SECTION 14

STRUCTURAL DYNAMICS

PAT328, Section
MAR120, Lecture3,14,
Section 4,March
March
December
2001
2001 2001 S14-1
 TABLE OF CONTENTS
Section Page

14.0 Structural Dynamics

Overview……………………………………………………………………………………………………………..14-3
Dynamics………………………………………………………………………………………………………….....14-4
Dynamics Differential Equation…………………………………………………………………………………… 14-5
Dynamics Concepts……………………………………………………………………………………………….. 14-6
Natural Frequency…………………………………………………………………………………………………..14-8
Natural Frequency Of Free Undamped System…………………………..……………………………………..14-9
Natural Frequency Of Free Damped System………………………………………………………..………….. 14-10
Harmonic Oscillations……………………………………………………………………………………………....14-12
Multiple Degree Of Freedom System……………………………………………………………………………..14-14
Multiple DOFs - Free Vibration Analysis…………………………………………………………………..…….. 14-15
Multiple DOFs - Modal Superposition Method……………………………………………………………….…..14-16
Multiple DOFs – Harmonic Analysis…………………………………………………………….……………….. 14-17
Natural Frequencies, Preloading And Fem…………………………………………………………………..…..14-18
Frequency Based Dynamics…………………………………………………………………………………..….. 14-19
Dynamic Analysis Methods In Msc.Marc…………………………………………………………………..……..14-20
Base Motion……………………………………………………………………………………………………….... 14-23
Power Transmission Tower Base Motion Example…………………………………………………………….. 14-24
Damping…………………………………………………………………………………………………………….. 14-25
Modal Damping…………………………………………………………………………………………………….. 14-27
Damping In Direct Linear And Nonlinear Dynamics ……………………..……………………………………..14-28
Updated Versus Total Lagrange…………………………………………………………………………………..14-31

PAT328, Section
MAR120, Lecture3,14,
Section 4,March
March
December
2001
2001 2001 S14-2
 OVERVIEW

 Dynamic Differential Equation Classic Dynamics

versus Nonlinear Dynamics
 Inertial Effects Damping Effects
 Natural Frequency Extraction Free Systems
Harmonic Systems
 Base Motion
 Damping Methods
 Direct Linear Dynamics
 Versus Frequency Based Dynamics
 Damping in Direct Linear Dynamics
 Controlling Accuracy of Calculations
 Nonlinear Dynamics

PAT328, Section
MAR120, Lecture3,14,
Section 4,March
March
December
2001
2001 2001 S14-3
 DYNAMICS

 Dynamic analysis differs from Linear Dynamics allows

effective use of the “natural
static analysis in three modes” of vibration of a
structure.
fundamental aspects:
 Inertial effects are included
 Dynamic loads vary as a function of time.
 The time-varying load application induces
a time-varying structural response.
 Mass and Density need to be
accounted for
 Must be in proper (consistent) units
Example of a Modal shape for
a flat circular disc with
centered circular hole
modeled with shell elements

PAT328, Section
MAR120, Lecture3,14,
Section 4,March
March
December
2001
2001 2001 S14-4
 DYNAMICS DIFFERENTIAL EQUATION

[M]{ü} + [C]{ú} + [K]{u} – {P} = 0

Where:
 [M]{ü} represents the inertial forces
[M] – Mass matrix
{ü} – Acceleration
 [C]{ú} represents the dissipative forces
[C] – Dissipative matrix
{ú} – Velocity
 [K]{u} represents the stiffness forces
[K] – Stiffness matrix
{u} – Displacement
 {P} represents the external forces

PAT328, Section
MAR120, Lecture3,14,
Section 4,March
March
December
2001
2001 2001 S14-5
 DYNAMICS CONCEPTS
 Static
- Events in which time parameters and inertia effects do not play a significant
role in the solutions.

 Dynamic
- A significant time dependent behavior exists in the problem because of
inertial forces (d’Alembert forces). Hence, a time integration of the equations
of motion is required.

 Linear Dynamic
- The motion or deformation produced by a dynamic behavior is small enough
so that the frequency content of the system remains relatively constant.

 Nonlinear Dynamic
- The motion or deformation produced by a dynamic behavior
of the structure is large enough that we must account for changes in
geometry, material or contact changes in the model.
PAT328, Section
MAR120, Lecture3,14,
Section 4,March
March
December
2001
2001 2001 S14-6
 DYNAMICS CONCEPTS (CONT.)
 Direct Integration (over time)
- All kinematic variables are integrated through time. It can be used to solve
linear or nonlinear problems.

 Natural Frequency
- The frequencies at which the structure naturally tends to vibrate if it is
subjected to a disturbance.

 Modal Dynamics
- A dynamic solution is obtained by superimposing the natural frequencies
and mode shapes of a structure to characterize its dynamic response in the
linear regime.

 Damping
- The dissipative energy produced by a structure’s motion.

PAT328, Section
MAR120, Lecture3,14,
Section 4,March
March
December
2001
2001 2001 S14-7
 NATURAL FREQUENCY

 Natural Frequency Solution

 The natural frequencies of a
structure are the frequencies at
which the structure naturally tends
to vibrate if it is subjected to a
disturbance
 When an applied oscillatory load
approaches a natural frequency of
a structure, the structure will
resonate. This is a phenomenon in
which the amplitude of the
displacement of an oscillating
structure will dramatically increase
at particular frequencies.

PAT328, Section
MAR120, Lecture3,14,
Section 4,March
March
December
2001
2001 2001 S14-8
 NATURAL FREQUENCY OF FREE
UNDAMPED SYSTEM
The natural frequency solution, or eigenvalue
analysis, is the basis for many types of
dynamic analyses.

The natural frequency for a Single Degree

Of Freedom (SDOF) system is given by

The frequency procedure extracts

eigenvalues of an undamped system:

The structure may include preload before the

eigenvalues are calculated. This affects the
results.
PAT328, Section
MAR120, Lecture3,14,
Section 4,March
March
December
2001
2001 2001 S14-9
 NATURAL FREQUENCY OF FREE
DAMPED SYSTEM
The natural frequency for the Damped
Single Degree Of Freedom (SDOF) system
is given by the same equation of the
undamped system:

The frequency procedure extracts

eigenvalues of a damped system:

The structure may include preload before

the eigenvalues are calculated. This affects
the results.

PAT328, Section
MAR120, Lecture3,14,
Section 4,March
March
December
2001
2001 2001 S14-10
 NATURAL FREQUENCY OF FREE
DAMPED SYSTEM (CONT.)

PAT328, Section
MAR120, Lecture3,14,
Section 4,March
March
December
2001
2001 2001 S14-11
 HARMONIC OSCILLATIONS

When the Damped system is loaded with

an exponential function of a single
frequency, the resultant oscillations are
called harmonic:

PAT328, Section
MAR120, Lecture3,14,
Section 4,March
March
December
2001
2001 2001 S14-12
 HARMONIC OSCILLATIONS (CONT.)

PAT328, Section
MAR120, Lecture3,14,
Section 4,March
March
December
2001
2001 2001 S14-13
 MULTIPLE DEGREE OF FREEDOM SYSTEM

PAT328, Section
MAR120, Lecture3,14,
Section 4,March
March
December
2001
2001 2001 S14-14
 MULTIPLE DOFS - FREE VIBRATION ANALYSIS

PAT328, Section
MAR120, Lecture3,14,
Section 4,March
March
December
2001
2001 2001 S14-15
 MULTIPLE DOFS:
MODAL SUPERPOSITION METHOD

PAT328, Section
MAR120, Lecture3,14,
Section 4,March
March
December
2001
2001 2001 S14-16
 MULTIPLE DOFS – HARMONIC ANALYSIS

PAT328, Section
MAR120, Lecture3,14,
Section 4,March
March
December
2001
2001 2001 S14-17
 NATURAL FREQUENCIES, PRELOADING
AND FEM

 Preloading changes the structural

stiffness and as a result, changes
the results.
 A finite element mesh must be
sufficiently fine enough to capture
the mode shapes that will be
excited in the response.
 Meshes suitable for static
simulation may not be suitable for
calculating dynamic response to
loadings that excite high
frequencies.
 As a general rule of thumb, you Example:
should have a minimum of 7 Third Modal Shape of a Cantilevered Plate
elements spanning a sine wave.

PAT328, Section
MAR120, Lecture3,14,
Section 4,March
March
December
2001
2001 2001 S14-18
 FREQUENCY BASED DYNAMICS
Reaction Force at Wall

 When a linear structural

response is dominated by a
relatively small number
modes, modal superposition
can lead to a particularly
different method of
determining the response.
 Modal based solutions
require extraction of the
natural frequency and mode
shapes first (i.e. requires
running a Natural Frequency
solution first) Example:
Impact Test using Explicit Dynamics

PAT328, Section
MAR120, Lecture3,14,
Section 4,March
March
December
2001
2001 2001 S14-19
 DYNAMIC ANALYSIS METHODS IN MSC.MARC

 Eigenvalue extractions linear

with preloading
 Lanczos method
 Power Sweep
 Harmonic response linear
with preloading
 Real (no Damping)
 Imaginary (Damping)
 Transient analysis linear and
nonlinear
 Explicit
 Implicit
 Contact

PAT328, Section
MAR120, Lecture3,14,
Section 4,March
March
December
2001
2001 2001 S14-20
 DYNAMIC ANALYSIS METHODS IN MSC.MARC
(CONT.)
 Modal-based Solutions include:
 Steady State Dynamics (i.e.:
rotating machinery in buildings)
 Harmonic responses for the steady
state response of a sinusoidal
excitation
 Modal Linear Transient Dynamics
(i.e.: diving board or guitar spring)
 Modal superposition for loads
known as a function of time
 Response Spectrum Analysis (i.e.:
seismic events)
 Provides an estimate of the peak
response when a structure is
subjected to a dynamic base
excitation

PAT328, Section
MAR120, Lecture3,14,
Section 4,March
March
December
2001
2001 2001 S14-21
 DYNAMIC ANALYSIS METHODS IN MSC.MARC
(CONT.)
 Frequency based dynamics should have the following
characteristics:
 The system should be linear.
(but for nonlinear preloading)
 Linearized material behavior
 No change in contact conditions
 No nonlinear geometric effects other than those resulting from preloading.
 The response should be dominated by relatively few frequencies.
 As the frequency of the response increases, such as shock analysis, modal
based dynamics become less effective
 The dominant loading frequencies should be in the range of the extracted
frequencies to insure that the loads can be described accurately.
 The initial accelerations generated by any sudden applied loads should
be described by eigenmodes.
 The system should not be heavily damped.

PAT328, Section
MAR120, Lecture3,14,
Section 4,March
March
December
2001
2001 2001 S14-22
 BASE MOTION

 Base motion specifies the

motion of restrained nodes.
 The base motion is defined by a
single rigid body motion, and the
displacements and rotations that
are constrained to the body
follow this rigid body motion.
 Example: Launch excitation of
mounted electronics packages or
hardware.
 Base motion is always specified
in the global directions.

PAT328, Section
MAR120, Lecture3,14,
Section 4,March
March
December
2001
2001 2001 S14-23
 POWER TRANSMISSION TOWER BASE
MOTION EXAMPLE
Frequency Value
0.0001 0.0000975
0.0005 0.0004875
0.01 0.00975
0.2 0.195
0.3 0.2925
1 0.975
2.5 2.5
3 2.5
4.5 2.5
6.6 2.5
8 2.25
10 2
100 1.1
1000 1.01

This is a typical
earthquake spectrum for
rocklike material with a
soil depth less than 200
ft, as provided by the
UBC

PAT328, Section
MAR120, Lecture3,14,
Section 4,March
March
December
2001
2001 2001 S14-24
 DAMPING
 Damping is assumed to be
 Damping is the energy
viscous, or proportional to velocity
dissipation due to a
structure’s motion. [M]{ü} + [C]{ú} + [K]{u} - P = 0
 In an undamped structure, if
Where
the structure is allowed to
vibrate freely, the magnitude [C]{ú} - Dissipative forces
of the oscillations is [C] - Damping matrix
constant. {ú} - Velocity of the structure
 In a damped structure, the
magnitude of the oscillations
decreases until the
oscillation stops.  Dissipation of energy can be
caused by many factors including:

 Friction at the joints of a structure

 Localized material hysteresis

PAT328, Section
MAR120, Lecture3,14,
Section 4,March
March
December
2001
2001 2001 S14-25
 DAMPING (CONT.)
Damped natural frequencies are related to
undamped frequencies via the following
relation:

d  n 1   2
where
wd the damped eigenvalue
wn the undamped eigenvalue
x = c/co the fraction of critical damping or
damping ratio
c the damping of that mode
shape
co the critical damping

Damping exhibits three characteristic forms:

 Under damped systems (z < 1.0)

 Critically damped systems (z = 1.0)
 Over damped systems (z > 1.0)
PAT328, Section
MAR120, Lecture3,14,
Section 4,March
March
December
2001
2001 2001 S14-26
 MODAL DAMPING
 Damping in Modal Analysis
 Direct Damping
 Allows definition of damping as a fraction
of critical damping.
 Typical value is between 1% and 10% of
the critical damping.
 The same damping values is applied to
different modes.

PAT328, Section
MAR120, Lecture3,14,
Section 4,March
March
December
2001
2001 2001 S14-27
 DAMPING IN DIRECT LINEAR AND
NONLINEAR DYNAMICS
Direct dynamic solutions assemble the Direct dynamic solutions can be used to solve
mass, damping and stiffness matrices and linear transient, steady state and nonlinear
the equation of dynamic equilibrium is solutions using Rayleigh damping.
solved at each point in time.

Rayleigh damping is assumed to be made up

Direct method is favored in wave of a linear combination of mass and stiffness
propagation and shock loading problems, in matrices:
which many modes are excited and a short
time of response is required. [C] =  [M] + (+gt)[K]

Since these operations are computationally Many direct integration analyses often define
intensive, direct integration is more energy dissipative mechanisms as part of the
expensive than the equivalent modal basic model (dashpots, inelastic material
solution. behavior, etc.)

For these cases, generic damping is usually

not important.

PAT328, Section
MAR120, Lecture3,14,
Section 4,March
March
December
2001
2001 2001 S14-28
 DAMPING IN DIRECT LINEAR AND
NONLINEAR DYNAMICS (CONT.)
The damping terms for direct
integration are defined in the
materials form:

 Mass Proportional
Damping
 Introduces damping
forces caused by
absolute velocities in the
model
 Stiffness Proportional
Damping
 Introduces damping
which is proportional to
strain rate.

PAT328, Section
MAR120, Lecture3,14,
Section 4,March
March
December
2001
2001 2001 S14-29
 DAMPING IN DIRECT LINEAR AND
NONLINEAR DYNAMICS (CONT.)
Nonlinear dynamic procedure
uses implicit time integration,
such as Central Difference or
Newmark-beta methods.

 Solution includes an
automatic impact solution
for velocity and
acceleration jumps due to
contact bodies including
rigid structure.
 The high frequency
response, which is
important initially, is
damped out rapidly by the
dissipative mechanisms in
the model

PAT328, Section
MAR120, Lecture3,14,
Section 4,March
March
December
2001
2001 2001 S14-30
 UPDATED VERSUS TOTAL LAGRANGE

0
1 Total
Total
2 Lagrange
Lagrange

0
1 Updated
Updated
Lagrange
Lagrange
2
3

PAT328, Section
MAR120, Lecture3,14,
Section 4,March
March
December
2001
2001 2001 S14-31
PAT328, Section
MAR120, Lecture3,14,
Section 4,March
March
December
2001
2001 2001 S14-32