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Article history:
Received 12 June 2014
Received in revised form
11 October 2014
Accepted 25 October 2014
Keywords:
Flexible foundations
Modal analysis
Soilstructure interaction
1. Introduction
Foundation vibration analysis plays a key role in solving soil
structure interaction problems, and has been investigated widely
since 1930s. In the early stage, the foundation was often assumed
as rigid and this assumption has been also considered in most of
recent studies [14]. After 1970s, effects of the foundation exibility are increasingly recognized and studied by many researchers [512]. In those studies, the considered soil conditions involve
elastic half-space, layered soil, and poro-elastic medium; the
considered dynamic loadings are vertical or rocking force; the
interface between the foundation and the underlying soil medium
is always assumed as frictionless.
The past studies have found that the rocking and horizontal
vibrations of the rigid foundation are coupled. Triantafyllidis and
Prange [13] studied the full coupling at the interface between the rigid
foundation and soil medium. Not only rocking forces but also
horizontal force can induce the vertical displacement. However, the
coupled response of exible foundations subjected to horizontal
loadings is hardly investigated. Furthermore, exible foundations are
multiple-degree-of-freedom (MDOF) systems, dynamic behaviors of
which are complicated and seriously affected by the position, the load
http://dx.doi.org/10.1016/j.soildyn.2014.10.022
0267-7261/& 2014 Published by Elsevier Ltd.
S.-S. Chen, J.-G. Hou / Soil Dynamics and Earthquake Engineering 69 (2015) 182195
183
1a
F x : mp R2 2 P x Q x
1b
Ep hp
121 vp 2
R
0
wr; Y i i r;
6a
i0
r qr r q r dr
where qz r, qr r, and q r are the vertical, radial, and circumferential contact stress amplitudes, respectively.
jjY i jjeii i r;
6b
i0
where Yi, jjY i jj, and i are the modal displacement, the modal
amplitude, and the modal phase angle, respectively; i (i0, 1,.., N)
denotes the mode shape of a circular plate for the ith mode.
Since the foundation behaves according to the classic thin plate
theory and foundation deections are antisymmetric about the yaxis, free vibration mode shapes of a circular foundation can be
expressed as [15]
r
r
bi I 1 i
cos
R
R
i r; i r cos ai J 1 i
i J 1 i 1 p J 2 i i J 1 i 2i J 2 i 1 p J 2 i
i I 1 i 1 p I 2 i i I 1 i 2i I2 i 1 p I2 i
8a
bi i J 1 i 1 p J 2 i
ai i I 1 i 1 p I 2 i
8b
Fig. 2. Free vibration mode shapes of a circular plate for rocking vibration.
184
S.-S. Chen, J.-G. Hou / Soil Dynamics and Earthquake Engineering 69 (2015) 182195
expressed as follows:
2r
0 r; 0 r cos cos
R
10
Based on the orthogonal property of modes, the modal displacements can be obtained as follows:
R 2 R R
r i r; wr; dr d
11
Yi 0 0
R2
For the rigid body mode, substituting Eq. (10) into Eq. (11) gives
R
Y0 0
2
12
qz r Y j qzj r qzx r
14a
j0
N
qr r Y j qrj r qrx r
14b
j0
N
q r Y j qj r qx r
14c
j0
where qzj r, qrj r, and qj r are the vertical, radial, and circumferential contact stress distributions corresponding to the modal
shape j, respectively; qzx r, qrx r, and qx r are the vertical,
radial, and circumferential contact stress distributions corresponding to a unit horizontal displacement in the x direction,
respectively.
2.3. Equations of motion in terms of modal coordinates
The relative stiffness ratio among the foundation and the soil
medium , the mass ratio bz, and the dimensionless frequency a0
are dened as follows:
20
Gs R3
bz
a0
mp R2
21
22
s R3
Vs
where Gs, Vs, and s are the shear modulus, the shear wave
velocity, and mass density of the soil medium, respectively.
Substituting Eqs. (20)(22) into Eqs. (16) and (1b) gives
4
Gs R i bz a0 2 Y i P i Q i ; i 0; 1; 2; ; N
23a
Gs R bz a20 P x Q x
23b
24
Px
Qx
where {Yz}, {Pz} and {Qz} are modal displacement, modal load, and
modal soil reaction vectors, respectively; [I] is the identity matrix;
[] is the characteristic matrix, as shown in
2
3
0
0
0
6 0 1 4
7
6
7
25
6
7
0 5
4
4
0
0 N
The modal soil reaction vector {Qz} can be represented in terms
of the modal displacement vector {Yz} and horizontal displacement by substituting Eqs. (4) and (14a) into Eq. (18) as follows:
N
i0
i
R
mp 2 Y i i r; pz r; qz r;
15
mp 2 Y i R2 P i Q i ; i 0; 1; 2; ; N
R4
16
Z
Qi
R
0
Z 2
0
Q i K ij Y j K ix ; i 0; 1; 2; ; N
26
j0
where Kij and Kix are the modal impedance and the modal
coupling impedance, respectively, as shown in
Z R
K ij Gs Rkij
r i rqzj rdr; i; j 0; 1; 2; ; N
27a
0
K ix Gs Rkix
r i rqzx rdr;
i 0; 1; 2; ; N
27b
Q x K xj Y j K xx
28
j0
r i r; qz r; d dr
18
where Kxj and Kxx are the modal coupling impedance and horizontal impedance, respectively, as shown in
K xj Gs Rkxj
K xx Gs Rkxx
r qrj r qj r dr; j 0; 1; 2; ; N
29a
r qrx r qx r dr
29b
R
0
S.-S. Chen, J.-G. Hou / Soil Dynamics and Earthquake Engineering 69 (2015) 182195
4
Px
kxx
kxz
30
where [kzz], {kxz} and kxx are the dimensionless modal impedance
matrix, the dimensionless modal coupling impedance vector and
the dimensionless horizontal impedance, respectively.
For rigid foundations, Eq. (30) can be simplied as
Gs R k00 bz a0 2 Y 0 Gs Rk0x P 0
31a
Gs Rkx0 Y 0 Gs R kxx bz a0 2 P x
31b
Substituting Eqs. (12), (19), (21), and (22) into Eq. (31) gives
!
K 00 R2
K 0x R
I 0 2 0
M
32a
2
4
K x0 R
0 K xx mp R2 w2 P x
2
32b
K 00 R2
4
33
K x0 R
2
185
34
Kausel and Roesset [16] have derived stiffness matrices for wave
propagation problems in layered media. By using these stiffness
matrices, the exibility of the soil can be obtained, and then soil
displacements due to stresses can be solved by a transformation
between the spatial and the wave number domain [17]. Consider a
general state of stress on the surface of a soil deposit as follows:
(
) 9
8
cos n
>
>
>
>
>
>
q
r
>
>
r
>
>
>
>
sin
n
>
8
9 >
>
>
>
>
(
)
>
>
q
r;
>
>
>
r
=
<
= <
sin n >
q r; q r
35
cos
n
>
>
>
>
>
: q r; ; >
>
>
>
>
(
)
z
>
>
>
>
cos n
>
>
>
>
>
> q r
>
>
z
>
>
;
:
sin n
>
>
>
=
<
= <
sin n >
vr; vr
36
cos
n
>
>
>
>
: wr; >
; >
>
>
>
>
(
)
>
>
>
>
cos n
>
>
>
>
>
>
wr
>
>
>
>
;
:
sin n
where u, v, and w are radial, circumferential, and vertical displacements, respectively, as shown in
Z 1
Z R
q r q r
J n 1 rdr
ur
r r
2
0
0
F uu F vv
F uu F vv
J n 1 r
J n 1 r d
2
2
Z 1
Z R
q r q r
J n 1 rdr
r r
2
0
0
F uu F vv
F uu F vv
J n 1 r
J n 1 r d
2
2
Z 1
Z R
F uw
J n 1 r J n 1 r d
rqz rJ n rdr
2
0
0
37a
Z
vr
0
r
0
qr r q r
J n 1 rdr
2
F uu F vv
F uu F vv
J n 1 r
J n 1 r d
2
2
Z 1
Z R
q r q r
J n 1 rdr
r n
2
0
0
F uu F vv
F uu F vv
J n 1 r
J n 1 r d
2
2
Z 1
Z R
F uw
J n 1 r J n 1 r d
rqz rJ n rdr
2
0
0
37b
qr r q r
J n 1 rdr F wu J n rd
2
0
0
Z 1
Z R
qr r q r
J n 1 rdr F wu J n rd
r
2
0
0
Z 1
Z R
rqz rJ n rdr F ww J n rd
Z
wr
37c
186
S.-S. Chen, J.-G. Hou / Soil Dynamics and Earthquake Engineering 69 (2015) 182195
F uw F ww
Suw Sww
Svv
in which Sww, Suu, and Suw are elements of the stiffness matrix for
the half-space system in the wave number domain.
By using Eq. (37), contact stress components can be determined by
considering consistent boundary conditions. To determine the modal
impedances Kij and Kxj for the rocking vibration case (n 1), the
foundation is applied by a unit modal displacement for the jth mode
without horizontal and other modal displacements. Thus, the soil
displacements need to satisfy the following:
8
9 8
9
0 >
>
< ur >
= >
<
=
0
vr
39
>
: wr >
; >
: r >
;
j
As for the modal impedances Kix and Kxx of the foundation, they
represent the forces generated by a unit horizontal displacement
without other modal displacements. The displacements need to
satisfy the following:
8
9 8 9
>
< ur >
= >
<1>
=
vr 1
>
: wr >
; >
: >
;
0
40
A
>
>
>
>
r n >
8
9 >
>
>
1
>
>
>
>
q
r
q
r
>
>
n1 >
=
< Nr
< r
= >
r
B n 2
qr r q r
r >
>
>
>
>
:
; >
>
>1
qz r
>
>
>
n >
Nr
>
>
r
>
>
>
> C
>
:
n1 >
r ;
1
Fig. 3. Rocking and horizontal impedance coefcients for a rigid circular foundation on a half-space.
41
where r 2r r r r r 2r, r NRr , r 12 r; A , B , and C are
undetermined ring stress coefcients.
S.-S. Chen, J.-G. Hou / Soil Dynamics and Earthquake Engineering 69 (2015) 182195
02
Nr
Nr
20
12
10
C f m f m ; ; m 1; 2; :::N r
1
Nr
02
20
vr m A f m f m B f m f m
ur m A f m f m B f m f m
1
Nr
187
Nr
42 1
10
12
C f m f m ; ; m 1; 2; :::N r
1
Fig. 5. The modal impedance functions for the rst three modes used in the parametric study.
42 2
188
S.-S. Chen, J.-G. Hou / Soil Dynamics and Earthquake Engineering 69 (2015) 182195
Nr
Nr
01
Nr
21
wr m A f m B f m C f m ; ; m 1; 2; :::N r
1
21
f m
r 2r
42 3
When
follows:
02
f f
6 0
6 f f 02
4
01
f
20
f f
2
20
f f
21
f
38
9 8 9
>
< u >
=
< fAg >
= >
7
10
12
f f 7
5> fBg > > fvg >
: fCg ; : fwg ;
1
f
12
10
f f
42 4
where
0
f m
r 2r
r
F uu k F vv k
dk
J
krdr
k
J
kr
m
n
1
n
1
4
r n
r 2r n
43 1
Z
f m
f m
r 2r
r j 2r
!
r
J
krdr
kJ n kr m F ww kdk
n
r n 1
r 2r n 1
r 2r
43 2
01
10
r 2r
43 4
!
r
F uw k
dk
J
krdr
kJ n 1 kr m
n
2
r n 1
43 5
10
01
20
02
21
12
44
By using the relation in Eq. (44), the numerical procedure can
be simplied and be more efcient. For example, Nr 15 induces
2025 numerical integrations; however, by using the symmetric
relation integrations can be reduced to 1035 and about half of the
computation time can be saved. Finally, by considering Eqs. (39),
(40), and (42) we have 3Nr unknowns and 3Nr equations, and then
ring stress coefcient vectors {A}, {B}, and {C} can be solved. If the
contact horizontal stress is neglected (i.e. relaxed contact), Eq. (424) can be simplied as follows:
45
r
F uu k F vv k
dk
J n 1 krdr k J n 1 kr m
n
4
r
r 2r n
r 2r
!
r
F wu k
dk
J
krdr
kJ n kr m
2
r n n 1
r 2r n 1
f m f m ; f m f m ; f m f m ; f m f m ; f m f m ; f m f m
rn 2
F uu k F vv k
dk
J
krdr
k
J
kr
m
n1
n1
4
r n 2
r 2r n
r 2r
f m
02
f m
43 9
f fCg fwg
43 3
f m
!
r
F wu k
dk
J n 1 krdr kJ n kr m
2
r n 2
r 2r n 2
43 6
20
f m
1
0
Z r r n 2
2 r
F uu k F vv k
dk
J
krdr
k
J
kr
m
n
1
n
1
n2
4
r 2r r
43 7
12
f m
1
0
r 2r n 1
r 2r
r
F uw k
dk
J n krdr kJ n 1 kr m
2
r n 1
43 8
Fig. 6. Inuence of the relative stiffness ratio and load types on the normalized
static average amplitude for exible foundations on a half-space.
Fig. 7. Inuence of the relative stiffness on the normalized static modal amplitude
for exible foundations on a half-space.
S.-S. Chen, J.-G. Hou / Soil Dynamics and Earthquake Engineering 69 (2015) 182195
46
189
5. Parametric study
In this section, foundation vibration analysis is performed for a
circular exible foundation on an elastic half-space to evaluate the
inuence of various parameters on the modal response by the
proposed method. For foundation vibration analysis, horizontal
Fig. 8. Modal magnication factors in the rigid body mode for circular foundations resting on a half-space.
190
S.-S. Chen, J.-G. Hou / Soil Dynamics and Earthquake Engineering 69 (2015) 182195
where A jjst =Rg;st jj is the normalized static horizontal amplitude, M jj=st jj is the dynamic magnication factor, jjst jj is the
static horizontal amplitude, jjRg;st jj is the static horizontal
47
i0
A M ei jjRg;st jj
48
Fig. 10. Dynamic magnication factor for circular exible foundations resting on a
half-space subjected to horizontal force.
Fig. 9. Modal magnication factor in the rst mode for circular exible foundations resting on a half-space.
S.-S. Chen, J.-G. Hou / Soil Dynamics and Earthquake Engineering 69 (2015) 182195
191
explained by symmetric relation for the modal coupling impedance functions, i.e. Kox Kxo. In addition, Fig. 10 shows that only
the mass ratio has inuence on the horizontal displacement when
the foundation is subjected to horizontal force.
6. Conclusions
A method using modal analysis concept is developed to obtain
the dynamic vertical displacements of a circular exible foundation on soil media subjected to horizontal and rocking motion. The
vertical displacements of the foundation and contact stresses are
expressed by a set of modal coordinates corresponding to free
vibration mode shapes of a circular plate, and the interaction
effects between the foundation and the underlying soil are
represented using modal impedance functions. An efcient procedure with ring elements is developed to compute modal
impedance functions. The advantage of the proposed method
features reducing the computational work signicantly to analyze
the dynamic response of exible foundations. In addition, the
accuracy of the proposed method has been veried by existing
solutions and the computer program SASSI for soilstructure
interaction analysis.
Parametric analyses are performed for modal responses of a
circular exible foundation on an elastic half-space subjected to
foundation vibrations. The results indicate that the coupling
vertical displacements due to horizontal force or the coupling
horizontal displacements due to rocking force of the foundation
are signicantly inuenced by relative stiffness ratio among the
foundation and the soil medium, vibration frequency range,
foundation mass, and the boundarycontact condition.
The relaxed boundary condition may be used to predict
approximately the vertical displacement due to rocking force.
However, the welded boundary condition should be considered
to predict the coupling response. For a foundation with relative
stiffness ratio 3, the foundation can be considered as rigid to
calculate coupling displacement. For a slightly exible foundation
with 0.03 o3, three modes are considered sufcient to obtain
accurate coupling displacements of the foundation. For the frequency a0 o1, the coupling effect due to higher mode (i.e. exible
deformation mode) can be neglected.
Acknowledgments
The authors are grateful for the sponsor of the National Science
Council of Taiwan, Republic of China.
192
S.-S. Chen, J.-G. Hou / Soil Dynamics and Earthquake Engineering 69 (2015) 182195
Fig. A1. Summary owchart for derivation of equations of motion in modal coordinate.
S.-S. Chen, J.-G. Hou / Soil Dynamics and Earthquake Engineering 69 (2015) 182195
193
(a) Determine the static responses of the plate by using the rigid
assumption.
(b) Determine the static responses of the plate by using the modal
impedance in Fig. 5.
(c) Estimate the static responses of the plate by using dimensionless parameter (An).
(d) Suppose that the external force harmonically vibrates with a
frequency 20 Hz. Evaluate the dynamic amplitude of the plate
by using the modal magnication factor (Mn).
194
S.-S. Chen, J.-G. Hou / Soil Dynamics and Earthquake Engineering 69 (2015) 182195
Table B1
Engineering properties of the foundation system.
Circular plate
Soil
p 0.25
p 2.40 t/m3
Ep 21,525,562 kN/m2
R 5 m
hp 1 m
k00
6
Gs R4 k01
k0x
s 0.33
s 2 t/m3
Vs 300 m/s
Gs sV2s 180,000 kN/m2
k10
1 k11
4
k1x
9 8 9
38
kx0 > Y 0;st > > P 0 >
<
= < =
7
kx1 5 Y 1;st P 1
>
: >
; >
:P >
;
kxx
st
x
B 5
16 1
1 6 16 0:4
9004
16 0:048
K S;00
K S;0X
K S;X0
K S;XX
#(
Y Rg;st
Rg;st
P0
)
B 1
Px
For obtaining the static response of the circular rigid foundation, existing solutions listed below for the static stiffness of the
foundation are used
K S;R 4GS R3 ; K S;C 0:382GS R2 ; K S;xx 4:8GS R
B 2
where KS,R, KS,C, and KS,xx are rocking stiffness, coupling stiffness,
and horizontal stiffness, respectively, for circular rigid foundation
on a half-space with s 0.33.
According to Eq. (33) and Eq. (34)
K S;00
4K S;R
R2
16GS R; K S;x0
2K S;C
0:764GS R
R
16 0:4
4
16 0:048
16 0:03 7
5
16 0:03
4:8
8
9 8
9
>
< Y 0;st >
= >
< 108 >
=
0
Y 1;st
>
>
: >
; >
:
;
90
st
8
9
8
9
6:03 >
>
>
< Y 0;st >
=
<
=
1
0:33
) Y 1;st
mm
>
>
>
>
900
: ;
:
;
17:82
st
Thus
2r
0:33
r
r
wst r; 6:03
900 5 cos 900 3:833J 1 4:525 0:075I 1 4:525 cos
wst r 5;
11:37
5:53
mm; wst r 2;
mm
900
900
B 3
GS R
B 4
Rg;st
0:764
4:8
90
Rg;st
180; 000 5 0:001 0:01002
0:20993
5:90
108
1
mm
900 17:81
90
wRg;st r; Y Rg;st 0 r; Y Rg;st
wRg;st r 5;
2r
11:8 r
cos
cos mm
R
900 5
11:8
4:72
mm; wRg;st r 2;
mm
900
900
0:06298
0:01002
mm; For P H 1; Y Rg;st
mm
900
900
D
3
Gs R
3
E p hp
3
2 G
sR
p
121
0:267
0:275
mm
900
S.-S. Chen, J.-G. Hou / Soil Dynamics and Earthquake Engineering 69 (2015) 182195
bz
mp R2
s R 3
hP p R2
s R3
0:754; a0
R
Vs
2 f R
2:1
Vs
mm
108 1:53 1:02
900
900
900
Y 1 P 0 M1;P 0 A1;P 0 Y Rg;st P 0 1 P H M 1;P H A1;P H Y Rg;st P H 1
0:06298
0:01002 0:463
90 2:8 0:035
mm
108 1:86 0:045
900
900
900
Y 0;st 6:05
Y1
0:463
1:68
Y 1;st 0:275
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