Structural Dynamics of MDOF Systems Handouts

Structural Dynamics of Elastic
MDOF Systems
Structural Dynamics of Linear Elastic

Multiple-Degrees-of-Freedom (MDOF) Systems
u1
u2
u3
Instructional Material Complementing FEMA 451, Design Examples
Equations of motion for MDOF systems

Uncoupling of equations through use of natural
mode shapes
Solution of uncoupled equations
Recombination of computed response
Modal response history analysis
Modal response spectrum analysis
Equivalent lateral force procedure
MDOF Dynamics 4 - 1
MDOF Dynamics 4 - 2
Relevance to ASCE 7-05
Symbol Styles Used in this Topic
ASCE 7-05 provides guidance for three specific

analysis procedures:
M
U
Matrix or vector (column matrix)
Equivalent lateral force (ELF) analysis

Modal superposition analysis (MSA)
Response history analysis (RHA)
Element of matrix or vector or set
m
u
ELF usually allowed
(often shown with subscripts)
ELF not allowed
Cs
W
g
See ASCE 7-05

Table 12.6-1
Scalars
Ts
uy
rz Typical nodal
Majority of mass
is in floors
9
10
11
12
13
14
15
16
FEMA 451B Topic 4 Handouts
ux
DOF
MDOF Dynamics 4 - 3
Planar Frame with 36 Degrees of Freedom
3.5Ts
Planar Frame with 36 Static Degrees of Freedom

But with Only THREE Dynamic DOF
u1
u2
Motion is
predominantly
lateral
MDOF Dynamics 4 - 5
MDOF Dynamics 4 - 4
u1

U = u2

u3
u3
MDOF Dynamics 4 - 6
Structural Dynamics of MDOF 1
Development of Flexibility Matrix

(continued)
f1 = 1 kip
d1,2
d1,1
f2=1 kip
d2,1
d1,1
d2,2
d1,1 d1,2
d2,1 d2,2
d2,1
d3,1
d3,1 d3,2
d3,2
d3,1
MDOF Dynamics 4 - 7
Concept of Linear Combination of Shapes

(Flexibility)
(continued)
d1,1 d1,2 d1,3 f1

U = d2,1 d2,2 d2,3 f2
d3,1 d3,2 d3,3 f3
d1,3
d2,3
d1,1 d1,2 d1,3
d1,1
d1,2
d1,3

U = d2,1 f1 + d2,2 f2 + d2,3 f3
d
d

3,1
3,2
d3,3
d2,1 d2,2 d2,3
f3 = 1 kip
d3,1 d3,2 d3,3
d3,3
DF=U
K m,n Um Fm
=
K n,n Un {0}
K = D-1
KU=F
MDOF Dynamics 4 - 9
MDOF Dynamics 4 - 10
Static Condensation
Static Condensation
K m,m
K
n,m
MDOF Dynamics 4 - 8
(continued)
DOF with mass
Rearrange
Un = K n1,nK n,mUm
Massless DOF
Plug into
K m,mUm K m,nK n1,nK n,mUm = Fm
K m,mUm + K m,nUn = Fm
K n,mUm + K n,nUn = {0}
Simplify
1
K m,m K m,nK n,nK n,m Um = Fm
K = K m,m K m,nK n1,nK n,m

Condensed stiffness matrix
Coupled Equations of Motion

for Undamped Forced Vibration
Idealized Structural Property Matrices

f1(t), u1(t)
m1
k1
-k1
0
k1
K = -k1 k1+ k 2
-k 2
0
-k 2
k 2 + k 3
f2(t), u2(t)
m2
0
m1 0
M = 0 m2 0
0 m3
0
k2
f3(t), u3(t)
m3
f1(t )
F(t ) = f2 (t )
f (t )
3
k3
u1(t )
U(t ) = u2 (t )
u (t )
3
&&(t ) + KU(t ) = F(t )

MU
m1
0
0
m2
0
&&1 ( t )
0 u
&&
0 u
2 (t ) +
&& 3 ( t )
m 3 u
k1
k1
k1
k1 + k 2
k 3
0
u 1 ( t ) f1 ( t )
k 2 u 2 ( t ) = f 2 ( t )
k 2 + k 3 u 3 ( t ) f3 ( t )
DOF 2
&&1(t ) + k1u1(t ) k1u2 (t ) = f1(t )

m1u
&&2 (t ) k1u1(t ) + k1u2 (t ) + k 2u2 (t ) k 2u3 (t ) = f2 (t )
m 2u
DOF 3
&&3 (t ) k 2u2 (t ) + k 2u3 (t ) + k 3u3 (t ) = f3 (t )

m3u
DOF 1
Note: Damping to be shown later

Solutions for System in Undamped Free Vibration
Developing a Way To Solve

the Equations of Motion
(Natural Mode Shapes and Frequencies)
This will be done by a transformation of coordinates

from normal coordinates (displacements at the nodes)
To modal coordinates (amplitudes of the natural
Mode shapes).
Because of the orthogonality property of the natural mode

shapes, the equations of motion become uncoupled,
allowing them to be solved as SDOF equations.
After solving, we can transform back to the normal
&&(t ) + KU(t ) = {0}

MU
&& t ) = 2 sint
U(t ) = sin t U(
2
Then K M = {0} has three (n) solutions:
Assume
1,1

1 = 2,1 , 1

3,1
1,2

2 = 2,2 , 2

3,2
1,3

3 = 2,3 , 3

3,3
Natural frequency
coordinates.
Natural mode shape
Solutions for System in Undamped Free Vibration
Mode Shapes for Idealized 3-Story Frame
(continued)
K = M2
1,2
1,1
For a SINGLE Mode
1,3
For ALL Modes
Node
Note: Mode shape has arbitrary scale; usually

2,3
2,2
2,1
Where: = [1 2 3 ]
12
2
2
2
2
=
K = M
2
Node
Node
3,1
3,2
3,3
1,i = 1.0
or
T M = I
MODE 1
MODE 2
MODE 3
Concept of Linear Combination of Mode Shapes
Orthogonality Conditions
(Transformation of Coordinates)
= [1 2 3 ]
U =Y
Generalized mass
Mode shape
1,1 1,2 1,3 y1

1,1
1,2
1,3

U = 2,1 2,2 2,3 y2 U = 2,1 y1 + 2,2 y2 + 2,3 y3

3,1 3,2 3,3 y3
3,1
3,2
3,3
Modal coordinate =
amplitude of mode
shape
Transformation of coordinates:
&& CU+KU
&
MU+
= F(t )
Premultiply by T :
m *2
&&
y1 c 1*
&&
y
2+
m 3* &&
y 3
Generalized force
c1*
T
c2*
C =
c3
f1* (t )
F(t ) = f2* (t )
*
f3 (t )
c 2*
y& 1 k1*
&
y2 +
*
c 3 y& 3
k 2*
y1 f1* (t )
*
y 2 = f2 (t )
*
k 3 y 3 f3* (t )
Mode 1
m1*&&
y1+c1* y& 1+k1* y1 = f1* (t )
Mode 2
m*2&&
y2 +c2* y& 2 +k2* y2 = f2* (t )
Mode 3
m3* &&
y3 +c3* y& 3 +k3* y3 = f3* (t )
Development of Uncoupled Equations of Motion

(Explicit Form)
ci*
Simplify by dividing through by m* and defining i =
2mi*i
Mode 1
y&&1 + 211y&1 + 12 y1 = f1* (t )/ m1*
Mode 2
y&&2 + 222 y& 2 + 22 y 2 = f2* (t ) / m2*
Mode 3
y&&3 + 233 y& 3 + 32 y 3 = f3* (t ) / m3*

Earthquake Loading for MDOF System

&&
u&&g U
r ,1
&&r ,1(t )
u&&g (t ) + u
&&
&&
FI (t ) = M ug (t ) + ur ,2 (t ) =
u&& (t ) + u
&&r ,3 (t )
g
&&r ,1(t )
u
1.0

&&
M 1.0 u&&g (t ) + M u
r ,2 (t )
1.0
u

&&r ,3 (t )
Move to RHS as

(Explicit Form)
T MY&& + TCY& + T KY = T F(t )
Using orthogonality conditions, uncoupled equations of motion are:
m1*
k1*
K =
k2*
k3
U = Y
&& C Y+K
&
M Y+
Y = F(t )
Substitution:
Generalized stiffness
Generalized damping

MDOF equation of motion:
m1*
T
m2*
M =
m3*
FEFF (t ) = - M Ru&&g (t )
F * (t ) = T MRu&&g (t )
Modal Earthquake Loading

m1 = 2
m2 = 3
m3 = 1
u1
M = 3
u2
u3
u&&g (t )
m3 = 1
m1 = 2
m2 = 3
u1
u3
u2
u&&g (t )
1

R = 1
1

Definition of Modal Participation Factor
For earthquakes:
&&g (t )
fi * (t ) = iT MRu
Typical modal equation:
y&&i + 2 i i y& i + i2 y i =
1
2 + 1
M=
3 R= 1
0
Caution Regarding Modal Participation Factor
pi =
iT MR
Modal participation factor pi
Variation of First Mode Participation Factor

with First Mode Shape
p1 = 1.0
1.0
*
i
fi * (t )
iT MR &&
=
u g (t )
mi*
mi*
p1 =1.4
p1 =1.6
1.0
1.0
iT Mi
Its value is dependent on the (arbitrary) method
used to scale the mode shapes.
Concept of Effective Modal Mass

For each Mode I,
mi = pi 2mi *
Variation of First Mode Effective Mass

with First Mode Shape
m1 / M = 1.0
1.0
The sum of the effective modal mass for all
m1 / M= 0.9 m1 / M= 0.7
1.0
1.0
modes is
equal to the total structural mass.
The value of effective modal mass is

independent of mode shape scaling.
Use enough modes in the analysis to provide

a total effective mass not less than 90% of the
total structural mass.
Derivation of Effective Modal Mass
(continued)
(continued)
For each mode:
y&&i + 2 i i y& i + i2 y i = pi u&&g
From previous slide
y i (t ) = pi qi (t )
Recall
ui (t ) = i y i (t )
Substitute
ui (t ) = pi i qi (t )
SDOF system:
q&&i + 2 i i q& i + i2qi = u&&g

Modal response history, qi(t) is obtained by first
solving the SDOF system.
(continued)
(continued)
Applied static forces required to produce ui(t):
Vi = (Mi )T RPi 2qi (t ) = i T MRPi 2qi (t )
Vi (t ) = Kui (t ) = Pi Ki qi (t )
Acceleration in mode
Ki = i 2Mi
Recall:
Total shear in mode: Vi = Vi T R
Define effective modal mass:
Mi = iT MRPi
Substitute:
and
Vi (t ) = Mi Pi i qi (t )
2
Vi = Mi 2qi (t )
Development of a Modal Damping Matrix
(continued)
i T MR T
Mi = i MRPi = T
i Mi Pi
i Mi i
T
Mi = Pi 2mi *
In previous development, we have assumed:
c1*
*
T
c2
C =
c
3
Two methods described herein:

Rayleigh proportional damping
Wilson discrete modal damping
Rayleigh Proportional Damping
(continued)
(continued)
C = M + K
MASS
PROPORTIONAL
DAMPER
For modal equations to be uncoupled:

STIFFNESS
PROPORTIONAL
DAMPER
Assumes
T M = I
2nn = nTCn
Using orthogonality conditions:
C = M + K
2nn = + n2
n =
1
+ n
2n
2
Rayleigh Proportional Damping (Example)

(continued)
Select damping value in two modes, m and n
5% critical in Modes 1 and 3

Structural frequencies
Mode
1
2
3
4
5
m m

m n n
=2 2

2
n m 1/ n 1/ m n

Form damping matrix
0.15
.36892
.41487
.43871
.45174
0.00513
0.00324
0.00227
0.00173
STIFFNESS
TOTAL
= 0.41487
= 0.00324
0.10
0.05
20
40
Frequency, Radians/Sec.
60
Wilson Damping
*
Directly specify modal damping values i
MODES
1,2
Modal Damping Ratio
Modes
1&2
1&3
1&4
1&5
MASS
Rayleigh Proportional Damping (Example)

5% Damping in Modes 1 & 2, 1 & 3, 1 & 4, or 1 & 5
Proportionality factors
(5% each indicated mode)
TYPE
0.00
C = M + K
4.94
14.6
25.9
39.2
52.8
Modal Damping Ratio
0.15
Compute coefficients and :
1,3
1,4
1,5
0.10
c1*
2m1*11*

*
*
*
2
m
=
c2
C =
2 2 2

*
*
*
2
m
c
3
3
3
3
0.05
0.00
0
20
40
60
Fequency, Radians/sec
Formation of Explicit Damping Matrix

From Wilson Modal Damping
Wilson Damping (Example)

5% Damping in Modes 1 and 2, 3
10% in Mode 5, Zero in Mode 4
(NOT Usually Required)
=c
2nn
2 n 1n 1
( )
12
Modal Damping Ratio
211
2 22
T
C =
T 1
c1 = C
Modal Damping Ratio
4.94
14.57
25.9
39.2
52.8
Solution of MDOF Equations of Motion
10
Frequency, Radians per second
12
Wilson Damping (Example)

5% Damping in all Modes
C = M 2i iiT i M
i =1
10
10
Explicit (step by step) integration of coupled equations
Explicit integration of FULL SET of uncoupled equations
Explicit integration of PARTIAL SET of uncoupled
Equations (approximate)
Modal response spectrum analysis (approximate)
0
4.94
14.57
25.9
39.2
52.8
Frequency, Radians per second

Example of MDOF Response of Structure

Responding to 1940 El Centro Earthquake
Computed Response for

Piecewise Linear Loading
Force, V(t)
Vt2
Vt1
m1=1.0 k-s2/in
Vt 2 Vt 2
t2 t1
10 ft
m2=1.5 k-s2/in
t1
t2 t3
u1(t)
k1=60 k/in
u2(t)
Example 1
Assume Wilson
damping with 5%
critical in each mode.
k2=120 k/in
10 ft
t0
Time, t
u3(t)
m3=2.0 k-s2/in
Time
10 ft
k3=180 k/in
N-S component of 1940 El Centro earthquake
Maximum acceleration = 0.35 g
Example 1 (continued)
Solve eigenvalue problem:
Form property matrices:

m1=1.0 k-s2/in
1.0
kip s2/in
1.5
M=
2.0
u1(t)
k1=60 k/in
m2=1.5 k-s2/in
u2(t)
m3=2.0 k-s2/in
k2=120 k/in
0
60
60
K = 60 180 120kip/in
0
120 300
u3(t)
k3=180 k/in
Normalization of Modes Using
0.749 0.638 0.208

= 0.478 0.384 0.534
0.223 0.431 0.514
vs
u1(t)
k1=60 k/in
m2=1.5 k-s2/in
k2=120 k/in
u3(t)
k3=180 k/in
Mode Shapes and Periods of Vibration
4.58
n = 9.83 rad/ sec

14.57
m2=1.5 k-s2/in
k2=120 k/in
m3=2.0
k-s2/in
u3(t)
k3=180 k/in
1.37
Tn = 0.639sec
0.431
m1=1.0 k-s2/in
u1(t)
k1=60 k/in
2 . 455
kip sec 2 / in
23 . 10
Compute generalized loading:

V * (t ) = T MR v&&g (t )
u2(t)
Compute Generalized Mass:

1 . 801
M * = T M =
MODE 3
= 14.57 rad/sec
T = 0.431 sec
m2=1.5 k-s2/in
u2(t)
MODE 2
= 9.83 rad/sec
T = 0.639 sec
k1=60 k/in
1.000 1.000 1.000

0.644 0.601 2.57
0.300 0.676 2.47
u1(t)
1.000 1.000 1.000

= 0.644 0.601 2.57
0.300 0.676 2.47
MODE 1
= 4.58 rad/sec
T = 1.37 sec
m1=1.0 k-s2/in
21.0
sec2
96.6
=
212.4
2
u2(t)
m3=2.0 k-s2/in
T M = I
K = M2
m1=1.0 k-s2/in
k2=120 k/in
m3=2.0 k-s2/in
u3(t)
k3=180 k/in
2.566
Vn* = 1.254 v&&g (t )

2.080
Modal Participation Factors
Write uncoupled (modal) equations of motion:

m1=1.0 k-s2/in
y&&1 + 211y&1 + 12 y1 = V1* (t )/ m1*
u1(t)
k1=60 k/in
m2=1.5
k-s2/in
u2(t)
k2=120 k/in
m3=2.0 k-s2/in
u3(t)
k3=180 k/in
y&&2 + 222 y& 2 + 22 y 2 = V2* (t ) / m2*

y&&3 + 233 y& 3 + 32 y 3 = V3* (t ) / m3*
Mode 1
1 .4 2 5
1 .9 1 1
Mode 2
Mode 3
0 .5 1 1
0 .7 9 9
0 .0 9 0
0 .4 3 5
y&&1 + 0.458y&1 + 21.0y1 = 1.425v&&g (t )

y&&2 + 0.983y&2 + 96.6y2 = 0.511v&&g (t )
y&&3 + 1.457y&3 + 212.4y3 = 0.090v&&g (t )

(continued)
=1
Effective Modal Mass
1.000
0.744
1.425 0.644 = 1.9110.480

0.300
0.223
using 1,1
i T Mi =10
.
i,1 = 10
.
Modal scaling
Mn = Pn m
2
*
n
Accum%
Mn
Mode 1
3.66 81
81
Mode 2
Mode 3
0.64 14
95
0.20 5 100%
4.50 100%
=1
using T M
1
1
Solving modal equation via NONLIN:

For Mode 1:
&y&1 + 211y&1 + 12 y1 = V1* (t ) / m1*
Modal Displacement Response Histories (from NONLIN)

6.00
3.00
T1 = 1.37 sec
0.00
-3.00
-6.00
1.00y&&1 + 0.458y&1 + 21.0y1 = 1.425v&&g (t )
MODE 1
10
11
12
2.00
1.00
T2 = 0.64
0.00
M = 1.00 kip-sec2/in
-1.00
-2.00
MODE 2
C = 0.458 kip-sec/in
10
11
12
0.20
0.10
K1 = 21.0 kips/inch
T3 = 0.43
0.00
-0.10
Scale ground acceleration by factor 1.425
-0.20
MODE 3
10
Time, Seconds
11
12
Maxima
u(t ) = y (t )
Compute story displacement response histories:
Modal Response Histories:
6
4
2
0
-2
-4
-6
u1(t)
Modal Displacement, Inches
4
3
2
u2(t)
1
0
-1
-2
u3(t)
MODE 1
MODE 2
MODE 3
-3
-4
10
11
12
10
11
12
10
11
12
6
4
2
0
-2
-4
-6
6
4
2
0
-2
-4
-6
0
-5
0
10
Time, Seconds
Time, Seconds
= 0.300 x Mode 1 - 0.676 x Mode 2 + 2.47 x Mode 3
400
200
0
-200
-400
u2(t)
10
11
12
5.11
134.8
400
200
0
-200
-400
62.1 k
1348
2.86
0
u3(t)
Displacements and forces at time of maximum displacements

(t = 6.04 sec)
134.8 k
Compute story shear response histories:
u1(t)
12
10
11
12
400
200
0
-200
-400
196.9
1.22
23.5 k
3317
220.4
10
11
5521
12
Time, Seconds
Story Shear (k)
= k2[u2(t) - u3(t)]
Modal Response Response Spectrum Method
Displacements and forces at time of maximum shear

(t = 3.18 sec)
38.2 k
Story OTM (ft-k)
Instead of solving the time history problem for each

mode, use a response spectrum to compute the
maximum response in each mode.
3.91
These maxima are generally nonconcurrent.

38.2
124.7 k
182.7 k
statistical technique, such as square root of the sum of

the squares (SRSS) or complete quadratic combination
(CQC).
162.9
2111
1.92
345.6
Story Shear (k)
Combine the maximum modal responses using some
382
3.28
5567
Story OTM (ft-k)
The technique is approximate.

It is the basis for the equivalent lateral force (ELF) method.
Example 1 (Response Spectrum Method)

Spectral Displacement, Inches
Displacement Response Spectrum

1940 El Centro, 0.35g, 5% Damping
7.00
7.00
Modal response
6.00
5.00
3.47
4.00
3.00
1.00
0.20
0.40
0.60
Mode 3
T = 0.431 sec
0.80
1.00
1.20
1.40
1.60
1.80
2.00
3.04
2.00
1.20
1.00
0.20
0.40
0.60
0.80
1.00
1.20
1.40
1.60
1.80
2.00
Mode 2
T = 0.639 sec
y 2 = 0.511* 3.04 = 1.55"
7.00
Modal Maxima
y1 = 1.425 * 3.47 = 4.94"
y&&3 + 1.457 y& 3 + 212.4 y 3 = 0.090v&&g (t ) y 3 = 0.090 * 1.20 = 0.108"
Mode 1
T = 1.37 sec
3.47
3.00
Modal Equations of Motion

y&&1 + 0.458y&1 + 21.0 y1 = 1.425v&&g (t )
y&&2 + 0.983 y& 2 + 96.6 y 2 = 0.511v&&g (t )
Period, Seconds
6.00
Computing Nonconcurrent Story Displacements
5.00
The scaled response

spectrum values give
the same modal maxima
as the previous time
Histories.
3.47x 1.425
4.00
3.00
3.04 x 0.511
2.00
4.00
Period, Seconds
1.20
0.00
0.00
5.00
0.00
0.00
3.04
2.00
6.00
1.20 x 0.090
1.00
0.00
0.00
0.20
0.40
0.60
0.80
1.00
1.20
1.40
1.60
1.80
Mode 1
1.000
4.940
0.644 4.940 = 3.181

0.300
1.482
Mode 2
1.000
1.550
0.601 1.550 = 0.931

0.676
1.048
Mode 3
0.108
1.000
2.5700.108 = 0.278
0.267
2.470
2.00
Period, Seconds
6.00
Mode 1
T = 1.37
3.00
0.00
-3.00
-6.00
0
10
11
12
10
11
12
10
11
12
2.00
Mode 2
T = 0.64
1.00
0.00
-1.00
-2.00
0.20
Mode 3
T = 0.43
0.10
0.00
-0.10
-0.20
Time, Seconds
Computing Interstory Drifts
Modal Combination Techniques (for Displacement)

Sum of Absolute Values:
Square Root of the Sum of the Squares:
4.9402 + 1.5502 + 0.1082
5.18
2
2
2
3.181 + 0.931 + 0.278 = 3.33
2
2
2 1.84
1.482 + 1.048 + 0.267
Exact
5.15
2.86
1.22
4.940 3.181 1.759
3.181 1.482 = 1.699

1.482 0 1.482
Mode 2
1.550(0.931) 2.481

0.931(1.048)= 0.117
1.0480 1.048
Mode 3
0.108 (0.278) 0.386

0.278 0.267= 0.545
0.267 0 0.267
Envelope of story displacement
Mode 1
At time of maximum displacement
4.940 + 1.550 + 0.108 6.60
3.181+ 0.931+ 0.278 = 4.39

1.482 + 1.048 + 0.267 2.80
5.15
3.18
1.93
Computing Interstory Shears (Using Drift)
Computing Interstory Shears: SRSS Combination
Mode 1
1.759(60) 105.5
1.699(120) = 203.9
1.482(180) 266.8
Mode 2
2.481(60) 148.9
0.117(120) = 14.0
1.048(180) 188.6
Mode 3
0.386(60) 23.2
0.545(120) = 65.4
0.267(180) 48.1
106 2 + 149 2 + 23.22 220
2
2
2
204 + 14 + 65.4 = 215
267 2 + 189 2 + 48.12 331

Exact
Exact
Exact
38.2
163
346
135
197
220
207
203
346
At time of
max. shear
At time of max.
displacement
Envelope = maximum
per story
Using Less than Full (Possible)

Number of Natural Modes
Caution:
Modal Response Histories:
Calculate the story shears in each mode

(using modal drifts) and then SRSS
the results.
4
Do NOT compute story shears from the story

drifts derived from the SRSS of the story
displacements.
3
2
1
0
-1
-2
MODE 1
MODE 2
MODE 3
-3
-4
-5
0
10
12
Time, Seconds
Using Less than Full Number of Natural Modes
Time-History for Mode 1

y1(t1) y1(t 2) y1(t 3) y1(t 4) y1(t 5) y1(t 6) y1(t 7) y1(t 8) .... y1(tn)
y(t ) = y 2 (t1) y2 (t 2) y 2 (t 3) y 2 (t 4) y 2 (t 5) y 2 (t 6) y2 (t 7) y 2 (t 8) .... y 2 (tn)
y3 (t1) y3 (t 2) y3 (t 3) y3 (t 4) y3 (t 5) y3 (t 6) y3 (t 7) y3 (t 8) .... y3 (tn)
Time History for Mode 1

y (t1) y1(t 2) y1(t 3) y1(t 4) y1(t 5) y1(t 6) y1(t 7) y1(t 8) .... y1(tn)
y (t ) = 1
y2 (t1) y 2 (t 2) y 2 (t 3) y 2 (t 4) y2 (t 5) y2 (t 6) y 2 (t 7) y 2 (t 8) .... y 2 (tn)
NOTE: Mode 3 NOT Analyzed
u(t ) = [1 2 3 ]y (t )
Transformation:
3 x nt
3x3
u(t ) = 1 2 y (t )
Transformation:
3 x nt
3 x nt
u1(t1) u1(t 2) u1(t 3) u1(t 4) u1(t 5) u1(t 6) u1(t 7) u1(t 8) .... u1(tn)
u(t ) = u2 (t1) u2 (t 2) u2 (t 3) u2 (t 4) u2 (t 5) u2 (t 6) u2 (t 7) u2 (t 8) .... u2 (tn)
u3 (t1) u3 (t 2) u3 (t 3) u3 (t 4) u3 (t 5) u3 (t 6) u3 (t 7) u3 (t 8) .... u3 (tn)
3 x nt
3x2
2 x nt
3 x nt
Time History for DOF 1
Time history for DOF 1

u1(t1) u1(t 2) u1(t 3) u1(t 4) u1(t 5) u1(t 6) u1(t 7) u1(t 8) .... u1(tn)
u(t ) = u2 (t1) u2 (t 2) u2 (t 3) u2 (t 4) u2 (t 5) u2 (t 6) u2 (t 7) u2 (t 8) .... u2 (tn)
u3 (t1) u3 (t 2) u3 (t 3) u3 (t 4) u3 (t 5) u3 (t 6) u3 (t 7) u3 (t 8) .... u3 (tn)
Example of MDOF Response of Structure

Responding to 1940 El Centro Earthquake
(Modal Response Spectrum Technique)

Sum of absolute values:
4.940 + 1.550 + 0.108 6.60
3.181 + 0.931 + 0.278 = 4.39

1.482 + 1.048 + 0.267 2.80
6.49
4.112
2.53
5.18
3.31
1.82
k1=150 k/in
At time of maximum
displacement
Exact:
Square root of the sum of the squares:
4.9402 + 1.5502 + 0.1082
5.18
2
2
2
+
+
3.181
0.931
0.278
= 3.33
2
2
2 1.84
1.482 + 1.048 + 0.267
10 ft
5.15
2.86
1.22
k2=150 k/in
10 ft
u3(t)
m3=2.5 k-s2/in
k3=150 k/in
10 ft
N-S component of 1940 El Centro earthquake

Maximum acceleration = 0.35 g
u1(t)
k1=150 k/in
m2=2.5 k-s2/in
u2(t)
m3=2.5 k-s2/in
2.5
kip s2/in
M =
2.5
2.5
k2=150 k/in
u3(t)
k3=150 k/in
0
150 150
K = 150 300 150 kip/in
0
150 300
Normalization of Modes Using
Form property matrices:

m1=2.5 k-s2/in
Assume Wilson
damping with 5%
critical in each mode.
u2(t)
m2=2.5 k-s2/in
3 modes 2 modes
Example 2
u1(t)
m1=2.5 k-s2/in
T M = I
Solve = eigenvalue problem:

K = M2
m1=2.5 k-s2/in
u1(t)
k1=150 k/in
m2=2.5 k-s2/in
u2(t)
m3=2.5 k-s2/in
11.9
sec2
=
93.3
194.8
k2=150 k/in
u3(t)
k3=150 k/in
1.000 1.000 1.000

= 0.802 0.555 2.247
0.445 1.247 1.802
Mode Shapes and Periods of Vibration
0.466 0.373 0.207

1.000 1.000 1.000
= 0.373 0.207 0.465 vs 0.802 0.555 2.247
0.445 1.247 1.802

0.207 0.465 0.373
Mode 1
= 3.44 rad/sec
T = 1.82 sec
Mode 2
= 9.66 rad/sec
T = 0.65 sec
Mode 3
= 13.96 rad/sec
T = 0.45 sec
3.44
m1=2.5 k-s2/in
u1(t)
n = 9.66 rad/ sec

13.96
k1=150 k/in
m2=2.5 k-s2/in
u3(t)
k3=150 k/in
1.82
Tn = 0.65sec
0.45
m1=2.5 k-s2/in
m2=2.5 k-s2/in
u2(t)
k2=150 k/in
m3=2.5 k-s2/in
7 .1 5 8
k ip se c 2 / in
2 3 .2 4 1
Compute generalized loading:

V * (t ) = T MR v&&g (t )
u2(t)
Compute generalized mass:

4 .6 0 3
M * = T M =
u1(t)
k1=150 k/in
5.617
Vn* = 2.005 v&&g (t )

1.388
k2=150 k/in
m3=2.5 k-s2/in
u3(t)
k3=150 k/in
Write uncoupled (modal) equations of motion:

m1=2.5 k-s2/in
y&&1 + 211y&1 + 12 y1 = V1* (t )/ m1*
u1(t)
m2=2.5 k-s2/in
k1=150 k/in
y&&2 + 2 22 y& 2 + 22 y 2 = V2* (t ) / m2*
u2(t)
y&&3 + 233 y& 3 + 32 y 3 = V3* (t ) / m3*
k2=150 k/in
m3=2.5 k-s2/in
y&&1 + 0.345y&1 + 11.88y1 = 1.22v&&g (t )
u3(t)
y&&2 + 0.966y&2 + 93.29y2 = 0.280v&&g (t )
k3=150 k/in
y&&3 + 1.395y&3 + 194.83y3 = 0.06v&&g (t )
2 .6 1 5
Mode 2 0 .2 8
0 .7 4 8
Mode 3 0 .0 6 0 0 .2 8 7
Modal scaling
i,1 = 10
.
i T Mi =10
.
Effective Modal Mass
Mn = Pn 2 mn
Mode 1 1 .2 2
M n % Accum%
Mode 1 6.856 91.40 91.40
Mode 2 0.562 7.50 98.90
Mode 3 0.083 1.10
100.0
7.50 100%
Solving modal equation via NONLIN:

For Mode 1:
&y&1 + 211y&1 + 12 y1 = V1* (t ) / m1*
1.00y&&1 + 0.345y&1 + 11.88y1 = 1.22v&&g (t )

M = 1.00 kip-sec2/in
C = 0.345 kip-sec/in
K1 = 11.88 kips/inch
Scale ground acceleration by factor 1.22
Modal Displacement Response Histories (from NONLIN)
Modal Response Histories
10.00
5.00
T=1.82
0.00
-5.00
1
10
11
12
Mode 1
1.00
0.50
0.00
T=0.65
-0.50
Mode 2
-1.00
0
10
11
12
0.15
0.10
0.05
0.00
10
11
2
0
-2
-4
-8
-0.10
0
-6
T=0.45
-0.05
Mode 3
MODE 1
MODE 2
MODE 3
-10.00
12
u1(t)
u2(t)
u(t ) = y (t )
10
11
12
8.00
6.00
4.00
2.00
0.00
-2.00
-4.00
-6.00
-8.00
u2(t)
0
u3(t)
10
11
u3(t)
1
10
11
600.00
400.00
200.00
0.00
-200.00
-400.00
-600.00
12
10
11
12
10
11
12
10
11
12
600.00
400.00
200.00
0.00
-200.00
-400.00
-600.00
12
8.00
6.00
4.00
2.00
0.00
-2.00
-4.00
-6.00
-8.00
0
u1(t)
1
12
Compute story shear response histories:
8.00
6.00
4.00
2.00
0.00
-2.00
-4.00
-6.00
-8.00
0
10
Compute story displacement response histories:
Time, Seconds
Maxima
600.00
400.00
200.00
0.00
-200.00
-400.00
-600.00
Time, Seconds
= 0.445 x Mode 1 1.247 x Mode 2 + 1.802 x Mode 3

=k2[u2(t)-u3(t)]
Displacements and Forces at time of Maximum Displacements
(t = 8.96 seconds)
Displacements and Forces at Time of Maximum Shear

(t = 6.26 sec)
130.10 k
222.2 k
6.44
6.935
130.10
222.2
175.9 k
180.45 k
2222
398.1
21.9 k
215.10 k
6203
Story Shear (k)

310.55
4406
3.50
2.800
420.0
1301
5.57
5.454
10403
Story OTM (ft-k)
525.65
Story Shear (k)
9663
Story OTM (ft-k)
Example 2 (Response Spectrum Method)
Modal Response Response Spectrum Method
Displacement Response Spectrum

1940 El Centro, 0.35g, 5% Damping
Instead of solving the time history problem for each

mode, use a response spectrum to compute the
maximum response in each mode.
7.00
These maxima are generally nonconcurrent.

Combine the maximum modal responses using some
statistical technique, such as square root of the sum of
the squares (SRSS) or complete quadratic combination
(CQC).
The technique is approximate.
4.00
2.00
0.00
0.00
0.40
0.60
0.80
1.00
1.20
6.00
5.71
3.02
3.00
2.00
1.57
0.40
0.60
0.80
1.00
1.20
y&&2 + 0.966 y& 2 + 93.29 y 2 = 0.280v&&g (t )

y&&3 + 1.395 y& 3 + 194.83 y 3 = 0.060v&&g (t )
1.80
2.00
6.00
5.71 x 1.22
in.
5.00
4.00
The scaled response

spectrum values give
the same modal maxima
as the previous time
histories.
3.02 x 0.28 in.
3.00
2.00 1.57 x 0.06 in.
1.00
0.00
0.00 0.20 0.40 0.60 0.80 1.00 1.20 1.40 1.60 1.80 2.00
1.40
1.60
1.80
10.00
2.00
5.00
Period, Seconds
Modal Equations of Motion

y&&1 + 0.345 y&1 + 11.88 y1 = 1.22v&&g (t )
1.60
Mode 1
T = 1.82 sec
Period, Seconds
0.20
1.40
Mode 2
T = 0.65 sec
7.00
S p e c tra l D is p la c e m e n t, In c h e s
0.20
Mode 3
T = 0.45 sec
0.00
0.00
1.57
1.00
7.00
1.00
3.02
3.00
Period, Seconds
4.00
5.71
5.00
It is the basis for the equivalent lateral force (ELF) method.
5.00
MODAL RESPONSE
6.00
0.00
Mode 1
T = 1.82
Modal Maxima
-5.00
-10.00
0
10
11
12
1.00
y1 = 1.22 * 5.71 = 6.966"
0.50
Mode 2
T = 0.65
y 2 = 0.28 * 3.02 = 0.845"

y 3 = 0.060 *1.57 = 0.094"
0.00
-0.50
-1.00
0
10
10
11
12
0.15
0.10
Mode 3
T = 0.45
0.05
0.00
-0.05
-0.10
0
Mode 1
1.000
6.966
0.802 6.966 = 5.586

0.445
3.100
Mode 2
1.000
0.845
0.555 0.845 = 0.469

1.247
1.053
11
12
Modal Combination Techniques (For Displacement)

At time of maximum displacement
Sum of absolute values:
1.000
0.094
=
2.247
0.094
0.211
1.802
0.169
Computing Nonconcurrent Story Displacements
Mode 3
Exact
6.966 + 0.845 + 0.108 7.919
5.586 + 0.469 + 0.211 = 6.266

3.100 + 1.053 + 0.169 4.322
Square root of the sum of the squares
6.935
5.454
2.800
Envelope of story displacement
6.9662 + 0.8452 + 0.1082
7.02
2
2
2
+
+
5.586
0.469
0.211
= 5.61
2
2
2 3.28
3.100 + 1.053 + 0.169

6.935
5.675
2.965
Computing Interstory Shears (Using Drift)
Computing Interstory Drifts
Mode 1
6.966 5.586 1.380
5.586 3.100 = 2.486

3.100 0 3.100
Mode 1
1.380(150) 207.0
2.486(150) = 372.9
3.100(150) 465.0
Mode 2
0.845 (0.469) 1.314
0.469 (1.053) = 0.584

1.053 0 1.053
Mode 2
1.314(150) 197.1
0.584(150) = 87.6
1.053(150) 157.9
Mode 3
0.108 ( 0.211) 0.319
0.211 0.169 = 0.380

0.169 0
0.169
Mode 3
0.319(150) 47.9
0.380(150) = 57.0
0.169(150) 25.4
ASCE 7 Allows an Approximate

Modal Analysis Technique Called the
Equivalent Lateral Force Procedure
Computing Interstory Shears: SRSS Combination
2072 + 197.12 + 47.92
289.81
2
2
2
372.9
87.6
57
+
+
= 387.27
2
2
2
491.73
465 + 157.9 + 25.4
Exact
Exact
Exact
130.1
310.5
525.7
222.2
398.1
420.0
304.0
398.5
525.7
At time of
max. shear
At time of max.
displacement
Empirical period of vibration

Smoothed response spectrum
Compute total base shear, V, as if SDOF
Distribute V along height assuming regular
geometry
Compute displacements and member forces using
standard procedures
Envelope = maximum
per story
Assume first mode effective mass = total Mass = M = W/g

Acceleration, g
estimate of the envelope

of story shear, NOT to provide accurate
estimates of story force.
May result in overestimate of overturning
moment.
Sa1
T1
Period, sec
VB = (Sa1g )M = (Sa1g )
Use response spectrum to obtain total acceleration @ T1
Method is based on first mode response.

Higher modes can be included empirically.
Has been calibrated to provide a reasonable
W
= Sa1W
g

dr
hx
W
d r (t )12 x
h
g
f x (t ) =
Wx
ELF Procedure Example
Assume linear first mode response
fx
VB (t ) =
hx
nstories
i =1
d (t )12
fi (t ) = r
hg
m1=1.0 k-s2/in
m2=1.5
nstories
i =1
hiWi
k1=60 k/in
Recall
T1 = 1.37 sec
k2=120 k/in
3h
m3=2.0
Portion of base shear applied to story i
fx (t )
=
VB (t )
k3=180 k/in
h Wx
x
nstories
i =1
hiWi
ELF Procedure Example (Story Forces)
ELF Procedure Example

Total weight = M x g = (1.0 + 1.5 + 2.0) 386.4 = 1738 kips
Spectral acceleration =
in/sec2 = 0.188g
w2S
(2p/1.37)2
f3 =
x 3.47 = 72.7
386(3h )
= 0.381VB = 0.375(327) = 125 kips
386(3h ) + 579(2h ) + 722(h )
W=386 k
7.00
125 k
6.00
5.00
4.00
3.47 in.
W=579 k
3.00
2.00
3h
1.00
W=722 k
1.37sec
0.00
0.00
0.20
0.40
0.60
0.80
1.00
1.20
1.40
1.60
1.80
125 k
(220 k)
125 k
250 k
(215 k)
77 k
2.00
327 k
(331 k)
Period, Seconds
Base shear = SaW = 0.188 x 1738 = 327 kips

ELF Procedure Example (Story Displacements)
327 k
Story Shear (k)
ELF Procedure Example (Summary)
Units = inches
ELF procedure gives good correlation with

Time History
(Envelope)
5.15
3.18
1.93
Modal Response
Spectrum
5.18
3.33
1.84
ELF
5.98
3.89
1.82
base shear (327 kips ELF vs 331 kips modal

response spectrum).
ELF story force distribution is not as good.

ELF underestimates shears in upper stories.
ELF gives reasonable correlation with displacements.

Higher Mode Effects
ASCE 7-05 ELF Approach
1st Mode
Uses empirical period of vibration

Uses smoothed response spectrum
Has correction for higher modes
Has correction for overturning moment
Has limitations on use
=
Combined
2nd Mode
Ta = Ct hnx
T = TaCu Tcomputed
Ct = 0.028, x = 0.8 for steel moment frames

Ct = 0.016, x = 0.9 for concrete moment frames
Ct = 0.030, x = 0.75 for eccentrically braced frames
Ct = 0.020, x = 0.75 for all other systems
Note: For building structures only!
SD1
> 0.40g
0.30g
0.20g
0.15g
< 0.1g
Ta = 0.1N
ASCE 7 Smoothed Design Acceleration Spectrum

(for Use with ELF Procedure)
Spectral Response
Acceleration, Sa
V = CSW
CS =
SDS
R
I

CS =
SD1
R
T
I
Short
period
acceleration
1
Long period
acceleration
T = 0.2
T = 1.0
R is the response modification factor, a

function of system inelastic behavior. This is covered
in the topic on inelastic behavior. For now, use
R = 1, which implies linear elastic behavior.
I is the importance factor which depends on the

Seismic Use Group. I = 1.5 for essential facilities,
1.25 for important high occupancy structures,
and 1.0 for normal structures. For now, use I = 1.
Varies
Period, T
Cu
1.4
1.4
1.5
1.6
1.7
Applicable only if Tcomputed comes from a properly

substantiated analysis.
For moment frames < 12 stories in height, minimum

story height of 10 feet. N = number of stories.
SD1
Adjustment Factor on Approximate Period
Approximate Periods of Vibration
SDS
Distribution of Forces Along Height
k Accounts for Higher Mode Effects
Fx = CvxV
k = 0.5T + 0.75
(sloped portion only)
k
Cvx =
k
x
wxh
2.0
1.0
w h
i
i =1
k
i
0.5
2.5
Period, sec
k=2
k=1
ELF Procedure Example (Story Forces)

V = 327 kips
T = 1.37 sec
W = 386k
k = 0.5(1.37) + 0.75 = 1.435
Applicable only to regular structures with T
146 k
less than 3.5Ts. Note that Ts = SD1/SDS.
(125 k)
Adjacent story stiffness does not vary more than 30%.
146 k
W = 579k
120 k
Adjacent story strength does not vary more than 20%.
(125 k)
266 k
3h
W = 722k
ASCE 7 ELF Procedure Limitations
61 k
Adjacent story masses does not vary more than 50%.
(77 k)
327 k
327 k
If violated, must use more advanced analysis (typically

modal response spectrum analysis).
Story Shear (k)

ASCE 7 ELF Procedure

Other Considerations Affecting Loading
Orthogonal loading effects

Redundancy
Accidential torsion
Torsional amplification
P-delta effects
Importance factor
Ductility and overstrength

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ASCE 7-05 provides guidance for three specific

Matrix or vector (column matrix)

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Element of matrix or vector or set

ELF usually allowed

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ELF not allowed

See ASCE 7-05

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d2,1 d2,2 d2,3

d3,1 d3,2 d3,3

Instructional Material Complementing FEMA 451, Design Examples

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&&(t ) + KU(t ) = F(t )

&&1(t ) + k1u1(t ) k1u2 (t ) = f1(t )

&&3 (t ) k 2u2 (t ) + k 2u3 (t ) + k 3u3 (t ) = f3 (t )

Note: Damping to be shown later

Instructional Material Complementing FEMA 451, Design Examples

Solutions for System in Undamped Free Vibration

Developing a Way To Solve

(Natural Mode Shapes and Frequencies)

This will be done by a transformation of coordinates

Because of the orthogonality property of the natural mode

After solving, we can transform back to the normal

&&(t ) + KU(t ) = {0}

Instructional Material Complementing FEMA 451, Design Examples

Solutions for System in Undamped Free Vibration

Mode Shapes for Idealized 3-Story Frame

For a SINGLE Mode

For ALL Modes