Analysis Manual

DISCLAIMER

Developers and distributors assume no responsibility for the use of MIDAS Family Program (midas Civil,
midas FEA, midas FX+, midas Gen, midas Drawing, midas SDS, midas GTS, So ilWorks, midas NFX ;
hereinafter referred to as MIDAS package) or for the accuracy or validity of any results obtained from
the MIDAS package.

Developers and distributors shall not be liable for loss of profit, loss of business, or financial loss which
may be caused directly or indirect ly by the MIDAS package, when used for any purpose or use, due to
any defect or deficiency therein. Accordingly, the user is encouraged to fully understand the bases of the
program and become familiar with the users manuals. The user shall also independently ve rify the results
produced by the program.
INDEX
INDEX i
1. Numerical Analysis Model of MIDAS/Gen 1
Numerical Analysis Model 1

Coordinate Systems and Nodes 2

Types of Elements and Important Considerations 4

Truss Element 4
Tension-only Element 9
Cable Element 10
Compression-only Element 14
Beam Element 16
Plane Stress Element 19
Two-Dimensional Plane Strain Element 25
Two-Dimensional Axisymmetric Element 32
Plate Element 39
Solid Element 46
Wall Element 53

Important Aspects of Element Selection 60

Truss, Tension-only and Compression-only Elements 62
Beam Element 64
Plane Stress Element 67
Plane Strain Element 69
Axisymmetric Element 70
Plate Element 71
Solid Element 73

Element Stiffness Data 74

Area (Cross-Sectional Area) 76
Effective Shear Areas (Asy, Asz) 77
Torsional Resistance (Ixx) 79
Area Moment of Inertia (Iyy, Izz) 86
Area Product Moment of Inertia (Iyz) 88

i
Analy sis Manual f or MIDAS/Gen

First Moment of Area (Qy, Qz) 91

Shear Factor for Shear Stress (Qyb, Qzb) 92
Stiffness of Composite Sections 93

Boundary Conditions 94
Boundary Conditions 94
Constraint for Degree of Freedom 95
Elastic Boundary Elements (Spring Supports) 98
Elastic Link Element 101
General Link Element 102
Element End Release 105
Rigid End Offset Distance 107
Master and Slave Nodes (Rigid Link Function) 119
Specified Displacements of Supports 128

2. MIDAS/Gen Analysis Options 133

Analysis Options 133

Linear Static Analysis 135

Free Vibration Analysis 136

Eigenvalue Analysis 136
Ritz Vector Analysis 142

Consideration of Damping 147

Modal Damping Based on Strain Energy 157
Overview 157
Set-up and Calculation of Modal Damping Based on Strain Energy 160
Modal Damping 161
Rayleigh Damping by Elements 162
Formulation of Damping Matrix 163
Consideration of Linear Damping in General Link Element 164

Response Spectrum Analysis 165

Time History Analysis 169

Modal Superposition Method 169

Buckling Analysis 173

ii
 Coordinate Sy stems and Nodes

Nonlinear Analysis 178

Overview of Nonlinear Analysis 178
Geometric Nonlinear Analysis 180
P-Delta Analysis 186
Analysis using Nonlinear Elements 191
Stiffness of Nonlinear Elements ( K N ) 192
Pushover Analysis (Nonlinear Static Analysis) 195
Boundary Nonlinear Time History Analysis 208
Inelastic Time History Analysis 223
Material Nonlinear Analysis 263
Masonry Model 281

Construction Stage Analysis 302

Overview 302
Analysis reflecting Erection Sequence 304
Time Dependent Material Properties 312
Input Process of Time Dependent Material Properties 321
Definition and Composition of Construction Stages 323
Procedure for Construction Stage Analysis 328

Heat of Hydration Analysis 332

Heat Transfer Analysis 332
Thermal Stress Analysis 337
Procedure for Heat of Hydration Analysis 339

PSC (Pre-stressed/Post-tensioned Concrete) Analysis 344

Pre-stressed Concrete Analysis 344
Pre-stress Losses 345
Pre-stress Loads 352

Solution for Unknown Loads Using Optimization Technique 354

iii
 1. Numerical Analysis Model of
MIDAS/Gen

Numerical Analysis Model

The analysis model of a structure includes nodes (joints), elements and boundary
conditions. Finite elements are used in data entry, representing members of the
structure for nu merical analysis, and nodes define the locations of such
members. Boundary conditions represent the status of connections between the
structure and neighboring s tructures such as foundations.

A structural analysis refers to mathematical simulations of a numerical analysis model

of a structure. It allows the practicing structural engineers to investigate the behaviors
of the structure likely subjected to anticipated eventual circumstances.

For a successful structural analysis, it should be premised that the structural properties
and surrounding environmental conditions for the structure are defined correctly.
External conditions such as loading conditions may be determined by applicable
building codes or obtained by statistical approaches. The structural properties,
however, implicate a significant effect on the analysis results, as the results highly
depend on modeling methods and the types of elements used to construct the
numerical analysis model of the structure. Finite elements, accordingly, should be
carefully selected so that they represent the real structure as closely as possible. This
can be accomplished by comprehensive understanding of the elements stiffness
properties that affect the behaviors of the real structure. However, it is not always easy
and may be sometimes uneconomical to accurately reflect every stiffness property and
material property of the structure in the numerical analysis model. Real structures
generally comprise complex shapes and various material properties.

For pract ical reasons, the engineer may simp lify o r ad just the numerical analysis
model as long as it does not deviate from the purpose of analysis. For examp le,
the engineer may use beam elements for the analysis of shear walls rather than
using planar elements (plate elements or plane stress elements) based on his/her
judgment. In practice, modeling a shear wall as a wide column, represented by a
beam element in lieu of a planar element, will produce reliable analysis results, if the
height of the shear wall exceeds its width by five times. Also, in civil structures such as

1
Analy sis Manual f or MIDAS/Gen

bridges, it is more effective to use line elements (truss elements, beam elements, etc)
rather than using planar elements (plate elements or plane stress elements) for
modeling main g irders, fro m the perspective of analysis time and practical
design application.

The analysis model of a building structure can be significantly simp lified if rigid
diaphragm act ions can be assumed for the lateral force analysis. In such a case,
floors can be excluded fro m the building model by implementing proper
geometric constraints without having to model the floors with finite elements.

Finite elements mathematically idealize the structural characteristics of members

that constitute a structure. Nevertheless, the elements cannot perfectly represent the
structural characteristics of all the members in all circumstances. As noted earlier, you
are encouraged to choose elements carefully only after comprehensive understanding
of the characteristics of elements. The boundaries and connectivities of the elements
must reflect their behaviors related to nodal degrees of freedom.

Coordinate Systems and Nodes

MIDAS/Gen provides the following coordinate systems:

Global Coordinate System (GCS)

Element Coordinate System (ECS)
Node local Coordinate System (NCS)

The GCS (Gl obal Coordinate System) uses capital lettered X -Y-Z axes in
the conventional Cartesian coordinate system, following the right hand rule.
The GCS is used for node data, the majority of data entries associated with nodes
and all the results associated with nodes such as nodal displacements and
reactions.

The GCS defines the geometric location of the structure to be ana lyzed, and its
reference point (origin) is automat ically set at the location, X=0, Y=0 and Z=0,
by the program. Since the vertical direction of the program screen represents the
Z-axis in MIDAS/ Gen, it is convenient to enter the vertical direction of the
structure to be parallel with the Z-axis in the GCS. The Element Coordinate
System (ECS) uses lower case x-y-z axes in the conventional Cartesian
coordinate system, following the right hand rule. Analysis results such as element
forces and stresses and the majority of data entries associated with elements are
expressed in the local coordinate system.

2
 Coordinate Sy stems and Nodes

The Node local Coordinate System (NCS) is used to define input data associated
with nodal boundary conditions such as nodal constraints, nodal spring supports
and specified nodal displacements, in an unusual coordinate system that does not
coincide with the GCS. The NCS is also used for producing reactions in an
arbitrary coordinate system. The NCS uses lower case x-y-z axes in the
conventional Cartesian coordinate system, following the right hand rule.

Figure 1.1 Global Coordinate System and Nodal Coordinates

3
Analy sis Manual f or MIDAS/Gen

Types of Elements and Important Considerations

The MIDAS/Gen element library consists of the following elements:

Truss Element
Tension-only Element (Hook and Cable function included)
Compression-only Element (Gap function included)
Beam Element/Tapered Beam Element
Plane Stress Element
Plate Element
Two-di mensional Plane Strain Element
Two-di mensional Axisymmetric Element
Solid Element
Wall Element

Defining the types of elements, element material properties and element stiffness
data completes data entry for fin ite elements . Connecting node numbers are then
specified to define the locations, shapes and sizes of elements.

Truss Element

Introduction

A truss element is a two-node, uniaxial tension-compression three-dimensional

line element. The element is generally used to model space trusses or diagonal
braces. The element undergoes axial deformation only.

Element d.o.f. and ECS

All element forces and stresses are exp ressed with respect to the ECS.
Especially, the ECS is consistently used to specify shear and flexural stiffness of
beam elements.

Only the ECS x-axis is structurally significant for the elements retaining axial
stiffness only, such as truss elements and tension-only/compression-only

4
 Ty pes of Elements and Important Considerations

elements. The ECS y and z-axes, however, are required to orient truss members
cross-sections displayed graphically.

MIDAS/ Gen uses the Beta Angle ( ) conventions to identify the orientation of
each cross-section. The Beta Angle relates the ECS to the GCS. The ECS x-axis
starts fro m node N1 and passes through node N2 for all line elements (Figures
1.2 and 1.3). The ECS z-axis is defined to be parallel with the direction of H
dimension of cross-sections (Figure 1.48). That is, the y-axis is in the strong axis
direction. The use of the right-hand rule prevails in the process.

If the ECS x-axis for a line element is parallel with the GCS Z-axis, the Beta
angle is defined as the angle formed fro m the GCS X-axis to the ECS z-axis. The
ECS x-axis becomes the axis o f rotation for determining the angle using the
right-hand rule. If the ECS x-axis is not parallel with the GCS Z-axis, the Beta
angle is defined as the right angle to the ECS x-z plane from the GCS Z-axis.

5
Analy sis Manual f or MIDAS/Gen

(a) Case of vertical members (ECS x-axis is parallel with the global Z-axis)

(b) Case of horizontal or diagonal members

(ECS x-axis is not parallel with the global Z-axis.)

Figure 1.2 Beta Angle Conventions

6
 Ty pes of Elements and Important Considerations

Functions related to the elements

Create Elements
Material: Material properties
Section: Cross-sectional properties
Pretension Loads

Output for element forces

The sign convention for truss element forces is shown in Figure 1.3. The arro ws
represent the positive (+) directions.

Figure 1.3 ECS of a truss element and the sign convention for element forces
(or element stresses)

7
Analy sis Manual f or MIDAS/Gen

Figure 1.4 Sample Output for truss element forces

Figure 1.5 Sample Output for truss element stresses

8
 Ty pes of Elements and Important Considerations

Tension-only Element

Introduction

Two nodes define a tension-only, three-dimensional line element. The element is

generally used to model wind braces and hook elements. This element
undergoes axial tension deformation only.

The tension-only elements include the following types:

Truss: A truss element transmits axial tension forces only.

Hook: A hook element retains a specified in itial hook distance. The element
stiffness is engaged after the tension deformation exceeds that distance.

(a) Truss Type (b) Hook Type

Figure 1.6-1 Schematics of tension-only elements

Element d.o.f. and the ECS

The element d.o.f. and the ECS of a tension-only element are identical to that of
a truss element.

Functions related to the elements

Main Control Data: Convergence conditions are identified for Iterat ive
Analysis using tension-only elements.
Material: Material properties
Section: Cross-sectional properties
Pretension Loads

Output for element forces

Tension-only elements use the same sign convention as truss elements.

9
Analy sis Manual f or MIDAS/Gen

Cable Element
Introduction

Two nodes define a tension-only, three-dimensional line element, which is capable

of transmitting axial tension force only. A cable element reflects the change in
stiffness varying with internal tension forces.

Figure 1.6-2 Schematics of a cable element

A cable element is automatically transformed into an equivalent truss element

and an elastic catenary cable element in the cases of a linear analysis and a
geometric nonlinear analysis respectively.

Equivalent truss element

The stiffness of an equivalent t russ element is co mposed of the usual elastic

stiffness and the stiffness resulting fro m the sag, which depends on the
magnitude of the tension force. The following expressions calculate the stiffness:

1
Kcomb
1/ K sag 1/ Kelastic
EA
K comb
2 L2 EA
L 1
12T 3
EA 12T 3
K elastic , K sag 2 3
L L

where, E: modulus of elasticity A: cross-sectional area

L: length w: weight per unit length
T: tension force

10
 Ty pes of Elements and Important Considerations

Elastic Catenary Cable Element

The tangent stiffness of a cable element applied to a geometric nonlinear

analysis is calculated as follows:

Figure 1.6-3 illustrates a cable connected by two nodes where displacements 1 ,

2 & 3 occur at Node i and 4 , 5 & 6 occur at Node j, and as a result the nodal
forces F0 1, F0 2, F0 3, F0 4, F05, F0 6 are transformed into F1, F2, F3, F4, F5, F6
respectively. Then, the equilib riu ms of the nodal forces and displacements are
expressed as follows:

F4 F1
F5 F2
F6 F3 0 L 0
(except, 0 = assumed)
l x l x 0 1 4 f (F1 , F2 , F3 )
ly ly0 2 5 g(F1 ,F2 ,F3 )
lz lz0 3 6 h(F1,F2 ,F3 )

Figure 1.6-3 Schematics of tangent stiffness of an elastic catenary cable element

11
Analy sis Manual f or MIDAS/Gen

The differential equations for each direct ional length of the cable in the Global
Coordinate System are noted below. When we rearrange the load -displacement
relations we can then obtain the flexibility matrix, ([F]). The tangent stiffness,
([K]), of the cab le can be obtained by inverting the flexib ility matrix. The
stiffness of the cable cannot be obtained immediately rather repeated analyses
are carried out until it reaches an equilibrium state.

f f f
dl x = dF1 + dF2 + dF3
F1 F2 F3
g g g
dl y dF1 dF2 dF3
F1 F2 F3
h h h
dlz dF1 dF2 dF3
F1 F2 F3
f f f

dl x dF1
F1 F2 F3
f11 f12 f13
g g g
dl y F dF2 , F f 21 f 22 f 23
dl dF F1 F2 F3
z 3 f 31 f 32 f 33
h h h

F1 F2 F3

dF1 dlx

2 dl y , ( K F )
1
dF K
dF dl
3 z

12
 Ty pes of Elements and Important Considerations

The components of the flexibility matrix are expressed in the following equations:

f L 1 F2 1 1
f11 0 ln F3 wL0 B ln F3 A 1 2 2
F1 EA0 w w B F3 wL0 B A F3A
f FF 1 1
f12 1 2 2 2
F2 w B F3 wL0 B A F3A

f F F wL0 B F A
f13 1 2 3 3
F3 w B F3 wL0 B A 2 F3A
g
f 21 f12
F1
g L 1 F2 1 1
f 22 0 ln F3 wL0 B ln F3 A 2 2 2
F2 EA0 w w B F3 wL0 B A F3A
g F2
f 23 f13
F3 F1
h F 1 1
f31 1
F1 w B A
h F2
f32 f31
F2 F1
h L 1 F wL0 F3
f33 0 3
F3 EA0 w B A

A F12 F22 F32

1/ 2
,
B F12 F22 F3 wL0
2 1/ 2

dF K T d

F1 F1 F1 F1 F1 F1
2 3 4 5 6
1
F2 F2 F2 F2 F2 F2

1 2 3 4 5 6
F3 F3 F3 F3 F3 F3

1 2 3 4 5 6 Fi i Fi j
KT
F F i j
(where, )
F F1 F1 F1 F F
1 1 1 i i
1 2 3 4 5 6
F F2 F2 F2 F F
1 2 2
1 2 3 4 5 6

F1
F3

F3 F
3
F3

F3
1 2 3 4 5 6

13
Analy sis Manual f or MIDAS/Gen

Compression-only Element

Introduction

Two nodes define a compression-only, three-dimensional line element. The

element is generally used to model contact conditions and support boundary
conditions. The element undergoes axial compression deformation only.

The compression-only elements include the following types:

Truss: A truss element transmits axial compression forces only.

Gap: A gap element retains a specified initial gap distance. The element stiffness is
engaged after the compression deformation exceeds that distance.

Element d.o.f. and the ECS

The element d.o.f. and the ECS of a co mpression-only element are identical to
that of a truss element.

(a) Truss Type

(b) Gap Type

Figure 1.7 Schematics of compression-only elements

14
 Ty pes of Elements and Important Considerations

Functions related to the elements

Main Control Data: Convergence conditions are identified for Iterat ive
Analysis using tension/compression-only elements.
Material: Material properties
Section: Cross-sectional properties
Pretension Loads

Output for element forces

Compression-only elements use the same sign convention as truss elements.

15
Analy sis Manual f or MIDAS/Gen

Beam Element

Introduction

Two nodes define a Prismat ic/Non-pris matic, three-dimensional beam element.

Its formulat ion is founded on the Timoshenko Beam theory taking into
account the stiffness effects of tension/compression, shear, bendi ng and
torsional deformati ons. In the Section Dialog Bo x, only one section is defined
for a prismat ic beam element whereas, t wo sections corresponding to each end
are required for a non-prismatic beam element.

MIDAS/ Gen assumes linear variat ions for cross-sectional areas, effective shear
areas and torsional stiffness along the length of a non-prismat ic element. For
mo ments of inertia about the major and minor axes , you may select a linear,
parabolic or cubic variation.

Element d.o.f. and the ECS

Each node retains three translational and three rotational d.o.f. irrespective of the
ECS or GCS.

The ECS for the element is identical to that for a truss element.

Functions related to the elements

Create Elements
Material: Material properties
Section: Cross-sectional properties
Beam End Release: Boundary conditions at each end (end-release, fixed or
hinged)
Beam End Offsets: Rigid end offset distance
Element Beam Loads: Beam loads (In-span concentrated loads or distributed
loads)
Line Beam Loads: Beam loads within a specified range
Assign Floor Load: Floor loads converted into beam loads
Prestress Beam Load: Prestress or posttension loads
Temperature Gradient

16
 Ty pes of Elements and Important Considerations

Output for element forces

The sign convention for beam element forces is shown in Figure 1.8. The arro ws
represent the positive (+) directions. Element stresses follow the same sign
convention. However, stresses due to bending mo ments are denoted by + for
tension and - for compression.

Figure 1.8 Sign convention for ECS and element forces (or stresses) of a beam element

17
Analy sis Manual f or MIDAS/Gen

Figure 1.8.1 Sample output of beam element forces

Figure 1.8.2 Sample output of beam element stresses

18
 Ty pes of Elements and Important Considerations

Plane Stress Element

Introduction

Three or four nodes placed in the same plane define a plane stress element. The
element is generally used to model membranes that have a uniform thickness
over the plane of each element. Loads can be applied only in the direction of its
own plane.

This element is formu lated according to the Isoparamet ric Plane St ress
Formulat ion with Inco mpatible Modes. Thus, it is premised that no stress
components exist in the out-of-plane directions and that the strains in the
out-of-plane directions can be obtained on the basis of the Poissons effects.

Element d.o.f. and the ECS

The element retains displacement d.o.f. in the ECS x and y-directions only.

The ECS uses x, y & z-axes in the Cartesian coordinate system, fo llo wing the
right hand rule. The directions of the ECS axes are defined as presented in
Figure 1.9.

In the case of a quadrilateral (4-node) element, the thumb direction signifies the
ECS z-axis. The rotational direct ion (N1N2N3 N4) following the right
hand rule determines the thumb direction. The ECS z-axis originates fro m the
center of the element surface and is perpendicular to the element surface. The
line connecting the mid point of N1 and N4 to the mid point of N2 and N3
defines the direction of ECS x-axis. The perpendicular d irect ion to the x-axis in
the element plane now becomes the ECS y-axis by the right-hand rule.

For a triangular (3-node) element, the line parallel to the direction from N1 to
N2, originating fro m the center of the element becomes the ECS x-axis. The y
and z-axes are identically defined as those for the quadrilateral element.

19
Analy sis Manual f or MIDAS/Gen

(a) ECS for a quadrilateral element

(b) ECS for a triangular element

Figure 1.9 Arrangement of plane stress elements and their ECS

Functions related to the elements

Create Elements
Material: Material properties
Thickness: Thickness of the element
Pressure Loads: Pressure loads acting normal to the edges of the element

20
 Ty pes of Elements and Important Considerations

Figure 1.10 illustrates pressure loads applied normal to the edges of a plane
stress element.

Figure 1.10 Pressure loads applied to a plane stress element

Output for element forces

The sign convention for element forces and element stresses is defined
relati ve to either the ECS or GCS. The following descriptions are based on the
ECS:

Output for element forces at connecting nodes

Output for element stresses at connecting nodes and element
centers

At a connecting node, mult iplying each nodal displacement co mponent by the

corresponding stiffness component of the element produces the element forces.

For stresses at the connecting nodes and element centers, the stresses calculated
at the integration points (Gauss Points) are extrapolated.

21
Analy sis Manual f or MIDAS/Gen

Output for element forces

Figure 1.11 shows the sign convention for element forces. The arro ws
represent the positive (+) directions.

Output for element Stresses

Figure 1.12 shows the sign convention for element stresses. The arrows
represent the positive (+) directions.

(b) Nodal forces for a triangular element

Figure 1.11 Sign convention for nodal forces at each node of plane stress elements

22
 Ty pes of Elements and Important Considerations

* Element stresses are produced in the ECS and the arrows represent the positive (+)
directions.

(a) Axial and shear stress components (b) Principal stress components

x : Axial stress in the ECS x - direction

x : Axial stress in the ECS y - direction
xy : Shear stress in the ECS x - y plane

x y
2
x + y
1 : Maximum principal stress = + + xy
2

2 2

x y
2
x + y
2 : Minimum principal stress = 2
+ xy
2 2
x y
2

xy : Maximum shear stress = + xy

2

2
: Angle between the x - axis and the principal axis,1
eff : von-Mises Stress = (1 1 2 + 2 )
2 2

Figure 1.12 Sign convention for plane stress element stresses

23
Analy sis Manual f or MIDAS/Gen

Figure 1.13 Sample output of plane stress element forces

Figure 1.14 Sample output of plane stress element stresses

24
 Ty pes of Elements and Important Considerations

Two-Dimensional Plane Strain Element

Introduction

2-D Plane Strain Element is a suitable element type to model lengthy structures
of uniform cross-sections such as dams and tunnels. The element is formu lated
on the basis of Isoparametric Plane Strain Formulat ion with Inco mpatible
Modes.

The element cannot be combined with other types of elements . It is only

applicable for linear static analyses due to the characteristics of the element.

Elements are entered in the X-Z plane and their thickness is automatically
given a unit thickness as shown in Figure 1.15.

Because the formulati on of the element is based on its pl ane strain

properties, it is premised that strains in the out-of-pl ane directions do not
exist. Stress components in the out-of-pl ane directi ons can be obtained only
based on the Poissons Effects.

Figure 1.15 Thickness of two-dimensional plane strain elements

25
Analy sis Manual f or MIDAS/Gen

Element d.o.f. and the ECS

The ECS for p lane strain elements is used when the program calcu lates the
element stiffness matrices. Graphic displays for stress components are also
depicted in the ECS in the post-processing mode.

The element d.o.f. exists only in the GCS X and Z-directions.

The ECS uses x, y & z-axes in the Cartesian coordinate system, following the right
hand rule. The directions of the ECS axes are defined as presented in Figure 1.16.

In the case of a quadrilateral (4-node) element, the thumb direction signifies the
ECS z-axis. The rotational direct ion (N1N2N3 N4) following the right
hand rule determines the thumb direction. The ECS z-axis originates fro m the
center of the element surface and is perpendicular to the element surface. The
line connecting the mid point of N1 and N4 to the mid point of N2 and N3
defines the direction of ECS x-axis. The perpendicular d irect ion to the x-axis in
the element plane now becomes the ECS y-axis by the right-hand rule.

For a triangular (3-node) element, the line paralle l to the direction from N1 to
N2, originating fro m the center of the element becomes the ECS x-axis. The y
and z-axes are identically defined as those for the quadrilateral element.

26
 Ty pes of Elements and Important Considerations

(b) Triangular element

Figure 1.16 Arrangement of plane strain elements, their ECS and nodal forces

27
Analy sis Manual f or MIDAS/Gen

Functions related to the elements

Create Elements
Material: Material properties
Pressure Loads: Pressure loads acting normal to the edges of the element

Figure 1.17 illustrates pressure loads applied normal to the edges of a plane
strain element. The pressure loads are automatically applied to the unit thickness
defined in Figure 1.15.

Figure 1.17 Pressure loads applied to a plane strain element

28
 Ty pes of Elements and Important Considerations

Output for element forces

The sign convention for pl ane strain element forces and stresses is defi ned
relati ve to either the ECS or GCS. Figure 1.18 illustrates the sign convention
relative to the ECS or principal stress directions of a unit segment.

Output for element forces at connecting nodes

Output for element stresses at connecting nodes and element
centers

At a connecting node, mult iplying each nodal displacement co mponent by the

corresponding stiffness component of the element produces the element forces.

For stresses at the connecting nodes and element centers, the stresses calculated
at the integration points (Gauss Points) are extrapolated.

Output for element forces

Figure 1.16 shows the sign convention for element forces. The arro ws
represent the positive (+) directions.

Output for element stresses

Figure 1.18 shows the sign convention for element stresses. The arrows
represent the positive (+) directions.

29
Analy sis Manual f or MIDAS/Gen

* Element stresses are produced in the ECS and the arro ws represent the positive
(+) directions.

(a) Axial and shear stress components (b) Principal stress components

Figure 1.18 Sign convention for plane strain element stresses

30
 Ty pes of Elements and Important Considerations

Figure 1.19 Sample output of plane strain element forces

Figure 1.20 Sample output of plane strain element stresses

31
Analy sis Manual f or MIDAS/Gen

Two-Dimensional Axisymmetric Element

Introduction

Two-Dimensional Axisymmetric Elements are suitable for modeling structures

with a rad ial symmetry relat ive to geometries, material properties and loading
conditions. Application examples may be pipes and cylindrical vessel bodies
including heads. The elements are developed on the basis of the Isoparametric
formulat ion theory. The element cannot be combined with other types of
elements. It is only applicable for linear static analyses due to the characteristics
of the element.

2-D axisy mmetric elements are derived fro m 3-D axisymmetric elements by
taking the radial symmet ry into account. The GCS Z-axis is the axis of rotation.
The elements must be located in the global X-Z plane to the right of the
global Z-axis. In this case, the radial direction coincides with the GCS X-axis.
The elements are modeled such that all the nodes retain positive X-coordinates
(X0).

By default, the thickness of the element is automatically preset to a unit

thickness (1.0 radian) as illustrated in Figure 1.21.

Because the formu lation of the element is based on the axisymmetric properties,
it is premised that circumferential displacements, shear strains (XY , YZ) and
shear stresses (XY , YZ) do not exist.

Figure 1.21 Unit width of an axisymmetric element

32
 Ty pes of Elements and Important Considerations

Element d.o.f. and the ECS

The ECS for axisymmetric elements is used when the program calculates the element
stiffness matrices. Graphic displays for stress components are also depicted in the ECS
in the post-processing mode.

The element d.o.f. exists only in the GCS X and Z-directions.

The ECS uses x, y & z-axes in the Cartesian coordinate system, fo llo wing the
right hand rule. The directions of the ECS axes are defined as presented in
Figure 1.22.

In the case of a quadrilateral (4-node) element, the thumb direction signifies the
ECS z-axis. The rotational direct ion (N1N2N3 N4) following the right
hand rule determines the thumb direction. The ECS z-axis originates fro m the
center of the element surface and is perpendicular to the element surface. The
line connecting the mid point of N1 and N4 to the mid point of N2 and N3
defines the direction of ECS x-axis. The perpendicular d irect ion to the x-axis in
the element plane now becomes the ECS y-axis by the right-hand rule.

For a triangular (3-node) element, the line parallel to the direction from N1 to
N2, originating fro m the center of the element becomes the ECS x-axis. The y
and z-axes are identically defined as those for the quadrilateral element.

33
Analy sis Manual f or MIDAS/Gen

(a) Quadrilateral element

(b) Triangular element

Figure 1.22 Arrangement of axisymmetric elements, their ECS and nodal forces

34
 Ty pes of Elements and Important Considerations

Functions related to the elements

Create Elements
Material: Material properties
Pressure Loads: Pressure loads acting normal to the edges of the element

Figure 1.23 illustrates pressure loads applied normal to the edges of an axisymmetric
element. The pressure loads are automatically applied to the width of 1.0 Radian as
defined in Figure 1.21.

Figure 1.23 Pressure loads applied to an axisymmetric element

35
Analy sis Manual f or MIDAS/Gen

Output for element forces

The sign conventi on for axisymmetric element forces and stress es is defi ned
relati ve to either the ECS or GCS. Figure 1.24 illustrates the sign convention
relative to the ECS or principal stress directions of a unit segment.

Output for element forces at connecting nodes

Output for element stresses at connecting nodes and element
centers

At a connecting node, mult iplying each nodal displacement co mponent by the

corresponding stiffness component of the element produces the element forces.

For stresses at the connecting nodes and element centers, the stresses calculated
at the integration points (Gauss Points) are extrapolated.

Output for element forces

Figure 1.22 shows the sign convention for element forces. The arro ws
represent the positive (+) directions.

Output for element stresses

Figure 1.24 shows the sign convention for element stresses. The arrows
represent the positive (+) directions.

36
 Ty pes of Elements and Important Considerations

* Element stresses are produced in the ECS and the arro ws represent the positive
(+) directions.

(a) Axial and shear stress components (b) Principal stress components

Figure 1.24 Sign convention for axisymmetric element stresses

37
Analy sis Manual f or MIDAS/Gen

Figure 1.25 Sample output of axisymmetric element forces

Figure 1.26 Sample output of axisymmetric element stresses

38
 Ty pes of Elements and Important Considerations

Plate Element

Introduction

Three o r fou r nodes p laced in the same p lane defin e a p late element . The
element is capa bl e of accounti ng for i n-pl ane tensi on/compressi on, i n-
plane/out-of-pl ane shear and out-of-pl ane bendi ng behavi ors.

The out-of-plane stiffness used in MIDAS/ Gen includes two types , DKT/ DKQ
(Discrete Kirchhoff element) and DKMT/ DKM Q (Discrete Kirchhoff-Mind lin
element). DKT and DKQ are developed on the basis of a thin plate theory,
Kirchhoff Plate theory. Whereas, DKMT and DKMQ are developed on the basis
of a thick plate theory, Mindlin-Reissner Plate theory, which exhib its superb
performance fo r thick p lates as well as thin plates by assuming appropriate shear
strain fields to resolve the shear-locking problem. The in-p lane stiffness is
formulated according to the Linear Strain Triangle theory for the triangular
element, and Isoparametric Plane Stress Formu lation with Inco mpatible Modes
is used for the quadrilateral element.

You may selectively enter separate thicknesses for the calculat ion of in-plane
stiffness and out-of-plane stiffness. In general, the thickness specified for the in-
plane stiffness is used for calculating self-weight and mass. When it is not
specified, the thickness for the out-of-plane stiffness will be used.

Element d.o.f. and the ECS

The ECS fo r plate elements is used when the program calcu lates the element
stiffness matrices. Graphic d isplays for stress components are also depicted in
the ECS in the post-processing mode.

The elements translational d.o.f. exists in the ECS x, y and z-directions and
rotational d.o.f. exists in the ECS x and y-axes.

The ECS uses x, y & z-axes in the Cartesian coordinate system, fo llo wing the
right hand rule. The directions of the ECS axes are defined as presented in
Figure 1.27.

In the case of a quadrilateral (4-node) element, the thumb direction signifies the
ECS z-axis. The rotational direct ion (N1N2N3 N4) following the right
hand rule determines the thumb direction. The ECS z-axis originates fro m the
center of the element surface and is perpendicular to the element surface. The
line connecting the mid point of N1 and N4 to the mid point of N2 and N3
defines the direction of ECS x-axis. The perpendicular d irect ion to the x-axis in
the element plane now becomes the ECS y-axis by the right-hand rule.

39
Analy sis Manual f or MIDAS/Gen

For a triangular (3-node) element, the line parallel to the direction from N1 to
N2, originating fro m the center of the element becomes the ECS x-axis. The y
and z-axes are identically defined as those for the quadrilateral element.

(a) ECS for a quadrilateral element

(b) ECS for a triangular element

Figure 1.27 Arrangement of plate elements and their ECS

40
 Ty pes of Elements and Important Considerations

Functions related to the elements

Create Elements
Material: Material properties
Thickness: thickness of the element
Pressure Loads: Pressure loads acting normal to the plane of the element
Temperature Gradient

Output for element forces

The sign convention for plate element fo rces and stresses is defined relative to
either the ECS or GCS. The following descriptions are based on the ECS.

Output for element forces at connecting nodes

Output for element forces per unit length at connecting nodes and
element centers
Output for element stresses at top and bottom surfaces at connecting
nodes and element centers

At a connecting node, mult iplying each nodal displacement co mponent by the

corresponding stiffness component of the element produces the element forces.

In order to calculate element forces per un it length at a connecting node or an

element center, the stresses are separately calculated for in -p lane and out-of
plane behaviors and integrated in the direction of the thickness.

The element forces per unit length can be effectively applied to the design of
concrete members. For stresses at the connecting nodes and element centers, the
stresses calculated at the integration points (Gauss Points) are extrapolated.

Output for element forces

Figure 1.28 shows the sign convention for element forces. The arro ws
represent the positive (+) directions.

Output for element forces per unit length

Figure 1.29 shows the sign convention for element forces per unit length
at connecting nodes and element centers. The arrows represent the
positive (+) directions.

Output for element stresses

Figure 1.30 (a) shows the top and bottom surface locations where
element stresses are produced at connecting nodes and element centers .
Figure 1.30 (b) shows the sign convention for element stresses.

41
Analy sis Manual f or MIDAS/Gen

(a) Nodal forces for a quadrilateral element

(b) Nodal forces for a triangular element

Figure 1.28 Sign convention for nodal forces at each node of plate elements

42
 Ty pes of Elements and Important Considerations

(c) M oments per unit length due to out-of-plane bending actions at the output locations

Figure 1.29 Output locations of plate element forces per unit length and the sign convention

43
Analy sis Manual f or MIDAS/Gen

(a) Output locations of element stresses

x : Axial stress in the ECS x - direction

x : Axial stress in the ECS y - direction
xy : Shear stress in the ECS x - y plane

x y
2
x + y
1 : Maximum principal stress = + + xy
2

2 2
x y
2
x + y
2 : Minimum principal stress = 2
+ xy
2 2

x y
2

xy : Maximum shear stress = + xy

2

2
: Angle between the x - axis and the principal axis,1
eff : von - Mises Stress = (1 1 2 + 2 )
2 2

(b) Sign convention for plate element stresses

Figure 1.30 Output locations of plate element stresses and the sign convention

44
 Ty pes of Elements and Important Considerations

Figure 1.31 Sample output of plate element forces

Figure 1.32 Sample output of plate element stresses

45
Analy sis Manual f or MIDAS/Gen

Solid Element

Introduction

4, 6 or 8 nodes in a three-d imensional space define a solid element. The element

is generally used to model solid structures or thick s hells. A solid element may
be a tetrahedron, wedge or hexahedron. Each node retains three translational
displacement d.o.f.

The element is formu lated according to the Isoparametric Formu lation with
Incompatible Modes.

Element d.o.f., ECS and Element types

The ECS fo r solid elements is used when the program calculates the element
stiffness matrices. Graphic d isplays for stress components are also depicted in
the ECS in the post-processing mode.

The element d.o.f. exists in the translati onal directions of the GCS X, Y and
Z-axes.

The ECS uses x, y & z-axes in the Cartesian coordinate system, fo llo wing the
right hand rule. The origin is located at the center of the element , and the
directions of the ECS axes are identical to those of the plate element, plane
number 1.

There are three types of elements, i.e., 8-node, 6-node and 4-node elements,
forming different shapes as presented in Figure 1.33. The nodes are sequentially
numbered in an ascending order starting from N1 to the last number.

46
 Ty pes of Elements and Important Considerations

(a) 8-Node element (Hexahedron)

(b) 6-Node element (Wedge) (c) 4-Node element (Tetrahedron)

Figure 1.33 Types of three-dimensional solid elements and node numbering sequence

47
Analy sis Manual f or MIDAS/Gen

Functions related to the elements

Create Elements
Material: Material properties
Pressure Loads: Pressure loads acting normal to the faces of the element

Loads are entered as pressure loads applied normal to each surface as illustrated
in Figure 1.34.

Figure 1.34 Pressure loads acting on the surfaces of a solid element

48
 Ty pes of Elements and Important Considerations

Output for element forces

The sign convention for solid element fo rces and stresses is defined relative to
either the ECS or GCS.

Output for element forces at connecting nodes

Output for three-dimensional element stress components at connecting
nodes and element centers

At a connecting node, mult iplying each nodal displacement co mponent by the

corresponding stiffness component of the element produces the element forces.

For stresses at the connecting nodes and element centers, the stresses calculated
at the integration points (Gauss Points) are extrapolated.

Output for element forces

Figure 1.35 shows the sign convention for element forces. The arro ws
represent the positive (+) directions.

Output for element stresses

Figure 1.36 shows the sign convention for element stresses. The arrows
represent the positive (+) directions .

49
Analy sis Manual f or MIDAS/Gen

Figure 1.35 Sign convention for solid element forces at connecting nodes

50
 Ty pes of Elements and Important Considerations

a) Axial and shear stress components (b) Principal stress components

Figure 1.36 Sign convention for solid element stresses at connecting nodes

51
Analy sis Manual f or MIDAS/Gen

Figure 1.37 Sample output of solid element forces

Figure 1.38 Sample output of solid element stresses

52
 Ty pes of Elements and Important Considerations

Wall Element

Introduction

Wall elements are used to model shear walls , wh ich retain the shape of a
rectangle or square. The direction of gravity must be set opposite to the direction
of the GCS Z-axis. The elements retain in -plane tension/compression stiffness in
the vertical direction, in-p lane shear stiffness in the horizontal direction, out-of-
plane bending stiffness and rotational stiffness about the vertical direction.

Two types of wall elements included in MIDAS/Gen are:

Wall element type 1 (Membrane type):

in-plane stiffness + rotational stiffness about the vertical direction

Wall element type 2 (Plate type):

in-plane stiffness + rotational stiffness about the vertical direct ion + out-
of-plane bending stiffness

Wall element type 1 (memb rane type) is generally used to model shear walls
being subjected to in-plane loads only. Whereas, Wall element type 2 (plate type) is
suitable for modeling co mmon walls intended to resist in -plane loads as well as
out-of-plane bending moments.

Shear walls are generally modeled with 4-node plane stress elements, which best
reflect the characteristics of shear walls. The plane stress elements included in
most finite element programs, however, are not readily applicable for shear
walls. This type of element does not have rotational stiffness about the axis
perpendicular to the plane of the element at the connecting nodes. When flexural
beams are connected to the wall elements nodes, incompatibility in degrees of
freedom results. Moreover, additional transformation process is required for
design because all element forces are produced in terms of nodal forces or
stresses rather than wall member forces and moments.

In MIDAS/Gen, a new improved algorithm is used to overcome the limitation

described above. This algorithm, if necessary, allows you to select out-of-plane
bending stiffness to be included in the analysis.

53
Analy sis Manual f or MIDAS/Gen

The procedure for modeling wall elements in MIDAS/Gen is as follows:

1. Enter the story data for the building.

2. Enter wall elements. Note that elements must be rectangles of s quares.

Only one wall element is permitted at a gi ven story vertically, i.e., the
height of an element is one story high.

3. Enter the wall (combi nation) ID and specify the type of elements ,
considering whether or not the out-of-pl ane bendi ng stiffness is to be
included.

Walls in general structures are consisted of combinations of single (linear in

plan) individual walls, thereby forming different geometric con figurations. Each
wall (group) is defined by entering individual unit wall elements. In order to
reflect the true stiffness of co mbined walls indiv idual wall elements are assigned
with wall (combination) IDs.

Member forces of wall elements are produced for each story by wall IDs. If two
or more wall elements at a given floor are numbered with a same wall ID, they
are recognized as a single wall structure and each element fo rce is comb ined
together for the force output. However, wall elements assigned with an identical
wall ID but located at different floors are recognized as distinct wall structures.
Accordingly, it would be advisable to assign the same wall ID to all wall
elements located in the same plan throughout all the floors in o rder to avoid
confusion.

As illustrated in Figure 1.39 (b), 5 wall elements are required for modeling the
wall structure shown in Figure 1.39 (a). Figure 1.39 (c) shows the output
configuration when each element is assigned with different wall IDs to design
them separately. The element forces are produced in the ECS o f each element.
Figure 1.39 (d) illustrates the output configuration for the case where 5 elements
are designed as a single unit wall structure. In this case, all elements have the
same wall ID. The forces for the assembled wall structure are produced at the
centroid. The resulting forces are exp ressed in the ECS of the first element
defined.

The stiffness of the combined wall, (a) is reflected in the structural analysis
irrespective of wall ID numbering.

54
 Ty pes of Elements and Important Considerations

(a) Wall structure (b) Elements constituting the wall structure

(c) Different wall IDs are assigned to each element

Figure 1.39 Element forces for different combinations of wall elements (Membrane Type)

55
Analy sis Manual f or MIDAS/Gen

Element d.o.f. and the ECS

Wall element type 1 (membrane type) retains displacement d.o.f in the ECS x
and z-directions and rotational d.o.f. about the ECS y-axis. Whereas, Wall
element type 2 (p late type) has three translational and three rotational d.o.f.
(refer to Figure 1.40).

The ECS uses x, y and z-axes in the Cartesian coordinate system, following the
right hand rule.

Figure 1.40 ECS and sign convention of a wall element assigned with a Wall ID

56
 Ty pes of Elements and Important Considerations

The ECS x-axis is set parallel with the GCS Z-axis by default. The ECS z-axis is
determined by the direction defined fro m the first node (N1) to the second node
(N2), which are in turn used to define the range of target elements for a g iven
Wall ID (refer to Figure 1.40). The perpendicular axis to the x-z p lane becomes
the ECS y-axis.

When more than two wall elements are assigned with the same Wall ID nu mber,
the member forces are p roduced in the ECS of the first element (the element
with the smallest element number). Refer to Figure 1.41.

Connecting nodes must be entered fro m the bottom up. The nodes at the top and
bottom of an element must be located in a p lane parallel to the global X-Y plane.
All the nodes must lie in a single plane. You should exercise caution whe n
defining elements, as the ECS is defined according to the node numbering order.

Functions related to the elements

Create Elements
Material: Material properties
Thickness: Thickness of the element

Output for element forces

The sign convention for element forces is shown in Figure 1.41. The arro ws
represent the positive (+) directions.

Element forces are produced for each story by Wall IDs.

57
Analy sis Manual f or MIDAS/Gen

(a) When all wall elements of the same Wall ID is in the same plane

(b) When all wall elements of the same Wall ID are not in the same plane

Figure 1.41 ECS and sign convention of combined walls when two or more elements
are assigned with the same Wall ID

58
 Ty pes of Elements and Important Considerations

Figure 1.42 Sample output of wall element forces

59
Analy sis Manual f or MIDAS/Gen

Important Aspects of Element Selection

The success of a structural analysis very much depends on how closely the
selected elements and modeling represent the real structure.

Analysis objecti ves determine the selection of elements and the extent of
modeling. For example, if the anal ysis is carried out for the purpose of
design, then the structure needs to be di vi ded into appropriate nodes and
elements in order to obtain dis placements, member forces and stresses that
are required for design. It would be mo re efficient to s elect elements so that the
member forces and stresses can be used directly for design without subsequent
transformation. A co mparatively coarse mesh model may be sufficient to obtain
displacements or to perform eigenvalue analysis. In contrast, the model with fine
mesh is more appropriate for computing element forces.

In the case of an eigenvalue analysis where the prime purpose is to observe the
overall behavior of the structure, a simp le model is preferab le so as to avoid the
occurrence of local modes. At times, idealizing the structure with beam elements
having equivalent stiffness works better than a detailed model, especially in the
preliminary design phase.

Important considerations for creating an analysis model are outlined belo w.

Some of the factors to be considered for locating nodes in a structural model
include the geometric shape of the structure, materials, section shapes and
loading conditions. Nodes should be placed at the following locations:

Points where analysis results are required

Points where loads are applied
Points or boundaries where stiffness (section or thickness) changes
Points or boundaries where material properties change
Points or boundaries where stress concentrations are antici pated such
as in the vicinity of an opening
At the structural boundaries
Points or boundaries where structural configurations change

When line elements (truss elements, beam elements, etc.) are used, analysis
results are not affected by the sizes of elements. Whereas, analyses using planar
elements (plane stress elements, plane strain elements, axisymmetric elements
and plate elements) or solid elements are heavily influenced by the sizes, shapes
and arrangements of elements. Planar or solid elements should be sufficiently
refined at the regions where stresses are expected to vary significantly or where
detailed results are required. It is reco mmended that the elements be div ided
following the anticipated stress contour lines or stress distribution.

60
 Important Aspects of Element Selection

Fine mesh generations are generally required at the following locations:

Regions of geometric discontinuity or in the vicinity of an opening

Regions where applied loadings vary significantly; e.g. points adjacent to
relatively large magnitude concentrated loads are applied
Regions where stiffness or material properties change
Regions of irregular boundaries
Regions where stress concentration is anticipated
Regions where detailed results of element forces or stresses are
required

The factors to be considered for determin ing the sizes and shapes of elements are
as follows:

The shapes and sizes of elements should be as uniform as possible.

Logarithmic configurations shoul d be used where element size
changes are necessary.
Size variati ons between adjacent elements shoul d be kept to less than
1/2.
4-Node pl anar elements or 8-node solid elements are used for stress
calculati ons. An aspect rati o cl ose to a unity (1:1) yiel ds an opti mum
solution, and at least a 1:4 ratio shoul d be maintained. For the purpose
of transferring stiffness or calculating displacements, aspect ratios less
than 1:10 are recommended.
Corner angles near 90 for quadrilateral elements and near 60 for
triangular elements render ideal conditions.
Even where unavoi dable circumstances arise, corner angles need to be
kept away from the range of 45 and 135 for quadrilateral elements ,
and 30 and 150 for triangular elements.
In the case of a quadrilateral element, the fourth node shoul d be on
the same plane formed by three nodes. That is, three points al ways
form a pl ane and the remaining fourth poi nt can be out of the plane
resulting in a warped pl ane. It is recommended that the mag nitude of
warpi ng (out-of pl ane) be kept less than 1/100 of the longer side
dimension.

61
Analy sis Manual f or MIDAS/Gen

Truss, Tension-only and Compression-only Elements

These elements are generally used for modeling members that exert axial forces
only such as space trusses, cables and diagonal members as well as for modeling
contact surfaces.

For example, t russ elements resisting axial tension and compression forces can
be used to model a truss structure. Tension-only elements are suitable for
modeling cables whose sagging effects can be neglected and for modeling
diagonal members that are incapable o f transmitting co mpression forces due to
their large slenderness ratios, such as wind bracings. Co mpres sion-only elements
can be used to model contact surfaces between adjacent structural members and
to model ground support conditions taking into account the fact that tension
forces cannot be resisted. Pretension loads can be used when members are
prestressed.

Because these elements do not retain rotational degrees of freedom at nodes,

Singular Errors can occur during the analysis at nodes where they are connected to
the same type of elements or to elements without rotational d.o.f. MIDAS/Gen
prevents such singular errors by restraining the rotational d.o.f. at the corresponding
nodes.

If they are connected to beam elements that have rotational degrees of freedom,
this restraining process is not necessary.

As shown in Figure 1.43, you should exercise caution not to induce unstable
structures when only truss elements are connected. The structure shown in
Figure 1.43 (a) lacks rotational stiffness while being subjected to an external
load in its plane, resulting in an unstable condition. Figures 1.43 (b) and (c)
illustrate unstable structures in the loading direction (X-Z plane), even though
the structures are stable in the Y-Z plane direction.

You should use tension-only and compression-only elements with care. Element
stiffness may be ignored in the analysis depending on the magnitudes of loads;
e.g., when compression loads are applied to tension-only elements.

62
 Important Aspects of Element Selection

(a) When a force is applied in the X-direction on the X-Z plane

(b) When a force is applied in the X-direction perpendicular to the Y-Z plane

(c) When a force is applied in the X-direction perpendicular to the Y-Z plane

Figure 1.43 Typical examples of unstable structures that are composed of truss
(tension-only & compression-only) elements

63
Analy sis Manual f or MIDAS/Gen

Beam Element

This element is typically used for modeling prismatic and non-prismat ic tapered
structural members that are relatively long compared to section dimensions. The
element can be also used as load-transfer elements connecting other elements
having differing numbers of d.o.f.

In-span concentrated loads, distributed loads, temperature gradient loads and

prestress loads can be applied to beam elements.

A beam element has 6 d.o.f. per node reflect ing axial, shear, bending and
torsional stiffness. When shear areas are omitted, the corresponding shear
deformations of the beam element are ignored.

The beam element is formu lated on the basis of the Timoshenko beam theory (a
plane section initially normal to the neutral axis of the beam remains plane but
not necessarily normal to the neutral axis in the deformed state) reflecting shear
deformations. If the ratio of the section depth to length is greater than 1/5, a fine
mesh modeling is desirable because the effect of shear deformation s becomes
significant.

The torsional resistance of a beam element d iffers fro m the sectional po lar
mo ment of inert ia (they are the same for circular and cylindrical sections). You
are cautioned when the effect of torsional deformation is large, as the torsional
resistance is generally determined by experimental methods.

Beam and truss elements are idealized line elements, thus their cross-sections are
assumed to be dimensionless. The cross-sectional properties of an element are
concentrated at the neutral axis that connects the end nodes. As a result, the
effects of panel zones between members (regions where colu mns and beams
merge) and the effects of non-align ment of neutral axes are not considered. In
order for those nodal effects to be considered, the beam end offset option or
geometric constraints must be used.

The tapered section may be used when the section of a member is non -prismat ic.
It may be desirable to use a number of beam elements to model a curved beam.

When members are connected by pins or slotted holes (Figure 1.44 (a) and (b)),
the Beam End Release option is used.

Note that a singularity error can result in a case where a part icular degree of
freedom is released for all the elements joining at a node, resulting in zero
stiffness associated with that degree of freedom. If it is inevitable, a spring
element (or an elastic boundary element) having a minor stiffness must be added
to the corresponding d.o.f.

64
 Important Aspects of Element Selection

(a) Pin connection (b) Slot-hole connection

(c) When multiple beam elements are pin connected at a node

(d) When elements having different d.o.f. are connected

Figure 1.44 Examples of end-release application

65
Analy sis Manual f or MIDAS/Gen

The rigid beam element can be effectively used when elements having different
degrees of freedom are connected. The rigid effect is achieved by assigning a
large stiffness value relative to the contiguous beam elements. In general, a
magnitude of 105 ~ 108 times the stiffness of the neighboring elements provides
an adequate result, avoiding numerical ill conditions.

Figure 1.44 (d) illustrates the case where a beam member is joined to a wall. The
wall element may be a p lane stress or plate element. The nodal in -plane mo ment
corresponding to the beam elements rotational degree of freedo m will not be
transmitted to the planar element (plane stress or plate element) because the
planar element has no rotational stiffness about the normal d irection to the plane.
The interface will behave as if the beam was pin connected. In such a case, a
rig id beam element is often introduced in order to maintain co mpatible
connectivity. All degrees of freedo m of the rigid beam at the beam element are
fully maintained wh ile the rotational and axial displace ment degrees of freedom
are released at the opposite end.

66
 Important Aspects of Element Selection

Plane Stress Element

This element can be used for modeling membrane structures that are subjected to
tension or compression forces in the plane direction only. Pressure loads can be
applied normal to the perimeter edges of the plane stress element.

The plane stress element may retain a quadrilateral or triangular shape. The
element has in-plane tension, compression and shear stiffness only.

Quadrilateral (4-node) elements, by nature, generally lead to accurate results for

the computation of both displacements and stresses. On the contrary, triangular
elements produce poor results in stresses, although they produce relatively
accurate displacements. Accordingly, you are encouraged to avoid triangular
elements at the regions where detailed analysis results are required, and they are
recommended for the transition of elements only (Figure 1.45).

Singularity erro rs occur during the analysis process, where a p lane stress element
is jo ined to elements with no rotational degrees of freedom since the plane stress
element does not have rotational stiffness. In MIDAS/ Gen, restrain ing the
rotational degrees of freedo m at the corresponding nodes prevents the singularity
errors.

When a plane stress element is connected to elements having rotational stiffness

such as beam and plate elements, the connectivity between elements needs to be
preserved using the rig id lin k (master node and slave node) option or the rigid
beam element option.

Appropriate aspect ratios for elements may depend on the type of elements, the
geometric configuration of elements and the shape of the structure. Ho wever,
aspect ratios close to unity (1:1) and 4 corner angles close to 90 are recommended. If
the use of regular element sizes cannot be achieved throughout the structure, the
elements should be square shaped at least at the regions where stress intensities
are expected to vary substantially and where detailed results are required.

Relatively small elements result in better convergence.

67
Analy sis Manual f or MIDAS/Gen

Figure 1.45 Crack modeling using quadrilateral/triangular elements

68
 Important Aspects of Element Selection

Plane Strain Element

This element can be used to model a long structure, having a uniform cross
section along its entire length, such as dams and tunnels. The element cannot be
used in conjunction with any other types of elements.

Pressure loads can be applied normal to the perimeter edges of the plane strain
element.

Because this element is formu lated on the basis of its plane strain properties, it is
applicable to linear static analyses only. Given that no strain is assumed to exist
in the thickness direction, the stress component in the thickness direction can be
obtained through the Poissons effect.

The plane strain element may retain a quadrilateral or triangular shape. The
element has in-plane tension, compression and shear stiffness , and it has tension
and compression stiffness in the thickness direction.

Similar to the plane stress element, quadrilateral elements are reco mmended over
the triangular elements, and aspect ratios close to unity are reco mmended for
modeling plane strain elements.

69
Analy sis Manual f or MIDAS/Gen

Axisymmetric Element

This element can be used for modeling a structure with axis symmetry relative to
the geometry, material properties and loading conditions, such as pipes, vessels,
tanks and bins. The element cannot be used in conjunction with any other types
of elements.

Pressure loads can be applied normal to the circumferential edges of the axisymmetric
element.

Because this element is formu lated on the basis of its axisymmetric properties, it
is applicable to linear static analyses only. It is assumed that circumferential
displacements, shear strains and shear stresses do not exist.

Similar to the plane stress element, quadrilateral elements are recommended

over the triangular elements, and aspect ratios close to unity are recommended
for modeling axisymmetric elements.

70
 Important Aspects of Element Selection

Plate Element

This element can be used to model the structures in which both in-p lane and out-
of-plane bending deformations are permitted to take place, such as pressure
vessels, retaining walls, bridge decks, building floors and mat foundations.

Pressure loads can be applied to the surfaces of the elements in either the GCS or
ECS.

A plate element can be either quadrilateral or triangular in shape where its stiffness is
formulated in two directions, in-plane direction axial and shear stiffness and out-of-
plane bending and shear stiffness.

The out-of-plane stiffness used in MIDAS/ Gen includes two types of elements,
DKT/DKQ (Discrete Kirchhoff elements) and DKMT/DKMQ (Discrete Kirchhoff-
Mindlin elements). DKT/DKQ were developed on the basis of the Kirchhoff Thin
Plate theory. Whereas, DKMT/DKMQ were developed on the basis of the Mindlin-
Reissner Thick Plate theory, which results in superb performances on thick plates as
well as thin plates by incorporating appropriate shear strain fields to resolve the shear-
locking problem. The in-plane stiffness of the triangular element is formulated in
accordance with the Linear Strain Triangle (LST) theory, whereas the Isoparametric
Plane Stress Formulation with Incompatible Modes is used for the quadrilateral
element.

The user may separately enter different thicknesses for an element for
calculating the in-plane stiffness and the out-of-plane stiffness. In general, the
self-weight and mass of an element are calculated fro m the thickness specified
for the in-plane stiffness. However, if only the thickness for the out-of-plane
stiffness is specified, they are calcu lated on the basis of the thickness specified
for the out-of-plane stiffness.

Similar to the plane stress element, the quadrilateral element type is

recommended for modeling structures with plate elements. When modeling a
curved plate, the angles between two adjacent elements should remain at less
than 10. Moreover, the angles should not exceed 2~3 in the regions where
precise results are required.

It is thus recommended that elements close to squares be used in the regions

where stress intensities are expected to vary substantially and where detailed
results are required.

71
Analy sis Manual f or MIDAS/Gen

Figure 1.46 Example of plate elements used for a circular or cylindrical modeling

72
 Important Aspects of Element Selection

Solid Element

This element is used for modeling three-dimensional structures, and its types
include tetrahedron, wedge and hexahedron.

Pressure loads can be applied normal to the surfaces of the elements or in the X,
Y, and Z-axes of the GCS.

The use of hexahedral (8-node) elements produces accurate results in both

displacements and stresses . On the other hand, using the wedge (6-node) and
tetrahedron (4-node) elements may produce relatively reliable results for
displacements, but poor results are derived fro m stress calculations. It is thus
recommended that the use of the 6-node and 4-node elements be avoided if
precise analysis results are required. The wedge and tetrahedron elements,
however, are useful to join hexahedral elements where element sizes change.

Solid elements do not have stiffness to rotational d.o.f. at ad joining nodes.

Joining elements with no rotational stiffness will result in singular errors at their
nodes. In such a case, MIDAS/ Gen automatically restrains the rotational d.o.f. to
prevent singular errors at the corresponding nodes.

When solid elements are connected to other elements retaining rotational

stiffness, such as beam and plate elements, introducing rigid links (master node
and slave node feature in MIDAS/ Gen) or rigid beam elements can preserve the
compatibility between two elements.

An appropriate aspect ratio of an element may depend on several factors such as

the element type, geometric configuration, structural shape, etc. In general, it is
recommended that the aspect ratio be maintained close to 1.0. In the case of a
hexahedral element, the corner angles should remain at close to 90. It is
particularly important to satisfy the configuration conditions where accurate
analysis results are required o r significant stress changes are anticipated . It is
also noted that smaller elements converge much faster.

73
Analy sis Manual f or MIDAS/Gen

Element Stiffness Data

Material property and section (or thickness) data are necessary to compute the
stiffnesses of elements. Material p rop erty data are entered th rough
Model >Properti es>Ma terial , and sect ion data are entered th rough Mod el >
Properties>Sectio n or Thickness.

Table 1.1 shows the relevant co mmands for calculat ing the stiffnesses of various
elements.

Material Section or
Element Remarks
property data thickness data
Truss element Material Section Note 1

Tension-only
Material Section Note 1
element
Compression-only Material Section Note 1
element

Beam element Material Section Note 2

Plane stress
Material Thickness Note 3
element
Plate element Material Thickness Note 3

Plane strain
Material - Note 4
element
Axisymmetric Material - Note 4
element

Solid element Material - Note 5

Wall element Material Thickness Note 3

Table 1.1 Commands for computing element stiffness data

74
 Element Stif f ness Data

Note

1. For truss elements, only cross-sectional areas are required for analysis.
However, the section shape data should be additionally entered for the
purposes of design and graphic display of the members.

2. When a beam element is used to model a Steel-Reinforced Concrete (SRC)

composite member, the program automatically calculates the equivalent
stiffness reflecting the composite action.

3. Thickness should be specified for planar elements.

4. No section/thickness data are required for p lane strain and axisy mmetric
elements as the program automatically assigns the unit width (1.0) and unit
angle (1.0 rad) respectively.

5. The program determines the element size fro m the corner nodes, and as
such no section/thickness data are required for solid elements.

Definitions of section properties for line elements and their calculation methods
are as follows:

The user may directly calculate and enter the section properties for line elements
such as truss elements, beam elements, etc. Ho wever, cautions shall be exercised
as to their effects of the properties on the structural behavior. In some instances,
the effects of corrosions and wears may be taken into account when c omputing
section properties.

MIDAS/Gen offers the following three options to specify section properties:

1. MIDAS/ Gen automatically computes the section properties when the user
simply enters the main dimensions of the section.

2. The user calculates and enters all the required section properties.

3. The user specifies nominal section designations contained in the database

of AISC, BS, Eurocode3, JIS, etc.

In specifying section properties, you can assign individual ID nu mbers for

prismat ic, tapered, co mbined and co mposite sections. In the case of a
construction section, two separate predefined sections are used in co mbination.
Section properties fo r co mposite construction sections composed of steel and
reinforced concrete vary with construction stages reflect ing the concrete pour
and maturity.

The follo wing outlines the methods of calculating section properties and the
pertinent items to be considered in the process:
75
Analy sis Manual f or MIDAS/Gen

Area (Cross-Sectional Area)

The cross-sectional area of a member is used to compute axial stiffness and

stress when the member is subjected to a co mpression or tension force. Figure
1.47 illustrates the calculation procedure.

Cross-sectional areas could be reduced due to member openings and bolt or rivet
holes for connections. MIDAS/ Gen does not consider such reductions.
Therefore, if necessary, the user is required to modify the values using the option
2 above and his/her judgment.

Area = dA = A1 + A2 + A3

= (300 15) + (573 10) + (320 12)

= 14070

Figure 1.47 Example of cross-sectional area calculation

76
 Element Stif f ness Data

Effective Shear Areas (Asy, Asz )

The effective shear areas of a member are used to formulate the shear stiffness in
the y and z-axis direct ions of the cross-section. If the effective shear areas are
omitted, the shear deformations in the corresponding directions are neglected.

When MIDAS/ Gen co mputes the section properties by the option 1 or 3, the
corresponding shear stiffness components are automatically calculated. Figure
1.48 outlines the calculation methods.

Asy: Effective shear area in the ECS y-axis direction

Asz : Effective shear area in the ECS z-axis direction

77
Analy sis Manual f or MIDAS/Gen

Section Shape Effective Shear Area Section Shape Effective Shear Area

1. Angle 2. Channel

5
Asy B tf Asy
5
(2 B t f )
6 6

5
Asz H tw Asz H tw
6

3. I-Section 4. Tee

5 5
Asy (2 B t f ) Asy (B t f )
6 6

Asz H tw Asz H t w

5. Thin Walled Tube 6. Thin Walled Pipe

Asy 2 B t f Asy r tw

Asz 2 H tw Asz r tw

7. Solid Round Bar 8.Solid Rectangular Bar

5
Asy BH
Asy 0.9 r 2 6

Asz 0.9 r 2 5
Asz BH
6

Figure 1.48 Effective shear areas by section shape

78
 Element Stif f ness Data

Torsional Resistance (Ixx)

Torsional resistance refers to the stiffness resisting torsional mo ments. It is

expressed as

<Eq. 1>
T
I xx

where,
Ixx: Torsional resistance
T: Torsional moment or torque
: Angle of twist

The torsional stiffness expressed in <Eq. 1> must not be confused with the po lar
mo ment of inertia that determines the torsional shear stresses. However, they are
identical to one another in the cases of circular or thick cylindrical sections.

No general equation exists to satisfactorily calculate the torsional resistance

applicable for all section types. The calculation methods widely vary for open
and closed sections and thin and thick thickness sections.

For calcu lating the torsional resistance of an open section, an approximate

method is used; the section is divided into several rectangular sub-sections and
then their resistances are summed into a total resistance, Ixx, calculated by the
equation below.

<Eq. 2>
I xx ixx
16 b b4
ixx ab 3.36 1
3
for a b
3 a 12a 4
where,
ixx: Torsional resistance of a (rectangular) sub-section
2a: Length of the longer side of a sub-section
2b: Length of the shorter side of a sub-section

79
Analy sis Manual f or MIDAS/Gen

Figure 1.49 illustrates the equation for calculating the torsional resistance of a
thin walled, tube-shaped, closed section.

<Eq. 3>
2
4A
Ixx
dst
where,
A: Cross-sectional area of tube
d S : Infinitesimal length of thickness centerline at a given point
t: Thickness of tube at a given point

For those sections such as bridge box girders, wh ich retain the form of thick
walled tubes, the torsional stiffness can be obtained by combining the above two
equations, <Eq. 1> and <Eq. 3>.

4 A2
Torsional resistance: I xx
d s / ts
T
Shear stress at a given point: T
2 Ats
Thickness of tube at a given point: t s

Figure 1.49 Torsional resistance of a thin walled, tube-shaped, closed section

80
 Element Stif f ness Data

Section Shape Torsional Resistance Section Shape Torsional Resistance

1. Solid Round Bar 2. Solid Square Bar

1
I xx r 2 I xx 2.25a 4
2

3. Solid Rectangular Bar

16 b b4
I xx ab3 3.36 I
3 a 12a 4

(where, a b )

Figure 1.50 Torsional resistance of solid sections

Section Shape Torsional Resistance Section Shape Torsional Resistance

1. Rectangular Tube (Box) 2. Circular Tube (Pipe)

2(b h) 2 1 D D
4 4

I xx I xx o i
b h 2 2 2

t f tw

Figure 1.51 Torsional resistance of thin walled, closed sections

81
Analy sis Manual f or MIDAS/Gen

Section Shape Torsional Resistance

1. Angle
I xx I1 I 2 D 4
1 b b4
I1 ab3 0.21 1
3 a 12 a4
1 d d 4
I 2 cd 3 0.105 1
3 c 192c4
d r
0.07 0.076
b b
D 2 d b 3r 2 2r b 2r d

(where, b < 2(d + r))

2. Tee I xx I1 I 2 D 4
1 b b4
I1 ab3 0.21 1
3 a 12a 4
1 d d 4
I 2 cd 3 0.105 1
3 c 192 c4
t r
0.15 0.10
t1 b
d2
b r rd
2

IF b<d : t=b, t1 =d D 4
IF b>d : t=d, t1 =b 2r b
(where, d < 2(b + r))

3. Channel

Sum of torsinal stiffnesses of 2 angles

4. I-Section
I xx 2 I1 I 2 2 D 4
1 b b4
I1 ab3 0.21 1
3 a 12 a4
1
I 2 cd 3
3
t r
0.15 0.10
t1 b
d2
b r rd
2

D 4
IF b<d : t=b, t1 =d 2r b
IF b>d : t=d, t1 =b (where, d < 2(b + r))

Figure 1.52 Torsional resistance of thick walled, open sections

82
 Element Stif f ness Data

Section Shape Torsional Resistance

1. Angle

I xx
1
3
h tw3 b t 3f

2. Channel

I xx
1
3
h tw3 2 b t 3f

3. I-Section

I xx
1
3
h tw3 2 b t 3f

4. Tee

I xx
1
3
h tw3 b t 3f

5. I-Section

I xx
1
3
3
h tw3 b1 t f 1 b2 t f 2
3

Figure 1.53 Torsional resistance of thin walled, open sections

83
Analy sis Manual f or MIDAS/Gen

In practice, co mbined sections often exist. A combined built-up section may

include both closed and open sections. In such a case, the stiffness calculation is
performed for each part, and their torsional stiffnesses are summed to establish
the total stiffness for the built-up section.

For examp le, a double I-section shown in Figure 1.54 (a) consists of a closed
section in the middle and two open sections, one on each side.

-The torsional resistance of the closed section (hatched part)

<Eq. 4>
2(b1 h1 ) 2
Ic
b1 h1

t f tw

-The torsional resistance of the open sections (unhatched parts)

<Eq. 5>
1
I o 2 (2b b1 tw ) tw3
3

-The total resistance of the built-up section

<Eq. 6>
I xx I c I o

Figure 1.54 (b) shows a built-up section made up of an I-shaped section

reinforced with two web plates, forming two closed sections. In this case, the
torsional resistance for the section is computed as follows:

If the torsional resistance contributed by the flange tips is negligib le relative to

the total section, the torsional property may be calculated solely on the basis of
the outer closed section (hatched section) as expressed in <Eq. 7>.

<Eq. 7>
2(b1 h1 ) 2
I xx
b1 h1

t f ts

84
 Element Stif f ness Data

If the torsional resistance of the open sections is too large to ignore, then it
should be included in the total resistance.

(a) Section consisted of closed and open sections

(b) Section consisted of two closed sections

Figure 1.54 Torsional resistance of built-up sections

85
Analy sis Manual f or MIDAS/Gen

Area Moment of Inertia (Iyy, Izz )

The area mo ment of inert ia is used to compute the flexu ral stiffness resisting
bending moments. It is calculated relative to the centroid of the section.

-Area moment of inertia about the ECS y-axis

<Eq. 8>
I yy z 2 dA

-Area moment of inertia about the ECS z-axis

<Eq. 9>
I zz y 2 dA

Section
Element b h Ai zi Qyi yi Qzi

1 10 4 40 2 80 5 200

2 2 10 20 9 180 5 100

3 8 3 24 15.5 372 5 120

Total - - 84 - 632 - 420

Ai : area
z i : distance from the reference point to the centroid of the section element in the z-axis direction
y i : distance from the reference point to the centroid of the section element in the y-axis direction
Qyi : first moment of area relative to the reference point in the y-axis direction
Qzi : first moment of area relative to the reference point in the z-axis direction

86
 Element Stif f ness Data

Calculation of neutral axes ( Z , Y )

Z =
zdA
Q y

632
7.5238
Area Area 84

Y =
ydA
Q z

420
5.0000
Area Area 84

Calculation of area moments of inertia (Iyy, Izz)

Section
Element Ai Z zi I y1 I y2 I yy Y yi I z1 Iz2 I zz

1 40 5.5328 1224.5 53.3 1277.8 0 0 333.3 333.3

2 20 1.4672 43.1 166.7 209.8 0 0 6.7 6.7

3 24 7.9762 1526.9 18.0 1544.9 0 0 128.0 128.0

Total 2976.5 238.0 3032.5 0 468.0 468.0

bh3
I y1=Ai ( Z zi )2 , I y2 = , I yy =I y1+ I y2
12
hb3
I z1=Ai ( Y yi )2 , I z2 = , I zz =I z1+ I z2
12

Figure 1.55 Example of calculating area moments of inertia

87
Analy sis Manual f or MIDAS/Gen

Area Product Moment of Inertia (Iyz )

The area product moment of inertia is used to compute stresses for non-symmetrical
sections, which is defined as follows:

<Eq. 10>
I yz y zdA

Sections that have at least one axis of symmetry produce Iyz =0. Typical
symmetrical sections include I, pipe, box, channel and tee shapes, which are
symmetrical about at least one of their local axes, y and z. Ho wever, for non -
symmetrical sections such as angle s haped sections, where Iyz 0, the area
product moment of inertia should be considered for obtaining stress components.

The area product mo ment of inert ia for an angle is calculated as shown in Figure
1.56.

Section
Element Ai e yi ezi

1 Btf B / 2 Y ( H t f / 2) Z

2 ( H t f ) tw tw / 2 Y ( H t f / 2) Z

I yz = Ai e yi e zj
= (B t f ) (B/2 Y) {(H t f /2)-Z}
+{(H t f ) t w } {t w /2 Y) {(H t f /2) Z}

Figure 1.56 Area product moment of inertia for an angle

88
 Element Stif f ness Data

Figure 1.57 Bending stress distribution of a non-symmetrical section

The neutral axis represents an axis along which bending stress is 0 (zero). As
illustrated in the right-hand side of Figure 1.57, the n-axis represents the neutral
axis, to wh ich the m-axis is perpendicular. Since the bending stress is zero at the
neutral axis, the direct ion of the neutral axis can be obtained fro m the relat ion
defined as

<Eq. 11>
(M y I zz M z I yz ) z (M z I yy M y I yz ) y 0
y M y I zz M z I yz
tan
z M z I yy M y I yz

The follo wing represents a general equation applied to calculate the bending
stress of a section:

<Eq. 12>
M y M z ( I yz / I zz ) M z M y ( I yz / I yy )
fb z y
I yy ( I yz 2 / I zz ) I zz ( I yz 2 / I yy )

89
Analy sis Manual f or MIDAS/Gen

In the case of an I shaped section, Iyz=0, hence the equation can be simplified as:

<Eq. 13>
My Mz
fb z y fby fbx
I yy I zz

where,
Iyy: Area moment of inertia about the ECS y-axis
Izz : Area moment of inertia about the ECS z-axis
Iyz : Area product moment of inertia
y: Distance fro m the neutral axis to the location of bending stress calculation in
the ECS y-axis direction
z: Distance from the neutral axis to the location of bending stress calculation in
the ECS z-axis direction
My: Bending moment about the ECS y-axis
Mz : Bending moment about the ECS z-axis

The general expressions for calculating shear stress es in the ECS y and z-axes
are:

<Eq. 14>
Vy I yy Qz I yz Qy Vy
y ( I yy Qz I yz Qy )
bz ( I yy I zz I yz 2 I I I 2
) yy zz yz bz

<Eq. 15>
Vz I zz Qy I yz Qz Vz
x ( I zz Qy I yz Qz )
by ( I yy I zz I yz )
2 I I I 2
yy zz yz by

where,
Vy: Shear force in the ECS y-axis direction
Vz : Shear force in the ECS z-axis direction
Qy: First moment of area about the ECS y-axis
Qz : First moment of area about the ECS z-axis
b y: Thickness of the section at which a shear stress is calculated, in the
direction normal to the ECS z-axis
b z : Thickness of the section at which a shear stress is calculated, in the
direction normal to the ECS y-axis

90
 Element Stif f ness Data

First Moment of Area (Qy, Qz )

The first mo ment of area is used to compute the shear stress at a particular po int
on a section. It is defined as follows:

<Eq. 16>
Qy zdA

<Eq. 17>
Qz ydA

When a section is symmet rical about at least one of the y and z-axes, the shear
stresses at a particular point are:

<Eq. 18>
Vy Qz
y
I zz bz

<Eq. 19>
Vz Qy
z
I yy by

where,
Vy: Shear force acting in the ECS y-axis direction
Vz : Shear force acting in the ECS z-axis direction
Iyy: Area moment of inertia about the ECS y-axis
Izz : Area moment of inertia about the ECS z-axis
b y: Thickness of the section at the point of shear stress calculation in the ECS
y-axis direction
b z : Thickness of the section at the point of shear stress calculation in the ECS
z-axis direction

91
Analy sis Manual f or MIDAS/Gen

Shear Factor for Shear Stress (Qyb, Qzb)

The shear factor is used to compute the shear stress at a particular point on a
section, which is obtained by dividing the first mo ment of area by the thickness
of the section.

<Eq. 20>
Vy Qz Vy Qz Vy Qz
y Qzb , Qzb
I zz bz I zz bz I zz bz

<Eq. 21>
Vz Qy Vz Qy Vz Qy
z Qyb , Qyb
I yy by I yy by I yy by

Vz Qy Vz
z Qyb
I yy by I yy
Qy zdA ( B t f ) z
by tw
Qyb {( B t f ) z}/ tw

Figure 1.58 Example of calculating a shear factor

92
 Element Stif f ness Data

Stiffness of Composite Sections

MIDAS/ Gen calculates the stiffness for a full co mposite action of structural steel
and reinforced concrete. Reinforcing bars are p resumed to be included in the
concrete section. The composite action is transformed into equivalent section
properties.

The program uses the elastic moduli of the steel (Es ) and concrete (Ec ) defined in
the SSRC79 (Structural Stability Research Council, 1979, USA) for calculat ing
the equivalent section properties . In addition, the Ec value is decreased by 20%
in accordance with the EUROCODE 4.

Equivalent cross-sectional area

0.8Ec A
Areaeq Ast1 Acon Ast1 0.8 con
Es REN

Equivalent effective shear area

0.8Ec As
Aseq Asst1 Ascon Asst1 0.8 con
Es REN

Equivalent area moment of inertia

0.8Ec I
I eq I st1 I con I st1 0.8 con
Es REN

where,
Ast1 : Area of structural steel
Acon : Area of concrete
Asst1 : Effective shear area of structural steel
Ascon : Effective shear area of concrete
Ist1 : Area moment of inertia of structural steel
Icon : Area moment of inertia of concrete
REN: Modular ratio (elasticity modular rat io of the structural steel to the
concrete, Es /Ec)

93
Analy sis Manual f or MIDAS/Gen

Boundary Conditions

Boundary Conditions

Boundary conditions are distinguished by nodal boundary conditions and

element boundary conditions.

Nodal boundary conditions:

Constraint for degree of freedom
Elastic boundary element (Spring support)
Elastic link element (Elastic Link)

Element boundary conditions:

Element end release
Rigid end offset distance (Beam End Offset)
Rigid link

94
 Boundary Conditions

Constraint for Degree of Freedom

The constraint function may be used to constrain specific nodal displacements or

connecting nodes among elements such as truss, plane stress and plate elements,
where certain degrees of freedom are deficient.

Nodal constraints are applicable for 6 degrees of freedo m with respect to the
Global Coordinate System (GCS) or the Node local Coordinate System (NCS).

Figure 1.59 illustrates a method of specify ing constraints on the degrees of

freedom o f a planar frame model. Since this is a two dimensional model with
permitted degrees of freedo m in the GCS X-Z plane, the d isplacement d.o.f. in
the GCS X-direct ion and the rotational d.o.f. about the GCS X and Z axes need
to be restrained at all the nodes, using Model>Boundaries>Supports.

For node N1, wh ich is a fixed support, the Supports function is used to
additionally restrain the displacement d.o.f. in the GCS X and Z-d irect ions and
the rotational d.o.f. about the GCS Y-axis.

Figure 1.59 Planar frame model with constraints

For node N3, which is a roller support, the displacement d.o.f . in the GCS Z
direction is additionally restrained.

95
Analy sis Manual f or MIDAS/Gen

For node N5, which is a roller support in a NCS, the NCS is defined first at an
angle to the GCS X-axis. Then the corresponding displacement degrees of
freedom are restrained in the NCS using Supports.

Nodal constraints are assigned to supports where displacements are truly

negligible. When nodal constraints are assigned to a node, the corresponding
reactions are produced at the node. Reactions at nodes are produced in the GCS,
or they may be produced in the NCS if defined.

Figure 1.60 shows examp les of constraining deficient degrees of freedom of

elements using Supports.

In Figure 1.60 (a), the displacement d.o.f. in the X-axis direct ion and the
rotational d.o.f. about all the axes at the connecting node are constrained because
the truss elements have the axial d.o.f. only.

Figure 1.60 (b) represents an I-beam where the top and bottom flanges are
modeled as beam elements and the web is modeled with p lane stress elements.
The beam elements have 6 d.o.f. at each node, and as such where the plane stress
elements are connected to the beam elements, no additional nodal constraints are
required. Whereas, the out-of-plane displacement d.o.f. in the Y direction and
the rotational d.o.f. in all directions are constrained at the nodes where the plane
stress elements are connected to one another. Plane stress elements retain the in -
plane displacement degrees of freedom only.

96
 Boundary Conditions

(a) Connection of truss elements

(b) M odeling of an I-shaped cantilever beam, top/bottom flanges modeled as beam

elements, and web modeled as plane stress elements

Figure 1.60 Examples of constraints on degrees of freedom

97
Analy sis Manual f or MIDAS/Gen

Elastic Boundary Elements (Spring Supports)

Elastic boundary elements are used to define the stiffness of adjo ining structures
or foundations. They are also used to prevent singular errors fro m occurring at
the connecting nodes of elements with limited degrees of freedom, such as t russ,
plane stress, plate element, etc.

Spring supports at a node can be exp ressed in six degrees of freedom, three
translational and three rotational components with respect to the Global
Coordinate System (GCS). The translational and rotational spring components
are represented in terms of unit force per unit length and unit mo ment per unit
radian respectively.

(a) M odeling of boundary condition using p oint spring supports

98
 Boundary Conditions

(b) M odeling of boundary conditions using surface spring supports

Figure 1.61 Modeling examples of spring supports

Spring supports are readily applied to reflect the stiffness of columns, piles or
soil conditions. When modeling sub-soils for foundation supports, the modulus
of subgrade reaction is mult iplied by the tributary areas of the corresponding
nodes. In this case, it is cautioned that soils can resist compressions only.

MIDAS/ Gen provides Surface Spring Supports to readily model the boundary
conditions of the subsurface interface. The Po int Spring is selected in
Model>Boundaries>Surface Spring Supports and the modulus of subgrade
reaction is specified in each direction. The soil property is then applied to the
effective areas of indiv idual nodes to produce the nodal spring stiffness as a
boundary condition. In order to reflect the true soil characteristics, which can
sustain compression only, Elastic Lin k (co mpression-only) is selected and the
modulus of subgrade reaction is entered for the boundary condition.

Table 1.2 summarizes moduli of subgrade reaction for soils that could be
typically encountered in pract ice. It is reco mmended that both maximu m and
minimu m values be used separately, and conservative values wit h discretion be
adopted for design.

The axial stiffness of spring supports for colu mns or piles can be calculated by
EA/H, where E is the modulus of elasticity for co lu mns or piles, A is Effective
cross-sectional area, and H is Effective length.

99
Analy sis Manual f or MIDAS/Gen

Soil Type Modulus of subgrade reaction (KN/m3 )

Soft clay 12000 ~ 24000
Medium stiff clay 24000 ~ 48000
Stiff clay 48000~ 112000
Loose sand 4800 ~ 16000
Medium dense sand 9600 ~ 80000
Silty medium dense sand 24000 ~ 48000
Clayey gravel 48000 ~ 96000
Clayey medium dense sand 32000 ~ 80000
Dense sand 64000 ~ 130000
Very dense sand 80000~ 190000
Silty gravel 80000~ 190000

Table 1.2 Typical values of moduli of subgrade reaction for soils

Rotational spring co mponents are used to represent the rotation al stiffness of

contiguous boundaries of the structure in question. If the contiguous boundaries
are colu mns, the stiffness is calculated by EI/H, where is a rotational
stiffness coefficient, I is Effective moment of inertia, and H is Effective length.

Generally, boundary springs at a node are entered in the direction of each d.o.f. For
more accurate analyses, however, additional coupled stiffness associated with other
degrees of freedom needs to be considered. That is, springs representing coupled
stiffness may become necessary to reflect rotational displacements accompanied by
translational displacements. For instance, it may be necessary to model pile foundation
as boundary spring supports. More rigorous analysis could be performed by
introducing coupled rotational stiffness in addition to the translational stiffness in each
direction.

Boundary springs specified at a node, in general, fo llo ws the GCS unless an

NCS is specified, in which case they are defined relative to the NCS.

Singular errors are likely to occur when stiffness components in certain degrees of
freedom are deficient subsequent to formulating the stiffness. If the rotational stiffness
components are required to avoid such singular errors, it is recommended that the
values from 0.0001 to 0.01 be used. The range of the values may vary somewhat
depending on the unit system used. To avoid such singular errors, MIDAS/Gen thus

100
 Boundary Conditions

provides a function that automatically assigns stiffness values, which are insignificant
to affect the analysis results.

Elastic Link Element

An elastic link element connects two nodes to act as an element, and the user
defines its stiffness. Truss or beam elements may represent elastic links.

However, they are not suitable for p roviding the required stiffness with the
magnitudes and directions that the user desires. An elastic link element is
composed of three translational and three rotational stiffnesses expressed in the
ECS.

The translational and rotational stiffnesses of an elastic lin k element are

expressed in terms of unit force per unit length and unit moment per unit radian
respectively. Figure 1.62 presents the directions of the ECS axes. An elastic link
element may beco me a tension-only or co mpression-only element, in wh ich case
the only directional stiffness can be specified is in the ECS x-axis.

Examples for elastic link elements include elastic bearings of a bridge structure,
which separate the bridge deck fro m the piers. Co mpression-only elastic link
elements can be used to model the soil boundary conditions. The rigid link
option connects two nodes with an infinite stiffness.

Figure 1.62 The ECS of an elastic link element connecting two nodes

101
Analy sis Manual f or MIDAS/Gen

General Link Element

Figure 1.63 Composition of General Link Element

The General Link element is used to model dampers, base isolators,

compression-only element, tension-only element, p lastic hinges, soil springs, etc.
The 6 springs indiv idually represent 1 axial deformation spring, 2 shear
deformation springs, 1 torsional deformation spring and 2 bending deformat ion
springs as per Figure 1.63. A mong the 6 springs, only selective springs may be
partially used, and linear and nonlinear properties can be assigned. The general
link can be thus used as linear and nonlinear elements.

The General Link element can be largely classified into Element type and Force
type depending on the method of applying it to analysis. The Element type
general link element directly reflects the nonlinear behavior of the element by
renewing the element stiffness matrix. The Force type on the other hand, does
not renew the stiffness matrix, but rather reflects the nonlinearity indirectly by

102
 Boundary Conditions

converting the member forces calculated based on the nonlinear properties into
external forces.
First, the Element type general link element provides three types, Spring,
Dashpot and Spring and Dashpot. The Spring retains linear elastic stiffness for
each of 6 co mponents, and the Dashpot retains linear v iscous damping for each
of 6 co mponents. The Spring and Dashpot is a type, which co mb ines Spring and
Dashpot. All of the three types are analyzed as linear elements. However, the
Spring type general link element can be assigned inelastic hinge properties and
used as a nonlinear element. This can be main ly used to model plastic hinges,
which exist in parts in a structure or nonlinearity of soils. However, this can be
used as a nonlinear element only in the process of nonlinear time h istory analysis
by direct integration. Also, viscous damping is reflected in linear and nonlinear
time h istory analyses only if Group Damping is selected for damp ing for the
structure.
The Force type general link element can be used for dampers such as
Viscoelastic Damper and Hysteretic System, seismic isolators such as Lead
Rubber Bearing Isolator and Frict ion Pendulum System Isolator, Gap
(comp ression-only element) and Hook (tension-only element). Each of the
components retains effective stiffness and effective damp ing. You may specify
nonlinear properties for selective components.
The Force type general lin k element is applied in analysis as below. First, it is
analyzed as a linear element based on the effective stiffness while ignoring the
effective damping in static and response spectrum analyses. In linear t ime
history analysis, it is analy zed as a linear element based on the effective
stiffness, and the effective damping is considered only when the damp ing
selection is set as Group Damping. In nonlinear time history analysis, the
effective stiffness acts as virtual linear stiffness, and as indicated before, the
stiffness matrix does not become renewed even if it has nonlinear properties.
Also, because the nonlinear properties of the element are considered in analysis,
the effective damp ing is not used. This is because the role of effective damp ing
indirectly reflects energy dissipation due to the nonlinear behavior of the Force
type general link element in linear analysis. The rules for applying the general
link element noted above are summarized in Table 1.3.
When the damping selection is set as Group Damping, the damping of the
Element type general link element and the effective damp ing of the Fo rce type
general link element are reflected in analysis as below. First, when linear and
nonlinear analyses are carried out based on modal superposition, they are
reflected in the analyses through modal damping ratios based on strain energy.
On the other hand, when linear and nonlinear analyses are carried out by direct
integration, they are reflected through formulating the element damping matrix.
If element stiffness or element-mass-proportional damping is specified for the
general link element, the analysis is carried out by adding the damping or
effective damping specified for the properties of the general link element.

103
Analy sis Manual f or MIDAS/Gen

General Link Element Element Type Force Type

Effective Effective
Properties Elastic Damping
Stiffness Damping
Static analysis Elastic X Elastic X
Response spectrum analysis Elastic X Elastic X

Model
Linear T ime Superposition Elastic Linear Elastic Linear
History
Analysis Direct
Elastic Linear Elastic Linear
Integration
Modal Elastic
Nonlinear Superposition Elastic Linear X
(virtual)
T ime History
Analysis Direct Elastic & Elastic
Linear X
Integration Inelastic (virtual)

Table 1.3 Rules for applying general link element (Damping and effective damping are
considered only when the damping option is set to Group Damping.)

The locations of the 2 shear springs may be separately specified on the member.
The locations are defined in ratios by the distances fro m the first node relative to
the total length of the member. If the locations of the shear springs are specified
and shear forces are acting on the nonlinear link element, the bending mo ments
at the ends of the member are different. The rotational deformations also vary
depending on the locations of the shear springs. Conversely, if the locations of
the shear springs are unspecified, the end bending mo ments always remain e qual
regardless of the presence of shear forces.
The degrees of freedom for each element are co mposed of 3 translational
displacement co mponents and 3 rotational displacement co mponents regardless
of the element or g lobal coord inate system. The element coo rdinate system
follows the convention of the truss element. Internal forces produced for each
node of the element consist of 1 axial fo rce, 2 shear forces, 1 torsional mo ment
and 2 bending mo ments. The sign convention is identical to that of the beam
element. In calcu lating the nodal forces of the element, the nodal forces due to
damping or effective damping of the general lin k element are found based on
Table1.3.However,the nodal forces due to the element mass or element stiffness-
proportional damping are ignored.

104
 Boundary Conditions

Element End Release

When two elements are connected at a node, the stiffness relative to the degrees
of freedo m of the two elements is reflected. Element End Release can release
such stiffness connections. This function can be applied to beam and plate
elements, and the methods of which are outlined below.

Beam End Release is applicable for all the degrees of freedom of the two nodes
of an element. Using partial fixity coefficients can create partial stiffness of
elements. If all three rotational degrees of freedo m are released at both ends of a
beam element, then the element will behave like a truss element.

Similarly, Plate End Release is applicable for all the degrees of freedo m o f three
or four nodes constituting a plate element. Note that the plate element does not
retain the rotational degree of freedom about the axis normal to the plane of the
element. If all the out-of-plane rotational d.o.f. are released at the nodes of a
plate element, this element then behaves like a plane stress element.

The end releases are always specified in the Element Coordinate System (ECS).
Cautions should be exercised when stiffness in the GCS is to be released.
Further, the change in stiffness due to end releases could produce singular errors,
and as such the user is encouraged to specify end releases carefully through a
comprehensive understanding of the entire structure.

Figure 1.63 shows boundary condition models depicting the connections

between a pier and bridge decks, using end releases for beam and plate elements.

105
Analy sis Manual f or MIDAS/Gen

(a) Connection of a pier and bridge decks

(b) M odeling of beam elements (c) M odeling of plate elements

Figure 1.63 Modeling of end releases using beam and plate elements

106
 Boundary Conditions

Rigid End Offset Distance

Frame members of civil and build ing structures are typically represented by
element centerlines. Whereas, physical jo int sizes (panel zones) actually do exist
at the intersections of the element centerlines. Ignoring such panel zones in an
analysis will result in larger displacements and mo ments . In order to account for
element end eccentricities and panel zone effects at beam-colu mn connections,
MIDAS/ Gen provides the follo wing two methods: Note that the terms, beams
and girders are interchangeably used in this section. (See Figure 1.64)

1. MIDAS/ Gen automatically calculates rigid end offset distances for all panel
zones where column and beam members intersect.

2. The user directly defines the rigid end offset distances at beam-ends.

Rigid end offset distances are applicable only to beam elements, including
tapered beam elements, in MIDAS/Gen.

Automatic consideration of panel zone stiffness

If the bending and shear deformations in the panel zones are ignored, the
effective length for member stiffness can be written as:

L1 = L - (Ri +R j )

where, L is the length between the end nodes, and Ri and Rj are the rigid end
offset distances at both ends. If the element length is simply taken as L1 , the
result will contain some erro rs by ignoring the actual rigid end deformations.
MIDAS/ Gen, therefo re, allo ws the user to alleviate such errors by introducing a
compensating factors for rigid end offset distances (Offset Factors).

L1 = L - Z F (Ri +R j )

where, ZF is an offset factor for rigid end offset distance.

The value of the offset factor for rig id end offset distance varies fro m 0 to 1.0.
The users discretion is required for determining the factor as it depends on the
shapes of connections and the use of reinforcement.

The rig id end offset factor does not affect the calculation of axial and torsional
deformations. The entire element length (L) is used for such purposes .

107
Analy sis Manual f or MIDAS/Gen

(a) Formation of Rigid panel zones at beam-column connections

(b) Column connection with eccentricity (c) Beam-column connection with eccentricity

Figure 1.64 Examples of end offsets due to discordant neutral axes between beam elements

108
 Boundary Conditions

Using Model>Boundaries>Panel Zone Effects in MIDAS/ Gen, the GCS Z-axis

is automatically established opposite to the gravity direction, and the rigid end
offset distances of the panel zones are automatically considered . Note that the
rig id end offset distances are applicable only to the beamcolu mn connections.
The colu mns represent the elements parallel to the GCS Z-axis, and the beams
represent the elements parallel to the GCS X-Y plane.

When the Panel Zone Effects function is used to calculate the rigid end offset
distances automatically, the user may select the Offset Position for the Output
Position. In that case, the element stiffness, applications of self-weight and
distributed loads, and the output locations of member forces vary with the offset
locations adjusted by the offset factor. If Panel Zone is selected, the offset
factor is reflected in the element lengths for the element stiffness only. The
locations for applying self-weight and distributed loads and the output locations
of member forces are determined on the basis of the bound aries of the panel
zones, i.e., column faces for beams and beam faces for columns.

Selecting Offset Position with an offset factor, 1.0 for Output Position in
Panel Zone E ffects is tantamount to selecting Panel Zone with an offset factor
of 1.0. Conversely, selecting Offset Position with an offset factor of 0.0 for
Output Position becomes equivalent to a case where no rigid end offset
distances are considered.

When rigid end offset distances are to be automatically calcu lated by using
Panel Zone Effects, Output Position determines the way in which self-weight
and distributed loads are applied and the output locations of member forces.

Element stiffness calculation

In calculating the axial and torsional stiffnesses of an element, the
distance between the end nodes is used. Whereas, an adjusted length,
L1 =L-ZF (Ri +Rj ), which reflects the offset factor, is used for the
calculation of the shear and bending stiffnesses, regardless of the
selection of the location for member force output (See Figure 1.65).

Calculation of distributed loads

If Panel Zone is selected for Output Position, any distributed load
within a rigid end offset distance is transferred to the corresponding
node. The remain ing distributed loads are converted to shear forces and
mo ments as shown in Figure 1.66. If Offset Position is selected for
Output Position, the above forces are calculated relative to the rigid
end offset locations that reflect the offset factor.

109
Analy sis Manual f or MIDAS/Gen

Length considered for the self-weight

The self-weight of a co lu mn member is calculated for the full element
length without the effect of rigid end offset distances. For the self-
weight of a beam, the full nodal distance less the rigid end offset
distances, L1 =L-(Ri +Rj ), is used when Panel Zone is selected for
Output Position. If Offset Position is selected for Output Position,
the full nodal d istance is reduced by the adjusted rigid end offset
distances, L1 =L-ZF (Ri +Rj ). The self-weight calculated in this manner is
converted into shear forces and mo ments using the load calculation
method described above.

Output position of member forces

If Panel Zone is selected for Output Position, the member forces for
columns and beams are produced at the ends of the panel zones and the
quarter points of the net lengths between the panel zones. If Offset
Position is selected for Output Position in the case of beams, the
results are produced at the similar positions relative to the adjusted rigid
end offset distances. Note that the output positions for the Pane l Zone
are identical to the case where Offset Position is selected for Output
Position with an offset factor of 1.0.

Rigid end offset distance when the beam end release is considered
If one or both ends of a column or a beam are released to form p inned
connections, the rigid end offset distances for the corresponding nodes
will not be considered.

Calculation of rigid end offset distances in column members

The full length of a colu mn member is taken as a story -height between
adjoining floors. In calculat ing the length, two assumptions are made in
MIDAS/ Gen; (1) the centerlines of beam sections coincide with the
story level line, and (2) the tops of beam sections are flush with the
story level line. The rigid end offset distances of columns vary with the
two assumptions. If the first assumption is made, the end offsets are
calculated at both top and bottom ends of the columns. Meanwh ile, with
the second assumption, the end offsets are considered only at the tops of
the columns (See Figure 1.65).

At a connection point of a column member and beam (g irder) members, the rigid
end offset distances of the colu mn is calculated on the basis of the depths and
directions of the connected beams . In the case of a beam-colu mn connection as
shown in Figure 1.67, the rig id end offset distances of the colu mn are calcu lated
separately for the ECS y and z-axes.

110
 Boundary Conditions

When multi-d irect ional beam members are connected to a column, the rigid end
offset distance in each direction is calculated as follows: (See Figure 1.68)

RCy = BD cos2 RCz = BD sin 2

RCy: Rigid end offset distance about the ECS y-axis of the column top
RCz : Rigid end offset distance about the ECS z-axis of the column top
BD: Depth of a beam (girder) connected to the column
: Angle of a beam (girder) orientation to the ECS z-axis of the column

The largest value of the end offsets calculated for the beam members is selected
for the rigid end offset distance of the column in each direction.

(a) Rigid end offset distances of column

111
Analy sis Manual f or MIDAS/Gen

(b) Panel zones of a beam

Offset Factor effective length for stiffness calculation

1.00 L 1.00 ( A B)
0.75 L 0.75 ( A B)
0.50 L 0.50 ( A B)
0.25 L 0.25 ( A B)
0.00 L 0.00 ( A B)

Offset Factor: rigid end offset factor entered in Panel Zone Effects

(c) Effective lengths for stiffness calculation (B=0 for columns)

Figure 1.65 Effective lengths used to calculate bending/shear stiffness when

Panel Zone Effects is used for the rigid end offset distances

112
 Boundary Conditions

Li = 1.0 Ri Panel Zone is selected for the locations of member force output.
Li =ZF Ri Offset Position is selected for the locations of member force output.
Lj = 1.0 Rj Panel Zone is selected for the locations of member force output.
Lj =ZF Rj Offset Position is selected for the locations of member force output.
Ri : rigid end offset distance at i-th node
Rj : rigid end offset distance at j-th node
ZF : rigid end Offset Factor
V1, V2 : shear forces due to distributed load betw een the offset ends
M1, M2 : moments due to distributed load betw een the offset ends
V3, V4 : shear forces due to distributed load betw een the offset ends
and the nodal points

(a) Beam member

113
Analy sis Manual f or MIDAS/Gen

LR = 1.0 R (Panel Zone is selected for the location of member force output.)
LR = ZF R (Offset Position is selected for the locations of member force output.)
Where, R is the rigid end offset factor
V1, V2 : shear forces due to distributed load betw een the offset end and the bottom node)
M1, M2 : moments due to distributed load betw een the offset end and the bottom node
V3 : shear force due to distributed load betw een the offset end and the top node

(b) Column member

Figure 1.66 Load distribution and locations of member force output when
Panel Zone Effects is used to consider rigid end offset distances

114
 Boundary Conditions

(a) Plan

(b) Sectional Elevation

Figure 1.67 Rigid end offset distance of a column using Panel Zone Effects

115
Analy sis Manual f or MIDAS/Gen

beam member1 : BD 250 0 RC z 250 sin 2 0 0.0 RC y cos 2 0 250.0

beam member2 : BD 200 40 RC z 200 sin 40 82.6
2
RC y 200 cos 2 0 117.4
beam member3 : BD 150 90 RCz 150 sin 2 90 150 RC y 150 cos 2 90 0.0
rigid end offset distance of the column
RC y MAX(250.0,117.4, 0.0) 250.0 RCz MAX(0.0,82.6,150.0) 150.0

w here, BD : beam depth

RCz : rigid end offset distance for bending about the minor axis
RCy : rigid end offset distance for bending about the major axis

Figure 1.68 Example for calculating rigid end offset distances of a column using
Panel Zone Effects

116
 Boundary Conditions

Method of calculating rigi d end offset distances of beam (girder)

members.
The rigid end offset distance of a beam (girder) member at a colu mn is
based on the depth and width of the column member at the beam-end
and calculated as follows:

Formula for calculating rigid end offset distance in each direction

(See Figure 1.69)

Depth cos 2 Width sin 2

RB
2 2

Depth: dimension of the column section in the ECS z-axis direction

Width: dimension of the column section in the ECS y-axis direction
: Angle of the beam (girder) orientation to the ECS z-axis of the column

Figure 1.69 Rigid end offset distances of beam (girder) members using
Panel Zone Effects

117
Analy sis Manual f or MIDAS/Gen

depth of column section = 150, width of column section=100, for = 40

150 cos 2 0 100 sin 2 0

rigid end offset distance at i-th node = 75.0
2 2

150 cos 2 40 100 sin 2 40

rigid end offset distance at j-th node = 64.7
2 2

Figure 1.70 Example for calculating rigid end offset distances of a beam using
Panel Zone Effects

Method by which the user directly specifies the rigid end offset
distances at both ends of beams using Beam End Offsets

Beam End Offsets allo ws the user to specify rigid end offset distances using
the following two methods.

1. Offset distances at both ends are specified in the X, Y and Z-axis direction
components in the GCS

2. Offset distances at both ends are specified in the ECS x-direction

The first method is generally used to specify eccentricit ies at connections. In this
case, the length between the end offsets is used to calculate element stiffness,
distributed load and self-weight. The locations for member force output and the
end releases are also adjusted relative to the end offsets (See Figures 1.64 (b)
& (c)).

The second method is used to specify eccentricities in the axial direction. It

produces identical element stiffness, force output locations and end release
conditions to the case where Panel Zone with an offset factor, 1.0 is selected
in Panel Zone Effects. However, the full length between two nodes is used for
distributed loads, instead of the adjusted length.
118
 Boundary Conditions

Master and Slave Nodes (Rigid Link Function)

The rigid lin k function specified in Model>Boundaries>Rigid Link constrains

geometric, relative movements of a structure.

Geo metric constraints of relative movements are established at a particular node

to which one or more nodal degrees of freedo m (d.o.f.) are subordinated. The
particular reference node is called a Master Node, and the subordinated nodes
are called Slave Nodes.

The rigid link function includes the following four connections :

1. Rigid Body Connection

2. Rigid Plane Connection
3. Rigid Translation Connection
4. Rigid Rotation Connection

Rigid Body Connection constrains the relative movements of the master node
and slave nodes as if they are interconnected by a three dimensional rigid body.
In this case, relative nodal displacements are kept constant, and the geometric
relationships for the displacements are expressed by the following equations:

UXs = UXm + RYm Z - RZm Y

UYs = UYm + RZm X - RXm Z
UZs = UZm + RXm Y - RYm X
RXs = RXm
RYs = RYm
RZs = RZm

where, X = Xm - Xs , Y = Ym - Ys , Z = Zm - Zs

The subscripts, m and s, in the above equations represent a master node and
slave nodes respectively. UX , UY and UZ are displacements in the Global
Coordinate System (GCS) X, Y and Z directions respectively, and RX , RY and RZ
are rotations about the GCS X, Y and Z-axes respectively. Xm , Ym and Zm
represent the coordinates of the master node, and Xs , Ys and Zs represent the
coordinates of a slave node. Th is feature may be applied to certain members
whose stiffnesses are substantially larger than the remaining structural members
such that their deformations can be ignored. It can be also used in the case of a
stiffened plate to interconnect its plate and stiffener.

119
Analy sis Manual f or MIDAS/Gen

Rigid Plane Connection constrains the relative movements of the master node
and slave nodes as if a p lanar rig id body parallel with the X-Y, Y-Z or Z-X plane
interconnects them. The d istances between the nodes projected on the plane in
question remain constant. The geometric relat ionships for the displacements are
expressed by the following equations :

Rigid Plane Connection assigned to X-Y plane

UXs = UXm - RZm Y
UYs = UYm + RZm X
RZs = RZm

Rigid Plane Connection assigned to Y-Z plane

UYs = UYm - RXm Z
UZs = UZm + RXm Y
RXs = RXm

Rigid Plane Connection assigned to Z-X plane

UZs = UZm - RYm X
UXs = UXm + RYm Z
RYs = RYm

This feature is generally used to model floor diaphrag ms whose relative in-plane
displacements are negligible.

Rigid Translation Connection constrains relative translational movements of the

master node and slave nodes in the X, Y o r Z-axis d irect ion. The geometric
relationships for the displacements are expressed by the following equations:

Displacement constraint in the X-axis direction

UXs = UXm

Displacement constraint in the Y-axis direction

UYs = UYm

Displacement constraint in the Z-axis direction

UZs = UZm

120
 Boundary Conditions

Rigid Rotation Connection constrains the relative rotational movements of the

master node and slave nodes about the X, Y o r Z -axis. The geometric
relationships for the displacements are expressed by the following equations:

Rotational constraint about the X-axis

RXs = RXm

Rotational constraint about the Y-axis

RYs = RYm

Rotational constraint about the Z-axis

RZs = RZm

The following illustrates an application of Rigid Plane Connection to a build ing

floor diaphragm to help the user understand the concept of the rigid link feature.

When a building is subjected to a lateral load, the relative horizontal deformat ion
at any point in the floor p lane is generally negligib le co mpared to that fro m other
structural members such as columns, walls and bracings. This rigid diaphragm
action of the floor slab can be implemented by constraining all the relat ive in-
plane displacements to behave as a unit. The movements consist of two in-plane
translational displacements and one rotational d isplacement about the vertical
direction.

121
Analy sis Manual f or MIDAS/Gen

Figure 1.71 Typical structure with floor diaphragm subjected to a lateral load

As illustrated in Figure 1.71, when a structure is subjected to a lateral load and

the in-plane stiffness of the floor is significantly greater than the horizontal
stiffness of the colu mns, the in-p lane deformat ions of the floor can be ignored.
Accordingly, the values of 1 and 2 may be considered equal.

122
 Boundary Conditions

1 2 3 4 5

Figure 1.72 Single story structure with a floor diaphragm subjected to a torsional
moment about the vertical axis

When a single-story structure, as illustrated in Figure 1.72, is subjected to a

torsional mo ment about the vertical d irection and the in -plane stiffness of the
floor is significantly greater than the horizontal stiffness of the columns, the
entire floor diaphrag m will be rotated by , where, = 1 = 2 = 3 = 4 .
Accordingly, the four degrees of freedom can be reduced to a single degree of
freedom.

123
Analy sis Manual f or MIDAS/Gen

Figure 1.73 shows a process in wh ich a total o f 24 (64) degrees of freedo m are
compressed to 15 d.o.f. within the floor plane, considering its diaphragm
actions.

UX : displacement degree of freedom in the X-direction at the corresponding node

UY : displacement degree of freedom in the Y-direction at the corresponding node
UZ : displacement degree of freedom in the Z-direction at the corresponding node
RX : rotational degree of freedom about the X-axis at the corresponding node
RY : rotational degree of freedom about the Y-axis at the corresponding node
RZ : rotational degree of freedom about the Z-axis at the corresponding node

Figure 1.73 Reduction of d.o.f. for floor diaphragm of significant in-plane stiffness

124
 Boundary Conditions

UXm : X-direction displacement of master node

UYm : Y-direction displacement of master node
RZm : rotation about Z-axis at master node
UXs : X-direction displacement of slave node
UYs : X-direction displacement of slave node
RZs : rotation about Z-axis at slave node

Figure 1.74 Displacements of an infinitely stiff floor diaphragm due to horizontal loads

As illustrated in Figure 1.74, if translational and rotational displacements take

place simultaneously in an in fin itely stiff floor d iaphragm due to a lateral load,
the displacements of a point on the floor plane can be obtained by:

UXs = UXm - RZm Y

UYs = UYm + RZm X
RZs = RZm

125
Analy sis Manual f or MIDAS/Gen

Reducing number of degrees of freedom by geo metric constraints can

significantly reduce the computational time for analysis. For instance, if a
building structure is analyzed with the floors modeled as plate or plane stress
elements, the number of nodes will increase substantially. Each addit ional node
represents 3 additional degrees of freedom even if one considers d.o.f in lateral
directions only. A large nu mber of nodes in an analysis can result in excessive
program execution time, or it may even surpass the program capacity. In general,
solver time required is proportional to the number of degrees of freedom to the
power of 3. It is, therefore, reco mmended that the number o f degrees of freedo m
be minimized as long as the accuracy of the results is not compromised.

Figure 1.75 shows applications of Rigid Body Connection and Rigid Plane
Connection. Figure 1.75 (a) illustrates an application of Rigid Link using Rigid
Body Connection. Here a rectangular tube is modeled with plate elements in the
region where a detail rev iew is required, beyond which a beam element
represents the tube. Then, Rigid Body Connection joins the two regions .

Figure 1.75 (b) shows an application of Rigid Plane Connection for a colu mn
offset in a two-dimensional plane. Whenever Rigid Link is used in a plane,
geometric constraints must be assigned to two translational displacement
components and one rotational component about the perpendicular axis to the
plane.

If a structural analysis model includes geometric constraints and is used for a

dynamic analysis, the location of the master node must coincide with the mass
center of all the masses pertaining to the slave nodes. This condition also applies
to the masses converted from self-weights.

126
 Boundary Conditions

(a) A tube modeled using a beam element and plate elements, and connected by Rigid
Body Connection

(b) Eccentricity of an offset-column linked by Rigid Plane Connection

Figure 1.75 Application examples of geometric constraints

127
Analy sis Manual f or MIDAS/Gen

Specified Displacements of Supports

Specified Displacements of Supports is used to examine structural behaviors

under the condition where displacements for restrained degrees of freedo m are
known in advance. It is also commonly referred to as Forced Displacements.

In practice, this functio In practice, this function is effectively used in the following
cases:

Detail safety assessment of an existing building, which has experienced

post-construction deformations.
Detail analyses of s pecific parts of a main structure. Displ acements
obtained from the anal ysis of a total structure form the basis of
boundary conditions for analyzing specific parts.
Analyses of existing buildings for foundation support settlements.
Analyses of bridges reflecting support settlements.

MIDAS/ Gen allows you to define Specified Displacements of Supports by

individual load cases. If Specified Displacements of Supports are assigned to
unrestrained nodes, the program automat ically restrains the corresponding
degrees of freedom o f the nodes. A separate data file is required if the analysis
results of unrestrained degrees of freedom are desired.

Entering accurate values for Specified Displacements of Supports may beco me

critical since structural behaviors are quite sensitive to even a slight v ariation.
Thus, whenever possible, specifying all six degrees of freedo m is reco mmended.
In the case of analy zing an existing structure for safety evaluation, a deformed
shape analysis may be required. However, it is typically not possible to measure
in-situ rotational displacements. In such a case, only translational displacements
are specified for an appro ximate analysis, but the resulting deformat ions must be
reviewed against the deformations of the total structure.

When the displacements are obtained fro m the initial analysis of a total structure
and subsequently used for a detailed analysis of a particu lar part of the structure,
all the 6 nodal degrees of freedo m must be specified at the boundaries. In
addition, all the loads present in the detail model must be specified.

Specified Displacements generally fo llow the GCS unless NCS are previously
defined at the corresponding nodes.

128
 Boundary Conditions

Figure 1.76 illustrates a procedure for analy zing a beam-co rner colu mn
connection in detail.

1. As shown on the left-hand side of Figure 1.76 (a), an in itial analysis is

performed for the entire structure, fro m which the displacements at the
connection nodes and boundaries are extracted for a detail analysis.

2. A total of 24 displacement components (6 d.o.f. per node) extracted fro m

the 4 boundary nodes are assigned to the model, as shown to the right of
Figure 1.76 (a). A master node is created at the centroid of each boundary
section, and slave nodes are created and connected to the master node by
Rigid Link at each section. The nodal d isplacements at the boundary
sections from the analysis results of the entire structure are applied to the
master nodes. Boundary sections should be located as far as possible fro m
the zone of interest for detail analysis in order to reduce errors due to the
effects of using Rigid Link.

3. All the loads (applied to the entire structure model) that fall within the
range of the detail analysis model are entered for a subsequent detail
analysis.

(a) Total structure and connection detail

129
Analy sis Manual f or MIDAS/Gen

Rigid links (master and slave nodes) are assigned to

the boundary sections, and the specified displacements,
the displacements obtained from the initial analysis
for the entire structure, are assigned to the master node
at the centroid of each section.

(b) Detail FEM model of a joint

Figure 1.76 Detail analysis of a joint specified displac

130
Boundary Conditions

131
132
 2. MIDAS/Gen Analysis Options

Analysis Options

When a structure is subjected to external loads, the corresponding structural

response may exhib it material nonlinearity to a certain extent. Ho wever, in most
structural analyses for design purposes, structures behave almost linearly
provided that the member stresses remain within the limits of design codes.
Material nonlinearity thus is rarely considered in practice.

MIDAS/ Gen is formul ated on the basis of linear analysis, but it is also
capable of carrying out geometric nonlinear analyses . MIDAS/Gen implements
nonlinear elements (tension or compression-only), P-Delta and large displacement
analyses, etc.

The structural analysis features of MIDA S/ Gen include basic linear analysis and
nonlinear analysis in addition to various analysis capabilit ies required in
practice.

The following outlines some of the highlights of the analysis features:

Linear Static Analysis

Linear Dynamic Analysis

Eigenvalue Analysis
Response Spectrum Analysis
Time History Analysis

Linear Buckling Analysis

Nonlinear Static Analysis

P-Delta Analysis
Large Displacement Analysis
Nonlinear Analysis with Nonlinear Elements
133
 Other analysis options
Construction Sequence Analysis
Steel Box Bridge Analysis reflecting Pre- and Post-composite Action
Analysis of Unknown Loads Using Optimization Technique

MIDAS/ Gen permits a mu lti-functional analysis incorporating more than one

feature fro m the above simultaneously. However, response spectrum and time
history analyses cannot be executed together.

134
 Linear Static Analy sis

Linear Static Analysis

The basic equation adopted in MIDAS/ Gen for linear s tatic analysis is as
follows:

K U P
where,
[ K ] : Stiffness matrix
{U } : Displacement vector
{P} : Load vector

MIDAS/ Gen allo ws unlimited numbers of static load cases and load
combinations.

Input structural analysis model

Create stiffness matrix

and load vector

Perform static analysis

Assess results

Figure 2.1 Flow chart for Linear Static Analysis in MIDAS/Gen

135
Analy sis Manual f or MIDAS/Gen

Free Vibration Analysis

Eigenvalue Analysis
Mode shapes and natural periods of an undamped free v ibration are obtained
from the characteristic equation below.

K n n2 M n
where,
[ K ] : Stiffness matrix
[ M ] : Mass matrix
n 2 : n-th mode eigenvalue
{ n } : n-th mode eigenvector (mode shape)

Eigenvalue analysis is also referred to as free vibration analysis and used to

analyze the dynamic characteristics of structures.

The dynamic characteristics obtained by an eigenvalue analysis include vibration

modes (mode shapes), natural periods of v ibration (natural frequencies) and
modal participation factors . They are determined by the mass and stiffness of a
structure.

Vibrat ion modes take the form of natural shapes in which a structure freely
vibrates or deforms. The first mode shape or natural v ibration shape is identified
by a shape that can be deformed with the least energy or force. The shapes
formed with increases in energy define the subsequent higher modes.

Figure 2.2 shows the vibration modes of a cantilever beam arranged in the order
of their energy requirements for deflected shapes, starting from the shape formed
by the least energy.

A natural period of v ibration is the time required to co mplete one fu ll cycle of

the free vibration motion in the corresponding natural mode.

The following describes the method of obtaining the natural period o f a single
degree of freedom (SDOF) system: Assuming zero damp ing and force in the
governing motion equation of a SDOF system, we can obtain the 2nd order
linear differential equation <Eq. 1> representing a free vibration.

136
 Free Vibration Analy sis

<Eq. 1>
mu cu ku p(t )
mu ku 0
Since u is the displacement due to vibration, if we simply assume u = Acost,
where, A is a constant related to the in itial displacement, <Eq. 1> can be written
as

<Eq. 2>
(m 2 k ) A cos t 0

In order to satisfy the <Eq. 2>, the value of the parenthesis must be zero, which
leads to <Eq. 3>.

<Eq. 3>
k k 1
2 , , f , T
m m 2 f

where, 2 , , f and T are eigenvalue, rotational natural frequency, natural

frequency and natural period respectively.

137
Analy sis Manual f or MIDAS/Gen

(a) M ode shapes

T1=1.78702 sec T2=0.28515 sec T3=0.10184 sec

1/ 2
2 mL4
Ti : natural period of a slender cantilever beam
i2 EI

w here, L = 100, E = 1000000, I = 0.1, m = 0.001

(b) Natural periods

Figure 2.2 Mode shapes and corresponding natural periods of

a prismatic cantilever beam

138
 Free Vibration Analy sis

The modal participation factor is expressed as a contribution ratio of the

corresponding mode to the total modes and is written as

<Eq. 4>

m
M i im

M
2
i im

where,
m : Modal participation factor
m : Mode number
M i : Mass at location i
im : m-th mode shape at location i

In most seismic design codes, it is stipulated that the sum of the effective modal
masses included in an analysis should be greater than 90% of the total mass. This
will ensure that the critical modes that affect the results are included in the
design.

<Eq. 5>
im M i
2

Mm
im 2 M i
where, Mm : Effective modal mass

If certain degrees of freedo m of a given mass become constrained, the mass will
be included in the total mass but excluded fro m the effective modal mass due to
the restraints on the corresponding mode vectors. Accordingly, when you attempt
to compare the effective modal mass with the total mass, the degrees of freedom
pertaining to the mass components must not be constrained.

For instance, when the lateral displacement d.o.f. of a building basement are
constrained, it is not necessary to enter the lateral mass components at the
corresponding floors.

In order to analyze the dynamic behavi or of a structure accuratel y, the

analysis must closely reflect the mass and stiffness, which are the i mportant
factors to determi ne the eigenvalues. In most cases, fin ite element models can
readily estimate the stiffness components of structural members. In the case of
mass, however, you are required to pay a particu lar attention for an accurate
estimate. The masses pertaining to the self-weights of structural components are
relatively s mall co mpared to the total mass. It is quite important that an
eigenvalue analysis accounts for all mass components in a structure, such as
floor slabs and claddings among other mass es.

139
Analy sis Manual f or MIDAS/Gen

Mass components are generally specified as 3 translational masses and 3 rotational

mass moments of inertia consistent with 6 degrees of freedom per node. The rotational
mass moments of inertia pertaining to rotational mass inertia do not directly affect the
dynamic response of a structure. Only translational ground accelerations are typically
applied in a seismic design. However, when the structure is of an irregular shape,
where the mass center does not coincide with the stiffness center, the rotational
mass mo ments of inertia indirectly affect the dynamic response by changing the
mode shapes.

Mass components are calculated by the following equations : (See Figure 2.3)

Translational mass

dm
Rotational mass moment of inertia

r dm
2

where, r is the distance fro m the total mass center to the center of an
infinitesimal mass.

The units for mass and rotational mass moment of inertia are defined by the unit
of weights divided by the gravitational acceleratio n, W(T2/L) and the unit of
masses multiplied by the square of a length unit, W(T2/L) L2 respectively.
Here,W, T and L represent weight, time and length units respectively. In the case
of anMKS or English unit system, the mass is determined by the weight divided
by the gravitational acceleration. The masses in an SI unit system directly use
the weights in the M KS units, whereas the stiffness or loads in the M KS units
are multiplied by the gravitational acceleration for the SI unit system.

MIDAS/ Gen uses lumped masses in analyses for efficiency. Mass data can be
entered in the main menu through Model>Masses>Nodal Masses, Floor
Diaphragm Masses or Loads to Masses.

MIDAS/ Gen adopts the subspace iteration method for the solution of an
eigenvalue analysis, which is suitable for the analyses of large structures .

140
 Free Vibration Analy sis

shape translation mass rotational mass moment of inertia

rectangular
shape
bd 3 db3
Im
12 12
M bd

M 2
12
b d 2

triangular
shape

M area of triangle Im I x I y

circular
shape

d2 d4
M Im
4 32

general
shape

Im I x I y
M dA

linear
shape
L mass per unit lengh L3
Im L
M L L 12

eccentric mass
rotational mass moment of
eccentric mass: m inertia about its mass center: I o
M=m
I m I o mr 2

Figure 2.3 Calculations for Mass data

141
Analy sis Manual f or MIDAS/Gen

Ritz Vector Analysis

Ritz vector analysis is an approach, which finds natural frequencies and mode
shapes representing the dynamic properties of a structure. The use of Rit z
vectors is known to be mo re efficient than using Eigen vector analysis for
calculating such dynamic properties. This method is an extension of the
Rayleigh-Rit z approach, which finds a natural frequency by assuming a mode
shape of a mu lti-degree of freedo m structure and converting it into a single
degree of freedom system.

We now assume that the displacement vector in the equation of motion fo r a

structure of n degrees of freedom can be expressed by combining p number of
Ritz vectors. Here, p is smaller than or equal to n.
Mu(t ) Cu(t ) Ku(t ) p(t ) (1)
p
u (t ) i zi (t ) z (t ) (2)
i 1

where,
M : Mass matrix of the structure
C : Damping matrix of the structure
K : Stiffness matrix of the structure
u (t ) : Displacement vector of the structure with n degrees of freedom
z (t ) : Generalized coordinate vector
p(t ) : Dynamic load vector
i : i - th Ritz vector

z (t ) : i - th Generalized coordinate
i
T
1 i p : Ritz vector matrix
From the above assumption, the equation of motion of n degrees of freedom
can be reduced to the equation of motion of p degrees of freedom.
Mz (t ) Cz(t ) Kz(t ) p(t ) (3)
where,
M T M : Mass matrix of the reduced equation of motion
C T C : Damping matrix of the reduced equation of motion
K T K : Stiffness matrix of the reduced equation of motion
p(t ) T p(t ) : Dynamic load vector of the reduced equation of motion

The following eigenvalue is formulated and analyzed for the reduced equation of
motion:

142
 Free Vibration Analy sis

Ki i2 M i (4)

where,
i : Mode shape of the reduced equation of motion
i : Natural frequency of the reduced equation of motion

Using the above eigenvalue solution and assuming the classical damping matrix,
the reduced equation of motion can be decomposed into the equation of motion
for a single degree of freedom for each mode as follows:
T pi (t )
qi (t ) 2ii qi (t ) i2 q(t ) (5)
T M
p
z (t ) i qi (t ) (6)
i 1
Where
qi (t ) : i - th mode coordinate
i : i - th mode damping ratio

The eigenvalue solution of the reduced equation of motion, i , represents an

approximate solution for the natural frequency of the original equation of
motion.
i i (7)
where,
i : Approximate solution for i- th mode shape

A mode shape of a structure is a vector, which defines the mapping relationship

between the displacement vector of the equation of motion and the mode
coordinate. The approximate mode shape obtained by Rit z vector analysis is thus
defined by the relationship between the displacement vector o f the orig inal
equation of motion, u (t ) , and the mode coordinate, qi (t ) , as noted below.
p
u (t ) z (t ) i qi (t ) (8)
i 1
Accordingly, the approximate solution for the i th mode shape is defined as
i i (9)
where,
i : Approximate solution for the i th mode shape

143
Analy sis Manual f or MIDAS/Gen

The approximate mode shape vector in Ritz vector analysis retains orthogonality
for the original mass and stiffness matrices similar to that for eigenvalue
analysis.

The approximate solution for natural frequencies and mode shapes in Rit z vector
analysis is used for calcu lating modal participation factors and effective modal
masses similar to a conventional eigenvalue analysis.

When a time history analysis is carried out by modal superposition on the basis
of the results of Ritz vector analysis, the above equation of motion (5) is used.

The Ritz vector, which assumes the deformed shape of a structure, is generally
created by repeatedly calculating the displacement due to loads applied to the
structure. The user first specifies the initial load vector. The basic assumption
here is that the dynamic loading changes with t ime, but the spatial d istribution
for each degree of freedom follows the init ial load vector specified by the user.
Next, the first Rit z vector is obtained by performing the first static analysis for
the specified initial load vector.

K (1) r (1)
(1) K 1r (1)
where,
K : Stiffness matrix of the structure
(1) : First Ritz vector
r (1) : User specified initial load vector
The first Ritz vector thus obtained is assumed as the structural displacement
However, the above static analysis ignores the effect of the inertia force
developed by the dynamic response of the structure. Accordingly, the
displacement due to the inertia force is calcu lated through additional repeated
calculations. The distribution of accelerat ion for the structure is assumed to
follow the displacement vector calcu lated before, which is the first Rit z vector.
The inert ia force generated by the accelerat ion is calculated by mult iply ing the
mass vector. The inertia force is then assumed to act as a loading, which induces
additional displacement in the structure, and static analysis is carried out again.

K (2) M (1)
(2) K 1M (1)
where,
M : Mass matrix of the structure
(2) : Second Ritz vector

144
 Free Vibration Analy sis

The second Ritz vector thus obtained in the above equation also reflects a static
equilibrium only. Assuming the above equation is expressed without considering
the acceleration distribution, the above process is repeated in order to calculate
the number of Ritz vectors specified by the user.

The user may specify a mu ltiple nu mber of in itial load vectors. The number of
Ritz vectors to be generated can be individually specified for each in itial load
vector. However, the total number of Rit z vectors to be generated can not exceed
that of real modes, wh ich exist in the equation of motion. A lso, those Rit z
vectors already generated in the repetitive process are deleted once linearly
dependent Ritz vectors are calculated. For this reason, the generation cycle ends
if linearly independent Rit z vectors can not be calculated any longer. This means
that the initial load vectors specified by the user alone can not find the specified
number of modes.

The init ial load vectors that can be specified in the MIDAS p rograms are an
inertia force due to ground acceleration in the global X, Y or Z d irection, a
userdefined static load case and a nonlinear lin k force vector. The inertia force
due to ground acceleration in the g lobal X, Y o r Z direct ion is main ly used to
find the Rit z vector related to the displacement resulting fro m the ground
acceleration in the corresponding direction.

The user-defined static load case is used to find the Rit z vectors for a dynamic
load with specific distribution. A common static load case (dead load, live load,
wind load, etc.) may be used, or an artificially created static load case may be
used to generate Ritz vectors.

The member force vectors of nonlinear link elements are used to generate Rit z
vectors. The member forces generated in each nonlinear link element are applied
to the structure as a load vector. For only the degrees of freedom checked by the
user among the 6 degrees of freedo m in an element, in itial load vectors having
unit forces indiv idually are co mposed and used for generating the Ritz vectors.
However, the member force vectors of link elements do not have to be used in
the analysis of a structure, which contains nonlinear link elements. The user
specifies init ial load vectors at his/her discretion, which should adequately
reflect the structural deformed shape under the given analysis condition.

When compared with eigenvalue analysis, Ritz vector analysis has the following
advantages:

Ritz vectors are founded on static analysis solutions for real loads. Even if
smaller nu mber o f modes are calculated in Ritz vector analysis, the effects of
higher modes are automatically reflected. For example, the first mode shape in a
Ritz vector analysis can be different from that in an eigenvalue analysis, which is
attributed to representing the effects of higher modes. Also, Ritz vector analysis

145
Analy sis Manual f or MIDAS/Gen

finds only the mode shapes pertaining to the loads acting on th e structure,
thereby eliminating the calculations for unnecessary modes. Ritz vector analysis
thus reduces the number of modes for finding accurate results. Rit z vector
analysis requires a less number of modes to attain sufficient modal mass
participation compared to eigenvalue analysis.

146
 Consideration of Damping

Consideration of Damping
Overview of Damping

Structural damp ing in a dynamic analysis can be largely classified into the
following:

Modal damping

Proportional damping
- Mass proportional type
- Stiffness proportional type
- Rayleigh type
- Caughey type

Non-proportional damping
- Energy proportional type

Viscous damping (Voigt model & Maxwell model)

Hysteretic damping

Friction damping

Internal friction damping (Material damping)

External friction damping
Sliding friction damping

Radiation damping

Among the many different ways of expressing damping phenomena above,

modal damp ing is most frequently used in numerical analyses of structures. The
values for modal damping are determined for each modal natural frequency of a
vibration system. The modal damp ing can be classified into proportional and
non-proportional damping. The MIDAS programs provide proportional
damping, which includes mass proportional, stiffness proportional and Rayleigh
type damping.

In order to calculate the non-proportional damp ing matrix of a structure, which

includes materials with different damping properties or artificial damp ing
devices, the damping properties are ind ividually evaluated first. And then, its
damping matrix is obtained. In real structures, however, damping mechanis ms

147
Analy sis Manual f or MIDAS/Gen

are co mplex, and it is thus impractical to determine the damping matrix in this
manner for most cases.

Accordingly, proportional damp ing (also referred to as classical damping) is

generally used to account for the effects of damping. In order to obtain the
damping matrix of a structure, the damping properties of the major modes fro m
an eigenvalue analysis of the structure are formulated into a proportional
damping matrix. A diagonal damping matrix can be obtained when the damping
matrix is mult iplied left and right by the corresponding mode vectors. Then the
modal damping rat ios can be further obtained with a simp le mathematical
modification to the diagonal damping matrix. Note that the ort hogonal property
of eigen-vectors with respect to the proportional damping matrix is utilized in
computing the modal damping ratios.

When non-proportional damping is under consideration, it is not possible to

obtain modal damping rat ios as the eigen-vectors are not orthogonal with respect
to the non-proportional damp ing matrix. Based on the mode shapes calculated
fro m an eigenvalue analysis, the strain energy concept is applied to obtain the
modal damping ratios.

In Midas Civil, the damping method can be specified in the Response Spectrum
Load Cases menu for a response spectrum analysis, and in the Time History
Load Cases menu for a t ime history analysis. Depending on the type of dynamic
analysis, possible options to assign the damping method are as follows:

In response spectrum analysis and in time history analysis using modal

superposition

Modal
Mass & Stiffness Proportional
Mass Proportional Type
Stiffness Proportional Type
Rayleigh Damping Type
Strain Energy Proportional

In time history analysis using a direct integration method

Modal
Mass & Stiffness Proportional
Mass Proportional Type
Stiffness Proportional Type
Rayleigh Damping Type
Strain Energy Proportional
Element Mass & Stiffness Proportional
Rayleigh Damping Type

148
 Consideration of Damping

In addition, the Kelvin model can be implemented by assigning a linear viscous

damper (damping or effect ive damping) in the General Lin k menu. In response
spectrum and modal superposition analyses, Strain Energy Proportional must be
selected in the damping method to reflect the modal damping ratios in
calculation. In a t ime h istory analysis using a direct integration method, Mass &
Stiffness Proportional or Element Mass & Stiffness Proportional must be
selected for the damping method such that the damping ratios are directly
applied in analysis through the element damping matrices. Note that when St rain
Energy Proportional is selected in the damping method, the modal damp ing
ratios are indirectly applied in analysis.

The method of reflecting damp ing in modal superposition and d irect integration
methods will be exp lained next. The equation of motion of a structure is
presented below.

Mu(t ) Cu(t ) Ku(t ) p(t ) (1)

where,
M : Mass Matrix
C : Damping Matrix
K : Stiffness Matrix
u (t ) , u (t ) , u (t ) : Nodal displaceme nt, velocity & accele ration
p (t ) : Dynamic Force

In response spectrum analysis and vibration analysis by modal superposition, the

solutions to the equations of motions of individual modes are superimposed.
Equation (1) is decomposed into individual modes as expressed in Equation (2)
using the orthogonality of the modal vectors. Accordingly, an eigenvalue
analysis must precede.

iT p(t )
qi (t ) + 2ii qi (t ) i q(t )
2
(2)
iT M i

where, i : i-th mode eigenvector (mode shape)

i : i th mode damping ratio
i : i th mode natural frequenc y
qi (t ) , qi (t ) , qi (t ) : ith mod e gen eralized displacem ent, velocity
, acceleration

149
Analy sis Manual f or MIDAS/Gen

Regardless of the type of damping method selected for vibrat ion analysis by re
sponse spectrum and modal superposition analyses, damping is considered by t
he assigned modal damping ratios, i .

Time h istory analysis by a direct integration method directly solves the equatio
n of motion in a matrix form obtained fro m the dynamic equilib riu m (Equation
(1)). This method thus requires a damping matrix in formu lating the equation
of motion.

The following sections describe the methods of formu lating the damp ing ratio
( i ) and the damping matrix (C) pertaining to each analysis method and dampi
ng method.

150
 Consideration of Damping

Proportional Damping

Mass-proportional damp ing accounts for the effects of external v iscous damp ing
such as air resistance, which assumes that the damping matrix is proportional to
the mass matrix. Stiffness -proportional damp ing on the other hand can be
explained as an energy dissipated model. Because the effects of radiat ion
damping (effects of emitt ing vibration energy into the ground) cannot be directly
expressed, the effects are assumed to be proportional to the stiffness, wh ich may
lead to an overestimation of damping for high modes.

The general form of a proportional damping matrix is defined by Caughey.

N 1
C M { a j ( M 1K ) j } (3)
j 0

where,

j, N: Nodal degrees of freedom of nodes, Nth mode (Mode number)

Fro m Equation (1), M 1K can be obtained from the free vibrat ion of an
undamped system as follows:

M{ y } K{ y } 0 (4)
{ y } { u }e iax
(5)

Equation (5) is assumed and substituted into Equation (4), which becomes,

( 2 M K ){ u } {0 } (6)

M 1K 2 is then obtained from Equation (6). As many number of 2 as the

s2
number of modes exist, which are exp ressed as considering the order of the
modes.

Substituting M 1K obtained from Equations (4)-(6) into Equation (3), and

u
T
u
multiplying s on the left and s on the right, Equation (3) then becomes,

N 1 N 1
us C us Cs a j s2 j us M us a j s2 j M s
T T

j 0 j 0
(7)
s
Also, damping constant ( ) for the s-th mode can be expressed as,
Cs 2s s M s
(8)
s
Damping constant, for N number of modes can be calculated in Equations (7)
and (8).

151
Analy sis Manual f or MIDAS/Gen

Cs 1
s
2 s M s 2 s
a j s2 j

1 a0
a1 s a2 s3 aN 1 s2 N 3 , s 1 N
2 s (9)

Damping constants and matrices for the mass proportional type and stiffne ss
proportional type are expressed as follows:

a0
s , C a0 M 2 s s M
2 s
: Mass proportional type (10)
a 2 s
s 1 s , C a1 K K
2 s
: Stiffness proportional type (11)

In the Response Spectrum Load Cases menu or the Time History Load Cases
menu, Mass & Stiffness Proportional is selected first for the damping method.
Then, Mass Proportional and St iffness Proportional can be selected. The
detailed selection method will be discussed in the following Rayleigh Damp ing
section.

s s

Mass Proportional Stiffness Proportional

C a0 M C a1 K
a a
s 0 s 1 s
2 s 2

1 2 3 4 1 2 3 4
Natural frequencies s Natural frequencies s
(a) Mass Proportio nal Damping (b) Stiffness Proportio nal Damping
Figure 2.4.1 Modal damping ratios

152
 Consideration of Damping

Rayleigh Damping

Rayleigh damping is a modified version of the stiffness -proportional damp ing by

correcting the damping ratios of high modes. As shown in Figure 2.4.2(b), the
damping matrix is formulated by linearly co mb ining the mass -proportional
damping and stiffness -proportional damping matrices. Given the damping ratios
and natural frequencies of the i-th and j-th modes, the Rayleigh damp ing mat rix
is determined by Equations (12), (13), (14) and (15) belo w. Note that the i-th and
j-th modes represent two major modes.

C a0 M a1K (12)
1 a0
s a1 s (13)
2 s

where,
2 i j i j j i
a0
2j i2 (14)

2 j j i i
a1
2
j i2
(15)

s Mass Proportional s Rayleigh Damping

C a0 M C a0 M a1 K
a C a1 K a a
s 0 s 0 1 s
2 s a1 s 2 s 2
s
2
Stiffness Proportional

1 2 3 4 i j
Natural frequencies s Natural frequencies s

Figure 2.4.2 Relationship between modal damping and frequencies

153
Analy sis Manual f or MIDAS/Gen

a0
and a1 can be assigned in the Response Spectrum Load Cases menu or the
Time History Load Cases menu in the following manner:

1. Direct Specification
The values of a0 and a1 are directly defined by the user.

2. Calculate from Modal Damping

Damping rat ios for the i-th and j-th modes are defined by the user. Using
the damping rat ios with the natural frequencies or natural periods obtained
fro m an eigenvalue analysis, a0 and a1 are then automatically calculated
in Midas Civil.

For examp le, if the frequencies and damping ratios for the i-th and j-th
f 1.0Hz f j 1.25Hz i 0.05 0.05
modes are i , , and j respectively, then
the values of a0 and a1 are obtained as follows:

Natural frequency
2 2
1 6.28, 2 7.85
1.0 0.8

C a l cu l at i on s o f a0 a n d a1 , us i ng Eq u at i o ns (1 4 ) a nd (1 5 )
2 6.28 7.85 0.05 7.85-0.05 6.28
a0 0.349
7.852 -6.282
2 0.05 7.85-0.05 6.28
a1 =0.007
7.852 -6.282

Automatic calculations of a0 and a1 performed in Midas Civil

Rayleigh damping can be used in a response spectrum analysis and a t ime

history analysis by the direct integration or modal superposition method . In the
Response Spectrum Load Cases menu or the Time History Load Cases menu,

154
 Consideration of Damping

Mass & Stiffness Proportional is selected first for the damping method. Then,
both Mass Proportional and Stiffness Proportional are selected in the damping
type. The method of considering damp ing for each analysis type will be
discussed in the next two sections.

Rayleigh Damping in Response Spectrum and Modal

Superposition Analyses

In a response spectrum analysis or the modal superposition method in a vibrat ion

analysis, the equation of motion for the structure is decomposed into N number
of equations of motion (N modes defined by the user). The equations are
individually calculated and the results of all the modes are combined. When the
Rayleigh damping is used, the a0 and a1 values obtained fro m the t wo major
modes are used in Equation (13) to obtain the damping rat ios for all the modes
being used.

The following explains how Midas Civil calcu lates modal damp ing ratios, using
the values of a0 and a1 obtained from the two major modes.

For examp le, if the first three modes are considered with a0 0.35 and
a1 0.005
, the modal damp ing ratio, s is computed as follows. Assume
1 4.59215 2 9.81814
, and 3 14.57793 .

Damping ratio calculations for the first three modes

1 a0
s a1 s
2 s

1 1
1 0.35 0.005 4.59215 0.04959
2 4.59215
1 1
2 0.35 0.005 9.81814 0.04237
2 9.81814
1 1
3 0.35 0.005 14.57793 0.04845
2 14.57793
Damping ratio calculations for the first three modes

155
Analy sis Manual f or MIDAS/Gen

RAYLEIGH DAMPING COEFFICIENT, TIME LOADCASE = 1

--------------------------------------------------
MASS COEFFICIENT. : 0.35000
STIFFNESS COEFFICIENT. : 0.00500

MODE FREQUENCY DAMPING RATIO

NO. [RAD/SEC]
------ ------------- -------------
1 4.59215E+00 4.95889E-02
2 9.81814E+00 4.23695E-02
3 1.45779E+01 4.84493E-02

Exception: if s > 1 or s < 0, then s is considered as 0.9999 or 0.0 respectively.

Rayleigh Damping in Direct Integration Method

The Rayleigh damping in a direct integration method also uses the values of a0
and a1 determined by only two major modes, which are incorporated in
C a0 M a1K
to compute a damping matrix. With the equation of motion in a
matrix format, direct integration is executed for each time step.

In a nonlinear time history analysis using the direct integration method, the
damping effects can be overestimated when the structure undergoes inelastic
deformations beyond the elastic limit and the initial stiffness, K is maintained in
C a0 M a1K
.

Midas Civil automatically updates the stiffness of members beyond the yielding
point extending into the zone of stiffness degradation, which in turn becomes
reflected in the composition of the damping matrix. The renewal of stiffness is
applicable only when Mass & Stiffness Proportional or Element Mass &
Stiffness Proportional is selected for the damping method, both of which
constitute a damping matrix based on the Rayleigh damping.

In order to execute the analysis, the user must specify the following in the Time
History Load Cases menu:

1. Nonlinear is selected for the analysis type.

2. Direct integration is selected for the analysis method.
3. Mass & Stiffness Proportional or Element Mass & Stiffness Proportional is
selected for the damping method.
4. Yes is selected for the damping matrix update.

156
 Consideration of Damping

Note that when No is selected, the initial stiffness matrix is used for the entire
time history analysis irrespective of the condition of the structure.

Modal Damping Based on Strain Energy

Overview

In real structures, damping properties are different for different materials, and
sometimes damping devices are locally installed. Midas Civ il enables the user to
specify different damp ing characteristics for different elements by using Element
Mass & Stiffness Proportional. However, the damping matrices of such
structures generally are of non-classical damping, and their modes cannot be
decomposed. Accordingly, modal damp ing ratios are calcu lated on the basis of
the concept of strain energy in order to reflect d ifferent damping p roperties by
elements in response spectrum analysis and modal superposition in dynamic
analysis.

The modal damping based on strain energy can be performed in time history
analysis by the respons e spectrum, modal superposition and direct integration
methods. Strain Energy Proportional is selected for the damping method in the
Response Spectrum Load Cases menu and the Time History Load Cases menu.
However, when the strain energy based modal damping is considered in time
history analysis by the direct integration, the damping matrix beco mes a full
matrix, which demands an excessive time for analysis compared to that required
for modal superposition.

The damp ing rat io of a single degree of v ibration system having viscous
damping can be defined by a ratio of dissipated energy in a harmonic motion to
the strain energy of the structure.

ED
(16)
4 ES

where,
ED : Dissipated energy
ES : Strain energy

157
Analy sis Manual f or MIDAS/Gen

F FD FS
u
K
S

FS

ED 2 h KA2
: Dissipated Energy

u
A

1
ES KA2 : Strain Energy
2
FD Cu

Figure 2.4.3 Dissipated Energy and Strain Energy

In a structure with mult i-degrees of freedom, the dynamic behavior of a

particular mode can be identified by the dynamic behavior of the single degree
of freedo m system of the corresponding natural frequency. For this, two
assumptions are made to calculate the dissipated energy and strain energy
pertaining to a particular element. First, the deformation of the structure is
assumed to be proportional to the mode shapes. The element nodal d isplacement
and velocity vectors of the structure in a harmonic mot ion based only on the i-th
mode of the corresponding natural frequency can be written as ,

ui , n i ,n sin i t i
(17)
ui ,n i i ,n cos i t i

where,
u i , n : Nodal d isplacement of the n-th element due to the i-th mode of
vibration
u i , n : Nodal velocity of the n-th element due to the i-th mode of
vibration
i,n : i-th Mode shape corresponding to the n-th elements degree of
freedom
i : Natural frequency of the i-th mode

158
 Consideration of Damping

i : Phase angle of the i-th mode

Second, the elements damping is assumed to be viscous damping, which is
proportional to the elements stiffness.
2hn
Cn Kn (18)
i

where,
Cn : Damping matrix of the n-th element
Kn : Stiffness matrix of the n-th element
h n : Damping ratio of the n-th element

The dissipated energy and strain energy can be expressed as below under the
above assumptions.

(19)

where,
ED (i, n): Dissipated energy of the n-th element due to the i-th mode of
vibration
ES (i , n): Strain energy of the n-th element due to the i-th mode of
vibration

The damping rat io of the i-th mode fo r the entire structure can be calculated by
summing the energy for all the elements corresponding to the i-th mode.

N N

ED i , n h n
T
n ,i K n n ,i
i n 1
N
n 1
N
(20)
4 ES i, n T
n ,i K n n ,i
n 1 n 1

159
Analy sis Manual f or MIDAS/Gen

Set-up and Calculation of Modal Damping Based on

Strain Energy

In order to define the modal damping based on strain energy in Midas Civil, the
elements and boundaries need to be grouped in Group such that each group has
the same damp ing properties. Then the Damping Rat ios are indiv idually
specified for the element groups and boundary groups in Strain Energy
Proportional Damp ing within Damp ing Ratio for Specified Elements and
Boundaries of Group Damp ing. For those elements and boundaries, which have
not been grouped, the Damp ing Ratios are defined in Strain Energy Proportional
Damping within Default Values for Unspecified Elements and Boundaries.

Using the Damp ing Rat ios of the element and boundary groups defined thus far,
the individual modal damp ing ratios are calcu lated based on the strain energy
upon the execution of eigenvalue analysis. The results can be then found in
Modal Damp ing Rat io of Modal Damping Ratio based on Group Damping.
When Calculated Only When Used is checked on in Group Damping (shown at
the bottom of the left figure below), the modal damp ing will be calcu lated only
under the damping condition of Strain Energy Proportional in time history
analysis.

(a ) Defining Damping Ratios (b ) Cal cu lati on o f Da mp ing R ati o fo r Ea ch M od e bas ed for

Element and Boundary Groups on strain Energy

Figure 2.4.4 Definition of Strain Energy Damping and Modal Damping

In response spectrum and modal superposition analyses, the equation of mot ion
for the structure is decomposed into a set of modal equations of motion. These

160
 Consideration of Damping

modal equations of motion are then solved using the modal damping ratios, s
obtained on the basis of strain energy.

In a t ime history analysis with the d irect integration method, the damping mat rix
constituting the equation of mot ion for the entire structure is formu lated by using
the strain energy based modal damp ing ratios ( s ), natural frequencies ( i ) and
modal matrices. Formu lating the damping matrix for th is particular case will be
discussed separately.

Modal Damping

Modal damp ing ratios can be directly defined by the user. Modal responses are
then computed based on the defined modal damping ratios. Modal damping c an
be utilized in response spectrum, modal superposition and direct integration
analyses. However, when modal damping is used in a t ime history analysis by
the direct integration method, the damping matrix beco mes unsymmetrical,
which demands an excessive calculat ion time co mpared to that required for the
modal superposition method.

Modal damping can be defined in the Response Spectrum Load Cases menu and
the Time History Load Cases menu. Modal is selected for the Damp ing Method,
and then modal damp ing rat ios can be assigned within Modal Damp ing
Overrides. Damping ratios for modes, which have not been assigned, can be
entered in Damping Ratio for All Modes.

For response spectrum and modal superposition analyses, the equation of mot ion
of the structure is deco mposed into a set of modal equations of motion. Each of
the modal equations of motion is then solved with the corresponding user-
defined modal damping ratio ( s ).

In a t ime history analysis with the d irect integration method, the damping mat rix
constituting the equation of mot ion for the entire structure is formu lated by using

the pre-defined modal damp ing rat ios ( s ), natural frequencies ( s ) and modal
matrices. Formu lating the damping matrix fo r this particular case will be
discussed separately.

161
Analy sis Manual f or MIDAS/Gen

Rayleigh Damping by Elements

Rayleigh Damping by Elements enables the user to apply different damping

ratios for different members and/ or boundaries constituting a structure. This
helps the user effectively model a structure composed of different materials,
vibration control devices or vibration isolation devices.

When damping is considered individually for each element, the damping matrix
becomes non-proportional damping, which cannot be decomposed by modes.
Accordingly, the Rayleigh Damping by Elements can be only applicable to a
time history analysis using a direct integration method in which damping matrix
is directly created. Element Mass & Stiffness Proportional needs to be selected
for the damping method in the Time History Load Cases menu.

In order to reflect different damping properties for different elements in response

spectrum and modal superposition analyses, damping ratios need to be assigned
in the Specified Element and Boundaries within the Group Damping menu.
Modal damping ratios based on the strain energy concept are then calculated
based on the results of an eigenvalue analysis.

The Rayleigh damping by elements in Midas Civil is defined as follows:

1. Group elements and boundaries that will have the same damping properties.
2. For individual groups of elements and boundaries,
Group Damping Damping Ratio for Specified Elements and Boundaries
Element Mass & Stiffness Proportional Damping Assign values for
Mass Coefficient () and Stiffness Coefficient ().
3. For the elements and boundaries, which have not been grouped,
Group Damping Default Values for Unspecified Elements and
Boundaries Element Mass & Stiffness Proportional Damping Assign
values for Mass Coefficient and Stiffness Coefficient.

Using the values of and for each element group, the damping matrix for each
element is computed with C M K and the equation of motion can be
obtained. Since the Rayleigh Damping by Elements is based on the Rayleigh
damping, n and n for the member n are calculated in the same manner as the
Rayleigh Damping.

Currently, Midas Civil does not support Mass Coefficient (), so it will be
treated as stiffness proportional damping by elements.

162
 Consideration of Damping

Formulation of Damping Matrix

In a time history analysis using the direct integration method, the damping
matrix becomes a full matrix when Modal or Strain Energy Proportional is
selected for the damping method. The damping matrix for the entire structure
can be obtained through the assigned modal damping ratios ( s ), natural
frequencies ( i ) and modal matrices.

The damping matrix of the entire structure is formulated as below.

where,
C : Damping matrix of the entire structure
M : Mass matrix of the entire structure
i : Damping ratio of the i-th mode of the entire structure
: Mode shape
1 2 .... i .... nf
nf : number of modes used

163
Analy sis Manual f or MIDAS/Gen

Consideration of Linear Damping in General Link

Element
General Link Element is used to model vibration damping devices, vibration
isolation devices, compression only elements, tension only elements, inelastic
hinges and foundation springs. It consists of six springs, which connects two
nodes. General Link Element can be used to model an additionally installed
damper by specifying the linear viscous damping.

In case the linear viscous damping of a general link is of the Element Type, it
can be defined by selecting Linear Dashpot and Spring and Linear Dashpot
through Damping of Linear Properties. In the case of Force Type, it can be
defined through Effective Damping of Linear Properties.

The details of the linear viscous damping of a general link element are separately
addressed in the general link element section. Below explains the method of
obtaining modal damping ratios considering the linear viscous damping of a
general link element when modal damping based on strain energy is used.

Damping or Effective Damping of linear viscous damping of a general link

element is assumed as follows:
2eff
Ceff K eff
eff
where,
Ceff : Damping or Effective Damping
K eff : Stiffness of General Link Element
eff : Damping Ratio of General Link Element
eff : Frequency of General Link Element

Based on the above equation, the damping ratio of the i-th mode, which reflects
the linear viscous damping at the time of calculating the strain energy of a
general link, can be expressed as below.

h K nn,i 0.5inT,iCeff n,i

N N

E i, n
D
T
n n,i
i n 1
N
n 1
N
4 ES i, n T
n ,i K nn ,i
n 1 n 1

The modal damping ratios calculated with the above equation are identically
applied to response spectrum analysis and time history analys is using the modal
superposition and direct integration methods.

164
 Response Spectrum Analy sis

Response Spectrum Analysis

The dynamic equilibriu m equation for a structure subjected to a ground motion

used in a response spectrum analysis can be expressed as follows:

[M ]u(t ) [C ]u(t ) [ K ]u(t ) [ M ]wg (t )

where,
[ M ] : Mass matrix
[C ] : Damping matrix
[K ] : Stiffness matrix
wg (t ) : Ground acceleration
and, u (t ) , u (t ) and u (t ) are relative displacement, velocity and acceleratio n
respectively.

Response spectrum analysis assumes the response of a multi-degree-of-freedo m

(MDOF) system as a combination of mult iple single-degree-of-freedo m (SDOF)
systems. A response spectrum defines the peak values of responses
corresponding to and varying with natural periods (or frequencies) of vibrat ion
that have been prepared through a numerical integration process . Displacements,
velocities and accelerat ions form the basis of a spectrum. Response spectrum
analyses are generally carried out for seismic designs using the design spectra
defined in design standards.

To predict the peak design response values, the maximu m response for each
mode is obtained first and then comb ined by an appropriate method. For seismic
analysis, the displacement and inertial force corresponding to a particular degree
of freedom for the m-th mode are expressed as follows:

<Eq. 1>
d xm m xm Sdm , Fxm mxm SamWx

where,
m : m-th modal participation factor
xm : m-th modal vector at location x
Sdm : Normalized spectral displacement for m-th mode period
Sam : Normalized spectral acceleration for m-th mode period
Wx : Mass at location x

165
Analy sis Manual f or MIDAS/Gen

In a gi ven mode, the s pectral value correspondi ng to the calcul ated natural
peri od is searched from the s pectral data through linear interpolation. It is
therefore recommended that spectral data at closer increments of natural
peri ods be provi ded at the locati ons of curvature changes (refer to Figure
2.5). The range of natural peri ods for spectral data must be sufficiently
extended to include the maxi mum and mini mum natural peri ods obtai ned
from the eigenvalue anal ysis . Some building codes indirectly specify the
seismic design spectral data by means of Dynamic coefficient, Foundation
factor, Zoning factor, Importance factor, etc. MIDAS/ Gen can generate the
design spectrum using these seismic parameters. However, Ductility factor (or
Response modification factor o r Seis mic response factor) is typically applied at
the member design stage.

Response spectrum analyses are allowed in any direction on the Global X-Y
plane and in the vert ical Global Z direct ion. You may choose an appropriate
method of modal co mb ination for analysis results such as the Co mplete
Quadratic Co mbination (CQC) method or the Square Root of the Su m of the
Squares (SRSS) method.

The following describes the methods of modal combination:

SRSS (Square Root of the Sum of the Squares)

<Eq. 2>
Rmax [ R12 R2 2 Rn 2 ]1/ 2

ABS (Absolute Sum)

<Eq. 3>
Rmax R1 R2 Rn

CQC (Complete Quadratic Combination)

<Eq. 4>
1/ 2
N N
Rmax Ri ij R j
i 1 j 1

166
 Response Spectrum Analy sis

where,

8 (1 r ) r
2 3/ 2
j
ij , r
(1 r ) 4 r (1 r )
2 2 2 2
i

Rmax: Peak response

Ri : Peak response of i-th mode
r : Natural frequency ratio of i-th mode to j-th mode
: Damping ratio

In <Eq. 4>, when i = j, then ij = 1 regardless of the damping ratio. If the

damping rat io () beco mes zero (0), both CQC and SRSS methods produce
identical results.

The ABS method produces the largest combination values among the three
methods. The SRSS method has been widely used in the past, but it tends to
overestimate or underestimate the co mbination results in the cases where the
values of natural frequencies are close to one another. As a result, the use of the
CQC method is increasing recently as it accounts for probabilistic inter-
relations between the modes.

If we now co mpare the displacements of each mode for a structure having 3

DOF with a damping ratio of 0.05, the results fro m the applications of SRSS and
CQC are as follows:

Natural frequencies

1 0.46 , 2 0.52 , 3 1.42

Maxi mum modal displ acements: Dij (dis placement components of i-

th degree of freedom for j-th mode)

0.036 0.012 0.019

Dij 0.012 0.044 0.005
0.049 0.002 0.017

If SRSS is applied to compute the modal combinati on for each

degree of freedom,

0.042, 0.046, 0.052

1/ 2
Rmax R12 R2 2 R32

167
Analy sis Manual f or MIDAS/Gen

If CQC is applied,

12 21 0.3985
13 31 0.0061

Rmax [ R12 R2 2 R32 2 12 R1 R2 2 13 R1 R3 2 23 R2 R3 ]1/ 2

{0.046, 0.041, 0.053}

Co mparing the two sets of displacements for each degree of freedom, we n ote
that the SRSS method underestimates the magnitude fo r the first degree of
freedom overestimates the value for the second degree of freedo m relative to
those obtained by CQC. Thus, the SRSS method should be used with care when
natural frequencies are close to one another.

Figure 2.5 Response spectrum curve and linear interpolation of spectral data

168
 Time History Analy sis

Time History Analysis

The dynamic equilibrium equation for time history analysis is written as

[M ]u(t ) [C]u(t ) [ K ]u(t ) p(t )

where,
[ M ] : Mass matrix
[C ] : Damping matrix
[ K ] : Stiffness matrix
p(t ) : Dynamic load
and, u (t ) , u (t ) and u (t ) are displacement, velocity and acceleration
respectively.

Time h istory analysis seeks out a solution for the dynamic equilibriu m equation
when a structure is subjected to dynamic loads. It calculates a series of structural
responses (displacements, member forces, etc.) within a g iven period of t ime
based on the dynamic characteristics of the structure under the applied loads.
MIDAS/Gen uses the Modal Superposition Method for time history analysis.

Modal Superposition Method

The displacement of a structure is obtained fro m a linear superposition of modal

displacements, wh ich maintain orthogonal characteristics to one another. This
method premises on the basis of that the damp ing matrix is composed of a linear
combination of the mass and stiffness matrices as presented below.

<Eq. 1>
[C] [ M ] [ K ]

<Eq. 2>
T M q(t ) T Cq(t ) T K q(t ) T F (t )

<Eq. 3>
mi qi (t ) ci qi (t ) ki qi (t ) Pi (t ) (i 1,2,3,..., m)

169
Analy sis Manual f or MIDAS/Gen

<Eq. 4>
m
u (t ) q (t )
i 1
i i

<Eq. 5>
i i t i i qi (0) qi (0)
qi (t ) e [ qi (0) cos Di t sin Di t ]
Di
1

t
i i ( t )
Pi ()e sin Di (t )d
mi Di 0

where,
<Eq. 6>
Di i 1 i 2
, : Rayleigh coefficients
i : Damping ratio for i-th mode
i : Natural frequency for i-th mode
i : i-th mode shape
q i (t) : Solution for i-th mode SDF equation

When a time history analysis is carried out, the displacement of a structure is

determined by summing up the product of each mode shape and the solution for
the corresponding modal equation as expressed in <Eq. 4>. Its accuracy depends
on the number of modes used. This modal superposition method is very effective
and, as a result, widely used in linear dynamic analyses for large structures.
However, this method cannot be applied to nonlinear dynamic analyses or to the
cases where damp ing devices are included such that the damping matrix cannot
be assumed as a linear combination of the mass and stiffness matrices.

The following outlines some precautions for data entries when using the modal
superposition method:

Total analysis time (or Iteration number)

Time step
Time step can affect the accuracy of analysis results significantly. The
increment must be closely related to the periods of higher modes of the
structure and the period of the applied force. The time step directly
influences the integral in <Eq. 5>, and as such specifying an improper
time step may lead to inaccurate results. In general, one-tenth of the
highest modal period under consideration is reasonable for the time
step. In addition, the time step should be smaller than that of the applied
load.
170
 Time History Analy sis

Tp
t
10
where, Tp = the highest modal period being considered

Modal damping ratios (or Rayleigh coefficients)

Values for determining the energy dissipation (damping) properties of a
structure, which relate to either the total structure or individual modes.

Dynamic loads
Dynamic loads are directly applied to nodes or foundation of a structure,
which are expressed as a function of time. The change of loadings must
be well represented in the forcing function. A loading at an unspecified
time is linearly interpolated.

Figure 2.6 shows an idealized system to illustrate the motion of a SDOF

structural system. The equilibriu m equation of motion subjected to forces
exerting on a SDOF system is as follows:

<Eq. 7>
f I (t) + f D (t) + f E (t) = f(t)

f I (t) is an inert ia force, wh ich represents a resistance to the change of velocity

of a structure. The inertia force acts in the opposite direction to the acceleration,
and its magnitude is mu (t ) . f E (t) is an elastic force by which the structure
restores its configuration to the original state when the structure undergoes a
deformation. Th is force acts in the opposite direction to the displacement, and its
magnitude is ku(t ) . f D (t) is a damping force, wh ich is a fictit ious internal force
dissipating kinetic energy and thereby decreasing the amplitude of a motion. The
damping force may co me in a form of internal frictions. It acts in the opposite
direction to the velocity, and its magnitude is cu (t ) .

171
Analy sis Manual f or MIDAS/Gen

(a) Idealized model (b) State of equilibrium

Figure 2.6 Motion of SDOF System

The above forces are now summarized as

<Eq. 8>
f I mu (t )
f D cu (t )
f E ku (t )

where, m, c and k represent mass, damp ing coefficient and elastic coefficient
respectively. Fro m the force equilibriu m shown in Figure 2.6 (b), we can obtain
the equation of motion for a SDOF structural system.

<Eq. 9>
mu(t ) cu(t ) k (u) f (t )

<Eq. 9> beco mes the equation of damped free vibrat ion by letting f(t)=0, and it
becomes the equation of undamped free vibrat ion if the condition of c=0 is
additionally imposed on the damped free vibrat ion. If f(t) is assigned as a seismic
loading (or displacements, velocities, accelerations, etc.) with varying time, the
equation then represents a forced vibration analysis problem. The solution can be
found by using either Modal Superposition Method or Direction Integration
Method.

172
 Buckling Analy sis

Buckling Analysis

Linear buckling analysis is used to determine Crit ical Load Factors and the
corresponding Buckling Mode Shapes of a structure, which is composed of truss,
beam or p late elements . The static equilibriu m equation of a structure at a
deformed state is expressed as

<Eq. 1>
[ K ]{U } [ KG ]{U } {P}

where,
[ K ] : Elastic stiffness matrix
[ KG ] : Geometric stiffness matrix
{U } : Total displacement of the structure
{P} : Applied load

The geometric stiffness matrix of a structure can be obtained by summing up the

geometric stiffness matrix of each element. The geo metric stiffness matrix in this
case represents a change in stiffness at a deformed state and is directly related to
the applied loads. For instance, a compressive force on a member tends to reduce
the stiffness, and conversely a tensile force tends to increase the stiffness.

[ KG ] [kG]

[kG ] F[kG ]

where,
[kG ] : Standard geometric stiffness matrix of an element
F : Member force (axial force for truss and beam elements)

173
Analy sis Manual f or MIDAS/Gen

Standard geometric stiffness matrix of a truss element

0

0 1 symm.
L
1
0 0
[ kG ] L
0 0 0 0

0 1 0 0
1
L L

0 0 1 1
0 0
L L

Standard geometric stiffness matrix of a beam element

0

0 6
symm.
5L
6
0 0
5L
0 0 0 0

1 2L
0 0 0
10 15

0 1
0 0 0
2L
10 15
[k G ]
0 0 0 0 0 0 0
6 1 6
0 0 0 0 0
5L 10 5L
6 1 6
0 0 0 0 0 0
5L 10 5L
0 0 0 0 0 0 0 0 0 0

0 1 L 1 2L
0 0 0 0 0 0
10 30 10 15
1 L 1 2L
0 0 0 0 0 0 0 0
10 30 10 15

174
 Buckling Analy sis

Geometric stiffness matrix of a plate element

s 0 0
T

[kG ] [G ] 0 s 0 [G]dV
v
0 0 s

[G ] : Matrix of strain-displacement relationship

xx xy zx

[ S ] xy yy yz : Element stress matrix

zx yz zz

The geometric stiffness matrix can be expressed in terms o f the product of the
load factor and the geomet ric stiffness matrix o f a structure being subjected to
input loads. It is written as

<Eq. 2>
[ KG ] [ KG ]

where,
: Load scale factor
K G : Geometric stiffness matrix of a structure being subjected to external

loads

<Eq. 3>
[ K KG ]{U } {P}
[ Keq ] [ K KG ]

In order for a structure to become unstable, the above equilibriu m equation must
have a singularity. That is, buckling occurs when the equivalent stiffness matrix
becomes zero.

[ Keq ] 0 ( cr ) : Unstable equilibrium state

[ Keq ] 0 ( cr ) : Unstable state
[ Keq ] 0 ( cr ) : Stable state

Therefore, the buckling analysis problem in <Eq. 3> can be narrowed to an

eigenvalue analysis problem.

175
Analy sis Manual f or MIDAS/Gen

<Eq. 4>
[ K ] i [ KG ] 0

where, i : eigenvalue (critical load factor)

This can be now solved by the same method used in Eigenvalue Analysis.

Fro m the eigenvalue analysis, eigenvalues and mode shapes are obtained, which
correspond to critical load factors and buckling shapes respectively. A critical
load is obtained by multi pl ying the initial load by the critical load factor.
The significance of the critical load and buckling mode shape is that the
structure buckles in the shape of the buckling mode when the critical l oad
exerts on the structure. For instance, if the critical load factor of 5 is obtained
fro m the buckling analysis of a structure subjected to an initial load in the
magnitude of 10, this structure would buckle under the load in the magnitude of
50. Note that the buckling analysis has a practical limit since buckling by and
large occurs in the state of geometric or material nonlinerity with large
displacements.

As stated earlier, the linear buckling analysis feature in MIDAS/Gen is

applicable for truss, beam and plate elements. The analysis is carried out in two
steps according to the flow chart shown in Figure 2.7.

1. Linear static analysis is performed under the user-defined loading

condition. The geometric stiffness matrices corresponding to individual
members are then formulated on the basis of the resulting member forces
or stresses.

2. The eigenvalue problem is solved using the geometric and elastic stiffness
matrices obtained in Step 1.

176
 Buckling Analy sis

The eigenvalues and mode shapes obtained fro m the above process now become
the critical load factors and buckling shapes respectively.

Figure 2.7 Buckling analysis schematics in MIDAS/Gen

177
Analy sis Manual f or MIDAS/Gen

Nonlinear Analysis

Overview of Nonlinear Analysis

When a structure is analyzed for linear elastic behaviors, the analysis is carried
out on the premise that a proportional relationship exists between loads and
displacements. This assumes a linear material stress -strain relationship and small
geometric displacements.

The assumption of linear behaviors is valid in most structures. However,

nonlinear analysis is necessary when stresses are excessive, or large
displacements exist in the structure. Construction stage analyses for suspension
and cable stayed bridges are some of large displacement structure examples.
Nonlinear analysis can be classified into 3 main categories.

First, material nonlinear behaviors are encountered when relatively big loadings
are applied to a structure thereby resulting in high stresses in the range of
nonlinear stress-strain relationship. The relationship, which is typically
represented as in Figure 2.8, widely varies with loading methods and material
properties.

Figure 2.8 Stress-strain relationship used for material nonlinearity

Second, a geomet ric nonlinear analysis is carried out when a structure undergoes
large displacements and the change of its geometric shape renders a nonlinear
displacement-strain relationship. The geometric nonlinearity may exist even in
the state of linear material behaviors. Cab le structures such as suspension bridges
are analyzed for geo metric nonlinearity. A geometric nonlinear analysis must be
carried out if a structure exh ibits significant change of its shape under applied

178
 Nonlinear Analy sis

loads such that the resulting large displacements change the coordinates of the
structure or additional loads like moments are induced (See Figure 2.9).

(a) Change in structural stiffness due to large displacement

(b) Additional load induced due to displacement

Figure 2.9 Structural systems requiring geometric nonlinear analyses

Third, boundary nonlinearity of a load-displacement relat ionship can occur in a

structure where boundary conditions change with its structural deformation s due
to external loads. An example of boundary nonlinearity wou ld be co mpression -
only boundary conditions of a structure in contact with soil foundation.

MIDAS/ Gen contains such nonlinear analysis functions as boundary nonlinear

analysis using nonlinear elements (co mpression/tension-only elements) and large
displacement geometric nonlinear analysis.

179
Analy sis Manual f or MIDAS/Gen

Geometric Nonlinear Analysis

Small displacement ( ij ) used in linear analysis is given below under the assumption
of small rotation.

ij
1
2
ui , j u j ,i
u represents displacement and , represents the differentiation of the first
subscript coordinate. When a large displacement occurs as shown in Figure 2.10,
the structural deformation cannot be expressed with small strain any longer.
Large displacement can be divided into rotational and non -rotational components
as per the equations below. F , R and U represent deformat ion tensor, rotation
tensor and stretch tensor respectively. U determines the deformation of a real
structure.

F RU , f (U )

Accurate strain can be calculated from the above equations after eliminating the
rotational component. When the magnitude of rotation is large, accurate deformation -
displacement relationship cannot be found initially. That is, geometric nonlinearity is
introduced because the deformations change according to the displacements calculated
from the linear analysis.

180
 Nonlinear Analy sis

Figure 2.10 Geometric nonlinearity due to large displacement

MIDAS/ Gen uses the Co-rotational method for geometric nonlinear analysis,
and its basic concept and analysis algorith m are as follows: This method
considers geometric nonlinearity by using the strain in the Co -rotational
coordinate system, which moves with the rotation of the element being
deformed. The deformation-displacement relat ionship in the Co-rotational
coordinate system can be expressed as a matrix equation , and the
deformation-displacement relat ionship matrix used in linear analysis can be
applied. That is, the elements stability and converging ability of linear analysis
are maintained even geometric nonlinearity concepts are introduced. Maintaining
such superior characteristics is most advantageous for nonlinear analysis.

Displacement u in the Co-rotational coordinate system is calcu lated by the

equation, , and the infin itesimal d isplacement u is

linearized and then exp ressed as u=Tu . In the case of a linear elastic
problem in the Co-rotational coordinate system, the internal element force p int is
obtained from

p int dv BT dV0

181
Analy sis Manual f or MIDAS/Gen

where, is the stress expressed in the Co-rotational coordinate system, and the
increment of the above equation becomes

p int ( K K )u

In the above equation, K is the geometric stiffness matrix o r in itial stress

stiffness matrix. The fo llo wing nonlinear equilibriu m equation can be obtained
using the equilibriu m relationship between the internal and external fo rces,
pext - pint 0 .

( K K )u p ext

Newton-Raphson and Arc-length methods are used for finding solutions to the
nonlinear equilibriu m equations. The Newton-Raphson method, wh ich is a load
control method, is used for typical analyses. For those problems such as Snap-
through or Snap-back, the Arc-length method is used.

MIDAS/ Gen permits the use of truss, beam and plate elements for geometric
nonlinear analyses. If other types of elements are used, the stiffness is
considered, but not the geometric nonlinearity.

Newton-Raphson iteration method

In the geomet ric nonlinear analysis of a structure being subjected to external

loads, the geometric stiffness is expressed as a function of the d isplacement,
which is then affected by the geo metric stiffness again. The process requires
repetitive analyses. The Newton-Raphson method is a widely used method,
which calculates the displacement in equilibriu m with the given external load as
shown in Figure 2.11. The stiffness matrix is rearranged in each cycle of
repetitive calcu lations to satisfy equilibriu m with the load given in the
equilibriu m equation of load-displacement. A solution within the allo wable
tolerance is obtained using the stiffness matrices through the process of iteration.

( K K )u p, KT u p
KT K K , K f (u)
KT (um1 )(um1 um ) Rm

182
 Nonlinear Analy sis

Figure 2.11 Newton-Rapson Method

Expanding the left side of the above equation by Taylor series,

( y( x h) y( x ) y ( x )h ), we obtain
n n n

dR
KT (um-1 )(um-1 um ) KT (um-1 )um-1 u
dum-1 m

dR
The relat ionship of KT (um -1 ) and Rm - Rm-1 R R are substituted into the
dum -1
above equation and rearranged to obtain the following:

KT (um-1 )um Rm - Rm-1 R R ( R R : Residual Force)

The process of analysis is illustrated in the above diagram. Once um is

calculated, the displacement is adjusted by . To proceed to the ne xt
iterative step, a new tangential stiffness KT um and the unbalanced load
Rm+1 -Rm are calculated, and the adjusted displacement um+1 is obtained.

183
Analy sis Manual f or MIDAS/Gen

The iterative process is continued until the magnitude of an increment in

displacement, energy or load in a step is within the convergence limit.

Arc-length iteration method

In a general iterative process, the calculated value for a displacement increment

can be excessive if the load-displacement curve is close to horizontal. If the load
increment remains constant, the resulting displacement can be quite excessive.
The Arc-length method resolves such problems, and Snap-through behaviors can
be analyzed similar to using the displacement control method. Also, the Arc-
length method can analyze even the Snap-back behaviors, which the displacement
control method cannot analyze (See Figure 2.12 (b)).

(a) Snap-through (b) Snap-back

(c) Concept of Arc-Length M ethod

Figure 2.12 Arc-Length Method

184
 Nonlinear Analy sis

In the Arc-length method, the norm o f incremental displacements is restrained to

a pre-defined value. The magnitude of the increment is applied while remain ing
unchanged in the iterative process, but it is not fixed at the starting time of
increments. The following process is observed in order to determine the
magnitude of the increment: (Figure 2.12 (c)) We define the external force
vector at the beginning of increments as Rm-1 and the increment of external force
vector as i f . The unit load f is mult iplied by the load coefficient i and
changed at every step of iteration.

KT (ui -1 ) ui RiR
ui KT ui -1 i f fint um-1 - fint ui
-1

The solutions to the above equations can be divided into the following two parts,
and the incremental displacement can be found as below.

uiI KT ui -1
-1
f u - f u , u
int m-1 int i i
II
KT ui -1 f
-1

ui uiI i uiII

MIDAS/ Gen finds the load coefficient i by using the spherical path whose
constraint condition equation is as follows:

uiT ui l 2

l represents the displacement length to be restrained, and the equation

ui =ui-1+ui is substituted into the above equation to calculate the load
coefficient i as below.

a12 a2 a3 0
a2 a22 4a1a3
i
2a1
a1 uiII uiII
T

a2 2 uiI uiII 2 ui -1 uiII

T T

a3 2 ui -1 uiI uiI uiI ui -1 ui -1 - l 2

T T T

185
Analy sis Manual f or MIDAS/Gen

Generally, two solutions exist from the above equations. In the case of complex
number solutions, linear equivalent solutions of the s pherical path method are
used. In order to determine which one o f the real nu mber solutions is to be used,
the angle formed by the incremental displacement vectors of the preceding
and present steps of iteration is calculated and used as per the equation below.

ui-1 ui
T

cos
ui -1 ui

If the solutions contain one negative and one positive values, the positive value
is selected. If both solutions produce acute angles, the solution close to the linear
solution i - a3 a2 is used.

P-Delta Analysis

The P-Delta analysis option in MIDAS/Gen is a type of Geometric nonlinearity,

which accounts for secondary structural behavior when axial and transverse
loads are simultaneously applied to beam or wall elements. The P-Delta effect is
more profound in tall building structures where high vertical axial forces act upon the
laterally displaced structures caused by high lateral forces.

Virtually all design codes such as ACI 318 and AISC-LRFD specify that the P-
Delta effect be included in structural analyses to account for more realistic
member forces.

The P-Delta analysis feature in MIDAS/ Gen is founded on the concept of the
numerical analysis method adopted for Buckling analysis. Linear static analysis
is performed first for a given loading condition and then a new geometric
stiffness matrix is formu lated based on the member fo rces or stresses obtained
fro m the first analysis. The geometric stiffness matrix is thus repeatedly
modified and used to perform subsequent static analyses until the g iven
convergence conditions are satisfied.

As shown in Figure 2.13, static loading conditions are also required to consider
the P-Delta effect for dynamic analyses.

186
 Nonlinear Analy sis

The concept of the P-Delta analysis used in MIDAS/Gen is shown below.

Figure 2.13 Flow chart for P-Delta analysis in MIDAS/Gen

187
Analy sis Manual f or MIDAS/Gen

When a lateral load acts upon a colu mn member thereby resulting in mo ments
and shear forces in the member, an additional tension force reduces the member
forces whereas an addit ional co mpression force increases the member fo rces.
Accordi ngly, tension forces acting on column members subjected to lateral
loads increase the stiffness pertaining to lateral behaviors while compression
forces have an opposite effect on the column members.

(a) Column subjected to tension and lateral forces simultaneously

(b) Column subjected to compression and lateral forces simultaneously

Figure 2.14 Column behaviors due to P-Delta effects

188
 Nonlinear Analy sis

If the P-Delta effect is ignored, the co lu mn mo ment due to the lateral load alone
varies fro m M=0 at the top to M=VL at the base. The additional tension and
compression forces produce negative and positive P-Delta mo ments respectively.
The effects are tantamount to an increase or decrease in the lateral stiffness of
the column member depending on whether or not the additional axial force is
tension or compression.

Accordingly, the lateral displacement can be expressed as a function of lateral

and axial forces.

V / K , K K0 KG

KO here represents the intrinsic lateral stiffness of the column and KG represents
the effect of change (increase/decrease) in stiffness due to axial forces. Formu lation of
geometric stiffness matrices for truss, beam and plate elements can be found in
Buckling Analysis.

The P-Delta analysis can be summarized as follows:

1st step analysis

1 = V/K O

2nd step analysis

2 = f(P, 1 ), = 1 + 2

3rd step analysis

3 = f(P, 2 ), = 1 + 2 + 3

4th step analysis

4 = f(P, 3 ), = 1 + 2 + 3 + 4
.
.
.
nth step analysis
n = f(P, n-1 ), = 1 + 2 + 3 + ... + n

After obtaining 1 fro m the 1st step analysis, the geometric stiffness matrix due
to the axial fo rce is found, which is then added to the initial stiffness matrix to
form a new stiffness matrix. This new stiffness matrix is now used to calculate
2 reflecting P-Delta effects, and the convergence conditions are checked. The
convergence conditions are defined in P-Delta Analysis Control, which are
Maximu m Nu mber of Iteration and Displacement Tolerance. The above steps are
repeated until the convergence requirements are satisfied.

189
Analy sis Manual f or MIDAS/Gen

Note that the P-Del ta analysis feature in MIDAS/Gen produces very

accurate results when lateral displ acements are relati vely s mall (within the
elastic limit).

The static equilibriu m equation for P-Delta analysis used in MIDAS/Gen can be
expressed as

[ K ]{u} [ KG ]{u} {P}

where,
[ K ] : Stiffness Matrix of pre-deformed model
[ KG ] : Geometric stiffness matrix resulting from member forces and stresses at
each step of iteration
{P} : Static load vector
{u} : Displacement vector

P-Delta analysis in MIDAS/Gen premises on the following:

Geometric stiffness matrices to consider P-Delta effects can be

formulated only for truss, beam and wall elements.
Lateral deflections (bending and shear deformations) of beam elements
are considered only for Large-Stress Effect due to axial forces.
P-Delta analysis is valid within the elastic limit.

In general, it is reco mmended that P-Delta analysis be carried out at the final
stage of structural design since it is a time -consuming process in terms of
computational time.

190
 Nonlinear Analy sis

Analysis using Nonlinear Elements

Nonlinear analysis in MIDA S/ Gen is applied to a static analysis of a linear

structure in which some nonlinear elements are included. The nonlinear elements
that can be used in such a case include tension-only truss element, hook element,
cable element, co mpression-only truss element, gap element and
tension/compression-only of Elastic Lin k. The static equilibriu m equation of a
structural system using such nonlinear elements can be written as

<Eq. 1>
[ K K N ]{U } {P}

K : Stiffness of linear structure

K N : Stiffness of nonlinear elements

The equilib riu m equation containing the nonlinear stiffness, KN, in <Eq . 1> can
be solved by the following two methods:

The first method seeks the solution to the equation by modifying the loading
term without changing the stiffness term. The analysis is carried out by the
following procedure:

If we apply the stiffness of nonlinear elements at the linear state to both sides of
the equation, and move the stiffness of nonlinear elements to the loading term,
<Eq. 2> can be derived.

<Eq. 2>
[ K K L ]{U } {P} [ K L K N ]{U }

K L : Stiffness of nonlinear elements at the linear state

In <Eq. 2>, the linear stiffness of the structure and the stiffness of nonlinear
elements at the linear state always remain unchanged. Therefore, static analysis
of a structure containing nonlinear elements can be accomplished by repeatedly
modifying the loading term on the right side of the equation without having to
repeatedly reco mpose the global stiffness or decompose the matrix. Not only
does this method readily perform nonlinear analysis, but also reducing analysis
time is an advantage without the reformation process of stiffness matrices where
multiple loading cases exist.

The second method seeks the solution to the equation by iteratively re-
assembling the stiffness matrix of the structure without varying the loading term
following the procedure below.

191
Analy sis Manual f or MIDAS/Gen

A static analysis is performed by initially assuming the stiffness of nonlinear

elements in <Eq. 1>. Using the results of the first static analysis, the stiffness of
nonlinear elements is obtained, which is then added to the stiffness of the linear
structure to form the global stiffness. The new stiffness is then applied to carry
out another round of static analysis, and this procedure is repeated until the
solution is found. This method renders separate analyses for different loading
conditions as the stiffness matrices for nonlinear elements vary with the loading
conditions.

The above two methods result in different levels of convergence depending on

the types of structures. The first method is generally effective in analyzing a
structure that contains tension-only bracings, which are quite often encountered
in building structures. However, the second method can be effective for
analyzing a structure with soil boundary conditions containing compression-only
elements.

Stiffness of Nonlinear Elements ( K N )

MIDAS/ Gen calculates the stiffness of nonlinear elements by using

displacements and member forces resulting fro m the analysis. The nonlinear
stiffness of Truss, Hook and Gap types is determined on the basis of
displacements at both ends and the hook or gap distance. The nonlinear stiffness
of cable elements is obtained from the resulting tension forces.

The nonlinear stiffness of tension/compressiononly elements such as Truss,

Hook and Gap types can be determined by <Eq. 3>. Whereas, stiffness changes
for tension-only cable elements need to be considered according to the changes
of tension forces in the members. The nonlinear stiffness is calculated by
determining the effective stiffness, which is expressed in <Eq. 4>.

<Eq. 3>
KN f (D d )

D : Initial distance (Hook or Gap distance)

d : Change in member length resulting from the analysis

192
 Nonlinear Analy sis

<Eq. 4>
1 EA
K eff
1/ K sag 1/ K elastic W 2 L2 EA
L 1
12T 3
12T 3 EA
K sag 2 3
, K elastic
W L L

W : Weight density per unit length of cable

T : Tension force in cable
Since the nonlinear elements used in M IDAS/ Gen do not reflect the large-
displacement effect and material nonlinearity, some limitations for applications
are noted below.

1. Material nonlinearity is not considered.

2. Nonlinearity for large displacements is not considered.

3. Instability due to loadings may occur in a structure, which is solely composed of

nonlinear elements. The use of nodes composed of only nonlinear elements are
not allowed.

4. Element stiffness changes with changing displacements and member

forces due to applied loadings. Therefore, linear superposition of the
results from individual loading cases are prohibited.

5. In the case of a dynamic analysis for a structure, wh ich includes nonlinear

elements, the stiffness at the linear state is utilized.

The analysis procedure for using nonlinear elements is as follows:

1. Using the linear stiffness of the structure and the stiffness of nonlinear
elements at the linear state, formulate the global stiffness matrix and load
vector.

2. Using the global stiffness matrix and load vector, perform a static analysis
to obtain displacements and member forces.

3. Re-formulate the global stiffness matrix and load vector.

4. If the method 1 is used, where the analysis is performed without changing

the stiffness term while vary ing the loading term, the nonlinear stiffness is
computed by using the displacements and member forces obtained in Step
2, wh ich is then used to reformulate the loading term. If the method 2 is
used, where the analysis is performed with changing the stiffness term, the

193
Analy sis Manual f or MIDAS/Gen

stiffness of nonlinear elements is co mputed first by using the resulting

displacements and member forces , wh ich is then used to determine the
global stiffness matrix.

5. Repeat steps 2 and 3 until the convergence requirements are satisfied.

194
 Nonlinear Analy sis

Pushover Analysis (Nonlinear Static Analysis)

Overview

Pushover analysis is one of the performancebased design methods, recently

attracting practicing structural engineers engaged in the field of seis mic design.
The objective of a performance-based design is achieved after the user and the
designer collectively select a target performance for the structure in question.
The engineer carries out the conventional design and subsequently performs a
pushover (elasto-plastic) analysis to evaluate if the selected performance
objective has been met.

When equivalent static design loads are computed in a typical seismic design,
the method illustrated in Figure 2.15 is generally used. The engineer applies
appropriate response force modification factors (R) to compute the design lo ads
and ensures that the structure is capable of resisting the design loads. The
significance of using the R factors here is that the structure exh ibits inelastic
behaviors during an earthquake. That is, the structure is inflicted with material
damage due to the earthquake loads. Depending on the energy absorption
capability of the structure, the response force modification factors vary. The
design method described herein is relative to loads and as such it is termed as
force-based design method. However, a simp le co mparison of the strengths
cannot predict the true behavior of a structure. As a result, it is highly likely that
a structure may be designed without a clear knowledge of the structural
performance characteristics.

Figure 2.15 Calculation of earthquake loads as per force-based design method

195
Analy sis Manual f or MIDAS/Gen

Where a performance-based design method is adopted, the project owner and the
engineer pre-select a target performance. This reflects the intent of the project
team to allow an appropriate level of structural damage or select the level of
energy absorption capability due to anticipated seismic loads in a g iven
circu mstance. In order to achieve the objective, we need to be able to predict the
deformation performance o f the structure to the poin t of ultimate failure. The
eigenvalues change with the level of energy absorption capability. If the
performance criteria are evaluated on the basis of the structures displacements,
it is termed as displacement-based design method.

Where pushover analysis is carried out as one of the means of evaluating the
structures deformab ility, a load-displacement spectrum is created as illustrated
in Figure 2.16. A demand spectrum is also constructed depending on the level of
energy absorption capability of the s tructure. The intersection (performance
point) of the two curves is thus obtained. If the point is within the range of the
target performance, the acceptance criteria are considered to have been satisfied.
That is, the performance point is evaluated agains t the acceptance criteria or vice
versa.

Figure 2.16 Seismic design by performance-based design method

196
 Nonlinear Analy sis

Analysis Method

The project owner and the engineer determine the target performance of a
structure at least after having met the requirements of the building and design
codes. Several analysis methods exist in assessing the structural performance,
namely, Linear Static, Linear Dynamic, Nonlinear Static and Nonlinear Dynamic
procedures. MIDAS/Gen emp loys pushover analysis, which is a nonlinear static
analysis method, generally used for the structures whose dynamic characteristics
of higher modes are not predominant. Pushover analysis can incorporate material
and geometric nonlinearity. MIDAS/ Gen adopts and applies simplified elements
to reflect the nonlinear material characteristics, which are based on Element
model (Stress-Resultant stress approach) using the load-displacement relationship of
the member sections.

Pushover analysis creates a capacity spectrum expressed in terms of a lateral

load-displacement relat ionship by incrementally increasing static forces to the
point of the ultimate performance. The capacity spectrum is then compared with
the demand spectrum, which is exp ressed in the form o f a response spectrum to
seismic loads, to examine if the structure is capable of achieving the target
performance. Accordingly, pushover analysis is often referred to as the second
stage analysis, which is subsequently carried out after the init ial structural
analysis and design.

Pushover analysis can provide the following advantages:

It allo ws us to evaluate overall structural behaviors and performance

characteristics.
It enables us to investigate the sequential format ion of plastic hinges in
the individual structural elements constituting the entire structure.
When a structure is to be strengthened through a rehabilitation process,
it allows us to selectively reinfo rce only the required members, thereby
maximizing the cost efficiency.

Evaluating analysis results premises on whether or not the target performance

has been achieved. MIDAS/ Gen follows the proposed procedures outlined in
FEMA-273 and ATC-40 to help the engineer evaluate the target performance of
the structure as well as individual members.

197
Analy sis Manual f or MIDAS/Gen

Element Types used in MIDAS/Gen

The types of elements that MIDAS/ Gen uses for pushover analysis are 2D beam
element, 3D beam-co lu mn element, 3D wall element and truss element. The
characteristics of each element are noted in the subsequent sections.

2D Beam element & 3D Beam-column element

Nodal fo rces and displacements can identically represent the beam
element and beam-column element as shown in Figure 2.17.

Figure 2.17 Nodal forces and Displacements for 2D Beam element

and 3D Beam-column element

The loads and displacements for a beam or beam-colu mn element are expressed
as below in order to reflect the effects of biaxial mo ments in a 3 -dimensional
space. The exp ressions can be applied to the beam element provided that there is
no presence of axial force.

P Fx1 , M x1 , Fy1 , M y1 , Fz1 , M z1 , Fx 2 , M x 2 , Fy 2 , M y 2 , Fz 2 , M z 2

T
(1-a)

u ux1 , x1 , vy1 , y1 , vz1 , z1 , ux 2 , z 2 , vy 2 , y 2 , vz 2 , z 2

T
(1-b)

198
 Nonlinear Analy sis

3D Wall element
A vertical line element located in the middle connecting the top and
bottom rigid beams constitute a wall element as illustrated in Figure
2.18. The middle line element identically behaves like a 3D beam-
column element. The top and bottom rigid beams act as rigid bodies in
the x-y plane. The mo ments about the z-axis represent the in-plane
bending behavior. The out of plane bending behavior is not considered
in the wall element.

Figure 2.18 Nodal forces and displacements for Wall element

Truss element
Truss element uses a spring capable of resisting only compression and
tension forces acting in the axial (x-dir.) direction.

Figure 2.19 Nodal forces for Truss element

199
Analy sis Manual f or MIDAS/Gen

Characteristics of Nonlinear Spring

The springs shown in each element do not represent actual spring elements. They
are simply noted to convey the concept of the analysis method. This means that
plastic deformations occur and are concentrated at the locations of the springs.
The nonlinear spring retains the following characteristics:

Beam element relates Load-Displacement, Axial force-1 Directional

moment-Rotational angle, Shear force-Shear deformati on and
Torsion-Torsional deformation.
Column and Wall elements relate Load-Displ acement, Axi al force
-2 Directi onal moments -Rotational angles, Shear force-Shear
deformation and Torsion-Torsional deformation.
Truss element relates Load-Displacement.

The element deformat ions are expressed in terms of equations by the following
methods:

Bending deformation spring

The sum of the follo wing three terms define the spring deformation
angle at a node.

= e + p + s (2)

where, e , p and s represent the elastic bending deformation angle,

plastic bending deformation angle and the bending deformation angle
due to shear respectively. The plastic deformations due to bending
mo ments are assumed to occur and concentrate within the shaded L
zones as shown in Figure 2.20. Accordingly, the flexib ility matrix
including the plastic deformations and shear deformations can be
formulated by the following expressions :

L 2 1 1 2 1 1
3 3
L 1
f11 (3-a)
3EI 0 3 1
EI EI 0 2
EI EI 0
GAL

L 2L 1 1 1 1 1
f12 f 21 3 2 (3-b)
6 EI 0 6 EI1 EI 0 EI 2 EI 0 GAL
L 2 1 1 2 1 1
3 3
L 1
f 22 (3-c)
3EI 0 3 EI1 EI 0 EI 2 EI 0 GAL

200
 Nonlinear Analy sis

Figure 2.20 Distribution of assumed flexural stiffness

The load-displacement relationship for springs can be arranged as the

flexibility matrix equations (4) & (5) below.

f M (4)
e p s
where, f f f f (5)

The Equation (5) separately presents the flexibility matrices for elastic
bending deformat ion angle, plastic bending deformation angle and the
bending deformation angle due to shear as illustrated in Figure 2.21.

Figure 2.21 Moment-Deformation angle Relationship

201
Analy sis Manual f or MIDAS/Gen

Axi al deformation, Torsional deformation and Shear deformation

springs
MIDAS/ Gen assumes that axial force, torsional mo ment and shear force
remain constant in a member and that the p lastic hinges form at the
center of the member for pushover analysis. Thus, their force -
deformation relat ionships can be also expressed similar to the case of
bending deformation.

Biaxial bending spring

In the case of an element subjected to axial force and biaxial mo ments,
the yield mo ments for the given axial force are separately obtained and
then the relationship below is applied.

M nx M ny

M M 1.0
nox noy (6)

The Equation (6) applies to both reinforced concrete and structural steel
members.

Analysis method

Structural stiffness changes as a result of formation of hinges. Lateral displacement

increases with reduced stiffness. The loading incrementally increases and the load-
displacement relat ionship is established upon completion of a series of analyses.
MIDAS/Gen uses the following analysis methods:

Use of Secant stiffness matrix

Displacement control method
P-Delta and Large deformation effects considered

The use of the Secant stiffness matrix and Displacement control method provides
the advantage of obtaining stable analysis values near the maximu m load.

Applied loads

Applied loads must be of lateral forces that can reflect the inertia fo rces at each
floor. Accordingly, it is reco mmended that at least 2 different types of lateral
forces be applied for pushover analysis. MIDAS/ Gen permits 3 types of lateral
load distribution patterns. They are the Static load case pattern, Mode shape
pattern distribution and Uniform acceleration proportional to the masses at each
floor. If a static load case pattern is used for load distribution, the user becomes
able to distribute the load in any specific pattern as required.

202
 Nonlinear Analy sis

Capacity spectrum and Demand spectrum

In order to evaluate whether or not the target performance is satisfied, the

capacity spectrum and demand spectrum are used. Pushover analysis produces
the load-displacement relationship whereas the response spectrum is expressed
in terms of accelerat ions vs. periods. To co mpare the two spectrums, we need to
transform them into the ADRS fo rmat, which stands for Acceleration -
Displacement Response Spectrum.

Figure 2.22 Transformation of Load-Displacement

into Acceleration-Displacement Spectrum

Figure 2.23 Transformation of Acceleration-Period

into Acceleration-Displacement Spectrum

203
Analy sis Manual f or MIDAS/Gen

The load-displacement relationship is transformed into the acceleration

displacement relationship as illustrated in Figure 2.22 by the fo llowing
expressions:

V
A
M1 (7)
U
D
11 (8)
where, the subscript, 1 represents the first mode.

m
j 1
j j1

1 N
(9)
m
j 1
j
2
j1

N
( m j j1 ) 2
j 1
M1 N
(10)
m j 2 j1
j 1

And the response spectrum is transformed as shown in Figure 2.23, using

Equation (11).

Tn 2
D A (11)
4 2

Figure 2.24 Calculation of Demand Spectrum

204
 Nonlinear Analy sis

Calculation of Performance Point

The intersection of the capacity and demand spectrums represents the

performance point. When a structure is subjected to a big force such as an
earthquake, it undergoes a process of plastic deformations. The magnitude of
dissipated energy depends on the extent of plastic deformation or ductility. The
magnitude of the demand spectrum, in turn, reduces relative to the increase in
magnitude of energy d issipation. The performance point is thus obtained through
a process of repeated calculations as illustrated in Figure 2.24. MIDAS/ Gen
adopts the Capacity Spectrum Method A (See Figure 2.25) as defined by ATC-
40 to find the performance point.

Figure 2.25 Capacity Spectrum Method A of ATC-40

205
Analy sis Manual f or MIDAS/Gen

Evaluation of Performance

Once the displacement of the total structure is confirmed to exist within the
range of the target performance, the process of evaluating the performance of
individual members takes place. MIDAS/ Gen adopts a process similar to the
recommended procedures described in FEMA -273 and ATC-40 to evaluate the
member performance. These reports classify the target performance into three
stages as shown in Figure 2.26. Where the structural performance falls short of
the target performance, the engineer improves the strength or ductility of the
relevant members.

IO = Immediate Occupancy Level

LS = Life Safety Level
CP = Collapse Prevention Level

Figure 2.26 Performance evaluation of members

206
 Nonlinear Analy sis

Procedure for Pushover analysis

1. Complete static analysis and member design

In order to review the inherent capacity of a structure against seismic
loads, first complete the static analysis followed by member design.

2. Input control data for Pushover analysis

Recall the Design > Pushover Analysis Control dialog box, and specify
the maximu m nu mber of increment steps, maximu m nu mber of (internal)
iterations per each increment step and convergence tolerance.

3. Input Pushover Load Case

Recall the Design > Pushover Load Cases dialog box, and specify the
loading at the initial state prior to the pushover analysis and the Pushover
load cases. The initial load may be the dead load on the structure. The
pushover load condition may be in the form of Static Load Case, Un iform
Acceleration and Mode Shape. Each load pattern can be combined with
the initial load.

4. Define Hinge Data

Recall the Design > Define Hinge Data Type dialog box, and define the
Hinge Data representing the material nonlinearity. You may select the
Hinge Types provided in MIDAS/Gen or the User Type.

5. Assign Hinge Data to the members

Recall the Design > Assign Pushover Hinges dialog box, and assign the
defined Hinge Data to indiv idual members. In general, mo ment h inges for
beams, axial/ mo ment hinges for columns and walls and axial hinges for
bracings are assigned.

6. Perform Pushover analysis

Carry out the pushover analysis in Design > Perform Pushover Analysis.

7. Check the analysis results

Upon completing the analysis successfully, click Design > Pushover
Curve to produce the resulting pushover curves. The performance levels
of the structure are checked against various design spectrums. We can
also check the deformed shapes at each step and the process of hinge
formation. The Animate function may be used to animate the process of
hinge formation.

207
Analy sis Manual f or MIDAS/Gen

Boundary Nonlinear Time History Analysis

Overview

Boundary nonlinear time h istory analysis, being one of nonlinear time history
analyses, can be applied to a structure, which has limited nonlinearity. The
nonlinearity of the structure is modeled through General Link of Force Type, and
the remainder of the structure is modeled linear elastically. Out of convenience,
the former is referred to as a nonlinear system, and the latter is referred to as a
linear system. Boundary nonlinear t ime history analysis is analyzed by
converting the member forces of the nonlinear system into loads acting in the
linear system. Because a linear system is analyzed through modal superposition,
this approach has an advantage of fast analysis speed compared to the method of
direct integration, which solves equilibriu m equations for the entire structure at
every time step. The equation of motion for a structure, which contains General
Link elements of Force Type, is as follows:

Mu(t ) Cu(t ) ( Ks KN )u(t ) Bpp(t ) BN ( fL(t ) fN (t ))

where,

M : Mass matrix
C : Damping matrix
Ks : Elastic stiffness without General Link elements of Force Type
KN : Effective stiffness of General Link elements of Force Type
Bp, BN : Transformation matrices
u(t ), u(t ), u(t ) : Nodal displacement, velocity & acceleration
p(t ) : Dynamic load
fL(t ) : Internal forces due to the effective stiffness of nonlinear
components contained in General Link elements of Force Type
fN (t ) : True internal forces of nonlinear co mponents contained in General
Link elements of Force Type

The term fL(t ) on the right hand side is cancelled by the nodal forces produced
by KN on the left hand side, which correspond to the nonlinear co mponents of
General Link of Force Type. On ly the true internal forces of the nonlinear
components fN (t ) will affect the dynamic behavior. The reason for using the
effective stiffness matrix KN is that the stiffness matrix of Ks alone can
become unstable depending on the connection locations of the general link
elements of the force type.

208
 Nonlinear Analy sis

Mode shapes and natural frequencies on the basis of mass and stiffness matrices
can be calculated through Eigenvalue Analysis or Rit z Vector Analysis. The
damping is considered by modal damping ratios.
Using the orthogonality of the modes, the above equation is transformed into
the equation of Modal Coordinates as follows:

iT Bp p(t ) iT BN f L (t ) iT BN f N (t )
qi (t ) 2 iiqi (t ) q(t ) T
2
T
i
i M i i M i iT M i

where,
i : Mode shape vector of the i-th mode
i : Damping ratio of the i-th mode
i : Natural frequency of the i-th mode
q(t ), q(t ), q(t ) : Generalized d isplacement, velocity & acceleration at the i-th
mode

The fN (t ) and fL(t ) on the right hand side are determined by the true
deformations and the rates of changes in deformations in the local coordinate
systems of the corresponding general link elements of the force type. However,
the true deformations of the elements contain the components of all the modes
without being specific to any particular modes. The above modal coordinate
kinetic equation thus cannot be said to be independent by individual modes. In
order to fu lly take the advantage of modal analysis, we assume fN (t ) and
fL(t ) at each analysis time step s o that it becomes a kinetic equation in the
independent modal coordinate system.

First, using the analysis results of the immed iately preceding step, the
generalized modal d isplacement and velocity of the present step are assumed;
based on these, fN (t ) and fL(t ) for the present step are calculated. Again fro m
these, the generalized modal displacement and velocity of the present stage are
calculated. And the deformations and the rates of changes in deformat ions of the
general link elements of the force type are calculated through a combination
process. The entire calcu lation process is repeated until the fo llowing
convergence errors fall within the permitted tolerance.

209
Analy sis Manual f or MIDAS/Gen

where,

iT BN f N( j ) (nt )
f M( j,i1) (nt )
iT M i

t : Magnitude of time step

n : Time step
j : Repeated calculation step
i : Mode number

The above process is repeated for each analysis time step. The user directly
specifies the maximu m nu mber of repetitions and the convergence tolerance in
Time History Load Cases. If convergence is not reached, the program
automatically subdivides the analysis time interval t and begins reanalyzing.

The nonlinear properties of the general link elements of the force type are
expressed in terms of differential equations. Solutions to the numerical analysis
of the differential equations are required to calculate and correct the internal
forces corresponding to nonlinear co mponents in the process of each repetition.
MIDAS programs use the Runge-Kutta Fehlberg numerical analysis method,
which is widely used for that purpose and known to provide analysis speed and
accuracy.

Cautions for Eigenvalue Analysis

The boundary nonlinear time h istory analysis in MIDAS is based on modal

analysis, and as such a sufficient number of modes are required to represent the
structural response. A sufficient number of modes are especially required to
represent the deformations of general link elements of the force type.

A representative example may be the case of the seismic response analysis of a

friction pendulum system isolator. In this type of isolator, the internal force of
the elements axial direct ion component is an important factor for determin ing

210
 Nonlinear Analy sis

the behavior of the shear direction co mponents. Accordingly, unlike other

typical seismic response analyses, the vertical modes play an important role. The
number of modes must be sufficiently enough so that the sum of the modal
masses in the vertical direction is close to the total mass.

When the eigenvalue analysis is used to achieve such objective, a very large
number of modes may be required. This may lead to a very long analysis time. If
Ritz Vector Analysis is used, the mode shapes and natural frequencies can be
found reflect ing the distribution of dynamic loads with respect to each degree of
freedom. This allows us to include the effects of higher modes with a relatively
small number of modes.

For examp le, in the case of a friction pendulum system isolator, we ca n select
the ground acceleration in the Z-d irection and static Load Case Names related to
the self weight of the structure in the input dialog box of Rit z Vector analysis.
Natural frequencies and mode shapes related main ly to the vertical movement
can be obtained. In general, the Ritz Vector analysis is known to provide more
accurate analysis results with a fewer nu mber of modes compared to Eigenvalue
analysis.

Combining Static and Dynamic Loads

Unlike linear time history analysis, the princip le of superposition cannot be

applied to nonlinear t ime history analysis. The analysis results of static loads and
dynamic loads cannot be simply comb ined as if they could occur concurrently.
In order to account for the effects of static and dynamic loads simultaneously,
the static loads must be applied in the form o f dynamic loads, and then a
boundary nonlinear time history analysis is carried out. MIDAS/ Gen provides
the Time Varying Static Loads functionality, wh ich enables us to input static
loads in the form of dynamic loads.

First, we enter the Ramp function of Normal Data Type in Dynamic Forcing
Function. Next , we can enter the Static Load Cases pertaining to the vertical
direction and previously defined Function Names in Time Vary ing Static Load.
The shape of the Ramp function should be such that the converted static loading
is completely loaded and the resulting vibration is sufficiently dampened before
the Arrival Time of the ground acceleration. In order to reduce the time that
takes to dampen the vibration resulting fro m the loading of the converted static
loads, we may select the option of the 99% init ial damping ratio in Time History
Load Case. In addition, the static loads are maintained while the ground
acceleration is acting.

211
Analy sis Manual f or MIDAS/Gen

Effective Stiffness

In a boundary nonlinear t ime history analysis, the entire structure is d ivided into
linear and nonlinear systems. Nonlinear member forces stemming fro m the
nonlinear system are converted into external dynamic loads acting on the linear
system for the analysis. At this point, the linear system alone may beco me
unstable depending on the locations of the general link elements of the force type
comprising the nonlinear system. Therefo re, modal analysis is carried out after
stabilizing the structure using the effective stiffness.

If the structure becomes unstable after removing the general link elements of the
force type, appropriate effective stiffness need to be entered to induce the natural
frequencies and mode shapes, which closely represent the true nonline ar
behavior. The appropriate effective stiffness in this case is generally greater than
0, and a smaller than or equal to the value of the initial stiffness of nonlinear
properties is used. The initial stiffness corresponds to the dynamic properties of
different element types that will be covered in the latter section; namely, kb for
Viscoelastic Damper, k for Gap, Hook and Hysteretic System, and ky & kz for
Lead Rubber Bearing Isolator and Frict ion Pendulum System. The in itial
stiffness is entered as effective stiffness to carry out linear static analysis or
linear dynamic analysis and obtain the response prior to enacting nonlinear
behavior. In order to appro ximate linear dynamic analysis, appropriate Secant
Stiffness is entered as effective stiffness on the basis of the anticipated maximu m
deformation. This is an attempt to closely resemble the behavior of nonlinear
lin k elements in a nonlinear analysis. If the analysis results do not converge, we
may adjust the effective stiffness for convergence.

Dynamic Properties of Nonlinear Link Elements of Force Type

MIDAS provides 6 nonlinear boundary elements for boundary nonlinear t ime

history analysis: Viscoelastic Damper, Gap, Hook, Hysteretic System, Lead
Rubber Bearing Isolator and Friction Pendulu m System Isolator. Their dynamic
properties are outlined below.

212
 Nonlinear Analy sis

dd cd db

kb
f f
kd
N1 N2

(a) Viscoelastic Damper

o d

k
f f
N1 N2
(b) Gap

o d

k
f f

N1 N2
(c) Hook

Fy rk

k
f f

N1 N2
(d) Shear Spring for Hysteretic System & Lead Rubber Bearing isolator
P

R k
P
f f
P

N1 N2
P
(e) Shear Spring for Friction Pendulum System Isolator

Figure 2.27 Conceptual diagrams of springs for Nonlinear Link Elements

213
Analy sis Manual f or MIDAS/Gen

Viscoelastic Damper

Viscoelastic Damper simu ltaneously retains viscosity, which induces a

force proportional to the speed of deformat ion; and elasticity, wh ich
induces a force proportional to deformation. The device increases the
damping capability of the structure and thereby reduces the dynamic
response due to seismic, wind, etc. The purpose of using the device is to
improve structural safety and serviceability.

The representative mathematical models for viscoelastic damper are

Maxwell model, which connects a linear spring and a viscosity damper in
series; and Kelvin model, which connects both running parallel to each
other. MIDAS/ Gen permits modeling the stiffness of the link element
using the viscosity damper and the springs of the two models through
entering appropriate variables.

The concept of the viscoelastic damper is illus trated in Fig. 2.27 (a). It
takes the form of the Kelv in model of a linear spring and a viscosity
damper connected in parallel in addition to a bracing with a linear stiffness
connecting two nodes. If a connecting member is not present, or if the
stiffness of the connecting member is substantially greater than that of the
damping device, the connecting member may be defined as a rigid body.

The force-deformation relationship of the element is as follows:

s
f kd dd cd sign dd dd kb db
d d d db
where,

kd : Stiffness of viscoelastic damper

cd : Damping coefficient of viscoelastic damper
kb : Stiffness of connecting member
s : Exponent defining the nonlinear viscosity damping
property of the viscoelastic damper
d : Deformation of element between two nodes
dd : Deformation of viscoelastic damper
db : Deformation of connecting member
sign (.): Sign function

Fro m the above equations, we can model linear viscosity damping linearly
proportional to the rate of change in deformation as well as nonlinear
viscosity damping exponentially proportional to the rate of change in
deformation.

214
 Nonlinear Analy sis

If we wish to model v iscoelastic damper with the Maxwell model, we

simp ly enter 0 for kd and specify the stiffness kb for the connecting
member only.

Gap

Similar to other boundary elements, Gap consists of 6 springs. Th e

deformations of the node N2 relative to the node N1 for all 6 degrees of
freedom in the element coordinate system can be represented. If the
absolute values of the negative relative deformations become greater than
the initial gaps in the springs, the stiffnesses of the corresponding springs
will be activated. The spring in the axial d irection only may be used to
represent the compression-only element, which is used to model contact
problems.

All the 6 springs are independent from one another and retain the
following force-deformation relationship:

k d o if d o <0

f

0 otherwise
where,
k : Stiffness of gap spring
o : Initial gap
d : Deformation of spring in the element coordinate sys tem

Hook

Similar to other boundary elements, Hook consists of 6 springs. The

deformations of the node N2 relative to the node N1 for all 6 degrees of
freedom in the element coordinate system can be represented. If the
absolute values of the positive relative defo rmations become greater than
the initial slippage distances in the springs, the stiffnesses of the
corresponding springs will be act ivated. The spring in the axial direction
only may be used to represent the tension-only element, which is used to
model such components as wind bracings, hook elements, etc.

All the 6 springs are independent from one another and retain the
following force-deformation relationship:

k (d o) if d o 0
f
0 otherwise
where,

215
Analy sis Manual f or MIDAS/Gen

k : Stiffness of hook spring

o : Initial slippage distance
d : Deformation of spring in the element coordinate system

Hysteretic System

Hysteretic system consists of 6 independent springs having the properties of

Uniaxial Plasticity. The system is used to model Energy Dissipation Device
through hysteretic behavior. Classically, Metallic Yield Damper can be
modeled, which is used to protect the primary structure by plastically
deforming ahead of adjacent members. The metallic yield damper is
relatively stiffer than the primary structure but has lower yield strength.

The force-deformation relationship of Hysteretic System is as follows:

f r k d (1 r ) Fy z

where,
k : Initial elastic spring stiffness
Fy : Yield strength
r : Ratio of post-yield stiffness to elastic stiffness
d : Deformation between two nodes of spring
z : Internal variable for hysteretic behavior
z is an internal hysteretic variable, whose absolute value ranges from 0 to
1. The dynamic behavior of the variab le z was proposed by Wen (1976)
and defined by the following differential equation:

z
k
Fy
s

1 z s i gn dz d

where,
, : Parameters determining the shape of hysteretic curve
s : Parameter determining the magn itude of yield strength transition
region
d : Rate of change in deformation between the springs two nodes
sign (.): Sign function

and are the parameters determining the post-yield behavior. + >0

signifies Softening System, and + <0 signifies Hardening System. The
energy dissipation due to hysteretic behavior increases with the increase in

216
 Nonlinear Analy sis

the closed area confined by the hysteretic curve. In the case of Softening
System, it increases with the decrease in the value of ( -). The change of
hysteretic behavior due to the variation of and is illustrated in Figure
2.28.

s is an exponent determining the sharpness of the hysteretic curve in the

transition region between elastic deformation and plastic deformation, i.e.
in the region of y ield strength. The larger the value, the more distinct the
point of yield strength becomes and the closer is to the ideal Bi-linear
Elasto-plastic System. The change of the transition region due to s is
illustrated in Figure 2.29.
1 1
0.75 0.75
0.5 0.5
0.25 0.25
0 0
f

-0.25 -0.25
-0.5 -0.5
-0.75 -0.75
-1 -1
-2 -1.5 -1 -0.5 0 0.5 1 1.5 2 -2 -1.5 -1 -0.5 0 0.5 1 1.5 2
d d

(a) = 0.9, = 0.1 (b) = 0.1, = 0.9

3 5
4
2 3
2
1
1
0 0
f
f

-1
-1 -2
-3
-2
-4

-3 -5
-2 -1.5 -1 -0.5 0 0.5 1 1.5 2 -2 -1.5 -1 -0.5 0 0.5 1 1.5 2
d d

(c) = 0.5, = -0.5 (d) = 0.25, = -0.75

Figure 2.28 Force-Deformation relationship due to hysteretic behavior (r = 0, k = Fy = s = 1.0)

Figure 2.29 Transition region between elastic and plastic deformations (Yield region)

217
Analy sis Manual f or MIDAS/Gen

Lead Rubber Bearing type Isolator

Lead Rubber Bearing type Isolator reduces the propagation of ground

acceleration and thereby protects the structure fro m the ground mo tion.
The isolators are placed between the girders and piers of bridge structures
and between the foundations and upper structures of building structures.
The lead rubber bearing type isolator of low post-yield stiffness separates
the dominant natural frequencies of the structure fro m the main frequency
components of the ground motion. The isolator dissipates the vibration
energy within the device through the hysteretic behavior.

This type of isolator retains the properties of coupled Biaxial Plasticity fo r

the 2 shear deformations and the properties of independent linear elastic
springs for the remaining 4 deformations.

The coupled ForceDeformation relationship for a lead rubber bearing

type isolator is noted below.

f y ry k y d y (1 ry ) Fy , y z y


f z rz k z d z (1 rz ) Fy , z z z

where,

k y , kz : Initial elastic shear spring stiffnesses in the ECS y and z

directions
Fy , y , Fy , z
: Yield strengths of shear springs in the ECS y and z
directions
ry , rz
: Ratios of post-yield stiffnesses to elastic stiffnesses of
shear springs in the ECS y and z directions
d y , dz
: Deformations of shear springs between two nodes in the
ECS y and z directions
z y , zz
: Internal variables for hysteretic behaviors of shear springs
in the ECS y and z directions

Each of zy and zz is an internal hysteretic variable. The SRSS of both values

ranges from 0 to 1. The dynamic behavior of the variable z was based on
the biaxial plasticity model proposed by Park, Wen, and Ang (1986), wh ich
was expanded fro m the Wens uniaxial p lasticity model (1976). They are
defined by the following differential equation:

218
 Nonlinear Analy sis

where,

y , y , z , z : Parameters related to the shapes of hysteretic curves of

shear springs in the ECS y and z directions
d y , d z : Rates of changes in deformations of shear springs between
two nodes in the ECS y and z directions
sign (.): Sign function

If only one nonlinear shear spring exists, the above model becomes
identical to the hysteretic system with s=2 in which case the purposes of all
the variables and parameters also become identical.

219
Analy sis Manual f or MIDAS/Gen

Friction Pendulum System type Isolator

Friction Pendulum System type Isolator is used for the same purpose of
using Lead Rubber Bearing type Isolator. Its mechanism of protecting the
structure from ground motion through energy dissipation by hysteretic
behavior and moving the natural frequencies is identical. The difference is
that the friction pendulum system incurs recovery forces through the
pendulum curvature radii of the slipping surfaces. By adjusting the radii, we
can move the natural frequencies of the total structure to the desired values.
Also, energy dissipation due to hysteretic behavior is accomplished through
the phenomenon of surface slippage.

This type of isolator retains the properties of coupled Biaxial Plasticity for
the 2 shear deformations, the nonlinear property of the Gap behavior for the
axial deformation and the properties of independent linear elastic springs for
the remaining 3 rotational deformations.

The equation of Force-Deformation relationship of the axial spring of the

friction pendulum system type isolator is identical to that of Gap with the
initial gap of 0.

k x d x if d x 0
fx P
0 otherwise

where,

P : Axial force acting on the friction pendulum type isolator

k x : Linear spring stiffness in the ECS x direction
d x : Spring deformation in the ECS x-direction

The coupled ForceDeformation relationship for the springs in the shear

directions for a friction pendulum system type isolator is noted below.

P P
fy d y P y zy fz d z P z zz
Ry Rz

where,

P : Axial force acting on the friction pendulum type isolator

Ry , Rz : Pendulum curvature radii of shear springs in the ECS y and z
directions

220
 Nonlinear Analy sis

y , z : Friction coefficients of shear springs in the ECS y and z

directions
d y , d z : Deformations of shear springs between two nodes in the ECS
y and z directions
z y , z z : Internal variables for hysteretic behaviors of shear springs in
the ECS y and z directions

The friction coefficients of the friction surfaces y and z are dependent on

the velocities of deformat ions in the shear directions. They are determined
by the equations proposed by Constantinou, Mokha and Reinhorn (1990).

y fast , y fast , y slow, y e r v

z fast , z fast , z slow, z e r v

v d 2 d 2
y z
where,
ry d y rz d z2
2
r
v2

where,

fast , y , fast , z : Friction coefficients for fast deformation velocit ies in

the ECS y and z directions
slow, y , slow, z : Frict ion coefficients for slow deformat ion velocities
in the ECS y and z directions
ry , rz : Rates of changes in frict ion coefficients of shear springs in
the ECS y and z directions
d y , d z : Rates of changes in deformations of shear springs between
two nodes in the ECS y and z directions

Each of zy and zz is an internal hysteretic variable. The SRSS of both values

ranges from 0 to 1. The dynamic behavior of the variable z was based on
the biaxial plasticity model p roposed by Park, Wen, and Ang (1986), wh ich
was expanded fro m the Wens uniaxial p lasticity model (1976). They are
defined by the following differential equation:

221
Analy sis Manual f or MIDAS/Gen

ky
z y 1 z y sign d y z y y z y z z z sign d z z z z P y
2 dy

y

z z z y z z y sign d y z y y 1 z z2 z sign d z z z z k z
d
P z z

where,

k y , k z : Init ial shear stiffnesses prior to sliding in the ECS y and z

directions (stiffnesses of link element)
y , y , z , z : Parameters related to the shapes of hysteretic curves of
shear springs in the ECS y and z directions
d y , d z : Rates of changes in deformations of shear springs between
two nodes in the ECS y and z directions

The above model retains the identical form as the lead rubber bearing type
isolator except for the fact that the values corresponding to the yield
strengths are expressed by the products of the absolute value of the axial
force and the friction coefficients. If only one nonlinear shear spring exists,
the above model becomes identical to the uniaxial property with s=2.

222
 Nonlinear Analy sis

Inelastic Time History Analysis

Overview

Inelastic time history analysis is dynamic analysis, which considers material

nonlinearity of a structure. Considering the efficiency of the analysis,
nonlinear elements are used to represent important parts of the structure,
and the remainder is assumed to behave elastically.

Nonlinear elements are largely classified into Element Type and Force
Type. The Element Type directly considers nonlinear properties by
changing the element stiffness. The Force Type indirectly considers
nonlinear properties by replacing the nodal member forces with loads
without changing the element stiffness. MIDAS programs use the Newton-
Raphson iteration method for nonlinear elements of the Element Type to
arrive at convergence. For nonlinear elements of the Force Type,
convergence is induced through repeatedly changing the loads. The two
types of nonlinear elements are classified as the Table 2.1. First, beam and
general link elements assigned with inelastic hinge properties are classified
into the Element Type. A mong the general link elements, visco -elastic
damper, gap, hook, hysteretic system, lead rubber bearing and friction
pendulum system are classified as the Force Type nonlinear elements.

Element Type Type of Nonlinearity

Beam + Inelastic Hinge Element
Spring + Inelastic Hinge Element
Visco-elastic Damper Force
Gap Force
General
Hook Force
Link
Hysteretic System Force
Lead Rubber Bearing Force
Friction Pendulum System Force

Table 2.1 Classification of nonlinear elements

The equation of motion or dynamic equilibriu m equation for a structure,

which contains inelastic elements, can be formulated as below.

Mu Cu KS u f E f F P

223
Analy sis Manual f or MIDAS/Gen

where,

M : Mass matrix
C : Damping matrix
KS : Global stiffness matrix for elastic elements only
u, u, u : Displacement, velocity and acceleration responses
related to nodes
P : Dynamic loads related to nodes
fE : Nodal forces of Element Type nonlinear elements
fF : Nodal forces of Force Type nonlinear elements

Direct integration must be used for inelastic t ime history analysis of a

structure, wh ich contains nonlinear elements of the Element Type. If a
structure contains nonlinear elements of the Force Type only, much faster
analysis can be performed through modal superposition. Fro m this point on,
inelastic time history analysis by direct integration is explained.

The MIDAS programs use the Newmark method for the method of direct
integration. Iterat ive analysis by the Newton-Raphson method is carried out
in each time step in the process of obtaining the displacement increment
until the unbalanced force between the member force and external force is
dimin ished. The unbalanced force is resulted fro m the change of stiffness in
nonlinear elements of the Element Type and the change of member forces
in nonlinear elements of the Force Type. The equilib riu m equation
considered in each iteration step for obtaining response at the time (t+t) is
as follows:

K eff u peff
1
K eff M CK
t 2
t
peff p(t t ) f E f F K S u Mu Cu

Where,

K eff : Effective stiffness matrix

K : Global tangent stiffness matrix for elastic & inelastic elements
u : Incremental displacement vector at each iteration step
peff : Effective load vector at each iteration step

224
 Nonlinear Analy sis

, : Parameters related to Newmark method

t , t : Time and time increment

The above iterative process constantly updates the internal forces, fE and
f F , of inelastic elements through state determination. The nodal response
becomes updated using the displacement increment vector obtained in each
iterative analysis step.

u(t t ) u(t t ) u

u (t t ) u (t t ) u
t
1
u (t t ) u (t t ) u
t 2
The norm by which convergence of iterative analysis is assessed may be
displacement, load and energy. One or more of the three can be used to
assess the convergence. If no conversion is achieved until the maximu m
iteration nu mber specified by the user is reached, the time increment, t is
automatically d ivided by 2 and the model is reanaly zed. Each norm is
defined as follows:

unT un
D
unT un

, n peff , n
T
peff
F
,1 peff ,1
T
peff
T
peff un
E
,1 u1
T
peff

where,

D : Displacement norm
F : Load norm
E : Energy norm
peff ,n : Effective dynamic load vector at n-th iterative calculation
step

225
Analy sis Manual f or MIDAS/Gen

un : Displacement increment vector at n-th iterative calculation

step
un : Accumulated displacement increment vector through n times
of iterative calculations

Unlike elastic time history analysis, inelastic time history analysis can not
be carried out using the principle of superposition. For examp le, analysis
results from static loads and earthquake loads can not be s imp ly co mbined
to represent the results of those loads acting simultaneously. Instead, such
(comb ined) loads are applied as individual load cases and the loading
sequence or the continuity of the load cases can be assigned for analysis.

226
 Nonlinear Analy sis

Nonlinear static analysis

Once the effects of mass and damping are excluded from the nonlinear time
history analysis, nonlinear static analysis can be performed. Nonlinear static
analysis can be used to create init ial conditions based on gravity loads for
the subsequent nonlinear time history analysis (for lateral loads) or to
perform pushover analysis. In creat ing the in itial condit ions of the gravity
loads, performing nonlinear static analysis can reflect the nonlinear
behavior, wh ich may take p lace in the process. Accordingly, continuity or
sequence of applying loads can be maintained to assess the state of
nonlinear elements. Pushover analysis is a simp le method by which the
ultimate strength and the limit state can be effectively investigated after
yielding. Especially, this has become a representative analysis method for
Performance-Based Seismic Design, PBSD, which has been extensively
researched and applied in practice fo r earthquake engineering and seis mic
design. This analysis is main ly appropriate for structures in which higher
modes are not predominant and which are not influenced by dynamic
characteristics.

The method used in nonlinear static analysis is based on the Newton -

Raphson method, and it supports the methods of Load control or
Displacement control. It is also possible to continually analyze for load
cases, which have different control methods. In the load control, the static
loads applied by the user are divided into a number of loading steps and
loaded. In the displacement control, the user sets a target displacement,
which the structure can undergo, and increases the loads until the structure
reaches the target displacement. The target displacement can be largely set
to Global Control Master Node Control. The Global Control is a method
by which loading is increased until the maximu m displacement of the
structure satisfies the target displacement defined by the user. The
displacement has no relation to the direction of the loading. The Master
Node Control is a method by which loading is increased until the target
displacement at a specific node in a specific direction defined by the user is
satisfied. The target displacement in performance based seismic design is
generally set by considering the location of a node at wh ich the maximu m
displacement can possibly occur and its direction. The number of loading
steps in the load control or the displacement control is determined by
dividing the end time by the time increment.

The loading is applied through Time Vary ing Static Load in wh ich the user
specifies a dummy time function, but it is not used in real analysis. In the
case of load control, the load factors linearly increase fro m 0 to 1 in the
process of real analysis. In the case of displacement control, the load factors
corresponding to the displacement increments are automatically calcu lated.
The load factors used in a nonlinear static analysis can be saved and
reproduced.
227
Analy sis Manual f or MIDAS/Gen

Inelastic hinge properties

Inelastic hinge properties are a collection of nonlinear behavior

characteristics for a beam element or general link elements, wh ich are
defined for each of 6 co mponents. The nonlinear behavior characteristics
are defined by special rules, which are referred to as hysteresis models. The
property of each co mponent can be defined by an independent uni-axial
hinge hysteresis model or a mult i-axial h inge hysteresis model, wh ich
reflects mu lti-co mponent properties. Inelastic hinge properties are classified
into lu mped type, d istributed type and spring type. Among these different
types, the lu mped and distributed types are used for beam elements, and the
spring type is used for general link elements.

Inelastic beam element

Inelastic beam element is a beam element, which is assigned inelastic hinge

properties. The inelastic beam element is limited to having a prismatic
section whose hinge properties are identical for the single beam element.
The stiffness of the inelastic beam element is formalized by the flexib ility
method. The shape function on wh ich the existing stiffness method is based
may differ fro m the true deformed shape in inelastic analysis. Whereas, the
element section force distribution on which the flexib ility method is based
coincides with the true distribution, which results in much higher accuracy.
It has been known that the use of the flexib ility method allows us to
accurately model with a much less number of elements and as a result, the
analysis speed can be much faster.

Fig. 2.30 Inelastic beam element

Lumped type hinge

The lu mped type hinge is defined by a force-d isplacement relat ionship for
the axial co mponent and a mo ment-rotational angle relat ionship at the ends
for the fle xural co mponents. The formu lation is represented by inserting
inelastic translational and rotational springs of non-dimensional 0 lengths,
which can deform plastically, into the beam element. The remaining parts

228
 Nonlinear Analy sis

other than the lumped type inelastic hinges are modeled as an elastic beam.
The locations for inserting the inelastic springs for axial and flexural
deformation components are assigned to the middle and both ends of the
beam element respectively.

The stiffness matrix of the beam element, wh ich has been assigned lumped
type hinges, is calculated by the inverse matrix of the flexibility matrix. The
flexib ility matrix o f the total element is formu lated by adding the flexib ility
matrices of the inelastic springs and the elastic beam. The flexib ility of an
inelastic spring is defined by the difference between the tangential
flexib ility of the lu mped type hinge defined by the user and the initial
flexib ility. The flexib ility of the inelastic spring is zero prior to yield ing.
The tangential flexib ility matrix of the inelastic hinge is defined by
hysteresis models for uniaxial o r mu lti-axial hinges, wh ich are explained
later.

FS FH FH 0
F FB FS
K F 1
where,
FH : Flexibility matrix of inelastic hinge
FH 0 : Initial flexibility matrix of inelastic hinge
FS : Flexibility matrix of inelastic spring
FB : Flexibility matrix of elastic beam
F : Element flexibility matrix of inelastic beam
K : Element stiffness matrix of inelastic beam

Fig. 2.31 Flexibility of inelastic hinges

229
Analy sis Manual f or MIDAS/Gen

The relat ionship of mo ment-rotational angle of a flexural deformat ion hinge

is influenced by the end mo ments as well as by the flexu ral mo ment
distribution within the member. In order to determine the relationship, the
distribution of flexural mo ment needs to be assumed. The in itial stiffness
based on assumed moment distribution is shown below.

Fig. 2.32 Initial stiffness of inelastic hinges relative to flexural deformations (total
length=L, flexural stiffness of section=EI)

Distributed type hinge

The distributed type hinge is defined by a force-deformat ion relat ionship

for the axial co mponent and a mo ment-curvature rate relat ionship for the
flexu ral components at the section. The flexib ility matrix of a beam
element,
which has been assigned distributed type hinges, is defined by the following
equations and calculated through the Gauss -Lobbatto integration. The
flexibility of a section at an integration point in the longitudinal direction is
obtained by state determination by the hysteresis models of uni-axial or
mu lti-axial hinges, which are explained later. The stiffness matrix is
calculated by the inverse matrix of the flexibility matrix.

F 0L bT ( x) f ( x)b( x)dx
K F 1

230
 Nonlinear Analy sis

where,

f ( x) : Flexibility matrix of the section at the location x

b( x) : Matrix of the section force distribution function for the location x
F : Element flexibility matrix
K : Element stiffness matrix
L : Length of member
x : Location of section
The locations of the integration points are determined by the number of
integration points. The distances between the integration points are closer as
the points near both ends. A maximu m o f 20 integration points can be
specified. The distributed type hinges for axial and flexural deformat ions
are defined in terms of force-deformation and mo ment-curvature rate
relationships respectively.

The lu mped type hinge is advantageous in that it requires relat ively less
amount of calculat ions. Because it arb itrarily assumes the distribution of
member forces, inaccurate results may be obtained if the assumption
substantially deviates the true distribution. The distributed type on the other
hand can reflect the member force distribution more accurately. Its accuracy
increases with the increase in the number of hinges. However, it has a
drawback of increasing the amount of calculations required to determine the
hinge state.

Yield strength of beam element

The yielding of beam elements due to bending is defined as Fig. 4.4. In the
case of a structural steel section, the first yielding presumes that the bending
stress of the furthermost point fro m the neutral axis has reached the yield
strength. Subsequently, the second yielding presumes that the bending
stress over the entire section has reached the yield strength. In the case of a
reinforced concrete section, the first yielding presumes that the bending
stress of the furthermost point fro m the neutral axis has reached the
cracking stress of concrete. The second yielding presumes that the concrete
at the extreme fiber has reached the ultimate strain, and that the stress of
reinforcing steel is less than or equal to the yield stress. In the case of steel
reinforced concrete co mposite (SRC) sections, the calculation methods for
structural steel and reinforced concrete sections are applied to the concrete
filled tube type and the steel-encased type respectively. Where the
interaction between axial force and mo ments needs to be considered,
interaction curves are generated by considering the change of neutral axis
due to axial force.

231
Analy sis Manual f or MIDAS/Gen

Fig. 2.33 Bases for determining yield strength of beam elements

232
 Nonlinear Analy sis

P-M and P-M-M interactions

A beam element, wh ich is subjected to bending moments and axial force,

retains a different y ield strength compared to when each co mponent is
independently acting on the element, due to interaction. Especially in a 3-
dimensional time history analysis, the interaction significantly affects the
dynamic response of the structure. A column in a 3-dimensional structure
will experience a co mplex interaction between bending mo ments about two
axes and axial force due to a b i-d irectional earthquake. The M IDAS
programs carry out nonlinear time history analysis reflecting a P-M or P-
MM interaction.

A P-M interaction is reflected by calcu lating the flexural y ield strength of a

hinge considering the axial force effect. In this case, the interaction of two
bending moments is ignored. It is assumed that the axial force
independently interacts with each mo ment in determining the hinge status at
each time step.

The yield strength of bending moment is recalculated wh ile reflecting the

axial fo rce in the loading case, which satisfies the following three
conditions.
1) It must be the first load case among the time h istory load cases, which
are sequenced and analyzed consecutively.
2) Nonlinear static analysis must be performed.
3) Displacement control must be used.
Let us consider an inelastic beam element, which has been assigned hinge
properties and for which a P-M interaction is applied. The init ial section
force is assumed as the combination of the results of linear elastic analysis
for all the static load cases included in the time vary ing static load. The
factors used for the co mb ination are defined by the Scale Factors entered in
the time varying static load.

233
Analy sis Manual f or MIDAS/Gen

Fig. 2.34 Calculation of bending yield strength by P-M interaction

The yield strength for bending is determined relative to the location of the
loading point by static loads on the 2-dimensional interaction curve for the
calculated section force as shown in Fig. 2.34. If the loading point exists
within the interaction curve, the bending yield strength corresponding to the
axial force of the loading point is calculated fro m the interaction curve. If
the loading point exists beyond the interaction curve, the bending yield
strength is calculated fro m the intersection of the yield surface and the
straight line connecting the origin and the loading point. The 2-dimensional
interaction curves described thus far being idealized will be also used for
defining 3-dimensional yield surfaces described in the subsequent section.

A P-M -M interaction can be reflected in a nonlinear time h istory analysis

by using hysteresis models for mu lt i-axial h inges. The hysteresis models for
mu lti-axial hinges represent the interaction of axial force and two bending
mo ments, which is depicted by applying a plasticity theory. State
determination is carried out considering the overall co mbined change of the
three components at each time increment. The MIDAS programs support
the kinematic hardening type.

Approxi mation of the yield surface

In order to consider P-M or P-M -M interaction in calcu lating the yield

strength or for state determination of a hinge, a 3-dimentional yield surface
needs to be defined fro m P-M interaction curves. Because it is difficult to
construct an accurate yield surface fro m the rather limited data of P-M
interaction curves, the MIDAS programs appro ximate the P-M interaction

234
 Nonlinear Analy sis

curve and yield surface by a simple equation. First, the P-M interaction
curve is approximated by the following equation.

M P Pbal
1.0
M max Pmax Pbal

where
M : M y or M z in Element Coordinate System - the bending
moment component of the loading point
M max : M y ,max or M z ,max in Element Coordinate System the
maximu m yield strength for bending about the y- or z- axis
P : Axial force component of the loading point
Pbal : Pbal ,y or Pbal ,z, - A xial force at the balanced failure about
the y- or z- axis bending in the element coordinate system,
respectively
Pmax : A xial yield strength positive (+), negative (-) non symmet ry
is possible.
: An exponent related to P-M interaction surface
: y o r z, the exponent related to P-M interaction about the y-
or z- axis in the element coordinate system, respectively.
Each exponent is allowed to have different values above and
below the corresponding Pbal.

An M-M interaction is approximated by the following relationship:

My Mz
1.0
M y ,max M z ,max

where,

M y ,max : Maximu m bending yield strength about y-axis in element

coordinate system
M z ,max : Maximu m bending yield strength about z-axis in element
coordinate system
: An exponent related to interaction curve

For a 3-d imensional yield surface, the equation below, which satisfies the
approximated interactions above, is used.

235
Analy sis Manual f or MIDAS/Gen

a
y
M

P Pbal , y

f ( P, M y , M z ) g y ( M y , M z ) a
z
M

z ,max Pmax Pbal , y

a
z
M
P Pbal , z

M
z

g z M y , M z a

P P 1
z ,max max bal , z

Where,

a
My

M y ,max
g y (M y , M z ) a a
My Mz

M y ,max M z ,max
a
Mz

M z ,max
g z (M y , M z ) a a
My Mz

M y ,max M z ,max

The appro ximated exponents for interaction curves, y, z and can be

either user defined, or their optimu m values can be automatically
calculated. The optimu m values are found by increasing fro m 1.0 to 3.0
by an increment of 0.1 and calculat ing the values of y and z for a given
among which the values with the min imu m margin of erro r is selected. The
values of y and z, each corresponding to P-My and P-M z interactions
respectively, are calculated by equalizing the areas under the above
approximated interaction curves and the areas under the real interaction
curves, which are calculated fro m the section and material properties. The
margin o f error is defined by summing the absolute difference o f mo ment
values at the reference interaction points and the real interaction curves at
the same axial forces.

There are two 3-d imensional yield surfaces, which exist in the form of a
trilinear skeleton curve. Out of convenience, we will call the inner surface
and outer surface the first phase yield surface and second phase yield
surface respectively. In the case of a reinforced concrete section, the first
and second phase yield surfaces correspond to cracking and yielding

236
 Nonlinear Analy sis

respectively. Among the two yield surfaces, the first phase yield surface is
approximated as shown in Fig. 2.35. First, the second phase yield surface is
approximated by two straight lines, which result in an equal area. Next , the
parameters fo r the appro ximated first phase yield surface are calculated so
that the curve forms tangent to the inclined line of the two straight lines and
the original crack curve.

Fig 2.35 Approximation of crack surface of a reinforced concrete section

Inelastic general link elements

Inelastic general lin k elements are assigned inelastic hinge propert ies,
which are used to model specific parts of a structure such as to represent
plastic deformat ions of soils concentrated at a spring. The inelastic
properties that can be assigned to the general link elements in the MIDAS
programs are limited to the spring type. Such general lin k elements simply
retain only the elastic stiffness for each co mponent. By assigning inelastic
hinge properties, they become inelastic elements. The elastic stiffness for
each component becomes the initial stiffness in nonlinear analysis.

Hysteresis Model for Uni-axial Hinge

A uni-axial hinge is represented by 3 translational and 3 rotational

components, wh ich behave independently. The hysteresis models of uni-
axial hinges provided in the MIDAS programs are founded on a skeleton
curve. They are 6 types, wh ich are kinemat ic hardening, orig in-oriented,

237
Analy sis Manual f or MIDAS/Gen

peak-oriented, Clough, degrading tri-linear and Takeda types. All the

models except for the Clough type are of basically a tri-linear type. The first
and second phase yield strengths and the stiffness reduction factors with
positive (+) and negative (-) non symmetry can be defined to represent
nonsymmetrical sections or material properties. However, stiffness
reduction for the kinematic hardening type does not support non-symmetry
due to its characteristics.

In the hysteresis models below, response points represent the coordinates of

load-deformation points situated on the path of a hysteresis model. Loading
represents an increase in load in absolute values; unloading represents a
decrease in load in absolute values; and reloading represents an increase in
load in absolute values with the change of signs during unloading.
Unloading points represent response points where loading changes to
unloading.

Fig. 2.36 Kinematic hardening hysteresis model Fig. 2.37 Origin-oriented hysteresis model

Fig. 2.38 Peak-oriented hysteresis model Fig. 2.39 Clough hysteresis model

238
 Nonlinear Analy sis

Kinematic Hardening Type

Response points at initial loading move about on a trilinear skeleton curve.

The unloading stiffness is identical to the elastic stiffness, and the yield
strength has a tendency to increase after yield ing. This, being used for
modeling the Bauschinger effect of metallic materials, should be used with
caution for concrete since it may overestimate dissipated energy. Due to the
characteristics of the model, stiffness reduction after yielding is possible
only for positive (+) and negative (-) symmetry.

Origin-oriented Type

Response points at initial loading move about on a trilinear skeleton curve.

The response point moves towards the origin at the time of unloading.
When it reaches the skeleton curve on the opposite side, it moves along the
skeleton curve again.

Peak-oriented Type

Response points at initial loading move about on a trilinear skeleton curve.

The response point moves towards the maximu m displacement point on the
opposite side at the time of unloading. If the first yielding has not occurred
on the opposite side, it moves towards the first yielding point on the
skeleton curve.

Clough Type

Response points at initial loading move about on a bilinear skeleton curve.

The unloading stiffness is obtained from the elastic stiffness reduced by the

following equation. As the deformation progresses, the unloading stiffness

gradually becomes reduced.

Dy
K R K0 K0
Dm
where,
KR : Unloading stiffness
K0
: Elastic stiffness
Dy
: Yield displacement in the region of the start of unloading
Dm
: Maximu m displacement in the region of the start of unloading
(Rep laced with the yield displacement in the region where
yielding has not occurred)

239
Analy sis Manual f or MIDAS/Gen

: Constant for determining unloading stiffness

When the loading sign changes at the time of unloading, the response point
moves towards the maximu m d isplacement point in the region of the
progressing direction. If yielding has not occurred in the region, it moves
towards the yielding point on the skeleton curve. Where unloading reverts
to loading without the change of loading signs, the response point moves
along the unloading path. And loading takes place on the skeleton curv e as
the loading increases.

Degrading Trilinear Type

Fig. 2.40 Hysteresis models for trilinear stiffness reduction

Response points at initial loading move about on a trilinear skeleton curve.

At unloading, the coordinates of the load-deformation move to a path along
which the maximu m deformation on the opposite side can be reached due to
the change of unloading stiffness once. If y ield ing has not occurred on the
opposite side, the first yielding point is assumed to be the point of
maximu m deformation. The first and second unloading stiffness is
determined by the fo llo wing equations. As the maximu m deformat ion
increases, the unloading stiffness gradually decreases.

K R1 b K 0
K R 2 b KC
1 FM FM
b
K1 DM DM

where,

240
 Nonlinear Analy sis

K R1 : First unloading stiffness

KR2 : Second unloading stiffness
K0 : Elastic stiffness
KC : First yield stiffness in the region to which the loading point
progresses due to unloading
K1 : Slope between the origin and the second yield point in the
region to which the loading point progresses due to
unloading
b : St iffness reduction factor. If unloading takes place between
the first and second yield points on the skeleton curve, the
value is fixed to 1.0
FM , FM : Maximu m positive (+) and negative (-) forces
respectively
DM , DM : Maximu m positive (+) and negative (-) deformations
respectively

Takeda Type

Response points at initial loading move about on a trilinear skeleton curve.

The unloading stiffness is determined by the location of the unloading point
on the skeleton curve and whether or not the first yielding has occurred in
the opposite region.

If unloading takes place between the firs t and second yield points on the
skeleton curve, the coordinates of the load-deformation progress towards
the first yield point on the skeleton curve on the opposite side. If the sign of
the load changes in the process, the point progresses towards the maximu m
deformation point on the skeleton curve in the region of the proceeding
direction. If y ield ing has not occurred in the region, the coordinat es will
progress towards the first yield point. When the point meets the skeleton
curve in the process, it progresses along the skeleton curve.
When unloading takes place in the region beyond the second yield point on
the skeleton curve, the coordinates of load-deformation will progress based
on the following unloading stiffness.

F FC DY
K RO Y
DY DC DM

where,
K RO : Unloading stiffness of the outer loop

241
Analy sis Manual f or MIDAS/Gen

FC : First yield force in the region opposite to unloading point

FY : Second yield force in the region to which unloading point
belongs
DC : First yield displacement in the region opposite to unloading
point
DY : Second yield displacement in the reg ion to which unloading
point belongs
DM : Maximu m deformat ion in the reg ion to which unloading po int
belongs
: Constant for determining the unloading stiffness of the outer
loop

If the sign of load changes in the process, the coordinates progress towards
the maximu m deformation point on the skeleton curve in the region of the
proceeding direction. If yielding has not occurred in the region, the
coordinates continue to progress without changing the unloading stiffness
until the load reaches the first yield fo rce. Upon reaching the first yield
force, it progresses towards the second yield point.

242
 Nonlinear Analy sis

Fig. 2.41 Takeda type hysteresis models

Inner loop is formed when unloading takes place before the load reaches the
target point on the skeleton curve while reloading is in progress, which
takes place after the sign of load changes in the process of unloading.
Unloading stiffness for inner loop is determined by the following equation.

K RI K RO

where,
K RI : Unloading stiffness of inner loop

243
Analy sis Manual f or MIDAS/Gen

K RO : Unloading stiffness of the outer loop in the region to which

the start point of unloading belongs
: Unloading stiffness reduction factor for inner loop

In the above equation, =0.0 for calculating K RO and =1.0 for calculating
K RI are set if the second yielding has not occurred in the region of
unloading. In the case where the sign of load changes in the pro cess of
unloading in an inner loop, the load progresses towards the maximu m
deformation point, if it exists on the inner loop in the reg ion of the
proceeding direction. If the maximu m deformat ion point does not exist on
the inner loop, the load direct ly progresses towards the maximu m
deformation point on the skeleton curve. If the maximu m deformat ion point
exists and there exists mult iple inner loops, it progresses towards the
maximu m deformation point, which belongs to the outermost inner loop.
Also, if loading continues through the point, it progresses towards the
maximu m deformation point on the skeleton curve.

Hysteresis Model for Multi-axial Hinge

A mult i-axial hinge considers interactions between multip le co mponents.

This can be used to model a colu mn, which exhib its inelastic behavior
subject to an axial fo rce and mo ments about two axes. Such mult i-
component interactions can be used to represent complex loading types
such as earthquakes. In order to model the interactions more accurately, we
may d iscretize a colu mn into solid elements and analyze the column.
However, this type of approach requires a significant amount of
calculations. Alternatively, a beam element can be used to reduce the
number of elements, which is based on a fiber model. A fiber model
separates a beam section by fibers; but a single beam does not need to be
advantage of modeling nonlinear behavior more accurately. M IDAS
provides hysteresis models of kinemat ic hardening type by applying the
fiber model and plasticity theories for multi-axial hinge.

Kinematic Hardening Type

The hysteresis model of kinematic hardening type for mu lti -axial h inges
follows the kinematic hardening rule, which uses two yield surfaces. Th is is
basically a trilinear hysteresis model o f kinematic hardening type for
uniaxial h inges, which has been expanded into three axes. Assessing the
hinge status and calculating the flexib ility matrix thereby depend on the
relationship of relative locations of loading points on a given yield surface.
The unloading stiffness is identical to the elastic stiffness. The yield surface
only changes its location, and it is assumed that the shape and size remain
unchanged. If the loading point is located with in the first yield surface, an

244
 Nonlinear Analy sis

elastic state is assumed. When the loading point meets the first yield surface
and the second yield surface, the first and second yielding are assumed to
have occurred respectively.

The flexib ility mat rix of a hinge is assumed to be the sum of flexib ility of
three springs connected in a series. The serially connected springs are
consisted of one elastic spring and two inelastic springs. Only the elastic
spring retains flexibility and the remainder is assumed to be rigid init ially.
As the loading point comes into contact with each yield surface, th e
flexib ility of the corresponding inelastic spring is assumed to occur. The
equation for the flexib ility matrix after the N-th yielding is noted below.
Here, the terms related to the yield surface are calculated only for the yield
surface with which the loading point is currently in contact.

N a(i ) a(Ti )
Fs K 1
s ,(0)
i 1 a(Ti ) K s ,(i ) a(i )

Where
k1,(i ) 0 0

K s ,(i ) 0 k2,(i ) 0
0 0 k3,(i )

1 1 1 1
(n 1, 2,3; i 1, 2)
kn,(i ) rn,(i ) rn,(i ) kn,(0)

i : Order of yield surface with wh ich the current loading pointis in
contact
Fs
: Tangential flexibility matrix of hinge
a(i )
: Normal vector at the loading point of i-th yield surface
kn ,(i )
: i-th Serial spring stiffness of n-th component (elastic stiffness
for i=0)
rn ,( i )
: St iffness reduction factor at the i-th y ield ing of n -th
component (1.0 for i=0)

In the above flexib ility mat rix, Fs, the three components are co mpletely
independent as a diagonal matrix in the elastic state. In the state of yield
deformation, interactions between the three components take place due to
the non-diagonal terms of the matrix.

245
Analy sis Manual f or MIDAS/Gen

Fig. 2.42 Hardening rule

When the loading point moves to the exterio r of the arrived yield surface,
the yield surface also moves so as to maintain the contact with the loading
point. The direction of the movement follows the hardening rule of
deformed Mro z. If the loading point moves towards the interior of the yield
surface, it is considered unloading, and the unloading stiffness is identical
to the elastic stiffness. The yield surface does not move in the unloading
process.
Fiber Model

Fiber Model discretizes and analyzes the section of a beam element into
fibers, wh ich only deform axially. When a fiber model is used, the mo ment
curvature relationship of a section can be rather accurately traced, based on
the assumption of the stress -strain relationship of the fiber material and the
distribution pattern of sectional deformat ion. Especially, it has the
advantage of considering the movement of neutral axis due to axial force.
On the other hand, a skeleton curve based hysteresis model has a limitation
of accurately representing the true behavior because some behaviors of a
beam element under repeated loads have been idealized.

The fiber models in MIDAS assume the fo llo wing: 1) The section maintains
a plane in the p rocess of deformat ion and is assumed to be perpendicular to
the axis of the member. Accordingly, bond-slip between reinfo rcing bars
and concrete is not considered. 2) The centroidal axis of the section is

246
 Nonlinear Analy sis

assumed to be a straight line throughout the entire length of the beam

element

Fig 2.43 Discretization of a section in a fiber model

In a fiber model, the status of fibers is assessed by axial deformat ions

corresponding to the axial and bending deformat ions of the fibers. The axial
force and bending mo ments of the section are then calculated fro m the
stress of each fiber. Based on the basic assumptions stated above, the
relationship between the deformat ions of fibers and the deformat ion of the
section is given below.

y ( x)

i zi yi 1 z ( x)
( x)
x
where,
x : Location of a section
y ( x) : Curvature of the section about y-axis in Element Coordinate
System at the location x
z ( x ) : Curvature of the section about z-axis in Element Coordinate
System at the location x
x ( x) : Deformat ion of the section in the axial direction at the
location x
yi : Location of the i-th fiber on a section
zi : Location of the i-th fiber on a section
i : Deformation of the i-th fiber

247
Analy sis Manual f or MIDAS/Gen

The properties of nonlinear behavior of a section in a fiber model are

defined by the stress-strain relationship of nonlinear fibers. MIDAS
provides steel

and concrete material fiber models, and their constitutive models are
explained below.

(1) Steel fiber constitutive model

Steel fiber constitutive model basically retains the curved shapes

approaching the asymptotes defined by the bilinear kinematic hardening
rule. The transition between two asymptotes corresponding to the regions of
each unloading path and strain-hardening retains a curved shape. The
farther the maximu m deformation point in the direction of unloading is
fro m the intersection of the asymptotes, the smoother the curvature
becomes in the transition region. The constitutive model is thus defined by
the equation below.

(1 b)
b
(1 R )1/ R

where,
r

0 r
r

0 r
a1
R R0
a2
: Strain of steel fiber
: Stress of steel fiber
( r r ) : Unloading point, which is assumed to be (0, 0) at the
initial elastic state
( 0 , 0 ): Intersection of two asymptotes, which defines the current
loading or unloading path
b : Stiffness reduction factor
R0 , a1 , a2 : Constants
: Difference between the maximu m strain in the direction of
loading or unloading and 0 (absolute value)

248
 Nonlinear Analy sis

However, the initial value of the maximu m strain is set to (Fy/E). (refer to
Fig 2.43)

Fig. 2.44 Steel fiber constitutive model

(2) Concrete fiber constitutive model

MIDAS uses the equation of envelope curve proposed by Kent and Park
(1973) for the concrete fiber constitutive model of concrete under
compression. Tension strength of concrete is ignored. The equation of the
envelope curve for co mpression is noted below. This is a well known
material model for considering the effect of increased compression strength
of concrete due to lateral confinement.
2
Kf c' 2 for 0
c 0 0
'
Kf c 1 Z ( 0 ) 0.2 Kf c for 0 u
'

where,
: Strain of concrete fiber
: Stress of concrete fiber
0 : Strain at maximu m stress
u : Ultimate strain
K : Factor for strength increase due to lateral confinement
Z : Slope of strain softening
f c' : Compressive strength of concrete cylinder (MPa)

249
Analy sis Manual f or MIDAS/Gen

Fig. 2.45 Concrete fiber constitutive model

The concrete, which has exceeded the ultimate strain, is assumed to have
arrived at crushing, and as such it is considered unable to resist loads any
longer. Kent and Park suggested the following equation in order to calcu late
the parameters defining the above envelope curve for a rectangular colu mn
section.

0 0.002 K
ps f yh
K 1
f c'
0.5
Z
3 0.29 f c' h'
0.75 0.002 K
145 f c' 1000
s
Sh

where,
f yh : Yield strength of stirrups
ps : Reinforcing ratio of stirrups = Vo lu me of stirrups / Volu me of
concrete core
'
h : Width of concrete core (longer side of a rectangle)
(The range of the concrete core is defined as the outer volume
encompassing the stirrups.)
Sk : Spacing of stirrups

Scott et al (1982) proposed the following equation of u ltimate strain fo r a

laterally confined rectangular column.

250
 Nonlinear Analy sis

u 0.004 0.9s ( f yh / 300)

When unloading takes place on the above envelope curve, the unloading
path is defined by the equations below, pointing towards a point ( p, 0) on
the strain a xis. When the strain reaches this point, it moves to the tension
zone following the strain axis.

p
2

0.145 r 0.13 r for r 2
0 0 0 0
p
0.707 r 2 0.834 for r 2
0 0 0

r : Strain at the start of unloading

p : Strain at the final point of the unloading path

If the co mpressive strain increases again, the load follows the previous
unloading path and reaches the envelop curve.

Hysteresis Model for Multi-linear Hinge

(1) Multi-Linear Elastic Type

Overview of Hysteresis
Multi-Linear Elastic Type Hysteresis is nonlinear but elastic. The force -displa
cement relationship of the skeleton curve is defined by a mult i-linear curve. Ir
respective of loading and unloading, no hysteresis loop is generated in Mult i-
Linear Elastic Type, and the force -displacement relationship exists only on th
e skeleton curve.

The curve can be sy mmetrically or unsymmetrically defined. The types of co

rresponding elements include lu mped hinge, distributed hinge, spring and trus
s elements.

Definition of Skeleton Curve

Force-Displacement Curve
The skeleton curve is defined by the fo rce-displacement relationship defined
by the user. The following restrictions apply to defining the force-d isplaceme

251
Analy sis Manual f or MIDAS/Gen

nt curve:

Force-Displacement Curve has no limitation on the number of data.

The initial value must be set to (0,0).
No identical values can be used for Displacements, and the force -displacem

ent data are arranged in reference to the displacements.

The signs of force and displacement must be the same at all times.

A negative slope is not permitted in Force-Displacement Curve except fo r t

he final value. As such, the forces must gradually increase on the positive sid
e and decrease on the negative side except fo r the last points on the curve. No
fluctuation is permitted.

Rules for Hysteresis of Multi-Linear Elastic Type

The rules for hysteresis of Multi-Linear Elastic Type are identical to those of
Elastic Tetralinear Type.

(2) Multi-Linear Plastic Kinematic Type

Overview of Hysteresis
Multi-Linear Plastic Kinematic Type Hysteresis is defined on mu lti-linear ske
leton curves based on the kinematic hardening ru les. The curve can be symm
etrically or unsymmetrically defined. The types of corresponding elements in
clude lumped hinge, distributed hinge, spring and truss elements.

Figure 2.46 Multi-Linear Plastic Kinematic Hysteresis Model

252
 Nonlinear Analy sis

Definition of Skeleton Curve

Force-Displacement Curve
The skeleton curve is defined by the fo rce-displacement relationship defined
by the user. The following restrictions apply to defining the force-d isplaceme
nt curve:

Force-Displacement Curve has no limitation on the number of data.

At least one data point must be defined on both the positive and negative side

s, and the numbers of data on the positive and negative sides must be identica
l.
The initial value must be set to (0,0).

No identical values can be used for Displacements, and the force-d isplaceme

nt data are arranged in reference to the displacements.

The signs of force and displacement must be the same at all times.

A negative slope is not permitted in Force-Displacement Curve . As such, the

forces must gradually increase on the positive side and decrease on the negat
ive side. No fluctuation is permitted.

Rules for Hysteresis of Multi-Linear Plastic Kinematic Type

1. In the case of Ppl( ) P1( ) , the hysteresis curve for Multi-Line
ar Pl astic Kinematic Type follows the conventional kinematic h
ardening rules.
P
() ( )
Ppl P1
P2(+) P( pl)
P1(+)
K0(+) P1(+)

K0(-)
K0(+)
D2(-) D1(-)
D P1(-)
D1(+) D2(+)
K0(-)

P1(-)

P1(-)

P2(-)

Figure 2.47 Rules for Hysteresis of Multi-Linear Plastic Kinematic Type

253
Analy sis Manual f or MIDAS/Gen

2. In the case of Ppl( ) P1( ) , when the forc e is unloaded on the skele
ton curve, the unloading takes place backward at a slope of K0 by the
magnitude of P1 (+) or P1 (-) (Rule:1). It is then directed towards the po
int of unloading by the m agnitude of the first yielding displacement,
D1 (-) or D1 (+), on the opposite side until the restoring forc e becom es 0
(Rule:2). Once the restoring forc e exceeds 0, the kinem atic hardening
rules apply.

P
() ( )
Ppl P1

P2(+)
Rule: 1
K0(+) P( pl) P1(+)
P1(+)

Rule: 2
K0(+)
D1(-)
D
D1(-)
P1(-)

P1(-)

P2(-)

Figure 2.48 Rules for Hysteresis of Multi-Linear Plastic Kinematic Type

(3) Multi-Linear Elastic Type

Overview of Hysteresis
Multi-Linear Plastic Takeda Type Hysteresis is a mult i-linear stiffness degrad
ation model. The curve can be sy mmetrically o r unsymmetrically defined. Th
e types of corresponding elements include lu mped hinge, distributed hinge, s
pring and truss elements.

254
 Nonlinear Analy sis

P1(+)

D1(-) D1(+) D

P1(-)

Figure 2.49 Multi-Linear Plastic Takeda Hysteresis Model

Definition of Skeleton Curve

The nonlinear characteristics of the hysteresis model are defined as follows:

Force-Displacement Curve

The skeleton curve is defined by the fo rce-displacement relationship defined

by the user. The following restrictions apply to defining the force-d isplaceme
nt curve:

Force-Displacement Curve has no limitation on the number of data.

At least one data point must be defined on both the positive and negative si

des, and the numbers of data on the positive and negative sides must be identi
cal.
The initial value must be set to (0,0).

No identical values can be used for Displacements, and the force -displacem

ent data are arranged in reference to the displacements.

The signs of force and displacement must be the same at all times.

A negative slope is not permitted in Force-Displacement Curve. As such, t

he forces must gradually increase on the positive side and decrease on the neg
ative side. No fluctuation is permitted.

255
Analy sis Manual f or MIDAS/Gen

Unloading Stiffness Parameter :

The stiffness at unloading on the (+) and (-) sides is computed as follows.
When 0 , the unloading stiffness becomes the same as the elastic stiffness.

where, D1( ) , D1(-) : Yielding displacements on (+) & (-) sides

() (-)
Dmax , Dmax : Maximum displacements on (+) & (-) sides
(Rep lace with the yielding displacement when yielding has not
occurred.)
: Unloading stiffness parameter (0 1)

Rules for Hysteresis of Multi-Linear Plastic Takeda Type

1. In the case of Dmax D1 , the curve becom es linear elastic, which reta
ins the elastic slope, K 0, passing though the origin.

2. When D first exceeds D1( ) or exceeds the m aximum D up to the pres

ent, the curve follows the skeleton curve.

3. When the forc e is unloaded at the state, D1() D or D D1() , the cur
ve follows the unloading stiffness at a slope of Kr ( ) or Kr (-) .

4. D moves towards the Dmax on the opposite side when the sign of the f
orce changes in the process of unloading. If the opposite side has not
yielded, the yielding point becomes the maximum displacement.

256
 Nonlinear Analy sis

(4) Multi-Linear Elastic Type

Overview of Hysteresis
Multi-Linear Plastic Pivot Type Hysteresis (Pivot Hysteresis hereafter) is a m
ulti-linear stiffness degradation model proposed by R. K. Dowell, F. Seible &
E. L. Wilson(1998) 1 . Pivot Hysteresis uses multip le pivot points to control th
e nonlinear relationship of stress -strain or mo ment-rotation of reinforced conc
rete members. Thus, this model can accurately depict the stiffness degradatio
n and the pinching effect when unloading takes place.

The curve can be sy mmetrically or unsymmetrically defined. The types of co

rresponding elements include lu mped hinge, distributed hinge, spring and trus
s elements.

Definition of Skeleton Curve

The nonlinear characteristics of the hysteresis model are defined as follows:

Force-Displacement Curve
The skeleton curve is defined by the force-d isplacement relat ionship defin
ed by the user. The fo llo wing restrictions apply to defin ing the force-d ispl
acement curve:
Force-Displacement Curve has no limitation on the number of data.

At least one data point must be defined on both the positive and nega

tive sides, and the numbers of data on the positive and negative sides
must be identical.
The initial value must be set to (0,0).

No identical values can be used for Displacements, and the force-d is

placement data are arranged in reference to the displacements.

The signs of force and displacement must be the same at all times.

A negative slope is not permitted in Force-Displacement Curve exce

pt for the final value. As such, the forces must gradually increase on
the positive side and decrease on the negative side except for the last
points on the curve. No fluctuation is permitted.

Primary Pivot Point

1) Robert K. Dowell, Frieder Seible, and Edward L. Wilson, Pivot Hysteresis Model for Rein
forced Concrete Members, ACI STRUCTURAL JOURNAL, n95, 1998, pp.607-617.

257
Analy sis Manual f or MIDAS/Gen

The Primary Pivot Points, P1 and P3 represent the points towards which the
unloading curves are oriented in the Q1 and Q3 zones. The Primary Pivot
Points, P1 and P3 control the degradation of the unloading stiffness caused by
the change in deformation or displacement. P1 and P3 are located along the
extended lines of the initial stiffness on the (+) and (-) sides, which are
defined by the yield strengths, Fy(+) and Fy(-) and Scale Factors, 1 and 2 .

1 : Scale Factor used to define the pivot point, P 1 when unloading from
the Q1 side ( 1 1)
T

2
h
: Scale Factor used to define the pivot point, P 3 when unloading from
the Q3 side ( 2 1)
e

l
The ocations of the Primary Pivot Points, P1 and P3 move to P1 * and P3 * after
yielding respectively, whenever the maximu m d isplacement point is renewed
by the Initial Stiffness Softening Factor, . However, when =0, the locat
ions of the Primary Pivot Points, P1 and P3 remain unchanged.
F F
2Fy(-) P3

Fy(+)

Q4 Q1 Q4 Q1

D D
Q3 Q2 Q3 Q2

Fy(-)

P1 1Fy(+)

Figure 2.50 Primary Pivot Point

Pinching Pivot Point

The Pinching Pivot Points, PP2 and PP4 represent the points towards which
the unloading curves are oriented in the Q1 and Q3 zones after the restoring
force exceeds 0. PP2 and PP4 are located on the skeleton curve in the elastic
zone on the (+) and (-) sides, which are defined by the yield strengths of the
initial stiffness, Fy(+) and Fy(-) and Scale Factors, 1 and 2 .

1 : Scale Factor used to define the pivot point, PP 2 when loading on

258
 Nonlinear Analy sis

the Q 2 side (0< 1 1)

2 : Scale Factor used to define the pivot point, PP 4 when loading on
the Q 4 side (0< 2 1)

The locations of the Pinching Pivot Points, PP2 and PP4 after y ield ing will m
ove to PP2 * and PP4 * respectively, whenever the maximu m d isplacement poin
t is renewed by the Initial Stiffness Softening Factor, . However, when
=0, the Pinching Pivot Points, PP2 and PP4 remain unchanged.
F
F
2Fy(-) P3

Fy(+)
1Fy(+)
PP4
Q4 Q1 Q4 Q1

D D
Q3 Q2 Q3 Q2
PP2 2Fy(-)
Fy(-)

P1 1Fy(+)

Figure 2.51 Pinching Pivot Point

Initial Stiffness Softening Factor :

is an init ial stiffness softening factor used to control the in itial stiffness de
gradation after yielding. A fter y ield ing, the Primary Pivot Points, P1 and P3 a
re relocated to P1 * and P3* , which are located on the lines extended fro m the
maximu m displacement points on the (+) and (-) sides respectively. P1 * and P
* (+) and Fy(-), Scale Factors, and , and the initial stiff
3 are defined by Fy 1 2
ness softening factor, .
In addition, the Pi nching Pivot Points, PP2 and PP4 move to PP2 * and PP4 * re
spectively. PP2* (or PP4*) is defined by the intersection point of the straight l
ine passing through P1* and the orig in (o r P3* and the origin ) and the straigh
t line connecting PP2 (or PP4) to the maximu m displacement point on (-) side
(or (+) side).
Renewal of Scale Factors, 1 and 2

259
Analy sis Manual f or MIDAS/Gen

The Pinching Pivot Point Scale Factors, 1 and 2 are renewed after yieldin
g under the conditions below.
i ; Dmax Dt1


i* Fmax
i ; Dmax Dt1

Fti
F F
2Fy(-)(1+)
P3*

2Fy(-) P3 D ()
max
()
, Fmax D ()
max
()
, Fmax
Fy(+) Fy(+)
PP4 pp
1Fy(+) PP4* K

K*
D D

Fy(-)

D ()
max
( )
, Fmax P1
1Fy(+)
P1
1Fy(+)

1Fy(+)(1+) 1Fy(+)(1+)
P1* P1*

Figure 2.52 Initial Stiffness Softning Factor

F
D t1 , Ft1
2Fy(-)
(+)
D()
max
()
, Fmax
Fy
1Fy(+)

Dt2
Dt1
(-)
2Fy
Fy(-)
D ()
max
( )
, Fmax
1Fy(+)
Dt 2 , Ft 2
Figure 2.53 Renewal of Scale Factors, 1 and 2

260
 Nonlinear Analy sis

Rules for Hysteresis of Multi-Linear Plastic Pivot Type

1. In the case of Dmax D1 , the curve becomes linear elastic, which retains
the elastic slope, Ko passing the origin. (Rule: 0)
2. i) The curve follows the skeleton curve when the displacement exceeds
D1( ) for the first time. (Rule: 1)
ii) When unloading takes place on this straight line, the curve is directed to
wards P1 or P3. (Rule: 2)
iii) In the case of reloading before the restoring force reaches 0, the curve c
ontinues to follow the same unloading straight line. (Rule: 3) If it reache
s the skeleton curve, it follows along the skeleton curve. (Rule: 4)
iv) When the restoring force exceeds 0, the curve is directed towards PP 2 or
PP4 . (Rule: 5)
v) When PP2 or PP4 is exceeded and yielding has not occured, the curve mo
ves along the straight line of the elastic slope. (Rule: 6) When yielding t
akes place due to large deformation, the curve moves along the skeleton
curve. (Rule: 7)
F
P3
2Fy(-)
Rule: 4
Rule: 1
Fy(+) D ()
max
()
, Fmax
Rule: 0 Rule: 3

1Fy(+)
K0 Rule: 2
D1(-)
Rule: 5 D1(+) D
(-)
PP2 2Fy
Rule: 6

Fy(-)
Rule: 7
1Fy(+)
P1

Fig 2.54 Rules for Hysteresis of Multi-Linear Plastic Pivot Type

261
Analy sis Manual f or MIDAS/Gen

3. i) When unloading takes place on the skeleton curve after both sides h ave
yielded, the curve moves towards P1 or P3. (Rule: 8) However, it is dire

cted towards the renewed P1* or P3* if is not equal to 0.
ii) If the restoring force exceeds 0, the curve is directed towards PP 2 or PP4 .
However, it is directed towards the renewed PP2 * or PP4 * if is not equ
al to 0. (Rule: 9)
iii) If unloading takes place before reaching PP 2 or PP4 , the curve moves alo
ng the straight line passing through the unloading point and P4 (o r P2).
(Ru le:10) If reloading takes place before the restoring force reaches bac
k to 0, the curve moves back towards P3 (or P1). (Rule: 11)
iv) If the restoring force exceeds 0, the curve moves along the line connecti
ng the point of zero restoring force to P3 (or P1). (Ru le: 12) When the c
urve intersects with a line connecting PP2 (or PP4 ) and (or ), it is
directed towards (or ). (Rule: 13)
F
P4 P3
2Fy(-)

D
()
max
()
, Fmax
1Fy(+)
PP4
Rule: 9 Rule: 11
Rule: 10

Rule: 12 D
(-)
2Fy
PP2
Rule: 8
Fy(-)
Rule: 13

1Fy(+)
D ()
max
( )
, Fmax P2 P1

Fig 2.55 Rules for Hysteresis of Multi-Linear Plastic Pivot Type

262
 Nonlinear Analy sis

Material Nonlinear Analysis

A fundamental difference between elastic and plastic material behaviors is that

no permanent deformations occur in the structure in elastic behavior, whereas
permanent or irreversible deformations occur in the structure in plastic
behavior.

Plasticity theory

The components of s tatic plastic strain are constituted by the following

assumptions:

Constitutive response is independent of the rate of deformation.

Elastic response is not influenced by plastic deformation.
Additive strain decomposition into elastic and plastic parts is defined by

e p
(1)

where,
: total strains
e : elastic strains
p : plastic strains

And the following basic concepts are used to formulate the equations:

Yield criteria to define the initiation of plastic deformation

Flow rule to define the plastic straining
Hardening rule to define the evolution of the yield surface with plastic str
aining

Yield criteria
The yield function (or loading function), F, which defines the limit for the range of
elastic response, is as follows (Fig. 2.18):

F ( , p , ) e ( , p ) ( p ) 0
(2)

263
Analy sis Manual f or MIDAS/Gen

where,
: current stresses
e : equivalent or effective stress
: hardening parameter which is a function of p

p : equivalent plastic strain

In classical plasticity theory, a state of stress at which the value of the yield functio
n becomes positive is not admissible. When yielding occurs, the state of stress is co
rrected by scaling plastic strains until the yield function is reduced to zero. This pro
cess is known as the plastic corrector phase or return mapping.

Fig 2.56 Geometric illustration of associated flow rule and singularity

Flow rule
The flow rule defines the plastic straining, which is expressed as follows (Fig 2.56)
:

g
d p d d b

(3)

264
 Nonlinear Analy sis

where,
g
: the direction of plastic straining

d : plastic modulus which identifies the magnitude of plastic straini

ng

The function g is termed as the plastic potential function, which is generally defin
ed in terms of stress invariants. If g=F, it is termed as associated flow rule, and if
gF, it is referred to as non-associative flow rule.

265
Analy sis Manual f or MIDAS/Gen

The associated flow rule is adopted for all the yield criteria of M IDAS programs . A
s the direction of the plastic strain vector is normal to the yield surface, the above e
quation can be expressed as follows:

F
d p d d a

(4)

The corner or the flat surface in Fig 2.56 represents a singular point, which can not
uniquely determine the direction of plastic flow. These points require special consi
deration.

Hardening rule
The hardening rule defines the expansion and translation of the yield surface with p
lastic straining as the material yields.

Depending on the method of defining the effective plastic strain, the hardening rule
is classified into strain hardening and work hardening. The strain hardening is d
efined by the hypothesis of plastic incompressibility, and as such it is appropriate f
or a material model, wh ich is not influenced by hydrostatic stress. Accordingly, wo
rk hardening, which is defined by plastic work, is more generally applicable than st
rain hardening.

Also, depending on the type of change of yield surface, the hardening rule is classif
ied into isotropic hardening, kinematic hardening and mixed hardening (Fig. 2.
57).

266
 Nonlinear Analy sis

Fig 2.57 Mixed hardening with kinematic hardening

Classification by the method of defining the effective plastic strain

1. Strain hardening
The effective plastic strain in strain hardening is defined as follows:

2
2 T
T
d p d p d p a ad
3 3 (5)

The effective plastic strain is derived from transforming the norm of plastic strains
to conform to uniaxial strain with the assumption that there is no volumetric plastic
deformation. Although this is applicable in principle only to Tresca or von Mises, i
t is often applied to other cases because of numerical convenience.

267
Analy sis Manual f or MIDAS/Gen

2. Work hardening
The increment of plastic work is as follows:

dWp T d p d aT
(6)

In the case of uniaxial strain, the increment of the plastic work is expressed as,

dWp 1d1 ed p
(7)

Hence the effective plastic strain pertaining to work hardening is defined as follows
:

aT
d p d
e
(8)

Classification by the types of change of yield surface

1. Perfectly plastic
A perfectly plastic material does not change the yield surface even after plastic def
ormation has taken place. The yield function then can be expressed as follows:

F , e
(9)
where,
: constant

2. Isotropic hardening
In the case of isotropic hardening, the yield surface expands uniformly as shown in
Fig. 2.58(a). The yield function can be expressed as follows:

F , e p
(10)

3. Kinematic hardening
In the case of kinematic hardening, the size of the yield surface remains unchanged
and the center location of the yield surface is shifted as shown in Fig. 2.58(b). The
yield function can be expressed as follows:

268
 Nonlinear Analy sis

F , , e
(11)

where,
: the center coordinates of yield surface
: constant

(a) Isotropic hardening (b) Kinematic hardening

Fig. 2.58 Hardening rule in 1-dimension

In kinematic hardening, it becomes important to determine the center coordinates

of the subsequent yield surface, . In order to determine the kinematic shift,
, there exist Pragers hardening rule, Zieglers hardening rule, etc.

The Pragers hardening rule can be expressed as,

d C p d p C pad
(12)

where,
C p : Pragers hardening coefficient

This method may present some problems when it is used in the sub space of stress.
For example, d may not be 0 even any component of stresses is 0, which may no
t only present translation of the yield surface. The Zieglers hardening rule on the o

269
Analy sis Manual f or MIDAS/Gen

ther hand assumes that the rate of translation of the center, d , takes place in the d
irection of the reduced-stress vector, . Hence, it presents no such problem. T
his hardening rule is expressed as follows:

d d Cz d p
(13)

where,
C z : Zieglers hardening coefficient

4. Mixed hardening
Mixed hardening is a hardening type, which represents the mix of isotropic hardeni
ng and kinematic hardening, which is expressed as follows:

F , , e p
(14)

Constitutive equations

Standard plastic constitutive equations are formulated as below. Stress increments a

re determined by the elastic part of the strain increments.

That is,

d De d d p De d d a
(15)

where,
De : elastic constitutive matrix

In order to always maintain the stresses on the yield surface, the following consiste
ncy condition needs to be satisfied.

F F F
T

dF

d p d p


d aT De d aT Dea h d 0
(16)
d e
where, h: plastic hardening modulus ( d )
p

270
 Nonlinear Analy sis

Accordingly, the rate of infinitesimal stress increments can be obtained as follows:

d Ded d Dea
DeaaT DeT
d De T e d
a D a h
(17)

When the full Newton-Raphson iteration procedure is used and if a consistent stiffn
ess matrix is used, a much faster convergence can be achieved due to the second -or
der convergence characteristic of the Newton-Raphson iteration procedure.
a
d De d d Dea De d

RaaT RT
d R T d
a Ra h
(18)

where,
1
a

1
R I d De D I d D A
e e
De

Stress integration

The following two methods can be used for the integration of stresses:

Explicit forward Euler algorithm with sub-incrementation (Fig. 2.59 & 60)

Implicit backward Euler algorithm (Fig. 2.61)

271
Analy sis Manual f or MIDAS/Gen

Fig. 2.59 Explicit forward-Euler procedure

272
 Nonlinear Analy sis

Fig. 2.60 Sub-incrementation in Explicit forward-Euler procedure

Fig. 2.61 Implicit backward-Euler procedure

273
Analy sis Manual f or MIDAS/Gen

In the Forward-Euler algorithm, the hardening data and the direction of plastic flow
are calculated at the intersection point, where elastic stress increments cross the yi
eld surface (at point A in Fig. 2.60). Whereas in the Backward-Euler algorithm, the
y are calculated at the final stress point (at point B in Fig. 2.61).

The Forward-Euler algorithm is relatively simple, and the stresses are directly integ
rated. That is, it need not iterate at the Gauss points, but presents the following dra
wbacks:
It is conditionally stable.
Sub-increments are required while correcting the stresses to obtain allowa
ble accuracy.
An artificial returning scheme is required to correct the stress state for drif
t from the yield surface.

Also, this method does not permit formulating a consistent stiffness matrix.

The Imp licit Backward-Euler algorithm is unconditionally stable and accurate with
out sub-increments or artificial returning. However for general yield criteria, iterati
ons are required at the Gauss points. Because a consistent stiffness matrix can be fo
rmulated using this method, even if iterations are performed at the Gauss points, it i
s more efficient if the Newton-Raphson iteration procedure is used.

Steps for applying the Explicit forward-Euler procedure

1. Calculate strain increments.

d Bdu
(19)

where,
B : strain-displacement relation matrix
d : the changes of displacements

2. Calculate elastic stresses assuming elastic straining (at point B in Fig. 2.59(a)).

d De d
B X d
(20)

274
 Nonlinear Analy sis

The Fig. 2.59 should be referenced for the subscripts in the equations above and be
low.

3. If the calculated stresses remain on the yield surface, stress correcting is compl
eted. If the stresses exist beyond the yield surface, the stresses are returned to t
he yield surface by plastic straining.

4. Subsequently, the stresses at the intersection point are calculated. Elastic stress
increments are divided into allowable stress increments and unallowable stres
s increments; whereas, stresses at the intersection point are calculated by the fo
llowing expressions (point A in Fig. 2.59(a)):

F X 1 r d 0
FB
r
FB FX
(21)

5. Further straining would cause the stress location to traverse the yield surface.
This is approximated by sub-dividing the unallowable stress increments, rd ,
into the m number of s mall stress increments (Fig. 2.60). The number of sub-i
ncrements, m is directly related to the magnitude of the error resulted from a o
ne step return, which is calculated as,

m INT 8 eB eA eA 1
(22)

6. If the final stress state does not lie on the yield surface, the following method o
f artificial returning is used to return the stress to the yield stress (point E in Fi
g. 2.60).

FC
C
aTC DeaC h
D C C DeaC
(23)

Notes
The shape of the yield surface is corrected using the hardening rule at the en
d of each sub-increment.
Unloading is assumed to be elastic.

275
Analy sis Manual f or MIDAS/Gen

Steps for applying the Implicit backward-Euler procedure

The final stress in the Backward-Euler algorithm is calculated by the following equ
ation:

C B d DeaC
(24)

The Fig. 2.61 should be referenced for the subscripts.

Since the point C in the equation (24) is unknown, the Newton iteration is used to e
valuate the unknowns. Accordingly, a vector, r , is set up to represent the differenc
e between the current stresses and the backward-Euler stresses.

r C B d DeaC (25)

Now, iterations are introduced in order to reduce r to 0 while the final stresses sho
uld satisfy the yield criterion, f=0. Using assumed elastic stresses, a truncated Taylo
r expansion is applied to the equation (25) to produce a new residual,

rn ro Dea
(26)

where,
: the change in
: the change in d

Setting the above equation to 0, and solving it for , we obtain the following:

ro Dea
(27)

Similarly, a truncated Taylor expansion is applied to the yield function, which resul
ts in the following:

F F
T

FCn FC o p FCo aTC h 0

p
(28)
where,

276
 Nonlinear Analy sis

p : effective plastic strain

Hence, is obtained, and the final stress values can be obtained as well.

Fo aT ro

aT Dea h
(29)

Plastic material models

The following 4 types of general plastic models are used:

Tresca & von Mises suitable for ductile materials such as metals, which ex
hibit plastic incompressibility (Fig. 2.62).

Mohr-Coulomb & Drucker-Prager suitable for materials such as concrete,

rock and soils, which exhibit volumetric plastic deformations (Fig. 2.63).

Fig 2.62 Tresca & von Mises yield criteria

277
Analy sis Manual f or MIDAS/Gen

Fig 2.63 Mohr-Coulomb & Drucker-Prager yield criteria

Tresca criterion
The Tresca yield criterion is suitable for ductile materials such as metals, which ex
hibit little volu metric plastic deformations. The yielding of a material begins when
the maximu m shear stress reaches a specified value. So if the principal stresses are
1, 2 , 3 1 2 3 , the yield function becomes the equation (30).

F , 1 3 p
(30)

Numerical problems arise when the stress point lies at a singular point on the yield
surface, which occurs when the lode angle approaches 30. In such cases, the
stress integration scheme must be corrected.

278
 Nonlinear Analy sis

Von Mises criterion

The Von Mises criterion is a most widely used yield criterion for metallic materials.
It is based on distortional strain energy, and the yield function is expressed as follo
ws:

(31)

where,
J2: second deviatoric stress invariant

Mohr-Coulomb criterion
The Mohr-Coulomb criterion is suitable for such materials as concrete, rock and so
ils, which exh ibit volumetric p lastic deformations. The Mohr-Coulomb yield criteri
on is a generalization of the Coulombs friction rule, which is defined by,

F , c n tan
(32)

where,
: the magnitude of shearing stress
n : normal stress
c : cohesion
: internal friction angle

The cohesion, c, and the internal friction angle, , are dependent upon the strain h
ardening parameter, .

Similar to the Tresca criterion, numerical problems occur when the stress point lies
at a singular point on the yield surface. For the Mohr-Coulomb criterion, such num
erical problems occur as the lode angle, , approaches 30 or at the apex points.
Hence, the stress integration scheme must be corrected for the two cases.

279
Analy sis Manual f or MIDAS/Gen

Drucker-Prager criterion
The Drucker-Prager criterion is suitable for such materials as soils, concrete and ro
ck, which exhibit volu metric p lastic deformations. This criterion is a smooth appro
ximation of the Mohr-Coulomb criterion and is an expansion of the von Mises crite
rion. The yield function includes the effect of hydrostatic stress, which is defined as
follows:

(33)

where,
I: first stress invariant

For the Drucker-Prager criterion, Nu merical problems occur when the stress point l
ies at the apex points of the yield surface.

280
 Nonlinear Analy sis

Masonry Model

Introduction
Masonry, though a traditional material which has been used for construction for ag
es, is a complex material. It is a co mplex co mposite material, and its mechanical b
ehavior, which is influenced by a large number of factors, is not generally well und
erstood. In engineering practice, many engineers have adopted an elastic analysis f
or the structural behavior of masonry using rather arbitrary elastic parameters and s
trengths of masonry. Such analyses can give wrong and misleading results. The pr
oper way to obtain elastic parameters of masonry is through a procedure of homog
enization described in the next section.
The effect of nonlinearity (i.e., tensile crack, compressive failure, and so on.) to the
behavior of masonry model is very significant and must be accurately taken into a
ccount in analyzing the ultimate behavior of masonry structures. Having their own
advantages and restrictions, many researches have been conducted, for instance, E
quivalent nonlinear stress-strain concept of J. S. Lee & G. N. Pande 1 , Tomaevics
Story-Mechanism2 , the finite element analysis approach of Calderini & Lagomar
sino3 , and Equivalent frame idealization by Magenes et al. 4 . Thus, in practical ap
plication of crack effect to the masonry structure, one must be well aware of unique
characteristics of each of the nonlinear models for masonry structure. The main co
ncept of the nonlinear masonry model adopted in the masonry model of MIDAS is
based on the line of theory of J.S. Lee & G. N. Pande and described later.

Homogenization Techniques in Masonry Structures

Masonry structures can be numerically analyzed if an accurate stress -strain relation

ship is employed for each constituent material and each constituent material is then
separated individually. However, a three-dimension-analysis of a masonry structur
e involving even a very simple geometry would require a large number of elements
and the nonlinear analysis of the structure would certainly be intractable. To overc
ome this computational difficulty, the orthotropic material properties proposed by P
ande et al.5,6 can be introduced to model the masonry structure in the sense of an eq
uivalent homogenized material. The equivalent material properties introduced in Pa
nde et al. are based on a strain energy concept. The details of the procedure to obta
in equivalent elastic parameters based on the homogenization technique are given i
n the following. The basic assumptions made to derive the equivalent material pro
perties through the strain energy considerations are:

281
Analy sis Manual f or MIDAS/Gen

1. Brick and mortar are perfectly bonded

2. Head or bed mortar joints are assumed to be continuous

The second assumption is necessary in the homogenization procedure, and it has be

en shown7 that the assumption of continuous head joints instead of staggered joints,
as they appear in practice, does not have any significant effect on the stress states o
f the constituent materials.
Let the orthotropic material properties of the masonry panel be denoted by E x ,
E y , Ez , xy , xz , yz , Gxy , G yz , Gxz , Fig. 2.64. The stress/strain relationship
of the homogenized masonry material is represented by

D
(1)

or

C
(2)

where,

xx yy zz xy yz xz
T

xx , yy , zz , xy , yz , xz
T

(3)

are the vectors of stresses and strains in the Cartesian coordinate system.

282
 Nonlinear Analy sis

1 xy xz
0 0 0
Ex Ex Ex
yx 1 yz
0 0 0
Ey Ey Ey
zy
zx
1
0 0 0
Ez Ez Ez
C
0 1
0 0 0 0
Gxy

0 0 0 0
1
0
G yz

1
0 0 0 0 0
Gxz
(4)

The details of the derivation of orthotropic elastic material properties of masonry in

terms of the properties of the constituents are given in Orthotropic Properties of
Masonry based on Strain Energy Rule. In the mathematical theory of homogenizat
ion, there has been an issue relating to the sequence of homogenization, if there are
more than two constituents. For examp le, if we ho mogenize bricks and mortar in
head joints first and then homogenize the resulting material with bed joints at the se
cond stage, then the result may not be the same if we had followed a d ifferent sequ
ence. However, it has been shown in the case of masonry, the sequence of homoge
nization does not have any significant influence. Here we present in Orthotropic P
roperties of Masonry based on Strain Energy Rule equations for equivalent propert
ies if bricks and bed joints are homogenized first. It is noted that, in Pande et al., th
e equivalent material properties were derived with the brick and the head mortar joi
nt being homogenized first. The equivalent orthotropic material properties derived
from the homogenization procedure are used to construct the stiffness matrix in the
finite element analysis procedure, and from this, equivalent stress/strains are then c
alculated. The stresses/strains in the constituent materials can be evaluated through
structural relationships, i.e.,

283
Analy sis Manual f or MIDAS/Gen

b Sb
bj Sbj (5)

hj Shj

where subscripts b, bj and hj represent brick, bed joint and head joint respectively.

The structural relationships for strains can similarly be established. The structural
matrices S are listed in Structural Relationship of Masonry. Fro m the results liste
d in Pande et al., it can be shown that the orthotropic material properties are functio
ns of

1. Dimensions of the brick, length, height and width

2. Youngs modulus and Poissons ratio of the brick material
3. Youngs modulus and Poissons ratio of the mortar in the head and bed joints
4. Thickness of the head and bed mortar joints

(a) Reference System (b) Example of local axis rule

Fig.2.64 Coordinate System used in Masonry Panel

It must be noted that the geometry of masonry has to be modeled with reference to
the above figure in which the presented axes are the same as the element local axes
of the MIDAS program. Accordingly, it is recommended that the gravity direction
be parallel with the element local y direction of the MIDAS program. Th is is becau
284
 Nonlinear Analy sis

se the homogenization is performed on the local x-y plane. So the generated orthotr
opic material properties are also based on the axis system. Since the homogenizatio
n is performed only in the local x-y p lane, the stiffness in each direction differs fro
m each other. It should be also noted that the global axis system of the MIDAS pro
gram has no effect on the masonry model. For clarity, the local axes of a three-dim
ensional masonry structure is shown in Fig. 2.64(b).

Criteria for Failure for Constituents

Failure of masonry can be based on the micro mechanical behavior. At every loadin
g step, once the equivalent stresses/strains in the masonry structure are calculated, s
tresses/strains of the constituent materials can be derived on the basis of the structu
ral relationship in eq. (5). The maximu m principal stress is calculated in each const
ituent level (i.e., Brick, Bed joint, and Head joint) and is compared to the tensile str
ength defined by the user. If the maximu m principal stress exceeds the tensile stren
gth at the current step, the stiffness contribution of the constituent to the whole ele
ment is forced to become ineffective. For the nonlinear stress-strain relation of con
stituents, even the elastio-perfectly plastic relation could be simulated. This can be
numerically imp lemented by substituting the stiffness of the constituent with very s
mall value as Ei zero (where the subscript i could be brick, bed joint, or head j
oint). If the user sets the Stiffness Reduction Factor as very small value, the maso
nry model will behave nonlinearly. By the same reason, if the Stiffness Reduction
Factor is set to be a unit value, the masonry model will behave elastically (refer to
the figure 2.65 below).

Fig.2.65 Stress-Strain of a constituent of masonry model

In this way, the local failure mode can be evaluated. For better understanding of thi
s kind of equivalent nonlinear stress -strain relationship theory, see Lee et al.(1996).
Once cracking occurs in any constituent material, the effect is smeared onto the ne
ighboring equivalent orthotropic material through another homogenization.
Although there are a number of criteria for the masonry model such as Mohr-Coulo

285
Analy sis Manual f or MIDAS/Gen

mb and so on, the masonry model in MIDAS currently determines the tensile failur
e referring only to the user-input tensile strength. More advanced failure criteria are
developed in the near future based on the abundant research. After the tensile crac
ks occur, the crack positions can be traced by post processor of solid stresses.

Analysis methods of masonry structures

For the performance assessment of masonry structure, it is generally suggested that

the structure needs to be analyzed in both out-of-plane damage and in-plane dama
ge concepts.

Firstly, referring to the figure 2.66, the out-of-plane damage which is also called as
first-mode collapse or local damage involves any kinds of local failure such as
tensile failure and partial overturn of masonry wall.

For the precise analysis of out-of-plane damage of masonry structure, part of the str
ucture is modeled with detailed fin ite elements such as material nonlinear models a
nd interface elements to simulate discrete mortar cracking, interface interaction, sh
ear failure, and etc. This type analysis is numerically expensive and difficult to sim
ulate real structural response and is not the case in the masonry model of the curren
t MIDAS program.

Secondly, in the reference of figure 2.67, the in-plane damage which is also called
as second-mode collapse means the structural response to the external loading as
a whole. MIDAS is providing homogenized nonlinear masonry model for this kind
of analysis. Tensile cracks in mortar and brick can be traced with a simply defined
nonlinear masonry material model. It should be noted that the nonlinear behavior o
f masonry structure is very sensitive to the material properties such as tensile streng
th and reduced stiffness after cracking. So proper material properties should be care
fully defined by thorough investigation and experimental consideration.

286
 Nonlinear Analy sis

Fig.2.66 Example of out-of-plane damage mechanism

Fig.2.67. Example of in-plane damage mechanism

It is widely recognized that the satisfactory behavior of masonry structure is retaine

d only when the out-of-plane damage is well prevented, and the structure shows in-
plane reaction as a whole. Although these two types of damage take place simultan
eously, the separate detailed analyses are conducted for practical reasons.

287
Analy sis Manual f or MIDAS/Gen

Importance of nonlinear analysis of masonry model

To appreciate the importance of nonlinear masonry model, as shown in figure 2.68,

a two story masonry wall is analyzed linearly and nonlinearly. As suggested by Ma
genes8 , the wall model with openings is subjected to in-plane simple pushover load
ings. The model has 6m-width and 6.5m-height and is meshed by eight node solid
elements.
Firstly, the model is analyzed linearly, which means the stiffness reduction factor is
set to be a unit value, 1. And then, for nonlinear behavior, the stiffness reduction
factor is reduced to a very small value of 1.e -10, which leads to elasto-plastic beh
avior. The horizontal forces are loaded incrementally over 10 steps, and the cracked
deformed shape at the step 8 is presented in figure 2.69. The marked points are rep
resenting crack points, and the contour results are based on effective stress results.
In both cases, two models have the same homogenization procedure. The only diffe
rence is the reduced stiffness of a constituent at which the crack took place. The for
ce-displacement result shown in figure 2.70 gives that the analytic behavior is signi
ficantly dependent on the stiffness of the masonry constituents after cracking. The
deformation is extracted from the nodal results of the top right point.

Fig.2.68 Two story masonry wall model

288
 Nonlinear Analy sis

Fig.2.69 Cracked and deformed shape at step 8

Fig.2.70 Force-deformation results

289
Analy sis Manual f or MIDAS/Gen

In the reference of figure 58, the significance of nonlinearity is more convincing if

we consider the resultant base shear results. In the figure 2.71, the horizontal axis s
hows the pier positions, and the vertical axis represents the resultant shear of each
pier divided by the total shear force. In the left pier, the base shear result of the nonl
inear masonry model is almost half of that of the linear masonry model. On the co
ntrary, in the right pier, the resultant base shear of the nonlinear model is almost twi
ce that of the linear masonry model. Also, the overall shear force distribution is quit
e different. The linear masonry model shows symmetric force distribution about the
mid pier. In the nonlinear masonry model, however, the right pier has the largest sh
ear force results. From this consideration, it should be noted that the shear forces af
ter crack are shared not by elastic stiffness but by the strength capacity as suggeste
d by Magenes(2006).

Fig.2.71 Base shear force distribution

290
 Nonlinear Analy sis

Orthotropic Properties of Masonry based on Strain Energy Rule

Orthotropic material properties of masonry can be derived employing a strain energ

y concept, and the details are given in the following. It is noted that homogenizatio
n is performed between brick and bed joint first. Similar details can also be obtaine
d when brick and head joint are homogenized first.

Referring to Fig. 2.64, volume fraction of brick and bed joint can be described as

h tbj
b ; bj
h tbj h tbj
(6)

where subscript b and bj represent the brick and bed joint respectively. If the
brick and bed joint are homogenized in the beginning, the following stress/strain
components in the sense of volume averaging can be established:

xx , yy , zz , xy , yz , zx
T

xx , yy , zz , xy , yz , zx
T

(7)

where,

1 2
xx xxi dVi
V i 1 Vi (8)
2
1
xx xxi dVi
V i 1 Vi (9)

and i=1 for brick, i=2 for bed joint. For each strain component,

291
Analy sis Manual f or MIDAS/Gen

xxi
1
Ei
xxi i yyi i zzi
yyi
1
Ei
yyi i xxi i zzi
zzi
1
Ei
zzi i xxi i yyi
xyi
xyi
Gxyi
yzi
yzi
G yzi
xzi
xzi
Gxzi (10)

Now the strain energy for each component and 1 layer prism can be denoted as

xxi xxi yyi yyi zzi zzi xyi xyi yzi yzi xzi xzi dVi
2
1
U re
i 1 2 Vi

Ue
1
2 V
xx xx yy yy zz zz xy xy yz yz xz xz dV
(11)

where re and e represent the component and layer prism respectively, and it is
obvious that

U re U e
(12)

Introduce auxiliary stresses/strains,

292
 Nonlinear Analy sis

xxi xx Axxi
yyi yy
zzi zz Azzi
xyi xy
yzi yz
xzi xz Axzi (13)

and
xxi xx
yyi yy Byyi
zzi zz
xyi xy Bxyi
yzi yz Byzi
xzi xz (14)

then, from eqs. (8) & (13),

A
i 1
i xxi 0
2

A
i 1
i zzi 0
2

A
i 1
i xzi 0
(15)

and

293
Analy sis Manual f or MIDAS/Gen

B
i 1
i yyi 0
2

B
i 1
i xyi 0
2

B
i 1
i yzi 0
(16)

where,
1 and
2 represent the volume fraction of brick and bed joint respectivel
y.

From eqs. (10),(14) & (16),

2
Ex

1 b bj zy b zy bj
2 b 2 bj
Ez Ebj
Ey Eb Ebj Ez Eb
2
Ez

1 i

Gxy i Gxyi
1
i
G yz i G yzi

Gxz Gxzi
i

xy


xz


zy
(17)

294
 Nonlinear Analy sis

where,

b Eb 1 bj2 bj Ebj 1 b2

1 1 2
b
2
bj

E 1 E 1
2 2

b b b bj bj bj bj b

1 1 2
b
2
bj

b b
b
1 b

bj bj bj
1 bj
b bj
(18)

and the relationship below can also be established.

Ey
yx xy
Ex (19)

For the system of masonry panel, the homogenization is applied to the layered mat
erial and head joint based on the assumption of continuous head joint. Now, volum
e fractions of the constituent materials are

l thj
eq ; hj
l thj l thj
(20)

where, subscript eq and hj represent layered material and head joint respectively. A
s in the previous case, the following stress/strain components in the sense of volum
e averaging can be established:

xx , yy , zz , xy , yz , zx
T

xx , yy , zz , xy , yz , zx
T

(21)

295
Analy sis Manual f or MIDAS/Gen

Introducing auxiliary stresses/strains,

xxi xx
yyi yy C yyi
zzi zz C zzi
xyi xy
yzi yz C yzi
xzi xz (22)

And
xxi xx Dxxi
yyi yy
zzi zz
xyi xy Dxyi
yzi yz
xzi xz Dxzi (23)

where, i=1 & i=2 represent the layered material and head joint respectively. Follow
ing the same procedure and defining the following coefficients,

eq E y hj Ehj

1 yz zy 1 hj2
eq Ez hj Ehj

1 yz zy 1 hj2
eq yz Ez hj hj Ehj

1 yz zy 1 hj2

296
 Nonlinear Analy sis

eq zx yx zy
eq
1 yz zy
hj hj
hj
1 hj
eq hj
eq yx yz zx
eq
1 yz zy
hj hj
hj
1 hj
eq hj
(24)

the orthotropic material properties of the masonry panel are finally derived .

297
Analy sis Manual f or MIDAS/Gen

1 eq hj yx xy yx hj
eq hj
Ex Ex Ehj E y Ex E y Ehj

zx xz zx hj
eq hj
Ez Ehj
Ez Ex
2
Ey

2
Ez

1 eq hj

Gxy Gxy Ghj
G yz eq G yz hj Ghj
1 eq hj

Gxz Gxz Ghj

yx


yz


zx


zy
(25)

298
 Nonlinear Analy sis

STRUCTURAL RELATIONSHIP OF MASONRY

Structural relationship of each constituent material with respect to the overall maso
nry can be established through utilizing au xiliary stress/strain components introduc
ed in Appendix I. Details of each relationship are now deduced.

As in eq. (5), the structural matrix has the following form:

S11 S12 S13 0 0 0

S S22 S 23 0 0 0
21
S S32 S33 0 0 0
S 031 0 0 S44 0 0


0 0 0 0 S55 0

0 0 0 0 0 S66
(26)

Solving the auxiliary stress/strain components in eqs. (22) & (23),

yy ,hj yy C yy ,hj

1
1 hj hj
E
hj yy
hj Ehj zz hj hj2 xx

hj yx hj zx 1 hj zy hj yz
xx yy zz
Ey
1 hj Ez E y Ez Ez E y (27)

where,

Ehj

1 hj2
(28)

Therefore,

299
Analy sis Manual f or MIDAS/Gen

hj xy hj zx
Shj ,21
1 hj2 Ey Ez
1 hj zy
Shj ,22
Ey Ez

hj yz
Shj ,23
Ez E y
(29)

The above equation can be rewritten as follows :

hj yx hj zx
S hj ,21 hj
1 hj Ey Ez

1 hj zy
S hj ,22 hj
Ey Ez

hj yz
S hj ,23 hj
Ez E y
(30)

where,

Ehj
hj
1 hj2
(31)

Using the same procedure, the remaining non-zero coefficients can also be derived.

300
 Nonlinear Analy sis

S hj ,11 1.0
hj hj yx zx
S hj ,31 hj
1 hj E y Ez
hj
S hj ,32 hj zx
E y Ez
1 hj yz
S hj ,33 hj
Ez E y
S hj ,44 1.0
Ghj
S hj ,55
G yz
S hj ,66 1.0
(32)

Solving for the unknowns A, B, C and D in eqs. (13), (14), (22) and (23), the struct
ural matrix for each component can be derived, and the full details will be o mitted.
2

1 J. S. Lee, G. N. Pande, et al., Numerical Modeling of Brick Masonry Panels subject to Lateral Loadings, Computer & Structures, V
ol. 61, No. 4, 1996.
2 Tomaevi M., Earthquake-resistant design of masonry buildings, Series on Innovation in Structures and Construction, Vol. 1,
Imperial College Press, London, 1999.
3 Calderini, C., Lagomarsino, S., A micromechanical inelastic model for historical masonry, Journal of Earthquake Engineering (in
print), 2006.
4 Magenes G., A method for pushover analysis in seismic assessment of masonry buildings, 12th World Conference on Earthquake
Engineering, Auckland, New Zealand, 2000.
5 G. N. Pande, B. Kralj, and J. Middleton. Analysis of the compressive strength of masonry given by the equation
f k K fb f m . T he Structural Engineer, 71:7-12, 1994.

6 G. N. Pande, J. X. Liang, and J. Middleton. Equivalent elastic moduli for brick masonry. Comp. & Geotech., 8:243-265, 1989.
7 R. Luciano and E. Sacco. A damage model for masonry structures. Eur. J. Mech., A/Solids, 17:285 -303,1998.
8 Guido Magenes, Masonry Building Design in Seismic Areas: Recent Experiences and Prospects from a European Standpoint,
First European Conference on Earthquake Engineering and Seismology, Paper Number: Keynote Address K9, Geneva,
Switzerland, 3-8 September, 2006.

301
Analy sis Manual f or MIDAS/Gen

Construction Stage Analysis

Overview

A building structure is typically constructed floor by floor in the case of a

reinforced concrete structure or often constructed several floors at a time in the
case of a structural steel structure. Even on the same floor, d ifferent parts are
constructed at different stages. A typical structural analysis entails applying the
loads to the comp leted structure at once. This results in significant discrepancies
as the scale of the building increases, especially as the number of stories
increases. Regardless of the type of construction, construction dead loads on a
particular floor are typically acting on the structure without the presence of the
upper floors during the construction. This actually results in co mpletely different
column shortenings from the analysis results based on the full loading on the
completed structure. The change of strength gain, creep and shrinkage in the
case of reinforced concrete construction compound the discrepancies .
MIDAS/ Gen enables the engineer to account for the change of geo metries and
time dependent material properties during and after the construction.

Each temporary structure at a particular stage of construction affects the

subsequent stages. Also, it is not uncommon to install and dis mantle temporary
supports during construction. The structure constantly changes or evolves as the
construction progresses with varying material propert ies such as modulus of
elasticity and co mpressive strength due to different maturit ies among contiguous
members. The structural behaviors such as deflections and stress re-distribution
continue to change during and after the cons truction due to varying time
dependent properties. Since the structural configuration continuously changes
with different loadings and support conditions, and each construction stage
affects the subsequent stages, the design of certain structural co mponents may be
even governed during the construction. Without such construction stage analysis,
the conventional analysis will not be reliable.

MIDAS/Gen considers the following aspects for a construction stage analysis:

Time dependent material properties

Creep in concrete members having different maturities
Shrinkage in concrete members having different maturities
Compressive strength gains of concrete members as a function of time
Relaxation of pre-stressing tendons if used

302
 Construction Stage Analy sis

Conditions for construction stages

Activation and deactivation of members with certain maturities
Activation and deactivation of specific loads at specific times
Boundary condition changes

The procedure used in MIDAS/ Gen for carry ing out a time dependent analysis
reflecting construction stages is as follows:

1. Create a structural model. Assign elements, loads and boundary conditions

to be activated or deactivated to each construction stage together as a group.

2. Define time dependent material properties such as creep and shrinkage. The
time dependent material properties can be defined using the standards such
as ACI or CEB-FIP, or you may directly define them.

3. Link the defined time dependent material properties to the general material
properties. By doing this, the changes in material properties of the relevant
concrete members are automatically calculated.

4. Considering the sequence of the real construction, generate construction

stages and time steps.

5. Define construction stages using the element groups, boundary cond ition
groups and load groups previously defined.

6. Carry out a structural analysis after defining the desired analysis condition.

7. Co mbine the results of the construction stage analysis and the completed
structure analysis.

303
Analy sis Manual f or MIDAS/Gen

Analysis reflecting Erection Sequence

General analysis for a build ing structure is performed under the assumption that
all loads are simultaneously applied to a completed structure. This assumption
made everyday, however, is not valid in a real construction sequence because a
building is constructed by floor-by-floor or lift -by-lift. Even for the same floor,
some different parts may be constructed and loaded in different time frames. As
a result, true behaviors of a structure may be considerably different fro m the
analysis based on instantaneous one-time loading on an instantaneously
constructed structure. For instance, girders at high floors of a h igh-rise build ing
may have considerably large mo ments. Also, we somet imes note inappropriate
vertical load distribution to concrete walls, wh ich is relatively higher co mpared
to the distribution to the adjacent frame. Two main reasons can be deduced to
contribute to the behaviors:

1. When all loads are simultaneously applied to a completed structure,

discrepancies occur due to the applied loads, which are resisted by the
upper floor frame that has not yet been constructed.

2. Differential elastic shortenings of vertical members occur when

construction dead loads are applied as the construction progresses.

The following describes the discrepancies caused by the first case:

In a real structure, construction dead loads including self-weights at a given floor

do not affect the member forces of the upper floors that are yet to be constructed.
In the case of a reinforced concrete structure, vertical members followed by a
floor are constructed at a given level, and the subsequent floor is erected after the
concrete below has been cured for some time. Deformat ions due to construction
dead loads in columns may have taken place considerably at the lower levels.
However, in general analyses, the entire structure is subjected to design loads at
the same time. In fact, construction dead loads at a particular floor must not be
resisted by the upper structure because the upper floors simply do not exist
during the construction.

Figure 254 illustrates a 2-story, 2-D plane, concrete frame structure, co mparing
analysis results between the conventional and erection sequence analyses. The
conventional analysis represents the case where the loads are simu ltaneously
applied to the completed structure. Whereas the erection sequence analysis
represents the case where separate analysis models are used according to the
erection sequence such that the construction loads are applied in two steps to
correspond to the models.

304
 Construction Stage Analy sis

(a) Analysis reflecting Erection sequence

(b) Conventional analysis

Figure 2.72 Comparison of analysis results (moment diagrams) between conventional analysis
and erection sequence analysis for a 2-story, 2-D reinforced concrete frame

305
Analy sis Manual f or MIDAS/Gen

As summarized in Tab le 2.5, the erection sequence analysis results show

member forces at 90~180% of those obtained from the conventional analysis. In
the real construction process, when the construction dead loads are applied to the
1st stage structure, the member fo rces of the 1st stage structure are not affected by
the 2nd stage framing, which is yet to be constructed. In the case of the
conventional analysis, however, the non-existing 2nd stage columns restrain the
rotational deformations at the first stage. As a result, the columns of the 1st and
2nd stages together sustain the construction loads. This causes the discrepancies
between the analyses. Therefore, the conventional analysis method may produce
considerable discrepancies in design results.

Bending moment Displacement

st st nd nd st
Description 1 Stage 1 Stage 2 Stage 2 Stage 1 Stage 2nd Stage
column beam column beam beam beam
(upper end) (middle) (upper end) (middle) (middle) (middle)

Erection
sequence 1.75 2.57 2.13 2.87 0.00373 0.00429
analysis
Conventional
0.97 2.16 2.36 2.64 0.00301 0.00411
analysis
Ratio (%) 180.4 118.5 90.3 108.7 123.9 104.4

Table 2.5 Comparison of analysis results between conventional analysis and erection
sequence analysis for a 2-story, 2-D, concrete frame structure

In the case of a structural steel or composite structure, as shown in Figure 2.73, the
steel frame is erected ahead of placing the steel decks and concrete. Accordingly,
the first cause for discrepancies may not be of concern for structural steel and
composite structures, which are different from concrete buildings in which each
floor is completed at a time.

Figure 2.73 Erection sequence of structural steel or composite structure

(Building erected in a 3-story lift)

306
 Construction Stage Analy sis

The second cause for discrepancies resulting fro m the differential shortening of
columns is discussed below.

In high-rise concrete buildings, the differential shortening of colu mns occurs due
to elastic shortening, shrinkage and creep under long-term axial loads. The
effects of shrinkage and creep on a structure depend on several factors such as
concrete strength, construction duration, concrete casting condition , weather
condition, etc. In general, the effect of shrinkage is not as extensive as the effects
of elastic shortening and creep. It is also very difficult to accurately evaluate the
effect of creep in design phase since creep progresses for a long t ime and
depends on many factors .

In general, colu mns of a building are designed to be similar in their dimensions

for the purpose of maintaining simplicity of design and serviceability for
occupants, despite their tributary areas are not similar to one another. Therefore,
differences in tributary areas for columns result in differential shortenings in
columns. Differential shortenings may also occur due to unbalanced axial
stiffnesses between contiguous members closely spaced such as columns and
walls, which have substantially different axial stiffness es. In concrete structures,
changing stiffness during concrete curing can also contribute to differential
shortenings. The effect of differential shortening is significant in tall buildings
and may produce additional bending mo ments and shear forces to beam
members. This will in turn affect the colu mns and other members, wh ich are
rigidly connected (moment connected) to the beams.

In order to design beam members for gravity loads in a high-rise building, some
may have attempted to avoid excessive mo ments and shear forces by either
artificially restraining the vert ical movement of colu mns or increasin g the
stiffness of colu mns. This practice may have been carried out with the belief that
shortenings are adjusted during the construction. However, the correct ion
virtually achieves nothing structurally. Additional forces resulting fro m
differential shortenings still remain in the members. If differential shortening is
ignored member fo rces can be substantially underestimated, particularly
horizontal member forces.

In order to avoid differential shortening, columns must be designed to proportion

to their tributary areas. However, this is not always possible fo r architectural
reasons. Figure 2.74 illustrates a concept of shortening distribution.

307
Analy sis Manual f or MIDAS/Gen

For instance, if a unit value is assumed for a concentrated load at each level,
story height, modulus of elasticity and cross section area of a 5-story column, the
relative vertical d isplacement of each level beco mes 1.0. Figure 2.74 (a) shows a
unit load individually applied to the colu mn at each level. The sum of all the
displacements is tantamount to the result obtained through a conventional
analysis. Figure 2.74 (b) illustrates an erection sequence analysis in which the
loads are incrementally applied to individual interim models . A separate analysis
is required to calculate the magnitude of vertical length ad justment for
Subsequent loads such as finish, partit ion and cladding. In reinforced concrete
building construction, floor levels are generally topped (Up to slab) to the
architectural levels at each given floor. However, super-elevating floor levels is
often adopted in tall building construction to compensate for subsequent vertical
displacements.

In steel build ings, differential shortening is often compensated by providing

filter p lates at colu mn splices on site, as shown in Figure 2.75. Again, the
magnitude of co mpensation will depend on the additional displacements due to
subsequent loads.

Elastic axial shortening at floor n, as shown in Figure 2.74 (c), is given by

Conventional analysis:

Erection sequence analysis:

Displacements due to loads on the current and lower floors

(Up to Slab):

Displacements due to loads on the upper floors (Subsequent):

where,

n = n-th floor
N = Number of stories
Li,k = i- or k-th floor story height
Ei,k = Modulus of elasticity of column located at the i- or k-th floor
A i,k = Area of column located at the i- or k-th floor
Pi,k = Construction load at the i- or k-th floor

308
 Construction Stage Analy sis

(b) Erection sequence analysis results

(c) Components of axial shortenings

Figure 2.74 Comparison of column axial shortenings between conventional and

erection sequence analyses

309
Analy sis Manual f or MIDAS/Gen

Figure 2.75 Splice detail to correct differential axial shortening in steel column

The erection sequence analysis in MIDAS/ Gen is developed to analytically

overcome the practical problems outlined above, and it reflects the true construction
stages of a building structure. Construction dead loads are automatically applied to
interim structural models that are formulated to represent each stage of
construction and subsequently analyzed. Other loads such as superimposed dead
loads, live loads and lateral loads, which are applied after the completion of the
structural frame, are automatically superimposed according to the user-defined
load combinations.

310
 Construction Stage Analy sis

MIDAS/ Gen separates the model into sub-models for each erection stage and
assigns corresponding construction dead loads. The results for each stage are then
superimposed to carry out the final erection sequence analysis. Analyses for all
remain ing loads other than the construction dead loads are carried out on the basis
of the conventional analysis. Figure 2.76 summarizes the analysis steps.

Figure 2.76 Flow chart for erection sequence analysis

311
Analy sis Manual f or MIDAS/Gen

Time Dependent Material Properties

MIDAS/ Gen can reflect time dependent concrete properties such as creep,
shrinkage and compressive strength gains.

Creep and shrinkage

Creep and shrin kage simultaneously occur in real structures as presented in

Figure 2.77. Fo r pract ical analysis and design purposes, elastic shortening, creep
and shrinkage are separately considered. The true elastic strain in the figure
represents the reduction of elastic strain as a result of concrete strength gains
relative to time. In most cases, the apparent elastic strain is considered in
analyses. MIDAS/ Gen, however, is also capable of reflect ing the true elastic
strain in analyses considering the time-variant concrete strength gains.

Creep deformation in a member is a function of sustained stress, and a h igh

strength concrete yields less creep deformation relat ive to a lower strength
concrete under an identical stress. The magnitudes of creep deformations can be
1.5~3 times those of elastic deformations. About 50% of the total creep
deformations takes place within a first few months, and the majority of creep
deformations occurs in about 5 years.

Figure 2.77 Time dependent concrete deformations

312
 Construction Stage Analy sis

Creep in concrete can vary with the following factors:

1. Increase in water/cement ratio increases creep.

2. Creep decreases with increases in the age and strength of concrete when
the concrete is subjected to stress.

3. Creep deformat ions increase with increase in ambient temperature and

decrease in humidity.

4. It also depends on many other factors related to the quality of the concrete
and conditions of exposure such as the type, amount, and maximu m size
of aggregate; type of cement; amount of cement paste; size and shape of
the concrete mass; amount of steel reinforcement; and curing conditions.

Most materials retain the property of creep. However, it is more pronounced in

the concrete materials, and it contributes to the reduction of pre-stress relative to
time. In normal concrete structures, sustained dead loads cause the creep,
whereas additional creep occurs in pre-stressed/post-tensioned concrete
structures due to the pre-stress effects.

If a unit axial stress =1 exerts on a concrete specimen at the age t0 , the

resulting uniaxial strain at the age t is defined as J (t , t0 ) .

(t ) i (t0 ) c (t, t0 ) J (t, t0 ) (1)

where, J (t , t0 ) represents the total strain under the unit stress and is defined as
Creep Function.

(a) Change in stress with time (b) Change in strain with time

Figure 2.78 Definition of creep function and specific creep

313
Analy sis Manual f or MIDAS/Gen

As shown in Figure 2.78, the creep function J (t , t0 ) can be presented by the sum
of the initial elastic strain and creep strain as follows:

1
J (t , t0 ) C (t , t0 ) (2)
E (t0 )

where, E (t0 ) represents the modulus of elasticity at the time of the load
application, and C (t , t0 ) represents the resulting creep deformation at the age t ,
which is referred to as specific creep. The creep function J (t , t0 ) can be also
expressed in terms of a ratio relative to the elastic deformation.

1 (t , t0 )
J (t , t0 ) (3)
E (t0 )

where, (t , t0 ) is defined as the creep coefficient, which represents the ratio of

the creep to the elastic deformation. Specific creep can be also expressed as
follows:

(t, t0 ) E(t0 ) C(t, t0 ) (4)

(t , t0 )
C (t , t0 ) (5)
E (t0 )

MIDAS/ Gen allows us to specify creep coefficients or shrinkage strains

calculated by the equations presented in CEB-FIP, A CI, etc., or we may also
directly specify the values obtained fro m experiments. The user-defined property
data can be entered in the form of creep coefficient, creep function or specific
creep.

314
 Construction Stage Analy sis

Figure 2.79 Dialog box for specifying user-defined creep coefficients

The creep function widely varies with the time of load applications. Due to the
concrete strength gains and the progress of hydration with time, the later the
loading time, the smaller are the elastic and creep strains. Figure 2.80 illustrates
several creep functions varying with time. Accordingly, when the user defines
the creep functions, the range of the loading time must include the element ages
(loading time) for a t ime dependent analysis to reflect the concrete strength
gains. For examp le, if a creep analysis is required fo r 1000 days for a given load
applied to the concrete element after 10 days fro m the date of concrete
placement, the creep function must cover the range of 1010 days. The accuracy
of analysis results improves with an increase in the number of creep functions
based on different loading times .

315
Analy sis Manual f or MIDAS/Gen

Figure 2.80 Relationship of time and age of loading to creep function

Concrete age at the time of

applying sustained load 4~7 14 28 90 365
Early strength
Creep cement 3.8 3.2 2.8 2.0 1.1
coefficient Normal
cement 4.0 3.4 3.0 2.2 1.3

Table 2.6 Creep coefficients for normal concrete

Shrin kage is a function of time, which is independent from the stress in the
concrete member. Shrinkage strain is generally expressed in time from t0 to t .

s (t, t0 ) so f (t, t0 ) (6)

where, so represents the shrinkage coefficient at the final t ime; f (t , t0 ) is a

function of time; t stands for the time of observation; and t0 stands for the
initial time of shrinkage.

316
 Construction Stage Analy sis

Methods of calculating creep

Creep is a phenomenon in which deformations occur under sustained loads with

time and without necessarily additional loads. As such, a time h istory of stresses
and time beco me the important factors for determin ing the creep. Not only does
the creep in pre-stressed and post-tensioned concrete members translate into the
increase in deformations, but it also affects the pre-stressing in the tendons,
thereby affecting the structural behavior. In order to accurately account for time
dependent variables, a time history of stresses in a member and creep
coefficients for numerous loading ages are required. Calculating the creep in
such a manner demands a considerable amount of calculations and data space.
Creep is a non-mechanical deformation, and as such only deformations can
occur without accompanying stresses unless constraints are imposed.

One of the general methods used in practice to consider creep in concrete

structures is one that a creep coefficient for each element at each stage is directly
entered and applied to the accumulated element stress to the present time.
Another commonly used method exists whereby specific functions for creep are
numerically expressed and integrated relative to stresses and time. The first
method requires creep coefficients for each element for every stage. The second
method calcu lates the creep by integrating the stress time history using the creep
coefficients specified in the built-in standards within the program. MIDAS/ Gen
permits both methods. If both methods are specified for an element, the first
method overrides. It is more logical to adopt only one of the methods typically.
However, both methods may be used in parallel if a time frame of 20~30 years is
selected, or if creep loads are to be considered for specific elements.

If the creep coefficients for indiv idual elements are calculated and entered, the
results may vary substantially depending on the coefficient values. For
reasonably accurate results, the creep coefficients must be obtained from
adequate data on stress time h istory and loading times. If the creep coefficients
at various stages are known fro m experience and experiments, it can be effective
to directly use the values. The creep load group is defined and activated with
creep coefficients assigned to elements. The creep loadings are calcu lated by
applying the creep coefficients and the element s tresses accumulated to the
present. The user directly enters the creep coefficients and explicitly understands
the magnitudes of forces in this method, which is also easy to use. However, it
entails the burden of calculating the creep coefficients. The follo wing outlines
the calculation method for creep loadings using the creep coefficients.

317
Analy sis Manual f or MIDAS/Gen

c (t , t0 ) (t , t0 ) (t0 ) : Creep strain

P E (t ) c (t , t0 )dA : Loading due to creep strain

A

(t0 ) : Strain due to stress at time t0

(t , t0 ) : Creep coefficient for time from t0 to t

The following outlines the method in which specific functions of creep are
numerically expressed, and stresses are integrated over time. The total creep
fro m a part icular time t0 to a final time t can be expressed as an (superposition)
integration of a creep due to the stress resulting from each stage.

t (t0 )
c (t ) C (t0 , t t0 ) dt0 (7)
0 t0
where, c (t ) : Creep strain at time t
C (t0 , t t0 ) : Specific creep
t0 : Time of load application

If we assume fro m the above expression that the stress at each stage is constant,
the total creep strain can be simplified as a function of the sum of the strain at
each stage as follows:

n 1
c , n j C (t j , tn j )
j 1
(8)

Using the above expression, the incremental creep strain c , n between the
stages tn tn 1 can be expressed as follows:

n 1 n2
c , n c , n c , n 1 j C (t j , tn j ) j C (t j , tn j )
j 1 j 1
(9)

If the specific creep is expressed in degenerate kernel (Dirichlet functional

summation), the incremental creep strain can be calculated without having to
save the entire stress time history.

318
 Construction Stage Analy sis

C (t0 , t t0 ) ai (t0 ) 1 e
( t t0 ) / i
(10)
i 1

ai (t0 ) : Coefficients related to the initial shapes of specific creep

curves at the loading application time t0

i : Values related to the shapes of specific creep curves over a

period of time

Using the above specific creep equation, the incremental strain can be rearranged
as follows:

m n2
c , n j ai (t j )e (t t0 ) / i n 1ai (tn 1 ) 1 e (t t0 ) / i
i 1 j 1 (11)
m
c , n Ai , n 1 e (t t0 ) / i
i 1
where,
n2
Ai , n j ai (t j )e (t t0 ) / i n 1ai (tn 1 )
j 1

Ai , n Ai , n 1e(t tn1 ) / i n 1ai (tn 1 )

Ai ,1 0 ai (t0 )

Using the above method, the incremental strain for each element at each stage
can be obtained from the resulting stress from the immediately p receding stage
and the modified stress accumulated to the previous stage. This method provides
relatively accurate analyses reflecting the change in stresses. Once we enter
necessary material properties without separately calculating creep coefficients,
the program automat ically calcu lates the creep. Despite the advantage of easy
application, it shares some disadvantages; since it follows the equations
presented in Standards, it restricts us to input specific creep values for specific
elements.

This method is greatly affected by the analysis time interval. Time intervals for
construction stages in general cases are relatively short and hence do not present
problems. However, if a long time interval is specified fo r a stage, it is necessary
to internally d ivide into sub-time intervals to closely reflect the creep effects.
Knowing the characteristics of creep, the time intervals should be preferably
divided into a log scale. MIDAS/ Gen is capable of automatically div iding the
intervals into the log scale based on the number of intervals specified by the
user. There is no fast ru le for an appropriate number of t ime intervals. Ho wever,
the closer the division, the closer to the true creep can be obtained. In the case of

319
Analy sis Manual f or MIDAS/Gen

a long construction stage interval, it may be necessary to divide the stage into a
number of time steps.

Development of concrete compressive strength

MIDAS/ Gen reflects the changes in concrete co mpressive strength gains relative
to the maturities of concrete members in analyses. Th e compressive strength
gain functions can be defined as per standard specifications such as ACI and
CEB-FIP as shown in Figure 2.81, or the user is free to define one directly.
MIDAS/ Gen thus refers to the concrete compressive strength gain curves, and it
automatically calculates the strengths corresponding to the times defined in the
construction stages and uses them in the analysis.

The time dependent material propert ies (creep, shrin kage and concrete
compressive strength gain) defined in Figure 2.81 can be applied in analyses in
conjunction with conventional material properties. Th is linking process is simply
necessary for the programs internal data structure.

Figure 2.81 Definition of concrete compressive strength gain curve based on standards

320
 Construction Stage Analy sis

Input Process of Time Dependent Material Properties

Time dependent material p roperties of elements reflect ing their maturit ies are
required for construction stage and heat of hydration analyses in which
MIDAS/ Gen accounts for creep and shrinkage of con crete. Observe the
following steps for entering time dependent material properties:

1. Define the material properties related to creep and shrinkage in Model >
Properties > Time Dependent Material (Creep/Shrinkage).

Figure 2.82 Selecting Code for defining material properties

In order to select User Defined in the Code field, first define the creep and
shrinkage functions in Model > Properties > Time Dependent Material
(Creep/Shrinkage) Function.

2. Define the time variant modulus of elasticity in Model > Properties > Time
Dependent Material (Comp. Strength).

321
Analy sis Manual f or MIDAS/Gen

Figure 2.83 Change of modulus of elasticity of concrete

3. Link the time dependent material properties to the general material

properties already entered in Model > Properties > Time Dependent
Material Link.

Figure 2.84 Time Dependent Material Link Dialog Bar

322
 Construction Stage Analy sis

Definition and Composition of Construction Stages

MIDAS/ Gen allows us to specify construction stages and their co mpositions in

detail to reflect the true erection sequence of a construction. This is an extremely
powerful tool, which can be applied to various construction stage analyses
related to different erection methods practiced in building construction.

MIDAS/Gen defines the three distinct stages, which retain the following characteristics:

Base stage
When the construction stage is undefined, a general analysis may be
performed. If the construction stage is defined, the analysis is disabled;
the structural modeling is co mpleted; and the element, boundary and
load groups are defined and composed.

Construction stage
Structural analyses are actually carried out for the construction stages.
For each construction stage, relevant element, boundary and load groups
are activated.

Post-construction stage
Being the post-construction stage of the construction, analyses are
carried out for the construction stage loads as well as other general
loads, response spectrum, etc.

Each construction stage is composed of activated (or deactivated) element,

boundary and load groups. By the comb ination of the three groups with each
group defined by the process of activation and deactivation, tremendous
flexibility exists in composing the stages.

The following are the contents included in each construction stage:

1. Activation (creation) and deactivation (deletion) of elements with certain

maturities (ages)

2. Activation and deactivation of loadings at certain points in time

3. Changes in boundary conditions

323
Analy sis Manual f or MIDAS/Gen

The concept of construction stages used in MIDAS/ Gen is illustrated in Figure

2.85. Construction stages can be readily defined by duration for each stage. A
construction stage with 0 duration is possible, and the first and last steps are
basically created once a construction stage is defined. Activation and
deactivation of elements, boundary conditions and loadings are practically
accomplished at each step.

Figure 2.85 Concept of construction stages

Activation and deactivation of changing conditions such as new and deleted

elements, boundary conditions and loadings basically take place at the first step
of each construction stage. Accordingly, construction stages are created to reflect
the changes of structural systems that exist in a real construction relative to the
construction schedule. That is, the nu mber of constructio n stages increase with
the increase in the number of temporary structural systems.

Structural system changes in terms of active elements and boundary conditions

are defined only at the first step of each construction stage. However, additional
steps can be defined within a given construction stage for the ease of analysis to
reflect loading changes. This allows us to specify delayed loadings representing,
for instance, temporary construction loads while maintain ing the same geometry
without creating additional construction stages.

324
 Construction Stage Analy sis

If many additional steps are defined in a construction stage, the accuracy of

analysis results will improve since the time dependent analysis closely reflects
creep, shrinkage and compressive strengths. However, if too many steps are
defined, the analysis time may be excessive, thereby compromising efficiency.
Moreover, if t ime dependent properties (creep, shrinkage and modulus of
elasticity) are not selected to participate in Analysis>Construction Stage
Analysis Control Data and the analysis is subsequently carried out, the analysis
results do not change regardless of the number of steps defined.

Subsequent to activating certain elements with specific maturities in a

construction stage, the maturities continue with the passage of subsequent
construction stages. The material properties of the elements in a particu lar
construction stage change with time. MIDAS/ Gen automat ically calcu lates the
properties by using only the elements maturit ies based on the pre-defined time
dependent material properties (Model>Properties>Time Dependent Material).
We are not required to define the changing material properties at every construction
stage.

If two elements are activated with an identical maturity in an identical

construction stage, the elapsed times for both elements are always identical.
However, there are occasions where only selective elements are required to pass
the time among the elements activated at the same time. Th is aging of selective
elements is accomplished by using the time load function (Load>Time Loads
for Construction Stage).

Figure 2.86 FCM construction stages and modeling

325
Analy sis Manual f or MIDAS/Gen

When specific elements are activated in a construction stage, the corresponding

maturities must be assigned to the elements. Creating elements with 0 maturity
represents the instant when the fresh concrete is cast. However, a structural
analysis model does not typically include temporary structures such as
formwork/falsework, and as such unexpected analysis results may be produced if
the analysis model includes immature concrete elements. Especially, if elements
of 0 maturity are activated, and an analysis is carried out reflecting the time
dependent compressive strength gains, significantly meaningless displacements
may result due to the fact that no concrete strength can be expected in the first 24
hours of casting. A correct method of modeling a structure for considering
construction stages may be that the wet concrete in and with the formwork is
considered as a loading in the temporary structure, and that the activation of the
concrete elements are assumed after a period of time upon removal of the
formwork/falsework.

If new elements are activated in a particular construction stage, the total

displacements or stresses accumulated up to the immediately preceding
construction stage do not affect the new elements. That is, the new elements are
activated with 0 internal stresses regardless of the loadings applied to the
current structure.

When elements are deactivated, and 100% stress redistribution is assigned, all
the internal stresses in the deactivated elements are redistributed to the remain ing
structure, and the internal stresses of the elements constituting the remain ing
structure will change. This represents loading equal and opposite internal forces
at the boundaries of the removed elements. On the other hand, if 0% stress
redistribution is assigned, the internal stresses of the deactivated elements are not
transferred to the remain ing structure at all, and the stresses in the remain ing
elements thus remain unchanged. The amount of the stresses to be transferred to
the remain ing elements can be adjusted by appropriately controlling the rate of
stress redistribution. This flexible feature can be applied to consider incomplete
or partial transfer of the stresses in the deactivated elements in a construction
stage analysis. A typical example can be a tunnel analysis application. In a
tunnel construction stage analysis, the elements in the part being excavated do
not relieve the stresses to the remain ing support structure all at once. Use of rock
bolts or temporary supports may transfer the internal stresses of the deactivated
(excavated) elements gradually to the remain ing structures of subsequent
construction stages. Accordingly, the internal stresses of deactivated elements
can be gradually distributed to the interim structures over a nu mber of
construction stages.

326
 Construction Stage Analy sis

If original is selected while a boundary condition is activated, the boundary

condition is activated at the original (undeformed) node location. This is
achieved internally by apply ing a forced d isplacement to the node in the
direction opposite to the displacement of the immediately preceding construction
stage. Additional internal stresses resulting fro m the forced displacement will be
accounted for in the structure. Conversely, if the option deformed is selected,
the node for wh ich the boundary condition is to be activated will be located at
the deformed location as opposed to the original location.

In a time dependent analysis reflecting construction stages, the structural system

changes and loading history of the previous stages affect the analysis results of
the subsequent stages. MIDAS/ Gen thus adopts the concept of accumu lation.
Rather than performing analyses for individual structural models pertaining to all
the construction stages, incremental structural and loading changes are entered
and analyzed for each construction stage. The results of the current stage are
then added to that of the preceding stage.

If a loading is applied in a construction stage, the loading remains effect ive in all
the subsequent construction stages unless it is deliberately removed. Elements
are similarly act ivated for a g iven construction stage. Only the elements
pertaining to the relevant construction stage are activated as opposed to
activating all the necessary elements for the stage. Once-activated elements
cannot be activated again, and only those elements can be deactivated.

The loading cases to be applied in a construction stage analysis must be defined

as the construction stage load type. Even if a number of loading cases exist in
a construction stage analysis, their results are combined as a single result as
depicted in Figure 2.87. Th is is because the nonlinearity of time dependent
material properties in a construction stage analysis renders a linear co mb ination
of load cases impossible. A construction stage analysis produces accumulated
analysis results and the maximu m/ min imu m values as shown in Figure 2.87. The
results of the construction stage analysis thus obtained can be now comb ined
with the results of the conventional load cases.

We often encounter occasions where intermed iary construction stages are

structurally significant enough to warrant full investigation . Some special
loadings perhaps related to construction activities can be engaged in the analysis.
MIDAS/ Gen allows us to specify the post-construction stage to an
intermediate stage, which can be analy zed as if it was the final co mp leted
structure. Once a structure pertaining to a construction stage is designated as the
post-construction stage, all general load cases can be applied, and various
analyses such as time history and response spectrum can be carried out.

327
Analy sis Manual f or MIDAS/Gen

Figure 2.87 Construction stage analysis load combination

Procedure for Construction Stage Analysis

A typical modeling procedure for construction stage analysis is as follows:

1. Model the complete structure except for the boundary and load
conditions.

2. Define the element groups in Model > Group > Define Structure Group.
Assign the elements that will be activated (constructed) and deactivated
(dismantled) at the same time to the defined element groups.

3. Define the boundary groups in Model > Group > Define Boundary
Group.

4. Define the load groups in Model > Group > Define Load Group.

5. Co mpose the construction stages by clicking the button in

Load > Construction Stage Analysis Data > Define Construction Stage.
You may click the button to define a nu mber of construction
stages of equal duration follo wed by clicking the button to
compose each construction stage.

328
 Construction Stage Analy sis

Figure 2.88 Define Construction Stage dialog box

6. In the Co mpose Construction Stage dialog bo x, enter the duration of the

construction stage and select whether or not to save the analysis results. If
loadings are applied with time intervals to the same structural system
within the same construction stage, Additional Steps corresponding to the
loading times may be defined.

Figure 2.89 Compose Construction Stage dialog box

7. Activate and/or deactivate relevant element groups selected from the

Group List under the Element tab. The Age represents the maturity at the
start of the stage. The Element Force Redistribution represents the
distribution of the internal forces of the elements being deactivated.

8. Activate and/or deactivate relevant boundary groups selected from the

Group List under the Boundary tab.

329
Analy sis Manual f or MIDAS/Gen

9. Activate and/or deactivate relevant load groups selected from the Gro up
List under the Load tab. The Active Day and Inactive Day represent the
timing of load application and removal respectively.

10. Upon comp letion of co mposing construction stages, move around the
construction stages in Stage Toolbar to enter the boundary and load
conditions corresponding to the boundary and load groups of each
construction stage.

The above outlines the modeling procedure whereby the user directly defines the
construction stages individually. We may also automatically generate all the data
necessary for the construction stage analysis using Load > Construction Stage
Analysis Data > Construction Stage Wizard for Building Structure. Changes
can be made subsequently in Compose Construction Stage.

Figure 2.90 Construction Stage Wizard dialog box

330
 Construction Stage Analy sis

Figure 2.91 Construction stages auto-generated by Construction Stage Wizard

Figure 2.92 Real time display of the changes of structure and load conditions of the
construction stages shown in conjunction with Stage Tree

331
Analy sis Manual f or MIDAS/Gen

Heat of Hydration Analysis

In a certain concrete structure with considerable mass or where a construction

progresses rapidly with a nu mber o f construction joints, the rate and amount of
heat generation due to hydration are important. Non-uniform thermal expansion
and contraction due to heat of hydration and cooling of concrete acco mpanied by
changing constraints create undesirable stresses. The stresses may cause
detrimental cracking in the concrete, thereby reducing its strength and durability.

Heat of hydration analysis thus becomes important when casting mass concrete
structures. It enables us to predict and control temperature and stress distribution
within a structure to avoid potential problems.

Mass concrete structures requiring heat of hydration analysis depend on their

dimensions, shapes, cement types and construction conditions. In practice,
hydration analyses are normally carried out for slabs or mats in excess of
800~1000mm in thickness and walls confined at bottom in excess of about
500mm.

Surface cracking may develop initially due to the temperature difference

between the surface and center. Through-cracks can also develop as a result of
contraction restrained by external boundary conditio ns in the cooling process of
high heat of hydration. The heat of hydration analysis is largely classified into
several sub-analyses.

It entails temperature d istribution analysis for conduction, convection, heat

source, etc.; change in modulus of elasticity due to curing and maturity; and
stress analysis for creep and shrinkage. The following outlines the various
components affecting the analysis.

Heat Transfer Analysis

MIDAS/ Gen calculates changes in nodal temperatures with time due to

conduction, convection and heat source in the process of cement hydration. The
following outlines pertinent items considered in MIDA S/ Gen and some of the
main concepts in heat transfer analysis:

Conduction

Conduction is a type of heat transfer accompanied by energy exchange. In the

case of a fluid, mo lecular movements or collisions and in the case of solid,
movements of electrons cause the energy exchange from a h igh temperature
zone to a low temperature zone. The rate of heat transfer through conduction is
332
 Heat of Hy dration Analy sis

proportional to the area perpendicular to heat flu x mu ltiplied by the temperature

gradient in that direction (Fouriers law).

T
Q x A
x
where,
Qx : Rate of heat transfer
A : Area
: Thermal conductivity

: Temperature gradient

In general, thermal conductivity of saturated concrete ranges between 1.21~

3.11, and its unit is kcal/hm C . Thermal conductivity of concrete tends to
decrease with increasing temperature, but the effect is rather insignificant in the
ambient temperature range.

Convection

Convection is another form o f heat transfer whereby heat is transmitted between

a flu id and the surface of a solid through a fluids relative mo lecular motion.
Heat transfer by forced convection occurs in the case where a fluid is forced to
flow on a surface such that an artificial flu id current is created. If the fluid
current is naturally created by a difference in density due to a temperature
difference within the flu id thereby inducing a buoyancy effect, the form of heat
transfer is referred to as a free convection. Because the fluids current affects the
temperature field in this type of heat transfer, it is not a simp le task to determine
the temperature distribution and convection heat transfer in practice.

Fro m an engineering perspective, the heat transfer coefficient, hc is defined to

represent the heat transfer between a solid and a fluid, where T represents the
surface temperature of the solid, and the fluid flowing on the surface retains an
average temperature T .

q hc (T T )

The heat transfer coefficient (h c) widely varies with the current type, geometric
configuration and area in contact with the current, physical properties of the fluid,
average temperature on the surface in contact with convection, location and many
others, and as such it is extremely difficult to formulate the coefficient. In general,
convection problems associated with temperature analyses of mass concrete structures
relate to the type of heat transfer occurring between the concrete surface and

333
Analy sis Manual f or MIDAS/Gen

atmosphere. Accordingly, the following empirical formula is often used, which is a

function of an atmospheric wind speed.

hc hn h f 5.2 3.2v (m/sec)

The unit for heat transfer coefficients (Convection coefficients) is kcal / m2 h C .

Heat source

Heat source represents the amount of heat generated by a hydration process in a

mass concrete. Differentiat ing the equation for ad iabatic temperature rise and
mu ltip lying the specific heat and density of concrete obtain the internal heat
generation expressed in terms of unit time and volume. Adiabatic conditions are
defined as occurring without loss or gain of heat; i.e., as isothermal.

Internal heat generation per unit time & volume ( kcal / m3 h )

Equation for adiabatic temperature rise ( C )

T K (1 e t )
where,
T : Adiabatic temperature ( C )
K : Maximum adiabatic temperature rise ( C )
: Response speed
t : Time (days)

Pipe cooling

Pipe cooling is accomplished by embedding pipes into a concrete structure

through which a low temperature flu id flo ws. The heat exchange process
between the pipes and concrete reduces the temperature rise due to heat of
hydration in the concrete, but increases the fluid temperature. The type of the
heat exchange is convection between the fluid and pipe surfaces. The amount of
the heat exchange is expressed as follows :

334
 Heat of Hy dration Analy sis

T T T T
qconv hp As (Ts - Tm ) hP As s ,i s ,o - m,i m,o
2 2

h p : Convection coefficient of fluid in pipes ( kcal / m2 h C )

As : Surface area of a pipe (m2 )
Ts , Tm : Pipe surface and coolant temperatures ( C )

Initial temperature

Initial temperature is an average temperature of water, cement and aggregates at

the time of concrete casting, which becomes an initial condition for analysis.

Ambient temperature

Ambient temperature represents a curing temperature, wh ich may be a constant,

sine function or time-variant function.

Prescribed temperature

A prescribed temperature represents a boundary condition for a heat transfer

analysis and always maintains a constant temperature. The nodes that are not
specified with convection conditions or constant temperatures are analyzed
under the adiabatic condition without any heat transfer. In a symmetrical model,
the plane of symmetry is typically selected as an adiabatic boundary condition.

The basic equilibriu m equations shown below are used for heat transfer analysis.
Analysis results are expressed in terms of nodal temperatures varying with time.

CT ( K H )T FQ Fh Fq
C [ cN i N j dxdydz ] : Capacitance (Mass)
v

N i N j N i N j N i N j
K [ (k xx k yy k zz )dxdydz ] : Conduction
v x x y y z z
H [ hN i N j dS h ] : Convection
S

FQ N i Qdxdydz : Heat load due to Heat Source/Sink

v

Fh hT Ni dSh : Heat load due to Convection

S

335
Analy sis Manual f or MIDAS/Gen

Fq qNi dSq : Heat load due to Heat Flux

S

where,
T : Nodal Temperature
: Density
c : Specific heat
k xx k yy k zz : Heat conductivity
h : Convection coefficient
Q : Rate of heat flow - Quantity of heat penetrating per unit time
q : Heat flux Quantity of heat penetrating a unit surface area per unit time

336
 Heat of Hy dration Analy sis

Thermal Stress Analysis

Stresses in a mass concrete at each stage of construction are calcu lated by

considering heat transfer analysis results such as nodal temperature distributio n,
change in material p roperties due to changing time and temperature, time -
dependent shrinkage, time and stress -dependent creep, etc. The fo llowing
outlines some important concepts associated with thermal stress analysis and
pertinent items considered in MIDAS/Gen.

Equivalent concrete age based on temperature and time &

Accumulated temperature

Change in material properties occurring fro m the process of maturing concrete

can be expressed in terms of temperature and time. In order to reflect this type of
phenomenon, equivalent concrete age and accumulated temperature concepts
have been incorporated.

Equivalent concrete age is calculated on the basis of CEB-FIP MODEL CODE,

and the Ohzagi equation is adopted for calculating accumu lated temperature,
which bases on a maturity theory.

Equivalent concrete age as per CEB-FIP MODEL CODE

n
4000
teq ti exp [13.65 ]
t 1 273 T (ti ) / T0

teq : Equivalent concrete age (days)

ti : Time interval at each analysis stage (days)
T(ti ) : Temperature during at each analysis stage ( C )
T0 : 1 C

Ohzagis equation for accumulated temperature

n
M ti T (ti ) 10
i 1

0.0003(T(ti ) 10)2 0.006(T(ti ) 10) 0.55

M: Accumulated temperature ( C )
ti : Time interval at each analysis stage (days)
T(ti ) : Temperature during at each analysis stage ( C )

337
Analy sis Manual f or MIDAS/Gen

Concrete compressive strength calculation using equivalent

concrete age and accumulated temperature

ACI CODE
t
c (t )
a bteq c(28)
a, b: Coefficients for cement classification
c(28) : 28-day concrete compressive strength

CEB-FIP MODEL CODE

1/ 2
28
c (t ) exp s 1
c (28)
teq / t1

s : Coefficient for cement classification
c(28) : 28-day concrete compressive strength
t1 : 1 day

Ohzagis Equation
c (t ) c(28) y
where, y ax2 bx c
M
x 2.389ln 1.0
3.5
a, b, c: Coefficients for cement classification
c (28) : 28-day concrete compressive strength

KS concrete code (1996)

t
c (t )
a bteq c (91)
a, b: Coefficients for cement classification
c(91) : 91-day concrete compressive strength

338
 Heat of Hy dration Analy sis

Deformations resulting from temperature changes

Thermal deformat ions and stresses are calcu lated by using the nodal temperature
changes at each stage obtained through a heat transfer analysis.

Deformations due to Shrinkage

Additional deformations and stresses develop due to shrinkage after in itial

curing. M IDAS/ Gen adopts ACI CODE and CEB-FIP M ODEL CODE to
include the shrinkage effects in thermal stress analyses, which reflect the cement
type, structural configuration and time.

Deformations due to Creep

Additional deformations and stresses develop as a result of sustained stresses in

concrete structures. MIDAS/ Gen adopts ACI CODE and CEB-FIP M ODEL
CODE to consider the effects of creep.

Procedure for Heat of Hydration Analysis

1. Select Model > Properties > Time Dependent Material (Creep/Shrinkage)

and Time Dependent Material (Comp. Strength), and specify the time
dependent material p roperties. Lin k the general material properties and time
dependent material properties in Model > Properties > Time Dependent
Material Link.
2. Enter the relevant data required for Heat of Hydration Analysis in the sub -
menus of Load > Hydration Heat Analysis Data.
3. Enter the Integration factor, Init ial temperature, stress output points and
whether or not to consider the effects of creep and sh rin kage in Analysis >
Hydration Heat Analysis Control.
4. Select the Analysis > Perform Analysis menu or click Perform analysis.
5. Once the analysis is completed, check the results in contours, graphs,
animations, etc.

339
Analy sis Manual f or MIDAS/Gen

Figure 2.93 Model of a pier cap of an extradosed prestressed concrete box for Heat of
Hydration Analysis reflecting the concrete pour sequence

340
 Heat of Hy dration Analy sis

Figure 2.94 Heat properties and time dependent material properties dialog box

341
Analy sis Manual f or MIDAS/Gen

Figure 2.95 Construction Stage dialog box to reflect the concrete pour sequence
(Element, boundary and load groups are defined.)

342
 Heat of Hy dration Analy sis

1 st Stage

2 nd Stage

3 rd Stage

Figure 2.96 Graphs of analysis results for each construction stage

343
Analy sis Manual f or MIDAS/Gen

PSC (Pre-stressed/Post-tensioned Concrete) Analysis

Pre-stressed Concrete Analysis

The behaviors of pre-stressed concrete structures depend on the effective pre-

stress. When a pre-stressed concrete structure is analyzed, the change of tensions
in pre-stressing tendons must be accurately calculated for a load history through
every construction stage. Tension losses in Pre-Stressed (PS) tendons occur due
to many different factors including the tensioning method.

In the case of pre-tensioning, tension losses are attributed to shrinkage and

tendon relaxation before tensioning and elastic shortening, creep, shrinkage,
tendon relaxation, loading and temperature after tensioning.

In the case of post-tensioning, tension losses are attributed to frictions between

tendons and sheaths, anchorage slip, creep, shrinkage, tendon relaxat ion, loading
and temperature.

MIDAS/ Gen reflects the following tension losses for analyzing pre -stressed
concrete structures:

Instantaneous losses upon release

Time dependent losses after release

MIDAS/ Gen uses net cross sections for calculating the section properties such as
cross sectional areas and bending stiffness, which account for duct areas
deducted from the gross cross sections prior to jacking PS tendons. After
tensioning, converted sections are used reflecting the tendon cross sections.

The stiffness of the tendons is relat ively larger than the concrete, and it results in
the shift of centroid. The eccentricit ies of the tendons are then calculated relative
to the new centroid and their tension forces are calculated.

Rather than modeling PS tendons as truss elements or the like, MIDAS/ Gen
treats the tendons as equivalent pre-stressing loads, while the stiffness of the
tendons are reflected in the section properties as noted above. The tensions in the
tendons, which are used to calculate the equivalent loads must be based on the
pre-stress loses at every construction stage caused by various factors.

344
 PSC (Pre-stressed/Post-tensioned Concrete) Analy sis

MIDAS/ Gen adopts the following procedure for analyzing a pre-stressed

concrete structure:

1. Model the structure.

2. Activate (create) construction stages by defining time dependent material

properties and construction stages followed by defining elements,
boundary conditions and loadings for each construction stage.

3. Define the tendon properties; cross sectional area, material properties,

ultimate strength, duct diameter, frictional coefficients, etc.

4. Assign the desired tendons to the section and define the tendon placement
profile.

5. Define the tensions applied to the tendons and enter the tensions in the
appropriate construction stages.

6. Perform the analysis.

Pre-stress Losses

Instantaneous losses after release

1. Anchorage slip
2. Friction between PS tendons and sheaths
3. Elastic shortening of concrete

Long-term time dependent losses after release

1. Creep in concrete
2. Shrinkage in concrete
3. Relaxation of PS tendons

345
Analy sis Manual f or MIDAS/Gen

The frict ional loss is considered in the post-tensioning but not in the pre-
tensioning. The total losses for both instantaneous and long-term losses normally
range in the 15~20% of the jacking force. The most important factor for
calculating the stresses of PSC (pre-stressed & post-tensioned concrete) members is the
final effective pre-stress force Pe in the tendons reflecting all the instantaneous
losses and long-term losses. A relationship between Pi and Pe can be expressed
as follows:

Pe RPi

R is referred to as the effective ratio of pre-stress, which is generally R=0.80 for

pre-tensioning and R=0.85 for post-tensioning.

The following outlines the pre-stress losses considered in MIDAS/Gen:

Instantaneous losses

1. Loss due to Anchorage slip

When a PS tendon is tensioned and released, the pre-stress is transferred to the

anchorage. The frict ion wedges in the anchorage fixtures to hold the wires will
slip a litt le distance, thus allowing the tendon to slacken slightly. This
movement, also known as anchorage take-up, causes a tension loss in the tendon
in the vicinity of the anchorage. This phenomenon occurs in both post- and pre-
tensioning, and overstressing the tendon can compensate it.

The loss of pre-stress due the anchorage slip is typically limited to the vicinity of
the anchorage due to the frictional resistance between the PS tendon and sheath.
The effect does not extend beyond a certain distance away from the anchorage.

The tendon length lset in the anchorage zone in Figure 2.97 represents the zone
in which tension loss is experienced. The length is a function of the friction; if
the frict ional resistance is big, the length becomes shorter and vice versa. If we
define the anchorage slip as l , tendon cross-section area as A p and modulus
of elasticity as E p , the fo llo wing equation is established. The equation
represents the shaded area in Figure 2.97.

Area of triangle ( 0.5Plset ) = Ap E p l (1)

346
 PSC (Pre-stressed/Post-tensioned Concrete) Analy sis

If we further define the frictional resistance per unit length as p , the pre-stress
loss P in Figure 2.97 can be expressed as

P 2 plset (2)

Fro m the equations (1) and (2) above, we can derive the equation for lset , wh ich
represents the length of the tendon being subjected to pre-stress loss due to
anchorage slip.

Ap E p l
lset (3)
p

Figure 2.97 shows a linear distribution of tension along the length of the tendo n
for an illustrative purpose. MIDAS/ Gen, however, considers a true nonlinear
distribution of tension for calculat ing the pre-stress loss due to the anchorage
slip.

Figure 2.97 Effect on pre-stressing force due to anchorage slip

347
Analy sis Manual f or MIDAS/Gen

2. Loss due to friction between PS tendons and sheaths

In post-tensioning, frictions exist between the PS tendon and its sheathing. The
pre-stressing force in the tendon decreases as it gets farther away fro m the
jacking ends. The length effect and the curvature effect can be classified. The
length effect, also known as the wobbling effect o f the duct, depends on the
length and stress of the tendon and refers to the friction stemming fro m
imperfect linear alignment of the duct. The loss of pre-stress due to the curvature
effect results from the intended curvature of the tendon in addition to the
unintended wobble of the duct. Frictional coefficients, (/radian) per unit angle
and k (/m) per unit length are expressed.

If a pre-stressing force P0 is applied at the jacking end, the tendon force Px at a

location, l away fro m the end with the angular change can be exp ressed as
follows:

Px P0e( kl ) (4)

Wobble Curvature coefficient,

Pre-stressing M aterial (/rad)
coefficient, k (/m)
Wire tendons 0.0033~0.0050 0.15~0.25
Bonded
High-strength bars 0.0003~0.0020 0.08~0.30
tendons
7-wire strand 0.0015~0.0066 0.15~0.25

M astic Wire tendons 0.0033~0.0066 0.05~0.15

coated 7-wire strand 0.0033~0.0066 0.05~0.15
Unbonded
tendons Wire tendons 0.0010~0.0066 0.05~0.15
Pre-
greased 7-wire strand 0.0010~0.0066 0.05~0.15

Table 2.7 Friction coefficients k & (ACI-318)

3. Loss due to elastic shortening of concrete

As a pre-stress force is transferred to a concrete member, the concrete is

compressed. The length of the concrete member is reduced, and the tendon
shortens by the same amount thus reducing the tension stress. The characteristics
of the elastic shortening differ slightly fro m pre-tensioning to post-tensioning
although the two methods share the same principle.

348
 PSC (Pre-stressed/Post-tensioned Concrete) Analy sis

In the case of a pre-tensioning, an instantaneous elastic shortening takes place as

soon as the tendon is released fro m the anchorage abutments, that is, when the
jacking force is applied. This results in a shorter tendon and a loss of pre-tension.
As shown in Figure 2.98, the pre-tension (Pj ) in the tendon differs fro m the pre-
stressing force (Pi ) applied to the concrete member.

In the case of post-tensioning, pre-stressing is directly imposed against the

concrete member. The process of elastic shortening is identical to the pre -
tensioning method, but the tension force in the tendon is measured after the
shortening has already taken place. Therefore, no tension loss occurs as a result
of elastic shortening in post-tensioning. MIDAS/ Gen does not consider pre-
stress loss due to elastic shortening. As such, when a p re-stress force is specified
in a concrete member where a pre-tensioning method is used, the pre-stress load
(Pi ) must be entered in lieu of the jacking load (Pj ).

In a typical post-tensioned member, mu ltip le tendons are placed, stressed and

anchored in a pre-defined sequence. A series of concrete elastic shortenings
takes place in the same member, and the pre-stress loss in each tendon changes
as the pre-stressing sequence progresses. There is no tension loss in the first
tendon being stressed in Figure 2.99 (b). When the second tendon is tensioned as
shown in Figure 2.99 (c), a tension loss is observed in the first tendon due to the
subsequent shortening fro m the second tensioning. Not only does MIDAS/ Gen
account for pre-stress loss due to elastic shortening at every construction stage,
but it also reflects all pre-stress losses due to elastic shortenings caused by
external forces.

Figure 2.98 Pre-stress loss due to elastic shortening (pre-tensioned member)

349
Analy sis Manual f or MIDAS/Gen

Figure 2.99 Pre-stress losses in multi-tendons due to sequential tensioning

(post-tensioned member)

Time dependent losses

Pre-stress losses also occur with time due to concrete creep, shrinkage and PS
tendon relaxation. MIDAS/ Gen reflects the time dependent material properties
of concrete members and calculates the corresponding creep and shrinkage for
all construction stages. It also accounts for pre-stress losses in PS tendons due to
the changing member deformat ion. The pre -stress loss history can be examined
for each construction stage by graphs.

350
 PSC (Pre-stressed/Post-tensioned Concrete) Analy sis

Stress relaxation in steel, also termed as creep, is the loss of its stress when it is
pre-stressed and maintained at a constant strain for a period o f t ime. Pre-stress
loss due to relaxat ion varies with the magnitude of in itial stress, elapsed time in
which the stress is applied and product properties. MIDAS/ Gen adopts the
Magura1) equation for tendon relaxation.

fs log t f si f
1 ( 0.55) , where, si 0.55 (5)
f si C fy fy

f si f
is init ial stress; f s is the stress after loading for a period of time t; y is
ultimate stress (0.1% offset yield stress); and C is product-specific constant.
C=10 for general steel and C=45 for low relaxation steel are typically used. The
above equation assumes that the stress in the tendon remains constant. In real
structures, stresses in PS tendons continuously change with time due to creep,
shrinkage, external loads, etc., and as such the equation (5) cannot be directly
applied. Accordingly, MIDAS/ Gen calcu lates the change in pre-stress loads in
tendons due to all causes except for the relaxat ion itself for every construction
stage and calculates the relaxation loss based on fictit ious initial prestress2) for
each construction stage.

1) Magura, D.D., So zen, M.A., and Siess, C.P., A Study of Stress Relaxation in
Pre-stressing Reinforcement, PCI Journal, Vol. 9, No. 2, April 1964.
2) Kan, Y.G., Nonlinear Geo metric, Material and Time Dependent Analysis of
Reinforced and Prestressed Concrete Frames , Ph. D. Dissertation,
Depart ment of Civ il Engineering, University o f California, Berkeley, June
1977.
351
Analy sis Manual f or MIDAS/Gen

Pre-stress Loads

MIDAS/ Gen converts the pre-stress tendon loads applied to a structure into
equivalent loads as described in Figure 2.100 below.

Figure 2.100 Conversion of pre-stress into equivalent loads

Figure 2.100 illustrates a tendon profile in a beam element. 2-Dimension is

selected for the sake of simplicity, but the process of converting into equivalent
loads in the x-y plane is identical to that in the x-z plane. MIDAS/ Gen divides a
beam element into 4 segments and calculates equivalent loads for each segment
as shown in Figure 2.100. The tendon profile in each segment is assumed linear.
The tension forces p i and p j in the tendon are unequal due to frict ional loss. 3
Concentrated loads ( px , m y , pz ) at each end, i and j, alone cannot establish an
equilibriu m, and hence distributed loads are introduced for an equilibriu m.
Equations (1) and (2) are used to calculate the concentrated loads at each end,
and Equation (3) and (4) are used to calculate the internal distributed loads.

352
 PSC (Pre-stressed/Post-tensioned Concrete) Analy sis

pxi pi cos
pzi pi sin (1)
miy pxi ezi

pxj p j cos
pzj p j sin (2)
myj pxj ezj

Fx pxi wxl pxj 0

Fz pzi wzl pzj 0 (3)
2
l
M yj miy pzi l wz 2 myj myl 0

pxj pxi
wx
l
pzi pzj
wz (4)
l
l my my
i j
my pzi wz
2 l

MIDAS/Gen calculates time dependent pre-stress losses due to creep, shrinkage,

relaxation, etc. for every construction stage as well as other pre-stress losses due
to external loads, temperature, etc. First, the change in tension force in the
tendon is calculated at each construction stage, and the incremental tension load
is converted into equivalent loads, which are then applied to the element as
explained above.

353
Analy sis Manual f or MIDAS/Gen

Solution for Unknown Loads Using Optimization Technique

In the design of long span structures, we often face a problem where we would
seek a solution to unknown loading conditions necessary to satisfy a given
design requirement such as shown in Figure 2.101. MIDAS/ Gen is capable of
solving this type of problems using an optimization technique by calculating the
optimu m variab les for g iven constraints and object functions. For constraint
conditions, Equality and Inequality condit ions are permitted. The types of object
n
functions include the sum of the absolute values ( X i ), the sum of the squares
i 1
n
( X i 2 ) and the maximu m of the absolute values ( Max( X1 , X 2 ,..., X n ) ).
i 1

Figure 2.101 (a) illustrates a problem of finding jack-up loads in a long span
beam. An artificial mo ment distribution of the beam or in itial d isplacements in
the beam may be imposed as a condition.

Figure 2.101 (b) illustrates a problem of finding leveling loads during construction
in a long span structure in which a specific deformed shap e is imposed as a
condition.

Figure 2.101 (c) illustrates a cable stayed bridge having unknown cable tensions
under a dead or live load condition. The lateral d isplacement of the pylon is
limited not to exceed a specific value, and the vert ical displacements at Po ints B
and C must be positive (+).

The above problems create equality and inequality conditions , and MIDAS/Gen
solves the problems by the optimization technique.

354
 Solution f or Unkown Loads Using Optimization Technique

The following describes the analysis procedure for finding the jack-up loads at
Points A and B using Equality conditions, as shown in Figure 2.101 (a):

1. Apply a virtual (unit) load at the points of and in the direction of the
unknown jack-up loads as shown in Figure 2.101 (a), one at a time. The
number of unit load conditions created is equal to the number of the
unknown loads.

1. Carry out a static analysis for the design loading condition, wh ich is a
uniformly distributed load in this case.

3. Formulate Equality conditions using the constraints imposed.

M A1 P1 M A2 P2 M AD M A
M B1 P1 M B 2 P2 M BD M B

M Ai : Moment at point A due to a unit load applied in the Pi direction

M Bi : Moment at point B due to a unit load applied in the Pi direction
M AD : Moment at point A due to the design loading condition
M BD : Moment at point B due to the design loading condition
M A : Mo ment at point A due to the design loading condition and the
unknown loads P1 , P2
M B : Moment at point B due to the design loading condition and the
unknown loads P1 , P2

4. Using linear algebraic equations , the equality conditions are solved. If the
numbers of the unknown loads and equations are equal, the solution can
be readily obtained from the matrix or the linear algebra method.

1
P1 M A1 M A2 M A M AD

P2 M B1 M B 2 M B M BD

355
Analy sis Manual f or MIDAS/Gen

The following illustrates an analysis procedure for finding the cable tensions
using Inequality conditions of the structure shown in Figure 2.100 (c):

1. Apply a virtual (unit) load in the form of a pre-tension load in each cable.
The number of unit load conditions created is equal to the number of the
unknown tension loads in the cables.

2. Carry out a static analysis for the design loading condition, wh ich is a
uniformly distributed load in this case.

3. Formulate Inequality conditions using the constraints imposed.

A1T1 A2T2 A3T3 AD A1

B1T1 B 2T2 B 3T3 BD 0
C1T1 C 2T2 C 3T3 CD 0
Ti 0 (i 1, 2,3)

Ai : Lateral displacement at point A subjected to a unit pre-tension

loading condition in Ti direction
Bi : Lateral d isplacement at point B subjected to a unit pre-tension
loading condition in Ti direction
Ci : Lateral displacement at point C subjected to a unit pre-tension
loading condition in Ti direction
AD : Lateral displacement at point A subjected to the design loading
condition
BD : Lateral displacement at point B subjected to the design loading
condition
CD : Lateral displacement at point C subjected to the design loading
condition
A : Lateral displacement at point A subjected to the design loading
condition and the cable tension load
Ti : Unknown i th cable tension

356
 Solution f or Unkown Loads Using Optimization Technique

4. Using the optimizat ion technique, a solution satisfying the inequality

conditions is obtained. Nu merous solutions to the unknown loads exist
depending on the constraints imposed to the Inequality conditions.
MIDAS/ Gen finds a solution to Inequality conditions, which uses
variables that min imizes the given object functions. MIDAS/ Gen allows
us to select the sum of the absolute values, the sum of the squares and the
maximu m of the absolute values of variables for the object functions.
Weight factors can be assigned to specific variables to control their
relative importance, and the effective ranges of the variables can be
specified.

Co mprehensive understanding of a structure is required to use the above

optimization technique for finding necessary design variables. Since Equality or
Inequality conditions may not have a solution depending on the constraints,
selection of appropriate design conditions and object functions are very
important.

357
Analy sis Manual f or MIDAS/Gen

(a) Example of finding the jack-up loads, P 1 and P 2, that cause moment M 1 at point A
and moment M 2 at point B under a given uniform loading condition

(b) Example of finding the leveling loads, P 1 and P 2, that result in the same vertical
displacements at points A, D and G, and the same support reactions
at supports B, C, E and F under a given uniform loading condition

358
 Solution f or Unkown Loads Using Optimization Technique

(c) Example of finding the initial cable tension loads, T 1, T 2 and T 3, that limit the lateral
displacement at point A less than A , and vertical displacements at points B and C
greater than 0 under a given uniform loading condition

Figure 2.101 Examples of finding unknown loads that satisfy various design conditions

359