Soil Dynamics and Earthquake Engineering 98 (2017) 183–190

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Soil Dynamics and Earthquake Engineering

journal homepage: www.elsevier.com/locate/soildyn

Experimental study on damping characteristics of soil-structure interaction MARK

system based on shaking table test
⁎
Zhiying Zhang, Hongyang Wei , Xin Qin
School of Human Settlement and Civil Engineering, Xi’an Jiaotong University, Xi′an, Shaanxi 710049, PR China

A R T I C L E I N F O A B S T R A C T

Keywords: Soil-structure interaction (SSI) system is composed of soil and structure that are two materials with quite
Soil-structure interaction different damping behaviors and it is regarded as non-classical damping system in conventional concept. Based
State of motion on the analysis of motion state of SSI system, the paper presents the damping characteristic of SSI system via
Damping characteristic of system shaking table test. The results of transfer function, acceleration response time histories and equivalent viscous
Shaking table test
damping ratio and so on indicate that under certain conditions, SSI system shows approximate classical damping
characteristic. In practical projects, dynamical analysis of SSI system can be viewed as approximately classical
damping system once the synergistic effect of soil is considered.

1. Introduction
Damping system represents the pattern and characteristic of energy
dissipation in a dynamical system [1]. The damping system of a
dynamical system with viscous damping model can be divided into
classical damping system and non-classical damping system [2]. In
classical damping system, motion equations can be decoupled in modal
space due to the consistent pattern of energy dissipation in each part of
the system. The real mode shapes can be obtained, so that modal
superposition method is available for dynamic analysis [2,3]. In non-
classical damping system, motion equations cannot be decoupled
because of significant sources of localized energy dissipation. There-
fore, the mode shapes become complex valued numbers rather than real
valued numbers [4,5]. To solve dynamic response, alternative methods,
such as complex modal Lanczos method [6], approximate decoupling
method [7] and the real modal approximation method [8] etc. are
proposed, which turns out to be more complex and time-consuming.
The selection of dynamic analysis method is correlated to damping
system. For different damping systems, the method could be totally
different and the results can also vary greatly. Consequently, the correct
identification of damping system is the cornerstone to select a reason-
able dynamical analysis method and conduct an accurate analysis.
Nowadays, as the effect of SSI is taken into consideration for
structural response analysis in practical projects, the damping system
of SSI has received increasing attention [9–11]. However, the standard
to identify damping system of SSI system is absent. Current identifica-
tion is merely based on properties of different materials and different
material damping, without any substantive and fundamental studies. It
has been widely believed that systems composed of similar material are
classical damping system, such as structure located on a rigid soil
[12,13]. In contrast, those systems with different materials is non-
classical because of different damping characteristics of each material.
However, some experiments have illustrated that SSI system with soft
soil underneath could be approximately classical damping system or
referred to engineered classical damping system [12].
Nowadays, once the effect of SSI is considered to analyze structural
response, the selection of dynamical analysis method becomes a multi-
criterion problem, without an accurate reference or evaluation. In
practical applications, some scholars assume that SSI system can be
treated as classical damping system, so they apply modal superposition
method by giving a comprehensive damping ratio [2], while others took
the differences of damping characteristic among different materials into
consideration and applied complex modal Lanczos method [6–8,11],
but the analysis results differed. As for damping system of SSI system,
there has been no substantive and fundamental study [12,13]. The
study on mechanism of coordinated motion, characteristics of energy
transfer on the interface and an evaluation method in practical projects
have been rarely reported. The motion characteristics of soil and the
upper structure, especially the motion coordination mechanism be-
tween soil and upper structure and characteristics of energy transfer on
the interface, are crucial to the identification of the SSI damping
system.
In this paper, based on analysis of damping system and the motion
state, the damping characteristics of SSI system are investigated via a
small-scaled shaking table test. Under different magnitudes of the
dynamical excitations, coordination process between soil and upper

⁎
Corresponding author.
E-mail address: davidweiwhy@stu.xjtu.edu.cn (H. Wei).

http://dx.doi.org/10.1016/j.soildyn.2017.04.002
Received 7 September 2016; Received in revised form 20 February 2017; Accepted 1 April 2017
Available online 25 April 2017
0267-7261/ © 2017 Elsevier Ltd. All rights reserved.
Z. Zhang et al. Soil Dynamics and Earthquake Engineering 98 (2017) 183–190

Fig. 1. Test model and loading system.

Table 1
Test program of the shaking table tests.

Experiment no. Wave form Peak Duration Load step

acceleration

E1 White noise 0.07g 20 s 0.0005 s

E2 Sinusoidal 0.07g 30 s 0.005 s
E3 Small EQ (El Centro) 1.0g 30 s 0.005 s
E4 Sinusoidal 1.0g 30 s 0.005 s
E5 White noise 0.07g 20 s 0.0005 s
E6 Moderate EQ (El 2.0g 30 s 0.005 s
Centro)
E7 White noise 0.07g 20 s 0.0005 s

to be shape function, and the motion state of reference point in modal

Fig. 2. Arrangement of measuring points.
structure are observed from the shape of transfer function, peak
frequency, amplitude of transfer function, acceleration response at
the interface, modal damping ratio and other measured data. Then, the
category of SSI damping system and the transformation conditions of
different categories are analyzed. Acceleration responses on the both
sides of the interface between soil and structure are further investi-
gated. Finally, the conclusions are verified by SSI system with different
soil.
2. Damping system and characteristics of motion
Classical/Non-classical damping system is correlated to motion state
of the system, and the identification is based on the continuity of
motion state [14–18]. Since one of the major concerns of motion state is
dynamic characteristics, this paper starts with investigating dynamic
characteristics and motion state of the system.
For a single-degree-of-freedom (SDOF) system, its kinetic equation
is shown as below.
[M ]{u ̈ (x, t )} + [C ]{u ̇ (x, t )} + [K ]{u (x, t )} = {P (x, t )}
The main difference of dynamics analysis between classical and
non-classical damping system is whether the motion equation can be
decoupled. If it can be decoupled, the motion state can be represented
by a linear combination of several order decoupled modes. However, an
arbitrary decoupled mode is obtained by assuming that the system has a
unique deflection curve. If the deflection curve of the mode is assumed
space is expressed by the generalized coordinates, then any decoupled
modal motion can be expressed by shape function and generalized
coordinates:
⎧ ui (x, t ) = ϕi (x ) Z i (t )
⎪
⎨ ui̇ (x, t ) = ϕi (x ) Z i̇ (t )
⎪
⎩ uï (x, t ) = ϕi (x ) Z ï (t ) (2)
th
where ui (x, t ), ui̇ (x, t ), uï (x, t ) are the i ordered modal displacement,
velocity and acceleration with respect to coordinate x at time of t,
respectively; ϕi (x ) is the shape function, which is correlated with
coordinate x ; Z i (t ), Z i̇ (t ), Z ï (t ) are the displacement, velocity and
acceleration in the generalized coordinate respectively, which is
correlated with time t.
If both shape function ϕi (x ) and acceleration of reference point Z ï (t )
are continuous, the mode shapes of system are real valued number. The
system can be analyzed by modal superposition method and the
synthetized motion state of each point under excitation is continuous.
Eq. (2) illustrates the necessary and sufficient condition for the classical
damping system.
3. Tests on damping characteristics of SSI system
To make a further investigation on damping system of SSI system,
the damping characteristics of SSI system under different dynamic
excitations and its variation laws as well as the mechanism of
coordinated motion between soil and structure are explored via a
(1)
small-scale shaking table test.
3.1. Test model and verification of test system
The test models of SSI damping system are a four-storey and an
eight-storey frame structure with four piles. To simulate the soil in the
free field and the consolidation of the soil, a flexible circular container

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Z. Zhang et al. Soil Dynamics and Earthquake Engineering 98 (2017) 183–190

Fig. 3. Dynamic behaviors of structure and soil. (a) four-storey structure (b) eight-storey structure (c) soil.

Fig. 4. Transfer function of the four-storey SSI system. (a) before loading (Test E1). (b) after 1.0g El Centro wave (Test E5) (c) after 2.0g El Centro wave (Test E7).

is adopted [19–22]. Considering the effect of lateral soil pressure and
shear deformation of soil under seismic excitations, a flexible soil tank
is designed. The flexible soil tank is composed of aluminum alloy
bottom plate, pillar, mobilized upper plate, rubber membrane and
drainage devices at the bottom. Aluminum alloy pillars are welded to
the bottom plate. Four universal balls are arranged at the top of pillar to
guarantee the overall shear deformation of soil. The side wall of the soil
container is made of 1-mm-thick layers of thin Teflon (or polytetra-
fluoroethylene). Circular wires made of 2 mm mild steel with a spacing
of 24 mm are bind to Teflon. Four sets of drainage devices are designed
at the bottom of soil tank, so as to ensure the drainage and consolida-
tion of the soil [23–27]. The experimental model of SSI damping system
is shown in Fig. 1. Geometric similarity coefficient SL=1/50, the
acceleration similarity coefficient Sa=15 and the stress similarity
coefficient Sσ=2.4 are taken as controlling similarity constant. Accord-
ing to the theorem of Bockingham π, other similarity coefficients can be
obtained via dimensional analysis [28–31]. According to the mass
similarity coefficient, the additional mass on each floor is 0.242 kg and
the total weight of the structure is 3.78 kg. The similitude ratio is
considered in some extent though, the test model is designed to explore
the damping characteristics of SSI system instead of emphasizing the
similitude of the physical quantities.
Four accelerometers are installed to the SSI system and specific
locations are shown in Fig. 2. In particular, A2, A3 are set on the both
sides at the interface to investigate the motion at the interface of SSI
system.

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Z. Zhang et al. Soil Dynamics and Earthquake Engineering 98 (2017) 183–190

Fig. 5. Transfer function of the eight-storey SSI system. (a) before loading (Test E1). (b) after 1.0g El Centro wave (Test E5) (c) after 2.0g El Centro wave (Test E7).

Fig. 6. Acceleration response time histories of two adjacent points near the interface between soil and structure under El Centro seismic wave. (a) Amax=1.0g of El Centro wave (Test E3)
(b) Amax=2.0g of El Centro wave (Test E6).

Horizontal x-axis is taken as the loading direction and stepwise mental frequency of soil is 44.42 Hz. It is demonstrated that experi-
loading method is applied. Table 1 lists a total of 7 sets of shaking table mental results and FEA results are highly consistent, indicating that the
tests (i.e. E1–E7), where the peak acceleration of 1.0g and 2.0g loading system are effective and the data collected by accelerometers
represents an actual-sized structure subjected to 6.0° and 7.0° of are accurate.
earthquake.
To investigate the dynamic behavior of soil and structure and verify
3.2. Experimental results and analysis
the accuracy of the loading system, fundamental frequency of two
components were tested independently at first via white-noise sweeping
3.2.1. Transfer function
test and ANSYS. The experimental results are shown in Fig. 3.
According to results of white noise sweeping, Figs. 4 and 5 illustrate
Fig. 3 gives the results of fundamental frequency of the upper
transfer functions of four-storey and eight-storey SSI system at three
structure and soil. It is shown that the fundamental frequency of the
different stages: before loading (Test E1), after the peak acceleration of
four-storey and eight-storey structure with the additional mass are
the 1.0g El Centro wave (Test E5) and 2.0g El Centro input (Test E7)
18.07 Hz, 9.28 Hz respectively. The fundamental frequency of soil with
respectively.
flexible container is 44.45 Hz. According to Half-power Bandwidth
Figs. 4(a) and 5(a) show that the curve shape of transfer function
Method (HBM), the corresponding first-order modal damping ratio of
and fundamental frequency of soil and structure are different before
four-storey and eight-storey structure are 2.06% and 8.12%, respec-
loading. But after a small seismic excitation, from Figs. 4(b)–(c) and
tively and the damping ratio of the soil is 1.92%. In comparison, the
5(b)–(c), it is illustrated that as time and magnitude increase, the curve
FEA results of the fundamental frequency of the four-storey and eight-
shape of the transfer function and peak frequencies of soil and structure
storey structure are 18.04 Hz and 9.24 Hz respectively. The funda-
tend to be consistent.

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Z. Zhang et al. Soil Dynamics and Earthquake Engineering 98 (2017) 183–190

Fig. 7. Enlargements of acceleration response time histories of two adjacent points near the interface between soil and structure under El Centro seismic wave. (a1) Amax=1.0g of El
Centro wave (3.5–4.5 s). (a2) Amax=1.0g of El Centro wave (10.0–10.5 s). (a3) Amax=1.0g of El Centro wave (12.0–13.0 s). (b1) Amax=2.0g of El Centro wave (3.5–4.5 s). (b2) Amax=2.0g
of El Centro wave (10.0–10.5 s). (b3) Amax=2.0g of El Centro wave (12.0–13.0 s).

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Z. Zhang et al.
Table 2
Equivalent viscous damping ratio of four-storey SSI system at different location (%).
Test no. E1 E5
Location
Middle of the soil (A1) 6.061 3.916
Top of the soil (A2) 6.061 4.166
Foundation (A3) 2.454 4.221
Top of the structure (A4) 2.611 4.542
Fitted value – 4.211
Table 3
Equivalent viscous damping ratio of eight-storey SSI system at different location (%).
Test no. E1 E5
Location
Middle of the soil (A1) 7.317 1.968
Top of the soil (A2) 7.317 1.980
Foundation (A3) 1.975 1.967
Top of the structure (A4) 1.172 1.873
Fitted value – 1.947
Different curve shape of transfer function and inconsistent peak
frequency show that at initial stage, dynamic characteristics of soil and
the structure are different. The interaction at the interface cannot
provide an integrity of energy transfer, which suggests soil and
structure have different shape of transfer function and peak frequencies,
and two SSI systems are non-classical damping system. However, after a
small-scaled vibration, it is observed that the transfer function of soil
and structure become consistent gradually, and frequencies of different
orders seem to be identical. It is indicated that a consistent modal is
generated due to mechanism of coordinated motion between soil and
structure, which makes originally inconsistent modal of SSI system
become unified gradually. In other words, the mechanism of coordi-
nated motion between soil and structure generates by the effect of
small-scaled vibration. Therefore, soil and structure tend to be a
collaborative work as a unified system, so that a consistent frequency
and a unified mode appear. In this scenario, the SSI system is
characterized as approximately classical damping system.
As the seismic excitation and duration accumulates, under the same
magnitude of white noise, the amplitude of transfer function of four-
storey and eight-storey structure obviously increased from E1 to E5.
This phenomenon indicates that vibration makes the binding between
soil and structure integrated, mechanism of coordinated motion
improved and the energy transfer at the interface completed.
Dynamical effectiveness of the system is enhanced, thus the amplitude
of transfer function gradually increased.
3.2.2. Acceleration response at the interface
During the vibration process, whether SSI damping system is
classical or not depends on the motion coordination. The coordination
of motion near the interface is one of the crucial conditions to identify
damping system. To make further investigation, Figs. 6 and 7 give the
acceleration response of SSI system on the both sides at the interface,
marked with A2 and A3 respectively. Firstly, Fig. 6 presents accelera-
tion response time histories of eight-storey SSI system under two
different intensities: 1.0g and 2.0g of El Centro wave(E3, E6), which
are equivalent to an actual-sized structure subjected to 6.0 and 7.0
degree of earthquake.
To make a better comparison, three time intervals are taken out
from Fig. 6 and enlargements of each of the acceleration responses are
also given in Fig. 7(a)–(c) and Fig. 7(d)–(f), which represents the peak
ground acceleration of the El Centro wave is 1.0g and 2.0g respectively.
As Figs. 6(a) and 7(a1) shows, acceleration responses of the soil and
adjacent structure are different at the initial stage. It is clearly observed
that significant difference exist in the amplitude, frequency and phase.
Soil Dynamics and Earthquake Engineering 98 (2017) 183–190
Due to differences in motion state between soil and structure and
uncoordinated motion at the interface, SSI system manifests a non-
classical damping system. As vibration increases, it is observed that
E7
differences in acceleration, frequency and phase on the both sides at the
interface diminish gradually, as shown in Fig. 7(a2), especially in
5.034 Fig. 7(a3), indicating that motion of soil and structure is more
5.372
coordinated while the uncoordinated behavior and difference of
5.601
5.442 dynamic behaviors of each material are weakened gradually. With
5.362 seismic excitation input increased, it is observed that differences in
acceleration, frequency and phase of soil and structure near the
interface decrease further, as shown in Figs. 6(b) and 7(b1)–(b3). In
particular, the acceleration response of soil and structure are almost
identical in the later stage of Fig. 7(b3). The results illustrate that the
E7 motion state of soil and structure become coordinated and gradually
unified as seismic excitation increases. Moreover, the consistent motion
state near the interface indicates that a system composed of two
3.372 different materials can become a classical damping system under
3.034
3.480
certain conditions. The SSI system in this test has shown characteristics
3.480 of the approximately classical damping system.
3.341
3.2.3. Measured damping ratio
The unified modal damping ratio is one of the characteristics for
classical damping system. According to HBM damping identification
technology, equivalent viscous damping ratios of four-storey and eight-
storey SSI system are presented in Tables 2 and 3. The transition from
non-classical damping system to classical damping system after the
initial vibration is authenticated. Although HBM has a limited preci-
sion, the results from Tables 2 and 3 still illustrate that the equivalent
viscous damping ratio of soil and structure are quite different at the
beginning whereas the equivalent viscous damping ratio become very
close after initial vibration. This proves that the SSI system made of
different materials switched from originally non-classical into classical
damping system after initial vibration. Soil and structure formed a
unified mode shape with same measured damping ratio.
Tables 2 and 3 also shows that with the increasing of peak
acceleration of seismic input, damping ratio increased gradually. The
SSI system manifested nonlinearity in the dynamic process due to the
particularity of materials in the system. However, regardless of linear or
nonlinear system, the basic modal damping ratio from each measuring
point is still very close. This suggests that basic modal damping ratio of
SSI system can be maintained identical as load increases. Therefore, SSI
system still has the characteristics of classical damping system in
nonlinear stage.
3.3. Investigation of SSI damping system on different types of soil
From aforementioned studies, dynamic behaviors of soil and
structure are originally different and tend to be consistent and
coordinated after initial vibration. To further investigate the univers-
ality of this phenomenon, a series of repeated tests are conducted. The
soil of four-storey SSI system was replaced by four different types: loess,
coarse sand, middle sand and fine sand. Fig. 8 shows the results of
transfer function of SSI system with different soil in different stages:
before loading, after small earthquake (Test E3) and after middle
earthquake (Test E6).
As shown in Fig. 8, the motion of soil and structure in SSI system
with four different kinds of soil tend to be consistent and coordinated
after initial vibration. In particular, Fig. 8(c) implies that the coordina-
tion mechanism appears step by step. It starts with the lower ordered
modes of soil and structure. The higher ordered modes of soil and
structure tend to be the similar as the excitation and duration
accumulates. After a certain magnitude of vibration, all modes of soil
and structure become identical. The increase of amplitude of transfer
function proves that coordination mechanism generated and the energy
transfer at the interface between soil and structure integrated.
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Z. Zhang et al. Soil Dynamics and Earthquake Engineering 98 (2017) 183–190

Fig. 8. Transfer function of SSI system with different kinds of soil. (a) loess. (b) coarse sand. (c) middle sand. (d) fine sand.

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4. Conclusions
In this paper, a series of SSI systems composed of different materials
are tested on a shaking table to explore the damping characteristics of
SSI system. Some phenomena were observed after a small magnitude of
the initial vibration: natural frequency and mode shape tended to be
consistent, amplitude of transfer function increased, motion state at the
interface between soil and structure became coordinated and the basic
modal damping ratio became identical. It is concluded that a colla-
borative mechanism between soil and structure developed after a small
magnitude of the initial vibration, the energy transfer at the interface
integrated and the motion state of the soil and structure coordinated
gradually. Therefore, the SSI system shows characteristics of classical
damping system under a small-magnitude vibration. As select dynami-
cal analysis method in practical projects, SSI system can be considered
as engineered classical damping system.
Acknowledgements
The research reported in the paper is part of the Project 51478387
supported by the National Natural Science Foundation of China (NSFC).
The financial support is highly appreciated.
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