
2

x x x
u x, t u 2 t u x, t u2 t 1 u3 t
l1 l2 l2
u l1 , t u2 t u 0, t u2 t

x l1 u l1 , t u2 t u 0, t u2 t @ x 0
Element 1 Element 2 20
Element 1 Element 2
x x x
u x, t u 2 t u x , t u 2 t 1 u3 t
l1 l2 l2
u2 t u3 t u2 t
xx x, t xx x, t
l1 l2
u2 t u3 t u2 t
xx x, t E1 xx x, t E2
l1 l2
u2 t u3 t u2 t
xx l1 , t E1 xx 0, t E2
l1 l2

u2 t u3 t u2 t
xx l1 , t E1 xx 0, t E2
l1 l2
Element 1 Element 2

even when E1 E2 21
 Discontinuity
introduced by FEM
Stress

Displcement based FEM introduces

discontinuities in spatial variation of
quantities which are truly continuous.

22
 1

s 1 2 s2

4
v x, t ui t i x
i 1

x2 x3
1 x 1 3 2 2 3
Recall l l
x 2 x3
2 x x 2 2 ;
l l
x2 x3
3 x 3 2 2 3 ;
l l
x 2 x3
4 x 2
l l 23
Element 1
v x, t u1 t 3 x u2 t 4 x
x2 x3 x 2 x3
u1 t 3 2 2 3 u2 t 2
l l l l
2x 3x 2 2 x 3x 2
v x, t u1 t 3 2 2 3 u2 t 2
l l l l
2 3 2x 2 3 2x
v x, t u1 t 3 2 2 3 u2 t 2
l l l l
3 2 3 2
v x, t u1 t 2 3 u2 t 2

l l
v l , t u1 t ; v l , t u2 t ;
6 4
EIv l , t EIu1 t 2 EIu2 t

l l
12 6
EIv l , t EIu1 t 3 EIu2 t 2
l l 24
Element 2
v x, t u1 t 1 x u2 t 2 x
x2 x3 x 2 x3
u1 t 1 3 2 2 3 u2 t x 2 2
l l l l
2x 3x 2 2 x 3x 2
v x, t u1 t 3 2 2 3 u2 t 1 2 2
l l l l
2 3 2x 2 3 2x
v x, t u1 t 3 2 2 3 u2 t 2 2
l l l l
3 2 3 2
v x, t u1 t 2 3 u2 t 2

l l
v 0, t u1 t ; v 0, t u2 t ;
6 4
EIv 0, t EIu1 t 2 EIu2 t

l l
12 6
EIv 0, t EIu1 t 3 EIu2 t 2
l l 25
Element 1

v l , t u1 t ; v l , t u2 t ;
6 4
EIv l , t EIu1 t 2 EIu2 t
l l
12 6 At the common node
EIv l , t EIu1 t 3 EIu2 t 2
l l translation and rotation

Element 2 are the same but the
v 0, t u1 t ; v 0, t u2 t ; BM and SF differ

6 4
EIv 0, t EIu1 t 2 EIu2 t
l l
12 6
EIv 0, t EIu1 t 3 EIu2 t 2
l l

26
 MU CU KU G U ,U , t F t
Dynamic response analysis
U (0) U 0 ;U 0 U 0

Frequency domain methods

Time domain methods
Response spectrum based methods

Linear time invariant systems

Time varying systems
Nonlinear systems

Quantitative methods
Direct methods
Mode superposition methods
Qualitative methods
Bifurcations and stability 27
Review of solution of equation of motion
for discrete MDOF systems

MX CX KX F t
X 0 X 0 ; X 0 X 0

NPTEL Video course

Stochastic Structural Dynamics [C S Manohar]
Lecture 13 Slides 3-50
Lecture 14 Slides 2-24
http://nptel.iitm.ac.in/courses/105108080/

28
 Input-output relations for linear time invariant systems

f (t ) LTI x(t ) h(t ) f ( )d

0

F ( ) LTI X () H () F ()
f (t ) F ( )
x(t ) X ( )
h(t ) H ( ) (t ) LTI h(t )

exp(it ) LTI H ( ) exp(it )

29
 Linear Damping models

Viscous Structural

Classical Non-Classical Classical Non-Classical

Classification into viscous and structural depends upon behavior

of energy dissipated under harmonic steady state as a funciton of
frequency.
Classification into classical and non-classical depends upon
orthogonality (or lack of orthogonality) of damping matrix
with respect to undamped normal modal matrix. 30
 SDOF systems
Equllibrium equation: mx cx kx P cos t
Power balance equation: mx cx kx x t P cos t x t
2 /
As t , energy disspated in a cycle, ED
0
cx 2 dt

lim x(t ) X cos t

t

lim x(t ) X sin t

t
2 /
ED
0
c 2 X 2 sin 2 (t )dt c 2 X 2 (1/ 2)(2 / ) cX 2

ED

This contradicts the experimental observation that ED

31
is constant with respect to driving frequency
Remedy : adopt an equivalent damping model such that
Ceq c
Ceq
mx x kx P cos(t )

Ceq
ED 2 X 2 (1/ 2)(2 / ) Ceq X 2

ED is independent of driving frequency (as is observed

in experimental studies).

This damping model is called the structural damping model.

32
Consider
P exp(it )
mx cx kx P exp(it ) lim x(t )
t m 2 ic k
Ceq P exp(it )
mx x kx P exp(it ) lim x(t )
t m 2 (k iCeq )
Define
k * k iCeq
P exp(it )
mx k x P exp(it ) lim x(t )
*
t m 2 k *
We can talk of complex valued stiffness in the context of
structural damping models.

33
 Ceq
mx x kx P exp(it ) OR mx k * x P exp(it )

Remarks

Energy dissipated per cycle becomes constant with respect to driving

frequency.

This is not an equation in time domain: it does not make sense to

talk of free vibration; response to transient loads cannot be described.

It can be shown that the system is not causal.

Structural damping model: mathematically not sound but explains

experimental observations on dependence of energy dissipated per
cycle as a function of driving frequency.

Viscous damping model is mathematically sound but not satisfactory

in terms of explaining experimental observations 34
Analysis of MDOF systems with classical
viscous damping
MX CX KX F t
X 0 X 0 ; X 0 X 0
X (t ) TZ t
MTZ t CTZ t KTZ t F (t )
T t MTZ t T t CTZ t T t KTZ t T t F (t )
MZ t CZ t KZ t F (t )
M , C , & K structural matrices in the new coordinate system.
F (t ) force vector in the new coordinate system
Question
Can we select T such that M , C , & K are all DIAGONAL?
If yes, equation for Z (t ) would then represent a set of uncoupled
equations and hence can be solved easily. 35
 How to select T to achieve this?
Consider the seemingly unrelated problem of
undamped free vibration analysis
MX KX 0
Seek a special solution to this set of equations in which
all points on the structure oscillate harmonically at the
same frequency.
That is
xk t rk exp it ; k 1, 2, ,n
or, X t R exp it where R is a n 1 vector.
X t i R exp it & X t 2 R exp it
2 MR KR exp it 0
36
 2 MR KR exp it 0

2 RM KR 0
KR 2 MR
This is a algebraic eigenvalue problem.
Note
K K t ; M M t
K is positive semi-definite
M is positive definite

Eigensolutions would be real valued

and eigenvalues would be non-negative. 37
KR 2 MR
K 2 M R 0
1
Let K M 2
exist.
1
K M K 2 M R 0
2

IR 0 R 0
1
If K M exists, R =0 is the solution.
2

Condition for existence of nontrivial solution is that

1
K M
2
should not exist.
K 2M 0
This is called the characteristic equation.
This leads to the characteristic values
12 22 n2 and associated eigenvectors
38
R1 , R2 , , Rn .
Orthogonality property of eigenvectors
Consider r - th and s-th eigenpairs.
KRr r2 MRr (1)
KRs s2 MRs (2) Rst MRr 0 rs
(1) Rst
R KRr 0
t
s rs
R KRr R MRr
t
s
2
r
t
s (3)
(2) Rrt
Rrt KRs s2 Rrt MRs (4)
Normalization
Transpose both sides of equation (4)
R K Rr R M Rr
t t 2 t t Rst MRs 1
s s s

Since K K & M M , we get

t t
R KRs
t
s
2
s
Rst KRr s2 Rst MRr (5)
Substract (3) and (5)
r s s MRr 0
2
2
R t
39
Introduce
R1 R2 Rn
( nn )

Diag 12 22 n2

Orthogonality relations
M I
t

K
t

Select T
40
 MX KX F t
X 0 X 0 ; X 0 X 0
X (t ) Z t
Consider M Z t K Z t F (t )
Undamped
Forced t M Z t t K Z t t F (t )
Vibration IZ t Z t F (t )
Analysis
zr r2 zr f r t ; r 1, 2, ,n

How about initial conditions?

X (0) Z 0
t MX (0) t M Z 0 Z 0
Z 0 t MX (0) & Z 0 t MX (0) 41
 zr 0 t
1
zr t zr 0 cos r t sin r t sin r t f r d
r 0
r

X t Z t
n
xk t kr zr t
r 1
n zr 0 t
1
kr zr 0 cos r t sin r t sin r t f r d
r 1 r 0
r

42
How about damped forced response analysis?

MX CX KX F t
X 0 X 0 ; X 0 X 0
X (t ) Z t
M Z t C Z t K Z t F (t )
t M Z t t C Z t t K Z t t F (t )
IZ t t C Z t Z t F (t )

If t C is not a diagonal matrix, the

equations of motion would still remain coupled.
43
Classical damping models
If the damping matrix C is such that
t C is a diagonal matrix, then equations would
get uncoupled.
Such C matrices are called classical damping matrices.
Example
Rayleigh's proportional damping matrix
C M K

t C t M t K
I
44
C M K
T C T [ M K ]
T I T K
[ I ] Diag[i2 ]
cn n2
n
cn 2nn n
2n 2
How to find and ? We need to know damping ratios at least
for two modes. For example,
1
1
21 2
Knowing 1 and 2 , solve for and
2
2
22 2 45
 0
10
mass and stiffness proportional
stiffness proportional
mass proportional
-1
10

-2
eta

10

-3
10

-4
10
0 1 2 3
10 10 10 10
frequency rad/s

46