Software Verification

PROGRAM NAME: SAP2000

REVISION NO.: 8

EXAMPLE 6-010
LINK SUNY BUFFALO EIGHT-STORY BUILDING WITH RUBBER ISOLATORS

PROBLEM DESCRIPTION
This example is presented in Section 2, pages 5 through 23, of Scheller and
Constantinou 1999 (the SUNY Buffalo report). It is an eight-story building that
is seismically isolated using rubber bearings. The model is subjected to a
recorded pair of scaled horizontal ground acceleration histories from the 1971
San Fernando earthquake. SAP2000 results for superstructure displacements
relative to the isolation system, superstructure accelerations, and isolator forces
and deformations are compared with results obtained using the computer
program 3D-BASIS-ME (see Tsopelas, Constantinou and Reinhorn 1994).

The SAP2000 model is shown in the figures on the following three pages. The
superstructure is modeled as a stick using linear link elements. The
superstructure stick connects joints 23 and 55 through 62. The floor masses are
concentrated at the eccentric joints, joints 46 through 54. Diaphragm constraints
are used at each floor level above the isolation system to connect the mass to the
superstructure. Only the Ux, Uy and Rz degrees of freedom are active for the
analysis. The superstructure is assumed to have 3% modal damping and the
isolation system to have 0% modal damping.

Joints 1 through 45 define the location of the 45 rubber isolators in the model.
Those joints are constrained to joint 46 using a body constraint. Joints 101 to 145
are in the same location as joints 1 through 45, respectively, and are fully
restrained (fixed to the ground). Zero-length link elements with rubber isolator
properties connect joints 1 through 45 to joints 101 through 145. The properties
for all of the link elements in the model are presented in the section titled Link
Element Properties later in this example.

The SAP2000 model used in this verification example differs from that used in
the Scheller and Constantinou 1999 report as follows. First, this verification
example uses a linear link element for the stick superstructure rather than the
damper element used in the report. The linear link is a simpler and more
appropriate element to use, but it was not available when the report was written.

Second, this verification example uses the actual linear effective stiffness for the
isolators, 6.55 kip/in, rather than the artificially small effective stiffness used in
the report. This item is explained in more detail in the section titled Linear
Effective Stiffness of Rubber Isolator Elements later in this example.

EXAMPLE 6-010 - 1
 Software Verification
PROGRAM NAME: SAP2000
REVISION NO.: 8

GEOMETRY AND PROPERTIES

4 @ 20' = 80'

41, 141 42 43 44 45, 145

36 37 38 39 40

31 32 33 34 35

26 27 28 29 30
Y
46
8 @ 20' = 160'

CG
X
8'

Two joints at the same

21 22 23, 123 24 25, 125 location with a rubber
isolator link element
connecting them, typical
for joints 1 through 45 and
16 17 18 19 20 101 through 145

Note: Joints 1
11 12 13 14 15 through 46 are
constrained using a
body constraint

6 7 8 9 10

1, 101 2 3 4 5, 105

Plan View at Isolator Level

EXAMPLE 6-010 - 2
 Software Verification
PROGRAM NAME: SAP2000
REVISION NO.: 8

8'
Level 8
54 62
Joints constrained as
diaphragm, typical at Level 7
levels 1 through 8 53 61
Level 6
52 60
Linear link element typical Level 5
at each level for the stick 51 59

8 @ 12' = 96'
representing the building
Level 4
superstructure
50 58
Level 3
49 57
Level 2
48 56
Z
Level 1
47 55
Y Isolator Level

43,143 38,138 33,133 28,128 46 23,123 18,118 13,113 8,108 3,103

8 @ 20' = 160'

Longitudinal Section

EXAMPLE 6-010 - 3
 Software Verification
PROGRAM NAME: SAP2000
REVISION NO.: 8

54 62
Linear link element typical
Active degrees of at each level for the stick
freedom are Ux, Uy representing the building
and Rz superstructure

45, 145
Two joints at the same
location with a rubber
43, 143 isolator link element
connecting them, typical
41, 141 25, 125 for joints 1 through 45 and
Z 101 through 145.
X
Y
46
23, 123

21, 121 5, 105

3, 103

2, 102

1, 101

EXAMPLE 6-010 - 4
 Software Verification
PROGRAM NAME: SAP2000
REVISION NO.: 8

LOAD CASES USED

Three different load cases are run for this example. They are described in the
following table. It is important to note that the 3D-BASIS-ME model uses 3%
modal damping for all modes associated with the superstructure. No modal
damping is associated with the isolation system in 3D-BASIS-ME.

Load Case Description

RITZ Modal load case for Ritz vectors. Ninety-nine modes are
requested. The program will automatically determine that a
maximum of twenty-seven modes are possible and thus
reduce the number of modes to twenty-seven. The starting
vectors are Ux acceleration, Uy acceleration, and all link
element nonlinear degrees of freedom.

NLMHIST1 Nonlinear modal time history load case that uses the modes
in the RITZ load case. This case includes 3% modal
damping in all modes, except that modes 1, 2 and 3, which
are the modes associated with the isolation system, are
assigned 0% modal damping. See the section titled Linear
Effective Stiffness of Rubber Isolator Elements later in
this example for more information.

NLDHIST1 Nonlinear direct integration time history load case. This

case includes proportional damping, which is defined to
provide damping similar to, but not exactly the same as, the
damping for the modal time history. See the section titled
Proportional Damping for Direct Integration Time
History later in this example for more information.

Note that the inherent viscous damping in the superstructure, which is specified
to be 3% of critical damping, is accounted for differently in 3D-BASIS-ME, the
nonlinear modal time history in SAP2000, and the nonlinear direct integration
time history in SAP2000. Thus, slight differences in the results for each of the
three time history analyses (one in 3D-BASIS-ME and two in SAP2000) are
expected.

EXAMPLE 6-010 - 5
 Software Verification
PROGRAM NAME: SAP2000
REVISION NO.: 8

EARTHQUAKE RECORD
The following figures show the earthquake records used in this example. They
are the recorded pair of horizontal ground acceleration time histories from the
1971 San Fernando earthquake at station number 211. The earthquake records
are provided in files named EQ6-010-trans.txt and EQ6-010-long.txt. Those files
have one acceleration value per line, in g. The acceleration values are provided at
an equal spacing of 0.02 second.

Inside SAP2000 each of the two components is multiplied by a factor of 2.345,

as described in the SUNY Buffalo report, and also by a factor of 386.22 to
convert from g to in/sec2. The recorded north and west components are applied in
the transverse and longitudinal directions of the model, respectively.
Ground Acceleration for Transverse (X) Direction
0.15
Ground Acceleration (g)

0.10

0.05

0.00

-0.05

-0.10

-0.15
0 5 10 15 20 25 30 35 40 45
Time (sec)

Ground Acceleration for Longitudinal (Y) Direction

0.15
Ground Acceleration (g)

0.10

0.05

0.00

-0.05

-0.10
0 5 10 15 20 25 30 35 40 45
Time (sec)

EXAMPLE 6-010 - 6
 Software Verification
PROGRAM NAME: SAP2000
REVISION NO.: 8

LINK ELEMENT PROPERTIES

This section presents the properties used for all of the link elements in the model.
All link elements in the model are oriented such that the positive local 1 axis is
parallel to the positive global Z axis, the positive local 2 axis is parallel to the
positive global X axis and the local 3 axis is parallel to the positive global Y axis.

The superstructure linear link elements have an effective stiffness, ke, and for the
shear degrees of freedom, a distance from the J-end to the shear spring, DJ.
Properties are specified for the U2, U3 and R1 degrees of freedom.

Between the Isolator Level and Level 3 (Property Name LINST123)

ke U2 = 3401.8 k/in
DJ U2 = 72 in
ke U3 = 3401.8 k/in
DJ U3 = 72 in
ke R1 = 3.996 E+09 k-in/radian

Between the Level 3 and Level 6 (Property Name LINST456)

ke U2 = 2551.3 k/in
DJ U2 = 72 in
ke U3 = 2551.3 k/in
DJ U3 = 72 in
ke R1 = 2.997 E+09 k-in/radian

Between the Level 7 and Level 8 (Property Name LINST78)

ke U2 = 1700.9 k/in
DJ U2 = 72 in
ke U3 = 1700.9 k/in
DJ U3 = 72 in
ke R1 = 1.998 E+09 k-in/radian

The rubber isolator link elements have a linear effective stiffness, ke, a nonlinear
initial stiffness, k, a nonlinear yield strength, Fy, and a post yield stiffness ratio, r.
See the following section titled Linear Effective Stiffness of Rubber Isolator
Elements for more information about ke. Properties are specified for the U2, and
U3 degrees of freedom and the properties are the same for the two degrees of
freedom. The rubber isolator property name is BILIN and its properties are:

ke = 6.55 k/in Fy = 12.8 k

k = 25.6k/in r = 0.1887

EXAMPLE 6-010 - 7
 Software Verification
PROGRAM NAME: SAP2000
REVISION NO.: 8

LINEAR EFFECTIVE STIFFNESS OF RUBBER ISOLATOR ELEMENTS

This verification example uses the calculated linear effective stiffness, ke, of 6.55
kip/in for the isolators. The SUNY Buffalo report used an artificially small
effective stiffness of 0.0001 kip/in in their SAP2000 model to match the 3D-
BASIS-ME results. The report further shows that when they used the actual
isolator effective stiffness of 6.55 kip/in in their SAP2000 model, their SAP2000
results underestimated the 3D-BASIS-ME results.

The calculated isolator effective stiffness of 6.55 kips/in is the appropriate

value to use and, as shown in this verification example, leads to results that
match the 3D-BASIS-ME results when the SAP2000 model is made
essentially equivalent to the 3D-BASIS-ME model.

It is important to recognize that the 3D-BASIS-ME model has 3% modal

damping in the superstructure and no modal damping in the isolation system.
Thus, for the SAP2000 model to be essentially equivalent to the 3D-BASIS-ME
model, it must have 3% damping in all modes, except for modes 1, 2 and 3,
which are dominated by the isolation system behavior. Thus, to be equivalent to
the 3D-BASIS-ME model, modes 1, 2 and 3 in the SAP2000 model must be
assigned 0% damping with all other modes assigned 3% damping.

The SUNY Buffalo report SAP2000 model underestimated the 3D-BASIS-ME

results when using a linear effective stiffness of 6.55 kip/in for the isolators
because the SAP2000 model had 3% damping in all modes, including modes 1, 2
and 3. Thus, the SAP2000 model was not equivalent to the 3D-BASIS-ME
model.

When the SUNY Buffalo report SAP2000 model used a linear effective stiffness
of 0.0001 kip/in for the isolators, the results matched the 3D-BASIS-ME results.
Using 0.0001 kip/in effective stiffness for the isolators made the periods of the
isolated modes (modes 1, 2 and 3) 528, 512 and 435 seconds, respectively.
Noting that the entire earthquake duration is approximately 44 seconds, it is
apparent that very little energy can be absorbed by modes 1, 2 and 3, thus making
the damping associated with them approximately 0%, which is consistent with
the 3D-BASIS-ME model.

Again, we recommend using the actual effective stiffness and adjusting the
modal damping associated with the isolated modes, rather than using an
artificially small effective stiffness.

EXAMPLE 6-010 - 8
 Software Verification
PROGRAM NAME: SAP2000
REVISION NO.: 8

Note that the preceding explanation is only relevant for the nonlinear modal time
history load case. It is not relevant for the nonlinear direct integration time
history load case. The linear effective stiffness of the isolators is only used in
linear load cases. In this verification example, the only linear load case is the
modal load case, RITZ. Both the nonlinear modal time history and the nonlinear
direct integration time history load cases use the nonlinear properties of the
isolator, not the linear properties. However, the nonlinear modal time history
uses modes from the modal load case RITZ that are based on the linear effective
stiffness of the isolators. Thus, the nonlinear modal time history load case is
indirectly affected by the linear effective stiffness of the isolators, whereas the
nonlinear direct integration time history load case is unaffected by the linear
isolator properties.

PROPORTIONAL DAMPING FOR DIRECT INTEGRATION TIME HISTORY

The nonlinear direct integration time history load case NLDHIST1 uses mass and
stiffness proportional damping. For this load case the challenge is to designate
appropriate proportional damping that approximates 3% damping in all modes,
except the isolator modes (modes 1, 2 and 3), which are to have 0% damping.
The isolator modes have periods of approximately 2 seconds, and the
superstructure periods range from approximately 0.06 to 0.60 second.

For this example, the 0.5

proportional damping
0.45
is specified as stiffness
proportional damping 0.4

only. The mass 0.35

coefficient for the

Damping Ratio

0.3

damping is set equal to 0.25

zero and the stiffness
0.2
coefficient is set equal
to 0.0030. The solid 0.15

line in the chart to the 0.1

right plots the resulting 0.05

proportional damping 0

used. The dashed line 0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6

Period (sec)
shows a constant 3%
damping.

EXAMPLE 6-010 - 9
 Software Verification
PROGRAM NAME: SAP2000
REVISION NO.: 8

TECHNICAL FEATURES OF SAP2000 TESTED

Rubber isolator links
Linear links
Zero-length, two-joint link elements
Diaphragm constraints
Modal analysis for ritz vectors
Nonlinear modal time history analysis
Nonlinear direct integration time history analysis
Generalized displacements

RESULTS COMPARISON
Independent results are obtained using the computer program 3D-BASIS-ME
(see Tsopelas, Constantinou and Reinhorn 1994).

The eight figures shown on the following four pages plot results from 3D-
BASIS-ME and from the SAP2000 load case NLMHIST1 (nonlinear modal time
history). The results for SAP2000 load case NLDHIST1 (nonlinear direct
integration time history) are similar. The following plots are shown:

Level 8 X direction displacement relative to the isolation system

Level 8 Y direction displacement relative to the isolation system
Level 8 rotation about Z relative to the isolation system
Base shear in the X direction
Level 3 absolute acceleration in the X direction
Level 3 absolute acceleration in the Y direction
Link 23 force-deformation in the X direction
Link 23 force-deformation in the Y direction

In SAP2000, the level 8 displacements and rotations relative to the isolation

system are determined using generalized displacements. The generalized
displacements are defined to subtract the displacement or rotation at joint 23
from that at joint 62.

EXAMPLE 6-010 - 10
 Software Verification
PROGRAM NAME: SAP2000
REVISION NO.: 8

4.00
Level 8 Ux Displacement Relative to Isolation System
Level 8 Ux Displacement Relative to Isolation System (in)

3.50

3.00

2.50

2.00

1.50

1.00

0.50

0.00

-0.50

-1.00

-1.50

-2.00
3D-BASIS-ME
-2.50 SAP2000 NLMHIST1

-3.00
0 5 10 15 20 25 30
Time (sec)

3.00
Level 8 Uy Displacement Relative to Isolation System
Level 8 Uy Displacement Relative to Isolation System (in)

2.50

2.00

1.50

1.00

0.50

0.00

-0.50

-1.00

-1.50

-2.00 3D-BASIS-ME
SAP2000 NLMHIST1
-2.50
0 5 10 15 20 25 30
Time (sec)

EXAMPLE 6-010 - 11
 Software Verification
PROGRAM NAME: SAP2000
REVISION NO.: 8

0.0010
Level 8 Rz Rotation Relative to Isolation System
Level 8 Rz Rotation Relative to Isolation System (radians)

0.0008

0.0006

0.0004

0.0002

0.0000

-0.0002

-0.0004

-0.0006
3D-BASIS-ME
SAP2000 NLMHIST1
-0.0008
0 5 10 15 20 25 30
Time (sec)

2000
Base Shear Fx
1500

1000

500
Base Fx (kip)

-500

-1000

-1500

-2000
3D-BASIS-ME
SAP2000 NLMHIST1
-2500
0 5 10 15 20 25 30
Time (sec)

EXAMPLE 6-010 - 12
 Software Verification
PROGRAM NAME: SAP2000
REVISION NO.: 8

80
Level 3 Ux Absolute Acceleration

60
Level 3 Ux Absolute Acceleration (in/sec )
2

40

20

-20

-40

-60
3D-BASIS-ME
SAP2000 NLMHIST1

-80
0 5 10 15 20 25 30
Time (sec)

80
Level 3 Uy Absolute Acceleration

60
Level 3 Uy Absolute Acceleration (in/sec )
2

40

20

-20

-40
3D-BASIS-ME
SAP2000 NLMHIST1

-60
0 5 10 15 20 25 30
Time (sec)

EXAMPLE 6-010 - 13
 Software Verification
PROGRAM NAME: SAP2000
REVISION NO.: 8

50
Isolator 23 Force-Deformation in the X Direction
40

30

20
Isolator 23 Fx Force (kip)

10

-10

-20

-30

-40 3D-BASIS-ME
SAP2000 NLMHIST1

-50
-7 -6 -5 -4 -3 -2 -1 0 1 2 3 4 5 6 7 8
Isolator 23 Ux Deformation (in)

40
Isolator 23 Force-Deformation in the Y Direction

30

20
Isolator 23 Fy Force (kip)

10

-10

-20

-30
3D-BASIS-ME
SAP2000 NLMHIST1

-40
-5 -4 -3 -2 -1 0 1 2 3 4 5 6 7
Isolator 23 Uy Deformation (in)

EXAMPLE 6-010 - 14
 Software Verification
PROGRAM NAME: SAP2000
REVISION NO.: 8

The following table compares the maximum and minimum values of the output
items shown in the charts on the previous four pages. Results are compared for
both the modal time history load case, NLMHIST1, and the direct integration
time history load case, NLDHIST1.

Output Dir and Load Independent Percent

Parameter Max/Min Case SAP2000 3D-BASIS-ME Difference
Ux NLMHIST1 3.521 +1%
3.494
Max NLDHIST1 3.418 -2%
Level 8 Ux NLMHIST1 -2.875 +3%
-2.804
displacement Min NLDHIST1 -2.760 -2%
relative to
isolation system Uy NLMHIST1 2.642 +4%
2.538
(in) Max NLDHIST1 2.695 +6%
Uy NLMHIST1 -2.167 +7%
-2.029
Min NLDHIST1 -2.182 +8%
Rz NLMHIST1 0.00080 +7%
Level 8 rotation 0.00075
Max NLDHIST1 0.00068 -9%
relative to
isolation system NLMHIST1 -0.00077 +1%
Rz
(rad) -0.00076
Min NLDHIST1 -0.00073 -4%
Fx NLMHIST1 1854 +2%
1818
Base shear in the Max NLDHIST1 1761 -3%
X direction
(kip) Fx NLMHIST1 -2109 +1%
-2089
Min NLDHIST1 -2051 -2%

EXAMPLE 6-010 - 15
 Software Verification
PROGRAM NAME: SAP2000
REVISION NO.: 8

Output Dir and Load Independent Percent

Parameter Max/Min Case SAP2000 3D-BASIS-ME Difference
Ux NLMHIST1 65.76 -3%
67.73
Max NLDHIST1 67.82 0%
Ux NLMHIST1 -72.71 -2%
Level 3 (jt 57) -71.47
Min NLDHIST1 -69.94 +2%
absolute
acceleration NLMHIST1 70.36 +8%
Uy
(in/sec2) 64.96
Max NLDHIST1 70.36 +8%
Uy NLMHIST1 -58.35 +1%
-57.78
Min NLDHIST1 -56.99 -1%
Fx NLMHIST1 48.66 +1%
48.17
Max NLDHIST1 47.14 -2%
Fx NLMHIST1 -43.55 +2%
-42.68
Isolator 23 Min NLDHIST1 -41.04 -4%
shear force
(kip) Fy NLMHIST1 36.65 +1%
36.38
Max NLDHIST1 35.31 -3%
Fy NLMHIST1 -30.91 +1%
-30.54
Min NLDHIST1 -30.41 +0%
Ux NLMHIST1 7.935 +1%
7.845
Max NLDHIST1 7.611 -3%
Ux NLMHIST1 -6.916 +3%
-6.746
Isolator 23 Min NLDHIST1 -6.386 -5%
deformation
(in) Uy NLMHIST1 6.247 +2%
6.150
Max NLDHIST1 5.93 -4%
Uy NLMHIST1 -4.419 +3%
-4.304
Min NLDHIST1 -4.303 0%

EXAMPLE 6-010 - 16
 Software Verification
PROGRAM NAME: SAP2000
REVISION NO.: 8

COMPUTER FILE: Example 6-010

CONCLUSION
The SAP2000 results show an acceptable comparison with the independent
results considering that SAP2000 and 3D-BASIS-ME use different modeling and
solution techniques for the isolated structure. The clearest comparison of results
is evident in the graphical comparisons.

EXAMPLE 6-010 - 17