Earthquake Engineering Research at UC Berkeley and Recent Developments at CSI Berkeley

BY

Ed Wilson
Professor Emeritus of Civil Engineering University of California, Berkeley October 24 - 25, 2008

Summary of Presentation
1. UC Berkeley in the in the period of 1953 to 1991 2. The Faculty 3. The SAP Series of Computer Programs 4. Dynamic Field Testing of Structures 5. The Load-Dependent Ritz Vectors LDR Vectors - 1980 6. The Fast Nonlinear Analysis Method FNA Method - 1990 7. A New Efficient Algorithm for the Evaluation of All Static and Dynamic Eigenvalues of any Structure - 2002 9. Final Remarks and Recommendations

All Slides can be copied from we site

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edwilson.org
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Early Finite Element Research at UC Berkeley by Ray Clough and Ed Wilson

The Development of Earthquake Engineering Software at Berkeley by Ed Wilson - Slides

Dynamic Research at UC Berkeley

Retired Faculty Members by Date Hired 1946 Bob Wiegel Coastal Engineering - Tsunamis 1949 Ray Clough Computational and Experimental Dynamics 1950 Harry Seed Soil Mechanics - Liquefaction 1953 Joseph Penzien Random Vibrations Wind, Waves & Earthquake 1957 Jack Bouwkamp Dynamic Field Testing of Real Structures 1963 Robert Taylor Computational Solid and Fluid Dynamics 1965 James Kelly Base Isolation and Energy Dissipation 1965 Ed Wilson Numerical Algorithms for Dynamic Analysis 196? Beresford Parlett Mathematics - Numerical Methods 196? Bruce Bolt Seismology Earthquake Ground Motions

Professor Ray W. Clough

1942 BS University of Washington 1943 - 1946 U. S. Army Air Force 1946 - 1949 MIT - D. Science - Bisplinghoff 1949 - 1986 Professor of CE U.C Berkeley 1952 and 1953 Summer Work at Boeing National Academy of Engineering National Academy of Science Presidential Medal of Science The Franklin Institute Medal April 27, 2006

Doug, Shirley and Ray Clough

The Franklin Institute Awards April 27, 2006

Joe Penzien
1945 1945 1946 1953 1953 - 88 1990 - 2006 BS University of Washington US Army Corps of Engineers Instructor - University of Washington MIT - D. Science Professor UCB International Civil Engineering Consultants Principal with Dr. Wen Tseng

Professor Joe Penzien First Director of EERC at UC Berkeley The Franklin Institute Awards April 27, 2006

New Printing of the Clough and Penzien Book

Berkeley, CA, February 26, 2004 Computers and Structures, Inc., is pleased to release the latest revision to Dynamics of Structures, 2nd Edition by Professors Clough and Penzien. A classic, this definitive textbook has been popular with educators worldwide for nearly 30 years. This release has been updated by the original authors to reflect the latest approaches and techniques in the field of structural dynamics for civil engineers.

csiberkeley.com
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Ed Wilson - edwilson.org
1955 1955 - 57 1958 1957 - 59 1960 1963 1963 - 1965 1965 - 1991 1991 - 2008 BS University of California US Army 15 months in Korea MS UCB Oroville Dam Experimental Project First Automated Finite Element Program D Eng UCB Research Engineer, Aerojet - 10g Loading Professor UCB 29 PhD Students Senior Consultant To CSI Berkeley

where 95% of my work is in Earthquake Engineering

My Book 23 Chapters

csiberkeley.com Ask for Educational Discount

NINETEEN SIXTIES IN BERKELEY

1. Cold War - Blast Analysis 2. Earthquake Engineering Research 3. State And Federal Freeway System 4. Manned Space Program 5. Offshore Drilling 6. Nuclear Reactors And Cooling Towers

NINETEEN SIXTIES IN BERKELEY

1. 2. 3. 4. 5. Period Of Very High Productivity No Formal Research Institute Free Exchange Of Information Gave programs to profession prior to publication Worked Closely With Mathematics Group Students Were Very Successful

UC Students
Berkeley During The Late 1960s And

Early 1970s Graduate Study Was Like Visiting An Intellectual Candy Store
Thomas Hughes
Professor, University of Texas

SAP STRUCTURAL ANALYSIS PROGRAM

ALSO A PERSON
Who Is Easily Deceived Or Fooled Who Unquestioningly Serves Another

From The Foreword Of The First SAP Manual

"The slang name S A P was selected to remind the user that this program, like all programs, lacks intelligence. It is the responsibility of the engineer to idealize the structure correctly and assume responsibility for the results.
Ed Wilson 1970

The SAP Series of Programs

1969 - 70 SAP
Used Static Loads to Generate Ritz Vectors Rewritten by Ed Wilson Subspace Iteration Dr. J

1971 - 72
1972 -73 1973 74

Solid-Sap
SAP IV NON SAP

gen Bathe

New Program The Start of ADINA

Lost All Research and Development Funding

1979 80 SAP 80
New Linear Program for Personal Computers CSI added Pre and Post Processing Significant Modification and Documentation Nonlinear Elements More Options With Windows Interface

1983 1987 SAP 80 1987 - 1990 SAP 90

1997 Present SAP 2000

FIELD MEASUREMENTS REQUIRED TO VERIFY

1. MODELING ASSUMPTIONS 2. SOIL-STRUCTURE MODEL 3. COMPUTER PROGRAM 4. COMPUTER USER

CHECK OF RIGID DIAPHRAGM APPROXIMATION

MECHANICAL VIBRATION DEVICES

FIELD MEASUREMENTS OF PERIODS AND MODE SHAPES

MODE
1 2 3 4 5 6 7 11

TFIELD
1.77 Sec. 1.69 1.68 0.60 0.60 0.59 0.32 0.23

TANALYSIS
1.78 Sec. 1.68 1.68 0.61 0.61 0.59 0.32 0.32

Diff. - %
0.5 0.6 0.0 0.9 0.9 0.8 0.2 2.3

FIRST DIAPHRAGM MODE SHAPE

15 th Period TFIELD = 0.16 Sec.

Load-Dependent Ritz Vectors LDR Vectors - 1980

DYNAMIC EQUILIBRIUM EQUATIONS

M a + C v + K u = F(t)
a v u M C K F(t) = = = = = = = Node Accelerations Node Velocities Node Displacements Node Mass Matrix Damping Matrix Stiffness Matrix Time-Dependent Forces

PROBLEM TO BE SOLVED
Ma + Cv+ Ku =

7 f g(t)
i

= - Mx ax - My ay - Mz az
For 3D Earthquake Loading

THE OBJECTIVE OF THE ANALYSIS IS TO SOLVE FOR ACCURATE DISPLACEMENTS and MEMBER FORCES

METHODS OF DYNAMIC ANALYSIS

For Both Linear and Nonlinear Systems
STEP BY STEP INTEGRATION - 0, dt, 2 dt ... N dt

USE OF MODE SUPERPOSITION WITH EIGEN OR LOAD-DEPENDENT RITZ VECTORS FOR

FNA

For Linear Systems Only

TRANSFORMATION TO THE FREQUENCY DOMAIN and FFT METHODS RESPONSE SPECTRUM METHOD - CQC - SRSS

STEP BY STEP SOLUTION METHOD 1. Form Effective Stiffness Matrix 2. Solve Set Of Dynamic Equilibrium Equations For Displacements At Each Time Step 3. For Non Linear Problems Calculate Member Forces For Each Time Step and Iterate for Equilibrium - Brute Force Method

MODE SUPERPOSITION METHOD

1. Generate Orthogonal Dependent Vectors And Frequencies 2. Form Uncoupled Modal Equations And Solve Using An Exact Method For Each Time Increment. 3. 4. Recover Node Displacements As a Function of Time Calculate Member Forces As a Function of Time

GENERATION DEPENDENT
1. 2. 3. 4.

OF

RITZ

LOAD VECTORS

Approximately Three Times Faster Than The Calculation Of Exact Eigenvectors Results In Improved Accuracy Using A Smaller Number Of LDR Vectors Computer Storage Requirements Reduced Can Be Used For Nonlinear Analysis To Capture Local Static Response

STEP 1. INITIAL CALCULATION

A. TRIANGULARIZE STIFFNESS MATRIX

B.

DUE TO A BLOCK OF STATIC LOAD VECTORS, f, SOLVE FOR A BLOCK OF DISPLACEMENTS, u,

Ku=f
C. MAKE FORM

u STIFFNESS AND MASS ORTHOGONAL TO FIRST BLOCK OF LDL VECTORS V 1

V1T M V1 = I

STEP 2.
A. B.

VECTOR GENERATION
i = 2 . . . . N Blocks

Solve for Block of Vectors, K Xi = M Vi-1 Make Vector Block, Xi , Stiffness and Mass Orthogonal - Yi Use Modified Gram-Schmidt, Twice, to Make Block of Vectors, Yi , Orthogonal to all Previously Calculated Vectors - Vi

C.

STEP 3. MAKE VECTORS STIFFNESS ORTHOGONAL

A. SOLVE Nb x Nb Eigenvalue Problem [ VT K V ] Z = [ w2 ] Z B. CALCULATE MASS AND STIFFNESS ORTHOGONAL LDR VECTORS VR = V Z =

DYNAMIC RESPONSE OF BEAM

100 pounds

10 AT 12" = 240"

FORCE

TIME

MAXIMUM DISPLACEMENT
Number of Vectors

Eigen Vectors 0.004572 (-2.41) 0.004572 (-2.41) 0.004664 (-0.46) 0.004664 (-0.46) 0.004681 (-0.08) 0.004683 (-0.04) 0.004685 (0.00)

Load Dependent 0.004726 (+0.88) 0.004591 ( -2.00) 0.004689 (+0.08) 0.004685 (+0.06) 0.004685 ( 0.00)

Vectors

1 2 3 4 5 7 9

( Error in Percent)

MAXIMUM MOMENT
Number of Vectors Vectors 1
2 3 4 5 7 9

Eigen Vectors
4178 4178 4946 4946 5188 5304 5411 ( - 22.8 %) ( - 22.8 ) ( - 8.5 ) ( - 8.5 ) ( - 4.1 ) ( - .0 ) ( 0.0 )

Load Dependent
5907 5563 5603 5507 5411 ( + 9.2 ) ( + 2.8 ) ( + 3.5 ) ( + 1.8) ( 0.0 )

( Error in Percent )

LDR Vector Summary

After Over 20 Years Experience Using the LDR Vector Algorithm We Have Always Obtained More Accurate Displacements and Stresses Compared to Using the Same Number of Exact Dynamic Eigenvectors. SAP 2000 has Both Options

The Fast Nonlinear Analysis Method

The FNA Method was Named in 1996 Designed for the Dynamic Analysis of Structures with a Limited Number of Predefined Nonlinear Elements

FAST NONLINEAR ANALYSIS

1. EVALUATE LDR VECTORS WITH NONLINEAR ELEMENTS REMOVED AND DUMMY ELEMENTS ADDED FOR STABILITY 2. SOLVE ALL MODAL EQUATIONS WITH NONLINEAR FORCES ON THE RIGHT HAND SIDE 3. USE EXACT INTEGRATION WITHIN EACH TIME STEP 4. FORCE AND ENERGY EQUILIBRIUM ARE STATISFIED AT EACH TIME STEP BY ITERATION

BASE ISOLATION

Isolators

BUILDING IMPACT ANALYSIS

FRICTION DEVICE CONCENTRATED DAMPER

NONLINEAR ELEMENT

GAP ELEMENT

BRIDGE DECK

ABUTMENT

TENSION ONLY ELEMENT

PLASTIC HINGES
2 ROTATIONAL DOF

ALSO DEGRADING STIFFNESS ARE Possible

Mechanical Damper
F = f (u,v,umax ) F = ku

F = C vN

Mathematical Model

LINEAR VISCOUS DAMPING

DOES NOT EXIST IN NORMAL STRUCTURES AND FOUNDATIONS 5 OR 10 PERCENT MODAL DAMPING VALUES ARE OFTEN USED TO JUSTIFY ENERGY DISSIPATION DUE TO NONLINEAR EFFECTS IF ENERGY DISSIPATION DEVICES ARE USED THEN 1 PERCENT MODAL DAMPING SHOULD BE USED FOR THE ELASTIC PART OF THE STRUCTURE - CHECK ENERGY

PLOTS

103 FEET DIAMETER - 100 FEET HEIGHT

NONLINEAR DIAGONALS

BASE ISOLATION

ELEVATED WATER STORAGE TANK

COMPUTER MODEL
92 NODES 103 ELASTIC FRAME ELEMENTS 56 NONLINEAR DIAGONAL ELEMENTS

600 TIME STEPS @ 0.02 Seconds

COMPUTER TIME REQUIREMENTS

PROGRAM ANSYS ANSYS SADSAP INTEL 486 CRAY INTEL 486 3 Days 3 Hours ( 4300 Minutes ) ( 180 Minutes ) 2 Minutes

( B Array was 56 x 20 )

Nonlinear Equilibrium Equations

Summary Of FNA Method

Calculate Load-Dependant Ritz Vectors for Structure With Nonlinear Elements Removed. These Vectors Satisfy the Following Orthogonality Properties

J KJ ! ;

J MJ ! I

The Solution Is Assumed to Be a Linear Combination of the LDR Vectors. Or,

u (t ) J Y (t )

J
n

y (t ) n

Which Is the Standard Mode Superposition Equation

Remember the LDR Vectors Are a Linear Combination of the Exact Eigenvectors; Plus, the Static Displacement Vectors. No Additional Approximations Are Made.

A typical modal equation is uncoupled. However, the modes are coupled by the unknown nonlinear modal forces which are of the following form:

fn !

Fn

The deformations in the nonlinear elements can be calculated from the following displacement transformation equation:

H ! Au

Since u (t ) !J Y (t ) the deformations in the nonlinear elements can be expressed in terms of the modal response by

H (t ) ! A J Y (t ) ! B Y (t ) Where the size of the B array is equal

the number of deformations times the number of LDR vectors.

to

The array is calculated only once prior to the start of mode integration. THE

ARRAY CAN BE STORED IN RAM

The nonlinear element forces are calculated, for iteration i , at the end of each time step t

H ! BY
(i ) t

(i ) t

(i ) t

! Deformatio ns in Nonlinear Elements

P ! Function of Element History f

(i ) Nt

!B Y

(i ) t

! Nonlinear Modal Loads

( i 1) t

! New Solution of Modal Equation

FRAME WITH UPLIFTING ALLOWED

UPLIFTING ALLOWED

Four Static Load Conditions Are Used To Start The Generation of LDR Vectors

EQ

DL

Left

Right

NONLINEAR STATIC ANALYSIS

50 STEPS AT dT = 0.10 SECONDS

LOAD

DEAD LOAD

LATERAL LOAD

1.0

2.0

3.0

4.0

5.0

TIME - Seconds

Advantages Of The FNA Method

1. The Method Can Be Used For Both Static And Dynamic Nonlinear Analyses The Method Is Very Efficient And Requires A Small Amount Of Additional Computer Time As Compared To Linear Analysis The Method Can Easily Be Incorporated Into Existing Computer Programs For LINEAR DYNAMIC ANALYSIS.

2.

2.

A COMPLETE EIGENVECTOR SUBSPACE FOR THE LINEAR AND NONLINEAR DYNAMIC ANALYSIS OF STRUCTURES

Definition Of Natural Eigenvectors

The total number of Natural Eigenvectors that exist is always equal to the total number of displacement degrees-of-freedom of the structural system. The following three types of Natural Eigenvectors are possible: Rigid Body Vectors Dynamic Vectors Static Vectors

EXAMPLE OF SIX DEGREE OF FREEDOM SYSTEM

M =0.05 100 (a) Beam M odel I = 1.0 (b) Rigid Body M ode E=10,000 M =0.10 100 M =0.05

[ [

0 0
3

T1 T2

g g
6 . 31

(c) Rigid Body M ode

(d) Dynam ic M ode

[ [ [ [

0 . 995 T3

(e) Static M ode (f) Static M ode (g) Static M ode

!g !g !g

T4 ! 0 T5 ! 0 T6 ! 0

How Do We Solve a System That Has Both Zero and Infinite Frequencies?
Static and Dynamic Equilibriu m Equation   Mu(t)  Ku(t) R(t) FG(t) where both M and K may be singular and positive semi - definite Add V Mu(t) o Both Sides of Equation   Mu(t)  [K  VM ]u(t) R(t)  VMu(t)

  Or, Mu(t)  Ku(t)

R(t)  VMu(t)

where K is now nonsingula r and positive definite

Solve Static and Dynamic Equilibrium Equations by Mode Superposition

Let u(t) ! Y(t) and Where    u(t) ! Y (t) Can Contain Rigid - ody, Static and

Dynamic Modes. All Modes are Stiffness and Mass Orthogonal and are Normallize d so that
T

! I and

!
T

The Modal Equations Can Now Be Written As

  Y(t)  [I 

]Y(t) !

R(t)

SOLUTION OF TYPICAL MODAL EQUATION T (t) + [1  V =n ]Yn(t) = Jn Fg (t )  =nYn

FOR DYNAMIC MODES, USE PIECE-WISE EXACT SOLUTION FOR RIGID-BODY MODES, Direct INTEGRATION

(t) = VJ T Fg (t ) Y
FOR STATIC MODES, THE SOLUTION IS

T Yn(t) = Jn Fg (t )

Calculation of Frequencies from Natural Eigenvalues

1 [n ! V =n

and

2T Tn ! [n

Eigenvalues for Simple Beam

V ! 0.01
Mode Natural Eigenvalue Frequency 1
n

Period

=n
1 2 3 4 5 6 100 100 0.826 0 0 0

=n

V

2T Tn ! [n

0 0 0.995

g g
6.31 0 0 0

g g g

CALCULATION OF NATURAL EIGENVECTORS

K
KV
( 0)
(i )

!M
F
(i 1)

Use Recurrence Equation Of Following Form

i 1,     N Blocks

The First Load Block Must Be The Static Load Patterns Acting on The Structure

F
F

Subsequent Load Blocks Are Calculated From

(i )

!F

MV

(i  )

Iteration Is Not Required

The Natural Eigenvector Algorithm (2)

All Candidate Vectors in Block V Must be Modified To Satisfy The Following Requiremen ts :
Must be made Stiffness Orthogonal to All Previously Calculated Vectors By the Modified Gram-Schmidt Algorithm If a Vector Is the Same As a Previously Calculated Vector It Must Be Rejected

(i)

The New Vectors Block is Designated as V

(i)

The Natural Eigenvector Algorithm (3) All Candidate Vectors Are Defined by V These Vectors Are Then Made Mass Orthogomal By Solving The Following Subspace Eigenvalue Probem By The Jocobi Method : MZ ! = Where * ! VZ
A Static Vector Has A Zero Eigenvalue And An Infinite Frequency

A Truncated Set of Natural Eigenvalues Contains Linear Combinations of the Dynamic and Static Eigen Vectors That Are Excited by the Loading Therefore, They Are a Set of

Load Dependent Ritz Vectors

Error Estimation
1. Dynamic Load Participation Ratio 2. Static Load Participation Ratio

Therefore, this allows the LDR Algorithm to Automatic Terminate Generation when Error Limits are Satisfied

The dynamic load participation ratio for load case Fj is defined as the ratio of the kinetic energy captured by the truncated set of vectors to the total kinetic energy. Or

([ J
rdj !
n !1 T j

T 2 n n j

f )

f M fj

1

For earthquake loading, this is identical to the mass participation factor in the three different directions A minimum of 90 percent is recommended

The static load participation ratio for load case Fj is defined as the ratio of the strain energy captured by the truncated set of vectors to the total strain energy due to the static load vectors. Or,

J
rsj !
!1

2 T n j

u f

T j j

Always equal to 1.0 for LDR vectors

FINAL REMARKS
Existing Dynamic Analysis Technology allows us to design earthquake resistant structures economically . However, many engineers are using Static Pushover Analysis to approximate earthquake forces. Advances in Computational Aero and Fluid Dynamics are not being used by the Civil Engineering Profession to Design Safe Structures for wind and wave loads. Many engineers are still using approximate wind tunnel results to generate Static Wind Loads.

In a large earthquake the safest place to be is on the top of a high-rise building Over 25 Stories

COMPUTERS
1958 TO 2008 IBM 701 - Multi-Processors
The Current Speed of a $1,000 Personal Computer is 1,500 Times Faster than the $10,000,000 Cray Computer of 1975

$
$4,000,000

C = COST OF THE COMPUTER S = MONTHLY SALARY OF ENGINEER

C/S = 5,000 C/S = 0.5

$7,500 $800 $1,500

1957

time

1997

A FACTOR OF 10,000 REDUCTION IN 40 YEARS

Floating-Point Speeds of Computer Systems

Definition of one Operation A = B + C*D 64 bits - REAL*8
Year 1963 1967 1974 1981 1981 1990 1994 1995 1995 1998 1999 2003 2006 Computer or CPU CDC-6400 CDC-6600 CRAY-1 IBM-3090 CRAY-XMP DEC-5000 Pentium-90 Pentium-133 DEC-5000 upgrade Pentium II - 333 Pentium III - 450 Pentium IV 2,000 AMD - Athlon Operations Per Second 50,000 100,000 3,000,000 20,000,000 40,000,000 3,500,000 3,500,000 5,200,000 14,000,000 37,500,000 69,000,000 220,000,000 440,000,000 Relative Speed 1 2 60 400 800 70 70 104 280 750 1,380 4,400 8,800

Cost of Personal Computer Systems

YEAR 1980 1984 1988 1991 1994 1996 1997 1998 1999 2003 2006 CPU 8080 8087 80387 80486 80486 Pentium Pentium II Pentium II Pentium III Pentium IV AMD - Athlon Speed MHz 4 10 20 33 66 233 233 333 450 2000 2000 Operations Per Second 200 13,000 93,000 605,000 1,210,000 10,300,000 11,500,000 37,500,000 69,000,000 220,000,000 440,000,000 Relative Speed 1 65 465 3,025 6,050 52,000 58,000 198,000 345,000 1.100,000 2,200,000 COST $6,000 $2,500 $8,000 $10,000 $5,000 $4,000 $3,000 $2,500 $1,500 $2.000 $950

Ed Wilson at
UCLA Meet

April 17, 1954

President Robert . Sproul

Ed set a 880 yard record of 1 Minute and 54 Seconds.

In the last 50 years, Ed is getting Slower and Computer are getting Faster

The Future Of Personal Computers Multi-Processors Will Require New Numerical Methods and Modification of Existing Programs Speed and Accuracy are Important