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Central Difference and Newmark

This document discusses numerical methods for evaluating the dynamic response of systems. It describes using piecewise linear interpolation of excitation forces to determine the system response over small time intervals. Recurrence formulas are developed using coefficients that depend on system properties and the time step. The method is applied to a single-degree-of-freedom damped system excited by a half-cycle sine pulse to determine the response using both numerical integration and the exact solution.

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Krishna Kadiyam
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0% found this document useful (0 votes)
199 views44 pages

Central Difference and Newmark

This document discusses numerical methods for evaluating the dynamic response of systems. It describes using piecewise linear interpolation of excitation forces to determine the system response over small time intervals. Recurrence formulas are developed using coefficients that depend on system properties and the time step. The method is applied to a single-degree-of-freedom damped system excited by a half-cycle sine pulse to determine the response using both numerical integration and the exact solution.

Uploaded by

Krishna Kadiyam
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Numerical Evaluation of

Dynamic Response
Numerical Evaluation of Dynamic Response
• Numerical evaluation of dynamic response is required for-
 When force is arbitrary
When system is nonlinear

𝑚𝑚𝑥𝑥̈ + 𝑐𝑐 𝑥𝑥̇ + 𝑘𝑘𝑘𝑘 = 𝐹𝐹(𝑡𝑡)


• Requirements for numerical procedure-
Convergence
∆𝑡𝑡 → 0, i.e. as less as possible.
Stability
Stable from round off error.
Accuracy
Should be close to exact solution.
(1) Method based on interpolation of excitation

∆𝐹𝐹𝑖𝑖
𝐹𝐹 𝜏𝜏 = 𝐹𝐹𝑖𝑖 + 𝜏𝜏
∆𝑡𝑡𝑖𝑖
Where, ∆𝐹𝐹𝑖𝑖 = 𝐹𝐹𝑖𝑖+1 − 𝐹𝐹𝑖𝑖
Now for an undamped system
At time τ,
𝑚𝑚𝑥𝑥̈ 𝜏𝜏 + 𝑘𝑘𝑘𝑘 𝜏𝜏 = 𝐹𝐹 𝜏𝜏
∆𝐹𝐹𝑖𝑖
Or, 𝑚𝑚𝑥𝑥̈ 𝜏𝜏 + 𝑘𝑘𝑘𝑘 𝜏𝜏 = 𝐹𝐹𝑖𝑖 + 𝜏𝜏 [Here, 0 ≤ τ ≤ Δti]
∆𝑡𝑡𝑖𝑖
𝑥𝑥̇ 𝑖𝑖 𝐹𝐹𝑖𝑖 ∆𝐹𝐹𝑖𝑖 𝜏𝜏 sin 𝜔𝜔𝜔𝜔
So, 𝑥𝑥 𝜏𝜏 = 𝑥𝑥𝑖𝑖 cos 𝜔𝜔𝜔𝜔 + sin 𝜔𝜔𝜔𝜔 + (1 − cos 𝜔𝜔𝜔𝜔) + − … … … … … (1)
𝜔𝜔 𝑘𝑘 𝑘𝑘 ∆𝑡𝑡𝑖𝑖 𝜔𝜔∆𝑡𝑡𝑖𝑖
Transient Step load Ramp load
Differentiating equation (1),

𝑥𝑥(𝜏𝜏)
̇ 𝑥𝑥̇ 𝑖𝑖 𝐹𝐹𝑖𝑖 ∆𝐹𝐹𝑖𝑖 1
= −𝑥𝑥𝑖𝑖 sin 𝜔𝜔𝜔𝜔 + cos 𝜔𝜔𝜔𝜔 + sin 𝜔𝜔𝜔𝜔 + � (1 − cos 𝜔𝜔𝜔𝜔) … … … … … … (2)
𝜔𝜔 𝜔𝜔 𝑘𝑘 𝑘𝑘 𝜔𝜔∆𝑡𝑡𝑖𝑖
Evaluating these equations at 𝜏𝜏 = ∆𝑡𝑡𝑖𝑖 gives,

𝑥𝑥𝑖𝑖+1
𝑥𝑥̇ 𝑖𝑖 𝐹𝐹𝑖𝑖 ∆𝐹𝐹𝑖𝑖 1
= 𝑥𝑥𝑖𝑖 cos(𝜔𝜔∆𝑡𝑡𝑖𝑖 ) + sin(𝜔𝜔∆𝑡𝑡𝑖𝑖 ) + [1 − cos(𝜔𝜔∆𝑡𝑡𝑖𝑖 )] + � � [𝜔𝜔∆𝑡𝑡𝑖𝑖 − sin(𝜔𝜔∆𝑡𝑡𝑖𝑖 )]
𝜔𝜔 𝑘𝑘 𝑘𝑘 𝜔𝜔∆𝑡𝑡𝑖𝑖
and

𝑥𝑥̇ 𝑖𝑖+1 𝑥𝑥̇ 𝑖𝑖 𝐹𝐹𝑖𝑖 ∆𝐹𝐹𝑖𝑖 1


= −𝑥𝑥𝑖𝑖 sin(𝜔𝜔∆𝑡𝑡𝑖𝑖 ) + cos(𝜔𝜔∆𝑡𝑡𝑖𝑖 ) + sin(𝜔𝜔∆𝑡𝑡𝑖𝑖 ) + � [1 − cos(𝜔𝜔∆𝑡𝑡𝑖𝑖 )]
𝜔𝜔 𝜔𝜔 𝑘𝑘 𝑘𝑘 𝜔𝜔∆𝑡𝑡𝑖𝑖
The equations can be rewritten as recurrence formulas:

𝑥𝑥𝑖𝑖+1 = 𝐴𝐴𝑥𝑥𝑖𝑖 + 𝐵𝐵𝑥𝑥̇ 𝑖𝑖 + 𝐶𝐶𝐹𝐹𝑖𝑖 + 𝐷𝐷𝐹𝐹𝑖𝑖+1

𝑥𝑥̇ 𝑖𝑖+1 = 𝐴𝐴′𝑥𝑥𝑖𝑖 + 𝐵𝐵′𝑥𝑥̇ 𝑖𝑖 + 𝐶𝐶′𝐹𝐹𝑖𝑖 + 𝐷𝐷′𝐹𝐹𝑖𝑖+1

Where,
sin(𝜔𝜔∆𝑡𝑡𝑖𝑖 )
A can be written as cos 𝜔𝜔∆𝑡𝑡𝑖𝑖 , B can be written as and so on.
𝜔𝜔

• This is suitable for linearly varying load.


• If ∆𝑡𝑡𝑖𝑖 is constant, only once, the values of the coefficients (A, B, …, 𝐷𝐷′) are to be
calculated.
For Damped system the similar procedure is to be followed
Coefficients in recurrence formulas will be-
−𝜉𝜉𝜉𝜉Δ𝑡𝑡
𝜉𝜉
𝐴𝐴 = 𝑒𝑒 ( sin 𝜔𝜔𝐷𝐷 Δ𝑡𝑡 + cos 𝜔𝜔𝐷𝐷 Δ𝑡𝑡 )
1 − 𝜉𝜉 2

1
𝐵𝐵 = 𝑒𝑒 −𝜉𝜉𝜉𝜉Δ𝑡𝑡 ( sin 𝜔𝜔𝐷𝐷 Δ𝑡𝑡 )
𝜔𝜔𝐷𝐷

1 2𝜉𝜉 1 − 2𝜉𝜉 2 𝜉𝜉 2𝜉𝜉


𝐶𝐶 = + 𝑒𝑒 −𝜉𝜉𝜉𝜉Δ𝑡𝑡 − sin 𝜔𝜔𝐷𝐷 Δ𝑡𝑡 − (1 + ) cos(𝜔𝜔𝐷𝐷 Δ𝑡𝑡)
𝑘𝑘 𝜔𝜔Δ𝑡𝑡 𝜔𝜔𝐷𝐷 Δ𝑡𝑡 1 − 𝜉𝜉 2 𝜔𝜔Δ𝑡𝑡

2
1 2𝜉𝜉 −𝜉𝜉𝜉𝜉Δ𝑡𝑡
2𝜉𝜉 −1 2𝜉𝜉
𝐷𝐷 = 1 − + 𝑒𝑒 sin 𝜔𝜔𝐷𝐷 Δ𝑡𝑡 + cos(𝜔𝜔𝐷𝐷 Δ𝑡𝑡)
𝑘𝑘 𝜔𝜔Δ𝑡𝑡 𝜔𝜔𝐷𝐷 Δ𝑡𝑡 𝜔𝜔Δ𝑡𝑡
′ −𝜉𝜉𝜉𝜉Δ𝑡𝑡
𝜔𝜔
𝐴𝐴 = −𝑒𝑒 ( sin 𝜔𝜔𝐷𝐷 Δ𝑡𝑡 )
1 − 𝜉𝜉 2

𝜉𝜉
𝐵𝐵′ = 𝑒𝑒 −𝜉𝜉𝜉𝜉Δ𝑡𝑡 cos(𝜔𝜔𝐷𝐷 Δ𝑡𝑡 − sin(𝜔𝜔𝐷𝐷 Δ𝑡𝑡))
1 − 𝜉𝜉 2

1 1 𝜔𝜔 𝜉𝜉 1
𝐶𝐶′ = − + 𝑒𝑒 −𝜉𝜉𝜉𝜉Δ𝑡𝑡 + sin 𝜔𝜔𝐷𝐷 Δ𝑡𝑡 + cos(𝜔𝜔𝐷𝐷 Δ𝑡𝑡)
𝑘𝑘 Δ𝑡𝑡 1 − 𝜉𝜉 2 Δ𝑡𝑡 1 − 𝜉𝜉 2 Δ𝑡𝑡

1 𝜉𝜉
𝐷𝐷′ = 1 − 𝑒𝑒 −𝜉𝜉𝜉𝜉Δ𝑡𝑡 sin 𝜔𝜔𝐷𝐷 Δ𝑡𝑡 + cos(𝜔𝜔𝐷𝐷 Δ𝑡𝑡)
𝑘𝑘Δ𝑡𝑡 1 − 𝜉𝜉 2
Example
An SDF system has the following properties: m= 0.07599 kN-sec2/mm, k= 3 kN/mm, T=
1 sec., ξ = 0.05. Determine the response of this system subjected to the force defined by
the half-cycle sine pulse force shown in the fig. below, by
a) Using piecewise-linear interpolation of force with Δt= 0.1 sec. and
b) Evaluating the theoretical solution.
Solution
Initial calculations

2𝜋𝜋 𝑟𝑟𝑟𝑟𝑟𝑟
𝜔𝜔 = = 6.283
1 𝑠𝑠𝑠𝑠𝑠𝑠

𝑒𝑒 −𝜉𝜉𝜉𝜉∆𝑡𝑡 = 0.9691

𝜔𝜔𝐷𝐷 = 𝜔𝜔 1 − 𝜉𝜉 2 = 6.275 𝑟𝑟𝑟𝑟𝑟𝑟/𝑠𝑠𝑠𝑠𝑠𝑠

sin 𝜔𝜔𝐷𝐷 ∆𝑡𝑡 = 0.5871

𝜋𝜋
cos 𝜔𝜔𝐷𝐷 ∆𝑡𝑡 = 0.8095 𝜛𝜛 = = 5.236 𝑟𝑟𝑟𝑟𝑟𝑟/𝑠𝑠𝑠𝑠𝑠𝑠
0.6

𝜛𝜛 5.236
𝑟𝑟 = = = 0.833
𝜔𝜔 6.283
Substituting these in equations of coefficients,
A=0.8129, B=0.09067, C=0.0412, D=0.0212

𝐴𝐴′ = −3.5795, 𝐵𝐵′ = 0.7559, 𝐶𝐶 ′ = 0.5697, 𝐷𝐷′ = 0.6237


For theoretical formulation

𝑚𝑚𝑥𝑥̈ + 𝑐𝑐 𝑥𝑥̇ + 𝑘𝑘𝑘𝑘 = 𝐹𝐹0𝑠𝑠𝑠𝑠𝑠𝑠𝜛𝜛𝜛𝜛 [for t ≤ 0.6 sec.]

𝑥𝑥 𝑡𝑡 = 𝑒𝑒 −𝜉𝜉𝜉𝜉𝜉𝜉 (𝐴𝐴 cos 𝜔𝜔𝐷𝐷 𝑡𝑡 + 𝐵𝐵 sin( 𝜔𝜔𝐷𝐷 𝑡𝑡)) + C sin 𝜛𝜛𝜛𝜛 + 𝐷𝐷 cos(𝜛𝜛𝜛𝜛)
Transient Steady State
Where,

𝐹𝐹0 1 − 𝑟𝑟 2
𝐶𝐶 = ( ) ×
𝑘𝑘 (1 − 𝑟𝑟 2 )2 +(2𝜉𝜉𝜉𝜉)2
𝐹𝐹0 −2𝜉𝜉𝜉𝜉
𝐷𝐷 = ( ) ×
𝑘𝑘 (1 − 𝑟𝑟 2 )2 +(2𝜉𝜉𝜉𝜉)2

𝑥𝑥̇ 0 +𝜉𝜉𝜉𝜉𝑥𝑥0
𝑥𝑥 𝑡𝑡 = 𝑒𝑒 −𝜉𝜉𝜉𝜉𝜉𝜉 [𝑥𝑥0 cos 𝜔𝜔𝐷𝐷 𝑡𝑡 + sin(𝜔𝜔𝐷𝐷 𝑡𝑡)] [For t > 0.6 sec.]
𝜔𝜔𝐷𝐷
Numerical solution using linear interpolation of excitation
ti Fi 𝒙𝒙𝒊𝒊 𝒙𝒙̇ 𝒊𝒊 𝑨𝑨𝑨𝑨𝒊𝒊 𝑩𝑩𝒙𝒙̇ 𝒊𝒊 CFi DFi+1 𝑨𝑨𝑨𝑨𝑨𝒊𝒊 𝑩𝑩𝑩𝒙𝒙̇ 𝒊𝒊 C′Fi D′Fi+1 Th 𝒙𝒙𝒊𝒊 Th 𝒙𝒙̇ 𝒊𝒊
(s) (kN) (mm) (mm/s) (mm) (mm/s)

0 0 0 0 0 0 0 0.424 0 0 0 12.474 0 0
0.1 20 0.424 12.474 0.345 1.131 0.824 0.734 -1.518 9.429 11.394 21.605 0.437 12.756
0.2 34.64 3.034 40.91 2.466 3.709 1.427 0.848 -10.86 30.924 19.734 24.948 3.109 41.83
0.3 40 8.45 64.746 6.869 5.87 1.648 0.734 -30.249 48.942 22.788 21.605 8.65 66.232
0.4 34.64 15.122 63.087 12.292 5.72 1.427 0.424 -54.129 47.688 19.734 12.474 15.473 64.544
0.5 20 19.864 25.766 16.147 2.336 0.824 0 -71.103 19.477 11.394 0 20.322 26.378
0.6 0 19.307 -40.232 15.695 -3.647 0 0 -69.112 -30.412 0 0 19.751 -41.131
0.7 0 12.048 -99.521 9.793 -9.023 0 0 -43.122 -75.228 0 0 12.327 -101.795
0.8 0 0.77 -118.35 0.627 -10.731 0 0 -2.76 -89.464 0 0 0.791 -121.078
0.9 0 -10.105 -92.217 -8.214 -8.361 0 0 36.170 -69.71 0 0 -10.335 -94.362
1.0 0 -16.575 -33.536 -16.957 -34.339
Central Difference Method
Central Difference Method
 This method is based on a finite difference approximation of the time
derivatives of displacement (i.e. velocity and acceleration).

Based on finite difference method, velocity and accelerations at time i are


given below:
𝑥𝑥𝑖𝑖+1 − 𝑥𝑥𝑖𝑖−1 𝑥𝑥𝑖𝑖+1 − 2𝑥𝑥𝑖𝑖 + 𝑥𝑥𝑖𝑖−1
𝑥𝑥̇ 𝑖𝑖 = 𝑥𝑥̈ 𝑖𝑖 =
2𝛥𝛥𝛥𝛥 𝛥𝛥𝛥𝛥 2
We know,

𝑚𝑚𝑥𝑥̈ 𝑖𝑖 + 𝑐𝑐 𝑥𝑥̇ 𝑖𝑖 + 𝑘𝑘𝑥𝑥𝑖𝑖 = 𝐹𝐹𝑖𝑖

Substituting above expressions for linear elastic systems,

𝑥𝑥𝑖𝑖+1 − 2𝑥𝑥𝑖𝑖 + 𝑥𝑥𝑖𝑖−1 𝑥𝑥𝑖𝑖+1 − 𝑥𝑥𝑖𝑖−1


𝑚𝑚 + 𝑐𝑐 + 𝑘𝑘𝑥𝑥𝑖𝑖 = 𝐹𝐹𝑖𝑖
𝛥𝛥𝛥𝛥 2 2𝛥𝛥𝛥𝛥
Central Difference Method
or,
𝑚𝑚 𝑐𝑐 𝑚𝑚 𝑐𝑐 2𝑚𝑚
+ 𝑥𝑥 = 𝐹𝐹𝑖𝑖 − − 𝑥𝑥 − 𝑘𝑘 − 2 𝑥𝑥𝑖𝑖
𝛥𝛥𝑡𝑡 2 2𝛥𝛥𝛥𝛥 𝑖𝑖+1 𝛥𝛥𝑡𝑡 2 2𝛥𝛥𝛥𝛥 𝑖𝑖−1 𝛥𝛥𝑡𝑡
or,
� 𝑖𝑖+1 = 𝐹𝐹�𝑖𝑖
𝑘𝑘𝑥𝑥
Where,
𝑚𝑚 𝑐𝑐
𝑘𝑘� = + and
𝛥𝛥𝑡𝑡 2 2𝛥𝛥𝛥𝛥

𝑚𝑚 𝑐𝑐 2𝑚𝑚
𝐹𝐹�𝑖𝑖 = 𝐹𝐹𝑖𝑖 − − 𝑥𝑥 − 𝑘𝑘 − 2 𝑥𝑥𝑖𝑖
𝛥𝛥𝑡𝑡 2 2𝛥𝛥𝛥𝛥 𝑖𝑖−1 𝛥𝛥𝑡𝑡

𝐹𝐹�𝑖𝑖
∴ Unknown, 𝑥𝑥𝑖𝑖+1 =
𝑘𝑘�
Central Difference Method
Thus to find 𝑥𝑥𝑖𝑖+1 , we need to know 𝑥𝑥𝑖𝑖 and 𝑥𝑥𝑖𝑖−1 i.e., to find 𝑥𝑥1 we
need 𝑥𝑥0 and 𝑥𝑥−1 .
Here, difficulty is to find at 𝑥𝑥−1 .
We know, 𝑥𝑥1 − 𝑥𝑥−1 𝑥𝑥1 − 2𝑥𝑥0 + 𝑥𝑥−1
𝑥𝑥̇ 0 = and 𝑥𝑥̈ 0 =
2𝛥𝛥𝛥𝛥 𝛥𝛥𝑡𝑡 2
From these two equations (Solving from 1st equation and
putting in 2nd equation)
𝛥𝛥𝑡𝑡 2
𝑥𝑥−1 = 𝑥𝑥0 − 𝛥𝛥𝛥𝛥 ⋅ 𝑥𝑥̇ 0 + 𝑥𝑥̈ 0
2
Now initial displacement and velocity at 𝑡𝑡 = 0 is given as (𝑥𝑥0 , 𝑥𝑥̇ 0 ).
Putting these values in equation of motion, we get

𝑚𝑚𝑥𝑥̈ 0 + 𝑐𝑐 𝑥𝑥̇ 0 + 𝑘𝑘𝑥𝑥0 = 𝐹𝐹0 (at 𝑡𝑡 = 0, 𝑥𝑥0 and 𝑥𝑥̇ 0 are known)
Central Difference Method
Therefore,
1
𝑥𝑥̈ 0 = 𝐹𝐹 − 𝑐𝑐 𝑥𝑥̇ 0 − 𝑘𝑘𝑥𝑥0
𝑚𝑚 0
This method will blow up because of round off error if time step is not
enough small.
𝛥𝛥𝛥𝛥 1
For stability the specific requirement is: <
𝑇𝑇𝑛𝑛 𝜋𝜋
Steps:
1. Initial calculation:
1
1.1 𝑥𝑥̈ 0 = 𝐹𝐹0 − 𝑐𝑐 𝑥𝑥̇ 0 − 𝑘𝑘𝑥𝑥0
𝑚𝑚

𝛥𝛥𝑡𝑡 2
1.2 𝑥𝑥−1 = 𝑥𝑥0 − 𝛥𝛥𝛥𝛥. 𝑥𝑥̇ 0 + . 𝑥𝑥̈ 0
2
𝑚𝑚 𝑐𝑐
1.3 𝑘𝑘� = +
𝛥𝛥𝑡𝑡 2 2𝛥𝛥𝛥𝛥
𝑚𝑚 𝑐𝑐 2𝑚𝑚
1.4 𝑎𝑎 = − , 𝑏𝑏 = 𝑘𝑘 −
𝛥𝛥𝑡𝑡 2 2𝛥𝛥𝛥𝛥 𝛥𝛥𝑡𝑡 2
Central Difference Method
2. Calculation for time step i
2.1 𝐹𝐹�𝑖𝑖 = 𝐹𝐹𝑖𝑖 − 𝑎𝑎𝑥𝑥𝑖𝑖−1 − 𝑏𝑏𝑥𝑥𝑖𝑖
𝐹𝐹�𝑖𝑖
2.2 𝑥𝑥𝑖𝑖+1 = �
𝑘𝑘

𝑥𝑥𝑖𝑖+1 −𝑥𝑥𝑖𝑖−1 𝑥𝑥𝑖𝑖+1 −2𝑥𝑥𝑖𝑖 +𝑥𝑥𝑖𝑖−1


2.3 If required: 𝑥𝑥̇ 𝑖𝑖 = ; 𝑥𝑥̈ 𝑖𝑖 =
2𝛥𝛥𝛥𝛥 𝛥𝛥𝑡𝑡 2

3. Repetition for the next time step

Replace 𝑖𝑖 by 𝑖𝑖 + 1 and repeat steps 2.1, 2.2 and 2.3 till end
Central Difference Method
Example 1.
An SDF system has the following properties: m = 0.07599 kN-
sec2/mm, k = 3 kN/mm, Tn = 1 sec, and ζ = 0.05. Determine the
response 𝑥𝑥 (𝑡𝑡) of this system subjected to the force 𝐹𝐹 (𝑡𝑡) defined by
the half cycle sine pulse force as shown in the figure below by

i. Using piece-wise linear interpolation of force with ∆𝑡𝑡 = 0.1 sec.


and
ii. Evaluating the theoretical solution

𝐹𝐹(𝑡𝑡)

10 kN

t
0.6 sec
Central Difference Method
Solution:
Following the steps as mentioned above,
𝑚𝑚 = 0.07599, 𝑘𝑘 = 3, 𝑐𝑐 = 0.0477, 𝑥𝑥̇ 0 = 𝑥𝑥0 = 0,
𝑥𝑥̈ 𝑜𝑜 = (𝐹𝐹𝑜𝑜 − 𝐶𝐶 𝑥𝑥̇ 𝑜𝑜 − 𝑘𝑘𝑥𝑥𝑜𝑜 )⁄𝑚𝑚 = 0
𝛥𝛥𝑡𝑡 2
𝑥𝑥−1 = 𝑥𝑥𝑜𝑜 − 𝛥𝛥𝛥𝛥. 𝑥𝑥̇ 𝑜𝑜 + 𝑥𝑥̈ 𝑜𝑜 = 0
2
𝑚𝑚 𝑐𝑐

𝑘𝑘 = 2 + = 7.8375
𝛥𝛥𝑡𝑡 2𝛥𝛥𝛥𝛥
𝑚𝑚 𝑐𝑐 2𝑚𝑚
𝑎𝑎 = − = 7.3605 ; 𝑏𝑏 = 𝑘𝑘 − 2 = −12.198
𝛥𝛥𝑡𝑡 2 2𝛥𝛥𝛥𝛥 𝛥𝛥𝑡𝑡

𝐹𝐹�𝑖𝑖 = 𝐹𝐹𝑖𝑖 − 𝑎𝑎𝑘𝑘𝑖𝑖−1 − 𝑏𝑏𝑥𝑥𝑖𝑖 = 𝐹𝐹𝑖𝑖 − 7.3605𝑥𝑥𝑖𝑖−1 + 12.198𝑥𝑥𝑖𝑖


𝐹𝐹�𝑖𝑖 𝐹𝐹�𝑖𝑖
𝑥𝑥𝑖𝑖+1 = =
𝑘𝑘� 7.8375
Repeat these steps as necessary
Central Difference Method
Numerical solution by Central Difference method

Theoretical
𝒕𝒕𝒊𝒊 (sec) 𝑭𝑭𝒊𝒊 (kN) 𝒙𝒙𝒊𝒊−𝟏𝟏 (mm) 𝒙𝒙𝒊𝒊 (mm) 𝐅𝐅�𝐢𝐢 𝒙𝒙𝒊𝒊+𝟏𝟏 (mm)
𝒙𝒙𝒊𝒊+𝟏𝟏 (mm)
0.0 0.0000 0.0000 0.0000 0.0000 0.0000
0.1 5.0000 0.0000 0.0000 5.0000 0.6379
0.2 8.6602 0.0000 0.6379 16.4413 2.0978
0.3 10.0000 0.6379 2.0978 30.8937 3.9418
0.4 8.6602 2.0978 3.9418 41.3014 5.2697
0.5 5.0000 3.9418 5.2697 40.2662 5.1376
0.6 0.0000 5.2697 5.1376 23.8808 3.047
0.7 0.0000 5.1376 3.047 -0.648 -0.0827
0.8 0.0000 3.047 -0.0827 -23.4362 -2.9903
0.9 0.0000 -0.0827 -2.9903 -35.867 -4.5763
1.0 0.0000 -2.9903 -4.5763 -33.8116 -4.3141
Newmark’s Method
Newmark’s Method
Basic procedure:
N. M. Newmark developed a family of time-stepping methods based
on the following equations in 1959: J. of Engg. Mechanics, ASCE

𝑥𝑥̇ 𝑖𝑖+1 = 𝑥𝑥̇ 𝑖𝑖 + 1 − 𝛾𝛾 𝛥𝛥𝛥𝛥 𝑥𝑥̈ 𝑖𝑖 + 𝛾𝛾𝛾𝛾𝛾𝛾 𝑥𝑥̈ 𝑖𝑖+1 (1)

𝑥𝑥𝑖𝑖+1 = 𝑥𝑥𝑖𝑖 + 𝛥𝛥𝛥𝛥 𝑥𝑥̇ 𝑖𝑖 + 0.5 − 𝛽𝛽 𝛥𝛥𝛥𝛥 2 𝑥𝑥̈ 𝑖𝑖 + 𝛽𝛽 𝛥𝛥𝛥𝛥 2 𝑥𝑥̈ 𝑖𝑖+1 (2)

The parameters 𝛽𝛽 and 𝛾𝛾 define the variation of acceleration over a


time step and determine the stability and accuracy characteristics of
the method.

For stable solution: 𝛾𝛾 = 1/2 and 1/6 ≤ 𝛽𝛽 ≤ 1/4


Newmark’s Method
The above two equations are in combined with the equilibrium
equation
𝑚𝑚𝑥𝑥̈ 𝑖𝑖+1 + 𝑐𝑐 𝑥𝑥̇ 𝑖𝑖+1 + 𝑘𝑘𝑥𝑥𝑖𝑖+1 = 𝐹𝐹𝑖𝑖+1 (3)

Iteration is required to implement these computations.

Special Cases:

Two special cases of Newmark’s method are:


1) Average Acceleration Method and
2) Linear Acceleration Method
Average Acceleration Method
𝑥𝑥̈

𝑥𝑥̈ 𝑖𝑖+1
For Average Acceleration
Method one can express the
𝑥𝑥̈ 𝑖𝑖
following:
𝑡𝑡
𝑡𝑡𝑖𝑖 𝑡𝑡𝑖𝑖+1
𝜏𝜏
1 ∆𝑡𝑡
𝑥𝑥̈ 𝜏𝜏 = 𝑥𝑥̈ 𝑖𝑖+1 + 𝑥𝑥̈ 𝑖𝑖 (4a)
2

Integrating above expression we have:

𝜏𝜏
𝑥𝑥̇ 𝜏𝜏 = 𝑥𝑥̇ 𝑖𝑖 + 𝑥𝑥̈ 𝑖𝑖+1 + 𝑥𝑥̈ 𝑖𝑖 (4b)
2
Average Acceleration Method

Similarly integrating eq. (4b), we can find

𝜏𝜏2
𝑥𝑥 𝜏𝜏 = 𝑥𝑥𝑖𝑖 + 𝑥𝑥𝜏𝜏
̇ + 𝑥𝑥̈ 𝑖𝑖+1 + 𝑥𝑥̈ 𝑖𝑖 (4c)
4

Thus, 𝛥𝛥𝛥𝛥
𝑥𝑥̇ 𝑖𝑖+1 = 𝑥𝑥̇ 𝑖𝑖 + 𝑥𝑥̈ 𝑖𝑖+1 + 𝑥𝑥̈ 𝑖𝑖 (4d)
2

𝛥𝛥𝛥𝛥 2
and, 𝑥𝑥𝑖𝑖+1 = 𝑥𝑥𝑖𝑖 + 𝑥𝑥̇ 𝑖𝑖 𝛥𝛥𝛥𝛥 + 𝑥𝑥̈ 𝑖𝑖+1 + 𝑥𝑥̈ 𝑖𝑖 (4e)
4

It may be important to note that providing values of 𝛾𝛾 = 1/2 and


𝛽𝛽 = 1/4 in eqs. (1) and (2), we can find the above relations (eqs. 4d
and 4e) as well.
Linear Acceleration Method
𝑥𝑥̈

For Linear Acceleration 𝑥𝑥̈ 𝑖𝑖+1

Method one can express the


following: 𝑥𝑥̈ 𝑖𝑖

𝑡𝑡
𝜏𝜏 𝑡𝑡𝑖𝑖 𝑡𝑡𝑖𝑖+1
𝑥𝑥̈ 𝜏𝜏 = 𝑥𝑥̈ 𝑖𝑖 + 𝑥𝑥̈ 𝑖𝑖+1 − 𝑥𝑥̈ 𝑖𝑖 (5a) 𝜏𝜏
𝛥𝛥𝛥𝛥
∆𝑡𝑡

Integrating above expression we have:

𝜏𝜏2
𝑥𝑥̇ 𝜏𝜏 = 𝑥𝑥̇ 𝑖𝑖 + 𝑥𝑥̈ 𝑖𝑖 𝜏𝜏 + 𝑥𝑥̈ 𝑖𝑖+1 − 𝑥𝑥̈ 𝑖𝑖 (5b)
2𝛥𝛥𝛥𝛥
Linear Acceleration Method

Similarly integrating eq. (5b), we can find

𝜏𝜏2 𝜏𝜏3
𝑥𝑥 𝜏𝜏 = 𝑥𝑥𝑖𝑖 + 𝑥𝑥̇ 𝑖𝑖 𝜏𝜏 + 𝑥𝑥̈ 𝑖𝑖 + 𝑥𝑥̈ 𝑖𝑖+1 − 𝑥𝑥̈ 𝑖𝑖 (5c)
2 6𝛥𝛥𝛥𝛥

Thus, 𝛥𝛥𝛥𝛥
𝑥𝑥̇ 𝑖𝑖+1 = 𝑥𝑥̇ 𝑖𝑖 + 𝑥𝑥̈ 𝑖𝑖+1 + 𝑥𝑥̈ 𝑖𝑖 (5d)
2

2 1 1
and, 𝑥𝑥𝑖𝑖+1 = 𝑥𝑥𝑖𝑖 + 𝑥𝑥̇ 𝑖𝑖 𝛥𝛥𝛥𝛥 + 𝛥𝛥𝛥𝛥 𝑥𝑥̈ + 𝑥𝑥̈ 𝑖𝑖 (5e)
6 𝑖𝑖+1 3

It may be important to note that providing values of 𝛾𝛾 = 1/2 and


𝛽𝛽 = 1/4 in eqs. (1) and (2), we can find the above relations (eqs. 5d
and 5e) as well.
Step by step process:

Assume:
∆𝑥𝑥𝑖𝑖 = 𝑥𝑥𝑖𝑖+1 − 𝑥𝑥𝑖𝑖

∆𝑥𝑥̇ 𝑖𝑖 = 𝑥𝑥̇ 𝑖𝑖+1 − 𝑥𝑥̇ 𝑖𝑖

∆𝑥𝑥̈ 𝑖𝑖 = 𝑥𝑥̈ 𝑖𝑖+1 − 𝑥𝑥̈ 𝑖𝑖

∆𝐹𝐹𝑖𝑖 = 𝐹𝐹𝑖𝑖+1 − 𝐹𝐹𝑖𝑖

Thus eqs. (1) and (2) will become:

𝑥𝑥̇ 𝑖𝑖+1 = 𝑥𝑥̇ 𝑖𝑖 + [ 1 − 𝛾𝛾 ∆𝑡𝑡]𝑥𝑥̈ 𝑖𝑖 + 𝛾𝛾∆𝑡𝑡𝑥𝑥̈ 𝑖𝑖+1

or,
∆𝑥𝑥̈ 𝑖𝑖 = ∆t 𝑥𝑥̈ 𝑖𝑖 + 𝛾𝛾 ∆𝑡𝑡 ∆𝑥𝑥̈ 𝑖𝑖 (6)
Step by step process:

Similarly,

𝑥𝑥𝑖𝑖+1 = 𝑥𝑥𝑖𝑖 + 𝑥𝑥̇ 𝑖𝑖 ∆𝑡𝑡 + ∆𝑡𝑡 2 (0.5 − 𝛽𝛽 ) 𝑥𝑥̈ 𝑖𝑖 + 𝛽𝛽 ∆𝑡𝑡 2 𝑥𝑥̈ 𝑖𝑖+1

∆𝑡𝑡 2
or, ∆𝑥𝑥𝑖𝑖 = 𝑥𝑥̇ 𝑖𝑖 ∆𝑡𝑡 + 𝑥𝑥̈ 𝑖𝑖 + 𝛽𝛽∆𝑥𝑥̈ 𝑖𝑖 ∆𝑡𝑡 2
2
∆𝑥𝑥𝑖𝑖 𝑥𝑥̇ 𝑖𝑖 𝑥𝑥̈ 𝑖𝑖
or, ∆𝑥𝑥̈ 𝑖𝑖 = − −
𝛽𝛽∆𝑡𝑡 2 𝛽𝛽∆𝑡𝑡 2𝛽𝛽
(7)
From eq. (6) & (7)

∆𝑥𝑥 𝛾𝛾 𝑥𝑥̇ 𝑖𝑖 𝛾𝛾 𝑥𝑥̈ 𝑖𝑖 𝛾𝛾∆𝑡𝑡


∆𝑥𝑥̇ 𝑖𝑖 = ∆𝑡𝑡∆𝑥𝑥̈ 𝑖𝑖 + 𝑖𝑖 − −
𝛽𝛽∆𝑡𝑡 𝛽𝛽 2𝛽𝛽

𝛾𝛾 𝛾𝛾 𝛾𝛾
∆𝑥𝑥̇ 𝑖𝑖 = ∆𝑥𝑥𝑖𝑖 − 𝑥𝑥̇ 𝑖𝑖 + 1 − ∆𝑡𝑡𝑥𝑥̈ 𝑖𝑖
𝛽𝛽∆𝑡𝑡 𝛽𝛽 2𝛽𝛽
(8)
Step by step process:

Using incremental equilibrium equation:

𝑚𝑚𝑚𝑚𝑥𝑥̈ 𝑖𝑖 + 𝑐𝑐𝑐𝑐𝑥𝑥̇ 𝑖𝑖 + 𝑘𝑘𝑘𝑘𝑥𝑥𝑖𝑖 = 𝛥𝛥𝐹𝐹𝑖𝑖

Substituting eqs. (7) and (8) in the above expression, we have,

∆𝑥𝑥𝑖𝑖 𝑥𝑥̇ 𝑖𝑖 𝑥𝑥̈ 𝑖𝑖 𝛾𝛾 𝛾𝛾 𝛾𝛾


𝑚𝑚 − − + 𝑐𝑐 ∆𝑥𝑥 − 𝑥𝑥̇ + ∆𝑡𝑡 1 − 𝑥𝑥̈ + 𝑘𝑘∆𝑥𝑥𝑖𝑖 = ∆𝐹𝐹𝑖𝑖
𝛽𝛽∆𝑡𝑡 2 𝛽𝛽∆𝑡𝑡 2𝛽𝛽 𝛽𝛽∆𝑡𝑡 𝑖𝑖 𝛽𝛽 𝑖𝑖 2𝛽𝛽 𝑖𝑖

or,

1 𝛾𝛾 𝑚𝑚 𝛾𝛾 𝑚𝑚 𝛾𝛾
𝑚𝑚 + 𝑐𝑐 + 𝑘𝑘 ∆𝑥𝑥𝑖𝑖 = ∆𝐹𝐹𝑖𝑖 + + 𝑐𝑐 𝑥𝑥̇ 𝑖𝑖 + − ∆𝑡𝑡 1 − 𝑐𝑐 𝑥𝑥̈ 𝑖𝑖
𝛽𝛽∆𝑡𝑡 2 𝛽𝛽∆𝑡𝑡 𝛽𝛽∆𝑡𝑡 𝛽𝛽 2𝛽𝛽 2𝛽𝛽

or, 𝑘𝑘� ∆𝑥𝑥𝑖𝑖 = ∆𝐹𝐹�𝑖𝑖


Step by step process:

�𝑖𝑖
∆𝐹𝐹
or, ∆𝑥𝑥𝑖𝑖 = �
(9)
𝑘𝑘

where,
1 𝛾𝛾
𝑘𝑘� = 𝑚𝑚 + 𝑐𝑐 + 𝑘𝑘 and
𝛽𝛽∆𝑡𝑡 2 𝛽𝛽∆𝑡𝑡

𝑚𝑚 𝛾𝛾 𝑚𝑚 𝛾𝛾
∆𝐹𝐹�𝑖𝑖 = ∆𝐹𝐹𝑖𝑖 + + 𝑥𝑥̇ + − ∆𝑡𝑡 1 − 𝑐𝑐 𝑥𝑥̈ 𝑖𝑖
𝛽𝛽∆𝑡𝑡 𝛽𝛽 𝑖𝑖 2𝛽𝛽 2𝛽𝛽

Once, the value of ∆𝑥𝑥𝑖𝑖 is obtained from eq. (9), the values of
∆𝑥𝑥̈ 𝑖𝑖 and ∆𝑥𝑥̇ 𝑖𝑖 may be found from eq. (7) and (8) respectively.
Step by step process:

Thus, we can find,

𝑥𝑥𝑖𝑖+1 = 𝑥𝑥𝑖𝑖 + ∆𝑥𝑥𝑖𝑖

𝑥𝑥̇ 𝑖𝑖+1 = 𝑥𝑥̇ 𝑖𝑖 + ∆𝑥𝑥̇ 𝑖𝑖

𝑥𝑥̈ 𝑖𝑖+1 = 𝑥𝑥̈ 𝑖𝑖 + ∆𝑥𝑥̈ 𝑖𝑖

However, it is better to find the value of 𝑥𝑥̈ 𝑖𝑖+1 from the following
equilibrium equation.

𝑚𝑚𝑥𝑥̈ 𝑖𝑖+1 + 𝑐𝑐 𝑥𝑥̇ 𝑖𝑖+1 + 𝑘𝑘𝑥𝑥𝑖𝑖+1 = 𝐹𝐹𝑖𝑖+1

or,
𝐹𝐹𝑖𝑖+1 − 𝑐𝑐 𝑥𝑥̇ 𝑖𝑖+1 − 𝑘𝑘𝑥𝑥𝑖𝑖+1
𝑥𝑥̈ 𝑖𝑖+1 =
𝑚𝑚
Newmark’s Method

The Newmark’s method is stable if

∆𝑡𝑡 1 1
≤ ×
𝑇𝑇𝑛𝑛 𝜋𝜋 2 𝛾𝛾 − 2𝛽𝛽

for 𝛾𝛾 = 1/2, 𝛽𝛽 = 1/4;


∆𝑡𝑡
we can find the above condition as: <∞
𝑇𝑇𝑛𝑛

However, the results will be accurate if the value of ∆t is small


enough.

Similarly, for 𝛾𝛾 = 1/2, 𝛽𝛽 = 1/6;


∆𝑡𝑡
we can find the above condition as: < 0.551
𝑇𝑇𝑛𝑛
Newmark’s Method
Steps For Newmark’s Integration:

1 1
i) Consider 𝛾𝛾 = , 𝛽𝛽 = for average acceleration method and
2 4
1 1
ii) Consider 𝛾𝛾 = , 𝛽𝛽 = for linear acceleration method
2 6

1. Initial calculations:
𝐹𝐹𝑜𝑜 −𝑐𝑐 𝑥𝑥̇ 𝑜𝑜 −𝑘𝑘𝑥𝑥0
1.1 𝑥𝑥̈ 𝑜𝑜 =
𝑚𝑚
1.2 Select ∆𝑡𝑡
𝐹𝐹𝑜𝑜 −𝑐𝑐 𝑥𝑥̇ 𝑜𝑜 −𝑘𝑘𝑥𝑥0
1.3 𝑥𝑥̈ 𝑜𝑜 =
𝑚𝑚

𝑚𝑚 𝛾𝛾 𝑚𝑚 𝛾𝛾
1.4 𝑎𝑎 = + 𝑐𝑐 ; 𝑏𝑏 = + ∆𝑡𝑡 − 1 𝑐𝑐
𝛽𝛽∆𝑡𝑡 𝛽𝛽 2𝛽𝛽 2𝛽𝛽
Newmark’s Method
2. Calculation for each time step, i

2.1 ∆𝐹𝐹� = ∆𝐹𝐹𝑖𝑖 + 𝑎𝑎𝑥𝑥̇ 𝑖𝑖 + 𝑏𝑏𝑥𝑥̈ 𝑖𝑖


�𝑖𝑖
∆𝐹𝐹
2.2 ∆𝑥𝑥𝑖𝑖 = �
𝑘𝑘
𝛾𝛾 𝛾𝛾 𝛾𝛾
2.3 ∆𝑥𝑥̇ 𝑖𝑖 = ∆𝑥𝑥𝑖𝑖 − 𝑥𝑥̇ 𝑖𝑖 + 1 − ∆𝑡𝑡𝑥𝑥̈ 𝑖𝑖
𝛽𝛽∆𝑡𝑡 𝛽𝛽 2𝛽𝛽

1 1 1
2.4 ∆𝑥𝑥̈ 𝑖𝑖 = ∆𝑥𝑥𝑖𝑖 − 𝑥𝑥̇ − 𝑥𝑥̈
𝛽𝛽(∆𝑡𝑡)2 𝛽𝛽∆𝑡𝑡 𝑖𝑖 2𝛽𝛽 𝑖𝑖

2.5 𝑥𝑥𝑖𝑖+1 = 𝑥𝑥𝑖𝑖 + ∆𝑥𝑥𝑖𝑖


𝑥𝑥̇ 𝑖𝑖+1 = 𝑥𝑥̇ 𝑖𝑖 + ∆𝑥𝑥̇ 𝑖𝑖
𝑥𝑥̈ 𝑖𝑖+1 = 𝑥𝑥̈ 𝑖𝑖 + ∆𝑥𝑥̈ 𝑖𝑖

3. Repeat steps 2.1 to 2.5 for next time step and so on.
Example 2
An SDF system has the following properties: m = 0.07599 kN-
sec2/mm, k = 3 kN/mm, Tn = 1 sec, and ζ = 0.05. Determine the
response 𝑥𝑥 (𝑡𝑡) of this system subjected to the force 𝐹𝐹 (𝑡𝑡) defined by
the half cycle sine pulse force as shown in the figure below by average
acceleration method using ∆𝑡𝑡 = 0.1 sec.

𝐹𝐹(𝑡𝑡)

10 kips

t
0.6 sec
Solution:

1. Initial calculations:

𝑚𝑚 = 0.07599, 𝑘𝑘 = 3, 𝑐𝑐 = 0.0477,
𝑥𝑥0 = 0, 𝑥𝑥̇ 𝑜𝑜 = 0, 𝐹𝐹𝑜𝑜 = 0
𝐹𝐹𝑜𝑜 −𝑐𝑐 𝑥𝑥̇ 𝑜𝑜 −𝑘𝑘𝑥𝑥0
1.1 𝑥𝑥̈ 𝑜𝑜 = =0
𝑚𝑚

1.2 ∆𝑡𝑡 = 0.1

2 4
1.3 k� = 𝑘𝑘 + 𝑐𝑐 + 𝑚𝑚 = 34.35
∆𝑡𝑡 (∆𝑡𝑡)2

4
1.4 𝑎𝑎 = 𝑚𝑚 + 2c = 3.135; and 𝑏𝑏 = 2𝑚𝑚 = 0.152
∆𝑡𝑡
2. Calculation for each time step, i

2.1 ∆𝐹𝐹� = ∆𝐹𝐹𝑖𝑖 + 𝑎𝑎𝑥𝑥̇ 𝑖𝑖 + 𝑏𝑏𝑥𝑥̈ 𝑖𝑖 = ∆𝐹𝐹𝑖𝑖 + 3.135𝑥𝑥̇ 𝑖𝑖 + 0.152𝑥𝑥̈ 𝑖𝑖


∆𝐹𝐹�𝑖𝑖 ∆𝐹𝐹�𝑖𝑖
2.2 ∆𝑥𝑥𝑖𝑖 = � =
𝑘𝑘 34.35
2
2.3 ∆𝑥𝑥̇ 𝑖𝑖 = ∆𝑥𝑥𝑖𝑖 − 2𝑥𝑥̇ i = 20∆𝑥𝑥i − 2𝑥𝑥̇ 𝑖𝑖
∆𝑡𝑡

4
2.4 ∆𝑥𝑥̈ 𝑖𝑖 = (∆𝑥𝑥𝑖𝑖 − ∆𝑡𝑡𝑥𝑥̇ i ) − 2𝑥𝑥̈ 𝑖𝑖 = 400(∆𝑥𝑥i − 0.1𝑥𝑥̇ i ) − 2𝑥𝑥̈ i
(∆𝑡𝑡)2

2.5 𝑥𝑥𝑖𝑖+1 = 𝑥𝑥𝑖𝑖 + ∆𝑥𝑥𝑖𝑖


𝑥𝑥̇ 𝑖𝑖+1 = 𝑥𝑥̇ 𝑖𝑖 + ∆𝑥𝑥̇ 𝑖𝑖
𝑥𝑥̈ 𝑖𝑖+1 = 𝑥𝑥̈ 𝑖𝑖 + ∆𝑥𝑥̈ 𝑖𝑖

3. Repetition for the next time step. Steps 2.1 to 2.5 are
repeated for successive time steps and are summarized in a table
(next slide), where the theoretical results is also included.
Numerical Solution by Average Acceleration Method

𝒕𝒕𝒊𝒊 𝑭𝑭𝒊𝒊 𝒙𝒙̈ 𝒊𝒊 ∆𝑭𝑭𝒊𝒊 𝒙𝒙̇ 𝒊𝒊 𝒙𝒙𝒊𝒊 Theoretical


∆𝐅𝐅�𝐢𝐢 ∆𝒙𝒙𝒊𝒊 ∆𝒙𝒙̇ 𝒊𝒊 ∆𝒙𝒙̈ 𝒊𝒊
(sec) (kN) (mm/s2) (kN) (mm/s) (mm) 𝒙𝒙𝒊𝒊 (mm)

0 0.0000 0 5 5 0.1456 2.912 58.24 0 0


0.1 5.0000 58.24 3.6602 21.6418 0.63 6.776 19.04 2.912 0.1456
0.2 8.6602 77.28 1.3398 43.4582 1.2651 5.926 -36.04 9.688 0.7756
0.3 10.0000 41.24 -1.3398 53.8786 1.5685 0.142 -79.64 15.614 2.0407
0.4 8.6602 -38.4 -3.6602 39.8981 1.1615 -8.282 -88.84 15.756 3.6092
0.5 5.0000 -127.24 -5 -0.9095 -0.0265 -15.478 -55.08 7.474 4.7707
0.6 0.0000 -182.32 0 -52.8052 -1.5373 14.738 69.88 -8.004 4.7442
0.7 0.0000 -112.44 0 4.0202 0.117 -11.128 2.32 6.734 3.2069
0.8 0.0000 -110.12 0 -30.5134 -0.8883 -8.978 40.68 -4.394 3.3239
0.9 0.0000 -69.44 0 -52.4761 -1.5277 -3.81 62.68 -13.372 2.4356
1 0.0000 -6.76 -17.182 -0.9079
Example 3
An SDF system has the following properties: m = 0.2533 kip-sec2/in.,
k = 10 kips/in., Tn = 1 sec, and ζ = 0.05. Determine the response 𝑥𝑥 (𝑡𝑡)
of this system subjected to the force 𝐹𝐹 (𝑡𝑡) defined by the half cycle
sine pulse force as shown in the figure below by linear acceleration
method using ∆𝑡𝑡 = 0.1 sec.

𝐹𝐹(𝑡𝑡)

10 kips

t
0.6 sec
Solution:

1. Initial calculations:

𝑚𝑚 = 0.2533, 𝑘𝑘 = 10, 𝑐𝑐 = 0.1592,


𝑥𝑥0 = 0, 𝑥𝑥̇ 𝑜𝑜 = 0, 𝐹𝐹𝑜𝑜 = 0
𝐹𝐹𝑜𝑜 −𝑐𝑐 𝑥𝑥̇ 𝑜𝑜 −𝑘𝑘𝑥𝑥0
1.1 𝑥𝑥̈ 𝑜𝑜 = =0
𝑚𝑚

1.2 ∆𝑡𝑡 = 0.1

3 6
1.3 k� = 𝑘𝑘 + 𝑐𝑐 + 𝑚𝑚 = 166.8
∆𝑡𝑡 ∆𝑡𝑡 2

6 ∆𝑡𝑡
1.4 𝑎𝑎 = 𝑚𝑚 + 3𝑐𝑐 = 15.68; and 𝑏𝑏 = 3𝑚𝑚 + 𝑐𝑐 = 0.7679
∆𝑡𝑡 2
2. Calculation for each time step, i

2.1 ∆𝐹𝐹� = ∆𝐹𝐹𝑖𝑖 + 𝑎𝑎𝑥𝑥̇ 𝑖𝑖 + 𝑏𝑏𝑥𝑥̈ 𝑖𝑖 = ∆𝐹𝐹𝑖𝑖 + 15.68𝑥𝑥̇ 𝑖𝑖 + 0.7679𝑥𝑥̈ 𝑖𝑖


�𝑖𝑖
∆𝐹𝐹 ∆𝐹𝐹�𝑖𝑖
2.2 ∆𝑥𝑥𝑖𝑖 = � =
𝑘𝑘 166.8
3 ∆𝑡𝑡
2.3 ∆𝑥𝑥̇ 𝑖𝑖 = ∆𝑥𝑥𝑖𝑖 − 3𝑥𝑥̇ i − 𝑥𝑥̈ = 30∆𝑥𝑥i − 3𝑥𝑥̇ 𝑖𝑖 − 0.05𝑥𝑥̈ i
∆𝑡𝑡 2 i

6
2.4 ∆𝑥𝑥̈ 𝑖𝑖 = (∆𝑥𝑥𝑖𝑖 − ∆𝑡𝑡𝑥𝑥̇ i ) − 3𝑥𝑥̈ 𝑖𝑖 = 600(∆𝑥𝑥i − 0.1𝑥𝑥̇ i ) − 3𝑥𝑥̈ i
(∆𝑡𝑡)2

2.5 𝑥𝑥𝑖𝑖+1 = 𝑥𝑥𝑖𝑖 + ∆𝑥𝑥𝑖𝑖


𝑥𝑥̇ 𝑖𝑖+1 = 𝑥𝑥̇ 𝑖𝑖 + ∆𝑥𝑥̇ 𝑖𝑖
𝑥𝑥̈ 𝑖𝑖+1 = 𝑥𝑥̈ 𝑖𝑖 + ∆𝑥𝑥̈ 𝑖𝑖

3. Repetition for the next time step. Steps 2.1 to 2.5 are
repeated for successive time steps and are summarized in a table
(next slide), where the theoretical results is also included.
Numerical Solution by Linear Acceleration Method

Theoretical
𝒕𝒕𝒊𝒊 𝑭𝑭𝒊𝒊 𝒙𝒙̈ 𝒊𝒊 ∆𝑭𝑭𝒊𝒊 ∆𝐅𝐅�𝐢𝐢 ∆𝒙𝒙𝒊𝒊 ∆𝒙𝒙̇ 𝒊𝒊 ∆𝒙𝒙̈ 𝒊𝒊 𝒙𝒙̇ 𝒊𝒊 𝒙𝒙𝒊𝒊
𝒙𝒙𝒊𝒊

0 0.0000 0 0 0 0.0000 0 0.0000 0 0 0


0.1 5.0000 17.9904 5 5 0.0300 0.8995 17.9904 0.8995 0.0300 0.0328
0.2 8.6602 23.6566 3.6603 36.575 0.1893 2.0824 5.6662 2.9819 0.2193 0.2332
0.3 10.000 12.1372 1.3398 102.822 0.3973 1.7897 -11.5194 4.7716 0.6166 0.6487
0.4 8.6603 -12.7305 -1.3397 185.599 0.4964 -0.0297 -24.8677 4.7419 1.1130 1.1605
0.5 5.0000 -39.9425 -3.6602 246.496 0.3652 -2.6337 -27.212 2.1082 1.4782 1.5241
0.6 0.0000 -56.0447 -5 243.873 -0.0157 -4.7993 -16.1022 -2.6911 1.4625 1.4814
0.7 0.0000 -33.0689 0 158.654 -0.5111 -4.4557 22.9758 -7.1468 0.9514 0.9245
0.8 0.0000 0.4892 0 21.231 -0.8241 -1.629 33.5581 -8.7758 0.1273 0.0593
0.9 0.0000 31.9491 0 -115.959 -0.8227 1.6219 31.4599 -7.1539 -0.6954 -0.7751
1 0.0000 50.1114 0 -203.568 -0.5254 4.1031 18.1623 -3.0508 -1.2208 -1.2718

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