CEng 6506 Lecture Notes

Chapter 2
Earthquake Response of
Linear SDOF Systems
Addis Ababa University
Adil Zekaria (Dr.-Ing.)

Presentation outline

 Earthquake analysis of linear systems

 Review of basic concepts of structural dynamics in

SDOF systems

 Earthquake response of linear systems

 Response Spectra: definition, construction, behavior, etc.

 Construction of elastic design spectra

 Relative versus Pseudo velocity and acceleration spectra

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 CEng 6506 Lecture Notes

Earthquake Analysis of Linear Systems

Type of structure Method of Analysis

Regular (Simple) structures
Equivalent static analysis (ESA or ELF)

Response spectrum analysis (RSA)

Response history analysis (RHA or

THA)

Irregular (complex) Nonlinear Response History Analysis

structures
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Earthquake Analysis of Linear Systems (contd.)

 Equivalent static analysis (ESA or ELF)

 acceptable results for regular structures
 Dynamic analysis
 Response spectrum analysis (RSA)
 satisfactory for majority of the cases
 Response history analysis (RHA or THA)
 can be used to model nonlinear behavior depending on the
nature of the site, size and sensitivity of the structures
 Nonlinear RHA (may include soil-structure interaction)
 only for special structures
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 CEng 6506 Lecture Notes

Basic concepts of structural dynamics

 Basic equation of motion for a SDOF system

u(t )

mu(t )  cu (t )  ku (t )  p (t ) c
m p(t)
k

 EQ excitation: p (t )   mug (t )
 Rotary machine vibration p(t )  Po sin (t )

 Response: u(t) = ..... closed solution, numerical,

ü(t) = .....
member forces, fs(t) = k u(t), etc
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Basic structural dynamics (contd.)

 Portal frame structures may be idealized as a SDOF

system
In statics, this frame By neglecting the Only one DOF is left if the
has 6 active degrees axial deformations, 3 frame is consisting of an
of freedom. DOF disappear. heavy roof supported by
light columns.
3 2 5 2 3 rigid beam
6 m
1
1 4 1

massless

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 CEng 6506 Lecture Notes

Basic structural dynamics (contd.)

• The mass of this SDOF system is m, the mass of the roof.

• The stiffness is determined in the classical way:
e.g. k  12 E I L3
• Damping:- Friction in the structure is idealized by a linear
viscous damper which develops a force proportional to the
velocity u(t )

c
m p(t)
k

•Equation of motion m u  c u  k u  p(t )

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Basic structural dynamics (contd.)

Free Vibration response of a SDOF system
u(t )
(t)  cu (t)  ku(t)  0
mu
c
m u
k
C e nt

un viscously damped
un + p
u
t
tn t n +p
uo
C
uo
t
2
TD 
D
Tn  u  nuo 
u(t )  e nt uo cos( Dt )  o sin( Dt )
  D 
Undamped
uo 1 u
u(t )  uo cos(nt )  sin(nt )   0 .1  12 1    ln n
n 2  p un  p
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 CEng 6506 Lecture Notes

Basic structural dynamics (contd.)

Vibration response of a SDOF system under harmonic excitation
u(t )

c
k
m p(t) (t)  cu (t)  ku(t)  po sin t
mu

u (t )  C e nt sin(Dt   )
5

4.5

4  = 0.1
po k
 sin(t   )
3.5

Rd
3

2.5
 = 0.2 1  (  ) 
n
2 2
 2 ( n ) 2
2

1.5  = 0.4
1
1
0.5
Rd ( , n ) 
0
0 0.5 1 1.5

(  n )
2 2.5 3
1  (  ) 
n
2 2
 2 ( n ) 2

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Earthquake Response of Linear

Systems
Earthquake Excitations Measuring Instruments

• Seismographs
• Strong Motion Accelerographs

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 CEng 6506 Lecture Notes

Ground Motion
Records During
Several
Earthquakes

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Ground Motion
Records During
Several
Earthquakes

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 CEng 6506 Lecture Notes

Peak Ground
Acceleration
Records During
Loma Prieta
Earthquakes (1989)

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Introduction to Response Spectra

As an introduction to earthquake analysis, the concept of
response spectra is first presented.
An idealized SDOF system is As an example , consider the
subjected to a ground motion ground acceleration registered
üg(t). The deformation response during Elcentro EQ of 1940.
u(t) is to be calculated.
m (ug  u)  c u  k u  0
u  2 ωn u  ωn2 u  ug (t )

u(t )

c
m
k

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 CEng 6506 Lecture Notes

Response Spectra: Definition

A response spectrum is a plot of maximum response (e.g. displacement,
velocity, acceleration) of SDOF systems to a given ground acceleration
versus systems parameters (Tn , ).
A response spectrum is calculated numerically using time integration
methods for many values of parameters (Tn , ).
Example : Deformation response spectrum for El Centro earthquake

D  max u(t )
t

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Construction of a response spectrum

Pseudo-acceleration, Sa

Sa2
Sa1 zn

Sa3
San Natural period, Tn
T1 T2 T3 Tn

max.San
max.Sa3
max.Sa1
Üg

max.Sa2

t T1 T2 T3 ... Tn
Response of a SDOF system
EQ excitation
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 CEng 6506 Lecture Notes

Construction of a response spectrum

1. Numerically define ground acceleration üg(t)

2. Select natural vibration period Tn and z of SDOF
3. Compute deformation response u(t)
4. Determine u0 peak value of u(t)
5. The spectral ordinates are D=u0 , V=D and A=2D
6. Repeat step 2 to 5 for a range of Tn and z
7. present steps 2 to 6 graphically

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Displacement Response
Spectrum

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 CEng 6506 Lecture Notes

Displacement Response Spectra

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Acceleration Response Spectra

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Multiple Earthquakes
(Acceleration history)

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Multiple Earthquakes
(Displacement Spectra)

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 CEng 6506 Lecture Notes

Multiple Earthquakes
(Acceleration spectra)

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DVA Spectra

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 CEng 6506 Lecture Notes

DVA Spectra

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Combined D-V-A Spectrum

Deformation, pseudo-velocity &

pseudo-acceleration response
spectra can be defined and plotted
on the same graphs

Peak Deformation D  max u ( t )

Peak Pseudo velocity V  n D
Peak Pseudo acceleration A  n2 D

n : natural circular frequency

of the SDF system.

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 CEng 6506 Lecture Notes

Combined D-V-A Spectrum

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Response Spectrum Characteristics Tn  2 m k

General characteristics can be derived T < 0.03 s : rigid system

n
from the analysis of response spectra. no deformation
u(t) ≈ 0  D ≈ 0

Tn > 15 s : flexible system

no total displacement
u(t) = ug(t)  D = ugo

The spectrum can be divided in 3 period ranges:

Tn  0.5 s : acceleration sensitive region

0.5  Tn  3 s : velocity sensitive region

Tn  3 s : displacement sensitive region

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 CEng 6506 Lecture Notes

Elastic Design spectrum

The response spectra for

three ground motions
recorded at the same site

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Construction of a design spectrum

To ensure that a structure will resist a future earthquake, the

elastic design spectrum is obtained from all ground motions
data recorded during past earthquakes at the site or in regions
with near-similar conditions
EQ 1
Spectral acceleration, Sa

Mean or Mean +1s

EQ 3

EQ 2

Tn, sec
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 CEng 6506 Lecture Notes

Construction of a design spectrum (contd.)

Design spectrum from statistical analysis of all ground motions [Newmark et al]
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Construction of a design spectrum (contd.)

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 CEng 6506 Lecture Notes

Construction of a design spectrum (contd.)

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Construction of a design spectrum (contd.)

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 CEng 6506 Lecture Notes

Construction of a design spectrum (contd.)

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Construction of a design spectrum (contd.)

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 CEng 6506 Lecture Notes

Comparison of Design & Response

Spectra
 RS is jagged while DS is
smooth curve
 RS is the plot of the peak
response of a particular EQ
while DS represents
average/envelope
characteristics of many RS
 For some sites envelope
DS can drawn from 2
different DSs, (see next
slide.)
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Envelope of design spectra

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 CEng 6506 Lecture Notes

Relative versus Pseudo values

1 t
 ug (  )e n
z ( t  )
u( t )   sin[  D ( t   )] dt
D 0
1 t
u( t )  znu( t )   ug (  )e n
z ( t  )
cos[ D ( t   )] dt
D 0
u( t )  n2u( t )  2znu( t )
versus
Peak Deformation D  max u (t )
Peak Pseudo  velocity V  n D
Peak Pseudo  acceleration A  n2 D
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Relative versus Pseudo Velocities

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 CEng 6506 Lecture Notes

Relative versus Pseudo Acceleration

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Average Pseudo-Acceleration
Spectra

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 CEng 6506 Lecture Notes

EBCS 8, 1995 Elastic Design Spectra

Normalized Elastic Response Spectra

2.5
Spectral acceleration / Ground acceleration: bo

Damping coeff. z = 5%
2

soil class A
1.5
soil class B

soil class C

0.5

0
0 0.5 1 1.5 2 2.5 3

Period T (sec)

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Example 1
 4 m cantilever tower, mass m = 1650 kg; 100 mm pipe,
do=114 mm, di=102 mm, I =301 cm4 and E=200 GPa

𝑘= = 28,219 𝑁/𝑚 ; 𝜔 = = 4.135 𝑟𝑎𝑑/𝑠; Tn = 1.52 s

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 CEng 6506 Lecture Notes

Example 1 (cont’d)
uo = D = 12.5 cm

A = 0.219 g

fso = kD = mA = 3540 N

M = 14,160 Nm

𝑀𝑐
𝜎= = 269 Mpa
𝐼

Suppose σmax > σall ??

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Example 2
 Now let us use a bigger pipe ; from 100 200 mm pipe,
do=219 mm, di=203 mm, I =3018 cm4 & E =200MPa

𝑘= = 282,938 𝑁/𝑚 ; 𝜔 = = 13.09 𝑟𝑎𝑑/𝑠; Tn = 0.48 s

uo = D = 7.16 cm

A = 1.25 g

fso = kD = mA = 20,233 N M = 80,932 Nm

𝑀𝑐
𝜎= = 294 Mpa
𝐼

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