Concept of Response Spectrum

(Equivalent Static Analysis)

S Raghunath
Professor
Department of Civil Engineering
(NBA Accredited for 5 years - 2004-2009)

BMS College of Engineering

Bull Temple Road
Bangalore 560019

Objectives of this lecture

1.How is dynamics related to

earthquake resistant design?
2.How do we convert a dynamical
problem into an equivalent
static problem?
3.Is it possible to obtain a design
force from the random
earthquake motion?

Features of a typical civil engineering structure

Inherent properties in a structure

Mass
Spring
Boundary condition
Energy dissipation mechanisms
Loads and load transfer
mechanisms
Connectivity of elements

Includes all dead

weight of structure
May include some live
loads also
Units of kg is preferred

Linear elastic
spring

Includes all structural

components (load
transferring members)
May sometimes include
non-structural items
also
Requires extremely
good knowledge of the
mechanics of the
structure
Units of
force/displacement

Spring-Mass system

k
m

Questions

What happens when mass is plucked

and released?
What happens when load is a function
of time?
What does a design engineer seek?
What is the response of the structure?

Free-body diagram of the mass.

Spring force = kx

inertiaforce mx
m

m x k x 0
This is a homogeneous, linear, second order
ordinary differential equation
Homogeneous, because RHS=0
Linear, because inertial force is proportional to
acceleration and spring force is proportional to
deformation
ODE because x is the only independent
variable in domain t
Mathematically the solution is simple!

Let :
k

m
Then :
2

x x 0
2

2 is the natural circular frequency

A typical response

Be careful when using software

packages, it is very important that we
should have a feel of the natural
frequency

Dont worry too much,

sometimes code gives an
expression for T, eg.

PRINT
MISTAKE!!!

Questions
Is this what happens?
If yes, what does it mean?
If no, how do we modify our
model?
Then what happens?

0.06
0.04

Displacement (mm)

0.02
0
-0.02
-0.04
-0.06
0

0.2

0.4

0.6
Time (s)

0.8

Viscous damping model is also known as a

dash-pot
Our structures do not have discrete
dampers!
Units of Ns/m (force/velocity)

Energy dissipated is irrecoverable!

In-elastic spring

In almost all earthquake related response,

the spring goes into inelastic region!
But non-linearity is implicitly handled by
codes no need to worry
Non-linearity manifests in what is known
as hysteretic damping

Mathematical
model of a damped
vibrating system
(SDOF)

Critical Damping

Fraction of Critical Damping

1 Critical Damping

Critical Damping marks the transition between

oscillatory and non- oscillatory response of a
structure

Critical Damping Ratio

0.5% 5%
2% 15%
2% 15%

Steel
Bolted or riveted steel structures
Reinforced or Prestresses Concrete

Actual value may depend on stress

level.

K
M
K = 2000.0N/m;
M = 2.0 Kgs,
C = 12.65Ns/m;
therefore =0.1
Applied forcing
function
Fmsin(t)
Fm = 20.0N
= 31.62 r/s

When an un-damped structure is

harmonically loaded with a matching
frequency, resonance occurs!
Damping, obviously, mitigates this
problem.

Koyna (transverse)
0.6

Acceleration (g)

0.4
0.2
0
-0.2
-0.4
-0.6
0

10

12

Time (s)

El-centro
4
3
2
1
0

Koyna (longitudinal)

-1

0.6

-2

Acceleration (g)

0.4

-3

0.2

-4
0

0
-0.2
-0.4
-0.6
-0.8
0

6
Time (s)

10

12

10

15

20

25

30

35

Response of structures during earthquake

depends on
1. Natural frequencies of the structure (which is
dependent on Mass (M) and Stiffness (K)
2. Frequency content of earthquake
3. Amplitude of earthquake
4. Duration of earthquake
5. Ductility
6. Damping characteristics (energy dissipation
capacity)
7. Structural integrity

STRUCTURAL DYNAMICS and BUILDINGS

QUASISTATIC

RESONAN
T

Quasi static behaviour: fundamental frequency

of building is below the range of frequencies in
ground motion
Resonant behaviour: fundamental and other higher
frequencies of building are within the range of
frequencies in ground motion
Inertial behaviour: fundamental frequency of building
is above the range of ground frequencies

INERTIAL

Concept of Response Spectrum

M A Biot
Introduced the concept
of response spectrum in
1932.

G W Housner
was responsible for its
wide spread acceptance
as a central concept in
earthquake engineering

Total displacement=ground displacement + relative displacement of the mass WRT base

Governing equation of motion of SDOF system subjected to

base acceleration

(u u g u )
T

u g (t )

mu cu ku mug (t )

u 2 n u n u u g (t )

k
m

c
2m n

El Centro North-South component of ground acceleration May 18, 1940

SV n S D
S A n S D
2

2
n
Tn
g 386inch / sec 2
For Tn 1sec ond

n 6.283rad / sec
SV 6.283 5.97 37.5in / sec ond
S A 6.283 5.97 235.67in / sec 2
2

235.67
0.61g
386

All three spectra contains the same information presented in three different ways. Then why three spectra?
DEFORMATION RESPONSE STECTRUM

Provides peak deformation of the system

PSEUDO-VELOCITY RESPONSE STECTRUM

Provides peak strain energy stored in the
system

PSEUDO-ACCELERATION RESPONSE STECTRUM

Provides peak value of equivalent static force and
Base shear

Shape of the spectrum can be approximated

more readily for design purposes

For El Centro ground motion

( 2%)

A S Veletsos
&
N M Newmark
developed this
combined plot
in 1960

Questions now.

Should we design the building to

withstand forces as computed
using Elastic Design Spectrum?

period range of
masonry buildings

Response of inelastic systems

to
earthquake ground motion

Elastic and inelastic

behaviour of
various materials
under repeated &
(a)

(c)

(e)

(b)

reversed loading

(a)

Mild steel, monotonic

loading

(b)

Structural steel under

cyclic bending

(c)

Unconfined concrete,
repeated loading

(d)

Doubly reinforced beam

cyclic loading

(e)

Prestressed concrete
column, cyclic bending

(f)

Masonry wall, cyclic lateral

loading

(d)

(f)

Ductility factor or demand ()

um

uy
Normalised yield strength,

fy

fy
f0

Yield strength reduction factor (Ry)

or
Force reduction factor

f0
1
Ry

fy fy

fy

For short period structures (Acceleration

sensitive region) ductilty has no influence
on force reduction factor (i.e. R=1).

f0
Yield strength reduction factor
R
or force reduction factor,
fy
f0

For very long period

structures
(Displacement
sensitive region)

f0

R .

For intermediate
period structures
(Velocity sensitive
region)

R 2 1

fy

fy
uy

um

uy

um

Ductility ()

(a) Ability to absorb and dissipate seismic

energy through relatively stable hysteresis
loops
(b) Ability of a structure or member to undergo
deformation beyond yield with no
decrease in load carrying capacity

Measures of ductility
a)

Force

Brittle

Displacement ductility factor

= u / y

ductile

b)

fy

Rotation ductility
factor

= u / y
c)

Deformation

Curvature or Section ductility

factor

= u / y

Definition of yield deformation

Based on
First yield

Initial yield
F

Energy absorption

Collapse load

Equal areas

Properties of materials of R C

Strong column weak beam

design

Failure of beam column joints in R.C. framed structure

in Bada Chirai (Bhuj earthquake of 2001)

Equivalent lateral force

Modal analysis
procedure or
procedure or dynamic
equivalent static load
analysis procedure
procedure
Magnitude
of forces is
Lateral forces are
based
on
an based
on
the
estimation
of
the properties
of
the
fundamental
period natural
vibration
and on distribution of modes of the building
forces given by simple which are determined
formulae for regular by the distribution of
buildings.
mass and stiffness
over height.

Equivalent lateral force procedure or

equivalent static load procedure
Magnitude of forces depends on code based
fundamental period of the structures with
empirical modifier.
Design base shear is calculated as a whole and
then distributed along the height depending on
distribution of mass and stiffness.
Lateral loads at each floor level is then
distributed to individual lateral load resisting
elements depending on floor diaphragm action,
on the basis of relative rigidity.

Response spectrum for rock and soil sites for 5%

damping

Response of structures during earthquake

depends on
1. Natural frequencies of the structure (which is
dependent on Mass (M) and Stiffness (K)
2. Frequency content of earthquake
3. Amplitude of earthquake
4. Duration of earthquake
5. Ductility
6. Damping characteristics (energy dissipation
capacity)
7. Structural integrity

THANK YOU