SEISMIC ANALYSIS USING ROBOT SOFTWARE

The following report contains direction guidelines about how to perform seismic analysis (modal response spectrum analysis) using ROBOT software. A simple 3-D structure was used containing only 30x30cm RC columns and 300mm thick RC slabs. C40 concrete was used for all the elements.

This process is indicative and can be generalised in order to carry out seismic analysis for any kind of structures. It can also be used as a general guideline for seismic analysis irrelevant to the software used, just by using the same commands on the desired software.

Developed by KTH May 2013

MODAL ANALYSIS

Select "New" to create a new Analysis Case

Select "Modal" as type

See next page for advanced parameters.

Select the desired number of modes (depending on the type and the complexity of the structure). Select the mass matrix type. In principle, consistent mass matrix gives more accurate results and should be used. When lumped mass matrix is used, a portion of the structure's mass is allocated to the supports and therefore not taken into account for seismic calculations since the nodes at the supports have no seismic degrees of freedom (see following pages for illustration).

Select the desired active mass directions. In principle all directions are active mass directions but sometimes it may be desired to check specific directions only. For instance: -When modelling a strip (eg. 1m wide) of a structure we are not interested in the out of plane mass direction and it should not be selected. -The vertical (Z) mass direction can generally be neglected, unless there is a specific interest in looking into effects such as uplift of pre-cast slabs. When the vertical mass direction is active it will give vertical modes which can be disturbing, especially when slabs are not held by columns for long distances and so they are free to oscilate vertically. However these modes have almost zero impact on the results (assuming that the vertical translation is not of interest) since their effective modal mass is only active on the vertical direction.

By selecting "Advanced parameters" there are a couple of more options available. Probably the most useful is the option of setting an analysis limit based on the percent of mass participation. Most codes only require 90% mass participation (participating mass/total mass). This option can be useful, or save some calculation time when the number of modes can not be foreseen. ROBOT will only use as many modes required to get 90% participating modal mass for each active mass direction. It should be noted that ROBOT will only use up to the number of modes defined by the user. It may be required to increase this number in order to get 90% participating modal mass in all active mass directions.

The analyses hereafter were run with this limit set as Inactive

After running the analysis, select Modal analysis relults.

Analysis run with Lumped mass matrix

It can be observed that because the stiffness of this structure is symmetrical (square columns and equal spans at both directions) we get flexural modes with equal period/frequency. Eg, mode 1 (flexural, x direction) has a period of 0.37sec, same as mode 2 (flexural, y direction). See following pages for modes illustration.

Note the difference between the total mass here and on the following page. In this analysis half of the ground floor columns mass is lumped at the supports, therefore being inactive seismically.

Analysis run with Consistent mass matrix

Note that the total mass is equal to the total weight of the structure (see next page) divided by the gravity acceleration.

Modes with zero participating translational modal mass are torsional modes.

Cumulative Participating modal mass for each direction.

Total weight

Select display-maps-deformation-active to display the modes.

Mode 1 - flexural - x direction.

Mode 2 - flexural - y direction.

Mode 3 - torsional.

Mode 4 - flexural - x direction.

Mode 7 - vertical mode.

MODAL ANALYSIS USING ADDITIONAL LOADS

Define a new load case for the load that should be used as additional seismic mass (for instance backfill).

Go to Analysis - Analysis Type and select the tab "load to mass conversion"

Select the desired case to convert and assign any coefficient (for instance 50% of the load). Assign mass direction with the same principle as when defining the modal case. Click add.

Modal analysis results. Note the total mass is now the sum of DL plus the roof load.

MODAL RESPONSE SPECTRUM ANALYSIS (ASCE7-10)

Select tools-job preferences

Go to design codes and select "more codes"

Under "seismic loads" choose the desired code and add it (for this case IBC 2006)

Go to analysis types-new and select "seismic" and the newly defined code.

Define the parameters according to the desing code. Here the analysis is according to ASCE7-10, using site class C, S1=0.2g, Ss=0.47g, TL=8sec, R=4 and I=1.25 (note: be careful between S1-Sd1 and Ss-Sds when using ASCE). See next page for direction.

By default ROBOT will apply the earthquake to all 3 directions (not simultaneously). If one direction (eg. Z) is set to zero then ROBOT will not apply the earthquake to this direction.

Automatically 2 components of the earthquake analysis were created (no component for Z since it was set to 0 in the previous step).

The tab combination sign allows for definition of the positive sign of each seismic case (if desired to define one), as well as the combination rule used for the directions of the motion (if excitation is applied at different direction during the same case or combination)