Presentation on Seismic Analysis and design of Structure

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Introduction
Development of Analytical Model
Modeling of structures
Analysis of structures
Selection of number of modes
Missing mass correction
Equivalent static Method
Modal combinations
Structure equipment interaction
Case studies

Presentation on Seismic Analysis and Design of

Structures
1.0 Development of Analytical Model
An analytical model is developed by appropriately ascertaining the degrees of freedom,
evaluating lumped masses and stiffness properties of the connecting structural elements
etc. Development of analytical model is key to the efficiency of analysis process and the
success of aseismic design.
2.0 Modeling of a Structures
The seismic response of a structure shall be determined by preparing a mathematical
model of a structure and calculating the seismic response of the model to the prescribed
seismic input.
The model shall represent the actual locations of the centre of the masses and centre of
rigidity, thus accounting for the torsion effects caused by the eccentricity.
Different types of model can be developed for the structures depending on the objective
of the analysis. Normally it can be divided in two groups.
1) Stick model
2) 3-Dimensional model
Modeling of Mass
The inertial mass properties of a structure may be modeled by assuming that the
structural mass and associated rotational inertia are discretize and lumped at node points
of the model. Alternatively, the consistent mass formulation may be used.
When appropriate, three translational and rotational degrees of freedom shall be
used at each node point. Some degrees of freedom such as rotation may be neglected
provided that their exclusion does not effect response significantly. The following
conditions shall be met
1 structural mass shall be lumped so that the total mass, as well as the center of
gravity is preserved.
2. The number of dynamic degrees of freedom and hence the number of lumped
masses shall be selected so that all significant vibration modes of the structure can be
evaluated.
Damping

Damping is a common designation for all kinds of energy absorption of vibratory

system. In structural analysis the representation of energy dissipation through equivalent
viscous damping is very popular because it leads to linear differential equation of motion
which are readily solvable.

Viscous damping is represented by following equations:

F

CV

where C is coefficient of viscous damping

Tthe damping value of the material is expressed in terms of dimensionless value called
damping ratio given by,

CC
cr
where is the damping ratio of material
Ccr is critical damping

The critical damping of a material is a value for which the oscillatory motion gets
seized.
Damping ratios for structural materials are generally less than 20% and for
different materials damping values are different. In order to obtain modal response, in
case the structure contains materials with different damping. The percentage of critical
damping in each mode has to be evaluated using the weighted strain energy principle.
Evaluation Of Modal Damping

J T K i J
N

i 1

where
= damping ratio of the element (subsystem)

K = stiffness matrix of the ith element (subsystem)

3.0 Analysis of Structures

For seismic response analysis, any one of the following four analysis
methods is acceptable. The methods are
1. The time history method
2. The response spectrum method
3. The complex frequency response method
4. The equivalent static method (ESM)
1. The Time-History Method:
The time history analysis of a structure subjected to dynamic seismic load may
be performed by linear or nonlinear methods. Dynamic analyses of both linear and
nonlinear system is based on solution of simultaneous differential equations subject to
a set of initial conditions and forces.
The response of multi degrees of freedom linear system subjected to
seismic excitation is represented by the following differential equations of motion.

..
..

.
X C X K X M u b u g

where,

C = damping matrix
K = stiffness matrix
X = column vector of relative displacements

ub = influence vector
..

u g = ground acceleration
In the modal superposition method the equations of motion can be decoupled using
transformation,

X Y

= normalized mode shape matrix

Y = vector of normal or generalized coordinates
m = number of modes considered

= normalized mode shape matrix

= vector of normal or generalized coordinates
m = number of modes considered

the decouped equation for each mode may be written as

..

..

2 j j Y j j Y j j U g

Y=j generalized coordinate of the jth mode

=j circular frequency of jth mode the system (rad./sec.)

=j modal participation factor for the jth mode

= { }T [M] (Ub)

These single dof equations shall be integrated for evaluating the response.
2. The Response Spectrum Method:
when the response spectrum method is used, the basic equations of motion
for many dof system can be written as,

..
..

.
X C X K X M u b u g

where,

C = damping matrix
K = stiffness matrix
X = column vector of relative displacements

ub = influence vector
..

u g = ground acceleration

In the modal superposition method the equations of motion can be decoupled using
transformation,

X Y

= normalized mode shape matrix

Y = vector of normal or generalized coordinates
m = number of modes considered

= normalized mode shape matrix

= vector of normal or generalized coordinates
m = number of modes considered

the decouped equation for each mode may be written as

..

Y
Y=j

..

2 j j Y j j Y j j U g

generalized coordinate of the jth mode

=j circular frequency of jth mode the system (rad./sec.)

=j

modal participation factor for the jth mode

= { }T [M] (Ub)

the generalized response of each mode shall be determined from following equation
using response spectrum.

 S aj

Y j (max) j

2
j

where S aj is the spectral acceleration corresponding to frequency j

The maximum displacement of node i relative to the base due to node j is obtained by,
X ij (max) ij Y j (max)

4.0 Selection of Number of modes

The following two criteria to be adapted while choosing the minimum number of modes
to be considered.
1. the number of modes extracted is such that highest mode corresponding to a
frequency greater than or equal to 33 Hz.
2. The number of modes extracted are such that the cumulated modal mass is more
than 90% in each of the three directions.
Any one of the two methods can be used to determine the no of modes to be
considered in modal superposition analysis.
5.0 Missing Mass Correction:
Number of modes included in the analysis shall be sufficient to ensure that inclusion of
all remaining modes does not result in more than 10% increase in total responses of
interest. Alternatively, ASCE standard (4-98) permits to include all the modes in the
analysis having frequencies less than the ZPA frequency or cut-off frequency provided
that the residual rigid response due to the missing mass calculated from the following
equation is added

K X ij (max) M U b i i

i 1

S A max

where, S A max = highest spectral acceleration at the cut-off frequency

for the modal combination purposes the above response will be considered as an
additional mode having frequency equal to the ZPA or cut-off frequency and will be
combined using the SRSS rule.
6.0 Equivalent Static Method (ESM)

The equivalent static method is a simplified method as compared to other

more rigorous analysis methods.
General requirements
The equivalent static method may be applied to single point of attachment
cantilever models with essentially uniform mass distribution
The equivalent static load shall be determined by multiplying the structure,
equipment or component masses by an accelaration equal to 1.5 times the peak
accelaration of the applicable response spectrum. Smaller value may be used if justified,
or the floor ZPA value may be used if it is shown that fundamental frequency is so high,
typically 33 Hz. No dynamic amplification will occur at this frequency.
USNRC Procedure
A procedure described in USNRC 3.7.2 for simplified dynamic analysis for any
simplified system. To obtain an equivalent static load for a structure, equipment, or
component, which can be represented by a simple model, a factor of 1.5 is to be
applied to the peak acceleration of the applicable floor response spectrum. A factor
less than 1.5 can be used if adequate justification is provided.
Fphi
Fpv

=Khi Sami W
=Kv Sami W

Where
Fphi
= equivalent static inertia force applied to the component in the horizontal
direction
Fpv
= equivalent static inertia force applied to the component in the vertical
direction
Khi
= the load coefficient applied to the piping and piping component the
horizontal direction. The value of Khi is taken as 1.5 in this procedure.
Kv
= the load coefficient applied to the piping in the vertical direction. The
value of Kv is also taken as 1.5 in USNRC procedure.
Sami
= peak acceleration of applicable amplified or floor response spectra in the
ith direction (in gs)
W
= the total dead load (weight) which exist during the postulated seismic
event. This includes piping weight, water weight and insulation. The units of the term
W must be consistent with the terms Fphi and Fpv above.
7.0 Combination of Modal response :

SRSS method
CQC method
10% method
ABSOLUTE SUM method

Combination of modal responses

With No Closely Spaced Modes
In a response spectrum modal dynamic analysis if the modes are not
closely spaced (two consecutive modes are defined as closely spaced if their
frequency differ from each other by 10% or less of the lower frequency) the
representative maximum value of particular response of interest for design should be
obtained by taking the square root of the sum of the squares (SRSS). Mathematically
this can be expressed as follows.

R
k 1

2
k

1/ 2

Where R is the representative max value of particular response of a given

element to a given component of an earthquake and Rk is the peak value of the
response of the element due to the k th mode and N is the number of significant
modes considered in the modal response combination.
Combination of modal responses
With No Closely Spaced Modes
In a response spectrum modal dynamic analysis if the modes are not
closely spaced (two consecutive modes are defined as closely spaced if their
frequency differ from each other by 10% or less of the lower frequency) the
representative maximum value of particular response of interest for design should be
obtained by taking the square root of the sum of the squares (SRSS). Mathematically
this can be expressed as follows.

2
k

1/ 2

2 Ri R j

i j

j i
0.1
i
also1 i j N

Where R is the representative max value of particular response of a given

element to a given component of an earthquake and Rk is the peak value of the
response of the element due to the k th mode and N is the number of significant
modes considered in the modal response combination.

Spatial Combination

Spatial combination of response due to three components of earthquake is carried out by

SRSS method.

8.0 Structure-Equipment Interaction due to Earthquake

Structural systems are said to be in interaction when response of one system is affected
by other system. Structure and equipment interaction can not be overlooked if the two
systems are tuned or the equipment to the structure mass ratio is large.
The best way of accounting for the interaction effects of the structure and equipment is
by coupling together and analyzing for a given earthquake load. However, it may not be
practical to couple all the equipment to the structure because of three main reasons. These
are: firstly, at the initial design stage of the power plant structure all the details of
equipment may not be available, secondly, coupling all the equipment may lead to
numerical problems in computation because of large difference in stiffness, and thirdly,
the cost of the computation may become high and time consuming because of coupling
all the equipment, the size (e.g. number of numerical equations) of the problem becomes
very large. USNRC has developed conservatively criteria to account for the structureinteraction effects.
USNRC Decoupling Criteria
Decoupling criteria as based on the frequency ratio and mass ratio of the secondary
system to the primary system. These are as follows.
i) Decoupling can be done for any Rf, if Rm < 0.01
Where Rf is the ratio of frequency or modal frequency of uncoupled SS to the uncoupled
PS and Rm is the ratio of mass or modal mass of the uncoupled SS to the uncoupled PS.
ii) If 0.01 Rm 0.1 decoupling can be done provided 0.8 Rf 1.25
iii) If Rm 0.1, an approximate model of the SS should be included in the PS.
iv) For rigid SS whose frequency is more than 33 Hz, only mass of the SS can be
included.

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Graphical representation of these criteria is shown in following Figure.

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9.0 Case Studies

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10. References
a) Seismic Analysis and Design of Equipment by A.K. Agarwal, INS Lecture
Series, 2005, BARC, India

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