Response of MDOF structures

to ground motion

1
M x&&(t )  C x&(t )   K x(t )   M %
1 x&
&g (t )
% % %

If damping is well-behaving, or can be approximated

using equivalent viscous damping, we can decouple the
equations of motion using modal decomposition:

 q1 (t ) 
 q (t ) 
 
x(t )  1
%
2 L
% % %  M %
 
N   2     q(t )

qN (t ) 

and separate the system into its natural modes.

2
  M x&&(t )  C x&(t )   K x(t )   M %
1 x&
&g (t )
% % %

becomes

% M % q&&(t )  % C % q&(t )  %  K % q (t )  % M %1 x&&(t )
T T T T
i i i i i i i i i i g

i  1, 2, L , N

% M %
T
or when normalized with respect to modal mass i i

q&
&i (t )  2 w &
q
i i i (t )  w 2
&&
i qi (t )   i xg (t ) i  1, 2, L , N

3
q&
&i (t )  2 w &
q
i i i (t )  w 2
&&
i qi (t )   i xg (t ) i  1, 2, L , N

    M 1
T
i
where i  % % , called modal participation factor for mode i.
% M %
T
i i

  i 
T
M 
% j 1
1
m j ji
i  % T  N
%i  M %i   m j ji2
j 1

4
 q&
&i (t )  2 w &
q
i i i (t )  w 2
&&
i qi (t )   i xg (t ) i  1, 2, L , N

For a lightly damped (underdamped) system that is initially at rest,

solution can be found using the convolution/Duhamel’s integral:

i t

i wi ( t  )
qi (t )   &
x&g ( ) e sin wd ,i (t  )d
wd ,i 0

Once you have qi (t ) you can find the contribution of the i-th mode to the
response of the structure.

5
Using the modal response, we can find various response values in each
mode.

Contribution of the i-th mode to the displacement x j (t ) at the j-th floor:

x ji (t )   ji qi (t ) j  1, 2, K , N

Interstory drift, i.e. story distortion, in story j is given by the difference of

displacements of the floor above and floor below:

 ji (t )  x ji (t )  x( j 1)i

6
To find internal forces (story shears, moments, etc.) associated with
deformations convenient, we can introduce the concept of equivalent
static lateral forces.
Equivalent static lateral forces are external forces F which, if applied
as static forces, would cause structural displacements x at given time
instant.

At any instant of time, the equivalent lateral forces associated with

displacements due to contribution by mode i :

 F1i (t ) 
 F (t ) 
 2i 
Fi (t )   
% M 
 FNi (t ) 
Fi (t )   K xi (t )
% % 7
 Similarly, we can use inertial forces to find the equivalent lateral forces,

Fi (t )    M x&&iabs (t )   M i  q&&i (t )   i 1 x&&g (t ) 

% % % %

   M  i  q&
%
&i (t )   i xg (t ) 
&
&


   M  i (2i wi q&i (t )  wi2 qi (t ))
% the velocity term is at least an

 wi2  M  i qi (t )
%
order of magnitude smaller
than the displacement term,
and as such, neglected.

 F1i (t )   wi
2
m  q
1 1i i (t )   w 2
i m1 x1i (t )

 F (t )   2   2 
 2i   wi m22i qi (t )   wi m2 x2i (t ) 
Fi (t )     
% M  M  M 
 FNi (t )   w2 m  q (t )   w2 m x (t ) 
 i N Ni i   i N Ni  8
 i t

i wi ( t  )
As qi (t )   &
x&g ( ) e sin wd ,i (t  )d
wd ,i 0

for underdamped structures, the equivalent static lateral force at

the j-th floor can be found from

t
i

i wi ( t  )
2
Fji (t )   w m j ji
i
&
x&g ( ) e sin wd ,i (t  )d
wd ,i 0

Internal forces can be determined by static analysis of the structure

loaded by the equivalent static lateral forces.

9
Story shear at j-th story due to response in i-th mode may be
calculated by summing the modal inertial forces above and at story j :
N
V ji (t )   Fki (t )
k j

Total shear force at the foundation level

(“base shear”) due to response in i-th mode:
N
V0i (t )   Fji (t )
j 1

Total overturning moment at the foundation level (“base overturning

moment”) due to response in i-th mode:
N
M 0i (t )   F ji (t )  h j h j : elev. of story j above the base
j 1

10
We can write the base shear for i-th mode as

N N N
V0i (t )   Fji (t )   m j  x&
&ji (t )    wi2 m j x ji
e
j 1 j 1 j 1

N
i t
V0i (t )    w m j ji
2
i  &
x&g ( )e i wi ( t  )
sin wd ,i (t  )d
j 1 wd ,i 0
wi2 t
%
T

%

V0i (t )   1  M  i  i 
wd ,i 0
&
x&g ( ) e i wi ( t  )
sin wd ,i (t  )d

i   M 1 wi2 t

T

V0i (t )   1  M i  % T

T
%  &
x& ( ) e i wi ( t  )
sin wd ,i (t  )d
% i   M i  wd ,i 0
g
%
% %

      M 1%
T T
1 M  i  1  M  i
T T
But  i
% % % % %
11
 % M 1%
T 2
t
i wi2

i wi ( t  )
V (t )   &
x& ( ) e sin wd ,i (t  ) d
%i  M %i 
0i T g
wd ,i 0

2
 N 
   ji m j 
 j 1  wi2 t

i wi ( t  )
V0i (t )   N &
x&g ( ) e sin wd ,i (t  ) d
2 w
 m j  ji  d ,i 0
j 1

2
 N 
  ji j 
 m
The term  j 1  is called the “effective modal mass” of mode i.
N

 m j  ji 
2

j 1

12
The overturning base moment for i-th mode could be written as
N
M 0i (t )   Fji (t )  h j
j 1

    M 1 
T
N  wi2 t
M 0i
i
(t )   % % h m  ji   &
x& ( ) e i wi ( t  )
sin wd ,i (t  )d
% M % 
T j j g
i i
j 1  wd ,i 0

13
 Base Overturning Moment mode i
Equivalent Height mode i =
Base Shearmode i

N N

M 0i (t )
F
j 1
ji (t )  h j h m 
j 1
j j ji

hequiv ,i   N
 N
V0i (t )
F j 1
ji (t ) m 
j 1
j ji

hequiv ,i

14
 2
 N 
   ji m j 
 j 1 
“Effective modal mass” of mode i = N

 m  
2
j ji
j 1

M 0i (t )
h m 
j 1
j j ji

hequiv ,i   N
V0i (t )
m 
j 1
j ji

15
 Identical mass, identical story stiffness building

Building Mode 1 Mode 2 Mode 3 Mode 4 Mode 5 Mode 6 Mode 7 Mode 8 Mode 9 Mode 10

Effective Modal Mass 1.00

1-Story
Equivalent Height 1.00

Effective Modal Mass 0.95 0.05

2-Story
Equivalent Height 0.81 -0.31

Effective Modal Mass 0.91 0.07 0.01

3-Story
Equivalent Height 0.75 -0.27 0.19

Effective Modal Mass 0.89 0.08 0.02 0.00

4-Story
Equivalent Height 0.72 -0.25 0.16 -0.13

Effective Modal Mass 0.88 0.09 0.02 0.01 0.00

5-Story
Equivalent Height 0.70 -0.24 0.15 -0.12 0.10

Effective Modal Mass 0.87 0.09 0.03 0.01 0.00 0.00

6-Story
Equivalent Height 0.69 -0.24 0.15 -0.11 0.09 -0.09

Effective Modal Mass 0.86 0.09 0.03 0.01 0.01 0.00 0.00
7-Story
Equivalent Height 0.68 -0.23 0.14 -0.11 0.09 -0.08 0.07

Effective Modal Mass 0.86 0.09 0.03 0.01 0.01 0.00 0.00 0.00
8-Story
Equivalent Height 0.68 -0.23 0.14 -0.10 0.08 -0.07 0.07 -0.06

Effective Modal Mass 0.85 0.09 0.03 0.01 0.01 0.00 0.00 0.00 0.00
9-Story
Equivalent Height 0.67 -0.23 0.14 -0.10 0.08 -0.07 0.06 -0.06 0.06

Effective Modal Mass 0.85 0.09 0.03 0.01 0.01 0.00 0.00 0.00 0.00 0.00
10-Story
Equivalent Height 0.67 -0.22 0.14 -0.10 0.08 -0.07 0.06 -0.06 0.05 -0.05

16
The total response of the structure is obtained by combining the
modal responses in all the modes of vibration.
The displacement at the j-th floor, the lateral force at the j-th floor, the
base shear, and the base moment are given by

N
x j (t )   x ji (t )
i 1
N
Fj (t )   F ji (t )
i 1
N
V0 (t )   V0i (t )
i 1
N
M 0 (t )   M 0i (t )
i 1

17
 MODAL DECOMPOSITION APPROACH TO ANALYSE
BASE-EXCITED STRUCTURES

The response of an idealized multistory building to earthquake ground motion can be

computed by the following procedure:

1. Find the ground acceleration.

2. Define the structural properties:

a. Compute mass and stiffness distribution (i.e. [M] and [K])
b. Estimate modal damping ratios.
    
3. Find natural frequencies w1 , w2 , , wN and modeshapes 1 , 2 , , N of
  
vibration (i.e. solve the eigenvalue problem).

4. Compute the response of individual modes of vibration by repeating the following

steps for each mode:
a. Compute the modal response qi (t ) by numerical evaluation of the
Duhamel integral.
b. Compute the floor displacements.
c. Compute story drifts from the floor displacements.
d. Compute the equivalent lateral forces.
e. Compute internal forces –story shears and moments– by static analysis of
the structure subject to the equivalent forces.
5. Determine the total value of any response quantity by combining the modal
contributions that response quantity.
18
Examples

19
T1=1.2 sec
T2=0.7 sec
T3=0.4 sec

Total wt=900 kip

20
21
22
23
El Centro 5/18/1940 EQ ground
motion – NS component. The length
of the record is 30 sec.

24
25
26
Use the response records to compute inertia forces developed in the structure.

Ex: Inertial forces that develop in the structure during 1st mode response .

27
Distribution of the modal inertial forces follow the respective modeshape

28
Distribution of shear forces in the structure for the first three modes:

29
Modal base shear demand

30
31
Question: Is there an easier way to estimate
maximum response?

YES!
use response spectra

32
 i t i

i wi ( t  )
qi (t )   &
&
xg ( )e sin wd ,i (t  )d   Wi (t , x&
&g ,  i , wi )
wd ,i 0 wd ,i

 g
i wi ( t  )
where Wi (t , x&
&g ,  i , wi )  &
x& ( ) e sin wd ,i (t  ) d
0

For lightly damped structures wd ,i  wi , so we can approximate

i
qi (t )   Wi (t , x&
&g , i , wi )
wi

For example, displacements are

N N
i
x(t )   qi (t ) i (t )    Wi (t , x&
&g , i , wi ) i (t )
% i 1 % i 1 wi %

33
Interested in the “maxima” – the absolute maximum quantities, such as peak displacement,
peak interstory drift (story distortion), and such.

Ex: Maximum displacement of floor j.

First, we find the maximum story displacement for each story and in each mode.
Say, we want to find, x ji (t ) the displacement of j-th story due to response in i-th mode.

x ji (t )   ji qi (t )

i
x max
ji  max x ji (t )   ji max qi (t )   ji qi
max
(t )   ji max Wi (t , x&
&g ,  i , wi )
t t wi t

1
max Wi (t , x&
& &&
g ,  i , wi )  SD (Ti ,  i | x g )
wi t

The maximum displacement (relative to ground) of a single-degree-of-freedom system

with period Ti and damping ratio  i when excited with the given ground motion x&
&g .

34
 i
x max
ji
max
 max x ji (t )   ji max qi (t )   ji q
i (t )   ji max Wi (t , x&
&g ,  i , wi )
t t wi t

x max
ji   ji  i SD(Ti , i | x&
&g)

How do we find total response?

35
x j (t )  x j1 (t )  x j 2 (t )  L  x jN (t )

x max
j  max x j1 (t )  x j 2 (t )  L  x jN (t )
t

max x j1 (t )  x j 2 (t )  L  x jN (t )  max x j1 (t )  max x j 2 (t )  L  max x jN (t )

t t t t

Absolute Sum approach (Absolute combination)

N N
x max
j  max x j1 (t )  max x j 2 (t )  L  max x jN (t )   max x ji (t )  x max
ji
t t t t
i 1 i 1

Square-root of Sum of Squares (SRSS) combination

N
x max
j  x 
i 1
max 2
ji

36
 ji (t )  x ji (t )  x( j 1) i (t )

N
 j (t )    ji (t )
i 1

 ji 

max max 2
 j (t )  
i 1

CAUTION: When you want to combine the effects of the modes to estimate a reasonable
value for the maximum of a response parameter (story displacement, interstory drift, story
force, etc.), you need to find value of the response parameter for each mode and then
combine using any of the combination rules.

Do not use already-combined response parameters (say, story displacement estimates

that considered contributions from all modes) to estimate other response parameters (say,
story forces); such an approach will result in erroneous estimates.

37
 Base shear

% M 1%
T 2
t
i wi2

i wi ( t  )
V (t )   &
x& ( ) e sin wd ,i (t  ) d
%i  M %i 
0i T g
wd ,i 0

 
2

%i  M 1% t
T

i g
i wi ( t  )
 w &
x& ( ) e sin wd ,i (t  )d
%i  M %i  0
T

% M 1%
T 2

i
Vmax
 max V (t )  w max W (t , &
x&,  , w )
% M %
0i 0i T i i g i i
t t
i i

wi max Wi (t , x&
& &&
g ,  i , wi )  PSA(Ti ,  i | xg )
t

38
 % M 1%
T 2

i
V max
 PSA(T ,  | x&
&)
% M %
0i T i i g
i i

V0max
i  Effective modal mass i  PSA(Ti ,  i | x&
&g)

How do we find total base shear?

N N 2

V0 max   V 
i 1
max 2
0i   effective modal mass  gPSA(T , 
i 1
i i i | x&
& 
g )

39
Example: 7-story building

40
 The spectral displacement values at the first four periods of our 7-story structure are

T1  0.68sec  S d 1  4.43 in q1max  1SD1  4.33 x 4.43 in=19.2 in

T2  0.23sec  S d 2  0.44 in giving q2max  0.62 in
T3  0.14sec  S d 3  0.15 in q3max  0.12 in
T4  0.11sec  S d 4  0.07 in q4max  0.04 in

41
T1  0.68sec  S d 1  4.43 in q1max  1SD1  4.3292 x 4.43 in=19.2 in
T2  0.23sec  S d 2  0.44 in giving q2max  0.62 in
T3  0.14sec  S d 3  0.15 in q3max  0.12 in
T4  0.11sec  S d 4  0.07 in q4max  0.04 in

Roof displacement

max
u71  71q1max  0.2914 x 19.2 in  5.6 in
max
u72  72 q2max  0.17in (3.1% of the first-mode response.)
max
u73  73 q3max  0.03 in (0.6% of the first-mode response.)

Note that these maxima match the maxima in the corresponding response histories.

42
43
Roof total displacement estimate

Absolute Sum approach (Absolute combination)

u7max  u71
max max
 u72 max
 u73 max
 u74 max
 u75 max
 u76 max
 u77
 5.59  0.17  0.03  0.008  0.0027  0.00092  0.000015  5.80 in

Square-root of Sum of Squares (SRSS) combination

u71max   u72max   u73max   u74max   u75max   u76max   u77max 

2 2 2 2 2 2 2
u7max 
 5.59 in

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45
Rule of thumb:

Maximum displacement at the roof is 1.2~1.5 times the spectral displacement

of the fundamental mode.

More like 1.2 for frame and 1.5 for shearwall buildings.

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Building Mode 1 Mode 2 Mode 3 Mode 4 Mode 5 Mode 6 Mode 7 Mode 8 Mode 9 Mode 10

Effective Modal Mass 1.00

1-Story Equivalent Height 1.00
Roof Disp to SD ratio 1.00

Effective Modal Mass 0.95 0.05

2-Story Equivalent Height 0.81 -0.31
Roof Disp to SD ratio 1.17 -0.17
Base Overturning Moment mode i
Equivalent Heightmode i =
Effective Modal Mass 0.91 0.07 0.01 Base Shearmode i
3-Story Equivalent Height 0.75 -0.27 0.19
Roof Disp to SD ratio 1.22 -0.28 0.06

Effective Modal Mass 0.89 0.08 0.02 0.00

4-Story Equivalent Height 0.72 -0.25 0.16 -0.13
Roof Disp to SD ratio 1.24 -0.33 0.12 -0.03

Effective Modal Mass 0.88 0.09 0.02 0.01 0.00

5-Story Equivalent Height 0.70 -0.24 0.15 -0.12 0.10
Roof Disp to SD ratio 1.25 -0.36 0.16 -0.06 0.02

Effective Modal Mass 0.87 0.09 0.03 0.01 0.00 0.00

6-Story Equivalent Height 0.69 -0.24 0.15 -0.11 0.09 -0.09
Roof Disp to SD ratio 1.26 -0.38 0.18 -0.09 0.04 -0.01

Effective Modal Mass 0.86 0.09 0.03 0.01 0.01 0.00 0.00
7-Story Equivalent Height 0.68 -0.23 0.14 -0.11 0.09 -0.08 0.07
Roof Disp to SD ratio 1.26 -0.39 0.20 -0.11 0.06 -0.02 0.01

Effective Modal Mass 0.86 0.09 0.03 0.01 0.01 0.00 0.00 0.00
8-Story Equivalent Height 0.68 -0.23 0.14 -0.10 0.08 -0.07 0.07 -0.06
Roof Disp to SD ratio 1.26 -0.40 0.21 -0.12 0.07 -0.04 0.02 0.00

Effective Modal Mass 0.85 0.09 0.03 0.01 0.01 0.00 0.00 0.00 0.00
9-Story Equivalent Height 0.67 -0.23 0.14 -0.10 0.08 -0.07 0.06 -0.06 0.06
Roof Disp to SD ratio 1.27 -0.40 0.22 -0.13 0.08 -0.05 0.03 -0.01 0.00

Effective Modal Mass 0.85 0.09 0.03 0.01 0.01 0.00 0.00 0.00 0.00 0.00
10-Story Equivalent Height 0.67 -0.22 0.14 -0.10 0.08 -0.07 0.06 -0.06 0.05 -0.05
Roof Disp to SD ratio 1.27 -0.41 0.23 -0.14 0.09 -0.06 0.04 -0.02 0.01 47
0.00
Base Shear Force

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V0max
i   Effective Modal Mass i  PSA(Ti , i | x&
&g)

49
Mode Effective Modal Mass Effective Spectral Pseudo-Acceleration,
(kip-sec2/ft) Weight SA
(kip) (g)
1 18.74 603.4 0.96
2 1.96 63.1 0.84
3 0.62 20.0 0.75
4 0.26 8.4 0.65
5 0.11 3.5 -
6 0.04 1.3 -
7 0.01 0.3 -

Total : 700 kip

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V01max  18.74  0.96 g  579.3 kip
V02max  1.96  0.84 g  53.0 kip (9% of first-mode response)
V03max  0.62  0.75 g  15.0 kip (3% of first-mode response)
V04max  0.26  0.65 g  5.5 kip (1% of first-mode response)

Absolute Sum approach (Absolute combination)

V0max  658 kip

Square-root of Sum of Squares (SRSS) combination

V0max  584 kip

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Modal base shear demand

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53