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03 Chapter
03 Chapter
3.1 Introduction
Earthquake or seismic analysis is a subset of structural analysis which involves the calculation of
the response of a structure subjected to earthquake excitation. This is required for carrying out
the structural design, structural assessment and retrofitting of the structures in the regions where
earthquakes are prevalent. Various seismic data are necessary to carry out the seismic analysis of
the structures. These data are accessible into two ways viz. in deterministic form or in
probabilistic form. Data in deterministic form are used for design of structures etc whereas data
in probabilistic form are used for seismic risk analysis, study of structure subjected to random
vibration and damage assessment of structures under particular earthquake ground motion. Major
seismic input includes ground acceleration/velocity/displacement data, magnitude of earthquake,
peak ground parameters, duration etc.
In this chapter, the seismic response of the structures is investigated under earthquake excitation
expressed in the form of time history of acceleration. The response is investigated for the
structures modeled as Single Degree of Freedom (SDOF) and discrete Multi Degree of Freedom
(MDOF) System.
x(t)
m x (t ) +
m ( x g ( t ))
k m
c
kx (t )
cx (t )
x g (t )
(a) (b)
Figure 3.1 (a) SDOF system (b) Free body diagram.
60
Consider the equilibrium of the various forces acting on the mass, as shown in Figure 3.1(b), we
get,
x ( t ) +
m ( x g ( t )) + cx ( t ) + kx ( t ) = 0
(3.1)
or
mx( t ) + cx ( t ) + kx ( t ) = mxg ( t )
(3.2)
where,
x (t ) = relative displacement of mass with respect to ground
where, and 0 denotes the damping ratio and natural frequency of SDOF system, respectively
expressed as
k
0 =
m (3.4)
c
=
2 m 0 (3.5)
The damped natural frequency of SDOF system is given by
d = 0 1 2 (3.6)
The equation of motion for a linear, viscously damped SDOF system is second order differential
equation with constant coefficients. The solution of this equation for the specified earthquake
acceleration,
x g (t ) will provide the response of the SDOF system.
61
3.3 Response Analysis of SDOF System
For a given time history (acceleration versus time data) of earthquake ground motion, the
response of viscously damped SDOF system can be obtained either by Time Domain Analysis or
Frequency Domain Analysis.
Duhamel Integral is used to obtain the response of SDOF system subjected to earthquake ground
motion. Equation of motion for a SDOF system subjected to ground motion acceleration is given
by equation (3.2). The solution of which can be split into homogeneous and particular part as
x (t ) = xh (t ) + x p (t )
(3.7)
where,
xh(t) = homogeneous solution, and xp(t) = particular solution.
Homogeneous or complimentary solution (as depicted from Figure 3.2) is the damped free-
vibration response given by equation (3.8)
xh (t ) = g (t ) x0 + h(t ) x0 (3.8)
where, x0 and x0 are initial displacement and velocity of the SDOF system, respectively.
x0 =1
SDOF g(t)
x0 = 0
x0 = 0
SDOF h(t)
x0 = 1
Figure 3.2 Response of SDOF system to initial unit displacement and velocity.
62
Putting the boundary conditions (as shown in Figure 3.2) in the solution of the homogeneous
part, g(t) and h(t) can be obtained as
0
g (t ) = e0 t cos d t + sin d t
d (3.9)
e0 t
h(t ) = sin d t
d (3.10)
For obtaining particular solution part of equation (3.7), it is assumed that the irregular ground
acceleration is made up of very brief impulses as shown in Figure 3.3. The vibration caused by
all the impulse are added together to obtain the total response.
xg ( t )
xg ( )
t-
d
Consider the vibration caused by a single impulse. Newtons second law states that the rate of
change of moment of a mass is equal to the applied force i.e.
d
(mx (t )) = m
xg (t )
dt (3.11)
Thus, the change in momentum over a brief interval, d brought by the instantaneous force
m
x g ( ) is given by
d ( mx ( t )) = m
x g ( ) d
(3.12)
63
It should be noted that the small changes in velocity and displacement occurring during the time
interval d will make a negligible contribution to the change in momentum. The change in
velocity during the interval is
dx ( t ) =
xg () d (3.13)
dx p (t ) =
x g ( ) d . h (t )
(3.14)
Each impulse in Figure (3.3) will produce a vibration of this form. Because the system is linear,
the effect of each impulse is independent of every other impulse and the total resulting motion
can be obtained by the principle of super position.
t
x p (t ) =
xg () h(t ) d (3.15)
0
This integral is known as convolution or Duhamel integral. Explicit solution may be obtained
for simple forms of forcing function such as rectangular and triangular.
From equations (3.8), (3.9), (3.10) and (3.15), the total response (given in equation (3.7)) of
system can be given by
t
x g ( )]h (t )d
x ( t ) = x0 g (t ) + x0 h (t ) [ (3.16)
0
For the system with at rest condition (i.e. x0 =0 and x0 =0) the response is given by
t
x (t ) =
x g ( ) h (t ) d (3.17)
0
This is known as time domain solution because the response is calculated using time as a
variable.
In order to obtain recurrence formulas for time domain analysis, consider a SDOF system with
displacement and velocity defined at initial time, ti and the response is required at, ti+1 (refer
Figure 3.4). Suppose xi and xi are the initial displacement and velocity of the system,
respectively,
64
xg ( t )
xgi+1
xgi
Time
t
d
ti
Figure 3.4 Linear variation of ground acceleration across chosen time step ti .
g (t ti ) = e 0 ( t ti ) 0 sin d (t ti ) + cos d (t ti )
d
e 0 ( t ti )
h(t ti ) = sin d (t ti )
d
i +1
(3.19)
x
x
i
xg ( ) =
xgi + g g
( ti )
ti
e 0 ( t )
h ( t ) = sin d (t )
d
x(t ) = g (t ti ) xi + h(t ti ) xi + f1 ( t ti )
xgi + f 2 ( t ti )
xgi +1
(3.21)
65
Similarly, the velocity of the system at time, t is given by
x (t ) = g (t ti ) xi + h(t ti ) xi + f1 ( t ti )
xgi + f2 ( t ti )
xgi +1 (3.22)
xi +1 = g (ti ) xi + h(ti ) xi + f1 ( ti )
xgi + f2 ( ti )
xgi +1 (3.23)
xi +1 = g (ti ) xi + h(ti ) xi + f1 ( ti )
xgi + f2 ( ti )
xgi +1 (3.24)
xi +1 g (ti ) h(ti ) xi f1 ( ti ) f 2 ( ti )
xgi
= + i +1 (3.25)
xi +1 g (ti ) h(ti ) xi f1 ( ti ) f2 ( ti )
xg
or
where,
x x gi a a b b
{xi } = i , {x g } = i +1 ,
i
[A] = 11 12 , and [B] = 11 12
xi
x g a21 a22 b21 b22
The elements of matrices [A] and [B] from Nigam and Jennings (1969) are given by equations
(3.28) and (3.29)
66
a11 = e 0ti sin d ti + cos d ti
1 2
e 0ti
a12 = sin d ti
d
(3.28)
0 0 ti
a21 = e sin d ti
1 2
a22 = e 0ti cos d ti sin d ti
1 2
22 1 sin d ti 2 1
b11 = e 0ti 2 + + 3 + 2 cos d ti
0 ti 0 d 0 ti 0
2 1 sin d ti
2
2 1 2
b12 = e 0 ti 2 + 3 cos d ti 2 + 3
0 ti d 0 ti 0 0 ti
22 1
b21 = e0 ti 2 + cos d ti sin d ti
0 ti 0 1 2
2 1 1
3 + 2 ( d sin d ti + 0 cos d ti ) + 2
0 i t 0 0 ti
2
0 ti 2 1
b22 = e 2 cos d ti sin d ti
0 ti 1 2
2 1
3 ( d
sin t + cos ti )
0 ti 0 ti
d i 0 d 2
(3.29)
67
Finally, the acceleration response of the SDOF system can be obtained by reproducing the
equation of motion as
( cxi +1 kxi +1 mxgi +1 )
xi +1 =
(3.30)
m
Hence, if the displacement and velocity of the system are known at some time ti, the state of the
system at all subsequent times, ti+1 can be computed exactly by a step-by-step application of
equation (3.27) to (3.30). The computational advantage of this approach lies in the fact that the
elements of [A] and [B] matrix depend only on , 0 and ti. The value and 0 are constant
68
3.3.1.1 Numerical Methods for Seismic Analysis of SDOF System
There are number of numerical methods available for solving initial boundary value problems.
Most commonly used methods are Newmarks Beta method (Linear acceleration method) and
Runge-Kutta method which are described here.
In this method, acceleration, velocity and displacement at time, t = ti+1 is obtained as a function
of acceleration, velocity and displacement at t = ti (which is always known), assuming linear
acceleration during small time step (Figure 3.5). Assume a SDOF system subjected to earthquake
ground motion, the equation of motion is given by
ti
(a) (b)
Figure 3.5 (a) Linear ground acceleration, (b) Linear relative acceleration of SDOF system over
time step, ti .
where,
xi =
xi +1
xi
xi = xi +1 xi
xi = xi +1 xi (3.33)
ti = ti +1 ti
xgi +1
xgi =
xgi
69
Assuming linear variation of acceleration (see Figure 3.5(b))
xi +1
xi
x (t ) =
xi + .t (3.34)
ti
On integrating,
xi +1
xi t 2
x (t ) = xi +
xi t + . (3.35)
ti 2
t2 x
x t3
x(t ) = xi + xi t +
xi + i +1 i . (3.36)
2 ti 6
xi = xi xi 3
xi (3.37)
ti2
ti
Substituting
xi , xi in equation (3.32) and solve for xi i.e.
peff
xi = (3.39)
keff
where,
6 t
peff = mxgi + m + 3c xi + 3m + i c
xi (3.40)
ti 2
6 3
keff = m + c + k (3.41)
ti 2
ti
Knowing the xi , determine xi from equation (3.38). At t = ti+1, displacement and velocity can
be determined as
xi +1 = xi + xi
(3.42)
xi +1 = xi + xi
70
The acceleration at time ti+1 is calculated by considering equilibrium of equation (3.31) to avoid
the accumulation of the unbalanced forces i.e.
1
xi +1 =
mxgi +1 cxi +1 kxi +1 (3.43)
m
In this way, using this step-by-step numerical integration scheme, the response of SDOF system
can be obtained for given time history. Repeat the same steps to obtain response at t =ti+2 and so
on. The accuracy of output response depends upon the magnitude of time-step ti chosen.
Optimum values of ti should be chosen to obtain fastest converging results with required
precision. Time stepping methods has got limitation that error goes on accumulating with
calculation proceeds. In order to keep Newmarks Beta method stable, the time step should be
taken such that (Chopra, 2007)
ti
0.551 (3.44)
T0
This method is conditionally stable if above inequality satisfies, otherwise method will blow-
up giving illogical results.
Knowing the initial conditions, response of SDOF system with time can be determined using
Runge-Kutta method. Let the equation of motion of the SDOF system be
Define a vector,
x
x = (3.46a)
x
On differentiating the above equation
71
x
x = (3.46b)
x
Using Equation (3.45) and (3.46a), above equation can be reproduced as,
0 1
x x 0
= k c +
x x xg
m m
or, x = Ex + F (3.47)
0 1
0
where, E = k c ; F =
xg
m m
x gi +1
xgi
ti
Figure 3.6: Time step for Runge-Kutta method
k1 = ti Exi + F i (3.48)
k F i
k2 = ti E xi + 1 + F i + (3.49)
3 3
2k 2 F i
k3 = ti E xi + 2 + F i + (3.50)
3 3
(Note: Subscript i refers to the value at time t = ti , refers to difference in value at ti+1 and ti,
and indicates a matrix)
72
then,
xi k + 2k2 + k3
xi = = 1 (3.51)
xi 4
xi +1
xi +1 = = xi + xi (3.52)
xi +1
Repeat same steps to obtain response at time t = ti+2 and so on. A Runge-Kutta method is
conditionally stable for linear second order differential equation like equation (3.45). But still the
time step, ti should be taken short enough to ensure required precision in results.
73
3.3.2 Frequency Domain Analysis
This method is used for obtaining response of linear systems subjected to irregular excitations
such as earthquake forces and it requires knowledge of complex frequency response function for
its proper application. If the stiffness k and damping c of the SDOF system are frequency
dependent, then this approach is much superior to the time domain.
response function.
Consider a SDOF system (Figure 3.7), subjected to the forcing function of eit, producing
displacement response as
x(t ) = H ()eit (3.55)
x + 2 o x + o2 x = e i t
(3.56)
or, H ( )[ 2 + 2 o i + o2 ] = 1 (3.58)
74
1
H () = (3.59)
( ) + i 2o
2
o
2
x g (t ) ] is expressed as
The Fourier transform of [-
[ x (t )]e
it
X g () = g dt
(3.60)
The response of a SDOF system can be obtained by substituting equations (3.59) and (3.60) in
equation (3.54) and solving the integral.
f (t ) dt < (3.61)
75
3.4 Numerical Examples on SDOF system
Example 3.1
xg (t ) =
A SDOF system is subjected to a harmonic ground motion of xo sin t . Determine the
steady state response using time and frequency domain method and considering that the system
starts from rest. The natural frequency and fraction of critical damping of SDOF system are o
and , respectively.
Solution: Equation of motion is given by
x (t ) + 2 o x (t ) + 2o x (t ) =
xo sin t
Using equation (3.17) steady state response of system in time domain is given by
t
xg ( )h(t )d
x(t ) =
0
e o ( t )
x g ( ) =
where, xo sin and h(t ) = sin(d (t ))
d
Thus,
eo (t )
t
x(t ) = (
xo sin ) sin(d (t ))d
0
d
xo
1
= sin(t )
o (1 )2 + (2)2
2 2
2
where, = and = tan 1 2
o 1
76
where,
1
H () =
+ i 2o
2
o
2
and
X g () = FT [
xo sin( t )] = [ x sin(t )] e
o
it
dt
eit eit
( e e ) e dt
xo
= it it it
Note : sin t =
2i 2i
xo i ( )t
= e dt ei ( ) t dt
2i
xo
= 2 ( ) 2 ( )
2i
xo [ ( ) (+ )]
= i
77
Implying that,
e
it
d = 2(t )
(t t )dt = 1
(t t )(t )dt = (t )
o o
(t to ) = (to t )
Using the above properties, the response of the SDOF system is expressed as
1
x(t ) = eit H () X g ()d
2
x(t ) =
1
2
eit 2
1
i (
xo [ ( ) ( + )] d )
o + i 2o
2
ixo eit
eit
= 2 ( ) d ( + )d
2 o + i 2o
2
+ i 2o
2
o
2
2
Taking = and = tan 1
o 1
2
,
ixo eit i eit
+ i
= e e
2
( ) + ( 2 )
2 2
( 2 ) + ( 2o )
2
2 2 2 2
o o o
78
ixo 1
= (ei ( t ) e i ( t ) )
2o2 (1 2 ) 2 + (2)2
ixo 1
= 2i sin( t )
2o (1 )2 + (2)2
2 2
xo
1
= sin(t )
o (1 2 )2 + (2)2
2
Thus, the same expression for the steady state response of the SDOF system subjected to the
harmonic earthquake acceleration is obtained using the time and frequency domain approach.
Example 3.2
Show that the displacement response of an undamped SDOF system subjected earthquake
x0e at is given by
xg (t ) =
acceleration,
x0
a at
x(t ) = sin 0t cos 0t + e
a + 02
2
0
where, 0 = natural frequency of the SDOF system; and a = parameter having the same unit as
that of 0 .
x ( t ) =
xg ( ) h ( t ) d
t
x0
x (t ) = sin 0 ( t ) d
t
a
0 e
0
On integrating by parts,
79
t
x
e a x
0 a
x (t ) = 0 sin 0 ( t ) + 0 e cos 0 ( t ) d
t
0
a 0 0
0 a
t
x0 1
x0 e a
x
x ( t ) = sin 0t + cos 0 ( t ) + 0 2 0 sin 0 ( t ) d
t
a
0 a a a 0 a e
0
xg 1
x0 at
x0 20
x ( t ) = sin 0t 2 e + 2 cos 0t 2 x ( t )
0 a a a a
2 x
a at
x ( t ) 1 + 20 = 02 sin 0t cos 0t + e
a a 0
x0
a at
x (t ) = sin 0t cos 0t + e
a + 02
2
0
where xh(t) is the solution of homogeneous part of differential equation and xp(t) is the particular
solution.
x p (t ) = a c e at
80
x p (t ) = a 2ce at
xe at
x ( t ) + 02 x ( t ) =
Substituting the above in the equation,
a 2 ce at + 02 ce at =
x0 e at
x0
c=
a 2 + 02
x0
x p (t ) = e at
a + 0
2 2
x (t ) = xh (t ) + x p (t )
x0
x (t ) = A cos 0t + B sin 0t e at
a + 0
2 2
The initial conditions for system with at rest are i.e. at t = 0 are x (0) = 0 and x (0) = 0 .
x0
x (0) = 0 A =0
a + 02
2
x0
A=
a + 02
2
Similarly,
ax0
x (0) = 0 0 A 0 + 0 B 1 + e a 0 = 0
a + 0
2 2
a x0
B=
0 a + 20
2
Substitute the expression for A and B, the response of SDOF system simplifies to
x0
a x0 x
x (t ) = cos 0t + sin 0t 2 0 2 e at
a + 0
2 2
0 a + 0
2 2
a + 0
x0
a at
= sin 0t cos 0t + e
a + 02
2
0
81
Example 3.3
Using the frequency domain approach and time domain analysis, show that the displacement of
xg ( t ) = c0 ( t ) is given by
an undamped SDOF system subjected to earthquake acceleration,
c0
x (t ) = sin ( 0t )
0
where 0 is the natural frequency of the SDOF system and ( t ) is the Dirac delta function.
Solution:
where,
1
H ( ) = (For undamped system)
2
2
0
xg ( t ) is
And Fourier transform of
X g ( ) =
xg ( t ) eit dt
X g ( ) = c0 ( t ) eit dt
Xg ( ) = c0eit t =0
X g ( ) = c0
c0 e it
2 02 2
= d
82
The integral have two poles at = 0 Applying Cauchy residual theorem for solving the
.
integral
c0 eit eit
x (t ) = 2 i lim ( ) + 2 i lim ( + 0 )
2 0 0
2 2 0 2 2
0 0
ei0t ei0t
x ( t ) = ic0 +
20 20
ic0 i0t i0t
x (t ) = e e
20
ic0
x (t ) = [ 2i sin 0t ]
2 0
i 2c0
x (t ) = sin 0t
0
c0
x (t ) = sin ( 0t )
0
x ( t ) = h ( t )
xg ( ) d
t
where,
sin 0 ( t )
h (t ) =
0
xg ( ) = c0 ( )
0 0
sin 0 ( t )
x ( t ) = c0
0 = 0
c0
x (t ) = sin 0t
0
83
Example 3.4
Show that the maximum displacement response of a damped SDOF system subjected earthquake
x g ( t ) = x g 0 (t ) is
acceleration,
x g 0 1 2
xmax = exp tan 1
0 1 2
where 0 and are natural frequency and damping ratio of the SDOF system, respectively; x g 0 is
the increment in velocity or the magnitude of acceleration impulse and (t ) is the Dirac delta
function.
d 0 1 2 1 2
i.e. tan(d t ) = = =
0 0
From above equation, the time at which maximum displacement occurs will be
1 1 2
tm = tan 1
d
1
1 2
t
If d m = tan , it implies that the sin d t m = 1 2 (refer Figure 3.9)
84
1
1
Figure 3.9
x g 0
xmax = e0tm sin ( d tm )
d
x g 0 1 1 2
= exp 0 tan 1 1 2
d d
x g 0 1 2
xmax = exp tan 1
0 1 2
85
Example 3.5
Find the response of SDOF system having time period as 1 sec and damping ratio as 0.02
subjected to the El-Centro, 1940 earthquake motion (refer Appendix-I for the digitized
acceleration values). Plot the displacement response of the SDOF system using (a) Exact method
of time domain analysis, (b) Newmarks Beta method, and (c) Runge-Kutta method.
Solution:
Based on the computer program written in the FORTAN language, the response of the SDOF
system with time period as 1 sec and damping ratio as 0.02 subjected to the El-Centro, 1940
earthquake motion were obtained and is plotted in Figure 3.10. The calculated maximum
displacement of the system is found to be 0.15163m, 0.15166m and 0.15158m for exact method
of time domain analysis, Newmarks Beta method and Runge-Kutta method, respectively. As
expected all the methods predict the same response of the system. Further, time interval taken for
numerical integration of equation of motion of the system is 0.002 sec for Newmarks Beta and
Runge-Kutta methods.
86
Figure 3.10 Response of SDOF system of Example 3.5 by various methods.
87
3.5 Response Analysis of MDOF System
Multi degree of freedom (MDOF) systems are usually analyzed using modal superposition
analysis. A typical MDOF system with n degrees of freedom is shown in Figure (3.11). This
system when subjected to ground motion undergoes deformations in number of possible ways.
These deformed shapes are known as modes of vibration or mode shapes. Each shape is vibrating
with a particular natural frequency. Total unique modes for each MDOF system are equal to the
possible degrees of freedom of system. The equations of motion for MDOF system is given by
x (t )} + [c ]{ x ( t )} + [ k ]{ x ( t )} = - [ m ]{r}
[m ]{ x g (t) (3.64)
where, [m] = Mass matrix (n n); [k] = Stiffness matix (n n); [c] = Damping matrix (n n);
{r} = Influence coefficient vector (n1); { x ( t )} = relative displacement vector; { x ( t )} = relative
velocity vector, {
x ( t )} = relative acceleration vector, and
x g (t ) = earthquake ground acceleration.
Xn
X2
X1
xg (t)
88
The undamped eigen values and eigen vectors of the MDOF system are found form the
characteristic equation
{[k ] 2
i [m ]} i = 0 i = 1, 2, 3, , n (3.65)
d et {[k ] 2
i [m ]} = 0 (3.66)
where,
where {y(t)} represents the modal displacement vector, and [ ] is the mode shape matrix given
by
[] = [ 1 , 2 ,......... n ] (3.68)
[] [ m ][ ]{ y (t )} + [ ] [c ][]{ y (t )} + [ ] [ k ][ ]{ y (t )} = [] [ m ]{r } xg (t )
T T T T
(3.69)
y ( t ) } + [ C d ] { y ( t ) } + [ K d ] { y ( t ) } = [ ]
] { [m ]{r } x g ( t )
T
[M m (3.70)
where,
[ ] [c ][ ] = [Cd ]
T
= generalized damping matrix
[] [ k ][] = [ K d ]
T
= generalized stiffness matrix
89
By virtue of the properties of the [], the matrices [Mm] and [Kd] are diagonal matrices. However,
for the classically damped system (i.e. if the [Cd] is also a diagonal matrix), the equation (3.70)
reduces to the following equation
y i ( t ) + 2 i i y i ( t ) + i2 y i ( t ) = i
x g (t ) ( i = 1, 2, 3, , n ) (3.71)
where,
yi (t ) = modal displacement response in the ith mode,
{i }T [m ]{r}
i = (3.72)
{i }T [m ]{i }
The equation (3.71) represents n second order differential equations (i.e. similar to that of a
SDOF system) and the solution of which will provide the modal displacement response in the ith
mode, yi (t ) for i=1 to n. The displacement response of the MDOF system can be obtained by
equation (3.67) using the {y(t)}. The other response quantities of the structure can be obtained
from the displacement response of the system.
90
3.6 Numerical Examples on MDOF System
Example 3.6
A two-story building is modeled as 2-DOF system and rigid floors as shown in the Figure 3.12.
Determine the top floor maximum displacement and base shear due to El-Centro, 1940
earthquake ground motion. Take the inter-story stiffness, k =197.392 103 N/m, the floor mass,
m = 2500 kg and damping ratio as 2%.
m
x2
2m
x1
2k
Figure 3.12
Solution:
3k k
Stiffness matrix = [k] =
k k
5000 0
Mass matrix = [m] =
0 2500
Using the equations (3.65) and (3.66), the frequencies and mode-shapes of the structures are
91
0.5 1
{1} = , and {2 } =
1 1
0.5 1
[] = [1 2 ] =
1 1
{ } [m]{r}
T
i = i T
{i } [m ]{i }
5000 0 1
[0.5 1]
{ } [m]{r} = 2500 1
T
1 = 1 T 0 =1.333
{1} [m]{1} [0.5 1] 5000 0 0.5
0 2500 1
Similarly,
5000 0 1
[ 1 1]
{2 } [m]{r} 2500 1
T
2 = = 0
= 0.333
{2 } [m]{2 } [ 1 1] 5000 0 1
T
0 2500 1
The response in the each mode of vibration is computed by solving the Equation (3.71) for the
system. The displacement and base shear response is shown in the Figures 3.13 and 3.14,
respectively. The maximum top floor displacement and base shear are found to be 0.202 m and
92
Figure 3.13 Top floor displacement response of two DOF system of Example 3.6.
93
Figure 3.14 Base shear response of two DOF system of Example 3.6.
94
Example 3.7
An industrial structure is modeled as 2-DOF system as shown in the Figure 3.15. Determine the
horizontal and vertical displacement of the free end of the structure due to El-Centro, 1940
earthquake ground motion. Take EI =80 103 N.m2, L= 2m, m1= 100kg and m2= 200kg. The
damping shall be considered as 2 percent.
m1=100kg m2=200kg
EI, L
x1
x2
EI, L
Figure 3.15
Solution: Given,
Mass, m1= 100kg, m2= 200kg, Length, L= 2 m and flexural rigidity, EI= 80 103 Nm2
6 EI 8 3
Stiffness matrix = [k ] = ;
7 L3 3 2
300 0
Mass matrix = [m] =
0 200
Using equation (3.65), eigen values and eigen vectors can be obtained as
2.7 5.103
{1} = ; {2 } =
6.25 3.307
95
Modal participation can be obtained by
{i } [m]{r}
T
i =
{i } [m ]{i }
T
The displacement response in the each mode of vibration is computed by solving the Equation
(3.71) for the system. The horizontal and vertical displacement of the free end of the structure is
shown in the Figures 3.16 and 3.17, respectively. The maximum horizontal and vertical
displacement of the free end of the structure is found to be 0.039 m and 0.0699 m, respectively.
96
Figure 3.16 Horizontal displacement response of the Industrial Structure of Example 3.7.
97
Figure 3.17 Vertical displacement response of the Industrial Structure of Example 3.7.
98
3.8 Tutorial Problems
Q1. Develop general computer programs (preferably using Matlab or Scilab) to obtain the
response of a SDOF system under earthquake excitation using (a) Newmarks Beta method,
(b) Runge-Kutta method, and (c) Exact method of time domain analysis. Compare the
results from above three methods by plotting the response of a SDOF system having time
period as 0.5 sec and damping ratio as 0.05 under the El-Centro, 1940 motion.
Q2. Derive the expressions for the elements of matrices [A] and [B] (i.e. equations (3.28) and
(3.29)) used in exact method for evaluation of the response of a SDOF system under
earthquake excitation.
Q3. Derive the expression for displacement response of an undamped SDOF system subjected to
earthquake ground motion of x g ( t ) = xo ( e at e bt ) . Take, 0 = natural frequency of the
B
C
Figure 3.18
99
Q5. A 2-degrees-of-freedom system (Figure 3.19) is subjected to horizontal earthquake
excitation of El-Centro, 1940 earthquake. Take the flexural rigidity, EI = 106 Nm2 and
length, L = 2m. The each lumped mass is 100 kg. Determine the maximum displacement of
the two masses. Take 2% damping in each mode of vibration.
100 kg
EI, L
100 kg
EI, L
Figure 3.19
Q6. A three-story building is modeled as 3-DOF system and rigid floors as shown in Figure
3.20. Determine the maximum top floor maximum displacement and base shear due to El-
Centro, 1940 earthquake ground motion. Take the inter-story lateral stiffness of floors i.e. k1
= k2= k3=16357.5 kN/m, the floor mass m1= m2=10000 kg and m3=5000 kg and damping
ratio as 2%.
m3
x3
k3
m2
x2
k2
m1
x1
k1
Figure 3.20
100
3.8 Answers to Tutorial Problems
Q3.
x0
a at x0
b bt
x(t ) = sin 0t cos 0t + e + 2 sin 0t cos 0t + e
a + 02
2
0 b + 0
2
0
101