CIVL 7008

SEISMIC ANALYSIS FOR

BUILDING STRUCTURES

Dr. Ray SU
The University of Hong Kong
Email: [email protected]

Earthquake response spectrum

Learning Objectives
By the end of the lecture, students should be able to
 understand the concept of response spectra.
 construct earthquake response spectrum
 use response spectrum to evaluate the dynamic response of
SDF systems

2
Response Spectrum Concept

3
 Family of SDOF damped oscillators

Response Spectrum T1 < T2 <  < Tn Tn-1

Tn
Ti+1
Basic Concept Ti
T4
T3
 Summarises the PEAK T2
. ..t T1
response (u, u, u ) of all
possible linear SDF ug (t ) certain 
systems to a particular
Response Spectrum (RS)
ground motion
 Practical approach to
apply structural dynamics
to seismic structural
analysis and design.

4
 Elastic Response Spectrum
Displacement response spectrum for linear SDOF system at a
selected damping ratio
Peak absolute disp.
Spectral relative to ground
DISPLACEMENT
RESPONSE SPECTRUM
displacement
(mm)

T1

T2 peak ta

Displacement
T3
response
tb
Period
in sec Time
tc in sec

5
 Elastic Response Spectrum
The elastic response spectrum is characterised by the undamped natural frequency  n , the
damping ratio  , and the nature of the ground motion ug (t ) .

For basic engineering applications, only the maximum absolute values of the quantities
u (t ), u (t ) , and ut (t ) experienced by a structure during an earthquake are of interest.
These quantities are commonly referred to as the spectral displacement Sd , the spectral
velocity Sv , and the spectral acceleration Sa , respectively, and are defined by

S d  max u (t , Tn ,  ) (maximum absolute values of relative displacement)

t

S v  max u (t , Tn ,  ) (maximum absolute values of relative velocity)

t

S a  max ut (t , Tn ,  ) (maximum absolute values of total acceleration)

t

6
 Elastic Response Spectrum
Displacement response spectrum Max deformation
Since only the deformation is needed to compute internal
forces, the deformation spectrum provides all the information Max shear
necessary to compute the peak values of deformation, internal
forces and base shear.

Pseudo-velocity response spectrum

The pseudo-velocity response spectrum is a plot of
RSV(Tn, ζ) = (2/Tn) RSD(Tn, ζ) Max moment
as a function of the natural vibration period Tn. In the calculation of
internal forces, we do
Pseudo-acceleration response spectrum
not need to know the
The pseudo-acceleration response spectrum is a plot of damping and ground
RSA(Tn, ζ) = (2/Tn)2 RSD(Tn, ζ) acceleration of the
as a function of the natural vibration period Tn. mass. Why?

The system
considered is linear.
7
 Construction of Response Spectrum
The response spectrum for a given ground motion component ug (t ) can be developed
by implementation of the following steps:
1. Numerically define the ground acceleration ug (t ) ; typically, the ground motion
ordinates are defined in every 0.005, 0.01, or 0.02 sec
2. Select the natural vibration period Tn and damping ratio  of a SDF system.
3. Compute the deformation response u(t) of this SDF system due to the ground
motion ug (t ) (by any of the numerical methods).
4. Determine u  max , the absolute peak value of u(t). n n2
5. The spectral ordinates are Sd =  u  max , Spv = (2 / Tn )Sd , and Spa = (2 / Tn )2Sd
6. Repeat steps 2 to 5 for a range of Tn and  values covering all possible systems
of engineering interest
7. Present the result of steps 2 to 6 graphically to produce the spectra.

8
Example
Evaluate the displacement and acceleration response spectra and ADRS diagram of the
El-Centro Earthquake (N-S components) assuming the damping ratio of 5%.
Solution:
Using the linear acceleration method successively for different periods, the following
displacement responses can be obtained.
0.10

0.05 Abs Max = 0.051 m Short period

Tn = 0.5 sec 0.00
0 10 20 30 40 50 60
response is excited
-0.05

-0.10

0.20

0.10 Abs Max = 0.128 m

Tn = 1.0 sec 0.00
0 10 20 30 40 50 60
-0.10
-0.20

0.20
0.10 Abs Max = 0.177 m
Tn = 2.0 sec 0.00
-0.10 0 10 20 30 40 50 60

-0.20

0.20
Abs Max = 0.181 m
0.10
Long period
Tn = 4.0 sec 0.00
-0.10 0 10 20 30 40 50 60 response is excited
-0.20 9
The RSD and RSA corresponding to some selected periods are summarised below.
Total acceleration
T (s) Max u Min u RSD (m) u"+ug" (m/s2) RSA (m/s2) Pseudo-acceleration
0.10 0.001 -0.001 0.001 5.783 5.745
0.20 0.007 -0.006 0.007 6.602 6.591 RSA=n2 RSD
0.30 0.016 -0.014 0.016 7.006 6.996
0.40 0.024 -0.020 0.024 5.958 5.963 The two accelerations
0.50 0.051 -0.051 0.051 8.233 8.114
0.60 0.066 -0.076 0.076 8.406 8.361 are very similar, why?
u  2 n u   n2u  ug (t )
0.70 0.075 -0.075 0.075 6.085 6.066
0.80 0.087 -0.082 0.087 5.382 5.368
0.90 0.108 -0.103 0.108 5.299 5.268
1.00 0.115 -0.128 0.128 5.082 5.050 mu  mug
1.50 0.095 -0.106 0.106 1.872 1.862
2.00 0.161 -0.177 0.177 1.753 1.744
2.50 0.275 -0.238 0.275 1.749 1.734 0
3.00 0.239 -0.256 0.256 1.127 1.121 ku cu
3.50 0.175 -0.227 0.227 0.742 0.730
4.00 0.181 -0.158 0.181 0.454 0.447
4.50 0.167 -0.143 0.167 0.335 0.326

u  u   u  0
5.00 0.187 -0.159 0.187 0.297 0.295 u
2
g n

Maximum Absolute values are taken

u  u    u
g
2
n

 
max u  ug   n2 max
10 u
The acceleration and displacement response spectra are shown below
9.0 8.361 m/s2
8.0
PSA = Peak spectral acceleration
7.0
6.0

RSA (m/s2)
5.0
Acceleration
4.0 3.421 m/s2
spectrum 3.0
PGA = Peak ground acceleration
2.0
1.0
0.0
0 1 2 3 4 5
T (sec)

0.3 0.275 m
0.3 PSD = Peak spectral displacement
Displacement 0.2
RSD (m)

spectrum 0.2

0.1

0.1 Always zero

0.0
0 1 2 3 4 5
T (sec)
11
 With consideration of 200 different periods, a more refined
spectrum can be obtained.
10
9
8
7
RSA (m/s2)

6
5
4
3
2
1
0
0 0.5 1 1.5 2 2.5 3 3.5 4
Period (s)
The above elastic response spectrum is generated by the software, e.g. PRISM for
Earthquake Engineering http://sem.inha.ac.kr/prism/
12
By plotting RSA against RSD, the Acceleration Displacement Response Spectrum
(ADRS) can be shown below. This spectrum is very useful as both displacement
(deformation) and acceleration (force) demands can be presented.

RSA = (2π/Tn)2 RSD

9.0 Tn=0.5 s Slope
TTn RSA RSD
8.0 0.5 9.00 0.057
1.0 6.00 0.152
7.0 2.0 2.96 0.300
Tn=1.0 s 3.0 1.32 0.300
6.0 4.0 0.74 0.300
RSA (m/s2)

5.0 0.47 0.300

5.0
4.9 m/s2
4.0
3.0 Tn=2.0 s
2.0
Tn=3.0 s
1.0 Tn=4.0 s
0.128 m
0.0 Tn=5.0 s
0.00 0.05 0.10 0.15 0.20 0.25 0.30
RSD (m)

For a linear elastic structure with a fundamental period of 1 sec,

the seismic demands are 4.9 m/s2 and 0.128 m. 13
 Elastic Response Spectrum
Earthquake spectra are very useful in design because the designer can readily assess
how structures of different natural periods would respond to a specific earthquake.
The maximum response of a linear SDF system to any earthquake motion depends
only on the natural period of the system and the amount of damping.

Sa
Example of influence of damping on
acceleration response spectrum
(Amagasaki Bridge record, 1995 M=6.8
Kobe, Japan earthquake)

Sd
Example of influence of damping on
displacement response spectrum
(Amagasaki Bridge record, 1995 M=6.8
Kobe, Japan earthquake)
14
 PEAK STRUCTURAL RESPONSES

Fmax  mRSA
(Peak value of
hb equivalent static force)

(Vb ) max (Vb ) max  Fmax

( M b ) max ( M b ) max  hb Fmax
RSA
Fmax  mRSA  w w = weight; g = 9.81 m/s2
g
RSA is the maximum acceleration response of structure.
Hence: Fmax / w = RSA / g = “base shear coefficient”
15
 Base Shear Coefficient
(or Lateral Force Coefficient)
Fmax / w = RSA / g

ζ=0%
2%
5%
10 %
20 %

T (s)

Base Shear Coefficient for El Centro ground motion;

16
 Response Spectrum (RS) Analysis of SDF System
Consider the shear frame structure as shown in the figure. The maximum relative
displacement response u (t ) max is equal to the spectral displacement Sd, as shown. Similarly,
t
the maximum relative velocity u (t ) max and the maximum absolute acceleration u (t ) max are
approximately equal to the pseudospectral velocity Spv and the pseudospectral acceleration
Spa , respectively. Thus, from an appropriate design spectrum the maximum response may be
established as
umax  S d (Tn ,  ) where Tn and  represent the natural period
umax  S pv (Tn ,  ) and damping ratio, respectively.
t
umax  S pa (Tn ,  )
u max  Sd
m
u
Rigid girder

h EI EI

Shear building

u Max displacement response

g 17
The maximum seismic base shear Vmax or maximum elastic force (FS )max resisted by the
max  ( FS ) max  mS pa  kS d
structure can be calculated by V

The calculation of the maximum bending moment in the column is also illustrated in the
figure. For a column of height h fixed at its base, the maximum bending moment Mmax is
determined as 6 EIS
M max  d
h2
3EIS d
and for a column pinned at its base M max 
h2
Sd Sd

6 EIS d 3EIS d
M max  M max 
h2 h2
EI , h EI , h

Fixed base Pinned base

18
El Centro Earthquake acceleration time history ut
Tn = SHORT
e.g. 0.02 sec
0
(ug ) max  0.319 g  PGA u t (t )  u(t )  u g (t )

Total acceleration response

ug
Very rigid system
(ut ) max  0.321g  max. abs. accel. Deformation of SDF
(u ) max  S d  0
Pseudo acceleration response
Total movement of SDF
(ut )max  (ug )max  PGD
Spa = 0.321g Total acceleration of SDF
(ut ) max  Sa  (ug ) max  PGA
19
 0
u(t )
ut  0 u t (t )  u(t )  u g (t ) Tn = LONG
e.g. 30 sec
El Centro ground displacement

ug
Very flexible system (u g ) max  8.4 in.  PGD

Deformation of SDF
(u ) max  S d  (u g ) max  PGD Deformation response of SDF
T  30 sec,   0.02
Total movement of SDF
(u t ) max  0
Total acceleration of SDF Sd = 8.23 in.
(ut ) max  S a  0

20
 Example: Use of Response Spectrum
A 3.66m-long vertical cantilever with a 0.102m-nominal-diameter standard steel pipe,
supports a 23.13-kN weight attached at the tip as shown below. The properties of the pipe
are: outside diameter, do = 0.114 m, inside diameter di = 0.102 m, thickness t = 0.006 m,
and second moment of cross-sectional area, I = 300.94 cm4, elastic modulus E = 200
kN/mm2, and weight = 157.47 N/m length. Determine the peak deformation and bending
stress in the cantilever due to the El Centro ground motion. Assume that  = 2%.

14
23.13 kN
12
0.102-m. pipe

10
RSA (m/s2)
3.66 m 8

0
0.00 0.10 0.20 0.30 0.40
ADRS Diagram for El Centro ground
motion;  = 2% RSD (m)

21
 Solution
3EI 3(200 kN/mm 2 )300.94 cm 2
The lateral stiffness of this SDF system is k  3   36.83 kN/m
L (3.66 m)3

The total weight of the pipe is 157.47  3.66 = 576 N (0.58 kN), which
may be neglected relative to the lumped weight of 23.13 kN, Thus
w 23.13 kN
m  2
 2357.80 kg
g 9.81 m/sec
The natural vibration frequency and period of the system are
14
k
n 
m 12

36.83  103 N/m 10

  3.95 rad/sec
2357.80 kg
RSA (m/s2)

8
Tn  1.59 sec
6

The slope of line on the ADRS 4

diagram = (2π/Tn)2 = 15.6 s-2 2.34 m/s2
2

0
0.00 0.10 0.15 m 0.20 0.30 0.40
22
RSD (m)
From the response spectrum for  = 2% (as shown), for Tn = 1.59 sec,
Sd = 0.15 m and Spa = 2.34 m/s2. The peak deformation is umax  Sd  0.15 m
S pa
The peak equivalent static force is Fmax  w  5.52 kN p0  5.52 kN
g
The bending moment diagram is shown, with the maximum moment at
the base = 20.2 kN-m.
Mc (20.2 kN - m)(0.114 m / 2)
 max    382.6 MPa
I 300.94 cm 4

20.2 kN-m

23
nptel.ac.in/courses/105101004

Ended

24
 SHORT QUIZ
 What is a response spectrum?
 Response spectrum is used to present the characteristic
of a structure or a ground motion? Why?
 What factors influence the response spectrum?
 How to apply response spectrum to seismic design?
 Why the spectral velocity does not match well with
the pseudo-velocity?

Spectral velocity is the maximum velocity experienced by the SDF system

under a specific ground motion. Pseudo-velocity is the maximum relative
velocity which is derived from the RSD and is related to the maximum strain
energy. As these two velocities associated with different physical quantities,
they do not need to be exactly matched with each other. 25