ANALYTICAL APPROACH TO DYNAMIC HYSTERESIS DAMPING OF R/C IN-PLANE STRUCTURES SUBJECTED TO BASE ACCELERATION KOICHI MAEKAWA CHONGMIN SONG Division of Structural Eng. & Construction Swiss Federal Institute of Technology ‘Asian Institute of Technology Institute of Hydraulics and Energy GPO Box 2754, Bangkok, Thailand CH-1015 Lausanne, Switzerland ABSTRACT The relation of the dynamic restoring force and displacement of R/C shear walls is a target to be analytically approached. The dynamic finite element analysis program [WCOMD] was developed to get an answer as to whether “the characteristics regarding the dynamic restoring force and the hysteresis damping of R/C in-plane structures be the same as the static one or not", Both smeared and discrete crack R/C elements were implemented in (WCOMD] for analysis of multi- story framed shear walls. The static and dynamic analysis results manifested that the horizontal restoring force versus displacement relation in seismic base acceleration differs from the static one with the result of the higher energy absorption and hysteresis damping, but reduced ductility. It is analytically clarified that the higher dynamic hysteresis damping arises from the secondly induced inertia forces due to its two dimensional extent of the structure and the path-dependent ‘material nonlinearity of R/C constituent elements. INTRODUCTION Most of studies on dynamic analysis of R/C structures have been concerned with linear shaped members and their composites with lumped masses as a whole. The nonlinear restoring force- displacement relation of ingredient members has been directly or indirectly implemented in the dynamic equations of motion in terms of equivalent damping [C] and stiffness [K] as, IMEX) + (C1) + (KID = - MILI EXe) ay Oe ee [oS bap et = Cex ken)” where, [MJ, {X} and Xgi are global mass matrix, structural response nodal vector and ground base acceleration in i-th direction. It has been usual to install the characteristics of static stiliness and hysteresis damping obtained by static loading tests in Eq.(1). The whole system is modeled with reduced degree of freedom with several numbers of lumped mass. As a matter of fact, the energy absorption and restoring forces of beams and columns were experimentally clarified to be III4-1very similar to those under static conditions (1). The discussing point of this paper is laid on whether this static and dynamic consistency would be applicable to the framed shear walls or not, and if not, what sort of mechanisms cause discrepancy between dynamic and static hysteresis, damping and stiffness in R/C in-plane structures. Analytical approach and back ground In-plane shear walls in a frame system with beams and columns (See Figure 1) have been simpli fied as resisting units against horizontal shear forces. For equivalent viscous damping and stiff- ness as mechanical parameters of a member, single story framed shear walls have been tested under horizontal static forces. Here, two dimensional walls are supposed in Eq.(1) to be one- dimensional element having the same horizontal shear characteristics as the static tests. However, the shear walls are capable of carrying not only horizontal but vertical and flexural actions with two dimensional extent of stress field. These secondary forces affect the inorizontal shear resisting mechanism in turn because of its material nonlinear property. For me- chanics of structural walls in static and dynamic shear, the authors deem that indispensable is the fully two-dimensional nonlinear analysis without any simplification in the member levels, that is, 0 based on the multi-axial constitutive model of constituent materials as follows. (R) = - (OU %e) - (04 (2) - ff [BF fore, n)av =o @ where, the third term in Eq,(2) represents the internal force vector, and {R} is the residual force vector to be zero at convergence. Up to now, few studies have been made on the in-plane nonlin- ear dynamic process of whole structures due to the difficulty of accurately predicting spatially averaged stresses S(e,t) in R/C domains subjected to reversed cyclic loads. The constitutive model for two-way cracked R/C plates is to be modeled for solving Eq,(2) under reversed cyclic shear in dynamics. The reinforced concrete constitutive model, which was developed in the University of Tokyo, was adopted in the dynamic equation (2) of motion. If the constitutive model used would be applicable to reversed cyclic stress path and ary specified rate of stress, the hysteresis, viscous damping effects and associated energy ab- sorption on the seismic loads are automatically taken into account in the internal force term of Eq.(2). This paper is to investigate the dynamic shear resisting mechanism of wall elements in the framed shear wall structures. Here, the general nonlinear dynamic program [WCOMD] played a major role on clarifying the difference of dynamic shear from the static one. Slab 3. M [ was K(x) : -sa7—| Z te a [fom |] [xe 1 ‘Slab T M a Wall 1 K(x) the whole model by finite R/C elements oS ps reduced degree of freedom Figure 1. Multi-story in-plane shear wall and structural modeling I1I4-2GENERAL FORMULATIONS To solve Eq.(2) with respect to the nodal displacement (X}, the Newmark scheme based on the direct integration is employed. At time t + dl, the governing equation (2) takes the form of {R)n+1 = (F]n+1-[M}{X}n41-(P}n+1=0 @) (F)nta = (My eXe}aty, (Pynti = f// 12) folen}av where, {R}n+1, {F}n+1, {X}n+1 and {P}n+ 1 are error vector, applied force, acceleration and internal force vectors at step n-+1 when time is t+ dt. In the Newmark scheme, the accelera- tion vector is transformed to be function of previous nodal vector and up-dated one. We look for solution {X}n-+1 to satisfy the following equations as, (X daar = (Xpdar + 078K) 41 AX doar = (Spar + Ota {Xpnas = (X}q + Bt {X), + O0(05 — A)(X), {Xpbear = (4), + O19) (2), Note that {Xp}n +1 and {Xp}n +1 are predictor values of displacement and velocity. Parameter B and r are the free ones which control the accuracy and stability of solution. If r > 0.5 and B =0.25(r+0.5)2, the Newmark scheme is unconditionally stable for consistent finite elements. The time step can be chosen according to requirement of precision. The simultaneous equations from (2) to (4) are transformed to an effective static problem which can be solved by using Newton iterative scheme. The algorithm of this method is summarized as below. 1. Begin iteration and predictor phase {X}°u, (X}oan{¥)ou1 2, Evaluate error vector (R}isy1 3. Form the effective stiffness matrix [i] , = (M] (G6) + [1] 14. Solve for displacement aa {OX} = [ATR r 5. Error cortector phase (Xen (Xmen (Xan (6. Check convergence, if tat falisfied, go lo step 2 7. M satisfied, Set (X}aa1, (XJnsiy (Xbnane begin next time step The stiffness matrix [K] of Step 3 above is used only to adjust displacement increments when convergence denoted by Eq.(3) would not be satisfied. Ils suitability affects the speed of convergence but has no influence on the accuracy of solution, because the internal stresses are directly computed based upon the assumed total strain in each iterative loop. According to this procedure, which is not the linear integration but the step-by-step nonlinear one, time step parti- tion is related only to the accuracy of acceleration and path-dependency, and free from the accumulation of error on equilibrium requirement. III4-3The static and dynamic internal loops are shown in Figure 7, where approximately double the equivalent viscous damping coefficient is achieved in dynamics. The increased damp- ing factors are also experimentally reported by Inoue, et al, [10] as shown in Figure 7 including analytical results. The difference of the static from dynamic damping coefficients is also fairly simulated. If the material would be perfectly linear, the dynamic restoring shear is independent on the secondary inertia components because of its perfect superimposition of stresses and dis- placement as checked by Song {6]. Then, it is concluded that the dynamic shear cannot be fully investigated just by the static cyclic loading tests, because the horizontal shear energy absorption and restoring force characteristics have close interaction with the vertical and flexural inertia forces, which are not simulated in the static test and analysis. This coupling effects originate from and the fully two dimensional FE analysis formed on the material-based constitutive law is essential to reach this nonlinear dynamic shear in earthquake. The associated inertia moment originates from the two dimensional extent of walls. If we would narrow the two dimensional extent of walls into the slender column as shown in Figure 8, the dynamic restoring force versus shear displacement relation coincides with the static one as experimentally reported by Mutsuyoshi, et al (1). The inconsistency of dynamic and static shear hysteresis is characteristic to two dimensional in-plane structures. 30 ; AN “ Ma aN HIN Moment(tont.m) a0] 2g 29] Pt) <0 ‘oa 020002 oa G02 eee 10 re eee 20) ek Horizontal Displacement(em) Horizontal Force(tent) Figure 6. Secondary inertia forces in vertical and rotational forces. 8 — dynamic test & analysis 10 Dynamic and state restoring force (tont) Equivalent viscous damping (%) Displacement (em) Displacement (cm) Figure 7. Dynamic and static energy absorption and equivalent viscous damping, II14-4 2Let us discuss the mechanism which causes different dynamic and static restoring shear forces. It should be noted that the secondary inertia forces take place, which are excited by the primary horizontal shear and stiffness change due to higher nonlinearity of elements. ‘The vertical and rotational inertia forces are obtained by timing the mass or the internal moment of the top rigid slab with corresponding accelerations. The larger shear displacement gives rise to the gteater moment and vertical forces with higher frequency as shown in Figure 6, It can be said that the sceondary inertia forces, which are completely zero in the static load, affects the horizon- tal shear in earthquake, because the behaviors of cracked R/C walls are highly nonlinear. 2400 5 mm = 2 7 7 a [an T T 7 m a | land ao ao(mn) =. 0 y 7 5 ‘ BA | i t 00) ' See 900 1200 900 go 0.4 0.8 12 Cecile aad ready TIME (second) igure 3. Response and input acceleration. a Figure 2. Single framed shear we DYNAMIC. “a OOS OR Oe OO couecas = eo mieatyaupes cos Displacement (cm) Displacement (cm) Figure 4. Dynamic and static shear restoring force versus displacement relations (analysis). 20 Restoring force (tonf) “0 20 STATIC_, { DYNAMIC a 04 0A 04-0200 02 04 G6 08 06 <4 02 00 02 G4 06 OB Displacement (em) Displacement (cm) Figure 5. Dynamic and static shear restoring force displacement relations (Experiment [9])- I1I4-5Constitutive Mode! of R/C clemcat If we would access to dynamics of R/C based on Eq.(2), the constitutive law for R/C must possess the ability to predict spatially averaged stresses of nonlinear domain with cracks for any given strain-time history. The authors adopted the smeared crack model developed in Concrete labora- tory of Univ. of Tokyo, which consists of the following cyclic material models, (1) Compression Model for Cracked Concrete [Mackawa, Okamura], (2) Tension stiffness mode! (Shima, Chou, Okamura), (3) Crack shear transfer model (Li, Maekawa] and (4) Reinforcing Bar model (Shin, Kato]. The detail is discussed in the accompanying paper by Izumo et al. Shin et al. [11] installed this model to the finite element program [WCOMR] for analysis of shear walls subjected to static reversed cyclic shear. In order to represent the localized displacement between members, such as, junction plane between footing and R/C walls, the joint element was formed by combining the model of (1), (2) and (3). This is the same strategy as the above static analysis program [12]. The time-dependent model for stresses in Eq.(2) is essential to take into account the viscous damping, but at present, under development. Tentatively, we used the path-dependent R/C elements mentioned above. This means that the viscous damping effect corresponding to the loading speed on which the path-dependent constitutive laws are based are taken into account, and that the higher loading rate and corresponding variety of viscous energy absorption be ne- glected. This assumption seems to be reasonable so that the viscous damping of materials has a minor role compared with the hysteresis one. Accordingly, the authors’ interest is to investigate the dynamic shear resistance of walls within the framed shear wall structural systems. DYNAMIC SHEAR RESISTANCE IN FRAMED SHEAR WALLS In the static analysis and experiments, the horizontal shear force applied to the walls through the rigid beam-slabs is identified according to the static equilibrium. Similarly, the dynamic shear force applied to the walls is easily computed by transforming the acceleration response of mass into the inertia forces. It was reported that R/C slender columns with top heavy weight exhibit the dynamic shear versus displacement relation which is quite similar to the static relation (1). But itis doubtful whether the shear in dynamic force be the same as the static one, because of its two dimensional stress development and material nonlinearity. Single framed shear wall Figure 2 shows the target adopted by Inoue et al. [9,10] for dynamic loading tests where the base acceleration was induced by the shaking table. The top slab is treated in analysis as a rigid body with the mass of 17.Stons. The wall with isotropic reinforcement of 1% is idealized by 9 R/C smeared crack finite elements, and 13 R/C elements and 16 joint elements are assigned to frames surrounding walls and junction planes between members. The time step was specified to be 0.005sec so that the analytical results would coincide regardless of smaller time step, In the test, the vertical base acceleration was associated with the horizontal one due to the interaction be- tween the shaking table and the test structure. Since the characteristics of testing machine could not be simulated, the input base acceleration was just in the horizontal direction in this analysis. The base acceleration and corresponding horizontal response of top slab are shown in Figure 3. The dynamic shear force to the wall is obtained by multiplying the response accelera- tion by the mass of rigid slab. The dynamic shear versus displacement relation is shown in Figure 4 accompanied by the static analysis result. Figure 5 also shows the experimental static and dynamic shear of the wall subjected to the base acceleration [9]. It can be concluded that the dynamic restoring shear force and energy absorption capacity are indeed different from the static ones even though the same shear displacement is attained. The dynamic energy absorption and corresponding hysteresis damping are observed to be greater than the static one. 1114-6 4 4Cc ‘The dynamic restoring force and hysteresis damping is affected also by the dynamic base cceleration. Compared with the dynamic response shown in Figure 4 where the frequency of input base acceleration is kept constant but the amplitude is getting large, the constant amplitude but varying frequency of base shear gives rise to a little bit distorted internal loop as shown in Figure 9, The induced secondary inertia forces exhibit different response to the horizontal shear. ‘The dynamic hysteresis damping is not unique to members nor structures. Multi-story framed shear walls The three-story framed shear wall is targeted as shown in Figure 1. It was used in studying the ductility by static tests (5]. The dynamic shear resistance in each layer is of preat interest from seismic design view points. The static and dynamic response of discretized structure shown in Figure 1 was computed. The analysis of the whole structure concerned is to examine the dynamic shear of each R/C wall in base acceleration by comparing those dynamics with the static shear restoring force-displacement relation as an isolated structural element. Similarly, the horizontal ground acceleration was input and the mass was concentrated to the three slabs with 13.2tons. The static horizontal force was applied to the lowest story slab. The input and response accelera- tion in each story appear to be complicated (See Figure 10), but by multiplying the mass with the acceleration, we get the dynamic shear applied to each shear wall as shown in Figures 11 and 12, 20 7 Ls & 0 RC Column(cm) 3 i Dynamic iets [Joint elements “ho 4 4 2 0 2 4 : Displacement(cm) Element Mesh Force vs. Displacement Figure 8. Effect of the two dimensional extent of the objective (beam dime 7 7 ¢ ¢ b2 & : : 3 5 5 a ¢ é : He 3 5 3 Horlzontal displacement (cm) Horizontal inertia force (tonf) Figure 9, Dynamic hysteresis damping and stiffness in different base acceleration, I1I4-7oe Bat An Boo af lowest E : ol WV y ++ second a = third Sees ero ero ene car Time(second) a & — base 3 lowest 5 7 second % — third < a2 04 06 08 LOL? La Time(second) Figure 10, Input and response acceleration and displacement in each story. 3 Restoring force (tonf) Displacement (cm) Displacement (cm) Figure 11. Dynamic and static shear hysteresis curves of the lowest story. 7 7 dynamic dynamic 10} ~ * - : € = § Se --}]- 8 4 : 2 |= - - = 5 wy 2nd story _ ___| 9rd story 8 | | © wit ai Tit 7 wi Relative displacement (cm) Relative displacement (cm) Figure 12. Shear restoring force-displacement relation of upper stories, ITT4-8The dynamic and static restoring force characteristics of the first story wall are shown in Figure 11. In this case, the dynamic shear force to the first story is the sum of the inertia forces of three slabs. The shear force provoked by the base acceleration is also far from the static one. The reduced capacity and ductility of shear in earthquake are found. The dynamic shear force- displacement relations of the second and third stories are shown in Figure 12. The shear dis- placement is the relative horizontal one between slabs. The effect of the rigid body rotation of each slab is offset. Due to the lower dynamic shear force transferred, the nonlinearity is not remarkable. So far as the shear stiffness and hysteresis damping under the lower shear forces, there is very litle difference among three walls both in static and dynamic loads. The different shear resisting mechanism is caused by the secondary inertia forces which result in the different stress distribution and deformation as shown in Figure 13. In case of the higher static load, the more uniform stress field in the first story wall is produced rather than the dynamic case. This is related to the different ductility and capacity of shear between static and dynamic loads. For dynamic shear of nonlinear R/C in-plane structures, the whole domain of two dimensional extent is to be fully discretized by use of the R/C finite elements where the path- dependent constitutive laws of R/C are installed. static displacement fea map Cc ralectory Atom ar (time = 1.64 sec) dynamic displacement crane stress map ry (time= 1.64sec) se) Figure 13. Dynamic and static deformational mode and stress distribution. CONCLUSION ‘Two dimensional nonlinear dynamic analysis program was developed based on the smeared crack R/C model and the discrete one. The whole domain of in-plane R/C shear walls were directly idealized with R/C smeared and discrete crack models. The shear resisting mechanism of R/C walls within the whole structural system was investigated under dynamic and static loads. Based on the fully two dimensional analyses of framed shear walls, the followings were clarified. The dynamic hysteresis damping and restoring shear stiffness of R/C walls is generally different from the static one, and affected by structural geometry and the base acceleration. This means that tested static shear characteristics of walls, such as the equivalent viscous damping, cannot be directly used for spatially simplified system with lumped mass. I114-9‘This sort of dynamic and static inconsistency is caused by the secondly excited inertia forces and the material nonlinearity of R/C members. If the in-plane walls would be perfectly lin- ear, the horizontal shear behavior is both linear and independent on other inertia forces due to the linear superimposition. The accompanied rotational inertia arises from the two dimensional extent of the whole structures and mass distribution. The two dimensional whole model of the objective is indispensable to fully take into account the nonlinear coupling between R/C dynamic yy and excited inertia forces applied to the wall itself in turn. ACKNOWLEDGMENT ‘The authors express their gratitude to the Ministry of Education of JAPAN for Grant-in-Aid for Scientific Research No.01420034, The second author is grateful to the Japanese Government for financing his scholarship in the University of Tokyo, and the first author to JICA for financing his research in AIT as a secondment from the Government of Japan, REFERENCES 1. 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