EARTHQUAKE ENGINEERING RESEARCH CENTER EARTHQUAKE RESPONSE OF CONCRETE GRAVITY DAMS INCLUDING HYDRODYNAMIC AND FOUNDATION INTERACTION EFFECTS by ANIL K, CHOPRA P. CHAKRABARTI SUNIL GUPTA, ot 0 earch conducted unex Contract ACW 3051 wi ne Ofc tthe Chief Engineer COLLEGE OF ENGINEERING UNIVERSITY OF CALIFORNIA - Berkeley, CaliforniaEARTHQUAKE RESPONSE OF CONCRETE GRAVITY DANS INCLUDING HYDRODYNANEC AND FOUNDATION INTERACTION EFECES by Anil K. Chopra P. Chakrebarts Sunil Gupta January 1980apsTRACT A general procedure for analysis of the sesponse of concrete gravity Gana, including the dynamic effects of inpounded water and flexible founda ‘sion rock, to the transverse (horizontel) and vertical components of earth quake ground motion ts presented. the problem is reduced to one in two dimensions, considering the transverse vibration of a monolith of the dan. ‘The system is analyzed under the assumption of Linear behavior for the con- crete, foundation rock and water. ‘The complete system is considered as composed of three substructures —~ the dan, represented a5 4 finite elenent systen, the fluid domain, as a con- tinown of infinite length in the upstream direction, and the foundation rock region as a viscoelastic halfplane, The structural displacements of the dam are expr: fas @ Linear combination of Ritz vectors, chosen as normal modes of an associated undamped dan-founeation systen. The effectiveness of this analytical formulation lies in ite being able to produce excellent results by colisidering only a few Ritz vectors. The modal displacements due to earth- quake motion are conputed by synthesizing their complex frequency responses using Fast Pourier Transform procedures. ‘The stress responses are calculated from the modal displacements. An example analysis is prosonted to illustrate results obtained from this analytical procedure. Computation times for several analyses are presented to Allustrate effectiveness of the procedure. ‘te response of idealized dan cross-sections to hamonie horizontal or vertical ground motion is ext nted for @ range of important systen para- meters characterizing the properties of the dan, foundation rock and impounded water. Based on these results, the separate effects of atructure-vater inter~ action and structure-foundation interaction, and the combined effects of the ‘two sources of interaction, on dynanic response of dans are investigated, Leading to the following conclusions. Each source of interaction generslly has sicnificant effect on the com plex frequency response functions for the dam. The fundamental resonant fre- quency of the dam decreases and its apparent damping increases because of Structure-foundation interaction. the higher resonant frequencies and asso- ciated denping are affected similarly but to a lesser degree. hase effectsare qualitatively similar vhather the reservoir is empty or full, oxcept at ‘the resonant fvequencise of the fluid domain. Because of hydrodynamic effects, ‘the response curves are complicated in the neighborhood of the natural fre~ ‘quencies of water in the ressevoiry the resonant frequencies of the dan are reduced -- the Fundamental frequency by 9 significant amount but the higher resonant frequencies by relatively Little; and the fundamental node exhibits highly resonant behavior. the hydrodynanic effects in the dam response are qualitatively similar whether the Zoundation rock is rigid or Hlexible. The fundanantal sesonant eequency of the dan is reduced by roughly the sane de~ gree, independent of the foundation material properties. However, the appar= ‘ent danping at the fundanental resonant frequency is dominated by effects of seructure-foundation interaction and varies Little with the depth of water. ‘The fundamental resonant frequency of the dam is reduced by each of the two sources of interaction, with the influence of water usually being larger. However, there are no general trends regarding the comparative effects of water and foundation on the higher resonant frequencies or on the resonant responses of the dan. ‘The responce of the dam, without water, to vertical ground motion is small relative to that due to horizontal ground motion, but 1t becones relatively significant when the hydrodynamic effects are Ancludea ‘The @isplacemant and stress responses of Pine Flat Dam to the S69 com ponent of the Taft ground motion only, and to the S69F and vertical components acting simaltancously, are presented. For each of these excitations, the resyonse of the dan is enalyzed four tines corresponding to the following four sett of assumptions: (1) rigid foundation, hydrodynamic effects excluded: (2) rigis foundation, hydeodynamie effects included; (3) Flexible foundation, hyérodynanic effects excluded; and (4) flexible foundation, hydrodynamic ef- fects included. These results lead to the following conclusions. ‘The displacenents and stresses of Pine Flat Dam due to the Taft ground notion are increased significantly because of hydrodynamic effects. Com pared to the response of the dam including only hydrodynanic effects, the stresses in the uppor parts of the dan are significantly increased due to stracture-foundation Interaction. Steasses at the heel of the dan are in- creased to a lesser extent because of the stress relaxation due to founda~ tion flexibility. the influence of structure-foundation interaction and steucture-water interaction on the response of s dam depends in part on =e‘the change in the earthquake response spectrum ordinate associated with changes in frequency and apparent damping due to these interaction effects. As such, these effects would depend on the resonant frequencies of the dam and the shepe of the earthquake response spectrum in a neighborhood of these resonant frequencies. Although considerable stresses in Pine Flat Dan are caused by the vertical component of Taft ground motion, they partially can- cel the stresses due to the horizontal component, resulting in reduced res- onse when both ground motion comsenents are considarad aimltaneously. The contribution of the vertical component of ground motion to the total response of & dan, including hydrodynamic effects, depends on the relative phasing of ‘the responses co horizontal and vertical ground motion, which in turn dezends fon the phasing of the ground notion components and the vibration properties of the dam aaaTABLE OF CONTENTS SYSTEM AND GROUND MORTON. . 2.1 Dan-Water-Foundation system...3.3 5.4 6.2 6.2 6.3 6.4 6s + ANALYSIS OF DAMS INCLUDING DAK-FOUNDATION INTERACTION . . Sit Introductory Note. ee 5.2 Frequency Domain Equations in Nodal Point Coordinates 5.2.2 Substructure Lb Dem ee 5.2.2 Substructure 2+ 5.2.3 bam-Foundation 5.2.4 Computational Reduction of Degrees Response to Arbitrary cround Notion ANALYSTS OF DAMS INCLUDING “YDROOYNAMIC AND FOUNDATION INTER- ACTION EFFECTS. =. Introductory Note Frequency Domain B¢:/tions . « 6.2.1 Substeuctury {2 Dam 6.2.2 Substructur. 2: Foundation Rock Region « 6.2.3 Dan-Foundation system. 6.2.4 Reduction 2° Degrees of Freadom « 6.2.8 Substruct v2 3: Plaid domain 6.2.6 Damliates /oundation System 6.2.7. Singular!vies of Response . « Response to Static stress F. Special cases 6.5.1 Dam-Fe' ndation system, No Water - 6.5.2 Dam cx Rigid Foundation, with Water. - 6.5.3 Dam in Rigia Foundation, No Water « -APPENDIX 8: LISTING OF EAGD COMPUTER PROGRAM . EERC REPORT LISTING1. rwaopuerzox Lil Objectives Ht is extronely inportant to design dane which store Large quantities of water to safely withstand earthquakes, particularly in view of the cata~ strophic consequences of dan failure. the danage to Koyna Dem, in India, Which was designed according to standard, widely accepted procedures, shows that concrete gravity dams as inmune t2 earthguake damage as has commonly boen believed [2, Reliable analytical procedures are necessary to dasign earthquake resistant dams, and to evaluate the safety of existing dans during future earthquakes. These procedures should provide the capability of evaluating the dynantc deformations and stresses in a dam subjected to a given gromd notion. Special attention should be given ¢0 che interaction of the dam with the impounded water and with the foundation rock or soil. ‘These fac- tors complicate the otherwise routine Finite elanant analysis of concrete gravity dane. The objectives of the present study are: (a) to develop reliable ang effective techniques for analyzing the reszonse of concrete gravity dane Anteraction and the significance of these interaction effects in earthquake response of dane. 1.2 Review of Past Work Daring the past 25 years, the finite element method has becone the standard procedure for analysis of all types of civil engineering struc~ tures. Early in ts development, it became apparent that th: sigue potentialities in the evaluation of stress in dans, earliest civil engineering ay sions concemad spec! ‘The earliest dynamite involved the earthquake wealysis of earth dans [5]. Using the finite elenent method and exclude ing hydeodynanic off ‘the response of conerete gravity cans to earthquakes. These questions ware prompted by the structural damage, caused by the Decenber 1967 aarth- quake, to Koyna Dan. ciated with such structures analyses of civil engineering sx 8 number of questions vere studied concerning‘The analyais of hydrodynamic pressures, due to horizontal ground motion, ring vork of 1933 [7]. con- on xigid dans started with Westers: einuing with the assumption of a rigid das, move comprehensive analyses of hydvodynanic pressures on the dam face, due to both horizontal and vertical components of ground motion, have een developed [8,12] In the finite clement analyses mentioned, hydvodynanic effects were not considered: whereas in the studies of hydzodynante pressures, the dan was assumed to be rigid. Additional hydvodymanic prassures will result from Geformations of the upstream face of the dan, and the structural deforma tions in turn will be affected by the hydrodynamic pressures on the upstream face, To break this closed cycle of cause and affect, the problem formla- ‘tion must recognize the dynanis interaction betwsen the dam and water. te elenent analysis of the complate dam-water systen is one posible approach to including these interact standard analysts procedures with nodal degrees-of-freedon vas only partl} ts. Application of jacenante as the A different finite elenent formulation of the corp! h displacements are considered as the unknoms at 1 points for the dan, and pressures las the unknowns et the nedal points for tho water, has been applied to snali problems [24]; but this approach appears to require prohibitive computational effort for practical problems. ‘The more effective approach is to treat the damwater system as com posed of to substructures ~~ dam ang fluid domain -~ coupled through the Anteraction forces and appropriate continuity conditions at the face of the dam. A series of t 161 led to a general analysis procedure (23) and computer program Gemwater interaction. nofels to be used for the dan and water. The dan may be idealized by ‘the finite elenent mathod, which has the ability to handle systens of axbltrary goonotey. At the sane tine, the fluid domain may be treated aynanic analyses of dams, including 9 approach conveniently permits different 28 8 continuum, an approach which is Ldeally suited to the simple geometry but great upstream extent of the inpounded water [19]. The fluid domain may also be idealized by the finite element method in conjunction with Snfinite elements (21). When the substructure method is employed, along with transformation of the governing equations to generalized coordinatesassociated with vibration modes of the daz alone, the analysis procedure is very efficient, and Little additional computational effort is required to in- clude the hydredynanic effects (19). UetLizing such an analysis procedure, it was shown that the dan-water interaction and water compressibility have a significant influence on the aynanic behavior of concrete gravity dana and their responses to earthquake ground motion [22]. Because of hydrodynamic effects, the vertical component of ground motion is more imgortant in the response of gravity dans than in ‘other classes of structures (18,22. a simplified analysis procedure hae been developed which includes the dam-water interaction effects in the com Putation of lateral earthquake forces for dan design (23). ‘The effects of dam-foundation interaction can most simply be included in dynamic analysis of dans by including, in the finite element idealization, foundation xock or soil above a rigid horizontal boundary, ‘The response of such a finite elenent systen to excitation specified at the bottom, rigi¢ boundary fs then analyzed by standard procedures. Such en approach leads to enomous computational requirements and the reliability of results in sone cases is questionable. For sltes where sinilar materials extend to lazge depths and there is no obvious “rigid” boundary auch as @ soll-rock interface, the location of the rigid boundary introduced in the analysis is often quite axpitrary, and it may significantly distort the response. ‘These ditficutties can be overcome by using the substructure method (24, 251, whorein the dam and the foundation rock or gol region are considered az ‘ero substructures of the complete eysten. The dan my be idealized as a finite element system which has the ability to represent arbitrary geonetry and material properties. The foundation rock or soil region may be idealized as either a continuum (a viscoelastic halfspace for exanple), or as a finite flenent system, whichever is appropriate for the site. the halfssace ideal ination permits accurate modelling of sites where similar materials extend to large depths. ror sites vhere layers of soil or soft rock overlie harder Fock at shallow depths, finite clenent idealization of the foundation region would be appropriate, The governing equations for the two substructures are combined by inposing equilibriun and compatibility requirements at the base of the dam. These equations make direct use of free field ground motion specified at the dam-foundation interface. The resulting equations are trans~ formed to generalized Ritz coordinates; the displacements are expressed 24 a -3-Linear combination of the lee faw vibration nodes of an associated dan- foundation system, thus leading to a very efficient solution. therefore, for developing techniques for of complete damuater-foundation aystens, and assessing similtancously, the Antazaction due to both water and foundation. Sone work on this problem has been reported in recent years [ ‘che substructure nethods developed for ceparately considering hydrodynamic and foundation interaction effects in the response of dane appear to be ideally suited for and o: eto complete analyses which simultaneously include both types of interaction. 1.3 Scope of this Report chapter 2 describes how the dan-water-foundation ysten and earthquake ground motion are idealized in this study. Also included in thie chapter are ‘the assumptions underlying the procedura, developed in later chapters, for anelysis of earthquake response of concrete gravity dams. For the reader's convenience, 2 summary is given of the procedures avail~ able for analyzing earthquake responce of concrete gravity dams under restric~ foundations with no water stored in their reser- yo substructure mathod for including the effects the analysis proceduve, (This method treats the impounded water and dam on rigid foundation as two substructures of the total aysten.) Also based on the substructure concept is the procedure for includ~ Lng effects of interaction between the dan and its flexible foundation on the earthquake responce of dans without water, sumarized in chapter 5 Because the substructure concept has proven to be effective in separately including the effects of dan-vater interaction and of dan-foundation inter~ action in the analysis, it 4s extended in Chapter 6 to develop an analysis procedure simultaneously including of ene vater and the foundation. These include effects ari: interaction between the damand foundation, dam and water, water and foundation, and interaction among ures => dam, water, and foundation. the computer progr nt the proceduce for anslysis of dan-water~foundation systems is briefly described in this chapters the user's guide and progran Listing is include in Appendices A and 3. Using this computer program, results of several preliminery analyses fare presented in Chapter 7 with the ain of defining the inportant system and analysis parameters for the subsequent study of dynamic response behavior of dams. The behavioral study is in two parts, separated into Chapters 8 and 9. ‘The response of idealized dan cross-sections to harmonic horizontal o vertical ground motion is presented in Chapter 8 for a range of the important, systens parameters cheracterizing the properties of the dan, foundation rock, and impounded water. With the aid of @anwator interaction and dam foundaci the separate effects of 1 and the conbined effects of the two sources of interaction on 192 of dans are investigated. Chapter 9 presents the responses of Pine Flat Dan to the S692 component fof the Taft ground motion only; and to the S695 ané vertical components act= ing similtaneously. For each of these excitations, the response of the dan Ss analyzed four tines corresponding to the following four sete of assump- ts excluded; (2) rigid exible foundation, nydro= 10 foundation, hygrodynamic effects Jat into the effects of damunter and tions: (2) rigid foundatsor foundation, hydrodynanic dynamic effect excluded: included. Those results pr dan-foundation interaction, considered separately or together, in the earth- quake response of dams. Chapter 10 briefly sumarizes the significant conclusions which say be Gram from this investigation of dan-wacer and dan-foundation interaction effects in earthquake response of concrate gravity dans. 1.4 Acknowledgements This study was initially supported by the Oftice of the Chief of Engi~ neers, Department of the Reay, Washington, D.C., under Contract No, DACATI~ 71-C-0051. Completion of this study was mde possible by Grants ATAT4-20554 ‘and ENV76-80073 from the National Science Foundation. The authora are grateful for the support fron noth agencies.Perhaps a few words regarding the history of this study would be of interast to the sponsors and the reader, tho study wes initiated in 1974 Dr. 7, Charkabarti participated in formilating the essential aepects of the analysis procedure and developed the computer prograns during 1974 snd 1975, at whlch time he left Berkeley to accept a position in India, Thereafter, De. G. Dasgupta was involved in the etudy for a short time, incorporsting sone improvements in the analysis procedure and computer program. His efforts wore then diverted to developing dynamic stiffness matrices for the foundation required in obtaining the munerieal results for this study Ae this june ture, in 1976, Sunil Gupta, a graduate research assistant, became asscciated with the project. He produced the large volume of computer results presented in this report, and assisted in intexpretating these results and preparing the report. Because there was come discontinuity betueen the tines Chakrabarti, Dasgupta, ané Gupta worked on this project; because considerable tine was quired to develop the results on dynamic stiffness matrices for the founda~ ‘lon: and for other reasons beyond our control, our efforts on this study have been sporadic. This resulted in considerable, unanticipated delay in completion of the study.2. SYSTEM AND GROUND HORTON 2.1 DanctlacersFoundation Systen Vibration tests on Pine Fiat am [28] indicate that at small vibration amplitudes @ concrete gravity dam will behave Like a solid even though there is some siipeage between monoliths. Thus, at the beginning of an earthquake, the behavior of a dam can be best described by a three-dimensional nodel. However, at large amplitudes of motion, the inertia forces are mich larger than the shear forces that can be transmitted across joints between monoliths. ‘The monoliths slip and tend to vibrate independently, as evidenced by the spalled concrete and increased water Leskage at the joints of Koyna Dan during ‘the Xoyna earthquake of Decenber 11, 1967. Consequently, twordimensional wodels of individual monoliths appear to be more appropriate than three- Gimensional models for prodicting the response of concrete gravity dans to the strong phase of intense ground notion. However, a model more conplicated than either of these two models will be nacessary to describe the behavior of a concrete gravity dam through the complete amplitude range. Because the dimensions and dynamic properties of the various monoliths Sifter, the effects of the dam on deformations and stresses in the founda~ ion will vary along the length of the dan. Thus even with two-dimensional nogels for the dam, a three-dimensionsl model would seen necessary for the foundation, If the dam vere to behave as a 2old4 without slippage between monoliths, and all of its propertigs and the ground motion aid not vary along the Length, it would be appropriate to assume the dan as well as the Zounda~ tion to be in plane strain. A plane stress model which arplies to a thin sheet-like body seems obviously inappropriate for a continuum foundation. Although the basic concepts underlying the analysis procedure presented in this work ave applicable under more general conditions, the procedure is specifically developed for two-dimensional eystens; thus its application is restricted to systems in generalized plane stress or plane strain. Although | neither of the two models are strictly applicable, the former is better for ‘the dam and the latter for the foundation. Mowever, in order to define the dan-foundation systan ons consistent basis, the same model should be employed for both substructures, Results from the two models are compared in Sec. 7.2 to provide a basis for choosing one for paraneter studiesA cross-section of the system considered is shown in Pig. 2.1. The systen consists of a concrete gravity dam supported on the horizontal sur~ face of a viscoelastic half plane and inrounding 2 reservoir of water. The systen 4s analyzed under the assumption of Linear behavior for the concrete, foundation soil or rock, and water. The dan is idealized as a two-dimen sional finite element system, thus naking it possible to consider arbitrary geometry and variation of material propertice. lowaver, certain restrice ‘tions on the geonetry are imposed to permit solutions for the foundation and fluid domains treated as continua. For the purposes of determining hydro- aynamis effects, and only for this purpose, the upstream face of the dam is aetumed 9 be vertical. This {2 reasonable for an actual concrete gravity dam, because the upstream face is vertical or almost vertical for most of its height, and the hydrodynamic pressures on the dan face are insensitive to snail departures of the face slope from the vertical. For the purpose of including structure-foundation interaction effects, the founlation surface Ae assumed to be horizontal: thus the base of the dan as woll as the reser~ votr botton is assured to be horizontal. An actual system can usually be idealized to conform to this assumption.” 2.2 Ground vation ‘The excitation for the two-dimensional dan-foundation~water ayaten is Gefined by the two components of frae-field ground acceleration in the plane of a cross-section of the dam: the horizontal component transverse to the Gam axis, 2% wis, a ( and the vertical component, al (8).ok (t) <> _FREE FIELD < iz BECELERATION™\ gh 4) FOUNDATION ROCK PIG. 2.1. DAMGRATER-FOUNDATION SYSTEM3, ANALYSIS OF GRAVITY DANS 3.1 Introductory Note ‘The standard finite element method for analysis of gravity dans on rigid foundations with no water stored in the reservoir is summarize? in thie chapter. Zn later chapters, the analysis will be extended to include effects Of impounded water and foundation flexibility. 3.2 Governing equations Consider a monolith of « concrete gravity dan on a rigid foandation, with no water in the reservoir, subjected to earthquake ground notion which Goes not vary across the base of the monolith. ‘The equations of motion for Such & dam monolith idealized as 2 planar, two-dinensional finite element systen are: oa xa, yay BE tcf tee * Ree) — a aX ee 3. Bitch tee mt adie - an keep ea Jn Ba, 3.2, g, and ¢ are the macs, stiffness, and viscous damping aatrices for the finite element system: x is the vector of nodal point displacements, relative to the free-fielé displacement: Pe eat were sf and 1 are the x= and y- components of displacement of soda point 4 snd the number of nodal points above the base is Mi f and are, respecn sively, the nodal point velocity and acceleration vestors, : QP =<. 010... . 2 ol... 1 o> aM = age) and af (c) are the x (horizontal) and y (vertical) components ef the free-field ground acceleration. he stiffness ant mass matrices of che structure are obtained from the corresponding matrices for the individual finite elenents by direct asseab: -u-procedures. The elenent stiffness gatrices are derived using quadratic in verpolation function for diaplacenents, whereas the elenent mass matrices are based on 2 lumped nass approximation. Energy dissipation in structures, even in the Linear range of vibration, ie dus to various complicated phenomena. Because it is not possible to nathenatically describe each of these sources of energy dissipation, it is custonary £0 define damping in terms of damping ratios in the natural modes of vibration. Damping raties for similar structures obtained from both the analysis of harmonic vibration tests, and responses recorded during earth quakes, are used as a basi for assigning the modal damping ratios. The medal danping ratios provide a complete description of danping properties for purpeses of Linear analysis end the damping matrix need not be defines oxphicitiy. neaditionatly, analysts of dynaniec repsonse of structures has been careied out dixectly in the time domain. For such analyses, viscous damping is the nost convenient representation of energy dissipation in the strus- cue. when effects of dam-water interaction and dam-foundation interaction are included, the analyais is nost effectively carried out by = substructure method [2,4]. Ae will be seen in Chapters 4,5 and 6, the substructure methed is best formulated in the frequeney domain. In such a formulation, constant hysteretic damping is a preferable ropresentation -~ for conceptual las voll as conputational reasons ~- especially when structere-soil inter action effects are incloded [5]. ‘the Fourler transform of Bq. 2.1 provides the governing equation in the Erecueney domain 2, x 3x Yat o*g + dog + al aF (a) ~ a a 0 3 trotg + tog + 41 oy = at aod @.2) in which the Fourier transform of £(t) is denoted by 2(u). For constant hystevetic damping, Bq. 2.2 becomes 2, x gx vay wet ca Fw - 2 Vw 3 tute + G+ ine) Ba) = -mt™ Sead - al” Aw o2 hers 1 4s the constant hysteretic danping factor. penping ratios as obtained fron forced vibration tests on dans are areessentially independent of the node number (23). If € is the damping ratio appropriate for all the natural modes of vibration of the dam, n= 2 would bbe an appropriate value for the constant hysteretic damping factor [29]. transformation to modal coordinates ‘noun as the aode superrostion method, This method is y types of struc tures, because the response is essentially due to the first few modes of vibration wole if the response 4 n the Linear rang advantageous for calculating the earthquake response of ‘The first step in the mode superposition analysis procedure 1s to ob- tain the lower few natural frequencies and mode shapes of vibration of the dan by solving the eigenvalue problem: Keeurag ea) ‘The equations of motion (Eq. 3.1) are uncoupled by the transformation ey r= Eg yc a3) nal Provided the Ganping matrix ¢ satisties certain restrictions [6]. in 24. 3:5, ¥,(8) de che generalized coordinate and $, the mode shape for the nt™ natural mode of vibration. The uncoupled equation for the n°" mode of vi- bration is Ke tod tay = ky ace 3.8 4h, taka + RN, 2 ok atten ~ oF okey 3.8 where mye eter Cg = Fi lahiuds Ky wk My, wand are the naeueal arecircular frequency and damping ratio for the a™ West ay, M aoae, Eo oF at a2 mi", and quation 3.6 may be solved for ¥,.(t) by a step-by-step integration method (30). After computation has been repeated for all modes, the nodal Gisplacenent vector £(t) can be obtained fron 24. 3.5, rn practice, it ie generally sufficient to solve the equations of motion only for the lover fow moder, because the contributions of the higher modes to the total response are snail. he stresses Q.(t) in finite elenent p at any instant of time are reu an where the stress transformtion matrix 7, is based on the interpolation functions for the elanent as well as its elastic properties. The stresses ‘eheoughout the dam at any instant of tine are detersined from the nodal point Aisplacenents by application of the above transformation to each finite alanent. ‘The initial steessee, before the earthquake, should be sdded to the stresses due to earthquake excitation, determined by the procedures pre~ sentad Sn the preceding sections, to obtain the total stresses in the dan. Excluding the temperature and ereep strasses in concrete, only the gravity loads nesd to be considered. The equations of static equilibrium are for~ mulated: Kerk Gs) where § is the vector of static loads due to the weight of the dan and hydro- static pressures. Solution of these algebraic equitions results in the ais~ placenent vector £. Static stresses are then determined from the Gisplace- nents by applying Bq. 3.7 to each finite element. Analytical predictions, based on the procedure summarized above, for the perfomance of Koyna Dam correlated well with che damage oxperienced by the dam during the Koyna earthquake of December 11, 1976 12). oe2.3.2 Proquency Domain Analysis An altemative approach to solving the sodai equations of motion (fa. 9.6) exists in which, instead of step-by-step integration in the time donain, the complex frequency responses are superposed in the frequency ‘The complex frequency response ) has the property that, vhen the ‘tha response is the real part of ‘The response in the n° mode of vibration due to the horizontal ground potion will be denoted by YX, and that due to the vertical ground motion by £ Aut, WY. me response to excitation afte) = ef can chen be expressed as he Ete ween be cory. swbecieution in Bq. 3.6 leads to fom which a hwy = Bs be ay (2.20) ~aPa, + ioe, + &, If the system has constant hysteretic danping instead of viscous danp- ing, starting fron Eq. 3.3, it can be shown that Ege. 3.9 and 3.10 become ay uy «8 tony ana) a rata = a + an, ‘The response to arbitrary ground motion ie the superpostion of responses to individual harmonic components of the excitation through the Fourler integral: Hea = Bf ther be olan 2 = ay (3.23) -as-“ ‘s sn wnton aby 44 the rouse eeastorn of nw =F abicre’ 5 Ae Wt ae Loy aa where ¢ is the duration of the ground motion. ‘The response in the a°" vibration mode due to slmaltsneoss action of the horizontal and vertical congonents of ground motion is x0 = he +e eas) Repeating this procedure for all the necessary values of n, the displacenent responses may be obtained by superpostion of the modal responses (Bq. 3.5) land the stress responses by calculating the stresses associated with these Aisplacenents (Gq. 3.7). The initial stresses are added to determine the cotal stresses. Unt the development of the Fast Fourier Transform (EP2) algoritha [31], numerical evaluation of integrals such as those in Eqs. 3.13 and 3.1¢ required prohibitive amounts of computer time ani the errors in the results could not be proficted accurately. As a result, step-by-step integration in the tine domain has conventionally been used for response analysis. with che FFT algorithm, integrale of Eqs. 3.13 and 3.14 can be evaluated accu- rately and efficiently, as a result, the frequency domain approach can now bbe employed advantageously for analysis of dynamic response of structures. Bt provides an alternative approach for analysis of dams without water. As WiLL be seen in Chapters 4,5, and 6, the analysis is best formulated by the frequency domain approach when dancwater and dan-foundation interaction effects are included. 16+4. AWEYSES OF GRAVITY DAMS INCLUDING DAE-WATER mWPSRACTION 4.1 Introductory wots Summarized in this chapter is the procedure presented earlier [19], for including the effects of damwater interaction in earthquake response anal~ yees of concrete gravity dans. The concept underlying this procedure is to treat the inpounded water and the dan as two substructures of the total system. With this approach, the dam may be idealized by the finite elenent ‘method, which has the ability to represent aystens of arbitrary gecnetry and material properties (see Chapter 3). At the same time, the impounded water say be treated as a continuum, an approach which is ideally suited to the sinple idealized geometry but great upstrean extent of the ‘mpounged water. ‘The equations of motion for the two substructures are coupled by including ‘the forces of interaction between the water and the face of the dam. 4.2. Governing Equations 4.2.2 Substructure 1: pam A gravity dam supported on 2 rigid foundation and storing water to a given depth is shown in Fig. 4.1. Including hydrodynamic affects, the equa tions of motion are, for a dam monolith idealized as a planar two-dimensional finite elenent system (Chapter 3), subjected to horfzontal and vertical com ponents of ground motion: aiteiee es make - a lin + 7 eitedt ees ate - a lin +c an This is identical to Bq. 3.1 except for the inclusion of the hyérodynamse Toads ,(t) on the upstream face of the dam. Whereas 2g. 4.1 is vali for dane of arbitrary geometry, it is assumed that for the purpose of defining hydrodynamic effects, and only for this pur- pose, the lpstream face of the dan is vertical, considering that the up- stream face of concrete gravity dans is vertical or almost vertical for ost of the height, this ie 2 reasonable assumption. ith this assumption ‘and because the hydrodynanic loads act only on the upstream face, only those Loads in §,(t) that correspond to the x-degrees of fresdom of the nodal 12 aro non-zero. The sub-vector of the non-zero indicates that only che pointe on the upstrean losds is denoted by Ef, + The superscripe “x -ae° RIGID FOUNDATION PIG. 4.1 CONCRETE GRAVITY DAM WITH IMPOUNDED WAMER. THE EYDRODYSANIC PRESSURES ON THE UPSTREAM FACE OF THE DAM ARE (Ye) ~1e-xrconponent of the loads acting on the face of the dan are included in the vector. ‘The procedure for analyzing the response of dams without including the eftects of water, presented in Chapter 3, utilized the mode-superpostion concept. Although classical natural modes of vibration do not exist for ‘the dam when hydrodynamic effects are included, expansion of displacenents, including hydrodynanic effects, in teras of natural modes of vibration with= ost water can still be used advantageously. Thus, reed 4, Fale) 4.2) ml The vectors $,, n= 1,2...28 are Linearly independent and span the vector space of dimension 2. thus, the expansion of Eq. 4.2 is exact if the con teibutions of all the 2 natural modes of vibration are included. However, ‘even when hydrodynanic effects are included, the contributions of the lover nodes of vibration are expected to be nore significant ari relatively few terms, e.g. J < 24, would suffice in Bq. 4.2 Substituting Bq. 4.2 into Bg. 4.1 and utilising the orthogonality property of mode shapes, the equation governing the generalized displace- ment Y(t) in the n™* mode ie to, + Ky, = ake - ater + Win t Saka +R, 2 Heke = aden + a a3) Rete Ue the sane ab Fa. 3.6, exoept for the adgitional teem By (0) = nt te) = {9¥8)" REF e) tn which the vector aM consists of the x-components Of the displaconents of the nodal points on the upstream face of the dan. 4.2.7 Substructure 2: Plufa pomain ‘The motion of the dan-water system is considered to be two-dimensional , Lies) St is the same for any vertical plane perpendicular to the axis of the Gam, Assuming vater to be Linearly compressible ani neglecting its internal viscosity, the small amplitude, irrotational motion of the fluid is governed by the twordinensional wave equation 25. a2 2, este. bie (6.4) ax? Gy? cP aein which pltry,t) is che hydrodynamic pressure (in eueass of the hydrostatic pressure) and C is the velocity of sound in water. The hydrodynamic pres= sura acting on the upstream face of the dam is p,(y/t) = plovyst) Specializing the equations of motion of the dan in term of generalizes nodal displacements (fq. 4.3) for the casa when the ground mtion acts only in the horizontal (x) direction leads to Wo 4 oP a Rye ue ake + Rie 5) share Eo gT ar® ana ace) = (987 fee. me vector Ce) consists of forces, associated with hydrodynamic pressures acting in the horizontal Airection, at the nodal points on the vertical upstream face of the dan. ‘These hydrodynamic pressures are governed by the two-dimensional wave equa tion (Eq. ¢.4) and the following koundary conditions: oP sressure at the free surface is zero, implying that the effacts of waves at the free surface are ignored; svortical motion at the base of the raservoly is sero; and ‘Horizontal component of motion of the fluid boundary x= 0 1s the sane as the horizontal motion of the upstrasm face of the dan. Awe ‘he responses to harmonic ground acceleration a(t) = ef can be ox- pressed as follows: : Genecalied Dieplacenente, Y(t) = FX uyeld® 50 Generalized Accoterations, Pe) = Payeid® Ge ortzontal accelerations at the upatiean face, dee = 2+ 2 otf Bade (4.66) Fa fn wich 1 is a vector with alt elesents equal to unity. aydrogyrante prascures, s€ty.e) = EEtyunel¥® ee) Strictly for purposes of notational convenience, the vector $f is replaced by Aes continuous analog function $4 (y). The total horizontal acceleration = 20-of the fluié boundary at x = 0, the upstream face of the dam, aay now be represented by the function Boys With egerence to Fig. 4.1, the boundary conditons for the wave equation PIB = 0 e - # t0, = 0 wa z = Be ye -8ae PE uy Jett How --fa+ f ae Bar jen Because the governing equation as well as the boundary conditions are Linear, the principal postion applies. the complex frequency re~ sponse function for pXty,t) can therefore be expressed as 3 Few +8 yas f Bw dra 9) store five) = Betz anel#® is the sotution of the wave equation at x = 0 (24. &4) tor the following boundary conditions: y=0 yo 10) B coy.) «= ol Bowe +-£ : Awe and py (vt) = By (welt is the solution of the wave equation at x = 0 for ‘the flowing boundary condtions: =o aan Aut Solutions of Bq. 4.4 for the above two sets of boundary conditons are + Sajcnepresented in igs. 4.12 and 4.13 2 2 ponee en Foray =e F COE coe ay (aaa Fen aenfe-ate mE ee iy rc Benn Jie -urct i er ae ae ground and the dan is rigid. The corresponding function is 5j(y.W) when the node of vibration and excitation is the acceleration of the dam in the 3 there is no motion of the base of the reservoir. the intograis 1,2 are conputed os 4 sumation asing the elenents of the vector off instead of ene continuous function (0) which vas sntrodnoed onty for notational convenience. The nodal force vectors are H(t) = Boe = Beret, wnere F(a) and Bi(u) are the static equiv- Borel ana g(t) = iret, sere FGlud an Hw) are the statie ome llonts of the corresponding presture functions BE(y«u) and By(y.w), respec tively, They may be conputed directly by using che principle of virtual work with the displacenente between nodal points defined by the finite ‘elenent interpolation factions. The complex frequency resyonse function for the total force vector BF(t) is, fron Bq. 4.9, (a.14) ‘The hyérodmanic forces on the dam hava thas been expressed in tems of the lunknowm generalized coordinate responses With the aid of Bq, 4.14 and aubstitating Fw) = 3,0 Bw 63) -2-STRUCTURE FORCE INDOF i= fy FiG. 5.2. DEFINITION oF 3, (HE ij-SLENENT OF THE DyNaNEC FOR THE FOUNDATION REGION oawhich is substituted in tq. 5.4 to obtain fat ae +B wa}et & & Bot a+ img, + Feta] zon » mal 2 9 ew (10) i, lo Be tw For a particular excitation frequency &, 2q. 5.9 represents 200%) alge 6.9) beaic equations with complex-valued coefficients, in the unknown nodal point Aioplacesents £, Etec eet a eee ry foe a tame of froguncien over sich te grom mtion an atructarel wo eee a ett es treslis auton of bu $9, « set of neon aageeric equions ot the bdredaagrece of tewton arn tplany exploea co sepeecet conmrera gravity ams. mormon computational fart wuld be regerad for rept Saree nae ee ae renee alee lace eee rete eens ae ree of the tev hunrad deplacennts, reusiog lage conpstetiona! effort es ten the vary efficlat HE procedure te enpoyed- tie net for fetteouni7 Taticing he aber of doyens of freed fa tau enlgain a tevetore serene epee eee eee At any instant of time, the structural displacements in the DOP above the base may be separated into static displacanents due to the interaction Aisplacenents at the base and the remaining dynanio displacements. The -uelatter can be expressed as a Linear combination of the first fey natural odes of vibration of the structure on a fixed base. This has best strated to be effective in reducing the number of DoP for one~dinensional structural systens on rigid footing supported on the surface of « halfepace and also for conplex structures on a deformable base. if J vibration nodes, are adequate to represent the structural response, the aumber of unknowns in Bq. 5.9 would be reduced to J#2K,, the latter being the mumber of DOF at ‘the base. while this approach is conceptually appealing, the number of un- moma can not be reduced below 2%,, the nunber of DOF at the base, which in Einite elenent models of dans might be of che order of 20. Yor such systens tho number of unknowns in Bg, 5.9 can be most effec- tively reduced by use of the Ritz concept. The displacenents r, are ex- pressed as Linaar combinations of the Ritz vactors, chosen as the normal modes of an assoicated undanzed structure-foundation system. The associated system considered is one in which 8. (a) ie replaced by a frequency= Andapendent value, say the static value $,(0). ‘The frequencies 3, and mode shapes Y, of the associated system are solutions of the eigenvalue problem 2 [eer Beto] ht can nace $0) vas defined” in By. 5.10: If the first J modes Hy Yor -- y the structural displacenants are expressed az are considered as the Ritz vectors, 2, Ff ets Fafa wy be xy (5.12) Re Aad whore 2,'s are the generalized coordinates. In terns of the complex frequency response functions, 0g. 5.12 is z uo- } tw a, a9 Bor Ls Introducing the transformations of &q. 5.13 into 2g. 5.9, premulesply~ ing by WE, and tilling the ortioyonmity property of notes of the aasocl- acod structure-foundation system with respect to the “stifiness" and nasa satrices of 2. 5.11, results in sey Fwy = it cw (5.14) -35-En Bg. 5.14, the diagonal elements of $(u) are SyqQo) = for eas amadleh a, a, + efit -csimiptc] x, case whereas the off-diagonal elenents are a,j = oF [E00 + asim Be], (6.156) where n and j = 1,2,3,...,0; Z(w) is a colum vector of the complex frequency nesponee functiona for the generalized coordinates 2,1 1 is a colum vector with the n®® etement hetaih tony ts.ased or a particular excitation frequency , Bq. 5.14 represents 7 simultaneous algebraic equations in tho generalized coordinates Et), n= 22veeonde Tf all the 2(0HN,) vibration modes of the associated structure Foundation systen were included in the Ritz method, the results obtained by solving the simultaneous equations 5.14 would be identical to the “exact™ kosults From solution of Bq. 5.9. There would, however, be no advantage in choosing to solve fg. 5.14 instead of 8. 5.9 because the number of equa tions is not reduced nor are they mcoupled. On the other hand, if sufti- ciently accurate results can be obtained with J<¢2(aity), there would be profound couputational advantages in working with eq. 5.14. ‘That this is indeed the case has bean demonstrated for one-dimensional structural aystens on rigid footings supported on the surface of a halfspace 133] and also for concrete gravity dans [24]. The munber of generalized coordinates that should be included in analysis depends on the properties of che structure-feundation system, the response quantities, end the frequency range of interest. The nunber necessary in analysis of concrete gravity dans studied in this report is determined in Section 7.6. 5.4 Rosponse to Arbitrary Ground Motion The complex frequency response functions F(a) and Fu), a = 1, J are detemined by solving Ba. 5.14 for an appropriate range of excitation frequency a the response to axbiteaty ground sotion cen be ~36-ee tag eee eee eel oe eT notation: replace ety 26) roy 4,004 bby 8 sare5, ANALYSIS OF DANS INCLUDING HYDRODENANEC AND FOINDATZON INTERACTION EFFECTS 6.1 Introductory Note The substructure concept was employed to separately include the effects of dam-water interaction (Chapter 4) and dam-foundation interaction (Chapter 5) in the analysis. Using the sane concept the analysis procedure is ex- tended to analyze earthquake rasponge of dams, simtaneously including Various effects of the water and the foundation. These include effects arising from interaction between the dam and foundation, dam and water, water and foundation, and from interaction anong all three substructures -- Gan, water and foantation. 6.2 Frequency Domain Equations 6.2.1 Substructure 1: bam A cross-section of the dam-water-foundation system is shown in Fig. 2.2. ‘The equations of sotion for the dam idealized as a planar, tvo-disensional Finite element system axe: Y ES + cob. + koe, = om ade%ee) - mat) +e Ll Bele * ole tate "ALSO - aula) + ste) fear An which my go, the finite elenent system; r, is the vector of nogal point displacenents relative to the free-field earthquake Aisplacenent at the base (Pig. 6.1): and £, are the mass, damping and stiffness mitrices for feet. Flog, Son? tn vnich xX ant of are the x ood y couponents of the ateplacenent of nods) rolnt ny Nis the number of nodal points above the base, i, is the number of nodal points on the bate, and the total suber 4s Hs auit=<1010..... Blo ee eer tiol-) (UveGOnDAes asso oleae oa> The force vector B,(t) inclutes hydrodynamic forces R(t) at the upstream face of the dam and forces §,(t) at the base of the dam due to structure -3-RELATIVE i DISPLACEMENTS serfi} pre nte Forces af INTERACTION FORCES By eee SUBSTRUCTURE 3: SUBSTRUCTURE | FLUID DOMAIN DAM pa INTERACTION f1 (rorces'R, RELATIVE RELATIVE DISPLACEMENTS HYDRODYNAMIC FORCES Q,. / SUBSTRUCTURE 2: FOUNDATION ROCK REGION PIG. 6.1 SUBSTRUCTURE REPRESENTATION OF DAN-WATER-FOUNDATION SYSTEMfoundation interaction: a%(e) and a¥ 3 5 specified treo-field ground acceleration, nodal points on the daa base. (t) are the x and y components of the jssumed to be identical at all For harmonic ground acceleration in the x (horizontal) or y (vertical) stractiona alte) «al, Cv wry, the Ateplacenante and forse gan be expressed in cerns of their complex frequency responses: x(t) = ge) + Banelt®, aie = equation, By. 6-1, then becomes eee oer eee ee ety TE the structure has constant hysteretic damping, Eq. 6.2 becomes ef Esta. + cums]eten = aateilinstexery eo Partitioning £, into x, the vector of atsplacemants of nodal points jction displacenents at the base titel © above the base, and z,, the vector of ints (Pig. 6.1), bq. 6.3 can Be expressed as CEL SDE fe 1 forces at the bate of the dan, Aob are next prsaed in tera of interaction Aisplacesents by appropriate anslyses of substructure 2, the foundation (Sec. 6.2.2). tater (Sea. 6.2.5) the hydrodynamic forces Btu) ace expressed in terns of élsplacenents or accelerations at the upstrean face of the dan by appropsiate analyses of substructure 3, the fase region. ‘The forces acting at the surface of the foundation include the forces By at the base of the dam due to structure-foundation interaction end the hydrodyrenie forces Q, at the bottom of the reservoir. Beyond @ certain Gistance upstrean of the dam, the hydroaynanic pressures will become small enough to be negligible. Only the significant forces are included in Q,. 1 For unit harmonic ground acceleration these forces can be expressed in ameof their complex frequency response functions B,(t) = Hp(wetd* ‘somms of th wplex frequency response £1 2 p(t) = Hpterel™ ana aye) = By wrel ‘Held gromd Aispalcenent are The corresponding displacements relative to the free- and git) = jel, one e| iE (6.5) Bn ie defined in Fig. 6.2 vnere dise ‘the 13%" eienent of this matrix, S. placenent® ag show have been imposed at nodal points contained in z, and g and tractions outside these nodal points are zero. eee ere etree gaat fi, ao ef Eagle fae g] eo Substituting this expression into the first matrix equation from Pq. 6.5 loads to hay ST tus] Fe * By - B,400) Sa ext? = Sgt) S300) SE O05] Fy = By - gts) $5 S,iE, = & - $,.(w) 8 2(w) (6.7) Seley = Be Bag Sn z whore mle a = 5,0) wo) $30 7 Bep() ~ 8,00) S100 $F to (6.7) ‘the matrix $,(u) of Bq. 6.7b is the sane as the matrix 8e(o) in Ey. 5. In particular, without hydrodynamic forces, 9, = 9 and By. 6.6 reduces toa. 5.5. ‘the dynamic stiffness matrices for the foundation appearing in Bs. 6.5, 6.74, and 6.75 aro to be determined by 2 separate analysis of the substruc- ture representing the foundation soil of rock region. At many sites of con crate gravity dane, similar rocks extend to large depths, and it is therefore appropriate to idealize the foundation ag 2 viscoelastic half plane. The surface of the half plane is assed to be horizontal ané its material prop~ ‘erties to be honogensous, Available data and methods (32] aro utilized in this investigation to determine dynamic stiffness for such idealized foundations. ~~‘STRUCTURE. FORCE INDOF i=, Sf TRACTION FREE oi top PIG. 6.2. DEFINITION OF $y STIFFNESS MATRIX Z.(u) FOR THE FOUNDATION REGION -4-bquilibriun of interaction forces between the twa substructures -- dan and foundation -- at the base of the dan requires that (6.8) Similarly, compatibility of interaction displacements ot the dam base in the ‘two substructures requries that ay os Hw) = F001 (6.9) =f 1 hiw) - 8,872 9, Seq Son 6.10) Thus, tho forces Ritu) at the Bese of the dan due co structure-foundation ‘eraction have been expressed in toms of the interaction displacements 38) and nydrodynanic forces 9, through dynanic stiffness matrices for the Foundation region, Substituting £9. 6.10 into Eq. 6.4 leads to CE JG E DE a) ( Ro wef be say sat) ba) GaP a + cing, + Bptwi]e er = gat + Rw (6.12) where 2 ety 3,00) ‘the hydrodynamic forces B, and G, vill be exprested in toms of acceler~ ations of the upstrean face of the dam and the bottan of the reservoir by analyses of the fiuid region, to be described later. 6.2.4 Reduction of Desrees of Freedoe For each excitation frequency Bg. 6.11 is a set of 2(NHN,) algebraic equations, as many as the nunber of DOF of the das, which typically would - aebe a few hundred. Enormous conputational effort would be required for re- peated solutions of these equations for many values of the excitation fre ‘quency and subsequent Pourier synthesis of the harmonic responses in each DOP, Thus, it is important to judiciously reduce the munber of unknowns in the analysis, As mentioned in Chapter 5, tvo approaches have proven to be effective in reducing the number of DOP. In the first approach (25, 331, ehe structural displacements x(t) at sotm tine © in the DOF above che bass ar sepereend iota fe Parts atic Aiaplacennts dn to ban daplacennte ie) the ane ine pla the 4 laut ius, E23 vibration sae are adquita to epecsen the treetral ene ae eee eee es 2+ ch niber of OP ar the hae. hile tla apronch Se contptatty ee eae ee et slcet wotats ot Arne say ey 207,20 ‘The second approach [24,33], based on the Ritz concept, is more effective for such systons. The displacenents £, are exprassed as Linear combinations of the Rite vectors, chosen aa the normal nodes of an associated undenped structure-fowdation system. The associated aystem chosen here and in earlier studies is one in which $,(u) is replaced by a frequency independent value, say tho static value 2, ‘The vibration frequencies 2, ané sode shaves ¥ of the associated system are solutions of the eigenvalue problen 2, [be + Eetoly, = ay, (s.18) rere 3p(0) was Getined in Ba. 6.12. 1 the frat 5 modes Uys Yor + + + 9, AtO considered as the Rite vectors, the steucturel Alaplacenente are exctessed as Ley F hoy (6.15) sa z where 2,'s are the generalized coordinates, In tems of the complex frequency response functions, Eg. 6.15 i¢ zw J Hoy, 6.16) a aseEquation 6.16 contains the following equation for the displacements at the base of the structures How = dh Fen, ys (6.17) share U, 18 the subvector of fy corzesponding to the base DOF, Because E-TE,, and Y, wore Goternined fron £9. 6.14 involving 8,(0), the static fomgation selttness antrlx, g nay be expressed in ters of generalized coordinates by setting b= 0 dn Be, 6.6 and ignoring the hydrodynamic loads gy thus a= So sors, (6.19) combining Ege. 6-17 and 6.18 leads to 3 Pa =] abt; (6.13) sos where lig) at 8 6.20) % (a) £000, (6.20) Introducing the traneformstion of Bg. 6.16 into Ea.6,12, premulsipiying hy uf and utLLizing the orthogonality property of eigenvectors of the assoct= seed vtrvcture-foundation system with reapact to the stiffness and mass sacrices of ba. 6.24, results in 4 sto Heo =r (6. ng. 6.21, the diagonal slenents of S(6) ave Sqqttd = fut + ceimad} vine, + Epi - avimg,cor]y, (6.220 wherans the off-diagonal elenents are aff (o - asin], (6.220) shore n and j=1,2,2-++313%W) de a coluan vector of the complex frequancy empense functions for the genezalized coordinates 2%) 1 te 4 colimn weetor = wich the a erenent wha athe 9TH er tea) weve = gaat (6.20 = 46-Tor a pecicolar ofetation toguengy o, Et 6.21 sepeente 4 elmataneous sigeneaio aqutions inthe gemritaat corainate tly eas se teas equations seed tofu solved for severe tunel tlues of the ecieer ‘sion frequency to determine the complex frequency responses. Equation 6.21 would contain 2(N#,) equations if all the vibration odes of the associated structure~oungation system where included as Rite Vectors. Solution of these equations would then be Gentical to the solu- tion of Eq. 6.11 {n nodal point coordinates. There would, however, be no advantage in choosing to solve fq. 6.21 instead of Bq. 6.11 because the number of equations is not reduced nor are the equations uncoupled by the transformation. Howes in working with Bg. 6, by including only a few sufficiently accurate results can be obtained number necessary depends on the Properties of the structure-foundation syeten, the response quantities, and the frequency range of interest; for concrete dams this nunber is determined in Section 7.6. 6.2.5 Substructure 3: Flufd domain ‘The motion of the danwater syste is assuned to be tvo-dinensionat, fang the same for any vertical plane perpendicular to the axis of the dam Assuming water to be Linearly compressible and neglecting its Internal viscosity, the snali amplitude irrotational motion of water is governed by the two~dinensional wave equation eae axe ay? 2, ee (6.25) 4 c? oe? in which p(x.y/t) is the hyérodynanic precsure (in excess of the hydrostatic Pleyst) = Boxy udel® (6.28) where 5 is the complex frequency response function for the pressure and 24. 6.25 becomes thetlelnholtz equation: 6.27)Whereas S48. 6.11 and 6.17 are valid for dans of arbitrary geometry, {cis assumed that for purposes of defining hydrodynamic loads, and only for this purpose, the upstream face of the dan is vertical. ‘his is © resonable assumption, yiven that the upstrean face of concrete gravity dans is verti- ‘cal of almost vertical for most of the naight. Dynamic water pressures are generated by horizontal sotions of the vertical upstream face of the gam and by vertical potions of the horizontal hotten of the reservoir. The vector of horizontal accelerations at che nodal points on the upstreas face of the dam is ae = [f+ dL ff Ben fale (6.200) ut Af the excitation ss horizontal ground motion a%ie) = 0M; and ace = { yo yt Hus}aia (6.28) wh 8 Le the excitation La vertical ground ation a¥(e) = off, vector UM ss a subvector of Y containing only the elements corresponding to the x-DOP of the nodal points on the upstream face of the dan. From bq. 6.19, the vector of vertical accelerations at the nodal goints at the Tn Bq. 6.28 the botton of the reservoir fe gy = {Pg Baste te {13 wh (6.228) Af the queitation Le horizontal ground motions and. 3 yefrs i we Jets (6.296) gh 46 te excitation te vertical ground notion where 3! ta a eubvector of x, containing only the elosants corresponding to the Y-O0P of the nodal zoints at the botten of the eserwotr. Steictly for purposes of notational convenience, the vectors Xf and uf ace replaced by their continous analogve fonctions Ys 6” an spectively in Bq. 6.28 to obtain ae -itor, (6.30a) sed tn 629 2 cote z sue soe = f oF Bes tes if When the excitation is horizontal ground motion a%(t) = et, neglect~ ing effects of the waves at the free curface of water [11], the boundary conditions for Ea. 6.27 governing B are (with reference to Fig. 6.1) Boro) = 0 2B, Boow yor = Ef oh v0 Fas] For the case of vertical ground motion a¥(t) = eM the boundary conditions Bontia) = 0 (6.33) Because the governing equation as well as the boundary conditions are Linear, the principle of superposition applies, The complex frequency re~ sponse fonctions B(x,y,u) and BY (x,y ul, associated respectively with x and ¥ components of ground motion, can therefore be expressed as = 49-a Fore Kieran + f . i? a Ta tq. 6.34, BX tx,y/u) As the solution of Eg. 6.27 for the following bound ary conditions: BoerHu) = 0 y= 0 Bowm +- 2; Hey) ta the solution of og. 6.27 for the following boundary conditions: (6.38) Been =o) Brom = -¥ Beeoad «= tense Boom «05 Bj (xy) Ae the solution of Bq. 6.27 for the following boundary conditions: Borst) = 0 we 24, } Bp txyy4u) 1s the solution of 24. 6.27 for the following boundary condi and B(x, Bote) = 0 | (6.38) = 50-‘he complex frequency response functions S& and HY are for the hydrodynante pressures due to accelerations of the ground in the horizontat and vertical directions, respectively, and the dan is rigiay 3f(x,y.4) 4s the correspond ng function wen the excitation is the horizontal acceleration ¥y(y) of the dam in ene 3" winration soae of the cetoiaied dazfoundation 5 no notion of the reservoir bottoms 3 wath f= du So vertical accetezation X40 of the reservoir botton, associated with the j*" vibration mode of the aSsociated dan-foundation system, and with no motion of the dam. Solution of q. 6.27 in fluid domains of infinite extent in the up stream direction (Fig. 6. and 6.36 have boon reported earlier and are present 6.41, respectively: #2, ae x( ‘ 2) Senna « fi %) e002 & Genfes ¢ =) Z : Eig Bf toy «= 2 eee ee ‘t eee 40) sin SUE Here = 5 (6.42) (a) coe vihere the reflection coeftictent ele) = * Garey et (6.42) where v, and C, aro the unit weight and Puave velocity for the foundation Fock at the botton of the reservoir; a = 1 for rigid rock indicating that hhydrodynanic pressure waves are completely reflected at the reservoir Hotton: and asi for deformable rock implying that hydvodynanic pressure waves in- Binging at the reservoir bottom aro partially reflected back in the fluidonan an8 partially refeacted Into rock, Solution of #3, 6.27 in finia domaine of ineinite extent in the up secean Sizection (Fig. 6.1) and the boundary conditions of Bd. 6.38 may be obtained by procedures sintine to those used in obtaining the above selte slong of Bus, 6.59 and 6.4L 14) and By enploying ee ouriar erantorm wich ee seey, however, necause the resulting pressures neve Little influénce on the reepense of the dan (eoe diecuesion preceeding Poe. 6.52), the complex frequency response function for Aft), the vector of totat hyirodynamic forces at the upstream face of the dam, is, from &q. 6.34, sf, 3t. 2 ose =! Be, Ho -dur+ | Bw [ifw + Be] te) Ro Beeb folio Se] in wnicn EG gf we Renee eee erase ee fee nme ee eet one ae & 5 a) +9 the corresponding pressure functions at the dan face: BL (0.2.0, BSto.ysa), and 2310, ys), respectively. They are computed by using the pHineiple of virtual work with the displacenents between nodal points detined by the interpolation functions used in the finite elenent deali- zation of the dan. secause the pressures act in the horizontal direction on a vertical apetrean face, elenents of Bf that correspond to the y-DOP HA be coro, sSimilariy, fron 83. 6.34, the complex frequency response function for Q(t), the vector of hydrodynante forces at the reservoir bottom, is = af z aw tw + 7 ] eae [jum + in which 950), $ftu), and G2) axe tho nodal forces statically quivaient to the corresponding pressure functions at the reservoir Botton: Bi(x,0,b) B§ce,2vu) and PRtx Du), xengectively. Because the prassures act in the vertical dissection on « horizontal bottom of the rerervote, elenents of 5, chat correspond to the #-D0P will be zero. ‘thas, by analyses of the flulé demain for apprapriate conditions, the nydraiynamic forces in Eq. 6,21 have been expressed in terns of the unknown generalized accelerations J (a) and by substituting -52-Buy 2 ut at 5 5 (6.45) in terms of the unknovn generalized displacenents. 6.2.6 Damtister-Foundation me n** equation contained in 23. 6.21 de faye Fs tay BE fo +B sigtor ahr (5.46) wal WATE ts ts wy He aD? Berl 3 8B, er eee ee ee ee eet Expressing hydrodynamic forces 8 (u) and 9,,(o) in terms of generalized dis- placements from Bys. 6.43 - 6.45 leads to x 2 s, w+ Ts ycor2tan ga jen z = bs ows? Fat en | ° . ry | 2 mor fie erno? Fao tf ures? eal Hag hag [ion L Be She reins] ‘The sot of equations 6.47 for n= 1,2... J may bo rearranged end expressed sn maeeix form a5 f 2 + uw) fee ++ Byg ed egw of? 6.48 5 a 3,5) fw 53in which i 2 fythrl; =, Ego «sgt = fe (afen + Boo} Hag} sgtottoen « Go} teas valid for diagonal as well as off-diagonal elements of S(u) an hoor = bs {oF}? ew (6.50) Byuation 6.49, after eubetitucion of 62. 6.22, becones Aygtsd = [otearimad] yaw, © of [Bptwr-tar md,cor]s, oles oot} Pf, JF ater steal ster aa®. LF stor staal gf weg? (ssa) i sa a ytd cwr-csimd, + of gE) RE cay oft 3,40 = Ee wr-csimdcor], + ul}P{af wo eo} who Mg cor 272 (an (38 00043? (6.51) {Ele eeofserage} | Equations 6.49 and 6.49 contain effects of the foundation and water in vari- | ous forms: + pan-foundation interaction effects appear in eigenvalues 1, and eigenvectors of the astociated dan-foundation system and through the foundation stiffness matrix Bplul (Ege. 6.7b and 6.12). + nasssionad hydrwdymanic loade x on the dam dio to the éree-tield romd motions computed on the assumption of a rigid den + samvater interaction effects apoesr throayh the hrdrodymanie forces Eon the face f the dan and 9f on the resonate fnbton duo to Setocmacionst motions of the dan. + Water-foundation interaction effects appear through the hydrodynamic 56forces 5 on the face of the dam ang 3 on the reservoir bottom due so dafortationsl notions of the sorervis berton eee ene eee eee arantc trcen gf. gf, ant g@ at tm bottom of tan tere ahich ieseere ten acies fat as eerie eect 1 can be argued and shown EhoWph niberical examples hat several terme 4a oye, 6.49 - 6.51 are rolativaly emalt and ean be dropped withows intto dicing any stsnticans errors, tie coup of sch terms arinen fron th hydrox mance forcen of, gf and gP at she reservoir boveon which are uw to the var= ous excitations mentioned earlier. the other such term involves IP, the ean face of the dan due to defornational wyarodymamic forces at the up notions of the reservoir bottom. Dropping these terms from Bqs. 6.49 - 6.51 leads to their eimpiitiea version: ) = Bead, tex, y (6.52) sn witch 5,0 = [ateovnal}ytes, © xf[Bptar-aeing,coi}y, (af fw (6.520) Ajo + fi, w-aeimd, aes + off}? Ben (6.530) hay = vals {uf}? ken (6.520) These are the final equations governing the response of the dan to horizon~ tal or vertical ground notions, applied separately. Included in these equa~ tions are the hydrodynunic effects and den-foundation interaction effects that axe significant in the response of the dam. Equation 6.52 represents 4 aagenrais equations in the uikowm complet frequency reszonse functions in the generalized coordinates 3{ (us), j= 1,2, --= Jy corresponding to the J Rite vectors included in the analysis. the coefficient matrix S(s) 42 to bbe determined for each excitation frequency and simultaneous solution of the equations leads to the values of 2) at that excitation frequency. Repeated solution for several hundred excitation frequencies, covering the frequency range over vhich the ground notion and structural response have significant ot components, leads to the complete functions By (0) - 55‘The number of Ritz vectors that need be included in the analysis Gepents on the system properties, the response quantities, and frequency range of interest. The number necessary in analysis of concrete gravity Gans is determined in Sec. 7.6 As will be seen later, a fey generalized coordinates (ten to twenty) are sufficient in the analyais of dame igeal- ized as finite element systems with say 200 DOP, thas Ieading to vary efficient procedures. Blenents of matrix 3(u) and load vector Hw) are to be computed for a frequency & by using By. 6.53 toyether with the pressure functions Bb and Nee ease oat eee meee ea ear eee er ese ects cae eree a Fesonant frequency of the fluid domain. consequently, the: etenents of §1 is the m! and P*(u) are unbounded at these frequencies. ‘hen J = 1, ice, when only one vibration mode of the dan iv considered 4p the analysis, the J equations of S3. 6.53 reduce to one equation and the response at w « uf can be obtained ‘hough @ Liniting process. Hovever, when > 1, Le, when moze than one node is considered in the antlysis, the Liniving process yields @ aysten of equitions ach that $(4) is singular at wel, In particular, all the M equations become ‘identical to each other and no solution can be obtained. This degeneracy of the equations nay be considered as a Linttation of che subscructure netted of analysis. However, thie Linttation is of no practical consequence in obtaining earthquske responses. Munerical values for the frequency responses aay be obtained? for volver of w arhitrari3y ctose to of, the singularities at uf constitute a discrete s0t and will therefore fot affect the values of the Fourier intesrale which will lead t2 ssrtiquake responses (See. 6.2). 6.3 Response to Arbitrary Ground notion nce the complex froquency response functions Xt) and Aa), m= 1.2, Jy have been determined by solving Bq. 6.52 for'an appropriate range of excitation frequency J, the responses to arbitrary ground action can he ob- tained as the superposition of responses to individual harmonic congonents of the excitation through the Fourier integral: tsetoed [fen kunei an t2 ey (os Ato) Ae the rourter transform of af(t): tn which Aj() Ss the Fourier transform of aft) tue f eas, b= ay (6.55) here 4 ie the duration of ground motion. ‘The combined response Z, (2) to horizontal and vertical components of ground motions acting simultaneously i By = acer + Fee) 6.56) Repeating this procedure for all the necessary values of ny the displacement, response {s obtained by transforming back from generalized to nodal point coordinates z zi = Tsou, s.37) = ‘The stresses J. (t) in finite elenent p at any instant of tine are re lated to the nogal point displacesents #,(t) for that element by where ™, {s the stress transformation matrix for the finite elenent p. At any instant of tine, the stresses throughout the dan are determined fron the nodal point aisplacenents, by applying the transformations of Eq. 6.58 to each finite elenent. 6.4 Static Stress analvele The standard procedure for anslysiz of stresses dua to static loads (chapter 3) applies to structures on rigit base. Including foundation flex- ibility, the equilibrium equations for a dam subjected only to hydrostatic pressures and forces associate’ with its cum weight can be obtained aa a = 57special case of the equations of émenics (Ex. 6-11) lie eal fay? a * eon] by (6.59) ‘The vector of static loads is denoted by B and the effects of foundation deformations are represented by the foundation stiffness matrix at zero Frequency. In principle, Eg. 6.59 nay be directly solved for the deeized nodal point @isplacenents resulting from the gravity loads. tn practice, this Gixect approach may he unsatisfactory because the displacements x andy, sity, the total @isplacenents are expressed fas the sun of rigid kedy aleplaenente plus an ineresont duo to deformations, hie (6.60) An which the subscript “O" rofers £0 rigid body dleplacements, and the “ellde" identifies the relative displaconent comonents. The rigid boy and relative diaplacenents at the base of the dam are shown ia Fig. 6.3. Introducing Oy. 6.60 into Bg. 6.59 ylolées [s Ly ae % : en (5° Mm * £40) Foe) ed ta * Hel? But since the rigid body displacements produce no forces in the structure, “ETH lth) -s8-Designating the foundation forces associated with rigid body displacenents DY Bogs hare Boy Be Loy (6.63) Ba. 6.62 may be written as follows: : I‘ Pquation 6.64 thus provides a means to solve directly for the relative 6-64) Aisplacaments; the rigid body displacenents enter only in the evaluation of the rigid body foundation forces By,. To evaluate these forces, it is con venient to express the rigid body diaplacenents r, Epp in terms of the three components of displacement of the center of gravity (e.g) of the base (Fig. 6.4) Zap 7B Foy (6.65) Where the transformation matrix 9 involves only the seometry of the location of the base nodal points and the c.g of the base. Similarly, the resultant hase forces §., corresponding with the dls~ Placenents 1, can be expressed in tems of the nodal forces Ry, 48 follows: fog. Bag OT By 6.68) v oe | : | aRIGIO BODY DISPLACEMENT ‘NOTE: HORIZONTAL ‘COMPONENTS NOT SHOWN PIG, 6.2 RIGID BODY AND RELATIVE DISPLACEMENTS AT BASE OF THE DR PIG. 6.4 RIGID BODY DISPLACEMENTS AT THE CENTER OF GRAVITY OF THEin uhicn U = resultant horizontal force We rosuitant vertical forse M = resultant onent about the center of gravity Introducing Bs. 6.83 and 6.65 inte Bq. 6.66 yields Beg 2 Bay ™ from whieh Beg * r0 Fog (6.67) Af the symbol 2 (6.68) is used to represent the rigid body foundacion stiffness matrix. Solving Bg. 6.67 for the rigid body éisplacenenta: = £0 Bog and making use of bys. 6.65 and 6.63, the nodal forces By, associated with Higid body displacenents are expressed in tems of B._, the resultant forces fat the base due to all applied loads Re (0) DEES Bag (6.69) With this result the right hand side of Bq. 6.64 4s known. Tals equation can be solved for the relative nodal displacements, from which all desired stresses in the dam can be found, without any specific consideration of the rigid body dlsptacenents. -a-6.5 Spectal cases 6.5.1 Dan-Foundation system, No water The frequency-domain equations for the dam, without any impounded water and including dan-foundation interaction affects, can be obtained from the general Bqs. 6.52 and 6.33 by sinply dropping the hydrodynanic coms f(s) ané afl). The xesuiting equations are sw + kw, 2+ xy (6.70) 0 watch sq = [wocasinatluta,y, + v[fetor-asimd, co}, (ne sto = Gli - aund ors, (ene) be gaat (ene Byuations 6.70 and 6.71 are the sane az those presented in Chapter 5 for ynanic response of dans incluting structure-foundation interaction. 6.5.2 Bam on Aigié Foundation, with water Tn this case, the base DIF can be eliminated from the analysis: the associated structure-foundation system defined in Sec. 6.2.4 is simply the 4am on rigid foundation. Denoting the sass and stiffness aatrices of the dam on rigid base by p and , the natural vibration frequencies 4, and corresponding node shapes ¢, of this systen aro solutions of the eigen value problen 14, + et, tem) ‘The structural displacements are expressed as 4 Linear combination of the fleet J mode shapes: mus, the frequency donain equations fer the dan on a rigid foundation, -e2-Ancluding hydrodynamic effects, can be obtained by appropriately spectali- zing Bqs. 6.52 and 6.53. The resulting equations are e 2 st) Huy «bars bene 6.78 in vader sqqte) = Eateosimel] tee roto (6.750 rae! 5,500) = CEH oy (6.755) shen =-dfarts (287 Les (6.730) ‘These equations are equivalent to those in Chapter 4 (8qs. 4.16-4.18 and 4,34-4.35) developed directly for dane with water on rigid foundation. 6.5.3 Dam on Rigid Foundation, No Hater Dpations govening complex fropancy resonees of « dam without water aaa ae ae Fame eee ees are then given by: Baqi) = Eat casirnal] oa, (6.760) (6.700) whew) = aa? (6.766) ‘The matrix $(u) is now diagonal since the chosen Ritz vectors are the natural nodes of vibration of the system considered. Comparing Bgs. 6.78 and 6.75, it de apparent that g(a) and La) are Rodified due to the presence of water. The diagonal terms of S(a) are nodi- fied by an additional frequency-dependant mass. off-diagonal mass terns appear because the Ritz vectors, the natural modes of vibration of the dam Geithout water), are not the vibration modes of the combined dan-water systen, ‘and they become coupled due to hydrodynanic interaction effects. An additional tem appears in Lt (4) due to hydrodynanic toads. -63-‘These aguetions are equivalent to those in Chapter 2 (Bg. 2.12) derived Girootly for the dam without water on rigid foundation. 6.8 Computer Progran Based on the analytical procedures develored in thie chapter, a com pater progran hag been written in FORTRAN IV to munericelly evaluate the responses of concrete gravity dams, including various effects of both the water and the foundation. These include effects arising from interaction between the dan and foundation, dan and water, water and foundation, and from interaction among all three substructures--dan, water, and foundation. ‘The dynamic stiffness matrix for the foundation Se not computed within the computer program. Thus if should be computed externally and suzplied to ‘the computer program. Available data and methods [52] may be utilized to determine the dynanic stiffness matrix for a foundation region idealized az a viscoelastic half plane. ‘The computer program is capable of analyzing the response of a dan for four conditions: Dam on rigid foundation excluding hydrodymanic effects, Gan on rigid foundation including hydrodymanic effects, dan on flexible foundation excluding hydrodynamic effects, and dam on flexible foundation including hyérodynanic affects. ‘The response of dan-water-foundation systems, idealized as described in Chapter 2, to horizontal and vertical components of ground motion can be analyzed. The dan is treated as an assemblage of two-dimensional finite elenents; the impounded water and foundation are treated as continua. ‘The output from the computer progran includes the complex frequency response functions dascribing the response to harmonic ground motions and ‘the complete tins-history of displacenents and stresses throughout the dan. Because the program is capable of including any nusber of Rite shape vectors, results can be obtained to any desired degree of accuracy. The users guide and Listing of the program are included in Appendices Rand 8, = 667, PRELIMINARY RESULTS POR PARAMETER SELECTION 7-1 Scope of che chapter Several prolininary analyses were carried out to assist in the selection of parameters defining the system and also those necessary to carry out the analyses for the dynan{c response study presented in Chapter 8. Results from tio analyses of a dan foundation systen, asmiming the eysten to be in plane stress in one and in plane strain in the other, are presented to pro~ vide @ basis for selecting one of the two assumptions. Similarly, vesponse of the dam is presented and compared for evo damping models, viscous damping land constant hysteretic damping, With the aid of response results, the ‘minimun nunber of paransters -- those that have the most important influence fon the dam response ~~ defining the elastic modulii of the das and founda tion are identified. The munber of generalized coordinates necessary to obtain accurate responses over the desired range of excitation frequency is Gotermined with the aid of response results obtained with varying numbers of these coordinates. 7.2 Systems, Ground Notions, and Re 7.2.1 systons ‘The dam is idealized as having a triangular cross section with a ver- ‘ical upstream faco and 3 downstream face with a elope of O.8:1. The dam is assuned to be homogeneous with linearly elastic and isotropic proper ties for mss concrete: Young's modulus E, = 2 or 4 million psi; Pois~ son's ratio = 0.2; and unit weight = 155 ibe/ft?, Representative values for the latter two parameters have been chosen. the possible small varia~ tion around the chosen values will have Little influence on the dam res pense. Two danping assumptions are considered: Viscous damping with Gamping ratio £| = 0.05 in each natural mode of vibration of the dan alone (without water) on a fixed base, and constant hysteretic damping with the energy loss coefficient ny = 0.1. The finite element idealization for a monolith of the dam (Fig. 7.1) consists of 20 quadrilateral elements and 26 nodal points which provide 42 dagrees of freedom on a fixed bass and $2 on a flexible base. ‘The dam monolith is supported on the surface of = honogeneous, isotzo-pic, Linearly viscoelastic half epace. The following properties are assumed for the foundation materials: =, = 254; Polason's ratio = 1/3) and unte eight, wy = 165 1bs/ ft. the latter eo parameter valves ave not varied Because the response is insensitive to the small variations in thove parameter values that car in practical problems. The foundation soil oF rock is idea! constant hysteretic solt4 with several values of enexgy less fchent ng = 0.1, 0.25, and 0.5, of az a Vosst Impounded water in the reservoir has a constant depth # and is idealized as extending to infinity solid with energy loss coeftictent fp * 0. in the upstream dizection. the unit weight of water w= 62.5 1bs/ft? and the velocity of sound in water = 4720 ft/sec. ‘Two valuss of the depth of ‘ater Hl, relative to the beight of the dam H,, are consideved: H/, = 0 (oo water) and 1 (fult water). The dan and foundation both are assumed to be in a state of generalized plane stress oF plane strain. 7.2.2 Ground Notions ‘The excitation for the dan-water-foundation system 4s defined by the ‘evo components of free-field ground motion in the plane of @ monolith of fend the vertical component. zach component of ground acceleration is assumed to se ‘the dan: the horizontal component transverse to the dam ax! wroonie, «¥(e) « a¥(e) = be narmonic, «S(e) » aZie) varied over a relevant range. "with the excitation frequency to be 7.2.3 Response Quantities ‘The response of the dan to harmonic free field ground motion was de- termined by the analytical procedures presented in Chapter 6. Five mode shapes on fixed base or generalized coordinates, as azpropriste, were included in the analysis. Although the analysis led to response et all nodal points, only the results for @ few selected degress-of-frecdon are presented. For dans on rigi4 foundations, the complex frequency response fenetions for horizontal acceleration at the crest of the dan are presented. Tm addition, the complex frequency response functions for the horizontal accoleration at the center of the base of the dan and for vertical acceler ations at the upstream and dowstrean edges of the base are presented when tthe interaction between the structure and flexible foundation material ie anetuded. ae‘The absolute value (or modulus) of the complex-valued acceleration eseponse Le plotted against normalized excitation frequency parsneter u/o,) where u, > fundanental fixed base natural frequency of the dam alone. sarison of Plane Stvain and Plane stress Assumeion Because, at the present tine, the analysis procedure presented in Chapter 6 has been isplenented only for tuondinensional systens, its appli- cation is restricted to aystens in plane stregs or plane strain. Although, as mentioned in Chapter 2, neither of the two models are strictly valid, the former is better for the dam and the latter for the foundation. However, in order to define the dam-foundation system on a consistent basis, the same model should be employed for both substructures. ‘the results of two analyses of the dam-foundation syste described in Section 7.2.1, assuming the system to be in plane stress in one and in plane strain in the other, are presented in Fig. 7.2. Constant hysteretic damping with energy loss coofficient n= 0.1 was ageuned for the dam and foundation materials. The results presented ave for systems vith 26/8, = 2, indepen dent of the B, ané F, value separately. Tt ts obvious from Fig. 7-2 that ‘the response of the dam, including effects of dam-foundation interaction, is essentially the same under tio assumptions ~~ plane stress or plane strain. ‘the dam-foundation ayatem i assumed to be in plane tress for all the results in this and later chapters. As discussed in Chapter 2, based con physical behavior, this assumption is appropriate for deseribing the behavior of a concrete gravity dan vibrating at large amplitudes of motion, but not for the foundation. However, based on the above results, the same ascumption my be made for the foundation behavior without significant loss. in accuracy. 7.4 Elastic Yoduli Parameters ‘the complex frequency acceleration response functions describe the steady-state acceleration responce of dane to harmonic excitations. These functions for a dam on a rigid foundation end no water, plotted against nommalized excitation frequency paranster w/a, apply to dans of all heights provided they all have the cane crogs-sectional shape, Furthermore, they are independent of the unit weight v, and Young's modulus B, for the dem- 69> ABSOLUTE VALUE OF HORIZONTAL ACCELERATION AT DAM CREST $ 8 CURVE IDEALIZATION | PLANESTRESS 2 PLANE STRAIN v 2 3 4 5 wi, PIG, 7.2 RESPONSE OF A DaM WITHOUT WATER, INCLUDING DAM-FOONDATION INTERACETON, TO HARMONIC HORTZONTAL GROUND ACCELERATION ‘OBTAINED UNDER TWO ASSUMPTIONS FOR THE SAME SYSTEM: (2) PLANE STRESS; AND (2) PLANE STRAINconcrete. Tt can be concluded from the equations of motion for the dan, Ancluding the dam-foundation interaction but excluding hydrodynamic effects, chat the complex frequency response functions plotted against normalized excitation Erequency do not depend separately on 8, and B, but only the ratio £,/8,, These functions for dams on rigid foundations vary signi Hicantly with 5, when hydrodynamic effects are considered [22]. They vary ‘even for dams on flexible foundations: for a fixed value of B,/2,, the value of B has influence on the response of the dan including dan-water interaction effects. Figure 7.3 denonstrates that this influence is minor in the response to horizontal ground motion but significant in the response to vertical ground motion. 7.5 panping Models and Peraneters 7.5.1 Dam ‘the analytical procedures presented in chapters 3-6 included two models == viscous damping and constant hysteretic darping -- for enersy Giesipation in the dam. Viscous danping had been selected earlier (22), in studying hydeodynanic effects in earthquake response of dans. Constant hysterotic damping is preferable for conceptual as well as computational reasons, especially whan structure-2oil interaction is included in the analysis [29]. Therefore, oll munerical results presented in chapters 8 and 9 ate for dans with constant hysteretic damping. In order to provide 4 basis for comparing these results with those presented earlier [22], response results using both damping models are presented in this section and compared. Using the analysis procedure in Chapter 6, the steady-state response of the idealized dan monolith (Fig. 7.1) to harmonic ground acceleration in the horizontal direction {s determined for several cases. Assuming the concrete properties Listed in Section 7.2.1, with Young's modulus = 4. 10% pst, and considering the foundation to be rigid, the complex Exequeney vesponse functions for the dan were determined for the following four cases. (the first five vibration modes wero included in the analysis.) L. Viscous damping, E,= 0.08 for all vibration modes; no water 2. Constant hysteretic damping, 11, 0.10; 0 water 2. Viscous damping, £,+ 0-05 for all vibration modes; full water 4. Constant hysteretic damping, n= 0.20; full water = 70-30, HORIZONTAL GROUND MOTION —————————————————— CURVE Es,PSI 1 4x10 2 2xi0® 20 VERTICAL GROUND MOTION 20 ABSOLUTE VALUE OF HORIZONTAL ACCELERATION AT DAM CREST oO 1 2 3 4 5 6 wl, FIG. 7.3 INFLUENCE OF YOUNG'S MODULUS £, OF DAM CONCRETE OM RESPONSE (OF A DAM, INCLUDING EFFECTS OF WATER AND FOUNDATION, 70) HARMONIC GROUND MOTION. B4/E, 18 THE SRE IN BOTH CASES -n-The selected values of damping factor n,n constant hysterotic damping fang viscous danping ratio 4,for all aodes of vibration are related by «= 2g, As a result, the enexgy dissipated per vibration cycle in each natural node of vibration at the resonant excitation frequency would be the sama for che two damping sodels. The energy dissipated per cycle in constant hystere- ic damping 42 indapendant of excization frequency, but varies Linearly with frequency for viscous damping. Because the energy dlasipated at the fundenentat resonant frequency of the dam alone ie the sama for the two damping sodels and the selected pa meters, the dan response is independent of the type of damping (Pig. 7-4) At the fundamental raconant frequency of the dan, including hyéredynanic affects, the energy dissipated in constant hysteratic danping will be the sane but reduced in viscous damping, compared to the energy dissipated at the natural froquoney of the dam alone. As a result, the resonant response is significantly amaller for the dan with constant hysteretic damping, com pared to the results for viscous damping (Pig. 7.4). The differences in eesonant responses for the to damping models ara directly related to the reduction in resonant frequencies dus to dan-vater interaction effects. Because such reduction 12 relatively small for higher resonant frequencies, the corresponding vesonant responses are affected less by the damping mode] (Pig. 7.4). AE aueitation Frequencies not close to resonant Frequencies, Gamping bas Litele effect on the response and it is essentially the same with ‘the two damping models. Constant hysteretic damping with nz = 0.1 Ls assuned for the dam in ob taining all subsequent results in Cheptere 7, 8, and 9. 7.8.2 Foundation Nunorical results and analytical procedures have been presented to determine dynamic stiténess matricas for a viscoelastic half-plane of Voigt or constant hysteretic materials (32). In this section, computed responses of ‘the dam including structure-soil interaction effects are presented to aid in selecting the danping model and péreneters for the foundation material, ‘the response of the idealized dan monolith (Fig. 7-1) without water byt including dam-foundation interaction effects is computed by the procedures of chapter 6. The following properties are selected for the dam in addition to those Usted in Section 7.2.11 Young's modulus &, = 4 x 10% psi, constant hyateretic damping factor 1, 7 0-1. The foundation modulus B, is twice that of the dan and, in adaition to the properties of the foundation material Listed -n-ABSOLUTE VALUE OF HORIZONTAL ACCELERATION ATDAM CREST & g ee 8 CURVE DAMPING MODEL WATER 7 1 viscous NO 2 CONSTANTHYSTERITIC _NO 3 viscous FULL 4 4 CONSTANTHYSTERITIC FULL a t 2 3 4 5 w/a, PIG. 7.4 INPLDENCE OF DAMPING MODEL, VISCOUS OR CONSTANT HYSTEREIC, (ON RESPONSE OP DAN OM RIGID FOUNDATION 10 HARMONIC, HORIZONTAL GROUND MOPIONin Section 7.2.1, the following are selected: £,/8, > 2, onoray loss coef Hlctents &_ = 0.1 for the Voigt solid) and ng = 0.1 for the constant hystere- tic solid, The tio dam-foundation systemd analyzed have identical propertics With one exception: the foundation is of Voigt material in one case, and con stant hysteretic material in the other case, Including five generalized co- ordinates 4a the analysis, the comlex frequency response functions for the dam weve obtained for the tio systens. The results presented in Fig. 7.5a demonatiate that the damping model for the foundation has Little effect on the regonant frequencies of the dam or on the response except at the fundanentel resonant frequency. The fundamental resonant response of the dan is sonownat larger with Voigt foundation material. For 4 Yoigt solid, the energy loss per cycle of harmonic vibration is proportional to the excitation frequency. Hovever, over & considerable range of frequencies, rocks and soLle exhibit energy lose essentially independent of the frequency of vibration. Such materiale are better idealized as con stant hysteretic solids, This tz the sodal adopted for the foundation mater~ tal for the dan responses presented in Chapters @ and 9, Based on the above Gigcussion, however, those results are also indicative of the response of Gams on Voigt foundation materials. Using the properties mentioned sbove for the dam and foundation, the analysis was repeated for twe other values ef damping coefficient for a con stant hysteretic foundation: ng = 0.25 and 0.50. the complex frequency response functions for the dam with constant hysteretic damping, n, "0-1, on 4 constant hysteretic foundation are presented in Pig, 7.5 for three valusa of the damping factor ne * 0-1, 0.25, and 0.50. The responses are Angeneitive to the foundation damping except in a neighborhood of the fun- danental resonant frequency. Even this resonant response is not influenced greatly by danpingy increasing ng = 0.1 to 0.25 reduces the resonant response by only 128. Dasping in the foundation is modeled as a constant hysteretic solid with ng = 0.2 in obtaining all subsequent results in Chapters 7, 8, and 9, The assuned value of damping factor is appropriate for sound rocks at sites of major concrete dane. Because the dan response is not very son- sitive to foundation damping, however, those results are approximéely tndi- cative of the dam responsa with other levels of foundation damping. - 4 -ABSOLUTE VALUE OF HORIZONTAL ACCELERATION AT DAM CREST rr, et 3 y 3 So ° ‘CURVE FOUNDATION MATERIAL 1 VOIGT 2 CONSTANTHYSTERETIC 0 T @ 3 4 5 6 30, CURVE 7% rT a10 2 025 20 3 050 3 whe, RESPONSE OF A DAN WITHOUT MATER TO HARMONIC, HORIZONTAL GROUND ACCELERATION: (A) INFLUENCE OF DAMPING MOCEL, VOIGT OR CONSTANT HYSTERETIC, FOR THE FOUNDATION. (B) —NPLIENCE ‘OF DANPING COEFFICIENT n, OF A CONSTANT HYSTERETIC FOUNDATION, -15-7.6 Number of Coneralized Coordinates ‘The governing equations in the frequency domain were transforsed from the physical nodel point displacement coordinates to generalized coordinates (Chapters 3-6). Aa many of these generalized coordinates should be included in the analysis as nacessary to obtain accurate responses over a desired range of exestation frequencies. The required number of generalized coor~ Ainates will generally be a sail fesction of the number of degress-of= ereedom in the finite elenent idealization of the dan, ‘the natural modes of vibration of the dam alone were selected as the generalized coordinates for analysis of the dan on rigid foundation, with or without water (Chapters 2 and 4). In order to accurately obtein the response of the dam without water on @ rigid base, all the modes of vibra~ ‘tion should be included which have naturel frequencies within and close to che range of excitation frequenices of interest, and contribute signifi- cantly to the vesponse in thie frequency vange. Accelerograph records accurately reproduce ground notion componants with frequencies up to approx imately 25 cps. The first few, say five, natural vibration modes, would generally be sufficiont to obtain accurate responses of concrate gravity dang -- they have relatively high natural frequencies -- in this frequency range, Damwater interaction significantly reduces the fundamental reso~ ant frequency but az Little influence on the higher resonant frequencies, ‘ws, usually, the sane number of natural vibration modes would be sufficient for analysis of the response of the dan, with or without water. ‘The eigenvectors (vibration snde shapas) of an associated dan-foundation systen, the dam with the foundation characterized by the stiffness matrix |2,(0) equal to the éynante stiftness eatrix $,(u) at v= 0, were selected fas the generalized coordinates for response analysis of the dam including Gam-foundation interaction effects (Chapter 5). Unlike the natural modes of vibration of the dam on a rigid base, these generalized coordinates are not physteally meaningful. Thus the nusber of theso generalized coordinates that need to be included in the analysis is not as obvious. The complex Erequency response functions for the dam with horizontal ground accelera~ ion as the excitation wae obtained from four analyses using the procedure of chapters 5 and 6, including 5, 7, 19, and 15 generalized coordinates, respectively, The results presented in Fig. 7.6 are for the idealized dem BretSpies HORIZONTAL ACCELERATIONS 30) DAM CREST CENTER OF BASE 20] seperti VERTICAL ACCELERATIONS AT BASE aes 2 Ws EOE ABSOLUTE VALUE OF ACCELERATIONS. Bf Bafa, Bla, Dy gh, By Dig Thy yh Tigh FIG. 7.6 INFLUENCE OF THE MINER OP GENERALIZED COORDINATES INCLIDED TH ANALYSES ON RESPONSE QE A OM, WITHOUT WATER BUY INCLADING DAN-TOUDATTON SWERACEION TO Wenaceney nee ZONTAL GROUND MOTION cen Sr tomeponolith, without water, but including das-foundation interaction effects. The first 8 eigenvalues Q, (vibration frequenices) of the assoicated dan foundation systen are identified along the frequency axis. It Ls apparent that, in order to obtain satisfactory results for responses over sone fre~ quency ange, all the generalized coordinates associated with eigenvalues within the frequency range plus a few, say three, move should be included in the analysis. fased on this criterion, the frequancy-range represented im earthquake ground motion, and the fact that complex frequency response functions decrease at larger excitation frequencies, ten generalized coordi- nates Were consigered sufficient for the results presented in Chepters 6 and 9. = 188, COMPLEX FREQUENCY RESPONSES 8.1 Scope of chapter The analysis procedure developed in Chapter € can be used to evaluate the response of concrete gravity dans subjected to earthquake groué motion. a this procedure, the complex frequency response functions describing the Fesponse to harmonic groumé motion are determine’, followed by the Fourier ‘transform procedures to compute responses to arbitrary ground motion. Zn ‘his chapter, the complex frequency response fimctions for an idealized toss section representative of concrete gravity dams are determined for a range of the inportant systen parameters characterizing the properties of the dam, foundation soi or rock, and impounded water. The effects of dan water interaction and of dan-foundation interaction on the @ynanic reszonse of the dam are studied. The Ldealized cross section considared as tepresentative of concrete gravity dans is a triangle with a vertical upstrean face and a downstrean face with a slope of 0.8:1. The dam is assuned to be homogeneous with Linoarly elastic and isotropic properties for mage concrete: Young's modulus E, = 3, (or 5 million peis Poisson's ratio = 0.2; and unit weight = 155 Ibs/cu.ft, Bhergy dissipation in the structure 4s represented by constant hysteretic damping, with the enersy loss coefficient n, selected as O.2, This is equivalent to a danping ratio of 0.05 in all the natural nodes of vibration of the dam alone (without water) on @ fined base, The finite elenent idealization for a monolith of the dan is shown dn Fig. 8.1, consisting of 20 quadrilateral elenents and 26 nodal points, which Provide 42 degrees of fresdon on a fixed base and $2 on a flexible base. ‘The dan is supported on the surface of a homogeneous, isotropic, Linearly viscoelastic half space. For the foundation material, several values for the Young's modulus Ep are considered, Poisson's ratio = 1/3, and unit weight = wp = 165 ibs/cu.ft. the foundation gol] or rock is idealized fs a constant hysteretic solid vith energy loss coefficient np = 0.1. =eImpounded water in the reservoir has constant depth H and is idealized fas extending to intinity in the upstream direction. Several different values for H, the depth of water, relative to #,, the height of dan, are considered: B/¥, ~ 0 (empty resezvoir), 0.9 (partial reservoir). The unit weight of water of sound in water = 4720 £t/sos, led reservoir), and 1 (full Bos/eu. fe, and the velocity The dan and foundation are atnuned to be in a state of generalized plane stress. this assumption, although not most azptopriate for the foundation saverial, 1s dictated by the expected behavior of the dam (see chapter 2. 0.2.2, geoind ottone he excitation for the dam-vater-foundation system is defined by the to consonents of freenfleld ground notion in the plane of s monolith of the dam the portzoneal conponest tranevacse to the 4am enls, and the vertical component. Fach component of ground acceleration 1s assnad to be hammonte, afte) = aY(e) = elit, wien ene excitation feasuency to be varied over a relewane range 2.2.3 cases analyzed As concluded in Chapter 7, the most important paranctors influencing tthe complex frequency resyonse functions for dane on rigid foundations are B,, the Young's modulus of elasticity for mass concrete in the structure, and H/Ml,, the ratio of water depth to dan height. han dan-foundation inter action is considered, an additional parameter is important: £,/E,, the ratio of Young's moduli for the foundation and dam materials. For a fixed value of E(/E,, the value of 5, influences the response of the structure to a sainor extent for horizontal ground notion and significantly for vertical ground motion. However, to keep the number of cases analyzed to a minimum, the E, value is not varied, Several damwater-fomndacion ayatans were defined by values for peransters show in Table 8.2. Eosponse functions for each case were determined. presented in a manner to factiitate study oft Anteraction and structure- foundation interaction, considered separately: and the conbined effects of these two sources of interaction, on the response of the aan.=e TABLE 8.1 RESPONSE TO HORIZONPAL AND VERTICAL GROUND MOTION SEPARATELY: CASES a 7 Pst eigia or rieibie] Ep a Condieion wy A mr nigta - mpty ° 2 anao® Rigia ° Partiatty Fitted | 0.8 3 axi08 Bigia - ru 1 4 s108 nigia - ron 1 5 sae rigid - rat 1 6 any Flexibie 4 pty ° 7 sot Ploxibie 4 Putt 2 8 aot Flexible 2 awry ° ° sni08 Ploxible 2 Partially Pintes | 0.8 10 anioé Flexible 2 Pun 1 a yt Flexible 1 Papty ° 2 108 Flexible 1 ran 2 Results for all casos are prosented in a form applicable to dans of all hoights with the idealized triangular cross-section and chosen By value + nosults for these cases, when presented in an appropriately normalized form, are valid for all £5. By © Young's wodulus of Glastictey oF tonevere Th Ul RE = Young's modulus of elasticity of foundation maters RGON OF WHERE ig = height of che TH FSET aan‘The aydvodynamlc pressures due to vertical ground notion gepend on, among other parameters, the reflection coefficient at the reservoir bottom a= HC,u,/ow) = 21/11C,¥,/om) +1] where w, and C, are the unit weight and ty for the and ¢ are the un snt and sound velocity It can be sats that a <1 aeh ximim value correspond- 10% pal and B/E, ==, 4, 2, 1, and the values of and w, mentioned earlier, the values of a are 1, 0.85, 0.80 and 0.72, respectively. 8.2.4 Response Quantities ‘The response of the dam to harmonic free-field ground motion vas deter mined by the analytical procedures presente coordinates wera included in the analysis. Based on Sec. 7.6, the resulting complex frequency response functions should be accurate for excitation fre~ quencies up to approximately 25 ops. Although the analysis led to response all nodal points, only the results for a few selected degrees-of-freciom Chapter 6. Ten generalized are presented. For dans on rigid foundations, the complex frequency re- sponse functions for horizontal and vertical accelerations at the crest of ‘the dam are presented, In addition, the complex frequency tesponse functions of the base of che dan and for the edge of the hase are presented vhen Anteraction between the dam and flexible foundation material is included for horizontal acceleration at the vertical accelerations at the upstre (or modulus) of the complex valued acceleration response is plotted against ‘the normalized excitation frequency parameter u/s, where ) = fundanental Fixed-base natural frequency of the dan alone. When presented in this form, 0 dams of all heights with the idealized triangular cross Bj value, Furthermore, Lf the reservoir is empty, the plotted results are also independent of the B, value 8.3 Complex Frequency Responses 8.3.1 DamHater Interaction effects In order to identify the effects of wator on the éynanic response of ‘the dam, the results of anaiysis cases 1, 2, and 3 (Table 8.1) to horizontal, land vertical ground motion, separately, are presented in Figs. 8.2 and 8.3, ~~HORIZONTAL ACCELERATION ABSOLUTE VALUE OF ACCELERATIONS AT DAM CREST VERTICAL ACCELERATION H/ Hg 1 —— bt. _______1_ wh fea, w/e, wh fa, PIG. @.2 HYDRODYNAMIC EFFECTS IN THE RESPONSE OF DAMS 70 HARNONIC, HORIZONTAL GROUND NOTION. RESULES ARE PRESENTED FOR VARYING WATER DEPTH: CASES 1, 2, AND 3 OF TABLE 9.1 eaeHORIZONTAL ACCELERATION ABSOLUTE VALUE OF ACCELERATIONS AT DAM CREST VERTICAL ACCELERATION why, H/H,0.8 ———b———— 1 s wh /w, w/e, w/w, H/Hg1.0 a w/e, w/a, wy, w/e, PIG, 8.3 HYDRODYWANIC EFFECTS IN THE RESPONSE OP DAMS TO HARMONIC, VERTICAL, GROUND MOTION, RESULTS ARE PRESENTED FOR VARYING WATER DEPTH: “CASES 1, 2, aD 3 (OF TABLE 8.2 -a5-Hespectively. The response curve for the dam without water (H/fg = 0) ie representative of a multivdagree~of-freedon aysten with constant sass, stiff- ness, and danping paraneters. However, danwater interaction introduces Erequency dependent tore in the equations of notion of the dan, resulting in complicated shapes of the ressonse curves. The resyonse behavior is especially complicated at excitation frequencies in the neighborhood of the natural frequenctes of water in the resarvoir. In particular, the response curve has a double resonant peak near, and uf, which is expecially pro- nounced for the case of vertical ground motion. At these fraquencias the hydrodynamic terms in the equations of motion become unbounded but the re~ sponse has finite limits (see Section 6.2.7). Based on che results of Fige. 2.2 and 8.3, the following cbservations can be made. Presence of water results in a significant decrease in the fundamental resonant froquoncy of the dam but velatively Little decrease in the higher resonant frequenci, 1s. At an excitation frequency © smaller than uf, the fundanental resonant frequency of water in the reservoir, the effact of dan- water interaction ie equivalent to an added nase and real-valued oad) their sagnitude depends on the excitation frequency. This added mass, in adaition to reducing the fundamental resonant Frequency of the dan, has the indirect oftect of reducing the apparent damping ratio for the fundamental aode, ro- sulting in nerrover band widch at resonance and larger resonant response. Sone of the reduction in the resonant band width ‘s, however, a consequence of the double resonant peak. at y > uf, tho effect of daniater interaction is equivalent to Frequency dependent additional mass, damping and load; the load As complex valued for horizontal and vertical ground motion except that Ae 4s reat valued for vertical ground notion with @= 1. the added sass is relatively small, which has rolatively Little effect on the Migher resonant frequencies, but the added damping is significent, resulting in decrease An the response at the higher rosonant frequencies. The fundanantal resonant frequency of the dam, including hydrodynamic effects, is lees than both the Aindanentel natural frequency of the Sam with no water uy, and of water in the reservotr, of. Comparing the results for cases 1 (Hg = 0), 2 (H/ty = 0.8), and 2 WH, = 2), it As seen that the fundanental resonant frequency is affected ost by water in the upper parts of tho dan height. At higher excitation frequencies, thers is Little difference in the responses for l/ilg = 0.8 and 1, eee‘excopt that the response to vertical ground motion in the neighborhood of the sSocond resonant frequency is strongly affected by increasing K/Ml, from 0.8 oa The vertical and horizontal notions at the crest of the dan are obvi- ously related by the horizontal and vertical components of the vibration node shapes. Vertical motion at the crest of the dam, while smaller than the horizontal motion, as expected, Ls not negligible for aither horizontal, or vertical ground motions. Comparing the responses of the dan to horizontal and vertical ground sotions (Pigs. 8.2 and 8.3), 4 19 apparant, consistent with comon view, ‘that without water the response to vertical ground motion is relatively seal, Hovever, with a full reservoir the response to vertical ground notion As almost as large as that due to horizontal ground motion when a 5 2 3 4 5 6 wh, FIG, 8.5 INFLOBNCE OP YOUNG'S MODULUS By OF DAM CONCRETE OW RESPONSE OF DANS To HARMONIC, VERTICAL GROUND MOTTON. E18 VARIED AS SHOWN: CASES 3,4 AND 5 OF TABLE 8.2 ~~5.3.2 DencFoundation Interaction Effects Complex frequency response functions for the dan, including effects of Gan-foundscion Interaction, are presented in Figs. 8.6 and 8.7 for varying Foundation stiffness (cases 1, 6, 8 and 11 in Table 3.1). When prasanted in this form, these functions do not depend separately on By and By but only on the ratio Be/Bs. Results are presented for four valuess Ee/Ey = %, 4, 2 and 1. the first represents rigid foundation material, thus reducing the to dan on fixed »: and the smallest value represents the sane elastic moduli for the foundation material and dan concrete. Unlike water in the reservoir, the half plane does not have any resonant, Fraquencies: the foundation inoedances ave sncoth, slowly varying functions of tha fraquncy (32. Ae a result, steucture-foundation interaction affects the response of the dam in a simpler manner than does structure~water inter~ action. As the Ef/Ss ratio decreases, which for a fixed By implies decrease of foundation modulus, the fundamental xesonant frequency of the dam decreases; the response at the crest of the dam at this frequency decreases and the frequancy band width at resonance increases, implying an increase in the apparent damping of the structure (Pigs. 8.6 and 8.7). Accompanying this decrease in the resonant response at the crest of the dan ie an ine creasing response at the base of the dan--which is, however a small fraction of the eseponse at the cxast—- with increasingly flexible solle (Pigs. 8.5 and €.7), Similar influences of decreasing the Fe/B5 ratio is observed at higher resonant frequencies, resulting in reduced response at the crest of the dam and increased response at the Sage over a wide rango of cxcitation frequen cles: however, the higher resonant froquancies are decreased to a lesser degree by structure-foundation interaction. The above mentioned effects of steucture-foundation interaction are similar in response to horizontal and co vertical ground motions. 4.3.3 Damtiater and Dan-Foundation Interaction Eéfacts tn ordar to understand the effoces of structure-watar interaction and of structure-foundation interaction on the complex froquoney response functions for the da, the results of several cases in Table 8.2 are pre~ sented in different ways. ‘the results of analyais cases 8, 9, and 10 for horizontal and vertical SmDAM CREST ee 39, a WORIZONTAL AGCLN, VERTICAL ACCLN i cmwe ey, 4 20} 10} 1 ol DAM BASE 2 2 : VERTICAL ACGLN AT WS EDGE ABSOLUTE VALUE OF ACCELERATIONS FIG. 8.6 INFLUENCE OF THE RATIO By/f OM RESPONSE OF DAS, WITHOUT WATER BUT TNCLUDING DAM-FOUNDATION INTERACTION, TO HARMONIC, HORCZOWPAL GROUND ACCELERATION. (CASES 1, 6, 8, AND 11 OP TABLE 8.1ae DAM CREST Bop to = — HORIZONTAL ABOLN VERTICAL AGELN. ome 20 aod 20 5 10 2 6 °e T ¥ 7 s 6 & DAM BASE, a VERTICAL AGGLN. AT WS EDGE 7 ‘WORIZONTAL AGGLN AT CENTER 3 ¢ e ® PIG. 8.7 INPIWENCE OP THE RATIO B/E, ON RESPONSE OF DAMS, WETHOUT WATER BUT TNCHADTNG DAM-FOUNDATION THTERACTION, "TO HARMONIC, VERTICAL GROUND MOTION. CASES 1, 6, 8, AND 11 OP TABLE 8.1ground motion are presented in Pigs. 8.8 and 8.9. These results, for a fixed E¢/2y = 2, indicate the influence of varying degthe of water in the reservoir. Whereas the reszonee function for the dam without water is influenced by structure-foundation ineeraction effacta, for eo cases (H/My = 0.8, 1) damwater interaction is also involved. che effects of water on the reszonse at the crest of the dam are generally sinilar whether the foundation material 4s rigid or flexible. Hosaver, sone of the effacts are relatively anal. Whavess the fundamental resonant frequency is decreased by apparent damping for the fundanental vibration node is now doninated by sghly the same degree as before, the effects of structure-foundation interaction and varies Little with the depen of water. The effects of dan-water interaction on the response of a dan on Flexible foundation are significant primarily at excitation frequencies in 4 neighborhood of the fundamental resonant frequency. At higher frequencies, Gan-water interaction has Little influence on the response of the dan on Flexible foundation medium, except locally near the resonant frequencies of the reservoir. The principal effact of dax-uater interaction on the response at the base of the dan permitted by flexible foundation medium is to decrease the fundamental resonant frequency and to increase the anpileude of response in the neighborhood of this resonant frequency. At higher fre~ quencies the response at the base of the dam is not affected strongly by the water, exeapt locally at the resonant frequencies of the water contained in the reservoir. ‘The conclusion presented in Sec. 9.3.1 is algo confimed by the results of Pigs. 8.8 and ground motion is a small fraction of the response to horizoneal ground motion, but with water the txo responses at the fundamental resonant fre~ quency are sim{iar: at sone higher frequencies the response to vertical ground notion exceeds that dus to horizontal ground motion. Because of the hydrodynamic effects, the vertical ground motion is especially significant in the response of concrete gravity dans to earthquakes. complex frequency response functions for the dan with the reservoir value of Es = 4 x 108 pel and four values of Bf/B =>, 4, 2, andl. By 93ater DAM CREST sop ana) | 2 Seen HORIZONTAL ACCLN VERTICAL ACOLW cu He 20} 20) vol HORIZONTAL ACCLN. AT CENTER ABSOLUTE VALUE OF ACCELERATIONS Prfi~ °% NONE aaa! wha, FIG, 8.8 INFLUENCE OP WATER DEPTH ON THE RESPONSE OF DAMS, INCLUDING DAx-FOUNDATION IWTERACTION, TO HARYENTC, HORTZONPAL GROUND MOTION, CASES 8, 9, AND 10 OF ABLE 8,1[ABSOLUTE VALUE OF ACCELERATIONS DAM CREST 3) “WoRIZONTAL AGOLN, - ieee 20} at 20| of oa 0 fe ie WORIZONTAL ACGLN AT CENTER why FIG. €.9 INPLUNNCE OF WATER DEDTH OW THE RESPOUSE OP DAMS, INCLUDENG DAM-POUNDATION INTERACTION, TO HARMONIC, VERTICAL GROUND MOFTON, CASES 8, 9, At 10 OFDAM CREST oo ae WORIZONTAL ACCLN, VERTICAL ACCLN. 8 20) 8G DAM BASE VERTICAL ACOLN AT WS EDGE ABSOLUTE VALUE OF ACCELERATIONS. wh, w/e pho, oy, aii, oh, ah, wif, PIG, 8.10 INPLUENCH OF B¢/E, RATIO ON RESPONSE OF DAMS WITH FULL RESERVOIR 0 HARNONTC, HORIZONTAL GROUND "MOTION. CASES 3, 7, 10, AND 12 OF TABLE 8.1Are [ABSOLUTE VALUE OF ACCELERATIONS ‘oIZONTAL RCGLN. VERTICAL AOGLN. AT WS EDGE DAM CREST * aa VERTICAL ACCLN. 20} 19] Bg ® DAM BASE —a WORIZONTAL AGCLN. AT CENTER wih, hy aia afta, Cr rr FIG. 8.11 INFLUENCE OF B¢/8y RATIO ON RESPONSE OF DAMS WITH FULL RESERVOTR TO HARMONIC VERTICAL, GROUND. UBITON. cases 3, 7, 10, AND 12 OF TABLE 8.1comparing the results with those presented in Figs. 8.6 and 8.7, it is apparent that the affects of dan-foundation interaction are generally sin Alar, independent of the effects of danwater interaction, As the E¢/ty ratio decreases, which for a fixed Eg implies an incrase- ingly flexible foundation, the fundamental resonant frequency decreases. ‘The vesponse at the crest of the dan at this frequency decreases and the frequency bandwidth at resonance increases, implying an incraase in the apparent damping of the structure, The response behavior near the funds mental resonant frequency 1s complicated, especially for vertical ground motion, because of the double resonant peak created by hydrodynamic effects. ‘The Yosponse at the base of che dam, although only anall fraction of the vesponse at the crest of the dan, is also affected by E/E. In the case of horizontal ground motion, the base accelerations at and near the fundamental resonant frequency increase with decreasing f¢/Zg, but there 4s no clear trend in the case of vertical ground motion. Similar influence of increas ingly flexible sotis is observed at higher resonant frequencies, rasulting in reduced responce at the crest of the dam and increased rasyonse at the base over wide range of excitation frequencies. Structure-foundation interaction has Little influence on the higher resonant frequencies and ‘tends to suppress the response at the dan crest at these Erequencies. At excitation frequencies w = uf, the resonant Erequencies of the water in the reservoir, the response at the crest of the dan is controlled by dan- water interaction and is essentially independant of the properties of the foundation rock (Pigs. 8.10 and 8.11). tn order to conpare the effects of structure-water interaction and structure-foundation interaction on the complex frequency response functions for the dam, results from analyses of four systens are presented together: Gam on rigid foundation with no water, dan on rigid foundation with fulL resorvoir, dan on flexible foundation with no water, dam on flexible founda~ tion with full reservoir. The results for the first tuo systems (cases 1 land 3 in Table 8.1) along with those for the latter tio systems for S¢/Ea= 4 (cases 6 and 7), B¢/2y = 2 (cases 8 and 10), and E¢/Ey = 1 (cases 21 and 12) are presented in Pigs. 8.12 to 8.14 for horizontal ground motion and Figs. 8.15 to 8.17 for vertical ground motion. ~ 9a -Beet DAM CREST 39) = 30) —— WORIZONTAL ACCLN, VERTICAL ACCL = fie | 7° | 10) 9, 3% DAM BASE ABSOLUTE VALUE OF ACCELERATIONS woh, FIG, 8.12 RESPONSES OF DAMS TO HARMONIC, HORIZONTAL GROOND MOBIGN FOR FOUR CONDITIONS: DAM WITH NO WATER ON RIGID FOUNDATION (CASE 1) DAM WITH PULL. RESERVOIR ON RIGID FOUNDATION (CASE 3); DAM WITH NO WATER ON FLEXIBLE FOUNDATION (E5/8, = 4) (CASE 6); AND DAM WITH FULL, RESERVOIR ON FLEXIBLE FOUNDATION (CASE 7)~ oot = DAM CREST VERTICAL ACCLN. | 5 WORIZONTAL AGCLN.AT CENTER | ABSOLUTE VALUE OF ACCELERATIONS whe, FIG. 8.13 RESPONSE OF DAMS TO HARMONIC, HORIZONTAL, GROUND MOTTON FOR FOUR CONDITIONS DAM WITH No WATER ON RIGID FOUNDKITON (CASE 1); DAM WITK PULL. RESERVOIR ON RIGID FOUNDATION (CASE 3), DAM NUT NO WATER OW FLEXIBLE FOUNDATION (E—/E_ = 2) (CASE 8); AND DAK WITH FULL RESERVOTR ON FLEXIBLE POUNDETION (CASE 10)= tot - ABSOLUTE VALUE OF ACCELERATIONS 5 \ 7 \ [4 7 WORIZONTAL ACCLN. VERTICAL ACGLN AT WS EDGE | DAM CREST gg 3 DAM BASE 2p ‘WORIZONTAL-ACCLN AT why 9 whe, FIG, 9.14 RESPONSE OF DAMS 70 NARNONTC, HORIZONTAL GROUND MOTION FOR POUR CONDETIONS: DAM WITH NO MATER ON RIGID POUNDATION (CASE 1 DAM WITH FULL RESERVOIR ON RIGID FOUNDATION (CASE 3); DAM WITH NO WATER ON FLEXIBLE FOUNDATION (E¢/Eg = 1) (CASE 11); AND DAM METH FULL, RESERVOIR ON PLEXIRLE FOUNDATION (CASE 12)~ zor ~ DAM CREST 30, ‘WORIZONTAL ACCLN, t VERTICAL AGGLN. AT US EDGE ABSOLUTE VALUE OF ACCELERATIONS. Ab Pet FIG. 8.16 RESPONSE OF DANS TO HARMONIC, VERTICAL, GROUND MOTION FOR FOUR CONDITIONS: DAM WITH NO WATER ON RIGID FOUNDATION (CASE 1)s DAM WITH PULL RESERVOTR ot RIGID FOUNDATION (CASE 3}; DAY WFTW NO WATER ON FLEXTBLE FOUNDATION (Bp/Ey = 2) (CASE 8); AND DRM WITH FULL, RESERVOTE ON FLEXIBLE FOUNDATION (CASE 10)= cot - DAM CREST oe WORIZONTAL AGELN, VERTICAL ACCLN, 3 ABSOLUTE VALUE OF ACCELERATIONS 6 7 2 — ‘erica AcaLN AW EDGE WORIZONTALAGOLN AY CENTER ' \ Mr. a i ro wre, FIG. 8.15 RESPONSES OF DAMS TO HARNONIC, VERTICAL. GROUXD MOTTON FOR FOUR CONDITIONS: DAM WITH NO WATER ON RIGID POINDATTON (CASE 1); DAM WITH FULL RESERVOIR ON RIGID FOUNDATION (CASE 3); DAM WITH NO WATER ON FLEXTSLE FOUNDATION (B/E, = 4) (CASE 6); AND DAM WITH FULL RESERVOIR ON FLEXIBLE FOUNDATION (CASE 7)= vot - DAM CREST ABSOLUTE VALUE OF ACCELERATIONS. prc. 7 | HorizonTaC AcctN] =“ ~ VERTICAL AGOLN, 20} VERTICAL ACCLN. AT W/S EDGE ‘CRE mTER FoNoATON HORIZONTAL ACCL NAT CENTER 9g 6 wh, why RESPONSE OF DAMS TO HARMONIC, VERTICAL GROUND MOFION FOR FOUR CONDITIONS: DAM WITH NO WATER ON RIGID FOUNDATION (CASE 1); DAM WITH PULL RESERVOIR ON RIGID POONDATION (CASE 3); DAM WITH NO ATER ON FLEXIBLE FOUNDATION (E—/E, = 1) (CASE 11); AND DAM WITH FULL RESERVOIR ON FLEXTBLE FOUNDATION (CASE 12)‘The fundamental resonant frequency of the dan decreases because of dam water interaction and dan-foundation interaction, with the influence of the water being larger. For the most flexible foundations considered (Ey = 5.) the decrease in the fundanental frecuency éue to Gan-foundation interaction As about the sane as that due to dan-water interaction. This trend may oF may not exist for higher resonant frequencies. As nentioned earlior, the response at the crest of the dan is increased at the fundanantal resonant frequency, but, in many cases, decreased at higher resonant frequencies because of dan-water interaction. These effects of nether the foundation is rigid or flexinle wed. Gan-vater interaction ave s: for all values of B/E, cons Ae mentioned che response at the crest of the dan is reduced and motions at the base sible due to flexibilley of the coil, These effects of dam-foundation inter action are simfler whether the reservoir is empty or full. The above mentioned the dam, relative to the free-field motion, are pos ‘effects of dam-foundation interaction tend to increase as £,/E, decreases, i.e., for a fixed B,, as the foundation rock becomes increasingly flexible. comparing the effects of dan-water interaction and dan-foundation interact sion on the rasonant responses at the crest of the dan to horizontal ground motion (Figs. 9.12 to 8.14), it is apparent that the effects of the stiff rock (G/B, = @) are similar to those of the water, but for softer rocks (EJB, = 2 and 1) the effects of dam-foundation intavaction are relatively nore significant. Whereas the amplitude of the response at the creat of the dom at the fundamental resonant frequency 1s increased by damwater inter- action bat reduced due to dam-foundation interaction, both sources of inter= action contribute towards a decrease in the responce at higher resonant fre- quencies. Because, 25 mentioned earlier, dan-uater interaction influences the dam response to vertical ground motion to a mich greater degree than it influences ‘the response to horizontal ground motion, the relative effect of danwater interaction and dan-foundation interaction on dam response to verti: notion (Figs. 8.15 to 9.17) de ponses to horizontal ground motion (Figs. 8.12 to 8.14). At the fundamental ground ferent than the above observations fron ves~ resonant fraquency, the response of the dan is scted by dan-vater interaction to a greater degree than it ie affected by dan-foundation interaction. fovever, at higher resonant frequencies, the influence of dan-foundation interaction is greater. whereas the anplitude of the response at the crast of the dam = 105 -fab the fundamental resonant frequency is increases by danwater Lntoraction but reduced due to dam-foundation interaction, both sources of interaction contribute towards a decrease in the response st higher resonant frequencies, bot with one exception: Vertical acceleration response at the crest of the Gan is increased by dan-water interaction even at the second resonant fre~ sgueney. ‘The affects of water on the response at the base of the dam, parmeted by a flexible foundation, are closely tied to the corresponding effects on ‘the responses at the crest of the Gam. Dem-water Interaction has the effect of Gecrassing the resonant frequencies for the base response and modifying che response snplituées. These effects are relatively larce in the responses to vertical ground motion. = 106 =9. EARTHQUAKE RESPONSE OF PINE FLAT DAM 3.1 Scope of the chapter Chapter 8 presented the effects of dan water interaction and of dan foundation interaction, separately or together, on the coxplex frequency response functions of idealized gravity dans with triangular cross-section. This chapter presents the responses of Pine Flat Dam to a selected aarth- ‘guake ground motion, analyzed using the procedures of Chapter 6 under various assumptions. The objective of this chapter is to identity the effects of daxwater interaction and dan-foundation Interaction on the Eesponse of the den. 9.2 Pine Flat pam, Ground Motion, Cages Anslyzed and Resgonse Results 9.2.1 Pine Plat pan Located on the King's River near Presno, California, Pine Plat Dan hixty-six 50 ft and one 40 ft wide monoliths. The crest and the height of the tallest monolith is 400 ft. the ip Fig. 9.1 and its domstrean elevation is shown in Fig. 9.2. ‘The tallest, non-overflow monolith of the dam with water at EL. 951.00 is selected for purposes of this study. The idealization for this monolith én plane stres Sisting of 136 quadrilateral elenents with 1 points at the base of the dan are equally spaced, az required for developing the dynanic stiffness matrix for the foundation (22) this finite elenent systen has 306 degrees of freedom anslysis of the dan on rigid base. Tn amalyses considering the foundation flexibility and the resulting motion at the dam-foundation interface, the ayeten has 224 degrees of Ereeden. The mass concrete in the dan {¢ assuned to be a homogeneous, 4 solid with the following properties: Yo million psi, unit weight = 155 pot, and elastic modulus, determined by forced vib: aifferont fron that used in earlier analy: associated with the modes of vikration of the 4: above mentioned forced vibration tests, were in the range of 2 to 3.5 per cent of critical damping. A constant hysteretic danping coefficient of 0.1, 1072G, 9.1 PINE FLAT OAK = 108 => 6ot - Lf 501-0" TYR, EL. 970.00 1840'-0"— 7 MONOLITH _ JOINTS SPILLWAY FLIP BUCKET LIP £L.60000 EL 570,00 “SLUICE OUTLETS FIG. 9.2. PINE FLAT DAM ~ DOWNSTREAM ELEVATION138. 62 2@ 39.29'+ 314.52" PIG. 9.3 FINITE ELEMENT IDEALIZATION OF TALLEST, NON-OVERETOH MONOLITH OP PINE FLAT DAYwhich corresponds to a 5 percent damping factor in all modes of vibration of the dan, has been selk larger notions and stres shaking. ‘This is considered appropriate for the mich 2 expected during atrong earthquake ground the foundation rock is idealized as a homogenous elastic half plane (in plane stress) of constant hys following properties: Young's modulus of elasticity = 10 million psi, a value hich 1s appropriate for the granites and basalts at the site; Poisson's ratio + 1A, unit weight = 165 pot, and damping coafficient for constant hysteretic solid = 005, The Powave velocity for this rock = 10,266 ft/sec. ‘ma following properties are assumed for water: unit weight « 62.5 pef, wave velocity = 4720 ft/sec. For these properties of vater and rock, the wave reflection cosfficient at the botton of the reservoir is @ = 0.617. 9.2.2 Ground Yotion ‘the ground aotion recorded at the Taft Lincoln School Tunnel during ‘the Karn County, California, earthquake of July 21, 1952, ie selected as ‘the excitation for analyses of Pine Plat Dam. The grou action acting ‘eeansverse to the axis of the dan and in the vertical direction is defined by the S69E and vertical components of the recorded notion, respectively. ‘These two components of the recorded ground motion and the maximum values of acceleration are shown in Fig. 9.4. 9.2.3 cases analyzed Using the computer program described in Appendix A based on the anal- ysis procedure presented in Chapter 6, responses of the tallest monolith of Pine Flat Dam to the selected ground motion are analyzed. The dan aonelith fend the foundation are assumed to be in plane stress. Responses of the dam te the S69 component of the Taft ground notion -an-ACCELERATION-g S69E COMPONENT TIME- SECONDS FTG, 9.4 GROUND MOTION AF TAPT LINCOLA SCHOOL ‘UNNEL, KERN COTY, CALIFORNIA, ARTHQUAKE, JULY 21, 1952sem ABSOLUTE VALUE OF HORIZONTAL ACCELERATION AT DAM CREST 40; CURVE WATER FOUNDATION No. RIGID FULL RIGID No FLEXIBLE, FULL FLEXIBLE 8 sun 20} wia, IG. 9.5 RESPONSES OF PINE FLAT DAM TO HARMONIC, HORIZONTAL GROUND MORTON ‘COMPUTED FOR FOUR CONDTTIONS: DAM WEN! NO WATER ON RIGID FOUNDATION, ‘DAM WITH PULL, RESEKVOTR ON RIGID FOUNDATION, DAM WITH MO WATER ON PLEXIBLE FOUNDATION, AND DAM WITH PULL RESERVOIR OW FLEXIBLE FOUNDATIONcase Ryarodynanie Eefects xcludad | Included | Excluded included a 2 2 4 yy conpresatiti- Gu to the weight in order to consider hydrodynamic effects real ity of water is included. The displacements and et of the dan and to hydrostatic pressures are included in ell analyses, as nentioned in chapter 6, the rigid body displacenants of the dan due to a defornabla foundation have been excluded. ALL the vibration sodas or generalize coordinates, as appropriate, necessary to obtain accurate results for complex frequency response up to excitation frequencies of approxinately 20 eps Were Included in the analysis. ‘The fixst five natural modes of vibration of the dan vere Included in the analyses assuring rigid base, the first ten generalized coordinates, des salyses considering dan-foundation interaction effects (00 sec. 6. 9.2.4 Response Results ‘The complex roquancy response functions for the horizontal azcelesa tion at the crest of Pine Flat Dam, with horizontal ground notion as the excitation, for the four sets of assumptions for foundation ané hydrodynamic effects (See. 9.2.3) aro presented in Fig. 9.5. From these results, the fundamental resonant geriod of vibration and the effective damping, deter= ‘mined by the half-power band width method, are as follows: aaa RTSRARSE case | rounention | M8tsdmanie apen rrr] teste Re ee ecluded 3.0 2 | niga Included 3a 3 | rtenbie | pectutea e7 4 | plenbie | etodea sa - us‘These vibration periods are identified on the resonse spectrum of the S695 conponent of the Taft ground motion (Fig. 9.6). ‘The specteum oréinates at these vibration poriods corresponding to damping ratio of 5 percent can be observed in the sane figure. ‘The response of Pine Flat Dan was determined for each of the two axci- tations Listed in Sec. 9.2.2 and the four sets of agsumptions tn Sec. In each case, the computer results of dynamic analysis represent the ing the effects of the weight of the dan and hydrosta pressures. Those results consisted of the conplate tine-history af the horizontal and vertical conponents of displacenent of all the nodal points and of three components of stress in all the finite elenants. For each of ‘the cases analyzed only a small part of the total result dz presented, The aximum crest displacement and maximum tensile stresses in ical parts of the monolith are summarized in Table 9.1. Pres! 3.7 to 9.17 are the tine-history of Aleplacenents at nodal and 128, located at different levels on the upstream face, and at nodal points 384, 158, and 162 at che base when foundation flexibility 42 considered; and the distribution of envelépe values of maxisum principal stress (maxi- Hun tensile stress or minimin compressive stress) dering the earthquake. 9.3 Damiater Interaction Effects Without hydrodynamic effacts, the response of the dam is typical of a multi~degres-of-freedon system with mage, stiffness, and danping properties independent of excitation frequency. Danwater interaction introduce notion, resulting in compli- yMhorhoad of the resonent J. A decrease in the funda frequency dependent terms in the equat: cated response curves, especially in 2 frequencies for the impounded vater (Pig. ental resonant frequency of the dan is apparent from a comparison of the responses with and without hydrodynanic effects. ‘when tho excitation is the S69E component of Taft ground notion, the inclusion of hydrodynanic effects increases the maximin Aisplacenent st the crest of the dan from 1.36"to L.83" (Fig. 9.7). The naxti 53 66 pei at the heel in the dan aro increased at the upstream face from 208, 0 284 pei at the downstream face, and from 2 (ig. 9.8). the area enclosed by & particular due to hydrodynamic effects, indicating that stresses excsed the value 55 contour increases - us -= ort TABLE 9.1. SUMMARY OF RESPONSES OF PINE PLAT PAM TO TAPP GROUND MOTTON System Propertion Max. Tensile Stresses, pal | Wyaroaynante | Max. Horizontar |Upstrean | Downstream iso lease | Foundation Refects. excitation | crest pisp!., in. | Face Face | 1 Rigid excluded | S696 component, 1.38 153 200 257 2 Rigid Tmeluded ‘raft Ground 183 223 234 266 3 Flexible excluded Notion, 1952 1.46 143 158 150 4 Flexible tneluded 2.55 297 398 420 5 Rigia Bxcluded 8698 ant 1.46 a 225 26 6 igia Included Seem Ln 238 a3 229 Components, 7 Flexible Excluded fratt orema 1.57 166 183 a0 8 Inctudea Motion, 1952 2.42 21 a7 406 |__PexinteVELOCITY (in./see) x SEZAN A. ‘ t s, ¥ : a ols Oe, FIX] f & 1 2 a 2 a “et %, 2 x L eee SS es Suncaenas pesonaw PERIOD (cece) FIG. 9.6 RESPONSE SPECTRUM FOR THE S69R COMPONENT OF TAFT GROUND WORIOK. THE FUNDAMENTAL VIBRATION PERIOD CF PINE FLAT DAM COMPUTED FOR THE FOUR SETS OF ASSUMPTIONS (SEC. 9.2.4) FOR FOUNDATION AXD HYDRODYNAMIC EFFECTS ARE AS NOTED -ur-- ot HYDRODYNAMIC EFFECTS EXCLUDED HYDRODYNAMIC EFFECTS INCLUDED HORIZONTAL. EEE HE “REEERERR co 4 HORIZONTAL NODAL POINT 73 DISPLACEMENT - INCHES ~vermicay: COTES aS CTE SONEE OSTA SE TET OIE TiMe-SECONDS: NODAL. POINT 118 FIG, 9.7 DISPLACEMENT RESPONSE OF PINE FLAT DAM ON RIGID FOUNDATION 70 S69E COM PONENT OF TAFT GROUND MOTION: (A) HYDROOVMAMIC EFFECTS EXCLUDED, AND (8) HYDRODYNAMIC EFFECTS INCLUDED- ot HYDRODYNAMIC EFFECTS so] HYDRODYNAMIC EFFECTS EXCLUDED woh A” INCLUDED 189 2.0) AELOGE VALUES OF MAXIMUM PRINCIPAL (MAXIMUM TENSILE OR MINEO COMPRESSIVE) STRESSES TH PINE FLAT DAM ON RIGID FOUNDATION DUE TO 'S69E COMPONEWD OF TAP GROUND MOTTON: (A) IYDRODYNAMIC EFFECTS EXCLUDED, AND (B) HYORODYNAMIC EFFECTS INCLUDED.corressonding to that stress contour over a larger portion of the monolith. Consistent with the observations in Sec. 8.3.1, when hydrodynanie effects aro oxcluded, the response of the dan is only slightly increased by the contribution of the vertical component of ground motion (compare Pigs. 9.7-9.8 with 9,9-9.10). But, contrazy to the observations in Sec. 8.2.1 and carlier results for Pine Flat Dan che displacenents and stresses in the dan with hydrodynamic effects included aro slightly decreased by ‘the contributions of the vertical component of ground mation (compare Figs. 9.7-3.8 with 9,9-9,10). Earlier results (18) for the response of Pine Flat Dan subjected to ‘the same Taft ground motion but assuming a different value of Young's modulus, denonstrated chat the vertical conponent of ground motion causes considerable increase in the response of the dam. the vertical ground motion causes late hhydeodynanic forces veoulting in significant laters) Sisplacenents sociated stresses. Because the principal change in the system propersies and ground notion from the earlier results to those pre- sonted here the value of assuned Young's modulus for the dan (che other change is the damping model discussed in Sec. 7.5.1); it is surpris- ing that the results presented here are act consistent with the earlisr conclusions. In order to resolve what appears to be an anomaly, the earth- quake stresses (excluding initial static stresses) due to horizontal and vertical ground motions, separately, and including hydrodynamic effects, for selected finite elemante (os. ¢0, 41, 129 in Fig. 9.3), are presented in Fig, 9:11. Although considerable stresses are caused by vertical ground notion, they partially cancel the stresses dus to horizontal grouné motion, resulting in reduced response vhen both ground motion components are con sidered simultaneously. The contribution of the vertical component of ground notion to the total response of a dam, including hydrodynamic effects, therefore depends on the relative phasing of the responses to horizontal and vertical ground motion, which in turn, depends on the phasing of the ground motion components ond the vibration properties of the ean, 9.4 Dam-Founlation Interaction Effects ‘The foundation impedances for a hal! plane are snooth, slowly varying funetions of tho excitation frequency. Howaver, the hydrodynamic terms are- tet HYDRODYNAMIC EFFECTS EXCLUDED HYDRODYNAMIC EFFECTS INCLUDED HORIZONTAL HORIZONTAL, INCHES. VERTICAL HORIZONTAL DISPLACEMENT VERTICAL OTE Ses CTS SON RD OT Timé-Seconos NODAL POINT 118 o| SS ETO SOWIE FIG. 9.9 DISPLACEMENT RESPONSE OF PINE FLAT DAM OM RIGID FOUNDATION 0 $69R_ AND VERTICAL COMPONENTS, SIMULTANEOUSLY, OF AFP GROUND NOFION: —(R) HYDRO DYNAMIC EFFECTS EXCLUDED, AND (B) HYDRODYNAMIC EFFECTS INCLUDEDHYDRODYNAMIC EFFECTS 110 S69E AND VERTICAL. COMPONENS, (3) HYDRODYNAMIC EPFEC Ee woo} sof 359} 309 5S TH PINE FLAY DAM ON RIGID FOUNDATTON BUE EXCLUDED, AND’ (B) nNYDRODYNA HYDRODYNAMIC EFFECTSGROUND MOTION S69 COMPONENT = —— VERTICAL COMPONENT —~— ELEMENT-40 #00 (30985! pepsi 2x0] ° p20 © ELEMENT-41 5 400 — = 200 3 zo : 3 200 g = ELEMENT -129 «09 37251 170 Psi TIME - SECONDS FOUNDATIONS DUE TO THE SEPARATE ACTION OF S69E AND VERTICALabounded at the natural frequencies of water in the reservoir. As a result, structure-foundation interaction influences the response of the dan in @ sinpior mannar than the hydrodynamic effects do (Pig. 9.5). the funda esonant frequency is decreased and the corresponding damping ratio As increased due to structure-foundation interaction (Fig. 9.5). This de= exease in frequency is, hovevor, smaller than the frequency reduction due to hydrodynamic effects. The ordinate of the pseudoracceleration resonse spectrum for the S692 component of Taft ground notion ie essentially una fected by the increase in vibration period but would be zeduced due to the + This leads to increase in displacements 2 eduction in stresses (compare Figs. 9.82 nerease due to lengthening of the vibration 12) but these are much fat tho crest of the dam. Comparison of Figs. 9.83 and 9.132 indicates that the stresses near the base of the dan are relaxed because of soil flextbil- ity. jer than the notions ‘The effects of structure-foundation interaction on the response of the @an to horizontal and vertical components of ground motion acting simlta- neously can be observed by comparing Figs. 9.9a and 9.14 with Figs, 9.108 15a, respectively. These effects are generally similar to thote ‘observed shove in the responses to horizontal ground motion alone. ‘The contributions of the vertical conyonent of ground motion to the total response of the dan are rather enall (compare Pig. 9.23a"and 9.158). Structure-foundation interaction affects the response of the dam in a sinilar manner, reducing the fundamental resonant frequency and increasing the effective damping, whether hydrodynante effects are included o not -5). The fundamental resonant frequency is reduced by dan-foundation eraction and by dan-water interaction. The tvo reductions are additive, resulting in further reduction in frequency whan both interaction effects fare considered (Pig. 9.5), end in considerably smaller resonant response &5 compared with either the response of the dan alone or the response inctud- ing hydzedynanic effects. aa= set - HomzonraL HORIZONTAL © ol or ° DISPLACEMENT - INCHES a iis Co 1 es 4 TONS Tin -stcowos NooaL. POINT HB NODAL PONT 162 TG. 9.12 DISPLACEMRIET RESPONSE OF PINE FLAT DAM, THCLUDING DAY-FOUNDATION INTERACTION, BUT EXCLUDING HYDRODYNAMIC EPPECTS, "0 S69E COMPONENT (OF TAPP GROUND MOTTONHYDRODYNAMIC EFFECTS EXCLUDED 300] HYDRODYNAMIC EFFECTS INCLUDED COMPRESSIVE) EPPECTS EXCLUDED, AKO) RAVELOPE VALUIES OF MAXIMUM PRINCEPAL (MAXIMUM TNS DUE TO SO9E COMPONENT OF TAPT GROUND MOTTON: (B) RYORODYNNNEC EFFECTS INCLUDED. (9) xpRoDyunTe- ate ORIZONTAL HORIZONTAL 5 verre : VEsTiCa i g el - 1 | ~ @ NODAL POINT | worizowrat 4, NODAL POINT 154 yonrzonat = a VeRricat 27 oO ap eR 84 ° z “1 & “NODAL POINT 73 womzowma. ©) NODAL POINT 158 =hibet or i in am ~WerTicaL, QTE sas eTe SHEE Votes a sere TONS TIME~SECONDS NODAL POINT 118 NODAL POINT 162 FIG. 9.14 DISPLACEMENT RESPONSE OF PINE FLAT DAM, TCLIOTNG DaM-FoUNDATION [DVTERACTION SUP EXCLUDING HYDRODYNAMIC EFPRCTS, TO $69 AND VERTICAL (COMPONENTS, SIMULTANBOUSLY, OP TART GROUND MOTIONHYDRODYNAMIC EFFECTS EXCLUDED HYDRODYNAMIC EFFECTS INCLUDED ‘OMBONENTS OF TAPT GROUND MOTION: (@)_WYDRODYNAMIC EEFECTS EXCLUDED, AND (B) HYDRODYNAMIC EFFECTSHovaver, the Gieplacenente and stregses due to either exeitation-- horizontal ground motion only or horizontal and vertical ground notions simultaneously--are considerably increased dua to structure-foundation ue to structure-foundation interaction when the exeltation 1 horizontal component of ground motion (Figs. 9.85 and 9.136); also, when ‘the excitation included the vertical component of ground motion (Figs. 9.10» and 9.155). Stresses at the heel of the dan are increased to a mich lesser of the stress-relaxation due to foundation flexibility. The by a particular stress contour ineveases due to dan-foundation Antexaction, indicating that the dam is stressed beyond that contour value over 4 larger portion. This increase in earthquake response occurs in spite of the decreased response indicated by complex frequency responses, because structure-foundation interaction shitts the fund: correspond with 2 peak of the response spectrum effects of dam-founation interaction and danwats quake response of the dam depend partly on the ze! ordinates of the response spectrum at resonant periods of the dan with and without these interaction effects. The effocts of etructure-foundation interaction on the response of the dan are generally similar with or without the vertical component of ground sotion. For reasons mentioned In Sec. 9.3, the conteibutions of the vert~ ical comgonent of ground notion to the response of the dam, including both sources of interaction, are xather mall. = 129-~ ort - HORIZONTAL VERTICAL NODAL POINT | worizonrat ‘VERTICAL ons bhons dvows dione DISPLACEMENT - INCHES NODAL POINT 73 wonizonrat. * bhone ‘VERTICAL OTe 4S eT ee OUTS Time NODAL POINT IIB. HORIZONTAL ° 01 ‘VERTICAL ° -o1 1 NODAL POINT 154 norizonTaL ° -o a —veRricn NODAL POINT 158 HoRIzonTAL wets SECONDS NODAL POINT 162 PIG. 9.16 DISPLACEMENT RESPONSE OF PINE PLAT DAM, INCLUDING DAA-POURDAZION TTERACTION AND HyDRODENMAIC (GRounND NorTON EFFECTS, TO S69 COMPONENT OF TAFT- ere DISPLACEMENT - oar NODAL POINT | NOOAL POINT 73 Presa s ere soe S NODAL POINT 18 HORIZONTAL VERTICAL. HORIZONTAL VERTICAL. HORIZONTAL ~ VERTICAL. et ‘VERTICAL. HORIZONTAL on on ~WeRTICAL— 01 = Ce 1 NODAL POINT 154 worizonrat ‘Venrical— NODAL POINT IS8 —yomizonTAL CP SSeS eT ET OT IE TIME -Seconos: NODAL POINT 162 DISPLACEMENT RESFONSE OF PINE FLAT DAM, INCLUDING DAM-FOONDATION TRTERACTION AND EYORODYNANIC EPFECTS, TO SGOE AND VERTICAL COMPONENTS, SIMULTANEOUSLY, OF TAPP GROUND MOTTOto. coxcruszons ‘The method presented for two-dimensional Linear analysis of earthqueke response of gravity dan monoliths is effective for practical problens. included in this analyeis aze the affects of dynamic interaction anong dan, impounded water, and foundation rock on the dan response. The dam, impounded water, and foundation rock are considered as three substructures of the com plete system, Displacements of the dan are expressed as linear combinations of generalized coordinates, which are selected as the normal modes of an associated dan-foundation system. Results can be obtained to any desired degree of accuvacy by including the necessary number of generalized coordi- nates. The substructure approach, combined with transformation of displace- mente to generalized coordinates, leads to an efficient analysis procedure. ‘the analysis procedure is developed specifically for tvo-dinensionsl analyses of gravity dam monoliths supported on the surface of a viscoslastic balgplane and impounding water in the reservoir with horizontal bottom. The dam is discretized as tvordinensional finite elenent system, but the founda~ ‘sion an fluid domains are treated as continua. ‘he general approach and concepts embodied in the substructure method are alse applicable to mare com plex systens where, because of irregular geometry and/or nonhomogeneous nate- rial properties, the foundation and/or fluid domains mst also be discretized. In general, damvater interaction, including water compressibility and am-foundat: interaction, have significant influence on the response of the am and should be considered in the analysis. Because the foundation impedances laze ancoth, slowly varying functions of excitation frequency, but the hycrom aynanic terms are unbounded at the resonant frequencies of the fluid domain, atructure-foundation interaction affects the response of the dam in a simpler manner than does structure-weter Interaction. Dam-founda ts factors, the nost important of the foundation and dam mat 7 a fixed B, inplise a decrease of the f interaction ‘the response of dans depend on several ratio B,/E, of the elastic modulii he B/E, ratio decreases (which for jation modulus), the fundamental res~ nant frequency of the dan dacreases; the response at the crest of the dan at this Exequency decreases; and the frequency bandvideh at resonance incresses, implying an increase in the apparent damping of the structure, The influence of decreasing the B/E, ratio 1s similar at higher resonant frequencies; however, 1a -the higher resonant frequencies are decreased to a lesser degree by structure- foundation interaction, The effects of structure-founéation interaction are essentially independent of the effects of damwater interaction, except at the resonant frequencies of the fluid domain. The dan response at these frequencies ‘s controlled by damwater interaction and is essentially inde pendent of the properties of the foundation rack. he influence of structure-foundation interaction on the earthquake vesponse of a dam depends in part on the change in the earthquake response spectrun ordinate due to the decrease in feequency and inezease Sn damping. In addition, the stresses near tho base of the dan are relaxed because of Foundation flexibsity. The frequency response curves are complicated in the neighborhood of the natural frequencies of water in the resarvolr. in particular, the response curves have a double resonant peak near the fundamental frequencies of the Gam and fluid domain, considered separately. In comparison with the response behavior of a am without water, the response in the fundamental mode exhibits highly resonant behavior when the reservoir is full; the peak response at the fundamental frequency is especially large compared to that at higher resonant Frequencies. Because of damwater interaction, the fundamental resonant fre quency of the dam {s decreased by an amount desending on the depth of water ~~ with water in the upser parts of the dam having the mast influence -- and sodulus of elasticity of the dam. The higher resonant frequencies of the gan are veduced relatively Little by dam-water interaction. Qualitatively, the effects of water on the dam response are generally sinilar whether the founda- tion rock is rigid or flexible. Hyarodynante effects reduce the fundanental resonant frequency of the dan, including dam-foundation interaction, by rough= ly the sane degree, independent of the foundation material properties. How ever, the apparent damping for the fundanantsl vibration mode is dominated by effects of structure-foundation interaction and varies Little with the depth of water. ‘The displaconents and stresses of Pine Flat bam due to the Taft sround notion are increased sionificantly because of hydrodynamic effects ‘The fundamental resonant fraquency of the dan is reduced By dan-water interaction and by dam-foundation interaction. the to reductions are addi- tive with the influence of the water usually being larger. This trend may - am.or aay not exist at hisher resonant frequencies. Similarly there are no general trends regarding the comparative effects of the water and foundation fon the resonant responses of the dam. which effect is moze significant de- ponds on the B/E, ratio, the depth of water, the order of the resonant fre- quency (Fundamental or higher}, and the ground motion component (horizontal or vertical). Compared to the response of Pine Flat Dam including only hydrodynamic effects, the stresses in the upper parts of the dam are significantly Increased due to structure-foundation interaction. stresses at the heel of the dan are increased to a mich lesser extent because of the stress relaxation due to foundation flexibility. ‘The response of the dan, without water, to vertical ground notion Ss small relative to that due to horizontal ground motion, but it becomes relatively signficant when hydrodynamic effects are included. However, the contribution of the vertical component of ground motion to the total response, including hydrodynanic effects, depends on the relative phasing of the responses to horizontal and vertical ground motion, which in turn depends on the phasing of the ground motion components and the vibration properties of the dam. 13s -Morferk Dan", Dworshaia. he Ks Chopra, "Earthquake Fesistant Design of 0, C. Bienkiewice and R. E. Mewcon, “coupled Vibeations of a structure Submeeged in a Compressible Fluid,” In Elenent Techniques, Stuttgart, Yay 1969. AL X, Chopra, "Roservoiz-oam Interaction During earthquakes", Bulletin Of the Seismological Society of America, Vol. 57, to. 4, August 1967, pp. 675-607. A. K. Chopra, “Earthquake Behavior of Resorvoir-bam Systens," Journal of Snginesring Mechanics Division, ASCE, Vol. 24, So. BMG, December Tees. ALR. Chopra, “Barthquake Response of Concrete Gravity Oams," Journal Of the Bugineering Machanics Division, ASCE, Yol. 96, No. Bis, August sv. .P, Chakrabarti and A. K. Chopra, "iydrodynamie Pressures and Response of Gravity Dans to Vertical archquake Component,” Inteenstional Soumal of Earthquake Engineering and Structural cay Vol. 1, YO. 4, Fpril-Jane 1993, pp. 325-335. |. B, Chakrabarts and A. K. Chopra, "Earthquake Analysis of Gravity Dans Tneluding fydrodynanic Interaction,” International Journal of Barth- ies, Vol. 2y pp. 143-160, 1973. aiiay bana Seekeding tyarsdynante, interaction,” Samer Farthquake Engineering Research Center, University of ley, May 1973, 39 pages. 374, duly-humese .P. Chakrabarti and A. x. Chopra, “Hydrodynamic Effects in Earthquake Response of Gravity Deng," Joumal of the Structural Division, ASCE, Voi: 100, No, S06, dune 1974, pp. laii-iaz4. crete Gravity Dans," Journal of the Structural Division, ASCE, Vol. No. sf, dune 1978, pe. 359371. | A. K, Valah and A. K. Chopra, "Earthqake Finite lenent Analysis of Biructure-Foundacion Systema," Journal of the Engineering Mechanics ‘ASCE, Vols 100, No. ENG, Deconbar 1974, pp. 110I-L116. etter and A. X. Chopra," A Substructure Method for Earthquake i Steuctures Including’ Structura-Soil Interaction,” Inter~ nies, vol. &, Ho. 1) Jan-Feb. 1973, pp. 31-70. M.D. Tham Finn, E, Varogiu and S. cherry, "Seismic Mater Pressure against Dens," Chapter 2l, pp. 420-442, in Structural and Gaotechnics! ~ ae -|. ALK. Chopra, “iyérodynanic Pressures on Dane during Earthquake: Mechanics, W. 5. Mall, eaitor, Prentice-Hall, Ine., 1977, | By Barbat, V. Breahan, C.D, Tonescu, "Dam-Reservair Interaction for a Dam with Flat Upstrean Face during farthquakes," Proceedings, Sixth orld conference on Earthquake Engineering, Vol 11, New Deli; india 1977, pp. 1301-1308. + D. Rea, Ca¥. Liaw and A. X. Chopra, "Wathenatical Models for the Dynamic amalysis of Concrete Gravity Dang,” international coural of Be dave se J. Ry Gutierrez, "A Substructure Method for Earthquake Analysis of Structure-Soll Interaction,” Report No. FERC 7&3, Earthquake Engineer ing Research Center, Univ. of Calif., erkeley, april 1976. +R Bs Clough and J. Peselan, “Dynaates of Structures, Ye GrawcHitt Book G. Dasqupta and A. K. Chopra, "Dynanic Stiftuess Matrices for somoge- neous Viaconlasti Half Planes,” Journal of the ALK, Chopra and J, A, Gutierrez, “sarthquake Responee Analysis of sultiecory Buildings Including Foundation Interaction,” Internationa] 3, 1974, Report No. 66-2, structural Engineering Laboratory, Univ. of calit., Berkeley, April 1966. a9APPENDIX A ~ USERS GUIDE TO COMPUTER PROGRAM IDEWTIEECATTON aco Earthquake Analysis of Gravity Dane Programmed: . Chakrabarti, Sunil Gupta, G. Dasgupta PURPOSE ‘This computer progran has been developed to determine the elastic dynanic ‘the impounded water as contiqun, and the ‘ite elenant system of 4 viscoelastic ‘conditions. wo-dinensional structural systens. mist be idealized a 2 eysten in plane ysis. he excitation includes the transverse (to dan axis) and vertical components of free-field ground motion, assumed to be the sane across the bare of the dam, In order to define the input to the computer progrem, 4 cross-section or ing with one. All nodal points are identified by a separate aumbering ‘sequence starting with one. foundation appears in the equation of motion. This matrix depends excitation frequency and is defined with respect to the dagrees~ of nodal points at the dam-foundation interface. This matrix mu ined by 2 separate analysis and provided to the computer program a8 an Anput. ‘The computer progran is written in FORTRAN IV and was davelped on the CDC ‘recuted ‘2 comparable subroutine package for PPT computations should ke provided. - aa =pIpuP DATA he folloving sequence of punched cards and data on a tape numerically define the dan-sater-foudation aysten, the ground notion and control yarae meters for the anlaysis. A. TITLE CARD (8A) columns 1-80: Contain title or any information to be printed with results. 1B. COMEROL CARD (SIS, F10.0, 215, 75.0, $15) columns 2- 5 NUMP: Munher of nodal points. 6-10 MUMEL: Muher of elements. AL = 15 ORT: Nunber of different materiale. 16 - 20 NEASE: Munber of nodal points at base of the dan. 21-25 MEV: Number of eigenvalues (NEV < MEAND + 1) TE NEV = 0 and IGRAV 7 0 only static analysic is performed. 26-35 Lt Water Level In the reservoir, in Feet. 26-40 NPP: Number of nodal points on the upstroan face of the dan affacted by the water pressure (see 41-45 ToRAY: #0, to porfom static analysis. 46-50 PSP: = 0.) Af plane stress problen. = 10) if plane strain problen. 51-55 IRES: = 0, to perform dynamic response analysis, Sthenvice, only static analyeis and vede Shapes are computes. 56-60 TOPR: # 0, to skip calculation of frequencies and odo shapes. They are read fron cards in this case. 61-65 ToPPr 4 0, to punch frequencies and mode shapes on cards. 66-70 TRIG: ¥ 0, iF the foundation is rigid. cs FOUNDATION CARD (3710.0) omit this card if TRIG #0, (i.e. for rigid foundation) = a2 = |columns 1-20 Br Modulus of elasticity of foundation, in Ket. 11-20 RAF Mass eneity of foundacion, in Kesec?/#e 4. 21-30 RBASE: Spacing between equally-spaced nodal soints at bage of the dan DAM MATERIAL PROPERTY CARD (15,3F10.0) ‘The folloving cards must be supplied for each different material Oui carga) colums 1- 3 Materfal identification number. 6-15 Modulus of elasticity, in Kee 16 - 25 Posson'e ratio. 26-35 Mass density of material, in K-sec’/tt 4. columns 1- 5 Nogal Point Sumber. 6-10 Boundary condition code "p". 11-20 Xrordinate, in fe. 21-30 Yorainate, in £¢. 31 - 60 Used for layer generation, othereise leave blank. Specification for code “p's P=. Both Aisplacanents unknown. pL. Zero displacanent in the x-direction. Unknown aieplacenent in the Y-dizection. wconent in the X-Alrection. snent. in the Y-direction. p= 3. Zero Aleplacomont in the x-direction. Zero dlsplacenent in the Y-direction. Wodal point cards must be in nuserical sequence. If cards are omitted = 60 are left blank, the omitted nodal points are generated nt Line between the defined nodal points (see Note 1). ~ 60 are used they are generated in layers (see Note 2). 1sIf the (C1) cards for nodal pointe Nel, N+2....Nitel are omitted and Gols, 31-60 of the card for nodal point are left blank, the oniteed nodal points are gencrated at equal intervals on the straight Line Joining nodes Nand (NL). layer generation aay be us plately defined. If on the specified: after two rows of nodal pointe are com- urd for node N the following data is columns 31-35 MoD: Module, a (0) 36-40 MLM: Limts of ganaeation (©). 42-50 PACK: Anplisication factor fy. (Ef left blank, assumed to be 1) 5L~ 60 FACY: Amplification factor fy. (GE left blank, assumed to be 1) ‘he SCY coordinates of points Nel, w+2.....NLIN are generated by the formalas Me 7 Mem * A Mem 7 Bean? Met Mem tf em 7 ean! for keNL, .... LIM, If NLIW = MMOP no more nodal cards are needed. IE NEIM © NOME, the card for point (LIMA) must follow: ‘Te boundary condition code for generated nodal points is set equal to [ELENENT CARDS (615) colums 1-5 Element number © = 10 Nodal Point 7) one maximum difference "b" between 12-15 Nodal poine 5 | these numbers is an indseation of tthe band widen of the seitenons Matrix. "b" aay be mininizad by « 21-25 Nodal Point 4} judicious nunbering of nodal soints. 26 - 30 Material identification 16 = 20 Noda Point x For a right-hand coordinate system the nodal point number I,J, Rand L must be in sequence in a counter-clockvise direction around the element (see Fig. A.1). Element cards aust be in element nunber sequence. I! elenent cards are omitted the program automatically genevated tho omitted information by inerenenting by ons the preceeding Ty, ky and L. The material identification for the generated card iz sat squal #0 the corresponding value on the last card. The Last olonent card 16must alvaye be eurplied. Triangular elenents are also permissible; they are identified by repeating the last nogal number (lie, I, Jy Ky wo. WATER PRESSURE CARDS (1625) ‘These cards are necessary only if NPP > 0. columns 1 5 = 0, Sf the reservoir is to the Left of the dan. +1) Lf the reservoir is to the right of the dan water Starting from the top as shown in Pig. A.2. 6-20 11-15 | Nodal poine numbers affected by the ete BASE CONNECTION NODE CARDS (1675) FREQUENCY camns onit if TRIG ¥ 0 (i.e. for a rigid foundation) cotume fare connected 20 the Foundation rock, starting from left co right; a total of HBASE nunbers, as shown in Fig. A.3. | Nodal point numbers at the base of the dam which 5-8) ‘This array is necessary only if the control variable (Card 8) 102m # 0. columns 1-12. ode number. 13-22, frequency in rad/sec. - MODE SHAPE CARDS (112,215.68) the node shapes ae alzenty normalized, ‘This acray ia a5 follows: = as ~k=NpP ny K (SeECARD 8) Ne 4 way "ace Bano OF ZEROS ve hk ag EARTHQUAKE INPUT Fat 7 macinaRy PART COMPLEX consUGATE x FIG. A.1Nooat, Pome PIG. A.2 HYDROSPAPIC AND a¥ORD= Ne NOMBERS FOR A Dytuntte Fonces ac An a NODA POINTS ny Safat REAL PART a COMPLEX FREQUENCY RESPONSE FREE VIBRATION PART LN BASE _ {see cand 6) a 7a WE nets] Dy PIG. A.3 NODAL POINTS AP DAM FOUNDATION INTERFACE STRUCTURAL RESPONSE FIG. A.A DEFINITION OF Ny 7, Fyone card for each nodal saint colums 1 - 12 Nodal point nusber one get for each 13-27 Xordinste aa 28-42. xordinate RESPONSE COWTRCE CARD (315,2710.0) colums 1- 5 Tavs Code for ground motion component = 0, 4€ only horizontal ground accelerations fare'to be included. = 1) 4¢ only vertical gromd accelerations are'to be included. = 2, 4£ both the horizontal ané vertical Ground accelerations are to be included. 6-10 NEXP: Defines the number of values of excitation Erequency for vhich complex froquency response is to ba evaluated. The number of excitation frequency values is 2BX?, 21+ 15 THYD: code for hydrodynamic interaction. HYD # 0 if hydrodynamic interaction is to be neglected. In this casa only hyarostatic effects are included. (If MPP = 0 and = Oin card B thea this must be non-2ezo) - 16-25 DE Tine interval at uhicn dymamic response is generated. Tha froquency increment for computing complex frequency response is Getermined fron OT and EXP. (See note 3.) 26 - 35 ALPHA: Goefficlent of reflection betwoon water and Ground zock below reservoir, This may be ‘Computed as ALPHA = (k-1)/ (i+), where Ke Cr Me/Cy with wr and Ww peing the unit weights of rock and water respectively, Cr ‘the Powave velocity in rock and C the velocity of sound in water (4720 #t/sec). BIPHA <1. Note 3: choice of of and HEXD, or using the FPP algorithm any earvhquake ground notion input data (seo card Group #) is interpolated at equa? intervals of tine dt = DP. ‘the total nunbor of ordinates is determined by NEXP, and is given by Ys MEE," Thug, the tote Zouputations ts $= de + sadieional zeros‘are appen Gerors in the FFD computations. The uniform erequency Ancrenent 6 - urand the traquaney range F for viich the complex frequency response Rinctlon tal toe coupubed is piven by tha tueasy Pelationanise ar = 2b - Beas Mter the Fourier transform computations, which include the forward transform of the ground motion andthe inverse transforns of the re~ sponses are obtained at the first Y points spaced at equal intervals of time At. ay specifying 1 less than 7 (eee Cara Group M), response may be obtained for a shorter duration. As ie show in Fig. Ad the second part of the respanse contains free vibration response of the Structure after the ground excitation has ceased. Te has been stated earlier that St(i.e., D1) and N (or NEI) detornine ‘the values of 7, Of and F, It ig crucial to choose these appropriately so that maxinun accuracy in the results is ensured. The following con siderationg govern the selection of the tine step dt and total minber of poines Ss Ls the frequency increment is snall enough to permit an accurate description, especially near the resonant frequencies, of the Erequency rasponees in the generalized coordinates. ft ie recommended that t eo at < 35 whore £, is the fundamental frequency of vibration of the dam in eps. ak estinate of Tf fg is the frequency of vibration of the included in the analysis, it is recomended that e Eraty 3. The frequency range should include a1 the significant frequencies = aa2. HORIZONTAL GROUND ACCELERATION CARDS |. For good resolution of the tine-variation of response, it is recom cae 4 ot cll sere ty « ta the period of vibration of the highest node of we dancfountation sjates incluced tn che aniyeise (2# this criterion is satlafied then the (2) is automatically satisfied). In order to reduce errors dus to aliasing, inherent in the discrete Fourier transform computations, below acceptable limits, where ne m jon period for first mode of associated dan-foundation systen. 4 = constant hysteretic damping cosffi~ Slent, sane for all modes- = the highest node munber included in the analysis. DAMPING CARD (F10.0) Colums 1-10 nt Constant hysteretic damping coefficient. GROUND ACCELERATION INFORUATION CARDS. 1. CONTROL CARD (215,10.0) colunns 1- 5 MMUGH: Munber of ordinates describing tine~ history of horizontal ground accelera~ 6-10 MUG: Mumber of ordi history of vert 11-20 TD: Tine duration for se is Those cards ara to be omitted if THY = 1, SNUGH time-acosleration pairs describing the tine-history of transverse horizontal ground acceleration are to be specified on these cards, with six pairs per card. Time must be expressed in seconds and the acceleration 25 multiples of g, the acceleration due to gravity. = as =2. VERTICAL GROUND ACCELERATTON CARDS (6 (P6.3,26.4)) ‘These cards are to be onitted if THY = 0, NKUGY tine acceleration ust be expressed in seconds and the accelerstion as aul @, the acceleration due to gravity. 1M. OUTPUT INFORMATION CARDS 1. OURPUT CONTROL CARD (S75) columns 2-5 NPRIWT: 6-10 comm: = 0, if dynamic response is needed separately. = 1, i the static and dynamic responses fare to be combines. I-15 ISEL: Selection code #0, if output is desired for only Selected nodal points and elementsy otherwise dispiacements of ail nodat points and stresses in all elenents faze printed. 1s = 20 SRODE: Total nunber of nodes for »! Placements ara to be printe 21-25 KEL: Total nunber of stresses are £0 NWOOE and MUEI may Be et blank Lf SEL = 0. 2. NODAL POINT SELECTION CARDS (1615) ‘hese cards are to be omitted if ISEL = 0 or NNODE = 0. List he NNOOE nodal point numbers at which displacements are £9 he printed. 3. ELEMENT SELECTION CARDS. (2615 These carée ave to be omitted if ISEL = 0 or NSM = 0. List the NVELM element numbers for vaich atvesses ara to be printed (0. FOUNDATION MATRIX TAPE If TRIG = 0, the dynamic stiffness matrix for che foundation region‘the input statenents in this progran should be modified by the veer. The data read from the tape should then be copied onto a scratch file called AP590, which {s read by the computer progvam. After execution, the data is destroyed. oureur ‘The following is printed by the progran. (Note that some of these may be suppressed according to the options provided in card B.) exuctural and natertal properties, 1. First set of input foundation propercia 2. Hydrostatic Loads: i.e, equivalent nodal point loeds due to hydro- static pressure of vater in the reservoir. Nodal point displacenents and element stresses for static loads. 3. Feaquencies and sede shapes. 4, Second set of input: response data including damping, time step, 5. Absolute value of complex frequency responses for generalized accelerations of the dam due co horizontal and vertical ground motions separately. 6. Third set of input: earthquake acceleration data, otc. 7. Displacements of selected nodal points (according to ISBL, and MNODE in Card Group N) and stresses in selected elements (accord ing to ISEL and NNELM in Card Group 4) at instante of tine deter mined by the print interval (NPRIND in Card Growp Mi). 8. The peak values of major and minor principal stresses in each element during the earthquake and the tines at which they occur. 8. ‘The following quantities are written on tape unit 3. Yosical Record 1: NUMNP, NUMEL, NEV, ND, DT-ND is the total number of time intervals of vessonse datermined fron TD and DT using integer arithmetic. Starting with Record 2, for each of the 10 time intervals, two records are written using the following two statenente: WRITE (3) x WRITE (3) sTRES where X and STRES are one-dimensional arrays, dimensioned properly, 0 that X(2* I= 1) and x(2 * 1) are the X-component and the - asi -whore, No = GANAMBCHTPexEVEANBEE?0 " EAN: NODAL POINT NUMBER ls\ \\e ep 207 WORK sus7o'_4 a xase -= 155 -MUMME = Number of nodal points = Musber of nodal = wmasze2with MONE = 162, NUNEZ © 136, MBAND = 22, and NEXP = 10, wev = 5 analysis for transverse ground notion only. Table A.2 is for sidering transverse and vertical groin notions, simultaneously. Include the complete Aisvory of displacements and stresses during quake! Tebles A.1 and A.2 provide sone indication of the inevease in computational effort required to Include dan-vater and dan-foundation interaction effects in the analysis. considering that these interaction effects complicate the analysis greatly, the adfitional computer tine required is sodess. Compar= atively, more computational effort is required to includa dan-foundation Interaction effects, primarily because a larger number of generalized coordinates need to'be included in the analysis. the efficiency of he analysis lies in use of the susstracture mathod along with transformation 0 generalized coordinates.TABLE A.1 COMPUTATION TIMES: PING FIAT DAM, HORIZONTAL, GROUD MOTTON OMY case | roomoanton | ORONIES | GeSiactoen | PROCESSOR | RBARS Scosoinnes | PIM@ (S80~) 1 | mam | excunes 5 ns 2 | scm | scum 5 a4 3 | sence | excunso 10 aio a ee ees i ma snput SABLE A.2 COMPUTATION TIMES: PINE FLAT DAM, HORIZONTAL AND VERTICNE, GROID NOTION mor | came case | roumarzon | H™DROWHITE | Geteratteeo | waocoseoR | RNMARES Constinces | Tim (see) i | scr | exctsoen 5 5 2 | sscio | rete : +20 es ed » on a re seLISTING OF EAGD COMPUTER PROGRAMoutEERC REPORT LISTING ~ 189 -allen hy Rake, Gus Seanad couptes nerpnae doabais of dlicsesctare Sytem," By 2 tyme, ta, rere - 3BERG - 6FERC - 7veB/EBRC-79/01, vos /aBRC-75/02 caysteretic Behavior o: seas-colunn Subassenblag and V.V, Bartazo = 1979 weweight Reinforced Concrete By 8. forzant, £7, Popov, "The Developsant of a Mat Flexural Response of Rai toads, Using syaten Tene! B.D, tcNiven = 1979 uce/seRc-79/03 voa/EERCH79/08 cs /EeRc-73/05 ce /EERC-79/06 vee /EERC-78/97 ves /eEnc-79/08 voB/EERC-79/09 | ™ vcs/eenc-79/10 ee /eEac-79/12, vt by C.L. Kan and “Mechenical Behavior of Light weight Concrete Confined by Different Types of Lateral Feintorcemeat," Sy MA. Manzigue and V.V. Bectero - 1979 wstatic Tilt Tasts of a Tall cylinérical Liguid Storage Tank," by Ri. Clough and A. Miwa ~ 1379, Design of steel meray Absorbing Pil. Spencer, V.F. Zackay, and B.a. Parker ~ 1579 ‘ohe Design of Steel gnecsy Absorbing Festrainere and Devices, “conservatise Tn Sumacion Rulez for Closely spaced Nodes," by JM. Kelly and J.L. Sackaan ~ 1979 FERC - 9vce /sERC=78/12 vuce/ezec-79/23 ‘wc /EERC-75/14 ce/zane. oce/Esee-79/16 008 /EERC-78/17 wos /eene-79/18 sea yesne-75/ wen /enan~79/20 uee/eeace79/21 ‘ucs/eERo~79/22 vcs /senc=19/23 vce /eEnc+19/24 oes /eEsc-19/25 selation to 2 Banerjee, Seismic stability of Dams," by seed and C.E, chan ~ 1972 “selenic Behavior of #/C Interior Sean Coluca Subassambiagea," oy 5. Viwathanatepa, #.P. Popov and U.v, Borters ~ 1979 Jsinal Design of Localized Nonlinear Systeas it Duel Pexformance Criteria Under Earengvake Sxcitations," by MA Bhatei = 1973 = A General Purpose Optimization Program for Brobieas with or without Dynamic Constrsines," by WA. Bhatet, £, Polar and K.S, Plstar = 1379 “ANGR-IZ, Analysis of Nonlinear structural Raszonse, Users Manval," by 0.P. Sonékar and GH. Powell ~ 1979 soi1 Structure Intaastion in oifterant Seismic nts," A, Gonea-Nasso, 3. Lyamer, J.-C. Chen Seed - 1979 and "ARIA Medels for Zarthquake Ground Motions," by MLK. 1 Sok, Awsackousel, RP. Mau, Ro. Oliver and Piste ~ 1979 ¢ Behavior of Reinforced concrete structural by Ji Vallenas, .U. Beztaro and E.P. sequency Vibrations of sulldinge 2: The Column £ffecte," by J. Iubliner ~ 1979 | ssond Secerioration of Reinfoveing ars mbedded in Coafined Concrete Blocks," by 5. Vinatnanatepa, £.2. Popov and ‘Table Study of Single-story masonry souses, : Test Structures 1 and 2," by 3. silkan, jen and R.¥. Clough ~ 1979 shaking Taste of single-story Hasonsy Souses, volume 2: Test structures 3 and 4," by F, allean, Rib. Mayes and Ri. Clough - 1978 ingle-Seory Mascncy Houses, fons and econmendations," by RW, Clough, P. Glikan and AL. Mayes ERC ~ 10‘vce /EERC-79/26 vce /EERC-78/27 e5/EERC-79/28 vee/eenc-79/29 1veB/BERC-79/30 vep/eeRe-79/32 vee /eeac-79/32 vcs /eenc-79/33, voe/eERC~79/34 ‘vcB/BERC-80/01, “Recommendations for » U.S.-Jepan Cooperative Research Progran Utilizing Large-Scale Testing Facilities,” by U.S.-Japan Planning Group ~ 1979 sBarthquake-Induced Liquefaction Near Lake Anatitian, Guatemala," by #.8. Seed, I. Arango, C.K. Chany As Gonez-Wasso, and R. Grant do Ascoli ~ 1979 tngiat Panals; Theis Influence on Seisnic Response of Buildings," by J.W. axley and V.V. Bertero ~ 1979 "3p truss Bar Element (type 1 by D-P. Mondkar and G.H. Powel "2p Bean-Colusn Element (Type 5 - Parallel Elenent Theory) for the ANSR-IT Program," by D.G. Row, Gull. Powell, and 0.P. Mondkar "3p Bean-column Elenant (Type 2 - Parallel Element Theory) for the AUSR-IT Program," by A. Riahi, oH. Powell, and D-P. Mondkar ~ 197 “on Response of Structures to Stationary Excitation," by A. Der Kiureghian ~ 1379 “undisturbea ing and Cyclic Load Testing of Sands,” by S. Singh jee, ana'c.X. Chan ~ 1979 interac .s of Simultaneous Torsional and compress: (G Loading of Sand," by P.M. Griffin and W.8. Houston ~ 1979 “earthquake Response of Concrete Gravity Dane Including uydrodynanic and Foundation Interaction Effects,” by A.K. Chopra, P. Charkabarti, and 8. Gupta ~ 1980 were - 1.