Seismic Design To EC8 - L2

LN02
2/28/17
Free vibrations of SDOF systems
If the mass is set in motion by giving it a small initial displacement x0 from

its equilibrium position then it undergoes free vibrations at a rate known as
natural frequency.
The solution to above equation
n = the circular natural frequency or angular speed of an equivalent circular

motion ( rad/s)
If fn = natural frequency (cycles per second, or Hz)

Tn = time taken for one complete cycle (s)
Prepared by: Eng. Chamil Duminda Mahagamage

1 B.Sc.Eng (Hons), C Eng,
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Consider the vibration of an SDOF system with damping included but still with
no external force
Now the equation of motion
The behavior of this system depends on the relative magnitudes of c, k and m.
If c = 2(km) the system is said to be critically damped and will return to its
equilibrium position without oscillating. In general c is much smaller than this,
giving an underdamped system.
The figure below shows the response of SDOF systems with natural period 1 s
and different damping ratios, when released from an initial unit displacement.
This damped response differ, from the underdamped case in two ways: first the
oscillations are multiplied by an exponential decay term ( ), so that they
die away quit quickly; second, he natural frequency hasChamil
Prepared by: Eng. beenDuminda
altered by the
Mahagamage
factor . However, for practical values
2 of damping this factor is very
B.Sc.Eng (Hons),close
C Eng,
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So, using the relationships between n, , m, c and k the equation of

motion can be written as

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1.7.8 Response to a sinusoidal base motion
Suppose first of all that the ground motion varies sinusoidally with time at a
circular frequency, , with corresponding period T = 2/ :
Where, Xg is the peak ground displacement.
** Real earthquake ground motion is more complex, but this simplification

serves to illustrate the main characteristic of the response.
Following figures show the variation of structural acceleration with time for a
structure with a natural period of 0.5s and 5% damping, for a variety of
frequencies of ground shaking.

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Three regimes of structural response can be seen as follows.

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The effect of the loading rate on the response of an SDOF structure is

summarized in following figure, for different damping levels. Here the peak
absolute displacement of the structure X (normalized by the peak ground
displacement, Xg) is plotted against the ratio of the natural period Tn to the
period of the sinusoidal loading T.

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The same three response regimes are evident in this figure, with the structural
motion equal to the ground motion at the left hand end of the graph, then large
resonant amplifications at around Tn/T=1, and finally very low displacements
when Tn/T is large.
At pure resonance i.e Tn/T = 1 X/Xg 1/(2). The peak displacement at

resonance is thus very sensitive to damping, and is infinite for the
theoretical case of zero damping. For more realistic damping ratio of
0.05, the displacement of the structure is around 10 times the ground
displacement.
*** The dynamic amplifications observed under real earthquake

loading are rather lower than those discussed above, both because an
earthquake time-history is not a simple sinusoid, and because it has a
finite (usually quite short) duration.

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1.7.9 Response spectra and their application to linear structural systems
An earthquake can be measured and represented as the variation of ground

acceleration with time in three orthogonal directions (N-S, E-W and vertical).
Obviously, the exact nature of an earthquake time-history is unknown in
advance, will be different for every earthquake, and indeed will vary over the
affected region due to factors such as local ground conditions, epicentral
distance etc.

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Elastic Response Spectra defined in EC8

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EC8 specifies two categories of spectra. Type 1 for areas of high seismicity
(defines as Ms > 5.5), and type 2 for areas of moderate seismicity (Ms 5.5).
Within each category, spectra are given for five different soil types:
A rock ; B very dense sand or gravel, or very stiff clay; C dense sand or
gravel , or stiff clay; D loose to medium cohesionless soil, or soft to firm
cohesive soil; E soil profiles with a surface layer of alluvium of thickness 5-20
m.
The vertical axis is the peak, or spectral acceleration of the elastic structure,
denoted by Se, normalized by ag, the design ground acceleration on type A
ground. The spectra are plotted for an assumed structural damping ratio of 5%.

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1.7.10 Application of response spectra to elastic SDOF systems
This must be in dynamic equilibrium with the stiffness force developed within
the structure. If we define the spectral displacement, SD, as the peak
absolute displacement corresponding to the spectral acceleration, S e,
then
kSD = mSe
Using the relationships between mass, stiffness and natural period

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Note -: While the force experienced depends on the mass, the spectral
acceleration and displacement do not they are functions only of the natural
period and damping ratio.
It should also be remembered that the spectral acceleration is absolute (i.e it is
the acceleration of the mass relative to the ground plus the ground
acceleration, hence proportional to the inertia force experienced by the mass),
but the spectral displacement is the displacement of the mass relative to the
ground (and hence proportional to the spring force).
While elastic spectra are useful tools for design and assessment, they do not
account for the inelasticity that will occur during severe earthquakes. In
practice, energy absorption and plastic redistribution can be used to reduce the
design forces significantly. This is dealt with in EC8 by thee modification of the
elastic spectra to give design spectra Sd.
1.7.11 Ductility and behavior factor
Designing structures to remain elastic in large earthquakes is likely to be

uneconomic in most cases, as the force demands will be very large. A more
economical design can be achieved by accepting some level of damage short of
complete collapse, and making use of the ductility of the structure to reduce the
force demand to acceptable levels.
Ductility is defined as the ability of a structure or member to
withstand large deformations beyond its yield
Prepared by:point (often
Eng. Chamil over
Duminda many
Mahagamage
cycles) without fracture. 13 B.Sc.Eng (Hons), C Eng,
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It is essential to ensure that the structure does indeed fail by a ductile mode
well before brittle failure modes develop, i.e. that ductility supply exceeds the
maximum ductility demand.
This principle known as Capacity Design
Examples of designing for ductility include:
Ensuring plastic hinges form in beams before columns;

Providing adequate confinement to concrete using closely spaced
hoops
Ensuring that steel members fail away from connections
Avoiding large irregularities in structural form
Ensuring flexural strengths are significantly lower that shear
strengths.
For SDOF system with a clear yield point the displacement ductility is defined
xmax = maximum displacement

xy = displacement at first yield
Yielding of a structure also has the effect of limiting the peak force that it must
sustain. In EC8 this force reduction is quantified by the behavior factor, q:
Fel = peak force that would bePrepared

developed inChamil
by: Eng. an SDOF
Dumindasystem if it
Mahagamage
responded to the earthquake elastically.
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A well known empirical observation is that, at long periods (>Tc), yielding and
elastic structures undergo roughly the same peak displacement. It follows that,
for these structures, the force reduction is simply equal to the ductility. At
shorter periods, the amount of force reduction achieved for a given ductility
reduces.

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1.7.12 Ductility modified response spectra (Design Spectra)
To make use of ductility requires the structure to respond non-linearly, meaning

that the linear methods introduced above are not appropriate. However, for an
SDOF system, an approximate analysis can be performed in a very similar way
to above by using a ductility modified response spectrum. In EC8 this is known
as the design spectrum, Sd. Figure below shows EC8 design spectra based on
the Type 1 spectrum and soil type C, for a range of behavior factors.

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Over most of the period range (for T TB) the spectral accelerations Sd (and
hence the design forces) are a factor of q times lower than the values Se for
the equivalent elastic system. For a theoretical, infinitely stiff system (zero
period), ductility does not imply any reduction in spectral acceleration, since an
infinitely stiff structure will not undergo any deformation and will simply move
with the ground beneath it. A linear interpolation is used between periods of
zero & TB.
The ductile displacement is given by
For long period structures (T>Tc) the result of this approach will be that design
forces are reduced by the factor q compared to an elastic design, and the
displacement of the ductile system is the same as for an equivalent elastic
system (since q = in this period range). For TB< T < TC the same force
reduction will be achieved but displacements will be slightly greater than the
elastic case. For very stiff structures (T<TB) the benefits of ductility are reduced,
with smaller force reductions and large displacements compared to the elastic
case.
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Note-: Use of ductility modified spectra is reasonable for SDOF systems, but
should be applied with caution to MDOF structures. For elastic systems we have
seen that an accurate dynamic analysis can be performed by considering the
response of the structure in each of its vibration modes, then combining the
modal responses. A similar approach is widely used for inelastic structures, i.e
each mode is treated as an SDOF system and its ductility-modified response
determined as above. The modal responses are then combined by a method
such as SRSS. For linear systems, the method is based on the fact that any
deformation can be treated as a linear combination of the mode shapes. Once
the structure yields, its properties change and these mode shapes no longer
apply.
When yielding is evenly spread throughout the structure, the
deformed shape of the plastic structure is likely to be similar to the
elastic one, and the ductility modified response spectrum analysis may
give reasonable (though by no mean precise) results. If, however,
yielding is concentrated in certain parts of the structure, such as a
soft storey, then this procedure likely to be substantially in error and
one of the non-linear analysis method shall be used.

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1.7.13 Analysis of linear MDOF systems 2/28/17
Not all structures can be realistically modelled as SDOF systems. Structures with
distributed mass and stiffness may undergo significant deformations in several
modes of vibration and therefore need to be analyzed as MDOF systems. These
are not generally amenable to hand solution and so computer methods are
widely used.
For a system with N degrees of freedom it is possible to write a set of
equations of motion in matrix form

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Considering free vibration problem omitting damping term 2/28/17
Where is the mode shape, which is a function solely of position within the
structure. This two can be solved to

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The figure above shows the sway modes of vibration of a four storey shear type
building (i.e one with relatively stiff floors, so that lateral deformations are
dominated by shearing deformation between floors), with the modes numbered
in order of ascending natural frequency (or descending period).

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1.7.14 Multi-modal response spectrum analysis
Having determined the natural frequencies and mode shapes of the system, we
can go on to analyze the response to an applied load. The equation
is a set of N coupled equations in terms of the N degrees of freedom.
This can be most easily solved using the principle of modal superposition, which
states that any set of displacements can be expressed as a linear combination
of the mode shapes:
The coefficients Yi are known as the generalized or modal displacements. The

modal displacements are functions only of time, while the mode shapes are
functions only of position. Above equation allows us to transform the equations
of motion into a set of equations in terms ofPrepared
the modal
by: Eng.displacements rather
Chamil Duminda Mahagamage
than original degree of freedom. 23 B.Sc.Eng (Hons), C Eng,
MIE(SL)
The coefficients Yi are known as the generalized or modal displacements. The2/28/17
modal displacements are functions only of time, while the mode shapes are
functions only of position. So that the above equation allows to transform the
equations of motion into a set of equations in term of the modal displacements
rather than the original degrees of freedom.
Where Y is the vector of modal displacements, and M, C and K are the modal
mass, stiffness and damping matrices. Because of the orthogonality properties
of the modes, it turns out that M, C and K are all diagonal matrices, so that the
N number of equations in above equation are uncoupled, i.e. each mode acts as
an SDOF system and is independent of the responses in all other modes. Then
the each line of above equation has the following form.
By analogy with equation for an SDOF system:

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While the above equation could be solved explicitly to give Yi as a function of

time for each mode, it is more normal to use the response spectrum approach.

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To obtain the overall response of the structure, in theory we need to

apply above 4 equations to each mode of vibration and then combine
the results. Since there are as many modes as there are degrees of
freedom, this could be an extremely long-winded process. In practice,
however, the scaling factors Li/Mi and Li2/Mi are small for the higher
modes of vibration. It is therefore normally sufficient to consider only
a subset of the modes. EC8 offers a variety of ways of assessing how
many modes need to be included in the response analysis. The normal
approach is either to include sufficient modes that the sum of their
effective modal masses is at least 90% of the total structural mass, or
to include all modes with an effective modal mass greater than 5% of
the total mass. If these conditions are difficult to satisfy, a permissible
alternative is that the number of modes should be at least 3n where n
is the number of storeys, and should include all modes with periods
below 0.2s.
The above 4 equations are giving only the peak values in each mode, and it is
unlikely that these peaks will all occur at the same point in time. Simple
combination rules are used to give an 26 Prepared of
estimate by: the
Eng. Chamil
total Duminda
response.Mahagamage
Two
B.Sc.Eng (Hons), C Eng,
methods are permitted by EC8. MIE(SL)
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If the above condition not met the most widely accepted alternative is
the CQC (complete quadratic combination) (Wilson et al, 1981), which
is based on calculating correlation coefficient between two modes.
This is built into many dynamic analysis computer programs.
Main Steps of the mode superposition procedure
Perform free vibration analysis to find natural periods and

corresponding mode shapes. Estimate damping ratio.
Decide how many modes need to be included in the analysis.
For each mode:
o compute the modal properties Li and Mi
o read the spectral acceleration from the design spectrum
o compute the desired response parameters using relevant
equations
Combine modal contributions to give estimates of total response.

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1.7.15 Equivalent static analysis of MDOF systems
A logical extension of the process of including only a subset of the

vibrational modes in the response calculation is that, in some cases, it
may be possible to approximate the dynamic behavior by considering
only a single mode. If the structure can reasonably be assumed to be
dominated by a single (normally the fundamental) mode then a simple
static analysis procedure can be used that involves only minimal
consideration of the dynamic behavior. For many years this approach
has been a mainstay of earthquake design codes. In EC8 the procedure
as follows.
Estimate the period of the fundamental mode, T1 usually by some

simplified approximate method rather than a detailed dynamic analysis. Use
Check whether equivalent static analysis is permitted T1 < 4Tc
Check the regularity criteria
If these conditions are met, equivalent static method can be used.
For the calculated structural period, the spectral acceleration Se can be

obtained from the design response spectrum. The base shear is then calculated
as
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Where m is the total mass. This is analogous to equation with the
ratio Li /Mi replaced by m. takes the value 0.85 for buildings of more than 2
2
storeys with T1<2Tc, and is 1.0 otherwise. The total horizontal load is then
distributed over the height of the building in proportion to (mass x mode shape).
Normally this is done by making some simple assumption about the mode
shape. For instance, for simple, regular buildings EC8 permits the assumption
that the first mode shape is a straight line (i.e displacement is directly
proportional to height). This leads to a storey force at level k given by:

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Example 01 2/28/17
The example building represents a hotel, with a single storey podium housing
the public spaces of the hotel, surmounted by a seven storey tower block,
comprising a central corridor with bedrooms to either side. Figures below show a
schematic plan, a section and an isometric view of the building. Assuming the
building is regular in plan and elevation (will be shown later) calculate the
followings.

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T.B.C in LN03 31 B.Sc.Eng (Hons), C Eng,
MIE(SL)

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LN02

If the mass is set in motion by giving it a small initial displacement x0 from

The solution to above equation

n = the circular natural frequency or angular speed of an equivalent circular

If fn = natural frequency (cycles per second, or Hz)

Prepared by: Eng. Chamil Duminda Mahagamage

Now the equation of motion

The behavior of this system depends on the relative magnitudes of c, k and m.

So, using the relationships between n, , m, c and k the equation of

Prepared by: Eng. Chamil Duminda Mahagamage

1.7.8 Response to a sinusoidal base motion

Where, Xg is the peak ground displacement.

** Real earthquake ground motion is more complex, but this simplification

Prepared by: Eng. Chamil Duminda Mahagamage

Prepared by: Eng. Chamil Duminda Mahagamage

Three regimes of structural response can be seen as follows.

Prepared by: Eng. Chamil Duminda Mahagamage

The effect of the loading rate on the response of an SDOF structure is

Prepared by: Eng. Chamil Duminda Mahagamage

At pure resonance i.e Tn/T = 1 X/Xg 1/(2). The peak displacement at

*** The dynamic amplifications observed under real earthquake

Prepared by: Eng. Chamil Duminda Mahagamage

1.7.9 Response spectra and their application to linear structural systems

An earthquake can be measured and represented as the variation of ground

Prepared by: Eng. Chamil Duminda Mahagamage

Elastic Response Spectra defined in EC8

Prepared by: Eng. Chamil Duminda Mahagamage

Prepared by: Eng. Chamil Duminda Mahagamage

1.7.10 Application of response spectra to elastic SDOF systems

Prepared by: Eng. Chamil Duminda Mahagamage

1.7.11 Ductility and behavior factor

Designing structures to remain elastic in large earthquakes is likely to be

Examples of designing for ductility include:

Ensuring plastic hinges form in beams before columns;

xmax = maximum displacement

Fel = peak force that would bePrepared

Prepared by: Eng. Chamil Duminda Mahagamage

Prepared by: Eng. Chamil Duminda Mahagamage

1.7.12 Ductility modified response spectra (Design Spectra)

To make use of ductility requires the structure to respond non-linearly, meaning

Prepared by: Eng. Chamil Duminda Mahagamage

The ductile displacement is given by

Prepared by: Eng. Chamil Duminda Mahagamage

Prepared by: Eng. Chamil Duminda Mahagamage

Prepared by: Eng. Chamil Duminda Mahagamage

Prepared by: Eng. Chamil Duminda Mahagamage

1.7.14 Multi-modal response spectrum analysis

The coefficients Yi are known as the generalized or modal displacements. The

By analogy with equation for an SDOF system:

Prepared by: Eng. Chamil Duminda Mahagamage

While the above equation could be solved explicitly to give Yi as a function of

Prepared by: Eng. Chamil Duminda Mahagamage

To obtain the overall response of the structure, in theory we need to

Main Steps of the mode superposition procedure

Perform free vibration analysis to find natural periods and

Combine modal contributions to give estimates of total response.

Prepared by: Eng. Chamil Duminda Mahagamage

A logical extension of the process of including only a subset of the

Estimate the period of the fundamental mode, T1 usually by some

Check whether equivalent static analysis is permitted T1 < 4Tc

Check the regularity criteria

If these conditions are met, equivalent static method can be used.

For the calculated structural period, the spectral acceleration Se can be