Comportamiento Dinámico No Lineal y Control de Vibración en Estructuras

The State of the Art andcascarones

(placas, Practiceyfor Assessing Seismic
vigas)
Performance of Building Structures: Part 1
Parte 2
 Universidade Federal de Goiás – UFG
Escola de Engenharia Civil
Programa de Pos-graduação em Geotecnia, Estruturas e Construção Civil
https://gecon.eec.ufg.br/

Pontifícia Universidade Católica do Rio de Janeiro – PUC-Rio

Departamento de Engenharia Civil

McGill University – Montreal - Canadá

Mechanical Engineering Department

Universidade de Brasília - UnB

Departamento de Engenharia Civil
 RESUMEN
• Motivación
• Proceso de análise
Parte 1 • Introducción a linearidad e não linearidad
• Generación de equaciones de equilíbrio
• Exemplos de sistemas discretos (vibrações não lineares e inestabilidad dinámica)

Vibraciones no lineales e inestabilidad dinámica

• Cascarones cilíndricos
Parte 2 • Placas
• Vibraciones de tubulaciones com fluido
Control de vibración em vigas
 INTRODUCCIÓN
• Los fenómenos naturales son basicamente no-lineales.
• Una grande parte del conocimiento científico se há dedicado durante mucho tiempo a tratar de la
descripción de los fenómenos naturales (descripción matemática)
• Las equaciones diferenciales no-lineales son ampliamente utilizadas para describir complexos
fenómenos naturales como por ejemplo: vibraciones, dinámica de fluidos, biologia, química, etc.

La dinámica es un térmico conciso que se refiere al estudio de los procesos que se desarrollan com
el tiempo y el sistema de equaciones irá describir esta evolución.
NONLINEAR VIBRATIONS OF CIRCULAR CYLINDRICAL SHELLS
ELASTIC, EMPTY AND FLUID FILLED SHELLS
ORTHOTROPIC SHELLS
VISCOELASTIC SHELLS
Civil, Mechanical and Aerospatial
engineering
 INTRODUCTION
 Circular cylindrical shells are widely used structures in several engineering branches.

 In these applications cylindrical shells are subjected to various loading conditions.

 In most of these applications, cylindrical shells are used to hold or transport fluids.

 Analysis of elastic isotropic shells, orthotropic and viscoelastic materials.

MATHEMATICAL MODEL
• Consider a perfect, simply supported, thin-walled circular cylindrical shell of radius R, length L and thickness h .
• Empty of fluid-filled (with or without flow, velocity U)
• Elastic, orthotropic (with initial Young’s modulus E, Poisson ratio n and density r.) or viscoelastic (Kelvin-Voigt viscoelastic material)

P(t)
f
R
U
x, (u)

v, ()
z, (w)

L h
R
L

~
Nx

U
f = fo cos(n)sin(px/L)cos(wL t).
Elastic shell: The non-linear equation of motion, based on the Donnell shallow shell theory, in terms of a stress
pressure due to fluid flow
function F, the lateral displacement w is given by:
external pressure stress function

1 2F 1 2F   2 w  2 wo 
D  w  c h w  r s h w
4
  f  Ph    2  2  
2 
R x 2
R    x x 
2F  2w  2 wo   2 F   2 w  2 wo 
2    2  2  
2 
x   x  x   x     
The compatibility equation is given by:

1  2 w 1   w   2 w  2 wo   2 w  2 wo   2 w  2 w  2 wo 
2
1 4
 F       2     
Eh R x 2 R 2   x   x  x   x 2 x 2   2 x 2  2 

c = damping
where D  Eh3 / 12(1  n 2 )
w = lateral displacement
wo = initial imperfection
Orthotropic Shell: The non-linear equation of motion, based on the Donnell shallow shell theory, in terms of a stress
function F, the lateral displacement w is given by:

 4w 2   4w  4w w  2w
  D  2 D 
1
D  D ch r h  f
11 4 R  12
x
33  2 2
 x  R 4 22 4
  t s
t 2

1 2F 1  2 F  2w 2  2 F  2w 1  2 F  2w
   
R  x 2 R 2  2  x 2 R 2  x    x   R 2  x 2  2

The compatibility equation is given by:

1   2 w  2w 2w 
2
4F 4F 4F 1 2w
P22 
1
P33  2 P12  2 2  4 P11 4  
1
    
 x4 R2  x  R  R  x 2 R 2   x     x 2  2 
 

A22 A12 A11 1

with P11  , P12  , P 22  , P33 
A11 A22  A12
2
A11 A22  A12
2
A11 A22  A12
2
A33
Viscoelastic Shell: The non-linear equation of motion, based on the Donnell shallow shell theory, in terms of a stress
function F, the lateral displacement w is given by:

Eh 3  4w 2 4w 1 4w  Eh 3   4w 2 4w 1 4w 

     
 

12 1  n 2  x 4 R 2 x 2  2

R 4  4  12 1  n 2 
t  x 4  R 2 x 2  2

R 4  4 
w 2w 1 2F 2w 1 2F 2w 2F  2w 1
ch rh  f ( x, , t )  Ph  2 2 2  
 R 2 2  
t t 2 R  2  x 2 R x  x   x 2  R


d
Kelvin-Voigt material model   E  E
dt
The compatibility equation is given by:

4F 2 4F 1 4F  1 2w 1  2w 

2
1 2w 2w
 2  4  E h   2   2 
x 4 R x 2  2 R  4  R  x 2
R   x    R  x 2
  2

 1  3w  2 w 1  2 w  3w 1  3w 2  3w 2w  
  2  2   2  .
 R  x t   R  x 2   2t R  x 2t R x   t x    
2 2
Fluid Equations

The influence of the non-linearities in the fluid formulation is very small so that the fluid flow effect can
be approximated as a linear one. Using the Païdoussis and Denise (1972) model, the hydrodynamic fluid
pressure can be written as (fluid filled with flow and partiallyfilled):

L 1  2w 2w 2  w
2
Ph  r F  2  2U U 
2  mp R
p I 
n   t  t x  x  q x
m ( n-1,q )   L
 I q 
 ( n,q )
h

Here I(n-1,q) and I(n,q) are Bessel functions R

3 M   Ai m ( )  Bi m ( ) 
pH   r F   cos( i n )  sin( i n )  L
Free surface

m 1     Fluido
Fluid
i 0

 p 2 m 1  x   2 m 1 p r R 
H

 cos   I i n  
 2 H   2 H  w, r, z
 Lateral displacements
By applying the perturbation procedures and by considering the boundary conditions for a simply supported cylindrical
shell, the following general modal solution is obtained for the transversal displacement:

 ij ( ) cos ( in )  ij ( ) sin( in ) sin( j q  )

 
W  
i  0,1, 2 j  1, 2, 3

  26  ( ) cos   n   26  ( ) sin   n  

 
  
  0,1, 2   0,1, 2
 3  6  cos ( 6  q  )  cos  2  6   q   1  6  cos  4  6   q   
 
 4  12   4  12  

  36  ( ) cos   n   36  ( ) sin   n  

 
  
  0,1, 2   0,1, 2
 2  3  1  3  cos  5  6   q   
 cos ( 1  6   q  )  cos  3  6   q    
 3  6   3  6  
 LATERAL DISPLACEMENT
driven and companion modes

 mpx   mpx 
w x, , t   1,1 t  h cos n   sin    1,1c t  h sin n   sin  
 L   L 
 2mp x   2mp x 
gyroscopic
modes
  1, 2 t  h cos n   sin     1, 2 c t  h sin n   sin  
 L   L 
 mpx   3m p x 
  0 ,1 t  h sin     0,3 t  h sin  
 L   L 
 5mp x   7mpx 
  0 ,5 t  h sin     0, 7 t  h sin  
 L   L 

axi-symmetric modes
Fluid filled shell: 8 dof
ELASTIC CIRCULAR CYLINDRICAL SHELLS
 2.00
POST-CRITICAL PATH (AXIAL LOAD)
Basins of 1.00

attraction 0.00
0 p /2 p /2 p
-0.50
(static)  -1.00

-2.00 0.00
2.00
-3.00
0.50
-4.00
-12.00 -6.00 0.00 6.00 12.00
1.00

1.80
0.00 0 p /2 p p /2 p

 -1.00
-0.50
1.50
-2.00 0.00
1.20
-3.00
0.50
-4.00
-12.00 -6.00 0.00 6.00 12.00  0.90
2.00 

1.00
0.60 Deformed configuration
0.00 Circunferential and longitudinal
 -1.00 0.30 half-wave number
-2.00

0.00
-3.00
0.0 2.0 4.0 6.0 8.0 10.0 12.0
-4.00 
-12.00 -6.00 0.00 6.00 12.00

 8000.00

VARIATION OF NATURAL FREQUENCY

4.00
with fluid 6000.00
without fluid CPC

3.00

With Fluid
w(rad/s)
4000.00 m=4
1.80
2.00
m=3

 (rad/s)
1.50


m=2
CF 2000.00
1.00
1.20 m=1

 0.90 0.00
0.00

0.00 1.00 2.00 3.00 4.00 5.00 6.00 7.00 8.00 9.00 10.00
0.60 n
-1.00

0.00 0.20 0.40 0.60 0.80 1.00 1.20

0.30 


0.00
0.0 2.0 4.0 6.0 8.0 10.0 12.0
Natural frequency sperctrum

 Bifurcation Diagrams – EMPTY SHELL
0.40
1.60
wp wp
2.00
1.40 0.20

1.00

Amplitude da excitação
1.20 Escape  0.00

 0.00
1.00 -0.20

-1.00
0.80
-0.40
cr 0.00 0.10 0.20 0.30 0.40 0.50
-2.00 0.60 Amplitude da excitação
0.00 0.10 0.20 0.30 0.40
Amplitude da excitação

2.00
0.40 0.60

0.20 Instabilidade paramétrica 0.40

1.00

0.20
0.00
 0.00
0.00 0.40 0.80 1.20 1.60 2.00  0.00

Freqüência da excitação (wwp)

-1.00 -0.20

-0.40
-2.00
0.00 0.04 0.08 0.12 0.16 0.20
Amplitude da excitação -0.60
0.00 0.20 0.40 0.60 0.80
Amplitude da excitação
 Parametric Instability and Escape Bondaries (Axial Load)
Empty and Fluid Fillled
2.40 1.00
  w w w w  
 p p p p 
Gradual load Gradual load
0.90

2.00
Without Fluid
0.80
With Fluid

0.70 Permanent escape

Amplitude of excitation

Amplitude of excitation
1.60

0.60
Permanent escape

1.20 0.50

0.40

0.80
1.80
0.30
 =  
cr  

1.50
0.20
0.40
1.20
Without fluid
0.10
 0.90 With fluid
 =  
cr   Parametric instability Parametric instability
0.60 0.00 0.00

0.30 0.20 0.40 0.60 0.80 1.00 1.20 1.40 1.60 1.80 2.00 0.20 0.40 0.60 0.80 1.00 1.20 1.40 1.60
Frequency of excitation () Frequency of excitation ()
0.00
0.0 2.0 4.0 6.0 8.0 10.0 12.0

Shiffted to the left Axial load = 0,40 and 0,60
Elastic Isotropic perfect and Imperfect shells with axial flow
50.00
Experimental data
Perfect
45.00

40.00

35.00

30.00

w (x=L/2, 
25.00



20.00

15.00


10.00

5.00

0.00

-5.00
0.00 0.50 1.00 1.50 2.00 2.50 3.00 3.50
U/Va
Critical value
Bifurcation diagrams for varying axial flow
 0.30 Bifurcation Diagrams - Fluid-Filled Shell
0.20
o = 0.80 0.60

1.40
  w w
 p p 0.40

 0.10
Gradual load

With fluid
1.20 0.20




0.00 0.00

1.00

Amplitude of excitation
 

Gradual load -0.20
With fluid
-0.10  

0.10 0.15 0.20 0.25 0.30 0.35 0.80 Gradual load
With fluid
Amplitude of excitation -0.40

0.00 0.04 0.08 0.12 0.16

Amplitude of excitation
12.00
Permanent escape
0.60 0.40

8.00
0.40
0.20
 =  
cr  
 4.00

0.20 


0.00
0.00 Parametric instability
0.00
 
 0.20 0.40 0.60 0.80 1.00 1.20  

Frequency of excitation ()
Gradual load Gradual load
With fluid With fluid
-4.00 -0.20

0.00 0.10 0.20 0.30 0.00 0.10 0.20 0.30 0.40

Amplitude of excitation Amplitude of excitation
 Evolution of basins of attraction

Imperfect shell

Perfect shell
Basins of Attraction – Empty Shell
PARTIALLY FLUID-FILLED CIRCULAR
CYLINDRICAL SHELLS

P  P0  P1 cos ( w t )
Parametric instability and escape boundaries for the axially pre-loaded cylindrical shell.
(Pe = 0.40 Pcr).

H=0 H = 0.5 L

with 1  Pd Pcr
  w wo

H=L
 Bifurcation diagrams

0 = 0.40, H = 0.50 L 0 = 0.40, H = L

 = 1.30  = 1.55  = 1.00  = 1.10

Bifurcation diagrams for a cylindrical shell under axial load and a varying fluid height

0 = 0.40

 = 1.50, 1 = 0.60  = 1.00, 1 = 0.60

 = 1.00, 1 = 0.30
 f  f n sin( mp x L) cos( n ) cos(w Lt )

VISCOELASTIC CIRCULAR
CYLINDRICAL SHELLS

 mp x 
f ( x, , t )  FL h 2r wo2 sin   cosn coswL t 
 L 
 Resonance curves of the empty shell - Softening behavior

(a)  = 0.0 s (b)  = 1.0e-5 s (c)  = 2.0e-5 s

(d)  = 3.0e-5 s (e)  = 5.0e-5 s (f)  = 1.0e-4 s.

 Resonance curve and Poincare mapping. FL = 0.3,  = 2.0e-5 s Empty shell
3.2
2.8 2.2

2.8
2.1

2.4 2.1
2.4

d1()/d
d1()/d

d1()/d
2.0
2.0

2.0 2.0
1.6

2.0

1.2
1.6 1.9
-4.0 -3.0 -2.0 -1.0 0.0 1.0 2.0
-3.0 -2.0 -1.0 0.0 1.0 2.0
1() -0.2 0.0 0.2 0.4 0.6 0.8
1() 1()

9.0
FL = 0.3
8.0
 = 2.0e-5 2.6
7.0
2.4
6.0
2.4
5.0

4.0

d1()/d
2.2
2.2
3.0
d1()/d

2.0

1.0 2.0
2.0
0.0
0.6 0.7 0.8 0.9 1.0 1.1 1.2
L 1.8
-1.5 -1.0 -0.5 0.0 0.5 1.0
1.8 1()
-1.2 -0.8 -0.4 0.0 0.4 0.8 1.2
1()
 Resonance curve and Poincare mapping. FL = 0.5,  = 3.0e-5 s.
10.0 3.6
FL = 0.5
9.0 3.4
 = 3.0e-5
8.0
3.2
7.0
3.0
6.0

d1()/d
 2.8
5.0
2.6
4.0
2.4
3.0

2.0 2.2

1.0 2.0

0.0 1.8
0.6 0.7 0.8 0.9 1.0 1.1 1.2 -4.0 -3.0 -2.0 -1.0 0.0 1.0 2.0
L 1()

3.4
2.8

Empty shell
3.2

3.0

2.6
d1()/d

2.8

d1()/d
2.6

2.4 2.4

2.2

2.0
-3.0 -2.0 -1.0 0.0 1.0 2.0 2.2
1() -1.0 -0.5 0.0 0.5 1.0 1.5
1()
 f  f n sin( mp x L) cos( n ) cos(w Lt )

ORTHOTROPIC
CIRCULAR
CYLINDRICAL SHELL

f  Fe  Fd cos wLt   sin mp x Lcos n

Empty orthotropic cylindrical shell with lateral harmonic load ( f ).

 Corrugated panel
Apart of naturally orthotropic
materials, several shell
problems can be analyzed.

Ring-stiffened shell
 Resonance curves - Lateral pressure
6.0 NS NS
8.0 12.0
PT
PT PT

4.5 NS 6.0 9.0

QP
NS NS

|1,1|
|1,1|

|1,1|
PT
3.0 PT 4.0 PT 6.0 PT
NS
NS
NS
QP
NS
1.5 PT 2.0 3.0
PT PT PT

0.0 0.0 0.0

0.4 0.8 1.2 1.6 2.0 0.4 0.8 1.2 1.6 2.0
1.25
0.4 0.8 1.2 1.6 2.0
6.0
wL/w0 wL/w0 wL/w0
1.00
3.0

d1,1/dt
d1,1/dt

0.75
0.0

-3.0 0.50

-6.0 L/R = 0.50 e R/h = 800 0.25

-6.0 -3.0 0.0 3.0 6.0 -3.92 -3.88 -3.84 -3.80
1,1 1,1

• For low L/R relation and high R/h relation shells with low E/Exx ratio will display stronger nonlinear
behavior than shells with high E/Exx ratio.
 Resonance curves - Lateral pressure
3.6 4.0 3.6
PT

2.7 3.0 2.7

PT PT

|1,1|
|1,1|
|1,1|

PT
1.8 2.0 1.8 PT

PT

0.9 1.0 PT 0.9 PT PT

PT
PT
QP NS NS
NS
0.0 0.0 0.0
0.4 0.8 1.2 1.6 2.0 0.4 0.8 1.2 1.6 2.0 0.4 0.8 1.2 1.6 2.0
wL/w0 wL/w0 wL/w0

L/R = 0.50 e R/h = 75

For low L/R and R/h relations, depending on material characteristics, cylindrical shells can exhibit hardening behavior.
VISCOELASTIC PLATES
 y F(t) = f cos(wt)
h

A silicone plate with 1.5 mm thickness and a neoprene plate with 3 mm thickness

d
Kelvin-Voigt material model   E  E
dt
Experimental and theoretical study on large amplitude vibrations of clamped rubber plates
Prabakaran Balasubramaniana, Giovanni Ferraria, Marco Amabilia, Zenon J. Guzman N. Del Prado
International Journal of Non-Linear Mechanics
Experimental setup
MATHEMATICAL MODEL

• Kinetic energy
• Strain energy (elastic and viscoelstic terms)
• Strain energy of rotational springs
• Work of external forces
 The mid surface displacements u, v and w are
expanded by using approximate functions, which
satisfy the geometric boundary conditions

System of nonlinear differential equations

Vibration modes
 Comparison between experimental and simulation

η = 0.0012 s,

η = 0.0018 s,

η = 0.002 s,

η = 0.005 s

Silicone plate Neoprene plate

Comparison between experimental and simulation (viscous damping model) results
Neoprene plate
PIPES WITH AXIAL FLOW

Fluid-structure interaction
DINAMIC INSTABILITY DUE TO AXIAL FLOW

Civil

Off - shore
Civil

Petro - química
 LINEAR MODEL

E, I, M
m
a
L m, u

4 w 2  w
2
2 w 2w 2w
EI  MU  2MU  M  m   m  x  a  2  0
 x4 x 2 xt x t t

Inertia force Inertia due to

concentrated
mass
Coriols force
Bending stiffness
Centrifugal force
 NON-LINEAR MODEL

2w 2w   w   w  1  w  
2 2

m  M   2M U 1      m  M  g 1    
t 2 x t 
  x  
 x 
 2  x  
2w    w    U  3  w   
2 2
  
 2 
MU2 1      M  m  M  g  L  s  1    
x  
  x    t  
 2  x  

 w  2 w  3 w   2 w    2 w    2 w 
3 2
 w   w  3 w
2
 L s
 E I 1    4
x  x x 2 x 3

 x 2    x 2  s 0 m  M  
 x t 
  x x t 2  ds ds

     
 
  

1 U  w  w  2 w   
  w 
2

2 w  w  w s
2 2 2

0 m  M   x t
L
 
s
 M
 2 t

 x
  2M U
 x x t
 MU
x x 2 

ds  
 x
 




    
w  3 w  2w
  ds  m   x  a  0
x x t 2  t 2
 ARGAND DIAGRAMS

Tubo Engastado-livre
u

80.00 140.00
60.00 120.00

40.00 100.00
80.00
Im

Re
20.00
60.00
0.00
40.00
-20.00 20.00
-40.00 0.00
0.00 4.00 8.00 12.00 16.00 0.00 4.00 8.00 12.00 16.00
u u
ucr = 9
 M
m
 m
1
 M
m
 m
1
VIBRATION CONTROL IN BEAMS DUE TO MOVING LOADS
 vv
yv(t)
mv Beams with moving loads
cv kv

mb

////////// la ka
x //////////
ma
d ya(t)
L

vv1 vv2

mb

////////// la ka
x //////////
ma
d ya(t)
L
 Mathematical model
 2 yb  yb  4 yb 
  2 yb
3
   yb
2
  4 yb  yb  2 yb  3 yb
mb  c  EI  EI 
  x2 
 
 x 
  x4  4 
t 2 t x 4  x  x 2  x3
b

   

  2 yb  3 yb 
2 3 4 3
3   yb    2 yb  1   yb   4 yb   yb 

 x 
 
  x2 
 4 
 x 
 x 4  2 
 x 
  x 2  x3 
2         

   yb ( D, t )  ya (t )  
k a  yb ( D, t )  ya (t )   la t  G ( x, t ) 
 
   yv (t )  yb (vv , t )    L 
 kv  yv (t )  yb (vv , t )   cv  mv g   ( x  vv t ) H 
 t

 t   vv 

 2 ya   yb ( D, t )  ya (t ) 
ma  ka  yb ( D, t )  ya (t )   la 0
t 2
t

 2 yv   yv (t )  yb (vv t , t ) 
mv  kv  yv (t )  yb (vv t , t )   cv 0
t 2 t
 0.0004
Yang et al (2004)
Present Results
Displacement in the midspan 0

Lateral displacement (m)

-0.0004
2
Maximum beam displacement - (mm)

-0.0008
1.8

-0.0012
1.6

-0.0016
1.4
0 0.5 1 1.5 2 2.5
Linear beam Time (s)
without absorber
1.2
with absorber
Vehicle model
1
0 20 40 60 80 100 120 140
Maximum displacement as a
Velocity - vv (m/s) function of velocity of load
 CONCLUDING REMARKS

• Dynamic nonlinear analysis dispay complex behavior in structures

• Importance to study and understand the effect of geometric nonlinearity
• Consider other material models
• Improve numerical models
• Academic interest
 MUCHAS GRACIAS

HASTA LA PROXIMA !!!