STRUCTURAL DYNAMICS

Learning Module 7: Seismic Loading

Prof J. Mahachi, Pr.Eng, Pr.CPM, FSAICE

University of Johannesburg

School of Civil Engineering & Built Environment

Email: [email protected]
Cell: 082 904 9569
 Course Outline
• Introduction to Differential Equations
• SDOF Free vibration, with no damping
• SDOF Free vibration with damping
• SDOF Forced vibration
– Harmonic Loading
– Periodic Loading
– Pulse Loading & Response Spectra
– Transient loading (Earthquake loading)
• MDOF
• Vibration of Continuous Structures
• Foundations of Reciprocating Machines
 Learning Outcome

• At the end of this module, the learner will be expected to

know:
– Numerical Integration
– Application to seismic loading
– Understanding of SANS 10160-Part 4 (Seismic)
 Numerical Integration
Duhamel Integral:
1 𝜏=𝑡
𝑢(𝑡) = ∫ 𝑃 𝜏 ∙ sin 𝜔𝐷 (𝑡 − 𝜏) ∙ 𝑒 −𝜉𝜔(𝑡−𝜏) 𝑑𝜏
𝑚𝜔 𝜏=0
𝜏=𝑡 𝜏=𝑡
−𝜉𝜔𝑡 −𝜉𝜔𝑡
𝑒 sin 𝜔𝑡 𝜉𝜔𝜏
𝑒 𝑐𝑜𝑠 𝜔𝑡
∴𝑢 𝑡 = න 𝑒 𝑃 𝜏 ∙ cos 𝜔𝜏𝑑𝜏 − න 𝑒 𝜉𝜔𝜏 𝑃 𝜏 ∙ 𝑠𝑖𝑛 𝜔𝜏𝑑𝜏
𝑚𝜔 𝑚𝜔
𝜏=0 𝜏=0

A(t) B(t)
𝑒 −𝜉𝜔𝑡
• 𝑢(𝑡)
ሶ = 𝑚𝜔
∙ 𝐴(𝑡) ∙ sin 𝜔𝑡 − 𝐵(𝑡) ∙ cos 𝜔𝑡
 Numerical Integration

• Integrate A(t) and B(t)

𝜏=𝑡 𝜉𝜔𝜏 𝑡
• A 𝑡 = ∫𝜏=0 𝑒 𝑃 𝜏 ∙ cos 𝜔𝜏𝑑𝜏 = ∫0 𝑦 𝜏 𝑑𝜏
• Evaluate: y 𝜏 = 𝑒 𝜉𝜔𝜏 𝑃 𝜏 ∙ cos 𝜔𝜏 at equally intervals (∆𝜏)
 Graph (y 𝜏 )
y 𝜏

𝑦2 𝑦𝑁−1
𝑦1 𝑦𝑁
𝑦0

t Time (t)
∆𝜏

The value of A(t) at a point in time t is then:

∆𝜏
𝐴𝑡 = (𝑦 + 2𝑦1 + 2𝑦2 + ⋯ + 2𝑦𝑁−1 + 𝑦𝑁 )
2 0
 Time History Analysis
∆𝑡
• 𝐴 𝑡 = 𝐴 𝑡 − ∆𝑡 + (𝑦𝑁−1 + 𝑦𝑁 )
2

• For B(t): Replace cos 𝜔𝑡 with sin 𝜔𝑡

• ∆𝜏 is usually 1/20th to 1/100th of T

 Response of Structures to
Earthquake and Seismic Ground
Motions
Response Analysis of SDOF to
Earthquake Loading
Richter Magnitude Scale (M)
If E is the energy released in Joules
𝑙𝑜𝑔10 𝐸 = 4.4 + 1.5𝑀
Support Motion (Base Isolation)
𝑚𝑢ሷ 𝑡
𝑢𝑡

m Sensitive equipment m

c k

𝑐𝑢ሶ ku 𝑢 = 𝑢𝑡 − 𝑢𝑔
𝑢ሷ 𝑔 = 𝑢ሷ 𝑔𝑜 sin 𝜔𝑡
ഥ

Problem Statement:
Floor vibrating and we need to isolate the equipment from base
 Support Motion (Base Isolation)
• The most direct description of an earthquake motion in time
domain is provided by accelerograms that are recorded by
instruments called Strong Motion Accelerographs.
• The accelerograph records three orthogonal components of
ground acceleration at a certain location
• The peak ground acceleration, duration, and frequency content
of earthquake can be obtained from an accelerograms. An
accelerogram can be integrated to obtain the time variations of
the ground velocity and ground displacement
Response Analysis of SDOF to
Earthquake Loading
𝑢

𝑢ሷ 𝑔
𝑢𝑔
 Response Analysis of SDOF to
Earthquake Loading
𝑢ሷ 𝑔 = is the acceleration of the supporting system
𝑢𝑡 = Displacement of 𝑚 from the static equilibrium position

The motion of mass m relative to the supporting system (u) is

𝑢 = 𝑢𝑡 − 𝑢𝑔
∴ 𝑢ሷ = 𝑢ሷ 𝑡 − 𝑢ሷ 𝑔 or 𝑢ሷ 𝑡 = 𝑢ሷ + 𝑢ሷ 𝑔 (1)
 Response Analysis of SDOF to
Earthquake Loading
Equation of motion is:
𝑚 𝑢ሷ 𝑡 + 𝑐 𝑢ሶ + 𝑘𝑢 = 0 (2)

Equation (1) into (2)

𝑢ሷ 𝑡 = 𝑢ሷ + 𝑢ሷ 𝑔
Equation of Motion:
𝑚𝑢ሷ + 𝑐 𝑢ሶ + 𝑘𝑢 =-m𝑢ሷ 𝑔 (3)
 Response Analysis of SDOF to
Earthquake Loading
• 𝑚𝑢ሷ + 𝑐 𝑢ሶ + 𝑘𝑢 =-m𝑢ሷ 𝑔 P(t)

Duhamel Integral:
1 𝜏=𝑡
• 𝑢(𝑡) = ∫
𝑚𝜔𝐷 𝜏=0
𝑃 𝜏 ∙ sin 𝜔𝐷 (𝑡 − 𝜏) ∙ 𝑒 −𝜉𝜔(𝑡−𝜏) 𝑑𝜏

1 𝜏=𝑡
• ∴ 𝑢(𝑡) = ∫ (−m𝑢ሷ 𝑔 ) ∙ sin 𝜔𝐷 (𝑡 − 𝜏) ∙ 𝑒 −𝜉𝜔(𝑡−𝜏) 𝑑𝜏
𝑚𝜔𝐷 𝜏=0

−1 𝜏=𝑡
• ⟹ 𝑢(𝑡) = ∫
𝜔𝐷 𝜏=0
𝑢ሷ 𝑔 ∙ sin 𝜔𝐷 (𝑡 − 𝜏) ∙ 𝑒 −𝜉𝜔(𝑡−𝜏) 𝑑𝜏
 Response Analysis of SDOF to
Earthquake Loading
For undamped system, with 𝜉 = 0:
−1 𝜏=𝑡
• 𝑢(𝑡) = ∫
𝜔 𝜏=0
𝑢ሷ 𝑔 ∙ sin 𝜔(𝑡 − 𝜏) 𝑑𝜏 Gives 𝑢𝑚𝑎𝑥
−1 𝜏=𝑡 1 𝜏=𝑡
• ∴ 𝑢 𝑡 = ∫𝜏=0 𝑢ሷ 𝑔 cos 𝜔𝜏 sin 𝜔𝑡𝑑𝜏 + ∫𝜏=0 𝑢ሷ 𝑔 sin 𝜔𝜏 cos 𝜔𝑡𝑑𝜏
𝜔 𝜔
−𝜔 𝜏=𝑡 −𝜔 𝜏=𝑡
• 𝑢(𝑡)
ሶ = ∫ 𝑢ሷ cos 𝜔𝜏 𝑐𝑜𝑠 𝜔𝑡𝑑𝜏 + 𝜔 ∫𝜏=0 𝑢ሷ 𝑔 sin 𝜔𝜏 𝑠𝑖𝑛 𝜔𝑡𝑑𝜏 Gives 𝑢ሶ 𝑚𝑎𝑥
𝜔 𝜏=0 𝑔
𝜏=𝑡 ⟹ 𝑢ሶ 𝑚𝑎𝑥 ≠ 𝜔𝑢𝑚𝑎𝑥
• 𝑢(𝑡)
ሶ = −∫𝜏=0 𝑢ሷ 𝑔 ∙ 𝑐𝑜𝑠 𝜔(𝑡 − 𝜏) 𝑑𝜏
𝜏=𝑡
• 𝑢ሷ (𝑡) = 𝜔 ∙ ∫𝜏=0 𝑢ሷ 𝑔 ∙ 𝑠𝑖𝑛 𝜔(𝑡 − 𝜏) 𝑑𝜏 Gives 𝑢ሷ 𝑚𝑎𝑥
⟹ 𝑢ሷ 𝑚𝑎𝑥 = 𝜔2 𝑢𝑚𝑎𝑥
 Response Analysis of SDOF to
Earthquake/seismic Loading
• If the ground acceleration from an earthquake is known, the response of
the structure can be computed via using the Newmark’s method
• A response spectrum is used to provide the most descriptive representation
of the influence of a given earthquake on a structure or machine
• We are interested in the maximum relative displacement, velocity, and
total accelerations. These quantities are generally referred to as:
– Spectral displacement
– Spectral velocity
– Spectral acceleration
• Earthquake response spectra are plots of these quantities as a function of
undamped natural period vibration
 Response Analysis of SDOF to
Earthquake Loading
Damped System
−1 𝜏=𝑡
• 𝑢(𝑡) = ∫ 𝑢ሷ 𝑔 ∙ sin 𝜔𝐷 (𝑡 − 𝜏) ∙ 𝑒 −𝜉𝜔(𝑡−𝜏) 𝑑𝜏
𝜔𝐷 𝜏=0

• ∴ 𝑢𝑚𝑎𝑥 is a function of 𝜔 and 𝜉

• i.e. 𝑢𝑚𝑎𝑥 = 𝑆𝑑 (𝜔, 𝜉) = 𝑆𝑑 (𝑇, 𝜉)

Deformation Response Spectra

 Displacement Response Spectra
0.6

0.5

Damping, 
0.4

0%
Sd 0.3 2%
(m)
5%
0.2 10%

20%
0.1

0
0 0.5 1.0 1.5 2.0 2.5 3.0

Period T (s)
“El Centro”, 1940
 Acceleration Response Spectra
35

30

25

Damping, 
20
Sa 0%
(m/s²)
15

10
2%
5%
5
10%
20%
0

0 0.5 1.0 1.5 2.0 2.5 3.0

Period, T (s)
“El Centro”, 1940
 Displacement Response Spectra
Damping,  = 5%

1.4

1.2
Mexico

1.0

Centro
0.8 Castaic
Sd Corralitos
Viña del Mar
(m) Viña del Mar Miyagi-Ken-Oki
0.6
México

El Centro
0.4
Miyagi-Ken-Oki

0.2

Corralitos Castaic
0.0
0.0 1.0 2.0 3.0 4.0 5.0
Period, T (sec)
 Response Analysis of SDOF to
Earthquake Loading
𝑢

𝜔→∞
Very Rigid Structure 𝑇→0
∴ 𝑢𝑚𝑎𝑥 = 0 ∀𝜉

𝑢ሷ 𝑔
𝑢𝑔
 Response Analysis of SDOF to
Earthquake Loading
𝑢

𝜔→0
Very Flexible Structure 𝑇→∞
∴ 𝑢𝑚𝑎𝑥 = 𝑢𝑔, 𝑚𝑎𝑥 ∀𝜉

𝑢ሷ 𝑔
𝑢𝑔
 Response Analysis of SDOF to
Earthquake Loading
Maximum shear force (fs,max )
• 𝑓𝑠,𝑚𝑎𝑥 = 𝑘𝑢𝑚𝑎𝑥 = 𝑘𝑆𝑑 𝜔, 𝜉 = 𝑚𝜔2 𝑆𝑑 𝜔, 𝜉
• 𝑆𝑎 𝜔, 𝜉 = 𝜔2 𝑆𝑑 𝜔, 𝜉
• 𝑓𝑠,𝑚𝑎𝑥 = 𝑚𝑆𝑎 𝜔, 𝜉 Force = Mass x Acceleration

𝑆𝑎 𝜔, 𝜉 is Pseudo-acceleration
(actual acceleration if 𝜉=0)

∴ For a given 𝜔 𝑎𝑛𝑑 𝜉 , obtain 𝑆𝑎 𝜔, 𝜉 from the displacement response spectra,

and hence determine 𝑓𝑠,𝑚𝑎𝑥
 Response Analysis of SDOF to
Earthquake Loading
• Pseudo-velocity
• 𝑆𝑣 = 𝜔𝑆𝑑 𝜔, 𝜉
1 1 1
• Maximum strain energy = 𝑘𝑢𝑚𝑎𝑥 = 𝑘𝑆𝑑 = 𝑚𝜔2 𝑆𝑑2
2 2
2 2 2
1 1
• ∴ Maximum strain energy = 𝑚(𝜔𝑆𝑑 ) = 𝑚𝑆𝑣2
2
2 2
 Log-Log plot
(a.k.a. tri-partite response spectrum plot)
Design Response Spectra
US Design Response Spectra
 SA Design Response Spectra
SANS 10160 – Part

peak ground acceleration with a 10 % probability of being exceeded in a 50-year period

 SA Seismic Hazards Zones
SANS 10160 – Part 4
Two zones of activity are identified in the Standard
• a) Zone I: Natural seismic activity.
• b) Zone II: Regions of mining-induced and natural seismic
activity.
 SA Seismic Design

Normalized design response spectra, Sd(T)/ag

for 5 % damping and q = 1,0
 SA Seismic Design (SDoF)
Design base shear
• The design base shear force, Vn, is calculated using the
following equation:
• 𝑉𝑛 = 𝑆𝑑 (𝑇) ∙ 𝑊𝑛
• Where;
– 𝑆𝑑 (𝑇) is the non-dimensional value from the normalized design
response spectra; and
– 𝑊𝑛 is the nominal sustained vertical load (force) acting on the
structure, expressed in kilonewtons (kN)
 SA Seismic Design (SDoF)
• 𝑊𝑛 = 𝐺𝑛 + σ𝑖 𝜑𝑖 × 𝑄𝑛𝑖
• where
– 𝐺𝑛 is the nominal self-weight load;
– 𝑄𝑛𝑖 is the imposed vertical load;
– 𝜑𝑖 is the load combination factor (see SANS 10160-1).