Engineering Structures 23 (2001) 14531460

www.elsevier.com/locate/engstruct

A direct displacement-based seismic design procedure of inelastic

structures
*
Qiang Xue
Civil and Hydraulic Engineering Research Center, Sinotech Engineering Consultants Inc., 171 Nanking East Road, Sec. 5, Taipei 105, Taiwan,
ROC

Received 18 September 2000; received in revised form 26 April 2001; accepted 27 April 2001

Abstract

This paper presents a simple but efficient displacement-based seismic design procedure, which does not involve a substitute
structure assuming a linear behavior and a viscous damping equivalent to the non-linear response. It is based on the formulations
derived from the capacity-spectrum method using NewmarkHall reduction factors for the inelastic demand spectrum. When apply-
ing such approach for a new design, no spectrum is needed to plot. From the derived formulations, the close relationship between
the target displacement and the stiffness, ductility and strength demands of the structures are clearly shown. Multiple performance
objectives can be considered easily in such a preliminary design procedure and it can be extended to MDOF systems adopting the
idea of effective SDOF systems. 2001 Elsevier Science Ltd. All rights reserved.

Keywords: Displacement-based seismic design; Capacity-spectrum method; Performance-based design

1. Introduction MDOF bridges and buildings starting from a target peak

In the development of performance-based earthquake
engineering [1], which stresses the inelastic behavior of
structural systems under severe earthquake ground
motions, displacement rather than force has been recog-
nized as the most suitable and direct performance or
damage indicator. Deformation controlled design [2] can
be achieved either by using the traditional force/strength
based design procedure together with a check on the
displacement/drift limit or by employing a direct dis-
placement based design procedure.
The idea of displacement based design was introduced
about 40 years ago. Gulkan and Sozen [3] developed the
concept of substitute structure to estimate the nonlinear
structural response through an equivalent elastic model
assuming a linear behavior and a viscous damping equi-
valent to the non-linear response. This idea has been
adopted recently by Kowalsky et al. [4] for a direct dis-
placement design of SDOF reinforced concrete struc-
tures and by Priestley et al. [5] for both SDOF and
* Tel.: +886-2-2769-2131 ext. 20208; fax: +886-2-2765-5010.
E-mail address: qxue@sinotech.org.tw (Q. Xue).
displacement. Another displacement-based procedure for
MDOF bridge structures, particularly suitable for sym-
metric bridges, has also been proposed by Calvi and
Kingsley [6]. An equal displacement based design
(EBD) procedure was introduced by Court and Kowal-
sky [7] for buildings with longer periods based on the
equal displacement rule noted by Newmark and Hall [8].
Qi and Moehle [9] proposed a displacement-based pro-
cedure for MDOF systems with the requirement of pre-
liminary design and further modification of the design
according to the displacement or drift limit. While Wal-
lace [10], Sasani and Anderson [11], Bachman and
Dazio [12] focus on wall systems, Panagiotakos and
Fardis [13] implemented an overall performance-based
deformation controlled design of MDOF RC structures
subjected to both seismic and non-seismic actions.
Another direct displacement-based design approach was
proposed by Fajfar [14] based on the capacity spectrum
method [1518]. This approach is a reversing procedure
of the so-called N2 method to determine the seismic
demand.
In all of the above references, seismic demand is
specified as either a displacement spectrum (DT format)
or an acceleration displacement response spectrum (A

0141-0296/01/$ - see front matter 2001 Elsevier Science Ltd. All rights reserved.
PII: S 0 1 4 1 - 0 2 9 6 ( 0 1 ) 0 0 0 4 8 - 7
1454 Q. Xue / Engineering Structures 23 (2001) 14531460
D format). For a general purpose spectrum, nonlinear
inelastic behavior of a structural system can be
accounted for either by an equivalent elastic response
spectrum [19] or an inelastic response spectrum [2,20
22]. The former is associated with effective viscous
damping xeff and the latter is directly constructed based
on relations between reduction factors and ductility.
Although the elastic acceleration design spectrum is
available from codes, it is not appropriate to be a basis
for the determination of the elastic displacement design
spectrum because the resulted displacement increases
with the period even at longer periods. The reasonable
feature of the elastic displacement design spectra is
under investigation [23,24] and is not the focus of this
paper.
In this paper, the equivalent elastic model of the sub-
stitute structure is not employed. The proposed pro-
cedure for SDOF system is based on some simplified
formulations derived from the ADRS format spectrum
employing NewmarkHall reduction factors based on
the capacity spectrum method. The close relationship
between the target displacement under certain ground
motion and the stiffness, ductility and strength demands
of the structure is clearly highlighted. This procedure can
be applied to MDOF systems employing the idea of
effective SDOF systems [5,14,25].
2. A non-iterative capacity-spectrum method
The iterative capacity-spectrum procedure has been
discussed in detail in ATC-40 [19] and by Freeman [17].
Such iterative procedure may be unnecessary in
determining the seismic response when using the
numerical version of inelastic response spectrum [16] or
other methods. In this section, a non-iterative procedure
regardless of the type of response spectrum (equivalent
elastic or inelastic) is also formulated.
2.1. Formulation of the diagram reduction factors
Based on Newmark and Hall [8] studies, response
spectra can be enveloped by a plot with three distinct
ranges: a constant peak spectral acceleration (PSA), con-
stant peak spectral velocity (PSV) and constant peak
spectral displacement (PSD). The response spectra can
be plotted in various formats such as spectral acceler-
ation versus period (AT) format, spectral velocity ver-
sus period (VT) format, spectral displacement versus
period (DT) format and spectral acceleration versus
spectral displacement (AD) format. The AD format is
termed ADRS by Maheney et al. [15] or capacity-
demand-diagram by Chopra and Goel [16]. For elastic
systems, the transformation among these formats can be
easily obtained through the relationship
A
2
T
2
D
2
T
V.
For inelastic systems, the constant-ductility design
diagram (AD format) is established by multiplying the
elastic design spectrum (AT format) by appropriate
reduction factors to obtain the inelastic [8] or equivalent
elastic [19] design spectrum (AT format) and transform
to AD format [16]. We define that such reduction fac-
tors are spectral reduction factors (SRA, SRV and SRD).
The subscriptions A, V and D indicate the constant spec-
tral acceleration, velocity and displacement range. Revis-
ing the procedure, in this paper, the inelastic constant-
ductility design diagram (AD format) is constructed by
transforming the elastic design spectrum (AT format)
to elastic design diagram (AD format) and multiplied
by the corresponding diagram reduction factors (SRAD,
SRVD and SRDD). Notice that in building code or guide-
lines such as ATC-40, only the constant acceleration and
velocity ranges are indicated and no spectrum reduction
is suggested in the constant displacement range for a
better evaluation of the displacement response based on
the equal displacement rule. It is easy to find that the
diagram reduction factors and spectral reduction factors
are identical for the (equivalent) elastic system (Fig. 1).
In this section, the diagram reduction factors for the
inelastic system are formulated.
Considering an elastic SDOF system, the reduced or
equivalent elastic design diagrams with various damping
can be constructed based on a basic elastic design dia-
gram (e.g. 5% damped elastic design diagram) using
reduction factors SRAD, SRVD and SRDD as shown in Fig.
1. Notice that the diagram and spectral reduction factors
are identical for elastic systems. From Fig. 1, we have
SRVD SRV
Tc Tc T (1)
SRAD SRA c
SRDD SRD
Td Td T (2)
SRVD SRV d
Fig. 1. (Reduced) equivalent elastic design diagram.
 Q. Xue / Engineering Structures 23 (2001) 14531460 1455

with c and c are the intersection points where constant ments bcde in Fig. 1 using the new reduction
spectral acceleration region meets the constant spectral factors SRAD, SRVD and SRDD accordingly, and referring
velocity region in the basic and reduced elastic design to Eqs. (3)(5), we obtain that
diagrams, respectively. We also obtain
AcAcSRAD (9)
AcAcSRADAcSRA (3)
SRVD2
Tc Tc SR 2 DcDc (10)
Dc PSVSRVD PSV Dc
VD
(4) SRAD
2p 2 SRAD
DdSRDDPSD (11)
SRVD2 SRV2
Dc Comparing Eqs. (6)(8) with Eqs. (9)(11), respect-
SRAD SRA ively, yields
DdSRDDPSDSRDPSD (5) SRADSRA (12)
SRVDmSRV
where PSA, PSV and PSD are the constant peak spectral
acceleration, velocity and displacement of the 5% (13)
damped elastic design spectrum, respectively. SRDDmSRD (14)
For an inelastic SDOF system, with the definition of
Dy and Ay in Ref. [26, section 7.5], the AyDy diagram Thus, inelastic design diagram in Fig. 2 can be con-
(dashed segments b*cde in Fig. 2) of the inelastic structed in one step as the reduced equivalent elastic
system is consistent with the AD diagram of the equiv- design diagram in Fig. 1. In another words, the inelastic
alent elastic system as shown in Fig. 1. Notice that design diagram and the equivalent elastic design diagram
TcTc in Fig. 1 since SRVSRA for the equivalent elas- can be constructed in the same way by using the
tic system in ATC-40 while TcTc in Fig. 2 since the developed diagram reduction factor (Eqs. (12)(14)) for
NewmarkHall inelastic spectrum reduction factor the inelastic design diagram and the spectrum reduction
1/m=SRVSRA=1/2m1 for m1. The AyDy diagram factor for the equivalent elastic spectra (Fig. 1).
is thus established based on the 5% damped elastic Next, we try to define the intersection points b*, c*
design diagram and the diagram reduction factors, which and d* in Fig. 2. According to Ref. [26],
are the same as the spectral reduction factors. Finally, TbTb (15)
the corresponding AyD diagram (D=mDy) is plotted in
the same figure as segments b*c*d*e*. From this Consider that c* in Fig. 2 is consistent with c in Fig.
figure and substituting Eqs. (3)(5), we get 1, we rewrite Eq. (1) by using the diagram reduction
factor SRVD instead of SRV and substituting Eq. (13).
AcAcAcSRA (6) Thus,

DcmDcm
SRV2
Dc (7) SRVD mSRV
SRA Tc Tc Tc (16)
SRA SRA
DdmDdmSRDPSD (8)
Eq. (8) leads to

Mapping the segments b*c*d*e* in Fig. 2 with seg-
Td 2 Td 2
AyFdm A (17)
2 2 yFd
From Fig. 2 and by substituting Eq. (2) into Eq. (17),
we have

TdmTdm
SRD
T (18)
SRV d

Thus, the inelastic design diagram in Fig. 2 can now

be established in the same way as the equivalent elastic
design diagram (Fig. 1) using the developed diagram
reduction factors (Eqs. (12)(14)) instead.

2.2. The non-iterative procedure

In the capacity-spectrum procedure, the capacity curve

Fig. 2. Inelastic design diagram. of an inelastic system is usually obtained from a non-
1456 Q. Xue / Engineering Structures 23 (2001) 14531460

linear static pushover analysis and represented by a bi- factors SRAD, SRVD, and SRDD as discussed above. We
linear force-displacement model (base-shear versus top have,

displacement for MDOF systems) and also transformed
to AD format (Fig. 3(a)). The post-yield stiffness ratio 2
APSRVD PSV (21)
is r. The yielding point is denoted as (Aye, Dye). The TP

displacement ductility ratio at the final performance
TP 2 2 TP
point P is mP. Thus, the displacement at the performance DP SRVD PSV SRVD (22)
point is given. 2 TP 2

DPmPDye (19) PSV

And the spectral acceleration at the performance point From Eqs. (19) and (22), the ductility ratio at the per-
formance point is derived as
APAye(rmPr1)

(20)
TP
The demand diagram for the inelastic system passing the mP SRVDPSV/Dye (23)
performance point is assumed constructed directly from 2
the elastic design diagram with the diagram reduction From Eqs. (20) and (21)
SRVD2PSV
TP (24)
Aye(rmPr+1)
Substituting Eq. (24) in Eq. (23) leads to
SRVD2PSV2
mP (25)
DyeAye(rmPr+1)
Based on Eq. (13) and NewmarkHall spectrum
reduction factor that SRVD=mPSRV=mP/mP, Eq. (25) is
re-written as
PSV2
m2P(rmPr1) (26)
DyeAye
from which the displacement at the performance point
DP is evaluated through Eq. (19). For an elasto-plastic
system (r=0), Eq. (26) becomes even simpler as
PSV
mP
D
(27)
Aye
ye

Substituting this equation to Eq. (19) gives

A
Dye
DPPSV (28)
ye

Based on the concept of equivalent static force employed

in earthquake engineering, for SDOF systems, Eq. (28)
can be re-written as

DyeM
K PSV2
M T0
DPPSV PSV (29)
Vye 0

where Vye, M, K0 and T0 are the yielding strength (design

base-shear), lumped mass, initial stiffness and natural
period of the structure.
For the case shown in Fig. 3(b)
PSASRADAPAye(rmPr1) (30)
Fig. 3. The performance point from a non-iterative capacity-spec- Based on NewmarkHall spectrum reduction factors
trum method. SRAD=SRA=1/2mP1, we have
 Q. Xue / Engineering Structures 23 (2001) 14531460
(rmPr1)2mP1
PSA
(31)
Aye
For an elasto-plastic system (r=0), Eq. (31) is further
simplified as
(PSA/Aye)2+1
mP (32)
2
Substituting this equation in Eq. (19) gives
(PSA/Aye)2+1
DP Dye (33)
2
Eqs. (26) and (31) suggested that the performance/target
displacement, the yielding strength and the yielding dis-
placement be closely related. In another word, the target
displacement is closely related to the yielding strength,
the displacement ductility and stiffness of the structures
and the elastic design spectra for the design seismic
ground motions on site.
3. A simple displacement-based design procedure
for SDOF systems
In the direct displacement-based design, revising the
above procedure, we start with the target displacement
to provide adequate stiffness, strength and ductility of
a structure. The procedure presented here is for SDOF
systems and can be implemented to MDOF systems
adopting the idea of effective SDOF systems [5,14,25].
Step 1: Specifying the target displacement DP, the
constant peak spectral acceleration PSA, constant
peak spectral velocity PSV and Tc shown in Fig. 1 or
Fig. 2 of the elastic design spectrum.
Step 2: Assuming the post-yield stiffness ratio r, usu-
ally taken as 0.05 and either the ductility ratio mP or
the yield displacement Dye.
Step 3: Calculate the yield displacement Dye (if mP is
assumed in step 2) or the ductility ratio mP (if Dye is
assumed in step 2) from Eq. (19).
Step 4: Calculate the spectral acceleration at yielding
Aye from Eqs. (26) and (31)) denoted as A1ye
and A2ye, respectively.
Step 5: Calculate Tc* according to Eq. (16). In
addition, calculate TP1 according to Eq. (24) with Aye
being equal to A1ye in step 4.
Step 6: If T 1PTc, Aye=A1ye; otherwise Aye=A2ye.
Step 7: The design base-shear or required yielding
strength of the system Vye=AyeM, where M is the
lumped mass.
Step 8: The required structural stiffness or period of
the structure can be estimated easily through
K .
Vye M elastic spectra. The required stiffness and strength for
K0 and T02
Dye 0 each objective can be easily calculated through the pro-
1457
Step 9: Calculate the member force, e.g. for SDOF
systems, design moment Mye=VyeL, where L is the
column height.
Step 10: Design the member size and reinforcement
based on the required stiffness and strengths.
Notice that Step 5 is necessary to distinguish the case
shown in Fig. 3(a) from that in Fig. 3(b) to determine
the yielding strength in Step 6.
It is interesting to see easily from Eq. (29) that for an
elastic-perfect plastic SDOF system, the required initial
stiffness or period of the structure can be estimated
directly based on the selected target displacement. Then
assuming various displacement ductility ratio would
results in different required design strength. This means
that for a given target displacement limit, multiple
design results exists. In the proposed procedure, the
assumption of the mP can be based either on the structural
system and material used or on the life time
cost/benefit studies.
The application of the proposed procedure is verified
through the 6 systems in Chopra and Goel [16] and the
short-period structure in Fajfar [14]. The results are
presented in Table 1.
4. A simple displacement-based design procedure
for MDOF systems
The procedure can be implemented to MDOF systems
adopting the idea of equivalent SDOF systems [5,14,25].
Detailed transformation between the response of MDOF
systems and that of equivalent SDOF systems can be
found in these references and is thus not provided here-
with. Nevertheless, the present procedure is also verified
in Table 2 through the MDOF system examined in Fajfar
[14]. In Table 2, the calculated equivalent mass
m=217.44(t) and participating factor PF=1.336.
After the yielding force Vye has been determined, the
level of seismic-equivalent static lateral force for which
members have to be designed is calculated by the
expression
mii
Fi Vye
mii
The member forces can be evaluated by conventional
structural analysis and members can be designed accord-
ingly.
The proposed procedure can be easily implemented
into an overall performance-based design procedure with
multiple performance objectives quantitatively described
as various target displacements under different intensity
of ground motions represented by their corresponding
 1458

Table 1
Design of the referenced systems by the proposed procedure (note: TP1Tc*, Aye=Aye2; TP1Tc*, Aye=Aye1)

Ref. [16] Target Assumed structural Calculated Possible spectral Required Referenced
Design earthquake ground motion Period comparison
Sys. no. displacement properties property acceleration at yielding spectral acc. value

Dt (cm) Dye (cm) r PSA (g) PSV (cm/s) Tc (s) m Aye2 (m/s2) Aye1 (m/s2) TP1 (s) Tc* (s) Aye (g) Aye (g)

1 22.29 3.72 0 2.71 280.42 0.66 5.99 801.37 588.78 1.22 0.89 0.60 0.60
2 22.29 5.58 0 2.71 280.42 0.66 3.99 1004.60 883.17 1.00 0.87 0.90 0.90
3 19.39 9.70 0 2.71 280.42 0.66 2.00 1533.45 2027.92 0.61 0.81 1.56 1.56
4 44.64 7.44 0 2.71 280.42 0.66 6.00 800.77 293.59 2.45 0.89 0.30 0.30
5 44.64 11.16 0 2.71 280.42 0.66 4.00 1003.80 440.37 2.00 0.87 0.45 0.45
6 44.64 22.32 0 2.71 280.42 0.66 2.00 1533.37 880.79 1.41 0.81 0.90 0.90
Dt(cm) m r PSA (g) PSV (m/s) Tc (s) Dye (cm) Aye2 (m/s2) Aye1 (m/s2) TP1 (s) Tc* (s) Aye (g) Aye (g)
Ref. [14] 0.056 5 0 1.5 1.404 0.6 1.12 4.90 7.04 0.56 0.81 0.50 0.50
Q. Xue / Engineering Structures 23 (2001) 14531460
Table 2
Design of a four-story RC building presented by Fajfar [14]y using the proposed method (note: TP1Tc*, A*ye=A*ye1; x*t=xt,t/PF, Q*y=m*A*ye, Vy=PFQ*y)

Target (top) Assumed properties Design earthquake Yielding Possible spectral Period comparison Spectral Required base shear Referenced
displacement (ESDOF) ground motion displacement acceleration at (ESDOF) acceleration base shear
(ESDOF) yielding (ESDOF) at yielding (MDOF)
(ESDOF)

(MDOF) (ESDOF) (ESDOF) (MDOF)

A*ye2 A*ye1
xt,t (m) x*t (m) m r PSA (g) PSV (m/s) Tc (s) x*y (m) TP1 (s) Tc* (s) A*ye (g) Q*ye (KN) Vye (KN) Vye (kN)
(m/s2) (m/s2)
0.237 0.177 2.909 0 1.5 1.404 0.6 0.06 6.70 3.83 1.35 0.772 0.39 832.8 1112.65 1112
Q. Xue / Engineering Structures 23 (2001) 14531460
1459
1460 Q. Xue / Engineering Structures 23 (2001) 14531460
posed procedure. The objective with the largest stiffness
and strength requirements is the most critical and the
corresponding section and reinforcement can be adopted
for further design verifications. Thus, multiple perform-
ance objectives can be considered in a simple manner
during the preliminary design.
5. Conclusions
A direct displacement-based design procedure has
been formulated based on a non-iterative capacity-spec-
trum method without the linear approximation of hyster-
etic behavior as in the substitute structure method. In the
non-iterative capacity-method, a close relationship
between the target displacement and the stiffness, duc-
tility and strength demand of the structure is found based
on the diagram reduction factors derived from the New-
markHall inelastic spectrum. In the application of the
displacement-based design procedure, given the target
displacement and the elastic design spectrum, the
required stiffness and strength of a structure can be
evaluated numerically with the assumption of ductility
ratio and post-yielding stiffness ratio. The influence of
strain hardening of the structural system is considered.
No spectrum is needed to plot. This procedure can be
easily implemented to consider multiple performance
objectives in the preliminary design phase of the per-
formance-based seismic design procedures.
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