Nonlinear Modeling of RC Structures Using Opensees: University of Naples Federico Ii

University of Naples Federico II
Department of Structures for Engineering and Architecture

PhD program in Structural Engineering Geotechnics and Seismic Risk
Nonlinear modeling of RC structures using OpenSees

prof. P. Ricci
dr. M. Di Domenico
Lecture 1
Introduction and basic commands
part 1 - theory
June 7th, 2021

What is OpenSees?
OpenSees is an open-source software for structural modeling and analysis
What is OpenSees?
open-source software
What is OpenSees?
✓ free
open-source software
Free download at http://opensees.berkeley.edu/

What is OpenSees?
✓ free
open-source software ✓ each user can access the code lines associated with whichever existing command
Language: C++
What is OpenSees?
✓ free
open-source software ✓ each user can access the code lines associated with whichever existing command
✓ each user can add new commands (e.g., materials, elements etc.) to the software
Even the user guide can be edited by registered users at: http://opensees.berkeley.edu/wiki/index.php/Main_Page
Tcl language
Not in the course program Not in the course program

Tcl language
Not in the course program basic OpenSees-oriented tcl programming will be taught Not in the course program
Tcl language
Example: a sum in tcl language

set a 5
set b 10 input code
set c [expr $a+$b]
puts $c
Tcl language

set a 5
set b 10 input code
set c [expr $a+$b]
puts $c
15 video output
Tcl language

set a 5
set b 10 input code
set c [expr $a+$b]
puts $c
15 video output
However, for our purposes, tcl language is used to call OpenSees functions
Tcl language
For our purposes, Tcl language is used to call OpenSees functions
Tcl language
Example: some OpenSees commands in Tcl

[…]
node 1 0 0 0
node 2 1000 0 0 input code
element 1 1 2 90000 30000 12000 1.00e12 6.75e8 6.75e8 1
[…]
X
Tcl language

[…]
node 1 0 0 0
element 1 1 2 90000 30000 12000 1.00e12 6.75e8 6.75e8 1
[…]
X
Tcl language

[…]
node 1 0 0 0
node tag
element 1 1 2 90000 30000 12000 1.00e12 6.75e8 6.75e8 1
[…]
X
node 1
Tcl language

[…]
node 1 0 0 0
node 2 1000
node (X,Y,Z)0coordinates0 input code
element 1 1 2 90000 30000 12000 1.00e12 6.75e8 6.75e8 1
[…]
X
node 1
Tcl language

[…]
node 1 0 0 0
element 1 1 2 90000 30000 12000 1.00e12 6.75e8 6.75e8 1
[…]
X
node 1 node 2
Tcl language

[…]
node 1 0 0 0
element elasticBeamColumn 1 1 2 90000 30000 12000 1.00e12 6.75e8 6.75e8 1
[…] element type
X
node 1 node 2
Tcl language

[…]
node 1 0 0 0
[…] element tag
X
node 1 node 2
Tcl language

[…]
node 1 0 0 0
[…] element initial node
X
node 1 node 2
Tcl language

[…]
node 1 0 0 0
[…] element end node
X
node 1 node 2
Tcl language

[…]
node 1 0 0 0
[…] Some element properties (to be explained in due course…)
X
node 1 element 1 node 2
Tcl language

[…]
node 1 0 0 0
[…]
These commands are used

to construct objects Y
X
Tcl language

[…]
node 1 0 0 0 This command constructs a node object
[…]

X
Tcl language

[…]
node 1 0 0 0
[…] This command constructs an element object

X
What objects are?
Tcl language
To run a structural analysis in OpenSees, different types of objects shall be constructed by means of appropriate commands.
Tcl language
An aggregation of different types of objects constitutes a domain.
COMPLETE OPENSEES MODEL

Tcl language
MODELING OBJECTS/DOMAIN ANALYSIS OBJECTS OUTPUT OBJECTS

Tcl language
▪ model
▪ node
▪ mass
▪ SP_constraint
▪ MP_constraint
▪ uniaxialMaterial
▪ section
▪ element
▪ timeSeries
▪ pattern
▪ … and others
Tcl language
▪ model ▪ constraints
▪ node ▪ numberer
▪ mass ▪ system
▪ SP_constraint ▪ test
▪ MP_constraint ▪ algorithm
▪ uniaxialMaterial ▪ integrator
▪ section ▪ analysis
▪ element ▪ eigen
▪ timeSeries ▪ analyze
▪ pattern ▪ … and others
▪ … and others
Tcl language
▪ model ▪ constraints ▪ recorder

▪ node ▪ numberer ▪ print
▪ mass ▪ system ▪ logFile
▪ SP_constraint ▪ test ▪ … and others
▪ … and others
Tcl language
▪ model ▪ constraints ▪ recorder

▪ node ▪ numberer ▪ print
▪ mass ▪ system ▪ logFile
▪ SP_constraint ▪ test ▪ … and others
▪ … and others
+ useful general-purpose tcl commands

Basic geometric modelling commands
MODELING COMMANDS
wipe command
This command is used to destroy all constructed objects, i.e. all components of the model, all components of the analysis and all
recorders.
wipe
Usually, the wipe command is used at the very beginning of the main tcl script, similarly to
clc
clear all
in MATLAB
example:
wipe
MODELING COMMANDS
model command
This command is used to define spatial dimension of model and number of degrees-of-freedom at nodes.
model BasicBuilder -ndm $ndm <-ndf $ndf>

$ndm spatial dimension of problem (1,2, or 3)
$ndf number of degrees of freedom at node (optional)
default value depends on value of ndm:

ndm=1 -> ndf=1
ndm=2 -> ndf=3
ndm=3 -> ndf=6
example:
model BasicBuilder -ndm 3 -ndf 6
MODELING COMMANDS
model command
This command is used to define spatial dimension of model and number of degrees-of-freedom at nodes.
model BasicBuilder -ndm $ndm <-ndf $ndf>

$ndm spatial dimension of problem (1,2, or 3)
$ndf number of degrees of freedom at node (optional)
default value depends on value of ndm: optional

ndm=1 -> ndf=1
ndm=2 -> ndf=3
ndm=3 -> ndf=6
example:
model BasicBuilder -ndm 3 -ndf 6
MODELING COMMANDS
node command
This command is used to construct a Node object. It assigns coordinates and masses to the Node object.
node $nodeTag (ndm $coords) <-mass (ndf $massValues)>

$nodeTag integer tag identifying node
$coords nodal coordinates (ndm arguments)
$massValues nodal mass corresponding to each DOF (ndf arguments) (optional))
example:
node 1 0 0 0 Construct a node object at (0,0,0) coordinates
MODELING COMMANDS
node command

example:
node 2 0 1000 1000 –mass 200 0 200 0 0 0 Construct a node object at (0,1000,1000) coordinates with mass equal
to 200 active along X and Z global axes
MODELING COMMANDS
node command

example:
node 2 0 1000 1000 –mass 200 0 200 0 0 0 Construct a node object at (0,1000,1000) coordinates with mass equal
to 200 active along X and Z global axes
Units are not specified nor declared. The user shall use consistent units for the entire model.
For example, if lengths are given in mm and forces in N, the elastic modulus of materials shall be provided in N/mm2
MODELING COMMANDS
mass command
This command is used to set the mass at a node.
mass $nodeTag (ndf $massValues)

$massValues nodal mass corresponding to each DOF
example:

MODELING COMMANDS
mass command

example:

mass 2 200 0 200 0 0 0 Assign mass equal to 200 active along X and Z global axes to node 2
MODELING COMMANDS
mass command

example:

mass 2 200 0 200 0 0 0 Assign mass equal to 200 active along X and Z global axes to node 2
node 2 0 1000 1000

node 2 0 1000 1000 –mass 200 0 200 0 0 0 is equivalent to
mass 2 200 0 200 0 0 0
Restraints and constraints
MODELING COMMANDS
fix command (SinglePoint_Constraint)
This command is used to construct single-point homogeneous boundary constraints.
fix $nodeTag (ndf $constrValues)

$constrValues ndf constraint values (0 or 1) corresponding to the ndf degrees-of-freedom.
0 unconstrained (or free)
1 constrained (or fixed)
example:
MODELING COMMANDS

example:
fix 1 1 1 1 1 1 1 Fix dofs 1,2,3,4,5,6 of node object 1

MODELING COMMANDS

example:
fix 1 1 1 1 1 1 1 Fix dofs 1,2,3,4,5,6 of node object 1

fix 2 1 0 1 0 1 0 Fix dofs 1,3,5 of node object 2
MODELING COMMANDS
equalDOF command (MultiPoint_Constraint)
This command is used to construct a multi-point constraint between nodes.
equalDOF $rNodeTag $cNodeTag $dof1 $dof2 ...

$rNodeTag integer tag identifying the retained, or master node (rNode)
$cNodeTag integer tag identifying the constrained, or slave node (cNode)
$dof1 $dof2 ... nodal degrees-of-freedom that are constrained at the cNode to be the same as those at the rNode
Valid range is from 1 through ndf, the number of nodal degrees-of-freedom.
example:
MODELING COMMANDS
equalDOF command (MultiPoint_Constraint)
This command is used to construct a multi-point constraint between nodes.
equalDOF $rNodeTag $cNodeTag $dof1 $dof2 ...

$rNodeTag integer tag identifying the retained, or master node (rNode)
$cNodeTag integer tag identifying the constrained, or slave node (cNode)
$dof1 $dof2 ... nodal degrees-of-freedom that are constrained at the cNode to be the same as those at the rNode
Valid range is from 1 through ndf, the number of nodal degrees-of-freedom.
example:
equalDOF 1 2 1 3 5 Impose the displacements of node 2 equal to those of node 1 at dofs 1, 3, 5

MODELING COMMANDS
rigidLink command (MultiPoint_Constraint)
This command is used to construct a single MP_Constraint object.
rigidLink $type $masterNodeTag $slaveNodeTag

$type string-based argument for rigid-link type:
bar only the translational degree-of-freedom will be constrained to be exactly the same as those at the master node
beam both the translational and rotational degrees of freedom are constrained.
$masterNodeTag integer tag identifying the master node
$slaveNodeTag integer tag identifying the slave node
example:
MODELING COMMANDS
rigidLink command (MultiPoint_Constraint)
This command is used to construct a single MP_Constraint object.
rigidLink $type $masterNodeTag $slaveNodeTag

$type string-based argument for rigid-link type:
bar only the translational degree-of-freedom will be constrained to be exactly the same as those at the master node
beam both the translational and rotational degrees of freedom are constrained.
$slaveNodeTag integer tag identifying the slave node
example:
rigidLink beam 1 2 Impose the displacements of node 2 equal to those of node 1 at dofs 1,2,3,4,5,6
MODELING COMMANDS
rigidDiaphragm command (MultiPoint_Constraint)
This command is used to construct a number of Multi-Point Constraint (MP_Constraint) objects. These objects will constraint
certain degrees-of-freedom at the listed slave nodes to move as if in a rigid plane with the master node.
rigidDiaphragm $perpDirn $masterNodeTag $slaveNodeTag1 $slaveNodeTag2 ...
$perpDirn direction perpendicular to the rigid plane (i.e. direction 3 corresponds to the 1-2 plane)
$slaveNodeTag1 $slaveNodeTag2 ... integer tags identifying the slave node
MODELING COMMANDS
example:
Z
node 5 node 4
Y
node 10
node 2 node 3
X
MODELING COMMANDS
example:
Z
node 5 node 4
Y
node 10
node 2 node 3
rigidDiaphragm 3 10 2 3 4 5 Nodes 2,3,4,5 are constrained to Node 10 by a rigid diaphragm perpendicular to Z global axis

Nonlinear Modeling of RC Structures Using Opensees: University of Naples Federico Ii

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University of Naples Federico II

Department of Structures for Engineering and Architecture

Nonlinear modeling of RC structures using OpenSees

June 7th, 2021

Free download at http://opensees.berkeley.edu/

Not in the course program Not in the course program

Example: a sum in tcl language

Example: a sum in tcl language

Example: a sum in tcl language

Example: some OpenSees commands in Tcl

Example: some OpenSees commands in Tcl

Example: some OpenSees commands in Tcl

Example: some OpenSees commands in Tcl

Example: some OpenSees commands in Tcl

Example: some OpenSees commands in Tcl

Example: some OpenSees commands in Tcl

Example: some OpenSees commands in Tcl

Example: some OpenSees commands in Tcl

Example: some OpenSees commands in Tcl

Example: some OpenSees commands in Tcl

These commands are used

Example: some OpenSees commands in Tcl

These commands are used

Example: some OpenSees commands in Tcl

These commands are used

COMPLETE OPENSEES MODEL

COMPLETE OPENSEES MODEL

MODELING OBJECTS/DOMAIN ANALYSIS OBJECTS OUTPUT OBJECTS

COMPLETE OPENSEES MODEL

MODELING OBJECTS/DOMAIN ANALYSIS OBJECTS OUTPUT OBJECTS

COMPLETE OPENSEES MODEL

MODELING OBJECTS/DOMAIN ANALYSIS OBJECTS OUTPUT OBJECTS

COMPLETE OPENSEES MODEL

MODELING OBJECTS/DOMAIN ANALYSIS OBJECTS OUTPUT OBJECTS

▪ model ▪ constraints ▪ recorder

COMPLETE OPENSEES MODEL

MODELING OBJECTS/DOMAIN ANALYSIS OBJECTS OUTPUT OBJECTS

▪ model ▪ constraints ▪ recorder

+ useful general-purpose tcl commands

model BasicBuilder -ndm $ndm <-ndf $ndf>

default value depends on value of ndm:

model BasicBuilder -ndm $ndm <-ndf $ndf>

default value depends on value of ndm: optional

node $nodeTag (ndm $coords) <-mass (ndf $massValues)>

$coords nodal coordinates (ndm arguments)

$massValues nodal mass corresponding to each DOF (ndf arguments) (optional))

node $nodeTag (ndm $coords) <-mass (ndf $massValues)>

$coords nodal coordinates (ndm arguments)

$massValues nodal mass corresponding to each DOF (ndf arguments) (optional))

node $nodeTag (ndm $coords) <-mass (ndf $massValues)>

$coords nodal coordinates (ndm arguments)

$massValues nodal mass corresponding to each DOF (ndf arguments) (optional))

This command is used to set the mass at a node.

mass $nodeTag (ndf $massValues)

$massValues nodal mass corresponding to each DOF

node 2 0 1000 1000 Construct a node object at (0,1000,1000) coordinates

This command is used to set the mass at a node.

mass $nodeTag (ndf $massValues)

$massValues nodal mass corresponding to each DOF

node 2 0 1000 1000 Construct a node object at (0,1000,1000) coordinates

This command is used to set the mass at a node.

mass $nodeTag (ndf $massValues)