Dynamic Soil-StructureInteraction

Masayuki Nagano, Dr. Eng.

Amplification of ground motion in surface soil

Dynamic soil spring

Ground motion on surface

Ground motion on outcropped engineering bedrock Foundation input motion

Amplification of ground motion in surface soil is important in that it is directly reflected into earthquake input motion to the structure and it controls whole structural response.

CHAPTER 2 : AMPLIFICATION OF GROUND MOTION IN SURFACE SOIL

Chapter 2, amplification of ground motion in surface soil, consists of following three sections; 2.1 One-Dimensional Shear Wave Propagation Theory 2.2 S-Wave Propagation in Multi-Layered Strata 2.3 Response Analysis of Considering Soil Nonlinearity Multi-Layered Strata

2.1 One-Dimensional Shear Wave Propagation Theory Consider a shear column with unit cross-section area, and it has G of shear modulus and of mass density.
G.L

Soil

2u dz 2 t

dz

Shear column

+ dz z

The positive z is taken as downward direction.

(1) Equation of Motion Consider the dynamic equilibrium of a small element,

2u + dz 2 dz = 0 t z
2 u 2 = t z ( 2)

(1)

2u dz 2 t

Shear stress is expressed by u (3) =G z where, G: Shear modulus

dz

+ dz z

u : Shear strain z

Putting Eq.(3) into Eq.(2) leads to

2u dz 2 t

2u 2u 2 =G 2 z t

( 4)

dz

+ dz z

Eq.(4) is an equation of motion for one-dimensional shear wave propagation.

(2) General solution in time domain The velocity VS of shear wave (S-wave) is expressed by:

VS = G /

(5)

Using VS, Eq.(4) can be transferred to:

2u 2u = VS2 2 z t 2

(6)

The general solution of Eq.(6) is given by:

z z u ( t , z) = E t + + F t V V S S

(7)

where, E(t+z/VS) and F(t-z/VS) are arbitrary functions in terms of t and z.

E(t+z/VS) indicates the displacement due to a backward propagating wave which propagates in the negative z direction. It is called "upward wave".

z=0 E

F z Characters E & F are conventionally used to express the "upward & downward" waves in the 1D wave propagation. "2E" is used as a jargon to express motions on outcropped bedrock, as will be discussed later.

while F(t-z/VS) due to a forward propagating wave propagating in the positive z direction. It is called "downward wave".

(3) Free surface condition The simplest, but most important, boundary condition is free surface condition of the ground. Let z=0 ground surface, free surface condition is given by, u ( z = 0 ) = G ( z = 0 ) = 0 (8) z From Eq.(7), shear stress is expressed by,

u ( t , z) 1 & z & z = E t + F t z VS VS VS

(9)

where dot express first derivative with respect to time.

From Eqs.(8) and (9), assuming initial condition is zero,

& & E(t ) = F(t ) E(t ) = F(t )

(10)

z z u ( t , z ) = E t + + E t V V S S

(11)

On ground surface, putting z=0 into Eq.(11), one can obtain,

u ( t ,0) = E(t ) + E(t ) = 2E( t )

(12)

Ground motion on surface is twice as vertically incident wave.

This is a case where S-wave vertically impinges at the bottom of homogeneous half-space. Maximum amplitude of upward wave is 0.5. Maximum amplitude of the ground motion on surface becomes 1.0, as we learned.

(4) Transmission and Reflection at Interface Consider the wave propagation in two semi-infinite media as shown in the z=0 figure.
E1 ( t + z / VS1 )
G1 1 : Transmission Wave Medium 1 Medium 2 z

G2 2

E 2 ( t + z / VS2 ) : Incident Wave

F2 ( t z / VS2 ) : Reflection wave

When the wave E2(t+z/VS2) propagates upward and impinges on the interface (z=0) between two media, the incident wave is transformed into the transmission wave E1(t+z/VS1) in medium 1 and the reflection wave F2(t-z/VS2) in medium 2. Notice that downward wave does not exist in medium 1.

The displacement and shear stress in medium 1:

z u1 ( t , z) = E1 t + V S1

(13)

Eq.(14) yields

u1 ( t , z) 1 ( t , z) = G1 z z = G 1 E1 t + V z S1 G1 & z = E1 t + V VS1 S1
Considering that

& t + z (15) 1 ( t , z) = 1VS1E1 V S1

(14)
z Medium 2

G1 1VS21 = = 1VS1 VS1 VS1

2,VS2

Similarly, for medium 2:

z z u 2 ( t , z) = E 2 t + (16) V + F2 t V S2 S2 & t + z V F t z 2 S2 &2 2 ( t , z) = 2 VS2 E 2 V V S2 S2

(17)

1,VS1

2(z,t)
z

u2(z,t)

E2(t+z/VS2) F2(t-z/VS2) Medium 2 2,VS2

At the interface(z=0), displacement and stress must be consistent, resulting in following boundary consition;

u1 ( t ,0) = u 2 ( t ,0) 1 ( t ,0) = 2 ( t ,0)

(18) (19)

Medium 1 1,VS1 E1(t+z/VS1)

Substituting Eqs.(13), (15) , (16) and (17) into Eqs.(18) and (19), following relationships can be obtained;

1(z=0,t) 2(z=0,t)
z E2(t+z/VS2)

u1(z,t) u2(z,t) F2(t-z/VS2)

E 2 (t ) + F2 (t ) = E1 (t )
& & & E 2 (t ) F2 (t ) = E1 (t )

(20)
(21)

E 2 (t ) F2 (t ) = E1 (t )

Medium 2

2,VS2

1VS1 where = is impedance ratio 2 VS 2

from (20)+(21) from (20)-(21)

2 E1 (t ) = E 2 (t ) 1+

( 22)

F2 (t ) =

1 E 2 (t ) 1+

(23)

Amplitudes of transmission and reflection waves can be expressed in terms of incident wave.

Define the transmission T and reflection coefficient R as: Transmission coefficient : T = 2 1+ 1 Reflection coefficient R= 1+
( 24) ( 25)

Using T and R, the transmission wave E1(t+z/VS1) and the reflection wave F2(t-z/VS2) are given by:
z z E1 ( t + ) = T ( ) E 2 ( t + ) (26) VS1 VS2

F2 ( t

z z ) = R ( ) E 2 ( t + ) (27) VS2 VS2

1,VS1
E1(t+z/VS1)=T() E2(t+z/VS2)
Medium 1

1.5

1.0

0.5

E2(t+z/VS2) z

Medium 2

0.0 0 -0.5 0.5 1 1.5 2 2.5 3

F2(t-z/VS2) =R() E2(t+z/VS2)

-1.0

2,VS2

=1VS1/2VS2

stiffsoft

softstiff

This is a case where S-wave vertically impinges at the bottom of a layer built on its half-space. Impedance ratio is 0.5. Maximum amplitude of upward S wave is 0.5.

QUESTIONS Q1. Find max. amplitude of transmitted wave in surface layer. Q2. Find max. amplitude of reflected wave in bottom layer. Q3. Find max. amplitude of ground motion on surface. Q4. Find max. amplitude of transmitted wave to the lower half-space when the reflected wave from ground surface impinges on boundary. Q5. Find max. amplitude of reflected wave to the surface layer when the reflected wave from ground surface impinges on boundary.

QUESTIONS Q1. Find max. amplitude of transmitted wave in surface layer. Q2. Find max. amplitude of reflected wave in bottom layer. Q3. Find max. amplitude of ground motion on surface. Q4. Find max. amplitude of transmitted wave to the lower half-space when the reflected wave from ground surface impinges on boundary. Q5. Find max. amplitude of reflected wave to the surface layer when the reflected wave from ground surface impinges on boundary. Q 4 : 0.5T T
T1 = 2 2 4 = = 1 + 1 + 0 .5 3 1 1 0 .5 1 = = R1 = 1 + 1 + 0 .5 3

2 3 1 Q 2 : 0 .5 R 1 = 6 Q1 : 0.5T1 =

T2 =

Q3 : 0.5T1 2 =

4 3

2 2 2 = = 1+ 1+ 2 3 1 1 2 1 = = R2 = 1+ 1+ 2 3

2 2 4 = 3 3 9 Q5 : 0.5T1 R 2 = = 2 1 2 ( ) = 3 3 9

(5) General solution in Frequency Domain The equation of the motion is given by Eq.(6):

2u 2u = VS2 2 z t 2
Putting:

(6)

u (z, t ) = U(z)eit

(28)

in which denotes circular frequency(rad./sec). Substituting Eq.(28) into Eq.(6) and deleting exponential term, following Helmholtz equation can be obtained;

2 U(z) =0 2 U(z) VS2 2 z 2 U ( z ) 2 + 2 U(z) = 0 2 z VS

(29) (30)

 where, k = is wave number(rad.s/m) and transformed as, VS 2f 2 2 = = = k= VS VS VST S

2 U ( z ) 2 The solution of Eq.(30) : + 2 U(z) = 0 2 z VS

(30)

U(z) = Ee

z VS

+ Fe

z VS

(31)

where E and F are arbitrary constants.

Substituting Eq.(31) into Eq.(28): u (z, t ) = U(z)e it the displacement u(z,t) can be expressed by:
z i t + V S z i t V S

(28)

u (z, t ) = Ee

+ Fe

(32)

The first term indicates the wave propagating in the negative z direction, while the second term in the positive z direction. E and F express the amplitude of the waves. Hereafter, the time term eit is not written. The shear stress T(z) in frequency domain is expressed by:
i z iV z dU (z) i T(z) = Ee S Fe VS = dz VS i z iV z (33) = i VS Ee S Fe VS

As we already discussed, characters E & F are used to express the "upward & downward" waves in the 1D wave propagation. It is easy to understand considering form of Eq.(32).

z=0 E

F z
z i t V S

u (z, t ) = Ee

z i t + V S

+ Fe

(32)

Free surface condition E=F and transmission and reflection at interface between two media are similar to the time domain case, as previously discussed.

Substituting free surface condition E=F into Eq.(32) yields, considering Euler's formula , e i = cos i sin
i V z i V z + Ee = E e S + e S U(z) = Ee 2f z = 2E cos z = 2E cos V V z = 2E cos 2 (34) S S S i z VS i z VS

Again, S is S-wave length(m). At z=S/4, amplitude is equal to zero. This is the first nodal point for harmonic incident S-wave. Nodal points under surface can be also seen at,

S z= (2n + 1) (n = 0,1,2,3, L) (35) 4

(6) Amplification of a surface stratum on the engineering bedrock We consider the SH wave propagation in a surface stratum on the engineering bedrock, when the SH wave with amplitude EO incidents.
G.L Surface Stratum H G11 , 1 , VS1 G 1 V1

G V2 G22 , 22 , VS2 EO(t): Incident Wave Engineering Bedrock

Consider the wave propagation in two layered strata as shown, when the SH wave with amplitude Eo incidents on the interface between the surface stratum and the engineering bedrock.
G.L
F1 exp(-i t t) F1 exp(i k1) VS1

z1 EE exp(i 1tt) 1 exp(i k )

G11 , 1 , VS1 G 1 1

VS1

Surface Stratum
VS2 t)

2 F2 exp(i

F exp(-i k2t)

z2

G 2 G22 , 2 , VS2 2

E 0exp(i k2t) : Incident Wave exp(i t) Eo VS2

Engineering Bedrock

The displacement and shear stress in both strata are given by: (1) for the surface stratum:
U1 ( z1 ) = E1e
i z1 VS1

+ F1e

z1 VS1

(36)

z1 i i V z1 VS1 T1 (z1 ) = i1VS1 E1e S1 F1e (2) for the engineering bedrock:

(37)

U 2 (z 2 ) = E 0e

z2 VS 2

+ F2 e

z2 VS 2

(38)

i i z2 z2 VS 2 VS 2 F2 e T2 (z 2 ) = i 2 VS2 E 0 e

(39)

The subscripts 1 and 2 indicate the surface stratum and the engineering bedrock, respectively. (except E0)

The shear stress at the ground surface (z1=0) becomes zero.

G.L Z1

1(z1=0) = 0

T1 (z1 = 0) = i1VS1 (E1 F1 ) = 0

Surface Stratum

E1 = F1 (40)
Therefore, the displacement and the shear stress in the surface stratum are:
i z1 VS1 i z1 VS1

Z2 Engineering Bedrock

U1 (z1 ) = E1e

+ E1e

i V z1 T1 (z1 ) = i1VS1 E1e S1

z1 i i V z1 VS1 S1 = E1 e +e ( 41) z1 z1 i i i V z1 VS1 e S1 e VS1 (42) E1e = i1VS1E1

The boundary conditions are given at the interface between the surface stratum and the engineering bedrock. U 2 (z 2 = 0) = U1 (z1 = H) (43)
T2 (z 2 = 0) = T1 (z1 = H) (44)

G.L Z1 Surface Stratum

u2(z2=0) = u1(z1=H) 2(z2=0) = 1(z1=H) Z2 Engineering Bedrock

Substituting Eq.(41) and Eq.(42) into Eq.(43): i H i H

Putting Eq.(41) and Eq.(42) into i V H i V H Eq.(44): (46) i 2 VS2 (E 0 F2 ) = i1VS1E1 e e

(45)

1VS1 where = is impedance ratio 2 VS 2

i V H i V H E 0 F2 = E1 e S1 e S1 (47)

 i V H i V H Eq.(45) : E 0 + F2 = E1 e S1 + e S1 (45) i V H i V H plus Eq.(47) : E 0 F2 = E1 e S1 e S1 (47)

leads to,

i H i H VS1 VS1 2E 0 = E1 (1 + )e + (1 )e
i H VS1

E1 = (1 + )e

2E 0 + (1 )e

H i VS1

= (e

i H VS1

+e

H i VS1

2E 0 ) + (e

i H VS1

H i VS1

(48) )

Similarly, Eq.(45) minus Eq.(47) yields :

F2 =

(e

H VS1

+e

H VS1

) + ( e ) + (e

H VS1

+e e

H VS1

(e

i H VS1

+e

i H VS1

i H VS1

i H VS1

E0

(49)

The displacement US on ground surface is

(e

+e

H VS1

4E 0 ) + (e
i

US = u1(z1=0)
H VS1

H VS1

(50) )
H

G.L Z1 Surface Stratum

Putting Euler's formula

e i = cos i sin
into Eq.(50) yields;
US = cos( H) + i sin( H) VS1 VS1 2E 0 (51)
EO Z2 Engineering Bedrock

Ratio of US to 2E0 is expressed by;

US 1 = 2E 0 cos( H) + i sin( H) VS1 VS1

(52)
Outcrop of Engineering Bedrock

2EO EO Engineering Bedrock

2EO is the displacement of the engineering bedrock, when the surface stratum is removed and the engineering bedrock is in outcrop.

Absolute value of transfer function US/(2EO) is:

US = 2E 0

1 2 2 cos ( H) + sin ( H) VS1 VS1

(53)

Similarly, the displacement at the interface is given by:

G.L Z1 Surface Stratum UB = u2(z2=0) = u1(z1=H) EO Z2 Engineering Bedrock

Absolute value of UB/(2EO) is:

(55)

The ratio of US to UB is :
H) US VS1 = U B cos( H) + i sin( H) VS1 VS1 1 + i tan( H) + i sin( H) VS1 VS1 1 = cos( H) cos( H) + i sin( H) VS1 VS1 VS1 cos( = 1 cos( H) VS1 (56)
H

G.L Z1

US

Surface Stratum UB

Z2 Engineering Bedrock

EO

Notice that transfer function US/UB is determined only by VS1,H, and irrelevant with soil properties in engineering bedrock.

Solid Line : Abs.US/(2EO)

Dotted Line : Abs.US/(2EO)

5
Abs.US/(2EO)

4
=0.2 Abs.UB/(2EO)

0.4

2
0.6

0.6

1
0.4 0.2

0 0 1 2
H/V1

4 x(/2)

Abs.(US/2EO) and Abs.(UB/2EO)

The first natural circular frequency: 1H/VS1=/2 1=(/2)(VS1/H) The second natural circular frequency:

Solid Line : Abs.US/(2EO)

Dotted Line : Abs.US/(2EO)

5
Abs.US/(2EO)

4
=0.2 Abs.UB/(2EO)

0.4

2=3 1

2
0.6

0.6

1
0.4 0.2

0 0 1 2
H/V1

4 x(/2)

The first natural period T1 and frequency f1: T1=2/ 1=(4H)/ VS1 f1=1/ T1=VS1/(4H) These formulas are frequently used and are good to memorized.

Solid Line : Abs.US/(2EO)

Dotted Line : Abs.US/(2EO)

5
Abs.US/(2EO)

4
=0.2 Abs.UB/(2EO)

0.4

2
0.6

0.6

1
0.4 0.2

0 0 1 2
H/V1

4 x(/2)

1
The second natural period T2 and frequency f2: f2= 3f1 T2= T1/3

In Eq.(53), Absolute value of transfer function US/(2EO), The amplitude ratio at the resonant frequency is given by, 1/ When the impedance ratio is smaller, the amplification at the natural frequency becomes larger.

Solid Line : Abs.US/(2EO)

Dotted Line : Abs.US/(2EO)

5
Abs.US/(2EO)

4
=0.2 Abs.UB/(2EO)

0.4

2
0.6

0.6

max. Us/2Eo
0.4 0.2

0 0 1 2
H/V1

4 x(/2)

That is, when the surface stratum is much softer than the engineering bedrock, the amplification becomes much larger.

END
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