Footfall Induced Vibration

Arup Unified Method for Floors, Footbridges, Stairs and Other Structures

Ben Sitler, PE
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Tokyo Institute of Technology | Takeuchi Lab

Outline
Introduction to Footfall Induced Vibration
Computing the Structural Response
Project Examples
References

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Tokyo Institute of Technology | Takeuchi Lab

Introduction to Footfall Induced

Vibration

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Tokyo Institute of Technology | Takeuchi Lab

Introduction to Footfall Induced Vibration

When is footfall induced vibration an issue?

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Low Frequency (Resonance)

Low Mass (Acc=Force/Mass)
Low Damping
Large Dynamic Loads (Crowds)

Tokyo Institute of Technology | Takeuchi Lab

Introduction to Footfall Induced Vibration :: Loading :: Modal Properties :: Response

The design problem

Loading:
Amplitude
Frequency
Duration

Modal (structural) properties:

Frequency
Modal mass
Mode shape
Damping

Response

consequences,
acceptability, ?????
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Tokyo Institute of Technology | Takeuchi Lab

Introduction to Footfall Induced Vibration :: Loading :: Modal Properties :: Response

What does a footfall time history look like?

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Tokyo Institute of Technology | Takeuchi Lab

Introduction to Footfall Induced Vibration :: Loading :: Modal Properties :: Response

What kinds of excitation frequencies are possible?

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Tokyo Institute of Technology | Takeuchi Lab

Introduction to Footfall Induced Vibration :: Loading :: Modal Properties :: Response

So how does this translate into a design load?

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Tokyo Institute of Technology | Takeuchi Lab

Introduction to Footfall Induced Vibration :: Loading :: Modal Properties :: Response

What is an appropriate amount of damping?

Damping :: Frequency :: Modal Mass :: Mode Shape

Be suspicious of >2%
Footbridges 0.5~1.5%
Stairs 0.5%
Floors 1~3%

Steady State Resonant Amplification Factors for SDOF systems

Amplification Factor

25
20
15

0.05 damping
0.10 damping

10

0.20 damping

5
0

9
9

0.02 damping

0.5

1.5

2.5

(excitation frequency)/(natural frequency)

Tokyo Institute of Technology | Takeuchi Lab

Introduction to Footfall Induced Vibration :: Loading :: Modal Properties :: Response

Modelling Assumptions
Damping :: Frequency :: Modal Mass :: Mode Shape

some tips (not exhaustive)

Loads
Use best estimate, not code values
LL: ~0.5kPa typically realistic
SDL: upper/lower bound sensitivity study
Model Extent
Typically model single floor only
Floorplate should capture all modes of interest
Boundary Conditions
Fixed connections/supports unless true pin
Faade vertical fixity may/may not be appropriate
Member Modelling
Orthotropic slab properties
Composite beam (even if nominal studs)
Ec,dynamic38GPa
Subdivide 6+ elements per span

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Introduction to Footfall Induced Vibration :: Loading :: Modelling :: Response

What is a good design criteria?

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RMS Acc @ 5Hz

Low vibration

0.005 m/s2

Residential (night)

1.4

0.007 m/s2

Residential (day)

2-4

0.01~0.02 m/s2

Office (high grade)

0.02 m/s2

Office (normal)

0.04 m/s2

Footbridge (heavy)

24

0.12 m/s2

Footbridge (inside)

32

0.16

m/s2

Footbridge (outside)

64

0.32 m/s2

Stair (high use)

24

0.12 m/s2

Stair (light use)

32

0.16 m/s2

Stair (very light use)

64

0.32 m/s2

Approximate threshold of human

perception to vertical vibration
0.1
rms acceleration (m/s2)

Situation

0.01

0.001

10

Frequency (Hz)

100

R=AccRMS AccRMS
T Acc2 Acc
Peak,Harmonic
AccRMS = t T t =
2

Tokyo Institute of Technology | Takeuchi Lab

Computing the Structural Response

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Tokyo Institute of Technology | Takeuchi Lab

Computing the Structural Response

Simplified vs Modal vs Time History Methods

vs

Modal harmonic
response method

vs
Explicit time history
method
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Computing the Structural Response

Analytical Model
P

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Time

Force

Force

M
c

Time

Tokyo Institute of Technology | Takeuchi Lab

Computing the Structural Response

Resonant Response
P

SDOF Harmonic Steady State Response

my(t ) cy (t ) ky (t ) P (t ) P eit

FRFdisp

k m ic

fh
fm

i2
1k

i 2
2 1 2

2
fh 2
fm

fh
fm

fh 2
fm

fh 2
fm

F W DLF f , harmonic
Acc

F excition reponse
m

fh 2
fm

2
fh 2
fm

fh
fm

fh 2
fm

FRFacc

Concrete Centre eq 4.4

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fh
fm

h = harmonic forcing freq.

m = modal (structural) freq.
Tokyo Institute of Technology | Takeuchi Lab

Computing the Structural Response

Transient Response
SDOF Impulse RMS Velocity Response
my(t ) cy (t ) ky (t ) P (t ) P eit

VelPeak

f w1.43
[Ns]
f n1.3

Force

I eff 54

I eff excition reponse

Time

Vel (t ) VelPeak e t sin t

VelRMS RMS Vel (t )m

Concrete Centre eq 4.10~4.13

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w = walking forcing freq.

m = modal (structural) freq.
Tokyo Institute of Technology | Takeuchi Lab

Computing the Structural Response

Bobbing Resonant Response

MDOF Harmonic Response crowd interacting with structure
My(t ) Cy (t ) Ky (t ) P (t ) P e it

ms

0
0

0
ma

FRFdisp

0
ys cs ca c p

0
ya
ca
m p
y p c p

ca
ca
0

c p y s k s ka k p

0 y a
k a
c p y p
k p

ka
ka
0

k p ys P

0 ya P
k p y p 0

ks ka 2 ms i (cs ca )
ka i ca

K M 2 iC
ka ica
ka 2 ma ica
1

DMFdisp FRF (1,1) FRF (1, 2)

2 ma

FRF

f
f
Da 1 i 2 a
fa
fa
2

f
f
ka Da ks a Da Ds
f
fa
2

f
f
Ds 1 i 2 s
fs
fs
2

P Wa GLF harmonic, scenario

Acc P 2 DMFdisp

IStructE Route 2
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a = active crowd
p = passive crowd
s = structure
Tokyo Institute of Technology | Takeuchi Lab

Computing the Structural Response

Programming Implementation
foreach node

// Get response of governing excitation frequency

RNode = MAX(RNode())

foreach excitation frequency

// Get R Factor

Library floor GSA model

RNode() = AccRMS,Node() / AccRMS,0()

// Get SRSS acceleration

AccRMS,Node() = (ModeHarmonicAccRMS(n,m,h,*h)2)
foreach mode

2000 nodes x 20 modes x 4 harmonics x 1.5Hz

frequency range = 2.4E7 calculations

// Get modal properties

// modal frequency (), damping () & mass (m)

// displacement at excitation(ne) & response(nr) nodes
// <participation factor(m)>,<static mass (W)>

m,m,mm,ne,nr,Wm,m = ...

Footbridge GSA model

foreach harmonic

// Get harmonic properties

// dynamic amplification factor(DLF), harmonic freq ()

6000 nodes x 40 modes x 2 harmonics x 6Hz

frequency range (running) = 2.8E8 calculations

// Get RMS acceleration

not practical back in 90s, hence the simplified

methods in AISC DG11, AS 5100-2, etc

DLF,h,m,h = ...

AccRMS(n,m,h,*h)=RMS(F(m,h,m,mm,ne,nr,DLF,h,Wm,m))

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Excel VBA is single threaded so no parallel processing

Suggest building with parallel libraries in C#, VB, Python, etc

Tokyo Institute of Technology | Takeuchi Lab

Some Examples

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Tokyo Institute of Technology | Takeuchi Lab

Examples

How can we improve response?

Increase Damping
Increase Frequency
Increase Stiffness
Decrease Mass
Increase Mass
Isolate

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Questions?

Further Reading
General Structures (Vertical Resonant or Transient of Pedestrians)
Concrete Centre CCIP-016 A design guide for Footfall Induced Vibration of Structures
SCI P354 Design of Floors for Vibration
Stadia & Concert Hall (Vertical Resonance of Bobbing Crowd)
IStructE Dynamic Performance Requirements for Permanent Grandstands Subject to
Crowd Action
C. Jones, A. Pavic, P. Reynold, R. Harrison Verification of Equivalent Mass-Spring-Damper
Models for Crowd-Structure Vibration Response Prediction
High Use Footbridges (Lateral Synchronous Lock in and Vertical Crowd)
P. Dallard The London Millenium Footbridge
BSI PD 6688-2:2011 Background to National Annex to BS EN 1991-2: Traffic loads on
bridges
Setra Footbridges: Assessment of Vibrational Behaviour of Footbridges under Pedestrian
Loading
contact: sitler.b.aa@m.titech.ac.jp
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Tokyo Institute of Technology | Takeuchi Lab