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[m]
1 I
II-II
REPORT DOCUMENTATION
PAGE
Form OMB
Approved
No.
0704-0188
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b/ank)
2. REPORT DATE
Final report
5. FUNDING NUMBERS
of Response Spectrum 1
USAE Waterways Experiment Station, Information Technology Laboratory, 3909 Halls Ferry Road, Vicksburg, MS 39180-6199
AGENCY 9.SPONSORINGiMONITORING NAME(S) AND ADDRESS(ES)
is unlimited
This technical report presents an introduction to the computation of a linear response spectrum for earthquake loading and defines the terms associated with response spectra. A response spectrum is a graphical relationship of maximum values of acceleration, velocity, and/or displacement response of an infinite series of elastic single degree of freedom (SDOF) systems subjected to time dependent dynamic excitation. This report reviews the formulation and solution of the equation of motion for a damped linear SDOF system subjected to time dependent dynamic excitation. Due to the irregular nature of the acceleration time histories that have been recorded during earthquakes, numerical methods are used to compute the response of SDOF systems during the course of developing response spectra. The fundamentals of the solution of the equation of motion for SDOF systems are also described.
SUBJECT TERMS 14. Dynamics Earthquake engineering Response spectra 17.SECURITY CLASSIFICATION 18. OF REPORT
15. NUMBEROF
PAGES
61 C 16. PRICEODE
SECURITY CLASSIFICATION OF THIS PAGE 19. SECURITY CLASSIFICATION OF ABSTRACT 20. LIMITATIONOF ABSTRACT
UNCLASSIFIED
UNCLASSIFIED
-.
.-
---,- -AA.
Z-t5Y)
PREFACE
This report presents an introduction to the computation of response spectrum for earthquake loading. This study is part of the work entitled
Design Response Spectra For Structures sponsored by the Civil Works Guidance Update Program, Headquarters, publication US Army Corps of Engineers (HQUSACE). Funds for
of the report were provided from those available for the ComputerProgram managed by the Information Technology
The work was performed at the US Army Engineer Waterways Experiment Station (WES) by Dr. Robert M. Ebeling, Interdisciplinary Computer-Aided Engineering Division (CAED), ITL. Research Group,
Dr. Ebeling with review commentary provided by Professor William P. Dawkins of Oklahoma State University, Mr. Barry Fehl, CAED, ITL, Mr. Maurice Power of This study
Geomatrix Consultants and Dr. Yusof Ghanaat of QUEST Structures. is part of a general investigation
on design response spectra for hydraulic All work was accomplished Director, ITL.
under the general supervision of Dr. N. Radhakrishnan, At the time of publication Dr. Robert W. Whalin. Hassell, EN.
CONTENTS
EuQ
PREFACE . . . . . . . . . . . . . . . . . . . . . ..OO ... . 1 5 6 10 CONVERSION FACTORS, NON-SI TO S1 (METRIC) UNITS OF MEASUREMENT PART I: PART II: INTRODUCTION
. . . . . . . . . . . . . . . . .
. . . .
. . . .
THE DYNAMIC EQUILIBRIUM EQUATION FOR A DAMPED SDOFSYSTEM . . . . . . . . . . . . . . . . . . . . . . . . ORDINARY DIFFERENTIAL EQUATION FOR A DAMPED - FORCED VIBRATIONS . . . . . . . . . . . . . . SDOF SYSTEM . . . . . , . . . Force . , . . . . . . . . . . . . . . . . . . . Applied . . . . . . . . . . . . . . . . . . . . . . . . To Mass . . , . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PART III:
q
11
Free Vibration . . . . . . . Undamped Free Vibration . . . Damped Free Vibration. . . . Forced, Vibration With Dynamic Closed Form Solutions. . . . Duhamels Integral . . . . . Numerical Methods. . . . . . PART IV:
12 13 17 18 18 18 19
22 24 25 25 25
SOLUTION OF DYNAMIC EQUILIBRIUM EQUATIONS FOR A DAMPED SDOF SYSTEM USING NUMERICAL METHODS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . , . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
26 26 28 28 31 33 36 36 36 37 38 38 41 42 43 43 44 44 45 48 48 49
Direct Integration Methods . . Linear Acceleration Method . . Time Step. . . . . . . . . . . Stability. . . . . . . . . . . Accuracy . . . . . . . . . . . PART VI:
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . , . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Ground Acceleration Time History . . . . . Response Spectrum. . . . . . . . . . . . . Peak Response Values For Each SDOF System . Relative Displacement Response Spectrum . . Spectral Pseudo-Velocity . . . . . . . . . Relative Velocity Response Spectrum . . . . Comparison ofSVandSV Values . . . . . . Spectral Pseudo-Acceleration . . . . . . . Absolute Acceleration Response Spectrum . . Comparison ofSAandSA Values . . . . . . Tripartite Response Spectra Plot . . . . . Fundamental Periods At Which The Maximum . Frequency Regions of the Tripartite Response Design Response Spectra . . . . . . . . . . Newmark And Hall Design Response Spectrum . 2
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Spectra . . . . . . . .
Response Spectrum in the Dynamic Analysis of MDOF Structural Models . . . . . . . . . . . . . . . . . . . REFERENCES APPENDIX A: . . . . . . . . . . . . . . . . . . . . . . . . . . . . . SOLUTIONS FOR SPECTRAL TERMS BASED UPON DUHAMELS INTEGRAL SOLUTION FOR RELATIVE DISPLACEMENT . . . . . . . . . . . . . . . . . . . . . . .
49 50 Al Al Al A2 A2 A3 A3 A3 A4
Duhamels Integral Solution for Relative Displacement . . . . Relative Displacement Response Spectrum SD Expressed in Terms of Duhamels Integral . . . . . . . . . . . . . . Spect~al Pseudo-Velocity SV Expressed In Terms of Duhamels Integral . . . . . . . . . . . . . . . . . . . . . . . . . Relative Velocity Response Spectrum SV Expressed in Terms of Duhamels Integral . . . . . . . . . . . . . . . . . . . . Comparison of Spectral Pseudo-Velocity and Relative Velocity Response Spectrum Relationships . . . . . . . . . . . . . . Spectral Pseudo-Acceleration SA Expressed in Terms of Duhamels Integral . . . . . . . . . . . . . . . . . . . . Absolute Acceleration Response Spectrum in Terms of DuhamelsIntegral . . . . . . . . . . . . . . . . . . . . Comparison of Spectral Pseudo-Acceleration and Absolute Acceleration Response Spectrum Relationships . . . . . . .
LIST OF TABLES
1 2 3
Step-By-Step Algorithms Used In Structural Dynamics Definition of Earthquake Response Spectrum Terms . Response Spec&ral Values for Three SDOF Systems with 1940 El CentroComponent . . . . . . . . . . . . .
. . . . . . . . . . . . . . ~ = 0.02, . . . . . . .
27 39 41
2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17
18 19 20 21
Idealized single degree of freedom (SDOF) systems . . . . . . . Dynamic response of two damped SDOF systems . . . . . . . . . . Forces acting on a linear SDOF system at time t, external force P(t) applied . . . . . . . . . . . . . . . . . . . . . . . . Inertial force acting opposite to the acceleration of mass m at time t, external force P(t) applied . . . . . . . . . . Free vibration response of damped and undamped SDOFsystems . . . . . . . . . . . . . . . . . . . . . . . . Undamped free vibration resp~nses of a SDOF system given an initial displacementof lam . . . . . . . . . . . . . . . . Load time history P(r) as impulse loading to undamped SDOFsystem. . . . . . . . . . . . . . . . . . . . . . . . . Duhamels integral for an undamped SDOF system . . . . . . . . Forces acting on an SDOF system at time t, ground acceleration fi@Om~. . . . . . . . . . . . . . , . . . . . . . Equivalent dynamic SDOF system problems . . . . . . . . . . . . Step-by-step time integration solution of the equation of motion using the linear acceleration method . . . . . . . Solution for the dynamic response of the mass at time (t + At) using the linear acceleration algorithm . . . . . . Example of unstable response for an undamped SDOF system infreevibration . . . . . . . . . . . . . . . . . . Example of inaccurate response for an undamped- SDOF system infreevibration . . . . . . . . . . . . . . . . . . Ground acceleration and integrated ground velocity and . displacement time histories, 1940 El Centro SOOE component Computation of displacement response spectrum, P = 0.02, 1940 El Centro SOOEcomponent . . . . . . . . . . . . . . . . Displacement, pPseudo-velocity and pseudo-acceleration linear response spectra plots, (3- 0.02, 1940 El Centro SOOEcomponent . . . . . . . . . . . . . . . . . . . . . . . Pseudo-aAcceleration and absolute acceleration linear response spectra plots . . . . . . . . . . . . . . . . . . . Tripartite logarithmic plot of response spectrum, ~ = 0.02, 1940 El Centro SOOEcomponent . . . . . . . . . . . . . . . . Tripartite logarithmic plot of response spectrum, @ = O, 0.02, 0.05, 0.1 and 0.2, 1940 El Centro SOOE Component . . . Newmark and Hall elastic design response spectrum . . . . . . .
. . . . . . . . . . . . . . . .
7 8 12 13 15 16 19 20 23 24 29 30 32 34 37 40
. . . . .
42 45 46 47 50
Non-SI units of measurement (metric) units as follows: MultiPlv degrees (angle) cycles per second cycles per swcond feet inches acceleration of gravity (standard)
TO Obtain radians hertz radians per second meters centimeters centimeters/ second/second feet/second/ second inches/second/ second centimeters/ second/second centimeters/ second/second newtons kilonewtons
PART I:
INTRODUCTION
1.
This paper presents an introduction to the computation of a response loading. A response spectrum is a graphical relationresponse
ship of maximum values of acceleration, velocity, and/or displacement q subjected to a time dependent excitation.
of an infinite series of elastic single degree of freedom (SDOF) systems TO accomplish this task, the formu-
lation and solution of the equation of motion for a damped SDOF system subjected to dynamic excitation response spectrum. 2. Examples of idealized SDOF systems are shown in Figure 1. The is reviewed prior to discussion of the
dynamic excitation may be due to the forcing function P(t) (Figure lc) acting on the mass or to ground shaking, typically expressed in terms of a ground acceleration time history, as shown in Figure 2. The dynamic response of of displacement, velocity,
damped SDOF systems is described by the variations and acceleration acceleration, of the mass with time.
tems versus undamped natural period is called a response spectrum. 3. The response spectrum is the cornerstone of modern earthquake engiIt is used to calculate the dynamic response
of freedom (MDOF) semidiscrete structural models of buildings . structures (i.e. dams, locks, and intake towers) as well as for The frequency
to be used as the forcing functions in the dynamic analysis. 4. The damped SDOF system and the dynamic equilibrium equation for the The derivation of the equation of motion
for a damped SDOF system subjected to a time dependent force history is described in Part III. Part IV derives the equation of motion for the case of This part also as an equiva -
describes how the earthquake shaking problem may be reformulated lent force history problem.
x
x
l+
k A
I I
-1
I ,
m
m)
W/g
, I
.
MASS, m
. L -.
,I I
=p/x
k
k
I-1 /WJ
P(t)
1
- FORCE
I
4
1
I
,
fftJ
MSS,
,+
W m x k gc =
L DAMPER
-1
k-
TIME (t)
I AT-REST I
[XgmUnrj(tJ x(t)] +
MASS. m
FIXED BASE
Wt
(a)
5.
The fundamentals
numerical procedures
earthquakes, numerical methods are used to compute the response of SDOF systems for developing response spectra. 6. Part VI describes the construction velocities, and displacements of response spectra using the obtained from the numerical
accelerations,
integration of the equations of motion for an infinite series of SDOF systems subjected toearthquake shaking. are also defined in Part VI. The terms associated with response spectra
PART II:
7.
stiffness k, and a viscous damper with damping coefficient c, as shown in Figure 2. system. The viscous damper represents the energy absorbing component of the Each rigid mass is constrained to move in the horizontal x direction. force
history P(t), while the SDOF system in Figure 2b is shaken by a time dependent horizontal ground acceleration, XgrO*~(t). The double overdot represents The dynamic the
It is convenient to describe the motion of the rigid mass in terms of the mass with respect to the ground as
=X,o,al(t) - Xg.om.( t)
(2)
g,ound(@
The relative velocity and relative acceleration of the mass m at time t are obtained by differentiation of Equation 2
x(t) = Xtotal(t) - Xg=omd(t)
(3)
and
x(t)
x,o,~l(t) %7round
t)
(4) in
The solutions to the two dynamic problems shown in Figure 2 are described Part III for an applied dynamic force and in part IV for an earthquake excitation.
10
PART III:
9.
equation of second order that governs the dynamic response of the damped SDOF system shown in Figure 3 to a time dependent external force P(t). mechanical This simple
system serves as an introduction to the fundamentals of the information for the dynamic probas
described in Part IV. 10. Assume that at time t, P(t) acts in the positive x direction (to
the right) and that the acceleration, velocity, and displacement are positive.
of the mass
For this problem, the ground is at-rest (i.e. x~rOu~ E O), The movement of the mass from its at-
rest position to the right stretches the spring, resulting in a restoring force f~(t). For a linear spring
f~( t)
=kx(t)
(5)
Similarly, the restoring force fC(t) contributed by the viscous damper at time t is given by
f=(t) =Cx(t)
where c = the damping coefficient x(t) - the velocity of the mass at time t Both f~(t) and fC(t) act in the negative x direction tending to restore the mass to its at-rest position sum of forces acting on the mass, the left-hand-side
xF(t)
=P(t)
(6)
(to the left) at time t, (refer to Figure 3). of Equation 1, is (7) The
-f~(t) -f=(t)
Substituting Equations 5, 6, and 7 into Equation 1 with k(t) - k~O~al(t)and rearranging results in
11
1%
t),
FIXED
BASE
~ Forces
- my(t)
m)
--
A c: 1, /,
I ;
fit)
my(t)
+ c;(t)
kx(t) = P(t)
Figure 3.
Forces acting on a linear SDOF system at time t, external force P(t) applied (8)
n?i?(e)+Cx(t)
+kx(t)
=P(t)
The first term in Equation 8 represents the inertial force f~(t), associated with the mass m undergoing an acceleration k(t), which acts opposite to the of the mass m (refer to Figure 4).
Free Vibration
11.
Free vibration
ment and/or velocity with no external forcing function acting on the system (P(t) - o).
12
K! a
a
,0
FIXED BASE
fk(t) fc(t)
* +
fi(t) t-
FftJ
+ f=(t) inertial
fi(t)
+ fk(t)= force
m;(t)
P(t)
fi k given by:
Figure 4. Inertial force acting opposite to the acceleration of mass m at time t, external force P(t) applied Undamped Free Vibration
12.
in free vibration
=0
(9)
x(t) =xocos@t+
X. a
sin
Ot
(lo)
13
and (11)
Equation 10 is obtained using standard solution procedures ential equations, such as the method of undetermined tion 2.~2 in Kreyszig 1972).
coefficients
lx(t)
I-
.Jx,+[q
(12)
and constant circular frequency u. The cyclic nature of vibration may also be expressed in terms of the natural period of vibration undamped SDOF system as , T (see), of the
T=$
(13)
f=+=fi
13.
1 N/m and mass m - 1 kg, subjected to an initial displacement XO - 1 cm (XO = O).* The circular frequency is equal to 1 radian/see (by equation 11) and the Plots of the
is equal to 2 m seconds.
harmonic response are shown in Figure 6, as well as the variation with time of the spring force and inertial force acting on the rigid mass. Note that the
inertial force acts opposite to the direction of the acceleration vector for the rigid mass.
One newton, N, is the force which gives an acceleration of 1 m/sec2 to a mass of 1 kg. 14
IL
6! c a
time (see)
//
Xxo
Cos cut
;0
sin
wt
(a)
~+2fJw:+w2)(.(J
= T/{
+x
r!
. _____
o time (see)
-----x
-
----
--
x - e-put
X. Cos wDt
(b) Damped free vibration (damped at a ratio to critical damping equal to ~) Figure 5. Free vibration response of damped and undamped SDOF systems 15
F=l
EQUATIONS
q
k=
1 N/m
m=
1 kg
x(t) = Xocos(ut)
1 tZ z&E o ~ w 6! g a -1-
-----
--- t
I
----
7T T .
* - --
TIME (see)
1- ----
--
T -----1 -. h -- - -- --
- --
----
---
fk(t =~sec)= -0.01 N
0.01
f~ = kx
--7T
---------
----fi (t=~sec)=O.O1 N
fi = m;
TIME (see)
-0.01
I
TIME = 7Tsec
= 0.01 N
Figure 6.
14.
The equation of motion for damped free vibration may be written as x(t) +2 p ox(t) +G#x(t) =0 (15)
where
P=
2ma
(16)
Equation 15 was derived from Equation 8 by (1) dividing each term by the mass m, (2) introducing the constant ~ for the damping force term, and (3) P(t) set equal to zero. The solution of Equation 15 is, for ~ < 1,
*O + pwco
tJD
x(t)
= e-pot
X. Cos CoDt + [
(17)
1
The motion described by Equation 17 for ~ < 1, shown in Figure 5b, is periodic with an exponentially decaying amplitude and damped circular frequency
(A)D =
6)
f/i=-jF
(18)
or period
TD = d%
(19)
where u and T are the circular frequency and period of the undamped system, respectively. 15. When ~ - 1 the period of the damped system becomes infinite indi-
cating that the motion is no longer cyclic but after an initial maximum displacement, decays exponentially without subsequent reversal of direction. system with ~ = 1 or with damping
c=
critical
=2ma
(20)
is
Hence 17
P=
Ccri
tlcal
2ma
(21)
is called the damping ratio or the fraction of critical damping. Typically for structures @ is less than 0.1 and for material damping in soils is less than 0.25. ~ may also be expressed as percentage. For typical struc-
16.
may be written as
A(t) +2 pox(t) +@2x(t) = +
(23)
In general there are three approaches to the solution of Equation 23: form solutions, Duhamels Integral, and numerical methods.
closed
17.
[~dri~~t]in Equations 8 and 23, closed form solutions are available in numerous textbooks on both mechanical vibrations procedure is not practical and structural dynamics. This
Duhamels Integral
18.
A second procedure used to solve for the dynamic response of a SDOF of the load time history P(t) as a series
18
of impulse loadings P(r) that are applied to the SDOF system for infinitesimal time intervals dr, as shown in Figure 7.
P A k
A
i I MASS, m 1
h ]: I 1 ) f
-1 I , m) ,+
I I ,-)
P(z-)-
Figure 7.
Load time history P(r) as impulse loading to undamped SDOF sys tern
19.
Figures 8a through 8C outline the derivation of the incremental dx of an undamped SDOF system at time t to a single force pulse
Figure 8d gives the resulting integral solution, known as the integral, for the displacement of the undamped SDOF system at time t
to the succession of force pulses applied between time - 0 and time - t. 20. Duhamels integral for a damped SDOF system is
x(t) =
JInto
[ cP(t)
Do
e+-(t -<)
sin
[o.D(t
-t)]
&
(24)
u - the undamped circular frequency of vibration-(Equation P = the fraction of critical damping (Equation 21). 21.
For a select few load time histories P(t), the integral may be Irregular force time histories require numerical These procedures are solu-
evaluated directly.
Numerical Methods
22.
used to solve a form of Equation 8 or Equation 23 due to the irregular form of force time histories. Numerical methods will be discussed in Part V.
19
FIXED IMPULSE
BASE IN MOMENTUM
= CHANGE
d; = INCREMENTAL
VELOCITY (a)
so(r)
t+
k
A
I dMSS, I I m
-1
I
m?
kx
; I
INITIAL CONDITIONS:
X(t-o) ;(t-o)
- 0 = :0
T
-----
x = ~
!0
sin
wt
r
-
k m
time
---
-_
(b) Exact solution for free vibration response (undamped) Figure 8. Duhamels integral for an undamped SDOF systern
20
Introducing
d~ from
(tI) into
~0 of (b),
the incremental
displacement
is given by
dx(t)
+[+(:)d~ inE(t -z
x(t) =
J
o
dx(t) d T
21
PART IV: ORDINARY DIFFERENTIAL EQUATION FOR A DAMPED SDOF SYSTEM GROUND ACCELERATION
23.
equation of second order that governs the dynamic response of the damped SDOF system shown in Figure 2b shaken by a horizontal
. ground(t)* ground
the spr~ng and dashpot shown in Figure 9 are given by Equations 5 and 6, respectively. Combination of Equation 1 zF(t)
=M&tal(t)
(1)
Equation 5 f~( t)
=ICx(t)
(5)
and Equation 6
f=(t) =Cx(t)
(6)
result in
m~ &o&al(t) +Cx(t) +kx(t) =0
(25)
. where x and x are relative velocity and displacement of the mass (Equations 2 and 3) valid at any time t. The first term in Equation 19 represents the
inertial force f~, associated with the mass m undergoing a total acceleration total(t). This force vector acts opposite to the direction of the total acceleration vector of the mass m, as shown in Figure 9. Substituting Equa-
. - ~ X=om.( t)
(26)
or
2(t) +2 pQx(t)
+02x(t)
=-%
ground(t)
(27)
22
k AT-REST c MS. m
=i-
h
TIME = t
Xgrm ftJ
I
~ DIRECTION OF i1 ACCELERATION
a
k fk(t) f=(t) 4-
6s8m
I
OF MASS m
T TIMEt
r Wtime
f;(t)
f(t) WHERE:
+ f~(t)
+ f~(t)
= O
f(t)
Figure 9.
where u - the undamped circular frequency (Equation 11) P - the damping ratio (Equation 21) The terms associated with the relative movement of the mass are collected on the left-hand-side of the equal sign. Either differential equation
23
(Equation 25 or 26) describes the dynamic response of a damped SDOF system shaken by a horizontal ground acceleration k~rOU~~.
24.
ships for the two SDOF systems shown in Figure 2 differ by the term on the right-hand-side of the equal sign (the force history). Thus , the problem of a is equivalent
to the problem of a damped SDOF system resting on a fixed base and subjected
to
UASS, m
~ F(tJ = -m~ground(t)
FIXED
GRWND 4CElERATKlN
BASE
7Z(F;
STEP
STEP
2,
Figure 10.
25.
The total dynamic response of the SDOF system problem is computed Step 1 solves for the relative response of the damped SDOF
in two steps.
system as governed by the ordinary differential Equation 27, and in Step 2, the total response is equal. to the sum of the relative response plus the motion of the ground. (from step 1)
24
26.
t] stant sin [udri~~ ) closed form solutions to Equation 27 are available in numerous textbooks on both mechanical vibrations This procedure and structural dynamics.
Duhamels Integral
27.
of
the SDOF system involves the representation of the load time history P(t) = . mx~rO~d(t) as a series of impulse loadings P(r) applied to the SDOF system for infinitesimal time intervals dr (Figure 7). By introducing P(t) = . ~,~uncl(t)into Equation 24, Duhamels integral for a damped SDOF system is (28)
where % the damped angular frequency of vibration (Equation 18) (Equation 11)
the fraction of critical damping (Equation 16) time histories require numerical solutions
integral.
Numerical Methods
28.
In usual applications
methods are used to solve Equation 27 or Equation 28 for the relative displacement of the SDOF mass because of the irregular nature of ground acceleration time histories (discussed in Part V).
25
PART V: SOLUTION OF DYNAMIC EQUILIBRIUM EQUATIONS FOR A DAMPED SDOF SYSTEM USING NUMERICAL METHODS
29.
This part introduces the fundamentals of numerical methods used to velocities, loading. and displacements of a damped SDOF
of numerical methods used for solving the dynamic equilibrium equation: direct integration methods and frequency-domain direct i~tegration methods only. tural dynamics for a description methods. This part discusses
30.
Direct integration methods are used to solve for the response of structural models) by direct integration of
throughout the time of shaking using a numerical step-by-step procedure of analysis. The term direct means that prior to numerical integration, there
is no transformation frequency-domain
of the equations into a different form, as is done in a Table 1 lists some of the step-by-step algorithms struc-
analysis.
used in structural dynamics for both SDOF systems and MDOF semidiscrete tural models and in the characterization engineering problems. 31. Direct integration methods are based on two concepts.
First, the
equation of motion (Equation 27) is satisfied at discrete points in time (i.e. t, t + At, ...) during earthquake tion in displacements, val, At, are assumed. velocities, shaking, and second, the forms of the variaand accelerations within each time inter-
The . explicit integration method solves for the unknown values of xt + At, xt + Att and x~ + L~ at each new time (t + At) using the equation of motion at time t, with the known values for xt, xt, and x~ at time t as the initial conditions. The implicit integration method solves for the unknown values of xt +Lt, it +Lt and x~ +Lt at each new time (t + At) using the equation of motion at time (t + At) . For MDOF systems implicit schemes require the solution of a set of linear equations, whereas explicit schemes involve the solution
simultaneous
26
Table 1 SteP-bv-SteP Algorithms Used in Structural Dvnamics Family of Structural Dynamics Al~orithms collocation methods Newmark-~ methods
Tme Implicit
Implicit
0(At)2
Central difference Houbolts method a-method Hilber-Hughes-Taylor Wood-BossakZienkiewicz O1-method beta-m method Hoff-Pahl
Implicit
unconditional*
O(At)2
Implicit Implicit
unconditional* unconditional*
0(At)2 0(At)2
Katona-Zienkiewicz
Implicit
unconditional*
0(At)2
of a set of linear equations, each of which involves a single unknown. implicit and explicit step-by-step algorithms are listed in Table 1.
Both Implicit
algorithms are the more popular of the two types of numerical methods in earthquake engineering problems because of the larger size time step that may be used in the analysis. However, implicit methods involve considerable com-
putational effort at each time step compared to explicit methods since the coefficient matrices for MDOF systems must be formulated, stored, and manipulated using matrix solution procedures.
27
32.
The principles
time integration
solu-
tions of the equations of motions are illustrated for the Figure 10 SDOF system by applying the linear acceleration time interval At. algorithm to this problem for a single time
history at each time step is expressed in terms of the values for the displacement, the velocity, and the acceleration of the mass. algorithm, one of the simpler forms of the in
acceleration of the mass from time t to time (t + At) as shown in Figure 11. The values for the three variables unknown at time (t + At). 34. The assumed linear variation in acceleration provides one of the The slope is are known at time t, and the values are
expressed in terms of the values of acceleration at time t and time (t + At), as listed in Figure 11. Two additional equations are provided by twice interelationship from time t to time (t + At).
This results in a quadratic variation At and a cubic variation ure 11). At) . 35.
in velocity of the mass over time step of the mass over time At (Fig-
in displacements
Figure ~~ summarizes the three steps when solving for the dynamic The three relationships shown
in this figure were obtained by rearranging the four relationships Figure 10.
listed in of the
step-by-step procedure of analysis during the time of earthquake shaking, computing the time histories the formulation, acceleration of response for the mass. Due to the nature of
of the mass.
of the relative acceleration values computed at each time step, and the corresponding ground acceleration values (step 2 in Figure 10).
Time Step
36.
F t.~t
Acceleration, & d~z rt
assumed A?? () T-
slope ~t.AtAt
of ~1
Velocity,
. ~
dx
t + At
Displacement, x
Xt t
TIME L Equation ZF Known Value (time - t)
qe
t.At
of motion
- m?
x+ Xt
~t.At
t+At
Basic
Equations:
00
c&t
00 xt,At
kxt+At
A + (7 At
- pt.At
xt -
At
quadratic
velocities,
~~.At cubic
displacements,
-i@; tAt+
1A Z_ (7 z
1
At]2 1A T (7 K
t *At -Xt+
;tAt + Vt 2
UMJ2 +
At]
Figure 11.
Step-by- step time integration solution of the equation of motion using the linear acceleration method
29
LHS
(unknown)
RHS
(known)
step
1,
solve
step
2, solve
for
k~+&
H
At
6
t+ht
- term=
~t+h~ = H
(At)~ t+At
term,
where
the
constants
are
given
by
constantm = k +
H
+
C+[ih]m
constant- =
Pt+At
c*terml+ m*term2
and P t+At =
-m*
Woud(
At)
erml = ~
[1
At
xt+2xt+
y [1 At
At
Figure 12. Solution for the dynamic response of the mass at time (t + At) using the linear acceleration algorithm
30
semidiscrete structural models) is restricted by stability and accuracy considerations. The primary requirement of a numerical algorithm is that the The
stability and accuracy criteria are expressed in terms of a maximum allowable which differs among the various numerical size for the time step, AtCr~~~C~l, algorithms.
Stabilitv \ 37. The stability condition requirements for numerical algorithms are (Table 1). Bathe and
or conditional
Wilson (1976), Bathe (1982), and Hughes (1987) describe an integration method as unconditionally problem stable if the numerical solution for any initial value
(e.g. Figure 5a) does not grow without bound for any time step At, if the time step is large. The method is conditionally stable if
especially
the previous statement is true only for those cases in which At is less than some critical time step AtCritiC~l. The stability criterion for a numerical algorithm is established by the values assigned to the constants that are used in the algorithm and the terms associated with the structural model (Hughes and Belytshko 1983, Hughes 1987, and Dokainish and Subbaraj 1989). example, numerical stability considerations For
require that the time step At of a SDOF system be restricted to values given by the relationship
At
s AtCritical
(29)
where
The values of AtCr~t.c,l are summarized in Hughes and Belytshko (1987), and Dokainish and Subbaraj 38.
(1983), Hughes
the free vibration problem of an undamped SDOF system shown in Figure 13, given an initial displacement XO and an initial velocity ~. With no damping, function that
.x.
l-i
k
A
1
I ;
I 1 ) m]
m~+kx.o
INITIAL CONDITIONS: X(t-o) E(t-o)
ASS, m
;
?3.
EXACT SOLUTION:
where: w -
k m
+x
xo-
/1
F - ___ - ____ _ _ ____
6
~
so
time
ii!
Ln
(a)
Stable free vibration response with a smaller time step than the critical time step
+x I
I t
/1
x #
> tcfiticoi
I
I
1 I
---
tZ
:
20 ~ c1
)(0
2:-----7T-----7T 1=
8
~ time
-----
------x -. -. -.
(b) Unstable free vibration response due to a larger time step than the critical time step Figure 13. Example of unstable response for an undamped SDOF system in free vibration
32
is continuous with time and equal to the sum of a sine wave PIUS of constant maximum amplitude. ical solution that corresponds Figure 13a shows a conditionally to the exact solution.
cosine wave
stable numer-
contrast with Figure 13b results for the unstable free vibration response in computed using At > AtCritiC~l, which the maximum computed amplitude of the SDOF system increases with time. 39. The value of AtCr~~~C*l for MDOF systems is governed by the smallest Violation of
period or the largest frequency of the semidiscrete MDOF model. the stability criterion by an even single mode will destabilize solution of the dynamic problem. time step size, unconditionally
the numerical
To avoid this restriction and increase the stable integration methods are used.
Accuracy
40.
of convergence of the computed response to the exact response as At + O (Hughes 1987). For the dynamic analysis of MDOF semidiscrete structural
models using the finite element method, the accuracy of an algorithm is also concerned with the question of the computed response of spurious higher quency) modes of the semidiscrete model of the structural system. accuracy considerations (fre-
In general,
require a smaller time step for implicit algorithms, For explicit methods, stability
requirements usually dictate the maximum time step size. 41. Bathe and Wilson (1976) describe one approach used to assess the Illustrated in Figur&14 is a free vibration
be harmonic with
Figure 14b illustrates results for the free The errors in Figure
14b computed results take the form of amplitude decay with time and period elongation with time, as described numerical algorithms in Figure 14c. The order of accuracy of to the square of
the time step used in the calculations. 42. One approach for selecting the value for the time step to be used is to require a prescribed level of accuracy for the com-
developed for simplified SDOF system problems which define the magnitude of 33
.x.
-1
I I
I
I I
r
INITIAL CONDITIONS:
X(t-o)
- X.
il(to)
- :e
&
s
SOLUTION:
)(0
Cos
~t
sin
Wt
+
z u z
q )(
/1
x.
-/ m -_ ___
so
ti! g o
time
+
Id
x.
----
z / $/0
5! g a ----
time
or
1 ----
NUMERRM~~~~NEXACT SOLUTKIN
AMPLITUDE DECAY
time
- __ ___
I
-----------1 exoct
1
____
HW!?ATION
(c) Two errors associated with inaccurate numerical solution Figure 14. Example of inaccurate response for an undamped SDOF system in free vibration 34
as a
function of the time step size At used in the calculation and the natural period T of the numerical model. Examples of these types of error plots for (1976) and in
select algorithms are shown in Figure 9.3 of Bathe and Wilson Figures 9.3.2 and 9.3.3 of Hughes semidiscrete (1987).
35
43.
graphs of the maximum values of acceleration, velocity, and/or displacement response of an infinite series of damped elastic SDOF systems (Figure 10) subjected to an acceleration time history %6rOm~(t). These maximum response
values for several levels of damping are plotted against undamped natural period (units of seconds) or plotted against undamped natural cyclic frequency of vibrhtion (units of hertz or cycles/see).
Ground Acceleration
Time Historv
44.
Figure 15 earthquake accelerogram will be used as the ground motion It is the South 00 degrees East (SOOE) horizontal component
in this example.
recorded at the El Centro site in Southern California during the Imperial Valley Earthquake of 18 May 1940 (Richtermagnitude = 6.7). station is founded on alluvium. 341.7 cm/sec/sec The peak ground acceleration The recording is equal to
The ground
curves were obtained by double integration of the The peak velocity and peak displacement of the
three peak values to occur at different times during earthquake shaking. 45. Figure 15 accelerogram started out as an analog trace recorded by a trace was digitized and fil-
The acceleration
tered in order to control errors, with baseline and--transducer corrections applied to the accelerogram. corrected accelerogram tute of Technology Further details regarding the development of a The California Insti-
(Cal Tech) has a strong motion data program that develops defined at 0.02 sec time intervals. The corrected
Response Spectrum
46.
of maximum values
of acceleration, velocity,
of linear SDOF systems with constant damping ratio ~ shaken by the same 36
IMPERIAL VALLEY
0
IIAOO1 40.001.0 EL CENTRO PEAK VALUES ACCEL = 341.7
EARTHQUAKE
SITE IMPERIAL CM/SEC/SEC I I
MAY 18,1940
VELOCITY I = I 33.4 I
- 2037
CM/SEC I
PST
COW
DISPL I
SOOE
= 10.9 I CM
Zo
-500 I
I (5
*
-40
40
1,
2 ~
(3
20
10
15
20
25 30 35 TIME, SECONDS
40
45
50
55
Figure 15. Ground acceleration and integrated ground velocity and displacement time histories, 1940 El Centro SOOE component, from Hudson (1979) Figure 15 acceleration tem is distinguished time history in this example. Each Figure 10 SDOF sys-
by the value selected for its undam~ed natural period of its undamped natural cyclic fre-
47.
The construction
SDOF systems with fundamental periods T ranging from near zero to values of several seconds. For each SDOF system of value T, the dynamic response is listed in Table 1. The dynamic
37
are the maximum response values for each of the five types of SDOF responses for a system of period T and damping ~, as described in Table 2. The value
assigned to each of the five dynamic response terms for a SDOF system is the peak response value computed during earthquake shaking.
48.
response spectrum,
SD
or
SD,
for Fig-
ure 15 ground motion is shown in Figure 16, computed for T ranging in value from O sec to 3 sec and using ~ = 0.02. absolute relative displacement value, This figure displays the maximum 1~*~, for each of the SDOF sys-
lx(t)
tems analyzed, as illustrated by the three plots showing the relative displacement time histories x(t) that were computed using a numerical procedure for the SDOF systems having T equal to 0.5 see, 1.0 see, and 2.0 see, respectively. (31)
The SD values for the three SDOF systems are listed in Table 3. 49. A characteristic of relative displacement response spectra is the
absence of relative movement between the SDOF system and the ground during earthquake shaking for approximately zero values of T (Figure 16). This is
due to the fact that the spring stiffness of a short period, high frequency, SDOF system (refer to the equation for T in Table 2j_is so large that it neither stretches nor compresses during ground shaking. At the other extreme,
as the value of the spring stiffness is softened (k + O) and the value for T is greater than 20 see, the value for SD approaches the maximum ground displacement (not shown in Figure 16).
SDectral Pseudo-Velocity
SV=USD=$SD
(32)
38
Description Relative displacement response spectrum or spectral displacement Relative velocity response spectrum Absolute acceleration response spectrum Spectral pseudo-velocity
SD= SD Sv
SA %
Sv Psv
Im=
I lx
x(t)
Imax
Imax SD
~ota~(t) 2r ~
@SD=
s~ =
PSA
4X2 ~2 SD T2
Spectral pseudo-acceleration
u is the circular frequency of vibration of the undamped SDOF system in units of radians per second.
T is the natural (or fundamental) period of vibration of the undamped SDOF system in units of seconds.
Sv is distinguished
for Figure 15 ground motion shown in Figure 17b was computed using Equation 32 for each T ranging in value from O to 3 sec (at closely spaced intervals) in the figure (~ =- 0.02). (u = 12.566 radians/see) identified in Figure 17b. For example, with SD - 2.48 inches for the T = 0.5 sec SDOF system, SV = 31.16 inch/see by Equation 32, and The values of SV for the T ==1.0 sec and T ==
2.0 sec SDOF systems are listed in Table 3. 51. The term SV is related to the maximum strain energy stored within
the linear spring portion of the SDOF system when the damping force is neglected,
39
6s
ai=Z<u afy au
o o.4g o -10 t
I
I I I 10 20 TIME, sec
I
I 30
[ in.
I I I Xrnax = 2.48
IT
-+
o ~ -lo -lo~ 1 I I 1 I
Xm~x
I I
I i f
IT
Is
= 1 sec = 0.02
-*
o -lo -lo 0 I I
= 6.61 in.
m-
Lu
c . .
u?
10
1
n I
I
1
o 1 2 3 NATURAL VIBRATION PERIOD, T, sec Figure 16. Computation of displacement response spectrum P= 0.02, 1940 El Centro SOOE component, from Chopra (1981)
40
Table 3 Res~onse Spectral Values for Three SDOF Systems with f?= 0.02, 1940 El Centro SOOE Component
S*
T
QQd
(d
SD
s~
(radians\sec~
12.566 6.283 % 3.142
~
2.48 6.61 8.84
(inch/see)
31.16 4i.53 27.77
(inch/sec/see)
391.62 260.95 87.25
(E)
1.014 0.676 0.226
u is
27C
Sv = u SD SA - U2 SD
Energy-
= $ kSD2 = ~ mSv2
(33)
52.
The relative velocity response spectrum SV is the maximum absolute (from step 1 of Fig-
value of the computed relative velocity time history ure 10) for the SDOF system. Sv= lx(t) 1-
(34)
As the value of the period T approaches infinity (i.e. long period SDOF systems), the value for SV approaches the maximum ground velocity
ground(t)
lmax.
41
20 15 e ..
s. 10 5 0
= 2.48
in.
mm
40 : < .. m> 30 20 10 [
(b)
0
1.5
(c)
< 0.5
Figure 17. Displacement, pseudo-velocity pseudo-acceleration linear response spectra plots, ~ - 0.02, 1940 El Csntro SOOE component, from Chopra (1981) Comparison of S~land SV Values
53.
The pseudo-velocity
equivalent to the relative velocity value SV, as shown using expressions derived for SV and SV in Appendix A and expressed in terms of the Duhamels Integral. However, for a limited range of periods, the value for Sv is an to the SV value, with the differences between the values Specifically, for short
approximation
increasing with increasing values for period T. periods (i.e. high frequencies)
42
the differences
in the
Spectral Pseudo-Acceleration
(Jsv= 2X s T
(35)
or
SA = &sD.4X2 s
(36) D
T2
SA is distinguished
in a subsequent paragraph.
SA for Figure 15 ground motion, shown in Figure 17c was computed using either Equation 35 or Equation 36 for each T ranging in value from O to 3 sec in the figure (/3= 0.02%).
((J =
For example, with SD - 2.48 inches for the T - 0.5 sec SDOF system, SA - 391.62 inch/sec/sec (1.014 g) by
12.566
radians/see)
1.0 sec and T - 2.0 sec SDOF systems are listed in Table 3.
puted as the product of the mass m times SA is a good approximation . maximum force in the spring.
Absolute Acceleration
ResDonse S~ectrum
55.
lute value of the sum of the computed relative acceleration the SDOF system plus the ground acceleration Figure 10). time history
(from step 2 in
(37)
43
56.
The pseudo-acceleration
equal to the absolute acceleration value SA when ~ = O (refer to Appendix A). For the low levels of damping common to structural dynamics problems, the
values for S~ and SA are nearly equal over the period range of interest. 57. For short period, high frequency, stiff SDOF systems (T < 0.05
see) , the values for SA and SA are equal to the peak ground acceleration
~gro.nd(t)
I.=,
shorn
in Figure 18.
infinity
(i.e. massive SDOF systems), the values for SA and SA approach zero (not shown in Figure 18).
58.
three SDOF response quantities SD, SV, and S~ as a function of the undamped fundamental period T in units of seconds (or cyclic frequency f in units of hertz) . The tripartite response spectrum plot for Figure 15 ground motion is
shown in Figure 19, with the response spectrum values computed for each T ranging in value from 0.04 to 3 sec in the figure (~ = 0.02). four logarithmic scales: The plot uses
zontal, and SD along an axis oriented at 45 deg clockwise from horizontal. The response quantities SD - 2.48 inches, SV - 31.16 inch/see, and SA =
1.014 g for the T - 0.5 sec SDOF system identified ;n Figure 19.
59.
condensing the information presented using three plots in Figure 17 onto a single plot because of the interrelationships to Equations 32, 35, and 36). 60. The tripartite response spectrum plot for the 1940 El Centro ground between the three terms (refer
motion (Figure 15) in Figure 20 shows the response spectrum values for levels of damping, @ = O, 0.02, 0.05, 0.1 and 0.2. This figure illustrates the trend
common to all ground motions of increased values for SD, Sv, and SA with lower damping levels.
44
-1 T
ground(t)lmox
SAI(T1
) -
s Al T1
SA and S~ \ t
F=l
/
K1 \l
hhAV /
PERIOD
(see)
SA = l&(t)lmOX= SA - (#s.
l?q,Od(t)
+ ?(t) I ~ox
Figure 18.
linear response
Fundamental
Periods at Which the Maximum Values for SA, Sv, and SD are ComPuted
61. to 1.29
For the 1940 El Centro ground motion, the largest value of SA equal cm/sec/see), for an SDOF system with T equal to 0.47 sec (f = This value cm/sec/
g (1,265
times larger than the peak acceleration value of 0.35 (Figure 15).
g (341.7
45
400
40
20 10
8 6 4
1 0.8 0.6
0.4
Figure 19. Tripartite logarithmic plot of response spectrum. P= 0.02, 1940 EL Centro-SOOE component, from-Chopra- (1981)
46
RESPONSE
IMPERIAL VALLEY IIIAOO1 400
SPECTRUM
MAY 18,1940 - 2037 PST COMP SOOE 400
EARTHQUAKE
40.001.0 EL CENTRO SITE IMPERIAL VALLEY IRRIGATION DISTRICT DAMPING VALUES ARE 0,2,5,10, AND 20 PERCENT OF CRITICAL
200
200
100 80 60
u 0
q
100 80 60 40
40
5. c ; (n >~ u 20
20
10 8 6 4
10 8 6 4
d > I ~ a f
0.2
0.2
0.1
Figure 20. Tripartite logarithmic plot of response spectrum, ~ = o, 0.02, 0.05, 0.1, and 0.2, 1940 El Centro SOOE Component, from Chopra (1981)
45.7 in./sec (18 cm/see), is computed for a value of T equal to 0.84 sec (f =
1.19
Hz).
The largest value for SD, equal to 18 in. (7.09 cm), is computed The order of
increasing T values (seconds) with the peak values of SA, Sv, and SD is typical of response spectra for ground motions. The order of spectral values is
reversed when the SDOF system is described in terms of increasing values of cyclic frequency f (Hz) (Equation 14). 47
62.
Although quite irregular with local peaks and spikes, the 1940 El
Centro earthquake motion tripartite response spectrum has the general shape of a trapezoid or tent (refer to Figure 20). This general shape implies three
distinct regions with regards to the frequency content of the 1940 El Centro earthquake motion. 63. Within the short period range of 1/8 sec < T < 1/2 sec or the high frequency range of 2 Hz < f < 8 Hz, SA is nearly conequal to
equivale~tly,
stant (an average value of 0.95 g (931.6 cm/sec/see) with a variation f 25%),
as
64.
There are two distinct subregions within the intermediate period The
range of the 1940 El Centro motion response spectra shown in Figure 19.
first subregion is within the period range of 1/2 sec < T < 1 sec (1 Hz < f < 2 Hz), with SV a nearly constant 38 in/see (15 cm/see) value (t 20%), as compared to the variation 0.33 Hz< (~ 25%). 65. The long period range, T greater than 3 sec (the low frequency f<lHz), in SA and SD values. Between 1 sec < T < 3 sec (or
range of f < 0.33 Hz), SD averages 13 in (5.1 cm) for ~ = 0.02, with a variation equal to f 40% (Figure 20). For this accelerogram, the variation in the
66.
The previously
quency of earthquake accelerograms were recognized in the 1970s by numerous earthquake engineers and seismologists. Statistical analyses of response
spectra of earthquake motions were conducted by several groups with the objectives of identifying the factors affecting the response spectra for earthquake motions, characterizing shape or the frequency content of the
earthquake spectrum for the category under study and developing smooth, broad band spectrum for use in the design of structures for earthquake loadings. A
broad band spectrum ensures that sufficient seismic energy is delivered to all frequencies.
48
67.
The results of some of the early ground motion studies are summa(1976), Mohraz (1976), and Newmark and Hall
Their results show that the spectra frequency content of the recorded are dependent upon the earthquake magnitude, distance from
accelerograms
causative fault to site, the type of substratum on which the recording station is founded (i.e. , rock, shallow alluvium, or deep alluvium), and the tectonic environment. categories, Using standard regression techniques for selected ground motion (smooth) trends in the variation in spectral content with about
68.
The Newmark and Hall (1982) design response spectrum exemplifies the
the important features common to current procedures used to characterize spectral content of earthquake motions.
response spectrum for a moderate earthquake at a competent soil site corresponds to the solid line shown in Figure 21 for ~ -=0.05. acceleration, peak ground velocity, The peak ground
example and included for reference in this figure (dashed line), are 0.5 g (49o.3 cm/sec/see), 61 cm/see, and 45 cm, respectively.
rather
period T as
broad band spectrum composed of three distinct regions of constant, limiting spectral values for SA, Sv, and SD, as identified in the_ figure. tral amplitude values correspond spectral values presented These spec-
to one standard deviation above the median Mean spectral values are as well. A smooth, broad
band spectrum ensures that sufficient seismic energy is delivered to all frequencies in a dynamic analysis of a MDOF semidiscrete details regarding the construction structural model. For
69.
The response spectrum is used to represent the seismic loading in structural models. For details
500
200 100
r
5
2 1
yo
~ooa
-33 I \A
10 20
cm
Hz
50 100
0.1
0.2
0.5
FREQUENCY,
tiz
Figure 21. Newmark and Hall elastic design response spectrum, from Newmark and Hall (1982) regarding its application in structural dynamic problems, the reader is
referred to textbooks such as Clough and Penzien (1975), Chopra (1981), or Paz (1985) .
50
REFERENCES
Bathe, K. J. 1982. Finite Element Procedures Prentice-Hall, Englewood Cliffs, NJ, 735 p.
in Enszineerin~ Analysis.
Bathe, K. J. and Wilson, E. W. 1976. Numerical Methods In Finite Element Analysis. Prentice-Hall, Englewood Cliffs, NJ, 735 p. Chopra, A. 1981. Dvnamics of Structures. A Primer. Earthquake Engineering Research Institute, Berkeley, CA, 126 p. Clough, R. W. and Penzien, J. New York, NYY 634 p. 1975. Dvnamics of Structures. McGraw-Hill,
Dokainish, M. A. and Subbaraj, K. 1989. A Survey of Direct Time-Integration Methods in Computational Structural Dynamics-II. Implicit Methods, Computers and Structures (printed in Great Britain), Vol. 32, No. 6, pp. 1387-1401. Hudson, D. E. 1979. Readin~ and InterDretin~ Stron~ Motion Accelero~rams. Earthquake Engineering Research Institute, Berkeley, CA, 112 p. Hughes, T. J. R. 1987. The Finite Element Method. Linear Static and Dvnamic Finite Element Analvsis. Prentice-Hall, Englewood Cliffs, NJ, 803 p. Hughes, T. J. R. and Belytshko, T. 1983 (Dec.). A Precis of Developments in Computational Methods for Transient Analysis, Transactions of the ASME Journal of Applied Mechanics, Vol. 50, pp. 1033-1041. Kreyszig, E. 1972. Advanced En~ineerin~ Mathematics, John Wiley and Sons, Inc, New York, NY, 866 p. Mohraz, B. 1976. A Study of Earthquake Response Spectra for Different Geological Conditions, Bulletin of the Seismological Society of America, Vol. 66, No. 3, pp. 915-935. Newmark, N. M. and Hall, W. J. 1982. Earthquake Spectra and Desire. Earthquake Engineering Research Institute, Berkeley, CA, 103 p. Newmark, N. M. and Rosenblueth, E. 1971. Fundamentals of Earthquake Enneerinz. Prentice-Hall, Inc., Englewood Cliffs, NJ, 640 p. Structural Dvnamics. Theorv and Commutation. Van Nostrand Paz, M. 1985. Reinhold Company, Inc., New York, NY, 561 p. Seed, H. B., Ugas, C., and Lysmer, J. 1976. Site Dependent Spectra for Earthquake-Resistant Design, Bulletin of the Seismological Society of America, Vol. 66, No. 1, pp. 221-244.
51
APPENDIX A: SOLUTIONS FOR SPECTRAL TERMS BASED UPON DUHAMELS INTEGIU-iL SOLUTION FOR REIATIVE DISPLACEMENT
1.
for each of
terms SD, Sv, SV, SA, and SA (Table 2)$ expressed The resulting relationships show that the
terms Sv and SV are not equivalent, while the terms SA and SA are equivalent only if ~ - 0. \ Duhamels Internal Solution for Relative Displacement
2.
series of loadings P(T)- - mk~r.~d applied to the SDOF system for short duration time intervals dr. is given as The resulting relationship for a damped SDOF system
where % == the damped angular frequency of vibration (Equation 16) (Equation 11)
3.
response spectrum SD is equal to the maxiI x(t) I..X (Equation 25) for a
mum absolute relative displacement value damped SDOF system of period T. displacement x(t), SD becomes
(A2)
Al
Spectral Pseudo-Velocity
4.
SV may be expressed
integral solution for SD into Equation 26, resulting in the for SV is given by
Sv=
If -Q
*D
Xg,omd(T) e+o(t-)
~
(A3)
5.
absolute relative velocity value I ~(t) l~,X (Equation 28) for a damped SDOF system of period T. displacement Differentiating Duhamels integral solution for relative
x(t), with SV equal to the maximum absolute value of the resulting expression.
t -[
Sv= ,,ip m(l gromd(~)
(A6)
References cited in this appendix are included in the References at the end of the main text. A2
6.
(Equation A5) in the previous two paragraphs demonstrates between the two terms. The simplified relationships
system (~ - O) shows the terms for SV (Equation A4) and SV (Equation A6) differ by the trigonometric \ Spectral Pseudo-Acceleration Sh Expressed in function used within Duhamels integral.
7.
SA may be expressed
the Duhamels integral solution for SD into Equation 30, resulting in the relationship for SA given by
(A7) max
For an undamped SDOF system (~ - O), this expression simplifies to SA= -0 IJ ~xgrO~~(~) sin [~(t-~)] o d%
max
(A8)
Absolute Acceleration
Response SDectmmn in
8.
absolute value of the sum of the computed relative acceleration for the SDOF system plus the ground acceleration SA= l&al(~) lM=l~grO~d(~) time history. ~(~) l~ax
(A9)
into this
A3
relative displacement
Rearranging
(AlO)
-2p@x-(d2x
(All)
Introducing Equation Al and the term within the absolute value in Equation A5 into Equation All, results in the relationship
SA= mo
-o
(A12) t. [
9romd(T) e-$Q(t)
+(J(l - 2p2)
Refer to page 63 of Hudson (1979) or section 1.5 of Newmark and Rosenbluth (1971) . For an undamped SDOF system (/?- O) Equation A12 becomes SA= -u II % grfJ~(~)in [@(~-?)] o
d%
1=
(A13)
and Absolute
9.
Comparison
of the expressions
for SA (Equation A7) and SA (Equathe difference between for an undamped SDOF
system (~ - O) for SA (Equation A8) and SA (Equation A13) are the same.
A4
Data
Ebeling, Robert M. Introduction to the computation of response spectrum for earthquake loading /by Robert M. Ebeling; prepared for Department of the Army, U.S. Army Corps of Engineers. 61 p. : ill. ; 28 cm. (Technical report; ITL-92-4) Includes bibliographic references. 1. Earthquake engineering Mathematics. 2. Spectral sensitivity. 3. Structural dynamics. 4. Modal analysis. 1.Title. 11. nited States. U Computer-aided Structural Engineering Army. Corps of Engineers. 111. Project. IV. U.S. Army Engineer Waterways Experiment Station. V. Series: Technical report (U.S. Army Engineer Waterways Experiment Station) ; ITL-92-4. TA7 W34 no.lTL-92-4
WATERWAYS EXPERIMENT STATION REPORTS PUBLISHED UNDER THE COMPUTER-AIDED STRUCTURAL ENGINEERING (CASE) PROJECT
Title Technical ReportK-78-l instruction ReportO-79-2 List of Computer Programs for Computer-Aided Structural Engineering Date Feb 1978 Mar 1979
Users Guide: Computer Program with Interactive Graphics for Analysis of Plane Frame Structures (CFRAME) Survey of Bridge-Oriented Design Software of
Evaluation of Computer Programs for the Design/Analysis Highway and Railway Bridges Users Guide: Computer Program for Design/Review linear Conduits/Culverts (CURCON) A Three-Dimensional Finite Element Data Edit Program
of Curvi-
Feb 1980
Mar 1980
A Three-Dimensional Stability Analysis/Design Program (3 DSAD) Report 1: General Geometry Module Report 3: GeneraI Analysis Module (CGAM) Repott 4: Special-Purpose Modules for Dams (CDAMS) Basic Users Guide: Computer Program for Design and Analysis of inverted-T Retaining Walls and Floodwalls (TWDA) Computer Program for Design and Users Reference Manual: Analysis of inverted-T Retaining Walls and Floodwalls (TWDA) Documentation Report 1: Report 2: of Finite Element Analyses Longview Outlet Works Conduit Anchored Wall Monolith, Bay Springs Lock
Dec 1980
Technical
Report K-80-4
Technical
Report K-80-5
Basic Pile Group Behavior Users Guide: Computer Program for Design and Analysis of Sheet Pile Walls by Classical Methods (CSHTWAL) Report 1: Computational Processes Report 2: Interactive Graphics Options Validation Report: Computer Program for Design afid Analysis of inverted-T Retaining Walls and Floodwalls (TWDA) Users Guide: Computer Program for Design and Analysis of Cast-in-Place Tunnel Linings (NEWTUN) Users Guide: Computer Program for Optimum Nonlinear Dynamic Design of Reinforced Concrete Slabs Under Blast Loading (CBARCS) Users Guide: Computer Program for Design or Investigation Orthogonal Culverts (CORTCUL) Users Guide: Computer Program for Three-Dimensional of Building Systems (CTABS80) of
instruction
Report K-81 -3
Mar 1981
Mar 1981
Mar 1981
Analysis
Aug 1981
Technical
Report K-81 -2
Theoretical Basis for CTABS80: A Computer Program for Three-Dimensional Analysis of Building Systems Users Guide: Computer Program for Analysis of Beam-Column Structures with Nonlinear Supports (CBEAMC)
Sep 1981
Jun 1982
(Continued)
WATERWAYS EXPERIMENT STATION REPORTS PUBLISHED UNDER THE COMPUTER-AIDED STRUCTURAL ENGINEERING (CASE) PROJECT
(Continued) Title Instruction Report K-82-7 Users Guide: Computer Program for Bearing Capacity Analysis of Shallow Foundations (CBEAR) Users Guide: Computer Program with Interactive Graphics for Analysis of Plane Frame Structures (CFRAME) Users Guide: Computer Geometry (SKETCH) Program for Generation of Engineering Date Jun 1982
Jan 1983
Jun 1983
Users Guide: Computer Program to Calculate Shear, Moment, and Thrust (CSMT) from Stress Results of a Two-Dimensional Finite Element Analysis Basic Pile Group Behavior Reference Manual: Computer Graphics Program for Generation Engineering Geometry (SKETCH) of
Jul 1983
Technical
ReportK-83-l
Technical ReportK-83-3
Users Guide: Computer Program for Optimum Dynamic Design of Nonlinear Metal Plates Under Blast Loading (CSDOOR) Users Guide: Computer Program for Determining Induced Stresses and Consolidation Settlements (CSETT) Seepage Analysis of Confined Flow Problems by the Method of Fragments (CFRAG) 1 Users Guide for Computer Program CGFAG, Concrete General Flexure Analysis with Graphics Computer-Aided Engineers Drafting and Design
instruction
ReportK-84-7
Aug 1984
Sep 1984
instruction
ReportK-84-l
Sep 1984
Technical ReportK-84-3
Ott 1984
Technical
ReportATC-86-5
Decision Logic Table Formulation ofACI318-77, Building Code Requirements for Reinforced Concrete for Automated Constraint Processing, Volumes I and II A Case Committee Flat Slabs Study of Finite Element Analysis of Concrete
Jun 1986
Technical ReportlTL-87-2
Jan 1987
instruction
ReportlTL-87-l
Users Guide: Computer Program for Two-Dimensional of U-Frame Structures (CUFRAM) Users Guide: For Concrete Strength Investigation (CASTR) in Accordance withACI318-83
Analysis
Apr 1987
and Design
May 1987
Seepage
May 1987
instruction
ReportlTL-87-3
Users Guide: A Three Dimensional Stability Analysis/Design Program (3DSAD) Module Reporl 1: Revision 1: General Geometry Report 2: General Loads Module Repoti 6: Free-Body Module
(Continued)
WATERWAYS EXPERIMENT STATION REPORTS PUBLISHED UNDER THE COMPUTER-AIDED STRUCTURAL ENGINEERING (CASE) PROJECT
(Continued)
Tdle Instruction Report ITL-87-4 Technical Report ITL-87-4 \ Users Guide: 2-D Frame Analysis Link Program (LINK2D) Date Jun 1987 Aug 1987
Finite Element Studies of a Horizontally Framed Miter Gate Report 1: Initial and Refined Finite Element Models (Phases A, B, and C), Volumes I and II Report 2: Simplified Frame Model (Phase D) Report 3: Alternate Configuration Miter Gate Finite Element Studies-Open Section Report 4: Alternate Configuration Miter Gate Finite Element Studies-Closed Sections Report 5: Alternate Configuration Miter Gate Finite Element Studies-Additional Closed Sections Report 6: Elastic Buckling of Girders in Horizontally Framed Miter Gates Report 7: Application and Summary UTEXAS2 Slope-Stability Users Guide: Users Manual Sliding Stability of Concrete Structures Package; Volume 1,
Aug 1987
(CSLIDE)
Criteria Specifications for and Validation of a Computer Program for the Design or Investigation of Horizontally Framed Miter Gates (CMITER) Procedure for Static Analysis of Gravity Dams Using the Finite Element Method Phase 1a Users Guide: Computer Structures (CGRID) Program for Analysis of Planar Grid
Technical
Report ITL-87-8
Jan 1988
Feb 1988
Development of Design Formulas for Ribbed Mat Foundations on Expansive Soils Users Guide: Pile Group Graphics Display (CPGG) Postprocessor to CPGA Program Users Guide for Design and Investigation Miter Gates (CMITER) of Horizontally Framed
Apr 1988
Technical
Report ITL-88-2
Apr 1988
Jun 1988
Users Guide for Revised Computer Program to Calculate Shear, Moment, and Thrust (CSMT) Users Guide: Theory Users Guide: UTEXAS2 Slope-Stability Package; Volume 11,
Sep 1988
Feb 1989
CBASIN+tructural Design of Saint Anthony Falls Stilling Basins According to Corps of Engineers Criteria for Hydraulic Structures; Computer Program XO098
(Continued)
WATERWAYS EXPERIMENT STATION REPORTS PUBLISHED UNDER THE COMPUTER-AIDED STRUCTURAL ENGINEERING (CASE) PROJECT
(Concluded)
Title Technical ReportlTL-89-5 CCHAN-Structural Design of Rectangular Channels According to Corps of Engineers Criteria for Hydraulic Structures; Computer Program XO097 The Response-Spectrum Dynamic Analysis of Gravity Dams Using the Finite Element Method; Phase II State of the Art on Expert Systems Applications Construction, and Maintenance of Structures in Design, Date Aug 1989
Technical ReportlTL-89-6
Aug 1989
Sep 1989
Users Guide: Computer Program for Design and Analysis of Sheet Pile Walls by Classical Methods (CWALSHT) Investigation Program Volume Volume Volume and Design of U-Frame Structures Using CUFRBC A: Program Criteria and Documentation B: Users Guide for Basins C: Users Guide for Channels Analysis
Feb 1990
May 1990
Users Guide: Computer Prog~am for Two-Dimensional of U-Frame or W-Frame Structures (CWFRAM)
Sep 1990
Users Guide: Pile Grou@oncrete Pile Analysis Program (CPGC) Preprocessor to CPGA Program Application of Finite Element, Grid Generation, and Scientific Visualization Techniques to 2-D and 3-D Seepage and Groundwater Modeling Users Guide: Computer Program for Design and Analysis of Sheet-Pile Walls by Classical Methods (CWALSHT) Including Rowes Moment Reduction Users Guide for Concrete Strength Investigation (CASTR) in Accordance withACI318-89 and Design
Jun 1990
Sep 1990
Ott1991
Mar 1992
Fiinite Element Modeling of Welded Thick Plates for Bonn~ville Navigation Lock Introduction to the Computation Earthquake Loading of Response Spectrum for
May 1992
June 1992