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References
• Mitra S
S.K.,
K ‘Digital
Digital Signal Processing
Processing’, A Computer based approach,
approach Mc
Mc-Graw
Graw Hill
Hill,
3rd Edition, 2006.
• Heylen W., Lammens S. And Sas P., ‘Modal Analysis Theory and Testing’, Katholieke
Universiteit Leuven
Leuven, 1997
1997.
• "The Scientist and Engineer's Guide to Digital Signal Processing, copyright ©1997-
1998 by Steven W. Smith. For more information visit the book's website at:
www.DSPguide.com"
• Boore, D. M. (2005). On pads and filters: Processing strong-motion data, Bull. Seism.
Soc. Am. 95,745-750.
Signals
ERASMUS Teaching (2008), Technische Universität Berlin
Definition
• A signal is a function of independent variables such as
time, distance, position, temperature and pressure.
Definition
• For most purposes of description and analysis, a signal can be defined
simply as a mathematical function,
y = f (x)
Signal types
• F a simple
For i l pendulum
d l as shown,
h b
basic
i ddefinition
fi i i iis:
Signal types
• Also, two
Al t identical
id ti l pendula
d l released
l d from
f θ = θ0 att t=0,
t 0 will
ill have
h the
th same
motions at all time. There is no place for uncertainty here.
• If we can uniquely specify the value of θ for all time, i.e., we know the
underlying functional relationship between t and θ, the motion is
deterministic or predictable
predictable. In other words
words, a signal that can be uniquely
determined by a well defined process such as a mathematical expression or
rule is called a deterministic signal.
• The opposite situation occurs if we know all the physics there is to know,
but sstill ccannot
bu o ssay
ywwhat thee ssignal
g w will be at thee next
e timee instant-then
s e thee
signal is random or probabilistic. In other words, a signal that is generated
in a random fashion and can not be predicted ahead of time is called a
random signal.
signal
Signal types
• Typical examples to deterministic signals are sine chirp and digital stepped
sine.
Signal types
• Typical examples to random signals are random and burst random.
Signal types
• Random signals are characterized by having many frequency components
present over a wide range of frequencies.
• The amplitude
p versus time appears
pp to varyy rapidly
p y and unsteadilyy with
time.
• The ‘shhhh’ sound is a good example that is rather easy to observe using a
microphone and oscillloscope
oscillloscope. If the sound intensity is constant with time,
time
the random signal is stationary, while if the sound intensity varies with time
the signal is nonstationary. One can easily see and hear this variation while
making
ki theh ‘shhhh’
‘ hhhh’ sound.
d
Signal types
• Random signals are characterized by analyzing the statistical
characteristics across an ensemble of records. Then, if the process is
ergodic, the time (temporal) statistical characteristics are the same as the
ensemble statistical characteristics. The word temporal means that a time
average definition is used in place of an ensemble statistical definition.
Signal types
• Transient signals may be defined as signals that exist for a finite
range of time as shown in the figure. Typical examples are hammer
excitation of systems
systems, explosion and shock loading etc
etc.
Signal types
• A signal
i l with
i h a time
i varying
i mean iis an aperiodic
i di signal.
i l
Signal types
• IIt should
h ld bbe noted
d that
h periodicity
i di i d does not necessarily
il mean a
sinusoidal signal as shown in the figure.
Signal types
• A periodic
i di signal
i l iis one that
h repeats iitself
lf iin time
i and
d iis a
reasonable model for many real processes, especially those
associated with constant speed machinery.
• 2D signals
g are a function of two independent
p variables.
An image signal such as a photograph is an example of
a 2D signal where the two independent variables are the
two spatial
p variables.
Classification of signals
• The value of a signal at a specific value of the independent variable
is called its amplitude.
• For a 1 D signal,
signal the independent variable is usually labelled as
time. If the independent variable is continuous, the signal is called a
continuous-time signal. A continuous time signal is defined at
y instant of time.
every
Classification of signals
• A continuous-time signal with a
continuous amplitude is usually
called an analog signal.
signal A
speech signal is an example of
an analog signal.
Classification of signals
• A discrete
di t titime signal
i l with
ith
continuous valued amplitudes is
called a sampled-data signal. A
digital signal is th
thussaqquantized
anti ed
sampled-data signal.
CLASSIFICATIONS OF SIGNALS
11DD 2D
signals Stationary Non-Stationary
signals signals
D t
Deterministic
i i ti Random Continuous Transient
Periodic Aperiodic
Monofrequency Multi
Multi- T
Transient
i t I fi it aperiodic
Infinite i di
(sinuzoidal) frequency
P. Gundes Bakir, Vibration based structural health monitoring 20
ERASMUS Teaching (2008), Technische Universität Berlin
• IIn either
i h case, the
h desired
d i d operations
i are implemented
i l d
by a combination of some elementary operations such
as:
– Simple time domain operations
– Filtering
– Amplitude
A lit d modulation
d l ti
P. Gundes Bakir, Vibration based structural health monitoring 22
ERASMUS Teaching (2008), Technische Universität Berlin
Fourier transforms
Fourier transforms
• Fourier
Fo rier analysis
anal sis is a family
famil of mathematical techniques,
techniq es all based on
decomposing signals into sinusoids.
• The discrete Fourier transform (DFT) is the family member used with
digitized signals.
• The general term Fourier transform can be broken into four categories,
g from the four basic types
resulting yp of signals
g that can be encountered.
Categories of Fourier
Transforms
Fourier transforms
• These four
Th f classes
l off signals
i l allll extend
t d to
t positive
iti andd negative
ti infinity.
i fi it What
Wh t if
you only have a finite number of samples stored in your computer, say a signal
formed from 1024 points?
• There isn’t a version of the Fourier transform that uses finite length signals. Sine
and cosine waves are defined as extending from negative infinity to positive
infinity. You cannot use a group of infinitely long signals to synthesize something
finite in length. The way around this dilemma is to make the finite data look like an
infinite length signal. This is done by imagining that the signal has an infinite
number of samples on the left and right of the actual points. If all these “imagined”
samples
l have
h a value
l off zero, the
th signal
i l looks
l k discrete
di andd aperiodic,
i di andd the
th
discrete time Fourier transform applies.
• As an alternative,
A lt ti theth imagined
i i d samplesl can beb a duplication
d li ti off theth actual
t l 1024
points. In this case, the signal looks discrete and periodic, with a period of 1024
samples. This calls for the discrete Fourier transform to be used.
• Given the time domain signal, the process of calculating the frequency domain is
called decomposition, analysis, the forward DFT, or simply, the DFT.
• The number of samples in the time domain is usually represented by the variable N.
While N can be any positive integer, a power of two is usually chosen, i.e., 128,
256, 512, 1024, etc. There are two reasons for this. First, digital data storage uses
bi
binary addressing,
dd i making
ki powers off ttwo a natural
t l signal
i l length.
l th Second,
S d the
th mostt
efficient algorithm for calculating the DFT, the Fast Fourier Transform (FFT),
usually operates with N that is a power of two. Typically, N is selected between 32
and 4096. In most cases, the samples run from 0 to N N-11 , rather than 1 to N.
• That is, N p
points in the time domain
corresponds to N/2 + 1 points in the
frequency domain (not N/2 points).
Forgetting about this extra point is a
common bug g in DFT pprograms.
g
• A function f(x) is called a periodic function if f(x) is defined for all real x and if
there is a positive number p, called a period of f(x), such that
f ( x + p) = f ( x)
• The graph of such a function is obtained by periodic repetition of its graph in
anyy interval of length
g p p.
x, x 2 , x 3 , e x , cosh x, ln x
• If f(x) has period p, it also has the period 2p because the equation
f ( x + p) = f ( x)
implies that
f ( x + 2 p ) = f ([x + p ] + p ) = f ( x + p ) = f ( x)
thus for any integer n=1,2,3,...
f ( x + np) = f ( x)
is called the Fourier series of f(x). We shall prove that in this case, the
coefficicents of the above equation are the so called Fourier coefficients of f(x)
given by the Euler formulas.
π
1
a0 =
2π ∫π f ( x)dx
−
π
1
an =
π ∫π f ( x) cos nxdx
−
n = 1,2, L
π
1
bn =
π ∫π f ( x) sin nxdx
−
n = 1,2, L
π
1
bn =
π ∫ f ( x) sin nxdx
−π
n = 1,2, L
• The right hand limit of f(x) at xo is defined as the limit of f(x) as x approaches
xo from the right and is commonly denoted by f(xo+h). Thus,
f ( xo + h) = lim
li h→0 f ( xo + h) as h → 0 through
th h positive
iti values.
l
Example
• Find
Fi d the
h Fourier
F i coefficients
ffi i off the
h periodic
i di ffunction
i f(f(x)) iin the
h fifigure.
The formula is:
⎧− k if − π < x < 0
f ( x) = ⎨
⎩k if 0< x <π
and f ( x + 2π ) = f ( x)
Example
• Find
Fi d the
h Fourier
F i coefficients
ffi i off the
h periodic
i di ffunction
i f(f(x)) iin the
h fifigure.
The formula is:
⎧− k if − π < x < 0
f ( x) = ⎨
⎩k if 0< x <π
and f ( x + 2π ) = f ( x)
π
1
a0 =
2π ∫π f ( x)dx
−
π 0 π
1 1 1
a0 =
2π ∫
−π
f ( x ) dx =
2π ∫−π ( − k ) dx +
2π ∫0
(k )dx
1 1 π 1 1
= (−kx) −π + (kx) 0 = − kπ + kπ = 0
0
2π 2π 2π 2π
• The above can also be seen without integration, since the area
under
d ththe curve off f(
f(x)) between
b t d π is
-π and i zero.
P. Gundes Bakir, Vibration based structural health monitoring 42
ERASMUS Teaching (2008), Technische Universität Berlin
Example
π
1
• From an = ∫π f ( x) cos nxdx
π −
π π
1⎡ ⎤
0
1
an = ∫ f ( x) cos nxdx = ⎢ ∫ (−k ) cos nxdx + ∫ (k ) cos nxdx ⎥
π −π π ⎣ −π 0 ⎦
π
1⎡ sin nx ⎤
0
sin nx
= ⎢( − k ) + (k ) ⎥=0
π ⎢⎣ n −π n 0⎥⎦
because sinnx = 0 at - π ,0, and π for all n = 1,2,....Similarly :
π
1
bn =
π ∫π f ( x) sin nxdx
−
π π
1⎡ ⎤
0
1
bn = ∫ f ( x) sin nxdx = ⎢ ∫ (− k ) sin nxdx + ∫ (k ) sin nxdx ⎥
π −π π ⎣ −π 0 ⎦
π
1 ⎡ cos nx cos nx ⎤
0
= ⎢k −k ⎥
π ⎢⎣ n −π n 0 ⎥⎦
Since cos(-α ) = cosα and cos0 = 1, this yields :
P. Gundes Bakir, Vibration based structural health monitoring 43
ERASMUS Teaching (2008), Technische Universität Berlin
Example
k
bn = [cos 0 − cos((−nπ ) − cos nπ + cos 0]
nπ
k
= [2 − 2 cos nπ ]
nπ
2k
= (1 − cos nπ )
nπ
Now cos((π ) = −1 , cos2π = 1,, cos(3
( π ) = −1 etc in g
general
⎧- 1 for odd n
cosnπ = ⎨
⎩ 1 for even n
⎧2 for
f odddd n
and thus 1 − cosnπ = ⎨
⎩0 for even n
Example
Hence the Fourier coefficients b n of our function are :
4k 4k 4k
b1 = , b2 = 0, b3 = , b4 = 0, b5 = ,L
π 3π 5π
Since the an are zero,
zero the Fourier series of f(x) is :
4k ⎛ 1 1 ⎞
⎜ sin x + sin 3 x + sin 5 x + L⎟
π ⎝ 3 5 ⎠
Th partial
The ti l sums are :
4k
S1 = sin x
π
4k ⎛ 1 ⎞
S2 = ⎜ sin x + sin 3 x ⎟ etc.
π ⎝ 3 ⎠
• Their
Th i graph
h seems to t indicate
i di t that
th t the
th series
i iis convergentt and
dhhas
the sum f(x), the given function.
Example
• We notice
W i that
h at x=0 0
and x=π, the points of
discontinuity of f(x), all
partial sums have the
value zero, the
arithmetic mean of the
limits k and –k of our
function at these
points.
points
π T /2
1 1
a0 =
2π ∫π f ( x)dx
−
a0 =
T −T∫/ 2
x(t )dt
π
2πnt
T /2
1 2
an =
π ∫π f ( x) cos nxdx
−
n = 1,2, L an =
T −T∫/ 2
x (t ) cos
T
dt n = 1,2, L
π
2πnt
T /2
1 2
bn =
π ∫π f ( x) sin nxdx
−
n = 1,2, L bn =
T −T∫/ 2
x (t ) sin
T
dt n = 1,2, L
but this is zero as sin(πm)=0 for all m. The second integral is:
• Now if n and m are different integers then n-m and n+m are both nonzero integers
and the sine terms in the last expression vanish. If n and m are equal, we have a
problem with the second term above. We could use a limit argument but it is
simpler to go back to the first equation with n=m.
τ
= for m = n ≠ 0
2
=τ for m = n = 0
• As
τ
• We have I m = am for m = n ≠ 0
2
I m = a 0τ for m = n = 0
• Or in terms of the original expression:
for m = n ≠ 0
• If m=n=0
0 iin the
h bbelow
l equation:
i
τ
⎛ 2πm ⎞
2
a mτ = ∫τ x(t ) cos⎝⎜ t ⎟dt
τ ⎠
for m = n = 0
−
2
where δmn is called the Kronecker delta and has the properties:
⎧1 if n = m
δ mn = ⎨
⎩0 if n ≠ m
where
in
1 2⎛ 2πnt ⎞
+T / 2 +T / 2
2πnt
cn = (an − ibn ) =
1
⎜ ∫ x(t ) cos dt − i ∫ x (t ) sin dt ⎟⎟
⎜
2 T ⎝ −T / 2 T T
2 −T / 2 ⎠
+T / 2
1 ⎛ 2πnt 2πnt ⎞
=
T ∫ x (t )⎜
⎝
cos
T
− i sin
T
⎟dt
⎠
Gives: −T / 2
+T / 2
1
∫
− i 2πnt / T
cn = x (t ) e dt
T −T / 2
∫ e dt = 0 for n + m ≠ 0
inωt imωt
e
−T / 2
= T for n + m = 0
and multiplying the equation
Fourier transform
• If we wantt to
t look
l k att the
th spectral
t l content
t t off nonperiodic
i di signals
i l we
have to let τ→∞ as all the interval t ∈[-∞, ∞] contains important
information. Recall the exponential form of the Fourier series
where
C bi i th
Combining the above
b ttwo equations
ti give:
i
Fourier Transform
• If we suppose
pp that the pposition of the t axis is adjusted
j so that the
mean value of x(t) is zero. Then according to the first of the below
equation the coefficient ao will be zero.
2πnt 2πnt
T /2 T /2 T /2
1 2 2
T −T∫/ 2 T −T∫/ 2 T −T∫/ 2
a0 = x(t )dx an = x (t ) cos dt n = 1,2, L bn = x (t ) sin dt n = 1,2, L
T T
• The remaining
Th i i coefficients
ffi i t an and d bn
b will
ill in
i generall allll b
be diff
differentt
and their values may be illustrated graphically as shown.
Fourier Transform
Recall that the spacing between the frequency lines is
The equation
becomes
Fourier Transform
• As τ→0,
A h ωn become
0 the b closer
l andd closer
l together
h and
d the
h
summation turns into an integral with Δω=dω (assuming that x(t) is
appropriately well behaved. In the limit
• It follows
f ll th
thatt if we d
define
fi
Fourier Transform
• Note
N t the
th fformall similarity
i il it tto th
the L
Laplace
l ttransform
f iin ffactt we obtain
bt i
the Fourier transform by letting s= iω in the Laplace transform. The
main difference between the two is the comparative simplicity of the
inverse Fourier transform
transform.
• In keeping with our notation for the Fourier transform we will relabel
cn by Xn from now on. Also the equation above is not in the most
convenient form for the analysis so we will modify it slightly.
• Recall that x(t) is assumed periodic with period τ.
τ Consider the
integral
or
N N 1 f
Δf = = = s
2 2 NΔt 2Δt 2
X N − k = X k*
• Actually this turns out to be the most usual situation, in fact it is a requirement of
the Fast Fourier Transform which we shall meet in the next lecture.
• This finally justifies our assertion that the maximum frequency represented is
NΔω/2.
where N −1
1
Xr =
N
∑x e
p =0
p
−i 2πrp / N
N −1 ⎧1 N −1 ⎫ i 2πrn / N
xn = ∑ ⎨ ∑x e p
−i 2πrp / N
⎬e
r =0 ⎩N p =0 ⎭
p =0 ⎩ N r =0 ⎭
=q
P. Gundes Bakir, Vibration based structural health monitoring 75
ERASMUS Teaching (2008), Technische Universität Berlin
p =0 ⎩N r =0 ⎭
=q
q N −1
If we call the left hand side of the above equation sr, we have:
sr = 1 + q + q 2 + ...
If we multiply both sides of the above equation by q, and subtract the
resulting equation from the above equation:
qsr = q + .... + q r + q N −1++11
sr − qsr = 1 − q N
1− qN
sr =
1− q
Now qN=1,
Now, =1 which can be proved as:
qN=ei2π(n-p)r=cos2πr(n-p)+isin2πr(n-p)=1+0=1
1− qN
sr = =0
1− q
p =0 ⎩N r =0 ⎭
• The summation of all ones r times gives N. N’s cancel each other in
the above equation and letting p=n gives:
N −1
1
N
∑x
p =0
p Nδ pn = xn
N −1
1
xn =
N
∑ r
X
r =0
e i 2πnr / N
Gibb’s
Gibb s phenomenon
• The first figure shows a time domain signal being synthesized from
sinusoids. The signal being reconstructed is shown in the graph on the left
hand side. Since this signal is 1024 points long, there will be 513 individual
frequencies needed for a complete reconstruction. The figure on the right
sho s a reconstr
shows reconstructed
cted signal using
sing freq
frequencies
encies 0 thro
through
gh 100
100. This signal
was created by taking the DFT of the signal on the left hand side, setting
frequencies 101 through 512 to a value of zero, and then using the Inverse
DFT to find the resulting time domain signal. The figure in the middle shows
a reconstructed
t t d signal
i l using
i ffrequencies
i 0 th
through
h 30
30.
Gibb’s
Gibb s phenomenon
• When only some of the frequencies are used in the reconstruction,
reconstruction each edge shows
overshoot and ringing (decaying oscillations). This overshoot and ringing is known as
the Gibbs effect, after the mathematical physicist Josiah Gibbs, who explained the
phenomenon in 1899.
• The critical factor in resolving this puzzle is that the width of the overshoot becomes
smaller as more sinusoids are included. The overshoot is still present with an infinite
number of sinusoids, but it has zero width. Exactly at the discontinuity the value of the
reconstructed signal converges to the midpoint of the step. As shown by Gibbs, the
summation converges g to the signal
g in the sense that the error between the two has
zero energy.
Gibb’s
Gibb s phenomenon
• Problems related to the Gibbs effect are frequently encountered in
DSP. For example, a low-pass filter is a truncation of the higher
frequencies, resulting in overshoot and ringing at the edges in the
time domain. Another common p procedure is to truncate the ends of
a time domain signal to prevent them from extending into
neighboring periods. By duality, this distorts the edges in the
frequency domain. These issues will resurface in future chapters on
filter design
design.
Bandwidth
• As shown in the figure
figure, the
bandwidth can be defined by
drawing dividing lines between the
samples. For instance, sample
n mber 5 occurs
number occ rs in the band
between 4.5 and 5.5; sample
number 6 occurs in the band
between 5.5 and 6.5, etc.
E
Expressed d as a ffraction
ti off the
th
total bandwidth (i.e., N/2), the
bandwidth of each sample is 2/N.
An exception to this is the • DFT can be calculated by the fast
samplesl on each h end,d which
hi h hhave Fourier transform (FFT), which is
one-half of this bandwidth, 1IN. an ingenious algorithm that
This accounts for the 2/N scaling
factor between the sinusoidal decomposes a DFT with N points,
amplitudes and frequency domain, i
into N DFTs
DFT each h with
i h a single
i l
as well as the additional factor of point.
two needed for the first and last
samples.
p
Frequency response-
response-Impulse
response
• A system’s frequency response is the Fourier transform of its impulse
response.
• Keeping
p g with standard DSP notation,, impulse
p responses
p use lower-case
variables, while the corresponding frequency responses are upper case.
Since h[ ] is the common symbol for the impulse response, H[ ] is used for
the frequency response.
response That is,
is convolution in the time domain
corresponds to multiplication in the frequency domain.
• Even though the impulse response is a discrete signal, the corresponding frequency
response is continuous. An N point DFT of the impulse response provides N/2 + 1
samples of this continuous curve. If you make the DFT longer, the resolution improves,
and you obtain a better idea of what the continuous curve looks like.
• This can be better understood by the discrete time Fourier transform (DTFT).
Consider an N sample signal being run through an N point DFT, producing an N/2 + 1
sample
p frequency
q y domain. DFT considers the time domain signalg to be infinitely
f y longg
and periodic. That is, the N points are repeated over and over from negative to positive
infinity. Now consider what happens when we start to pad the time domain signal with
an ever increasingg number of zeros, to obtain a finer and finer sampling
p g in the
frequency domain.
P. Gundes Bakir, Vibration based structural health monitoring 86
ERASMUS Teaching (2008), Technische Universität Berlin
• Now we will take this to the extreme, by adding an infinite number of zeros to the
time domain signal. This produces a different situation in two respects.
• First, the time domain signal now has an infinitely long period. In other words, it
h turned
has d iinto an aperiodic
i di signal.
i l
Close peaks
• Suppose there are peaks very close together
together, such as shown in the figure
figure.
There are two factors that limit the frequency resolution that can be
obtained-that is,how close the peaks can be without merging into a single
entity. The first factor is the length of the DFT. The frequency spectrum
prod ced b
produced by an N point DFT consists of N/2 + 1 samples eq equally
all spaced
between zero and one half of the sampling frequency. To separate two
closely spaced frequencies, the sample spacing must be smaller than the
distance between the two peaks. For example, a 512-point DFT is sufficient
t separate
to t the
th peaks k ini the
th figure,while
fi hil a 128
128-point
i t DFT is
i not.
t
Output of a system
• What are you going to do if given an input signal and impulse response, and
need to find the resulting output signal? Transform the two signals into the
frequency domain, multiply them, and then transform the result back into the
time domain.
• The convolution
Th l ti ththeorem iin FFourier
i analysis
l i states
t t th
thatt convolution
l ti ini one
domain corresponds to multiplication in the other domain.
• Hence the frequency response function H(f) is the ratio between the
response andd th
the iinputt as a ffunction
ti off the
th ffrequency.
g (t ) = h(t ) ∗ f (t )
G( f ) = H ( f ) F ( f )
P. Gundes Bakir, Vibration based structural health monitoring 92
ERASMUS Teaching (2008), Technische Universität Berlin
y (t ) = H (ω )eiωt
Fourier transform
• Measured
M d signals
i l are time
i d
domaini ffunctions.
i IIt iis iimportant to
investigate the signals in the frequency domain in order to study
their frequency content. The Fourier tansform is a tool to transform
signals from the time domain to the frequency domain.
• The signal can be transformed back to the time domain using the
inverse Fourier transform:
• The basic strategy that is used in the FFT algorithm is one of divide and
conquer, which involves decomposing an N point DFT into succesively
smaller DFTs.
• Therefore, if it is possible to find the N point DFT of xn from these two N/2
point DFTs, great computational time will be saved because N2/2
operations
ti will
ill b
be required
i d iinstead
t d off N2.
N
g n = x2 n n = 0,1,..., − 1
2
n =0 n even n odd
N N
−1 −1
2 2
= ∑ g lWN2lk + ∑ hlWN( 2l +1) k
l =0 l =0
n =0 n even n odd
N N
−1 −1
2 2
= ∑ g lWN2lk + ∑ hlWN( 2l +1) k
l =0 l =0
N N
−1 −1
• We obtain: 2 2
X k = ∑ g lWNlk/ 2 + WNk ∑ hlWNlk/ 2
l =0 l =0
the first term is the N/2 point DFT of gn and the second is the N/2 point
DFT of hn:
X k = Gk + WNk H k k = 0,1,,....,, N − 1
• Although the N/2 point DFTs of gn and hn are sequences of length N/2, the
periodicity of the complex exponentials allows us to write:
Gk = Gk + N / 2
Hk = Hk+N /2
P. Gundes Bakir, Vibration based structural health monitoring 99
ERASMUS Teaching (2008), Technische Universität Berlin
n =0 n even n odd
• As before, this leads to
N N
−1 −1
4 4
Gk = ∑ g 2 nWNnk/ 4 + WNk / 2 ∑ g 2 n +1WNnk/ 4
n =0 n =0
where the first term is the N/4 point DFT of the even samples of gn, and the second
is the N/4 point DFT of the odd samples.
• Sampling
• Aliasing
g
ERASMUS Teaching (2008), Technische Universität Berlin
Sampling
• Nearly
N l allll d
data acquisition
i i i systems sample
l d
data with
i h uniform
if time
i
intervals. For evenly sampled data, time can be expressed as:
T = ( N − 1)Δt
where N is the sampling index which is the number of equally
spaced
d samples.
l F
For mostt F
Fourier
i analyzers
l N iis restricted
t i t d tto a
power of 2.
Sampling
• S
Sampling
li ffrequency iis th
the reciprocal
i l off th
the titime elapsed
l d
Δt from one sample to the next.
Aliasing
• One problem encountered in A/D conversion is that a high frequency
signal can be falsely confused as a low frequency signal when
sufficient precautions have been avoided.
• This happens when the sample rate is not fast enough for the signal
and one speaks of aliasing.
Aliasing
• The central concept to avoid aliasing is that the sample rate must be
at least twice the highest frequency component of the signal
((fs≥2fmax)). We define the Nyquist
yq or cut-off frequency
q y
fs 1
fN = =
2 2Δt
• The concept behind the cut-off frequency is often referred to as
Shannon’s sampling criterion. Signal components with frequency
content above the cut-off frequency are aliased and can not be
distinguished from the frequency components below the cut-off
cut off
frequency.
Aliasing
• Conversion of analog frequency into digital frequency during sampling is
shown in the figure
figure. Continuous signals with a frequency less than one
one-half
half
of the sampling rate are directly converted into the corresponding digital
frequency. Above one-half of the sampling rate, aliasing takes place,
resulting in the frequency being misrepresented in the digital data. Aliasing
always changes a higher frequency into a lower frequency between 0 and
0.5. In addition, aliasing may also change the phase of the signal by 180
degrees.
Aliasing
• What happens if the original signal actually has a component above the Nyquist
frequency?
• Now if the spectrum of the continuous signal extends beyond the Nyquist
frequency we see overlap
Aliasing
• If any energy in
i the
h original
i i l signal
i l extends
d bbeyondd the
h N Nyquist
i
frequency, it is folded back into the Nyquist interval in the spectrum
of the sampled signal. This folding is called aliasing
fs≥2fmax
Aliasing
• Just as aliasing can change the frequency during sampling, it can
also change the phase.
phase For example,
example the aliased digital signal in the
figure is inverted from the original analog signal; one is a sine wave
while the other is a negative sine wave. In other words, aliasing has
changed the frequency and introduced a 180"180 phase shift.
shift Only two
phase shifts are possible: 0" (no phase shift) and 180" (inversion).
fs≥2fmax
Leakage
• When converting
Wh i a signal
i l ffrom the
h time
i d
domain
i to the
h ffrequency
domain, the Fast Fourier Transform (FFT) is used.
• The Fourier Transform is defined by y the equation:
q
Leakage
• The Fast Fourier Transform is commonly used because it requires
much less processing power than the Fourier Transform. Like all
shortcuts, there are some compromises involved in the FFT.
• The signal must start and end at the same point in its cycle.
Leakage
• An example
p of a nonperiodic
p signal
g can be seen in the Figure.
g
Leakage
• By comparing
B i theh Fi
Figures, iit
can be seen that the frequency
content of the signal is
smeared into adjacent
frequencies when the signal is
not periodic.
p
Leakage
• The only solution to the leakage problem
problem, is to make sure that the
signal is periodic or completely observed within the observation
window.
Windowing
• In signal processing
processing, a window function is a function that is zero
zero-
valued outside of some chosen interval.
Windowing
• A rectangular
t l window
i d i a ffunction
is ti th thatt is
i constant
t t inside
i id th
the
interval and zero elsewhere, which describes the shape of its
graphical representation. When another function or a signal (data) is
multiplied by a window function
function, the product is also zero
zero-valued
valued
outside the interval: all that is left is the "view" through the window. It
can be shown that there is no window with a narrower main lobe
than the rectangular window
window.
Windowing
• Windows work by weighting the
start and end of a sample to zero
while at the same time
increasingg the amplitude
p of the
signal at the center as to
maintain the average amplitude
of the signal.
Windowing
• Th
The effect
ff t off the
th same
Hanning Window on the
time domain signal
g can
be seen in the Figure.
Windowing
• The Flat Top window is used whenever signal amplitude is of very
high importance. The flat top window preserves the amplitude of
a signal very well; however it has poor frequency resolution so
that the exact frequency
q y content mayy be hard to determine,, this is
particularly an issue if several different frequency signals exist in
close proximity to each other. The flat top window will have at most
0 1% amplitude error
0.1% error.
Windowing
• The Hanning
Th H i window
i d i a compromise
is i bbetween the
h FlFlat T
Top andd
Rectangular windows. It helps to maintain the amplitude of a signal
while at the same time maintaining frequency resolution. This
window can have up to a 16% amplitude error if the signal is not
periodic.
Windowing
• The most common window
Th i d used
d for
f random
d excitations
i i exerted
d
by shakers is the Hanning window.
Windowing
Windowing
• The exponential
Th ti l window
i d i
is
used to make a measurement
from a vibrating structure more
accurate.
accurate
• An example of the
p
exponential window can be
seen in the figure.
Windowing
• The exponential window
can cause some
problems if not used
properly.
l
• As an example
example, a very
simple lightly damped
structure was subjected
to an impact test
test. The
signal processing
parameters were selected
for a 400 Hz bandwidth
which resulted in a 1 sec
time window.
Exponential Window
• O
On the
th right
i ht more
damping is applied and
the peaks are much
wider now!
• If an excessive amount
of damping is needed to
minimize the effects of
leakage then you run
leakage,
the risk of missing
closelyy spaced
p
modes.
P. Gundes Bakir, Vibration based structural health monitoring 128
ERASMUS Teaching (2008), Technische Universität Berlin
Exponential Window
Before any window is applied
applied, it
is advisable to try alternative
approaches to minimize the
leakage in the measurement
such as:
• Increasing the number of spectral
lines
• Halving the bandwidth
which both result in increased
total time for measurement.
1
fs = = ( N − 1)Δf
Δt
P. Gundes Bakir, Vibration based structural health monitoring 129
ERASMUS Teaching (2008), Technische Universität Berlin
Windowing
• Impact testing always causes some type of transient response that
is the summation of damped exponential sine waves.
• If the entire transient event can be captured such that the FFT
requirements can be met, leakage will not be a problem.
• The use of windows may also hide or distort the modes in the
measurement.
Windowing
• The effects of leakage can only be minimized through the use of a
window. It can never be eliminated!
• Almost all the time when performing a modal test, the input
excitation can be selected such that the use of windows can be
eliminated. e.g.,signals such as pseudo random, burst random, sine
chirp, and digital stepped sine.
Averaging
• Suppose that now we want to estimate the spectrum of a random
signal. In the limit as τ ∞, we would get an accurate spectrum but
for finite τ , we have a problem. Any finite realisation of a random
process will not represent
p p exactly
y the long
g term frequency
q y content
precisely because it is random.
• Assuming no problems with aliasing we will find
Averaging
• The averaging
Th i can beb implemented
i l t d by
b taking
t ki N segments
t off ti
time
data xi(t) and transforming to
then
• For a signal
Averaging
• The first
Th fi iis one average- a one-shot
h measurement. Al Although
h h the
h
sine wave (at 10.24 Hz) is visible, there is a lot of background noise
from the single average.
Averaging
• Th next figure
The fi shows
h the
h resultl off taking
ki 10 averages.
Averaging
• Fi ll we see the
Finally, h effect
ff off taking
ki 100 averages.
Filters
•Definition
d and
•Pads d ffilters
l
ERASMUS Teaching (2008), Technische Universität Berlin
Filters
• Assume that we are trying to build a Fourier transforming device
which can give us the spectrum of a given time signal. Suppose that
we have a maximum sampling frequency of 1000 Hz i.e. a Nyquist
q y of 500 Hz.
frequency
Filters
• S
Such had device
i which
hi h passes parts
t off a signals
i l ffrequency
content and suppresses others is called a filter. The
particular filter described above is called an antialiasing
p g
filter for obvious reasons.
Filters
• A filter
fil i a ffunction
is i that
h iin the
h ffrequency d
domaini h
has a value
l close
l
to 1 in the range of frequencies that the analyst wishes to retain
and close to zero in the range of frequencies that the analyst
wishes to eliminate.
y (t ) = IDFT [H ( f ) X ( f )]
Filters
• Equally unimportant is the choice of the actual generic filter: users
are faced with a wide range of filters to choose from, including
Ormsby, elliptical, Butterworth, Chebychev and Bessel.
Classification of filters
• If it is judged that there is significant high-frequency noise in the record, or
if for some other reason it is desirable to reduce or remove high frequencies
introduced by interaction effects at the recording station, this can be easily
achieved by the application of filters.
• Filters can be applied in the frequency domain or the time domain but their
function is best understood in the frequency domain.
High pass-
pass-low pass filters
• The purpose off a low
Th l pass filter
filt is
i to
t remove that
th t partt off the
th signal
i l
that is judged to be heavily contaminated by high-frequency noise
that is often observed in strong-motion records.
• The so-called
so called cutoff or corner frequency divides the pass band and
the stop band. A low pass causal Butterworth filter is an all pole filter
with a squared magnitude response given by:
High pass-
pass-low pass filters
• T
Two considerations
id ti are iimportant
t t when
h applying
l i a hi
highcut
h t filt
filter.
– The first is that the application of the filter will act in a contradictory
manner to any instrument correction and at least in some frequency
ranges the two will counteract each other.
Resistance, R Damping,c
Analogue filters
• We will
W ill start
t t th
the di
discussion
i with
ith an electrical
l t i l analogue
l filt
filter. C
Consider
id ththe
circuit below with an alternating voltage input,
Vi (t ) = Vi cos(ωt )
Analogue filters
• Elementary
El t circuit
i it ththeory gives
i th
the output
t t voltage
lt Vo(t) as th
the solution
l ti off th
the
differential equation:
dVo
RC + Vo = Vi (t )
dt
where R is the resistance and C is the capacitance. Passing to the frequency
domain gives:
iRCωVo (ω ) + Vo (ω ) = Vi (ω )
• S
So
Vo (ω ) = H (ω )Vi (ω )
where
1
H (ω ) =
1 + iRCω
P. Gundes Bakir, Vibration based structural health monitoring 150
ERASMUS Teaching (2008), Technische Universität Berlin
Analogue filters
• The gain of the system is:
1
H (ω ) =
1 + R 2C 2ω 2
and the phase is :
∠H (ω ) = − tan −1 ( RCω )
• First let us adopt a more general notation. Let x(t) or xi be the input to the
filter and y(t) or yi be the output. The differential equation of the electrical
analogue filter is then,
dyy
RC + y = x(t )
dt
• Now suppose that x and y are sampled with an interval Δt, so x(t)
xi=x(ti)=x(i Δt) and y(t) yi=y(ti)=y(i Δt).
Δt) The derivative above can be
approximated by:
dyyi yi − yi −11
=
dt Δt
yi = 0.6655 yi −1 + 0.3345 xi
• The resulting noisy sine wave after one pass through the filter is:
• We use a theorem from an earlier lecture which says that if the input
to a system is x(t)=eiwt, then the response is y(t)=H(w) eiwt. Now
define the backward shift operator Z-1 by:
Z −1 yi = yi −1
yi = a1 yi −1 + b0 xi
• As:
(1 − a1Z −1 ) yi = b0 xi
• Let
xi = eiωti
• Th
Then
yi = H (ω )e iωti
H (ω ) → 1 as ω → 0
H (ω ) → 0 as ω → ∞
• Namely: 1 1
iω → or ω → -
iω ω
• The FRF of the low pass filter becomes:
iω ω
1
H (ω ) = = RC and the gain is H (ω ) = RC
RC iω ω2
+1 1+ 1+
iω RC R 2C 2
1 1
H (ω ) = =
2
2n 2n
⎛ω⎞ ⎛ f ⎞
⎜
1+ ⎜ ⎟ ⎟ 1 + ⎜⎜ ⎟⎟
⎝ ωc ⎠ ⎝ fc ⎠
where ωc is the cut-off frequency and n is a steepness factor which
specifies
p how fast the signal
g should die awayy after the cut off frequency.
q y
High pass-
pass-low pass filters
where n is the order of the filter (number of poles in the system function)
and ωc is the cut off frequency of the Butterworth filter which is the
frequency where the magnitude of the causal filter |H(ωc )| is 1/√2
regardless
dl off the
th order
d off the
th filter.
filt
• The purpose of a low-cut filter is to remove that part of the signal that is
j dged to be hea
judged heavily
il contaminated byb long-period
long period noise
noise. The key
ke issue
iss e is
selecting the period beyond which the signal-to-noise ratio is unacceptably
low. Applying a filter that abruptly cuts out all motion at periods above the
desired cut-off can lead to severe distortion in the waveform,, and therefore
a transition—sometimes referred to as a ramp or a rolloff— is needed
between the pass-band, where the filter function equals unity, and the
period beyond which the filter function is equal to zero.
High pass-
pass-low pass filters
• The figure shows an illustration of a low-cut Butterworth filter as a
f
function
ti off frequency
f andd period.
i d Th
The filter
filt ffrequency iis 0 0.05
05 HHz, which
hi h
means that periods above 20 s are at least partially removed. The
different curves are for different orders of filter: the higher the order,
the more abrupt the cut-off
cut off (the more rapid the roll-off
roll off (but with
increased filter-response oscillations for the higher order filters)). For
the lower order filters, information will be removed from periods as low
as 10 s.
Causal--acausal filters
Causal
• Although the choice of filter type is less important
important, the way in which
the filter is applied to the accelerogram has been shown to be very
important.
Causal--acausal filters
Causal
• The imlementation
Th i l i off a zero phase
h filtering
fil i scheme
h iis shown
h iin the
h
figure.
High pass-
pass-low pass filters
• |H(ωc )| takes
t k the
th value
l off 00.5
5 ffor acausall filt
filters. Th
The mathematical
th ti l
reasoning behind this can be explained as follows: If we let Hc(ω) be
the frequency response of the causal Butterworth filter given by the
second equation, this filter has unity gain at frequency ω = 0. The
cutoff frequency ωc is the frequency at which the power of the filter
ouput is half the power of the filter input,i.e. |Hc(ωc )|2 = 1/2. The
frequency response of an acausal Butterworth filter Ha(ω) is given
by:
Classification of filters
Classification of filters
Classification of filters
Classification of filters
Overview of excitation
signals
ERASMUS Teaching (2008), Technische Universität Berlin
Classification
• Th
The commonly l usedd excitation
it ti l can be
signals
i b
categorized in several ways. For practical purposes, it is
easyy to consider two main groups:
g p broad band or single g
frequency signals.
Classification
• Transients
T i t
– Burst random
– Burst chirp (or burst swept sine)
– İmpact excitation
• Periodic
– Pseudo random
– Periodic random
– Chirp (fast swept sine)
• Nonperiodic
– Pure random
Classification
• R
Random
d signals
i l can only
l bbe d
defined
fi d bby th
their
i
statistical properties.
Pure random
• Pure random is a nonperiodic stochastic signal with a Gaussian probability
distribution. Averaging is essential when estimating the frequency spectrum.
Pure random
• Pure random easily averages out noncoherent noise.
Pseudo random
• The pseudo random is an ergodic stationary signal with a spectrum
consisting of integer multiples of the discrete Fourier transform
frequency increment. Hence it is perfectly periodic within the sample
time window
window.
Periodic random
• Periodic random excitation is simply a different use of a pseudo
random signal, so that non-linearities can be removed with spectrum
averaging.
Periodic random
• Other advantages are:
– Signals are periodic in the sampling window,
so measurements are leakage free
free.
– Removes non-linear behavior when used with
spectrum averaging
averaging.
• Disadvantages are:
– Slower than other random test methods.
– Special software required for implementation
Burst random
• Burst random excitation is
similar to periodic random
testing,but faster.
Burst random
Advantages :
• Signals are periodic in the
sampling
li window,
i d so
measurements are
leakage free
free.
• Removes non-linear
behavior
be a o whene used with
spectrum averaging.
• Fast measurement time.
Disadvantages :
• Special
p software required
q
for implementation.
P. Gundes Bakir, Vibration based structural health monitoring 182
ERASMUS Teaching (2008), Technische Universität Berlin
Burst random
• The mostt commonly
Th l used d excitation
it ti ffor modal
d l ttesting!
ti !
• In order to have the entire transient be captured, the length of the excitation
burst can be reduced.
• Generally, the use of windows for this type of excitation technique is not
required!
Swept sine
• Th
The sine
i wave excitation
it ti signal
i lhhas b
been usedd since
i th
the
early days of structural dynamic measurement. It was
the onlyy signal
g that could be effectively
y used with
traditional analog instrumentation.
Swept sine
Advantages
Ad t off Si
Sine Testing
T ti
• Best signal-to-noise and RMS-to-peak ratios of
any signal.
i l
• Controlled amplitude and bandwidth.
• Useful for characterizing non-linearities.
• Long history of use.
Stepped sine
• Stepped
St d sine
i excitation
it ti is
i a modern
d version
i off the
th sweptt sine
i
technique that makes maximum use of the developments in DSP
during the last two decades.
• I t d off a continuously
Instead ti l varying
i ffrequency, stepped
t d sine
i consists
i t
of a stepwise changing frequency.
• It remains a rather slow procedure due to the frequency scan and
wait periods needed for the transients to decay. This can be
overcome by multi-channel acquisition.
• The application
pp of stepped
pp sine excitation requires
q special
p soft and
hardware.
• The digital processing allows for varying frequency spacing, yielding
data condensation and testing g time reduction,, and for a better
control against aliasing and leakage problems.
• Useful for characterizing non-linearities.
• Excellent signal-to-noise ratios
ratios.
Processing strong-motion
records
The focus of this section is on the
effects of noise in accelerograms,
g , and the effects of
‘correction’ procedures, on the peak ground-motion amplitudes
and on the ordinates of acceleration and displacement
response spectra.
ERASMUS Teaching (2008), Technische Universität Berlin
• This low
Thi l frequency
f noise
i usually
ll appears as drifts
d ift in
i the
th
displacements derived from double integration of acceleration,
making it difficult to determine the true peak displacement of the
ground motion
motion.
Analog accelerograms
• In light of these considerations
considerations, it is not appropriate to refer to most of the
processing procedures described herein as ‘corrections’, since the term
implies that the real motion is known and furthermore that it can be
recovered by applying the procedures.
Instrument correction
• As noted
A t d earlier,
li th the ttransducer
d ffrequency iin analog l iinstruments
t t iis
limited to about 25 Hz, and this results in distortions of amplitudes
and phases of the components of ground motion at frequencies
close to or greater than that of the transducer
transducer.
• The digitization process itself can also introduce high-frequency
noise as a result of the random error in the identification of the exact
mid-point
id i t off the
th film
fil ttrace as shown
h iin th
the fi
figure.
Instrument correction
• Fourier acceleration spectrum of an analog recording at a site underlain by
thick sediments is shown in the figure. Natural processes along the
propagation path have removed energy at frequencies much below those
affected by the instrument response (see dashed line; the instrument
response has been shifted vertically
erticall so as not to be obsc
obscured
red b
by the data)
data),
leading to the decreasing spectral amplitudes with increasing frequency up
to about 26 Hz (coincidentally the same as the instrument frequency), at
which point noise produces an increase in spectral amplitudes. Instrument
correction
ti onlyl exacerbates
b t ththe contamination
t i ti off ththe signal
i lb
by hi
high
h
frequency noise.
Fourier Spectra
• The left
left-hand
hand plot in the figure shows an example of the Fourier spectra of
high-frequency ground motion obtained at a very hard rock site in Canada
at a distance of 4 km from the source of a small magnitude earthquake.
Softer sites, even those classified as ‘rock’ such as class B in the 2003
NEHRP guidelines, will tend to filter out such high frequency motion.
• Very high-frequency motions will also tend to attenuate rapidly with
distance and hence will not be observed at stations even a few tens of
kil
kilometers
t from
f the
th fault
f lt rupture.
t
Fourier Spectra
• The figure shows the Fourier acceleration spectra of earthquakes recorded
in eastern and western North America (left and right graphs, respectively).
The eastern North America recording has much higher frequency content
than that from western North America, even without instrument correction.
The record from Miramichi wasas recorded on an analog instr
instrument,
ment whereas
hereas
those from the Big Bear City earthquake were recorded on digital
instruments (the response curves of the instruments are shown by the
dashed lines and have been shifted vertically so as not to be obscured by
th d
the data).
t )
Fourier Spectra
• The plot
Th l t in
i the
th figure
fi also
l shows
h the
th ttypical
i l ttransducer
d response ffor th
the
instrument (SMA-1) on which the record was obtained, and the effect of
applying a correction for the instrument characteristics, which is to
increase slightl
slightly the amplitudes
amplit des at frequencies
freq encies greater than 30 Hz. H The
nature of such motions, at periods of less than 0.03 s, will only be relevant
to particular engineering problems, such as the response of plant machinery
and nonstructural components
components.
Fourier Spectra
• The right-hand
right hand plot in the figure show the Fourier spectra of more
typical ground motions obtained at soil sites during a moderate
magnitude earthquake in California. These records were obtained
g
on digital instruments and are lackingg in very
y high
g frequency
q y motion
mainly because of the attenuating effect of the surface geology at
these sites compared to the very hard site in Canada. The plot also
shows the transducer response for these digital instruments, which
is almost flat to beyond 40 HzHz.
• Unless there are compelling reasons for applying a correction for the
instrument characteristics, we recommend that no attempt should be
made to do so.
so The one exception to this may be the very earliest
recordings obtained in the US with accelerographs that had natural
frequencies of the order of 10 Hz.
Baseline adjustments
• A major problem encountered
with both analog and digital
accelerograms are distortions
and shifts of the reference
baseline, which result in
unphysical velocities and
displacements.
• One approach to
compensating for these
problems is to use baseline
adjustments, whereby one or
more baselines, which may be
g lines or low-order
straight
polynomials, are subtracted
from the acceleration trace.
Baseline adjustments
• The figure illustrates
the application of a
piece-wise sequential
fitting of baselines to
the velocity trace from
a digital recording in
which there are
clearly identifiable
offsets in the
baseline.
Baseline adjustments
• A similar procedure could
be applied directly to the
acceleration time-history
t correctt for
to f the
th type
t off
baseline shifts shown in
the figure.
Baseline adjustments
• The procedure applied in the
fi
figure is
i to
t identify
id tif (b(by bl
blowing
i up
the image) sections of the velocity
that appear to have a straight
baseline, and then fitting a straight
li tto thi
line this iinterval.
t l
Baseline adjustments
• The adjusted velocity trace is
then inspected to identify the
next straight line segment,
y
which is fit in the same way.
Baseline adjustments
• Th
The distortion
di t ti off the
th baseline
b li encountered
t d iin di
digitized
iti d
analog accelerograms is generally interpreted as being
the result of long-period
gp noise combined with the signal.
g
Baseline adjustments
• The figure
g on the left: Shaded line: velocity
y from integration
g of the east–west
component of acceleration recorded at TCU129, 1.9 km from the surface
trace of the fault, from the 1999 Chi-Chi earthquake, after removal of the
pre-event mean from the whole record. A least-squares line is fit to the
velocity from 65 s to the end of the record. Various baseline corrections
using the Iwan et al. (1985) scheme are obtained by connecting the
assumed time of zero velocity t1 to the fitted velocity line at time t2. Two
values of t2 are shown: 30, and 70 s.
Baseline adjustments
• The dashed line is the q quadratic fit to the velocities, with the
constraint that it is 0.0 at t=20 s.
• The acceleration time series are obtained from a force-balance
transducer with natural frequency
q y exceeding g 50 Hz,, digitized
g using
g
16.7 counts/cm/s2 (16,384 counts/g). Right: The derivatives of the
lines fit to the velocity are the baseline corrections applied to the
acceleration trace .
Baseline adjustments
• The line fit approach is the more complex scheme proposed by Iwan et al.
The method was motivated byy studies of a specific
p instrument for which the
baseline shifted during strong shaking due to hysteresis; the accumulation
of these baseline shifts led to a velocity trace with a linear trend after
cessation of the strong shaking. The correction procedure approximates the
complex set of baseline shifts with two shifts, one between times of t1 and t2,
and one after time t2. The velocity will oscillate around zero (a physical
constraint), but the scheme requires selection of the times t1 and t2.
Baseline adjustments
• Figure shows the response spectra
of the east–west component of
acceleration recorded at TCU129
from the 1999 Chi-Chi, Taiwan,
earthq ake modified using
earthquake, sing a
variety of baseline corrections.
• Figure shows that the long-period • It is important to note that for this
p
response spectrum
p ordinates are particular accelerogram the
sensitive to the choice of t2 (t1 was
not varied in this illustration). differences in the response
spectrum are not significant until
y
beyond 10 s oscillator period).
p )
Baseline adjustments
• A commonly used simplification
of the generalized Iwan et al.
method is to assume that t1=t2,
with the time g
given by y the zero
intercept of a line fit to the later
part of the velocity trace.
Residual displacements
• One off the
O th possible
ibl
advantages of baseline fitting
techniques just discussed is
that the displacement trace
can obtain a constant level at
the end of the motion and can
have the appearance of the
residual displacement
expected in the vicinity of faults
as shown in the figure
figure.
Residual displacements
• At the end of the ground
shaking caused by an
earthquake, the ground
y must return to zero,,
velocity
and this is indeed a criterion by
which to judge the efficacy of
the record processing.
Residual displacements
• Close to the fault rupture of large
magnitude earthquakes (~Mw =
6.5 and above) this residual
displacement can be on the order
of tens or hundreds
h ndreds of
centimeters.
Residual displacements
• The problem presented by trying
to recover the residual placement
through baseline fitting is that the
resulting offset can be highly
sensitive to the choice of
parameters as shown in the
figure.
• It should also be noted that there is little discernable difference between the
filtered and unfiltered accelerations.
Zero pads
• The figure shows the total
length of the time-domain zero
pad recommended by
Converse and Brady y to allow
for the filter response in 2-pass
(acausal), nth-order
Butterworth filters (these pads
are needed regardless of
whether the filtering is done in
the time- or frequency-
domain). )
Zero pads
• One of the causes for data
incompatibility for the records
disseminated by the Strong-
motion processing centers is the
remo al of the pads that are
removal
added for the application of the
filter.
Zero pads
• The removal of the pads
p
also has an influence on the
long period response
spectral ordinates as shown
in the figure (with pads
(dashed line), without pads
(solid line)).
Tapers
• When adding zero pads to accelerograms prior to filtering
filtering, a
potential undesired consequence is to create abrupt jumps where
the pads abut the record, which can introduce ringing in the filtered
record.
• There are two different ways to avoid this, one being to use tapers
such as a half-cosine function for the transition from the motion to
the zero pad.
• A simpler
p p procedure is to start the p
pad from the first zero crossingg
within the record, provided that this does not result in the loss of a
significant portion of record, as can happen if the beginning or end
of the acceleration time series is completely above or below zero.
Strong--motion processing
Strong
• Processing should be accomplished on a component by component
basis.