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Dynamics of Structures
Lecture 2
Anil K. Chopra
Electricity Generating Authority of Thailand
Bangkok, Thailand
December 7-8, 2010
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Multi-Degree-of-Freedom (MDF) System
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Multi-Degree-of-Freedom (MDF) System
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MDF System
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Equations of Motion
( )
+ + = -
g
u t mu cu ku m1
= displacement vector ( 1) N u
= mass, stiffness, damping matrices m, k, c
= influence vector 1
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Free Vibration
Natural Frequency (Period) of Vibration
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t
e
=
2
sec
n
n
T
e = rads/sec
n
k
m
e
t
= cps (Hz)
2
n
n
f
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Free Vibration: Mode 1
t
e
=
1 1
1
2
Mode Shape: Period:T |
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Free Vibration: Mode 2
t
e
=
2 2
2
2
Mode Shape: Period:T |
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Eigenvalue Problem
N solutions such that
Eigenvalues and Eigenvectors
Natural period of vibration,
Natural mode of vibration,
e =
2
n n n
k m | |
e
2
n
n
|
t
e
=
2
n
n
T
n
|
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Example: 5-Story Shear Frame
m = 100 kips/g k = 31.54 kips/in.
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Vibration Periods and Modes
=
1
2.0 T =
2
0.685 T =
3
0.435 T =
4
0.338 T =
5
0.297 sec T
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Vibration Periods and Modes
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Millikan Library, Caltech
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Vibration Generator
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Frequency Response Curve
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Period & Damping Ratio: N-S Direction
Excitation Roof Acceleration (g) Period, sec Damping, %
Vibration Generator 5x10
-3
to 20x10
-3
0.51-0.53 1.2-1.8
Lytle Creek
Earthquake
0.05 0.52 2.9
San Fernando
Earthquake
0.312 0.62 6.4
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Recorded N-S Motions, San Fernando
Earthquake
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Recorded E-W Motions, San Fernando
Earthquake
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Relative Displacement of Roof
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Folsom Dam, Cailfornia
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Vibration Generator on Folsom Dam
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Frequency Response Curve
Frequency
A
c
c
e
l
e
r
a
t
i
o
n
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Frequencies and Damping Ratios
Resonant Frequency,
HZ
Damping, %
4.65 4.0-6.5
5.46 5.6-8.4
6.24 4.0-8.0
7.16 6.3-8.0
8.00 6.0-8.0
8.87 6.0-8.0
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Modal Expansion of
( ) ( )
=
eff
g
t u t p mi
= =
= I

1 1
N N
n n n
n n
m s m i = |
T T
I = =
n
n n n n n n
n
L
L M
M
= m m | i | |
n th-mode components
( ) ( )
= = I
eff,n n g n n n
t u t p s s m|
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Example: Modal Expansion of
= s mi
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Modal Response History Analysis (RHA)
Modal Response
Total Response
( ) ( )
=
st
n n n
r t r A t
( ) ( ) ( )
= =
= =

st
1 1
N N
n n n
n n
r t r t r A t
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Response History Analysis: Example
Deformations and Pseudo Accelerations
( )
n
A t
( )
n
D t
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Response History Analysis: Example
Modal and total responses
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Modal Response Spectrum Analysis (RSA)
Peak response estimated directly from
response or design spectrum
Peak modal responses
Modal combination rule
=
st
no n n
r r A
( )
, ,
n n n
A A T
=
| |
~
|
|
\ .

1/ 2
2
1
N
o no
n
r r
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0 0.5 1
G
1
2
3
4
5
Displacement/height,%
F
l
o
o
r
RHA
RSA
1 Mode
2 Modes
3 Modes
0 0.5 1 1.5 2
G
1
2
3
4
5
Story drift A
RSA
or A
RHA
,%
S
t
o
r
y
RHA
RSA
1 Mode
2 Modes
3 Modes
RSA vs RHA: One Ground Motion
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0 0.5 1
G
1
2
3
4
5
Displacement/height,%
F
l
o
o
r
RHA
RSA
1 Mode
2 Modes
3 Modes
0 0.5 1 1.5 2
G
1
2
3
4
5
Story drift A
RSA
or A
RHA
,%
S
t
o
r
y
RHA
RSA
1 Mode
2 Modes
3 Modes
RSA vs RHA: Median Response to 20 Ground Motions
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Finite Element System
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2D Finite Element Systems
Degrees of Freedom
node i:
Displacement vector u:
Equations of motion
i i
y
x
u u
i i
i = and , 1,2
y
x
u u N
( ) ( )
+ + = - -
g g
u t u t mu cu ku m1 m1
y
x x y
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Analysis of Finite Element Systems
RHA and RSA procedures valid
Extend methods to include dam-water-
foundation rock interaction effects

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