Earthquake Response of Linear MDOF Systems

CEng 6506 Earthquake Engineering Lecture Notes
Adil Zekaria (Dr.-Ing.)

Addis Ababa University
Presentation outline
 Earthquake analysis of linear systems

 Basic Structural dynamics for MDOF systems
 Modal Analysis
 Modal response history analysis (RHA)
 Modal response spectrum analysis (RSA)
 Numerical examples
1. RSA and ESA for 3 story two shear frames
2. RHA and RSA for 5 story two shear frames
Addis Ababa University (Adil Z.)
Dr. Adil Zekaria (AAiT) 1

Earthquake Analysis of Linear Systems
Type of structure Method of Analysis

Regular (simple) structures
Equivalent static analysis
Response spectrum analysis
Response history analysis
Irreguar (complex) structures Nonlinear time history analysis
Earthquake Analysis of Linear Systems (contd.)

 Equivalent static analysis (ESA) or (ELF)
 acceptable results for regular structures
 Dynamic analysis
 Response spectrum analysis (RSA) or (MRS)
 satisfactory for majority of the cases
 Response history analysis (RHA or THA)
 can be used to model linear & nonlinear behavior
depending on the nature of the site, size and sensitivity of
the structures
 Nonlinear THA (may include soil-structure interaction)
 only for special structures

Basic structural dynamics - MDOF

For a MDOF system
𝑚 𝑚 ... 𝑚 𝑢̈ 𝑐 𝑐 ... 𝑐 𝑢̇ 𝑘 𝑘 ... 𝑘 𝑢 𝑝
𝑚 𝑚 ... 𝑚 𝑢̈ 𝑐 𝑐 ... 𝑐 𝑢̇ 𝑘 𝑘 ... 𝑘 𝑢 𝑝
... ... ⋱ ... + ... ... ⋱ ... + ... = ...
... ... ... ... ⋱ ...
𝑚 𝑚 ... 𝑚 𝑢̈ 𝑐 𝑐 ... 𝑐 𝑢̇ 𝑘 𝑘 ... 𝑘 𝑢 𝑝
Writing the matrices compactly
[m]{ü (t)} + [c]{u̇ (t)} + [k]{u(t)} = {p(t)}

Let {u(t)} = [F]{q(t)}
{𝑢 (𝑡)} = {∅ }𝑞 (𝑡)
{𝑢 (𝑡)} = {∅ }(𝐴 cos 𝜔 𝑡 + 𝐵 sin 𝜔 𝑡)
Basic structural dynamics-MDOF (contd.)
 solving the differential equation

𝑘 −𝜔 𝑚 ∅ = 0
Matrix eigenvalue problem
 the non-trivial solution is obtained from:

det 𝑘 − 𝜔 𝑚 = 0
characteristic equation (polynomial of nth degree)


Basic structural dynamics-MDOF (contd.)
 solving the real roots for the characteristic equation

 natural frequencies of vibration (eigenvlalues)
wn (n=1, 2, ..., N) e.g. w1 , w2 , w3 , …
natural periods: Tn = 2p/wn e.g. T1, T2, T3, ...
 natural mode shapes of vibration (eigenvectors)

Fn (n=1, 2, ..., N)
∅ ∅ ∅
∅ = ∅ , ∅ = ∅ , ∅ = ∅ ,
∅ ∅ ∅
…
Modal Analysis
Modal transformation
[𝑚]{𝑢̈ (𝑡)} + [𝑐]{𝑢̇ (𝑡)} + [𝑘]{𝑢(𝑡)} = {𝑝(𝑡)}
Let {u(t)} = [ϕ]{q(t)}
[𝑚][Φ]{𝑞̈ (𝑡)} + [𝑐][Φ]{𝑞̇ (𝑡)} + [𝑘][Φ]{𝑞(𝑡)} = {𝑝(𝑡)}
Pre-multiplying all by [F]T

[Φ] [𝑚][Φ]{𝑞̈ (𝑡)} + [Φ] [𝑐][Φ]{𝑞̇ (𝑡)} + [Φ] [𝑘][Φ]{𝑞(𝑡)} = [Φ] {𝑝(𝑡)}
Let {p(t)} = -[m]{i}üg
[𝑀]{𝑞̈ (𝑡)} + [𝐶]{𝑞̇ (𝑡)} + [𝐾]{𝑞(𝑡)} = −[Φ] [𝑚]{𝑖}𝑢̈


Modal Analysis (Cont’d)

Modal transformation
M q̈ C q̇ K q m
M q̈ + C q̇ + K q = − φ m ü (t)
M q̈ C q̇ K q m
For each Mode

M q̈ + C q̇ + K q = − 𝐿 ü (t) n = 1,2, . . , 𝑁
Where Lhn ={ϕn}T[m]{i}

Dividing by Mn yields q̈ n + 2ξ n ω n q̇ n + 𝜔 n q n = −Γ ü (t)
𝐿
where Γ =
M
is the modal participation factor
Modal Analysis (Contd.)

Interpretation of modal superposition
Modal expansion of displacement 𝑢(𝑡) = ∅ 𝑞 (𝑡)
u (t) q (t) ∅ ∅ ∅
u (t) = ∅ q (t) = ∅ q (t) + ∅ q (t) + ∅ q (t)
u (t) q (t) ∅ ∅ ∅
eigenmode 1 eigenmode 2 eigenmode 3
= q1(t ) + q2 (t ) + q3(t )

Modal Analysis (contd.)

Modal Expansion of Inertia Force
 Modal expansion of {𝑝 (𝑡)} = −[𝑚]{𝑖}𝑢̈ (𝑡)
[𝑚]{𝑖} = {𝑆 } = Γ [𝑚]{∅ }
where 𝐿 {∅ } [𝑚]{𝑖} ∑𝑚 ∅
Γ = = =
𝑀 {∅ } [𝑚]{∅ } ∑ 𝑚 ∅
nth mode components
{𝑝 , (𝑡)} = −{𝑆 }𝑢̈ (𝑡)
Modal Analysis (contd.)

Modal Expansion of Inertia Force

Modal Response History Analysis (RHA)

 Modal Response quantity: rn(t) = rnstAn(t)
where rnst is modal static response due to Sn
Effective modal mass and modal height

Base shear effective Base moment effective
modal mass, Mn* modal height, hn*
𝐿 ∑𝑚 ∅ 𝐿 ∑ℎ 𝑚 ∅
𝑀∗ = Γ 𝐿 = = ℎ∗ = =
𝑀 ∑𝑚 ∅ 𝐿 ∑𝑚 ∅
Note: SMn* = Smj and Shn*Mn* = Smj hj

Modal Response History Analysis (RHA)
Modal Response
history analysis
(contd.)

Modal Response history analysis (contd.)

 Total response
 Combine the response of all modes
 u(t) = Sun(t) and r(t) = Srn(t)
r(t), u(t)
mode 1
r(t), u(t)
t
r(t), u(t)
mode 2 t
t
Total response
r(t), u(t)
mode n
t
Note that peak values can occur at different times
Modal Analysis
Response Spectrum Analysis (RSA)
 Instead of calculating the response r(t) as a

function of time in RHA, only peak values are
calculated in RSA.
 Modal peak values rno = rnstAno
where Ano = maxt|A(Tn, zn)| is the peak ordinate of the

design spectrum corresponding to natural period Tn &
damping ratio zn.

Modal Response spectrum analysis (contd.)
 Modal combination rules (ABSSUM, SRSS & CQC)
 Absolute sum (ABSSUM) 𝑟 ≤ 𝑟
Upper bound result
 Square-root-of-sum-of-squares (SRSS) 𝑟 ≅ 𝑟
Good results for most structures with well separated natural frequencies
Modal Response spectrum analysis (contd.)

 complete quadratic combination (CQC)
/ /
𝑟 ≅ 𝜌 𝑟 𝑟 ≅ 𝑟 + 𝜌 𝑟 𝑟
where correlation coefficient rin is
/
8𝜁 1 + 𝛽 𝛽 𝜔
𝜌 = 𝑎𝑛𝑑 𝛽 =
1−𝛽 + 4𝜁 𝛽 1+𝛽 𝜔
Good results even for structures with closely spaced natural frequencies

Correlation Coefficient Equations, ρin
Rosenblueth-Elorduy
Der Kiureghian
Numerical example 1
Equivalent Linear Force analysis

&
Dynamic response spectrum analysis
as per ES EN1998-1:2015

Examples of equivalent static analysis of 2 Frames

Frame 2
Frame 1
Irregular elevation
Regular elevation
Flexible columns
m=2000 kg m=200 kg
k=7.3 MN/m k=73.0 kN/m

3m 3m
m=2000 kg m=2000 kg
3m k=7.3 MN/m 3m k=73.0 kN/m

m=2000 kg m=2000 kg
4m k=7.3 MN/m 4m k=73.0 kN/m
Üg(t) Üg(t)
The structures are subjected to a g(t) = 0.3g bedrock acceleration, ground type A
ES EN 1998-1:2015 (Design Spectrum)
• where the behavior factor q varies between 1.5 to 6
Addis Ababa University, AAiT. SCEE 24

Design spectrum coefficients: ES EN 1998:2015

• High and moderate seismicity region Ms > 5.5
Design spectrum Type 1
ES EN 1998-1:2015
• Elastic response spectra for 5% damping for Type 1

Addis Ababa University, AAiT. SCEE 26

Equivalent static analysis as per ES EN 1998:2015

 Design spectrum coefficients
 Fundamental period: T1 = Ct H3/4
T1= 0.075*(10)3/4 = 0.422 sec
 ag = 0.3*9.81 = 2.943 m/s2
 q=1 assume the behavior factor to be 1 (elastic RS)
 For ground type A, S = 1.0, Tc = 0.4
𝟐.𝟓 𝑻𝑪
= 𝒂𝒈 𝑺
 TC≤T≤TD 𝑺𝒅 𝑻 𝒒 𝑻
≥ 𝜷𝒂𝒈
. .
 𝑆 = 2.943 ∗ 1.0 ∗ = 6.974 m/s2
. .
Equivalent static analysis as per ES EN 1998:2015
 Total Base shear Fb = Sd(T1).m.l

 Fb = 41.84 kN for frame 1 since m = 6000 kg,
 Fb = 29.29 kN for frame 2 since m = 4200 kg,
 Distribution of lateral force 𝐹 = 𝐹 𝑧 𝑚

∑𝑧 𝑚
19.92kN 2.44kN
13.95kN 17.09kN
7.97kN 9.76kN
Frame 1 Frame 2

Examples of dynamic analysis:

Frame 2
Frame 1 Irregular elevation
Regular elevation Flexible frame
m=2000 kg m=200 kg
k=7.3 MN/m k=73.0 kN/m

3m 3m
m=2000 kg m=2000 kg
3m k=7.3 MN/m 3m k=73.0 kN/m

m=2000 kg m=2000 kg
4m k=7.3 MN/m 4m k=73.0 kN/m
Üg(t) Üg(t)
The structures are subjected to a g(t) = 0.3g bedrock acceleration, ground type A
Solution of the eigenvalue problem for frame 1

1 0 0 2 −1 0 where m = 2000kg
[𝑚] = 𝑚 0 1 0 [𝑘] = 𝑘 −1 2 −1
0 0 1 0 −1 1 k = 7.3MN/m
2𝑘 − 𝜔 𝑚 −𝑘 0
det [𝑘] − 𝜔 [𝑚] = det −𝑘 2𝑘 − 𝜔 𝑚 −𝑘 =0
0 −𝑘 𝑘−𝜔 𝑚
The characteristic equation after simplification

𝜔 = 0.445 𝑘⁄𝑚
𝑘 − 6𝑚𝑘 𝜔 + 5𝑚 𝑘𝜔 − 𝑚 𝜔 = 0 𝜔 = 1.247 𝑘⁄𝑚
𝜔 = 1.802 𝑘⁄𝑚

Natural frequency/period and mode shapes:

Frame 1
mode 1 mode 2 mode 3
F1 F2 F3
1.000 1.000 1.000
0.802 -0.555 -2.247
0.445 -1.247 1.802
w1=26.88rad/s w2=75.34rad/s w3=108.86rad/s
T1=0.234sec T2=0.083sec T3=0.058sec
Modal periods and acceleration

Frame 1
 From ES EN 1998-1:2015 design spectrum
 Mode 1: T1=0.234 sec

.
 𝐴 = 2.943 ∗ 1.0 ∗ = 7.3575 𝑚/𝑠
.
 Mode 2: T2=0.083 sec

. .
 𝐴 = 2.943 ∗ 1.0 + − = 4.9475 𝑚/𝑠
. .
 Mode 3: T3=0.058 sec

. .
 𝐴 = 2.943 ∗ 1.0 + − = 4.048 𝑚/𝑠
. .

Modal mass distribution vectors:

Frame 1
{Sn} = Gn [m] {Fn}
S1 S2 S3
1m 1.220m -0.280m 0.060m
1m 0.979m 0.155m -0.134m
=
1m 0.543m 0.349m 0.108m
G1=1.22 G2=-0.28 G3=0.06
m=2000kg
Equivalent modal forces: Frame 1

Regular Elevation
{Fn} = {Sn}An
F1 F2 F3
17.95kN -2.77kN 0.49kN
14.41kN 1.53kN -1.08kN
7.99kN 3.45kN 0.87kN
A1=7.3575 A2=4.9475 A3=4.048
modal base shear= 40.35kN 2.21kN 0.28kN

Equivalent static lateral forces from all modes:

Frame 1
RSA ELF
18.17kN 19.92kN
14.53kN 13.95kN
8.74kN 7.97kN
Fb = 41.44 kN Fb = 41.84 kN
Mb = 318.37 kNm Mb = 328.73 kNm
18.28kN
Response
Equivalent
spectrum analysis result using SAP
2(9.14) = 18.28
static forces
32.38-18.28 =14.10kN
2(16.19) = 32.38
40.32-32.38 = 7.94kN
2(20.16) = 40.32
Shear force diagram from SAP 2000 response spectrum analysis for
frame 1 Addis Ababa University (Adil Z.)

Solution of the eigenvalue problem for frame 2

10 0 0 2 −1 0 where m = 200kg
[𝑚] = 𝑚 0 10 0 [𝑘] = 𝑘 −1 2 −1
0 0 1 0 −1 1 k = 73kN/m
2𝑘 − 𝜔 10𝑚 −𝑘 0
det [𝑘] − 𝜔 [𝑚] = det −𝑘 2𝑘 − 𝜔 10𝑚 −𝑘 =0
0 −𝑘 𝑘−𝜔 𝑚
The characteristic equation after simplification

𝜔 = 0.1884 𝑘⁄𝑚
𝑘 − 33𝑚𝑘 𝜔 + 140𝑚 𝑘𝜔 − 100𝑚 𝜔 = 0 𝜔 = 0.5034 𝑘⁄𝑚
𝜔 = 1.0541 𝑘⁄𝑚
Natural frequency and mode shapes

Irregular elevation
F1 F2 F3
1.000 1.000 1.000
0.964 0.747 -0.111
0.586 -1.398 0.012
w1=3.60rad/s w2=9.62rad/s w3=20.14rad/s

T1=1.75sec T2=0.65sec T3=0.31sec

Modal periods and acceleration

Frame 2
 From ES EN 1998-1:2015 design spectrum
 Mode 1: T1=1.745 sec

. .
 𝐴 = 2.943 ∗ 1.0 ∗ ∗ = 1.687 𝑚/𝑠
. .
 Mode 2: T2=0.6533 sec

. .
 𝐴 = 2.943 ∗ 1.0 ∗ ∗ = 4.5048 𝑚/𝑠
. .
 Mode 3: T3=0.312 sec

.
 𝐴 = 2.943 ∗ 1.0 ∗ = 7.3575 𝑚/𝑠
.
Modal mass distribution vectors:

Irregular elevation
{Sn} = Gn [m] {Fn}
S1 S2 S3
1m 1.20m -0.21m 0.01m
10m 11.59m -1.58m -0.01m
=
10m 7.04m 2.95m 0.001m
G1=1.20 G2=-0.21 G3=0.01
m=200kg

Equivalent modal forces: Frame 2

Irregular elevation
{Fn} = {Sn}An
F1 F2 F3
0.40kN -0.19kN 0.014kN
3.91kN -1.42kN -0.016kN
2.38kN 2.66kN 0.001kN
A1=1.687 A2=4.5048 A3=7.3575
modal base shear= 6.6kN 1.05kN 0.001kN
Equivalent static lateral forces from all modes:

Irregular elevation
RSA ELF
0.44 kN 2.44 kN
4.16 kN 17.09 kN
3.57 kN 9.76 kN
Fb = 8.17 kN Fb = 29.29 kN
Mb = 47.80 kNm Mb = 183.07 kNm


Numerical example 2
Response History Analysis

&
Response spectrum analysis
RHA for 5 story shear frame
mj = m = 45 Mg
kj = k = 54.82 kN/cm

{Sn} = Gn [m] {Fn}

Effective modal masses and effective modal heights


RSA for 5 story shear frame
RSA for 5 story shear frame

5 Story frame RSA & RHA
RHA vs RSA: one ground motion

RHA vs RSA: 20 ground motions
RHA for 4 story frame with appendage
mj = m = 45 Mg
kj = k = 54.82 kN/cm


4 Story frame with an appendage RSA

& RHA
Refer Chopra’s Dynamics of Structures

book, Chapter 13 for the details

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CEng 6506 Earthquake Engineering Lecture Notes

Adil Zekaria (Dr.-Ing.)

 Earthquake analysis of linear systems

Addis Ababa University (Adil Z.)

Dr. Adil Zekaria (AAiT) 1

Earthquake Analysis of Linear Systems

Type of structure Method of Analysis

Response spectrum analysis

Response history analysis

Irreguar (complex) structures Nonlinear time history analysis

Addis Ababa University (Adil Z.)

Earthquake Analysis of Linear Systems (contd.)

Dr. Adil Zekaria (AAiT) 2

Basic structural dynamics - MDOF

Writing the matrices compactly

[m]{ü (t)} + [c]{u̇ (t)} + [k]{u(t)} = {p(t)}

Basic structural dynamics-MDOF (contd.)

 solving the differential equation

Matrix eigenvalue problem

 the non-trivial solution is obtained from:

characteristic equation (polynomial of nth degree)

Dr. Adil Zekaria (AAiT) 3

Basic structural dynamics-MDOF (contd.)

 solving the real roots for the characteristic equation

natural periods: Tn = 2p/wn e.g. T1, T2, T3, ...

 natural mode shapes of vibration (eigenvectors)

Addis Ababa University (Adil Z.)

[𝑚]{𝑢̈ (𝑡)} + [𝑐]{𝑢̇ (𝑡)} + [𝑘]{𝑢(𝑡)} = {𝑝(𝑡)}

Let {u(t)} = [ϕ]{q(t)}

[𝑚][Φ]{𝑞̈ (𝑡)} + [𝑐][Φ]{𝑞̇ (𝑡)} + [𝑘][Φ]{𝑞(𝑡)} = {𝑝(𝑡)}

Pre-multiplying all by [F]T

Let {p(t)} = -[m]{i}üg

[𝑀]{𝑞̈ (𝑡)} + [𝐶]{𝑞̇ (𝑡)} + [𝐾]{𝑞(𝑡)} = −[Φ] [𝑚]{𝑖}𝑢̈

Dr. Adil Zekaria (AAiT) 4

Modal Analysis (Cont’d)

For each Mode

Where Lhn ={ϕn}T[m]{i}

Addis Ababa University (Adil Z.)

Modal Analysis (Contd.)

Modal expansion of displacement 𝑢(𝑡) = ∅ 𝑞 (𝑡)

eigenmode 1 eigenmode 2 eigenmode 3

Addis Ababa University (Adil Z.)

Dr. Adil Zekaria (AAiT) 5

Modal Analysis (contd.)

 Modal expansion of {𝑝 (𝑡)} = −[𝑚]{𝑖}𝑢̈ (𝑡)

nth mode components

{𝑝 , (𝑡)} = −{𝑆 }𝑢̈ (𝑡)

Addis Ababa University (Adil Z.)

Modal Analysis (contd.)

Addis Ababa University (Adil Z.)

Dr. Adil Zekaria (AAiT) 6

Modal Response History Analysis (RHA)

Addis Ababa University (Adil Z.)

Effective modal mass and modal height

Note: SMn* = Smj and Shn*Mn* = Smj hj

Addis Ababa University (Adil Z.)

Dr. Adil Zekaria (AAiT) 7

Note: SMn* = Smj and ShnMn = Smj hj