RESPONSE OF LINEAR ELASTIC S.D.O.

F SYSTEMS
TO EARTHQUAKE LOADING

Earthquake Response of Linear System

In this lecture, we will study the earthquake response of linear
SDOF systems subjected to earthquake excitations.
By definition, linear systems are elastic systems.
They are also referred to as linearly elastic systems to
emphasize both properties. Non-linear inelastic system
Elastic-perfectly plastic
Non-linear elastic system
system (Elasto plastic system)
fs Linear elastic system fs

Area enclosed by
No energy is absorbed the curve = Energy
by systems absorbed by system
u u
2

1
 Effective Earthquake Force
Consider a single story frame with lumped mass. Let the frame at
the base displaces by an amount ug due to seismic waves. As a result
lumped mass at the top displaces by an amount ut ,such that:

u t  u u g

Where ug= Ground displacement. ut=Total displacement at the top end and u
= Dynamic displacement of lumped mass at the top w.r.t shifted base.
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Effective Earthquake Force

The equation of motion for the frame subjected to the

earthquake excitation can be derived by using the using
dynamic equilibrium of forces as:

f I  f D  fS  0

2
 Effective Earthquake Force
Only the relative motion u between the mass and the base cause
structural deformation which produces elastic and damping forces.

Thus for a linear system the inertial force fI is related to the

acceleration u t of the mass by:
f I  mu ; t

f D  cu and f s  ku

Effective Earthquake Force

By substituting the value of fI , the equation of motion become:

mu  t  cu   ku  0
or m(u g  u)  cu
  ku  0
or mu  cu   ku  mu g (t)
Comparing with m
u  cu
  ku  p(t)
p(t)  peff (t)  mug (t)
The term on the right-hand side of the equation may be regarded as
the Effective earthquake force.

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 Effective Earthquake Force
p eff ( t )  mu g (t)

Base moving with u g (t)

Effective earthquake force: horizontal ground motion

Thus the ground motion can be replaced by the effective earthquake

force (indicated by the subscript “eff”. Since this force is proportional
to the mass, thus, by increasing the mass the structural designer
increases the effective earthquake force

Strong ground motions recorded in various earthquakes

ug

t
Figure : Ground motions recorded
during several earthquakes.

4
 Accelerogram used in these lectures

g
Ground acceleration, u

Ground velocity, u g

Ground displacement, u g

N-S component of horizontal ground acceleration recoded at El Centro, California

during the Imperial Valley earthquake of 1940

Equation of motion for SDOF system subjected

to EQ excitations


c k
mu  cu  ku  mu g (t)  u  u  u  u g (t)
m m

Since c  c   2mω cr n
 and k  ω n
m

 u  2ζ n u
  ω 2n u  u g (t)

5
Response quantities

Response is the structural system

reaction to a demand coming from
ground acceleration record

Thus a response quantity may be structural displacement,

velocity, acceleration, internal shear, bending moment, axial force
etc.
t
o , of the mass would be
Sometime, the total acceleration, u
needed if the structure is supporting sensitive equipment and
the motion imparted to the equipment is to be determined.

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Response quantities
One of the important response quantity is total lateral displacement
t
at the top end of structural system, u o , required to provide enough
separation between adjacent buildings to prevent their pounding
against each other during an earthquake

Pounding damage, Hotel de carlo, Mexico city, 1985 earthquake 12

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 Solution to equation of motion for SDOF
system subjected to EQ excitation

u  2ζ n u  ω 2n u  u g (t)

The time variation of ground displacement, from the given time

variation of ground acceleration, can be determined by using any
appropriate time stepping numerical method.
Closer the time interval, more accurate will be solution. Typically, the
time interval is chosen to be 1/100 to 1/50 of a second, requiring 1500 to
3000 ordinates to describe the ground motion of above given El-Centro
1940, ground acceleration record having a duration of 30 sec. 13
13

Influence of Tn and ζ on Peak displacement, uo ,

in a liner elastic SDOF system

u  2ζ u
  ω u  u (t)
2

n n g

The above given equation indicates that u  f(T ,  )

n

Thus any two systems having the same values of Tn and ζ will have
the same deformation response u(t) even though one system may
be more massive than the other or one may be stiffer than the other

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 Effect of Tn on Deformation
response history

ug , g
 go  0.319g
u

El Centro ground acceleration

In general, peak value of

displacement at the top end of a
SDOF increases with the increase
in the time period of the system.
Response of SDOF systems with different values of Tn to
El Centro ground acceleration 15
15

Effect of ζ on Deformation
response history

ug , g

go  0.319g
u

El Centro ground acceleration

In general, peak value of

displacement at the top end of a
SDOF increases with the decrease
in the damping ratio of the system

Response of SDOF systems with different values of ζ to

16
El Centro ground acceleration 16

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 Response History
 Once the deformation response history u(t) has been
evaluated by dynamic analysis of the structure, the
internal forces can be determined by static analysis of the
structure at each time instant.
 The preferred approach to implement such analysis is
based on the concept of the equivalent static force fs,
because it can be related to earthquake force specified in
building codes.

• k is the lateral stiffness

of the frame.

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Response History
 Expressing k in terms of the mass m gives:

Where:

 The base shear Vb(t) and the base overturning moment

Mb(t) are:

Where h is the height of the mass above the base.

 So, we obtain:

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Response spectrum concept
A plot of the peak value of a response quantity as a function of the
natural vibration period Tn of the system, or a related parameter such as
circular frequency ωn or cyclic frequency fn, is called the response
spectrum for that quantity.
Response is the structural system reaction to a demand coming from
ground acceleration record (i.e. Accelerogram) and when the peak response
commodities such as structural system displacement u o  ,velocity u o and
acceleration u t o  are plotted against the structural system natural time
period (or frequencies) will be called spectrum.
Peak values of response quantities and shape of response spectrum
depends on the accelerogram
Each such plot is for SDOF system having a fixed damping ratio ζ, and
several such plots for different values of ζ are included to cover the range
of damping values encountered in actual structures.
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Deformation response spectrum

The deformation response spectrum is a plot of uo against Tn for

fixed ζ. A similar plot for u o is the relative velocity response
t
spectrum, and for u o is the total acceleration response spectrum.

Figure on next slide shows the procedure to determine the

deformation response spectrum. The spectrum is developed for
El Centro ground motions, as shown in part (a) of the figure.
The time variation of deformation induced by this ground motion
in three SDF systems is presented in part (b) of the figure
The peak value of deformation D ≡ uo, determined for SDF
system with different Tn is determined and shown in part (c) of the
Figure
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 Construction of deformation
response spectrum

(a) El-centro ground acceleration; (b) Deformation response of three SDF systems
with ζ=2% and Tn=0.5,1, and 2 sec; (c) Deformation response spectrum for ζ=2%21
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Pseudo–Velocity Response Spectrum

 The peak pseudo-velocity V for an SDF system with natural
frequency ωn related to its peak deformation D = u0 is:

 The strain energy ES0 stored in the system during the

earthquake is:

 The pseudo-velocity response spectrum is a plot of V as a

function of the natural vibration period Tn or natural
vibration frequency fn of the system.
 The quantity V has the unit of velocity and is called relative
pseudo- velocity or simply pseudo-velocity. The prefix pseudo
is used because V is not equal to the peak velocity u o ,
although it has the correct units.
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 Pseudo–Acceleration Response Spectrum
 The peak pseudo-acceleration A for an SDF system with
natural frequency ωn related to its peak deformation D = u0
is:

 The quantity A is related to the peak value of base shear

Vb0 (or the peak value of the equivalent static force fS0) by:

 The peak base shear can be written in the form:

Where: w is the weight of the structure.
g is the gravitational acceleration.
 A/g may be interpreted as the base shear coefficient or
lateral force coefficient. It is used in building codes to
represent the coefficient by which the structural weight is
multiplied to obtain the base shear. 23

Pseudo–Acceleration Response Spectrum

• The figure shows the Response
spectra (ζ = 0.02) for El Centro
ground motion:
(a) Deformation response
spectrum;
(b) Pseudo-velocity response
spectrum;
(c) Pseudo-acceleration
response spectrum.
• The peak pseudo-acceleration A
for a system with natural period
Tn and damping ratio ζ can be
determined by:

• And the peak deformation D of

the system is shown in fig. a.
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 Pseudo–Acceleration Response Spectrum
2π
VD
T n

Tn D V=D*2π/Tn   2%
0.5 2.67 33.6
1.0 5.97 37.5
2.0 7.47 23.5

2   2%
 2π 
A  ω D    D
2
n
 Tn 

Tn D A=D*(2π/Tn)2   2%
0.5 2.67 1.09g
1.0 5.97 0.61g
2.0 7.47 0.191g
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A caution about Pseudo responses

Please note the following comments regarding pseudo commodities:

1. uo is same as D by definition.
2. Whereas u o is not taken as V, which by definition = ωnD
3. Similarly, u t o is not taken as A which by definition= ωn2D

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 Displacement Response Spectra for Different Damping values
The higher the damping, the lower the relative displacement.
At a period of 2 sec, for example, going from zero to 5%
damping reduces the displacement amplitude by a factor of two.
While higher damping produces further decreases in displacement,
there is a diminishing return.
The % reduction in
displacement by going
from 5 to 20% damping is
much less that that for 0 to
5% damping.

Deformation response spectra for 1940 El-centro earthquake for different values of ζ
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Pseudo Acceleration Response Spectra for Different

Damping Values
Damping has a similar effect on pseudo acceleration. Note, however,
that the pseudo acceleration at a (near) zero period is the same for all
damping values.

This value is always

equal to the peak ground
acceleration, 0.319g, for
the ground motion in
question. i.e. El-centro
1940 earthquake

Acceleration response spectra for 1940 El-centro earthquake for different values of ζ
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