midas Civil Advanced Tutorial

Nonlinear time history analysis of a bridge

with seismic isolators
 Nonlinear Time History Analysis of a Bridge with Seismic Isolators

Nonlinear time history analysis of a bridge with seismic isolators

Since this example focus es on the procedure for performing nonlinear boundary time
history analysis, the modeling process will be omitted, and a completed model file will be
opened.

The procedure for performing nonlinear boundary time history analysis with M IDAS/Civil
is as follows:

1. Define the properties of Nonlinear Links

2. Input Nonlinear Links

3. Enter the analysis conditions for Time History Analysis

4. Perform Nonlinear Time History Analysis.

5. Check the analysis results

For the definition of LRB, refer to the analysis manual.

Figure 1. 3-D Bridge Model

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Bridge Specifications

Bridge Spans: 45 m + 50 m + 45 m = 140 m

Bridge Width: 11.4 m
Bridge Type: Steel Box Girder
Lanes: Three lanes

Nonlinear analysis of a bridge with LRB Isolator elements

Modeling
Open a new file ( New Project) and save ( Save) the file as ‘Non linear-LRB’.
Assign the unit system as ‘tonf’ and ‘m’. The unit system can be changed any time during the
input process depending on the types of data entries.

/ New Project
/ Save (Non linear-LRB )

Tools / Unit System

Length> m; Force>tonf 

Model Import

In this tutorial, we will import a model (Structural M odel.mct) completed with geometry and
material/section data.

/ Import / MIDAS/Civil MCT File

open>Structural Model.mct 

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 Nonlinear Time History Analysis of a Bridge with Seismic Isolators

Non linear link definition

Nonlinear Link (LRB) properties

Abutment (LRB-A)
Vertical Longitudinal Transverse
Direction Dz Dx Dy
Nonlinear No Yes Yes
Linear Properties
Effective Stiffness 479100(design) 336.1(iteration) 336.1(iteration)
Effective Damping 0 0 0
Nonlinear Properties
Stiffness - 1099 1099
Yield Strength - 15.69 15.69
Post yield Stiffness ratio - 0.08917 0.08917

Pier (LRB-P)
Vertical Longitudinal Transverse
Direction Dz Dx Dy
Nonlinear No Yes Yes
Linear Properties
Effective Stiffness 1289000(design) 702.2(iteration) 702.2(iteration)
Effective Damping 0 0 0
Nonlinear Properties
Stiffness - 2204 2204
Yield Strength - 33.63 33.63
Post yield Stiffness ratio - 0.0862 0.0862

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Nonlinear Link (LRB) property input

Input the properties of Lead Rubber Bearing isolators.

Boundary > General Link > General Link Properties

Define General Link Properties>
Name (LRB-A); Application type> Force; Property Type>Lead Rubber Bearing
Isolator
Self Weight>Total Weight (0)
Linear Properties
DOF>Dx, Dy, Dz(on) ; Effective Stiffness (479100), (336.1), (336.1)

Nonlinear Properties
DOF>Dy(on) ; Stiffness (k) (1099)
Yield Strength (15.69); Post Yield Stiffness Ratio(r) (0.08917)
Hysteretic Loop Parameter (α) (0.5)
Hysteretic Loop Parameter (β) (0.5)

DOF > Dz(on) ; (The procedure is identical to that for Dy)

Figure 2. LRB properties Input for Abutment

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 Nonlinear Time History Analysis of a Bridge with Seismic Isolators

Input the properties of LRB for Pier.

Boundary > General Link > General Link Properties

Define General Link Properties>
Name (LRB-P); Application type> Force; Property Type>Lead Rubber Bearing
Isolator

Self Weight>Total Weight (0)

Linear Properties
DOF>Dx, Dy, Dz(on) ; Effective Stiffness (1289000), (702.2), (702.2)

Nonlinear Properties
DOF>Dy(on) ; Stiffness (k) (2204)
Yield Strength (33.63) ; Post Yield Stiffness Ratio(r) (0.0862)
Hysteretic Loop Parameter (α) (0.5)
Hysteretic Loop Parameter (β) (0.5)

DOF>Dz(on) ; (The procedure is identical to that for Dy)

Figure 3. LRB properties Input for Pier

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Create Nonlinear Links (LRB)

Create Nonlinear Link (LRB) elements on the supports.

There are a total of 8 locations to input LRB. The order in which the input takes place is from the
left abutment to the left pier, the right pier and the right abutment.

Create nonlinear links at the left Abutment.

Boundary / General Link

General Link Property>LRB-A
Zoom Window (Zoom in the left abutment where LRB-A is to be created)

2 Nodes (93, 95)

2 Nodes (94, 96)

Figure 4. Nonlinear link Input at the left Abutment

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 Nonlinear Time History Analysis of a Bridge with Seismic Isolators

Create nonlinear links at the left Pier

Boundary / General Link

General Link Property>LRB-P
Zoom Window (Zoom in the left Pier where LRB-P is to be created)

2 Nodes (59, 63)

2 Nodes (60, 64)

Figure 5. Nonlinear link Input at the left Pier

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Create nonlinear links at the right Pier

Boundary / General Link

General Link Property>LRB-P
Zoom Window (Zoom in the right Pier where LRB-P is to be created)

2 Nodes (61, 65)

2 Nodes (62, 66)

Figure 6. Nonlinear link Input at the right Pier

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 Nonlinear Time History Analysis of a Bridge with Seismic Isolators

Create nonlinear links at the right Abutment.

Boundary / General Link

General Link Property>LRB-A
Zoom Window (Zoom in the right abutment where LRB-A is to be created)

2 Nodes (97, 99)

2 Nodes (98, 100)

Figure 7. Nonlinear link Input at the right Abutment

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Mass input

Three types of masses can be defined, which are Structure M ass, Nodal M ass and Load to M ass.
Detailed applications for each type of mass are explained in the online manual.
When nonlinear modal time history analysis with general link is performed, mass should be
assigned to all nodes to which the general links are connected. In this example, Structure M ass
and Load to M ass are used.

Structure Mass

Convert the self-weight of the elements modeled in the structure into masses.

Structure / Structure Type

Conversion of Structure Self weight into M asses
Convert to X, Y, Z 

Figure 8. Automatic conversion of the self-weight of the structure into Mass

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 Nonlinear Time History Analysis of a Bridge with Seismic Isolators

Load to Mass

This converts beam loads to masses.

Load / Static Loads Load Type / Loads to Masses

M ass Direction>X, Y, Z
Load Type for Converting>Beam Load (Line, Typical) (on)
Gravity (9.806); Load Case>Dead load
Scale Factor (1); Add 

Figure 9. Mass Input using Loads to Masses function

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Input for Time History Analysis Data

Time History Function

Unlike linear analysis, the principle of superposition does not apply to nonlinear analysis. This
example pertains to analysis for both dead load and seismic load. But it is not correct to linearly
combine the separate results due to each load afterwards. For time history analysis, we need to
consider both loads acting simultaneously.

In order to reflect the dead load in time history analysis, the Time Varying Static Load function is
used. This function basically creates a condition in which the dead load is in place at the time of
performing time history analysis for seismic load. A ‘Ramp’ function is assigned to the static
dead load and the El Centro data is used for the seismic load.

We first define a ramp Time Forcing Function to represent the dead load.

Load / Seismic Load Type / Time History Analysis Data / Time History Functions
Add Time Function
Function Name (Ramp)
Enter the data as shown in Figure 10.

Figure 10. Definition of Time Forcing Function for static dead load

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 Nonlinear Time History Analysis of a Bridge with Seismic Isolators

The seismic load data is created using the El Centro seismic data.

Load / Seismic Load Type / Time History Analysis Data / Time History Functions
Add Time Function
Earthquake
Earthquake>1940 EL Centro S ite, 270 Deg > OK > Apply
Earthquake
Earthquake>1940 EL Centro S ite, 180 Deg > OK > OK

(a) El Centro Site 270Deg (Peak: 0.3569g)

(b) El Centro Site 180Deg (Peak: 0.2142g)

Figure 11. El Centro seismic data Input

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Eigenvalue Analysis Data Input

There are two methods for performing time history analysis, which are M odal Superposition
method and Direct Integration method. In this example, we will use the M odal Superposition
method. Eigenvalue analysis control data are specified before defining Time History Load Cases.
For eigenvalue analysis, M IDAS/Civil provides the Eigen Vectors method and Ritz Vectors
method. Ritz Vectors method is strongly recommended when nonlinear modal time history
analysis is performed with general links. In this case, general link force vectors must be included
in the starting load vectors in order to include the deformations of general link to calculate the
starting load vectors. In this example, we will use the Ritz Vectors method with checking on
“Include GL-link Force Vector” option.

Load / Seismic / Time History Analysis Data / Load Cases

(or Analysis>Eigenvalue Analysis Control)

Ritz Vectors
Starting Load Vectors
Load Case>Dead load; Number of Generations>1
Load Case>Ground Acc X; Number of Generations>8
Load Case>Ground Acc Y; Number of Generations>8 

Figure 12. Eigenvalue Analysis Control data input

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 Nonlinear Time History Analysis of a Bridge with Seismic Isolators

Time History Load Cases

Dead load and seismic load are separately entered in Time History Load Cases.

Defining Dead Load in Time History Load Case

Load / Seismic / Time History Analysis Data / Load Cases
ADD
Load Case Name (Dead Load)
End Time (5); Time Increment (0.002)
Step Number Increment for Output (5)
Analysis Type>Nonlinear; Analysis M ethod>Modal
Damping>Direct S pecification of Modal Damping – Damping Ration for All

Modes>Damping Ratio for All M odes (0.99) 

For detailed usage please refer to the Online manual. 

The 99% Damping Ratio assumes that
the total damping from the beginning
(zero second) to the end time is 99%. This
is to induce fast convergence of static load
considered in nonlinear analysis using the
Time Varying Static Load.

End Time: The finish time until which the

time history analysis is required. Duration
of seismic data should be considered to
define End Time.

Time Increment: The time increment of a

time history analysis significantly affects
the accuracy of the analysis results. A
common rule of thumb for determining
the time increment is to use at least 1/10
of the smaller of the period of the time
forcing function or the natural frequency
of the structure. Since the period of the
highest mode is 0.02, 0.002 is used here.

Step Number Increment for Output:

Analysis time step required for producing
results of the time history analysis.
Results produced at the interval of
(Number of Output Steps x Time
Increment). If 1 is specified, analysis
results are produced at every 0.002 sec. If
5 is specified, analysis results are
produced at every 0.01 sec. For a
reasonable analysis speed, 5 is used.

Figure 13. Time History Load Case dialog

box

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Define Time History Load Case for Earthquake Load.

Load / Time History Analysis Data / Load Cases

Add
Load Case Name (Earthquake)
End Time (50); Time Increment (0.002)
Step Number Increment for Output (5)
Analysis Type>Nonlinear; Analysis M ethod>Modal 
Order in sequential Loading>S ubsequent to>Load Case>Dead Load
Damping>Damping M ethod>Modal
Damping Ratio for All M odes (0.05) 

Order in S equential Loading: Data

related to a sequence of consecutively
loaded multiple time history analysis
conditions

S ubsequent to:
Select a time history analysis condition
previously defined, which precedes the
time history analysis condition currently
being defined. The Analysis Type and
Analysis M ethod for the current time
history analysis condition must be
consistent with those for the preceding
load condition. From the preceding
analysis condition, displacement, velocity,
acceleration, member forces, variables for
the state of hinges and variables for the
state of nonlinear link elements are
obtained and used as the initial condition
for analysis. However, in the case of
loadings, the loading at the final state of
the preceding analysis condition is
assumed to constantly remain in the
current analysis condition only when
“Keep Final Step Loads Constant” is
checked on.


Nonlinear direct integration method can
be used in this example. It does not
require Ritz vector analysis but it would
take more analysis time and sensitive to
the time increment.

Figure 14. Time History Load Case dialog box

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 Nonlinear Time History Analysis of a Bridge with Seismic Isolators

Ground Acceleration

Assign the direction of the El Centro ground acceleration. The maximum accelerations of the two
seismic data, Elcent_t and Elcent_h in Time History Function are 0.2142g and 0.3569g
respectively. The seismic data, which pertains to the greater of the two maximum accelerations, is
input in the direction of the 1st mode of vibration. For reference, the 1 s t vibration mode of this
model is in the Y direction, which is in the transverse direction of the bridge. The greater
acceleration data (Elcent_h) is thus applied in the Y direction.

Load / Seismics / Time History Analysis Data / Ground Acceleration

Time History Load Case Name>Earthquake
Function for Direction-X
Function Name>Elcent_t
Function for Direction-Y
Function Name>Elcent_h
Operations> 

Figure 15. Definition of the directions of Earthquake data

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Time Varying Static Loads

In order to apply dead load to Time History Analysis, Time Varying Static Load is entered.

Load / Seismic / Time History Analysis Data / Time Varying Static Load
Time History Load Case Name>Dead Load
Static Load>Dead Load
Function>Function Name>Ramp
Operations> 

Figure 16. Varying Static Loads input

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 Nonlinear Time History Analysis of a Bridge with Seismic Isolators

Analysis

Since the input for boundary nonlinear analysis is completed, analysis can be now performed.

Analysis / Perform Analysis

Checking Results
Time history graph

Check the shear force acting on an LRB isolator and deformation of the upper part of a pier using
the Time History Graph function.

Initial View
View / Display or Display from the Icon Menu
Boundary tab
General Link (on) ; General Link Number (on) 

Figure 17. Initial Model View and Display of Nonlinear Link numbers

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Check the horizontal force and deformation acting on General Link No.3 in the longitudinal
direction.

Result / Time History Result / T.H Graph/Text / Time History Graph

Define/M odify Function>General Link Deform/Force

Name (NL3-S hear-y)

NL-Link No>5(nl:61,n2:65) ; Type>J-Node Force
Components>F-y ; Time History Load Case>Earthquake 

Name (NL3-Disp-y)
NL-Link No>3(nl:59,n2:63) ; Type>Deformation
Components>D-y ; Time History Load Case>Earthquake 

Figure 18. Horizontal force and deformation acting on General link No.3

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 Nonlinear Time History Analysis of a Bridge with Seismic Isolators

Print the hysteresis Graph of the LRB isolator.

Result / Time History Result / T.H Graph/Text / Time History Graph

Check Function to Plot> NL3-S hear-y (on)
Click Add from list
Horizontal Axis> NL3-Disp-y
Type of Display
X Axis Decimal Pt. (4); Y Axis Decimal Pt. (1)
Type>Time History Graph 

Figure 19. Hysteresis graph of LRB isolator

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Check the displacement at the top of a pier by Time History Graph.

Result / Time History Result / T.H Graph/Text / Time History Graph

Define/M odify Function>Disp/Vel/Accel

Name: (Disp-Pier-Top)
Node Number: (77)
Type of Result>Displ.
Components: >DX
Time History Load Case>Earthquake
Included M ode Number> All 

Figure 20. Assignment of parameters for display of deformation at pier top

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 Nonlinear Time History Analysis of a Bridge with Seismic Isolators

Check the displacement result at the pier top by Time History Graph

Result / Time History Result / T.H Graph/Text / Time History Graph

Check Function to Plot> Disp-Pier-Top (on)
Click Add from list
Horizontal Axis> Time
Type of Display
X Axis Decimal Pt. (1) ; Y Axis Decimal Pt. (4)
Type:>Time History Graph 

Figure 21. Displacement hysteresis graph at the pier top (node 77)

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