46425614 Response Spectrum

First version: September 2003 (Last modified 2010)

Ahmed Elgamal & Mike Fraser

Single-Degree-of-Freedom (SDOF) and Response Spectrum Ahmed Elgamal

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First version: September 2003 (Last modified 2010)

Ahmed Elgamal & Mike Fraser

Dynamics of a Simple Structure The Single-Degree-Of-Freedom (SDOF) Equation References Dynamics of Structures, Anil K. Chopra, Prentice Hall, New Jersey, ISBN 0-13-855214-2 (Chapter 3). Elements of Earthquake Engineering And Structural Dynamics, André Filiatrault, Polytechnic International Press, Montréal, Canada, ISBN 2-553-00629-4 (Section 4.2.3).

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First version: September 2003 (Last modified 2010)

Ahmed Elgamal & Mike Fraser

Equation of motion (external force) Free-Body Diagram (FBD) fI p(t)

fS fD fs

fD k

fI + fD + fs = p(t)

c

1

where fI,fD, and fs are forces due to Inertia, Damping and Stiffness respectively:

1 ů

u

fD = c ů

fs = k u

mu  cu  ku  p(t ) u(t) c

fD p(t) m

fI

p(t)

fS

k

FBD Mass-spring damper system

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First version: September 2003 (Last modified 2010)

Ahmed Elgamal & Mike Fraser

Earthquake Ground Motion (ug) fI + fD + fs = 0 u ) fI = m u t = m( u g +

m(u  u g )  cu  ku  0

mu  cu  ku  mu g ug(t)

You may note that: (t) External force

=

Earthquake Excitation

Fixed base

ug(t)

u = relative displacement (displacement of the structure relative to the ground) ut = total displacement fI = m x (total or absolute acceleration)

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First version: September 2003 (Last modified 2010)

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Undamped natural frequency Property of structure when allowed to vibrate freely without external excitation k Undamped natural circular frequency of vibration (radians/second) m

w

f

T

w 2p

natural cyclic frequency of vibration (cycles/second or 1/second or Hz)

T

1 natural period of vibration (second) f

T is the time required for one cycle of free vibration If damping is present, replace w by wD where w D  w 1  x 2 x



natural frequency*, and

c fraction of critical damping coefficient (damping ratio, zeta) 2 mw

c cc



c

(dimensionless measure of damping)

2 km

c c  2mw  2 km

cc = critical damping

* Note: In earthquake engineering, wD = w approximately, since z is usually below 0.2 (or 20%)

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in terms of x mu  cu  ku   mu g

in terms of x

c k u  u  u   u g u  m   kum  mu g m c u First version: September 2003 (Last modified 2010)

Ahmed Elgamal & Mike Fraser

u  2cxw u kw u   u g u  u  u   u g m m 2

u

2 2xw general x < 0.2, i.e., wD  w , fprevents TD u  w u   u g D  f,uT=oscillation cIn that c is the least level of damping

least damping Inccgeneral x < 0.2,that i.e.,prevents wD  w , oscillation fD  f, T = TD

u

cc or larger x1

may be in the range of 0.02 oscillation – 0.2 or 2% - 20% cxc least damping that prevents

cc or larger x1

5% is sometimes a typical value.

t

e.g., damper on a swinging door

x may be in the range of 0.02 – 0.2 or 2% - 20%

t

5% is sometimes a typical value. e.g., damper on a swinging door

in terms of x

mu  cu  ku   mu g

u 

c k u  u   u g m m

u  2xw u  w 2 u   u g

In general x < 0.2, i.e., wD  w , fD  f, T = TD cc least damping that prevents oscillation x may be in the range of 0.02 – 0.2 or 2% - 20% 5% is sometimes a typical value.

u

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cc or larger x1 t

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First version: September 2003 (Last modified 2010)

Ahmed Elgamal & Mike Fraser

Note: After the phase of forced vibration (due to external force or base excitation, or initial conditions), the structure continues to vibrate in a “free vibration” mode till it stops due to damping. The ratio between amplitude in two successive cycles is ui  e 2 px u i 1

where we define the logarithmic decrement as  u    2px  ln  i  if you measure a free vibration response you can find x.  u i 1 

ui

ui+1

Note: for peaks j cycles apart  u  ln  i   j  2 jpx  ui j   

Free vibration

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Why is c c  2mw  2

km

Ahmed Elgamal & Mike Fraser

Critical viscous damping The free vibration equation may be written as mx  cx  kx  0

and the general solution is

x  C1

2     c   c    k   t  2m 2 m m      e

 C2

2     c   c    k   t  2m 2 m m      e

2

k  c  if  2m   m , the radical part of the exponent will vanish. This will produce aperiodic  

response (non-oscillatory). In this case c2 ( 2m) 2

since w 



k c  2 km c c m or

k 2 , cc is also equal to 2mw (note that 2 km  2 mw m  2mw ) m 2 and also c c  2 km  2 k (k / w ) 

2k w 8

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Deformation Response Spectrum For a given EQ excitation calculate |umax| from SDOF response with a certain x and within a range of natural periods or frequencies. |umax| for each frequency will be found from the computed u(t) history at this frequency. A plot of |umax| vs. natural period is constructed representing the deformation (or displacement) response spectrum (Sd). From this figure, one can directly read the maximum relative displacement of any structure of natural period T (and a particular value of x as damping)

From: Chopra, Dynamics of Structures, A Primer

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First version: 2003 (Last modified 2010)

Ahmed Elgamal & Mike Fraser

Example Units for natural frequency calculation (SI units) Weight = 9.81 kN = 9810 N = 9810 kg (m /s2) Gravity (g) = 9.81m/s2 Mass (m) = W/g = 9180/9.81 = 1000 kg Stiffness (k) = 81 kN/m = 81000 N/m = 81000 kg (m/s2)/m = kg /s2 w = SQRT (k/m) = SQRT (81000/1000) = 9 radians/sec f = w / (2 p) =

1.43 Hz (units of 1/s or cycles/sec)

Units for natural frequency calculation (English units) Weight (W) = 193.2 Tons = 193.2 (2000) = 386,400 lbs = 386.4 kips g = 386.4 in/sec/sec (or in/s2) Mass (m) = W/g = 1.0 kips s2 /in Stiffness (k) =

144 kips/in

w =SQRT (k/m) = 12 radians/sec f = w / (2 p) =

1.91 Hz (units of 1/s or cycles/sec)

Note: The weight of an object is the force of gravity on the object and may be defined as the mass times the acceleration of gravity, w = mg. Weight is what is measured by a scale (e.g., weight of a person). Since the weight is a force, its SI unit is Newton. 13

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First version: September 2003 (Last modified 2010)

Ahmed Elgamal & Mike Fraser

Concept of Equivalent lateral force fs If fs is applied as a static force, it would cause the deformation u. Thus at any instant of time: fs = ku(t) , or in terms of the mass fs(t) = mw2u(t) The maximum force will be f s,max  mw2 u max  ku max

Sa 

k Sd m

w

k m

 mSa  kSd

Sa  w2Sd

Sd = deformation or displacement response spectrum

Sa  w2Sd = pseudo-acceleration response spectrum The maximum strain energy Emax stored in the structure during shaking is:

E max

1 1 1 k 2 2 1 1  ku 2max  kSd2  ω Sd  mω 2Sd2  mS 2V 2 2 2 2ω 2 2

where S v  wSd

From: Chopra, Dynamics of Structures, A Primer

= pseudo-velocity response spectrum 14

First version: September 2003 (Last modified 2010)

Ahmed Elgamal & Mike Fraser

Note that Sd, Sv and Sa are inter-related by S a  w 2S d  wS v

Sa, Sv are directly related to Sd by w2 and w respectively or by (2pf)2 and 2pf; 2

 2p   2p  or   and   as shown in Figure.  T   T 

Due to this direct relation, a 4-way plot is usually used to display Sa, Sv and Sd on a single graph as shown in Figure. In this figure, the logarithm of period T, Sa, Sv and Sd is used.

From: Chopra, Dynamics of Structures, A Primer

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First version: September 2003 (Last modified 2010)

Ahmed Elgamal & Mike Fraser

From: Chopra, Dynamics of Structures

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First version: September 2003 (Last modified 2010)

Ahmed Elgamal & Mike Fraser

In order to cover the damping range of interest, it is common to perform the same calculations for x =0.0, 0.02, 0.05, 0.10, and 0.20 (see Figure) Typical Notation: Sv  PSV  V Sa  PSA  A Sd  SD  D Example (El-Centro motion): Find maximum displacement and base shear of tower with f = 2 Hz, x = 2% and k = 1.5 MN/m Period T = 1/f = 0.5 second Sd = 2.5 inches = 0.0635 m Forcemax = kumax

From: Chopra, Dynamics of Structures, A Primer

= 1.5 MN/m x 0.0635m = 95.25 kN

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(5% Damping)

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First version: September 2003 (Last modified 2010)

Ahmed Elgamal & Mike Fraser

Inspection of this figure shows that the maximum response at short period (high frequency stiff structure) is controlled by the ground acceleration, low frequency (long period) by ground displacement, and intermediate period by ground velocity. Get copy of El-Centro (May 18, 1940) earthquake record S00E (N-S component) ftp nisee.ce.berkeley.edu (128.32.43.154) login: anonymous password: your_indent cd pub/a.k.chopra get el_centro.data quit

From: Chopra, Dynamics of Structures

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First version: September 2003 (Last modified 2010)

Ahmed Elgamal & Mike Fraser

Note that response spectrum for relative velocity may be obtained from the SDOF response history, and similarly for üt =(ü+üg). These spectra are known as relative velocity and total acceleration response spectra, and are different from the pseudo velocity and pseudo acceleration spectra S v and S a (which are directly related to S d). e.g. for x = 0 % m(ü+üg) + k u = 0 or (ü+üg) + w2u = 0 From: Chopra, Dynamics of Structures

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Elastic Design Spectrum Use recorded ground motions (available)

From: Chopra, Dynamics of Structures

Use ground motions recorded at similar sites: Magnitude of earthquake Distance of site form earthquake fault Fault mechanism Local Soil Conditions Geology/travel path of seismic waves Motions recorded at the same location. For design, we need an envelope. One way is to take the average (mean) of these values (use statistics to define curves for mean and standard deviation, see next page)

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First version: September 2003 (Last modified 2010)

Ahmed Elgamal & Mike Fraser

From: Chopra, Dynamics of Structures

Mean response spectrum is smooth relative to any of the original contributing spectra

First version: September 2003 (Last modified 2010)

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Ahmed Elgamal & Mike Fraser

As an alternative Empirical approach, the periods shown on the this Figure and the values in the Table can be used to construct a Median elastic design spectrum (or a Median + one Sigma), where Sigma is the Standard Deviation. For any geographic location, these spectra are built based on an estimate of peak ground acceleration, velocity, and displacement as this location. From: Chopra, Dynamics of Structures

The periods and values in Table 6.9.1 were selected to give a good match to a statistical curve such as Figure 6.9.2 based on an ensemble of 50 earthquakes on competent soils.

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(Design Spectrum may include more than one Earthquake fault scenario)

http://dap3.dot.ca.gov/shake_stable/ About Caltrans ARS Online This web-based tool calculates both deterministic and probabilistic acceleration response spectra for any location in California based on criteria provided in Appendix B of Caltrans Seismic Design Criteria 40

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