8. upea xa YBRID MODELLING OF SOIL-STRUCTURE INTERACTION FOR EMBEDDED STRUCTURES SUNIL GUPTA and JOSEPH PENZIER Dopartnent of Civil Engineering ‘University of California, Berkeley, California 94720, U.S.A. ‘the basic methods currently being used for the analysis of soil-structure interaction fait to properly nodel three-dinensional enbedded structures with flexible foundations. A hybrid model for the analysis of soil-strocture interaction is developed in this investigation which takes advantage of the desirable features of both the finite elenent and substructure Rethods and which minimizes their undesirable features. ‘the hybrid model is obtained by partitioning the total soil-structure system into a near- field and a far-field with « anocth hemispherical interface. The near-field consists of the Structure and a finite region of soil immediately surrounding its base. The entire near-field hay be modelled in three-dinensional form using the finite element method; thus, taking advan tage of its ability to model irregular geometries, and the non-linear soil behavior in the Snmediate vicinity of the structure. The far-field is modelled by continuous impedance func~ tions distributed over the interface in the three coordinate directions. The real parts of the inpedance functions represent stiffness and the imaginary parts represent radiation éamp~ ing associated with the far-field. These frequency dependent far-field impedance functions ate determined by system identification methods such that the resulting hybrid model provides a best-fit to the entire set of known compliance functions of @ rigid massless cirevlar plate on an elastic halfepace. the far-field impedance functions developed are used to calcvlate the dynamic response of rigid hemispherical and cylindrical foundations exbedded ina uniform elastic soil media. The Solutions obtained fron the hybrid model are found to be in close agreement vith some previ- Susly available solutions. These results indicate that the proposed hybrid model makes possi Bie realistic and economical assessnents of three-dinensional soil-structure interaction for both surface and embedded structures. The method can be generalized to treat viscoelastic foundations and foundations involving layered media. page 25. oupta Ka Soil-structure interaction plays an isportant role in the dynamic enalysis and design of massive or deeply enbedded structures such af nuclear power plant buildings, offshore gravity towers, and machine foundations. A concerted research effort in recent years, primarily motivated by the concern for safety and reliability of nuclear power plants during earth= quakes, has considerably improved the state of art of soil-structure interaction analysis. However, conceptual and computational 4ifficulties still remain, primarily due to the three imensional comi-infinite nature of the soil mediun and the complexities caused by the enbed= ment of structures. Non-honogeneity and strain dependency of soil properties, and uncertain tes associated with seismic input motions are factors which further complicate the modelling process. ‘The two basic methods currently in use for the analysis of soil-structure interaction are ‘the finite elenent method and the substructure or continuum method/1], In the finite elenent method both the structure and the soi are modelled as @ single system using finite elenente. ‘This method has been used extensively because of its ability to model embedded structures and ‘the natural layering of the soil deposits. Non-Linear so{l properties can algo be treated in fan approxinate fashion. However, a major disadvantage of this method Je that the soil, tially semi-infinite in nature, is normally modelled by a two-dimensional, finite-sized system with a rigid lower boundary. Thus, radiation damping, which accounts for the loss of energy due to waves traveling avay from the foundation can not be modelled accurately. In the substructure method, the foundation is urually idealized by a rigid, massless, ciroular plate bonded to the surface of @ semi-infinite halfapace, Preguency dependent im Pedance functions for the plate are developed and incorporated into the Fourier transformed ‘equations of motion for the structure by imposing the conditions of compatibility and equili- Driun between the structure and the plate. ‘TMs method accounts for radiation damping in the semi-infinite soil medium and provides realistic, simple, and economical three-dimensional model for a restricted class of structures satisfying the rigid plate foundation conditions mentioned above, Theoretically, the substructure method is also applicable to structures having more complex foundation conditions; e.g.» enbedded structures|2). Difficulties arise, however, in using the method due to lack of realistic solutions for the required impedances representing the semi-infinite soil mediun. Aithough both methods, when carefully and skillfully weed, may provide realistic esti- mates of the soil-structure interaction effects, it is apparent that neither is truly capable Of providing three-dimensional modelling of embedded structures. Noting that generally the advantages of one approach are the disadvantages of the other, a hybrid approach is developed here by combining the positive features of the two. 2. HYBRID MODELLING APPROACH ‘The hybrid mode proposed herein is similar in concept to the general substructure method An that the total soii-structure systen is partitioned into two substructures, termed the near-field and the far-field. The near-field in this case, however, consists not only of the structure but also the finite region of soil contained within the henisphericsl interface shown in Fig. 1. The far-field is the remaining soil region outeide the henispherical inter~ face. Both the structure and the surrounding soil in the near-field may be wodelled in three-dinensional form using the finite element method; thus, taking advantage of its ability page 25. Gusta xan 2o accomodate irregular geometries and non-honogeneous soil properties. The semi-infinite far-field is modelled by impedance functions corresponding to the interface degrees of free~ dom, ‘The term "hybrid" adopted above reflects the fact that by this approach, the soil region is modelled by both finite elements and impedance functions allowing # realistic modelling of both the near- and fas sselds ‘The equations of motion for the near-field idealized by finite elements can be obtained by standard structural anslysis procedures, whereas the far-field impedance matrix has to be determined from a separate analysis. The two can be combined using the substructuring com cepts to give the equations of motion of the hybrid system in the frequency domain. To obtain the response of the soil-structure system for a prescribed earthquake motion, the fre~ ‘quency domain response of the hybrid system can be transformed into the tine-domain using Giscrete Fast Fourier Transform (PPT) techniques. ‘the question of the definition of a realistic input motion to the soil-structure systems is still debatable. the seismic energy arriving at a particular site depends upon 20 many factors; such as, the fault rupture mechanism, travel path of the seisnic waves, and the tocal soil conditions, that a complete characterization of the earthquake ground motion ‘unique to a particular aste appears impossible and impractical within the present state of ‘the art. Therefor: fat the present time it seems reasonable and prudent to specify 8 site- dependent response spectrum from Which tine histories of motion can be generated to be used ‘as input to the soll-structure systen. 3. FARSETELD IMPEDANCE FUNCTIONS, Bectuse of complexities lociated with solving the mixed boundary value problem, rigor~ fous solutions for the far-field impedance matrix are mathematically intractable at present. Terefore, in this study the far-field is modelled by continuous impedance functions distrib- voted over the hemispherical interface in the three coordinate directions as shown in Fig. 2 ‘This is a realistic assumption if the deformations are snooth and slowly varying functions along the interface, which can be assured by placing the interface at @ reasonable distance away from the foundation. These impedance functions are frequency dependent and complex valued, the real parts of which represent stiffness and the inaginsry parts radiation damping associated with the far-field. Conceptually, this se the éynanic equivalent of the Winkler assumption made for the case of static loading of beans on elastic foundations. ‘An arbitrary variation of these far-field impedance functions can be represented in terms of a double Fourier series in the 6 and ¢ coordinate directions. However, for uniform or horizontally layered halfepaces, the far-field possesses material and geometric axi- symetzy about the vertical axis; thus, the impedance functions must be independent of 8 and be symmetric in $, giving Sythotetg) = L Spy iRidg) 208 bg) = T Sgq (Bid) c0e m4 ® Seimting) = FE syg (Rte) coe Sg(Retbg) = J 84, (Rby) cos no (Fa rBo) = T. Sgq (ey) whore Sgr Sgr and Sy are the far-fiele impedance functions per unit interface area in the normal, tangential, and circunferential directions, respectively. Coefficients S,,+ Sjq1 @ page 38. cupte xan Sq Fe complex valued functions of the interface radius R, shear modulus G, and non- dimensional frequency paraneter by, defined by by = UR/Cg. In this expression, u ss the excitation frequency, €, + YG7 is the shear vave velocity, ané is the mass density of the far-fle1é nateriat. The munbor of terms required in fj. 1 to properly represent the far-fie14 Sepends upon the complexity of layering. In the present investigation, the far-field considered is honor geneous, isotropic, and elastic for which 1¢ is sufficient to consider far-field smpedance functions to be uniformly distributed. Therefore, only the constant terms in Bq. 1 need to be retained, giving SqlBrbi0g) = Bye (Ruby) = Ny + AB . gy a Sg (RiG.bG) = SyqlReby) = Ne + iE. SplR.bibG) = Sy (iby) =n, where the n's and €'s exe the real and imaginary parts, respectively, of the unknown far- fie16 impedance functions. The continuously distsibuted impedance fonctions can be discre: tized at the boundary nodes either by using the principal of virtual work or by simple lunp~ ing over the tributary area of each node as shown in Fig. 2. ‘The far-field impedance functions, eei11 unknown, are determined by the methods of systen identification. syaten identification is an iterative process in which the unknown paraneters of the postulated analytical model are determined by systematically adjusting then in such a way that the resulting model provides a best fit to the actual observed behavior of the system. In the present investigation, the “observed behavior" is taken as the theoreti- ‘eal solutions for the éynanic response of a rigid, massless, circular disc on an elastic halfspace in the torsional, vertical, ané coupled translation-rocking modes of vibration as Presented in Refs. 3, 4, and 5. The corresponding hybrid model of the rigid plate, with the near-field modelled by finite elenents and far-field by impedance functions, must reproduce these known solutions. For a prescribed value of excitation frequency and for assumed values of far-field impedance functions, the equations of notion for the hybrid system can be solved to yield the conpiex displacenent amplitudes (compliances) of the rigid massless circular plate. These compliances depend upon the assuned far-field impedances and vill, in general, be in error with the known conpliances. An error function containing the sum of squared errors of all ‘the plate complionces is formed giving, aig =F ineioy = neceps? + tama, = ante? eo se saa where, B is an n-dimensional vector containing all of the far-field Sepedance coefficients (in the present case: six, as defined in Bg. 2), Uy * Uj Bru) are the plate compliances fron the hybrid model, C, = C,(u) are the known plate compliances, u is the excitation frequency, and W is the total number of plate compliances considered in the solution. Te originally assuned values of the far-field sepedance coefficients are systematically adjusted using system identification methods go that the error function (fu) 42 minimized for discrete values of the frequency u; thus, giving the far-field impedance vector § over the range of interest, The method selected for the present study 4s the modified Gauss- Tewton method Which is defined by the following equation: page 4S. Gupta Kan B= Bea ETB wg « fare the paraneter vectors at iterative steps icl and i, respectively, 2, 3B, A a3 gieu =< R 6 As the gradient vector, and bigiw) = 6 As the ossian matrix the inverse of which modifies both the magnitude and direction of the steepest descent at point 8, , given by the negative gradient. Scalar \ is a positive step size parameter selected to ensure a decrease in error within each interation eycle. Due to Getails of the method are avoided. Interested readers my refer to the recent paper by Gupta et al.{6) for further information. 4. NUMERICAL RESULTS ‘he pararetor adjustment algorithm described above has been incorporated into a FORTRAN computer program. Using this program and the finite element model of the near-field shown in Pig. 3, the far-fielé inpedance functions, 5p, Sy, and S, in the three coordinate directions, have been identified over the frequency range of interest. ‘These far-field impedances are presented in Figs. 4 (2), (8), and (6) a « function of the non-dinensional frequency by. ‘he results presented are for a Poisson's ratio of 1/2, a value fairly represented for soils. For any particular frequency, these uniformly distribuled ingedance functions are directly proportional to the shear modulus G, and nversely proportional to the interface radius &. erefore, Knowing these three asts of curves, the far-field impedances for any size of fa= i014, with any shear aodslon and mass Gensity can be obtained readily. Using these far-field sapedance functions, the dynamic response of the rigid ciseular plate for several R/e ratios, being the radius of the plate, was compared with the avail- able solutions in the previous paper [6]. Tt was found that the proposed hybrid model was very effective in reproducing the theoretical solutions of the plate; the errors being of the order of 5 to 108 for most cates. In this paper, the same far-field inpedance functions are uted to calculate the dynamic response of a rigid hemispherical foundation and a rigid cylindrical foundation embedded in « semi-infinite elastic halfspace, These are compared with the solutions obtained by Day (7) using tine-donain finite elesent analysis which was shown to give good results for the torsional vibrations of the rigid hemisphere. Figures 5 and 6 show the finite elenent mesh used for the hemispherical and cylinérical foundations, respectively. The corresponding response quantities in the different modes of vibration from the hybrid model are plotted in Figs. 7 and 8, respectively. In these figures, the abscissa is a non-dimensional frequency Gotines by ay = ua/C,, where ‘a! is the radius of the hemispherical or cylindrical foundation, as the case may be. For both cases the solutions from the hybrid model are found to be in reasonably good agreenent with the known solutions, except for the coupling compliance Cay (Fig, 9), which is not reproduced with the same degree of accuracy, especially for cylindrical page 55. cupta Kap foundation. However, since these corpliances are relatively small in magnitude compared to the direct compliances, the errors introduced are not significant [A hybrid model for the analysis of soil-structure interaction has been presented in which part of the soil is modelled by finite elenents and part by impedance functions thus taking advantage of both wethods. ‘The results presented here for a uniform elastic soi medium demonstrate the concept and the applicability of modelling the far-field throush continuously distributed impedance functions. hearty, further developments are required to extend the method to more complex situa tions, such as layered foundations for which {¢ may be necessary to include mre than the Hirst term in the Fourier series expansion of impedance functions (Eq. 1). Alternatively, st say be easier to work with a cylindrical interface for layered systens. Nonlinear soil behavior due to large strains in the imediate vicinity of the structure's base, such as that prese below offshore gravity towers, can be modelled by incorporating this behavior into the affected finite elements in the near-field. This will, of course, require time-domain analysis which can be accomplished by averaging the impedance functions over the predominant frequency band of the structural response. Further developments, including a general purpose computer program, are planned by the authors to make the method practical and reliable: ‘This research vas funded by the National Science Foundation under an on going US-Taiwan cooperative research program in earthquake engineering. This support is gratefully acknow- reagea. REFERENCES a 2 By w 15) 6) m “analysis of Soil-Structure Interaction Effects for Nuclear Pover Plants,” Roport by the 1M Hoc Group on the Soll-structure Interaction of the Comittee on Muclear Safety and Gutierrez, J.A. and Chopra, A.K., "A Substructure Method for Earthquake Analysis of Structures including Structure-Soil Interaction," International Journal of Earthquake Engineering and Structural Dynanies, Vol. 6, 51°69, 1978. Lysner, J. and Richter, P.£., Jr., "Dynamic Response of Footings to Vertical Loadings, Journal of the soil Mechanics and Foundations Division, ASCE, Vol. 92, No. Sil, 65-91, January 1966. Veletsos, A.S. and Wei, P.T., "Lateral and Rocking Vibrations of Footing,” Journsl of the Soil Mechanics and Foundations Division, ASCE, Vol. 97, No. S¥9, 1227-1248, Septer- ber 1971. aco, J.B. and Westmann, R.A., "Dynamic Response of Circular Footings,” Journal of the Engineering Mechanics Division, ASCE, Vol. 97, No. M5, 1381-1395, October 1971. Gupta, 5., Lin, T.W., Penzien, J. and Yeh, C.5., "Three-Dinensional Hybrid Modelling of Soll-Seructure Interaction," International Journal of Earthquake Engineering and struc- tural Dynamics, 1961. Day, S.M., "Pinite Element Analysis of Seisnic Scattering Froblens," Ph.D. Thesis, University of California, San Diego, 1977.(a) SOIL-STRUCTURE SYSTEH —(b) NEAR-FIELD (eo) Fanriep FIG, 1 MYBRID MODELLING OF SOIL-STRUCTURE INTERACTION FIG. 2 FAR-FIELD IMPeDANCe FUNCTIONS eo I SPHERICAL COORDINATES item, FIG. 3 NEAR-FIELD FINITE ELONET MESH USED In StsTen ToekT1FTCATION REAL PART LNAGINARY PART (a) wowsaL component FIG, 5 NEAR-FIELD FINITE ELEMENT MODEL FOR HEMISPHERICAL FOWDATION tao CE (e) CIRCUMFERENTIAL coNPONENT FIG, & IDENTIFIED FAR-FIELD IMPEDANCE FUNCTIONS FUG, 6 NEAR-FIELD FINITE ELBMENT MODEL FOR CYLINORTCAL FOUNDATION— avaicase sowurions [7] * REAL PART + REAL PART apr | FROMHYBRIO MODEL TRANSLATION ROCKING FIG. 7 RESPONSE OF RIGID EMBEDDED MEMISPHERICAL FOUNDATION; f/a = 3.0 TRANSLATION ROCKING FIG, 8 RESPONSE OF RIGID EMBEDDED CYLINDRICAL FOUNDATION; n/a = 1.0, R/a = 4.0 HEMISPHERICAL FOUNDATIONS R/2 = 3.0 CYLINDRICAL FOUNDATION: h/a = 2.0, R/a FIG. 9 COUPLING TERS