HOMEWORK # 2

EXAMPLE 2
Forced vibrations response of a 3DOF model

Given a structure of RC frame consisting of 3 floors, represented by a 3DOF lumped
model of Fig. 1, and applying a P100/2006 type spectrum let us found the free vibrations
response using the stiffness method.

A. Initial Data
a. Geometrical characteristics:
cm b
col
25 =
4
3
2 2 3 3
083 . 32552
12
25 * 25
cm I I
col col
= = =


cm h
col
25 =
2
625 25 * 25 cm A
col
= =
cm L
col
400 =

b. Material characteristics:
2
270000
cm
daN
E
concrete
= 2 . 0 = u ) ( 0025 . 0
3
density weight
cm
daN
W
concrete
=



Fig. 1. 3DOF model of a 3 stories RC frame

c. Evaluation of Mass matrix:
cm
s
daN m
2
3
3185 . 0 2 /
981
400 * 25 * 25 * 0025 . 0
= |
.
|

\
|
=
cm
s
daN m
2
2
6371 . 0
981
400 * 25 * 25 * 0025 . 0
= =
id11934375 pdfMachine by Broadgun Software - a great PDF writer! - a great PDF creator! - http://www.pdfmachine.com http://www.broadgun.com
cm
s
daN m
2
1
6371 . 0
981
400 * 25 * 25 * 0025 . 0
= =

The final Mass matrix is:

(
(
(

=
(
(
(

=
6371 . 0 0 0
0 6371 . 0 0
0 0 3185 . 0
0 0
0 0
0 0
1
2
3
m
m
m
M


d. Computation of Stiffness Matrix:
The elastic force vector: u F
el
K =

=
1
2
3
T
T
T
F
el

The stories shear force vector is: A = K T

The stories drift:
1
= A
i i
u u
The lateral stiffness of the story:
cm daN
L
EI
L
EI
k
col
col
column
col
col
/ 949 . 1647
400
083 . 32552 * 270000 * 12 12 12
3 3 3
= = = =



and the lateral elastic forces are:

) 2 1 ( 1 ) 2 1 ( ) 0 1 (
2 1 2 1
1
1 1
u u k u k u u k u k T T T II R
a
I R R
+ = + = + =
) 3 2 ( ) 1 2 (
3 2 1
1
2
u u k u u k T T T
III R
II R
b
R
+ = + =
) 2 3 (
3 1 3
u u k T T
III R R
= =
II R
b
II R
a
T T 1 1 = (equal, but opposite in sign)

(
(
(

+
+

=
1
2
3
2 1 1
1 3 2 2
2 3
0
0
u
u
u
k k k
k k k k
k k
T
R

(
(
(

=
1
2
3
2 0
2
0
u
u
u
k k
k k k
k k
T
R
=>

(
(
(

=
(
(
(

=
898 . 3295 949 . 1647 0
949 . 1647 898 . 3295 949 . 1647
0 949 . 1647 949 . 1647
2 0
2
0
k k
k k k
k k
K


e. Identification of Damping Matrix:
The damping force vector is:
.
u F
D
C =

=
1
2
3
D
D
D
D
F
F
F
F
The stories shear force due to damping effects:
.
A = c F
D

The stories velocity: 1
. . .
= A i i u u
The damping of the story:
cr
c
c
= v 0 = c for free undamped vibrations.

0
0
0
1
.
2
.
3
.
2 1 3
3 3 2 2
2 3
=

(
(
(

+
+

=
u
u
u
c c c
c c c c
c c
F
D


f. Description of Seismic Spectrum recommended in P100/2006, presented in Fig.1:


m T S F
d I b
) ( =
(1)

where:
q
T
a T S
g d
) (
) (
|
= ;
For Iai the Corner Period is s T
C
7 . 0 = ; 1 =
I
(for regular buildings);

2
2 . 196 981 * 2 . 0 2 . 0
s
cm
g a
g
= = = ; 25 . 6 25 . 1 * 5 5
1
= = = o o
u
q .

Fig. 1. Normalized Elastic Spectrum after P100/2006
B. Solution:
The equation of motion of a MDOF model is:
) (
. ..
t u u u P K C M = + +
(2)

For the case of forced undamped vibrations the form of Eq. (1) becomes:
) ( ) ( ) (
.. .. .. ..
t u m t u m t u m u u
gz
z
gy
y
gx
x
= + K M
(3)

where:
. ..
( ), ( ), ( ) u t u t u t are the relative displacement, velocities and accelerations with respect to the
ground;
.. .. ..
, , gx gy gz u u u are the components of uniform ground acceleration;
, ,
x y z
m m m are the unit acceleration loads.

The dynamic force equilibrium equation can be written as a set of N second order differential
equations:

=
= +
J
j
j j
t g f u u
1
..
) ( K M
(4)
where :
All the time-dependent loads are represented by a sum of j space vectors
j
f , which do not
depend on time and J time functions ) (t g
j
, where N J s with N being the number of
displacements.

The spectrum function (P100/2006) defined in Eq. (1) becomes:

) (
2000
T c F
SAP b
| =
(5)
m
q
a
c
g
I SAP
=
2000
(6)


The problem of forced vibrations supposes the following steps:


Step 1
Transformation of modal equations:

) ( ) ( t t Y u =
(7)
) ( ) (
. .
t t Y u =
(8)
) ( ) (
.. ..
t t Y u =
(9)


Step 2
The condition of mass and stiffness orthogonality must be satisfied:

I M =
T
(10)


2
K =
T
(11)


Step 3
Substitute Eqs. (7), (8) and (9) in Eq. (4) it will be obtained the following dynamic force
equilibrium equation:

=
= +
J
j
j j
t g f t t
1
..
) ( ) ( ) ( Y K Y M
(12)


Pre-multiplying Eq. (12) with
T
well obtain:

=
= +
J
j
j j
T T T
t g f t t
1
..
) ( ) ( ) ( Y K Y M
(13)

Substitute Eqs. (10) and (11) in Eq. (13) and obtain:

( )

=
= +
J
j
j j
T
t g f t t
1
2
..
) ( ) ( ) ( Y Y I
(14)

( )

=
= +
J
j
j j
T
t g f t t
1
2
..
) ( ) ( ) ( Y Y
(15)

Step 4
Identification of the uncoupled modal equation, of the Eq. (15) in matrix form, using modal
damping:

( )

=
= + +
J
j
j j
T
t g f t t t
1
2
. ..
) ( ) ( ) ( 2 ) ( | e e Y Y Y
(16)

Step 5
In our example we apply the spectrum function only in the X-direction and Eq. (16) becomes:

) ( ) ( ) ( 2 ) (
..
2
. ..
t u f t t t
gx
j
T
| e e = + + Y Y Y
(17)

where:
the damping proportional coefficient if e 2 = c ;
cr
mode n
c
th
c
c = ; and the critical damping ratio
is 05 . 0 = ;


Step 6
We have the Modal Normalized Matrix obtained from the modal analysis:

| |
(
(
(

= u
511 . 0 023 . 1 511 . 0
886 . 0 00001 . 0 886 . 0
022 . 1 022 . 1 023 . 1
(18)

We obtain the modal participating factors:

{ } | | | || | M
T
=
(19)

{ }

=
(
(
(

(
(
(

(
(
(

=
0866 . 0
3262 . 0
2158 . 1
1
1
1
6371 . 0 0 0
0 6371 . 0 0
0 0 3185 . 0
511 . 0 023 . 1 511 . 0
886 . 0 00001 . 0 886 . 0
022 . 1 022 . 1 023 . 1
T

Step 7
Obtain the total effective mass, computed as
2
o :

Mode
SAP2000
2

tot
%M
tot
%M
SAP2000
tot
%M
accumulated
SAP2000
%M
tot

1 1.2158 -1.2163 1.4783 92.84% 93% 92.84% 93%
2 0.3262 0.3259 0.1064 6.68% 6.667% 99.52% 100%
3 0.0866 -0.0873 0.0075 0.48% 0.4786% 100.00% 100%
TOTAL - 1.5922 - -

Step 8
Obtain the uncoupled vibration equations:

) ( 2158 . 1 ) ( ) ( 2 ) (
..
1
2
1
.
1 1 1
..
1
t u t y t y t y
gx
= + + e e


) ( 3262 . 0 ) ( ) ( 2 ) (
..
2
2
2
.
2 2 2
..
2
t u t y t y t y
gx
= + + e e


) ( 0866 . 0 ) ( ) ( 2 ) (
..
3
2
3
.
3 3 3
..
3
t u t y t y t y
gx
= + + e e


where:
05 . 0 =
i
is the critical damping ratio.



Step 9
Obtain values of the displacement spectrum according to the periods of vibration (P100/2006):

2
2
) ( ) (
(

=
t
T
T S T S
e De
(20)

From P100/2006 we get:

q
T
a T S T S
g d e
) (
) ( ) (
1
|
= =
(elastic/design spectrum)
C B C B
T T and T T T for T 1 . 0 ) (
, 0
= < < = | |


It results:
2
0
1
2
) (
(

=
t
|

T
q
a T S
g De
(21)



















Step 10
Compute the maximum displacement values for the uncoupled degrees of freedom:

Mode
( )
i i De
, T S
(cm)
( )
i i De i
, T S * y =
(cm)
1 1.2158 0.123864 0.010727
2 0.3262 0.016551 0.005399
3 0.0866 0.007811 0.009497

Mode
i
T
(s)
0

0 1
3 0.063 2.475
0.07 2.75
2 0.087 2.75
1 0.238 2.75
0.7 2.75
Mode
i
T
(s)
( )
i i De
, T S
(cm)
1 0.238 0.123864
2 0.087 0.016551
3 0.063 0.007811

Step 11
Compute the maximum modal displacements in mode i of vibrations:

{ } { }
i ax i
y
i m
u =
,
(22)

Eq. (22) can be written in the matrix form:


| | | || |
max
=
mod
U H
(23)

where:
| |
1
2
3
0.010727 0 0 0 0
0 0 0 0.005399 0
0 0 0 0 0.009497
y
y
y
( (
( (
= =
( (
( (
( (

mod
H


The values of
{ }
max
U
are:

| | max
1.023 1.022 1.022 0.010727 0 0
0.886 0.00001 0.886 0 0.005399 0
0.511 1.023 0.511 0 0 0.009497
( (

( (
=
( (
( (
( (

U
| | max
0.010973 0.005518 0.009706
0.009504 0.00000005 0.008414
0.005481 0.005523 0.004853
cm
(

(
=
(
(
(

U


Step 12
Compute the maximum modal lateral forces multiplying the stiffness matrix of the structure by
the modal lateral displacements:

| | | || | =
max max
F K u
(24)
| |
max
1647.949 1647.949 0 0.010973 0.005518 0.009706
1647.949 3295.898 1647.949 0.009504 0.00000005 0.008414
0 1647.949 3295.898 0.005481 0.005523 0.004853
( (

( (
=
( (
( (

( (

F
| |
max
2.4218 9.0931 29.8613
4.2073 0.0087 51.7251
2.4041 18.2037 29.8613
daN
(

(
=
(
(
(

F



Step 13
Compute the maximum modal story shear from:

=
=
n
j k
i
k
i
j
F T
(25)

Story
1
mod
T
2
mod
T
3
mod
T
3 2.4218 -9.0931 29.8613
2 2.4218+4.2073=6.6291 -9.1018 -21.8638
1 6.6291+2.4041=9.0332 9.1019 7.9975


Step 14
Compute the base shear for each mode:

{ } { } | |
mod mod
F 1 T
T
=
(26)

{ }
{ }
1 2.4218 9.0931 29.8613
1 4.2073 0.0087 51.7251 9.0332 9.1019 7.9975
1 2.4041 18.2037 29.8613
T
daN
( (

( (
= =
( (
( (
( (

mod
T



Step 15
Compute the overturning moment for each story:

+ =
=
n
j k
i
j j k
i
j
F h h M
1
) (
(27)


Story
1
mod
M
2
mod
M
3
mod
M
3 2.4218*0=0 0 0
2 2.4218*400=968.72 -3637.24 11944.52
1 2.4218*800+4.2073*400=3620.36 -7277.96 3199.04
0 2.4218*1200+4.2073*800+2.4041*400=7233.64 -3637.2 6398.08



Step 16
Compute the maximum overturning moment at the base:

{ } { } | |
mod mod
F h M
T
=
(28)


{ }
{ }
12 2.4218 9.0931 29.8613
8 4.2073 0.0087 51.7251 7233.64 3637.2 6398.08
4 2.4041 18.2037 29.8613
T
daNcm
( (

( (
= =
( (
( (
( (

mod
M


Step 17
Obtain the modal spectral combination values using the square root of the squares (SRSS):

=
=
n
i
i
r r
1
2
(29)

Maximum credible lateral displacements of the structure:

( )

=
=
n
i
i
j
SRSS
U U
1
2
(30)
| | max
0.010973 0.005518 0.009706
0.009504 0.00000005 0.008414
0.005481 0.005523 0.004853
cm
(

(
=
(
(
(

U

( )
max 2 2 2
3
0.010973 0.005518 0.009706 0.015654 U cm = + + =
max 2 2 2
2
( 0.008414) 0.00000005 0.009504 0.012693 U cm = + + =
max 2 2 2
1
0.004853 0.005523 0.005481 0.009170 U cm = + + =

Modal forces should be separated by node and never combined using SRSS method so that we
want use combined forces in the computation of story shear and overturning moments.

Maximum credible base shear of the structure:

( )

=
=
n
i
i
SRSS
T T
1
2
mod mod
(31)

max 2 2 2
9.0332 9.1019 7.9975 15.113 T daN = + + =


Maximum credible overturning moment of the structure:

( )

=
=
n
i
i
SRSS
M M
1
2
mod mod
(32)

( )
max 2 2 2
7233.64 3637.2 6398.08 10319.409 M daNcm = + + =


SAP2000 results from Spectral Analysis
Displacements Overturning moment Shear force