Eigen Solution & Response Spectrum Method with STAAD.

Pro CE
Kaushal Aggarwal
Technical Support Group – Structural, Engineering Simulation
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 Agenda

• Eigen Solution Methods in STAAD.Pro

• Quick introduction to Time History and Response Spectrum Methods

• Explanation of various parameters involved in modelling Response Spectrum Loads

– Damping Modelling

– Missing Mass Correction

– Dominant Mode

– IMR (Individual Modal Responses)

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 Recap of Basic Structural Dynamics
Eigen Solution
𝑚1 0 ሷ
𝑥1(𝑡) 𝑘1 + 𝑘2 −𝑘2 𝑥1(𝑡) 0
+ =
0 𝑚2 ሷ
𝑥2(𝑡) −𝑘2 𝑘2 𝑥2(𝑡) 0

or 𝑚 𝑥(𝑡)
ሷ + 𝑘 𝑥(𝑡) = [0]

ሷ
or 𝒎𝒙(𝑡) + 𝒌𝒙(𝑡) = 0

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 Recap of Basic Structural Dynamics
Free Vibration Response of a damped SDOF system
𝑚𝑥(𝑡)
ሷ + 𝑐𝑥(𝑡)
ሶ + 𝑘𝑥(𝑡) = 0

• Underdamped system 𝑐 < 𝑐𝑐𝑟

𝑥ሶ 0 + 𝜁 𝜔 𝑥 0
𝑥 𝑡 = 𝑒 −𝜁𝜔𝑡 𝑥 0 𝑐𝑜𝑠 𝜔𝐷 𝑡 + 𝑠𝑖𝑛 𝜔𝐷 𝑡
𝜔𝐷

Damping Frequency, 𝜔𝐷 = 𝜔 1 − 𝜁 2

𝑐
Damping Ratio, 𝜁 =
𝑐𝑐𝑟 Let say, 𝜁 = 0.2

𝜔𝐷 = 𝜔 1 − (0.2)2

𝜔𝐷 = 0.98 𝜔

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 Recap of Basic Structural Dynamics
Eigen Solution
𝑚1 0 ሷ
𝑥1(𝑡) 𝑘1 + 𝑘2 −𝑘2 𝑥1(𝑡) 0
+ =
0 𝑚2 ሷ
𝑥2(𝑡) −𝑘2 𝑘2 𝑥2(𝑡) 0

or 𝑚 𝑥(𝑡)
ሷ + 𝑘 𝑥(𝑡) = [0]

ሷ
or 𝒎𝒙(𝑡) + 𝒌𝒙(𝑡) = 0

𝒙 𝑡 = 𝜙𝑛 𝑞𝑛 (𝑡)

𝜙𝑛 = Deflected shape (does not vary with time)

𝑞𝑛 𝑡 = Time variation of displacement (simple harmonic function)
𝑞𝑛 (𝑡) = 𝑎 cos 𝜔𝑡 + 𝑏 sin 𝜔𝑡

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 Recap of Basic Structural Dynamics
Free Vibration Response of an undamped MDOF system
ሷ
𝒎𝒙(𝑡) + 𝒌𝒙(𝑡) = 0

𝒙 𝑡 = 𝜙𝑛 𝑞𝑛 (𝑡)

−𝜔𝑛2 𝒎 𝜙𝑛 + 𝒌 𝜙𝑛 𝑞𝑛 (𝑡) = 0

−𝜔𝑛2 𝒎 + 𝒌 𝜙𝑛 = 0

𝒌 − 𝜔𝑛2 𝒎 = 0

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 Eigen Methods in STAAD.Pro

– Subspace Iteration (default)

– Arnoldi/Lanczos

– Load Dependent Ritz Vector (LDR)

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 Time History Response Spectrum
1. Define the ground acceleration 𝑥ሷ𝑔 𝑡 numerically at every time step ∆𝑡 1. Define the structural properties
2. Define the structural properties a) Determine the mass matrix m and lateral stiffness matrix k
a) Determine the mass matrix m and lateral stiffness matrix k b) Estimate modal damping ratios 𝜁𝑛
b) Estimate modal damping ratios 𝜁𝑛 2. Determine the natural frequencies 𝜔𝑛 and natural modes 𝜙𝑛 of vibration
3. Determine the natural frequencies 𝜔𝑛 and natural modes 𝜙𝑛 of vibration 3. Compute the peak response in the nth mode by the following steps to be
4. Determine the modal components 𝒔𝒏 of the effective earthquake force repeated for all modes, n = 1, 2, . . . . N
distribution a) Corresponding to natural period 𝑇𝑛 and damping ratio 𝜁𝑛 , read
5. Compute the response contribution of the nth mode by the following steps, 𝐷𝑛(𝑚𝑎𝑥) and 𝐴𝑛(𝑚𝑎𝑥) from the earthquake response spectrum or
which are repeated for all modes, n = 1, 2, . . . . N design spectrum
a) Perform static analysis of the structure subjected to lateral forces 𝒔𝒏 b) Compute equivalent static lateral forces 𝑓𝑛(𝑚𝑎𝑥)
to determine 𝑟𝑛𝑠𝑡 , the modal static response for each desired c) Compute the response quantity 𝑟𝑛(𝑚𝑎𝑥) = 𝑟𝑛𝑠𝑡 𝐴𝑛(𝑚𝑎𝑥)
response quantity r 4. Determine an estimate for the peal value 𝑟 of any response quantity by
b) Determine the pseudo-acceleration response 𝐴𝑛 (𝑡) of the nth-mode combining the peak modal values 𝑟𝑛 according to the SRSS or CQC rule.
SDOF system 𝑥ሷ𝑔 𝑡
𝐷ሷ 𝑛 𝑡 + 2𝜁𝑛 𝜔𝑛 𝐷ሶ 𝑛 𝑡 + 𝜔𝑛2 𝐷𝑛 𝑡 = −𝑥ሷ𝑔 𝑡
𝐴𝑛 (𝑡) = 𝜔𝑛2 𝐷𝑛 𝑡
a) Determine 𝑟𝑛 𝑡 = 𝑟𝑛𝑠𝑡 𝐴𝑛 (𝑡)
6. Combine the modal contributions 𝑟𝑛 𝑡 to determine the total response.
𝑁

𝑟 𝑡 = ෍ 𝑟𝑛 (𝑡)
𝑛=1

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 Response Spectrum Characteristics

• MCE: the peak horizontal accelerations with 2%

probability of exceedance in 50 years.

whereas

• DBE: the peak horizontal accelerations with

10% probability of exceedance in 50 years.

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 Peak Ground Acceleration & Spectral Acceleration
• Peak Ground Acceleration (PGA): The maximum ground acceleration that occurred during
earthquake shaking at a location. PGA is equal to the amplitude of the largest absolute acceleration
recorded on an accelerogram at a site during a particular earthquake.

• Spectral Acceleration (SA) is a unit measured in g (the acceleration due to Earth's gravity, equivalent
to g-force) that describes the maximum acceleration in an earthquake on structure – specifically a
damped and moving in one physical dimension.

• Zero Period Acceleration (ZPA): When PGA becomes equal to SA, the structure starts moving with the
same acceleration as that of ground. So, ZPA is the value at zero period. The horizontal portion is
usually at maximum spectral acceleration.

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 Response Spectrum Analysis in STAAD.Pro

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 Modal Combination
• In order to estimate of the maximum expected response quantity (e.g. base shear, joint displacement,
support reaction, member section forces, plate stresses etc) that will occur due to seismic ground motion
of a structure, each response quantity from each mode should be combined using suitable modal
combination method.

• While performing Response Spectrum analysis, we should remember following points:

– It is extremely unlikely that the maximum response of all the modes would occur at the same instance of time
– When one mode is reaching at its peak response there is no way of knowing what another mode is doing
– The response spectra only provide the peak values of the response, the sign of the peak response and the time at which
the peak response occurs is not known

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 Methods of Modal Combination
• ABS – Assumption that all modal peaks occur at the same time. Their algebraic sign is ignored to have an upper
bound to the peak value of the total response.

• SRSS – The peak response in each mode is squared, the squared modal peaks are summed and the square root
of the sum provides an estimate of the peak total response. This method provides excellent response estimates for
structures with well separated natural frequencies.

• CQC – This modal combination is applied to a wider class of structures and is defined as follows:

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 Damping
Damping Method Related STAAD.Pro Command
A single specified value, used by all modes DAMP

Composite damping based on values specified for each material

which can include the effect of spring damping, if defined.
CDAMP NOTE: STAAD.Pro CE deals
with classical damping
Modal damping which is explicitly defined for each mode. MDAMP

Modal damping which is calculated for all modes. MDAMP (CALCULATE or EVALUATE)

Classical damping – It is an appropriate idealization if similar damping mechanisms are distributed throughout the structure (e.g.
multistory building with similar structural system and structural materials over its height) will have similar damping.

Non-classical damping –The assumption of classical damping is not appropriate if the system to be analyzed has two or more
parts with significantly different levels of damping. Ex – a soil-structure interaction. The damping ratio of soil region generally varies
between 15% to 20% as compared to 3% to 5% of the structure.

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 MDAMP – Modal Damping

Explicit: must provide unique modal damping values for some or all modes
Mode Number Damping

Example: 1 0.03
2 0.05
3 0.05
4 0.05
5 0.05
6 0.05
7 0.05
8 0.05
9 0.04
10 0.012
11 0.012
12 and so on 0.012

If there are fewer entries than modes, then the last damping entered will apply to the remaining modes.

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 CDAMP – Composite Damping
Damping Ratio of the Individual Materials of the Structure (Material Damping)

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 CDAMP – Composite Damping
Spring Damping Ratios (If Springs are present)
This is the damping property of the medium such as soil that represents the supports of the structure. There are two
ways to specify spring damping.
a) The SET SDAMP nnnn command: This is a blanket declaration that affects all the support springs of the model.

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 CDAMP – Composite Damping
Spring Damping Ratios (If Springs are present)
This is the damping property of the medium such as soil that represents the supports of the structure. There are two
ways to specify spring damping.
a) The SET SDAMP nnnn command: This is a blanket declaration that affects all the support springs of the model.
b) The SPRING DAMPING command: This is a way to specify damping for support springs by specific joint number
and direction, and is thus jointlist based

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 Directional Factors

𝑃𝐺𝐴
MCE = DBE X 2 ×𝐼
2

PGA – Peak Ground

Acceleration

I - Importance Factor

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 Scale
*Linear scale factor (Normalization Factor) by which the spectra data (Acceleration or
Displacement) will be multiplied for un-normalized set of values

*Usually used factor is g: length/sec2 units

• For Code Specific Soil SCALE=1 (default)

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 Response Spectrum Analysis in STAAD.Pro
STAAD.Pro CE utilizes the following procedure:
1. Direction factor (Z/2×I/R) is provided for input spectrum.
2. The program calculates time periods for first six modes or as specified.
3. The program calculates Sa/g for each mode utilizing time period and damping for each mode.
4. The program calculates the design horizontal acceleration spectrum value Ak for each mode.
5. The program then calculates mode participation factor and mass participation factor for each mode.
6. The peak lateral seismic force and storey shear force at each floor in each mode is calculated.
7. All response quantities for each mode are calculated.
8. The peak response quantities are then combined as per the specified method (SRSS, CQC, ABS, CSM or TEN) to
get the final results.

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 Cut Off Mode Shape & Cut Off Frequency

To specify the highest number of mode shapes and frequency that need to be
considered.

CUT OFF MODE SHAPE i1

CUT OFF FREQUENCY f1

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 Signed Response Spectrum Results

DOMINANT 0 (Mode with the greatest % participation in the excitation direction will be used)

DOMINANT m (All results will have the same sign as mode number m alone would have)

Signed (The sum of squares of positive values from the modes are compared to sum of
squares of negative values from the modes)

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 Individual Modal Response (IMR)

Inputs:
- Number of Individual Mode Case
- Starting Load Case Number

**Number of Individual Mode Case ≤ 6 or CUT OFF MODE SHAPE

**Starting Load Case Number≠Primary Load Case Number

** Required PERFORM ANALYSIS

CHANGE

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 Missing Mass Correction

• Those modes that are left out of the dynamic solution can be accounted for using this facility.
• All the modes except the missing mass mode are combined
• Then, that result is SRSSed together with the missing mass result.
• So, this option will add the static effect of the uncalculated modes
• The zero-period acceleration is applicable only if the MISSING MASS correction is used in the response
• The spectral acceleration length/sec2 for this missing mass mode is the f6 value
• If f6 is zero, then the spectral acceleration at the ZPA f7 frequency is used.
• If f7 is zero or not entered, then the spectral acceleration at 33Hz is used.

***NOTE: If the MISSING parameter is entered on any spectrum case it will be used for all spectrum cases.

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 Missing Mass Correction

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 References
• Principles of Structural Analysis - Static and Dynamic Loads
KRISHNAN SATHIA

• Dynamics of Structures
Joseph Penzien and Ray William Clough

• Structural Dynamics: Theory and Computation

Mario Paz

• Dynamics of Structures
Anil K. Chopra

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