Structural Dynamics of Linear

Elastic MDOF Systems

u1
u2
u3

MDOF Dynamics 1
Revised 3/09/06

Structural Dynamics of Elastic

MDOF Systems

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 Method

MDOF Dynamics 2

Relevance to ASCE 7-05

ASCE 7-05 Provides guidance for three specific
analysis procedures:

Equivalent Lateral Force Analysis (ELF)

Modal Superposition Analysis (MSA)
Response History Analysis (RHA)
ELF Usually Allowed

ELF Not Allowed

Cs
See ASCE 7-05
Table 12.6-1

Ts

3.5Ts

T
MDOF Dynamics 3

Planar Frame with 36 Degrees of Freedom

uy

Majority of Mass
is in Floors

rz Typical Nodal
DOF

10

11

12

13

14

15

16

ux

Motion is
Predominantly
Lateral

MDOF Dynamics 4

Planar Frame with 36 Static Degrees of Freedom

but with only THREE Dynamic DOF

u1
u2
u3

u1

U = u2
u
3

MDOF Dynamics 5

Development of Flexibility Matrix

f1=1 kip
d1,1
d2,1

d1,1
d2,1

d3,1

d3,1

MDOF Dynamics 6

Development of Flexibility Matrix

d1,2

f2=1 kip
d2,2

d1,1 d1,2
d2,1 d2,2

d3,2

d3,1 d3,2

MDOF Dynamics 7

Development of Flexibility Matrix

d1,3

d2,3

f3=1 kip

d1,1 d1,2 d1,3

d2,1 d2,2 d2,3
d3,1 d3,2 d3,3

d3,3

MDOF Dynamics 8

Concept of Linear Combination of

Shapes (Flexibility)
d1,1
d1,2
d1,3



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

d1,1 d1,2 d1,3 f1

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

D F =U

K = D -1

KU=F
MDOF Dynamics 9

Static Condensation

K m,m
K
n ,m

K m ,n U m Fm
=

K n ,n U n {0}

DOF with mass

Massless DOF

K m ,m U m + K m ,n U n = Fm

K n ,m U m + K n ,n U n = {0}
MDOF Dynamics 10

Static Condensation
(continued)
Rearrange
Plug into

Simplify

1
n,n

U n = K K n,m U m

1
n ,n

K m ,m U m K m ,n K K n ,m U m = Fm

K m ,m K m ,n K K n ,m U m = Fm
1
n,n

K = K m,m K m,n K n,n K n ,m

Condensed Stiffness Matrix

MDOF Dynamics 11

Idealized Structural Property Matrices

m1

f1(t), u1(t)

m2

f2(t), u2(t)

m3

f3(t), u3(t)

k1

k2

k3

-k1
0
k1
K = -k1 k1+ k 2
-k 2
0
-k 2
k 2 + k 3

0
m1 0
M = 0 m2 0
0 0 m3

f1 (t )

F (t ) = f 2 (t )

f3 (t )

u1 (t )

U (t ) = u2 (t )
u (t )
3

Note: Damping to be shown later

MDOF Dynamics 12

Coupled Equations of Motion

for Undamped Forced Vibration

 + KU(t) = F(t)
MU(t)
k1
0 
u1 (t ) k1
0 u1 (t ) f1 (t )
m1 0

0 m2 0 

k 2 u 2 (t ) = f 2 (t )

u 2 (t ) + k1 k1 + k 2
0
k 2 + k 3 u 3 (t ) f 3 (t )
k 3
0 m3 
u 3 (t ) 0

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 )
m2u

DOF 3

3 (t ) k 2u2 (t ) + k 2u3 (t) + k3u3 (t) = f3 (t )

m3u

DOF 1

MDOF Dynamics 13

We need to develop a way to solve the

equations of motion.

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

coordinates.
MDOF Dynamics 14

Solutions for System in Undamped Free Vibration

(Natural Mode Shapes and Frequencies)
 + KU(t) = {0}
MU(t)
Assume

U(t ) = sin t

2
K

M = {0}
Then

1,1

1 = 2,1 , 1

3,1

 t ) = 2 sin t
U(

has three (n) solutions:

1,2

2 = 2,2 , 2

3,2

1,3

3 = 2,3 , 3

3,3

Natural Frequency
Natural Mode Shape
MDOF Dynamics 15

Solutions for System in Undamped Free Vibration

K = 2M

For a SINGLE Mode

K = M2

For ALL Modes

Where: = [1 2 3 ]
12

2
2
2
=

Note: Mode shape has arbitrary scale; usually

1,i = 1.0
or

T M = I
MDOF Dynamics 16

Mode Shapes for Idealized 3-Story Frame

1,2

1,1

1,3

Node
2,3

2,2

2,1

Node

Node
3,1

3,2

MODE 1

3,3

MODE 2

MODE 3
MDOF Dynamics 17

Concept of Linear Combination of Mode Shapes

(Transformation of Coordinates)

U =Y
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
MDOF Dynamics 18

Orthogonality Conditions

= [1 2 3 ]
Generalized Mass
m1*

T
*
M =
m2

*
m3

Generalized Damping
c1*

T
*
C =
c2

*
c3

Generalized Stiffness
k1*

T
*
k2
K =

*
k3

Generalized Force

f1* (t )
*
T
F(t ) = f2 (t )
f * (t )
3
MDOF Dynamics 19

Development of Uncoupled Equations of Motion

MDOF Equation of Motion:

 CU+
 KU = F(t )
MU+

Transformation of Coordinates:

U = Y

Substitution:

 CFY+
 KFY = F(t )
MFY+

Premultiply by T :

 + TCY
 + T KY = T F(t)
T MY

Using Orthogonality Conditions: Uncoupled Equations of Motion are:

m1*
y c1*
y k1*
y f1* (t )
1
1
1

*
*
*
*
m2
c2
k2

y2 +
y 2 +
y2 = f2 (t )

* 
* y
* y *

y
m3 3
c3 3
k3 3 f3 (t )

MDOF Dynamics 20

Development of Uncoupled Equations of Motion

(Explicit Form)

MODE 1

m1*y1 + c1*y 1 + k1*y1 = f1* (t )

MODE 2

m*2y2 + c*2 y 2 + k*2 y2 = f2* (t )

MODE 3

m*3y3 + c*3 y 3 + k*3 y3 = f3* (t )

MDOF Dynamics 21

Development of Uncoupled Equations of Motion

(Explicit Form)
Simplify by Dividing Through by m* and defining

MODE 1


y1 + 211y 1 + 12 y1 = f1* (t) / m1*

MODE 2


y2 + 222 y 2 + 22 y2 = f 2* (t) / m*2

MODE 3


y3 + 233 y 3 + 32 y3 = f3* (t) / m*3

c*i
i = *
2mi i

MDOF Dynamics 22

Earthquake Loading for MDOF System


ug U
r,1
ug (t ) + 
u r ,1 (t )

FI (t ) = M ug (t ) + 
u r ,2 (t ) =
u (t ) + 

u
(
t
)
r ,3
g


u r ,1 (t )
1.0

M 1.0 ug (t ) + M 
u r ,2 (t )
1.0


u
(
t
)

r ,3
Move to RHS as

FEFF (t ) = - M Rug (t )
MDOF Dynamics 23

Modal Earthquake Loading

F (t) = MR 
ug (t)
*

m1=2

u1
m2=3
m3=1

u2
u3

M= 3

R = 1
1

2 + 1

M =
3

1

R= 1
0

ug (t )
m3=1
m1=2

u1

u3
m2=3

u2

ug (t )

MDOF Dynamics 24

Definition of Modal Participation Factor

For earthquakes:

g (t)
f (t) = MRu
*
i

T
i

Typical Modal Equation:

f (t)
MR


yi + 2ii y i + yi = * =
u g (t)
*
mi
mi
2
i

*
i

T
i

Modal Participation Factor pi

MDOF Dynamics 25

Caution Regarding Modal Participation Factor

pi =

MR
T
i

*
i

T
i M i

Its value is dependent on the (arbitrary) method

used to scale the mode shapes.
MDOF Dynamics 26

Variation of First Mode Participation Factor

with First Mode Shape
p1=1.0

p1=1.4
1.0

p1=1.6
1.0

1.0

MDOF Dynamics 27

Concept of Effective Modal Mass

For each Mode i

mi = pi mi

The sum of the effective modal mass for all 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
MDOF Dynamics 28

Variation of First Mode Effective Mass

with First Mode Shape

m1 / M

=1.0

m1 / M =0.9

m1 / M =0.7

1.0

1.0

1.0

MDOF Dynamics 29

Derivation of Effective Modal Mass (1)

For each mode:
2


yi + 2ii yi + i yi = pi 
ug

SDOF system:


q i + 2ii q i + q = 
ug
2
i i

Modal response history, qi(t) is obtained

by first solving the SDOF system.
MDOF Dynamics 30

Derivation of Effective Modal Mass (2)

From Previous Slide

yi (t ) = pi q i (t )

Recall

u i (t ) = i yi (t )

Substitute

u i (t ) = pi i q i (t )

MDOF Dynamics 31

Derivation of Effective Modal Mass (3)

Applied static forces required to produce ui(t):

Vi (t ) = Kui (t ) = PK
i i qi (t )
Recall:

Ki = i M i
2

Substitute:

Vi (t ) = M i Pii qi (t )
2

MDOF Dynamics 32

Derivation of Effective Modal Mass (4)

Vi = Vi R
T

Total shear in mode:

Vi = ( M i ) RPi qi (t ) = i MRPi qi (t )
T

Define effective modal mass:

Acceleration in mode

M i = MRPi
T
i

and

Vi = M i qi (t )
2

MDOF Dynamics 33

Derivation of Effective Modal Mass (5)

i MR T
M i = i MRPi = T
i M i Pi
i M i i
T

M i = Pi mi

MDOF Dynamics 34

Development of a Modal Damping Matrix

In previous development, we have assumed:

c1*

*
T
C =
c2

c3

Two Methods Described Herein:

Rayleigh Proportional Damping
Wilson Discrete Modal Damping
MDOF Dynamics 35

Rayleigh Proportional Damping

MASS
PROPORTIONAL
DAMPER
STIFFNESS
PROPORTIONAL
DAMPER

C = M + K

MDOF Dynamics 36

Rayleigh Proportional Damping

C = M + K
For Modal Equations to Be Uncoupled:

2nn = Cn

Assumes
T M = I

T
n

Using Orthogonality Conditions:

2nn = +

2
n

n =

1
2n

n
2

MDOF Dynamics 37

Rayleigh Proportional Damping

Select Damping value in two modes, m and n
Compute Coefficients and :

m n
=2 2
2
n m

m m
n
1 / 1 /
n
m n

Form Damping Matrix

C = M + K
MDOF Dynamics 38

Rayleigh Proportional Damping (Example)

5% Critical in Modes 1 and 3

Structural Frequencies
Mode
1
2
3
4
5

4.94
14.6
25.9
39.2
52.8

Modal Damping Ratio

0.15

TYPE
MASS
STIFFNESS
TOTAL

= 0.41487
= 0.00324

0.10

0.05

0.00
0

20
40
Frequency, Radians/Sec.

60

MDOF Dynamics 39

Rayleigh Proportional Damping (Example)

5% Damping in Modes 1 & 2, 1 & 3, 1 & 4, or 1 & 5
0.15

Modes
1&2
1&3
1&4
1&5

.36892
.41487
.43871
.45174

0.00513
0.00324
0.00227
0.00173

1,2

Modal Damping Ratio

Proportionality Factors
(5% each indicated mode)

MODES
1,3
1,4
1,5

0.10

0.05

0.00
0

20

40

Fequency, Radians/sec
MDOF Dynamics 40

60

Wilson Damping
*

Directly Specify Modal Damping Values i

c1*
2m1*11*

*
*
*
T
C =
c2
2m222
=

*
*
*

c3
2m333

MDOF Dynamics 41

FORMATION OF EXPLICIT DAMPING MATRIX

FROM WILSON MODAL DAMPING
(NOT Usually Required)

211

T C =

2 2 2

2 n 1 n 1

( )

T 1

=c

2 n n

c 1 = C

n
T
C = M 2
i i i i M
i =1

MDOF Dynamics 42

Wilson Damping (Example)

5% Damping in Modes 1 and 2, 3
10% in Mode 5, Zero in Mode 4
12
10

Modal Damping Ratio

10
8
6
5

4
2
0

0
4.94

14.57

25.9

39.2

52.8

Frequency, Radians per second

MDOF Dynamics 43

Wilson Damping (Example)

5% Damping in all Modes
12

Modal Damping Ratio

10
8
6
5

4.94

14.57

25.9

39.2

52.8

4
2
0

Frequency, Radians per second

MDOF Dynamics 44

Solution of MDOF Equations of Motion

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)

MDOF Dynamics 45

Computed Response for

Piecewise Linear Loading

Force, V(t)

Vt2

Vt1
t0

Vt 2 Vt 2
=
t2 t1

t1

t2 t3

Time, t

Time,

MDOF Dynamics 46

EXAMPLE of MDOF Response of Structure

Responding to 1940 El Centro Earthquake
u1(t)

Example # 1

m1=1.0 k-s2/in
10 ft

k1=60 k/in
u2(t)

Assume Wilson
Damping with 5%
critical in each mode.

m2=1.5 k-s2/in
k2=120 k/in

10 ft

u3(t)
m3=2.0 k-s2/in
10 ft

k3=180 k/in
N-S Component of 1940 El Centro earthquake
Maximum acceleration = 0.35 g
MDOF Dynamics 47

Example # 1 (Continued)
Form Property Matrices:
m1=1.0 k-s2/in

u1(t)
k1=60 k/in
m2=1.5 k-s2/in

u2(t)

.
10

kip s2 / in
M=
15
.

2.0

k2=120 k/in
m3=2.0 k-s2/in

u3(t)
k3=180 k/in

0
60 60
K = 60 180 120 kip / in

0 120 300
MDOF Dynamics 48

Example # 1 (Continued)
Solve Eigenvalue Problem:
m1=1.0 k-s2/in

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

K = M2

.
210

sec2
966
.
2 =

212.4
1.000 1.000 1.000
= 0.644 0.601 2.57

0.300 0.676 2.47

MDOF Dynamics 49

Normalization of Modes using

0.208
0.749 0.638
= 0.478 0.384 0.534

0.223 0.431 0.514

M = I
T

1.000 1.000 1.000

vs 0.644 0.601 2.57

0.300 0.676 2.47

MDOF Dynamics 50

Example # 1 (Continued)
Mode Shapes and Periods of Vibration

MODE 1
=4.58 rad/sec
T=1.37 sec

MODE 2
=9.83 rad/sec
T=0.639 sec

MODE 3
=14.57 rad/sec
T=0.431 sec
MDOF Dynamics 51

Example # 1 (Continued)

m1=1.0 k-s2/in

u1(t)
k1=60 k/in
m2=1.5 k-s2/in

u2(t)
k2=120 k/in

m3=2.0 k-s2/in

.
458

. rad / sec
n = 983

1457
.

.
137

Tn = 0639
. sec
0431

Compute Generalized Mass:

1801
u3(t)
kip sec 2 / in
2.455
M * = T M =

2310
.
k3=180 k/in

MDOF Dynamics 52

Example # 1 (Continued)

m1=1.0 k-s2/in

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

Compute Generalized Loading:

V (t ) = MRv (t )
*

2.566

*
Vn = 1.254 vg (t )
2.080

MDOF Dynamics 53

Example # 1 (Continued)
Write Uncoupled (Modal) Equations of Motion:
m1=1.0 k-s2/in

u1(t)
m2=1.5 k-s2/in

k1=60 k/in


y2 + 22 2 y 2 + 22 y2 = V2* (t ) / m2*

u2(t)


y3 + 23 3 y 3 + 32 y3 = V3* (t ) / m3*

k2=120 k/in
m3=2.0 k-s2/in

y1 + 211 y1 + 12 y1 = V1* (t ) / m1*

u3(t)
k3=180 k/in

y1 + 0.458 y1 + 21.0 y1 = 1.425vg (t )

y2 + 0.983y2 + 96.6 y2 = 0.511vg (t)
y3 + 1.457y3 + 212.4 y3 = 0.090vg (t)

MDOF Dynamics 54

Modal Participation Factors

Mode 1
Mode 2
Mode 3

Modal Scaling

1 .4 2 5

1 .9 1 1

0 .5 1 1

0 .7 9 9

0 .0 9 0

0 .4 3 5

i,1 = 10
.

i Mi =10
.
T

MDOF Dynamics 55

Modal Participation Factors

1.000
0.744

1.425 0.644 = 1.911 0.480

0.300
0.223

using 1,1

=1

using T M
1

=1

MDOF Dynamics 56

Effective Modal Mass

Mn

M n = Pn m
2

*
n

Mode 1

3.66

Mode 2
Mode 3

0.64
0.20

Accum%

81

81

14
95
5
100%
4.50 100%

MDOF Dynamics 57

Example # 1 (Continued)
Solving Modal Equation via NONLIN:
For MODE 1:
*
*
2
y1 + 211 y1 + 1 y1 = V1 (t ) / m1

1.00 y1 + 0.458 y1 + 21.0 y1 = 1.425vg (t )

M = 1.00 kip-sec2/in
C = 0.458 kip-sec/in
K1 = 21.0 kips/inch
Scale Ground Acceleration by Factor 1.425

MDOF Dynamics 58

Example # 1 (Continued)
MODAL Displacement Response Histories (From NONLIN)
6.00
3.00

T1=1.37 sec

0.00
-3.00
-6.00

MODE 1

10

11

12

2.00
1.00

T2=0.64

0.00
-1.00
-2.00

MODE 2

10

11

12

0.20
0.10

T3=0.43

0.00
-0.10
-0.20

MODE 3

Time, Seconds

10

11

12

Maxima
MDOF Dynamics 59

Example # 1 (Continued)

MODAL Response Histories:

5

Modal Displacement, Inches

4
3
2
1
0
-1
-2

MODE 1
MODE 2
MODE 3

-3
-4
-5
0

10

12

Time, Seconds

MDOF Dynamics 60

Example #1 (Continued)
u(t ) = y(t )

Compute Story Displacement Response-Histories:

u1(t)

u2(t)

u3(t)

6
4
2
0
-2
-4
-6
0

10

11

12

10

11

12

10

11

12

6
4
2
0
-2
-4
-6

6
4
2
0
-2
-4
-6
0

Time, Seconds

=0.300 x MODE 1 - 0.676 x MODE 2 + 2.47 x MODE 3

MDOF Dynamics 61

Example #1 (Continued)
Compute Story Shear Response-Histories:

u1(t)

u2(t)

u3(t)

400
200
0
-200
-400
0

10

11

12

10

11

12

10

11

12

400
200
0
-200
-400

400
200
0
-200
-400
Time, Seconds

=k2[u2(t)-u3(t)]
MDOF Dynamics 62

Example #1 (Continued)
Displacements and Forces at time of Maximum Displacements
(t = 6.04 seconds)
0

134.8 k
5.11
134.8
62.1 k

1348

2.86
196.9
23.5 k

3317

1.22
220.4
Story Shear (k)

5521
Story OTM (ft-k)
MDOF Dynamics 63

Example # 1(Continued)
Displacements and Forces at time of Maximum Shear
(t = 3.18 seconds)
38.2 k

3.91
38.2
124.7 k

382

3.28
162.9
182.7 k

2111

1.92
345.6
Story Shear (k)

5567
Story OTM (ft-k)
MDOF Dynamics 64

Modal Response Response Spectrum Method

Instead of solving the time history problem for each

mode, use a response spectrum to compute the
MAXIMUM response in each mode.

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

It is the basis for the Equivalent Lateral Force (ELF) Method

MDOF Dynamics 65

Example #1 (Response Spectrum Method)

Displacement Response Spectrum
1940 El Centro, 0.35g, 5% Damping

Spectral Displacement, Inches

7.00
6.00

MODAL RESPONSE

5.00
4.00

3.47

3.00

3.04
2.00
1.00
0.00
0.00

1.20
0.20

0.40

0.60

0.80

1.00

1.20

1.40

1.60

1.80

2.00

Period, Seconds

MODE 3
T=0.431 Sec.

MODE 2
T=0.639 Sec.

MODE 1
T=1.37 Sec.
MDOF Dynamics 66

Example #1 (Continued)
Spectral Displacement, Inches

7.00
6.00
5.00
4.00

3.47

3.00

3.04
2.00

1.20
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

Period, Seconds

Modal Equations of Motion

y1 + 0.458 y1 + 21.0 y1 = 1.425vg (t )
y2 + 0.983 y 2 + 96.6 y2 = 0.511vg (t )
y3 + 1.457 y 3 + 212.4 y3 = 0.090vg (t )

Modal Maxima

y1 = 1425
.
* 3.47 = 4.94"
y2 = 0.511* 3.04 = 155
. "
y3 = 0.090 *120
. = 0108
. "
MDOF Dynamics 67

Example
#1(Continued)

Spectral Displacement, Inches

7.00
6.00
5.00

The Scaled Response

Spectrum values give
the Same Modal Maxima
as the Previous Response
Histories

3.47x 1.425

4.00
3.00

3.04 x 0.511
2.00

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

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

MDOF Dynamics 68

Example #1 (Continued)
Computing NONCONCURRENT Story Displacements

MODE 1

.
1000

4.940

0
.
644
4
.
940
=
3181
.

0.300
1482

MODE 2

.
.
1000

1550

0
.
601
1550
.
=

0
.
931

0.676
1048

MODE 3

.
.
1000

0108

.
= 0.278
2.570 0108
2.470
0.267

MDOF Dynamics 69

Example #1 (Continued)
Modal Combination Techniques (For Displacement)
At time of Max. Displacement

Sum of Absolute Values

4.940 + 1.550 + 0.108 6.60

+
+
4
.
39
3
.
181
0
.
931
0
.
278
=

1.482 + 1.048 + 0.267 2.80

Square Root of the Sum of the Squares

Exact
5.15

2.86
1.22
Envelope of story displacement

4.9402 + 1.5502 + 0.1082 5.18

2
2
2
3.181 + 0.931 + 0.278 = 3.33
1.4822 + 1.0482 + 0.2672 1.84

5.15

3.18
1.93

Response Spectrum Results

Response History Results

MDOF Dynamics 70

Example #1 (Continued)
Computing Interstory Drifts

MODE 1

.
. 1759
4.940 3181

.
. 1482
.
= 1699
3181
1482
.
0 1482
.

MODE 2

.
. (0931
. ) 2481
1550

.
.
(
.
)
=
0117
0931
1048

1048
1048
.
.
0

MODE 3

.
. (0278
. ) 0386
0108

.
. 0267
. = 0545
0278
.
0267

. 0 0267
MDOF Dynamics 71

Example #1 (Continued)
Computing Interstory Shears (Using Drift)

MODE 1

.
. (60) 1055
1759

. (120) = 203.9
1699

1482
. (180) 266.8

MODE 2

.
2.481(60) 1489

.
.
(
)
=
14
0
0117
120

1886
1048
.
.
(
)
180

MODE 3

.
. (60) 232
0386

.
.
(
)
=

654
0545
120

481
0267
.
.
(
)
180

MDOF Dynamics 72

Example #1 (Continued)
Computing Interstory Shears: SRSS Combination

1062 + 149 2 + 23.2 2 220

2
2
2
204 + 14 + 65.4 = 215
267 2 + 189 2 + 481
. 2 331

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
MDOF Dynamics 73

Caution:
Do NOT compute story shears from the story
drifts derived from the SRSS of the story
displacements.
Calculate the story Shears in each mode
(using modal drifts) and then SRSS
the results.

MDOF Dynamics 74

Using Less than Full (Possible)

Number of Natural Modes
MODAL Response Histories:
5

Modal Displacement, Inches

4
3
2
1
0
-1
-2

MODE 1
MODE 2
MODE 3

-3
-4
-5
0

10

12

Time, Seconds

MDOF Dynamics 75

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 (t5) y1 (t 6) y1 (t 7) y1 (t8) .... y1 (tn)
y(t ) = y2 (t1) y2 (t 2) y2 (t 3) y2 (t 4) y2 (t5) y2 (t 6) y2 (t 7) y2 (t8) .... y2 (tn)

y3 (t1) y3 (t 2) y3 (t 3) y3 (t 4) y3 (t5) y3 (t 6) y3 (t 7) y3 (t8) .... y3 (tn)

u(t ) = [1 2
Transformation:

3 x nt

3x3

3 ] y (t )
3 x nt

3 x nt

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 (t8) .... 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 (t8) .... u2 (tn)

u3 (t1) u3 (t 2) u3 (t 3) u3 (t 4) u3 (t5) u3 (t 6) u3 (t 7) u3 (t8) .... u3 (tn)

MDOF Dynamics 76

Using Less than Full Number of Natural Modes

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 (t8) .... y1 (tn)
y (t ) = 1

y2 (t1) y2 (t 2) y2 (t 3) y2 (t 4) y2 (t5) y2 (t 6) y2 (t 7) y2 (t8) .... y2 (tn)

NOTE: Mode 3 NOT Analyzed

u(t ) = 1 2 y (t )

Transformation:

3 x nt

3x2

2 x nt

3 x nt

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 (t8) .... 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 (t8) .... u2 (tn)

u3 (t1) u3 (t 2) u3 (t 3) u3 (t 4) u3 (t5) u3 (t 6) u3 (t 7) u3 (t8) .... u3 (tn)

MDOF Dynamics 77

Using Less than Full Number of Natural Modes

(Modal Response Spectrum Technique)
Sum of Absolute Values
4.940 + 1.550 + 0.108 6.60 6.49

3.181 + 0.931 + 0.278 = 4.39 4.112

1.482 + 1.048 + 0.267 2.80 2.53

Square Root of the Sum of the Squares

4.940 2 + 1.550 2 + 0.108 2 5.18 5.18

2
2
2
3
.
181
0
.
931
0
.
278
3
.
33
3
.
31
+
+
=

1.482 2 + 1.048 2 + 0.267 2 1.84 1.82

Envelope of Story
Displacement

5.15

3
.
18

1.93

3 modes 2 modes
MDOF Dynamics 78

ASCE 7 allow an Approximate

Modal Analysis Technique Called the
EQUIVALENT LATERAL FORCE PROCEDURE

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

MDOF Dynamics 79

EQUIVALENT LATERAL FORCE PROCEDURE

Method is based on FIRST MODE

response
Higher modes can be included empirically
Has been calibrated to provide a
reasonable estimate of the envelope
of story shear, NOT to provide accurate
estimates of story force
May result in overestimate of overturning
moment.

MDOF Dynamics 80

EQUIVALENT LATERAL FORCE PROCEDURE

Assume first mode effective mass = Total Mass = M = W/g

Use Response Spectrum to obtain Total Acceleration at T1

Acceleration, g
Sa1

T1

Period, Sec.

W
VB = ( S a1 g ) M = ( S a1 g ) = S a1W
g
MDOF Dynamics 81

EQUIVALENT LATERAL FORCE PROCEDURE

dr

Wx

hx

Assume Linear First Mode Response

fx

hx
2 Wx
f x (t ) = d r (t )1
h
g

VB (t ) =

d r (t )12
f i (t ) =
hg

nstories

i =1

nstories

hW
i =1

Portion of base shear applied to story i

f x (t )
hxWx
= nstories
VB (t )
hiWi
i =1

MDOF Dynamics 82

ELF EXAMPLE
m1=1.0 k-s2/in
k1=60 k/in
m2=1.5

3h

k2=120 k/in

Recall
T1=1.37 seconds

m3=2.0
k3=180 k/in

MDOF Dynamics 83

ELF EXAMPLE
Total Weight = M x g = (1.0 + 1.5 + 2.0) 386.4 = 1738 kips

Spectral Acceleration = 2SD = (2/1.37)2 x 3.47 = 72.7 in/sec2

= 0.188g
Spectral Displacement, Inches

7.00
6.00
5.00
4.00

3.47

3.00
2.00
1.00

1.37sec
0.00
0.00

0.20

0.40

0.60

0.80

1.00

1.20

1.40

1.60

1.80

2.00

Period, Seconds

Base Shear = SaW = 0.188 x 1738 = 327 kips

MDOF Dynamics 84

ELF EXAMPLE (Story Forces)

386(3h)
f3 =
= 0.381 VB = 0.375(327) = 125 kips
386(3h) + 579(2h) + 722(h)

W=386 k

W=579 k
3h
W=722 k

125 k

125 k

77 k

125 k
(220 k)

250 k
(215 k)

327 k
(331 k)

327 k
Story Shear (k)

MDOF Dynamics 85

ELF EXAMPLE (Story Displacements)

Units=inches

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

MDOF Dynamics 86

ELF EXAMPLE (Summary)

ELF procedure gives GOOD CORRELATION

with base shear (327 kips ELF vs 331 kps Modal
Response Spectrum)

ELF story force distribution is NOT as GOOD.

ELF underestimates shears in upper stories.

ELF gives reasonable correlation with displacements

MDOF Dynamics 87

ASCE 7-05 ELF APPROACH

Uses Empirical Period of Vibration

Uses Smoothed Response Spectrum
Has Correction for Higher Modes
Has Correction for Overturning Moment
Has Limitations on Use

MDOF Dynamics 88

Approximate Periods of Vibration

Ta = C h

x
t n

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: Buildings ONLY!

T = 0.1N
a

For Moment Frames < 12 stories in height, minimum

story height of 10 feet. N= Number of Stories.
MDOF Dynamics 89

Adjustment Factor on Approximate Period

T = Ta Cu Tcomputed
SD1
> 0.40g
0.30g
0.20g
0.15g
< 0.1g

Cu
1.4
1.4
1.5
1.6
1.7

Applicable ONLY if Tcomputed comes from a properly

substantiated analysis
MDOF Dynamics 90

ASCE 7 Smoothed Design Acceleration Spectrum

(for use with ELF)

Spectral Response
Acceleration, Sa

V = C SW
SDS

Short
Period
Acceleration
1

SD1

Long Period
Acceleration

T=0.2

T = 1.0

CS =

S DS
R

I

S D1
CS =
R
T
I
Varies

Period, T

MDOF Dynamics 91

R is the Response Modification Factor which is a

function of system inelastic behavior. This is covered
in the topic on inelastic behavior. For now, we will
Use R=1 which implies linear elastic behavior.

I is the Importance Factor.

This 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. This is covered
in the topic on the ASCE 7 Provisions. For now,
we will use I=1.

MDOF Dynamics 92

EQUIVALENT LATERAL FORCE PROCEDURE

Higher Mode Effects

1st Mode

=
2nd Mode

Combined
MDOF Dynamics 93

Distribution of Forces along Height

Fx = CvxV
Cvx =

k
x x

wh
n

wh
i =1

k
i i

MDOF Dynamics 94

k accounts for Higher Mode Effects

k = 0.5T + 0.75
(sloped portion only)
k

2.0
1.0
2.5

0.5
Period, Sec
k=1

k=2
MDOF Dynamics 95

ELF EXAMPLE (Story Forces)

V=327 kips

T=1.37 seconds

W=386 k

k=0.5(1.37)+0.75=1.435

146 k
(125 k)
146 k

W=579 k

120 k
(125 k)
266 k

3h
W=722 k

61 k
(77 k)
327 k

327 k
Story Shear (k)

MDOF Dynamics 96

ASCE 7 ELF Limitations

Applicable ONLY to Regular structures with T

less than 3.5 Ts
Note:(Ts=SD1/SDS)

Adjacent story stiffness does not vary more than 30%

Adjacent story strength does not vary more than 20%

Adjacent story masses does not vary more than 50%

If violated, must use more advanced analysis (typically
Modal response spectrum analysis)

MDOF Dynamics 97

ASCE 7 ELF
Other considerations that effect loading

Orthogonal Loading Effects

Redundancy
Accidential Torsion
Torsional Amplification
P-Delta Effects

Importance Factor
Ductility and Overstrength
MDOF Dynamics 98