2.

Elastic Earthquake Response Spectra

• Definition

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Chapter 4 – Seismic Analysis

2. Elastic Earthquake Response Spectra

• Definition
There are different types of response spectra:

SD = | x |max = relative displacement

p response
p spectrum
p (spectral
(p
displacement)
SV = | x |max = relative velocity response spectrum (spectral velocity)
SA = | x|max = relative acceleration response spectrum
SDa= | x + x s |max = absolute displacement response spectrum
SVa = | x + x s |max = absolute velocity response spectrum
SA = | x + xs |max = absolute acceleration response spectrum (spectral
acceleration))

The earthquake spectra that are most useful in earthquake engineering are SD, SV and
SA.

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Chapter 4 – Seismic Analysis

1
2. Elastic Earthquake Response Spectra
• Definition
Northridge-Rinaldi

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Chapter 4 – Seismic Analysis

2. Elastic Earthquake Response Spectra

• Properties of Response Spectra
Response spectra have the following properties :

1
1. they give the maximum response values of a SDOF system subjected to a given
earthquake accelerogram;

2. they give the maximum response values in each mode of a MDOF system
subjected to a given earthquake accelerogram; This result will be discussed
further in this chapter.

3. they indicate the frequency distribution of the seismic energy of a given

earthquake
q accelerogram,
g , meaning g that the response
p of a SDOF system
y is
amplified when the seismic energy is close to its natural frequency.

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Chapter 4 – Seismic Analysis

2
2. Elastic Earthquake Response Spectra
• Exact Response Spectra
The relative displacement response spectrum is obtained directly by Duhamel’s integral
given by equation 4.69 :

t
1
 x (  ) e sin  d (t -  ) d |max
- (t - )
S D = | x |max = | - s
d 0

The acceleration and the relative velocity are as follows :

dx(t)
x(t) =
dt

2
x(t)
x(t) = d 2
dt

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Chapter 4 – Seismic Analysis

2. Elastic Earthquake Response Spectra

• Exact Response Spectra
By convolution, if a time function, F(t), is given by :

u1(t)
F(t) =  f (t, ) d
u0(t)

then its time derivative becomes :

dF(t) u1  f (t, )
(t)
du (t) du (t)
=  d + 1 f ( u1 (t), t) - 0 f ( u0 (t), t)
dt u0(t)
 t dt dt

the above is known also as Leibnitz derivative of an integrated function

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Chapter 4 – Seismic Analysis

3
 2. Elastic Earthquake Response Spectra
• Exact Response Spectra
Applying convolution to Duhamel’s integral given by equation 4.69, we have :
t
1
 x (  ) e sin  d (t -  ) d
- (t - )
1 x(t) = -
f (t, ) = - xs (  ) e- (t - ) sin  d (t -  ) d
s

d
0

u0 (t) = 0

u1 (t) = t dF(t) u1  f (t, )

(t)
du (t) du (t)
=  d + 1 f ( u1 (t), t) - 0 f ( u 0 (t), t)
dt u0(t)
t dt dt
The relative velocity is then :

t
x(t) = -  xs (  ) e- (t - ) cos  d (t -  ) d
0

(4 100)
(4.100)
 t

 x (  ) e sin  d (t -  ) d
- (t - )
+ s
1- 2
0

The relative velocity response spectrum is given by :

S V = | x(t)|max
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Chapter 4 – Seismic Analysis

2. Elastic Earthquake Response Spectra

• Exact Response Spectra
Similarly, the relative acceleration is obtained by differentiating equation 4.100 with
respect to time :

t
x(t) = 2  x(  ) e- (t - ) cos  d (t -  ) d
0

(4.102)
(1 - 2  2 ) t

 x (  ) e sin  d (t -  ) d - xs (t)

- (t - )
+ s
1- 2 0

The absolute acceleration response spectrum is then :

S A = | x(t) + xs (t) |max

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Chapter 4 – Seismic Analysis

4
2. Elastic Earthquake Response Spectra
• Exact Response Spectra

Datafile
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Chapter 4 – Seismic Analysis

2. Elastic Earthquake Response Spectra

• Pseudo Response Spectra
Usually, a civil engineering structure has low damping (lower than 20% critical). The
following
g hypotheses
yp can then be made :

  , 2  0

 d  

 cos  d (t -  ) can be replaced by sin  d (t-  )

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Chapter 4 – Seismic Analysis

5
 2. Elastic Earthquake Response Spectra
• Pseudo Response Spectra
With these assumptions, equation 4.100 becomes:
t
x(t) = -  xs (  ) e- (t - ) cos  d (t -  ) d
0
t
x((t))  -  xs e- (t - ) sin  d ((t -  ) d =  x(t)
() (4.106)
 t 0
+
1- 2
 x (  ) e
0
s
- (t - )
sin  d (t -  ) d
t
1
 x (  ) e sin  d (t -  ) d
- (t - )
The pseudo relative velocity response spectrum is then: x(t) = - s
d 0

SV =  S D

With the same assumptions, equation 4.102 is written:

t
x(t) = 2  x(  ) e- (t - ) cos  d (t -  ) d
t
x + xs    xs e-
0
 (t - )
sin  d (t -  ) d =  2 x(t) (4.108)
0
(1 - 2  2 ) t
+
1- 2
 x (  ) e
0
s
- (t - )
sin  d (t -  ) d - xs (t)

The pseudo absolute acceleration response spectrum becomes:

S A =  S D =  SV
2

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Chapter 4 – Seismic Analysis

2. Elastic Earthquake Response Spectra

• Comparison Between Exact and
Pseudo Response Spectra
– Comparing exact response spectra
(equations 4.100, 4.102) with pseudo
response spectra (equations. 4.106,
4.108) for different accelerograms,
yields the following tendencies:
• in a system with zero damping,
results are essentially identical for
natural periods less than one second
(T < 1 s);
• when damping increases to 20 %
critical, differences are within 20 %
but without any observable bias;
• pseudo acceleration response
spectrum more precise than pseudo
velocity response spectrum.
– Variations within acceptable range
expected from seismic analysis.
– Pseudo response spectra must not be
used for highly damped systems ( >
20 % critical) or for systems with
long natural periods (T >> 1 s).

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Chapter 4 – Seismic Analysis

6
 2. Elastic Earthquake Response Spectra
• Tripartite Representation
of Pseudo Response
Spectra
– In ppractice,, response
p
spectra represented by a
graph with multiple
logarithmic scales called a
tripartite graph.
– Tripartite graph display on
same curve the following
information :
• exact relative displacement
response spectrum;
• pseudo relative velocity
response spectrum;
• pseudo absolute acceleration
response spectrum. Chapter 4 –CIE 619
Seismic Analysis
37

2. Elastic Earthquake Response Spectra

• Tripartite Representation of Pseudo Response Spectra
– To understand tripartite graph, consider variation of
log10Sv with log10T for constant values of SA or SD.
a) SA = constant = C1

If the pseudo acceleration response spectrum is equal to a constant, C1, it can be

written:

2
S A = C 1 =  S D =    S D =
2
SV
T

operating with the log10 on this equation, it yields:

log10 C 1 = log10 2  - log10 T + log10 S V

or

log10 S V = log10 T +  log10 C 1 - log10 2  

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Chapter 4 – Seismic Analysis

7
 2. Elastic Earthquake Response Spectra
• Tripartite Representation of Pseudo Response Spectra
log10 S V = log10 T +  log10 C 1 - log10 2  

then

d  log10 S V 
=+1
d  log10 T 

This result indicates that a line at + 45º on the tripartite graph represents a constant
spectral acceleration, SA .

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Chapter 4 – Seismic Analysis

2. Elastic Earthquake Response Spectra

• Tripartite Representation of Pseudo Response Spectra
b) SD = constant = C2

p
If the relative displacement response
p spectrum
p is equal
q to a constant, C2, it can be
written:

T
SV
S D = C2 = SV=
 2
operating with the log10 on this equation, it yields :

log10 C 2 = log10 T - log10 2  + log10 S V

or

log10 S V = - log10 T +  log10 C 2 + log10 2  

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Chapter 4 – Seismic Analysis

8
 2. Elastic Earthquake Response Spectra
• Tripartite Representation of Pseudo Response Spectra
log10 S V = - log10 T +  log10 C 2 + log10 2  

then

d  log10 S V 
= -1
d  log10 T 

This result indicates that a line at -45º on a tripartite graph represents a constant
relative displacement spectrum, SD.

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Chapter 4 – Seismic Analysis

2. Elastic Earthquake Response Spectra

• Tripartite Representation of Pseudo
Response Spectra
– Figure illustrates, for different damping
values, response spectra of El Centro
earthquake (1940 05 18, comp. S00E).
– Response spectrum of an earthquake
very
er irreg
irregular.
lar
– Spectrum has a general trapezoidal
shape (shape of a tent) characteristic of
earthquake response spectra and has
the following physical explanation :
• for long natural periods, maximum
relative displacement equal to
maximum ground displacement and
maximum absolute acceleration tends
toward zero;
• for intermediate natural periods,
periods
relative displacement, relative velocity
and absolute acceleration amplified;
• for short natural periods, maximum
absolute acceleration equal to
maximum ground acceleration and
maximum relative displacement tends
toward zero.
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Chapter 4 – Seismic Analysis

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 2. Elastic Earthquake Response Spectra
• Simplified Design Response Spectra
– Motivation
• For practical seismic design of structures, simplified response
spectra are used.
• Different regions of simplified spectra represented by straight
lines.
• Position of these lines (amplitude) function of seismic hazard
of the region.
• Manyy simplified
p design
g response
p spectra
p have been proposed.
p p
• Most common are described in the following sections.

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Chapter 4 – Seismic Analysis

2. Elastic Earthquake Response Spectra

• Simplified Design Response Spectra
– Housner’s Response Spectra (1959)
Relying on response spectra obtained for four historical earthquakes of Southern
California (El Centro, 1934, M=6.5; El Centro, 1940, M=6.7 and Tehachapi, 1952,
M=7.7) and one from Washington (Olympia, 1949, M=7.1)., G. Housner (1959)
proposed, for the first time, an “average design spectrum”. This spectrum was
calibrated for a maximum ground acceleration of 0,20g and for a probability of
exceedence of 50 %, in other words, for the average of the historical spectral values.
The values obtained from this spectrum are to be multiplied by a scale factor to take
into account the seismic hazard of the region. For example, if the design earthquake of
a given site is 0,15g, then the spectral acceleration will be:

 15 
S A equals   of SA of Housner
 20 

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Chapter 4 – Seismic Analysis

10
 2. Elastic Earthquake Response Spectra
• Simplified Design Response Spectra
– Housner’s Response Spectra (1959)

CIE 619
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Chapter 4 – Seismic Analysis

2. Elastic Earthquake Response Spectra

• Simplified Design Response Spectra
– Newmark and Hall’s Response Spectra (1969)
• Developed for nuclear industry
• Simplified spectra based on standard ground motion
parameters:
– maximum ground acceleration : 0,50 g;
– maximum ground velocity : 61 cm/s (24 in/s);
– maximum ground displacement : 46 cm (18 in).
– Relying on the study of 28 earthquake records, values represent
average relation
l i between
b different
diff groundd seismic
i i parameters.
– For a given site, values are scaled directly to the maximum design
acceleration, which is function of seismic hazard of the region.
– Simplified spectrum obtained by multiplying each branch of ground
parameters by an amplification factor which depends on damping
coefficient of the structure.
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Chapter 4 – Seismic Analysis

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 2. Elastic Earthquake Response Spectra
• Simplified Design Response Spectra
– Newmark and Hall’s Response Spectra (1969)

Note!
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Chapter 4 – Seismic Analysis

2. Elastic Earthquake Response Spectra

• Simplified Design Response Spectra
– Newmark and Hall’s Response Spectra (1969)
Table 4.2 Amplification factors for Newmark and Hall’s design response spectra
(From Newmark et Hall, 1982).

Damping ratio Probability of exceedence Probability of exceedence of 50 %

% of critical of 16 % (mean value)
(mean + 1 standard deviation)
SA SV SD SA SV SD
0,5 5,10 3,84 3,04 3,68 2,59 2,01
1 4,38 3,38 2,73 3,21 2,31 1,82
2 3,66 2,92 2,42 2,74 2,03 1,63
3 3,24 2,64 2,24 2,46 1,86 1,52
5 2,71 2,30 2,01 2,12 1,65 1,39
7 2,36 2,08 1,85 1,89 1,51 1,29
10 1,99 1,84 1,69 1,64 1,37 1,20
20 1,26 1,37 1,38 1,17 1,08 1,01

For the seismic design of nuclear plants, Newmark and Hall recommended the use of
amplification factors corresponding to a probability of exceedence of 16 %.
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 2. Elastic Earthquake Response Spectra
• Simplified Design Response Spectra
– Newmark and Hall’s Response Spectra (1969)
• Procedure to plot Newmark’s simplified spectra
– Step 1 - Plot of the ground motion parameters
» Limits of ground motion parameters linked by straight lines:
maximum horizontal acceleration, maximum horizontal velocity
and maximum horizontal displacement.
» If maximum horizontal acceleration is only known parameter at
site, standard ground motion parameters can be used with
maximum design acceleration, e.g. if maximum design
acceleration of 0,33g, at site is only known parameter:
 0,33 
ground acceleration =    0,50 g  = 0,33 g
 0,50 
 0,33 
ground velocity =    61 cm/s  = 40,26 cm/s
 0,50 
 0,33
CIE 619 
ground displaceme
Chapter  46 cm  = 30,36 cm
nt 4= – Seismic Analysis 49
 0,50 

2. Elastic Earthquake Response Spectra

• Simplified Design Response
Spectra Table 4.3 Recommended Damping Values.

– Newmark and Hall’s Types of structures and conditions % of Critical

Response Spectra (1969) Strain Level

welded steel, prestressed concrete,
Damping

• Procedure to plot Newmark’s reinforced concrete with light

cracking 2 to 3
simplified spectra reinforced concrete with heavy
cracking 3 to 5
– Step 2 - Plot different regions less than 50 % of bolted or rivetted steel, nailed or
of spectrum the elastic limit bolted timber 5 to 7
welded steel, prestressed concrete
» Amplification factors, without complete loss of
prestressing 5 to 7
shown in Table 4.2, used
prestressed concrete with
to pplot different regions
g prestressing loss 7 to 10
of simplified spectrum. reinforced concrete 7 to 10

» Table 4.3 shows bolted or rivetted steel, bolted

timber 10 to 15
close to or over the
recommended damping elastic limit nailed timber 15 to 20
values to be used.

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Chapter 4 – Seismic Analysis

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 2. Elastic Earthquake Response Spectra
• Simplified Design Response Spectra
– Newmark and Hall’s Response Spectra (1969)
• Procedure to plot Newmark’s simplified spectra
– Step 3 - Modification of spectral limits for high frequencies
– Find corner frequency, 1, which links velocity branch to acceleration
branch.
– At frequency of about 41, start reducing linearly acceleration branch
of spectrum until reaching limit of peak ground acceleration for a
frequency of 101.
– Theoretically,
y, displacement
p branch should also be modified for low
frequencies (lower than 0.1 Hz). But, as low frequencies have little
impact on Civil Engineering structures, modification can be omitted.

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Chapter 4 – Seismic Analysis

2. Elastic Earthquake Response Spectra

• Simplified Design Response Spectra
– Design Response Spectrum of ASCE 7-05

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Chapter 4 – Seismic Analysis

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 2. Elastic Earthquake Response Spectra
• Simplified Design Response Spectra
– Design Response Spectrum of ASCE 7-05

CIE 619
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Chapter 4 – Seismic Analysis

2. Elastic Earthquake Response Spectra

• Simplified Design Response Spectra
– Design Response Spectrum of ASCE 7-05

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Chapter 4 – Seismic Analysis

15
 2. Elastic Earthquake Response Spectra
• Simplified Design Response Spectra
– Design Response Spectrum of ASCE 7-05

CIE 619
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Chapter 4 – Seismic Analysis

2. Elastic Earthquake Response Spectra

• Simplified Design Response Spectra
– Design Response Spectrum of ASCE 7-05

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Chapter 4 – Seismic Analysis

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 2. Elastic Earthquake Response Spectra
• Simplified Design Response Spectra
– Design Response Spectrum of ASCE 7-05

CIE 619
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Chapter 4 – Seismic Analysis

2. Elastic Earthquake Response Spectra

• Simplified Design Response Spectra
– Design Response Spectrum of ASCE 7-05

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Chapter 4 – Seismic Analysis

17
 2. Elastic Earthquake Response Spectra
• Simplified Design Response Spectra
– Design Response Spectrum of ASCE 7-05

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Chapter 4 – Seismic Analysis

2. Elastic Earthquake Response Spectra

• Simplified Design Response Spectra
– Design Response Spectrum of ASCE 7-05

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Chapter 4 – Seismic Analysis

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 2. Elastic Earthquake Response Spectra
• Simplified Design Response Spectra
– Design Response Spectrum of ASCE 7-05

CIE 619
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Chapter 4 – Seismic Analysis

2. Elastic Earthquake Response Spectra

• Simplified Design Response Spectra
– Consider a seismic zone in Southern California on Site
Class B (rock)
S s  1.5 g; S1  0.9 g
1.2
Fa  Fv  1.0
2
1.5 g   1.0 g
1
Specctral Acceleration (g)

S Ds 
3 0.8
ASCE 7-05 Design Spectrum

S D1  0.9 g   0.6 g
2 Newmark-Hall Spectrum, 5%damping, PGA=0.40 g

3 0.6

 0.6 g 
To  0.2   0.12 sec (or 0.4
( f o  8.33 Hz)
H)
 1.0 g  0.2
 0.6 g 
Ts     0.60 sec (or f o  1.67 Hz) 0
 1.0 g  0 1 2 3 4 5
TL  12 sec (or f L  0.083 Hz) Period (sec)

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Chapter 4 – Seismic Analysis

19
 2. Elastic Earthquake Response Spectra
• Floor Response Spectra
– Response spectra, discussed in previous sections, used to determine maximum
response of SDOF structure subjected to base motion.
– Similarly, maximum response of equipment, located in a building, can be
obtained usingg response
p spectrum
p corresponding
p g to the floor where the
equipment is located.
– Vibration of a complex building varies from storey to storey, creating,
therefore, a variation in the response spectra of the various floors.
– Traditional technique used to generate a floor response spectrum is, first, to
calculate historical horizontal acceleration of a floor and then use this
accelerogram to construct a response spectrum.
– If a simplified design response spectrum of a floor is to be constructed, the
procedure starts with an ensemble of accelerograms at the base and the
resulting spectra are smoothened.
– Because of the large quantity of calculations required to generate a floor
response spectrum, approximate methods have been proposed (Singh, 1975,
Biggs and Roesset, 1970).

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Chapter 4 – Seismic Analysis

2. Elastic Earthquake Response Spectra

• Floor Response Spectra
Generation of
Floor Motion Ensembles
Floor Response Spectra
1.2

1
Spectral Acceleration (g)

0.8
ASCE 7-05 Design Spectrum

Newmark-Hall Spectrum, 5%damping, PGA=0.40 g

0.6

0.4

0.2

0
0 1 2 3 4 5
Period (sec)

Dynamic 1.2

Analysis
1
Spectral Acceleration (g)

0.8
ASCE 7-05 Design Spectrum

Newmark-Hall Spectrum, 5%damping, PGA=0.40 g

0.6

0.4

0.2

0
0 1 2 3 4 5
Period (sec)

Building 1.2

1
Spectral Acceleration (g)

0.8
ASCE 7-05 Design Spectrum
Newmark-Hall Spectrum, 5%damping, PGA=0.40 g
0.6

0.4

Ground
Ground
Motion
Motion
Ensembles
Ensembles 0.2

Ground
(Ground
Response
Response
Spectra
Spectra) CIE 619 0 1 2 3 4 5
Period (sec)
65
Chapter 4 – Seismic Analysis