Computers and Structures 80 (2002) 935–955

www.elsevier.com/locate/compstruc

Dynamic analysis of steel frames with flexible connections

Miodrag Sekulovic *, Ratko Salatic, Marija Nefovska
Faculty of Civil Engineering, University of Belgrade, Bulevar kralja Aleksandra 73, 11000 Belgrade, Yugoslavia
Received 1 June 2001; accepted 14 February 2002

Abstract
This paper deals with the effects of flexibility and damping in the nodal connections on the dynamic behavior of
plane steel frames. A flexible eccentric connection is idealized by nonlinear rotational spring and dashpot in parallel.
Thus, the effects of viscous and hysteretic damping on dynamic response of frame structures are taken into consid-
eration. A numerical model that includes both nonlinear connection behavior and geometric nonlinearity of the
structure is developed. The complex dynamic stiffness matrix for the beam with flexible connections and linear viscous
dampers at its ends is obtained. Several examples are included to illustrate the efficiency and accuracy of the present
model. Ó 2002 Elsevier Science Ltd. All rights reserved.

Keywords: Steel frame; Semi-rigid connection; Nonlinear dynamic analysis

1. Introduction nonlinear behavior of connections have been formulated

The conventional methods of analysis and design of
frame structures are based on the assumption that the
joint connections are either fully rigid or ideally pinned.
The models with ideal connections simplify analysis
procedure, but often cannot represent real structural
behavior. Therefore, this idealization is not adequate as
all types of connections are more or less, flexible or semi-
rigid. It is proved by numerous experimental investiga-
tions that have been carried out in the past [1–4].
Based on experimental study due to static monotonic
loading tests for various types of connections, many
models have been done to approximate the connection
behavior. The simplest one is the linear model that has
been widely used for its simplicity [5–7]. However, this
model is good only for the low level loads, when the
connection moment is quite small. In each other case,
when the connection rigidity may rapidly decrease
compared with its initial value, a nonlinear model is
necessary. Several mathematical models to describe the
*
Corresponding author. Tel.: +381-11-3218552; fax: +381-
11-3370223.
E-mail address: sekulovic@grf.bg.ac.yu (M. Sekulovic).
and broadly used in research practice [8–11].
So far, most experimental and theoretical work is
limited to static analysis of steel frames with flexible
connections. Very few papers have been devoted to the
dynamic analysis although the flexibility of connections
with energy dissipation has a great influence on dy-
namic behavior of these types of structures. Under cy-
clic loads, the connection hysteresis loop increases the
energy absorption capacity and hysteretic damping may
significantly reduce dynamic response of real structures.
Therefore, modelling of the nodal connection is impor-
tant for the design and accuracy in the dynamic frame
structure analysis. However, as the experimental data
for the connection behavior under cyclic loading are
rather poor, it is difficult to make corresponding math-
ematical model. The experiments carried out by Popov
and coworkers [12–16] and also in Refs. [17,18] show
that the hysteresis loops under repeated and reversed
loading are very stable, so the moment–rotation func-
tions obtained by static tests can be extended to the
dynamic analysis.
The dynamic analysis of frames with flexible con-
nections using linear moment–rotation relationship has
been studied in several papers [19–21]. Kawashima and
Fujimoto [20] obtained the complex dynamic stiffness

0045-7949/02/$ - see front matter Ó 2002 Elsevier Science Ltd. All rights reserved.
PII: S 0 0 4 5 - 7 9 4 9 ( 0 2 ) 0 0 0 5 8 - 5
936 M. Sekulovic et al. / Computers and Structures 80 (2002) 935–955
matrix for a uniform beam element with linear rota-
tional springs and dashpots at its ends. The influence of
the flexibility and eccentricity in the connections on
dynamic behavior of plane frames within the linear
theory was investigated by Suarez et al. [21]. Although
the linear constitutive model of nodal connections is
very easy to use, it is inadequate in the term that it is
applicable only to a small range of the initial rotations
and because it cannot represent hysteretic damping to be
a primary source of passive damping in the frame
structures. A bilinear moment–rotation function, which
is also accurate only for a small rotation range, was used
by Sivekumaran [22] and Yousef-Agha et al. [23]. The
effect of hysteretic damping resulting from the nonlinear
flexible connection on the dynamic response of the frame
was studied by Shi and Altury [24]. They developed a
numerical model based on the complementary energy
approach using the Ang and Morise [6] function for the
moment–rotation relations at connections. Chan and
Ho [25] proposed a numerical method for linear and
nonlinear vibration analysis of frame with semi-rigid
connections. They adapted the conventional cubic
Hermitian shape functions for a uniform beam with end
springs and derived the element matrices using the
principle of total potential energy. The influence of both
hysteretic and viscous damping at connections on seis-
mic response of the steel frames was considered by
Sekulovic et al. [26]. The combined effects of material
yielding and connection flexibility in static and dynamic
problems have been discussed in detail by Chan and
Chui [36]. Several nonlinear flexible connection models
under cyclic loading were established in the past decade
[27–30].
The present study is an extension of the author’s
previous work [31], regarding static analysis of flexibly
joint frames, on a more general case of the dynamic
analysis. Two types of nonlinearities are considered:
geometric nonlinearity of the structure and material
(constitutive) nonlinearity of the connections. These
nonlinearities are interactive. The eccentricity of the
connections is also considered. To describe the nonlinear
behavior of the connection under cyclic loading, the
independent hardening model is used. So, the effect of
hysteretic damping on dynamic behavior of the structure
is directly included through the connection constitutive
relation. Moreover, the influence of viscous damping at
connections on dynamic response of frame structures is
considered. For a uniform beam with rotational springs
and dashpots attached at its ends the complex dynamic
stiffness matrix is obtained. The stiffness matrix has been
obtained based on analytical solutions of governing
differential equations second order analysis, so that each
beam represents one element. Nodal displacements and
rotations are chosen as the primary unknowns, while
displacements and rotations of the element ends are
eliminated. Thus, the number of degrees of freedom
are the same as for the system with rigid connections.
Besides, the consistent mass and damping matrices
are derived. These matrices are based on the physical
properties of the member and given in an explicit
form. The present matrices are more general than the
corresponding matrices previously obtained by other
authors.
Energy dissipation exists in frame structures under
dynamic loads. The primary sources of energy dissipa-
tion, is known, may be hysteretic behavior of connec-
tions and the friction between elements forming the
beam–column assemblage. In addition, different types of
energy dissipation devices can be installed into connec-
tions in order to increase the structural energy absorp-
tion capacity. For this reason, in the present model, the
total energy dissipation is confided to the joint connec-
tions. Two types of energy dissipation are assumed.
They are: hysteretic damping due to nonlinear behavior
of connections and viscous damping at the connections.
In general, the effects of these dampings are coupled.
Also, they can be considered separately using either
linear constitutive relation for the connections or zero
value for the viscous damping coefficients at the con-
nections. As it is assumed that all structural elements,
except the connections, remain elastic through the whole
loading range, the energy dissipation at plastic hinges
cannot be observed. Also, energy dissipation due to ra-
diation damping at the supports is not included in this
consideration. The other types of energy dissipation that
may exist in real frame structures can be included in the
present model in the usual way, by mass and stiffness
proportional damping matrix.
Based on theoretical problem formulation, a com-
puter program was developed in order to increase dy-
namic analysis efficiency and design of steel frames. A
parametric study has been performed in order to esti-
mate the influence of nonlinear connection flexibility
and viscous damping at connections on the frame dy-
namic (seismic) response. The present numerical model
is restricted to 2D frame systems. It can be extended on
a more general case of 3D analysis without difficulty.
Besides, the proposed beam element can be easily
incorporated into existing commercial programs for
structural analysis.
2. Formulation of structural element
A beam element with flexible, eccentric and viscous
damping connections is shown in Fig. 1. The flexible
connections are represented by nonlinear rotational
springs at beam ends. Thus, only the influence of
bending moment on the connection deformation is
considered, while the influences of axial and shear forces
are neglected. The connection spring element is assumed
massless and dimensionless in size. The eccentricity is
 M. Sekulovic et al. / Computers and Structures 80 (2002) 935–955 937
2 3
0 De1 0 0
16 g g22 g23 g24 7
G¼ 6 21 7; ð2cÞ
D4 0 0 0 De2 5
g41 g42 g43 g44

denoting the matrix of interpolation functions obtained

based on the analytical solutions of the second order
analysis equations [32], the nodal displacement vector
and the correction matrix, respectively. Interpolation
functions Ni ðxÞ, i ¼ 1; . . . ; 4 and elements of correction
matrix G are given in Appendix A.
Stiffness matrix for the beam element with flexible
eccentric connection is obtained through the total po-
tential energy, that can be written as

U ¼ Ua þ Uf þ Us ; ð3Þ

where
EI 2 4
Ua ¼ k l; ð4aÞ
2A
Z l
EI
Uf ¼ v2;xx dx; ð4bÞ
2 0
Fig. 1. A beam with flexible, eccentric and viscous damping
connections. X
2
Us ¼ ci a2i ; ð4cÞ
i¼1

modelled by short infinitely stiff elements whose lengths
are e1 and e2 . The linear viscous damping at nodal
connections are modelled by dashpots acting at beam
ends.
2.1. Stiffness matrix and nodal force vector
The stiffness matrix and the nodal force vector for the
flexible eccentric beam have been represented in a pre-
vious work by the authors [31]. It will be briefly sum-
marized herein. Joint displacements and rotations are
the primary unknowns, while displacements and rota-
tions of the beam ends can be eliminated as has been
shown in [31]. Thus, the number of degrees of freedom is
the same as for the beam element with fully rigid con-
nections. Consequently, the function describing lateral
displacement vðxÞ for the element with flexible eccentric
connections can be written in the usual way by inter-
polation function matrix and nodal displacements vector
as:
e ðxÞq;
vðxÞ ¼ NðxÞðI þ GÞq ¼ N ð1Þ
where
NðxÞ ¼ ½ N1 ðxÞ N2 ðxÞ N3 ðxÞ N4 ðxÞ ; ð2aÞ
qT ¼ f v1 u1 v2 u2 g; ð2bÞ
denoting strain energy of the beam, axial (Ua ) and
flexural (Uf ) and strain energy of the springs (Us ). Strain
energy due to axial deformation and bending are cou-
pled since parameter k 2 includes derivatives of both axial
and lateral displacements [31]. With the assumption that
k 2 ¼ const., these two part of the strain energy can be
expressed independently. Thus, after substituting Eq. (1)
into Eq. (4b) the following can be obtained:
Uf ¼ 12qT ðkII þ kef Þq; ð5Þ
where matrices kII and kef are defined as
Z lh i
kII ¼ EI ðN00 ðxÞÞT N00 ðxÞ dx; ð6aÞ
0
kef ¼ GT kII þ kII G þ GT kII G; ð6bÞ
denoting beam stiffness matrix with the rigid connec-
tions according to the second order analysis and cor-
rection matrix that accounts for the effects of flexibility
and eccentricity, respectively. Analytical expression for
the elements of matrix kII and the appropriate expan-
sions in the power series form, convenient for the nu-
merical analysis, are given by Goto and Chen [33].
The simplified form of this matrix, corresponding to
the linearized second order analysis, can also be used. In
that case, the stiffness matrix has the form
kII ¼ k0 þ kg ; ð7Þ
938 M. Sekulovic et al. / Computers and Structures 80 (2002) 935–955

where k0 is the conventional stiffness matrix and kg is the
geometric stiffness matrix of the uniform beam. In this
case, the simplified form of the matrix G, with functions
/i , i ¼ 1; . . . ; 4, are replaced by 1.0, can be used.
The strain energy of the springs can be expressed in
the form
Us ¼ 12qT ks q; ð8Þ
2.3. Complex dynamic stiffness matrix
Apart from nonlinear rotational springs, rotational
viscous dashpots are attached at beam ends, as shown in
Fig. 1. The total moment at each nodal connection
(i ¼ 1, 2) can be given in terms of relative rotation h
between beam end and column face and relative angular
velocity h_ðtÞ as:

where Mi ðtÞ ¼ ki hi ðtÞ þ ci h_i ðtÞ; i ¼ 10 ; 20 ; ð15Þ

T where ki and ci are rotational spring stiffness and rota-
ks ¼ G CG: ð9Þ
tional viscous damping coefficients, while dot over the
The explicit form of matrices G and C can be found in symbols denotes differentiation with respect to time. The
[31]. From Eqs. (5) and (8) the total strain energy due to tangent or secant form of the above relation may be
the bending for the beam with flexible and eccentric written if nonlinear springs and/or dashpots are con-
connections can now be written as: sidered. In the case of periodic response with circular
frequency x the following relation between the ampli-
U ¼ Uf þ Us ¼ 12qT ðkII þ kef þ ks Þq: ð10Þ tudes may be derived:

The equivalent generalized end force vector due to Mið0Þ ¼ ki h_ið0Þ ; i ¼ 10 ; 20 ; ð16Þ
distributed loads along the beam pðxÞ is obtained in the
where complex flexural stiffness ki of the connection is
usual maner:
defined as the ratio between moment and relative rota-
Z l Z l tion amplitudes:
Q¼ e T ðxÞ dx ¼ ðI þ GÞT pðxÞNT ðxÞ dx: ð11Þ
pðxÞ N
0 0 Mi ðtÞ pffiffiffiffiffiffiffi
ki ¼ ¼ ki þ jxci ; j¼ 1; ð17aÞ
hi ðtÞ
Components of the vector Q, for some simple load
distributions and temperature change are given in the
hi ðtÞ ¼ hið0Þ ejxt : ð17bÞ
closed form in [32]. In general case, elements of the
vector Q are computed numerically. The beam end force vector RðtÞ can be expressed in
qðtÞ and relative
terms of the end displacement vector 
2.2. Element mass matrix end rotation vector hðtÞ as:

Assuming that the mass density q is constant, the RðtÞ ¼ kf

qðtÞ hðtÞg; ð17aÞ
element consistent mass matrix m can be formulated as: where
Z
m ¼ qN e T ðxÞ N
e ðxÞ dx; ð12Þ RðtÞ ¼ f T 1 ðtÞ M 1 ðtÞ T 2 ðtÞ M 2 ðtÞ g; ð18Þ
V

e ðxÞ is the matrix of modified shape functions qðtÞ ¼ f v1 ðtÞ u

  1 ðtÞ v2 ðtÞ u
 2 ðtÞ g; ð19Þ
where N
defined by Eq. (1). After substitution of Eq. (1) into Eq.
(12), the consistent element mass matrix, for the uniform hT ðtÞ ¼ f 0 h1 ðtÞ 0 h2 ðtÞ g; ð20Þ
beam with flexible eccentric connections, can be written are end force vector, end displacement vector and rela-
as: tive end rotation vector of the member respectively (Fig.
m ¼ m0 þ mef ; ð13Þ 1), while k is the classical or the second order flexural
stiffness matrix of a uniform beam, that depends on the
where type of analysis.
Z After the elimination of relative end rotation vector
m0 ¼ qNT ðxÞNðxÞ dx; ð14aÞ hðtÞ, Eq. (17a) transforms to:
V
 
RðtÞ ¼ k qðtÞ; ð20Þ

mef ¼ GT m0 þ m0 G þ GT m0 G: ð14bÞ where

 ¼ ðI
k SÞT kðI s S ¼ k þ k1 þ k2 ;
SÞ þ ST k ð21aÞ
In the above relations, m0 denotes conventional mass
matrix for the beam element and mef denotes the mass
correction matrix. k1 ¼ kS ST k; ð21bÞ
 M. Sekulovic et al. / Computers and Structures 80 (2002) 935–955 939

*
k2 ¼ ST ðk þ KÞS; ð21cÞ

qðtÞ ¼ qð0Þ ejxt :

 ð21dÞ

The explicit forms of matrices k1 and k2 are given in

Appendix A. The matrix S can be obtained from matrix
G putting e1 ¼ e2 ¼ 0, and it can be found in Appendix
A. The matrix k is a complex flexural stiffness matrix of
uniform beam with flexible connection according to the
linear or second order analysis, including both flexible
and viscous phenomena. The elements of this matrix
corresponding to the linear analysis are given in Ap-
pendix A.
Expanding the elements of the dynamic stiffness ma-
trix in series with respect to the circular frequency x and
neglecting higher terms than the third order, the fol-
lowing expansion is obtained in the decomposed form:
2 ei
k ¼ k þ jxc x m; ð22Þ
where k is the static stiffness matrix; c, the damping
matrix and m, the mass matrix for the uniform beam
with flexible springs and dashpots at its ends.
It should be noted that if neither eccentricities nor
springs and dashpots are present, the matrix k trans-
forms to the classical beam element flexural stiffness
matrix k0 . The matrix c is consistent element damping
matrix, which is based on physical properties of the
member. The elements of the matrix c and matrix m for
a uniform beam according to the linear analysis are
provided in Appendix A.
The proposed viscous damping at beam ends causes
that viscously damped system does not satisfy Caughey
and O’Kelly’s condition [34]. The response of a multi-
degree-of-freedom system cannot be expressed as a lin-
ear combination of its corresponding modal responses.
So, the system is nonclassically damped and it generally
has complex valued natural modes. It is necessary to
elucidate physical interpretation of solutions represented
by complex conjugate pairs of characteristic values. In
order to establish the relationship between coefficient ci
of viscous damping in joints and modal relative damping
factor fk for k mode shape, a specific procedure has been
established.
Provided that the amount of damping in the system is
not very high, the characteristic values occur in complex
conjugate pairs with either negative or zero real parts.
Let ki and ki be a pair of characteristic values defined by:
ki ¼ ei þ jxdi ; ð23aÞ
ki ¼ ei jxdi : ð23bÞ
Further, let x  di be the modulus of ki , i.e.:
qffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
 di ¼ e2i þ x2di :
x ð24Þ
Fig. 2. Relationship between coefficient ci and modal pseudo-
relative damping factor 1i .
The corresponding pseudo-damping factor 1i is:
1i ¼ : ð25Þ
x
 di
Based on the parametric study, the relationship between
coefficient ci of viscous damping in joints and modal
pseudo-relative damping factor 1i for i mode shape can
be obtained, and the corresponding curve is presented in
Fig. 2.
3. Semi-rigid connection modelling
Numerous experimental results have shown that the
connection moment–rotation relationships are nonlinear
over the entire range of loading for almost all types of
connections. To describe connection behavior, different
mathematical models have been proposed. In this study,
the three parameter power model proposed by Richard
and Abbott [8] and Kishi et al. [27] is used to represent
moment–rotation behavior of the connection under
monotonic loading. This model can be formulated as:
k0 h
M¼ ; ð26Þ
½1 þ ðh=h0 Þn 1=n
where k0 initial connection stiffness; n, the shape pa-
rameter; h0 ¼ Mu =k0 , the reference plastic rotation and
Mu , the ultimate moment capacity. Accordingly to Eq.
(26), M–h functions for the two types of connection
(double web angle (DWA), top and seat angle with
double web angle (TSDWA)) are shown in Fig. 3a. The
first of these connections are rather weak and the second
is relatively stiff. The details of these connections can be
found in Ref. [35].
The independent hardening model was adopted to
simulate the inelastic connection behavior under cyclic
loading. In this model, the characteristics of connec-
tions are assumed to be unchanged through the loading
940 M. Sekulovic et al. / Computers and Structures 80 (2002) 935–955

in which c M is the mass matrix, C b is viscous damping

matrix and K b is static stiffness matrix for the system of
structural elements. The time dependent vectors U €, U
_
and U are the relative node accelerations, velocities and
displacements respectively, while the vectors F and U €g
are externally applied loads and ground accelerations.
The equations of motions are integrated using step-by-
step integration, with a constant acceleration assump-
tion within any step.
To solve the nonlinear equations, that are nonlinear
in terms of the displacements as well as the axial force,
secant stiffness method is used. This method is very
simple in computer implementation and also gives con-
vergent solutions for design loadings. In each time step,
the load increment DF or DU € g is divided into a few
smaller subincrements (Fig. 4) and iterative procedures
are employed. The iterative algorithm is based on eval-
uating secant stiffness matrix, which depends on the
stiffness of connections, represented by slope of its mo-
ment–rotation curve at any particular moment value.
The convergence is obtained when the differences be-

Fig. 3. (a) Three parameter power model and (b) independent

hardening model.

cycles. The moment–rotation curve under the first cycle

of loading unloading and reverse loading remain un-
changed under the repetititon of loading cycles. The
skeleton curve used in the model was obtained from
three parameter power model. The cyclic moment–
rotation curve based on this model is schematically
shown in Fig. 3b. The independent hardening model is
simple and easily applicable to all types of steel frames
connection models. More information about this model
can be found in Refs. [35,36].

4. Numerical procedures

The equations of motion of a frame subjected to

dynamic loading can be written in the following form:
c
MU bU
€ þC b U ¼ F;
_ þK ð27Þ

or
Fig. 4. Secant stiffness method in a case of nonlinear connec-
c
MU bU
€ þC bU ¼
_ þK c
MU€ g; ð28Þ tion behavior.
 M. Sekulovic et al. / Computers and Structures 80 (2002) 935–955 941

tween two consecutive cycles displacements at all joints

reach the prescribed tolerance. The current connection
stiffness becomes the starting connection stiffness for the
next load subincrement. The convergent solutions for all
load subincrements are accumulated to obtain the total
nonlinear response within time step.

5. Numerical examples

Based on the above theoretical considerations, a

computer program has been developed and dynamic
analysis of plane frames with different number of stories
and bays, as well as different types of connections and
loads, has been performed. For illustration, only some
typical results are presented herein.

5.1. Ten-storey single bay frame

Ten-storey single bay plane steel frame 40.00 m high

and 8.00 m wide has been analyzed. The geometrical and
material properties of this frame are shown in Fig. 5.
Two types of semi-rigid beam-to-column connections
(TSDWA and DWA) with both linear and nonlinear
moment–rotation relations were considered. For com-
parison the same frame with rigid joints was analyzed.
Linear (first order) and a geometrically nonlinear (sec-
ond order) analyses of the frame were carried out for all
aforementioned connection types. The results of linear
and nonlinear analyses of the frame with fully rigid
joints obtained by this study have been compared with
the corresponding results obtained by the known soft-
ware package SAP 2000 [37]. These two sets of results
are quite close to each other. For the semi-rigid type
connections database developed by Chen and Kishi [38]
was used. The following examples include vibration and
transient analysis of steel frame shown in Fig. 5, if
subjected to uniform and seismic ground excitations.
5.1.1. Natural frequencies
The natural frequencies and the corresponding peri-
ods for the first three modes are determined for the cases
of fully rigid and linear semi-rigid connection (DWA,
TSDWA) and shown in Table 1. The change in natural
frequencies due to variation of joint stiffness (fixity fac-
Fig. 5. Layout and properties of single-bay ten-storey frame
investigated.
tor) is shown in Fig. 6. The natural frequencies are
normalized by dividing their values by the frequencies
obtained for the frame with rigid joints and fixity factors
are defined as:
 
3EI ci
ki0 ¼ ; ð29Þ
l 1 ci
where ki0 is initial connection stiffness that varies from 0
in the case of pinned connection to 1 for the case of
fully rigid connection and ci is fixity factor whose values
are normalized form 0 to 1.
As seen in Fig. 6, the connection flexibility has a sig-
nificant influence on variation of the natural frequencies
particularly on the lower frequencies. This fact can be

Table 1
Natural frequencies of the frame investigated
Type of Natural frequencies (rad/s) Periods (s)
connection First mode Second mode Third mode First mode Second mode Third mode
Rigid 6.328 17.523 31.116 0.993 0.359 0.202
TSDWA 5.727 16.088 28.611 1.097 0.391 0.220
DWA 4.647 13.519 24.247 1.352 0.465 0.259
942 M. Sekulovic et al. / Computers and Structures 80 (2002) 935–955
Fig. 6. The influence on connection flexibility on the natural
frequencies.
very important for seismic analysis of frame structures,
as the lower modes may generally have the principal in-
fluence on seismic response of buildings.
Fig. 7 shows the influence of eccentricity beam-
to-column connection on the variation of natural
frequencies. It can be seen that the eccentricity of con-
nections may have a practical influence depending on
the type and size of the connection.
Fig. 7. The influence of connection eccentricity on the natural
frequencies.
5.1.2. Transient analysis
The transient displacement analysis of the frame
shown in Fig. 5 has been performed for the two cases of
ground motions: two steps sudden acceleration and an
earthquake excitation. Gravitational loads are also in-
cluded and they are considered as additional lumped
masses at the beam nodes.
5.1.3. Two-steps ground acceleration
The frame is assumed to be subjected to the sudden
discontinuous two-steps uniform ground acceleration
shown in Fig. 10. The transient response analysis of the
frame with various connection types according to the
first order and second order analyses has been carried
out. Characteristic results of the lateral displacements
and accelerations at the top of frame as well as bending
moments and shear forces at the base of the frame for
the various types of connections are presented in Table
2. The effects of viscous damping at joint connections on
the deflection and internal forces of the frame are also
included. The envelopes of lateral displacement and
shear force of the frame with various connection types
according to the first order and second order analyses
are plotted in Figs. 8 and 9.
It can be seen from Table 2 and Figs. 8 and 9 that the
frame with semi-rigid connections has a larger lateral
displacements, but smaller shear forces when compared
with the fully rigid connection. These differences in-
crease with decrease in the connection stiffness. Conse-
quently, the difference in maximum displacement at the
top of the frame with rigid joints and semi-rigid type of
joints are (in percent): 15.1 and 48.6 for linear or 19.1
and 64.0 for nonlinear types of TSDWA and DWA
connections, respectively. The differences (in percent) in
the shear forces at the base of the frame are: 3.9 and 13.2
for linear or 5.5 and 20.9 for nonlinear types of TSDWA
and DWA connections, respectively.
It is obvious that there is a significant difference be-
tween the results obtained for the frame with rigid joints
and the frames with semi-rigid (DWA and TSDWA)
connections especially in the case of the weak connec-
tions type (DWA).
The time histories of the lateral displacements at the
left top node of the frame with various connection types
according to the first order and second order analyses
are plotted in Fig. 10. It can be seen from Fig. 10 that
the frame with nonlinear connections has longer am-
plitudes and period when compared with the rigid joint
case. The displacement amplitudes and period increase
with a decrease in joint stiffness. They are longer in
DWA connection case than in the TSDWA connection
case. Besides, the nonlinear connections dampen and
produced nonrecoverable deflection due to the presence
of permanent deformations at connections. On the
contrary, the frame with either fully rigid and linear
 M. Sekulovic et al. / Computers and Structures 80 (2002) 935–955 943

Table 2
Maximum displacements and internal forces of frame investigated
Type of Maximum displacement Maximum bending mo- Maximum shear force of Maximum acceleration
connec- of node A (cm) ment of node B (kN m) node B (kN) of node A (m/s2 )
tions First order Second order First order Second order First order Second order First order Second order
Rigid
Present 2.84 3.10 161.16 166.59 58.00 55.86 0.863 0.736
study
SAP2000 2.85 3.10 161.50 166.60 58.13 55.81 0.905 0.953
TSDWA
Linear 3.27 3.58 164.33 174.39 53.39 51.98 1.23 1.31
c¼0
Linear 2.96 3.24 154.49 162.27 50.26 48.47 0.696 0.767
c ¼ 50; 000
Nonlinear 3.38 3.66 166.39 176.23 52.43 50.39 1.05 1.13
c¼0
Nonlinear 3.00 3.30 153.66 161.98 48.10 45.95 0.673 0.709
c ¼ 50; 000
DWA
Linear 4.22 4.60 178.02 182.67 47.59 42.61 1.38 0.712
c¼0
Linear 2.96 3.46 137.93 153.12 37.64 36.34 0.475 0.479
c ¼ 50; 000
Nonlinear 4.66 5.66 177.51 203.79 40.03 34.95 0.705 0.765
c¼0
Nonlinear 3.68 5.36 150.98 192.86 35.58 34.45 0.460 0.465
c ¼ 50; 000

Fig. 8. Lateral displacement envelopes (a) and shear force envelopes (b) according to the first order analysis.

connection types produces no hysteretic damping. Fig. magnifies the aforementioned nonlinear effects on the
10 shows also that the second order analysis further frame deflection response.
944 M. Sekulovic et al. / Computers and Structures 80 (2002) 935–955

Fig. 9. Lateral displacement envelopes (a) and shear force envelopes (b) according to the second order analysis.

Fig. 10. Time history displacement at the left top node of the frame with various connection types. According to the (a) first order
analysis and (b) second order analysis.
 M. Sekulovic et al. / Computers and Structures 80 (2002) 935–955
The influence of viscous damping at connections on
displacement response of frame with some types of
connections is shown in Figs. 11 and 12. These figures
show that viscous damping alters the deflection response
of the frame significantly, particularly in case a weak
connection type (DWA). It is obvious that the dis-
placement response of the frame decays with time for
both linear and nonlinear types of connections. In the
linear type connection case plotted in Figs. 11a and 12a
there is only viscous damping, so the frame oscillates
about its initial position. In the nonlinear type connec-
tion case plotted in Figs. 11b and 12b, there are both
viscous and hysteretic damping, so the frame oscillates
about its permanent drift position which exists as a re-
sult of the permanent nonrecoverable rotations of con-
nections.
5.1.4. Earthquake excitation
The frame is assumed to be subjected to the first four
seconds of Montenegro earthquake (1979) NS compo-
Fig. 11. The influence of viscous damping at connections on displacement response of the frame with TSDWA connections. (a) Linear
type of connection and (b) nonlinear type of connection.
945
nent motion shown in Fig. 13b. The peak ground ac-
celeration was 0.4 g at about third second. The
displacement response at the top of the frame with two
types of nonlinear connections and rigid jointed frame
according linear and second order analyses plotted in
Fig. 14. This figure shows considerable difference be-
tween the responses of rigid jointed frames and frames
with nonlinear connection types. The main reason for it
is hysteretic damping which exists only in nonlinear
connection case. It reduced transient deflection response
gradually decreasing its amplitude with time.
Fig. 14a shows that in both TSDWA and DWA
nonlinear types of connection there are permanent de-
flection drift (due to large connection rotation) to the
positive side (forward permanent deflection) in the first
case, and to the negative side (backward permanent
deflection) in the second case. Fig. 14b also shows that
the frame with DWA connection demonstrates re-
markably different response from the others. After
about 3 s in this case, the frame deforms suddenly to a
946 M. Sekulovic et al. / Computers and Structures 80 (2002) 935–955

Fig. 12. The influence of viscous damping at connections on displacement response of the frame with DWA connections. (a) Linear
type of connection and (b) nonlinear type of connection.

Fig. 13. Lateral load history. Accelerogram (a) and spectrum (b) for Montenegro earthquake (1979), Petrovac NS component.
 M. Sekulovic et al. / Computers and Structures 80 (2002) 935–955
Fig. 14. Time history displacement with various connection types according to the (a) first order analysis and (b) second order analysis.
peak value that reaches over 60 cm, and oscillates about
this permanent deflection. The main reason for this is
the appearance of large rotational deformations at the
joint connections.
The lateral displacement and shear force envelopes of
the frame with the previous connection types obtained
according linear and second order analyses are shown in
Figs. 15 and 16. The frames with flexible nonlinear con-
nections under applied earthquake motion have smaller
lateral displacements and shear forces when compared
with the rigid jointed frame. It is necessary bear in mind
that any earthquake is an excitation with a wide range of
frequencies. The predominant frequencies of the applied
earthquake are within the range from 2 to 10 Hz (peri-
ods 0.1–0.5 s). The lowest natural frequencies of the
investigated frames (rigid, TSDWA, DWA) are much
higher than the predominant earthquake frequencies,
while the second and the third natural frequencies are
947
within the range of predominant frequencies of the ap-
plied earthquake (Fig. 13b). It obviously has a great
influence on displacement response of these frames.
Time history acceleration responses of the frame with
rigid and two types nonlinear (TSDWA, DWA) connec-
tions according to linear and second order analyses are
shown in Fig. 17. It is obvious that there is a substantial
hysteretic damping effect on the acceleration response of
the frame with nonlinear connections. On the contrary,
in the case of rigid jointed frame, the acceleration re-
sponse is not dampened, so the large amplification of
the acceleration response exists. For the applied
ground motion, the acceleration is amplified from the
base to top of the frame by factors 6.5, 3.9 and 1.7 for
rigid, TSDWA and DWA case of connections, respec-
tively.
The hysteresis M–h loops at joint C of the frame with
TSDWA and DWA type of connections are shown in
948 M. Sekulovic et al. / Computers and Structures 80 (2002) 935–955

Fig. 15. Lateral displacement envelopes (a) and shear force envelopes (b) according to the first order analysis.

Fig. 16. Lateral displacement envelopes (a) and shear force envelopes (b) according to the second order analysis.

Fig. 18. It can be seen that the connections undergo
strong rotational deformations during the applied earth-
quake motion.
5.2. Single-bay two-storey frame
For the purpose of comparison of the analysis in this
paper with existing computational methods the single-
bay two-storey frame shown in Fig. 19 has been ana-
lyzed. Vibration and transient response analysis of the
frame were investigated by Chan and Ho [25] and Chan
and Chui [36]. They applied the numerical model based
on the linearized second order theory assuming the lin-
ear and nonlinear types of connections. The stiffness and
geometric matrices of the uniform beam with end
springs were obtained using conventional cubic Hermi-
tian shape functions. Two elements per beam and one
element per column were applied. The flush end plate
flexible connection type was assumed and modelled by
Chen–Lui exponential model [39] shown in Fig. 19b.
 M. Sekulovic et al. / Computers and Structures 80 (2002) 935–955 949

Fig. 17. Time history acceleration with various connection types according to the (a) first order analysis and (b) second order analysis.

Fig. 18. Hysteresis M–h loops at joint C of the frame with TSDWA (a) and DWA (b) type of connections.

The transient response of the frame was performed for The same frame has been analyzed by the present
the two cases of lateral loads (cyclic and impact) with numerical model and the results compared with those
and without the presence of gravitational loads. previously obtained by Chan and coworkers [25,36].
950 M. Sekulovic et al. / Computers and Structures 80 (2002) 935–955
Fig. 19. Single-bay two-storey frame. (a) Layout and (b) moment–rotation curves of flush end plate connection.
Table 3
Natural frequencies of the single-bay two-storey frame
Type of Natural frequencies (rad/s)
connection Present work Chan and Ho
Rigid 10.50 10.35
Flush end plate 7.28 7.30
TSDWA 7.11 7.13
The natural frequencies of the frame for the fully
rigid and linear semi-rigid (flush end plate and TSDWA)
connections have been determined and shown in Table
3. It can be seen that they are agree well with the results
by Chan and Ho.
The time histories of the displacement at node B and
the hysteretic loops at node A of the frame under the
lateral cyclic loads obtained by Chan and Chui and in
the current study are shown in Fig. 20. It can be seen
that the response curves are very close.
Displacement response of the frame subjected to the
impact loads obtained by Chan and Chui and by the
present study is shown in Fig. 21.
It can be seen that the response curves have the same
character, but there are some differences between their
amplitudes and periods. These differences are small at
the beginning and they gradually increase with time. As
expected, they are larger in the case the presence than in
the case the absence of gravitational loads. The frame
analyzed by the present study has smaller amplitudes
and nonrecoverable deflections, as well as shorter peri-
ods when compared with the same frame analyzed by
Chan and Chui.
6. Conclusion
An efficient method to perform dynamic analyses of
steel frame structures with flexible connections has been
presented in this paper. A numerical model that includes
both nonlinear connection behavior and geometric
nonlinearity of the structure has been developed. The
complex dynamic stiffness matrix for a prismatic beam
with rotational springs and dashpots attached at its ends
was obtained in an explicit form. The stiffness matrix
was based on the analytical solutions of the second order
equations, so that each beam corresponds to one finite
element.
On the bases of the above theoretical considerations
and the results of the applied numerical analysis, it is
evident that the flexible joint connections greatly influ-
ence the dynamic behavior of steel frames. The connec-
tion flexibility may significantly alter both vibration
and the response of frames. An increase in the connec-
tion flexibility reduces the frame stiffness, and thus the
eigenfrequencies, particularly the lower ones, which may
have a primary influence on dynamic response of the
structure.
From the results of numerical examples it can be
concluded that the structural responses of the frames
with nonlinear connections and the frames with con-
ventional type of connections (rigid or linear) are con-
siderably different. It shows that the effect of hysteretic
damping on structural response is significant. Therefore,
the nonlinear constitutive model for connections should
be used in design and response analysis of real frame
structures. The linear model is inadequate as it cannot
represent a hysteretic behavior of connection under cy-
clic loads.
From the results, it can also be concluded that the
viscous damping at connections may considerably re-
duce the displacement response and internal forces of
the frame, particularly in the case of weak connection
types. The influence of the geometric nonlinearity in-
creases with the gravitational loads and the lateral frame
deflections. It is higher in the frame with flexible con-
nections than with rigid joints.
The connections are vital structural components that
are very often responsible for the behavior and safety of
frame structures subjected to strong dynamic (seismic)
loads. Therefore, connection design and modelling have
a great practical importance.
 M. Sekulovic et al. / Computers and Structures 80 (2002) 935–955 951

Fig. 20. Dynamic behavior of two-storey frame under cyclic loads. (a) Displacement response at node B and (b) hysteretic loops at
node A.

Appendix A. N3 ðxÞ ¼ D 1 ½1 cos x xn sin x þ sin x sin xn

ð1 cos xÞ cos xn;
The interpolation functions Ni ðxÞ, i ¼ 1; . . . ; 4, for the
compressive member ðN < 0Þ, are:
N4 ðxÞ ¼ lðDxÞ 1 ½sin x x þ xnð1 cos xÞ
N1 ðxÞ ¼ D 1 ½1 cos x x sin x þ xn sin x ð1 cos xÞ sin xn þ ðx sin xÞ cos xn;
sin x sin xn þ ð1 cos xÞ cos xn;
where
N2 ðxÞ ¼ lðDxÞ 1 ½x cos x sin x þ xnð1 cos xÞ
rffiffiffiffiffiffiffi
þ ð1 cos x x sin xÞ sin xn x jN j
D ¼ 2ð1 cos xÞ x sin x; n¼ ; x¼l :
þ ðsin x x cos xÞ cos xn; l EI
952 M. Sekulovic et al. / Computers and Structures 80 (2002) 935–955

Fig. 21. Displacement response of two-storey frame under impact loads. (a) Without gravity and (b) with gravity loads.

The shape functions for the tensile member ðN > 0Þ can 6

g41 ¼ g43 ¼ ½g2 þ 2g1 g2 ð2/3 /4 Þ/2 ;
be obtained from the foregoing expressions replacing lD
x ¼ jx, and using the relations shx ¼ j sin jx and
chx ¼ cos jx. 6e1
The elements of the correction matrix G are: g42 ¼ ½g2 þ 2g1 g2 ð2/3 /4 Þ/2 2g2 /4 ;
lD
6
g21 ¼ g23 ¼ ½g1 þ 2g1 g2 ð2/3 /4 Þ/2 ;
lD
6e2
g44 ¼ ½g2 þ 2g1 g2 ð2/3 /4 Þ/2 4½g2 /3
6e1 lD
g22 ¼ ½g1 þ 2g1 g2 ð2/3 /4 Þ/2 þ g1 g2 ð4/23 /24 Þ;
lD
4½g1 /3 þ g1 g2 ð4/23 /24 Þ;
EI
D ¼ ð1 þ 4g1 /3 Þð1 þ 4g2 /3 Þ 4g1 g2 /24 ; gi ¼
6e2 lki
g24 ¼ ½g1 þ 2g1 g2 ð2/3 /4 Þ/2 2g1 /4 ;
lD i ¼ 1; 2:
 M. Sekulovic et al. / Computers and Structures 80 (2002) 935–955 953

The elements of matrix k1 according to the second 6EI 4EI

k12 ¼ k23 ¼ ð1 þ 2g2 Þ; k44 ¼ ð1 þ 3g1 Þ;
order theory are: l2 D lD

EI 4EI 4EI
k1 11 ¼ k1 13 ¼ k1 33 ¼ 12l/2 ða þ bÞ; k22 ¼ ð1 þ 3g2 Þ; k24 ¼ ; kjk ¼ kkj
l3 D lD lD
EI 2
k1 22 ¼ 4l ð2/3 c þ /4 f Þ; pffiffiffiffiffiffiffi
l3 D EI 1
gi ¼ ; ki ¼ ki þ jxci ; j ¼ 1;
l ki
EI D ¼ 1 þ 4g1 þ 4g2 þ 12g1 g2 :
k1 12 ¼ k1 23 ¼ ½6l/2 ðc þ f Þ þ 2l2 ð2/3 a þ /4 bÞ;
l3 D
EI 2
k1 44 ¼ 4l ð2/3 d þ /4 eÞ; The elements of damping matrix c are:
l3 D

EI c11 ¼ c13 ¼ c33

k1 14 ¼ k1 34 ¼ ½6l/2 ðd þ eÞ þ 2l2 ð2/3 b þ /4 aÞ; 36EI
l3 D ¼ ðh1 þ h2 þ 4g1 h2 þ 4g12 h2 þ 4g2 h1 þ 4g22 h1 Þ;
k1 24 ¼
EI 2
2l ½2/3 ðe þ f Þ þ /43 ðd þ cÞ; l3 D2
l3 D
12EI
c12 ¼ c23 ¼ ð2h1 þ h2 þ 2g1 h2 þ 10g2 h1 þ 12g22 h1 Þ;
k1 jk ¼ k1 kj : l2 D2
The elements of matrix k2 according to the second 12EI
order theory are: c14 ¼ c34 ¼ ðh1 þ 2h2 þ 10g1 h2 þ 12g12 h2 þ 4g2 h1 Þ;
l2 D2
k2 11 ¼ k2 13 ¼ k2 33
  4EI
EI a2 b2 c22 ¼ ð4h1 þ h2 þ 24g2 h1 þ 36g22 h1 Þ;
¼ 2 4/3 ða2 þ b2 Þ þ 4/4 ab þ þ ; lD2
lD g1 g2
8EI
k2 12 ¼ k2 23 c24 ¼ ðh1 þ h2 þ 3g1 h2 þ 3g2 h1 Þ;
  lD2
EI ac bf
¼ 2 4/3 ðac þ bf Þ þ 2/4 ðaf þ bcÞ þ þ ; 4EI
lD g1 g2 c44 ¼ ðh1 þ 4h2 þ 24g1 h2 þ 36g12 h2 Þ; cjk ¼ ckj ;
lD2
k2 14 ¼ k2 34 where hi ¼ ðci EIÞ=ðlki2 Þ, i ¼ 1; 2.
 
EI ae bd The elements of mass matrix m are:
¼ 2 4/3 ðae þ bdÞ þ 2/4 ðad þ beÞ þ þ ;
lD g1 g2
m11 ¼ m13 ¼ m33
 
EI c2 f 2 36EI
k2 22 ¼ 2 4/3 ðc2 þ f 2 Þ þ 4/4 cf þ þ ; ¼ 3 3 ðg2 h21 þ 8g22 h21 þ 20g23 h21 þ 16g24 h21
lD g1 g2 l D g1 g2
 
EI e2 d 2 4g1 g2 h1 h2 8g12 g2 h1 h2 8g1 g22 h1 h2
k2 44 ¼ 2 4/3 ðd 2 þ e2 Þ þ 4/4 ed þ þ ;
lD g1 g2 16g12 g22 h1 h2 þ g1 h22 þ 8g12 h22 þ 20g13 h22 þ 16g14 h22 Þ;
 
EI ce df m12 ¼ m23
k2 24 ¼ 4/ 3 ðce þ df Þ þ 2/4 ðcd þ ef Þ þ þ ;
lD2 g1 g2 12EI
¼ 2 3 ð2g2 h21 þ 18g22 h21 þ 52g23 h21 þ 48g24 h21
l D g1 g2
where a ¼ g21 ¼ g23 , b ¼ g41 ¼ g43 , c ¼ g22 , d ¼ g44 ,
6g1 g2 h1 h2 8g12 g2 h1 h2 16g1 g22 h1 h2
e ¼ g24 , f ¼ g42 and e1 ¼ e2 ¼ 0.
Analytical expressions for the functions /i , 24g12 g22 h1 h2 þ g1 h22 þ 6g12 h22 þ 8g13 h22 Þ;
i ¼ 1; . . . ; 4 can be found in Ref. [35].
The elements of complex dynamic stiffness matrix k m14 ¼ m34
according to the first order analysis are:
12EI
¼ 2 3 ðg2 h21 þ 6g22 h21 þ 8g23 h21
l D g1 g2
12EI
k11 ¼ k13 ¼ k33 ¼ ð1 þ g1 þ g2 Þ; k14 ¼ k34 6g1 g2 h1 h2 16g12 g2 h1 h2 8g1 g22 h1 h2 8g1 g22 h1 h2
l3 D
6EI 24g12 g22 h1 h2 þ 2g1 h22 þ 18g12 h22 þ 52g13 h22
¼ ð1 þ 2g1 Þ;
l2 D þ 48g14 h22 Þ;
954 M. Sekulovic et al. / Computers and Structures 80 (2002) 935–955
4EI
m22 ¼ ð4g2 h21 þ 40g22 h21 þ 132g23 h21 þ 144g24 h21
lD3 g1 g2
8g1 g2 h1 h2 24g1 g22 h1 h2 þ g1 h22 þ 4g12 h22 Þ
8EI
m24 ¼ ðg2 h21 þ 7g22 h21 þ 12g23 h21 5g1 g2 h1 h2
lD3 g1 g2
12g12 g2 h1 h2 12g1 g22 h1 h2 36g12 g22 h1 h2
þ g1 h22 þ 7g12 h22 þ 12g13 h22 Þ;
4EI
m44 ¼ ðg2 h21 þ 4g22 h21 8g1 g2 h1 h2 24g12 g2 h1 h2
lD3 g1 g2
þ 4g1 h22 þ 40g12 h22 þ 132g13 h22 þ 144g14 h22 Þ
mjk ¼ mkj :
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