2019-04-01

Earthquake Engineering

Lecture 6

Suzhen Li ([email protected])

School of Civil Engineering, Tongji University

2019-04-01

Chapter 3 Characteristics of Seismic

Ground Motion

3.1 Strong Motion Observation

3.2 Stochastic process model for seismic ground motion

3.3 Characteristics of Ground motion

3.4 Seismic Response Spectrum

3.5 Modeling and Generation of Seismic Ground Motion

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3.3 Characteristics of ground motion

3.3.1 Characteristics of Amplitude

 Amplitude of ground motion acceleration

• Peak (PGA & PGV) 0.6

0.5
0.4 El Centro accelerogram, 1940, Imperial Valley
North-South component
• Root of mean square arms 0.3
0.2

Acceleration (g)
0.1
1 Td

ò
2 2 2
=s =
0.0
a rms a
a (t )dt -0.1
Td 0 -0.2
-0.3
-0.4
-0.5 Initial stage Strong stage Attenuating stage
-0.6
0 10 20 30
Time (s)

3.3 Characteristics of ground motion

3.3.1 Characteristics of Amplitude

 Amplitude of ground motion acceleration

（Li & Li, 1992） （Yuan & Tian, 2012）

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3.3 Characteristics of ground motion

3.3.2 Characteristics of frequency spectrum

• Fourier spectrum
• Power spectrum
• Response spectrum

3.3 Characteristics of ground motion

3.3.2 Characteristics of frequency spectrum

• The same earthquake, similar epicenter

distance, different engineering site

The predominate period for the

records on soft site is evident,
but the frequency content for the
records on stiff site is richer.

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3.3 Characteristics of ground motion

3.3.2 Characteristics of frequency spectrum
• Similar engineering site, different magnitude and epicenter
distance

• The greater magnitude, • The greater the epicenter

the more obvious the distance, the more obvious
component of long period the component of long
(lower frequency); period (lower frequency);

3.3 Characteristics of ground motion

3.3.2 Characteristics of frequency spectrum
• The same magnitude, different epicenter distance and different
engineering site

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3.3 Characteristics of ground motion

3.3.2 Characteristics of frequency spectrum

 Characteristics of frequency spectrum

• The greater magnitude, the more obvious the

component of long period(lower frequency);
• The greater the epicenter distance, the more
obvious the component of long period(lower
frequency);
• The predominate period for the records on soft site
is evident, but the frequency content for the records
on stiff site is richer.

3.3 Characteristics of ground motion

3.3.3 Characteristics of Time Duration

 Time duration

• The effect of the time duration on structural

response is mainly in the nonlinear stage.

 Park-Ang criterion

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3.3 Characteristics of ground motion

3.3.3 Characteristics of Time Duration

 Time duration

• For structures without

degradation, the time duration
of strong motion is not
important;
• For structures with obvious
degradation, the time duration
of strong motion will have great
effect;
• The time duration will have
important effect on
accumulated energy dissipation.

3.3 Characteristics of ground motion

3.3.3 Characteristics of Time Duration

 Definition of time duration

0.6
• Absolute time duration 0.5

(0.05g or 0.1g truncation) 0.4

0.3
El Centro accelerogram, 1940, Imperial Valley
North-South component

0.2
Acceleration (g)

• Relative time duration (total 0.1

0.0
dissipated energy of 5% to -0.1
95%) -0.2
-0.3

• Effect time duration(related -0.4

-0.5 Initial stage Strong stage Attenuating stage
to arms) -0.6
1T 0 10 20 30

ò
d
Td = 2
a 2 (t )dt Time (s)
a rms
0

where arms is the standard deviation of the strong motion part.

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3.3 Characteristics of ground motion

3.3.4 Attenuation of ground motion

 Attenuation of ground motion

• Physical expression Y = f (M , R, S )

• Typical expression: lnY = a + bM + c ln(R + R0 ) + d ⋅ Ts

b b2M +b4Ts
• Equivalent expression： Y = b1(R + R0 ) 3 ⋅ e

• For bedrock： Y = b1(R + R0 ) 3 ⋅ e 2

b bM

3.3 Characteristics of ground motion

3.3.2 Characteristics of frequency spectrum

Continuous Fourier transform pair

¥ 1 ¥
x (t ) = ò F ( f )e i 2 p ftdf = ò F (w )e i wtdw Inverse
-¥ 2p -¥

¥ ¥
F (f ) = ò x (t )e -i (2 p ft )dt = ò x (t )e -i wtdt Forward
-¥ -¥

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傅里叶谱 Fourier Spectrum

2 N -1
2pkm N N
Ak =
N
åx m
N
cos k = 0,1, ,
2
- 1,
2
m =0 Discrete
2 N -1
2pkm N
Bk =
N
å xm sin N
m =0
k = 1, 2, , - 1
2
Fourier
transform
pair
A0 N /2-1 é 2pkm 2pkm ùú AN /2 2p(N / 2)m
xm = + å êAk cos + Bk sin + cos
2 k =1 ë
ê N N ú 2 N
û
m = 0,1, , N - 1

k t
fk = ,m =
N Dt Dt
A N /2-1 A
x (t ) = 0 + å éêëAk cos 2p fkt + Bk sin 2p fkt ùúû + N /2 cos 2p fN /2t
2 k =1 2

X k = Ak2 + Bk2
æ B ö Ak cos 2p fkt + Bk sin 2p fkt = X k cos(2p fkt + fk )
fk = arc tan ççç- k ÷÷÷
èç Ak ÷ø

傅里叶谱 Fourier Spectrum

Discrete N -1

Fourier x m = å C ke i (2 pkm /N ) ìï
ïï cos q = 1 eiq + e-iq
transform k =0
m = 0,1, , N - 1 ï 2
( )
í
ïï 1 iq
pair:
1 N -1 ïïsin q = - (
i e - e-iq )
Complex
expression
Ck =
N
åx
m =0
m
e -i (2 pkm /N )
k = 0,1, , N - 1
î 2

t T
T = N Dt, m = F ( fk ) º TC k = (A - iBk )
Dt 2 k
Fourier ¥ ¥
1
Spectrum x (t ) = å C kei(2pkt /T ) = å (TC )e k
i 2 p (k /T )t
⋅
T
k =-¥ k =-¥

1 k
 df ,  f ¥ 1 ¥
T T
ò F ( f )e i 2 p ftdf = F (w )e iwtdw
2p ò-¥
x (t ) =
-¥
Continuous
Fourier ¥ ¥
transform F (f ) = ò x (t )e -i (2 pft )dt = ò x (t )e -iwtdt
pair -¥ -¥

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功率谱 Power Spectrum

N -1 N -1 N -1
1 2
x m = å C ke i (2 pkm /N ) å xm2 = å C k
k =0 N m =0 k =0

S ( fk ) º T C k
Power Spectrum 2

(Power spectral density, PSD)

N -1 N -1
t 1 æ 2 ö÷ 1
T = N Dt, m =
Dt N
å m å ççèT C k
x 2
= ÷ø T
m =0 k =0

1 N -1
æ ö÷ 1 ¥ 1 ¥
S ( f )df = S (w )d w
2

T
 df å ççèT C k ÷ø T  ò
-¥ 2p ò-¥
k =0

1 2
S (f ) = F (f )
Fourier F ( fk ) º TC k T
Spectrum 1 2
S (w ) = F (w )
T

3.4 Seismic Response Spectrum

3.4.1 From the response of SDOF systems to response spectrum

 The response of a SDOF system

• Equation of motion： mu + cu + ku = -mxg (t )

• Standardized equation:

u + 2zw0u + w02u = -xg (t )

• Duhamel integral
t
u(t ) = -ò h(t - t )xg (t )d t
0

-zwt
The unit impulsive response h(t ) = e sin wdt wd = w0 1 - z 2
function: wd

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3.4 Seismic Response Spectrum

3.4.1 From the response of SDOF systems to response spectrum

 The response of a SDOF system

• Relative displacement, relative velocity

and absolute acceleration

1 t
• Relative u(t ) = -
wd ò 0
xg (t )e -zw(t -t ) sin[wd (t - t )]d t
displacement
w t
• Relative
velocity
u(t ) = -
wd ò 0
xg (t )e -zw(t -t ) cos[wd (t - t ) + a]d t

w2 t
• Absolute
ò xg (t )e -zw(t -t ) sin[wd (t - t ) + 2a]d t
(t)
u (t ) =
acceleration wd 0

where: tan a = z 1- z2 u(t)(t ) = u(t ) + xg (t )

3.4 Seismic Response Spectrum

3.4.1 From the response of SDOF systems to response spectrum

 Seismic Response Spectrum

• Response Spectrum of relative displacement

1 t
Sd (w, z ) = u(t )
max
=
w ò 0
xg (t )e -zw(t -t ) sin[w(t - t )]d t
max

• Response Spectrum of relative velocity

t
Sv (w, z ) = u(t )
max
= ò 0
xg (t )e -zw(t -t ) cos[w(t - t )]d t
max

• Response Spectrum of absolute acceleration

t
Sa (w, z ) = u(t)(t ) = w ò xg (t )e -zw(t -t ) sin[w(t - t )]d t
max 0
max

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3.4 Seismic Response Spectrum（RS）

3.4.1 From the response of SDOF systems to response spectrum

 Seismic Response Spectrum

3.4 Seismic Response Spectrum

3.4.1 From the response of SDOF systems to response spectrum

 Seismic Response Spectrum

（Yuan & Tian, 2012）

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3.4 Seismic Response Spectrum

3.4.1 From the response of SDOF systems to response spectrum

 Seismic Response Spectrum

1976年11月15日宁河地震时天津医院记录的反应谱

3.4 Seismic Response Spectrum

3.4.1 From the response of SDOF systems to response spectrum

 Seismic Response Spectrum

• Resonance-like phenomena

Response spectrum of 1976-11-15 accelerogram

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3.4 Seismic Response Spectrum

3.4.1 From the response of SDOF systems to response spectrum

 Relationship between the response spectra

• Response Spectrum of relative displacement
1 t
Sd (w, z ) = u(t ) = ò xg (t )e -zw(t -t ) sin[w(t - t )]d t
max w 0 max
• Response Spectrum of relative velocity
t
Sv (w, z ) = u(t )
max
= ò 0
xg (t )e -zw(t -t ) cos[w(t - t )]d t
max
• Response Spectrum of absolute acceleration
t
Sa (w, z ) = u(t)(t ) = w ò xg (t )e -zw(t -t ) sin[w(t - t )]d t
max 0
max

• Response Spectrum of pseudo velocity

t
Sv (w, z ) = ò 0
xg (t )e -zw(t -t ) sin[w(t - t )]d t
max

3.4 Seismic Response Spectrum

3.4.1 From the response of SDOF systems to response spectrum

 Relationship between the response spectra

• Response Spectrum of t

relative velocity
S v (w, z ) = ò 0
xg (t )e -zw(t -t ) cos[w(t - t )]d t
max
• Response Spectrum t

ò
-zw (t - t )
S v (w, z ) = xg (t )e sin[ w(t - t )]d t
of pseudo velocity 0
max

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3.4 Seismic Response Spectrum

3.4.1 From the response of SDOF systems to response spectrum
 Relationship between the response spectra – triparty
response spectra
1 t
w ò0 g
• RS – relative dis. Sd (w, z ) = x (t )e -zw(t -t ) sin[w(t - t )]d t
max
t
• RS – pseudo vel. Sv (w, z ) = ò xg (t )e -zw(t -t ) sin[w(t - t )]d t
0
max
t
• RS – absolute acc. Sa (w, z ) = w ò xg (t )e -zw (t -t )
sin[w(t - t )]d t
0
max

• The relationship

Sa (w, z ) = wSv (w, z ) = w 2Sd (w, z )

3.4 Seismic Response Spectrum

3.4.1 From the response of SDOF systems to response spectrum
 Relationship between the response spectra – triparty
response spectra
log Sa (w, z ) = log S v (w, z ) + log w
Sa (w, z ) = wSv (w, z ) = w 2Sd (w, z )
log Sd (w, z ) = log Sv (w, z ) - log w

log w

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3.4 Seismic Response Spectrum

3.4.2 RS and other spectra
 RS and Fourier spectrum
¥
Fourier transform：F (w) = ò -¥
xg (t )e -iwtdt
T T T
F (w ) = ò 0
xg (t )e -i wtd t = ò 0
xg (t )cos wtd t - i ò xg (t )sin wtd t
0
2 2
é T ù é T ù
F (w) = ê ò xg (t )cos wtd t ú + ê ò xg (t )sin wtd t ú
êë 0 úû êë 0 úû
non-damping RS of relative S ( w ) = t

velocity for ： v ò 0
xg ( t ) cos[ w(t - t )]d t
max
2 2
é t ù é t ù
= ê ò xg (t ) cos wtd t ú + ê ò xg (t ) sin wtd t ú cos (wt + j )
êë 0 úû êë 0 úû
max

therefore：
Sv (w) ³ F (w)

3.4 Seismic Response Spectrum

3.4.2 RS and other spectra

 RS and Fourier spectrum

Sv (w) ³ F (w)

（Li & Li, 1992） （Yuan & Tian, 2012）

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3.4 Seismic Response Spectrum

3.4.2 RS and other spectra

 Fourier spectrum and PSD

1 2
S (f ) = F (f )
T
1 2
S (w ) = F (w )
T

3.4 Seismic Response Spectrum

3.4.3 Characteristics of RS

 Characteristics of RS

• Resonance-like phenomena

Response spectrum of 1976-11-15 accelerogram

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3.4 Seismic Response Spectrum

3.4.3 Characteristics of RS

 Characteristics of RS

• The 3 parts of RS:

3.4 Seismic Response Spectrum

3.4.3 Characteristics of RS

 Characteristics of RS

• Magnitude, epicenter distance, site condition and

source mechanism all have effects on RS.

不同场地条件的地震反应谱

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3.4 Seismic Response Spectrum

3.4.4 Design spectrum

 From RS to design spectrum

• Design spectrum is not a RS, it is a prescribed value
for design;

Design spectrum (Chinese code)

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3.5 Modeling and Generation of Seismic Ground Motion

3.5.1 Widely used approach for strong motion modeling
N a(t ) = f (t ) ⋅Y (t )
 White noise model Y (t ) = åYi d(t - ti )
i =1

 Classical spectral representations:

N
Y (t ) = å X i cos(wit + fi )
i =1
where： wi = wL + (i - 21 )Dw, Dw = (wu - wL ) N

2S (wi )Dw
Xi =
p
Improvement: randomization of frequencies.
N

 Stochastic harmonic Y (t ) = å X (wi ) cos(wit + fi )

function: i =1

2S (wi )Dw
where： X (wi ) =
p

Problems in Chapter 3
1. What is the principle of the seismograph and accelerograph?
2. How to characterize the probability information of a stochastic process?
3. What is the auto‐correlation function of a stochastic process?
4. What is the power spectral density function of a stochastic process?
5. How to characterize the frequency domain feature of a ground motion 
acceleration process?
6. What are the 3 characteristics of ground motion acceleration?
7. What is the basic feature of peak value of earthquake ground motion?
8. What is the property of frequency domain characteristics of ground motion?
9. Why the time duration of a ground motion is important?
10. What are the major factors that affect the decaying of earthquake ground motion?
11. What is Penzien’s hypothesis?
12. What is earthquake response spectrum?
13. What is tripartite response spectrum?
14. What are the features of response spectrum of earthquake?
15. What is design spectrum? What is the difference between design spectrum and 
response spectrum?
16. What is the relationship between the response spectrum, the power spectral 
density and the Fourier spectrum?
17. How to generate a sample of time history of earthquake ground motion?

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Project 1: Computation of Earthquake Response Spectrum
1. Compute the displacement, velocity and acceleration response spectra of 4 
different accelerograms (including the El Centro wave N‐S component). According 
to Chinese code for site classifications, for each class of site at least two 
accelerograms are adopted. 
2. For each accelerogram five damping ratios, i.e.  0, 1%, 2%, 5% and 10% should be 
considered. The abscissa adopts the fundamental period T (s) over the interval 0‐
10s.
3. In the report the time history and Fourier amplitudes of the 4 accelerograms
should be given.
4. In the report your name, number of academic management, your advisor’s name 
and corresponding information should be indicated. 
5. The report should be sent to [email protected] by 24:00, May 1, 2019.

Project 1: Computation of Earthquake Response Spectrum

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