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Pushover Analysis Using ETABS and SAP2000 PDF
Pushover Analysis Using ETABS and SAP2000 PDF
By
Naveed Anwar
Asian Center for Engineering Computations and Software
Asian Institute of Technology
In Association with
Computers and Structures Inc., Berkeley, California, USA
Pushover Analysis
Using ETABS (and SAP2000)
By
Naveed Anwar
Asian Center for Engineering Computations and Software
Asian Institute of Technology
In Association with
Computers and Structures Inc., Berkeley, California, USA
Acknowledgements
• Some of the material presented in these
notes is based on following sources:
– Class notes by Prof. Worsak Kanok-Nukulchai
– Seminar notes from Computers and Structures
Incorporated, USA
– Notes from various workshops conducted by
Pushover Analysis, ACECOMS, AIT
Naveed Anwar
– SAP2000 User and Technical Manuals
– ETABS User and Technical Manuals
– ATC40, Applied Technology Council, USA
– FEMA-273, Federal Emergency Management
Agency, USA
Objectives
• Introduce the basic Modeling and Analysis
Concepts
• To provide an understanding of Static
Nonlinear Pushover Analysis for Seismic
Performance
Pushover Analysis, ACECOMS, AIT
EXCITATION RESPONSES
Loads Displacements
Vibrations Strains
Settlements Stress
Pushover Analysis, ACECOMS, AIT
Structural
Model
Analysis of Structures
xx yy zz
pvx 0
x y z
pv
Real Structure is governed by
“Partial Differential Equations” of
Pushover Analysis, ACECOMS, AIT
various order
Direct solution is only possible for:
• Simple geometry
• Simple Boundary
• Simple Loading.
The Need for Modeling
A - Real Structure cannot be Analyzed:
It can only be “Load Tested” to determine
response
B - We can only analyze a “Model” of the
Structure
Pushover Analysis, ACECOMS, AIT
pv
Equilibrium
Actual Structure Structural Model
xx yy zz
x y z
pvx 0
Stress-Strain Law
Kr R
Pushover Analysis, ACECOMS, AIT
Compatibility “Algebraic
“Partial
Equations”
Differential _ _ _
Equations” t
dV p u dV p u ds
v
t
v
t
s
K = Stiffness
r = Response
(Principle of Virtual Work) R = Loads
Simplified Structural System
Fv
Pushover Analysis, ACECOMS, AIT
D K
F
F=KD
The Analysis System
STRUCTURE
EXCITATION RESPONSES
pv
Pushover Analysis, ACECOMS, AIT
2. Linear-Dynamic Elastic
Mu(t ) Cu(t ) Ku(t ) F (t )
Pushover Analysis, ACECOMS, AIT
4. Nonlinear-Dynamic Elastic OR
Inelastic
Mu(t ) Cu(t ) Ku(t ) F (t ) NL F (t )
Basic Analysis Types
Excitation Structure Response Basic Analysis Type
Static Elastic Linear Linear-Elastic-Static Analysis
• Dynamic Analysis
– Free Vibration and Modal Analysis
– Response Spectrum Analysis
– Steady State Dynamic Analysis
Analysis Type
The type of Analysis to be carried out depends
on the Structural System
Geometry)
– The Type Response
Static Vs Dynamic
• Static Excitation
– When the Excitation (Load) does not vary rapidly with
Time
– When the Load can be assumed to be applied
“Slowly”
• Dynamic Excitation
Pushover Analysis, ACECOMS, AIT
excitation
– (deflection may become 4 times if load is doubled)
• Non-linear response may be produced by:
– Geometric Effects (Geometric non-linearity)
– Material Effects (Material non-linearity)
– Both
Elasticity and Linearity
Action
Action
Linear-Elastic Linear-Inelastic
Deformation Deformation
Pushover Analysis, ACECOMS, AIT
Action
Action
Nonlinear-Elastic Nonlinear-Inelastic
Deformation Deformation
Linear and Nonlinear
Ku F
F (t ) Cu (t ) Ku(t ) F (t )
Mu
Ku = F
Pushover Analysis, ACECOMS, AIT
Ku FNL F
u Mu(t ) Cu(t ) Ku(t ) F (t ) NL F (t )
Non Linear Equilibrium
Basic Concepts for Analysis
• DOF (Degree of Freedom)
• Stiffness
• Static Analysis Process
• Dynamic Analysis Procedures
Pushover Analysis, ACECOMS, AIT
The Seven Degrees of Freedom
• The General Beam
ry
Element may have
uy
7 degrees of
y
freedom
• The seventh
Pushover Analysis, ACECOMS, AIT
degree is Warping u x rx
• Warping is out-of x
z
plane distortion of uz Each section on a beam
the beam cross- rz member can have seven
Degrees Of Freedom
section wz (DOF) with respect to its
local axis.
§ uz The
AxialComplete DOF
deformation Axial Picture
strain Axial stress
§ ux Shear deformation Shear strain Shear stress
§ uy Shear deformation Shear strain Shear stress
§ rz Torsion Shear strain Shear stress
§ r y Curvature Axial strain Axial stress
§ rx Curvature Axial strain Axial stress
§ wz Warping Axial strain Axial stress
Pushover Analysis, ACECOMS, AIT
What is Stiffness ?
• In structural terms, stiffness
For Linear Response
may be defined as
“Resistance to Deformation” uF
• So for each type of
deformation, there is a Ku F
corresponding stiffness
Pushover Analysis, ACECOMS, AIT
F
• Stiffness can be considered K
or evaluated at various levels u
• Stiffness is also the
“constant” in the Action-
Deformation Relationship
The Structure Stiffness
Material Stiffness
Cross-section Geometry
Section Stiffness
Pushover Analysis, ACECOMS, AIT
Member Geometry
Member Stiffness
Structure Geometry
Structure Stiffness
The Matrices in FEM
Reduced
• Can be Used for Non-Linear analysis to
Capture Local Static Response
Fast Non-Linear Analysis
• Evaluate LDR Vectors with Non-Linear Elements
Removed and Dummy Elements Added for Stability
• Solve All Modal Equations with Non-Linear Forces
on the Right Hand Side
• Use Exact Integration within Each Time Step
• Force and Energy Equilibrium are Satisfied at Each
Pushover Analysis, ACECOMS, AIT
• Solution gives
– Natural Frequencies
– Associated mode shapes
– An insight into the dynamic behavior and response of the structure
The Modal Analysis
• The Modal Analysis should be run before
applying loads any other analysis to check
the model and to understand the response of
the structure
• Modal analysis is precursor to most types of
Pushover Analysis, ACECOMS, AIT
symmetrical
• The resonance with the applied loads or
excitation can be avoided
– The natural frequency of the structure should not
be close to excitation frequency
Eccentric and Concentric Response
Unsymmetrical Mass
and Stiffness
Pushover Analysis, ACECOMS, AIT
Base Isolation
Isolators
Building Impact
Building Impact
Analysis
Pushover Analysis, ACECOMS, AIT
Dampers
Friction device
Concentrated damper
Pushover Analysis, ACECOMS, AIT
Nonlinear element
Gaps and Joints
Gap Element
Bridge Deck
ABUTMENT
Pushover Analysis, ACECOMS, AIT
PLASTIC HINGES
Pushover Analysis, ACECOMS, AIT
2 Rotational DOF
Degrading Stiffness?
Dampers
Mechanical Damper
Pushover Analysis, ACECOMS, AIT
F= f(u,v,umax)
F= ku
F= CvN
Mathematical Model
Linear Viscous Damping
• Does not Exist in Normal Structures and
Foundations
• 5 or 10 Percent modal Damping Values are
Often Used to Justify Energy Dissipation Due
to Non-Linear Effects
Pushover Analysis, ACECOMS, AIT
Uplifting
Allowed
Pushover Analysis, ACECOMS, AIT
Structural Modeling
Structure Types
• Cable Structures
• Cable Nets
• Cable Stayed
• Bar Structures
• 2D/3D Trusses
• 2D/3D Frames, Grids
Pushover Analysis, ACECOMS, AIT
• Surface Structures
• Plate, Shell
• In-Plane, Plane Stress
• Solid Structures
Global Modeling of Structural Geometry
(f) Grid-Plate
(e) 2D Fram e
Plane Stress, Plane Strain, Axisymmetric, Plate and Shell Elements (2D,3D)
Brick Elements
Model Creation Tools
• Defining Individual Nodes and Elements
• Using Graphical Modeling Tools
• Using Numerical Generation
• Using Mathematical Generation
• Using Copy and Replication
Pushover Analysis, ACECOMS, AIT
C
B – Cracking Limit
C – Strength Limit
B
D – Failure Limit
Load
P
Δ
A
Deformation D
Cross-section Reponses
• Stresses
– Tension
– Compression
– Shear > Tension-Compression
• Strains
– Normal strain
Pushover Analysis, ACECOMS, AIT
– Shear Strain
• Deformations
– Rotation
– Shortening
– Shearing
– Twisting
Determining Cross-section Response
Material Stress-Strain Curves
Cross-section Dimensions
Given P value
Performance
Strength
Moment-Curvature Curves
P-M Curve M-M Curve
•Moment for Given Curvature
•Curvature for Given Moment
•Yield Moment •Moment for Given Load •Mx for Given My
•Stiffness •Load for Given Moment •My for Given Mx
•Ductility •Capacity Ratio •Capacity Ratio
Capacity
P Interaction Surface
Pushover Analysis, ACECOMS, AIT
My Mx
Pushover Analysis, ACECOMS, AIT
Cross-section Stresses
Original Cross-sections
Plain concrete shape Reinforced concrete section Compact Hot-rolled steel shape
Pushover Analysis, ACECOMS, AIT
cross-sections
• Anything that reduces Creep/ Shrinkage
– Presence of compressive reinforcement
• Anything that improves Durability
– High strength concrete
– Proper cver and protection of rebars
What Effects Strength?
• The basic Material Strength
– Concrete crushing strength
– Reinforcement yield strength
• The Cross-section Dimensions
• The amount of Rebars
Pushover Analysis, ACECOMS, AIT
Load
defined as the “ratio
of deformation and a Yield/ Design
Strength
given stage to the
maximum Dy Du
deformation
Pushover Analysis, ACECOMS, AIT
capacity”
Deformation
• Normally ductility is Ductility = Dy / Du
measured from the
deformation at design
strength to the
maximum
deformation at failure
What Effects Ductility!
• The most important factor effecting ductility
of reinforced concrete cross-section is the
confinement of concrete
– Amount of confinement steel
– Shape of confinement steel
Pushover Analysis, ACECOMS, AIT
– Failure Point
– Ductility
– Stiffness
– Crack Width
– Rotation
– Deflection
– Strain
What is Curvature
e
• In geometry, it is rate
C
of change of rotation
• In structural behavior,
Curvature is related to
Moment Curvature = e / C (radian / unit length)
Pushover Analysis, ACECOMS, AIT
• For a cross-section
undergoing flexural
deformation, it can
computed as the ratio
of the strain to the
depth of neutral axis
Pushover Analysis, ACECOMS, AIT
2 -Failure Point
1 -Yield Point
Pushover Analysis, ACECOMS, AIT
y
3 - Ductility
u
Outputs from M-Phi Curve
4 - Stiffness of the Section at given M and Phi
M
EI
M
EI
Pushover Analysis, ACECOMS, AIT
b
M
dx
a
EI
Outputs from M-Phi Curve
6 - Deflection of the section at given Moment
M
b
D x dx
a
EI
Pushover Analysis, ACECOMS, AIT
W s X NA
W yX
y Rebar Centroid
s
Pushover Analysis, ACECOMS, AIT
W
9 - Crack Spacing at given crack width
W
X
s
W
X
y
Outputs from M-Phi Curve - Summary
Plot M-Phi Curve
M
b
M D
EI Determine curvature x dx
at known moment a
EI
Determine Flexural
Determine Deflection
Stiffness (EI)
Pushover Analysis, ACECOMS, AIT
b
M
dx c
a
EI
Determine Slope Determine Strain
W
X
s
W s X
Determine Crack
Spacing/Width
Outputs from M-Phi Curve - Example
For M=600 Phi = 0.00006
From M-Phi Diagram P=160 K
L/2
24 in
M 36 in
EI
15 ft
EI=600x12/0.00006
EI=1.2E8 k-in^2
Pushover Analysis, ACECOMS, AIT
=0.0054 rad
Outputs from M-Phi Curve - Example
Deflection at Mid Span
M
b
D x dx
a
EI
=600x7.5x144x15x12/(6x1.2E8)
=0.162 in Specified Crack Spacing = X
Pushover Analysis, ACECOMS, AIT
Strain in Steel
c
NA
y Rebar Centroid
W s X
NA
=0.00096 x 18 y Rebar Centroid
=0.01728 in
Pushover Analysis, ACECOMS, AIT
s W
Crack Spacing
Assuming crack width of 0.02 in
W
X
s
=0.02/0.00096
=20.8 in
M-Phi Curve and Ductility
• Effect of Axial Load
• Effect of Compression Steel
• Effect of Confinement Model
• Effect of Confinement Shape
Pushover Analysis, ACECOMS, AIT
Axial Load and Ductility
Pushover Analysis, ACECOMS, AIT
12#8 bars
Compression Steel and Ductility
Pushover Analysis, ACECOMS, AIT
a) b) c) d)
2#8 bars 4#8 bars 8#8 bars
8#8
8#8bars
bars 8#8 bars 8#8 bars
8#8 bars
Confinement Model and Ductility
Effect of Concrete Confinement Model on Ductility of Cross-Section
350
300
250
Moment (kip-ft)
200
Whitney Rectangle
100
50
0
0 0.001 0.002 0.003 0.004 0.005 0.006
Curvature (rad/in)
a) b) c)
140
100
Spacing = 3in
80
Spacing = 6 in
60
Spacing = 12 in
40
Pushover Analysis, ACECOMS, AIT
20
0
-0.0005 0.0000 0.0005 0.0010 0.0015 0.0020 0.0025
-20
Curvature (in/rad)
a)
8#6 bars
Mander’s Rectangular
Confined
Confinement Shape and Ductility
Pushover Analysis, ACECOMS, AIT
a) b) a)
Pushover Analysis
Introducing
The Pushover Analysis
• An alternate method of analysis for carrying
out the Performance Based Design
• Pushover analysis is carried out after the
Linear Analysis has been done and
Serviceability and Strength design has been
Pushover Analysis, ACECOMS, AIT
completed
• Pushover analysis is most suitable for
determining the performance, specially for
lateral loads such as Earthquake or even
wind
Why Pushover Analysis
• Buildings do not respond as linearly elastic
systems during strong ground shaking
• Improve Understanding of Building Behavior
– More accurate prediction of global displacement
– More realistic prediction of earthquake demand
on individual components and elements
Pushover Analysis, ACECOMS, AIT
Pushover Spectrum
Pushover Analysis, ACECOMS, AIT
Demand Vs Capacity
Non-linearity in Pushover
• Material nonlinearity at discrete, user-defined hinges
in frame/line elements.
1. Material nonlinearity in the link elements.
• Gap (compression only), hook (tension only), uniaxial
plasticity base isolators (biaxial plasticity and biaxial
friction/pendulum)..
Pushover Analysis, ACECOMS, AIT
By:
Iqbal Suharwardy, PhD, S.E
Director Development
Performance Limits
(IO, LS, CP)
Pushover Analysis, ACECOMS, AIT
Deformation Measure
Steps in Performance Check
• Construct Pushover Curve
• Select Earthquake Level to check
• Select Performance Level to check
• Select acceptance criteria for each
Performance Level
Pushover Analysis, ACECOMS, AIT
• Verify Acceptance
– ATC-40 Method
– ATC-33 Method
Constructing Pushover Curve
• Define Structural Model
– Elements
– Strength-Deformation properties
• Define Loads
– Gravity
Pushover Analysis, ACECOMS, AIT
B
Pushover Analysis, ACECOMS, AIT
D E
A
Deformation
Pushover Modeling (Beam Element)
Shear Hinge
Pushover Analysis, ACECOMS, AIT
– Shear
Pushover Modeling (Loads)
• Start with Gravity Loads
– Dead Load
– Some Portion of Live Load
Uniform
– Code Static Lateral Load Distribution
– First Mode
– Combination of Modes
Pushover Analysis (Control)
• Force Controlled Analysis
• Deformation Controlled Analysis
– Roof Displacement
– Generalized Displacement Definitions
• Story Drift
• Limit of Analysis
Pushover Analysis, ACECOMS, AIT
Acceleration
Capacity Spectrum
Spectral
Pushover Analysis, ACECOMS, AIT
Spectral Displacement
Use of Pushover Curve (ATC-40)
Response Spectrum (5% Damping)
2.5CA
Acceleration
Cv/T
Spectral
Pushover Analysis, ACECOMS, AIT
Time Period
Use of Pushover Curve (ATC-40)
Reduced Spectrum (Equivalent Damping)
2.5CA/Bs
Acceleration
Spectral
Cv /(T BL)
Pushover Analysis, ACECOMS, AIT
Time Period
Use of Pushover Curve (ATC-40)
Spectral Displacement
Use of Pushover Curve (ATC-40)
Performance Limits
(IO, LS, CP)
Pushover Analysis, ACECOMS, AIT
Deformation Measure
Use of Pushover Curve (FEMA-273)
• Displacement Coefficient Method
• Estimate Target Displacement
• Verify Acceptance
• Estimation of Target Displacement
– Estimate effective elastic stiffness , Ke
Pushover Analysis, ACECOMS, AIT
B
Pushover Analysis, ACECOMS, AIT
D E
A
Deformation
SAP2000/ETABS Pushover Options
– Drifts
– Element hinge Deformations
– Limit Points reached
SAP2000/ETABS Pushover Options
• Pushover Curve Post-Processing (ACT-40)
– Conversion to Capacity Spectrum
– Calculation of Effective Period (per step)
– Calculation of Effective Damping (per step)
– Calculation of Demand Spectrum (per step)
Pushover Analysis, ACECOMS, AIT
– Demand Curves
– Demand Spectra at different Damping
– Effective Period Lines
Pushover Analysis, ACECOMS, AIT
Examples
Example 1
P=100 Kip
Gravity Load
m=3.6
Lateral Push to
0.5ft Disp
Pushover Analysis, ACECOMS, AIT
W36x120
10 ft
Default M3
Pushover Hinge
Pushover Analysis, ACECOMS, AIT
Capacity Spectrum
Example 2
P=Unit Load
Desired Behavior
Axial Force, P
2100
(Kips)
Pushover Analysis, ACECOMS, AIT
1700
24"x24" Conc Col
1000
12 ft
PL
Column E
Axial Force, P
2100
AD
(Kips)
1700
Pushover Analysis, ACECOMS, AIT
1000
= (1700 *12*12)/(24*24*0.1)
= 4250 Ksi 0.1 0.6 0.8
PL
Column D
Axial Force, P
2100
AE
(Kips)
1700
Pushover Analysis, ACECOMS, AIT
1000
= [(2100-1700) *12*12)]/(24*24*4250)
= 0.0235 in 0.1 0.6 0.8
PL
Column D
Axial Force, P
2100
AE
(Kips)
1700
Pushover Analysis, ACECOMS, AIT
1000
= [(2100-1000) *12*12)]/(24*24*4250)
= 0.0647 in 0.1 0.6 0.8
to 0 K:
Axial Force, P
2100
PL
D
(Kips)
Column 1700
Pushover Analysis, ACECOMS, AIT
AE 1000
C
2100
Axial Force, P
2100
1700
B
(Kips)
D E 1700
1000
1000
Pushover Analysis, ACECOMS, AIT
A
0.1 0.6 0.8
0.8
0.7412
0.4765
0.5412
0.0
B = 0.1 - 0.1 = 0
C = 0.6 - 0.1 - 0.0235 = 0.4765
D = 0.6 - 0.1 - 0.0235 + 0.0647 = 0.5412
E = 0.8 - 0.1 - 0.0235 + 0.0647 = 0.7412
Pushover Analysis, ACECOMS, AIT
Hinge Properties
Pushover Analysis, ACECOMS, AIT
Pushover Curve
Pushover Analysis, ACECOMS, AIT
Push
W14x90 0.8 kip/ft
W1
2x
19
W8 0
x1
0
W24x55
1.2 kip/ft
Example 3
W8
x1
W1 0
2x
19
0
W14x90
0.8 kip/ft
Example 3
M3 M3 M3 V M3 M3 M3
PMM PMM
MR MR
Pushover Analysis, ACECOMS, AIT
P P
Legend
P = Axial Hinge
MR = Moment Release
M3 = Moment Hinge PMM
PMM
V2 = Shear Hinge MR
MR
PMM = PMM Hinge
Pushover Analysis, ACECOMS, AIT
– Spectral Velocity, Sv
– Spectral Displacement, Sd
– Time, T
Response Spectrum Conversion
• For Each value or Sai and Ti determine the
value of Sdi using the equation
2
Ti
S di S ai g
4 2
2 S di
Ti
S ai g Sv Sv
Ti 2
Capacity Spectrum Conversion
• Capacity Spectrum from Capacity or
Pushover Curve
• Point by Point conversion to first mode
spectral coordinates
• Vi and D roof on capacity curves are converted
Pushover Analysis, ACECOMS, AIT
Vi D roof
S ai S di
W
1 PF
1 1, roof
Moment Hinge Properties
Using M-Fi Curve
Pushover Analysis, ACECOMS, AIT
Procedure
• Plot M-Fi curve for cross-section
• Estimate EI value from M-Fi Curve using the
following equation
M
EI
M
EI
Pushover Analysis, ACECOMS, AIT
• Calculate Rotations from Curvature using:
b
M
dx
a
EI
Example
• Reinforced Concrete
Beam-Column Cross- 24"
Section
• 24”x24”
• Reinforced with 12 #9
bars
Pushover Analysis, ACECOMS, AIT
24"
• Length is 12 ft
Pushover Analysis, ACECOMS, AIT
370
0.00028
Example
Example
M
EI
• So EI = 370/0.00028 = 1321428.6
b
M M
dx Ip
EI EI
• So = 0.00336 rad
a
Pushover Analysis, ACECOMS, AIT
• Ip = h/2
Comparisons of
SAP2000 and ETABS
Pushover Analysis, ACECOMS, AIT
SAP2000 vs ETABS
• SAP2000 • ETABS
– General Purpose FEA – Specialized FEA Software
Software for Building analysis and
design
– Classic Finite Element – Fully Object based Modeling
Software and Design
ETABS Pushover
Pushover Analysis, ACECOMS, AIT
ETABS Pushover
Pushover Analysis, ACECOMS, AIT
ETABS Pushover
Pushover Analysis, ACECOMS, AIT
SAP2000 Pushover
Pushover Analysis, ACECOMS, AIT
SAP2000 Pushover
Pushover Analysis, ACECOMS, AIT
SAP2000 Pushover
Pushover Analysis, ACECOMS, AIT
SAP2000 Pushover
Pushover Analysis, ACECOMS, AIT
SAP2000 Pushover
1
ETABS Pushover
Use Load Patterns
Steps to compute the
Displacement 4
(Displacement not Consider P-Delta
Monitored) effects and Large
Divide the Specified Displacements due to
Displacement into 1 gravity loads caused
Steps and apply loads by each step of lateral
to attain that loading
displacement
Monitor which DOF at
what level/story
Save Positive Results
only
Pushover Analysis, ACECOMS, AIT
5
2 4 For Construction
2 Sequence analysis.
After a member fails
3 5 Specify which
redistribute loads Pushover case to be
locally around failed applied to which stage
members or reanalyze of construction or
structure using a new strengthening.
stiffness matrix
3
Which Pattern Loads
to apply and what is
the scaling factor for
each loading case
included in the load
factor
SAP Pushover
4
Load Application
Use full load
application without
monitoring the
displacement or use
the displacement
control. Also specify
the DOF to be
Monitored and the
Joint at which the DOF
is to be monitored
Results Saved
Pushover Analysis, ACECOMS, AIT
2
3
1 4
5
Pushover Analysis, ACECOMS, AIT
5
If there is additional viscous
1 3
2 damping provided in the
V=Base Shear Demand Curves structure, perhaps by viscous
D=Displacement plotted for these dampers that are not
Sa=Spectral Damping Ratios specifically included in the
Acceleration 4 model
Sd=Spectral Disp Grey Lines are the The Structural Behavior Types
Teff=Effective Constant Period Lines A, B and C default to the
Fundamental Period drawing for period values defined for those
Beff=Effective Viscous specified here structural behavior types in
Damping
Section 8.2.2.1.1 of ATC-40 .
The User Defined Kappa