Structural Modeling

With Examples
Silvia Mazzoni, PhD
Structural Consultant
Degenkolb Engineers

OpenSees Days 2010

Tcl & OpenSees commands

Comand syntax:
command arg1 arg2 ; # comment
example Tcl command:
set a 1;
# assign value of 1 to a
set b [expr 2*$a];
example OpenSees command:
node 1 10. 10. -mass $Mnode 0 0

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ModelBuilder Objects

model Command
node Command
mass Command
constraints objects
uniaxialMaterial Command
nDMaterial Command
section Command
Geometric Transformation Command
element Command
block Command
region Command
Time Series
pattern Command

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Model Command
This command is used to construct the BasicBuilder object.

model BasicBuilder -ndm $ndm <-ndf $ndf>

$ndm

dimension of problem (1,2 or 3)

$ndf

number of degrees of freedom at

node (optional)
(default value depends on value of
ndm:
ndm=1 -> ndf=1
ndm=2 -> ndf=3
ndm=3 -> ndf=6)

model BasicBuilder -ndm 3 -ndf 6

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ModelBuilder Objects

model Command
node Command
mass Command
constraints objects
uniaxialMaterial Command
nDMaterial Command
section Command
Geometric Transformation Command
element Command
block Command
region Command
Time Series
pattern Command

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Nodal Coordinates

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sample command

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nodes and boundary conditions

copy and paste from manual:

node $nodeTag (ndm $coords) <-mass (ndf $MassValues)>

$nodeTag

integer tag identifying node

$coords

nodal coordinates (ndm arguments)

$MassValues

nodal mass corresponding to each DOF (ndf

arguments) (optional)

fix $nodeTag (ndf $ConstrValues)

$nodeTag
$ConstrValues

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integer tag identifying the node to be

constrained
constraint type (0 or 1). ndf values are
specified, corresponding to the ndf
degrees-of-freedom.
The two constraint types are:
0

unconstrained

constrained

Nodal coordinates and BC

1.

# Define nodes;

2.

node 1

0.0

0.0

# frame is in X-Y plane (X-horizontal, Y-vertical)

0.0

3.

node 2

100.

0.0

0.0

4.

node 3

0.0

$Lcol

0.0

-mass 4.7 0.0 0.0 0.0 0.0 0.0

5.

node 4

$Lbeam

$Lcol

0.0

-mass $Mnode 0.0 0.0 0.0 0.0 0.0

6.

# Boundary conditions;

7.

fix

1 1 1 1 1 1;

8.

fix

1 1 1 1 1 1

9.

fix

0 0 1 1 1 0

10.

fix

0 0 1 1 1 0

11.

12.

13.

14.

--1--

--2--

coordinates & mass

# node DX DY DZ RX RY RZ ! 1: fixed, 0: released

boundary conditions
3-----------------------4

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ModelBuilder Objects

model Command
node Command
mass Command
constraints objects
uniaxialMaterial Command
nDMaterial Command
section Command
Geometric Transformation Command
element Command
block Command
region Command
Time Series
pattern Command

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uniaxialMaterials:

stress-strain (force-deformation) behavior

Core Materials
Elastic Material
Elastic-Perfectly Plastic Material
Elastic-Perfectly Plastic Gap Material
Elastic-No Tension Material
Parallel Material
Series Material
Hardening Material
Concrete01 Material
Concrete02 Material
Concrete03 Material
Steel01 Material
Steel02 Material
Hardening
Hysteretic Material
Viscous Material

Contributed Materials
BARSLIP Material
Bond_SP01
Concrete04 Material Popovics
Concrete07 Chang & Manders
Fatigue Material
Hyperbolic Gap Material
Limit State Material
PINCHING4 Material
PyTzQz Uniaxial Materials
Reinforcing Steel Material
SelfCentering Material

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materials

copy and paste from manual:

uniaxialMaterial Elastic $matTag $E <$eta>

$matTag

unique material object integer tag

$E

tangent

$eta

damping tangent (optional,

default=0.0)

uniaxialMaterial Concrete01 $matTag $fpc $epsc0 $fpcu $epsU

$matTag

unique material object integer tag

$fpc

compressive strength*

$epsc0

strain at compressive strength*

$fpcu

crushing strength*

$epsU
strain at crushing strength*
*NOTE: Compressive concrete parameters should be input as negative values.
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tcl if statement
if {logical statement} {
.series of commands..
}
set a 7
if {$a==7} {
puts $a
}

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materials

concrete

uniaxialMaterial Concrete01 $matTag $fpc $epsc0 $fpcu $epsU

1.

set ConcreteMaterialType elastic

2.

if {$ConcreteMaterialType == elastic} {

3.

# options: "elastic","inelastic"

uniaxialMaterial Elastic $Idcore $Ec

4.

uniaxialMaterial Elastic $Idcover $Ec

5.

} else {;

# $ConcreteMaterialType == inelastic

6.

# uniaxial Kent-Scott-Park concrete model w/ linear unload/reload, no T strength (-ve comp.)

7.

uniaxialMaterial Concrete01 $IDcore

8.

uniaxialMaterial Concrete01 $IDcover $fc1U $eps1U $fc2U $eps2U;

9.

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$fc1C $eps1C $fc2C $eps2C;

# Core
# Cover

uniaxialMaterial Hysteretic $matTag $s1p $e1p $s2p $e2p <$s3p

$e3p> $s1n $e1n $s2n $e2n <$s3n $e3n> $pinchX $pinchY
$damage1 $damage2 <$beta>
$matTag

unique material object integer tag

$s1p

$e1p

stress and strain (or force & deformation) at first point of the envelope
in the positive direction

$s2p

$e2p

stress and strain (or force & deformation) at second point of the
envelope in the positive direction

$s3p

$e3p

stress and strain (or force & deformation) at third point of the envelope
in the positive direction (optional)

$s1n

$e1n

stress and strain (or force & deformation) at first point of the envelope
in the negative direction*

$s2n

$e2n

stress and strain (or force & deformation) at second point of the
envelope in the negative direction*

$s3n

$e3n

stress and strain (or force & deformation) at third point of the envelope
in the negative direction (optional)*

$pinchX

pinching factor for strain (or deformation) during reloading

$pinchY

pinching factor for stress (or force) during reloading

$damage1
$damage2
$beta

damage due to ductility: D1(mu-1)

damage due to energy: D2(Eii/Eult)
power used to determine the degraded unloading stiffness based on
ductility, mu-beta (optional, default=0.0)

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materials

reinforcing steel

1. set SteelMaterialType "hysteretic";

2. if {$SteelMaterialType == "elastic"} {
3. uniaxialMaterial Elastic $IDsteel $Es
4. } elseif {$SteelMaterialType == "bilinear"} {
5. uniaxialMaterial Steel01 $Idsteel $Fy $Es $Bs
6. } else {; #$SteelMaterialType == "hysteretic
7.
uniaxialMaterial Hysteretic $IDsteel $Fy $epsY $Fy1 $epsY1 $Fu
$epsU -$Fy -$epsY -$Fy1 -$epsY1 -$Fu -$epsU $pinchX $pinchY
$damage1 $damage2 $betaMUsteel
8. }

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ModelBuilder Objects

model Command
node Command
mass Command
constraints objects
uniaxialMaterial Command
nDMaterial Command Presented in Geotech
section Command
Geometric Transformation Command
element Command
block Command
region Command
Time Series
pattern Command

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OpenSees Sections:
beam-column element:

Elastic Section
Uniaxial Section
Fiber Section
Section Aggregator

Elastic Membrane Plate Section

Plate Fiber Section
Bidirectional Section
Isolator2spring Section: Model to include buckling
behavior of an elastomeric bearing

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Uniaxial Beam-Column Sections:

Elastic Section
linear-elastic moment-curvature relationship

Uniaxial Section
user-defined moment-curvature relationship (use
unaxialMaterial)
uncoupled P-M and anything else

Fiber Section
user-defined section geometry/materials via fibers
coupled P-M interaction
coupled bi-directional response

Section Aggregator
combine all uncoupled responses (e.g., Uniaxial flexure +
Uniaxial Axial, Fiber flexure/axial + shear)
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fiber section command

cover patch

section Fiber $secTag {

fiber <fiber arguments>
patch <patch arguments>
layer <layer arguments>
}

core patch

external
radius

fiber $yLoc $zLoc $A $matTag

internal
radius

steel layer

$yLoc

y coordinate of the fiber in the section (local coordinate system)

$zLoc

z coordinate of the fiber in the section (local coordinate system)

$A

area of fiber

$matTag

material tag of the pre-defined uniaxialMaterial object used to

represent the stress-strain for the area of the fiber

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section command (cont.)

patch circ $matTag $numSubdivCirc $numSubdivRad $yCenter $zCenter
$intRad $extRad <$startAng $endAng>
$matTag

material integer tag of the previously-defined

uniaxialMaterial object used to represent the stressstrain for the area of the fiber

$numSubdivCirc

number of subdivisions (fibers) in the circumferential

direction.

$numSubdivRad

irc=4
$numSubdivC
number of subdivisions (fibers) in the radial
direction.

$intRad

internal radius

$extRad

external radius

$startAng

starting angle (optional. default=0.0)

$endAng

ending angle (optional. default=360.0)

$e
xt
Ra
d

$n
um
Su
bd
ivR
ad
=3

$yCenter $zCenter y & z-coordinates of the center of the circle

$endAng

$i
nt
Ra
d

$startAng
($yCenter, $zCenter)

patch quad $matTag $numSubdivIJ $numSubdivJK $yI $zI $yJ $zJ $yK $zK $yL $zL
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section command (cont.)

layer circ $matTag $numBar $areaBar $yCenter $zCenter $radius
<$startAng $endAng>
$matTag

material integer tag of the previously-defined

uniaxialMaterial object used to represent the stressstrain for the area of the fiber

$numBar

number of reinforcing bars along layer

$areaBar

area of individual reinforcing bar

$yCenter

$zCenter

$radius
$startAng

y and z-coordinates of center of reinforcing layer

(local coordinate system)
=5
radius of reinforcing layer

$endAng

rs
Ba
um
$n

starting and ending angle of

reinforcing layer, respectively.
(Optional, Default: a full circle
is assumed 0-360)
z

$endAng
$startAng

$rad
ius
($yCenter, $zCenter)

layer straight $matTag $numBars $areaBar $yStart $zStart $yEnd $zEnd

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tcl procedure
used for repeated series of commands on a set of input variables

proc procName {input variables} {

series of commands
}
to execute:

procName (input variables)

proc multiply {a b} {
set c [expr $a*$b]
return $c
}
set a 3; set b 5
set result [multiply $a $b]
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tcl proc: define fiber section

proc RCcircSection {id Ri Ro cover coreID coverID steelID Nbars Ab nfCoreR nfCoreT nfCoverR nfCoverT} {
section fiberSec $id {

CONCRETE

set Rc [expr $Ro-$cover];

# Core radius

patch circ $coreID $nfCoreT $nfCoreR 0 0 $Ri $Rc 0 360;

# Define the core patch

patch circ $coverID $nfCoverT $nfCoverR 0 0 $Rc $Ro 0 360;

# Define the cover patch

STEEL

if {$Nbars<= 0} { return }

}
}

set theta [expr 360.0/$Nbars];

# angle increment between bars

layer circ $steelID $Nbars $Ab 0 0 $Rc $theta 360;

# Define the reinforcing layer

core patch

cover

CONCRETE

cover patch
Ri

call:

Ro

360o/Nbars
Ab

STEEL

RCcircSection $id $Ri $Ro $cover $coreID $coverID $steelID $Nbars $Ab $nfCoreR $nfCoreT
$nfCoverR $nfCoverT

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UniaxialSection
Use uniaxialMaterial to define
section moment-curvature
relationship
Hysteretic Material

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section aggregator

groups previously-defined uniaxialMaterial objects, or sections, into a single section

force-deformation model

section Aggregator $secTag $matTag1 $string1 $matTag2 $string2 ....... <-section $sectionTag>
$secTag

unique section object integer tag

$matTag1, $matTag2 ...

previously-defined uniaxialMaterial objects

$string1, $string2 ....

the force-deformation quantities corresponding to each section object. One of the following strings
is used:
P

Axial force-deformation

Mz

Moment-curvature about section local z-axis

Vy

Shear force-deformation along section local y-axis

My
Vz
T
<-section $sectionTag>

Moment-curvature about section local y-axis

Shear force-deformation along section local z-axis
Torsion Force-Deformation
specifies a previously-defined Section object (identified by the argument $sectionTag) to which
these uniaxialMaterial objects may be added to recursively define a new Section object
V

Vy

Vy
M

Mz, Vy

Mz

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P, Mz, Vy

P, Mz

ModelBuilder Objects

model Command
node Command
mass Command
constraints objects
uniaxialMaterial Command
nDMaterial Command
section Command
Geometric Transformation Command
element Command
block Command
region Command
Time Series
pattern Command

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geometric transformation
performs a linear geometric transformation of beam
stiffness and resisting force from the basic system to the
global-coordinate system
geomTransf $Type $transfTag $vecxzX $vecxzY $vecxzZ
<-jntOffset $dXi $dYi $dZi $dXj $dYj $dZj>
$Type

Transformation Type: Linear, PDelta or Corotational

$transfTag

unique identifier for CrdTransf object

$vecxzX
$vecxzY
$vecxzZ

ONLY IN 3D. X, Y, and Z components of vecxz, the vector used to define the local
x-z plane of the local-coordinate system. The local y-axis is defined by taking the
cross product of the x-axis and the vecxz vector.
These components are specified in the global-coordinate system X,Y,Z and define a
vector that is in a plane parallel to the x-z plane of the local-coordinate system.
These items need to be specified for the three-dimensional problem.

$dXi $dYi
$dZi

joint offset values -- absolute offsets specified with respect to the global
coordinate system for element-end node i (the number of arguments depends on
the dimensions of the current model) (optional)

$dXj $dYj
$dZj

joint offset values -- absolute offsets specified with respect to the global
coordinate system for element-end node j (the number of arguments depends on
the dimensions of the current model) (optional)

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local coordinate system

x
node j

e
lan
zp
x
al
loc

node i

element orientation:
element 2

vector parallel to vecxz

Y
X

vecxz (vecxzX, vecxzY, vecxzZ)

y
x

z
y

1
t
n
e
m
le
e

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ModelBuilder Objects

model Command
node Command
mass Command
constraints objects
uniaxialMaterial Command
nDMaterial Command
section Command
Geometric Transformation Command
element Command
block Command
region Command
Time Series
pattern Command

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elements

Truss Element
Corotational Truss Element
Elastic Beam Column Element
NonLinear Beam-Column Elements

Zero-Length Elements
Quadrilateral Elements
Brick Elements
FourNodeQuadUP Element
BeamColumnJoint Element

Nonlinear Beam Column Element

Beam With Hinges Element
Displacement-Based Beam-Column Element

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Elastic Beam Column Element

2D:
element elasticBeamColumn $eleTag $iNode $jNode
$A $E $Iz $transfTag

3D:
element elasticBeamColumn $eleTag $iNode $jNode
$A $E $G $J $Iy $Iz $transfTag

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Nonlinear Beam Column Element

element nonlinearBeamColumn $eleTag $iNode $jNode $numIntgrPts
$secTag $transfTag <-mass $massDens> <-iter $maxIters $tol>
$eleTag
$iNode

unique element object tag

$jNode

end nodes

$numIntgrPts

number of integration points along the element.

$secTag

identifier for previously-defined section object

$transfTag

identifier for previously-defined coordinate-transformation (CrdTransf) object

$massDens

element mass density (per unit length), from which a lumped-mass matrix is formed
(optional, default=0.0)

$maxIters

maximum number of iterations to undertake to satisfy element compatibility

(optional, default=1)

$tol

tolerance for satisfaction of element compatibility (optional, default=10-16)

integration points

element node

element node

element

force-deformation
(stress-strain)

section

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elements
set ColumnType inelastic;

Tcl procedure

source RCcircSection.tcl;
RCcircSection

# proc to define circular fiber section flexure

$IDcolFlex $riCol $roCol $cover $IDcore $IDcover $IDsteel $NbCol $AbCol $nfCoreR $nfCoreT $nfCoverR $nfCoverT

uniaxialMaterial Elastic $IDcolTors $GJ;

section Aggregator $IDcolSec

# Define torsion

$IDcolTors

geomTransf Linear $IDcolTrans 0 0 1;

T -section $IDcolFlex;

# attach torsion & flex

# no 2nd-order effects, define element normal

1 3

$Acol

$Ec

$G

$J $IyCol $IzCol $IDcolTrans

element elasticBeamColumn 2

2 4

$Acol

$Ec

$G

$J $IyCol $IzCol $IDcolTrans

} else {;

# $ColumnType == inelastic

# element element type

ID, node I, node J, no. int pts, section ID, transf. ID

element nonlinearBeamColumn 1

$np $IDcolSec $IDcolTrans

element nonlinearBeamColumn 2

$np $IDcolSec $IDcolTrans

geomTransf Linear

$IDbeamTrans

element elasticBeamColumn

3 3 4

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0 0 1; # BEAM transformation, element normal

$Abeam $Ec $G $J $IyBeam $IzBeam $IDbeamTrans

BEAM

element elasticBeamColumn 1

COLUMN

if {$ColumnType == elastic} {

beamWithHinges Element
2D:

3D:

element beamWithHinges $eleTag $iNode $jNode $secTagI

$HingeLengthI $secTagJ $HingeLengthJ $E $A $Iz $transfTag
<-mass $massDens> <-iter $maxIters $tol>
element beamWithHinges $eleTag $iNode $jNode $secTagI
$HingeLengthI $secTagJ $HingeLengthJ $E $A $Iz $Iy $G $J
$transfTag <-mass $massDens> <-iter $maxIters $tol>
$HingeLengthJ
elastic behavior
$HingeLengthI

inelastic-section
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beamWithHinges Element

$eleTag
$iNode

unique element object tag

$jNode

end nodes

$secTagI

identifier for previously-defined section object corresponding to node I

$HingeLengthI

hinge length at node I

$secTagJ

identifier for previously-defined section object corresponding to node J

$HingeLengthJ

hinge length at node J

$E

Young's Modulus

$A

area of element cross-section

$Iz

section moment of inertia about the section local z-axis

$Iy

section moment of inertia about the section local y-axis

$G

Shear Modulus

$J

torsional moment of inertia of cross section

$transfTag

identifier for previously-defined coordinate-transformation (CrdTransf)

object

$massDens

element mass density (per unit length), from which a lumped-mass matrix is
formed (optional, default=0.0)

$maxIters

maximum number of iterations to undertake to satisfy element compatibility

(optional, default=1)

tolerance for satisfaction of element compatibility (optional, default=10-16)

$tol
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ZeroLength Element
DOF spring
Use uniaxialMaterial to define
force-deformation response.
Translational dof: force-deformation
Rotational dof: moment-rotation
e.g. Hysteretic Material

1M applications

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ModelBuilder Objects

model Command
node Command
mass Command
constraints objects
uniaxialMaterial Command
nDMaterial Command
section Command
Geometric Transformation Command
element Command
block Command
region Command
Time Series
pattern Command

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Loads pattern command

pattern Plain $patternTag (TimeSeriesType arguments) {
load (load-command arguments)
sp (sp-command arguments)
eleLoad (eleLoad-command arguments)
}
$patternTag

unique pattern object tag

TimeSeriesType
arguments

list which is parsed to construct the TimeSeries

object associated with the LoadPattern object.

load ...

list of commands to construct nodal loads -- the

NodalLoad object

sp ...

list of commands to construct single-point

constraints -- the SP_Constraint object

eleLoad ...

list of commands to construct element loads -- the

eleLoad object

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pattern command (cont.)

load $nodeTag (ndf $LoadValues)

$nodeTag

node on which loads act

$LoadValues

load values that are to be applied to the node.

Valid range is from 1 through ndf, the number of
nodal degrees-of-freedom.

sp $nodeTag $DOFtag $DOFvalue

$nodeTag

node on which the single-point constraint acts

$DOFtag

degree-of-freedom at the node being constrained.

Valid range is from 1 through ndf, the number of
nodal degrees-of-freedom.

$DOFvalue

reference value of the constraint to be applied to

the DOF at the node.
pattern Plain 1 Linear {
load 3
0.0 -$Pdl 0.0 0.0 0.0 -$Mdl
load 4
0.0 -$Pdl 0.0 0.0 0.0 +$Mdl
sp
1 2 -0.001
}

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pattern command (cont.)

2D:
Uniformly-distributed load:
eleLoad -ele $eleTag1 <$eleTag2 ....> -type -beamUniform $Wz <$Wx>
Point load:
eleLoad -ele $eleTag1 <$eleTag2 ....> -type -beamPoint $Pz $xL <$Px>
3D:
Uniformly-distributed load:
eleLoad -ele $eleTag1 <$eleTag2 ....> -type -beamUniform $Wy $Wz <$Wx>
Point load:
eleLoad -ele $eleTag1 <$eleTag2 ....> -type -beamPoint $Py $Pz $xL <$Px>

pattern Plain 1 Linear {

sp
1 2 -0.001
eleLoad -ele 3 -type -beamUniform [expr -$Weight/$LBeam]
}

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Structural Example
Reinforced-Concrete Frame:
Building the Model

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Analysis

Model Building

Example 4 in examples manual

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problem statement
Reinforced-Concrete Portal Frame
use kip, inch and sec as basic units

GEOMETRY

4000kip

Weight

B
A

Y
Z

A
36

LBeam
42

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LCol

5 BBeam

BCol
5

HBeam

HCol
section A-A

section B-B

..remember what we told you

about Tcl?
Tcl is a string based scripting language
enables variables and variable substitution
(use variables to define units!!!)
Expression evaluation
Array management
Basic control structures (if , while, for,
foreach)
Procedures
File manipulation
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Tcl enables variables & variable

substitution:
example Tcl command:
set a 1;
set b [expr 2*$a];
Define Units:
set in 1.0;
set ft [expr 12.*$in]
set Hcol [expr 3.*$ft + 6.*$in]
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Ex4.Portal2D.build.InelasticFiberSection.tcl

Put unit definitions into a file

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LibUnits.tcl

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Geometry, Weight, Mass

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Nodes: Coords, BC, Mass

element

node

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node
element

element

node

Y
X

node

Concrete Material: Concrete02

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Steel Material: Steel02

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Materials

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Section Command

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Beam Section: Elastic

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Column Section: Fiber Section

concrete
steel

l
stee

material stress-strain
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HSec

concrete
BSec

Patch Command: Concrete

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Layer Command: Steel

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Column & Beam Sections

y
CoverCol

HCol

CoverCol

BCol

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Transformations and Elements

element

node
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node
element

element

node

Y
X

node

Recorders

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Gravity Load

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node

element

element
node

3
2

element

node

Y
X

node

Gravity Analysis

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Run OpenSees
source Ex4.Portal2D.build.InelasticSection.tcl

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Structural Example
Reinforced-Concrete Frame:
Lateral-Load Analysis

Silvia Mazzoni, OpenSees Days 2010

Silvia Mazzoni, OpenSees Days 2010

Analysis

Model Building

Example 4 in examples manual

LibAnalysisStaticParameters.tcl

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LibAnalysisDynamicParameters.tcl

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Static Pushover: define load

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Static Pushover: analyze

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Cyclic Pushover: define Load

Silvia Mazzoni, OpenSees Days 2010

Cyclic Pushover: analyze

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Uniform Excitation 1D: define

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Uniform Excitation 1D: damping

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Uniform Excitation 1D: analyze

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Uniform Excitation 2D: define

Silvia Mazzoni, OpenSees Days 2010

Uniform Excitation 2D: analyze

Silvia Mazzoni, OpenSees Days 2010

Questions,
or statements:
The OpenSees Community Forum:
http://opensees.berkeley.edu/community/in
dex.php
which can be accessed from:
http://opensees.berkeley.edu

Silvia Mazzoni, OpenSees Days 2010