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COMPUTATIONAL APPROACH TO THE DYNAMIC STABILITY ANALYSIS OF PILE STRUCTURES BY FINITE ELEMENT METHOD.
SUDIPTA CHAKRABORTY B.E(Cal),M.Tech(IIT),M.Engg(IHE,Delft),F.I.E(I),C.E Manager(Infrastructure & Civic Facilities),Haldia Dock Complex,Kolkata Port Trust

Abstract
The Finite Element Approach to the Dynamic Stability Analysis of Pile Structures subjected to periodic loads considering the soil modulus to be varying linearly has been discussed. The Mathiew Hill type eigen value equation have been developed for obtaining the stability and instability regions for different ranges of static and dynamic load factors.. Key words: Eigen value equation of Mathiew Hill type , the stability and instability regions ,f static and dynamic load factors.

Introduction :The stability and instability of structural elements in Offshore Structures viz. pile are of great practical importance. Piles are often subjected to periodic axial and lateral forces. These forces result into parametric vibrations, because of large amplitudes of oscillation.The studies on stability of structures subjected to pulsating periodic loads are well documented by Bolotin (5). The study with axial loads were carried out first by Beliaev (4) and later by Mettler (11) .. For simply supported boundary conditions there are well-known regions of stability and instability for lateral motion, the general governing equation for which being of Mathiew Hill type (5). In cases of typical structures with arbitrary support conditions, either integral equations or the Galerkins method was used to reduce the governing equations of the problem to a single Mathiew-Hill equation. Finite element method was used by Brown et. al. (6) for study of dynamic stability of a uniform bar with various boundary conditions and was investigated by Ahuja and Duffield (2) by modified Galerkin Method. The behaviour of piles subjected to lateral loads was analysed in Finite Element Method by Chandrasekharan (8). A discrete element type of numerical approach was employed by Burney and Jaeger (7) to study the parametric instability of a uniform column. The most recent publications on stability behaviour of structural elements are provided by Abbas and Thomas (1).
1. Analysis : The equation for the free vibration of axially loaded discretised system(9) in which rotary and longitudinal inertia are neglected is :[M] {q }+[Ke]{q} [S]{q} = 0 (1), in which {q} = generalised co-ordinate, [M] = Mass matrix, [Ke] = elastic stiffness matrix, and [S] = Stability matrix , which is a function of the axial load.The general governing equation of a pile (8) under lateral load is given as
d2 dx 2 d2y EI 2 = E S y...........................(2) dx

Where, EI, Es and y are the flexural rigidity, soil modulus and lateral deflection respectively at any point x along thelength of the pile. The analytical solution of the equation for y in case of a pile with flexural rigidity and soil modulus constant with depth is available which can lead to generate design data like Moment and Shear but in nature the soil modulus and flexural rigidity may vary with depth (8). Moreover, the Es may also depend on the deflection y of the pile, the soil behaviour, making Es nonlinear, the analytical solution for which is highly cumbersome. Even with a single case when variation of Es is linear of the form (C1 + C2 x), is also difficult and one has to resort to numerical approaches like finite difference or finite element method. Considering a system subjected to periodic force P(t) = Po+Pt Cos t, where is the disturbing frequency, the static & time dependent components of load can be represented as a fraction of the fundamental static buckling load P* viz. P = P* + P*

Cos t with & as percentage of static and buckling load P*,the governing equation transforms to the form [M]{q}+( [Ke] P*[Ss] P*Cost[St] ){q} = 0 .. .(3) The matrices [Ss] and [St] reflect the influences of Po & Pt. The equation represents a system of second order differential equation with periodic co-efficient of Mathiew-Hill type. The boundaries between stable and unstable regions are catered by period solutions of period T and 2T where T=2/. If the static and time dependent component of loads are applied in the time manner, then [Ss] [St] [S].and the boundaries of the regions of dynamic instability can be determined (6) from the equation :
2 1 [ M ] q = 0.................(4) [ Ke] 2 P * [ S ] 4

This is resulting in two sets of Eigen values bounding the regions of instability as the two conditions are combined under plus and minus sign. For finding out the zones of dynamic stability, the disturbing frequency is taken as, =(/1) 1 ,where 1 = the fundamental natural frequency as may be obtained from solution of equation (5). The above equation (4) represents cases of solution to a number of related problems : (i) (ii) Free Vibration with = 0, = 0, = 1/2 the natural frequency,

[[ Ke ] [ M ]]{q} = 0.......... ....( 5)

2

Vibration with static axial load: = 0, = /2

[[ Ke ] P * [ S ] [ M ]]{q} = 0.......... ....( 6)

2

(iii)

Static Stability with = 1, = 0 and = 0

[[ Ke ] P * [ S ]]{q} = 0 .......... ....( 7 )

(iv) Dynamic stability when all terms are present.

The problem then remains with generation of [Ke], [S] and [M] for the pile. The fundamental natural frequency and the critical static buckling load are to be solved from equations (5) and (7). The regions of dynamic stability can then be solved from the equation (4). Element Stiffness & Mass Matrices. Assuming that the pile is discretized into a number of finite elements, (element shown in Fig.1)each element has two nodes i & j. Three degrees of freedom i.e. axial and lateral displacement u, v and rotation = dv/dx are considered for each nodal point. The generalised forces corresponding to these degrees of freedom are the axial & lateral force P,Y and the moment M. The nodal displacement vector for the Finite Element Model using Displacement function for the element in Fig.1 is :{qe} = [ xi yi i xj yj j ]T and the corresponding elemental force vector is given by {Fe} = [ Pi Yi Mi Pj Yj Mj ]T. The displacement functions are assumed to be generalised polynomials of the most common form v(x) = 1 + 2 x + 3 x2 + 4 x3 or, {v(x)} = [p(x)]{ }(8) The no. of terms in the polynomial determines the shape of displacement model where -s determine the amplitude. The generalised displacement models for any element are as follows: u = 1 + 2 x; v = 3 + 4 x +5 x2 + 6 x3 & = dv/dx = 4 + 25 x + 36 x2 . Substituting the nodal co-ordinates the element displacement vector for an element of length l, {q} can be written as {q} = [A] {} or, {} = [A]-1{qe} (9)

Therefore,from (8), {v(x)} = [p(x)] [A]-1{qe} = [N(x)]{q} ..(10), where matrix [N(x)] is the element shape function. Assuming polynomial expansions for u and v, the strain energy expression becomes
l l 2 1 EI d v dx + 1 EA du dx U= 2 dx 2 2 dx 0 0 2 2

dv 1 P dx + 1 E S v 2 dx.............(11) 2 dx 2
l l 0 0

The strain energy U of an elemental length l of a pile subjected to an axial load & lateral load

= U1 + U 2 + U 3 + U 4.
From the first term of U, the stiffness matrix from U1 only, for bending only is [K]U1 as given in Fig. 2(a).The stiffness matrix from 2nd term U2 for axial deformation only will be [K]U2 as given in Fig. 2(b).For axial load only i.e. by considering the beam column action the stiffness matrix due to U3 will be [K]U3 as in Fig. 2(c).Using equation (8) and equation (9), equation (12) can be simplified and stiffness matrix can be evaluated as [K]U4 as in Fig. 2(d). When all the four cases are considered, i.e. all the four terms of U1, U2, U3, U4 are involved the stiffness matrix KU1, KU2, KU3, KU4 are super imposed which yields final stiffness matrix [K]e as given in Fig. 3(a).
l E S E S1 U 4 = 1 E S1 v 2 + 1 2 2 2 L 0

2 uv dx....................(12)
2
[ K ]U 2
(for axial load only)

v1 1

v1

[ K ]U1
(for bending only)

a b a b c b d = a b c

AE = L AE L

AE 1 L AE u L 2

Where a = 12 D, b = 6LD, c = 4L2D, d = 2L2D Where 2(a)StiffnessMatrix (for bending)

6 5L =P 1 10 L 30 1 10 2L 15

EI L3

2 (b) StiffnessMatrix (for axial load)

[ K ]U 3

1 10 2L 15

6 5L 1 10 6 5L

V1 1 V2

[ K ]U 4

S11 S = 21

S12 S 22

S13 S 23 S 33

S14 S 24 S 34 S 44

2 (c) StiffnessMatrix (Beam Column Action) Figure. 2. Stiffness Matrices

2 (d) StiffnessMatrix(All Action)

The expression for kinetic energy for a pile loaded laterally and axially the expression for strain energy is given by, l l T = {u2 + v2}dx = A {u2 + v2}dx..(13) 0 0

Where = mass per unit length of the pile, u and v are the axial and transverse displacement. Using expressions for u & v, T = [q]T[M]{q} For axial vibration only : l T = u2 dx .(14) 0 The displacement model for axial displacement is taken as

x x u = u11 + u2 l l (15)
For bending vibration only : l T = v2 dx.(16) 0 The displacement model for lateral displacement is given by v = N1v1 + N21+ N3v2 +N42 (17) Where Ni i =1,4 are the standard shape functions as derived from equation (10) as

3x 2 2 x 3 N 1 = 1 2 + 13 1 2 3 x 2x N2 = x + 2 1 1 3x 2x N3 = 2 3 1 1 2 3 x x N4 = 1 + 12
2 3

[K ]e

AE L 0 0 = 0 0 0

0 a 6 + S11 5L 0 0 0 0

EI D 30 L
b+

AE L 0 0 AE L 0 0 a+

0 6 + S13 5L 1 b + S 23 10 0 a 6 + S 33 5L 0

1 + S12 10 2L + S 22 c 15 0 0 0

1 b + + S14 10 L + S 24 d+ 30 0 1 b + S 34 10 2L + S 44 c 15 0

Fig. 3(a) Element Stiffness Matrix Where a = 12 D, b = 6LD, c = 4L2D, d = 2L2D & S11 44 as in [K]U4 So, from the expression of T. Mass Matrix [ M ] can be determined as given in.fig 3(b).
140 M 0 0 = 70 M 0 0 0 156 M 22 LM 0 54 M 13LM 0 22 LM 4 L2 M 0 13LM 3L2 M 70M 0 0 140 M 0 0 0 54 M 13LM 0 156 M 22 LM 0 13LM 3L2 M 0 22 LM 4 L2 M

[M ]

Fig.3(b) Mass Matrix Where , A is area of c/s. is the density of material and , the mass per unit length = A x & AL M =
420

2. Analysis of the whole problem The solution to the problem follows the well known displacement approach which consists of the following main steps : Formulation of overall stiffness and mass matrices by assembling the elemental matrices.

Solution for the fundamental natural frequency from equn. (3) & critical static buckling load from equn.(6). Solution for the dynamic stability regions from equation (10). The application of boundary conditions also yield solution for the nodal displacements from the generalised equilibrium equation which of course also leads to solution for design data, like shear force and bending moments at nodal points.If n denotes the number of nodes, then the total number of degrees of freedom for the problem is equal to 3n. The expanded element stiffness matrices Ke are constructed by inserting the stiffness co efficients in the appropriate locations and filling the remaining with zeros. If E is the number of elements then the overall stiffness matrix [ K ] is given by

The equilibrium equations of the assembly may be written as [ K ] { } = {F} Known displacement conditions are introduced in the equation and the equations are solved for unknown nodal displacements (8). Commonly the symmetry and the banded nature of the resulting equations are utilized for efficient computing.After assemblage of stiffness and mass matrices, the eigen value problem in equation (10) can be solved for the frequency ratio /1. 3. Conclusion : The characteristic non-dimensionalised regions in (, /1) parameter space can be extrapolated for different values of static load factor, , which will give rapid convergence characteristics of the boundary frequencies for the first few instability regions (9).After obtaining the results for lower boundary and upper boundary for instability regions the may be compared with Mathiews diagram (5).

[K ] = eE=1

[K ]

4.
Notation :A
[K] [M] P Buckling load {q} t U u x 1 Po, Pt S11 S12 S13 S14 S22 B = = = = = = Generalised Co-ordinates Variable time Strain Energy Axial displacement of node Axial co-ordinate Static load factor Density Fundamental Natural Frequency Disturbing Frequency Time independent amplitudes of load S23 S24 S33 S34 S44 C = = = = = = L (13B + 14C) L2 ( - 3B 3C) 156B + 240C L ( - 22B 30C) L2 (4B + 5C) (ES2 ES1). L/840 Mass per unit length. v y Lateral displacement of node Lateral Co-ordinate Dynamic load factor [S] T Stability Matrix Kinetic Energy Area of Gross section. Stiffness Matrix Mass Matrix Axial Periodic load E l N P* Modulus of Elasticity. Elemental length Shape Function Fundamental Static

Where,

156B + 72C L (22B + 14C) 54B + 54C L ( -13B 12C) L2 (4B + 3C) ES1. L/420

y,v

Es1

x,u i l j

ui,vi, i

u j, v j, j

Es2 P(t) x,u

Figure 1 : Typical Pile Element

REFERENCES:
1. Abbas, B.A.H. and Thomas, J Dynamic stability of Timoshenko beams resting on an elastic foundation.- Journal of sound and vibration, vol. 60, N0. PP 33 44, 1978. 2. Ahuja, R. and Duffield, R.C.. Parametric instability of variable Journal of sound and vibration, Vol. 39, No.2, PP 159 174, 1975. 3. 4. Beilu, E.A. and Dzhauelidze, G.- Survey of work on the dynamic stability of elastic systems, PMM, Vol. 16 PP635 648, 1952. Beliaev N.M. Stability of prismatic rods subjected to variable longitudinal force, Engineering Constructions and Structural Mechanics, PP, 149 167, 1924. 5. 6. Bolotin V.V.- The dynamic stability of elastic systems, Holden Day Inc, 1964. Brown, J.E, Hutt, J.M. and Salama, A.E. Finite element solution to dynamic stability of bars, AIAA Journal, Vol. 6, PP 1423 1425, 1968. 7. Burney, S.Z. H and Jaeqer, L.G. m A method of deter mining the regions of instability of column by a numerical metos approach, Journal of sound and vibration, Vol .15, No.1 PP- 75 91, 1971. 8. Chandrasekharan, V.S. Finite Element Analysis of piles subjected to lateral loads Short term courseon design of off shore structures 3 15, July,1978, Civil Engineering Department, I.I.T. Bombay Publications. 9. Dutta, P.K. and Chakraborty, S. Parametric Instability of Tapered Beams by Finite Element Method Journal of Mechanical Engineering Science, London, 10. Vol. 24, No. 4, Dec. 82, PP 205 8. cross section beams resting on an elastic foundation.

Lubkin, S. and Stoker, J.J. Stability of columns and strings under periodically varying forces. Quarterly of Applied Mathematics, Vol. 1, PP 216 236, 1943.

11.

Mettler, E. Biegeschwingungen eins stabes unter pulsierenre axiallast, Mith . Forseh.- Anst. GHH Korzeren, Vol. 8, PP 1-12, 1940.

12.

Pipes L.A. Dynamic stability of a uniform straight column excited by pulsating load, Journal of the Franklin Institute, Vol . 277 No .6, PP 534 551, 1964.