Dynamics of Structures

Lecture 1

Anil K. Chopra
Electricity Generating Authority of Thailand
Bangkok, Thailand
December 7-8, 2010
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Simple System

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Simple System

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Free Vibration of Idealized Systems

Idealized Systems

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Free Vibration

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Decay of Free Vibration

Aluminum Model

Plexiglass Model

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Equation of Motion

f1 fD fS 0

mu cu ku mug t
Single-Degree-of-Freedom System
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Lateral Stiffness
3EI
k 3
h

96 EIc
k
7 h3
EI b EIc
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Undamped Free Vibration

mu ku 0
u t u 0 cos nt

u 0

sin nt

k
n
m

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Natural Frequency (Period) of Vibration

k
n
m
Tn

n
fn
2

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rads/sec
sec

cps (Hz)

Three-Story Steel Frame Building

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Direction

Period, sec

Long

0.63

Short

0.74

Torsion

0.46

10

Sixty-Story Steel Frame Building

Period = 2.90 sec

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11

Golden Gate Bridge

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Direction

Period, sec

Transverse

18.2

Vertical

10.9

Longitudinal

3.8

Torsional

4.4

12

Pine Flat Dam, 400 ft high

EGAT Thailand

Water Depth, ft

Period, sec

310

0.288

345

0.306

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13

Damped Free Vibration

Equation of Motion

Damping Ratio

mu cu ku 0

c
c

2mn ccr

u 2nu n2u 0

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14

Effects of Damping (<1)

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15

Effects of Damping

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16

Measurement of Period & Damping

ui

ln
2 j ui j
1

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17

Example
Peak

TD

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Time,
ti (sec)

Peak,

ui ( g )

1.110

0.915

11

3.844

0.076

3.844 1.110
0.273 sec
10

1
0.915g
ln
0.0396 or 3.96%
2 10 0.076g

Bangkok, Thailand

18

Vibration Generator

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19

Vibration Generator

mu cu ku mee 2 sin t

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20

Measurement of Frequency & Damping

Frequency fn
Damping Ratio
fb fa

2fn

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21

Earthquake Ground Motions

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22

Earthquake Ground Motions

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23

Ground Acceleration, Velocity & Displacement

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24

Equation of Motion
mu cu ku mug t
u 2nu n2u ug t
For a given ug t , response u t depends on
Natural vibration period Tn
Damping ratio
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25

Structural Response Depends on Tn and

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26

Structural Deformation & Forces

Equivalent Static Forces

fs t ku t

fs t m n2 u t mA t

Pseudo-Acceleration
A t n2u t
Internal Forces by Static Analysis

Vb t mA t
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Mb t hVb t
Bangkok, Thailand

27

Earthquake Response Spectrum

Peak Response

ro max r t

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Plot of ro versus Tn
for fixed damping

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28

Deformation Response Spectrum

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29

Pseudo Velocity Response Spectrum

Plot of V vs Tn

2
V n D
D
Tn

Tn , sec
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30

Pseudo Acceleration Response Spectrum

Plot of A vs Tn
2

2
A n D
D
Tn

Peak Force

A
Vbo fSo mA w
g

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31

Combined D-V-A Spectrum

n
EGAT Thailand

V n D

Tn
2
A V
D
2
Tn
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32

Combined D-V-A Spectrum

= 0, 2, 5, 10, and 20%

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33

Pseudo-Acceleration Response Spectrum

= 0, 2, 5, 10, and 20%

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34

Deformation Response Spectrum

= 0, 2, 5, 10, and 20%

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35

Peak Response from Spectrum

2

Tn
Tn
uo D
V
A

2
2
fSo kD mA

Internal forces by statics

Vbo kD mA

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Mbo hVbo

36

Example
3EI
k
0.211 kip/in
3
L

w 5.20
m
kip-sec 2 /in
g 386

k
3.96 rad/sec
m

Tn 1.59 sec
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Bangkok, Thailand

37

Example
D 5.0 in.
A 0.20g
uo D 5.0 in.

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38

Example

A
fSo w 1.04 kips
g

Mmax 12.48 kip-ft

Mc
max
46.5 ksi
I
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39

Response Spectrum and Peak Ground

Accleration, Velocity, and Displacement

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40

Response Spectrum Plotted on Normalized Scales

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Mean Response Spectrum & Design Spectrum

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42

Construction of Elastic Design Spectrum

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43

Amplification Factors
Median (50th percentile)

One Sigma (84.1th percentile)

Damping,

(%)

3.21

2.31

1.82

4.38

3.38

2.73

2.74

2.03

1.63

3.66

2.92

2.42

2.12

1.65

1.39

2.71

2.30

2.01

10

1.64

1.37

1.20

1.99

1.84

1.69

20

1.17

1.08

1.01

1.26

1.37

1.38

N. M. Newmark and W. J. Hall, Earthquake Spectra and Design, EERI, Berkeley, CA, 1982, pp. 35, and 36.

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44

Construction of Design Spectrum, 84th Percentile, = 5%

ugo 1g, ugo 48in./ sec, ugo 36in.

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45

Elastic Design Spectrum, 84th Percentile, = 5%

ugo 1g, ugo 48in./ sec, ugo 36in.

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46

Elastic Design Spectrum, = 1, 2, 5, 10, 20%

ugo 1g, ugo 48in./ sec, ugo 36in.

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47

Elastic Design Spectrum, = 1, 2, 5, 10, 20%

ugo 1g, ugo 48in./ sec, ugo 36in.

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Bangkok, Thailand

48