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STRUCTURES
INC.
Software Verification
PROGRAM NAME:
REVISION NO.:
SAP2000
6
METHODOLOGY
A comprehensive series of test problems, or examples, designed to test the various
elements and analysis features of the program were created. The results produced by
SAP2000 were compared to independent sources, such as hand calculated results,
theoretical or published results, or results obtained from other structural/finite element
programs. The comparison of the SAP2000 results with results obtained from
independent sources is provided in tabular form as part of each example.
Two different equation solvers are available in SAP2000. They are the Standard solver
and the Advanced solver. The Advanced solver is only available with the Advanced
version of the program. The two solvers give identical results for most of the verification
problems. For a few numerically sensitive problems the two solvers give slightly
different results. The results presented in this document are those obtained using the
Standard equation solver. Example 2-019 and Example 6-011 give slightly different
results when the Advanced solver is used.
ACCEPTANCE CRITERIA
The comparison of the SAP2000 validation and verification example results with
independent results is typically characterized in one of the following three ways.
Exact: There is no difference between the SAP2000 results and the independent
results within the larger of the accuracy of the typical SAP2000 output and the
accuracy of the independent result.
Acceptable: For force, moment and displacement values, the difference between
the SAP2000 results and the independent results does not exceed five percent
(5%). For internal force and stress values, the difference between the SAP2000
results and the independent results does not exceed ten percent (10%). For
experimental values, the difference between the SAP2000 results and the
independent results does not exceed twenty five percent (25%).
Unacceptable: For force, moment and displacement values, the difference
between the SAP2000 results and the independent results exceeds five percent
(5%). For internal force and stress values, the difference between the SAP2000
results and the independent results exceeds ten percent (10%). For experimental
values, the difference between the SAP2000 results and the independent results
exceeds twenty five percent (25%).
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SAP2000
6
The percentage difference between results is typically calculated using the following
formula:
Percent Difference = 100
SAP2000 Result
-1
Independent Result
SUMMARY OF EXAMPLES
The example problems are categorized into seven groups based on the structural
elements used in the example. Table 1 defines the seven groups, illustrates the example
problem numbering system used for each group, and identifies the summary table used
for each group.
TABLE 1: GROUPING OF EXAMPLE PROBLEMS
Group
Structural
Elements Tested
Example Numbering
Summary
Table
Frame
Table 2-1
Shell
Table 2-2
Plane
Table 2-3
Asolid
Table 2-4
Solid
Table 2-5
Link
Table 2-6
Cable
Table 2-7
As shown in Table 1, Tables 2-1 through 2-7 summarize the validation and verification
examples for each of the seven categories. Tables 2-1 through 2-7 include the example
number, the problem title, a summary of the program features tested and the method of
independent verification.
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PROGRAM NAME:
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6
1-001
Problem Title
General
Loading
1-002
Temperature
Loading
1-003
Distributed and
Concentrated
Moments
1-004
Rotated Local
Axes
1-005
Displacement
Loading
1-006
Non-Prismatic
Sections and
Automatic
Frame
Subdivision
Method of
Independent
Verification
Hand calculation
using the unit load
method described on
page 244 in Cook
and Young 1985.
Hand calculation
using standard
thermal expansion
formulas and using
Table 3 items 6a and
6c on page 107 in
Roark and Young
1975.
The application of
Distributed moments (uniform, trapezoidal,
triangular) to frame objects
Concentrated moments to frame objects
Hand calculation
using equation 8.1.3
on page 284 in Cook
and Young 1985.
Hand calculation
using the beam
deflection formulas in
Table 3 item 1a and
Table 3 item 2a on
pages 96 and 98,
respectively, in Table
3 in Roark and
Young 1975.
Hand calculation
using the unit load
method described on
page 244 in Cook
and Young 1985.
Hand calculation
using the unit load
method described on
page 244 in Cook
and Young 1985.
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6
Problem Title
1-007
End Releases
Method of
Independent
Verification
Hand calculation
using basic statics.
Partial Fixity
End Releases
Hand calculation
using the unit load
method described on
page 244 in Cook
and Young 1985.
Prestress
Applied To
Frame Objects
Hand calculation
using basic principles
and the unit load
method described on
page 244 in Cook
and Young 1985.
1-010
End Offsets
Hand calculation
using the unit load
method described on
page 244 in Cook
and Young 1985.
1-011
Insertion Point
Cardinal point
Joint offsets
Hand calculation
using statics.
1-012
No Tension
and No
Compression
Frame Objects
Hand calculation
using the unit load
method described on
page 244 in Cook
and Young 1985
together with statics.
1-013
Simply
Supported
Beam on
Elastic
Foundation
Hand calculated
using formulas
presented in Problem
3 on page 23 of
Timoshenko 1956.
Eigenvalue
Problem
Hand calculation
based on formulas
presented on page
313 of Clough and
Penzien 1975.
1-008
1-009
1-014
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SAP2000
6
Problem Title
Method of
Independent
Verification
Comparison with
illustrative example
20.2 on page 434 of
Paz 1985.
1-015
Steady State
Harmonic
Loads
1-016
Tension
Stiffening Using
P-Delta
Analysis
Hand calculation
using equation 23 on
page 28 and
equations 43 and 45
on page 43 of
Timoshenko 1956.
1-017
Vibration of a
String Under
Tension
Hand calculation
using vibration theory
presented on pages
506 though 510 of
Kreyszig 1983.
1-018
Bending, Shear
and Axial
Deformations in
a Rigid Frame
Hand calculation
using the unit load
method described on
page 244 in Cook
and Young 1985.
1-019
Buckling of a
Rigid Frame
Hand calculation
using formulas
presented in Article
2.4 on pages 62
though 66 of
Timoshenko and
Gere 1961.
1-020
Response
Spectrum
Analysis of a
TwoDimensional
Rigid Frame
Comparison with
example 13.11 on
page 521 of Chopra
1995.
Comparison with
results published in
Bathe and Wilson
1972 and
comparison with
results from another
computer program
published in
Peterson 1981.
1-021
Bathe and
Wilson
Eigenvalue
Problem
METHODOLOGY - 5
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1-022
Problem Title
TwoDimensional
Moment Frame
with Static and
Dynamic Loads
Method of
Independent
Verification
Diaphragm constraint
Joint force assignments
Joint mass assignments
Modal analysis for eigenvalues
Response spectrum analysis
Modal time history analysis for base excitation
Direct integration time history analysis for base
excitation
Comparison with
results from another
computer program
published by
Engineering/Analysis
and Computers/
Structures
International.
1-023
ASME
Eigenvalue
Problem
Comparison with
results from another
computer program
published in
Peterson 1981 and in
DeSalvo and
Swanson 1977.
1-024
Response
Spectrum
Analysis of a
ThreeDimensional
Moment Frame
Comparison with
results from another
computer program
published in
Peterson 1981.
1-025
Response
Spectrum
Analysis of a
ThreeDimensional
Braced Frame
Comparison with
results from another
computer program
published in
Peterson 1981.
Hand calculation
using the unit load
method described on
page 244 in Cook
and Young 1985
together with basic
deflection formulas
and superposition.
Hand calculation
using the unit load
method described on
page 244 in Cook
and Young 1985
together with basic
deflection formulas.
1-026
1-027
Moment and
Shear Hinges
Construction
Sequence
Loading
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1-029
1-030
Problem Title
Large Axial
Displacements
Large Bending
Displacements
Moving Loads
Method of
Independent
Verification
Hand calculation
using basic statics.
Comparison with
results published in
Appendix A of
AASHTO 1990 and
hand calculation.
METHODOLOGY - 7
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2-001
2-002
2-003
2-004
2-005
Problem
Description
Straight Beam
with Static
Loads
Curved Beam
with Static
Loads
Twisted Beam
with Static
Loads
Rectangular
Plate with Static
Loads
Method of
Independent
Verification
Hand calculation
based theory in
Timoshenko and
Goodier 1951 and
Timoshenko and
Woinowsky-Krieger
1959. Results also
published in MacNeal
and Harder 1985.
Hand calculation
using the unit load
method described on
page 244 in Cook
and Young 1985 and
using formulas from
Roark and Young
1975. Results also
published in MacNeal
and Harder 1985.
Hand calculation
using the unit load
method described on
page 244 in Cook
and Young 1985.
Results also
published in MacNeal
and Harder 1985.
Hand calculation
using the unit load
method described on
page 244 in Cook
and Young 1985.
Results also
published in MacNeal
and Harder 1985.
Hand calculation
based theory in
Timoshenko and
Woinowsky-Krieger
1959. Results also
published in MacNeal
and Harder 1985.
METHODOLOGY - 8
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6
Problem
Description
Method of
Independent
Verification
2-006
Scordelis-Lo
Roof with Static
Loads
Some results
published in MacNeal
and Harder 1985.
Other results scaled
from plotted results in
Zienkiewicz 1977
that were calculated
using theory
presented in
Scordelis and Lo
1964.
2-007
Hemispherical
Shell Structure
with Static
Loads
Results published in
MacNeal and Harder
1985.
2-008
Cantilever Plate
Eigenvalue
Problem
Hand calculation
using Table 7.7 on
page 7-30 of Harris
and Crede 1976.
2-009
Plate on Elastic
Foundation
Hand calculation
using equation 185
on page 275 of
Timoshenko and
Woinowsky-Krieger
1959.
2-010
Cylinder with
Internal
Pressure
Hand calculation
using item 1b in
Table 29 on page
448 of Roark and
Young 1975.
2-011
ASME Cooling
Tower Problem
with Static Wind
Pressure
2-012
Plate Bending
when Shear
Deformations
Are Significant
Results published in
example shown on
page 376 of Roark
and Young 1975.
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Problem
Description
2-013
Temperature
Load that Is
Constant
Through Shell
Thickness
Method of
Independent
Verification
Hand calculation
using equation 1.3.4
on page 9 of Cook
and Young 1985.
2-014
Temperature
Gradient
Through Shell
Thickness
Hand calculation
using formulas
presented in item 8e
of Table 24 on page
361 of Roark and
Young 1975.
2-015
Orthotropic
Plate
Hand calculated
using theory
presented in Chapter
6 of Ugural 1981.
Out-of-Plane
Buckling
Hand calculated
using theory
presented in
Timoshenko and
Gere 1961.
2-017
In-Plane
Buckling
Hand calculated
using equation 2-4
on page 48 of
Timoshenko and
Gere 1961.
2-018
Large Axial
Displacements
Hand calculation
using basic statics.
Large Bending
Displacements
Prestress
Applied to Area
Objects
Hand calculation
using basic principles
and the unit load
method described on
page 244 in Cook
and Young 1985.
2-016
2-019
2-020
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3-001
3-002
3-003
Problem
Description
Straight Beam
with Static
Loads
Curved Beam
with Static
Loads
Method of
Independent
Verification
Hand calculation
based theory in
Timoshenko and
Goodier 1951.
Results also
published in MacNeal
and Harder 1985.
Hand calculation
using the unit load
method described on
page 244 in Cook
and Young 1985 and
using formulas from
Roark and Young
1975. Results also
published in MacNeal
and Harder 1985.
Hand calculation
using the unit load
method described on
page 244 in Cook
and Young 1985.
Results also
published in MacNeal
and Harder 1985.
3-004
Thick-Walled
Cylinder
Hand calculation
based on theory in
Timoshenko 1956
and based on
formulas in Roark
and Young 1975.
Results also
published in MacNeal
and Harder 1985.
3-005
Pore Pressure
Hand calculation
using basic
principles.
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Problem
Description
4-001
Soil Supporting
Uniformly
Loaded Circular
Footing
4-002
Thick-Walled
Cylinder
Method of
Independent
Verification
Hand calculation
based on data
presented in Poulos
and Davis 1974.
Hand calculation
based on theory in
Timoshenko 1956.
Results also
published in MacNeal
and Harder 1985.
4-003
Rotating
Annular Disk
Hand calculation
based on equations
presented in Item 8
on page 567 of
Roark and Young
1975.
4-004
Pore Pressure
Hand calculation
using basic
principles.
METHODOLOGY - 12
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Exam.
No.
Problem
Description
5-001
Results also
published in MacNeal
and Harder 1985.
Straight Beam
with Static
Loads
Hand calculation
using the unit load
method described on
page 244 in Cook
and Young 1985.
Results also
published in MacNeal
and Harder 1985.
Hand calculation
using the unit load
method described on
page 244 in Cook
and Young 1985.
Results also
published in MacNeal
and Harder 1985.
Hand calculation
using the unit load
method described on
page 244 in Cook
and Young 1985.
Results also
published in MacNeal
and Harder 1985.
Hand calculation
based theory in
Timoshenko and
Woinowsky-Krieger
1959. Results also
published in MacNeal
and Harder 1985.
5-002
5-003
5-004
5-005
Curved Beam
with Static
Loads
Twisted Beam
with Static
Loads
Rectangular
Plate with Static
Loads
METHODOLOGY - 13
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Problem
Description
Method of
Independent
Verification
5-006
Scordelis-Lo
Roof with Static
Loads
Some results
published in MacNeal
and Harder 1985.
Other results scaled
from plotted results in
Zienkiewicz 1977
that were calculated
using theory
presented in
Scordelis and Lo
1964.
5-007
Hemispherical
Dome Structure
with Static
Loads
Results published in
MacNeal and Harder
1985.
Thick-Walled
Cylinder
Hand calculation
based on theory in
Timoshenko 1956.
Results also
published in MacNeal
and Harder 1985.
Prestress
Applied to Solid
Objects
Hand calculation
using basic principles
and the unit load
method described on
page 244 in Cook
and Young 1985.
5-010
Buckling
Hand calculation
using equation 2-4
on page 48 of
Timoshenko and
Gere 1961.
5-011
Temperature
Load
Hand calculation
using equation 1.3.4
on page 9 of Cook
and Young 1985.
Plate on Elastic
Foundation
Hand calculation
using equation 185
on page 275 of
Timoshenko and
Woinowsky-Krieger
1959.
5-008
5-009
5-012
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Problem
Description
5-013
Pore Pressure
Method of
Independent
Verification
Hand calculation
using basic
principles.
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Problem
Description
Method of
Independent
Verification
Hand calculation
using theory
presented in section
4.5 on pages 126
through 129 of
Chopra 1995.
6-001
Linear links
Modal analysis case for eigenvectors
Modal time history analysis case
Direct integration time history analysis case
Ramp loading
6-002
Multi-linear
Elastic Link
Multi-linear links
Displacement-controlled nonlinear static analysis
Comparison with
defined link forcedeformation
characteristics.
Gap Element
Hand calculation
using the unit load
method described on
page 244 in Cook
and Young 1985.
6-004
Hook Element
Hand calculation
using standard
thermal expansion
formulas.
6-005
Damper
Element Under
Harmonic
Loading
6-003
6-006
SUNY Buffalo
Damper with
Linear Velocity
Exponent
6-007
SUNY Buffalo
Damper with
Nonlinear
Velocity
Exponent
Hand calculation
using equation 3.2.6
on page 70 in
Chopra 1995.
Comparison with
experimental results
from shake table
tests published in
Section 5, pages 61
through 73, of
Scheller and
Constantinou 1999.
Comparison with
experimental results
from shake table
tests published in
Section 5, pages 61
through 73, of
Scheller and
Constantinou 1999.
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6
Exam.
No.
Problem
Description
6-008
Plastic Wen
Link
Comparison with
defined link forcedeformation
characteristics.
6-009
Plastic
Kinematic Link
Comparison with
defined link forcedeformation
characteristics.
SUNY Buffalo
Eight-Story
Building with
Rubber
Isolators
Comparison with
results from the
computer program
3D-BASIS-ME (see
Tsopelas,
Constantinou and
Reinhorn 1994)
published in Section
2, pages 5 through
23, of Scheller and
Constantinou 1999.
SUNY Buffalo
Seven-Story
Building with
Friction
Pendulum
Isolators
Comparison with
experimental results
from shake table
tests published in
Section 4, pages 43
through 59, of
Scheller and
Constantinou 1999.
Hand calculation
using formulas and
theory presented in
section 3.2 on pages
68 through 69 of
Chopra 1995.
6-010
6-011
6-012
Frequency
Dependent
Links
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Exam.
No.
Problem
Description
7-001
Uniform and
Temperature
Loading
Comparison with
results published in
Figure 5 of Peyrot
and Goulois, 1979.
7-002
Uniform and
Concentrated
Loading
Comparison with
results published in
Section 4.6.2, Table
4.2, of Tibert, 1999.
7-003
Prestressed
Cable Net
Comparison with
results published in
Section 4.6.3, Table
4.4, of Tibert, 1999.
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Table
Table 4-1
Table 4-2
Table 4-3
Table 4-4
Table 4-5
Table 4-6
Table 4-7
As illustrated in Table 3, the program features matrices are presented in tables 4-1
though 4-6. These tables are shown on the following pages.
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Example Problems
Restraints
Most
Constraints
Springs
1-005, 2-016
Masses
Local axes
Panel zones
Joint patterns
Joint forces
Joint displacements
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Example Problems
Non-prismatic section
1-006
End releases
Partial fixity
1-008
Local axes
1-004
Insertion point
1-011
Prestress definition
1-009
P-Delta force
1-016
Tension/compression limits
1-012
Hinges
1-026
Line springs
1-013
Line mass
1-015, 1-021
Gravity load
1-008
Point load
Distributed load
Temperature load
1-002, 6-004
Prestress load
1-009
1-006, 1-009
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Example Problems
Stiffness modifiers
Local axes
2-014
Area springs
2-009
Area Mass
2-008
2-006
2-005, 2-006
3-005, 4-004
2-013, 2-014
4-003
2-020
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Example Problems
Local axes
5-013
Surface springs
5-012
5-012
Gravity load
5-006
5-005, 5-008
5-013
Temperature load
5-011
5-009
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Example Problems
Linear link
6-002
6-003
6-004
Damper link
6-008
6-009
6-010
6-011
6-012
Local axes
6-008
Gravity load
6-008, 6-009
Example Problems
Cable element
7-001, 7-002
Cable net
7-003
6-010
6-011
6-012
Uniform load
7-001, 7-002
Temperature load
7-001
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Example Problems
Linear static
Most
Multi-step static
1-030
Nonlinear static
1-027
Response spectrum
1-015
Moving load
1-030
Buckling
Steady state
1-015, 6-012
METHODOLOGY - 25