MODELLING RESPONSE SPECTRA FOR ELASTO PLASTIC

SYSTEMS

A Report Submitted for

B TECH PROJECT PART 1 (CE4191)

By

SANDEEP BIRUA
2020CEB060

Under the Supervision of

Prof. DEBOJYOTI PANDIT

DEPARTMENT OF CIVIL ENGINEERING

INDIAN INSTITUTE OF ENGINEERING SCIENCE AND TECHNOLOGY,

SHIBPUR

SHIBPUR, HOWRAH – 711103, INDIA

December 2023
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 ACKNOWLEDGEMENT

I hereby convey my sincere respect, thanks and heartily gratitude to my

mentor cum advisor Prof. DEBOJYOTI PANDIT for his immense support,
monitoring and guidance. This, B.Tech Project Part I (CE4191) would
never have been completed without his constant help and encouragement
.The blessings, help and guidance given by him time to time shall carry me
a long way in the journey of my life.
Lastly, I thank almighty, my parents and friends for their constant
encouragement without which this project would not be possible.

Date: - 03-12-2023

Indian Institute of Engineering Science and Technology, Shibpur

Howrah – 711103
West Bengal

SANDEEP BIRUA
2020CEB060
2
 CONTENT

TOPICS PAGE NO.

Chapter 1
1. Introduction 4
1.1 What is the importance of response spectra 4
for civil engineers ?
1.2 What is plasticity ? 4
1.3 Literature survey 6
1.4 Objective 6
1.5 Scope 6
1.6 Application 6

Chapter 2
2. Numerical study 7
2.1 Construction of response spectrum 7
2.2 Response spectra for inelastic system 11
2.3 Rectangular load 14

Chapter 3
3. Future Work 19

REFERNCES 20

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 CHAPTER 01

INTRODUCTION

In this project we shall model response spectra for elastoplastic systems. In

recent years response spectrum has gained world wide acceptance in
structural dynamic practice, especially in earthquake engineering design.
Response spectrum is a plot of maximum response for a single degree of
freedom system subjected to a given excitation.
In case of certain types of extreme events like nuclear explosion or strong
motion of earthquakes, it is necessary to design structures to bear up against
deformations beyond the elastic range. For example, in seismic design of
earthquake of moderate intensity, it is conducive to assume elastic
behaviour for structures. However, in case of severe earthquake, it is not
feasible economically to design buildings to elastically resist earthquakes
therefore response spectrum has been extended to inelastic range.[1]

1.1 What is the importance of response spectra for a Civil Engineer ?

Response spectra are crucial for civil engineers because they provide a
graphical representation of a structure's response to ground motion during
earthquakes. Engineers use these spectra to analyse and design structures,
ensuring they can withstand seismic forces. By studying the response
spectra, engineers can tailor their designs to mitigate potential damage and
enhance the safety and resilience of buildings and infrastructure in
earthquake-prone areas.

1.2 What is plasticity ?

Plasticity, in the context of materials or soil mechanics, refers to the ability

of a substance to undergo permanent deformation without rupturing or
breaking. In structural engineering and geotechnical engineering, plasticity
is a property exhibited by materials like metals, certain types of soils, and
polymers.

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In metals, plasticity allows the material to undergo significant deformation
and maintain that shape after the applied force is removed. In soil
mechanics, plasticity is often associated with the ability of soils to undergo
deformation and exhibit a change in shape under stress, especially in the
yield stress range.

1.2.1 Why plasticity is important for civil engineers ?

Plasticity is crucial for civil engineers because it influences the behavior of

materials under stress, which is essential for designing structures that can
withstand various loads and conditions. Here are key reasons why plasticity
is important:

Deformation and Stability: Plasticity allows materials to undergo significant

deformation without failure. Understanding this property is essential for
designing structures that can deform under loads without collapsing,
ensuring stability and safety.

Ductility in Metals: In structural engineering, metals with plastic behaviour

(ductility) are preferred. Ductile materials can undergo plastic deformation
before reaching failure, providing warning signs and allowing for repair or
replacement before catastrophic failure occurs.

Structural Design Optimization: Understanding plasticity aids in optimizing

structural designs. Engineers can design structures with materials that
exhibit appropriate levels of plasticity, ensuring a balance between safety,
cost-effectiveness, and performance.

Earthquake Resistance: Plasticity plays a significant role in seismic design.

Ductile materials and structures that can undergo controlled plastic
deformation are preferred in earthquake-prone areas. This helps absorb and
dissipate energy during seismic events, reducing the risk of collapse.

Therefore, a deep understanding of plasticity allows civil engineers to design

structures that can deform under stress, ensuring safety and stability against
various environmental and loading conditions.

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1.3 Literature survey

Since the 1960s numerous laboratory tests have been conducted to

determine the force deformation behaviour of structural elements for
earthquake conditions. During an earthquake structures undergo oscillatory
motion with reversal of deformation. Cyclic tests simulating this condition
have been conducted on structural members, assemblages of members,
reduced-scale models of structures and on small scale structures. The
experimental outcomes show that the cyclic force deformation behaviour of
a structure depends on the structural material as well as on the structural
system.[2]

1.4 Objective

In earthquake engineering a detailed study of response spectra model for

inelastic systems is of utmost importance in order to withstand extreme
events like nuclear explosion or strong motion earthquakes. However,
response spectra model for inelastic materials especially of hardening type
is of practical importance and need to be studied properly. Hence in this
project, we will try to comprehend inelastic behaviour and model response
spectra for elastoplastic systems.

1.5 Scope

Single degree of freedom system, elastic-perfectly plastic & isotropic

hardening models will be concluded.

1.6 Application

The inelastic design spectrum provides a convenient way to comprehend

the question that arises in the design of new structures and safety evaluation
of the existing structures.
Structural design for allowable ductility
Evaluation of an existing structure
Displacement based structural design etc. [2]

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 CHAPTER 02
Numerical Study
2.1 Construction of response spectrum

Let us consider an undamped oscillator subjected to one half period of the

sinusoidal exciting force. The system is assumed to be initially at rest. ‘𝑡𝑑 ’ is
the duration of the sinusoidal impulse. The differential equation of motion is
obtained by equating to zero the sum of the forces in the given free body
diagram.

Figure 1 : Undamped Simple Oscillator subjected to load

Figure 2: Free Body Diagram

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 ̅̅̅̅ (𝟎 ≤ 𝒕 ≤ 𝒕𝒅 )
Figure 3: Load Function F(t)=𝑭𝟎 𝒔𝒊𝒏𝝎𝒕

𝐹(𝑡) − 𝑘𝑦 = 𝑚𝑦̈

𝑚𝑦̈ + 𝑘𝑦 = 𝐹(𝑡) (1)

where,

̅̅̅̅ , 𝑖𝑓 0 ≤ 𝑡 ≤ 𝑡𝑑
𝐹 (𝑡) = 𝐹0 𝑠𝑖𝑛𝜔𝑡 (2)

𝐹 (𝑡) = 0 , 𝑖𝑓 𝑡𝑑 ≥ 𝑡
𝜋
𝜔
̅= (3)
𝑡𝑑

The solution of the differential equation is,

𝑦(𝑡) = 𝑦𝑐 (𝑡) + 𝑦𝑝 (𝑡) (4)
The complimentary function is,
𝑦𝑐 (𝑡) = 𝐴𝑐𝑜𝑠𝜔𝑡 + 𝐵𝑠𝑖𝑛𝜔𝑡 (5)

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 𝑘
Where A and B are arbitrary constants and 𝜔 =√
𝑚
From equation (1) and (2)
We get,

𝑚𝑦̈ + 𝑘𝑦 = 𝐹0 𝑠𝑖𝑛𝜔
̅𝑡 (6)

The particular integral is,

𝑦𝑝 = 𝑐𝑠𝑖𝑛𝜔
̅𝑡 (7)

Substituting 𝑦𝑝 in equation (6)

We get,
̅̅̅̅2 )𝑐 − 𝐹0 ]𝑠𝑖𝑛𝜔
[(𝑘 − 𝑚𝜔 ̅𝑡 = 0
Where,
0 ≤ 𝑡 ≤ 𝑡𝑑

̅̅̅̅2 )𝑐 = 𝐹0
(𝑘 − 𝑚𝜔

𝐹0
∴𝑐=
̅̅̅̅2
𝑘 − 𝑚𝜔

Substituting (5) and (7) in equation (4)

The general solution is,

𝐹0 𝑠𝑖𝑛𝜔
̅𝑡
𝑦 = 𝐴𝑐𝑜𝑠𝜔𝑡 + 𝐵𝑠𝑖𝑛𝜔𝑡 +
𝑘 − 𝑚𝜔̅̅̅̅2

Taking initial conditions as 𝑦(0) = 0 and 𝑦̇ (0) = 0 and

calculating the constants ‘A’ and ‘B’.
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Therefore we get,

𝐹0⁄
𝑘 𝜔
̅
𝑦= [𝑠𝑖𝑛𝜔
̅𝑡 − 𝑠𝑖𝑛𝜔𝑡]
𝜔
̅ 2 𝜔
1−( )
𝜔

Let,
𝐹0
𝑦𝑠𝑡 =
𝑘

𝜋
𝜔
̅=
𝑡𝑑

2𝜋
ω=
𝑇

then the equation becomes,

𝑦 1 𝑡 𝑇 𝑡
= 2 [sin𝜋 - 𝑠𝑖𝑛2𝜋 ]
𝑦𝑠𝑡 1−(𝑇⁄2𝑡 ) 𝑡𝑑 2𝑡𝑑 𝑇
𝑑
Where,
0 ≤ 𝑡 ≤ 𝑡𝑑

𝑇⁄
𝑦 𝑡𝑑 𝑡𝑑 𝑡 𝑡𝑑
= [𝑐𝑜𝑠𝜋 𝑠𝑖𝑛2𝜋( − )
𝑦𝑠𝑡 (𝑇⁄2𝑡 )2 −1 𝑇 𝑇 2𝑇
𝑑
Where,
𝑡 ≥ 𝑡𝑑

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2.2 Response spectra for inelastic systems

In case of extreme events like nuclear explosion or strong motion of

earthquakes, it is necessary to design structures to resist deformations
beyond the elastic range. For example, in seismic design of earthquake of
moderate intensity, it is conducive to assume elastic behaviour for
structures. However, in case of severe earthquake, it is not feasible
economically to design buildings to elastically resist earthquakes therefore
response spectrum has been extended to inelastic systems.

2.2.1 Elastoplastic Behaviour

Figure 4(a)

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Figure 4(b) : Force-displacement relationship for an elastoplastic single degree of
freedom system.
Figure 5: Response spectra for undamped elastoplastic systems for the 1940 EI Centro
earthquake.

From figure 4, due to the assumption of elastoplastic behaviour, if the force

is removed before the occurrence of yielding, the material will come back to
its loading line to the origin. However, when the yielding occurs at a
displacement 𝑦𝑡 ,
The restoring force remains constant at a magnitude 𝑅𝑡 . If the displacement
is not reversed, the displacement may reach a maximum value 𝑦𝑚𝑎𝑥 . If,
however, the displacement is reversed, the elastic recovery follows along a
line parallel to the initial line and the recovery proceeds elastically until a
negative yield value 𝑅𝑐 is reached in the opposite direction.

The preparation of response spectra is not an easy task for inelastic systems
than that of elastic systems. However, response spectra have been modelled
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for various kinds of output values. These spectra are usually plotted as a
series of curves corresponding to specific values of ductility ratio 𝜇.[1]

2.2.2 Ductility ratio (𝝁)

It is defined as the ratio of the maximum displacement of the

structure in the inelastic range to the displacement
corresponding to the yield point 𝑦𝑦 , that is,

𝑦𝑚𝑎𝑥
𝜇=
𝑦𝑦

Figure 6: Response spectra for elastoplastic systems with 10% critical damping for the
1940 EI Centro earthquake.
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2.3 Rectangular Load
Let us consider a case when a constant force 𝐹0 suddenly
applied but only during a limited time duration 𝑡𝑑 as shown
in figure 7.
At the time 𝑡𝑑 , displacement and velocity are :
𝐹0
𝑢𝑑 = (1 − 𝑐𝑜𝑠𝜔𝑡𝑑 )
𝑘
𝐹0
𝑣𝑑 = 𝜔𝑠𝑖𝑛𝜔𝑡𝑑
𝑘
For the response after time 𝑡𝑑 we apply the equation for free
vibration, taking as the initial conditions the displacement
and velocity at 𝑡𝑑 . After replacing 𝑡 by 𝑡 − 𝑡𝑑 and 𝑢0 and 𝑣0
for 𝑢𝑑 and 𝑣𝑑 , respectively, we obtain,

𝑣0
𝑢 = 𝑢0 𝑐𝑜𝑠𝜔𝑡 + 𝑠𝑖𝑛𝜔𝑡
𝜔
𝐹0
𝑢 𝑡 = (1 − 𝑐𝑜𝑠𝜔𝑡𝑑 ) cos ω(𝑡 − 𝑡𝑑 )
( )
𝑘
𝐹0
+ 𝑠𝑖𝑛𝜔𝑡𝑑 sin ω(𝑡 − 𝑡𝑑 )
𝑘
Which is reduced to,
𝐹0
𝑢(𝑡) = [cos ω(𝑡 − 𝑡𝑑 ) − 𝑐𝑜𝑠𝜔𝑡𝑑 ]
𝑘

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If the dynamic load factor (DLF) is defined as the
displacement at any time t divided by the static displacement
𝐹0
𝑢𝑢 = ,
𝑘
𝐷𝐿𝐹 = 1 − 𝑐𝑜𝑠𝜔𝑡
If, 𝑡 ≤ 𝑡𝑑
and
𝐷𝐿𝐹 = 𝑐𝑜𝑠𝜔(𝑡 − 𝑡𝑑 ) − 𝑐𝑜𝑠𝜔𝑡
If, 𝑡 ≥ 𝑡𝑑
It is often convenient to express time as a dimensionless
parameter by simply using natural period instead of the
natural frequency,
2𝜋
𝜔=
𝑇
Then the equation becomes,
2𝜋𝑡
𝐷𝐿𝐹 = 1 − 𝑐𝑜𝑠
𝑇
If, 𝑡 ≤ 𝑡𝑑
and

𝑡 𝑇𝑑 𝑡
𝐷𝐿𝐹 = 𝑐𝑜𝑠2𝜋( − ) − 𝑐𝑜𝑠2𝜋
𝑇 𝑇 𝑇
If,𝑡 ≥ 𝑡𝑑
Using the trigonometric identity

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 𝛼+𝛽 𝛼−𝛽
𝑐𝑜𝑠𝛼 − 𝑐𝑜𝑠𝛽 = −2𝑠𝑖𝑛 𝑠𝑖𝑛
2 2
We get

𝜋𝑡𝑑 𝑡 𝑡𝑑
𝐷𝐿𝐹 = (2𝑠𝑖𝑛 )sin [2𝜋 ( − )]
𝑇 𝑇 2𝑇
𝑡 ≥ 𝑡𝑑

The maximum dynamic load factor (DLF)max obtained by

maximizing eq is plotted in figure . it is observed from this
figure that the maximum dynamic load factor for loads of
𝑡
duration ( 𝑑 > 0.5) is the same as if the load duration has
𝑇
been infinite.[1]

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 i. Python Code

import numpy as np
import matplotlib.pyplot as plt

tmax=5
tdmax=10
n=201 # number of discretized time t values
m=1001 # number of discretized time-duration td values
td=np.linspace(0,tdmax,m)
t=np.linspace(0,tmax,n)
f=np.zeros([n,m])
DLF_max=np.zeros([m,1])
pi=np.pi

for j in range(m):
for i in range(n):
if t[i]<=td[j]:
f[i,j]=1-np.cos(2*pi*t[i])
else:
f[i,j]=np.cos(2*pi*(t[i]-td[j]))-np.cos(2*pi*t[i])
DLF_max[j]=np.max(f[:,j])

# Set the range of x-axis

plt.xlim(0.05,tdmax)
plt.xscale("log")
plt.xlabel("td/T")
plt.ylabel("(DLF)max")
plt.title("Rectangular Load Graph")

plt.plot(td,DLF_max,label='$DLF_max$')
plt.grid()

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2.3.2 OUTPUT FILE :

Figure 7: Maximum dynamic load factor for the undamped oscillator acted on
by a rectangular force

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 CHAPTER 3
FUTURE WORK
We will obtain response spectrum corresponding to triangular and
sinusoidal load and integrate the Duhamel's integral numerically to obtain
response spectra for general loading. We will also consider rectangular
loading for elastic-perfectly plastic and isotropic hardening models to obtain
the response spectra. Such response spectra are expected to be useful in the
inelastic dynamic design of structures with more realistic
material properties.

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REFERENCES :

1.Paz, M. and Leigh, W., 1991. Structural dynamics. Springer US.

2.Chopra, A.K., 2007. Dynamics of structures. Pearson Education India.

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