Identification Methods for Structural Systems

Prof. Dr. Eleni Chatzi

Lecture 2 - 24 February, 2016

Institute of Structural Engineering

Identification Methods for Structural Systems

Course Outline
Physics-based modeling
Time-domain (ODE and State-space)
Laplace-domain (Transfer function)
Frequency-domain (Frequency response function)

Data-based modeling
Fundamentals of Signal Processing
Non-parametric methods (Peak-picking, FDD)
Parametric methods (ARMA, Stochastic Subspace ID, KF)

Extension to non-linear and non-stationary structures

Recent advances and applications

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Identification Methods for Structural Systems

Overview

Overview
Concepts from Vibrations
Mathematical Theory Fundamentals
Single Degree of Freedom System Response

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Identification Methods for Structural Systems

Concepts from Vibrations - Laws of motion

Newtons Laws of motion
First Law
Every object persists in its state of rest or uniform motion in a
straight line unless an external force acts on it.
Second Law
Force is equal to the change in momentum per change in time.
For constant mass, M:
F=M a
Third Law
For every action there is an equal and opposite reaction.

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Identification Methods for Structural Systems

Concepts from Vibrations

Degrees of Freedom
The number of independent coordinates required to uniquely
determine the configuration of a system is called the number of
degrees of freedom of the system.
Single Degree of Freedom systems (sdof) are uniquely
determined by only one coordinate.
Mass - Spring - Dashpot

Torsional Shaft

Simple Pendulum

+ + =

+ = 0

+ = 0

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Identification Methods for Structural Systems

Concepts from Vibrations

Multiple Degree of Freedom Systems (mdof)

Mechanical

Structural

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Identification Methods for Structural Systems

Concepts from Vibrations

Review of the Finite Element Method (FEM)

Systems with a finite number of dofs are called discrete or lumped

parameter systems, and those with an infinite number of dofs are called
of Engineering Systems
continuous or Classification
distributed systems.

Discrete

Continuous
q|y+dy
q|x

dy
dx

q|x+dx

q|y

h1

h2
L

Flow
of water
Permeable Soil

F = KX
Direct Stiffness Method
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Impermeable Rock

2
2x

2
2y

=0

Laplace Equation

Identification Methods for Structural Systems

Concepts from Vibrations

Types of Vibration (contd)
Deterministic Vibrations

Stationary Vibrations

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Stochastic/Random Vibrations
(wind velocity, road roughness, earthquake ground motion)

Non-stationary Vibrations

Identification Methods for Structural Systems

Concepts from Vibrations

Types of Vibration (contd)
Linear Vibrations
A linear system satisfies the properties of
superposition and scaling.
a1
x1
Structural
system

Nonlinear Vibrations
x

Example: Duffing Oscillator

y1

a2
x2

Structural
system

...

xn

y2

x + x + x + x 3 = cost

an

Structural
system

yn

a1
x1

a2

...

x2

xn

Structural
system

an
x

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Identification Methods for Structural Systems

Concepts from Vibrations

Types of Vibration (contd)
Free Vibrations
M
x + Kx = 0
Forced Vibrations
M
x + Kx = F (t)
Damped Vibrations
M
x + Cx + Kx = F (t)

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Identification Methods for Structural Systems

Mathematical Theory Fundamentals

Ordinary Differential Equations (ODEs)
i.e. relations that contain functions of only one independent variable, and
one or more of their derivatives with respect to that variable

Homogeneous ODEs (r.h.s= 0) - Example 2nd order ODE with

constant coefficients:
y + y + y = 0
Solution: Characteristic Polynomial - Occurs assuming y = e st as
a solution
p
1
s 2 + s + = 0 s1,2 = (1 2 4)
2
Then, the following are solutions to the above ODE
y1 = e s1 t

and y2 = e s2 t

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Identification Methods for Structural Systems

Mathematical Theory Fundamentals

2nd order homogeneous ODE with constant coefficients:
Three Possibilities according to the discriminant
2 4 > 0 2 real roots s1 , s2
Total Solution: y = Ae s1 t + Be s2 t
2 4 = 0 1 double root s = /2
Turns out y2 = te st is a 2nd independent solution
Total Solution: y = Ae s1 t + Bte st
2 4 < 0 complex
p conjugate root pair
s1,2 = /2 i, = 2 4/2

Total Solution: y = e 2 t (Acost + Bsint)

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Identification Methods for Structural Systems

Mathematical Theory Fundamentals

EE-ME E6601
How to Find the General Solution of a Homogeneous Differential Equation
of Real Valued Functions

with Constant
Coefficients
in Terms
Homogeneous
ODEs
- nth order

Given an nth order homogeneous linear differential equation with constant coefficients
dny
d n 1y
d2y
dy
+ a1 + a0 y = 0
n + an 1
n 1 + L + a2
dt
dt
dt
dt 2
the general solution can be written as
y = C1y1 + C2 y2 + C3 y3 + L + Cn yn
where the C1,C2 ,...,Cn are arbitrary constants (determined by initial conditions after adding a
particular solution if needed) and the y1, y2 ,..., yn are n linearly independent functions
assigned as follows.
Find the n roots s1, s2 ,..., sn of the characteristic equation
s n + an 1s n 1 + L + a1s1 + a0 s 0 = 0
(1) For each non-repeated real root s j assign the function e

s jt

(2) For each real root s j appearing m times assign the m functions
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s jt
s jt

Identification
Methods for Structural Systems
m 1 s j t

y = C y Fundamentals
+ C y + C y +L+ C y
Mathematical Theory
1 1

2 2

3 3

n n

where the C1,C2 ,...,Cn are arbitrary constants (determined by initial conditions after adding a
particular solution if ODEs
needed) and
the y1,order
y2 ,..., yn are n linearly independent functions
Homogeneous
- nth
assigned as follows.

Find the n roots s1, s2 ,..., sn of the characteristic equation

s n + an 1s n 1 + L + a1s1 + a0 s 0 = 0
(1) For each non-repeated real root s j assign the function e

s jt

(2) For each real root s j appearing m times assign the m functions
e j , te j ,K, t m 1e
s t

s t

s jt

(3) For each non-repeated complex-conjugate pair of roots a ib assign the two functions
e at cos(bt),e at sin(bt)
(4) For each complex-conjugate pair of roots a ib appearing m times assign the 2m
functions
e at cos(bt ), te at cos(bt ), K , t m 1e at cos(bt )
e at sin(bt ), te at sin(bt ), K , t m 1e at sin(bt )

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Identification Methods for Structural Systems

SDOF Response
Free Undamped Vibration

m
x + kx = 0 x +

n2 x

= 0,

n =

k
m

Solution: Harmonic Response

x(t) = Acosn t + Bsinn t,

A = x0 , B =

x0
n

Free Damped Vibration

m
x + c x + kx = 0 x + 2n x + n2 x = 0
Solution: Depends on = c/2mn (Damping Factor)

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Identification Methods for Structural Systems

SDOF Response
1

Overdamped ( = 2)
Critically Damped ( = 1)
Underdamped ( = 0.5)
Underdamped ( = 0.2)
Undamped ( = 0)

0.8

0.6

0.4

x[t]

0.2

0.2

0.4

0.6

0.8

10

12

14

16

18

20

Time (s)
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Identification Methods for Structural Systems

SDOF Response
Laboratory test - Damped vs. Undamped System

(source: Youtube)
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Identification Methods for Structural Systems

SDOF Response
Free Damped Vibration

x + 2n x + n2 x = 0
Characteristic Polynomial Solution
p
p
2n (2n )2 4n2
s1,2 =
= ( 2 1)n
2
Overdamped, > 1

2
2
x(t) = Ae (+ 1)n t + Be ( 1)n t
Critically Damped, = 1
x(t) = A [x0 + (x0 + n x0 )t] e n t
p
Underdamped, < 1, d = 1 2 n

x(t) = e n t (Acosd t + Bsind t)

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Identification Methods for Structural Systems

SDOF Response

r1, 2

= 1 2 j

Nature of the roots s1 , s2 , in the complex plane

Underdamped

Undamped

Critical

Overdamped
Undamped
Underdamped

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Identification Methods for Structural Systems

0< <

Identification Method
Logarithmic Decrement Method
x(t)

x(t) = e n t (Acosd t + Bsind t)

v0

x(t) = Ce n t cos(d t )

x0

2
d = T

Td

2Td

3Td

4Td

Td=2/d

x(t + Td ) = Ce n (t+Td ) cos(d (t + Td ) ) =d

x(t)
= e n Td
x(t + Td )

Define = lne n Td = n Td = n 2d
= n

2
2

p
=p
=p
2
2
(2)2 + 2
n 1
1

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Identification Methods for Structural Systems

SDOF Response
Logarithmic Decrement Method
Hence, if the damping in the given system is not known, we can
determine it experimentally from the displacement response.
In fact, the damping ratio can also be found by measuring two
displacements separated by any number of complete cycles. If x1 and
xn+1 denote the amplitudes corresponding to times t1 and
tn+1 = t1 + nTd where n is an integer, we obtain:


x1
1

= ln
n
xn+1

=p
(2)2 + 2
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Identification Methods for Structural Systems

Mathematical Theory Fundamentals

Ordinary Differential Equations (ODEs)
Non-Homogeneous ODEs (r.h.s6= 0) - Example 2nd order ODE
with constant coefficients:
y + y + y = h(t)

Solution: Two Components

Homogeneous Solution
Particular Solution: Depends on h(t)

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Identification Methods for Structural Systems

Mathematical Theory Fundamentals

EE-ME E6601
One Method to Find a Particular Solution of a Non-Homogeneous Linear
DifferentialODEs
Equation
with Constant
Coefficients
Non Homogeneous
- Particular
Solution
Given an nth order non-homogeneous linear differential equation with constant coefficients
dny
d n 1y
d2y
dy
+ an 1 n 1 + L + a2 2 + a1 + a0 y = f (t )
dt
dt n
dt
dt
If the forcing function on the right hand side of the equation is on the table below (i.e. if the
forcing function is one that can be a solution of a homogeneous differential equation), then
(i)

Substitute the guess from the table into the non-homogeneous differential
equation, and adjust the constants in the guess to make it satisfy the equation.
This will always work, provided the guess is not a solution of the corresponding
homogeneous equation.

(ii) If it is, i.e. if when you plug in the guess, the left hand side of the equation
comes out zero, then multiply the guess by t and try again. This is guaranteed to
work, either the first time or a later time.
Forcing Function
C,a constant
t,or At + B

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Guess
A,a constant
Ct + D

Identification Methods for Structural Systems

Mathematical Theory Fundamentals

(ii) If it is, i.e. if when you plug in the guess, the left hand side of the equation
comes out zero, then multiply the guess by t and try again. This is guarante
work, either the first time or a later time.
Non Homogeneous ODEs - Particular Solution
Forcing Function
C,a constant

Guess
A,a constant

t,or At + B

Ct + D

t 2 ,or At 2 + Bt + C

Dt 2 + Et + F

e at ,or Ae at

Be at

sin( t),cos( t)
Acos( t) + Bsin( t)

C cos( t) + E sin( t)

te at
t 2e at

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Identification Methods for Structural Systems

SDOF Response
Forced Undamped Vibration - Harmonic Excitation

m
x + kx = F0 cost
Solution:

x(t) = Acosn t + Bsinn t +

F0
cost
2)

m(n2

A, B to be determined from initial conditions (I.C)

A = x0
Ultimately,

F0 /m
,
n2 2

x(t) = x0 cosn t+

B=

x0
n

x0
F0 /m
sinn t+ 2
(costcosn t)
n
(n 2 )

The output is a superposition of two harmonic oscillations of the

natural frequency n of the system, which is the frequency of the
undamped motion and the frequency of the driving force.
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Identification Methods for Structural Systems

Forced Undamped Vibration - Harmonic Excitation

Resonance ( n )
F0 /k
x0
sinn t +
(cost cosn t)
n
(1 2 /n2 )
cost cosn t
n t
tsint
lim
apply de lH
opitals rule:
lim
=
sinn t
n
n 2/n2
2
(1 2 /n2 )
x(t) = x0 cosn t +

and

Ultimately,

x(t) = x0 cosn t +

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F0 /kn t
x0
sinn t +
sin(n t)
n
2

Identification Methods for Structural Systems

Forced Undamped Vibration - Harmonic Excitation

Harmonic motion
Harmonicmotion

Beating Phenomenon ( close to n )

Assuming 0 initial conditions x0 = x0 = 0, the solution becomes

F0 /m
Beats:
(cost cos
n t)
(n2 2 )
F0 /m
+ n
n
(2sin
tsin
t)
=
(n + )(n )
2
2

x(t) =

where,

n = 2( <<),

x(t) =

Tb =

2TTo
4
=
o T To

n + 2

4
+ o

F0 /m
2sintsint
22
x(t ) =
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Fo
+ o
sin o
t sin
t
m(o2 2 ) 2
2

Identification Methods for Structural Systems

SDOF Response

Forced Damped Vibration - Harmonic Excitation

m
x + c x + kx = F0 cost
Solution:
x(t) = e n t (Acosn t + Bsinn t) + X0 cos(t )
|
{z
} |
{z
}
transient

where
X0 = p

F0
,
(k m 2 )2 + (c)2

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steady state

= tg 1

c
k m 2

Identification Methods for Structural Systems

ecomessmallerwithincreasingvaluesoftheforcingfrequency(thatis,
Forced Damped Vibration - Harmonic Excitation
M0asr)
Xo
1
=
Fo / k
(1 r 2 ) 2 + (2r ) 2

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Identification Methods for Structural Systems

Forced Damped Vibration - Harmonic Excitation

Laboratory test

(source: Youtube)
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Identification Methods for Structural Systems