Dynamics of Structures 2017-2018
5. Continuous Systems
Dynamics of structures
5.Continuous systems
Arnaud Deraemaeker ([email protected])
A test-case based learning of vibrations in civil engineering
Case study 1 : pedestrian induced vibrations of a footbridge
• Source of excitation
• Effects
• Design methodology
• Remedial measures
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Dynamics of Structures 2017-2018
5. Continuous Systems
Continuous systems in real life
Simple continuous systems
Beam – Bar kinematics 4
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Dynamics of Structures 2017-2018
5. Continuous Systems
More complicated systems
building S, Solbosch, ULB
3D kinematics
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Dulles airport, Washington D.C.
Response of a continuous system
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Dynamics of Structures 2017-2018
5. Continuous Systems
Vibrations of continuous systems
N degrees of freedom (dofs) system = n eigenfrequencies
Continuous system = infinite number of DOFs = infinite number of eigenfrequencies
Vibrations of continuous systems : equivalent continuous systems
Cantilever beam
Simply supported beam
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Dynamics of Structures 2017-2018
5. Continuous Systems
Boundary conditions for beams and bars
For bars:
Normal force
Longitudinal strain
Boundary conditions for beams and bars
For beams:
Bending moment
Rotation
Curvature
Shear force
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Dynamics of Structures 2017-2018
5. Continuous Systems
Equivalent continuous systems : bar in traction-compression
- axial displacement u(x,t)
- can be seen as an infinite number of small mass-spring systems in series
-> Infinite number of eigenfrequencies and mode shapes
Equivalent continuous systems : bar in traction-compression
Equilibrium :
p(x,t) = load per unit length on the beam
A = surface of the section
= density
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Dynamics of Structures 2017-2018
5. Continuous Systems
Bar in traction-compression : mode shapes and eigenfrequencies
General solution (p(x,t)=0) :
Characteristic equation:
! The variable is x not t
Bar in traction-compression : mode shapes and eigenfrequencies
General solution
A and B depend on the boundary conditions
Example : Bar fixed at x=0 and x=L
Eigenfrequencies Mode shapes
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Dynamics of Structures 2017-2018
5. Continuous Systems
Bar in traction-compression : mode shapes and eigenfrequencies
Mode1 Mode 2
Mode 3
Bar in traction-compression : projection in the modal basis
Orthogonality :
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Dynamics of Structures 2017-2018
5. Continuous Systems
Bar in traction-compression : projection of the solution in the modal basis
The solution can be obtained by solving an infinite set of independent equations of
the type
This equation corresponds to the equation of motion of a sdof system with
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Equations of motion : modal basis solution
The solution is the sum of sdof oscillators :
In practice, truncation is needed …
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Dynamics of Structures 2017-2018
5. Continuous Systems
Truncated modal basis
Rules for truncation :
- depends on the frequency band of excitation
- depends on the frequency band of interest for the response
In practice :
is the last
eigenfrequency used
in the truncated sum
Approximation can be
improved using static
correction (not detailed here) 19
Discrete versus continuous systems
Orthogonality conditions
Projection in the modal basis
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Dynamics of Structures 2017-2018
5. Continuous Systems
Equivalent continuous systems : beam in bending
- transversal displacement of the neutral axis y(x,t)
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Equivalent continuous systems : beam in bending
Equilibrium :
p(x,t) = load per unit length on the beam
A = surface of the section
= density
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5. Continuous Systems
Beam in bending : mode shapes and eigenfrequencies
Example 1: Simply supported beam
Eigenfrequencies Mode shapes
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Beam in bending : mode shapes and eigenfrequencies
n=1
n=5 n=10
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Typical frequencies of footbridges
Vibration problems in structures, H. Bachman, 1995 25
Typical frequencies of footbridges
When the span L increases, to keep the same deflection to length ratio,
the benfing stiffness should be multiplied by :
The natural frequency then decreases with
(the mass effect also needs to be taken into account)
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Dynamics of Structures 2017-2018
5. Continuous Systems
Beam in bending : mode shapes and eigenfrequencies
Example 2: Double cantilever beam
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Beam in bending : mode shapes and eigenfrequencies
n=1
n=5 n=10
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Dynamics of Structures 2017-2018
5. Continuous Systems
Beam in bending : mode shapes and eigenfrequencies
Example 3: Cantilever beam
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Beam in bending : mode shapes and eigenfrequencies
n=1 n=2
n=5
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Dynamics of Structures 2017-2018
5. Continuous Systems
Beam in bending : mode shapes and eigenfrequencies
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Projection in the modal basis
Orthogonality :
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Dynamics of Structures 2017-2018
5. Continuous Systems
Reduction of a beam to a one dof system
Displacement of the beam
(first mode shape approximation)
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Reduction of a beam to a one dof system
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Reduction of a beam to a one dof system
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Vibration problems in structures, H. Bachman, 1995
Finite elements models of complex structures
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Finite element models of complex structures
30 storey building model
Beam and plate elements
• 9222 nodes
• 11700 elements
• 55332 degrees of freedom
55332 equations with 55332 unknowns
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Mode shapes of a 30 storey building
Mode 1 (0.24 Hz) Mode 3 (0.40 Hz) Mode 5 (0.89 Hz)
Mode 2 (0.27 Hz) Mode 4 (0.79 Hz)
Mode shapes are generally ‘mass normalized’ :
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Dynamics of Structures 2017-2018
5. Continuous Systems
Mode shapes of a cantilever plate using finite element approximation
Cantilever plate
Meshed with 135 plate elements
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Mode shapes of a cantilever plate using finite element approximation
Mode 1 (8.2 Hz) Mode 2 (11.81 Hz) Mode 3 (18.49 Hz)
Mode 4 (22.11 Hz) Mode 5 (25.38 Hz) Mode 6 (28.68 Hz)
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5. Continuous Systems
Finite element computation of the dynamic response
Orthogonality conditions Projection in the modal basis
•In practice, the number of dofs in the finite element model is dictated by the
details of the geometry and for large models, it is not possible to compute all
the modeshapes.
•In addition, the number of modes in the frequency band of interest is usually
quite low (i.e 10 to 50 modes)
Important reduction when projecting on the modal basis
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Dynamic response of a plate in the frequency domain
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Dynamics of Structures 2017-2018
5. Continuous Systems
Global damping models
Global damping models
Rayleigh damping Global viscous model
Loss factor – Hysteretic damping
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Modal damping models
For proportional (global) damping models
Rayleigh damping
Loss factor Constant modal damping
Used most of the time for frequency domain computations
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5. Continuous Systems
Comparison of global damping models
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Comparison of global damping models
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5. Continuous Systems
Local damping models
Local damping models
Viscous damping
In each substructure
Loss factor – Hysteretic damping
Loss factor can be different for each material
Non proportional damping
is not diagonal
Usually identified experimentally
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Reduction of a finite element model to a one dof system
Single mode approximation
Particular case of a point
load at reference position
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Dynamics of Structures 2017-2018
5. Continuous Systems
Reduction of a finite element model to a one dof system
Reference point
Mode 1 (0.24 Hz)
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