Integral de Duhamel

PRACTICA N°03 - INGENIERIA ANTISISMICA
Usando unicamente la integral de Duhammel determinar:

a) La respuesta a nivel de los desplazamientos en el dominio del tiempo.
b) El desplazamiento maximo y el instante en que se presenta.
A. PARA CARGA DE SISMO
ξ ≔ 0.05 h ≔ 0.25
b ≔ 0.25
Solución:
1.- Calculos previos
- Concreto : f'c ≔ 240 kg/cm2
- Área : A ≔ 0.25 ⋅ 0.25 = 0.063 m^2
- Factor de corte : f ≔ 1.2
- Modulo de Poisson : u ≔ 0.2
2
- Módulo de elasticidad : E ≔ 150000 ⋅ ‾‾ f'c = 2323790.008 Tn/m2
E
- Módulo de corte : G ≔ ―――= 968245.837
2 (u + 1)
b ⋅ h3
- Momento de inercia : I ≔ ――= 0.0003255 m^4
12
- Deformación por corte :

Barra 1: Barra 2: Barra 3:
L1 ≔ 10 m. L2 ≔ 8 m. L3 ≔ 6 m.
12 ⋅ E ⋅ I ⋅ f 12 ⋅ E ⋅ I ⋅ f 12 ⋅ E ⋅ I ⋅ f
ϕ1 ≔ ―――― = 0.002 ϕ2 ≔ ―――― = 0.003 ϕ3 ≔ ―――― = 0.005
G ⋅ A ⋅ L1 2 G ⋅ A ⋅ L2 2 G ⋅ A ⋅ L3 2
RESPUESTA DINAMICA - INTEGRAL DE DUHAMEL

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2.- Determinación de la Matriz de Rigidez Lateral [KL]
2.1. Definición de Sistema Global de Coordenadas {Q} - {D}
N° GDL: 4
2.2. Definición de Sistema Local de Coordenadas {q} - {d}
2.3. Determinación de la Matriz [A]

- 1° Estado de deformacion: D1=1, D2=D3=D4=0
⎡ 0 ⎤
⎢ 0 ⎥
⎢ ⎥
5
⎢ −―⎥
⎢ 4⎥
⎢ 0 ⎥
⎢ 1 ⎥
⎢ ⎥
A1 ≔ 0
⎢ ⎥
3⎥
⎢ −―
⎢ 4⎥
⎢ 0 ⎥
⎢ 0 ⎥
⎢ ⎥
⎢ 0 ⎥
⎣ 0 ⎦

⎡0⎤
⎢0⎥
⎢ ⎥
0
⎢ ⎥
⎢0⎥
⎢0⎥
A2 ≔ ⎢ 1 ⎥
⎢0⎥
⎢0⎥
⎢ ⎥
⎢0⎥
⎢1⎥
⎢⎣ 0 ⎥⎦
⎡0⎤
⎢0⎥
⎢ ⎥
0
⎢ ⎥
⎢1⎥
⎢0⎥
A3 ≔ ⎢ 0 ⎥
⎢0⎥
⎢1⎥
⎢ ⎥
⎢0⎥
⎢0⎥
⎢⎣ 0 ⎥⎦
⎡ 0 ⎤
⎢ 1 ⎥
⎢ ⎥
0
⎢ ⎥
⎢ 0 ⎥
⎢ 0 ⎥
A4 ≔ ⎢ 0 ⎥
⎢ 0 ⎥
⎢ 0 ⎥
⎢ ⎥
⎢ 0 ⎥
⎢ 0 ⎥
⎢⎣ −1 ⎥⎦

Por lo tanto la matriz [A] sera:
⎡ 0 0 0 0⎤ ⎡ 3 ⎤
⎡ 0 0 0 0 ⎤ ⎢ 0 0 ⎢ −―0 0 0⎥
⎢ 0 0 0 1⎥
0 1 ⎥ ⎢ ⎥ ⎢ 4 ⎥
⎢ ⎥ Ae1 ≔ ⎢ 5 Ae3 ≔ ⎢ 0 0 1 0⎥
5
⎢ −―0 −―0 0 0⎥
0 0 ⎥ ⎢ 4 ⎥ ⎢ 0 0 0 0⎥
⎢ 4 ⎥ ⎢⎣ 0 0
⎢ 0 0 1 0 ⎥⎦ ⎢⎣ 0 1 0 0 ⎥⎦
1 0 ⎥
⎢ 1 0 0 0 ⎥
⎢ ⎥ ⎡1 0 0 0⎤ Ar ≔ ⎡⎣ 0 0 0 −1 ⎤⎦
A≔ 0 1 0 0 Ae2 ≔ ⎢
⎢
3
⎥ ⎣ 0 1 0 0 ⎥⎦
⎢ −― 0 0 0 ⎥
⎢ 4 ⎥
⎢ 0 0 1 0 ⎥
⎢ 0 0 0 0 ⎥
⎢ ⎥
⎢ 0 1 0 0 ⎥
⎣ 0 0 0 −1 ⎦
2.4. Determinación de la Matriz de Rigidez de cada elemento [k]

- Elemento 1:
⎡ 12 E ⋅ I 6 E⋅I −12 E ⋅ I 6 E⋅I ⎤
⎢ ―――― ―――― ―――― ―――― 2 ⎥
⎢ (1 + ϕ1) L1 (1 + ϕ1) L1 (1 + ϕ1) L1 (1 + ϕ1) L1 ⎥
3 2 3
⎢ 6 E⋅I (4 + ϕ1) E ⋅ I −6 E ⋅ I (2 − ϕ1) E ⋅ I ⎥

―――― ―――― ―――― ――――
⎢ (1 + ϕ1) L1 2 (1 + ϕ1) L1 (1 + ϕ1) L1 2 (1 + ϕ1) L1 ⎥
k1 ≔ ⎢ ⎥
−12 E ⋅ I
⎢ ―――― −6 E ⋅ I 12 E ⋅ I −6 E ⋅ I ⎥
―――― ―――― ――――
⎢ (1 + ϕ1) L1 3 (1 + ϕ1) L1 2 (1 + ϕ1) L1 3 (1 + ϕ1) L1 2 ⎥
⎢ 6 E⋅I (2 − ϕ1) E ⋅ I −6 E ⋅ I (4 + ϕ1) E ⋅ I ⎥
⎢ ―――― ―――― ―――― ――――⎥
⎣ (1 + ϕ1) L1 2 (1 + ϕ1) L1 (1 + ϕ1) L1 2 (1 + ϕ1) L1 ⎦
⎡ 9.061 45.305 −9.061 45.305 ⎤

⎢ 45.305 302.169 −45.305 150.881 ⎥
k1 = ⎢ ⎥
⎢ −9.061 −45.305 9.061 −45.305 ⎥
⎣ 45.305 150.881 −45.305 302.169 ⎦
- Elemento 2:
⎡ 12 E ⋅ I 6 E⋅I ⎤
⎢ ―――― ――――
(1 + ϕ2) L2 3 (1 + ϕ2) L2 2 ⎥ ⎡ 17.679 70.718 ⎤
k2 ≔ ⎢ ⎥=⎢ ⎥
6 E ⋅ I ( 4 + ϕ2 ) E ⋅
⎢ ―――― ――――⎥ ⎣ 70.718 377.425 ⎦ I
⎢⎣ (1 + ϕ2) L2 2 (1 + ϕ2) L2 ⎥⎦
- Elemento 3:
⎡ 12 E ⋅ I 6 E⋅I −12 E ⋅ I 6 E⋅I ⎤
⎢ ―――― ―――― ―――― ―――― 2 ⎥
⎢ (1 + ϕ3) L3 (1 + ϕ3) L3 (1 + ϕ3) L3 (1 + ϕ3) L3 ⎥
3 2 3
⎢ 6 E⋅I (4 + ϕ3) E ⋅ I −6 E ⋅ I (2 − ϕ3) E ⋅ I ⎥

⎢ ――――
(1 + ϕ3) L3 2
―――― ――――
(1 + ϕ3) L3 (1 + ϕ3) L3 2
――――⎥
(1 + ϕ3) L3
k3 ≔ ⎢ ⎥
−12 E ⋅ I
⎢ ―――― −6 E ⋅ I 12 E ⋅ I −6 E ⋅ I ⎥
―――― ―――― ――――
⎢ (1 + ϕ3) L3 3 (1 + ϕ3) L3 2 (1 + ϕ3) L3 3 (1 + ϕ3) L3 2 ⎥
⎢ 6 E⋅I (2 − ϕ3) E ⋅ I −6 E ⋅ I (4 + ϕ3) E ⋅ I ⎥
⎢ ―――― ―――― ―――― ――――⎥
⎣ (1 + ϕ3) L3 2 (1 + ϕ3) L3 (1 + ϕ3) L3 2 (1 + ϕ3) L3 ⎦

⎡ 41.815 125.446 −41.815 125.446 ⎤
⎢ 125.446 502.413 −125.446 250.266 ⎥
k3 = ⎢ ⎥
⎢ −41.815 −125.446 41.815 −125.446 ⎥
⎣ 125.446 250.266 −125.446 502.413 ⎦
- Resorte elicoidal:
kr ≔ [ 105 ]
2.5. Ensamblaje de la Matriz de Rigidez[K]

T
[K]= ∑ [ A ] ⋅ [ k ] ⋅ [ A ]
K ≔ Ae1 T ⋅ k1 ⋅ Ae1 + Ae2 T ⋅ k2 ⋅ Ae2 + Ae3 T ⋅ k3 ⋅ Ae3 + Ar T ⋅ kr ⋅ Ar

Luego la matriz [K] de la estructura es:
⎡ 55.358 −23.367 −37.454 56.631 ⎤
⎢ −23.367 879.838 250.266 0 ⎥
K=⎢ ⎥
⎢ −37.454 250.266 804.582 150.881 ⎥
⎣ 56.631 0 150.881 407.169 ⎦
2.6. Determinación de la Matriz Lateral[KL] por condensación estatica

Sabemos que:
−1
[KL] = [K]LL - [K]LO. [ K ] OO.[K]OL
−1
⎡ 879.838 250.266 0 ⎤ ⎡ −23.367 ⎤
KL ≔ [ 55.358 ] − ⎡⎣ −23.367 −37.454 56.631 ⎤⎦ ⋅ ⎢ 250.266 804.582 150.881 ⎥ ⋅ ⎢ −37.454 ⎥
⎢ ⎥ ⎢ ⎥
⎣ 0 150.881 407.169 ⎦ ⎣ 56.631 ⎦
KL = [ 42.901 ] Tn/m
∴ K ≔ 42.901 Tn/m
3.- Determinación de la Matriz de Masa[M]

- 1° Estado: D °° 1=1, D °° 2=D °° 3=D °° 4=0
m11 ≔ 2.548
m21 ≔ 0
m31 ≔ 0
m41 ≔ 0

- 2° Estado: D °° 2=1, D °° 1=D °° 3=D °° 4=0
m12 ≔ 0
m22 ≔ 0
m32 ≔ 0
m42 ≔ 0
- 3° Estado: D °° 3=1, D °° 1=D °° 2=D °° 4=0
m13 ≔ 0
m23 ≔ 0
m33 ≔ 0
m43 ≔ 0
- 4° Estado: D °° 4=1, D °° 1=D °° 2=D °° 3=0
m14 ≔ 0
m24 ≔ 0
m34 ≔ 0
m44 ≔ 0
Remplazando tenemos la Matriz [M]:

Remplazando tenemos la Matriz [M]:
⎡ m11 m12 m13 m14 ⎤ ⎡ 2.548 0 0 0⎤

⎢ m24 ⎥ = ⎢ 0 0⎥
M ≔ ⎢ m21 m22 m23
⎥ ⎢
0 0
⎥
m31 m32 m33 m34 0 0 0 0
⎢ ⎥ ⎢ ⎥
⎣ m41 m42 m43 m44 ⎦ ⎣ 0 0 0 0⎦
- Determinación de la Matriz Masa[m] por condensación estatica:
∴ m ≔ 2.548 Tn.seg^2/m
4.- Formulación de la Ecuación Diferencial de Movimiento[EDM]

- Cálculo de la frecuencia angular natural del sistema:
2 ‾‾
K
ω ≔ ―= 4.103 rad/seg
m
- Cálculo del Periodo de vibración :
2⋅π
T ≔ ―― = 1.531 seg
ω
- Cálculo de C:
C ≔ 2 ⋅ m ⋅ ω ⋅ ξ = 1.046 Tn.seg/m
- Cálculo de WD:
2
ωD ≔ ω ⋅ ‾‾‾‾‾
1 − ξ 2 = 4.098rad/seg
- Sabemos que:
mẌ + CẊ + KX = -mẌs
2.548Ẍ + 1.046Ẋ + 42.901X = -2.548Ẍs
Ẍ + 0.410Ẋ + 16.837X = -Ẍs (*)
5.- Respuesta Dinámica aplicando DUHAMEL

5.1. FASE I: 0 ≤ t ≤ td1= 3seg
Sabemos que:
E.D.M. → mẌ + CẊ + KX = P(τ)
La respuesta dinamica será:
t
1 ⌠ ( )
X(t) = ―― ⎮ e −ξ ⋅ ω ⋅ t − τ ⋅ P (τ) ⋅ sinω (t − τ) d τ
m⋅ω ⌡ D
D
0
La respuesta dinamica para sismo sera:
t
−1 ⌠ −ξ ⋅ ω ⋅ (t − τ)
X(t) = ―― e ⋅ Ẍs (τ) ⋅ sinω (t − τ) d τ
ω ⎮⌡ D
D
0
Donde:
5
X� s ((τ)) = ―⋅ τ
3
Remplazando se tiene:

t
−1 ⌠ −ξ ⋅ ω ⋅ (t − τ) ⎛ 5 ⎞
X(t) = ―― ⎮e ⋅ ⎜―τ⎟ ⋅ sinω (t − τ) d τ
ω ⎮⌡ ⎝3 ⎠ D
D
0
t
−5 ⌠ ( )
X(t) = ――⎮ e −ξ ⋅ ω ⋅ t − τ ⋅ τ ⋅ sinω (t − τ) d τ
3⋅ω ⌡ D
D
0
−5
X(t) = ――⌠ A dτ (**)
3⋅ω ⌡
D
t
⌠ ( )
ʃA= ⎮ e −ξ ⋅ ω ⋅ t − τ ⋅ τ ⋅ sinω (t − τ) d τ
D
⌡
0
- Solución del bloque "A" integración por partes:
⌠ u dv = u ⋅ v − ⌠ v du τ≔1
⌡ ⌡ t≔1
( )
→ u ≔ τ ⋅ e −ξ ⋅ ω ⋅ (t − τ) dτ ≔ 1
du ≔ ⎛⎝e −ξ ⋅ ω ⋅ (t − τ)
+ξ⋅ω⋅τ⋅e −ξ ⋅ ω ⋅ (t − τ)⎞
⎠ dτ
→ dv ≔ sin ⎛ω (t − τ)⎞ dτ
⎝ D ⎠
⌠
v =⎮ sinωD (t − τ) d τ
⌡
cosω (t − τ)
D
v = ――――
ω
D
t
τ⋅e ⋅ cosω (t − τ) ⌠ cosω (t − τ)

−ξ ⋅ ω ⋅ (t − τ)
D ⎮ D
⋅ ⎛⎝e −ξ ⋅ ω ⋅ t − τ + ξ ⋅ ω ⋅ τ ⋅ e −ξ ⋅ ω ⋅ t − τ ⎞⎠ d τ
( ) ( )
ʃA = ―――――――― − ⎮ ――――
ω ⎮ ω
D D
⌡
0
−ξ ⋅ ω ⋅ (t − τ)
τ⋅e ⋅ cosω (t − τ) t
D 1 ⌠ −ξ ⋅ ω ⋅ (t − τ)
ʃA = ―――――――― −― ⎮e ⋅ cosω (t − τ) d τ
ω ω ⌡ D
D D
0
t
ξ⋅ω ⌠ ( )
−―― τ ⋅ e −ξ ⋅ ω ⋅ t − τ ⋅ cosω (t − τ) d τ
ω ⎮ D
D ⌡
( ) 0
τ ⋅ e −ξ ⋅ ω ⋅ (t − τ) ⋅ cosω (t − τ)
D 1 ξ⋅ω ⌠
ʃA = ―――――――― −― ⌠
⌡ A1 d τ − ―― A2 d τ (***)
ω ω ω ⌡
D D D
- Solución del bloque "A1" integración por partes:

t
⌠ ( )
ʃA1= ⎮ e −ξ ⋅ ω ⋅ t − τ ⋅ cosω (t − τ) d τ
D
⌡
0
⌠ u dv = u ⋅ v − ⌠ v du
⌡ ⌡
t
⌠ −ξ ⋅ ω ⋅ (t − τ)
⎮e ⋅ cosω (t − τ) d τ
D
⌡
0
⌠ u dv = u ⋅ v − ⌠ v du
⌡ ⌡
( )
→ u ≔ e −ξ ⋅ ω ⋅ (t − τ)
( )
du ≔ ξ ⋅ ω ⋅ e −ξ ⋅ ω ⋅ (t − τ) dτ
→ dv ≔ cos ⎛ω (t − τ)⎞ dτ
⎝ D ⎠
⌠
v =⎮ cosωD (t − τ) d τ
⌡
sinω (t − τ)
D
v = −――――
ω
D
t
e ⋅ sinω (t − τ) ⌠ sinω (t − τ)
−ξ ⋅ ω ⋅ (t − τ)
D ⎮ D
( )
ʃA1= −―――――――+ ⎮ ―――― ⋅ ξ ⋅ ω ⋅ e −ξ ⋅ ω ⋅ t − τ d τ
ω ⎮ ω
D D
⌡
0
−ξ ⋅ ω ⋅ (t − τ)
e ⋅ sinω (t − τ) t
D ξ ⋅ ω ⌠ −ξ ⋅ ω ⋅ (t − τ)
ʃA1= −―――――――+ ―― ⋅ e ⋅ sinω (t − τ) d τ
ω ω ⎮ ⌡ D
D D
0
( )
e −ξ ⋅ ω ⋅ (t − τ) ⋅ sinω (t − τ)
D ξ⋅ω ⌠
ʃA1= −―――――――+ ―― ⋅ B dτ (****)
ω ω ⌡
D D
- Solución del bloque "B" integración por partes:

t
⌠ ( )
ʃB = ⎮ e −ξ ⋅ ω ⋅ t − τ ⋅ sinω (t − τ) d τ
D
⌡
0
⌠ u dv = u ⋅ v − ⌠ v du
⌡ ⌡
( )
→ u ≔ e −ξ ⋅ ω ⋅ (t − τ)
( )
du ≔ ξ ⋅ ω ⋅ e −ξ ⋅ ω ⋅ (t − τ) dτ
⎝ D ⎠
⌠
⌡
cosω (t − τ)
D
v = ――――
ω
D
−ξ ⋅ ω ⋅ (t − τ)
e ⋅ cosω (t − τ) t
D ξ ⋅ ω ⌠ −ξ ⋅ ω ⋅ (t − τ)
ʃB = ―――――――− ―― e ⋅ cosω (t − τ) d τ
ω ω ⎮ ⌡ D
D D
0
( )
u ≔ e −ξ ⋅ ω ⋅ (t − τ)

( )
→ u ≔ e −ξ ⋅ ω ⋅ (t − τ)
( )
du ≔ ξ ⋅ ω ⋅ e −ξ ⋅ ω ⋅ (t − τ) dτ
⎝ D ⎠
⌠
⌡
sinω (t − τ)
D
v = −――――
ω
D
e−ξ ⋅ ω ⋅ (t − τ)
⋅ cosω (t − τ) ⎛ e −ξ ⋅ ω ⋅ (t − τ) ⋅ sinω (t − τ) t ⎞
D ξ⋅ω ⎜ D ξ ⋅ ω ⌠ −ξ ⋅ ω ⋅ (t − τ) ⎟
ʃB = ―――――――― − ―― ⎜ −―――――――+ ―― ⋅⎮e ⋅ sinω (t − τ) d τ⎟
ω ω ω ω ⌡ D
D D ⎜ D D ⎟⎠
⎝ 0
( )
e −ξ ⋅ ω ⋅ t − τ ⋅ cosω (t − τ) ⎛ e −ξ ⋅ ω ⋅ (t − τ) ⋅ sinω (t − τ) ⎞
D ξ⋅ω ⎜ D ξ⋅ω ⌠ ⎟
ʃB = ―――――――− ―― ⎜ −―――――――+ ―― ⋅ ⌡ B d τ⎟
ω ω ω ω
D ⎜
D ⎝ D D ⎟⎠
ω 2 ⎛ e −ξ ⋅ ω ⋅ (t − τ) ⋅ cosω (t − τ) ξ ⋅ ω ⋅ e −ξ ⋅ ω ⋅ (t − τ) ⋅ sinω (t − τ) ⎞
D ⎜ D D ⎟
ʃB = ――――― ⋅
2 ⎜
――――――― + ――――――――― ⎟
ω 2 + (ξ ⋅ ω) ⎝⎜
ω ω 2
D
D D ⎠⎟
Remplazando el valor de ʃB en la ecuación (****):

( )
e −ξ ⋅ ω ⋅ (t − τ) ⋅ sinω (t − τ)
D
ʃA1 = −――――――― +
ω
D
ξ⋅ω⋅ω ⎛ e −ξ ⋅ ω ⋅ (t − τ) ⋅ cosω (t − τ) ξ ⋅ ω ⋅ e −ξ ⋅ ω ⋅ (t − τ) ⋅ sinω (t − τ) ⎞

D ⎜ D D ⎟
――――― ⋅
2 ⎜
――――――― + ――――――――― 2 ⎟
ω ω
ω 2 + (ξ ⋅ ω) ⎜⎝ D D ⎟⎠
D

t
⌠ ( )
ʃA2 =⎮ τ ⋅ e −ξ ⋅ ω ⋅ t − τ ⋅ cosω (t − τ) d τ
D
⌡
0
⌠ u dv = u ⋅ v − ⌠ v du
⌡ ⌡
−ξ ⋅ ω ⋅ (t − τ)
→ u≔τ⋅e
du ≔ ⎛⎝e −ξ ⋅ ω ⋅ t − τ + ξ ⋅ ω ⋅ τ ⋅ e −ξ ⋅ ω ⋅ t − τ ⎞⎠ dτ
( ) ( )
⎝ D ⎠
⌠
⌡
sinω (t − τ)
D
−――――
ω RESPUESTA DINAMICA - INTEGRAL DE DUHAMEL
D
⌠ cosω (t − τ) d τ
⎮ D
⌡
sinω (t − τ)
D
v = −――――
ω
D
t
τ⋅e ⋅ sinω (t − τ) ⌠ sinω (t − τ)

−ξ ⋅ ω ⋅ (t − τ)
D ⎮ D
( ) ( )
ʃA2= −―――――――― + ⎮ ――――
ω ⎮ ω
D D
⌡
0
−ξ ⋅ ω ⋅ (t − τ)
τ⋅e ⋅ sinω (t − τ) t
D 1 ⌠ −ξ ⋅ ω ⋅ (t − τ)
ʃA2 = −―――――――― +― ⎮e ⋅ sinω (t − τ) d τ +
ω ω ⌡ D
D D
0
t
ξ⋅ω ⌠ ( )
――
⎮ τ ⋅ e −ξ ⋅ ω ⋅ t − τ ⋅ sinω (t − τ) d τ
ω ⌡ D
D
0
( )
τ ⋅ e −ξ ⋅ ω ⋅ (t − τ) ⋅ sinω (t − τ)
D 1 ξ⋅ω ⌠
ʃA2 = −―――――――― +― ⌠
⌡ B d τ + ―― A dτ (*****)
ω ω ω ⌡
D D D
Remplazando el valor de ʃB en la ecuación (*****):
( )
τ ⋅ e −ξ ⋅ ω ⋅ (t − τ) ⋅ sinω (t − τ)
D ξ⋅ω ⌠
ʃA2 = −―――――――― + ―― A dτ +
ω ω ⌡
D D
ω ⎛e ⋅ cosω (t − τ) ξ ⋅ ω ⋅ e −ξ ⋅ ω ⋅ t − τ ⋅ sinω (t − τ) ⎞
−ξ ⋅ ω ⋅ (t − τ) ( )
D ⎜ D D ⎟
――――― ⋅
2 ⎜
――――――― + ――――――――― 2 ⎟
ω ω
ω 2 + (ξ ⋅ ω) ⎜⎝ D D ⎟⎠
D
Remplazando el valor de A1 y A2 en la ecuación (***):

( ) ( )
τ ⋅ e −ξ ⋅ ω ⋅ t − τ ⋅ cosω (t − τ) e −ξ ⋅ ω ⋅ t − τ ⋅ sinω (t − τ)
D D
ʃA = ―――――――― + ―――――――
ω
D
ω 2
D
⎛e ⋅ cosω (t − τ) ξ ⋅ ω ⋅ e −ξ ⋅ ω ⋅ t − τ ⋅ sinω (t − τ) ⎞
−ξ ⋅ ω ⋅ (t − τ) ( )
ξ⋅ω ⎜ D D ⎟
−――――― ⋅
2 ⎜
――――――― + ――――――――― 2 ⎟
ω ω
ω 2 + (ξ ⋅ ω) ⎜⎝ D D ⎟⎠
D
( )
ξ ⋅ ω ⋅ τ ⋅ e −ξ ⋅ ω ⋅ (t − τ) ⋅ sinω (t − τ) 2
D (ξ ⋅ ω) ⌠
+ ――――――――― − ――― ⌡ A dτ
ω 2 ω 2
D D

⎛ e −ξ ⋅ ω ⋅ (t − τ) ⋅ cosω (t − τ) ξ ⋅ ω ⋅ e −ξ ⋅ ω ⋅ (t − τ) ⋅ sinω (t − τ) ⎞
ξ⋅ω ⎜ D D ⎟
−――――― ⋅
2 ⎜
――――――― + ――――――――― 2 ⎟
ω ω
ω 2 + (ξ ⋅ ω) ⎜⎝ D D ⎟⎠
D
( ) ( )
ω ⋅ τ ⋅ e −ξ ⋅ ω ⋅ t − τ ⋅ cosω (t − τ) e −ξ ⋅ ω ⋅ t − τ ⋅ sinω (t − τ)
D D D
ʃA = ――――――――― 2
+ ――――――― 2
ω 2 + (ξ ⋅ ω) ω 2 + (ξ ⋅ ω)
D D
2⋅ω 2 ⋅ξ⋅ω ⎛ e −ξ ⋅ ω ⋅ (t − τ) ⋅ cosω (t − τ) ξ ⋅ ω ⋅ e −ξ ⋅ ω ⋅ (t − τ) ⋅ sinω (t − τ) ⎞

D ⎜ D D ⎟
−―――――― ⋅
2 ⎜
――――――― + ――――――――― ⎟
⎛ 2 2⎞ ω ω 2
⎜
⎝ D D ⎠⎟
⎜ωD + (ξ ⋅ ω) ⎟
⎝ ⎠
( )
ξ ⋅ ω ⋅ τ ⋅ e −ξ ⋅ ω ⋅ (t − τ) ⋅ sinω (t − τ)
D
+ ――――――――― 2
ω 2 + (ξ ⋅ ω)
D
Remplazando el valor de A en la ecuación (**) obtenemos la respuesta dinamica:

( ) ( )
5 ⋅ τ ⋅ e −ξ ⋅ ω ⋅ (t − τ) ⋅ cosω (t − τ) 5 ⋅ e −ξ ⋅ ω ⋅ (t − τ) ⋅ sinω (t − τ)
D D
X(t) = −――――――――― − ―――――――― +
⎛ 2 2⎞ ⎛ 2 2⎞
3 ⋅ ⎜ω + (ξ ⋅ ω) ⎟ 3 ⋅ ω ⋅ ⎜ω + (ξ ⋅ ω) ⎟
⎝ D ⎠ D ⎝ D ⎠
10 ⋅ ω ⋅ ξ ⋅ ω ⎛ e −ξ ⋅ ω ⋅ (t − τ) ⋅ cosω (t − τ) ξ ⋅ ω ⋅ e −ξ ⋅ ω ⋅ (t − τ) ⋅ sinω (t − τ) ⎞
D ⎜ D D ⎟
―――――― ⋅
2 ⎜
――――――― + ――――――――― 2 ⎟
⎛ 2 2⎞ ω ω
⎜ ⎟⎠
3 ⋅ ⎜ω + (ξ ⋅ ω) ⎟ ⎝
D D
⎝ D ⎠
( )
5 ⋅ ξ ⋅ ω ⋅ τ ⋅ e −ξ ⋅ ω ⋅ (t − τ) ⋅ sinω (t − τ)
D
−――――――――――
⎛ 2⎞
3 ⋅ ω ⋅ ⎜ω 2 + (ξ ⋅ ω) ⎟
D ⎝ D ⎠
5 ⋅ e −ξ ⋅ ω ⋅ t ⋅ sinω (t)
5⋅t 10 ⋅ ξ ⋅ ω D
X(t) = −―――――― + ―――――― + ―――――――
⎛ 2⎞ 2 ⎛ 2 2⎞
3 ⋅ ⎜ω 2 + (ξ ⋅ ω) ⎟ ⎛ 2 2⎞
3 ⋅ ω ⋅ ω + ( ξ ⋅ ω )
⎝ D ⎠ 3 ⋅ ⎜ωD + (ξ ⋅ ω) ⎟ D ⎜ ⎝ D
⎟
⎠
⎝ ⎠
2
10 ⋅ ξ ⋅ ω ⋅ e −ξ ⋅ ω ⋅ t ⋅ cosω (t) 10 ⋅ (ξ ⋅ ω) ⋅ e −ξ ⋅ ω ⋅ t ⋅ sinω (t)
D D
−―――――――― 2
− ――――――――― 2
⎛ 2 2⎞ ⎛ 2 2⎞
3 ⋅ ⎜ω + (ξ ⋅ ω) ⎟ 3 ⋅ ω ⋅ ⎜ω + (ξ ⋅ ω) ⎟
⎝ D ⎠ D ⎝ D ⎠
Para:

Para:
ξ = 0.05
ω = 4.103 rad/seg
ωD = 4.098 rad/seg
5
−―――――― = −0.098988 t
⎛ 2 2⎞
( )
3 ⋅ ⎝ωD + ξ ⋅ ω ⎠
10 ⋅ ξ ⋅ ω
―――――― 2
= 0.002412
⎛ 2 2⎞
3 ⋅ ⎝ωD + (ξ ⋅ ω) ⎠
2
5 10 ⋅ (ξ ⋅ ω)
――――――― − ―――――――― = 0.024033 e −0.205 ⋅ t ⋅ sin (4.098 t)
⎛ 2 ⎞ 2
3 ⋅ ωD ⋅ ⎝ωD 2 + (ξ ⋅ ω) ⎠ ⎛ 2⎞
3 ⋅ ωD ⋅ ⎝ωD 2 + (ξ ⋅ ω) ⎠
10 ⋅ ξ ⋅ ω
−―――――― 2
= −0.002412 e −0.205 ⋅ t ⋅ cos (4.098 t)
⎛ 2⎞
3 ⋅ ⎝ωD 2 + (ξ ⋅ ω) ⎠
X(t) = −0.098988 t + 0.002412 + 0.024033 ⋅ e −0.205 ⋅ t ⋅ sin (4.098 t) − 0.002412 ⋅ e −0.205 ⋅ t ⋅ cos (4.098 t)
Tabla N°01: Datos de respuesta a nivel de los desplazamientos

en el dominio del tiempo - FASE I
El desplazamiento maximo es de -0.29930m. que se da en el tiempo

de 3.00seg.

Grafico N°01: Respuesta a nivel de los desplazamientos
5.2. FASE II: td1= 3seg ≤ t ≤ td2= 6seg

Sabemos que:
E.D.M. → mẌ + CẊ + KX = P(τ)
t
1 ⌠ ( )
m⋅ω ⌡ D
D
0
t
−1 ⌠ −ξ ⋅ ω ⋅ (t − τ)
X(t) = ―― e ⋅ Ẍs (τ) ⋅ sinω (t − τ) d τ
ω ⎮⌡ D
D
0
Para esta fase sera:
3
t
1 ⌠ −ξ ⋅ ω ⋅ (t − τ) ⎛ 5 ⎞ 1 ⌠ −ξ ⋅ ω ⋅ (t − τ)
X(t) = −― ⎮ e ⋅ ⎜―τ⎟ ⋅ sinω (t − τ) d τ − ― ⎮ e ⋅ (5) ⋅ sinω (t − τ) d τ
ω ⎮⌡ ⎝3 ⎠ D ω ⌡ D
D D
0 3
3 t
5 ⌠ ( ) 5 ⌠ ( )
X(t) = −――⎮ e −ξ ⋅ ω ⋅ t − τ ⋅ τ ⋅ sinω (t − τ) d τ − ― ⎮ e −ξ ⋅ ω ⋅ t − τ ⋅ sinω (t − τ) d τ
3⋅ω ⌡ D ω ⌡ D
D D
0 3
5 5
X(t) = −――⌠ ⌡ A dτ − ― ⌠ B dτ (******)
3⋅ω ω ⌡
D D
Como ya se conocen las integrales anteriores se procede a remplazar en la

ecuación (******):

( ) ( )
D D
X(t) = −――――――――― − ―――――――― +
⎛ 2 2 ⎞ ⎛ 2 2⎞
3 ⋅ ⎜ω + (ξ ⋅ ω) ⎟ 3 ⋅ ω ⋅ ⎜ω + (ξ ⋅ ω) ⎟
⎝ D ⎠ D ⎝ D ⎠
D ⎜ D D ⎟
―――――― ⋅
2 ⎜
――――――― + ――――――――― 2 ⎟
⎛ 2 2⎞ ω ω
⎜ ⎟⎠
3 ⋅ ⎜ω + (ξ ⋅ ω) ⎟ ⎝
D D
⎝ D ⎠
( )
5 ⋅ ξ ⋅ ω ⋅ τ ⋅ e −ξ ⋅ ω ⋅ (t − τ) ⋅ sinω (t − τ)
D
−―――――――――― +
⎛ 2⎞
3 ⋅ ω ⋅ ⎜ω 2 + (ξ ⋅ ω) ⎟
D ⎝ D ⎠
5⋅ω ⎛ e −ξ ⋅ ω ⋅ (t − τ) ⋅ cosω (t − τ) ξ ⋅ ω ⋅ e −ξ ⋅ ω ⋅ (t − τ) ⋅ sinω (t − τ) ⎞
D ⎜ D D ⎟
−――――― ⋅
2 ⎜
――――――― + ――――――――― 2 ⎟
ω ω
ω 2 + (ξ ⋅ ω) ⎜⎝ D D ⎟⎠
D
( ) ( )
5 ⋅ e −ξ ⋅ ω ⋅ t − 3 ⋅ sinω (t − 3) 10 ⋅ ξ ⋅ ω ⋅ e −ξ ⋅ ω ⋅ t − 3 ⋅ cosω (t − 3)
D D
X(t) = −―――――――― + ―――――――――― +
⎛ 2 2⎞ 2
3 ⋅ ω ⋅ ⎜ω + ξ ⋅ ω ⎟ ( ) ⎛ 2⎞
D ⎝ D ⎠ 3 ⋅ ⎜ω 2 + (ξ ⋅ ω) ⎟
⎝ D ⎠
2
( ) ()
10 ⋅ (ξ ⋅ ω) ⋅ e −ξ ⋅ ω ⋅ t − 3 ⋅ sinω (t − 3) 5 ⋅ e −ξ ⋅ ω ⋅ t ⋅ sinω (t)
D D
――――――――――― + ―――――――
2 ⎛ 2 2⎞
⎛ 2 2⎞
3 ⋅ ω ⋅ ω + ( ξ ⋅ ω )
3 ⋅ ω ⋅ ⎜ω + (ξ ⋅ ω) ⎟ D ⎜ ⎝ D
⎟
⎠
D ⎝ D ⎠
2
() ()
D D 5
−―――――――― 2
− ――――――――― 2
− ――――― 2
⎛ 2 2⎞ ⎛ 2 2⎞
ω 2 + (ξ ⋅ ω)
3 ⋅ ⎜ω + (ξ ⋅ ω) ⎟ 3 ⋅ ω ⋅ ⎜ω + (ξ ⋅ ω) ⎟ D
⎝ D ⎠ D ⎝ D ⎠
Para:
ξ = 0.05
ω = 4.103 rad/seg
ωD = 4.098 rad/seg
2
5 10 ⋅ (ξ ⋅ ω) −0.205 ⋅ (t − 3)
−―――――――― + ―――――――― = −0.024033 e ⋅ sin (4.098 (t − 3))
⎛ 2 2⎞ 2
3 ⋅ ωD ⋅ ⎝ωD + (ξ ⋅ ω) ⎠ ⎛ 2 ⎞
3 ⋅ ωD ⋅ ⎝ωD 2 + (ξ ⋅ ω) ⎠
10 ⋅ ξ ⋅ ω −0.205 ⋅ (t − 3)
――――――― 2
= 0.002412 e ⋅ cos (4.098 (t − 3))
⎛ 2 2⎞
3 ⋅ ⎝ωD + (ξ ⋅ ω) ⎠
2
5 10 ⋅ (ξ ⋅ ω)
―――――――― − ―――――――― = 0.024033 e
−0.205 ⋅ t
⋅ sin (4.098 t)
⎛ 2 2⎞ 2
3 ⋅ ωD ⋅ ⎝ωD + (ξ ⋅ ω) ⎠ ⎛ 2 ⎞
3 ⋅ ωD ⋅ ⎝ωD 2 + (ξ ⋅ ω) ⎠

2
5 10 ⋅ (ξ ⋅ ω)
―――――――― − ―――――――― = 0.024033
⎛ 2 2 ⎞ 2
( )
3 ⋅ ωD ⋅ ⎝ωD + ξ ⋅ ω ⎠ ⎛ 2⎞
3 ⋅ ωD ⋅ ⎝ωD 2 + (ξ ⋅ ω) ⎠
10 ⋅ ξ ⋅ ω
−――――――― 2
= −0.002412 e
−0.205 ⋅ t
⋅ cos (4.098 t)
⎛ 2 2⎞
3 ⋅ ⎝ωD + (ξ ⋅ ω) ⎠
5
−――――― 2
= −0.296963
ωD 2 + (ξ ⋅ ω)
( ) ( )
X(t) = −0.024033 e −0.205 ⋅ t − 3 ⋅ sin (4.098 (t − 3)) + 0.002412 e −0.205 ⋅ t − 3 ⋅ cos (4.098 (t − 3)) +
0.024033 e −0.205 ⋅ t ⋅ sin (4.098 t) − 0.002412 e −0.205 ⋅ t ⋅ cos (4.098 t) − 0.296963

en el dominio del tiempo - FASE II
El desplazamiento maximo en esta fase es de -0.30822 m. que se

da en el tiempo de 3.30 seg.

5.3. FASE III: td2= 6seg ≤ t

Sabemos que:
E.D.M. → mẌ + CẊ + KX = P(τ)
t
1 ⌠
X(t) = ―― ⎮ e −ξ ⋅ ω ⋅ (t − τ) ⋅ P (τ) ⋅ sinω (t − τ) d τ
m⋅ω ⌡ D
D
0

t
−1 ⌠ −ξ ⋅ ω ⋅ (t − τ)
X(t) = ―― e ⋅ Ẍs (τ) ⋅ sinω (t − τ) d τ
ω ⎮⌡ D
D
0
Para esta fase sera:

3
6
1 ⌠ −ξ ⋅ ω ⋅ (t − τ) ⎛ 5 ⎞ 1 ⌠ −ξ ⋅ ω ⋅ (t − τ)
X(t) = −― ⎮ e ⋅ ⎜―τ⎟ ⋅ sinω (t − τ) d τ − ― ⎮ e ⋅ (5) ⋅ sinω (t − τ) d τ
ω ⎮⌡ ⎝3 ⎠ D ω ⌡ D
D D
0 3
3 6
5 ⌠ 5 ⌠
X(t) = −――⎮ e −ξ ⋅ ω ⋅ (t − τ) ⋅ τ ⋅ sinω (t − τ) d τ − ― ⎮ e −ξ ⋅ ω ⋅ (t − τ) ⋅ sinω (t − τ) d τ
3⋅ω ⌡ D ω ⌡ D
D D
0 3
5 5 ⌠
X(t) = −――⌠⌡ A dτ − ― ⌡ B dτ (*******)
3⋅ω ω
D D
Como ya se conocen las integrales anteriores se procede a remplazar en la

ecuación (*******):
( ) ( )
D D
X(t) = −――――――――― − ―――――――― +
⎛ 2⎞ ⎛ 2⎞
3 ⋅ ⎜ω 2 + (ξ ⋅ ω) ⎟ 3 ⋅ ω ⋅ ⎜ω 2 + (ξ ⋅ ω) ⎟
⎝ D ⎠ D ⎝ D ⎠

D ⎜ D D ⎟
―――――― ⋅
2 ⎜
――――――― + ――――――――― 2 ⎟
⎛ 2 2⎞ ω ω
⎜ ⎟⎠
3 ⋅ ⎜ω + (ξ ⋅ ω) ⎟ ⎝
D D
⎝ D ⎠
( )
5 ⋅ ξ ⋅ ω ⋅ τ ⋅ e −ξ ⋅ ω ⋅ (t − τ) ⋅ sinω (t − τ)
D
−――――――――――
⎛ 2 ⎞
+
3 ⋅ ω ⋅ ⎜ω 2 + (ξ ⋅ ω) ⎟
D ⎝ D ⎠
D ⎜ D D ⎟
−――――― ⋅ ―――――――+ ―――――――――
2 ⎜ 2 ⎟
ω ω
ω 2 + (ξ ⋅ ω) ⎜⎝ D D ⎟⎠
D
( ) ( )
D D
X(t) = −―――――――― + ―――――――――― +
⎛ 2 2⎞ 2
3 ⋅ ω ⋅ ⎜ω + ξ ⋅ ω ⎟ ( ) ⎛ 2⎞
D ⎝ D ⎠ 3 ⋅ ⎜ω 2 + (ξ ⋅ ω) ⎟
⎝ D ⎠
2
( )
D D
――――――――――― + ―――――――
2 ⎛ 2 2⎞
⎛ 2 2⎞
3 ⋅ ω ⋅ ω + ( ξ ⋅ ω )
3 ⋅ ω ⋅ ⎜ω + (ξ ⋅ ω) ⎟ D ⎜ ⎝ D
⎟
⎠
D ⎝ D ⎠
2
D D
−―――――――― 2
− ――――――――― 2
⎛ 2 2⎞ ⎛ 2 2⎞
3 ⋅ ⎜ω + (ξ ⋅ ω) ⎟ 3 ⋅ ω ⋅ ⎜ω + (ξ ⋅ ω) ⎟
⎝ D ⎠ D ⎝ D ⎠
( ) ( )
5 ⋅ e −ξ ⋅ ω ⋅ t − 6 ⋅ cosω (t − 6) 5 ⋅ ξ ⋅ ω ⋅ e −ξ ⋅ ω ⋅ t − 6 ⋅ sinω (t − 6)
D D
−―――――――― − ――――――――――
2 ⎛ 2⎞
ω 2 + (ξ ⋅ ω) ω ⋅ ⎜ω 2 + (ξ ⋅ ω) ⎟
D D ⎝ D ⎠
Para:
ξ = 0.05
ω = 4.103 rad/seg
ωD = 4.098 rad/seg
2
5 10 ⋅ (ξ ⋅ ω) −0.205 ⋅ (t − 3)
−―――――――― + ―――――――― = −0.024033 e ⋅ sin (4.098 (t − 3))
⎛ 2 2⎞ 2
3 ⋅ ωD ⋅ ⎝ωD + (ξ ⋅ ω) ⎠ ⎛ 2 ⎞
3 ⋅ ωD ⋅ ⎝ωD 2 + (ξ ⋅ ω) ⎠
10 ⋅ ξ ⋅ ω ( )
―――――― 2
= 0.002412 e −0.205 ⋅ t − 3 ⋅ cos (4.098 (t − 3))
⎛ 2 2⎞
3 ⋅ ⎝ωD + (ξ ⋅ ω) ⎠
2
5 10 ⋅ (ξ ⋅ ω)
―――――――― − ―――――――― = 0.024033 e
−0.205 ⋅ t
⋅ sin (4.098 t)
⎛ 2 2⎞ 2
3 ⋅ ωD ⋅ ⎝ωD + (ξ ⋅ ω) ⎠ ⎛ 2 ⎞
3 ⋅ ωD ⋅ ⎝ωD 2 + (ξ ⋅ ω) ⎠

2
5 10 ⋅ (ξ ⋅ ω)
―――――――― − ―――――――― = 0.024033
⎛ 2 2 ⎞ 2
( )
3 ⋅ ωD ⋅ ⎝ωD + ξ ⋅ ω ⎠ ⎛ 2⎞
3 ⋅ ωD ⋅ ⎝ωD 2 + (ξ ⋅ ω) ⎠
10 ⋅ ξ ⋅ ω
−―――――― 2
= −0.002412 e −0.205 ⋅ t ⋅ cos (4.098 t)
⎛ 2⎞
3 ⋅ ⎝ωD 2 + (ξ ⋅ ω) ⎠
5 ( )
−――――― 2
= −0.296963 e −0.205 ⋅ t − 6 ⋅ cos (4.098 (t − 6))
ωD 2 + (ξ ⋅ ω)
5⋅ξ⋅ω ( )
−――――――― = −0.014867 e −0.205 ⋅ t − 6 ⋅ sin (4.098 (t − 6))
⎛ 2 2⎞
ωD ⋅ ⎝ωD + (ξ ⋅ ω) ⎠
X(t) = −0.024033 e −0.205 ⋅ t − 3 ⋅ sin (4.098 (t − 3)) + 0.002412 e −0.205 ⋅ t − 3 ⋅ cos (4.098 (t − 3)) +
( ) ( )
0.024033 e −0.205 ⋅ t ⋅ sin (4.098 t) − 0.002412 e −0.205 ⋅ t ⋅ cos (4.098 t)

( ) ( )
−0.296963 e −0.205 ⋅ t − 6 ⋅ cos (4.098 (t − 6)) − 0.014867 e −0.205 ⋅ t − 6 ⋅ sin (4.098 (t − 6))

en el dominio del tiempo - FASE III
El desplazamiento maximo en esta fase es de -0.29645m. que se da en el tiempo

de 6seg.

El desplazamiento maximo en esta fase es de -0.29645m. que se da en el tiempo
de 6seg.


en el dominio del tiempo de las tres fases
∴ Se puede observar en el grafico que el desplazamiento maximo es de -0.30822 m. que

se da en el tiempo de 3.30 seg correspondiente a la FASE II.

B. PARA CARGA DINAMICA EXTERNA
ξ = 0.05
1.- Respuesta Dinámica aplicando DUHAMEL

5.1. FASE I: 0 ≤ t ≤ td1= 3seg
Sabemos que:
E.D.M. → mẌ + CẊ + KX = P(τ)
t
1 ⌠ ( )
X(t) = ―― ⎮ e −ξ ⋅ ω ⋅ t − τ ⋅ P (τ) ⋅ sinω (t − τ) d τ (*)
m⋅ω ⌡ D
D
0
Determinación de P( τ ):
Po 5
P( τ ) = ― ⋅ τ = ― ⋅τ
3 3
Gravedad:
m
g = 9.81 ―
s2
Rigidez lateral:
K = 42.901 Tn/m
Masa:
Tn ⋅ s 2
m = 2.548 ――
m
Frecuencia Natural:
rad
ω = 4.103 ――
s
Frecuencia Amortiguada:
rad
ωD = 4.098 ――
s
Integración de la ecuación de la respuesta dinamica:
Remplazando P( τ ) en la ecuación (*) se tiene:

t
⌠
1 ( ) ⎛5⋅τ⎞
X(t) = ―― ⎮ e −ξ ⋅ ω ⋅ t − τ ⋅ ⎜―― ⎟ ⋅ sinωD (t − τ) d τ
m⋅ω ⎮ ⎝ 3 ⎠
D ⌡
0
t
5 ⌠ ( )
X(t) = ―――⎮ e −ξ ⋅ ω ⋅ t − τ ⋅ τ ⋅ sinω (t − τ) d τ
3⋅m⋅ω ⌡ D
D
0
5
X(t) = ―――⌠ A dτ (**)
3⋅m⋅ω ⌡
D
t
⌠ ( )
ʃA= ⎮ e −ξ ⋅ ω ⋅ t − τ ⋅ τ ⋅ sinω (t − τ) d τ
D
⌡
0
- Solución del bloque "A" integración por partes:
⌠ u dv = u ⋅ v − ⌠ v du
⌡ ⌡
( )
→ u ≔ τ ⋅ e −ξ ⋅ ω ⋅ (t − τ)
du ≔ ⎛⎝e −ξ ⋅ ω ⋅ (t − τ) + ξ ⋅ ω ⋅ τ ⋅ e −ξ ⋅ ω ⋅ (t − τ)⎞⎠ dτ
( ) ( )
⎝ D ⎠
⌠
⌡
cosω (t − τ)
D
v = ――――
ω
D t
τ⋅e ⋅ cosω ((t − τ)) ⌠ cosω ((t − τ))

−ξ ⋅ ω ⋅ ((t − τ))
D ⎮ D
ʃ A= ――――――――― − ⎮ ――――― ⋅ ⎛⎝e −ξ ⋅ ω ⋅ (t − τ) + ξ ⋅ ω ⋅ τ ⋅ e −ξ ⋅ ω ⋅ (t − τ)⎞⎠ d τ
( ) ( )
ω ⎮ ω
D D
⌡
0
−ξ ⋅ ω ⋅ (t − τ)
τ⋅e ⋅ cosω (t − τ) t
D 1 ⌠ −ξ ⋅ ω ⋅ (t − τ)
ʃA= ―――――――― −― ⎮e ⋅ cosω (t − τ) d τ
ω ω ⌡ D
D D
0
t
ξ⋅ω ⌠ ( )
−―― τ ⋅ e −ξ ⋅ ω ⋅ t − τ ⋅ cosω (t − τ) d τ
ω ⎮ D
D ⌡
0
−ξ ⋅ ω ⋅ (t − τ)
τ⋅e ⋅ cosω (t − τ)
D 1 ξ⋅ω ⌠
ʃA= ――――――――― −― ⌠
⌡ A1 d τ − ―― ⌡ A2 d τ (***)
ω ω ω
D D D

t
ʃA1= ⌠⎮ e −ξ ⋅ ω ⋅ ((t − τ)) ⋅ cosωD ((t − τ)) d τ

⌡
0
⌠ u dv = u ⋅ v − ⌠ v du
⌡ ⌡
t
⌠ −ξ ⋅ ω ⋅ ((t − τ))
⎮e ⋅ cosω ((t − τ)) d τ
D
⌡
0
⌠ u dv = u ⋅ v − ⌠ v du
⌡ ⌡
( )
→ u ≔ e −ξ ⋅ ω ⋅ (t − τ)
( )
du ≔ ξ ⋅ ω ⋅ e −ξ ⋅ ω ⋅ (t − τ) dτ
⎝ D ⎠
⌠
⌡
sinω (t − τ)
D
v = −――――
ω
D
t
e ⋅ sinω (t − τ) ⌠ sinω (t − τ)
−ξ ⋅ ω ⋅ (t − τ)
D ⎮ D
( )
ʃA1= −―――――――+ ⎮ ―――― ⋅ ξ ⋅ ω ⋅ e −ξ ⋅ ω ⋅ t − τ d τ
ω ⎮ ω
D D
⌡
0
−ξ ⋅ ω ⋅ (t − τ)
e ⋅ sinω (t − τ) t
D ξ ⋅ ω ⌠ −ξ ⋅ ω ⋅ (t − τ)
ʃA1= −―――――――+ ―― ⋅ e ⋅ sinω (t − τ) d τ
ω ω ⎮ ⌡ D
D D
0
( )
e −ξ ⋅ ω ⋅ (t − τ) ⋅ sinω (t − τ)
D ξ⋅ω ⌠
ʃA1= −―――――――+ ―― ⋅ B dτ (****)
ω ω ⌡
D D
- Solución del bloque "B" integración por partes:

t
⌠ ( )
ʃB = ⎮ e −ξ ⋅ ω ⋅ t − τ ⋅ sinω (t − τ) d τ
D
⌡
0
⌠ u dv = u ⋅ v − ⌠ v du
⌡ ⌡
( )
→ u ≔ e −ξ ⋅ ω ⋅ (t − τ)
( )
du ≔ ξ ⋅ ω ⋅ e −ξ ⋅ ω ⋅ (t − τ) dτ
⎝ D ⎠
⌠
⌡
cosω (t − τ)
D
v = ――――
ω
D
( )
e −ξ ⋅ ω ⋅ (t − τ) ⋅ cosω (t − τ) t
D ξ ⋅ ω ⌠ −ξ ⋅ ω ⋅ (t − τ)
ʃB = ―――――――− ―― e ⋅ cosω (t − τ) d τ
ω ω ⎮ D
D D ⌡
0
−ξ ⋅ ω ⋅ (t − τ)
u≔e

( )
e −ξ ⋅ ω ⋅ (t − τ) ⋅ cosω (t − τ) t
D ξ ⋅ ω ⌠ −ξ ⋅ ω ⋅ (t − τ)
ʃB = ―――――――− ―― e ⋅ cosω (t − τ) d τ
ω ω ⎮ D
D D ⌡
0
( )
→ u ≔ e −ξ ⋅ ω ⋅ (t − τ)
( )
du ≔ ξ ⋅ ω ⋅ e −ξ ⋅ ω ⋅ (t − τ) dτ
⎝ D ⎠
⌠
v = cosω (t − τ) d τ
⎮ D
⌡
sinω (t − τ)
D
v = −――――
ω
D
( )
e −ξ ⋅ ω ⋅ t − τ ⋅ cosω (t − τ) ⎛ e −ξ ⋅ ω ⋅ (t − τ) ⋅ sinω (t − τ) t ⎞
D ξ⋅ω ⎜ D ξ ⋅ ω ⌠ −ξ ⋅ ω ⋅ (t − τ) ⎟
ʃB = ――――――――
ω
− ――
ω ⎜ −―――――――+ ――
ω ω
⋅⎮e ⋅ sinω (t − τ) d τ⎟
D
D D ⎜ D D ⌡ ⎟⎠
⎝ 0
( )
e −ξ ⋅ ω ⋅ t − τ ⋅ cosω (t − τ) ⎛ e −ξ ⋅ ω ⋅ (t − τ) ⋅ sinω (t − τ) ⎞
D ξ⋅ω ⎜ D ξ⋅ω ⌠ ⎟
ʃB = ―――――――− ――⎜−―――――――+ ―― ⋅ ⌡ B d τ⎟
ω ω ω ω
D ⎜
D ⎝ D D ⎟⎠
ω 2 ⎛ e −ξ ⋅ ω ⋅ (t − τ) ⋅ cosω (t − τ) ξ ⋅ ω ⋅ e −ξ ⋅ ω ⋅ (t − τ) ⋅ sinω (t − τ) ⎞
D ⎜ D D ⎟
ʃB = ――――― 2
⋅ ⎜ ――――――― + ――――――――― ⎟
ω 2 + (ξ ⋅ ω) ⎝⎜
ω ω 2
D
D D ⎠⎟
Remplazando el valor de ʃB en la ecuación (****):
( )
e −ξ ⋅ ω ⋅ (t − τ) ⋅ sinω (t − τ)
D
ʃA1= −――――――― +
ω
D
ξ⋅ω⋅ω ⎛ e −ξ ⋅ ω ⋅ (t − τ) ⋅ cosω (t − τ) ξ ⋅ ω ⋅ e −ξ ⋅ ω ⋅ (t − τ) ⋅ sinω (t − τ) ⎞

D ⎜ D D ⎟
――――― 2
⋅ ⎜ ――――――― + ――――――――― ⎟
ω 2 + (ξ ⋅ ω) ⎜⎝
ω ω 2
D D ⎟⎠
D

t
⌠ ( )
ʃA2= ⎮ τ ⋅ e −ξ ⋅ ω ⋅ t − τ ⋅ cosω (t − τ) d τ
D
⌡
0
⌠ u dv = u ⋅ v − ⌠ v du
⌡ ⌡
( )
→ u ≔ τ ⋅ e −ξ ⋅ ω ⋅ (t − τ)
du ≔ ⎛⎝e −ξ ⋅ ω ⋅ t − τ + ξ ⋅ ω ⋅ τ ⋅ e −ξ ⋅ ω ⋅ t − τ ⎞⎠ dτ
( ) ( )
⎝ D ⎠
⌠
⌡

⌠ cosω (t − τ) d τ
⎮ D
⌡
sinω (t − τ)
D
v = −――――
ω
D
t
τ⋅e ⋅ sinω (t − τ) ⌠ sinω (t − τ)

−ξ ⋅ ω ⋅ (t − τ)
D ⎮ D
ʃA2= −――――――――+ ⎮ ――――
ω ω
( ) ( )
D ⎮ D
⌡
0
( )
τ ⋅ e −ξ ⋅ ω ⋅ (t − τ) ⋅ sinω (t − τ) t
D 1 ⌠ −ξ ⋅ ω ⋅ (t − τ)
ʃA2= −―――――――― +― ⎮e ⋅ sinω (t − τ) d τ +
ω ω ⌡ D
D D
0
t
ξ⋅ω ⌠ ( )
――
⎮ τ ⋅ e −ξ ⋅ ω ⋅ t − τ ⋅ sinω (t − τ) d τ
ω ⌡ D
D
0
( )
τ ⋅ e −ξ ⋅ ω ⋅ (t − τ) ⋅ sinω (t − τ)
D 1 ξ⋅ω ⌠
ʃA2= −―――――――― +― ⌠
⌡ B d τ + ―― A dτ (*****)
ω ω ω ⌡
D D D
Remplazando el valor de ʃB en la ecuación (*****):
( )
τ ⋅ e −ξ ⋅ ω ⋅ (t − τ) ⋅ sinω (t − τ)
D ξ⋅ω ⌠
ʃA2= −―――――――― + ―― A dτ +
ω ω ⌡
D D
ω ⎛ e −ξ ⋅ ω ⋅ (t − τ) ⋅ cosω (t − τ) ξ ⋅ ω ⋅ e −ξ ⋅ ω ⋅ (t − τ) ⋅ sinω (t − τ) ⎞
D ⎜ D D ⎟
――――― ⋅
2 ⎜
――――――― + ――――――――― 2 ⎟
ω ω
ω 2 + (ξ ⋅ ω) ⎜⎝ D D ⎟⎠
D
Remplazando el valor de A1 y A2 en la ecuación (***):
( ) ( )
τ ⋅ e −ξ ⋅ ω ⋅ t − τ ⋅ cosω (t − τ) e −ξ ⋅ ω ⋅ t − τ ⋅ sinω (t − τ)
D D
ʃA= ―――――――― + ―――――――
ω
D
ω 2
D
ξ⋅ω ⎜ D D ⎟
−――――― 2
⋅ ⎜ ――――――― + ――――――――― ⎟
ω 2 + (ξ ⋅ ω) ⎜⎝
ω ω 2
D D ⎟⎠
D
( )
ξ ⋅ ω ⋅ τ ⋅ e −ξ ⋅ ω ⋅ (t − τ) ⋅ sinω (t − τ) 2
D (ξ ⋅ ω) ⌠
+ ――――――――― − ――― ⌡ A dτ
ω 2 ω 2
D D
⎛e ⋅ cosω (t − τ) ξ ⋅ ω ⋅ e −ξ ⋅ ω ⋅ t − τ ⋅ sinω (t − τ) ⎞
−ξ ⋅ ω ⋅ (t − τ)( )
ξ⋅ω ⎜ D D ⎟
−――――― ⋅
2 ⎜
――――――― + ――――――――― 2 ⎟
ω ω
ω 2 + (ξ ⋅ ω) ⎜⎝ D D ⎟⎠
D

ξ⋅ω ⎜ D D ⎟
−――――― 2
⋅ ⎜ ――――――― + ――――――――― ⎟
ω 2 + (ξ ⋅ ω) ⎜⎝
ω ω 2
D D ⎟⎠
D
( ) ( )
ω ⋅ τ ⋅ e −ξ ⋅ ω ⋅ t − τ ⋅ cosω (t − τ) e −ξ ⋅ ω ⋅ t − τ ⋅ sinω (t − τ)
D D D
ʃA= ――――――――― 2
+ ――――――― 2
ω 2 + (ξ ⋅ ω) ω 2 + (ξ ⋅ ω)
D D
2⋅ω ⋅ξ⋅ω 2 ⎛e ⋅ cosω (t − τ) ξ ⋅ ω ⋅ e −ξ ⋅ ω ⋅ t − τ ⋅ sinω (t − τ) ⎞

−ξ ⋅ ω ⋅ (t − τ) ( )
D ⎜ D D ⎟
−―――――― ⋅
2 ⎜
――――――― + ――――――――― 2 ⎟
⎛ 2 2⎞ ω ω
⎜
⎝ D ⎟⎠
⎜ωD + (ξ ⋅ ω) ⎟
D
⎝ ⎠
( )
ξ ⋅ ω ⋅ τ ⋅ e −ξ ⋅ ω ⋅ (t − τ) ⋅ sinω (t − τ)
D
+ ――――――――― 2
ω 2 + (ξ ⋅ ω)
D
Remplazando el valor de ʃA en la ecuación (**) obtenemos la respuesta

dinamica:
( ) ( )
5 ⋅ τ ⋅ e −ξ ⋅ ω ⋅ t − τ ⋅ cosω (t − τ) 5 ⋅ e −ξ ⋅ ω ⋅ t − τ ⋅ sinω (t − τ)
D D
X(t) = ――――――――― + ――――――――
⎛ 2⎞ ⎛ 2⎞
3 ⋅ m ⋅ ⎜ω 2 + (ξ ⋅ ω) ⎟ 3 ⋅ m ⋅ ω ⋅ ⎜ω 2 + (ξ ⋅ ω) ⎟
⎝ D ⎠ D ⎝ D ⎠
D ⎜ D D ⎟
−――――――― 2
⋅ ⎜ ――――――― + ――――――――― ⎟
⎛ 2 2⎞ ω ω 2
⎜ ⎟⎠
3 ⋅ m ⋅ ⎜ω + (ξ ⋅ ω) ⎟ ⎝
D D
⎝ D ⎠
5 ⋅ ξ ⋅ ω ⋅ τ ⋅ e −ξ ⋅ ω ⋅ (t − τ) ⋅ sinω (t − τ)
D
+ ――――――――――
⎛ 2⎞
3 ⋅ m ⋅ ω ⋅ ⎜ω 2 + (ξ ⋅ ω) ⎟
D ⎝ D ⎠
5 ⋅ e −ξ ⋅ ω ⋅ t ⋅ sinω (t)
5⋅t 10 ⋅ ξ ⋅ ω D
X(t) = ――――――― − ――――――― − ―――――――― +
⎛ 2 2⎞ 2 ⎛ 2 2⎞
( )
3 ⋅ m ⋅ ⎜ω + ξ ⋅ ω ⎟ ⎛ 2⎞
3 ⋅ m ⋅ ω ⋅ ⎜ω + ξ ⋅ ω ⎟ ( )
⎠ 3 ⋅ m ⋅ ⎜ωD + (ξ ⋅ ω) ⎟
2
⎝ D D ⎝ D ⎠
⎝ ⎠
2
D D
―――――――― 2
+ ――――――――― 2
⎛ 2 2⎞ ⎛ 2 2⎞
3 ⋅ m ⋅ ⎜ω + (ξ ⋅ ω) ⎟ 3 ⋅ m ⋅ ω ⋅ ⎜ω + (ξ ⋅ ω) ⎟
⎝ D ⎠ D ⎝ D ⎠
Para:
ξ = 0.05 5
――――――― = 0.038849 t
ω = 4.103 rad/seg ⎛ 2 2⎞
3 ⋅ m ⋅ ⎝ωD + (ξ ⋅ ω) ⎠
ωD = 4.098 rad/seg
Tn ⋅ s 2 −―――――――
10 ⋅ ξ ⋅ ω
= −0.000947
m = 2.548 ―― 2
m ⎛ 2 2⎞
3 ⋅ m ⋅ ⎝ωD + (ξ ⋅ ω) ⎠
2
5 10 ⋅ (ξ ⋅ ω)
−―――――――― + ――――――――― = −0.009432
⎛ 2 ⎞ 2
3 ⋅ m ⋅ ωD ⋅ ⎝ωD 2 + (ξ ⋅ ω) ⎠ ⎛ 2 2⎞
3 ⋅ m ⋅ ωD ⋅ ⎝ωD + (ξ ⋅RESPUESTA
ω) ⎠ DINAMICA - INTEGRAL DE DUHAMEL
2
5 10 ⋅ (ξ ⋅ ω)
−―――――――― + ――――――――― = −0.009432 e −0.205 ⋅ t ⋅ sin (4.098 t)
⎛ 2 2 ⎞ 2
3 ⋅ m ⋅ ωD ⋅ ⎝ωD + (ξ ⋅ ω) ⎠ ⎛ 2⎞
3 ⋅ m ⋅ ωD ⋅ ⎝ωD 2 + (ξ ⋅ ω) ⎠
10 ⋅ ξ ⋅ ω
――――――― 2
= 0.000947 e −0.205 ⋅ t ⋅ cos (4.098 t)
⎛ 2 2⎞
3 ⋅ m ⋅ ⎝ωD + (ξ ⋅ ω) ⎠
X(t) = 0.038849 t − 0.000947 − 0.009432 ⋅ e −0.205 ⋅ t ⋅ sin (4.098 t) + 0.000947 ⋅ e −0.205 ⋅ t ⋅ cos (4.098 t)
El desplazamiento maximo en esta fase es de 0.11746m que se da en el

tiempo de 3seg.

1.2. FASE II: td1= 3seg ≤ t ≤ td2= 6seg

Sabemos que:
E.D.M. → mẌ + CẊ + KX = P(τ)
t
1 ⌠ ( )
m⋅ω ⌡ D
D
0
P( τ ) = Po = 5
Para esta fase la respuesta dinamica sera:
3
t
⌠
1 −ξ ⋅ ω ⋅ (t − τ) ⎛ 5 ⎞ 1 ⌠ ( )
X(t) = ―― ⎮ e ⋅ ⎜―τ⎟ ⋅ sinω (t − τ) d τ + ―― ⎮ e −ξ ⋅ ω ⋅ t − τ ⋅ (5) ⋅ sinω (t − τ) d τ
m⋅ω ⎮ ⎝3 ⎠ D m⋅ω ⌡ D
D ⌡ D
0 3
3 t
5 ⌠ ( ) 5 ⌠ ( )
X(t) = ―――⎮ e −ξ ⋅ ω ⋅ t − τ ⋅ τ ⋅ sinω (t − τ) d τ + ―― ⎮ e −ξ ⋅ ω ⋅ t − τ ⋅ sinω (t − τ) d τ
3⋅m⋅ω ⌡ D m⋅ω ⌡ D
D D
0 3
5 5
X(t) = ―――⌠ ⌡ A d τ + ―― ⌠ B dτ (******)
3⋅m⋅ω m⋅ω ⌡
D D
Como ya se conocen las integrales anteriores se procede a remplazar en la ecuación

(******):
( ) ( )
D D
X(t) = ――――――――― + ――――――――
⎛ 2 ⎞ ⎛ 2⎞
3 ⋅ m ⋅ ⎜ω 2 + (ξ ⋅ ω) ⎟ 3 ⋅ m ⋅ ω ⋅ ⎜ω 2 + (ξ ⋅ ω) ⎟
⎝ D ⎠ D ⎝ D ⎠
D ⎜ D D ⎟
−――――――― ⋅
2 ⎜
――――――― + ――――――――― 2 ⎟
⎛ 2 2⎞ ω ω
⎜⎝ D D ⎟⎠
3 ⋅ m ⋅ ω + (ξ ⋅ ω) ⎟
Creado con ⎜⎝PTC
D Mathcad Express.
⎠ Consulte www.mathcad.com para obtener más información.
D ⎜ D D ⎟
−――――――― ⋅ ―――――――+ ―――――――――
2 ⎜ 2 ⎟
⎛ 2 2⎞ ω ω
⎜ ⎟⎠
3 ⋅ m ⋅ ⎜ω + (ξ ⋅ ω) ⎟ ⎝
D D
⎝ D ⎠
( )
5 ⋅ ξ ⋅ ω ⋅ τ ⋅ e −ξ ⋅ ω ⋅ t − τ ⋅ sinω (t − τ)
D
+ ―――――――――― +
⎛ 2⎞
3 ⋅ m ⋅ ω ⋅ ⎜ω 2 + (ξ ⋅ ω) ⎟
D ⎝ D ⎠
D ⎜ D D ⎟
―――――― ⋅ ⎜―――――――+ ――――――――― ⎟
⎛ 2 ⎞ ω ω 2
m ⋅ ⎜ω 2 + (ξ ⋅ ω) ⎟ ⎜⎝ D D ⎟⎠
⎝ D ⎠
( ) ( )
D D
X(t) = ―――――――― − ――――――――――
⎛ 2⎞ 2
3 ⋅ m ⋅ ω ⋅ ⎜ω 2 + (ξ ⋅ ω) ⎟ ⎛ 2 2⎞
D ⎝ D ⎠ 3 ⋅ m ⋅ ⎜ω + (ξ ⋅ ω) ⎟
⎝ D ⎠
2
( ) ()
D D
−――――――――――― − ―――――――― +
2 ⎛ 2 2⎞
⎛ 2 ⎞ 3 ⋅ m ⋅ ω ⋅ ⎜ω + (ξ ⋅ ω) ⎟
3 ⋅ m ⋅ ω ⋅ ⎜ω 2 + (ξ ⋅ ω) ⎟ D ⎝ D ⎠
D ⎝ D ⎠
2
() ()
D D 5
―――――――― + ――――――――― + ――――――
2 2 ⎛ 2⎞
⎛ 2 2⎞ ⎛ 2 2⎞
m ⋅ ⎜ω 2 + (ξ ⋅ ω) ⎟
3 ⋅ m ⋅ ⎜ω + (ξ ⋅ ω) ⎟ 3 ⋅ m ⋅ ω ⋅ ⎜ω + (ξ ⋅ ω) ⎟ ⎝ D ⎠
⎝ D ⎠ D ⎝ D ⎠
Para:
ξ = 0.05
ω = 4.103 rad/seg
ωD = 4.098 rad/seg
Tn ⋅ s 2
m = 2.548 ――
m
2
5 10 ⋅ (ξ ⋅ ω) −0.205 ⋅ (t − 3)
―――――――― − ――――――――― = 0.009432 e ⋅ sin (4.098 (t − 3))
⎛ 2 2⎞ 2
3 ⋅ m ⋅ ωD ⋅ ⎝ωD + (ξ ⋅ ω) ⎠ ⎛ 2 ⎞
3 ⋅ m ⋅ ωD ⋅ ⎝ωD 2 + (ξ ⋅ ω) ⎠
10 ⋅ ξ ⋅ ω −0.205 ⋅ (t − 3)
−―――――――― 2
= −0.000947 e ⋅ cos (4.098 (t − 3))
⎛ 2 2⎞
3 ⋅ m ⋅ ⎝ωD + (ξ ⋅ ω) ⎠
2
5 10 ⋅ (ξ ⋅ ω)
−―――――――― + ――――――――― = −0.009432 e
−0.205 ⋅ t
⋅ sin (4.098 t)
⎛ 2 2 ⎞ 2
( )
3 ⋅ m ⋅ ωD ⋅ ⎝ωD + ξ ⋅ ω ⎠ ⎛ 2⎞
3 ⋅ m ⋅ ωD ⋅ ⎝ωD 2 + (ξ ⋅ ω) ⎠

10 ⋅ ξ ⋅ ω
―――――――― 2
= 0.000947 e −0.205 ⋅ t ⋅ cos (4.098 t)
⎛ 2 2⎞
3 ⋅ m ⋅ ⎝ωD + (ξ ⋅ ω) ⎠
5
―――――― = 0.116547
⎛ 2 2⎞
m ⋅ ⎝ωD + (ξ ⋅ ω) ⎠
( ) ( )
X(t) = 0.009432 e −0.205 ⋅ t − 3 ⋅ sin (4.098 (t − 3)) − 0.000947 e −0.205 ⋅ t − 3 ⋅ cos (4.098 (t − 3)) -
0.009432 e −0.205 ⋅ t ⋅ sin (4.098 t) + 0.000947 e −0.205 ⋅ t ⋅ cos (4.098 t) + 0.116547

El desplazamiento maximo en esta fase es de 0.12096m que se da

en el tiempo de 3.30seg.

1.3. FASE III: td2= 6seg ≤ t

Sabemos que:
E.D.M. → mẌ + CẊ + KX = P(τ)
t
1 ⌠ ( )
m⋅ω ⌡ D
D
0
P( τ ) = 0
Para esta fase la respuesta dinamica sera:
3
6
1 ⌠ ⎛5 ⎞ 1 ⌠ −ξ ⋅ ω ⋅ (t − τ)
X(t) = ――⎮ e −ξ ⋅ ω ⋅ (t − τ) ⋅ ⎜―τ⎟ ⋅ sinω (t − τ) d τ + m ⋅ ―― e ⋅ (5) ⋅ sinω (t − τ) d τ
mω ⎮
⌡ ⎝3 ⎠ D ω ⎮
⌡ D
D D
0 3
3 6
5 ⌠ ( ) 5 ⌠ ( )
X(t) = ―――⎮ e −ξ ⋅ ω ⋅ t − τ ⋅ τ ⋅ sinω (t − τ) d τ + ―― ⎮ e −ξ ⋅ ω ⋅ t − τ ⋅ sinω (t − τ) d τ
3⋅m⋅ω ⌡ D m⋅ω ⌡ D
D D
0 3
5 5
X(t) = −―――⌠ ⌠
⌡ A d τ − ―― ⌡ B d τ (*******)
3⋅m⋅ω m⋅ω
D D
Como ya se conocen las integrales anteriores se procede a remplazar en la ecuación

(*******):
( ) ( )
D D
X(t) = ――――――――― + ――――――――
⎛ 2⎞ ⎛ 2⎞
3 ⋅ m ⋅ ⎜ω 2 + (ξ ⋅ ω) ⎟ 3 ⋅ m ⋅ ω ⋅ ⎜ω 2 + (ξ ⋅ ω) ⎟
⎝ D ⎠ D ⎝ D ⎠

D ⎜ D D ⎟
−――――――― ⋅
2 ⎜
――――――― + ――――――――― 2 ⎟+
⎛ 2 2⎞ ω ω
⎜ ⎟⎠
3 ⋅ m ⋅ ⎜ω + (ξ ⋅ ω) ⎟ ⎝
D D
⎝ D ⎠
( )
5 ⋅ ξ ⋅ ω ⋅ τ ⋅ e −ξ ⋅ ω ⋅ (t − τ) ⋅ sinω (t − τ)
D
――――――――――
⎛ 2⎞
+
3 ⋅ m ⋅ ω ⋅ ⎜ω 2 + (ξ ⋅ ω) ⎟
D ⎝ D ⎠
D ⎜ D D ⎟
―――――― ⋅ ⎜ ――――――― + ――――――――― ⎟
⎛ 2 ⎞ ω ω 2
m ⋅ ⎜ω 2 + (ξ ⋅ ω) ⎟ ⎜⎝ D D ⎟⎠
⎝ D ⎠
( ) ( )
D D
X(t) = ―――――――― − ――――――――――
⎛ 2⎞ 2
3 ⋅ m ⋅ ω ⋅ ⎜ω 2 + (ξ ⋅ ω) ⎟ ⎛ 2 2⎞
D ⎝ D ⎠ 3 ⋅ m ⋅ ⎜ω + (ξ ⋅ ω) ⎟
⎝ D ⎠
2
( )
D D
−――――――――――― − ――――――――
2 ⎛ 2⎞
⎛ 2 2⎞
3 ⋅ m ⋅ ω ⋅ ⎜ω 2 + (ξ ⋅ ω) ⎟
3 ⋅ m ⋅ ω ⋅ ⎜ω + (ξ ⋅ ω) ⎟ D ⎝ D ⎠
D ⎝ D ⎠
2
D D
+ ―――――――― 2
+ ――――――――― 2
⎛ 2 2⎞ ⎛ 2 2⎞
3 ⋅ m ⋅ ⎜ω + (ξ ⋅ ω) ⎟ 3 ⋅ m ⋅ ω ⋅ ⎜ω + (ξ ⋅ ω) ⎟
⎝ D ⎠ D ⎝ D ⎠
( ) ( )
5 ⋅ e −ξ ⋅ ω ⋅ t − 6 ⋅ cosω (t − 6) 5 ⋅ ξ ⋅ ω ⋅ e −ξ ⋅ ω ⋅ t − 6 ⋅ sinω (t − 6)
D D
+ ―――――――― + ――――――――――
⎛ 2 ⎞ ⎛ 2⎞
m ⋅ ⎜ω 2 + (ξ ⋅ ω) ⎟ m ⋅ ω ⋅ ⎜ω 2 + (ξ ⋅ ω) ⎟
⎝ D ⎠ D ⎝ D ⎠
Para:
ξ = 0.05
ω = 4.103 rad/seg
ωD = 4.098 rad/seg
Tn ⋅ s 2
m = 2.548 ――
m 2
5 10 ⋅ (ξ ⋅ ω) ( )
―――――――― − ――――――――― = 0.009432 e −0.205 ⋅ t − 3 ⋅ sin (4.098 (t − 3))
⎛ 2 2⎞ 2
3 ⋅ m ⋅ ωD ⋅ ⎝ωD + (ξ ⋅ ω) ⎠ ⎛ 2⎞
3 ⋅ m ⋅ ωD ⋅ ⎝ωD 2 + (ξ ⋅ ω) ⎠
10 ⋅ ξ ⋅ ω
−――――――― 2
= −0.000947 e −0.205 ⋅ (t − 3) ⋅ cos (4.098 (t − 3))
⎛ 2⎞
3 ⋅ m ⋅ ⎝ωD 2 + (ξ ⋅ ω) ⎠
2
5 10 ⋅ (ξ ⋅ ω)
−―――――――― + ――――――――― = −0.009432
⎛ 2 2⎞ 2
3 ⋅ m ⋅ ωD ⋅ ⎝ωD + (ξ ⋅ ω) ⎠ ⎛ 2 2⎞
3 ⋅ m ⋅ ωD ⋅ ⎝ωD + (ξ ⋅ ω) RESPUESTA
⎠ DINAMICA - INTEGRAL DE DUHAMEL
2
5 10 ⋅ (ξ ⋅ ω)
−―――――――― + ――――――――― = −0.009432 e −0.205 ⋅ t ⋅ sin (4.098 t)
⎛ 2 2 ⎞ 2
3 ⋅ m ⋅ ωD ⋅ ⎝ωD + (ξ ⋅ ω) ⎠ ⎛ 2⎞
3 ⋅ m ⋅ ωD ⋅ ⎝ωD 2 + (ξ ⋅ ω) ⎠
10 ⋅ ξ ⋅ ω
――――――― 2
= 0.000947 e −0.205 ⋅ t ⋅ cos (4.098 t)
⎛ 2 2⎞
3 ⋅ m ⋅ ⎝ωD + (ξ ⋅ ω) ⎠
5 ( )
―――――― = 0.116547 e −0.205 ⋅ t − 6 ⋅ cos (4.098 (t − 6))
⎛ 2 2⎞
m ⋅ ⎝ωD + (ξ ⋅ ω) ⎠
5⋅ξ⋅ω ( )
―――――――― = 0.005835 e −0.205 ⋅ t − 6 ⋅ sin (4.098 (t − 6))
⎛ 2 2⎞
m ⋅ ωD ⋅ ⎝ωD + (ξ ⋅ ω) ⎠
−0.205 ⋅ (t − 3) ( )
X(t) = 0.009432 e ⋅ sin (4.098 (t − 3)) − 0.000947 e −0.205 ⋅ t − 3 ⋅ cos (4.098 (t − 3))
−0.009432 e −0.205 ⋅ t ⋅ sin (4.098 t) + 0.000947 e −0.205 ⋅ t ⋅ cos (4.098 t)
( ) ( )
+ 0.116547 e −0.205 ⋅ t − 6 ⋅ cos (4.098 (t − 6)) + 0.005835 e −0.205 ⋅ t − 6 ⋅ sin (4.098 (t − 6))
El desplazamiento maximo en esta fase es de 0.11635m

que se da en el tiempo de 6.00 seg.
El desplazamiento maximo en esta fase es de 0.11635m
que se da en el tiempo de 6.00 seg.


en el dominio del tiempo de las tres fases
∴ Se puede observar en el grafico que el desplazamiento maximo es de 0.12096 m.

que se da en el tiempo de 3.30 seg correspondiente a la FASE II.


Integral de Duhamel

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Integral de Duhamel

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PRACTICA N°03 - INGENIERIA ANTISISMICA

Usando unicamente la integral de Duhammel determinar:

A. PARA CARGA DE SISMO

- Deformación por corte :

RESPUESTA DINAMICA - INTEGRAL DE DUHAMEL

2.2. Definición de Sistema Local de Coordenadas {q} - {d}

2.3. Determinación de la Matriz [A]

RESPUESTA DINAMICA - INTEGRAL DE DUHAMEL

- 3° Estado de deformacion: D3=1, D1=D2=D4=0

- 4° Estado de deformacion: D4=1, D1=D2=D3=0

RESPUESTA DINAMICA - INTEGRAL DE DUHAMEL

2.4. Determinación de la Matriz de Rigidez de cada elemento [k]

⎢ 6 E⋅I (4 + ϕ1) E ⋅ I −6 E ⋅ I (2 − ϕ1) E ⋅ I ⎥

⎡ 9.061 45.305 −9.061 45.305 ⎤

⎢ 6 E⋅I (4 + ϕ3) E ⋅ I −6 E ⋅ I (2 − ϕ3) E ⋅ I ⎥

RESPUESTA DINAMICA - INTEGRAL DE DUHAMEL

2.5. Ensamblaje de la Matriz de Rigidez[K]

K ≔ Ae1 T ⋅ k1 ⋅ Ae1 + Ae2 T ⋅ k2 ⋅ Ae2 + Ae3 T ⋅ k3 ⋅ Ae3 + Ar T ⋅ kr ⋅ Ar

2.6. Determinación de la Matriz Lateral[KL] por condensación estatica

3.- Determinación de la Matriz de Masa[M]

RESPUESTA DINAMICA - INTEGRAL DE DUHAMEL

- 3° Estado: D °° 3=1, D °° 1=D °° 2=D °° 4=0

- 4° Estado: D °° 4=1, D °° 1=D °° 2=D °° 3=0

Remplazando tenemos la Matriz [M]:

RESPUESTA DINAMICA - INTEGRAL DE DUHAMEL

⎡ m11 m12 m13 m14 ⎤ ⎡ 2.548 0 0 0⎤

4.- Formulación de la Ecuación Diferencial de Movimiento[EDM]

5.- Respuesta Dinámica aplicando DUHAMEL

RESPUESTA DINAMICA - INTEGRAL DE DUHAMEL

τ⋅e ⋅ cosω (t − τ) ⌠ cosω (t − τ)

- Solución del bloque "A1" integración por partes:

- Solución del bloque "B" integración por partes:

RESPUESTA DINAMICA - INTEGRAL DE DUHAMEL

Remplazando el valor de ʃB en la ecuación (****):

ξ⋅ω⋅ω ⎛ e −ξ ⋅ ω ⋅ (t − τ) ⋅ cosω (t − τ) ξ ⋅ ω ⋅ e −ξ ⋅ ω ⋅ (t − τ) ⋅ sinω (t − τ) ⎞

- Solución del bloque "A2" integración por partes:

τ⋅e ⋅ sinω (t − τ) ⌠ sinω (t − τ)

Remplazando el valor de ʃB en la ecuación (*****):

Remplazando el valor de A1 y A2 en la ecuación (***):

RESPUESTA DINAMICA - INTEGRAL DE DUHAMEL

2⋅ω 2 ⋅ξ⋅ω ⎛ e −ξ ⋅ ω ⋅ (t − τ) ⋅ cosω (t − τ) ξ ⋅ ω ⋅ e −ξ ⋅ ω ⋅ (t − τ) ⋅ sinω (t − τ) ⎞

Remplazando el valor de A en la ecuación (**) obtenemos la respuesta dinamica:

RESPUESTA DINAMICA - INTEGRAL DE DUHAMEL

Tabla N°01: Datos de respuesta a nivel de los desplazamientos

El desplazamiento maximo es de -0.29930m. que se da en el tiempo

RESPUESTA DINAMICA - INTEGRAL DE DUHAMEL

5.2. FASE II: td1= 3seg ≤ t ≤ td2= 6seg

Como ya se conocen las integrales anteriores se procede a remplazar en la

RESPUESTA DINAMICA - INTEGRAL DE DUHAMEL

RESPUESTA DINAMICA - INTEGRAL DE DUHAMEL

Tabla N°02: Datos de respuesta a nivel de los desplazamientos

El desplazamiento maximo en esta fase es de -0.30822 m. que se

RESPUESTA DINAMICA - INTEGRAL DE DUHAMEL

5.3. FASE III: td2= 6seg ≤ t

 La respuesta dinamica para sismo sera:

Para esta fase sera:

Como ya se conocen las integrales anteriores se procede a remplazar en la

RESPUESTA DINAMICA - INTEGRAL DE DUHAMEL

RESPUESTA DINAMICA - INTEGRAL DE DUHAMEL

0.024033 e −0.205 ⋅ t ⋅ sin (4.098 t) − 0.002412 e −0.205 ⋅ t ⋅ cos (4.098 t)

Tabla N°03: Datos de respuesta a nivel de los desplazamientos

El desplazamiento maximo en esta fase es de -0.29645m. que se da en el tiempo

RESPUESTA DINAMICA - INTEGRAL DE DUHAMEL

La respuesta dinamica para sismo sera: