Numerical Modelling of time-history response of

a 2DOF system using Wilson’s 𝜽 method

B. Tech Project
CE 4291

by

SANDEEP BIRUA

2020CEB060

Under the supervision of

DR. DEBOJYOTI PANDIT

DEPARTMENT OF CIVIL ENGINEERING

INDIAN INSTITUTE OF ENGINEERING SCIENCE AND TECHNOLOGY, SHIBPUR

May, 2024

1
 INDIAN INSTITUTE OF ENGINEERING SCIENCE AND TECHNOLOGY,

SHIBPUR

DEPARTMENT OF CIVIL ENGINEERING

I SANDEEP BIRUA hereby submit the B.Tech Project titled “Numerical

modelling of time-history response of a 2DOF system using Wilson’s 𝜃 method”,

prepared under the supervision of DR. DEBOJYOTI PANDIT and Mr.

VILANDER NAOROIBAM in partial fulfillment of the requirements for the

degree of Bachelor of Technology.

Signature of student(s)

Name(s):

Date:

Place:

2
 Board of Examiners

For the project

“Numerical modelling of time-history response

of a 2DOF system using Wilson’s 𝜽 method”

executed by

Sandeep Birua

Dr. Debojyoti Pandit (Supervisor)………………………………………

Dr. Subhra Paul (member)………………………………………………._

Dr. Sujit Kumar Dalui……………………………………………………

Prof. Chaitali Ray (Chairperson)……………………………………….

3
 ACKNOWLEDGEMENT

I hereby convey my sincere respect, thanks and heartily gratitude to my

mentor cum advisor DR. DEBOJYOTI PANDIT for his immense support,
monitoring and guidance. I would also like thank Mr Vilander Naoroibam
for his constant support during the entire project. This, B.Tech Project
Part II (CE4191) would never have been completed without his constant
help and encouragement .The blessings, help and guidance given by them
time to time shall carry me a long way in the journey of my life.
Lastly, I thank almighty, my parents and friends for their constant
encouragement without which this project would not be possible.

Date: - 15-05-2024

Indian Institute of Engineering Science and Technology, Shibpur

Howrah – 711103
West Bengal

4
 CONTENT

TOPICS
PAGE NO.
1. Introduction
1.1 A brief overview 6

2. Numerical Formulation of Wilson’s 𝜽 Method

2.1 Wilson’s 𝜃 Method 8
2.2 Algorithm for Wilson’s 𝜃 Method 11
2.3 Illustrative problem 19.1 (Mario Paz) 13

3. Numerical Results
3.1 Graphs
3.1.1 constant force applied to mass (𝑀1 ) 19
3.1.2 constant force applied to mass (𝑀2 ) 21
3.1.3 constant force applied to mass (𝑀1 & 𝑀2 ) 23
3.1.4 sinusoidal force applied to mass (𝑀1 ) 25
3.1.5 sinusoidal force applied to mass (𝑀2 ) 27
3.1.6 sinusoidal force applied to mass (𝑀1 & 𝑀2 ) 29

4. Summary & Future Work

4.1 Summary 31
4.2 Future Work 31

REFERNCES 32

APPENDIX 33

5
 CHAPTER 01
INTRODUCTION
1.1 A Brief Overview
Dynamics of structure is an important topic in the civil engineering curriculum.
Most of the time, static analysis based approaches are herculean task at
undergraduate level to analyse and design structures. However, at senior
undergraduate level and graduate level, dynamics of structures are instructed.
This is so because, dynamic analysis or design based on dynamic consideration
are mathematically more involved. Nevertheless, with the more awareness on
the hazards caused due to earthquake and storms, the need to teach and learn
the subject is becoming globally popular.
The simplified structure can be modelled as a mass spring system with applied
force as shown below.

Figure 1: A Spring Mass System

The equation governing this simple system is

𝑚𝑦̈ + 𝑘𝑦 = 𝐹(𝑡)
6
We can see that when the term 𝑚𝑦̈ can be ignored with respect to the
other two terms, the equation degenerates into a static problem:
𝑘𝑦 = 𝐹(𝑡)
Certain concepts of dynamics like mode shapes and natural frequencies
are however not possible to capture in a simple degree of freedom
system. In that at least a 2DOF system is required.
In the present work, an inhouse Python code is developed to model the
2DOF response of an elastic system under forced excitation. The
algorithm is based on Wilson’s 𝜃 Method.

7
 CHAPTER 02
NUMERICAL FORMULATION OF WILSON’S 𝜽 METHOD

2.1 Wilson’s 𝜽 Method

Figure 2: Linear acceleration assumption in extended time interval.

̂𝑦𝑖̈ + 𝐶𝑦̇ (Δ
𝑀Δ ̇ ̂𝑦 ) = Δ
̂ 𝑦𝑖 ) + 𝐾(𝑦)(Δ ̂𝐹𝑖 … … … … … . 𝑒𝑞 1
𝑖
̂𝑦𝑖 = 𝑦(𝑡𝑖 + 𝜏) − 𝑦(𝑡𝑖 ) … … … … … . . 𝑒𝑞 2
Δ
̂𝑦𝑖̇ = 𝑦̇ (𝑡𝑖 + 𝜏) − 𝑦̇ (𝑡𝑖 ) … … … … … . . 𝑒𝑞 3
Δ
̂𝑦𝑖̈ = 𝑦̈ (𝑡𝑖 + 𝜏) − 𝑦̈ (𝑡𝑖 ) … … … … … 𝑒𝑞 4
Δ

From the given figure we can write linear expression for acceleration as
̂𝑦̈ 𝑖
Δ
𝑦̈ (𝑡) = 𝑦̈ 𝑖 + (𝑡 − 𝑡𝑖 ) … … … … … … . 𝑒𝑞 2.1
𝜏

8
Integration eq 2.1 twice we get,
̂𝑦̈ 𝑖
1Δ
𝑦̇ (𝑡) = 𝑦̇ 𝑖 + 𝑦̈ 𝑖 (𝑡 − 𝑡𝑖 ) + (𝑡 − 𝑡𝑖 )2 … … … 𝑒𝑞 2.2
2 𝜏
and
1Δ̂𝑦̈ 𝑖
𝑦(𝑡) = 𝑦𝑖 + 𝑦̇ 𝑖 (𝑡 − 𝑡𝑖 ) + (𝑡 − 𝑡𝑖 )2
2 𝜏
1Δ ̂𝑦̈ 𝑖
+ (𝑡 − 𝑡𝑖 )3 … … … … … … … 𝑒𝑞 2.3
6 𝜏

From eq 2.2 and 2.3

We get,
1
̂
Δ𝑦̇ 𝑖 = 𝑦̈ 𝑖 𝜏 + Δ̂𝑦̈ 𝑖 𝜏 … … … … … … 𝑒𝑞 2.4
2
and
1 1
̂𝑦𝑖 = 𝑦̇ 𝑖 𝜏 + 𝑦̈ 𝑖 𝜏 2 + Δ
Δ ̂𝑦̈ 𝑖 𝜏 2 … … … … … 𝑒𝑞 2.5
2 6

From eq 2.5 and eq 2.4

6 6
̂𝑦̈ 𝑖 =
Δ ̂𝑦𝑖 − 𝑦̇ 𝑖 − 3𝑦̈ 𝑖 … … … … … … … 𝑒𝑞 2.6
Δ
𝜏2 𝜏
and
3 𝜏
̂𝑦̇ 𝑖 =
Δ ̂𝑦𝑖 − 3𝑦̇ 𝑖 − 𝑦̈ 𝑖 … … … … … … 𝑒𝑞 2.7
Δ
𝜏 2

̂𝑦𝑖 = ̅̅̅̅
̅𝑖 Δ
𝐾 ̂𝑖 … … … … … … 𝑒𝑞 2.8
Δ𝐹

9
where,
6 3
̅𝑖 = 𝐾𝑖 +
𝐾 𝑀 + 𝐶𝑖 … … … … … … … 𝑒𝑞 2.9
𝜏2 𝜏

̅̅̅̅ 6 𝜏
̂𝑖 = Δ
Δ𝐹 ̂𝐹𝑖 + 𝑀 ( 𝑦̇ 𝑖 + 3𝑦̈ 𝑖 ) + 𝐶𝑖 (3𝑦̈ 𝑖 + 𝑦̈ 𝑖 ) … … … … 𝑒𝑞 2.10
𝜏 2
The incremental acceleration Δ𝑦̈ for the normal time interval Δt is then
obtained by a simple linear interpolation,
̂𝑦̈
Δ
Δ𝑦̈ = … … … … … … … 𝑒𝑞 2.11
𝜃
From eq 2.4 and 2.5
We get,
1
Δ𝑦̇ 𝑖 = 𝑦𝑖̈ Δ𝑡 + Δ𝑦𝑖̈ Δt … … … … … 𝑒𝑞 2.12
2
and
1 1
Δ𝑦𝑖 = 𝑦̇ 𝑖 Δt + 𝑦𝑖̈ Δ𝑡̈ 2 + Δ𝑦𝑖̈ Δ𝑡 2 … … … … … 𝑒𝑞 2.13
2 6
𝑡𝑖+1 = 𝑡𝑖 + Δt
Finally, the displacement 𝑦𝑖+1 and velocity 𝑦𝑖+1
̇ at the end of the
normal time interval are calculated by,
𝑦𝑖+1 = 𝑦𝑖 + Δ𝑦𝑖 … … … … … … … 𝑒𝑞 2.14

̇ = 𝑦𝑖 + ̇ Δ𝑦𝑖̇ … … … … … … … 𝑒𝑞 2.15
𝑦𝑖+1

̈ = 𝑀−1 [𝐹𝑖+1 − 𝐶𝑦𝑖+1

𝑦𝑖+1 ̇ − 𝐾𝑦𝑖+1 ] … … … 𝑒𝑞 2.16

10
where,
𝐶𝑦𝑖+1
̇ 𝑎𝑛𝑑 𝐾𝑦𝑖+1
𝑟𝑒𝑝𝑟𝑒𝑛𝑠𝑒𝑛𝑡𝑠 𝑑𝑎𝑚𝑝𝑖𝑛𝑔 𝑓𝑜𝑟𝑐𝑒 𝑎𝑛𝑑 𝑠𝑡𝑖𝑓𝑓𝑛𝑒𝑠𝑠 𝑓𝑜𝑟𝑐𝑒 𝑣𝑒𝑐𝑡𝑜𝑟𝑠. [1]

2.2 Algorithm for step by step solution of a linear system using Wilson
𝜽 Method

1) Assemble the system stiffness matrix K, matrix M and damping

matrix C.
2) Set initial values for displacement 𝑦0 , velocity 𝑦0̇ , and forces 𝐹0.
3) Calculate initial acceleration 𝑦0̈ from
𝑦0̈ = 𝑀−1 [𝐹0 − 𝐶𝑦0̇ − 𝐾𝑦0 ]
4) Select a time step Δ𝑡, the factor 𝜃(usually taken as 1.4), and
calculate the constants 𝜏, 𝑎1 , 𝑎2 , 𝑎3 𝑎𝑛𝑑 𝑎4 from the relation
𝜏 = 𝜃Δ𝑡
3 6 𝜏 6
𝑎1 = , 𝑎2 = , 𝑎3 = , 𝑎4 = 2
𝜏 𝜏 2 𝜏
̅,
5) Form the effective stiffness matrix 𝐾
̅ = 𝐾 + 𝑎4 𝑀 + 𝑎1 𝐶
𝐾

For Each Time Step

̂𝐹𝑖 for the
1) Calculate by linear interpolation the incremental load Δ
time interval 𝑡𝑖 to 𝑡𝑖 + 𝜏, from the relation

̂𝐹𝑖 = 𝐹𝑖+1 + (𝐹𝑖+2 − 𝐹𝑖+1 )(𝜃 − 1) − 𝐹𝑖

Δ

2) Calculate the effective incremental load ̅̅̅̅

̂𝐹 for the time interval 𝑡𝑖
Δ
to 𝑡𝑖 + 𝜏, from the relation

11
 ̅̅̅̅ 6 𝜏
̂ ̂
Δ𝐹𝑖 = Δ𝐹𝑖 + 𝑀 ( 𝑦̇ 𝑖 + 3𝑦̈ 𝑖 ) + 𝐶𝑖 (3𝑦̈ 𝑖 + 𝑦̈ 𝑖 )
𝜏 2

3) Solve for the incremental displacement Δ ̂𝑦𝑖 from,

𝐾 ̂𝑦𝑖 = ̅̅̅̅
̅𝑖 Δ ̂𝑖
Δ𝐹

4) Calculate the incremental acceleration for the extended time

interval 𝜏, from the relation
6 6
̂ ̂
Δ𝑦̈ 𝑖 = 2 Δ𝑦𝑖 − 𝑦̇ 𝑖 − 3𝑦̈ 𝑖
𝜏 𝜏
5) Calculate the incremental acceleration for the normal time interval
from the relation,
̂𝑦̈
Δ
Δ𝑦̈ =
𝜃
6) Calculate the incremental velocity Δ𝑦𝑖̇ and the incremental
displacement Δ𝑦𝑖 for the time interval 𝑡𝑖 to 𝑡𝑖 + 𝜏, from the
relation,
1
Δ𝑦̇ 𝑖 = 𝑦𝑖̈ Δ𝑡 + Δ𝑦𝑖̈ Δt
2
1 1
Δ𝑦𝑖 = 𝑦̇ 𝑖 Δt + 𝑦𝑖̈ Δ𝑡̈ 2 + Δ𝑦𝑖̈ Δ𝑡 2
2 6

7) Calculate the displacement and velocity at time 𝑡𝑖+1 = 𝑡𝑖 + Δ𝑡

using,
𝑦𝑖+1 = 𝑦𝑖 + Δ𝑦𝑖

̇ = 𝑦𝑖 + ̇ Δ𝑦𝑖̇
𝑦𝑖+1

8) Calculate the acceleration at time 𝑡𝑖+1 = 𝑡𝑖 + Δ𝑡 using equilibrium

equations of motion,
𝑀𝑦𝑖+1
̈ = 𝐹𝑖+1 − 𝐶𝑦𝑖+1 ̇ − 𝐾𝑦𝑖+1 [1]
12
2.3 Illustrative Problem 19.1 (Mario Paz)

Calculate the displacement response for a two story building shear

building of figure …. Subjected to a suddenly applied force of 10 Kip at
the level of the second floor. Neglecting damping and assume elastic
behaviour.

Figure 3: Two story shear building

The equations of motion for this structure are :

0.136 0 𝑦1̈ 75.0 −44.3 𝑦1 0

[ ][ ] + [ ] [𝑦 ] = [ ]
0 0.066 𝑦2̈ −44.3 44.3 1 10

13
For free vibration condition the equation becomes,
0.136 0 𝑦̈ 75.0 −44.3 𝑦1 0
[ ] [ 1] + [ ] [𝑦 ] = [ ]
0 0.066 𝑦2̈ −44.3 44.3 1 0

Substitute 𝑦𝑖 = 𝑎𝑖 𝑠𝑖𝑛𝜔𝑡 results in the eigenproblem,

75.0 − 0.136𝜔 2
−44.3 𝑎1 0
[ ] [ ] = [ ]
−44.3 44.3 − 0.066𝜔2 𝑎2 0

Which requires for a non trivial solution,

2
| 75.0 − 0.136𝜔 −44.3 |=0
−44.3 44.3 − 0.066𝜔2

Expansion of the determinant gives,

𝜔4 − 1222.68𝜔2 + 151516 = 0

Roots of the equations are,

𝜔1 = 11.83 𝑟𝑎𝑑/ sec 𝑎𝑛𝑑 𝜔2 = 32.90 𝑟𝑎𝑑/𝑠𝑒𝑐
(natural frequencies)
Or,
𝑓1 = 1.883 𝑐𝑝𝑠 𝑓2 = 5.237 𝑐𝑝𝑠
The natural periods are,
𝑇1 = 0.531 𝑇2 = 0.191

14
The initial acceleration is calculated from,
0.136 0 𝑦̈ 75.0 −44.3 0 0
[ ] [ 10 ] + [ ][ ] = [ ]
0 0.066 𝑦20 ̈ −44.3 44.3 0 10

̈ = 0 𝑖𝑛/𝑠𝑒𝑐 2
𝑦10
̈ = 151.51 𝑖𝑛/𝑠𝑒𝑐 2
𝑦20
Take,
Δ𝑡 = 0.02 , 𝜃 = 1.4
Therefore,
𝜏 = 𝜃Δ𝑡 = 0.028
Calculating the constant values,
3
𝑎1 = = 107.14
𝜏
6
𝑎2 = = 214.28
𝜏
𝜏
𝑎3 = = 0.014
2
6
𝑎4 = 2 = 7653
𝜏
Effective stiffness is given by,
̅ = 𝐾 + 𝑎4 𝑀 + 𝑎1 𝐶
𝐾
̅,
Calculating 𝐾
̅ = [ 75.0 −44.3] + 7656 [0.136
𝐾
0
]
−44.3 44.3 0 0.066

̅ = [1115.8
𝐾
−44.3
]
−44.3 549.4
15
Effective force is given by,
̅̅̅̅
̂𝐹 = Δ
Δ ̂𝐹 + (𝑎2 𝑀 + 3𝐶 )𝑦̇ + (3𝑀 + 𝑎3 𝐶)𝑦̈

̂𝐹 = 0
Take Δ

̂𝐹 = [0] + 214.28 [0.136

̅̅̅̅
Δ
0 0
][ ] + 3[
0.136 0
][
0
]
0 0 0.066 0 0 0.066 151.51

Therefore,
̂𝐹 = [ 0 ]
̅̅̅̅
Δ
30

̂𝑦 from the given relation,

Solving Δ
̂𝑦𝑖 = ̅̅̅̅
̅𝑖 Δ
𝐾 ̂𝑖
Δ𝐹

1115.8 −44.3 Δ ̂𝑦1 0

[ ][ ]=[ ]
−44.3 549.4 Δ ̂𝑦2 30

Therefore,
̂𝑦 = [0.002175]
Δ
0.054780
From eq 2.6 we get,

̂𝑦̈ = 7653 [0.002175] − 214.28 [0] − 3 [ 0 ]

Δ
0.054780 0 151.51
16
Therefore,
̂𝑦̈ = [ 16.645 ]
Δ
−35.299
Then,
̂𝑦̈ 1 16.645
Δ 11.891
Δ𝑦̈ = = [ ]=[ ]
𝜃 4 −35.299 −25.21

From eq 2.4 we get,

0 0.02 11.891 0.1189
Δ𝑦̇ = [ ] (0.02) + [ ]=[ ]
151.51 2 −25.21 2.7781

From eq 2.5 we get,

2 2
0 0.02 0 0.02 11.891 0.0008
Δ𝑦 = [ ] (0.02) + [ ]+ [ ]=[ ]
0 2 151.51 6 −25.21 0.0286

From eq 2.6 and eq 2.7 we get,

{𝑦} = [0] + [0.0008] = [0.0008]

0 0.0286 0.0286
and

{𝑦̇ } = [0] + [0.1189] = [0.1189]

0 2.7781 2.7781
From eq 2.8 we get,
0.136 0 { } 0 75.0 −44.3 0.0008
[ ] 𝑦̈ = [ ] − [ ][ ]
0 0.066 10 −44.3 44.3 0.0286

17
Therefore,

{𝑦̈ } = [ 8.875 ]
132.85
Reference :[1]

18
 CHAPTER 03
NUMERICAL RESULTS

3.1 GRAPHS
3.1.1 Constant Force Applied to Mass (𝑴𝟏 )

Figure 4 : displacement vs time response when constant force is applied to mass 01

19
 Figure 5: velocity vs time response when constant force is applied to mass 01

Figure 6: acceleration vs time response when constant force is applied to mass 01

20
3.1.2 Constant Force Applied to Mass (𝑴𝟐 )

Figure 7: displacement vs time response when constant force is applied to mass 02

Figure 8: velocity vs time response when constant force is applied to mass 02

21
 Figure 9: acceleration vs time response when constant force is applied to mass 02

22
3.1.3 Constant Force Applied to Both Masses (𝑴𝟏 𝒂𝒏𝒅 𝑴𝟐 )

Figure 10: displacement vs time response when constant force is applied to masses
1 &2

Figure 11:velocity vs time response when constant force is applied to mass 1&2

23
 Figure 12: acceleration vs time response when constant force is applied to mass 1&2

24
3.1.4 Sinusoidal Force Applied to Mass (𝑴𝟏 )

Figure 13: displacement vs time response when sinusoidal force is applied to masses
01

Figure 14: velocity vs time response when sinusoidal force is applied to mass 01

25
 Figure 15: acceleration vs time response when sinusoidal force is applied to mass 01

26
3.1.5 Sinusoidal Force Applied to Mass (𝑴𝟐 )

Figure 16: displacement vs time response when sinusoidal force is applied to

masses 02

Figure 17: velocity vs time response when sinusoidal force is applied to mass 02

27
 Figure 18: acceleration vs time response when sinusoidal force is applied to mass 02

28
3.1.6 Sinusoidal Force Applied to Both Masses (𝑴𝟏 𝒂𝒏𝒅 𝑴𝟐 )

Figure 19: displacement vs time response when sinusoidal force is applied to masses
1&2

Figure 20: velocity vs time response when sinusoidal force is applied to masses
29 1&2
 Figure 21: acceleration vs time response when sinusoidal force is applied to masses
1&2

30
 CHAPTER 04
SUMMARY & FUTURE WORK
4.1 Summary
In this project we wrote a Python code to model the 2DOF time history
response of an elastic system under forced excitation using Wilson’s 𝜃
method.

4.2 Future Work

Elastoplastic analysis for MDOF using Wilson 𝜃 method.

31
REFERENCE
1) Paz, M. and Leigh, W., 1991. Structural dynamics. Springer US

2) Pandit, D., Naoroibam, V. and Biswas, T., 2023. Simple and Unified Way of Elasto-
Plastic Dynamic Analysis. Journal of Vibration Engineering & Technologies, pp.1-9.

3) Chopra, A.K., 2007. Dynamics of structures. Pearson Education India.

32
 APPENDIX
PYTHON CODE GITHUB LINK :
https://github.com/sandeep-birua/btechproject2/tree/main

33