March 22, 2002 Singapore, Elgamal

Response Spectrum

Ahmed Elgamal

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March 22, 2002 Singapore, Elgamal

Dynamics of a Simple Structure

The Single-Degree-Of-Freedom (SDOF) Equation
References
Elements Of Earthquake Engineering And Structural Dynamics, Andr Filiatrault,
Polytechnic International Press, Montral, Canada, ISBN 2-553-00629-4 (Section 4.2.3).
Dynamics of Structures, Anil K. Chopra, Prentice Hall, New Jersey, ISBN 0-13-855214-2
(Chapter 3).

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March 22, 2002 Singapore, Elgamal
Equation of motion (external force)
Free-body diagram
fI
p(t)

fS

fD

fs fD

k c

1 1
fI + fD + fs = p(t) u

fs = k u fD = c
mu cu ku p( t )
u(t)
c
fD fI
p(t)
p(t)
m fS

k
FBD

Mass-spring damper system

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March 22, 2002 Singapore, Elgamal

Earthquake Ground Motion

fI + fD + fs = 0

fI = mu t = m( u g + u )

m(u u g ) cu ku 0

mu cu ku mu g
ug(t)

You may note that External

force
(t)

Earthquake Fixed base

Excitation ug(t)

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March 22, 2002 Singapore, Elgamal

Undamped natural frequency

Property of structure when allowed to vibrate freely without external excitation
k Undamped natural circular frequency of vibration (radi
w ans/second)
m

w
f natural cyclic frequency of vibration (cycles/second or 1/second or Hz)
2p
1
T natural period of vibration (second)
f
T is the time required for one cycle of free vibration
If damping is present, replace w by wD

where w D w 1 x 2 natural frequency , and

c
x fraction of critical damping coefficient
2m w
c c
(dimensionless measure o f damping) called damping ratio
cc 2 km

c c 2mw 2 km

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March 22, 2002 Singapore, Elgamal

in terms of x
mu cu ku mu g

c k
u u u u g
m m

u 2xwu w 2 u u g

u
In general x < 0.2, i.e., wD w , fD f, T = TD

cc least damping that prevents oscillation cc or larger

x1

x may be in the range of 0.02 0.2 or 2% - 20%

t
5% is sometimes a typical value.
e.g., damper on a swinging door

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March 22, 2002 Singapore, Elgamal

Note: After the phase of forced vibration (due to external force or base excitation, or initial
conditions), the structure continues to vibrate in a free vibration mode till it stops due to
damping. The ratio between amplitude in two successive cycles is
ui
e 2 px
u i 1

where we define the logarithmic decrement as

u
2px ln i if you measure a free vibration response you can find x.
u i 1

ui
Note: for peaks j cycles apart ui+1

u
ln i j 2 jpx
ui j

Free vibration

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March 22, 2002 Singapore, Elgamal

Critical viscous damping

The free vibration equation may be written as

mx c x kx 0
and the general solution is

2 2
c c k t c c k t
2m 2m m 2m 2m m
x C1 e C2 e

2
c k
if , the radical part of the exponent will vanish. This will produce aperiodic
2m m
response (non-oscillatory). In this case

c2 k
or c 2 km c c
( 2m) 2 m

2
, cc is also equal to 2mw (note that 2 km 2 mw m 2mw )
k
since w
m
2 2k
c
and also c 2 km 2 k ( k / w )
w
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k1 (w u1g ) k 2 (w u 2g ) 0
mw

(k1 k 2 )w k1u1g k 2 u 2g
mw if u1g u 2g u g

c
x (0.05 for example) (k1 k 2 )w (k1 k 2 )u g
mw but w = u + ug
cc
mu (k1 k 2 )u g (k1 k 2 )u mu g (k1 k 2 )u g
c c 2 (k1 k 2 )m
or mu (k1 k 2 )u mu g
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March 22, 2002 Singapore, Elgamal

Deformation Response Spectrum

For a given EQ excitation calculate |umax|

from SDOF response with a certain x
and within a range of natural periods or
frequencies.

|umax| for each frequency will be found

from the computed u(t) history at this frequency.

A plot of |umax| vs. natural period is constructed

representing the deformation (or displacement)
response spectrum (Sd).

From this figure, one can directly read the

maximum relative displacement of any structure
of natural period T (and a particular value of x
as damping)

From: Chopra, Dynamics of Structures, A Primer

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March 22, 2002 Singapore, Elgamal

Concept of Equivalent lateral force fs

If fs is applied as a static force, it would cause the deformation u.

Thus at any instant of time:

k
fs = ku(t) , or in terms of the mass fs(t) = mw2u(t) w
m
The maximum force will be
f s,max mw2 u max ku max mS a kS d
k
Sa Sd Sa w2Sd
m
Sd = deformation or displacement response spectrum

Sa w 2Sd = pseudo-acceleration response spectrum

The maximum strain energy Emax stored in the structure during shaking is: From: Chopra,
Dynamics of Structures, A Primer
1 2 1 1 k 2 2 1 1
E max ku max kS d2 S d m 2 2
S d mS 2
V
2 2 2 2 2 2
where S v wS d = pseudo-velocity response spectrum

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March 22, 2002 Singapore, Elgamal

Note that Sd, Sv and Sa are inter-related by

Sa w 2S d wS v

Sa, Sv are directly related to Sd

by w2 and w respectively or by (2pf)2 and 2pf;
2
2p 2p
or and as shown in Figure.
T T
Due to this direct relation, a 4-way plot
is usually used to display Sa, Sv and Sd
on a single graph as shown in Figure.
In this figure, the logarithm of
period T, Sa, Sv and Sd is used.

From: Chopra, Dynamics of Structures, A Primer

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March 22, 2002 Singapore, Elgamal

From: Chopra, Dynamics of Structures

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In order to cover the damping
range of interest,
it is common to perform
the same calculations for
x =0.0, 0.02, 0.05, 0.10,
and 0.20 (see Figure)
Typical Notation:
Sv PSV V
Sa PSA A
Sd SD D
Example (El-Centro motion):
Find maximum displacement
and base shear of tower
with f = 2 Hz, x = 2%
and k = 1.5 MN/m

Period T = 1/f = 0.5 second

Sd = 2.5 inches = 0.0635 m
Forcemax = kumax From: Chopra, Dynamics of Structures, A Primer
= 1.5 MN/m x 0.0635m = 95.25 kN
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March 22, 2002 Singapore, Elgamal

Inspection of this figure shows

that the maximum response
at short period
(high frequency stiff structure)
is controlled by the ground
acceleration, low frequency
(long period) by ground
displacement, and intermediate
period by ground velocity.
Get copy of El-Centro
(May 18, 1940)
earthquake record
S00E (N-S component)
ftp nisee.ce.berkeley.edu
(128.32.43.154)
login: anonymous
password: your_indent
cd pub/a.k.chopra
get el_centro.data
quit From: Chopra, Dynamics of Structures

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March 22, 2002 Singapore, Elgamal

Note that response spectrum

for relative velocity
may be obtained from
the SDOF response history,
and similarly for t =(+g).
These spectra are known
as relative velocity
and total acceleration
response spectra,
and are different from the
pseudo velocity
and pseudo acceleration
spectra Sv and Sa
(which are directly
related to Sd).
e.g. for x = 0%
m(+g) + ku = 0
or (+g) + w2u = 0
From: Chopra, Dynamics of Structures
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March 22, 2002 Singapore, Elgamal

Elastic Design Spectrum

Use recorded ground motions (available)

From: Chopra, Dynamics of Structures
Use ground motions recorded at similar sites:
Magnitude of earthquake
Distance of site form earthquake fault
Fault mechanism
Local Soil Conditions
Geology/travel path of seismic waves

Motions recorded at the same location.

For design, we need an envelope. One way
is to take the average (mean) of these values
(use statistics to define curves for mean
and standard deviation, see next)

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March 22, 2002 Singapore, Elgamal
From: Chopra, Dynamics of Structures

Mean response spectrum is smooth relative to any of the original contributing spectra 18
March 22, 2002 Singapore, Elgamal

The periods and values in Table 6.9.1

were selected to give a good match

to a statistical curve such as Figure 6.9.2

based on an ensemble

of 50 earthquakes on competent soils.

From: Chopra, Dynamics of Structures

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March 22, 2002 Singapore, Elgamal

From: Chopra, Dynamics of Structures

(Design Spectrum may include more than one earthquake scenario)

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