Linear response

Purdue University Purdue University CE571 -- Earthquake Engineering CE571 Earthquake Engineering Spring 2003 Spring 2003 Mete A. Sozen and Luis E. Garca Mete A. Sozen and Luis E. Garca

Newton (1642-1727) 2nd Law Newton (1642-1727) 2nd Law

"The force acting on a body and "The force acting on a body and causing its movement, causing its movement, is equal to the rate of change of is equal to the rate of change of momentum in the body." momentum in the body."
Momentum Q, is equal to the product of the body Momentum Q, is equal to the product of the body mass by its velocity: mass by its velocity:

dx dx = mx && Q = mv = m Q = mv = m = mx dt dt

Newton 2nd Law (cont.) Newton 2nd Law (cont.)

Under the premise that the mass remains Under the premise that the mass remains constant, the forces that act on the body are constant, the forces that act on the body are equal to the rate of change in momentum: equal to the rate of change in momentum:

&& dQ d dQ = d ( mv ) = m dv = m dx = mx = ma dv dx && F= && F= = ( mv ) = m =m = mx = ma dt dt dt dt dt dt dt dt

F = ma

DAlambert Principle DAlambert Principle

DAlambert (1717-1783) suggested that DAlambert (1717-1783) suggested that Newton's 2nd Law should be written in a Newton's 2nd Law should be written in a similar way that the principle of similar way that the principle of equilibrium in statics ((F=0): equilibrium in statics F=0):
inertial force

F ma = 0

A simple device can yield A simple device can yield perhaps 80% of the truth perhaps 80% of the truth whereas the next 10% would whereas the next 10% would be difficult to obtain and the be difficult to obtain and the last 10% impossible last 10% impossible
H. M. Westergaard H. M. Westergaard

Response to base excitation Response to base excitation of a single degree of of a single degree of freedom (SDOF) oscillator freedom (SDOF) oscillator
l Some analytical devices are efficient l Some analytical devices are efficient

as design tools and some are good as design tools and some are good to organize experience, but very few to organize experience, but very few can serve both functions. can serve both functions. l The SDOF oscillator is better at l The SDOF oscillator is better at organizing and understanding organizing and understanding experience. experience.

Base excitation Base excitation

00

z z

00

u u

00

z z

00

u u

mass mass damper damper structural structural element element

(a) (a)

(b) (b)

Position of Position of the base of the base of the structure the structure with respect with respect to the ground to the ground

0 0

0 0

Absolute position of Absolute position of the mass with the mass with respect to a distant respect to a distant frame of reference frame of reference

mass mass damper damper structural element structural element

using equilibrium and DAlambert principle using equilibrium and DAlambert principle
inertial force inertial force
0 0

0 0

u
damping force damping force

&& &&& & mu& mu

c ((u z )) c && && u z

Structural element force Structural element force

k ((u z )) k uz

&& mu + c ((u z ))+ k ((u z )) = 0 && mu + c && && + k u z = 0 u z

We now do a simple transformation We now do a simple transformation

We use the relative displacement We use the relative displacement

x = ((u z )) x = u z
Deriving against time: Deriving against time:

&& = && && x = ((u z )) x u z

And deriving again: And deriving again:

&& = ((&& &&)) x = u z && && && x u z

Now the equilibrium equation: Now the equilibrium equation: && m ((&& + &&)) + cx + kx = 0 && && m x + z + cx + kx = 0 x z
&& && x &&& &z & z && &
m m
= mass concentrated at its center of gravity = mass concentrated at its center of gravity = acceleration of the mass relative to the base = acceleration of the mass relative to the base = base acceleration = base acceleration = damping coefficient = damping coefficient = velocity of the mass relative to the base = velocity of the mass relative to the base = stiffness coefficient of the structural element = stiffness coefficient of the structural element = displacement of the mass relative to the base = displacement of the mass relative to the base

& x & x

c c k k x x

By assuming that we have an idea of the By assuming that we have an idea of the variation of the mass displacement with variation of the mass displacement with time, we can now attempt to find a time, we can now attempt to find a description of the mass movement in description of the mass movement in terms of displacement, velocity and terms of displacement, velocity and acceleration by finding them at particular acceleration by finding them at particular times (dates) using a time interval (t). times (dates) using a time interval (t). This leads us to the central-difference This leads us to the central-difference equation for acceleration: equation for acceleration:

Central-Difference equation for acceleration Central-Difference equation for acceleration

tt tt
Displacement Displacement

x11 x
1 1

x22 x
2 2

x33 x
3 3

Velocity Velocity

x 2 x1 &x = x&1.5 = x 2 x1 1.5 tt x x &&2.5 = x33 x22 x 2.5 = x tt

Time Time

Time Time

Acceleration Acceleration

&& 2.5 && 1.5 x 2x + x x 2.5 x1.5 x11 2x 22 + x 33 x && 22 = x x = = && x = 2 tt tt)) 2 ((
Time Time

By solving the central-difference equation By solving the central-difference equation

&& 22 = x = && x

x11 2x 22 + x33 x 2x + x

((tt)) 2
2

for the displacement at date 3, we obtain: for the displacement at date 3, we obtain:

x33 = x11 + 2x22 + &&22 ((tt)) && x = x + 2x +x x

2 2

This means that if we know the displacement at date 1, This means that if we know the displacement at date 1, and the displacement and acceleration at date 2, we can and the displacement and acceleration at date 2, we can obtain the displacement at date 3. obtain the displacement at date 3.

We know that in order to meet equilibrium, at any given We know that in order to meet equilibrium, at any given date the relationship between displacement, velocity and date the relationship between displacement, velocity and acceleration is fixed in terms of the mass, damping and acceleration is fixed in terms of the mass, damping and stiffness. For example for date No. 2: stiffness. For example for date No. 2:

&& m ((&&22 + &&22)) + cx22 + kx22 = 0 && && m x +z + cx + kx = 0 x z

We now extrapolate the velocity from date 1.5 to date 2: We now extrapolate the velocity from date 1.5 to date 2:

tt && = && 1.5 +x x 22 = x1.5 + && 22 && x x x 2 2

This means that we have assumed the acceleration to be This means that we have assumed the acceleration to be constant and equal to that at date 2 in the half interval constant and equal to that at date 2 in the half interval between dates 1.5 and 2. between dates 1.5 and 2.

We know use these values at date No. 2: We know use these values at date No. 2:

x22 x11 t &&22 + mz 22 + c x x + cx22 t + kx22 = 0 && + c && mx + mz && && && mx + cx + kx = 0 tt 2 2
And rearranging: And rearranging:

x 22 x11 && mz c x x kx22 && mz c kx tt && 22 = x = && x tt m+c m+c 2 2

We have obtained a way to find the displacement, We have obtained a way to find the displacement, velocity and acceleration at any date (time). velocity and acceleration at any date (time).