Amit Prashant
Indian Institute of Technology Gandhinagar
Short Course on
Geotechnical Aspects of Earthquake Engineering
04 – 08 March, 2013
1
Single Degree of Freedom Systems
Mass, m
Damping, c Mass, m
Elevated
Bridges
Water
Tank Equivalent SDOF System
4
2
Dynamic Equilibrium
Three independent
properties
Mass, m
Stiffness, k Building
Damping, c
u(t)
Roof
Disturbance f(t)
External force f(t)
Response Column
Displacement, ut
Velocity, u t
Acceleration, t
u
5
Internal forces
Inertia force f I t m ut
Damping force f D t c u t
f I t f D t f S t
m c k
1 1 1
ut u t u t
3
Force Equilibrium
Dynamic equilibrium
mu cu ku f (t )
External
Inertia force force
f(t)
Stiffness
force
Damping force
Neutral
Free Vibrations position
Initial disturbance
Pull and release : Initial displacement
Extreme
Impact : Initial velocity position
No external force
cu ku 0
mu
Divide by mass
c k
u u u 0
m m Natural
Damping Ratio frequency
k
n
m u 2 nu nu 0
c
2mω Natural Period, T 2
n n 8
n
4
Free Vibration Response
v0
u0 Undamped system
Displacement u(t)
d0 un
0
Time t
T
v0
u0 Damped system
Displacement u(t)
Exponential decay
d0 un
0
Time t
T
Dt 9
u0
d0 Overdamped
0
u(t)
d0
Underdamped
0
u(t)
10
5
Analogy of Swing Door with Dashpot
Closing Mechanism
If the door oscillates through the closed position it is
underdamped
If it creeps slowly to the closed position it is
overdamped.
If it closes in the minimum possible time, with no
overswing, it is critically damped.
Critical Damping: the smallest amount of damping for
which no oscillation occurs
If it keeps on oscillating and does not stop, it is ??
11
u0 Time t
0
12
6
Undamped System:
Free vibrations m = 5000 kg
Example
k = 8000 kN/m
m = 5000 kg
k = 8000 kN/m
T 2 2 0.1571 s
n 40
n
u0 Time t
0
14
7
Damped System: Free vibrations
Example m = 5000 kg
m = 5000 kg
k = 8000 kN/m
c = 20 kN/(m/s)
k = 8000 kN/m c = 20 kN/(m/s)
c 20 1000 0.05
2mω 2 5000 40
n
ω ω 1 2 40 1 0.052 39.95 rad/s
D n
T 2π = 2π =0.1573 s D n
D ω 39.95
D
f = 1 = 1 =6.366 Hz
D T 0.1573
D 15
Example: Damping
8
Forced Vibrations f sin t
0 Time t
17
Sinusoidal Force
Constant Amplitude
Static 1 2 3 4 5 6
ustatic u1 u2 u3 u4 u5 u6
Displacement
Frequency
0
n
18
9
Forced Vibration Response
Resonance at natural
frequency of structure
Critically dependant on
damping
Undamped
Magnification
Factor
=
Normalised
Displacement
Under-
umax/ustatic damped
1
Critically Damped Frequency
0
n
19
Evaluation of Damping
Half-Power Method
B A
X
2n
Normalised Displacement
X 2
umax/ustatic
0 A n B Frequency 20
10
Seismic Ground Motion
21
From Earthquake Dynamics of Structures, Chopra (2005)
g t
u
u
m( u g ) cu ku 0
g t
cu ku mu
mu
Absolute Relative
acceleration Velocity/displacement 22
11
Seismic Ground Motion Response
g t
u
0 Time t
u t
0 Time t
23
Deformation Response
12
Double Pendulum
1 l1
m1
2 l
2
m2
25
MDOF? u2(t)
Mass located at
multiple locations
Building
More than one
displacement as
unknowns
Equilibrium equation in matrix form
26
13
Summary
SDOF system
Structures with SDOF
Internal Forces
Force Equilibrium
Free Vibration Response
Undamped
Damped
Forced Vibration Response
Seismic Ground Motion Response
27
Thank You
28
14