LL OF IAPAN, INC, Tokyo VIBRATIONS OF SOILS AND FOUNDATIONS FE. Richart, Jr. (Professor) J.R. Hall, jr. (Assoc. Professor) R. D. Woods (Asst. Professor) Department of Civil Engineseing ‘The University of Michigan ‘Ann Arbor, Michigan Prentice-Hall, Inc, Englewood Ciifs, New Jerseygh 119 Ae © 1970 by PRENTICE-HALL, INC. Englewood Clits, NJ. All rights reserved, No patt of this book may be reproduced in any form for by any meas without peratssion CCurreat printing (ast digi) oR 76s4321 13-981716-8 Library of Congress Catalog Card Number: 75100361 Printed in the United States of America PREFACE Problems related to vibrations of soils and foundations have required increased attention during the past two decades, and notable advances have been made during the past ten years. Recent contributions include new theoretical procedures for calculating dynamic responses of foundations, improved field and laboratory methods for determining dynamic behavior of sols, and field measurements to evaluate the performance ofthe prototype Ik is the purpose of this text to deseribe the state-of-the-art as it relates 10 procedures for analysis, design, and measurements of the response of foundations to dynamic loadings, and the transmission of vibrations through soils. The primary emphasis is directed towards vibrations of the mag- nitudes generated by machinery, but the principles and many of the results can be adapted to the dynamic conditions resulting from earthquakes or blast loadings. The book has developed from notes prepared for a graduate course in * Soil Dynamics which has been taught by the authors, in succession, since 1961. It has been assumed that the reader has an adequate background in statics and elementary dynamics but probably has not completed a formal course in vibration theory. Chapter 2 reviews the elements of vibrations needed to understand the material presented in later chapters. The course notes, essentially in the present form, were prepared for a two-week short Course during the summer of 1968 which was attended by practicing engineers and professors. It has been found that the contents of this book can be followed readily by practicing engineers and that this information may rovide the basis for a first year graduate course. ‘Throughout the text notes are included to point out topics which need further investigation, both analytical and experimental, In particular, thevi PREFACE need for field evaluation of the behavior of prototype installations is empha sized, Tis only through a feedback from prototype measurements to design procedures that we are able to gain confidence in and improve upon present design methods. Chapter 9 on Instrumentation is included to familiarize the reader with the principles and types of vibration measuring equipment which may be used for obtaining field and laboratory data on vibrations of soils and foundations. ‘The authors wish to acknowledge the stimulation and assistance offered by several senior advisors and by many colleagues. The number of times a ‘name appears in the reference list indicates some measure of each individual's contribution to our background in the subject of vibrations of soils and foundations. The late Professor K. Terzaghi directed the attention of the senior author toward soil dynamics in 1951 and subsequently provided many forms of assistance and encouragement. Several of the recent improvements in the analyses of soil dynamics problems are based on methods developed by Professor N. M. Newmark, and his stimulation and interest have contributed to our continued efforts in this field. Discussions with Professor R. V. ‘Whitman over the past decade have been especially significant in our selection ‘and evaluation of topics for continued study. Many junior colleagues, particularly Dr. T. Y, Sung and Professors B. O. Hardin, J. Lysmer, and 'V.P. Drnevich have contributed directly to the ideas and methods presented in this text. Special thanks are extended to Mr. M. P, Blake for his careful reading of the notes and for his valuable comments. Finally, the authors wish to acknowledge the generous assistance provided by the Department of Civil Engineering, The University of Michigan, to the development and preparation of this text. We have appreciated the careful typing of the manuscript which was done by Miss Pauline Bentley and ‘Miss Reta Teachout. F. E, Ricuarr, JR, JR. HALL, Ji. R. D. Wooos Aun Arbor Michigan Fanuary 1968 CONTENTS Introduction 1 1A Design Criteria 1.2. Relations Between Applied Loads and Quantities which Govern Criteria 1.3. Evaluation of Soil Properties 14 Design Procedures Vibration of Elementary Systems 5 2.1 Vibratory Motion 22 Vector Representation of Harmonic Motion 2.3. Single-Degree-of-Freedom Systems 24 Phase-Plane Analysis of Single-Degree-of-Freedom Systems 25. Systems with Two Degrees of Freedom 26 Natural Frequencies of Continuous Systems Wave Propagation in an Elastic, Homogeneous, Isotropic Medium 60. 3.1 Waves in a Bounded Elastic Medium 32. Waves in an Infinite, Homogeneous, Isotropic Elastic Medium 3.3, Waves in an Elastic Half-Space 10 " 2 8 374 Elastic Waves In Layered Systems 93 4.1. Distribution of Wave Energy at Boundaries 42. Elements of Seismic Methods 43° Steady-State Vibration Techniques Propagation of Waves in Saturated Media rt 5.1 Introduetion 5.2 Compression Waves in Ideal Fluids 5.3 Wave Propagation in Porous Saturated Solids 5.4 Effect of Water Table on Wave Propagation in Soils 55° Summary Behavior of Dynamically Loaded Soils 140 6.1 Introduction 62 Behavior of Elastic Spheres in Contact 63 Behavior of Soils Under Small-Amplitude Vibratory Loading 64 Behavior of Soil Under Large-Amplitude Loading. Theories for Vibrations of Foundations on Elastic Media 191 TA Introduction 7.2 Lamb (1904) and the Dynamic Boussinesq Problem 7.3. Vertical Oscillation of Footings Resting on The Surface (of The Elastic Half-Space 74 Torsional Oscillation of Circular Footings on the Elastic Half-Space 75 Rocking Oxcitlation of Footings Resting on the Elastic Half-Space 76 Sliding Oscillation of a Circular Disk Resting on the Elastic Half-Space 7.7 Geomettical Damping Associated with Vibrations of Rigid Circular Footings on the Elastic Half-Space 78 Coupled Rocking and Sliding of the Rigid Circular Footing on the Elastic Half-Spice 7.9 Oscillation of the Rigid Circular Footing Supported by an Elstic Layer 7.40 Vibrations of Rigi Foundations Supported by Piles or 93, m1 2 123 132 136 139 140 M4 131 170 191 12 194 213 216 22a 224 20 230 235 fo contexts Isolation Of Foundations 244 8.1. Isolation by Location 82. Isolation by Barriers Instrumentation for Laboratory ond Field Measurements 263 9.1 Basic Electrical Elements 9.2. Instruments for Electrical Measurements 9.3 Vibration Transducers and Their Calibration 914 Cables and Connectors 915 Vibsation Measurements for Field Tests 9.6 The Resonant-Column Test Design Procedures for Dynamically Loaded Foundations 308 10.1 Introduction 10.2 Design Criteria 103 Dynamic Loads 10.4 Brief Review of Methods for Analyzing Dynamic Response of Machine Foundations 10.5 Lumped-Parameter Vibrating Systems 108 Analysis and Design for Vertical Vibrations of Foundations 107 Analysis and Design for Rocking Vibrations ot Foundations 10.8 Conclusions . Appendix 381 References 387 Index 403 ue 287 266 269 25 289 22 300 308 309 32 316 34s 383 369 39 ixSYMBOLS In selecting the symbols used in this text, an attempt was made to con- form to the List of Recommended Symbols for Soil Mechanics, adopted in Paris (1961) by the International Society of Soil Mechanies and Foundation Engineering and “Nomenclature for Soil Mechanics.” Jounal of the Soil Mechanics and Foundations Division, Proceedings, American Society of Civil Engineers, Vol. 88, No. SM 3 (June 1962), Paper No. 3183. However, in few cases symbols were adopted to conform to usage in other disciplines or to avoid confusion. Whenever the same symbal is used to represent tWo items—for example, e for void ratio and e as the base of natural logarithms— the distinction should be clear from the text ‘Symbols are defined where they first appear in the text; those which occur several times are listed below. When 3 symbol represents a quantity having dimensions, the dimensions most commonly used are listed along with the symbol. If no dimension is indicated, the symbol represents a pure number. Ag) = displacement amplitude Ag) = ares A@ amplitude of horizontal oscillation A.) ~ amplitude of vertical vibration Ag (ad) ~ amplitude of angular rotation about vertical axis of symmetry Ay (2d) = amplitude of angular rotation about s horizontal axisxi svstpous a Babin’ B “ ef) ¢ (besecfin.) (bsecfin.) 2 (b-secfin.) 4 bssecfin.) ey (Ib-secjrad abit) > D, De D>, Do = dimensionless frequency, defined by Eq. (7-2) = dimensiontess frequency factor for a single-degree-of freedom, system, defined by Eq. Q-72) dimensionless frequency at maximum amplitude of vibration lk modulus, oF modulus of compressibility = dimensionless mass factor for a single-degree-of-freedom system, defined by Eq, (2-73) ss ratio for horizontal oscillation of rigid circular footing, defined by Eg. (7-56) ~ mass ratio for vertical vibration of rigid eireular footing on elastic halfspace, defined by Eg, (7-23) '~ mass ratio for torsional oscillation of rigid circular footing about a vertical axis, defined by Eq, (7-38) = mass ratio for rocking of right circular footing about a horizontal axis through base of footing, defined by Eq, (7-44) = dimensiontess mass ratio, defined by Eq. (7-3) = arbitrary constant = haltlength of the longer side of rectangular foundation (see Fig. 7-12) viscous-damping coefficient critical damping, defined by Eq. (2-31) = damping constant for horizontal oscillation damping constant for vertical vibration damping constant for rocking of footing about horizontal = effective cohesion intercept ~ damping ratio, defined by Eq. (232) ~ relative density of cohesionless soils, defined by Eq. (6-37) = damping ratio for horizontal oscillation, defined by Eq (7-63) for rigid circular footing = damping ratio for vertical oscillation, defined by Eq. (7-62) for rigid circular footing = damping ratio for toons oxilation, defined by Eq (765) for rigid crcl footing Dy ae E (bfin’) Fuh S(eytessee) Sa (eyes) La (eyes) Su (oyclesfsee) Soar (excess) Sr eyelesiee) fufe dbjin) 6, & (usec!) HA) T(felbsee?) Ty (lb-sect) Iy Gelboseet) ‘ x, & jin (yin) = damping ratio for cocking of rigid circular footing about horizontal axis, defined by Eq. 7-53) — — half-width of rectangular foundation (see Fig, 7-12) = modulus of linear deformation, Young's modulus = void ratio (volume of voids per unit volume of solid con- stituents); also, base of natural logarithms = eccentricity, the radial distance from the center of gravity of 4 rotating mass to the center of rotation Lysmmer’s displacement function, defined by Eq. (721) ~ components of Lysmer's displacement function F frequency = beat frequency = damped natural frequency resonant frequency for constant-force-amplitde excitation = resonant frequency for otating-mass-type excitation = undamped natural frequency ~ components of Reisne’s displacement function — modulus of shesr deformation or shear modulus = specific gravity, ratio of unit weight of a material to the unit, weight of water = acceleration of gravity (32.17 fifsec®) = thickness of layer of soll ‘= mass polar moment of inertia mass moment of inertia of footing in rotation about a vertical axis = mass moment of inertia of footing in rotation about hori zontal axis cooficient of earth pressure at rest (ratio between normal stress on a vertical section and normal stress on a horizontal section at a given point in 2 mass of soil) spring constant = equivalent spring constantxiv symmots ey Abin) = spring constant relating horizontal displacement to applied horizontal force Q,, defined by Eq. (7-60) for rigid circular footing ey Miofin.) spring constant relating vertical displacement 2 to applied force Q,; spring constant for rigid circular footing on clastic half'space, defined by Eq. (7-26) gy (inclbjrad) —~ spring constant relating angular rotation about vertical axis to applied static torque, defined by Eq, (7-37) ky Ginclbjrad) —— spring constant for rotation ye in-Ibjrad) spring constant relating angular rotation about horizontal axis t0 applied static moment, defined by Eq, (7-50) # byte) ~ modulus of subgrade reaction La ave length La (fo) — wave length of Rayleigh wave “@ ‘= length of beam ot rod M = amplitude magnification factor M, ~ amplitude magnification factor, defined by Eq. (7-25) M, ~ amplitude magnification factor, defined by Eq. (7-58) Mon = amplitude magnification factor, defined by Eq. (7-39) Morn amplitude magnification factor, defined by Eq, (7-41) M, amplitude magnification factor, defined by Eq. (7-45) Mer — amplitude magnification factor, defined by Eq. (7-47) sm (lose) = mass (m ~ Wig) 2m, (Uo-sest/)__~ sotal eccentric mats in rotating-mas oscillator 1m sec!) ~ mass of each eccentric weight in multimass oscillator Nn = wave number (W ~ 2/2) ” ~ porsiy, tio between tral volume of vols and total Pav) = force Poild) = amplitude of periodic foree acting on elastic body pcbjne) = fluid pressure 20 time-dependent external foree acting on clastic system 2, 6) ~ amplinad of external force acting on elastic system Re rt rn re s Tiseo) Tisetby Ty sec} T, (see) To (feb) (Gelb) 1 (50) ue) «@) si (hie) wa van) ¥, (88) ¥, (8) we (fises) Atijsee) re (tse) x (fee) tp (see) fg (User) tfc) (lsc) wb) we win = radius = radial distance from origin of coordinates radius of cireular footing ~ radius of gyration = degree of saturation = period = torque beat period = undamped natural pesiod = torque about vertical axis = torque about horizontal axis spatial variation of displacement u displacement in x-direction = velocity in x-direction = pore pressure in soils {otal volume = total volume of solid particles total volume of voids = velosity of wave propagation = velocity of sound waves in air = velocity of longitudinal or rod wave yelocity of dilatation wave or primary wave (P-wave) = velovty of Rayleigh wave (Revave) = velocity of shear wave (S-wave) = velocity of sound wave in water = apparent velocity = weight = spatial variation of displacement w = displacement in z-direction7) x) xf xo =) wo 2. 2 (fsec) 2 (ifseety cut) ¥ (bjn?) ye Qb/n*) 1% (bite) Me bff) ¥ bite) Yer 0 = horizontal distance = crossover distance, distance to point at which direct wave And refracted wave arrive at the same time in a refraction survey — horizontal displacement caused by static force Q,, defined by Eg. (7-59) for rigid cireular footing = horizontal moment arm of unbalanced weights from center ‘of rotation in rotating-mass oscillator isplacement in the vertical direction, positive downward ~ vertical displacement at center of circular area of loading on surface of elastic half-space = vertical displacement caused by static load Q, = velocity in the vertical direction lacceferation inthe vertical direction efficient of attenuation, defined by Eq. (6-27) ~ parameter relating shear-wave velocity to compression-wave velocity: c fizz uit weight of soit = unit dry weight of soit = unit weight of solid particles Unit weight of water (62.4 Tb/fe) = unit weight of submerged soit ~ shear strain = average maximum shear-strain amplitude developed in torsion of hollow cylindrical soil sample = logarithmic decrement, defined by Eq. (2-39) loss angle in a viscoelastic solid, defined by Eq. (6-30) near strain in the direction ‘ubic dilatation or volumetric strain of elastic body =atagted e 4 (and 6) (ojin) we To-secfin’ p (ibseet/tsy 6, byte) 2, (jt) ry (bff) ro (tofn?) ° # eg) ° ’ “ © (eadfsee) 1g (tad) 0, (rad/see) 1, (radjsec) " subie dilatation or volumette strain in a fluid angle angular rotation about axis of symmetry angular rotation of rigid circular footing about a vertica! axis caused by static torque = Lamé’s constants: ~ shear cocficient of viscosity = Poisson's ratio ~ Rass, = mass density (4 ~ ig) ~ total normal stess in the iection = average effective normal stress or effective octahedral normal ~ shear stess = octahedral shear stress, defined by Eq, (622) = potential function = effective ange of internal fection in soils = phase angle angular rotation about a horizontal axis = angular rotation of footing about horizontal axis caused by static moment = potential function = crear fequency = damped natural circular frequency = damped satura circular frequency = natural frequency for uncoupled translation ~ natural feguency for uncoupled rotation = Laplacian operator (V8 = ai/axt 4 a4ay? + 3/22 for Cartesian coordinates)