Ta i k i S a i t o

S T E R A _ WAV E Te c h n i c a l M a n u a l Ve r. 1 . 0

1. Basis of Spectral Analysis

A vector x in a two-dimensional space ( R ) is represented by the sum of the

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coefficient times another vectors a, b . I f a, b a r e l i n e a r l y i n d e p e n d e n t , t h e

coefficient is uniquely determined.
x λa + ηb
= (1)

G i v e n v e c t o r s e1 , e 2 o f m a g n i t u d e 1 a s v e c t o r s a, b , t h e c o e f f i c i e n t s a r e t h e

c o o r d i n a t e c o m p o n e n t s o f v e c t o r x . I n t h i s c a s e , e1 , e 2 a r e r e f e r r e d t o a s b a s i s

vectors when e1 , e 2 a r e o r t h o g o n a l , t h e y a r e r e f e r r e d t o a s a r e c t a n g u l a r
coordinate system, and otherwise are referred to as an oblique coordinate

system.

x λa + ηb
=  4
ηb 2e 2 x= 
 2
b e2

a λa e1 4e1

 a1   b1 
W h e n t h e v e c t o r c o m p o n e n t s a=
r e a =
, b   , the inner product of vectors
 a2   b2 
a, b i s d e f i n e d a s
2
( a, b ) =aT b =a1b1 + a2b2 =∑ aibi = a b cos θ (2)
i =1

Where, a is the norm of the vector a , and

=
a ( a=
, a) a12 + a2 2 (3)

θ i s t h e a n g l e b e t w e e n v e c t o r s a, b .
For orthogonal basis vectors, the inner product and norm are

( e=
1 , e2 ) 0,=e1 ( e=
1 , e1 ) 1,=e2 ( e=
2 , e2 ) 1, (4)

1
 W h e n t h e v e c t o r x i s e x p r e s s e d b y t h e o r t h o g o n a l b a s i s v e c t o r s e1 , e 2 a s

x λ1e1 + λ2e 2
= (5)

Ta k i n g i n n e r p r o d u c t b e t w e e n x a n d e1 , e 2 , r e s p e c t i v e l y,

λ1 = ( x, e1 ) , λ2 = ( x, e 2 ) (6)

They are coordinate components λ1 , λ2 , t h a t i s

x λ1e1 + λ2e 2
= (7)

=λi (=
x, ei ) , i 1, 2 (8)

I n t h e s a m e w a y, t h e v e c t o r x i n t h e t h r e e - d i m e n s i o n a l s p a c e ( R ) i s e x p r e s s e d
3

b y t h e b a s i s v e c t o r s e1 , e 2 , e3

x = λ1e1 + λ2e 2 + λ3e3 (9)

=λi (=
x, e i ) , i 1, 2,3 (10)

and the coordinate components λ1 , λ2 , λ3 i n t h e t h r e e - d i m e n s i o n a l s p a c e a r e

obtained.

Here, the vector departs from the image of "arrow" and generalizes as follows.

N o w, l e t t h e c o m p o n e n t s o f t h e v e c t o r a ∈ R belonging to the dimensional space

n

( R ) be ( a1 a2  an ) . T h e f o l l o w i n g f i g u r e c a n b e d r a w n b y a r r a n g i n g t h e
n T

components.

a1 an
a2 an −1
・・ ・

1 2 n −1 n

F o r a n y v e c t o r s a, b , t h e f o l l o w i n g c o n d i t i o n s a r e s a t i s f i e d .

① a, b ∈ R , t h e n a + b ∈ R
n n

② a∈R , then
n
λa ∈ R n ( w h e r e , λ i s a s c a l a r )
T h e i n n e r p r o d u c t o f v e c t o r s a, b i s d e f i n e d a s
n
b)
( a,= a=
T
b ∑a b
i =1
i i ( 11 )

It has the following properties.

① ( a, b ) ≥ 0 e s p e c i a l l y when ( a, a ) = 0 then a = 0

② ( a, b ) = ( b, a )
2
 ③ ( a + b, c ) = ( a, c ) + ( b, c )
④ ( λ a , b ) = λ ( a, b )
The vector x ∈ Rn is decomposed into components as follows using the
o r t h o g o n a l b a s i s v e c t o r s e1 , e 2 , , e n ∈ R :
n

n
x = ∑ λi ei (12)
i =1

=λi x, ei ) , i
(= 1, 2, , n (13)

That is, the coordinate components in the n dimensional space are obtained.

Next, consider a set of continuous functions C defined by the interval [ a, b ]

and a function f ( x) b e l o n g i n g t o C . T h e f u n c t i o n f ( x) c a n b e i n t e r p r e t e d a s a
vector with an infinite number of components.

f ( x)

x
a b

For any functions f , g , if the symbol ∈ represents that it belongs to the set,
then the following conditions are satisfied.
① f , g ∈C t h e n f + g ∈C
② f ∈C t h e n λ f ∈ C ( w h e r e , λ i s a s c a l a r )
This set C is called function space. The inner product of the functions f , g is
defined as

( f , g ) = ∫a f ( x ) g ( x ) dx
b
(14)

As with vectors, it has the following properties:

① ( f , g) ≥ 0 especially when ( f , f ) = 0 then f ( x) = 0
② ( f , g ) = ( g, f )
③ ( f + g , w) = ( f , w) + ( g , w)
④ (λ f , g ) = λ ( f , g )
As with vectors, when the inner product ( f , g) = 0, the functions f and g are
orthogonal. The norm of the function f is f = (f, f ). と す る 。 The function

3
space in which the inner product is defined in this way is called Hilbert space.
The function f ∈C i s d e c o m p o s e d i n t o c o m p o n e n t s a s f o l l o w s u s i n g a s e t o f
mutually orthogonal functions φ1 , φ2 , , φn ∈C o f s i z e 1 a s
∞
f = ∑ λiφi (15)
i =1

f , φi ) ∫ f ( x ) φi ( x ) dx
(=
b
=λi = , i 1, 2, , n (16)
a

This is called spectral decomposition. That is, in the Hilbert space, a function

corresponds to a v e c t o r, and a spectrum using an orthogonal function

corresponds to a component of orthogonal coordinates.

4
2. Fourier series expansion
As an example of an orthogonal function sequence φ1 , φ2 , , φn ∈C , c o n s i d e r a
set of sine and cosine functions.
sin 0 ⋅ x, cos 0 ⋅ x, sin1 ⋅ x, cos1 ⋅ x,  , sin n ⋅ x, cos n ⋅ x, 
These are vectors of size 1 that are orthogonal to each other in the interval

( −π , π ) . The inner product is defined as

1 π
( f , g ) = ∫−π f ( x )g ( x ) dx (17)
π
Actually

1 π 0, m ≠ n
( sin nx, sin mx )=
π ∫π
sin nx ⋅ sin mx dx=  (18)
−
1, m = n
1 π 0, m ≠ n
( cos nx, cos mx )=
π ∫π
cos nx ⋅ cos mx dx=  (19)
−
1, m = n
1 π
( sin nx, cos mx ) =
π ∫π
sin nx ⋅ cos mx dx = 0 (20)
−

Therefore, from the spectral decomposition of Hilbert space, any function f is

decomposed into the following components in the interval ( −π , π ) .
∞
=f ( x) ∑(a
n =0
n cos nx + bn sin nx ) (21)

Where
1 π
(=
f , cos nx )
f ( x ) cos nx dx
π ∫−π
=an
(22)
1 π
bn (=
f , sin nx ) f ( x ) sin nx dx
π ∫−π
=

In fact, there is one mistake. The following formula

1 π 0, m ≠ n
( cos nx, cos mx )=
π ∫−π
cos nx ⋅ cos mx dx=  (23)
1, m = n
i s w r o n g w h e n n= m= 0 , s i n c e

1 π
( cos 0 x=
, cos 0 x ) =∫ 1 dx 2 (24)
π −π

Therefore, the coefficient must be half only when n = 0 . It should be as follows.

a0 ∞
f ( x) = + ∑ ( an cos nx + bn sin nx ) (25)
2 n =1

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 It is called Fourier series expansion.

Now we consider the following relationship

einx + e − inx einx − e − inx

=cos nx = , sin nx (26)
2 2i
The Fourier series expansion will be

a0 ∞  an − ibn inx  ∞  an + ibn − inx 

f ( x) =
= + ∑ e  + ∑ e  (27)
=  2
2 n 1=  n 1 2 
T h e f i r s t t e r m i s , f r o m b0 = 0 ,

a0  an − ibn inx 
= (28)
2  2
e 
n =0
T h e t h i r d t e r m i s , f r o m a− n = an , b− n = −bn ,
∞
 an + ibn − inx  −1  an − ibn inx 
∑  2 e = ∑  2 e 
n =1   n = −∞  
(29)

Then the Fourier series expansion will be

∞
 an − ibn inx  ∞
=f ( x) ∑
=  2 e 
n = −∞  
∑Ce
n = −∞
n
inx
(30)

Where

a − ibn 1 π 1 π
Cn =n = ∫π f ( x )( cos nx − i sin nx ) dx = ∫ π f ( x )e
− inx
dx (31)
2 2π − 2π −

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 (Example)
Obtain Fourier series expansion of y = x2 i n t h e i n t e r v a l ( −π ≤ x ≤ π ) .

(Answer)
n=0
1 π 2 2 2
=a0
π
=∫− π
x dx
3
π π2 /3

1 π 4
( −1)
π ∫π
n
an = x 2
cos nxdx =
− n2

1 π 2 n =1
bn =
π∫ x sin nxdx 0
−π

Therefore,

π2 ∞ n 4
f ( x) = + ∑ ( −1) 2 cos nx n=2
3 n =1 n

From the figure, it can be seen that the accuracy of approximation increases as

the number of terms to be added ( n ) increases. On the other hand, the Fourier

series expansion is an approximation in the interval ( −π ≤ x ≤ π ) , and in other

i n t e r v a l s , i t i s a f u n c t i o n t h a t r e p e a t s w i t h t h e p e r i o d 2π .

7
3. Finite Fourier series

Next, let us consider Fourier series expansion for waveform data composed of

discrete values, such as ground motion acceleration data. The waveform is N

discrete data { x0 , x1 , x2 , , xN −1} sampled at regular time intervals ∆t . T h e
d u r a t i o n o f t h e w a v e f o r m i s T= N ∆t .

x2
x1
x0 xN − 2
xN −1
tm= m∆t
t
t0 t1 t2 t N − 2 t N −1

xm
∆t
T= N ∆t

The discrete data of a trigonometric function whose period is equal to T will be

as follows, where the basic vibration frequency is f 0 = 1/ T .

sin ( 2π f 0tm )
tm

tm
cos ( 2π f 0tm )

When the frequency is fk = k f0

sin ( 2π f k tm )
tm

cos ( 2π f k tm )
tm

T /k

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Where

2π km 2π km
2π f=
k tm 2π ( kf 0 )( m∆
=t) = (32)
T / ∆t N
Then

 2π km   2π km 
sin ( 2π f k tm ) = sin   and cos ( 2π f k tm ) = cos   (33)
 N   N 

We d e f i n e t h e i n n e r p r o d u c t o f d i s c r e t e f u n c t i o n s f ( m ) , g (=
m ) , m 0,1, , N − 1 a s
N −1
( f ( m) , g ( m)) = ∑ f ( m) g ( m) (34)
m =0

Then

 0 l≠k
  2π lm   2π km   N −1
 2π lm   2π km  
 sin   , sin   = ∑ sin  N  sin  N =  N / 2 l= k ≠ 0 (35)
  N   N  m =0  0
 l= k= 0

 0 l≠k
  2π lm   2π km   N −1
 2π lm   2π km  
 cos 
 N 
 , cos 
 N 
 = ∑ cos  N  cos  N =  N / 2 l= k ≠ 0 (36)
 m =0 
 N l= k= 0

  2π lm   2π km   N −1
 2π lm   2π km 
=
 sin   , cos   ∑
= sin   cos   0 (37)
  N   N  m =0  N   N 

It can be seen that the discrete data of the trigonometric function is an

t a xm ( m 0,1, 2, , N − 1) c a n
o r t h o g o n a l f u n c t i o n . T h u s , t h e d i s c r e t e w a v e f o r m d a=

be decomposed into components using the orthogonal function. Summing to N / 2

i n s t e a d o f i n f i n i t y, i t c a n b e e x p r e s s e d a s
N /2
 2π km 2π km 
=xm ∑  A cos
k =0
k
N
+ Bk sin
N 
 (38)

2π km 2π km
In the case of k = 0 , A0 r e m a i n s s i n c e=
cos 1,=
sin 0 . We w r i t e i t
N N
A0 2 s o t h a t i t f i t s t h e e x p r e s s i o n o f t h e i n n e r p r o d u c t l a t e r. A l s o , i n t h e c a s e o f

2π km 2π km
k = N / 2 , AN /2 cos r e m a i n s s i n c e sin = 0 . We w r i t e AN /2 a s AN /2 2 .
N N

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 Then, the series sum is as follows.

A0 N /2−1  2π km 2π km  AN /2 π ( N / 2) m
xm = + ∑  Ak cos + Bk sin + cos (39)
2 k =1  N N  2 N

It is called Finite Fourier series. The Fourier coefficient can be obtained from

the following equation by using the inner product and the function

o r t h o g o n a l i t y.

2 2π km  2 N −1
2π km N
=Ak = xm , cos
N

N  N
∑=
x cos
m =0
m
N
, k 0,1, 2, ,
2
(40)

2 2π km  2 N −1
2π km N
=Bk
N
=
 xm , sin 
N  N
∑x
m =0
m sin =
N
, k 0,1, 2, , − 1
2
(41)

2π km 2π km
From = = 2π ( kf 0 )( m∆
=t ) 2π f k tm , i t c a n b e e x p r e s s e d a s
N T / ∆t

A0 N /2−1
+ ∑ ( Ak cos ( 2π f k tm ) + Bk sin ( 2π f k tm ) ) + N /2 cos ( 2π f N /2tm )
A
xm = (42)
2 k =1 2
C o n t i n u o u s f u n c t i o n x (t )

A0 N /2−1
+ ∑ ( Ak cos ( 2π f k t ) + Bk sin ( 2π f k t ) ) + N /2 cos ( 2π f N /2t )
A
x (t ) ≈ (43)
2 k =1 2
t a xm ( m 0,1, 2, , N − 1) a t N d a t a p o i n t s t = t0 , t1 , t2 , , t N −1 .
m atc he s d isc r e te d a=

The highest frequency is

N N 1
f N= =
f0 = (44)
2T 2∆t
/2
2
This is called the Nyquist frequency. In other words, the frequency resolution is

represented in the sense that the waveform cannot be represented by a finite

Fourier series even if the waveform contains more frequencies. Also, the Fourier
series expansion is an approximation in the interval (0 ≤ t ≤ T ) , and in other

intervals it is a function that repeats with the period T .

Substituting following relationship to Equation (39)

2π km 2π km 2π km 2π km
i −i i −i
2π km e N + e N 2π km e N
−e N
=cos = , sin (45)
N 2 N 2i

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 Then, the Finite Fourier series will be

 Ak − iBk i 2πNkm  N /2−1  Ak + iBk − i 2πNkm 

N /2
=∑
xm  e + ∑  e 
= 
k 0= 2  k 1  2 
Where
Ak + iBk = AN − k − iBN − k (46)

Considering

 2π km   2π ( N − k ) m 
−i  i  
 N 
=e  
(47)
N
e

Then, we can get the Finite complex Fourier series as follows.

N −1  2π km 
i 
=xm ∑ Ck e =
k =0
 N 
, m 0,1, 2, , N − 1 (48)

 2π km 
Ak − iBk 1 N −1 −i 
=Ck =
2 N
∑x e
m =0
m =
, k 0,1, 2, , N − 1
 N 
(49)

S i n c e C N − k = Ck ( * i s c o n j u g a t e c o m p l e x n u m b e r ) , w e n e e d Ck ( k = 0, 1, 2, , N / 2 ) .
*

E x p r e s s i n g t h e F o u r i e r c o e f f i c i e n t s Ck u s i n g a m p l i t u d e a n d p h a s e ,
i
Ck = Ck eiφk
Where
Ak / 2
φk
1
=
Ck Ak2 + Bk2
2

−1 Re ( Ck )
 A    − Bk / 2 Ck
φk = tan −1  − k = tan 
 Im ( C ) 
 Bk   k 

Note that the graphs of Ck a n d φk p l o t t e d o n t h e h o r i z o n t a l a x i s w i t h t h e

frequency are called the amplitude spectrum and the phase spectrum,

r e s p e c t i v e l y. H o w e v e r, a s d e s c r i b e d l a t e r, t h e F o u r i e r s p e c t r u m o f a w a v e f o r m
refers to a value obtained by multiplying the amplitude spectrum Ck b y t h e
duration T .

The computer uses this Finite Fourier series to calculate the Fourier

transform of the seismic wave. Although not described in this document, an

innovative algorithm for obtaining finite Fourier coefficients (Fast Fourier

Tr a n s f o r m , F F T ) i s u s e d f o r c a l c u l a t i o n .

11
We c a n s e t
xm =x ( t ) , t =∆
m t (m =0, 1, 2, , N − 1) ,

2π 2π
D u r a t i o n T = N∆t , ∆ω= = k ∆ω ( k =
, ωk = 0, 1, 2, , N − 1)
T N ∆t
Then

 t   2π 
2π km / N =2π k   / N =k   t =k ∆ωt =ωk t
 ∆t   T 
T h e r e f o r e , t h e F i n i t e F o u r i e r t r a n s f o r m o f x (t ) , t =∆
m t (m =0, 1, 2, , N − 1) i s
N −1
1
=Ck
N
∑ x ( t=
m =0
)e ω , k −i kt
0, 1, 2, , N − 1 (50)

Its Inverse Finite Fourier transform is

N −1
=x (t ) ∑ C=
eω , m
k =0
k
i kt
0, 1, 2, , N − 1 (51)

12
4. Fourier transform
T h e F o u r i e r t r a n s f o r m a n d i n v e r s e F o u r i e r t r a n s f o r m o f t h e f u n c t i o n x (t ) a r e

∞
F (ω ) = ∫ x ( t )e − iωt dt (52)
−∞

1 ∞
x (t ) = ∫ F (ω )eiωt d ω (53)
2π −∞

Using relationship ω = 2π f , i t c a n b e w r i t t e n a l s o
∞
F ( f ) = ∫ x ( t )e − i( 2π ft ) dt (54)
−∞

∞
x ( t ) = ∫ F ( f )ei( 2π ft ) df (55)
−∞

In the previous Finite Fourier coefficient

N −1  2π km 
1 −i 
=Ck
N
∑x e =
m =0
, k m
 N 
0,1, 2, , N − 1 (56)

C h a n g i n g t h e o r i g i n o f t i m e t o b e t h e c e n t e r o f d u r a t i o n T = N∆t ,
 2π km   2π km 
1 N /2
1 −i
N /2
 −i 
=Ck
N
∑
m=
=
− N /2 +1
xm e
N ∆t
∑
m=
 N 

− N /2 +1
( xm ∆t ) e  N 
(57)

I n c r e a s i n g t h e s a m p l e n u m b e r b y k e e p i n g t h e d u r a t i o n T = N∆t t o b e c o n s t a n t ,
b y N → ∞, ∆t → 0
 2π kt 
1 T /2 −i 
Ck = ∫ x ( t ) e  T 
dt (58)
T −T /2
S i m i l a r l y, t h e f i n i t e F o u r i e r s e r i e s i s g i v e n b y c e n t e r i n g o n t h e o r i g i n o f t h e

frequency axis.
N /2  2π km 
i 
xm =∑ Ck e
k=
− N /2 +1
 N 
, m=
− N / 2 + 1, , 0,1, , N / 2 (59)

I n c r e a s i n g t h e s a m p l e n u m b e r b y N → ∞, ∆t → 0

∞  2π kt 
i 
x (t ) = ∑Ce
k = −∞
k
 T 
(60)

It can be written as
∞  2π kt 
i  1
x (t ) = ∑ (TCk ) e 
k = −∞
T 

T
(61)

13
 k 1
Increasing duration T → ∞ , then expressing → f , → df a n d TCk → F ( f )
T T

∞
x ( t ) = ∫ F ( f ) ei( 2π ft ) df (62)
−∞

It matches the inverse Fourier transform. S i m i l a r l y, the finite Fourier

coefficients are

 2π kt 
−i 
x (t ) e
T /2
TCk = ∫  T 
dt (63)
−T /2

I n c r e a s i n g d u r a t i o n T → ∞ , t h e n e x p r e s s i n g TCk → F ( f )
∞
F ( f ) = ∫ x ( t ) e − i( 2π ft ) dt (64)
−∞

It matches the Fourier transform.

The Fourier spectrum is

T
F (=
f ) TC
= k Ak2 + Bk2 (65)
2
The Fourier phase spectrum is

−1 Re ( Ck )
 A   
φk = tan −1  − k = tan   (66)
 Bk   Im ( C k ) 

14
(Example 1)

Obtain Fourier spectrum of the function

xm =x ( tm ) =sin (ω0tm ) =sin ( 2π k0 m / N ) , tm =∆
m t (m =0, 1, 2, , N − 1)

(Answer)

Comparison with Finite Fourier series

A0 N / 2−1  2πkm 2πkm  AN / 2 2π ( N / 2 )m

xm = + ∑  Ak cos + Bk sin  + cos
2 k =1  N N  2 N

The coefficients are

=
Ai 1,=i k0 , =
Ai 0, i ≠ k0 , Bi = 0
Therefore, the graph of Fourier coefficient is

0 1 k0 N/2- N/2

Fourier spectrum is

T T T N ∆t
F ( f ) =TCk = Ak2 + Bk2 = Ak0 = =
2 2 2 2
Therefore, the spectrum amplitude is half of duration.

T /2

0 1 k0 N/2- N/2

That is, the amplitude of the Fourier spectrum varies depending on the duration

even for the same sine waveform.

15
 5 . Ve l o c i t y r e s p o n s e s p e c t r u m a n d F o u r i e r s p e c t r u m
The Fourier transform of earthquake ground acceleration wave a (t ) w i t h
duration T is

∞
F (ω ) a ( t )e − iωt dt a ( t )e − iωt dt a ( t ) cos ωt dt − i ∫ a ( t ) sin ωt dt
T T T
= ∫= −∞ ∫=
0 ∫0 0
(67)

Then, the Fourier spectrum is

(∫ ) (∫ )
2 2
F (ω ) a ( t ) cos ωt dt a ( t ) sin ωt dt
T T
= + (68)
0 0

On the other hand, the equation of motion of a single degree of freedom system
w i t h i n p u t a (t ) i s

mx + cx + kx =−ma (69)

or

x + 2hω x + ω 2 x =
 −a (70)
T h e d i s p l a c e m e n t x (t ) i s c a l c u l a t e d b y

1 t
− ∫ a (τ ) e − hω ( t −τ ) sin ω ' ( t − τ )dτ , ω ' =
x (t ) = ω 1 − h2 (71)
ω' 0

The velocity response is

h
x ( t ) a (τ ) e − hω ( t −τ ) cos ω ' ( t − τ )dτ − ∫ a (τ ) e
− hω ( t −τ )
sin ω ' ( t − τ )dτ
t t
= ∫0
1− h 2 0
(72)

When the damping factor h = 0 ,

x ( t ) = ∫ a (τ ) cos ω ( t − τ )dτ = A cos ωt + B sin ωt = A2 + B 2 cos ( t − θ )

t
(73)
0

Where

(τ ) sin ωτ dτ , tan θ
a (τ ) cos ωτ dτ , B ∫ a =
t t
=A ∫=
0 0
AB (74)

Therefore, the maximum value of velocity response, i.e., response velocity

r e s p o n s e SV (ω ) ） i s calculated by

(∫ ) (∫ )
2 2
SV (ω ) = A2 + B 2 a ( t ) cos ωt dt a ( t ) sin ωt dt
t t
= + (75)
max 0 0
max

This shows that the following equation holds between the undamped velocity
response spectrum SV (ω )h =0 and the Fourier spectrum of the ground

16
acceleration F (ω ) .

SV (ω )h =0 ≈ F (ω ) (76)

If the time t at which the maximum occurs coincides with the duration T of

t h e s e i s m i c m o t i o n , t h e t w o c o i n c i d e c o m p l e t e l y.

The Fourier spectrum and the undamped velocity response spectrum, and phase

s p e c t r u m f o r t h e r e c o r d o f E l C e n t r o 1 9 4 0 ( N S c o m p o n e n t ) a r e s h o w n b e l o w.

m/s
3.5
Fourier Spectrum
3
Undamped Velocity Response Spectrum
2.5
(El Centro 1940, NS component)
2

1.5

0.5

0 Hz
0 2 4 6 8 10

radian
4
Phase Spectrum
3

-1

-2

-3

-4 Hz
0 2 4 6 8 10

Reference

D . E . H u d s o n , " S O M E P R O B L E M S I N T H E A P P L I C AT I O N O F S P E C T R U M

T E C H N I Q U E S T O S T R O N G - M O T I O N E A R T H Q U A K E A N A LY S I S " , B u l l e t i n o f

t h e S e i s m o l o g i c a l S o c i e t y o f A m e r i c a . Vo l . 5 2 , N o . 2 , p p . 4 1 7 - 4 3 0 . A p r i l 1 9 6 2

17
6. Generation of artificial earthquake ground motion

1 ) Ta r g e t r e s p o n s e s p e c t r u m

The Building Standard Law of Japan defines the very rare earthquake by the

d e s i g n a c c e l e r a t i o n r e s p o n s e s p e c t r u m w i t h 5 % d a m p i n g f a c t o r.

3.2 + 30T (T < 0.16s )


=
SA m / s (
 8.0
2
) ( 0.16s ≤ T < 0.64s ) (77)
 5.12 T ( 0.64s ≤ T )


m / s2
10
h=0.05
8

0 T (s)
0 1 2 3

On the other hand, for seismic design of high-rise buildings exceeding 60m in

height, time history response analysis using ground motion acceleration

waveforms is required.

In the following, a method of creating a ground acceleration waveform

(artificial ground motion) compatible with the design acceleration response

spectrum using the Fourier transform will be described.

2) Fourier spectrum

Given the Fourier spectrum and the phase spectrum,

Fk , φk , k = 0,1, 2, , N / 2 (78)

the Fourier coefficient is calculated as

Ck = ( Fk T )( cos φk + i sin φk ) , k =
Ck eiφk = 0,1, 2, , N / 2 (79)

C N − k = Ck * (80)

From the inverse Fourier transform, a time history waveform is obtained as

follows.

18
 N −1  2π km 
i 
=xm ∑ Ck e =
k =0
 N 
, m 0,1, 2, , N − 1 (81)

For the Fourier spectrum, consider using an undamped velocity response

spectrum as a first approximation.

W h e n t h e a c c e l e r a t i o n r e s p o n s e s p e c t r u m w i t h t h e d a m p i n g f a c t o r h = 0.05 i s

given,
S A ( f k )h =0.05 , k = 0,1, 2, , N / 2 (82)

The pseudo velocity response spectrum is obtained as

=
V S (f )
=
k h 0.05 A =S
k h 0.05 (f ) ( 2π f k ) (83)

The undamped velocity response spectrum ( h = 0 ) is calculated from

=V S
k h 0=
h V (f )
k h 0.05 =F S (f ) (84)

W h e r e Fh i s t h e m o d i f i c a t i o n r a t i o . T h e f o l l o w i n g e m p i r i c a l f o r m u l a i s u s e d .

1.5
Fh = (85)
1 + 10h

Therefore, the first approximation of the Fourier spectrum is

=
= V ( f k ) h 0=
Fk S= ( f k )h 0.05=
Fh =0 SV = 1.5 SV ( f k )h 0.05
(86)

3) Phase spectrum

There is no specific method to make the phase spectrum, and uniform random

numbers or the phase spectrum of an actual earthquake may be used.

When using uniform random numbers, it is common practice to multiply the

time history by an envelope function. The envelope function proposed by

J e n n i n g s * i s a d o p t e d i n t h e “ D e s i g n Te c h n i c a l G u i d e l i n e f o r I n p u t S e i s m i c

Ground Motion Creation Method” by Building Center of Japan.

Level 1 (Serviceability Limit) Level 2 (Ultimate Limit)

 ( t 5) ( 0 s < t < 5s )  ( t 5) ( 0 s < t < 5s )

2 2

 
e (t )  1.0 =( 5s ≤ t < 25s ) e (t )  1.0 ( 5s ≤ t < 35s )
exp ( −0.066 ( t − 25 ) ) ( 25s ≤ t < 60 s ) exp ( −0.027 ( t − 35 ) ) ( 35s ≤ t < 120s )
 

19
 e (t )

Level 1 Level 2

t
0 5 25 35 60 120 s

* J e n n i n g s , P. C . , H o u s n e r, W. G . . a n d Ts a i , N . C . : S i m u l a t e d e a r t h q u a k e m o t i o n s ,

EERL, Pasadena, 1968

The phase spectrum of an actual earthquake is obtained by the following

procedure.

xm ( m 0,1, 2, , N − 1)
= Read actual earthquake acceleration data

Fourier transform

N −1  2π km 
1 −i 
=Ck
N
∑ xme =
m =0
 N 
, k 0,1, 2, , N − 1 Fourier coefficient

 Re ( Ck ) 
φk = tan −1   Phase spectrum
 Im ( Ck ) 

C a l c u l a t e t h e v e l o c i t y r e s p o n s e s p e c t r u m SV ( fk ) of the created simulated

i

ground motion and correct the Fourier spectrum again until the error from the

t a r g e t v a l u e SV ( fk ) becomes sufficiently small.

T

SV ( f k )h =0.05
T

=F γ=
i F , γi
i +1 i
(87)
SV ( f k )h =0.05
k k i

20
 The flow of creating a simulated ground motion is summarized as follows. The

base line correction of the created acceleration waveform is also performed.

=Fki =0 S= ( f k ) 1.5SV ,h ( fk ) Initial Fourier spectrum and phase

= V , h 0=
spectrum
0.05

φk , k = 0,1, 2, , N / 2

i = i +1
Ck eiφk =
Ck = Fki T ( ) ( cos φk + i sin φk ) , k =
0,1, 2, , N / 2 Fourier coefficient

Inverse Fourier transform

N −1  2π km 
Acceleration waveform
i 
=xm ∑ Ck e =
 N 
, m 0,1, 2, , N − 1
Fki +1 = γ i Fki k =0

Modify Fourier spectrum Base line correction

xm = em xm In case of random phase, multiply the envelope function

F o u r i e r t r a n s f o r m=Fki T=
Ck , k 0,1, 2, , N / 2

SVi ,h =0.05 ( f k ) C a l c u l a t e v e l o c i t y r e s p o n s e s p e c t r u m w i t h h = 0.05

SV ( f k )h =0.05
T

γi = Ratio between target spectrum

SV ( f k )h =0.05
i

NO
∑ (1 − γ )
2

Check if error is small

k
=ε k
< 0.05
N / 2 +1

YES

END

21
(Example)

The following figures show examples of simulated ground motions those match

the design acceleration response spectrum and have different phase spectrum;

one is the random phase and another one is the phase of 1995 Kobe earthquake

NS component record. In both cases, the acceleration response spectral match

the target ones, but the waveform shapes are significantly different.

(m/s2) (m/s2)
10 10
h=0.05 h=0.05
8 8
Target Target
Simulated Simulated
6 6

4 4

2 2

0 (s) 0 (s)
0 1 2 3 0 1 2 3

(m/s2) (m/s2)
4 4

Envelope
2 Simulated 2 Simulated

0 0

-2 -2

(s) (s)
-4 -4
0 20 40 60 80 100 120 0 20 40 60 80 100 120

(a) random phase (b) phase of 1995 Kobe earthquake

22
 7. Autocorrelation function and Power Spectrum
T h e a v e r a g e v a l u e o f t h e p r o d u c t s o f f u n c t i o n s x (t ) a n d x (t + τ ) i s c a l l e d t h e

autocorrelation function, and is expressed as the following equation.

1 T /2
R (τ ) x ( t ) x ( t + τ ) dt
T ∫−T /2
= (88)

Extending the integration range as

1 ∞
R (τ ) x ( t ) x ( t + τ ) dt
T ∫−∞
= (89)

T h e F o u r i e r t r a n s f o r m o f t h e a u t o c o r r e l a t i o n f u n c t i o n R (τ ) i s c a l l e d t h e p o w e r

spectrum (density function).

∞
S (ω ) = ∫ R (τ )e − iωτ dτ
−∞

1 ∞ ∞ 
=  ∫ x ( t ) x ( t + τ ) dt e − iωτ dτ
∫

−∞ T −∞

x ( t )  ∫ x ( t + τ ) e − iω ( t +τ ) dτ eiωt dt
1 ∞ ∞
=
T ∫−∞  −∞  (90)

1 ∞ 1 ∞
= ∫ x ( t )  F (ω ) eiωt dt F (ω ) ∫ x ( t )eiωt dt
T −∞ T −∞

1 1
F (ω ) F ( −ω ) F (ω )
2
= =
T T
F r o m t h e a b o v e e q u a t i o n , i t c a n b e s e e n t h a t t h e p o w e r s p e c t r u m S (ω ) i s t h e

average power (square) of the Fourier spectrum F (ω ) .

The autocorrelation function is the inverse Fourier transform of the power

spectrum.

1 ∞
R (τ ) = ∫ S (ω ) e − iωτ d ω (91)
2π −∞

N o t e t h a t S (ω=
) S ( −ω ) a n d t h e s a m e v a l u e a t p o s i t i v e a n d n e g a t i v e f r e q u e n c i e s ,
the one-sided power spectrum considering only the positive side frequency is

often used.
G (ω ) 2 S (ω ) , ω > 0
= (92)

23
8. Generation of a waveform that matches the power spectrum

The flow of generating artificial ground motion in the previous section

becomes simpler when creating a waveform that matches the target power

spectrum.

Fki =0 = S k T Initial Fourier spectrum and phase

spectrum
φk , k = 0,1, 2, , N / 2

i = i +1
Ck eiφk =
Ck = Fki T ( ) ( cos φ
k + i sin φk ) , k =
0,1, 2, , N / 2 Fourier coefficient

Inverse Fourier transform

N −1  2π km 
Acceleration waveform
i 
=xm ∑ Ck e =
 N 
, m 0,1, 2, , N − 1
Fki +1 = γ i Fki k =0

Modify Fourier spectrum Base line correction

xm = em xm In case of random phase, multiply the envelope function

Fourier transform =Fki T=

Ck , k 0,1, 2, , N / 2

S ki =
1 i
Fk
2
Calculate power spectrum
T

S kT Ratio between target spectrum

γi =
S ki

NO
∑ (1 − γ )
2
k
=ε k
< 0.05
N / 2 +1

YES

END

24