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Faculty of Engineering Science, University of Western Ontario, London, Ontario N6A 3K7
Introduction
Dynamics of piles has been receiving attention
mainly due to its applications in machinery
foundations and structures exposed to dynamic
loads such as wind or earthquake. However,
the dynamic behavior of piles is far from completely understood as the soil-pile interaction
is very complex. There are no readily applicable
methods available that would include this
interaction and as a result of this, .it is not
uncommon to ignore the soil entirely and to
attribute all the foundation stiffness to the
stiffness of the piles. On the other hand, some
approaches are used in which the horizontal and
rotational stiffness of piles are ignored and all
the dynamic stiffness is attributed to the soil.
Damping derived from piles is in practice only
guessed.
More rigorous approaches were applied by
Tajimi 1966, who used a linear elastic medium
model, and by Penzien 1970 who assumed a
lumped mass model which made it possible to
incorporate soil nonlinearity. These sophisticated
solutions deal with earthquake excitation and
their complexity makes them accessible to
researchers rather than to practicing engineers.
The objective of this paper is to examine an
Can. Geotech. J., 11,574(1974)
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V z,+
W,
+ Rw
G(&,
iS,,)u(z, t)dz
C1 1
in which G = shear modulus of soil and
i = R.
Parameters S,, and S,,, are functions
of dimensionless frequency a, = r, w
depend on Poisson's ratio v, and are the real
and imaginary parts of the complex function
m,
in which p
frequency, and
u(z) = ul(z)
iu2(z)
Substitution of Eq. [4] into Eq. [3] yields an
ordinary differential equation :
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C A N . G E O T E C H . J. VOL. 1 1 , 1974
0.2
FIG.2.
0.4
0.6
0.8
DIMENSIONLESS FREQUENCY
~111 r
[GS,, - ~ L W ,+ ~ ( C W
+ GS,,,)]
C , sinh h"
+ C , cos h-+zl
C , sin X -
Note
=r , w W ~
&TP,
Then, parameter
described as
z
1
1131 X , =*cos-,
is more
=-
conveniently
d
4
X, =
d
sin 4
For a pile of circular cross section the parameters given by Eq. [9] are also
X =
and
[l51 h,
1 4
p G
4
-
and
tan 4
h = X , + ih,
W]
in which real and imaginary parts of h are
"
[7]
0,
1.4
d4u( z )
161 E p I r + U ( Z )
X
1.2
1.0
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dz
z
sinh h1
='(C,
+ C, cosh h- zZ
z
1
cosh h /
Z
z
- C, cos h--
)*
dz3
= $(C,
+ C,
sinh h 4
1
C, sin h-
z
sinh h--+ C, cosh 12
Z
l
+ C,
z
sin h-l
C, cos h-
*,,
-h
F3(X) = - h2
+ iF,(h),
F4(h) = h2
F5(h) = h3
F ~ ( 4+
l iF5(h)2
F&) =
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578
2 sinh h sin h
cosh h sin h - sinh h cos h
F7(h)l
iF7(h)2
F8(h) =
sinh h + sin h
h2cosh h sin h - sinh h cos h
F8(h)l + iF8(h)2
F9(4 =
cosh h sin h + sinh h cos h - h2
cosh h sin h - sinh h cos h
F9(4,
Fl0(4 =
- h3
h3
+ iF9(42
cosh h cos h
cosh h sin h - sinh h cos h
2 cosh h cos h
cosh h sin h - sinh h cos h
Vertical Vibrations
The dynamic reactions of the pile pertinent
to vertical motion of the pile head can be
obtained using the same assumptions for soil
as in the previous case. Assume further that
the lower end of the pile is fixed.
Then, the vertical soil reaction acting at
height z on pile element dz is (Baranov 1967;
Novak and Beredugo 1972):
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STIFFNESS
---- DAMPING
FIG. 3. Functions F for dynamic stiffness and geometric damping of piles for a typical set of
dimensionless parameters, (l/ro = 40, V,/v, = 0.003, p / p , = 0.7, V = 0.4).
in which
[26]
in which A
C301 w ( z ) [ - p ~ ~ icw
+ G(S,,, + is,,)]
rpm2 -
GS,, - i(cw
+ GS,,)]
FII(X),
103
m---
--
- STIFFNESS
DAMPING
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00
FIG. 4. Variations of function F,,(h) with frequency a. and wave velocity ratio VJv, (stiffness
of soil), (I/ro = 40, pip, = 0.7, V = 0.4).
APPROXIMATE
---- RIGOROUS
0L
0
0.1
0.2
0.3
0.4
DIMENSIONLESS FREQUENCY a, = row,@
0.5
FIG. 5. Comparison of results obtained by approximate solution and by more rigorous solution,
(I/ro = 38.5, V,/v, = 0.044, p/p, = 0.625, V = 0.4).
Note
A =1
[33]
12G
K = %A
EpA'
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Denote further
C361 a
Ao2 - KS,,, b = -K
1371
in which
Al
+ iA2
dw(z)
--N(z) = E p A dz
where from Eq. [3l ]
C391
( F18(A) = A cotan A =
F,,(\)
+ iF,,(~)~]u(.t)= Q exp ( i d )
F18(A)1
[F, ,(X),
+ iF18(A)2
A cosec A =
[F18(A),
where
582
E,4
C471
=- 4 8 . 2
vs
where
C481
fl 8,2
F1,(A),
aollro
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E I
kxx
=$%fll,l
0
where
~501
C511
fil.1 =
cXx
Fll(41
(&"o>~
E I
= +f11,2
1'0
where
1521
f11~2
F1,(h12
ao(l/ro)3
k+,' =
PO
f7,,
where
C541
c551
f7.1
F7(h)l
=
F
f
7
.
2
c++1= y
where
c561
F7(A)2
f7 * 2 =-aol/ro
where
where
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-PINNED TIP
---- FIXED TIP
cn
0
10
20
30
PILE SLENDERNESS
40
50
l/r,
FIG.6 . Variations of stiffness and damping parameters with slenderness for pinned tip and
fixed tip piles, ( p l p , = 0.7, v = 0.4,a. = 0.3).
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FIG.7. Variations of stiffness and damping parameters f,,,, and f,,., with frequency a. and
slenderness ratio [/vo, (V,/v,= 0.03, p / p , = 0.7, V = 0.4).
TABLE
1. Stiffness and damping parameters f7, fg, f I lfor concrete and wooden piles with l/ro > 25
Stiffness parameters
P
vs
PP
VC
0.4
0.7
(Concrete)
0.4
2.0
(Wood)
0.25
0.7
(Concrete)
0.25
2.0
(Wood)
f7.1
f9. l
Damping parameters
f1l.l
f7.2
$3.2
fll.2
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fI8,,
- STIFFNESS
f,,
- DAMPING
P l L E SLENDERNESS l/ro
a) CONCRETE P I L E S
20
40
60
80
P l L E SLENDERNESS I/ro
100
b) WOODEN PILES
FIG.9. Stiffness and damping parameters of vertical response of (a) reinforced-concrete piles
(plp, = 0.7), and (b) wooden piles (pip, = 2.0).
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W,, =
FIG. 10. Pile displacements for determination of footing stiffness and damping constants related
to rotation $
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588
The Piles :
8 soft wood piles
Density = 48 lb/ft3 (pp = 1.49 slugs/ft3)
Pile length I = 35 ft
Effective radius r, = 5 in. ( A = 78.54 in.', I =
490.9 in.4)
Young's modulus E, = 1.2 X 106p.s.i. (1.728 X
10, Ib/ft2)
Hence, longitudinal wave velocity v, =
d m = l 0 769 ft/s
Pile eccentricity X, = 4 ft.
With the weights of the footing and the
machine, the height of the centroid of the
system z, = 4.75 ft, total mass m = 6583.9 slugs
Example
and
the total mass moment of inertia with
The above theory is applied to predict the
respect
to the centroid IJ, = 117 490.8 slugs ft2.
dynamic response of the machine foundation
The
wave velocity ratio VJv, = 0.02. The
shown in Fig. 11. The footing is supported by
slenderness
ratio I/r, = 84 is much larger than
end bearing piles. For comparison, the response
25.
Therefore
all the pile parameters f can be
is also predicted assuming that the footing
read
from
Table
1 for the given Poisson's ratio,
rests directly on soil. The effect of a possible
embedment is also examined. The following material (pip, E 2) and the wave velocity
ratio, with the exception of parameters f,,
input data are assumed.
that are obtained from Fig. 9b as f,,,,
= 0.0266
The Machine
= 0.037.
and
Total weight = 20 000 lb
The constants of one pile are calculated from
Exciting forces due to rotor unbalances act in Eqs. [45] through [60] and with them, the
vertical as well as horizontal directions and stiffness and damping constants follow from
are
Eqs. [61] and [62].
Then, the response curves are calculated from
P(t) = m,ew2 COS wt, Q ( t ) = in,ew2 sin wt,
the formulae given in the references and referred
where m, = the mass of the rotor, e = rotor to above. The displacements obtained are those
eccentricity, and w = frequency of rotation. of the centroid.
(The true values of m,e are not chosen as the
The response curves of the pile foundation are
results will be given in a dimensionless form.) shown in a dimensionless form in Figs. 12-14
The height of the horizontal excitation = 12 ft as case A. The crosses (+) indicate approximate
which is also the height of the machirie centroid. resonant amplitudes established by means of
simplified modal analysis (Eq. [87], Appendix
The Footing
Reinforced concrete,
density = 150 1b/ft3, 11). The natural frequencies (Eq. [75]) and modal
damping ratios (Eq. [81]) are given in Table 2.
dimensions as shown in Fig. 11.
Subscript zero denotes the vertical response,
Embedment depth l, = 2 ft
subscripts 1 and 2 denote the first and second
The Soil4
modes of the coupled response involving
Bulk density = 100 1b/ft3 ( P = 3.1 1 slugs/ft3)
horizontal translation and rocking.
Shear wave velocity V, = 220 ft/s (V, = m P )
Also shown are results calculated for piles
Poisson's ratio v = 0.25
and embedment (case B). direct foundation on
The BackBll
the soil surface (iase ~ j ' a n dfor an embedded
Mass density p, = 0.75 p
footing without piles (case D).
Shear modulus G, = 0.5G
When considering the effect of embedment or
of soil, the equivalent radii of a circular footing
4Dynamic properties of soil can be established experi- must be used. These can be established from the
rotation in the vertical plane (rocking). The
amplitudes of the two components U, and #,
follow from Eq. [l71 in Beredugo and Novak
1972. With variable frequency of excitation,
complete response curves can be obtained.
An alternative approach is to solve the coupled
response by means of modal analysis. This
approach is outlined in Appendix I1 where all
the formulae needed are given together with the
formulae for the natural frequencies and the
modal damping pertinent to the two vibration
modes of the coupled motion.
f,,,,
589
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20
40
60
80
100
120
140
160
FREQUENCY w (RAD/S )
FIG.12. Vertical response of (A) pile foundation, (B) embedded pile foundation, (C) shallow
foundation, and (D) embedded shallow foundation. (B, = mlpRX3= 5.81).
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FREQUENCY w ( R A D / S )
FIG.13. Horizontal component of coupled footing response to horizontal load. (A) pile foundation, (B) embedded pile foundation, (C) shallow foundation, and (D) embedded shallow foundation,
(B, = mlpRX3= 5.81, B S = I*/pR+ = 3.46; (+) = modal analysis).
L641
U(Z,t )
u(z)eiof
u(z)
ul(z)
+ iu2(z)
C661 E,?
d4u(z)
+ u(z)[GS,,,
d2u(z)
+ N"'
- p2 ~ ( C W GS,,)]
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FREQUENCY
(RAD/S )
FIG.14. Rocking component of coupled footing response to horizontal load. (A) pile foundation,
(B) embedded pile foundation, (C) shallow foundation, and (D) embedded shallow foundation,
(B, = 5.81, BS = 3.46, (+) = modal analysis).
and
c691
NE =
+?r2E I
Note
f i sin -42 ,
i= =
JW,
tan 4
= 1-
592
CAN.
GEOTECH. J. VOL.
11, 1974
TABLE2. Natural frequencies and damping ratios of footing with various types of foundation
Natural frequency
(rad/s)*
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Case
A
B
C
D
Type of
foundation
Piles
Piles and
embedment
Soil
Soil and
embedment
Damping percentage*
wz
Do
30.9
31.8
100.3
101.5
11.2
14.7
19.8
21 .O
48.7
51.1
45.4
54.0
WO
WI
85.5
85.9
29.1
30.2
D
1
D2
5.9
. 14.0
15.0
21 .O
13.3
20.3
30.5
43.1
*Subscript zero denotes vertical vibration, subscripts 1 and 2 denote the first and second modes of the coupled
response.
i
(+
41
in which
4,
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STIFFNESS
- - - - - - - - - _____________________________________________________________________________________________________________________________
f142
-_______________________________-_______________________________
10
LL
!k
C
v,
Oo
I
LOAD RATIO N s t / N ~
:.2
FIG.15. Variations of stiffness and damping parameters with static load, (I/ro = 30, ?',/v, = 0.01,
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Appendix I - Notation
The following symbols are used in this paper:
A = area of pile cross section
Ai = dimensionless amplitude of footing in
direction i
a
= parameter
a, = row
= dimensionless frequency
b
= Darameter
Ci = integration constant
wg
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W,
X,
=
=
Q(t)
Q, (sin wt)
[78] M(t)
M, sin wt
(Qoze
+ Me) sin wt
Pj =
QOU~
+ Mo+j
C821
u(t)
C831
*(t) =
j= 1
+j)
k+$ - r,,,wj2
with j
-kx+
= -a tan
c851
=
2Djwiw
wj2 - w2
1,2
+,and 4,
+,
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0-
EXACT ANALYSIS
---- -- -- -
M O D A L A N A L Y S I S , EQ. 86
EQ. 8 9
60
80
100
120
140
160
FREQUENCY w (RAD/S)
FIG. 17. Sliding component of coupled response computed directly (exactly) and by means of
modal analysis, (for foundation shown in Fig. 11).
20
40
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FREQUENCY w ( R A D / S
FIG.18. Rocking component of coupled response computed directly (exactly) and by means of
modal analysis, (for foundation shown in Fig. 11).
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598
CAN.
GEOTECH. J.
in which k # j.
The inclusion of the damping in the denominator yields the approximate value of the
maximum resonant amplitude instead of the
somewhat smaller amplitude at frequency w j .
(The maximum amplitude does not appear
exactly at w j . )
VOL. 1 1 , 1974