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Systems
By
Indrajit Chowdhury
Chief Discipline Supervisor
Civil & Structural Engineering
Petrofac International Limited
Sharjah, U.A.E.
and
Shambhu P. Dasgupta
Professor
Department of Civil Engineering
Indian Institute of Technology
Kharagpur 721302, India.
e-mail: dasgupta@civil.iitkgp.ernet.in
Summary
The present paper outlines a procedure, which ensures a rational estimate of α and
β even for a system with large degrees of freedom. The results obtained have been
checked against different class of real life structure and foundation systems and the
results are presented graphically.
in whch [C] = damping matrix of the physical system; [M] = mass matrix of the physical
system; [K] = stiffness matrix of the system; α and β are pre-defined constants.
The major advantage gained in converting the damping matrix into an equivalent
Rayleigh damping lies in the fact that using orthogonal transformation a structure having
n degrees of freedom can be reduced to n-number of uncoupled equations. However, for
systems with large degrees of freedom, it is difficult to guess meaningful values of α and
β at the start of the analysis.
The present paper outlines a procedure, which ensures a rational estimate of α and
β even for a system with large degrees of freedom. The results obtained have been
checked against different class of real life structure and foundation systems and the
results are presented graphically.
Basic Formulation on Rayleigh Damping
{}
&& + [C] X
[M] X {}
& + [K ]{X} = {P }
t (2)
{} {}
{φ }T [M ]{φ } ξ&& + {φ }T [C]{φ } ξ& + {φ }T [K ]{φ }{ξ } = {φ }T {Pt } (3)
The above orthogonal transformation is valid only when the damping matrix is
proportional i.e. it is some function of the mass and stiffness matrix [M] and [K]. It is for
this reason that the damping in the form, shown in eqn. (1), is advantageous as on
orthogonal transformation the damping term in eqn. (3) reduces to
α + βω 2 0 . . 0
1
0 α + βω 2 2 . . 0
{φ }T [C]{φ } = . . . . .
(5)
. . . . .
0 . . . α + βω n 2
2ζ1 ω1 = α + β ω12
2ζ2 ω2 = α + β ω22
……………………………
……………………………
2ζn ωn = α + β ωn2 (6)
When the system has two degrees of freedom eqn. (6) reduces to
2ζ1 ω1 = α + β ω12
2ζ2 ω2 = α + β ω22 (7)
To find the values of α and β, one has to solve eqn. (7).
However, while solving a system having a large degrees of freedom, say 400 or
1000 equations, the analyst is in some difficulty to arrive at the values of Rayleigh
coefficients, which shall be valid for all the n degrees of equation (which could be any
values like 400, 800, 1000 etc) or shall be valid for all significant modes. Surely there is
no straightforward solution to arrive at these values. An iterative solution is possible and
this can be obtained possibly from the best-fit values of α and β in a particular system. A
method is described in the following through which one can arrive at the unique values of
Rayleigh coefficients and they will be valid also for systems having large degrees of
freedom.
As it is shown in eqn. (5), the orthogonal transformation of the damping matrix reduces
the matrix [C] to the form
α βω i
ζi = + (9)
2ω i 2
From eqn. (9) it can be observed that the damping ratio is proportional to the natural
βω
frequencies of the system. A typical plot of the equation α + i is as shown in
2ω i 2
Fig.1. The figure demonstrates some interesting result. For the first portion (frequency
range 0.5-8.5 rad /sec) the curve shows marked non-linearity and beyond that the
variation is linear.
0.3
0.25
Damping Ratio(C/Cc)
0.2
0.15
0.1
0.05
0
frequency 6 12 18 24 30 36 42 48
Natural Frequency
From the curve shown in Fig.1, it can be concluded that for some y = a/x + bx,
when x is small, the first term is a/x dominates at the initial stage and as x increases the
value a/x diminishes and approaches zero and the term bx starts dominating the equation.
In other words for if it is very flexible and have a very low fundamental frequency will
show non linear damping properties in the beginning with respect to frequency and would
converge to a linear proportionality with frequency as the eigen values increases with
each subsequent mode. Flexible antennas, very long piles, or tall chimney (height > 275
m) would possibly show this type of behaviour at the outset.
However, most of the civil engineering structures are usually designed to have a
reasonable rigidity and would have a much higher value of the fundamental frequency,
the term containing β/ 2 will usually dominate. Moreover, considering the fact that the
non-linear range is very small for normal structures it will not be unrealistic to assume
that the damping ratio for each mode is linearly proportional to the frequency of the
system.
Thus, a set of values ω 1,ω 2 , ω 3 .......... ...ω n and ζ 1,ζ 2 , ζ 3 .............ζ n have been
assumed as the corresponding damping ratio for ith mode considering a linear relationship
and the damping ratio thus obtained is given by
ζ m − ζ1
ζi = (ω i − ω1 ) + ζ 1 (10)
ω m − ω1
in whichζi = damping ratio for the ith mode( for all i ≤ m ); ζ1 = damping ratio for the first
mode; ζm = damping ratio for the mth significant mode considered in the analysis; ωi =
natural frequency for the ith mode;ω1 = natural frequency for the first mode; ωm = natural
frequency for the mth significant mode considered for the analysis.
For structures having large degrees of freedom, it is only the first few modes,
which contribute to the significant dynamic behaviour. Now, how many modes will have
a significant contribution can be ascertained from
For most of the engineering structures, the number of significant modes by which
almost 95% of the mass has participated is usually around 3 at the minimum and about 25
at the maximum.
Based on an eigen value solution and modal mass participation result one can identify
the significant modes (= m) and follow the following procedure step by step as shown
hereafter. Select number of modes = 2.5 m and perform an eigen value analysis;
• Select ζ1, the damping ratio for the first mode of the system;
• Select ζm, the damping ratio for the mth significant mode;
• For intermediate modes i, where 1< i < m, obtain ζi from eqn. (10) based on linear
interpolation;
• For modes greater than m extrapolate the values based the expression
ζ m − ζ1
ζi = (ω m +i − ω m ) + ζ 1 , where m < i ≤ 2.5m (11)
ω m − ω1
2ζ 1ω1 − 2ζ mω m
β = (12)
ω12 − ω m
2
• Plot the four sets of data based on eqn. (9) and check which data fits best with the
linear interpolation curve for the first m significant modes.
• Select the corresponding value of α and β as the desired value, which will give the
incremental damping ratio based on Rayleigh damping.
In some cases it might so happen that values will show variation in higher modes
beyond m significant modes but this is irrelevant, so long as the values are closely
matching for the first m modes, since the contribution of higher modes greater than m are
deemed insignificant for the system, the above theory has been bench marked against
three real life cases consisting of different types of structures and foundations.
Case1: A 220m RCC chimney having 100 degrees of freedom has first six values of
natural frequencies as 3.0,4.0,7.0,8.0,12.0 and 20.0 rad /sec, respectively.
It is assumed that the significant dynamic response of the system will die down within
first six modes with damping ratios varying between 2% to 10% within the first six
modes.
Select suitable values of α and β.
Solution
Given below are the eigen values for the first 15 modes. Now, taking the first
modal damping ratio as 2% and sixth modal damping ratio as 10%, data for the full range
of eigen values interpolated / extrapolated are shown in Table I.
2 × 0.1× 20 − 2 × 0.03 × 3
β= = 0.009923 and α = 2 × 0.1 × 20 − 0.0009923 × 400 = 0.0307.
400 − 9
Thus based on the above two sets of data the average values α and β are: α = 0.04309
and β = 0.009708. Based on the above values, the damping ratios are found to vary as
shown in Table II.
Table II.- Interpolated damping ratios
On plotting the data, the variations are as given in Fig. 2. It can be observed that
damping with 15-mode approximation matches the best with the datum value based on
linear interpolation. Hence, the design Rayleigh coefficients are:α = 0.0095 and β =
0.05549.
0.8
0.7
0.1
0
3 4 7 8 12 20 25 32 38 47 62 75 110 135 140
Frequency
Thus, if one takes an input value of α and β as 0.0095 and 0.05549 respectively, the
analysis would show a progressive increment of damping with each mode as shown in
Fig. 2. Without further elaboration it will be shown hereafter the two more case studies
and the variation of results based on the above technique.
Case 2: Dynamic analysis of a boiler feed pump foundation based using FEM (degrees of
freedom = 7926):
Number of significant modes = 6; Damping ratio = 0.10 for first mode; Damping
ratio = 0.15 for the sixth mode.
The design value of α = 0.05549 and β = 0.0105 based on 15 mode interpolation.
It can be concluded from Fig. 3 that the frequencies are more or less same for the first six
modes showing the rigid body modes of the system and the damping ratio remains more
or less constant at the range of 0.1. Data for the full range of eigen values interpolated /
extrapolated are shown in Table III.
5
4.5
4
Linear Damping
3.5
Damping ratio
Fig. 3_ Variation of damping ratio for a boiler feed pump based on finite element
analysis
Table III._Values natural frequency versus damping ratio
Design value of α and β = -0.354 and 0.0162 respectively based on interpolation for first
six modes. It is observed in Fig. 4 that for modes beyond the 10th, damping shows slight
lower value than the datum (i.e. the linear damping curve) but in reality it is irrelevant
since 95% of the mass has already participated by the 6th mode. The variation curves are
as shown Fig. 4. Based on the above values, the damping ratios are found to vary as
shown in Table IV.
0.12
0
11 3
11 4
24
4
6
3
3
8
11 1
22
6
07
60
84
23
69
77
92
26
99
.6
9.
.0
.1
.4
6.
10
6.
6.
7.
8.
8.
8.
8.
9.
9.
Frequency
The value furnished by this method gives a more realistic picture for the
behaviour of the structure under dynamic loading than the presumptive damping ratio
constant for all modes.
References