Response Spectrum: Ahmed Elgamal

March 22,
2002
Singapore, Elgamal
Response Spectrum
Ahmed Elgamal
March 22,
2002
Singapore, Elgamal
Dynamics of a Simple Structure
The Single-Degree-Of-Freedom (SDOF) Equation

References
Elements Of Earthquake Engineering And Structural Dynamics, Andr Filiatrault,
Polytechnic International Press, Montral, Canada, ISBN 2-553-00629-4 (Section 4.2.3).
Dynamics of Structures, Anil K. Chopra, Prentice Hall, New Jersey, ISBN 0-13-855214-2
(Chapter 3).
March 22,
Equation of motion (external force)
2002
Singapore, Elgamal
Free-body diagram
fI
p(t)
fS
fD
fs
fD
k
fI + fD + fs = p(t)
1
u
fs = k u
mu cu ku p( t )
fD = c
u(t)
c
p(t)
m
k
fD
fI
fS
p(t)
FBD
Mass-spring damper system
March 22,
2002 Ground Motion
Earthquake
Singapore, Elgamal
fI + f D + f s = 0
fI = m u t = m( u g + u )
m(u u g ) cu ku 0
mu cu ku mu g
ug(t)
You may note that
External
force
(t)
Earthquake
Excitation
ug(t)
Fixed base
March 22,
2002 natural frequency
Undamped
Singapore, Elgamal
Property of structure when allowed to vibrate freely without external excitation
k Undamped natural circular frequency of vibration (radi

m
1
natural period of vibration (second)
f
ans/second)
natural cyclic frequency of vibration (cycles/second or 1/second or Hz)
T is the time required for one cycle of free vibration

If damping is present, replace
where D 1 2
by D
natural frequency , and
c
fraction of critical damping coefficient
2 m
c
(dimensionless measure o f damping) called damping ratio
cc
c
2 km
c c 2m 2 km
5
March 22,
2002
Singapore, Elgamal
in terms of
mu cu ku mu g
u
c
k
u u u g
m
m
u 2u 2 u u g
In general < 0.2, i.e., D , fD f, T = TD
cc least damping that prevents oscillation
cc or larger
1
may be in the range of 0.02 0.2 or 2% - 20%
5% is sometimes a typical value.

e.g., damper on a swinging door
March 22,
2002
Singapore, Elgamal
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
e2
u i 1
where we define the logarithmic decrement as

ui
if you measure a free vibration response you can find .
u i 1
2 ln
ui
Note: for peaks j cycles apart
ui+1
u i
j 2 j
ui j
ln
Free vibration
March 22,
2002
Singapore, Elgamal
Critical viscous damping
The free vibration equation may be written as
mx cx kx 0
and the general solution is
c c
2m
2m
x C1 e
c
if
2
m
c c
2m
2m
C2 e
k
, the radical part of the exponent will vanish. This will produce aperiodic
m
response (non-oscillatory). In this case
c2
( 2m ) 2
since
k
or c 2 km c c
m
k
, cc is also equal to 2m (note that 2 km 2 m 2 m 2m )
m
and also c c 2 km 2 k (k / 2 )
2k
March 22,
2002
Singapore, Elgamal
k1 ( w u1g ) k 2 ( w u 2g ) 0
mw
u1g u 2g u g
(k1 k 2 ) w k1u1g k 2 u 2g
mw
if
cc
(k1 k 2 ) w (k1 k 2 )u g
mw
(0.05 for example)
c c 2 (k1 k 2 )m
but w = u + ug
mu (k1 k 2 )u g (k1 k 2 )u mu g (k1 k 2 )u g

or
mu (k1 k 2 )u mu g
9
March 22,
2002
Deformation Response Spectrum
Singapore, Elgamal
For a given EQ excitation calculate |umax|

from SDOF response with a certain
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
as damping)
From: Chopra, Dynamics of Structures, A Primer
10
March 22,
2002 of Equivalent lateral force fs
Concept
Singapore, Elgamal
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) = m2u(t)
The maximum force will be
f s,max m 2 u max ku max mSa
Sa
k
Sd
m
k
m
kS d
Sa 2Sd
Sd = deformation or displacement response spectrum
Sa 2Sd = pseudo-acceleration response spectrum

The maximum strain energy Emax stored in the structure during shaking is:
E max
1 2
1
1 k 2 2 1
1
2 2
2
ku max kS d2
mS
d
d
V
2
2
2 2
2
2
From: Chopra,
Dynamics of Structures, A Primer
where S v S d = pseudo-velocity response spectrum

11
March 22,
2002
Singapore, Elgamal
Note that Sd, Sv and Sa are inter-related by

S a 2 S d S v
Sa, Sv are directly related to Sd

by 2 and respectively or by (2f)2 and 2f;
2
or
2
as shown in Figure.
T
and
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.
12
March 22,
2002
Singapore, Elgamal
From: Chopra, Dynamics of Structures
13
March
In
order to22,
cover the damping
Singapore, Elgamal
2002of interest,
range
it is common to perform
the same calculations for
=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, = 2%
and k = 1.5 MN/m
Period T = 1/f = 0.5 second
Sd = 2.5 inches = 0.0635 m
Forcemax = kumax
= 1.5 MN/m x 0.0635m = 95.25 kN
14
March 22,
2002of this figure shows
Inspection
Singapore, Elgamal
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
15
March 22,
Note2002
that response spectrum
Singapore, Elgamal
for relative velocity

may be obtained from
the SDOF response history,
and similarly for t =(+g).
These spectra are known
as relative velocity
and total acceleration
response spectra,
and are different from the
pseudo velocity
and pseudo acceleration
spectra Sv and Sa
(which are directly
related to Sd).
e.g. for = 0%
m(+g) + ku = 0
or (+g) + 2u = 0
16
March 22,
2002
Singapore, Elgamal
Elastic Design Spectrum

Use recorded ground motions (available)
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)
17
March 22,
2002
Singapore, Elgamal
Mean response spectrum is smooth relative to any of the original contributing spectra
18
March 22,
2002
Singapore, Elgamal
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.
19
March 22,
2002
Singapore, Elgamal
(Design Spectrum may include more than one earthquake scenario)

20

Response Spectrum: Ahmed Elgamal

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March 22,

Dynamics of a Simple Structure

The Single-Degree-Of-Freedom (SDOF) Equation

You may note that

Property of structure when allowed to vibrate freely without external excitation

k Undamped natural circular frequency of vibration (radi

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

T is the time required for one cycle of free vibration

natural frequency , and

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

5% is sometimes a typical value.

where we define the logarithmic decrement as

and the general solution is

(0.05 for example)

mu (k1 k 2 )u g (k1 k 2 )u mu g (k1 k 2 )u g

For a given EQ excitation calculate |umax|

If fs is applied as a static force, it would cause the deformation u.

Sd = deformation or displacement response spectrum

Sa 2Sd = pseudo-acceleration response spectrum

where S v S d = pseudo-velocity response spectrum

Note that Sd, Sv and Sa are inter-related by

Sa, Sv are directly related to Sd

Due to this direct relation, a 4-way plot

From: Chopra, Dynamics of Structures, A Primer

From: Chopra, Dynamics of Structures

From: Chopra, Dynamics of Structures, A Primer

= 1.5 MN/m x 0.0635m = 95.25 kN

that the maximum response

From: Chopra, Dynamics of Structures

for relative velocity

Elastic Design Spectrum

From: Chopra, Dynamics of Structures

Motions recorded at the same location.

The periods and values in Table 6.9.1

From: Chopra, Dynamics of Structures

From: Chopra, Dynamics of Structures

(Design Spectrum may include more than one earthquake scenario)

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