Hybrid Simulation

of Structural Collapse
Andreas Schellenberg, Tony Yang and Bozidar Stojadinovic
University of California, Berkeley

Ken Elwood
University of British Columbia
Hybrid Simulation
Hybrid simulation is an experimentally based
testing method for investigating the response
of a structure to dynamic excitation using a
hybrid model
A hybrid model is an assemblage of one or
more physical and one or more numerical,
consistently scaled, partitions of a structure
The equations of motion of a hybrid model
under dynamic excitation are solved during a
hybrid simulation test

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Response Simulation with
Second-Order Effects
Dynamic loading excites a structure:
„ Inertia
„ Energy dissipation (damping)
„ Resistance
M ⋅u
&&(t ) + C ⋅ u& (t ) + Pr (u(t ), geom) = P(t )

Second order effects are included in the

resistance of the structure
„ However, they may be simulated in the
computer
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Outline of Talk
1. Second-Order Effects and Structural
Collapse
2. Implementation in OpenSees and
OpenFresco
3. Structural Collapse of Portal-Frame
Example
4. Summary and Conclusions

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Second-Order Effects
Definition: effect of loads on the
deformed geometry
P-Δ: change of global geometry
P-δ: change of member geometry
P-MM interaction (section level) also local
buckling

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Simulation to Structural Collapse
Second order effects are essential for
simulating collapse of structures that
displace substantially
Typically civil structures are tested using
shaking tables
However, structural collapse is difficult
and expensive to investigate using
shaking table tests

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Advantages of using Hybrid Simulation
Gravity loads and resulting geometric
nonlinearities are modeled analytically
Therefore, no complex active or passive
gravity load setups are necessary
Actuator movements will limit displacements
Thus, there is no need to protect expensive
test equipment from specimen impact
Only critical, collapse-sensitive elements of
a structure need to be physically modeled

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Corotational Formulation (2D)

v1 = L f − L

= ( L + u4 − u1 ) + ( u5 − u2 ) −L
2 2

v2 = u3 − θ
⎛ u −u ⎞
= u3 − arctan ⎜ 5 2 ⎟
⎝ L + u4 − u1 ⎠

v3 = u6 − θ
⎛ u −u ⎞
= u6 − arctan ⎜ 5 2 ⎟
⎝ L + u4 − u1 ⎠

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Implementation in a Hybrid Model
Provide the geometric transformations
such that the effect of axial loads is
accounted for in the computer part of the
hybrid model
Physical part of the model:
„ Model material and cross-section level
response
Computer part of the model:
„ Model the second-order effect of axial load
„ Provide the rest of the structure

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Implementation at nees@berkeley
Using:
„ OpenSees to provide the nonlinear geometric
transformation facilities
„ OpenFresco to provide the hybrid simulation
framework
„ OpenSees Navigator to graphically build the
model, run the test and post-process the
hybrid simulation results

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Geometric Transformations controlled displacements
and acquired forces
U5, P5
v1, q1 d2, q2
d1, q1
U4, P4
U6, P6 v3, q3 d3, q3
j j j

Experimental
Δy

Δy

Δy
U2, P2 BeamColumn

U1, P1
U3, P3 v2, q2
i i i
Δx Δx Δx

Global System Basic System A Basic System B

(simply supported beam) (cantilever beam)

geometric transformation in ⎡1 0 0 ⎤
OpenSees (Linear, PDelta, T = ⎢⎢ 0 − L 0 ⎥⎥
Corotational) ⎢⎣ 0 −1 1 ⎥⎦

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 local
OpenFresco Components deployment

FE-Software
OpenFresco

interfaces to the
FE-Software, stores
data and facilitates Experimental Site
distributed testing transforms between the
experimental element
degrees of freedom and the
Experimental Setup actuator degrees of freedom
(linear vs. non-linear
transformations)
interfaces to the different
control and data acquisition Experimental Control
systems in the laboratories

Control System
in Laboratory

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 network
OpenFresco Components deployment

FE-Software

OpenFresco

ShadowExpSite ShadowExpSite NTCPExpSite NTCPExpSite

Exp.Setup Exp.Setup

TCP/IP TCP/IP NTCP NTCP

OpenFresco OpenFresco

ActorExpSite ActorExpSite NTCP Server NTCP Server

Exp.Setup Control Plugin Control Plugin

with without
Exp.Control Exp.Control transformation tranformation

Control System Control System Control System Control System

in Laboratory in Laboratory in Laboratory in Laboratory

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OpenSees Navigator User Interface

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OpenSees Navigator User Interface

gravity loads modeled

analytically

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OpenSees Navigator User Interface

Defining experimental
components (OpenFresco)

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Example: Portal Frame Test
Properties of Model:
• num. DOF = 8 (2 with mass)
• Period: T1 = 0.291 sec
P P
3 W6x12 4
• Damping: ζ1 = 0.02
P = 50% of φPn
S4x7.7

S4x7.7
•
54”

Experimental
BeamColumn
1 2
• Crd-Trans: P-Delta, Corotational
108” • ExpElements: EEBeamColumn2d
• ExpSetups: ESOneActuator
• ExpControl: ECxPCtarget
• SACNF01: pga = 0.755g
Ground-Acceleration-Time-History (SACNF01 (1978 Tabas))
300

200
Ground Acceleration [in/sec2]

100

-100

-200

-300
0 2 4 6 8 10 12 14 16 18 20
Time [sec]

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Response Animation w/o Gravity Load

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Response Animation with Gravity Load

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Response Comparison: Global Level
SACNF01 SACNF01
16 4
Test 1 w/o Gravity Load
14 Test 2 with Gravity Load
3

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2
10
Story Drift Ratio [%]

Base Shear [kips]

8 1

6 0

4
-1
2

-2
0 Test 1 w/o Gravity Load
Test 2 with Gravity Load
-2 -3
0 2 4 6 8 10 12 14 16 18 20 -2 0 2 4 6 8 10 12 14 16
Time [sec] Story Drift Ratio [%]

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 Response Comparison: Element Level
SACNF01: Element 1 SACNF01: Element 2
1.5 1.5

1 1
Shear in Basic-System [kips]

Shear in Basic-System [kips]

0.5 0.5

0 0

-0.5 -0.5

-1 -1
Test 1 w/o Gravity Load Test 1 w/o Gravity Load
Test 2 with Gravity Load Test 2 with Gravity Load
-1.5 -1.5
-1 0 1 2 3 4 5 6 7 8 9 -1 0 1 2 3 4 5 6 7 8 9
Deformation in Basic-System [in] Deformation in Basic-System [in]

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Findings
Benefits:
„ Second-order effects can be simulated without
applying the axial force on the physical specimen
„ The specimens and test setups are less expensive
„ The physical setups are protected from falling
structural elements
Shortcomings:
„ Interaction of axial force and element resistance at
the local level is not accounted for properly (local
buckling, P-MM interaction)
„ Rate effects are not accounted for

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Conclusions
Second-order effects can be effectively
simulated using a hybrid model:
„ The effect of axial load can be modeled in
the computer using appropriate geometric
transformations
Collapse of structural systems due to
second-order effects can, thus, be
simulated
OpenSees and OpenFresco
implementation has been successfully
demonstrated
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Future Work
Conduct large-scale simulations
Conduct simulations where the axial load
will be physically applied on the
specimen

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Download OpenSees Navigator

http://peer.berkeley.edu/OpenSeesNavigator

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Thank you!

Development and operation of the nees@berkeley

equipment site is sponsored by NSF

Special thanks to Dr. Eiji Kohama for all the help with
the portal frame tests