2C09

Design for seismic and climate changes

Lecture 08: Seismic response of SDOF systems

Aurel Stratan, Politehnica University of Timisoara

13/03/2014
European Erasmus Mundus Master Course

Sustainable Constructions
under Natural Hazards and Catastrophic Events
520121-1-2011-1-CZ-ERA MUNDUS-EMMC

Lecture outline
8.1 Time-history response of linear SDOF systems.
8.2 Elastic response spectra.
8.3 Time-history response of inelastic SDOF systems.

Seismic action
Ground acceleration: accelerogram

Properties of a SDOF system (m, c, k) + u

g (t )

mu cu ku mug

Relative displacement, velocity and acceleration of a

SDOF system

Seismic action
North-south component of the El Centro, California
record during Imperial Valley earthquake from 18.05.1940

Determination of seismic response

cu ku mug
Equation of motion: mu
/m:

u 2n u n2 u ug

Numerical methods
central difference method
Newmark method
...

u u t , Tn ,

Response depends on:

natural circular frequency n (or natural period Tn)
critical damping ratio
ground motion u
g

Seismic response

Elastic response spectra

Response spectrum: representation of peak values of
seismic response (displacement, velocity, acceleration)
of a SDOF system versus natural period of vibration, for a
given critical damping ratio

u0 Tn , max u t , Tn ,
t

u0 Tn , max u t , Tn ,
t

u0t Tn , max ut t , Tn ,
t

Elastic displacement response spectrum: Du0

Elastic displacement response spectrum: Du0

Elastic displacement response spectrum: Du0

Elastic displacement response spectrum: Du0

Elastic displacement response spectrum: Du0

Elastic displacement response spectrum: Du0

Pseudo-velocity and pseudo-acceleration

Spectral pseudo-velocity:

units of velocity
V n D
D
Tn
different from peak velocity

ES 0

Strain energy

k V n
ku
kD
mV 2

2
2
2
2
2
0

Spectral pseudo-acceleration:

2
A u D
D
Tn

|u(t)| = S (T)
|u(t)| = S (T)
2
n 0

2
n 0

f S 0 ku0 m u mA
units of acceleration
different from peak acceleration

2
n

de

max

m
k

de

max

F
=k S de(T)
=mS ae(T)

m
k

ag(t)
9

Pseudo-velocity and pseudo-acceleration

2
V n D
D
Tn

2
A D
D
Tn
2
n

10

Combined D-V-A spectrum

Displacement, pseudo-velocity and pseudo-acceleration
spectra:
same information
different physical meaning

A
V n D or
n

Tn

2 A V

Tn
2
A V
D
2
Tn
lg Tn lg A lg 2 lg V

A line inclined at +45 for lgA - lg2 = const. spectral

pseudo-acceleration: an axis inclined to -45
Similarly, spectral displacement: an axis inclined to +45

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Combined D-V-A spectrum

12

Characteristics of elastic response spectra

13

Characteristics of elastic response spectra

14

Characteristics of elastic response spectra

For Tn<Ta
pseudo-acceleration A is close to
spectral displacement D is small

ug 0

For Tn>Tf

spectral displacement D is close to u g 0

spectral pseudo-acceleration A is small

g 0
Between Ta and Tc A > u
Between Tb and Tc A can be considered constant
Between Td and Tf D > u g 0
Between Td and Te D can be considered constant
Between Tc and Td V > u g 0
Between Tc and Td V can be considered constant
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Characteristics of elastic response spectra

Tn>Td response region sensible to displacements
Tn<Tc response region sensible to accelerations
Tc<Tn<Td response region sensible to velocity
Larger damping:
smaller values of displacements, pseudo-velocity and pseudoacceleration
more "smooth" spectra

Effect of damping:
insignificant for Tn 0 and Tn ,
important for Tb<Tn<Td

16

Elastic design spectra

Spectra of past ground motions:
jagged shape
variation of response for different earthquakes
areas where previous data is not available

17

Elastic design spectra

idealized "smooth" spectra
based on statistical interpretation (median; median plus
standard deviation)
of several
records
characteristic
for a given site

18

Elastic design spectra

19

Elastic design spectra

20

PSA

Elastic design spectra

20

PSA

Elastic design spectra

20

PSV

PSA

Elastic design spectra

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PSV

PSA

Elastic design spectra

20

SD

PSV

PSA

Elastic design spectra

20

SD

PSV

PSA

Elastic design spectra

20

Inelastic response of SDOF systems

Most structures designed for seismic forces lower than
the ones assuring an elastic response during the design
earthquake
design of structures in the elastic range for rare seismic events
considered uneconomical
in the past, structures designed for a fraction of the forces
necessary for an elastic response, survived major earthquakes
f

c
b
d
a

u
u

um

21

Inelastic response of SDOF systems

Elasto-plastic system:
stiffness k
yield force fy
yield displacement uy

Elasto-plastic idealization:
equal area under the actual
and idealised curves up to
the maximum displacement um

Cyclic response of the elasto-plastic system

22

Corresponding elastic system

Corresponding elastic system:
same stiffness
same mass
same damping

the same period

of vibration (at
small def.)

Inelastic response:
yield force reduction factor Ry

f 0 u0
Ry

f y uy

ductility factor

um
uy
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Equation of motion
Equation of motion: mu cu f S u , u mug
/m u 2n u n2u y fS u, u ug

fS u, u f S u, u f y

Seismic response of an inelastic SDOF system depends

on:

natural circular frequency of vibration n

critical damping ratio
yield displacement uy
force-displacement shape fS u , u

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Effects of inelastic force-displacement relationship

4 SDOF
systems
(El Centro):
Tn = 0.5 sec
= 5%
Ry = 1, 2, 4, 8

Elastic system:
vibr. about the
initial position
of equilibrium
up=0

Inelastic syst.:
vibr. about a
new position of
equilibrium
up0
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Elastic inelastic
Design of a structure responding in the elastic range:
f0 fRd
Design of a structure responding in the inelastic range:
um uRd Rd

ductility demand

ductility capacity

26

um/u0 ratio
El Centro
ground motion
= 5%
Ry = 1, 2, 4, 8

Tn>Tf
um independent
of Ry
um u0

Tn>Tc
um depends on Ry
um u0

Tn<Tc
um depends on Ry
um > u0
27

Ry - relationship: idealisation
Tn in the displacement- and velocity-sensitive region:
"equal displacement" rule um/u0=1 Ry=

Tn in the acceleration-sensitive region:

"equal energy" rule um/u0>1 Ry 2 1
Tn<Ta:
small deformations, elastic response Ry=1

uy

u =um

Ry 2 1

uy

um

Tn Ta
Tb Tn Tc '
Tn Tc

u
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Ry - relationship: idealisation

Tn Ta
1

Ry 2 1 Tb Tn Tc '

Tn Tc

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References / additional reading

Anil Chopra, "Dynamics of Structures: Theory and
Applications to Earthquake Engineering", Prentice-Hall,
Upper Saddle River, New Jersey, 2001.
Clough, R.W. and Penzien, J. (2003). "Dynamics of
structures", Third edition, Computers & Structures, Inc.,
Berkeley, USA

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aurel.stratan@upt.ro
http://steel.fsv.cvut.cz/suscos