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Software Verification: Methodology
Software Verification: Methodology
Software Verification: Methodology
METHODOLOGY
Many different equation solver options are available in SAP2000. The different solver
options typically give identical results for most of the analysis examples. For a few
numerically sensitive problems the different solver options may give slightly different
results. The results presented in this document are those obtained using the Advanced
equation solver running as a separate 32bit process on an Intel(R) Core(TM) i7 CPU
with the Windows 7 Professional 64-bit operating system.
ACCEPTANCE CRITERIA
The comparison of the SAP2000 validation and verification example results with
independent results is typically characterized in one of the following three ways.
➢ Exact: There is no difference between the SAP2000 results and the independent
results within the larger of the accuracy of the typical SAP2000 output and the
accuracy of the independent result.
➢ Acceptable: For force, moment and displacement values, the difference between
the SAP2000 results and the independent results does not exceed five percent
(5%). For internal force and stress values, the difference between the SAP2000
results and the independent results does not exceed ten percent (10%). For
experimental values, the difference between the SAP2000 results and the
independent results does not exceed twenty five percent (25%).
METHODOLOGY - 1
Software Verification
PROGRAM NAME: SAP2000
REVISION NO.: 19
The percentage difference between results is typically calculated using the following
formula:
SAP2000 Result
Percent Difference = 100 -1
Independent Result
SUMMARY OF EXAMPLES
The example problems are categorized into nine groups based on the structural elements
used or design type in the example. Table 1 defines the nine groups, illustrates the
example problem numbering system used for each group, and identifies the summary
table used for each group.
As shown in Table 1, Tables 2-1 through 2-9 summarize the validation and verification
examples for each of the nine categories. Tables 2-1 through 2-9 include the example
number, the problem title, a summary of the program features tested and the method of
independent verification.
METHODOLOGY - 2
Software Verification
PROGRAM NAME: SAP2000
REVISION NO.: 19
Hand calculation
using the beam
deflection formulas in
Table 3 item 1a and
Rotated Local ➢ Frame local axes rotated from global axes
1-004 Table 3 item 2a on
Axes ➢ Use of AISC sections
pages 96 and 98,
respectively, in Table
3 in Roark and
Young 1975.
➢ Settlement of support in frame structures
Hand calculation
➢ Rotation of support in frame structures
using the unit load
Displacement ➢ Settlement of support with linear (translational) spring
1-005 method described on
Loading ➢ Rotation of support with rotational spring
page 244 in Cook
➢ Skewed supports
and Young 1985.
➢ Skewed support settlement
➢ Structural behavior of a non-prismatic frame section
Non-Prismatic ▪ Self weight calculations Hand calculation
Sections and ▪ Linear variation of section area using the unit load
1-006 Automatic ▪ Linear, parabolic and cubic variation of moment of method described on
Frame inertia page 244 in Cook
Subdivision ▪ Linear variation of section torsional constant and Young 1985.
➢ Automatic frame subdivision
METHODOLOGY - 3
Software Verification
PROGRAM NAME: SAP2000
REVISION NO.: 19
Hand calculation
➢ Prestress tendon with parabolic tendon profile and
using basic principles
Prestress different eccentricities at the two ends
and the unit load
1-009 Applied To ➢ Prestress tendon modeled usings loads
method described on
Frame Objects ➢ Prestress tendon modeled as elements
page 244 in Cook
➢ Prestress losses
and Young 1985.
➢ The use of end offsets in frames, including
Hand calculation
▪ Non-rigid offsets
using the unit load
▪ Partially rigid offsets
1-010 End Offsets method described on
▪ Fully rigid offsets
page 244 in Cook
➢ The effect of end offsets on the frame static analysis
and Young 1985.
results
➢ Cardinal point Hand calculation
1-011 Insertion Point
➢ Joint offsets using statics.
Hand calculation
No Tension using the unit load
and No ➢ Tension and compression limits for frame objects method described on
1-012
Compression ➢ End releases page 244 in Cook
Frame Objects and Young 1985
together with statics.
Hand calculation
➢ Eigenvalue analysis of a frame with unequal moment based on formulas
Eigenvalue
1-014 of inertia values (I22 ≠ I33) for bending modes presented on page
Problem
➢ Automatic frame subdivision 313 of Clough and
Penzien 1975.
METHODOLOGY - 4
Software Verification
PROGRAM NAME: SAP2000
REVISION NO.: 19
Hand calculation
Vibration of a ➢ Static nonlinear analysis using the P-Delta option to using vibration theory
1-017 String Under provide tension stiffening presented on pages
Tension ➢ Modal analysis of frame for eigenvalues 506 though 510 of
Kreyszig 1983.
Hand calculation
Bending, Shear
➢ Calculation of bending, shear and axial deformations using the unit load
and Axial
1-018 in a rigid frame method described on
Deformations in
➢ Frame property modification factors page 244 in Cook
a Rigid Frame
and Young 1985.
Hand calculation
using formulas
presented in Article
Buckling of a ➢ Buckling analysis of a rigid frame
1-019 2.4 on pages 62
Rigid Frame ➢ Automatic frame subdivision
though 66 of
Timoshenko and
Gere 1961.
Response
Spectrum ➢ Modal analysis of frame for eigenvalues and time Comparison with
Analysis of a periods example 13.11 on
1-020
Two- ➢ Response spectrum analysis page 521 of Chopra
Dimensional ➢ Joint masses 1995.
Rigid Frame
Comparison with
results published in
Bathe and Wilson
Bathe and
1972 and
Wilson ➢ Modal analysis for eigenvalues
1-021 comparison with
Eigenvalue ➢ Line mass assignment to frame objects
results from another
Problem
computer program
published in
Peterson 1981.
METHODOLOGY - 5
Software Verification
PROGRAM NAME: SAP2000
REVISION NO.: 19
Comparison with
results from another
ASME ➢ Three-dimensional frame analysis computer program
1-023 Eigenvalue ➢ Modal analysis using eigenvectors published in
Problem ➢ Joint mass assignments Peterson 1981 and in
DeSalvo and
Swanson 1977.
Response
➢ Three-dimensional frame analysis Comparison with
Spectrum
➢ Modal analysis using eigenvectors results from another
Analysis of a
1-024 ➢ Rigid diaphragm constraint computer program
Three-
➢ Joint mass assignments published in
Dimensional
➢ Response spectrum analysis Peterson 1981.
Moment Frame
Response
➢ Three-dimensional frame analysis Comparison with
Spectrum
➢ Modal analysis using eigenvectors results from another
Analysis of a
1-025 ➢ Rigid diaphragm constraint computer program
Three-
➢ Joint mass assignments published in
Dimensional
➢ Response spectrum analysis Peterson 1981.
Braced Frame
Hand calculation
using the unit load
method described on
Moment and ➢ Static nonlinear analysis of a frame structure using page 244 in Cook
1-026
Shear Hinges moment and shear hinges and Young 1985
together with basic
deflection formulas
and superposition.
Hand calculation
using the unit load
Construction ➢ Nonlinear static analysis using the construction method described on
1-027 Sequence sequence loading option page 244 in Cook
Loading ➢ Frame end releases and Young 1985
together with basic
deflection formulas.
METHODOLOGY - 6
Software Verification
PROGRAM NAME: SAP2000
REVISION NO.: 19
Comparison with
results published in
➢ Moving load case
1-030 Moving Loads Appendix A of
➢ Multi-step static load case for vehicles
AASHTO 1990 and
hand calculation.
METHODOLOGY - 7
Software Verification
PROGRAM NAME: SAP2000
REVISION NO.: 19
Hand calculation
using the unit load
➢ Membrane analysis using shell elements method described on
➢ Plate bending analysis using shell elements page 244 in Cook
Straight Beam
➢ Effect of shell element aspect ratio and Young 1985 and
2-002 with Static
➢ Effect of geometrical distortion of shell element from using formulas from
Loads
rectangular Roark and Young
➢ Joint force loading 1975. Results also
published in MacNeal
and Harder 1985.
Hand calculation
using the unit load
method described on
Curved Beam ➢ Membrane analysis using shell elements
page 244 in Cook
2-003 with Static ➢ Plate bending analysis using shell elements
and Young 1985.
Loads ➢ Joint force loading
Results also
published in MacNeal
and Harder 1985.
Hand calculation
using the unit load
method described on
Twisted Beam ➢ Membrane analysis using shell elements
page 244 in Cook
2-004 with Static ➢ Plate bending analysis using shell elements
and Young 1985.
Loads ➢ Joint force loading
Results also
published in MacNeal
and Harder 1985.
Hand calculation
based theory in
Rectangular ➢ Plate bending analysis using shell elements Timoshenko and
2-005 Plate with Static ➢ Uniform load applied to shell elements Woinowsky-Krieger
Loads ➢ Joint force loading 1959. Results also
published in MacNeal
and Harder 1985.
METHODOLOGY - 8
Software Verification
PROGRAM NAME: SAP2000
REVISION NO.: 19
Hemispherical
➢ Three-dimensional analysis using shell elements Results published in
Shell Structure
2-007 ➢ Joint local axes MacNeal and Harder
with Static
➢ Joint force loads 1985.
Loads
Hand calculation
using equation 185
➢ Plate bending analysis using shell elements
Plate on Elastic on page 275 of
2-009 ➢ Area object spring assignment
Foundation Timoshenko and
➢ Joint force loads
Woinowsky-Krieger
1959.
Hand calculation
Cylinder with ➢ Three-dimensional analysis using shell elements using item 1b in
2-010 Internal ➢ Surface pressure load applied to shell elements Table 29 on page
Pressure ➢ Joint local axes 448 of Roark and
Young 1975.
Plate Bending ➢ Plate bending analysis of shell elements when shear Results published in
when Shear deformations are significant example shown on
2-012
Deformations ➢ Area object stiffness modifiers page 376 of Roark
Are Significant ➢ Frame distributed loads and Young 1975.
METHODOLOGY - 9
Software Verification
PROGRAM NAME: SAP2000
REVISION NO.: 19
Hand calculation
Temperature using formulas
➢ Temperature gradient loading for shell elements
Gradient presented in item 8e
2-014 ➢ Area object local axes
Through Shell of Table 24 on page
➢ Joint local axes
Thickness 361 of Roark and
Young 1975.
Hand calculated
➢ Plate bending analysis of shells
Orthotropic using theory
2-015 ➢ Orthotropic material properties
Plate presented in Chapter
➢ Area object stiffness modifiers
6 of Ugural 1981.
➢ Buckling analysis of shells
Hand calculated
➢ Automatic area meshing (N x N) with added restraints
using theory
Out-of-Plane ➢ Joint springs
2-016 presented in
Buckling ➢ Frame property modifiers
Timoshenko and
➢ Frame distributed load
Gere 1961.
➢ Frame automatic subdivide at intermediate joints
Hand calculated
➢ Buckling analysis of shells using equation 2-4
In-Plane
2-017 ➢ Joint force loads on page 48 of
Buckling
➢ Active degrees of freedom Timoshenko and
Gere 1961.
➢ Static nonlinear analysis of shell structure with large
Large Axial axial displacements using the SAP2000 P-Delta plus Hand calculation
2-018
Displacements large displacements option using basic statics.
➢ Joint constraints
Hand calculation and
➢ Static nonlinear analysis of shell structure with large
Equation 4 in Article
Large Bending bending displacements using the SAP2000 P-Delta
2-019 7.1 of Chapter 7 on
Displacements plus large displacements option
page 91 of Roark
➢ Automatic area meshing
and Young 1975.
➢ Prestress tendon with parabolic tendon profile and
Hand calculation
different eccentricities at the two ends
using basic principles
Prestress ➢ Prestress tendon modeled using loads and applied to
and the unit load
2-020 Applied to Area area objects
method described on
Objects ➢ Prestress tendon modeled as elements and applied to
page 244 in Cook
area objects
and Young 1985.
➢ Prestress losses
METHODOLOGY - 10
Software Verification
PROGRAM NAME: SAP2000
REVISION NO.: 19
Hand calculation
using the unit load
method described on
➢ Membrane analysis using plane elements
page 244 in Cook
Straight Beam ➢ Effect of plane element aspect ratio
and Young 1985 and
3-002 with Static ➢ Effect of geometrical distortion of plane element from
using formulas from
Loads rectangular
Roark and Young
➢ Joint force loading
1975. Results also
published in MacNeal
and Harder 1985.
Hand calculation
using the unit load
method described on
Curved Beam
➢ Membrane analysis using plane stress elements page 244 in Cook
3-003 with Static
➢ Joint force loading and Young 1985.
Loads
Results also
published in MacNeal
and Harder 1985.
Hand calculation
based on theory in
Timoshenko 1956
➢ Analysis using plane stress elements and based on
Thick-Walled
3-004 ➢ Analysis using plane strain elements formulas in Roark
Cylinder
➢ Plane surface pressure load and Young 1975.
Results also
published in MacNeal
and Harder 1985.
Hand calculation
➢ Pore pressure loading for planes
3-005 Pore Pressure using basic
➢ Joint pattern
principles.
METHODOLOGY - 11
Software Verification
PROGRAM NAME: SAP2000
REVISION NO.: 19
Hand calculation
based on theory in
Thick-Walled ➢ Analysis using asolid elements Timoshenko 1956.
4-002
Cylinder ➢ Asolid surface pressure load Results also
published in MacNeal
and Harder 1985.
Hand calculation
based on equations
Rotating ➢ Analysis using asolid elements presented in Item 8
4-003
Annular Disk ➢ Asolid rotate load on page 567 of
Roark and Young
1975.
Hand calculation
➢ Pore pressure loading for asolids
4-004 Pore Pressure using basic
➢ Joint pattern
principles.
METHODOLOGY - 12
Software Verification
PROGRAM NAME: SAP2000
REVISION NO.: 19
Hand calculation
➢ Solid object bending with and without the using the unit load
incompatible modes option method described on
Straight Beam
➢ Effect of solid object aspect ratio page 244 in Cook
5-002 with Static
➢ Effect of geometrical distortion of solid object from a and Young 1985.
Loads
cube Results also
➢ Joint force loading published in MacNeal
and Harder 1985.
Hand calculation
using the unit load
method described on
Curved Beam ➢ Solid object bending with the incompatible bending
page 244 in Cook
5-003 with Static modes option
and Young 1985.
Loads ➢ Joint force loading
Results also
published in MacNeal
and Harder 1985.
Hand calculation
using the unit load
method described on
Twisted Beam ➢ Solid object bending and twist with the incompatible
page 244 in Cook
5-004 with Static bending modes option
and Young 1985.
Loads ➢ Joint force loading
Results also
published in MacNeal
and Harder 1985.
Hand calculation
based theory in
Rectangular ➢ Plate bending analysis using solid elements Timoshenko and
5-005 Plate with Static ➢ Surface pressure load applied to solid objects Woinowsky-Krieger
Loads ➢ Joint force loading 1959. Results also
published in MacNeal
and Harder 1985.
METHODOLOGY - 13
Software Verification
PROGRAM NAME: SAP2000
REVISION NO.: 19
Hemispherical
Results published in
Dome Structure ➢ Three-dimensional analysis using solid elements
5-007 MacNeal and Harder
with Static ➢ Joint force loads
1985.
Loads
Hand calculation
based on theory in
➢ Analysis using solid elements
Thick-Walled Timoshenko 1956.
5-008 ➢ Solid surface pressure load
Cylinder Results also
➢ Joint local axes
published in MacNeal
and Harder 1985.
➢ Prestress tendon with parabolic tendon profile and
Hand calculation
different eccentricities at the two ends
using basic principles
Prestress ➢ Prestress tendon modeled using loads and applied to
and the unit load
5-009 Applied to Solid solid objects
method described on
Objects ➢ Prestress tendon modeled as elements and applied to
page 244 in Cook
solid objects
and Young 1985.
➢ Prestress losses
Hand calculation
➢ Buckling analysis of solids using equation 2-4
5-010 Buckling ➢ Joint force loads on page 48 of
➢ Active degrees of freedom Timoshenko and
Gere 1961.
Hand calculation
Temperature using equation 1.3.4
5-011 ➢ Temperature loading for solid elements
Load on page 9 of Cook
and Young 1985.
Hand calculation
➢ Plate bending analysis using solid elements using equation 185
Plate on Elastic ➢ Solid object surface spring assignment on page 275 of
5-012
Foundation ➢ Solid object automatic mesh Timoshenko and
➢ Joint force loads Woinowsky-Krieger
1959.
METHODOLOGY - 14
Software Verification
PROGRAM NAME: SAP2000
REVISION NO.: 19
METHODOLOGY - 15
Software Verification
PROGRAM NAME: SAP2000
REVISION NO.: 19
Comparison with
Multi-linear ➢ Multi-linear links defined link force-
6-002 ➢ Displacement-controlled nonlinear static analysis
Elastic Link deformation
characteristics.
➢ Gap element links
➢ Force-controlled nonlinear static analysis
➢ Nonlinear modal time history analysis Hand calculation
➢ Nonlinear direct time history analysis using the unit load
6-003 Gap Element ➢ Frame point loads method described on
➢ Joint force loads page 244 in Cook
➢ Joint mass assignments and Young 1985.
➢ Ramp loading for time histories
Hand calculation
➢ Hook element links
using standard
6-004 Hook Element ➢ Force-controlled nonlinear static analysis
thermal expansion
➢ Frame temperature loads
formulas.
➢ Damper element links
Damper Hand calculation
➢ Linear link elements
Element Under using equation 3.2.6
6-005 ➢ Nonlinear modal time history analysis
Harmonic on page 70 in
➢ Nonlinear direct integration time history analysis
Loading Chopra 1995.
➢ Joint force loads
➢ Damper links with linear velocity exponents
Comparison with
➢ Frame end length offsets
experimental results
➢ Joint mass assignments
SUNY Buffalo from shake table
➢ Modal analysis for ritz vectors
Damper with tests published in
6-006 ➢ Linear modal time history analysis
Linear Velocity Section 5, pages 61
➢ Nonlinear modal time history analysis
Exponent through 73, of
➢ Linear direct integration time history analysis
Scheller and
➢ Nonlinear direct integration time history analysis
Constantinou 1999.
➢ Generalized displacements
Comparison with
➢ Damper links with nonlinear velocity exponents
experimental results
SUNY Buffalo ➢ Frame end length offsets
from shake table
Damper with ➢ Joint mass assignments
tests published in
6-007 Nonlinear ➢ Modal analysis for ritz vectors
Section 5, pages 61
Velocity ➢ Nonlinear modal time history analysis
through 73, of
Exponent ➢ Nonlinear direct integration time history analysis
Scheller and
➢ Generalized displacements
Constantinou 1999.
METHODOLOGY - 16
Software Verification
PROGRAM NAME: SAP2000
REVISION NO.: 19
Comparison with
➢ Plastic kinematic links
Plastic defined link force-
6-009 ➢ Displacement-controlled nonlinear static analysis
Kinematic Link deformation
➢ Link gravity load
characteristics.
Comparison with
results from the
➢ Rubber isolator links
computer program
➢ Linear links
SUNY Buffalo 3D-BASIS-ME (see
➢ Zero-length, two-joint link elements
Eight-Story Tsopelas,
➢ Diaphragm constraints
6-010 Building with Constantinou and
➢ Modal analysis for ritz vectors
Rubber Reinhorn 1994)
➢ Nonlinear modal time history analysis
Isolators published in Section
➢ Nonlinear direct integration time history analysis
2, pages 5 through
➢ Generalized displacements
23, of Scheller and
Constantinou 1999.
➢ Friction pendulum link elements
Comparison with
➢ Damper link elements
SUNY Buffalo experimental results
➢ Zero-length, two-joint link elements
Seven-Story from shake table
➢ Diaphragm constraints
Building with tests published in
6-011 ➢ Frame end length offsets
Friction Section 4, pages 43
➢ Modal analysis for ritz vectors
Pendulum through 59, of
➢ Nonlinear modal time history analysis
Isolators Scheller and
➢ Nonlinear direct integration time history analysis
Constantinou 1999.
➢ Joint masses
Hand calculation
using formulas and
Frequency
➢ Frequency dependent links theory presented in
6-012 Dependent
➢ Steady state analysis section 3.2 on pages
Links
68 through 69 of
Chopra 1995.
METHODOLOGY - 17
Software Verification
PROGRAM NAME: SAP2000
REVISION NO.: 19
Comparison with
➢ Uniform load applied to cable nets
Prestressed results published in
7-003 ➢ Concentrated load applied to cable nets
Cable Net Section 4.6.3, Table
➢ Nonlinear static analysis
4.4, of Tibert, 1999.
METHODOLOGY - 18
Software Verification
PROGRAM NAME: SAP2000
REVISION NO.: 19
Example 3 of
Allowable Stress
AISC ➢ Ex001 ➢ Bending of a wide flange member
Design Manual of
ASD-89 ➢ Ex002 ➢ Compression of a wide flange member
Steel Construction,
9th Ed.
Examples 1, 2, and 3
➢ Bending of a wide flange member
CSA S16- ➢ Ex001 of the Handbook of
➢ Combined compression and bending of a wide flange
09 ➢ Ex002 Steel Construction to
member
CSA S16-01.
Examples 1, 2, and 3
➢ Bending of a wide flange member
CSA S16- ➢ Ex001 of the Handbook of
➢ Combined compression and bending of a wide flange
14 ➢ Ex002 Steel Construction to
member
CSA S16-01.
➢ Combined compression and bending of a wide flange
➢ Ex001 member
EN 3-2005 ➢ Ex002 ➢ Bending of a wide flange member Hand calculations.
➢ Ex003 ➢ Combined compression and bending of a wide flange
member
METHODOLOGY - 19
Software Verification
PROGRAM NAME: SAP2000
REVISION NO.: 19
METHODOLOGY - 20
Software Verification
PROGRAM NAME: SAP2000
REVISION NO.: 19
METHODOLOGY - 21
Software Verification
PROGRAM NAME: SAP2000
REVISION NO.: 19
METHODOLOGY - 22
Software Verification
PROGRAM NAME: SAP2000
REVISION NO.: 19
As illustrated in Table 3, the program features matrices are presented in tables 4-1
though 4-6. These tables are shown on the following pages.
METHODOLOGY - 23
Software Verification
PROGRAM NAME: SAP2000
REVISION NO.: 19
Masses 1-020, 1-022, 1-023, 1-024, 1-025, 6-003, 6-006, 6-007, 6-011
Panel zones
METHODOLOGY - 24
Software Verification
PROGRAM NAME: SAP2000
REVISION NO.: 19
Hinges 1-026
Automatic frame subdivide 1-006, 1-013, 1-014, 1-015, 1-017, 1-019, 2-016
Distributed load 1-001, 1-003, 1-008, 1-015, 1-016, 1-018, 2-012, 2-016
METHODOLOGY - 25
Software Verification
PROGRAM NAME: SAP2000
REVISION NO.: 19
METHODOLOGY - 26
Software Verification
PROGRAM NAME: SAP2000
REVISION NO.: 19
METHODOLOGY - 27
Software Verification
PROGRAM NAME: SAP2000
REVISION NO.: 19
METHODOLOGY - 28
Software Verification
PROGRAM NAME: SAP2000
REVISION NO.: 19
Nonlinear transient modal time 6-003, 6-005, 6-006, 6-007, 6-010, 6-011
history
Nonlinear direct integration time 6-003, 6-005, 6-006, 6-007, 6-010, 6-011
history
METHODOLOGY - 29