Nonlinear Analysis & Performance Based Design

Nonlinear Analysis & Performance Based Design

CALCULATED vs MEASURED

ENERGY DISSIPATION

IMPLICIT NONLINEAR BEHAVIOR

STEEL STRESS STRAIN RELATIONSHIPS

INELASTIC WORK DONE!

CAPACITY DESIGN
STRONG COLUMNS & WEAK BEAMS IN FRAMES

REDUCED BEAM SECTIONS
LINK BEAMS IN ECCENTRICALLY BRACED FRAMES
BUCKLING RESISTANT BRACES AS FUSES
RUBBER-LEAD BASE ISOLATORS
HINGED BRIDGE COLUMNS
HINGES AT THE BASE LEVEL OF SHEAR WALLS
ROCKING FOUNDATIONS
OVERDESIGNED COUPLING BEAMS
OTHER SACRIFICIAL ELEMENTS

STRUCTURAL COMPONENTS

MOMENT ROTATION RELATIONSHIP

IDEALIZED MOMENT ROTATION

PERFORMANCE LEVELS

IDEALIZED FORCE DEFORMATION CURVE

ASCE 41 BEAM MODEL
Nonlinear Analysis & Performance Based Design 17

ASCE 41 ASSESSMENT OPTIONS
• Linear Static Analysis

• Linear Dynamic Analysis
(Response Spectrum or Time History Analysis)
• Nonlinear Static Analysis
(Pushover Analysis)
• Nonlinear Dynamic Time History Analysis
(NDI or FNA)

STRENGTH vs DEFORMATION
ELASTIC STRENGTH DESIGN - KEY STEPS
CHOSE DESIGN CODE AND EARTHQUAKE LOADS

DESIGN CHECK PARAMETERS STRESS/BEAM MOMENT
GET ALLOWABLE STRESSES/ULTIMATE– PHI FACTORS
CALCULATE STRESSES – LOAD FACTORS (ST RS TH)
CALCULATE STRESS RATIOS
INELASTIC DEFORMATION BASED DESIGN -- KEY STEPS

CHOSE PERFORMANCE LEVEL AND DESIGN LOADS – ASCE 41
DEMAND CAPACITY MEASURES – DRIFT/HINGE ROTATION/SHEAR
GET DEFORMATION AND FORCE CAPACITIES
CALCULATE DEFORMATION AND FORCE DEMANDS (RS OR TH)
CALCULATE D/C RATIOS – LIMIT STATES

STRUCTURE and MEMBERS
• For a structure, F = load, D = deflection.

• For a component, F depends on the component type, D is the
corresponding deformation.
• The component F-D relationships must be known.
• The structure F-D relationship is obtained by structural analysis.

FRAME COMPONENTS
• For each component type we need :

Reasonably accurate nonlinear F-D relationships.
Reasonable deformation and/or strength capacities.
• We must choose realistic demand-capacity measures, and it must be
feasible to calculate the demand values.
• The best model is the simplest model that will do the job.

F-D RELATIONSHIP
Force (F)
Ultimate
Strain
strength Ductile limit
Hardening
Strength loss
First yield
Residual strength
Initially
linear Complete failure
Deformation (D)
Stiffness, strength and ductile limit may
all degrade under cyclic deformation
Hysteresis loop

DUCTILITY
LATERAL
LOAD
Brittle Partially Ductile Ductile
DRIFT

ASCE 41 - DUCTILE AND BRITTLE

FORCE AND DEFORMATION CONTROL

BACKBONE CURVE
F Monotonic F-D relationship
Hysteresis loops
Relationship allowing
from experiment.
for cyclic deformation

HYSTERESIS LOOP MODELS

STRENGTH DEGRADATION

ASCE 41 DEFORMATION CAPACITIES
• This can be used for components of all types.

• It can be used if experimental results are available.
• ASCE 41 gives capacities for many different components.
• For beams and columns, ASCE 41 gives capacities only for the chord
rotation model.

BEAM END ROTATION MODEL
Mi or Mj
i j
Mi
Mj
i or j
Zero length hinges
Elastic 
M Plastic (hinge) 
Elastic beam
Total
rotation Current 
Similar at
Plastic Elastic this end
rotation rotation 

PLASTIC HINGE MODEL
• It is assumed that all inelastic deformation is concentrated in zero-

length plastic hinges.
• The deformation measure for D/C is hinge rotation.

PLASTIC ZONE MODEL
• The inelastic behavior occurs in finite length plastic zones.

• Actual plastic zones usually change length, but models that have
variable lengths are too complex.
• The deformation measure for D/C can be :
- Average curvature in plastic zone.
- Rotation over plastic zone ( = average curvature x plastic
zone length).

ASCE 41 CHORD ROTATION CAPACITIES
IO LS CP
Steel Beam p/y = 1 p/y = 6 p/y = 8
RC Beam
Low shear p = 0.01 p = 0.02 p = 0.025
High shear p = 0.005 p = 0.01 p = 0.02

COLUMN AXIAL-BENDING MODEL
P
V
Mj
P P
or
M M
Mi
V
P

STEEL COLUMN AXIAL-BENDING

CONCRETE COLUMN AXIAL-BENDING

SHEAR HINGE MODEL
Node
Zero-length
Elastic beam shear "hinge"

PANEL ZONE ELEMENT
• Deformation, D = spring rotation = shear strain in panel zone.

• Force, F = moment in spring = moment transferred from beam to
column elements.
• Also, F = (panel zone horizontal shear force) x (beam depth).

BUCKLING-RESTRAINED BRACE
The BRB element includes “isotropic” hardening.

The D-C measure is axial deformation.

BEAM/COLUMN FIBER MODEL
The cross section is represented by a number of uni-axial fibers.

The M-y relationship follows from the fiber properties, areas and locations.
Stress-strain relationships reflect the effects of confinement

WALL FIBER MODEL

Steel
fibers 
Concrete

fibers


ALTERNATIVE MEASURE - STRAIN

NONLINEAR SOLUTION SCHEMES
iteration iteration
ƒ ƒ
1 2 1 2 3 4 56
∆ƒ ∆ƒ
∆u u ∆u u
NEWTON – RAPHSON CONSTANT STIFFNESS
ITERATION ITERATION

CIRCULAR FREQUENCY
+Y
Y

0 Radius, R
-Y

THE D, V & A RELATIONSHIP
u
.
Slope = ut1
t1 t
.
u
. ..
ut1 Slope = ut1
t1 t
..
u
..
ut1
t1 t

UNDAMPED FREE VIBRATION
&& + ku = 0
mu
ut = u0 cos(wt)
k
where w =
m

RESPONSE MAXIMA
ut = u0 cos(wt)
u&t = -wu0 sin(wt)
u&&t = -w u0 cos(wt)
2
&u& max = -w 2u max

BASIC DYNAMICS WITH DAMPING
Mu && + Cu& + Ku = 0 M
t C
Mu && + Cu& + Ku = - Mu &&
g K
&u& + 2xwu& + w2u = - u&&
g
&&
u
g

RESPONSE FROM GROUND MOTION
u + 2xwu& + w u = A + Bt = -&&
&& 2
ug
..
ug
.. 2
ug2
t1 t2
.. Time t
ug1
1

DAMPED RESPONSE
- xwt B
u& t = e { [u& t - ] cos wd t
1 w2
1 B B
+ [A - w2ut - xw(u& t + 2 )] sin wd t } + 2
wd 1 1 w w
- xwt A 2xB
ut = e { [ut - + ] cos wd t
1 w 2 w 3
1 x A B(2x2 - 1)
+ [u& t + xwut - + ] sin wd t }
wd 1 1 w w2
A 2xB Bt
+[ - + ]
w 2
w3
w2

SDOF DAMPED RESPONSE

RESPONSE SPECTRUM GENERATION
Earthquake Record
0.40
GROUND ACC, g
0.20
16
0.00
14
DISPLACEMENT, inches
-0.20 12
-0.40 10
0.00 1.00 2.00 3.00 4.00 5.00 6.00 8
TIME, SECONDS
6
4
T= 0.6 sec
4.00 2
DISPL, in.
2.00 0
0.00 0 2 4 6 8 10
-2.00 PERIOD, Seconds
-4.00
0.00 1.00 2.00 3.00 4.00 5.00 6.00
T= 2.0 sec
8.00
DISPL, in.
4.00
Displacement
0.00 Response Spectrum
-4.00 5% damping
-8.00
0.00 1.00 2.00 3.00 4.00 5.00 6.00

SPECTRAL PARAMETERS
16
DISPLACEMENT, in.
PSV = w Sd
12
PSa = w PSv
8
0
0 2 4 6 8 10
PERIOD, sec
40 1.00
ACCELERATION, g
VELOCITY, in/sec
0.80
30
0.60
20
0.40
10
0.20
0 0.00
0 2 4 6 8 10 0 2 4 6 8 10
PERIOD, sec PERIOD, sec

THE ADRS SPECTRUM
Spectral Acceleration, Sa
RS Curve
0.5 Seconds
1.0 Seconds
2.0 Seconds
ADRS Curve
Spectral Acceleration, Sa
Period, T
Spectral Displacement, Sd

THE ADRS SPECTRUM

ASCE 7 RESPONSE SPECTRUM

PUSHOVER

THE LINEAR PUSHOVER

EQUIVALENT LINEARIZATION
How far to push? The Target Point!

DISPLACEMENT MODIFICATION

DISPLACEMENT MODIFICATION
Calculating the Target Displacement
d = C0 C1 C2 Sa Te / (4p )
2 2
C0 Relates spectral to roof displacement

C1 Modifier for inelastic displacement
C2 Modifier for hysteresis loop shape

LOAD CONTROL AND DISPLACEMENT CONTROL

P-DELTA ANALYSIS

P-DELTA DEGRADES STRENGTH

P-DELTA EFFECTS ON F-D CURVES
P- effects may reduce the drift at which the

"worst" component reaches its ductile limit.
STRUCTURE P- effects will reduce the drift at
STRENGTH which the structure loses strength.
The "over-ductility" is reduced,

and is more uncertain.
DRIFT

THE FAST NONLINEAR ANALYSIS METHOD (FNA)
NON LINEAR FRAME AND SHEAR WALL HINGES

BASE ISOLATORS (RUBBER & FRICTION)
STRUCTURAL DAMPERS
STRUCTURAL UPLIFT
STRUCTURAL POUNDING
BUCKLING RESTRAINED BRACES

RITZ VECTORS

FNA KEY POINT
The Ritz modes generated by the

nonlinear deformation loads are used
to modify the basic structural modes
whenever the nonlinear elements go
nonlinear.

ARTIFICIAL EARTHQUAKES
CREATING HISTORIES TO MATCH A SPECTRUM
FREQUENCY CONTENTS OF EARTHQUAKES
FOURIER TRANSFORMS

ARTIFICIAL EARTHQUAKES

MESH REFINEMENT
71 Nonlinear Analysis & Performance Based Design

APPROXIMATING BENDING BEHAVIOR
This is for a coupling beam. A slender pier is similar.

ACCURACY OF MESH REFINEMENT

PIER / SPANDREL MODELS

STRAIN & ROTATION MEASURES

STRAIN CONCENTRATION STUDY
Compare calculated strains and rotations for the 3 cases.

STRAIN CONCENTRATION STUDY
No. of Roof Strain in bottom Strain over story Rotation over

elems drift element height story height
1 2.32% 2.39% 2.39% 1.99%
2 2.32% 3.66% 2.36% 1.97%
3 2.32% 4.17% 2.35% 1.96%
The strain over the story height is insensitive to the number of elements.
Also, the rotation over the story height is insensitive to the number of elements.
Therefore these are good choices for D/C measures.

DISCONTINUOUS SHEAR WALLS

PIER AND SPANDREL FIBER MODELS
Vertical and horizontal fiber models

RAYLEIGH DAMPING
• The aM dampers connect the masses to the ground. They exert

external damping forces. Units of a are 1/T.
• The bK dampers act in parallel with the elements. They exert internal
damping forces. Units of b are T.
• The damping matrix is C = aM + bK.

RAYLEIGH DAMPING
• For linear analysis, the coefficients a and b can be chosen to give essentially
constant damping over a range of mode periods, as shown.
• A possible method is as follows :
Choose TB = 0.9 times the first mode period.
Choose TA = 0.2 times the first mode period.
Calculate a and b to give 5% damping at these two values.
• The damping ratio is essentially constant in the first few modes.
• The damping ratio is higher for the higher modes.

RAYLEIGH DAMPING
M &u& t + Cu& + Ku = 0
M &u& t + (a M + b K ) u
& + Ku = 0
&u& + Cu& +
K
u = 0
M M
&u& + 2x wu& + w2u = 0 ; 2x M w = C
x= C
= C = C
= aM + bK
2Mw 2M √K 2 √K M 2 √K M 2 √K M
M
x = aw + b w
2 2
RAYLEIGH DAMPING
Higher Modes (high w) = b

Lower Modes (low w) = a
To get z from a & b for any w = √M
K
; T = 2p
w
To get a & b from two values of z1& z2
z1 = a + b w1
2w 2
1 Solve for a & b
z2 = a + b w2
2w 2
2

DAMPING COEFFICIENT FROM HYSTERESIS

DAMPING COEFFICIENT FROM HYSTERESIS

A BIG THANK YOU!!!

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