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( t )
NOMENCLATURE
x(t)
y(t)
dm
( t ) = 0 elsewhere
SDOF
u(t)
= time
z(t)
= complex variable
= transfer function
INTRODUCTION
There are many ways to calculate the shock
response spectra. A popular technique is to use a
digital recursive filter to simulate the single-degree-offreedom (SDOF) system. The output of the filter using
a sampled input is assumed to be a measure of the
response of the SDOF system.
L[ ] = Laplace transform
L-1[ ] = Inverse Laplace transform
Z
= z transform
Z-1
= Inverse z transform
n 1 2
T
= sample interval
MODELS
H (s ) =
&x&(t)
(2)
2
s 2 + 2 n s + n
&y&(t)
H (s ) =
H(s ) =
2
s 2 + 2 n s + n
(1)
&y&(t)
&x&m
&x&(t)
&y& m '
ADC
H(s)
ADC
&x&(t)
(4)
2
s 2 + 2 n s + n
2
2 n s + n
2
n
&y& m
H(z)
&y&(t)
&e&m = &y& m ' - &y& m
Impulse invariant simulations -Stearns shows that if the input is an impulse, i.e.,
&x&( t ) = ( t )
and
&x& m = d m
The simulation
~
H 0 ( z) = T Z L1 [H (s)]
(5)
is exact.
The digital recursive filters given in [2] for the
absolute acceleration and relative displacement
models can be derived from this formulation. The
formulas given in [2] are therefore said to be impulse
invariant. It can be shown (using superposition) that
if the input is a series of scaled impulses the error of
simulation, &e&m , will be zero. This is true even
though the impulses are not band limited. Also H(s)
need not be band limited for the simulation to be
exact. In the case of a SDOF simulation, the natural
frequency can be equal to or above the sampling
frequency.
PEAK RESPONSE G
Fig. 4
where
A = -0.1995
PEAK RESPONSE G
= 0.05
= 2 (100)
= 2(10)
= 0.015757
The shock spectra (Fig. 5) again shows the
notch/peak at one half the sample rate and at the
sample rate.
The errors cannot be blamed on the sampling
theorem as the input is reasonably band limited. If
the input is properly band limited, the response will
be band limited even if H(s) is not band limited. The
errors have long been recognized and the recursive
Fig. 5
d = n 1 2
K = T d
C = E cos K
S = E sin K
b 0 + b1 z 1 + b 2 z 2
~
H (z ) =
1 2 C z 1 + E 2 z 2
b0 =
22 1 S
1
2 (C 1) +
+ T n
T n
1 2
) (
)S
2 2 1 S
1 2
E (T n + 2 ) 2C +
T n
1 2
(6)
b2 =
b + b1 z 1 + b 2 z 2
~
H (z ) = 0
1 2 C z 1 + E 2 z 2
(8)
2 22 1
1
b1 =
2 CT n + 2 1 E 2
T n
1 2
(z 1)2 Z L1 H(s )
~
H (z ) =
2
Tz
e n t
E =
where
a1 = -2C
2
(7)
a2 = E
(9)
b1 ~
2
3
( n T ) 2 1
1 4 2
+
6 3
b 2 ~ n T + ( n T ) 2
(17)
(18)
b 0 ~ ( n T )2 / 6
(19)
a1 -2
b1 ~ 2 ( n T )2 / 3
(20)
a2 1
b 2 ~ ( n T )2 / 6
(21)
b0 , b1 , b2 0
where
a1 ' = a1 + 2
(11)
a2 ' = a2 1
(12)
In this form
(13)
a1 ' ~ 2 n T + ( n T )2 1 2 2
a 2 ' ~ 2 n T + 2 2 ( n T ) 2
(14)
CONCLUSION
(15)
1 2 2
6 3
b 0 ~ n T + ( n T ) 2
(16)
Fig. 7.
Fig. 8.
REFERENCES
DISCUSSION
Mr. Rubin (The Aerospace Corp): Regarding the
residual matter that you just described. An alternative
procedure would be to develop the response and its
first derivative at the last time your input function and
then you can predict what the peak will be and the
residual immediately. You dont have to go through
decimation or any further calculations at all. All you
have to do is get the first derivative of the response. It
is an initial value problem of free vibration and you can
get the answer.
Mr. Smallwood: I agree. It is an alternate way to do it.
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