LECTURE
by Donald F. Young
Introduction
S i m u l a t i o n is widely used in e n g i n e e r i n g analysis,
design and research. I n fact, this technique is used
w h e n e v e r a problem is studied b y some method
other t h a n direct observations on the prototype,
which is defined as the actual system of interest.
Figure 1 illustrates schematically the steps commonly
taken in the simulation of the prototype. It u s u a l l y
follows that assumptions are made so that the system m a y be more precisely defined, and this n e w
system m a y be referred to as an idealized prototype.
The assumptions made at this stage are usually, or
at least hopefully, not restrictive and are imposed
only to the e x t e n t that the problem can be well
defined.
Following the definition of the problem, a decision
must be m a d e with respect to the type of simulation
technique to be used. If the problem is to be solved
analytically, it is apparent that a m a t h e m a t i c a l
model m u s t be developed and s u b s e q u e n t l y solved
either b y m a t h e m a t i c a l analysis or b y a n analog. If
a n analog is used, the system is analyzed experim e n t a l l y b u t with another system, or model, which
is not similar in appearance to the original prototype.
Thus the t e r m "dissimilar model" is appropriate for
the analog. There are a great v a r i e t y of analogies
used, 8,4 although p r o b a b l y the most useful types are
ones i n v o l v i n g electrical circuits.
To simulate the prototype with a m a t h e m a t i c a l
model, the characteristic equations describing the
behavior of the system must be known. This freq u e n t l y requires additional assumptions with regard
to the behavior of the system. For example, in considering the deformation of structures, the common
assumption is that the material behaves elastically.
Or in dealing with flowing fluids, it m a y be assumed
that the fluid is ideal or nonviscous. Thus, to estab-
ASSUMPTIONS
m
J IDEALIZED
PROTOTYPE
EDUCATIONAL
LECTURE
EQUILIBRIUM
POSITION
y* = - - a n d t *
Yo
:--
where
eq (1) can be w r i t t e n as
d2y *
dy *
dt .2
N/mk
dr*
q- y* = 0
(2)
vo ~ / m
dt*--
Yo V - - k
att* = 0
From a consideration of eq (2), it is seen that for
a n y two systems governed by an equation of this
form, the solution for y* will be the same, i.e.,
Y* ~ Ym*
if
Characteristic-equation Method
att----0
(1)
era
ooV._
-~o
YOre
~-~tm
km
-~m
When dealing with physical phenomena, we describe the p h e n o m e n a in terms of various quantities;
EDUCATIONAL
w h e r e X, Y, . . . , a r e o t h e r basic d i m e n s i o n s such
as t e m p e r a t u r e , and elecCrical c h a r g e w h i c h m a y be
r e q u i r e d to d e s c r i b e t h e s e c o n d a r y q u a n t i t y . C o m m o n e x a m p l e s of s e c o n d a r y q u a n t i t i e s a n d t h e i r basic
dimensions include:
area
volume
velocity
dens~y
stress
,
,
A
V
=is
:L z
:LT
,
,
p
~
: M L -3
:MT-ZL
-1
-1
.....
Uk xk
w h e r e t h e e x p o n e n t s x l , x s . . . , Xk a r e s e l e c t e d so
t h a t t h e r e s u l t i n g p r o d u c t is d i m e n s i o n l e s s . T h u s , if
w e let a n y o n e of Che v a r i a b l e s , say ui, h a v e t h e basic
dimension
zti = L a~ T b~ M c~ X d~ ye~
w e c a n e x p r e s s t h e p r o d u c t as
(Lm Tb~ Me1 X a l y e l ) x ~ (La~ T b , Me2 Xa~
yea)x~
of coefficients
al
a2
ak
bk
el
C2
dl
el
d2 . . . .
e2 . . . .
....
ek
dk
ek
If an e q u a t i o n i n v o l v i n g k v a r i a b l e s is d i m e n s i o n a l l y h o m o g e n e o u s , it can be r e d u c e d to a
relationship among k- r independent dimensionless p r o d u c t s , w h e r e r is t h e r a n k of t h e d i mensional matrix.
To i l l u s t r a t e t h e a p p l i c a t i o n of t h e B u c k i n g h a m P i
T h e o r e m , w e w i l l a p p l y it to t h e v i b r a t i o n p r o b l e m
p r e v i o u s l y c o n s i d e r e d . T h e first step in t h e a n a l y s i s
is to list t h e v a r i a b l e s a n d t h e i r d i m e n s i o n s as f o l lows:
y,
m,
c,
k,
. .
In o r d e r t h a t t h e p r o d u c t be d i m e n s i o n l e s s , t h e e x p o n e n t s of t h e v a r i o u s basic d i m e n s i o n s m u s t c o m b i n e
to g i v e a z e r o v a l u e f o r e a c h basic d i m e n s i o n . T h u s
-{- a k x k :
....
bi b2 . . . .
T h i s m a t r i x is c o m m o n l y c a l l e d t h e d i m e n s i o n a l
m a t r i x . S i n c e t h e r a n k of a m a t r i x is t h e h i g h e s t o r d e r n o n z e r o d e t e r m i n a n t c o n t a i n e d in t h e m a t r i x ,
it is a p p a r e n t t h a t t h e r a n k c a n n o t e x c e e d t h e n u m b e r of e q u a t i o n s b u t m a y b e s m a l l e r . Thus, t h e n u m b e r of i n d e p e n d e n t d i m e n s i o n l e s s p r o d u c t s t h a t c a n
be f o r m e d is e q u a l to t h e n u m b e r of o r i g i n a l v a r i ables, k, m i n u s t h e r a n k of t h e coefficient m a t r i x .
S u c h a set of d i m e n s i o n l e s s p r o d u c t s is c a l l e d a c o m p l e t e set. O n c e a c o m p l e t e set of d i m e n s i o n l e s s p r o d ucts is found, all o t h e r possible d i m e n s i o n l e s s c o m b i n a t i o n s c a n b e f o r m e d as p r o d u c t s of p o w e r s of t h e
p r o d u c t s c o n t a i n e d in t h e c o m p l e t e set.
A n e s s e n t i a l p o s t u l a t e of d i m e n s i o n a l a n a l y s i s is
t h a t t h e f o r m of a n y f u n c t i o n a l r e l a t i o n s h i p b e t w e e n
a g i v e n set of v a r i a b l e s does n o t d e p e n d o n t h e s s ' s t e m
of u n i t s used, i.e., t h e f u n c t i o n a l r e l a t i o n s h i p is dim e n s i o n a l l y h o m o g e n e o u s . If this c o n d i t i o n of h o m o g e n e i t y is utilized, ir c a n b e p r o v e d 6 t h a t a f u n c t i o n a l
r e l a t i o n s h i p b e t w e e n a g i v e n set of v a r i a b l e s c a n b e
r e d u c e d to a r e l a t i o n s h i p a m o n g a c o m p l e t e set of
d i m e n s i o n l e s s p r o d u c t s of t h e s e v a r i a b l e s . T h u s t h e
well-known Buckingham
P i T h e o r e m c a n b~ s t a t e d
as f o l l o w s :
a l x l q- a2x2 -}- . . . .
LECTURE
vo,
Yo,
t,
displacement,
mass,
d a m p i n g coefficient,
s p r i n g constant,
initial velocity,
initial displacement,
time,
L
M
MT- 1
MT -2
LT -1
L
T
+ C~Xk :
d l x l + ~ x s + . . . . + dkxk :
e i x i -~ e2x2 q- . . . .
Jr e k x k :
(3)
W e n o t e t h a t t h e r e w i l l b e as m a n y equar
as basic
dimensions, s a y m in n u m b e r , a n d k u n k n o w n x's,
w h e r e k is e q u a l to t h e n u m b e r of o r i g i n a l v a r i a b l e s
in t h e p r o b l e m . F r o m t h e t h e o r y of e q u a t i o n s , it is
k n o w n t h a t t h e r e a r e k -- r l i n e a r l y i n d e p e n d e n t sol u t i o n s to eqs (3) w h e r e r is t h e r a n k of t h e m a t r i x
a n d w i t h t h e s u b s t i t u t i o n of t h e b a s i c d i m e n s i o n s f o r
each v a r i a b l e w e o b t a i n
(L)xl (M)~ (MT-1)zs
(MT-~)x,
( L T - 1 ) z ~ (L)x6 ( T ) ~
w i t h t h e c o r r e s p o n d i n g set of e q u a t i o n s
L:
x1+O+O+Oq-x5+x6+O=O
T:
0 +0--x3--
M:
O-t-x2+xaTx4+O+O+O=O
2x4--xs+0+xT=0
(4)
E x p e r i m e n t a l M e c h a n i c s 1 327
EDUCATIONAL
LECTURE
The dimensional m a t r i x is
y
L
T
M
I0
0
0
00--I--2--101
01
1
1
Vo Yo
:~'1 =
(~3)--1
= __
Yo
(~1)-'/2
~'4 :
(~1)--1/2
(~2) (~3)--1
ii0
000
_ _
N/km
0
0
1
0
--i
1
:i
C2
No w let x4 ~-- 0, X5 :
find that
1, X6 = 0, and x 7 = 0 and we
Vo~r~
~2=-
yc
and
ct
m
328 I ] u l y 1 9 7 1
(U2, U3, U4 . . . . .
Uk)
(5)
in t er m s of a set of dimensionless t e r m s
~1 =
~1 = y o m 1 c - 2 k 1 Vo o y o o t ~
km
--V~ ~V[/__~
Yo
f ( ~ 2 , n3 . . . . .
nk--r)
(6)
f ( ~ 2 , ~3. . . . .
~k-r)
(prototype)
~(k--r)m)
(model)
(7)
Xfk--r = ~(k--r)m
then
Equations (7) p r o v i d e us with the r e q u i r e d relationships b e t w e e n p r o t o t y p e and m o d e l so that we p r e dict ~1 f r o m a m e a s u r e d glm t a k e n on the model.
Equations (7) r e p r e s e n t the m o d e l - d e s i g n conditions
and eq (8) the prediction equation. 7 Application of
this procedure to the previously d e t e r m i n e d pi terms,
s
n'2, :~'~, ~'4 developed f o r the spring-mass pr ob-
EDUCATIONAL
IPs
LECTURE
a
~. n a
am
--r__,
~- up
Pm
_l
--
Am
a --
Ea 2
(9)
bm
am
d~
--
- -
(10)
am
P
Pm
Ea 2
E m am 2
Am
--
(11)
am
--
bm
--
na
dm
and
E
Ttp'l"ta--2
Em
Vm~.m
--
- -
(Reynolds n u m b e r )
Vm
and
Experimental Mechanics
I 329
EDUCATIONAL
LECTURE
v2
vm 2
gk
gm~.m
. . . . . .
ship
(Froude number)
Vm
~m
--
~.
--
nx
-1
(12)
Pm
EL2
Emlm2
or
P
Pm
= N/nx
Vm
(13)
~.m
Typical Applications
Static Elastic Problems
S t r u c t u r a l models a r e w i d e l y used f o r d e t e r m i n i n g
stresses, strains and displacements in elastic structures. F o r these problems, w e assume that the m a terial obeys Hooke's l a w and can be described by
Young's modulus, E, and Poisson's ratio, tz. In addition, any stress component, ~, at some point, xl, w i l l
be a function of the g e o m e t r y of t h e system as ch ar acterized by some length, l, and o t h e r r e q u i r e d
lengths, ~i. T h e subscript, i, will be used to designate
a set of variables. Thus ~i is e q u i v a l e n t to a set of
lengths kt, ~-2, ~-3, 9 9 9
T h e loading m a y be specified w i t h the loads, P and
P+, and any prescribed b o u n d a r y displacements by +1+.
The stress can t h e r e f o r e be expressed in the f u n ctional f o r m
r ---- r
l, ~+, P, P+, ~li, E, tz)
(14)
We now ap p l y d im e n s i o n a l analysis to this set of
v ari ab l es to obtain
~12
- -
( x~ Xi Tli
:
l'
l'
Pi
-
P..
Pim
Pm
amlm 2
P,+
or
~rm
lm2
Pm
12
Em
Im
or
)
(15)
S i m i l a r i t y r e q u i r e m e n t s are obtained by m a k i n g t h e
pi t e r m s on t h e r i g h t side of eq (15) equal b e t w e e n
model and prototype. E q u a l i t y of the first t h r ee pi
terms, xdl, ~Jl, and ~i/l, m e a n s t h a t w e must m a i n tain g eo m et r ic s i m i l a r i t y b e t w e e n m o d e l and p r o t o type; not only w i t h r e g a r d to shape but also w i t h r e spect to prescribed displacements and coordinates.
The loading scale is established f r o m the r e l a t i o n -
lu
Em /m~
Um
lm
and
~
~m
EDUCATIONAL
LECTURE
Reduced-similarity Requirements
If we again consider the p r o b l e m of p r e d i c t i n g
stresses in elastic structures u n d e r static loading conditions and impose the additional restriction that the
deformations are small, the modeling p r o b l e m can be
considerably simplified. It is well k n o w n f r o m smalldeformation theory of elastic m a t e r i a l s that stress,
strain and displacement are linear functions of the
app!ied loads. Thus, f r o m eq (15), w e noCe t h a t al2/p
must be i n d e p e n d e n t of the pi term, P / E l ~, since
must depend l i n e a r l y on P, and the a p p r o p r i a t e e q u a tion becomes
al2
- -
, ( xi
:
~i ~li
l'
Pi
,
)
,
(16)
D y n a m i c Elastic P r o b l e m
As a f u r t h e r e x a m p l e of the d e v e l o p m e n t of s i mi larity relationships by means of dimensional analysis,
we will consider the p r o b l e m of p r e d i c t i n g the strain
in an elastic s t r u c t u r e u n d e r the influence of a d y n a m i c - p r e s s u r e loading o v e r some part of the surface
of t h e structure. As before, w e let e r e p r e s e n t one
co m p o n en t of strain at the position xi, and let the
g e o m e t r y of the system be described by a set of
characteristic lengths, l and ~i, w h e r e t h e ~ 's also
include the r e q u i r e d spatial coordinates of the loading. We continue to impose t h e condition t h a t t he
m a t e r i a l obeys Hooke's l aw so that only t w o elastic
constants E and ~ are required. H o w e v e r , since the
st r u ct u r e is u n d e r d y n am i c loading, an additional
m a t e r i a l property, the mass density, p, must be i ncluded in the analysis.
We assume t h a t t h e pressure at any point c a n be
described in dimensionless f o r m as
--
u
P
l -- -E1
TI1
(xl
(17)
and
:
El ~
f2
(18)
a --
,I,
--
Po
(20)
p -l
e = 9 (xi, l, ~, E, ~, p, Po, t)
(21)
w h e r e it is t aci t l y i m p l i e d that t h e f o r m of t h e pressure function, ,I,, is the same in both the m o d e l and
p r o t o t y p e system. In dimensionless form, eq (21) can
be w r i t t e n as
"----f
l'
(22)
The t h r e e pi t e r m s xi/l, Xi/l, and ~, yield the s i m i l a r ity r e q u i r e m e n t s p r e v i o u s l y considered, i.e., we must
m a i n t a i n g eo m et r i c similarity, and Poisson's ratio for
m o d el and p r o t o t y p e m a t e r i a l s m u s t be t h e same. T he
pressure scale is established f r o m t h e condition
(19)
Po
Pom
E~
or
and eqs (10) replaced w i t h
a4
am4
Po
Pore
Em
-Z-f=
Em tm
pm
EDUCATIONAL
LECTURE
- --I%
I| L/jE,
4-1
~]
iiIII
/!
____t
I
~o
UNIT STRAIN ( ( )
(a)
(c)
(b)
Fig. 4~Sketch of tensile specimen and stress-strain diagrams
or
t
./Em
tm
pm
Im
This r e l a t i o n indicates that, i n general, corresponding times i n the model aI~d prototype will differ. If
the same materials are used in model and prototype,
the time scale will equal the length scale. Since the
length scale is generally greater t h a n unity, it follows
that w h e n modeling with similar materials, corresponding times in the model will be shorter t h a n for
the prototype. Thus, i n a p r o b l e m of this type, the
loading p r e s s u r e - t i m e relationship, w h e n expressed
in terms of p/p~, a n d the dimensionless t i m e variable
must be identical, whereas, i n terms of real time, the
model and prototype p r e s s u r e - t i m e relationship must
be different. F r o m a practical point of view, this is
a c o m m o n p r o b l e m e n c o u n t e r e d in d y n a m i c testing,
i.e., it is difficult to generate a properly scaled model
loading. If all similarity r e q u i r e m e n t s are met, it
follows tha~t
e =
em
elongation,
gage length,
applied load,
specimen diameter,
modulus of elasticity,
modulus of elasticity,
L
L
F
L
FL -2
FL -2
EDUCATIONAL
A
( d P
~o E2 ~, )
-~- = ] ~.' Eld 2' E1 E l ' E1
(23)
P
Eld 2
- -
- -
Pm
Elmdm2
-
Gm
and
"Yi ~
Distorted Models
As discussed previously, a c o m m o n difficulty
co u n t er ed in m o d e l studies is t h e e x p e r i m e n t o r ' s
ability to satisfy all s i m i l a r i t y r e q u i r e m e n t s .
example, in the list of m o d e l - d e s i g n conditions,
(7), if
e ninFor
eqs
(24)
LECTURE
~'im
then
~1 ~ ~tlm
EDUCATIONAL
LECTURE
=i : $ (=~, =3)
Assume that the v a l u e of t h e model pi t e r m ~3m is
distorted by an a m o u n t ~ so that
It t h e n follows t h a t
~I :
~ ;~lm
=i
=2=
i (=2,=3)
f (=2m,=3m)
= ~ f~
(=~)
it follows t h a t
A detailed discussion of this m e t h o d for handling distortion can be found in Murphy. 7
A t h i r d m e t h o d for h a n d l i n g distortion, w h i ch is
perhaps the most practical for problems in w h i ch
distortion m u s t be t a k e n into account, is one in w h i ch
the effect of the distortion is d e t e r m i n e d empirically.
Consider a p r o b l e m in w h i c h four pi t e r m s are i n volved, i.e.,
~r~ = ~ l m
mi = #r4m
are satisfied. If sufficient control o v e r the m o d e l e x p e r i m e n t s is available, w e can r u n a series of m o d e l
tests in w h i c h ~2,~ is v a r i e d w h i le h o l d i ng ~t3rn and
~etm constant at the r e q u i r e d p r o t o t y p e values as illustrated in Fig. 5.
Ideally, the series of m o d e l tests w o u ld be r u n so
that the p r o t o t y p e v a l u e of n~ w o u l d f a l l b e t w e e n the
actual m o d e l values, as i l l u s t r a t e d at point A in Fig.
5. If this is not possible, as is f r e q u e n t l y the case,
t h e n e x t r a p o l a t i o n is r e q u i r e d as i ll u s t r a t e d a~ point
B in Fig. 5. Of course, e x t r a p o l a t i o n is not a desirable
p ro ced u re and t h e p r e d i c t e d v a l u e of nl could be
~1 (PREDICTED)
~'lm
~'~'~'~-'1t
~3rn= ~3 = CONSTANT
~4m= ~r4= CONSTANT
O EXPERIMENTAL
POINTS FROM
MODELTESTS
~REQUIREDVALUE ~.~REQUIREDVALUE
~Zm
Fig. S--Prediction technique with one distorted pi term
EDUCATIONAL
~'lm
J
~
,e4m= ,e4=CONSTANT
O EXPERIMENTAL
POINTS
FROMMODELTESTS O
0
pREDIC
TED 0
pREDI
oTED
/
o l
/
/
o
!
cr
/ ~
E
D
VALUE
/
I/
/"......... .Z-. . . . ~/
i~,%~f"~
~ .....
/
/ _~I
../-//
I .//7
L/
REQUI;E'J
VALUE
.............................
,opDa
'
,o, ED3
' p~,
Vt~111~i)
E'
E ' "Y~
Mm =
M
- n 3
and
Vm= V
t
tm=-n
at corresponding times.
To d e t e r m i n e the validity of this model design, a
series of tests was r u n with 1-in., 2-in., a n d 4-in.diam hollow cylinders embedded i n d r y Ottawa sand.
Figures 8 and 9 show typical results of these model
tests. The results are reasonably satisfactory considering the difficulty in o b t a i n i n g data of this type.
It should be noted that s t r a i n - r a t e effects were n e glected in this analysis. It can be s h o w n that, if
m a t e r i a l properties describing s t r a i n - r a t e effects are
added to the list of variables, t h e n a distorted m o d e l
wi]l result. Tests of the same type as those r u n w i t h
the d r y sand w e r e also p e r f o r m e d w i t h a s a n d - o i l
IV
LECTURE
/ - FALLING
~ WEIGHT
~.\>
.'"
/'/
/
//~E,~u!,,p
//
~ALUE
8 //
(PREmCrEO)~
~
_~.X/
I
I
I
I //
J
/
/
//
//
,2.
"
CIRCUMFERENTIAL
TESTCYLINDER
CYLINDER
SOIL
~3m
~-BURIED
\\\\~\\\\\\\\\\\
Fig. 7 - - S k e t c h
E D U C A T I O N A L
LECTURE
1000
~l~
x
.=_
I
.o
u
, ,
500
O
9
X
i
=<
l - i n . CYLINDER
2 - i n . CYLINDER
4 - i n . CYLINDER
Fig. 8--Comparison
of peak strain data for
three model cylinders
.<
DRY SAND
1 O0
0.I
0.5
5.0
1.0
10.0
DEPTH
DIAMETER
F ......
I
d =
"D
800
DEPTHOF BURIAL : 1
CYLINDERDIAMETER
D = 2 in.
DRY SAND
=
.e_"
/,
i .
600
20(I
References
L~
0.0
__1
1.0
2.0
3.0
__1
5.0
4.0
6.0
8o0
~ - 4-1n.CIRCULAR CYLINDER
~
OIL - SAND
OF BURIAL
CIRCULAR
I
O.O
1.0
2.0
3.0
SCALED TIME, msec
I
4.0
__