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Linear Modal Time History Analysis V1.1 PDF
Linear Modal Time History Analysis V1.1 PDF
Carleton University
Mostafa Tazarv
Graduate Student
Version 1.1 (April 2011)
Cite as: Tazarv, M., Linear Time History Analysis of MDOF Structures by
Mode Superposition Method, available at: http://alum.sharif.edu/~tazarv/
Modal Time History Analysis Mostafa Tazarv
Introduction
Structural dynamic is a mandatory graduate level course for structural/earthquake engineering
student all around the world. One of the most important topics of this course is to solve modal
equations of motion of a Multi Degree of Freedom (MDOF) structure by a numerical method
such as Nemarks method and Wilson- method. Modal response should be assembled to
obtain each DOF response. Applied load can be a base excitation earthquake or time-dependent
loads on stories.
Here, I will introduce a MATLAB function which can do a time history analysis of an n-DOF
structure with a certain Number of Modes (nom). Then, I will show how to use this function with
two examples, one excited by half-cycle harmonic on two stories and another excited by Elcentro
earthquake. This function will also be verified by an example detailed in Dynamic of Structure
by Chopra.
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Modal Time History Analysis Mostafa Tazarv
function [disp,EF]=NM(n,nom,dt,F,ft,M,K,zet,omega2,phi)
% INPUTS:
% n: Number of Stories or generally, Number fo DOFs
% nom:
nom Number of Modes that you want to consider in analysis; (nom <= n)
% dt:
dt Time Interval (Sampling Time) of force or earthquake
% F: Spatial Load Distribution Vector; in the case of base seismic
% exitation F=-g*M*[1 1 1 ... 1]'; (A vector)
% ft:
ft Time-Variant Component of Load (A Vector); in the
% case of base seismic exitation ft=Ag (Ground Acceleration in g)
% M: Mass Matrix of Stories (n x n)
% K: Stiffness Matrix of Stories (n x n)
% zet:
zet Damping Ratio in percent (%); e.g. 5
% omega2:
omega2 Eigen-Values Matrix (nom x nom); e.g. [phi,omega2]=eig(K,M);
% phi:
phi Eigen-Vectors (nom x nom); e.g. [phi,omega2]=eig(K,M);
As long as the size of stiffness matrix and mass matrix are equal, there will be no restriction on this
function.
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Modal Time History Analysis Mostafa Tazarv
k1 + k 2 k2 0 0 m1 0 0 0
k k 2 + k3 k3 0 0 m2 0 0
K = , M =
2
2.0 - 1.0 0 0 0 0 0 0
- 1.0 1.5 - 0.5 0 0 0 0 0
0 - 0.50 1.0 - 0.5 0 0 0 0
0 0 - 0.5 1.0 - 0.5 0 0 0
K = 10 9 ( N / m)
0 0 0 - 0.5 1.0 - 0.5 0 0
0 0 0 0 - 0.5 1.0 - 0.5 0
0 0 0 0 0 - 0.5 1.0 - 0.5
0 0 0 0 0 0 - 0.5 0.5
Figure 1- Shear Building
8 0 0 0 0 0 0 0
0 8 0 0 0 0 0 0
0 0 8 0 0 0 0 0
0 0 0 8 0 0 0 0
M = 10
6
(kg = N .s 2 / m)
0 0 0 0 8 0 0 0
0 0 0 0 0 4 0 0
0 0 0 0 0 0 4 0
0 0 0 0 0 0 0 4
Derived mass and stiffness matrixes can be used as inputs of eigen-problem and modal analysis.
For this section, only 2 modes are desired. Then, eigenvalues and eigenvectors have been
calculated. Figure 2 illustrates modal shape of first two modes normalized to mass.
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Modal Time History Analysis Mostafa Tazarv
Figure 2- Mode Shapes of First Two Modes of Shear Building (Normalized to Mass)
- 0.0264 - 0.0727
- 0.0518 - 0.1280
- 0.0994 - 0.1776
- 0.1403 - 0.1423
= 10
3
- 0.1720 - 0.0391
- 0.1923 0.0828
- 0.2062 0.1849
- 0.2132 0.2429
4.1408 0
0 29.8429
NOTE:
should be a square matrix in the size of nom nom
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Modal Time History Analysis Mostafa Tazarv
is a half-sine wave with the period of 4.93 and 0 0 0 75 100 0 0 0 (kN). This
load is illustrated in Figure 3. All required data has been provided so far to do modal analysis as
follows:
function [disp,EF]=NM(8,2,0.005,F,ft,M,K,0,omega2,phi)
Displacement and elastic force time history of some stories are shown in Figures 4 and 5. Note
that displacement and elastic force response will be in m and N, respectively. However, I have
shown them in mm and kN.
Figure 3- Decomposing of Loads into Two Components (dt for f(t) is 0.005 sec)
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Modal Time History Analysis Mostafa Tazarv
Figure 5- Elastic Force Time history of Some Stories considering Two Modes
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Modal Time History Analysis Mostafa Tazarv
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Modal Time History Analysis Mostafa Tazarv
1 1 1 1 1 1 1 1
19.586
0 79.014
Sym.
0 0 204.44
0 0 0 1.3905e + 005
2
0 0 0 0 2.046e + 005 (rad/s)
0 0 0 0 0 4.7739e + 005
0 0 0 0 0 0 6.5069e + 005
0 0 0 0 0 0 0 9.4734e + 005
Dynamic properties are shown above. First 4 mode shapes are also plotted in Figure 7. We
will use only first 3 mode shapes and natural frequencies. Note that since stability condition
for numerical solution will not meet in modes above three, we have to consider only three
modes (higher modes have very small periods in this problem).
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Modal Time History Analysis Mostafa Tazarv
In the case of earthquake, . . 1 1 1 where g=9.81m/s2. Also, "#
where "# is ground acceleration normalized to g. is plotted in Figure 8.
. . 1 1 1 12001 1 1 1 1 1 1 1
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Modal Time History Analysis Mostafa Tazarv
Recall NM Function:
function [disp,EF]=NM(8,3,0.02,F,ft,M,K,5,omega2,phi)
Responses are plotted in Figure 9 for node 3 in X-direction with 5% damping ratio.
Hints:
plot(elcentro(:,1),disp(:,3)*1000); % Change unit from m to mm
plot(elcentro(:,1),EF(:,3));
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Modal Time History Analysis Mostafa Tazarv
Verification:
In this section accuracy of this function will be investigated by comparing the results with the
example 13.2.6 detailed on page 485 of Dynamic of Structures, Theory and Application to
Earthquake Engineering (Chopra, 1995) which is a five-story shear frame.
System properties. The lumped mass mj = m = 100 kips/g at each floor (g=386.22 in/s2), the
lateral stiffness of each story is kj = k = 31.54 kips/in., and the height of each story is 12 ft. The
damping ratio for all natural modes is $% = 5%. The mass matrix M, stiffness matrix K, natural
frequencies, and natural modes (normalized to 1 at roof) of this system are as follow:
0.2589 0 0 0
0
0 0.2589 0 0 0
M = 0 0 0.2589 0 0 (kips. s 2 / in)
0 0 0 0.2589 0
0 0 0 0 0.2589
63.0800 - 31.5400 0 0 0
- 31.5400 63.0800 - 31.5400 0 0
K = 0 - 31.5400 63.0800 - 31.5400 0 (kips / in)
0 0 - 31.5400 63.0800 - 31.5400
0 0 0 - 31.5400 31.5400
9.8694 0 0 0 0
0 84.0919 0 0 0
2 = 0 0 208.9717 0 0 (rad / s ) 2
0 0 0 344.8605 0
0 0 0 0 448.6144
For the given K and M, the natural periods are Tn = 2.0, 0.6852, 0.4346, 0.3383, and 0.2966 sec.
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Modal Time History Analysis Mostafa Tazarv
Chopra used all 5 modes in modal analysis. Excitation is Elcentro earthquake detailed in
example 2 of this script. Therefore, "# and
. . 1 1 1 99.9924 1 1 1 1 1
function [disp,EF]=NM(5,5,0.02,F,ft,M,K,5,omega2,phi)
Figure 10 illustrates a comparison of the roof displacement, roof elastic force and base shear with
this function and Chopras solution set. Minor differences may refer to the different types of
analytical algorithms as well as accuracy in digits in current MATLAB version (R2009a)
comparing to Chopras software about a decade ago.
a) b)
Figure 10- Comparison of Responses between (a) MN Function and (b) Chopras Solution (Chopra 1995, pp
485)
Reference
1. Humar J. L., Dynamic of Structures, Prentice Hall, 1990
2. Chopra A. K., Dynamic of Structures, Theory and Application to Earthquake Engineering, Prentice
Hall, 1995
3. MATLAB, The MathWorks Inc., 2009
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