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Module 2 Response Spectra

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Module 2 Response Spectra

Uploaded by

Vedish Dookee
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Structural Dynamics

Response of linear systems to seismic loads


Prof Pilate Moyo PrEng, FSAAE, FSAICE
Overview
• This module covers the following:

– the response of linear SDOF systems to earthquake-induced ground motions


– the response spectrum
– Design spectrum

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Introduction

• Structural engineers are - interested in the deformation or displacement response of


a structure to ground motion.
• The resulting displacements can then be related to internal forces i.e. bending
moments and shear forces. These quantities are used in the design of new
structures or the assessment of existing structures

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Response of SDOF to ground motion

• Consider a SDOF subject to • If the displacement of the


ground motion (Figure 2.1). Using ground is given by xg, and
equilibrium: the displacement of the
structure due to the spring
• 𝑓𝑓𝐼𝐼 + 𝑓𝑓𝐷𝐷 + 𝑓𝑓𝑠𝑠 = 0 2.1 deformation is x, then the
total displacement of the
mass is given by:

𝒙𝒙𝒓𝒓 = 𝒙𝒙 + 𝒙𝒙𝒈𝒈

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Response of SDOF to ground motion

• Substituting for the forces in equation 2.1 gives:

mẍr + cẋ + kx = 0

m(ẍ +ẍg)+ cẋ + kx = 0

mẍ+ cẋ + kx = -mẍg = Peff 2.2

Peff represents the effective ground excitation. Therefore, the


deformations caused by the ground acceleration ẍg are the same as
those produced by an external force Peff equal to mẍg, applied to the
structure as shown in Figure 2.2:
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Response of SDOF to ground motion

• Noting that cc = 2mωn, c = ccξ and k =


mωn2, equation 2.2 becomes

𝑥𝑥̈ + 2𝜉𝜉𝜔𝜔𝑛𝑛 𝑥𝑥̇ + 𝜔𝜔𝑛𝑛2 𝑥𝑥 = −𝑥𝑥̈𝑔𝑔 2.3

• Therefore, for a given ground acceleration, the response of


a structure depends on its natural frequency (or period) and
Figure 2.2
its damping ratio.
• If the ground acceleration is known and the dynamic
properties (natural frequency and damping ratio) of a SDOF
system, the response of the structure can be obtained.

6
Response of SDOF to ground motion

• Similarly, if the dynamic properties of a SDOF


system are known, the ground acceleration for
a given response can be obtained.

• Ground accelerations are measured using


strong-motion accelerographs or
accelerometers. The ground velocity and
ground displacement time histories are
obtained by integrating the ground
acceleration. Figure 2.3 shows the north-south Figure 2.3
component of the ground motion recorded in El
Centro, California, in 1940.
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Response history

• As shown in equation 2.3 the response of an SDOF to a given ground


acceleration ẍg depends only on the system natural frequency and
damping.
• The displacement response history x(t) can be obtained by time history
analysis procedures (time-stepping methods) such as ‘the central
difference method, Newmark’s method etc. Time history analysis can be
linear or nonlinear. [refer to Clough & Penzien chapter 7].
• The displacement response obtained from time history analysis is used
to evaluate internal forces (moments, shears, axial forces and stresses)
needed for structural design.
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• The most common approach in earthquake design is to use the equivalent static
force method to determine element forces.
• The equivalent static force is the static force that will produce the displacement
x(t) , i. e. ;

𝑓𝑓𝑠𝑠 𝑡𝑡 = 𝑘𝑘𝑘𝑘 𝑡𝑡
𝑘𝑘 = 𝑚𝑚𝜔𝜔𝑛𝑛2
𝑓𝑓𝑠𝑠 𝑡𝑡 = 𝑚𝑚𝜔𝜔𝑛𝑛2 𝑥𝑥 𝑡𝑡 = 𝑚𝑚𝑆𝑆𝐴𝐴 (𝑡𝑡)

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• The equivalent static force is the product of the
mass, and the acceleration SA(t), referred to as
the pseudo acceleration.
• The pseudo acceleration can be obtained from
the displacement response for a given SDOF.
• 𝑆𝑆𝐴𝐴 (𝑡𝑡) = 𝜔𝜔𝑛𝑛2 𝑥𝑥 𝑡𝑡 2.4
𝑉𝑉𝑏𝑏 (𝑡𝑡) = 𝑓𝑓𝑠𝑠 𝑡𝑡
• The element forces at any instant can be
𝑀𝑀𝑏𝑏 (𝑡𝑡) = ℎ𝑓𝑓𝑠𝑠 𝑡𝑡
determined by static analysis of the structure
subjected to the force fs(t) as shown in Figure 2.4 Figure 2.4

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Response spectrum

• Time history analysis procedures are computationally intensive and


time-consuming. A practical approach for the design of structures for
earthquakes is to determine the maximum response of all possible
SDOFs to a given component of ground motion.
• The plot of the maximum response (i.e. displacement, velocity,
acceleration) to a given excitation force versus the natural period or
natural frequency for all possible SDOFs for a given damping ratio is
called the response spectrum.

11
Response spectrum

• The three most common response spectra are; the displacement


response spectrum, the pseudo velocity response spectrum, and
the pseudo acceleration response spectrum.
• 𝑆𝑆𝐷𝐷 (𝑇𝑇𝑛𝑛 , 𝜉𝜉) = max 𝑥𝑥(𝑡𝑡, 𝑇𝑇𝑛𝑛 , 𝜉𝜉) spectral displacement (maximum relative
displacement)
• 𝑆𝑆𝑉𝑉 (𝑇𝑇𝑛𝑛 , 𝜉𝜉) = max 𝑥𝑥(𝑡𝑡,
̇ 𝑇𝑇𝑛𝑛 , 𝜉𝜉) Spectral velocity (maximum relative pseudo-
velocity)
• 𝑆𝑆𝐴𝐴 (𝑇𝑇𝑛𝑛 , 𝜉𝜉) = max 𝑥𝑥̈ 𝑟𝑟 (𝑡𝑡, 𝑇𝑇𝑛𝑛 , 𝜉𝜉) Spectral acceleration (maximum pseudo-
acceleration)
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Response spectrum

Following equation 2.4,


𝑆𝑆𝐴𝐴 = 𝜔𝜔𝑛𝑛2 𝑆𝑆𝐷𝐷 …. 2.5
𝑆𝑆𝑉𝑉 = 𝜔𝜔𝑆𝑆𝐷𝐷 …. 2.6

e.g. Figure 2.5 shows the displacement


response spectrum for elastic systems
subjected to the 1940 El Centro
earthquake (Chopra)

Figure 2.5
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Response spectrum

While the three spectra contain the same information,


a single plot of the three spectra is helpful:
• the displacement spectrum provides information
about maximum deformation.
• the pseudo velocity spectrum is directly related to
the peak strain energy stored in the system during
the earthquake
• the pseudo acceleration spectrum is directly
related to the peak value of the equivalent static
force and base shear.
• A single plot of the three spectra is called the
Tripartite Response spectrum
Figure 2.6

14
Response spectrum

Summary- constructing a response spectrum

1. Define ground motion

2. Select the natural period and damping ratio of a SDOF system

3. Compute displacement response due to ẍg using numerical procedures.

4. Determine maximum displacement SD

5. Determine SV and SA using equastions 2.5 & 2.6

6. Repeat 2-5 for a range of Tn and damping.

7. Plot results or log scale.


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Elastic Design Spectra
• The elastic design spectrum is used
for the seismic design of new
structures or the assessment of
existing structures
• The design spectrum is constructed
using the same principles for
response the response spectrum i. e.
it is based on peak ground
accelerations, velocity and
displacement.
• Design spectra should be based on Figure 2.7
an ensemble (Figure 2.7) of previous
ground accelerations at a site.
16
Elastic Design Spectra

• Where no previous records of earthquakes are available, the data from a


similar site can be used.

• The following factors should be taken into account in matching sites:


• magnitude of earthquake
• distance of site from epicentre
• the geology of the travel path
• type of fault at earthquake source
• local soil conditions

17
Elastic Design Spectra
• A key feature of the design spectrum is that it is divided into
five regions, as shown in Figure 2.8. These regions follow
the observations made from the response spectrum.
• The design spectrum is constructed as follows;
• Obtain the average response spectrum from an ensemble of
ground motions
• Determine the average peak ground acceleration, average
peak ground velocity and average peak ground displacement
• Plot the curve of peak ground response as shown in Figure
2.8
• Estimate the design spectrum using the amplification factors Figure 2.8
for the required probability of non-exceedance and damping
ratio

18

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