Structural Engineering & Statics
where the load goes
Concept

Resonance — where it appears

The condition of being driven at one's own frequency, where the response is bounded only by whatever damping the structure happens to have. It is the reason a footbridge is checked against a walking frequency and a floor against a footfall rate, and the check is a frequency comparison rather than a force one.

Named by 23 essays across one field — each of them below, with the objects they name alongside it.

How much a harmonic force is magnified, at four damping ratios. Displacement amplitude divided by the deflection the same force would produce if it were applied slowly, against the ratio of the forcing frequency to the structure's own, at 1%, 2%, 5%, 10% of critical damping. At the natural frequency the magnification is 50, 25, 10, 5 respectively — one over twice the damping ratio, and nothing else in the problem enters it.

The only thing that stops it

Drive a structure at its own frequency and the amplitude grows without limit unless something takes energy out. What takes it out is damping, and damping is the one structural property that is never designed, never drawn, and never known until the thing is built.

dynamics · Damping Which floor frequencies a 2 Hz pace punishes. The response factor of a floor of 12 tonnes modal mass and 3.0% damping, against its own natural frequency, under a walker at 2 steps per second. The peaks are at 2, 4, 6, 8 Hz — the harmonics of the pace — and they fall away sharply: four peaks, each smaller than the one below it, because the harmonics of walking get smaller. A floor at 2 Hz reaches R = 31 and one at 8 Hz reaches 6. Between them the floor is quiet.

The floor that is strong and unusable

A floor can satisfy every strength check, deflect less than the limit, and still be rejected by the people who work on it — because somebody walking across it at two steps a second happens to be exciting it at exactly the rate it likes to move.

dynamics · Floor vibration Where the wind's energy is, and where the structure can reach it. The gust spectrum at a mean speed of 30 m/s, plotted as n·S(n) against frequency on a logarithmic axis so that equal areas are equal energy. Its total variance is 27 m²/s², which the closed form 6·K·U² gives as 27. Most of the energy is below a hundredth of a hertz — gusts lasting a minute or more. A structure at 0.2 Hz sits far out on the tail, and still takes 90% of its response from there, because the resonant part is amplified by π·f₀/(4·ζ) and the damping is 1.2%. A stiffer structure at 2 Hz takes 22%.

The wind is a spectrum

A wind load is quoted as a pressure, which suggests something steady. It is not — the energy is spread across four decades of frequency, almost all of it in gusts lasting minutes, and a tall building takes ninety per cent of its response from the sliver of that energy sitting at its own frequency.

dynamics · Gust response Lock-in: the frequency the wind sheds at, and what it does to the chimney. A 1.2 m cylinder at 0.9 Hz. Vortices leave it at St·U/D, so the critical speed at which they match the structure is 6 m/s — a breeze, met many times a year rather than once in fifty. The upper panel shows the shedding frequency locking on to the structure across a band from 5.1 to 7.8 m/s; the lower shows the amplitude that results. At a Scruton number of 11.2 the peak amplitude is 180.94 mm, which is 15% of the diameter.

The wind that brings its own frequency

Every other load in this subject arrives at whatever rate it happens to arrive at. Vortex shedding arrives at a rate set by the wind speed — so for any chimney, mast or cable there is always a wind speed at which the shedding matches the structure exactly, and it is a breeze rather than a storm.

dynamics · Vortex shedding 3% of the mass, hung on a spring, against the peak it removes. The magnification of a structure with 1.0% damping, with and without a tuned mass damper of 3.0% of its mass, tuned to 0.9709 of its frequency with 10.5% damping of its own. The bare peak is 50; with the absorber the single peak becomes two of 7.34, a reduction to 15% — a factor of 6.8. The marked points at frequency ratios 0.923 and 1.044 are the fixed points: the response there is the same whatever damping the absorber is given, which is what makes the optimum a question with an answer. The absorber's own stroke at the worse of the two peaks is 29.57 times the structure's static deflection, and that stroke is what decides whether it fits.

The mass that helps by being late

Hang three per cent of a building's mass from a spring in its roof, tune the spring so the mass arrives a quarter-cycle behind the motion, and the peak response falls by a factor of seven. Nothing was strengthened and nothing was stiffened.

dynamics · Tuned mass damper How much of a force a mount lets through, at three damping ratios. The force transmitted to the support divided by the force applied, against the ratio of the forcing frequency to the structure's own, at 2%, 5%, 20% of critical damping. Every curve passes through exactly 1 at a frequency ratio of root two, whatever the damping: below that ratio a mount amplifies what it was installed to isolate, and above it more damping lets more through.

The machine that shakes the building

Put a machine on springs to keep its vibration out of the floor, and below a frequency ratio of root two the springs make things worse. Every transmissibility curve ever drawn passes through exactly one at that ratio, whatever the damping — so a soft mount either works well or fails badly, with nothing in between.

dynamics · Vibration isolation The worst speed is not the fastest one. Peak deck acceleration against train speed, for a 20 m span at 6.25 Hz under 10 axles 18 m apart. The spikes are not a numerical artefact and they are not about how heavy the axles are: a regularly spaced train is a forcing function with a frequency v/d, and where a multiple of it lands on the bridge's own frequency each coach arrives in step with the motion the last one left. The arithmetic is v = d·f₁/k, which puts peaks at 405, 203, 135, 101 km/h — all of them operating speeds. What fails first is the acceleration rather than any stress: ballast loses its interlock at about 3.5 m/s², and strength does not appear in the equation at all. Here the limit is first passed at 376 km/h.

The train that arrives in time with itself

A single load crossing a span is a mild problem. A train is not one load — its axles are regularly spaced, so the forcing has a frequency of its own, and where a multiple of it lands on the bridge's frequency each coach arrives exactly in step with the motion the last one left behind.

dynamics · Moving load resonance The ground is a structure, and it has a period. The transfer function of 38 m of soil at 75 m/s over bedrock at 800 m/s: how much the surface moves for a given motion in the rock, at every frequency. It is a column fixed at the bottom and free at the top, so its resonances are the odd harmonics — the peaks stand at 1, 3, 5, 7 times the first, which is a fixed-free column and nothing else. The fundamental is at 0.493 Hz, a period of 2.03 s, and it is 4H/v_s exactly. The peak amplification is 7.5 against the bound 1/(α + πξ/2) = 7.5, which agrees to 0.2% — and the α in it is the impedance ratio, 0.0554 here. That is the term that keeps the answer finite: assume rigid bedrock and α is zero, the bound becomes 13 and the model is predicting an amplification set by damping alone. What limits the surface motion is that the energy can leave downward.

The ground has a period of its own

An earthquake is measured on rock and felt on soil, and between the two is a layer that behaves exactly like a structure — a column fixed at bedrock, free at the surface, with a fundamental period of four times its depth over its shear wave velocity and a set of odd harmonics above it. The motion a building receives is the rock motion through that filter, and the filter is sharp.

dynamics · Site response The resonance that ran out of time. The response of a 0.100 s oscillator at 2.0% damping while the driving frequency sweeps up through its own, plotted against the driving frequency rather than against time. The steady-state amplification is 1/2ζ = 25; this sweep reaches 23.6, which is 95% of it, because the time spent inside the half-power band is a limited number of build-up time constants. The whole answer depends on one group, β/ζ²ω², and over the range this figure's sibling sweeps the fraction falls from 100% to 41%. Two features fall out of the integration and neither is guessable from the steady-state picture: the peak arrives after the frequency has passed resonance, by 1.2% of it here, and the response beats afterwards at the difference between the two frequencies. A machine's instrument therefore reads its largest amplitude while it is already above its critical speed.

The resonance that ran out of time

A resonance amplifies by one over twice the damping, which for a lightly damped structure is fifty or a hundred. That is a steady-state answer and it takes time to arrive — with a time constant containing the same small damping — so nothing that sweeps through a resonance ever collects all of it, and past a certain rate the peak reached stops depending on the damping at all.

dynamics · Transient resonance The building is a filter with one very sharp tooth. What a component mounted on the roof of a eight-storey building feels, divided by what the same component would have felt on the ground. A rigid item sees the floor's peak acceleration rather than the ground's, which is already 2.29 times as much. An item whose own period matches the building's sees 6.1 times as much, at 0.94 s — a resonance inside a resonance, and the two amplifications multiply rather than add. Far above the building's period the ratio falls back toward one, because a component much softer than its support simply follows the ground. The shape of this curve is a property of the building and not of the earthquake, which is why equipment is qualified against a floor spectrum rather than a ground one.

The spectrum a floor hands on

Most of what breaks in an earthquake is not the structure. It is a transformer, a chiller, a rack, a ceiling, a pipe — and every one of them is bolted to a floor rather than to the ground. The motion it feels has already been through a filter with one very sharp tooth in it.

dynamics · Floor spectrum What a damper at the anchorage can do, and the ceiling it cannot pass. Modal damping against damper size for a 200 m stay at 4500 kN, with the damper 4 m from the anchorage — 2.0 per cent of the length. Each curve is a mode, found as a complex root of the taut string with a viscous damper in it rather than from a formula. Every one of them peaks at 1.00 per cent of critical, which is x/2L exactly, and the peaks are at different damper sizes — a higher mode wants a smaller damper, because it moves faster at the same amplitude. The curves are flat near their peaks: half the optimum coefficient gives 80 per cent of the ceiling, and so does twice it.

The damper that is too near the end

A stay cable has almost no damping of its own, so it is given a damper — and the damper cannot go where the motion is, because the middle of a two-hundred-metre stay is a hundred metres above the road. What it can supply is then decided by one length, and no amount of damper changes it.

dynamics · Cable dynamics Damping that is computed rather than measured. Radiation damping of a 2.5 m block on soil with a shear wave speed of 178 m/s, against how heavy the block is made — the horizontal axis is a multiple of the 150 tonne block drawn. At that mass the three modes are at 47, 29 and 13 per cent of critical. None of this is dissipation: the energy leaves as waves travelling away into the half-space, so the quantity is a geometrical coupling and it can be computed from the size of the footing, the density of the soil and its shear modulus. Every curve falls as the block gets heavier, because a heavier block moves less for the same wave field — which is the one counter-intuitive thing here: mass buys frequency and costs damping.

The damping that is radiated

Every response in this field is quoted with a damping assumption attached, because damping is measured rather than designed and the measurement has a factor of two in it. A machine block on the ground is the exception: its damping is not dissipation at all, and it can be computed from three numbers none of which is a material property of anything that dissipates.

dynamics · Vibration isolation Two separate checks, and the block that is neither. Amplification of the steady displacement at a machine 2.0 m above the base of a 150 tonne block 5.0 m across and 2.0 m deep, against forcing frequency. Checked separately, the block sways at 11.2 Hz with 29 per cent of critical damping and rocks at 15.0 Hz with 13 per cent, and the rocking check's peak is 3.99. Because its mass sits above its base the two are one system, with modes at 9.9 Hz and 20.9 Hz — one below both checks and one above — and the block's own peak is 2.49 at 9.7 Hz.

The frequency below both checks

A machine block is checked for sway and for rocking as if they were two oscillators, each with its own spring, its own radiation damping and its own natural frequency. A block whose mass sits above its base is one oscillator with two modes, and neither of them is a sway or a rocking — one sits below both checks, one above both, and the lower one is where the machine resonates.

dynamics · Vibration isolation However stiff the ties, a free line stops short. The first three frequencies of stays 180, 150 and 120 m long joined by cross-ties, against the stiffness of each tie from 1.0 kN/m to 1000 MN/m, with the line free at its ends and, dashed, anchored to the deck at both ends with the same stiffness. With the line free the first frequency rises from 0.73 Hz and levels off at 0.82 Hz, however stiff the ties are made — short of the 1.01 Hz of the 120 m stay, which a free line cannot pass. Anchored, the first frequency reaches 1.09 Hz. At the 6.0 MN/m marked, the free line gives 0.82 Hz and the anchored line 1.09 Hz.

The line of ties that stops short

Cross-ties are the one intervention on a stay cable that changes its frequencies rather than damping them, and the usual account says they lift the stays out of the range that excites them. A line of ties that is not anchored to anything cannot lift the first frequency above the shortest stay's own, however stiff the ties are made. What lifts it is carrying the line to the deck.

dynamics · Cable dynamics The rates a seated crowd makes worse. The stand's steady rms acceleration under 40 people jumping, against the rate they jump at, for a stand of 30 t modal mass at 6 Hz with 2 per cent damping, empty and with 15 t of spectators sitting on it. Empty, the worst rate is 3.00 Hz, where the second harmonic of the jump lands on the stand's own frequency, and the stand reaches 2.54 m/s², 25.9 per cent of gravity. Occupied, the worst anywhere from 1.5 to 3.5 Hz is 0.49 m/s² at 3.50 Hz. But from 1.64 to 2.32 Hz, shaded, the occupied stand responds more than the empty one — 1.6 times as much at 2.00 Hz.

The crowd that is also the structure

A crowd jumping to music loads a grandstand with harmonics several times those of walking, and nothing about their size is measured: they follow from a pulse that has to average one body weight. But the people who jump arrive with the people who sit, and the seated crowd is mass, stiffness and damping bolted to the stand. It lowers the worst case by a factor of five and makes the most common jumping rates worse.

dynamics · Floor vibration The frequencies at which a moving deck makes a stay grow. Stability of the first mode of a 120 m stay at 3,500 kN inclined at 25°, whose own frequency is 1.01 Hz, when the deck at its anchorage moves at a frequency Ω against the stay's ω, plotted against the swing in tension the movement produces. Inside each shaded region a small disturbance grows. Each region's tip is at a swing of four times the damping ratio — 0.40%, 2.0% and 4.0% for damping of 0.10%, 0.50% and 1.0% — and it widens as the swing grows, to a deck between 1.970 and 2.030 times the stay's frequency at a 6.0% swing with 0.10% damping. With no damping, dashed, the region reaches down to no swing at all. A deck moving ±5, ±10 and ±20 mm vertically swings the tension by 0.70%, 1.4% and 2.8%. At ±10 mm and exactly twice the stay's frequency, marked, the stay grows with damping of 0.10% and settles with 0.50% and 1.0%.

The stay shaken along its own length

A deck that moves at a stay's anchorage pushes nothing across the stay. It stretches the stay along its own line and lets it go again, so the tension swings, and at twice the stay's frequency that swing drives the stay with no sideways force at all. Whether the swing grows is one comparison — a quarter of the tension swing against the damping ratio — and it is a comparison the capped damper wins.

dynamics · Cable dynamics Set into the ground, the block is quieter only while its sides radiate. Displacement at the top per kilonewton of machine force for a 150 tonne block 3.2 m across and 3.2 m deep, on a logarithmic scale: on the surface, dashed, and with 1.60 m of it set into the ground, first with the side soil radiating as the side-layer model gives it and then with no radiation from the sides at all, dashed. On the surface it peaks at 191.8 µm per kN at 5.5 Hz. Embedded and radiating, it peaks at 11.0 µm per kN at 8.2 Hz. With the same embedment and silent sides the resonance moves up to 8.4 Hz and peaks at 168.7 µm per kN, because the lower mode's damping falls from 3.2 per cent to 1.6 per cent. At 5.5 Hz the three give 191.1, 8.0 and 9.5 µm per kN.

The damping that comes through the sides

A machine block set into the ground is held at its sides as well as its base, and the side soil does two things at once. It lifts the height at which the ground's resistance acts toward the block's centre of mass, which weakens the coupling between sway and rocking without ever removing it. And it radiates, which is what actually flattens the resonance — so the quiet an embedded block promises rests on the stiffness of backfill nobody measured.

dynamics · Vibration isolation The cross term has the sign of the two contributions. Four responses of the floor, each combined three ways and divided by the complete quadratic combination at ρ = 0.50. Base shear: modal 927 and 839 kN, so the root-sum-square is 0.82 of it and the absolute sum 1.15. Base torque: modal -8640 and 8640 kNm, so the root-sum-square is 1.41 of it and the absolute sum 2.00. Flexible edge: modal 60 and -6 mm, so the root-sum-square is 1.05 of it and the absolute sum 1.15. Stiff edge: modal -5 and 47 mm, so the root-sum-square is 1.05 of it and the absolute sum 1.15. Where the two modes push the same way the root-sum-square is short; where they push opposite ways it is long.

The twist the combination rule invents

Two modes close together respond together, and the square root of the sum of squares assumes they do not. The error has the sign of the two modal contributions: where they agree, as they do in base shear, the rule comes up short, and where they oppose, as they always do in torque, it comes up long — by a factor of five for a floor whose stiffness sits twenty centimetres off its mass, a torque the building does not have.

dynamics · Mode shapes

The damping that belongs to no mode

Give every mode its own damping ratio and throw the rest of the damping matrix away, and an isolated building's periods and damping come out right to within a fifth of a per cent. Its storey drift at the superstructure's frequency comes out six times too small. The bearings' dashpot pushes on both modes at once, and the more of it there is the less extra damping buys: the classical analysis promises the drift keeps falling, and it stops.

dynamics · Mode shapes

The top floor the bearings shake

On a building of several storeys, the damping at the isolation bearings is tied less tightly to each higher structural mode than to the one below. It still does more harm in each, because the ground barely reaches those modes on its own. The error the usual analysis throws away gathers in the upper storeys, and past about a third of critical damping at the bearings the roof shakes harder while the analysis says it is still helping. How much damping is best depends on how tall the building is.

dynamics · Mode shapes

The rock that sends the waves back

A machine block on the ground is damped by the waves it launches, and a half-space lets them all escape. Put rock four and a half metres down and none of them can: below the soil layer's own lowest frequency there is no wave that travels, and a vertical mode damped at 47 per cent of critical keeps the soil's own 5. Its resonance grows fivefold, and the heavy block the textbook rule recommends is the one that loses its damping on the deepest ground.

dynamics · Vibration isolation

The actuator that arrives late

A tuned mass damps a structure because its force arrives a quarter of a cycle behind the motion. Replace the mass with an actuator told to push against the structure's velocity, and the same quarter-cycle is fatal: the push that was damping becomes stiffness, the stiffness becomes a source of energy, and a gain that would have cut the response tenfold makes the structure vibrate by itself. The delay is a few hundredths of a second, which is nothing to a tower and everything to a floor.

dynamics · Tuned mass damper

The actuator that pushes against the mass

An actuator that damps a structure by feeding back its velocity has to push against something. Against the ground, it is stable up to large gains until a delay of a quarter period removes its damping. Against a tuned mass — the arrangement meant to keep a passive damper underneath — the same feedback goes unstable at a gain of a per cent and a half with no delay at all, makes the structure worse than the passive mass at every gain below that, and drives the mass three or four times as far. What limits it is not when it acts but what it pushes against.

dynamics · Tuned mass damper

Named alongside it

The objects these essays reach for when they reach for this one.

DampingNatural frequencyMode shapeModal massServiceabilityNatural periodVibration isolationMachine foundationRadiation dampingBase isolationCable dynamicsDamping ratio

All concepts