SE 223 – ADVANCED SEISMIC DESIGN

Assignment No. 1
Seismic Response of Linear and Nonlinear
Single Degree of Freedom Oscillators

Aim: This assignment will allow you to understand the effect that structural period, force reduction
factors, and different hysteretic rules play on the earthquake response of inelastic systems.

Format and submission: In report form. Submit through turnitin.com, instructions will follow.

Definitions:

C: Damping coefficient (force per unit velocity – kN s /m) given by C = 2 K.M ς

C R: Displacement coefficient spectrum. For a given period and damping ratio CR = Sdi / Sd.
Coefficient CR should be closely related to ratio of coefficients Cd /R given in Table 12.2-1 of
ASCE 7-10 for different structural systems

F: Restoring force (kN)

Fe: Maximum force demand on the elastic oscillator of a given period (kN)
Fy: Yield strength of the oscillator (kN)
4 2 M
K: Stiffness (kN/m) given by K =
T2
M: Mass (kN/g). Arbitrary value. For example, make M = 3,000 kN/g

PSa: Pseudo-acceleration response spectrum (m/s2)

PSv: Pseudo-velocity response spectrum (m/s)

r: Hardening ratio
rne: Weight given to the nonlinear elastic response rule when doing a combination of nonlinear
springs in parallel (typically in the 0.6 to 0.8 range)
R: Force-reduction factor used to calculate the yield strength of the oscillator

Sa: Absolute acceleration response spectrum (m/s2)

Sd: Relative displacement (also known just as displacement) response spectrum (m)
Sdi: Inelastic displacement response spectrum (associated with R > 1) (m)
Sv: Relative velocity response spectrum (m/s)

T: Undamped period of free vibration (s)

Δ: Displacement (mm)
Δy: Yield displacement (mm)
C
ς: damping ratio given by ς =
2 K.M

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Problem Statement:
Use the MATLAB code provided to solve the equation of motion and to obtain the response of SDOF
nonlinear oscillators characterized by a Menegotto-Pinto hysteretic response.

The modified program will allow you to:

(1) Calculate the absolute acceleration, pseudo-acceleration, velocity, pseudo velocity and relative
displacement response spectra for a given damping ratio and given hysteretic rule and force-
reduction factor. Chopra’s Ch. 6 (Earthquake Response of Linear Systems) provides excellent
background information.

(2) Choose one of various hysteretic responses (or a weighted combination of them): (i) Linear
elastic, (ii) Non-linear elastic, (iii) Bi-linear with kinematic hardening, and (iv) Clough
degrading stiffness. See Figures 1 and 2.

Figure 1 – Idealized hysteretic responses

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 Figure 2 – Example of combination in parallel of the nonlinear elastic response with another
hysteretic response.

The oscillators will be subjected to a suite of 20 far field ground motion records obtained in dense and
stiff soils (type C or D) in accordance to the classification in ASCE 7-10, see Table 1. Also, we will
analyze the response of a far field record on a soft soil Type F for the 1985 Mw 8.1 Mexico earthquake
(SCT_Long.eqf). All ground motion records are available in TritonEd. Since spectral responses
depend on the natural period of the oscillator, the mass can be chosen arbitrarily, and the corresponding
stiffness can be determined form the natural period being selected in the loop.

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 Table 1 – Far Field Ground Motions on Dense and Stiff Soil Types C or D

abbrev. Earthquake Event Year Mw Station Rclosest Soil Type Duration Recorded
(km) (NEHRP) (s) PGA (g)
sup1 Superstition Hills 1987 6.7 Brawley 18.2 D 22.0 0.116
sup2 Superstition Hills 1987 6.7 El Centro Imp Co. Cent. 13.9 D 40.0 0.258
sup3 Superstition Hills 1987 6.7 Plaster City 21 D 22.2 0.186
nor2 Northridge 1994 6.7 Beverly Hills 14145 Mulhol 19.6 C 30.0 0.416
nor3 North ridge 1994 6.7 Canoga Park-Topanga Can 15.8 D 25.0 0.356
nor4 Northridge 1994 6.7 Glendale -Las Palmas 25.4 D 30.0 0.357
nor5 Northridge 1994 6.7 LA -Hollywood Star FF 25.5 D 40.0 0.231
nor6 Northridge 1994 6.7 LA-N Faring Rd 23.9 D 30.0 0.273
nor9 Northridge 1994 6.7 N. Hollywood -Coldwater Can 14.6 C 21.9 0.271
nor10 North ridge 1994 6.7 Sunland -Mt Gleason Ave 17.7 C 30.0 0.157
lp1 Loma Prieta 1989 6.9 Capitola 14.5 D 40.0 0.529
lp2 Loma Prieta 1989 6.9 Gilroy Array# 3 14.4 D 39.9 0.555
lp3 Loma Prieta 1989 6.9 Gilroy Array# 4 16.1 D 40.0 0.417
lp4 Loma Prieta 1989 6.9 Gilroy Array# 7 24.2 D 40.0 0.226
lp5 Loma Prieta 1989 6.9 Hollister Diff. Array 25.8 D 39.6 0.279
lp6 Loma Prieta 1989 6.9 Saratoga - W Valley Coll. 13.7 C 40.0 0.332
cm1 Cape Mendocino 1992 7.1 Fortuna - Fortuna Blvd 23.6 C 44.0 0.116
cm2 Cape Mendocino 1992 7.1 Rio Dell Overpass - FF 18.5 C 36.0 0.385
lan1 Landers 1992 7.3 Desert Hot Springs 23.3 C 50.0 0.154
lan2 Landers 1992 7.3 Yermo Fire Station 24.9 D 44.0 0.152

Part 1: Linear Oscillator

1.1 Employ the Newmark’s constant average acceleration method to compute the elastic response
spectra Sa, Sv, and Sd for each of the 20 stiff soil acceleration ground motions. Obtain the spectra
between the 0.1 - 4 second period range at 0.1 second intervals for Cases 1.1a, 1.1b and 1.1c.

1.1a ζ = 2.5% damping ratio

1.1b ζ = 5% damping ratio
1.1c ζ = 15% damping ratio

Note: For simplicity, and to avoid resampling the ground motion acceleration record provided to
you, use an integration time step equal to the ground motion discretization time step.

1.2 With the displacement response spectra Sd calculated for Cases 1.1a through 1.1c compute the
response spectra PSa for each motion between the 0.1 - 4 second period range at 0.1 second
intervals.

1.3 With the displacement response spectra Sd calculated for Cases 1.1a through 1.1c compute the
damping effect spectra B(ζ / ζ =5%) = Sd (ζ ) / Sd (ζ =5%) between the 0.1 - 4 second period range
at 0.1 second intervals.

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Part 2: Bi-linear with Kinematic Hardening Hysteretic Oscillator

Determine the response spectra Sdi for bi-linear oscillators representing a well-detailed steel structure.
The oscillators have a yield strength Fy = Fe / R, where Fe is the force demand on the elastic oscillator
for the given period with ζ = 2.5% damping ratio found in Part 1, and R is the force-reduction factor.
Compute the response for all 20 stiff soil ground motions for Cases 2.1 and 2.2:

2.1 ζ = 2.5%, r = 0 and R = 4

From these results, determine, for the suite of 20 stiff soil ground motions listed in Table 1, the inelastic
displacement spectra CR = Sdi / Sd for the period range 0.1 to 4 seconds at 0.1 second intervals. In this
case Sd is that computed for Case 1.1a.

2.2 ζ = 2.5%, r = 0 and R = 8

From these results, determine, for the suite of 20 stiff soil ground motions listed in Table 1, the inelastic
displacement spectra CR = Sdi / Sd for the period range 0.1 to 4 seconds at 0.1 second intervals. In this
case Sd is that computed for Case 1.1a.

Part 3: Oscillator with the Clough Degrading Stiffness Hysteretic Response

Determine the response spectra Sdi for Clough degrading stiffness oscillators representing a well-
detailed reinforced concrete structure. The oscillators have a yield strength Fy = Fe / R, where Fe is the
force demand on the elastic oscillator of a given period with ζ = 2.5% damping ratio found in Part 1.
R is the force-reduction factor. Compute the response for Cases 3.1 and 3.2:

3.1 ζ = 2.5%, r = 0 and R = 4

From these results, determine, for the suite of 20 stiff soil ground motions listed in Table 1, the inelastic
displacement spectra CR = Sdi / Sd for the period range 0.1 to 4 seconds at 0.1 second intervals. In this
case Sd is that computed for Case 1.1a.

3.2 ζ = 2.5%, r = 0 and R = 8

From these results, determine, for the suite of 20 stiff soil ground motions listed in Table 1, the inelastic
displacement spectra CR = Sdi / Sd for the period range 0.1 to 4 seconds at 0.1 second intervals. In this
case Sd is that computed for Case 1.1a.

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Part 4: Re-centering Hysteretic Oscillator

Determine the response spectra Sdi for re-centering oscillators representing a well-detailed re-centering
precast/posttensioned concrete structural system. The oscillators have a yield strength Fy = Fe / R,
where Fe is the force demand on the elastic oscillator of a given period with ζ = 2.5% damping ratio
found in Part 1. Combine the nonlinear elastic response shown in Figure 1b with the Clough stiffness
degrading response shown in Figure 1d. The weight ratio is rne = 0.5. Compute the response for Cases
4.1 and 4.2:

4.1 ζ = 2.5%, r = 0.1, rne = 0.5 and R = 4

From these results, determine, for the suite of 20 stiff soil ground motions listed in Table 1, the inelastic
displacement spectra CR = Sdi / Sd for the period range 0.1 to 4 seconds at 0.1 second intervals. In this
case Sd is that computed for Case 1.1a.

4.2 ζ = 2.5%, r = 0.1, rne = 0.5 and R = 8

From these results, determine, for the suite of 20 stiff soil ground motions listed on Table 1, the
inelastic displacement spectra CR = Sdi / Sd for the period range 0.1 to 4 seconds at 0.1 second intervals.
In this case Sd is that computed for Case 1.1a.

Part 5: Inelastic Response in Ground Motions Recorded on Soft Soils

Far field ground motions in soft soils focus the earthquake energy around the predominant period of
the soil. The spectral values obtained for CR in the range of periods around the predominant period of
the soil can be markedly different from those obtained for far field stiff and dense soils.

5.1 Linear- elastic with ζ = 2.5%

5.2 Stiffness degrading Clough rule with ζ = 2.5%, r = 0 and for R = 4

For the soft soil ground motion calculate the inelastic displacement spectra CR = Sdi / Sd for the period
range 0.1 to 4 seconds at 0.1 second intervals. In this case Sd is that computed from Case 5.1

5.3 Stiffness degrading Clough rule with ζ = 2.5%, r = 0 and for R = 8

For the soft soil ground motion calculate the inelastic displacement spectra CR = Sdi / Sd for the period
range 0.1 to 4 seconds at 0.1 second intervals. In this case Sd is that computed from Case 5.1

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Required Figures and Discussion:

Time-history -x-axis is time (sec), and hysteretic plots – x-axis is relative displacement (mm), y-axis
is restoring force normalized by weight:

Figures 1.1-1.5:
Plot the sup2 and lan2 acceleration records (units: g) and velocity time-histories of the ground motions
listed in Table 1 as well as for the ground motion recorded in Mexico City on soft soil.
General comments on the record length and characteristics.

Figures 2.1-2.10:
2.1 Plot the displacement time history response of the linear oscillator with T = 2.0 sec. and ζ = 2.5%
obtained for input ground motion lan2 listed in Table 1.

2.2 Plot the displacement time history response of the Bi-linear oscillator Case 2.1 with T = 2.0 sec.
obtained for input ground motion lan2 listed in Table 1.

2.3 Plot the displacement time history response of the Bi-linear oscillator Case 2.2 with T = 2.0 sec.
obtained for input ground motion lan2 listed in Table 1.

• Compare these figures and give special attention to the effect the R-factor has on the residual
displacement.

Now,

2.4 Plot the relative displacement time history response of the Clough degrading stiffness oscillator
Case 3.2 with T = 2.0 sec. obtained for input ground motion lan2 listed in Table 1.

2.5 Plot the relative displacement time history response of the re-centering oscillator Case 4.2 with
T = 2.0 sec obtained for input ground motion lan2 listed in Table 1.

• Compare the residual displacements obtained for the oscillators in Cases 2.2, 3.2 and 4.2 shown
in Figures 2.3, 2.4 and 2.5. Supplement your discussion by plotting the restoring force (i.e.
force in the spring) vs relative displacement hysteretic responses for the oscillators in Cases
2.2, 3.2 and 4.2 in Figures 2.6 - 2.8.

2.9 Plot the restoring force response time history of the linear oscillator with T = 2.0 sec and ζ =
2.5% obtained for input ground motion lan2 listed in Table 1.

2.10 Plot the restoring force response time history of the re-centering oscillator Case 4.2 with T = 2.0
sec obtained for input ground motion lan2 listed in Table 1.

• Compare the responses plotted in Figures 2.9 and 2.10. Why is the restoring force somewhat
capped in the time-history response of the re-centering oscillator?

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Spectra plots: x-axis is the period T (sec)

Figures 3.1-3.3:
Plot the absolute acceleration response spectra Sa and pseudo-acceleration response spectra PSa for
linear response for ζ =2.5% damping ratio and only for ground motion lan2 listed in Table 1. Add also
the point at T = 0 sec. Repeat for ζ =5% and 15% damping ratios. Normalize the spectral ordinates by
g.

• Comment on any differences between the three spectra. In particular, look at the trends for T
going close to 0 sec. and when T is long (just for curiosity you may want to run cases for T =
10 sec).

Figure 3.4:
By now you may have noticed that, when comparing the spectral responses plotted in Figs. 3.1-3.3,
damping affects the response of the linear oscillator, except when approaching T = 0 sec.

Line 1: For each of the 20 stiff-soil ground motions listed in Table 1, plot the average spectral values
obtained for B(ζ =15% /ζ =5%) against the period. Plot for the 0.1-4 sec period range at 0.1 sec
intervals.

Line 2: For each of the 20 stiff-soil ground motions listed in Table 1, plot the average spectral values
obtained for B(ζ =2.5% /ζ =5%) against the period. Plot for the 0.1-4 sec period range at 0.1 sec
intervals.

Line 3: A horizontal line with B = 1 that corresponds to the ratio of the spectral ordinates for ζ = 5%
in the denominator and the numerator.

ASCE 7-10 Table 17.5.1, see below, tabulates in prescriptive form values for ratio 1/B(ζ / ζ =5%),
termed BD or BM in the code.

Line 4: Plot a horizontal line with 1/BD = 1/BM for ζ =2.5% as given by Table 17.5-1.

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Line 5: Plot a horizontal line with 1/BD = 1/BM for ζ =15% as given by Table 17.5-1.

• Compare the spectra for B(ζ=15% / ζ =5%) and for B(ζ=2.5% / ζ =5%) computed from the
ground motion study, with those prescribed by ASCE 7-10 for identical damping ratios. What
conclusion can you draw from mean values as plotted in this figure? (i.e. there can be record-
to-record differences, but in statistical terms when several ground motions are analyzed, you
can draw a conclusion).

Figures 4.1-4.3:
Displacement coefficient CR spectra. Read reference (5) from syllabus as background.

4.1 Line 1 - Plot the average spectral response CR between all 20 records for Case 2.1. Plot for the
0.1-4 sec period range at 0.1 sec intervals.

Line 2 - Plot the average spectral response CR between all 20 records for Case 2.2. Plot for the
0.1-4 sec period range at 0.1 sec intervals.

• The CR spectra for a linear oscillator is a horizontal line equal to 1. Can you see any influence
of the R-factor on the CR spectra? Can you observe that the effect of the R-factor is also coupled
to the period of the oscillator?

4.2 Line 1 - Plot the average spectral response CR between all 20 records for Case 3.1. Plot for the
0.1-4 sec period range at 0.1 sec intervals.

Line 2 - Plot the average spectral response CR between all 20 records for Case 3.2. Plot for the
0.1-4 sec period range at 0.1 sec intervals.

4.3 Line 1 - Plot the average spectral response CR between all 20 records for Case 4.1. Plot for the
0.1-4 sec period range at 0.1 sec intervals.

Line 2 - Plot the average spectral response CR between all 20 records for Case 4.2. Plot for the
0.1-4 sec period range at 0.1 sec intervals.

• A well-rooted concept in earthquake engineering is that the energy dissipation given by the
shape of the hysteresis loop, should be a design objective. This is because hysteretic energy
dissipation is believed to help reducing the system response to earthquake input. For example,
ACI 318-14 states:

The oscillator with greatest energy dissipation capacity per cycle is the bi-linear, and that with
the smallest capacity is the re-centering oscillator, whereas the Clough stiffness degrading lies
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 somewhere in between. Can you confirm this concept for oscillators in the entire period range
examined?

Record-to-record variation

Figures 4.4-4.6

4.4 Plot a histogram and a cumulative frequency distribution for the B(ζ=2.5% / ζ =5%) spectra
found for all 20 ground motions listed in Table 1 for T = 2.0 sec in Case 1.1a. Refer to Figure 3 for a
similar figure. Report the mean, and the standard deviation of the population. Report also the
Coefficient of Variation.

B(ζ=2.5% / ζ =5%)
Figure 3 – Sample histogram and cumulative frequency plot.

• Would you have expected that the values of B(ζ=2.5% / ζ =5%) were all identical and
independent from the ground motion? Explain.

4.5 Plot a histogram and a cumulative frequency distribution for the CR spectra found for all 20
stiff-soil ground motions listed in Table 1 for T = 2.0 sec in Case 3.1. Report the mean, and the
standard deviation of the population. Report also the Coefficient of Variation.

4.6 Plot a histogram and a cumulative frequency distribution for the CR spectra found for all 20
stiff-soil ground motions listed in Table 1 for T = 2.0 sec in Case 3.2. Report also the Coefficient of
Variation.

• Statistics is a very useful tool to understand ground motions and their effects on structural
performance. Are the coefficients of variations reported in 4.5 and 4.6 small (i.e. less than 15%
difference?) When R increases, does the coefficient of variation increase?

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CR spectra for soft soil records
Figure 5.1
Compare the displacement spectra for linear response Sd from Case 5.1 with the nonlinear cases Sdi
computed from Case 5.2 and Case 5.3. Comment on the three spectra for the different periods.

Figure 5.2
Compare the CR spectra calculated in Case 5.2 and Case 5.3. Discuss the differences.

Figure 5.2
Compare the average CR spectra calculated in Case 3.2 for the 20 stiff-soil ground motion records listed
in Table 1 with that obtained in Case 5.3. Pay attention to differences in the spectral coefficients CR
around the predominant period of the ground motion obtained in soft soil.

See Appendix for required figure formatting.

An oral assessment of this assignment will be made to check if each student is knowledgeable in each
part of this homework.

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 Appendix 1 – Partial Solution for Record sup1

This appendix provides some figures that you can use to benchmark your program. They correspond
to the results for the first record in Table 1 (sup1) for an oscillator with period T = 1.0 sec and damping
ratio  = 2%

Refer to the assignment statement for the required graphs. Your figures must be formatted in a similar
clear manner (i.e. bold lines, clear large text, data points, if you are comparing multiple graphs they
must be plotted with the same scale, axes titled with units, figure titled clearly with relevant info such
as period, R factor, damping, etc.).

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