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EXAMPLE 6-011
LINK SUNY BUFFALO SEVEN-STORY BUILDING WITH FRICTION PENDULUM ISOLATORS
PROBLEM DESCRIPTION
This example is presented in Section 4, pages 43 through 59, of Scheller and
Constantinou 1999 (the SUNY Buffalo report). It is a seven-story building that
is seismically isolated using a friction pendulum isolation system. The model is
subjected to a recorded, scaled horizontal ground acceleration history from the
1940 El Centro earthquake. See the section titled Earthquake Record later in
this example for more information. The SAP2000 results for base shear versus
Level 1 displacement and isolator force-deformation are compared with
experimental results obtained using shake table tests.
The SAP2000 model is shown in the figures on pages 3 and 4 of this example.
The total building weight, including the tributary weight from beams and
columns, is estimated to be 47.5 kips. The weight of each floor is estimated to be
7.6 kips at Level 1, 6.7 kips at Levels 2 through 6 and 6.4 kips at Level 7. The
gravity load associated with the total building weight is applied at the top joint of
the friction pendulum isolator elements. The gravity loads applied are 7.92 kips
at the exterior isolators and 15.83 kips at the interior isolators.
Masses representing the weight at each floor level are concentrated throughout
the height of the structure at the beam-column joints. One-sixth of the floor mass
is lumped at the exterior joints at that level and one-third is lumped at the interior
joints. The mass is active in the Ux and Uz directions. In addition, small masses
are applied directly to the isolator elements. The isolator masses are set to
0.0002 k-sec2/in. This mass is chosen to be about two orders of magnitude
smaller than the typical joints masses. Thus it has essentially no effect on the
overall dynamics, of the structure but it does provide modes associated with the
isolators that help the convergence of the modal time history analysis.
Diaphragm constraints are assigned at each of the seven floor levels. A
diaphragm constraint is not provided at the top of the isolators.
As shown in the figure on the page 3, beams and columns are modeled as frame
elements with specified end length offsets and rigid-end factors. The rigid-end
factor is 0.45 for all beams and columns. All beams and columns have a 4.5 inch
end offset at each end, except for the Level 1 columns, which have a 4.5 inch end
offset at their lower ends (just above the isolators) and a 5.5 inch end offset at

EXAMPLE 6-011 - 1

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there upper ends (at Level 1). The frame section properties are shown in the
figure on page 4 of this example.
The friction pendulum isolators are modeled using two-joint, zero-length, link
elements. Both linear and nonlinear properties are provided for the isolators. The
linear properties are used for the linear modal analysis case and the nonlinear
properties are used for the nonlinear time history analysis cases. See the section
titled Friction Pendulum Isolator Properties later in this example for additional
information.
The analysis results for models using friction pendulum isolators sometimes
exhibit high frequency fluctuations in the response. Typically those high
frequency fluctuations have not been observed in experimental results. This is the
case in this example. It appears that the high frequency fluctuations in the model
are a result of the instantaneous opening and closing of the vertical gap element
inherent in the friction pendulum and, to a lesser degree, a result of the
instantaneous stick/slip friction behavior in the horizontal direction.
The high frequency fluctuations can be damped out in the analysis either by
specifying appropriate damping in the time history analysis case or by including
vertical dampers in the model at the isolator level. Both methods are considered
in this example.
Two models are created for this example. The models are identical, except that
Model A does not have vertical dampers included at the isolator level and Model
B does have vertical isolators at the damper level. The damper element nonlinear
properties used in Model B are the same as those used in the SUNY Buffalo
report. See the section titled Vertical Damper Properties later in this example
for additional information.
Both a nonlinear modal time history analysis case and a direct integration time
history analysis case are considered in this example. See the section titled
Analysis Cases Used later in this example for additional information.

EXAMPLE 6-011 - 2

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GEOMETRY AND PROPERTIES

3 @ 4' = 12 '
Level 7
29

30

31

32
Level 6

25

26

27

28
Level 5

21

22

23

24

7 @ 3' = 21'

Level 4
17

18

19

20

Active degrees of
freedom for model are
Ux, Uz and Ry
Ux and Uz mass equal
to 1/6 of floor mass at
exterior joints and 1/3
of floor mass at
interior joints typical at
Levels 1 through 7
End offsets typical for
all frame members at
all joints.

Level 3
13

14

15

16
Level 2

10

11

12

Floor joints are

constrained as a
diaphragm, typical for
Levels 1 through 7

Level 1
5

7.92 k

15.83 k Z

15.83 k

7.92 k
Base and
Isolator Level

X
1, 33

2, 34

Joint numbers, typical

3, 35

Building weight is
applied directly to the
top of the isolators

4, 36

Base level has two joints in the same location at the

bottom of each column. Zero length friction pendulum
elements (and in Model B also vertical damper elements)
connect joints 1 to 33, 2 to 34, 3 to 35 and 4 to 36. Joints
1, 2, 3 and 4 are connected to the bottoms of the
columns. Joints 33, 34, 35 and 36 are connected to
ground, that is, restrained.

EXAMPLE 6-011 - 3

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28

FSEC2

24

FSEC2

20

FSEC2

16

FSEC2
FSEC2

12
8
4

31

FSEC1

30
2

29

Level 1
FSEC1

FSEC2

34

FSEC3

FSEC1

Level 2

FSEC2

FSEC3
Z

Level 3
FSEC2

11

10
6

FSEC2

FSEC2
33

37

FSEC3
1

FSEC1

FSEC2

FSEC2
32

36

Frame section name

Level 4

FSEC2
FSEC2

FSEC2
FSEC2

35
9

FSEC2

FSEC2

40
15

14

39

Frame element
number

Level 5

FSEC2
FSEC2

FSEC2
FSEC2

38
13

FSEC2

FSEC2

43
19

18

42

Level 6

FSEC2
FSEC2

FSEC2
FSEC2

41
17

FSEC2

FSEC2

46
23

22

45

Level 7

FSEC2
FSEC2

FSEC2
FSEC2

21

FSEC2

44

49
27

26

48

FSEC2

FSEC2
FSEC2

FSEC2
FSEC2

47
25

FSEC2

FSEC2

SAP2000
0

Base and
Isolator Level

Section
Name

Area
A (in2)

Moment of Inertia Shear Area

I (in4)
Av (in2)

FSEC1

7.46

12.18

4.375

FSEC2

3.34

5.04

1.02

FSEC3

5.58

13.58

2.608

EXAMPLE 6-011 - 4

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ANALYSIS CASES USED

The following two tables describe the analysis cases used in this example for
each model.
MODEL A
Analysis Case

Description

RITZ

Modal analysis case for Ritz vectors. Ninety-nine modes

are requested. The program will automatically determine
that a maximum of forty-three modes are possible and thus
reduce the number of modes to forty-three. The starting
vectors are Ux acceleration, Uz acceleration, and all link
element nonlinear degrees of freedom.

MGRAV

Nonlinear modal time history analysis case that applies the

gravity load to the isolators using a ramp function. The
NLMHIST1A and NLMHIST2A modal time history
analysis cases are started from the final condition of this
analysis case.

DGRAV

Nonlinear static analysis case used to apply the gravity load

to the isolators. The NLDHIST1A direct integration time
history analysis case is started from the final condition of
this analysis case.

NLMHIST1A

Nonlinear modal time history analysis case that uses the

modes in the RITZ analysis case and starts from the final
conditions of analysis case MGRAV. This case includes
proportional damping that is defined to provide damping
similar to, but not exactly the same as, the 0.59% modal
damping used in Scheller and Constantinou 1999. It is the
same damping specification as that used in analysis case
NLDHIST1 for Model A. See the section titled
Proportional Damping for Time Histories in Model A
later in this example for more information.

EXAMPLE 6-011 - 5

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MODEL A
Analysis Case

Description

NLMHIST2A

Nonlinear modal time history analysis case that uses the

modes in the RITZ analysis case and starts from the final
conditions of analysis case MGRAV. This case includes
0.59% modal damping in all modes, except modes 40, 41,
42 and 43 (the modes associated with the vertical excitation
of the isolators) are assigned 99.9% modal damping.

NLMHIST3A

Nonlinear modal time history analysis case that uses the

modes in the RITZ analysis case and starts from the final
conditions of analysis case MGRAV. This case includes
0.59% modal damping in all modes with no modal damping
overwrites.

NLDHIST1A

Nonlinear direct integration time history analysis case that

starts from the final conditions of analysis case DGRAV.
This case includes proportional damping that is defined to
provide damping similar to, but not exactly the same as, the
0.59% modal damping used in Scheller and Constantinou
1999. It is the same damping specification as that used in
analysis case NLMHIST1 for Model A. See the section
titled Proportional Damping for Time Histories in Model
A later in this example for more information.

EXAMPLE 6-011 - 6

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MODEL B
Analysis Case
RITZ

Description
Same as Model A.

MGRAV

Same as Model A. This is a nonlinear modal time history

analysis case that applies the gravity load to the isolators
using a ramp function. The NLMHIST1B and
NLMHIST2B modal time history analysis cases are started
from the final condition of this analysis case.

DGRAV

Same as Model A. This is a nonlinear static analysis case

used to apply the gravity load to the isolators. The
NLDHIST1B direct integration time history analysis case is
started from the final condition of this analysis case.

NLMHIST1B

Nonlinear modal time history analysis case that uses the

modes in the RITZ analysis case and starts from the final
conditions of analysis case MGRAV. This case includes
proportional damping that is defined to provide damping
similar to, but not exactly the same as, the 0.59% modal
damping used in Scheller and Constantinou 1999. It is the
same damping specification as that used in analysis case
NLDHIST1 for Model B. See the section titled
Proportional Damping for Time Histories in Model B
later in this example for more information.

NLMHIST2B

Nonlinear modal time history analysis case that uses the

modes in the RITZ analysis case and starts from the final
conditions of analysis case MGRAV. This case includes
0.59% modal damping in all modes with no modal damping
overwrites.

EXAMPLE 6-011 - 7

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MODEL B
Analysis Case

Description

NLDHIST1B

Nonlinear direct integration time history analysis case that

starts from the final conditions of analysis case DGRAV.
This case includes proportional damping that is defined to
provide damping similar to, but not exactly the same as, the
0.59% modal damping used in Scheller and Constantinou
1999. It is the same damping specification as that used in
analysis case NLMHIST1 for Model B. See the section
titled Proportional Damping for Time Histories in Model
B later in this example for more information.

In Model A the damping is set high for modes associated with the vertical
excitation of the isolators. This is not the case in Model B, which includes
vertical damper elements at the isolator level.
In the nonlinear direct integration time history analysis cases, a maximum
substep size of 0.0005 second is used and the Hilber-Hughes-Taylor integration
factor, alpha, is set to -1/3.

EXAMPLE 6-011 - 8

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PROPORTIONAL DAMPING FOR TIME HISTORIES IN MODEL A

In Model A the nonlinear direct integration time history analysis case
NLDHIST1A and the nonlinear modal time history analysis case NLMHIST1A
use mass and stiffness proportional damping. The proportional damping for those
analysis cases should approximate 0.59% modal damping for all periods, except
that the higher frequencies (lower periods) should be more highly damped. For
model A the proportional
damping is selected by
setting the damping at
periods of 1 second and 0.1
second to 0.59%. This yields
a
mass
proportional
coefficient of 0.0674 and a
stiffness
proportional
coefficient of 1.707E-04.
The resulting damping is
displayed in the figure to the
right.
Period (sec)
0.05

Mass
Stiffness
Rayleigh

0.045

0.04

Damping Ratio

0.035

0.03

0.025

0.02

0.015

0.01

0.005

0.1

0.2

0.3

0.4

0.5

0.6

0.7

0.8

0.9

PROPORTIONAL DAMPING FOR TIME HISTORIES IN MODEL B

In Model B the nonlinear direct integration time history analysis case
NLDHIST1A and the nonlinear modal time history analysis case NLMHIST1A
use mass and stiffness proportional damping. The proportional damping for those
analysis cases should approximate 0.59% modal damping for all periods, except
the higher frequencies (lower periods) should not be more highly damped. For
model B the proportional damping is selected by setting the damping at a period
of 1 second to 0.59% and
the damping at a period of
0 second to 0%. This
yields a mass proportional
coefficient of 0.0741 and a
stiffness
proportional
coefficient of 0. The
resulting
mass
proportional damping is
displayed in the figure to
the right.
0.05

Mass
Stiffness
Rayleigh

0.045

0.04

Damping Ratio

0.035

0.03

0.025

0.02

0.015

0.01

0.005

0.1

0.2

0.3

0.4

0.5

0.6

0.7

0.8

0.9

Period (sec)

EXAMPLE 6-011 - 9

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EARTHQUAKE RECORD
The following figure shows the earthquake record used in this example. It is the
S00E component of the 1940 El Centro earthquake record scaled up to a peak
acceleration of 0.57g. This is twice the recorded level of the earthquake. The
time scale is also compressed by a factor of two to satisfy the similitude
requirements of the experiment.
The earthquake record is provided in a file named EQ6-011.txt. This file has one
acceleration value per line, in g. The acceleration values are provided at an equal
spacing of 0.01 second.
Inside SAP2000 the earthquake record is multiplied by a factor of 386.22 to
convert from g to in/sec2.

0.6
0.5
0.4

Ground Acceleration (g)

0.3
0.2
0.1
0
-0.1
-0.2
-0.3
-0.4
-0.5
-0.6
0

10

15

20

25

30

35

40

Time (sec)

EXAMPLE 6-011 - 10

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FRICTION PENDULUM ISOLATOR PROPERTIES

This section presents the properties used for the friction pendulum link elements
in the model. All link elements in the model are oriented such that the positive
local 1 axis is parallel to the positive global Z axis, the positive local 2 axis is
parallel to the positive global X axis and the positive local 3 axis is parallel to the
positive global Y axis. Different properties are specified for the interior and
exterior link elements.
The properties for the exterior friction pendulum link are:
Linear analysis properties
ke U1 = 20,000 k/in
ke U2 = 1.05 k/in
ke R3 = 10,000 k-in/radian
Nonlinear analysis properties
k U1 = 20,000 k/in
k U2 = 31.6667 k/in
Friction coefficient, slow U2 =
Friction coefficient, fast U2 =
Rate parameter U2
=
Radius of sliding surface U2 =

0.04
0.06
1.0897 sec/in
9.75 in

The properties for the interior friction pendulum link are:

Linear analysis properties
ke U1 = 20,000 k/in
ke U2 = 2.10 k/in
ke R3 = 10,000 k-in/radian
Nonlinear analysis properties
k U1 = 20,000 k/in
k U2 = 63.3333 k/in
Friction coefficient, slow U2 =
Friction coefficient, fast U2 =
Rate parameter U2
=
Radius of sliding surface U2 =

0.04
0.06
1.0897 sec/in
9.75 in

The ke U1 property of 20,000 k/in used in this example is different from that used
in the Scheller and Constantinou 1999 SAP2000 model where a value of 0.0001
k/in was used.

EXAMPLE 6-011 - 11

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VERTICAL DAMPER PROPERTIES

The damper element nonlinear properties used in Model B are the same as those
used in Scheller and Constantinou 1999. The damping coefficient, c, is selected
on the basis of providing a damping ratio of 0.10 for the total building weight of
47.5 kips and the total vertical stiffness of 80,000 kip/in (four isolators, each at
20,000 kip/in). Thus,
4c = 2 m = 2

c=

k
kW
m = 2 km = 2
m
g

kW 0.10 80,000 * 47.5

=
= 5 kip-sec/in
2 g
2
386

The damper stiffness, k, is set to 10,000 kip/in to achieve pure damping behavior
in the damper. This means that the characteristic time of the spring-dashpot
system, given by = c / k = 5 / 10000 = 0.0005 sec, is approximately one to two
orders of magnitude smaller than the size of the load steps, which is 0.01 second
in this case. This characteristic time should give pure damping behavior.
The linear properties of the damper are set to zero so that the damper has no
effect on the modal analysis.

TECHNICAL FEATURES OF SAP2000 TESTED

Friction pendulum link elements
Damper link elements
Zero-length, two-joint link elements
Diaphragm constraints
Frame end length offsets
Modal analysis for ritz vectors
Nonlinear modal time history analysis
Nonlinear direct integration time history analysis
Joint masses

EXAMPLE 6-011 - 12

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RESULTS COMPARISON
Independent results are experimental results from shake table testing presented in
Section 4, pages 43 through 59, of Scheller and Constantinou 1999.
The figures on page 14 of this example plot base shear versus Level 1
displacement for the four time history cases in Model A, which has no added
damper elements, and for the three time history cases in Model B, which does
have added damper elements.
The plot shown at the bottom center of page 14 is for Model A, analysis case
NLMHIST3A. Recall that Model A does not have vertical dampers at the isolator
level and that analysis case NLMHIST3A has 0.59% modal damping for all
modes with no increased damping in the higher frequencies. This plot shows
substantial high frequency fluctuations in the response. Note that the other plots,
all of which have some increased damping for the higher frequencies (as modal
damping, mass and stiffness proportional damping, or added vertical damper
elements), show significantly fewer of those high frequency fluctuations. In all
cases the peak response values compare well with the experimental values. This
comparison is tabulated in the table on page 15.
The top left plot on page 14 shows the base shear versus Level 1 displacement
for analysis case NLMHIST1A which is a nonlinear modal time history with
proportional damping. The plot third down on the left shows the same base shear
versus Level 1 displacement plot for analysis case NLDHIST1A which is a
nonlinear direct integration time history with proportional damping. The
proportional damping specified for these two analysis cases is identical. The plot
for NLDHIST1A has much less high frequency fluctuation than that shown in the
plot for NLMHIST3A (bottom center), and more high frequency fluctuation than
that shown in the plot for NLMHIST1A (top left). The difference between the
plots for NLMHIST1A and NLDHIST1A is caused by the differences in how
proportional damping is handled in the nonlinear modal and direct integration
time history analysis cases.

EXAMPLE 6-011 - 13

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0.2

Model A
Nonlinear modal time history
Proportional damping
Analysis case NLMHIST1A

0.3

Weight = 47.5 kips

Base Shear / Weight

Base Shear / Weight

0.3

0.1
0
-0.1
-0.2

Experimental
SAP2000

-0.3
-2.5

-2

-1.5

-1

-0.5

0.5

1.5

Model B
Nonlinear modal time history
Includes vertical damper elements
Analysis case NLMHIST1B

0.2
0.1
0
-0.1
-0.2

Experimental
SAP2000

-0.3
-2.5

2.5

-2

-1.5

Level 1 Displacement (in)

0.2

Model A
Nonlinear modal time history
Modal damping w/ overwrites
Analysis case NLMHIST2A

0.3

Weight = 47.5 kips

0.1
0
-0.1
-0.2

Experimental
SAP2000

-0.3
-2.5

-2

-1.5

-1

-0.5

0.5

1.5

Base Shear / Weight

-0.1
-0.2

Experimental
SAP2000
-1.5

-1

-0.5

0.5

1.5

0.2

1.5

2.5

Weight = 47.5 kips

-0.1
-0.2

Experimental
SAP2000
-2

-1.5

-1

-0.5

0.5

Model B
Nonlinear direct integration time history
Includes vertical damper elements
Analysis case NLDHIST1B

0.2

1.5

2.5

0
-0.1
-0.2

Experimental
SAP2000

-0.3
-2.5

2.5

Weight = 47.5 kips

0.1

-2

-1.5

Level 1 Displacement (in)

0.3

0.3

-2

0.5

Level 1 Displacement (in)

0.1

-0.3
-2.5

0.1

-0.3
-2.5

2.5

Weight = 47.5 kips

Base Shear / Weight

Base Shear / Weight

0.2

Model A
Nonlinear direct integration time history
Proportional damping
Analysis case NLDHIST1A

-0.5

Model B
Nonlinear modal time history
Includes vertical damper elements
Analysis case NLMHIST2B

0.2

Level 1 Displacement (in)

0.3

-1

Level 1 Displacement (in)

Base Shear / Weight

Base Shear / Weight

0.3

Weight = 47.5 kips

-1

-0.5

0.5

1.5

2.5

Level 1 Displacement (in)

Model A
Nonlinear modal time history
Modal damping w/o overwrites
Analysis case NLMHIST3A

Weight = 47.5 kips

0.1
0
-0.1
-0.2
-0.3
-2.5

Experimental
SAP2000
-2

-1.5

-1

-0.5

0.5

1.5

2.5

Level 1 Displacement (in)

EXAMPLE 6-011 - 14

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Independent
Experimental

Percent
Difference

PROGRAM NAME:

Output
Parameter

Minimum
Level 1
Displacement
(in)

Model

Maximum
Level 1
Displacement
(in)

A
Minimum
Base
Shear/Weight
B

A
Maximum
Base
Shear/Weight
B

Analysis
Case

SAP2000

NLMHIST1A

-2.020

-2%

NLMHIST2A

-2.034

-1%

NLMHIST3A

-2.147

+5%

NLDHIST1A

-2.020

NLMHIST1B

-2.017

-2%

NLMHIST2B

-2.081

+1%

NLDHIST1B

-1.988

-3%

NLMHIST1A

1.982

-3%

NLMHIST2A

1.981

-3%

NLMHIST3A

2.000

-2%

NLDHIST1A

1.968

NLMHIST1B

1.996

-2%

NLMHIST2B

2.021

-1%

NLDHIST1B

1.967

-4%

NLMHIST1A

-0.250

+2%

NLMHIST2A

-0.251

+2%

NLMHIST3A

-0.252

+3%

NLDHIST1A

-0.245

NLMHIST1B

-0.258

+5%

NLMHIST2B

-0.263

+7%

NLDHIST1B

-0.253

+3%

NLMHIST1A

0.253

+2%

NLMHIST2A

0.258

+4%

NLMHIST3A

+9%

NLDHIST1A

0.270
0.266

NLMHIST1B

0.237

-4%

NLMHIST2B

0.240

-3%

NLDHIST1B

0.235

-5%

-2.053

2.043

-0.245

0.248

-2%

-4%

0%

+7%

EXAMPLE 6-011 - 15

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In nonlinear modal time history analysis cases with proportional damping, the
proportional damping is converted to modal damping based on the initial
stiffness of the analysis. This damping does not change as the analysis proceeds.
In nonlinear direct integration time history cases with proportional damping, the
stiffness proportional component of the damping can change during the course of
the analysis as the stiffness of the structure changes. If the stiffness goes to zero
during a portion of the analysis, the associated stiffness proportional component
of the damping also goes to zero.
In this example, analysis case NLMHIST1A has its damping based on the initial
conditions of the analysis. For those conditions, the isolator is under axial
compression and it is not sliding. Thus, nonzero vertical and horizontal stiffness
is present at the isolators. Therefore, vertical and horizontal stiffness proportional
damping is present at the isolators throughout the entire analysis.
Analysis case NLDHIST1A has damping that changes as the analysis proceeds.
When the isolator is under axial compression and it is not sliding, vertical and
horizontal stiffness proportional damping is present at the isolators. When the
isolators begin to slide, the horizontal stiffness proportional damping disappears.
When the isolator uplifts (as it is sliding), both the vertical and horizontal
stiffness proportional damping at the isolators disappears.
As a consequence, over the full course of the analysis, analysis case
NLDHIST1A is less damped than analysis case NLMHIST1A. This is why more
high frequency fluctuations are evident in the plot for NLDHIST1A than that for
NLMHIST1A.
The plot for NLMHIST2A shows some small high frequency fluctuations that are
not present for NLMHIST1A. Recall that NLMHIST1A uses mass and stiffness
proportional damping previously described in the section titled Proportional
Damping for Time Histories in Model A. NLMHIST2A uses constant 0.59%
modal damping, with the damping overwritten to 99.9% for the four highest
frequency modes, which all have periods of approximately 0.0004 second. The
proportional damping used in NLMHIST1A provides 0.59% damping at a period
of 0.1 second and increases to approximately 134% damping as the period is
decreased to 0.0004 second. The damping is increased over the entire range from
0.1 second to 0.0004 second rather than just at 0.0004 second as is the case in
NLMHIST2A. Thus, more high frequency damping is present in NLMHIST1A
than in NLMHIST2A. This explains why the plot for NLMHIST2A shows some
small high frequency fluctuations that are not present for NLMHIST1A. If

EXAMPLE 6-011 - 16

C O M P U TE R S &
S TR U C TU R ES
IN C .

Software Verification

SAP2000
0

PROGRAM NAME:
REVISION NO.:

increased damping were provided for the modes between 0.1 second and 0.0004
second in NLMHIST2A, the results for NLMHIST2A would appear more similar
to those for NLMHIST1A.
The following figure compares the Level 1 displacement versus time for analysis
case NLMHIST1A to the experimental results. The comparison is similar for the
other analysis cases.
2.5
Model A
Nonlinear modal time history
Proportional damping
Analysis case NLMHIST1A

Level 1 Displacement (in)

1.5
1
0.5
0
-0.5
-1
-1.5
Experimental
SAP2000

-2
-2.5
0

10

15

20

25

30

Time (sec)

The following figures show isolator force-deformation plots for an exterior and
an interior isolator for analysis case NLMHIST1A. The exterior isolator is
located at joints 1 and 33. The interior isolator is located at joints 2 and 34.
As described in Scheller and Constantinou 1999, The gravity loads on the
bearings [during the experiment] were not exactly known and they could very
well have been different than assumed in the [SAP2000] analysis. This could
contribute to the difference in the experimental and SAP2000 results for the
force-deformation response of the exterior isolator.

EXAMPLE 6-011 - 17

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IN C .

Software Verification

SAP2000
0

PROGRAM NAME:
REVISION NO.:

Exterior isolator at joints 1 and 33

Isolator Shear Force (kip)

1
0
-1
-2
-3

Model A
Nonlinear modal time history
Proportional damping
Analysis case NLMHIST1A

-4
-5
-6

Experimental
SAP2000

-7
-8
-2

-1.5

-1

-0.5

0.5

1.5

Isolator Displacement (in)

Interior Isolator at Joints 2 and 34

Model A
Nonlinear modal time history
Proportional damping
Analysis case NLMHIST1A

Isolator Shear Force (kip)

3
2
1
0
-1
-2
-3

Experimental
SAP2000

-4
-2

-1.5

-1

-0.5

0.5

1.5

Isolator Displacement (in)

The following table compares the peak values of the isolator force and
deformation with the experimental values for the NLMHIST1A analysis case.
Similar results are obtained for other time history analysis cases with damping at
the high frequencies.

EXAMPLE 6-011 - 18

C O M P U TE R S &
S TR U C TU R ES
IN C .

Software Verification

PROGRAM NAME:
REVISION NO.:

Output
Parameter
Exterior Isolator
(Joints 1 and 33)
Minimum
Deformation
(in)

Exterior Isolator
(Joints 1 and 33)
Maximum
Deformation
(in)

Exterior Isolator
(Joints 1 and 33)
Minimum
Shear Force
(kip)

Exterior Isolator
(Joints 1 and 33)
Maximum
Shear Force
(kip)

Model

Independent
Experimental

SAP2000
0

Analysis
Case

SAP2000

NLMHIST1A

-1.799

Percent
Difference
+7%

NLMHIST2A

-1.814

+8%

NLMHIST3A

-1.959

+16%

NLDHIST1A

-1.796

NLMHIST1B

-1.808

+7%

NLMHIST2B

-1.855

+10%

NLDHIST1B

-1.772

+5%

NLMHIST1A

1.961

+3%

NLMHIST2A

1.976

+4%

NLMHIST3A

2.015

+6%

NLDHIST1A

1.946

NLMHIST1B

1.981

+4%

NLMHIST2B

2.004

+5%

NLDHIST1B

1.950

+2%

NLMHIST1A

-5.672

-17%

NLMHIST2A

-5.726

-17%

NLMHIST3A

-14%

NLDHIST1A

-5.922
-5.782

NLMHIST1B

-5.683

-17%

NLMHIST2B

-5.834

-15%

NLDHIST1B

-5.543

-19%

NLMHIST1A

0.911

-23%

NLMHIST2A

0.904

-24%

NLMHIST3A

3.416

+189%

NLDHIST1A
NLMHIST1B

1.064
0.933

NLMHIST2B

0.919

-22%

NLDHIST1B

0.894

-24%

-1.686

1.909

-6.872

1.183

+7%

+2%

-16%

-10%
-21%

EXAMPLE 6-011 - 19

C O M P U TE R S &
S TR U C TU R ES
IN C .

Software Verification

PROGRAM NAME:
REVISION NO.:

Output
Parameter
Interior Isolator
(Joints 2 and 34)
Minimum
Deformation
(in)

Interior Isolator
(Joints 2 and 34)
Maximum
Deformation
(in)

Interior Isolator
(Joints 2 and 34)
Minimum
Shear Force
(kip)

Interior Isolator
(Joints 2 and 34)
Maximum
Shear Force
(kip)

Model

Independent
Experimental

SAP2000
0

Analysis
Case

SAP2000

NLMHIST1A

-1.924

Percent
Difference
+7%

NLMHIST2A

-1.940

+8%

NLMHIST3A

-1.959

+9%

NLDHIST1A

-1.923

NLMHIST1B

-1.925

+7%

NLMHIST2B

-1.983

+10%

NLDHIST1B

-1.892

+5%

NLMHIST1A

1.854

+4%

NLMHIST2A

1.853

+4%

NLMHIST3A

1.873

+5%

NLDHIST1A

1.836

NLMHIST1B

1.871

+5%

NLMHIST2B

1.896

+6%

NLDHIST1B

1.842

+3%

NLMHIST1A

-3.493

0%

NLMHIST2A

-3.564

+2%

NLMHIST3A

-3.787

+8%

NLDHIST1A

-3.429

NLMHIST1B

-3.542

+1%

NLMHIST2B

-3.504

0%

NLDHIST1B

-3.384

-3%

NLMHIST1A

3.909

+17%

NLMHIST2A

3.973

+19%

NLMHIST3A

4.412

+32%

NLDHIST1A
NLMHIST1B

4.036
3.859

NLMHIST2B

3.811

+14%

NLDHIST1B

3.795

+13%

-1.796

1.786

-3.498

3.346

+7%

+3%

-2%

+21%
+15%

EXAMPLE 6-011 - 20

C O M P U TE R S &
S TR U C TU R ES
IN C .

Software Verification
PROGRAM NAME:
REVISION NO.:

SAP2000
0

COMMENTS ON SUNY BUFFALO REPORT

The SUNY Buffalo report (Scheller and Constantinou 1999) indicates the use of
an extremely small value for the axial linear effective stiffness, ke U1, of the
friction pendulum isolators to achieve acceptable results. The SUNY Buffalo
report used a value of 0.0001 kip/in for ke U1. This verification example uses a
realistic value of 20,000 kip/in for ke U1 and achieves acceptable results.
The comparisons of SAP2000 isolation system displacement with experimental
results appear better in this verification example than they do in the SUNY
Buffalo report. In Section 4-4 on page 50 of that report, the isolation system
displacement is defined as the displacement of the first floor with respect to the
ground; that is, the isolator displacement plus the displacement in the first level
column. This displacement is called the Level 1 Displacement in the plots shown
in this verification example.
When the SAP2000 isolator displacement is plotted versus the base shear, the
resulting plot is very similar to that shown in the SUNY Buffalo report. Thus, it
appears that the report may in some instances be making comparisons where the
experimental displacement is for Level 1 and the SAP2000 displacement is for
the Isolator Level. This would explain why the comparisons appear better in this
verification example.
SOLUTION PARAMETERS FOR DIRECT INTEGRATION TIME HISTORY
The nonlinear direct integration time histories in this example were run using a
maximum substep size of 0.0005 second. A larger maximum substep size of
0.005 second was tried and found to yield larger displacements than the 0.0005
second step size. A smaller maximum substep size of 0.00005 second was tried
and found to yield the same solution as the 0.0005 second step size. Thus, it was
concluded that a 0.0005 second maximum step size was appropriate for this
example.
Similarly, the nonlinear direct integration time histories in this example were run
using a relative iteration convergence tolerance of 1E-4. A smaller relative
iteration convergence tolerance was tried and found to yield the same results.
Thus the 1E-4 tolerance was deemed to be sufficient.
In general, parameter studies, such as described herein, should be performed for
nonlinear analyses. This helps to build confidence that appropriate results have
been obtained.

EXAMPLE 6-011 - 21

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S TR U C TU R ES
IN C .

Software Verification
PROGRAM NAME:
REVISION NO.:

SAP2000
0

COMPUTER FILES: Example 6-011a, Example 6-011b

CONCLUSION
In general, the SAP2000 results show an acceptable comparison with the
independent results. For analysis case NLMHIST3A, which has no damper
elements and no additional damping at the higher frequencies, the comparison of
peak values for the isolator force-deformation curves is poor. Additional
damping associated with the high frequencies improves the comparison.
For nonlinear modal time history analysis cases, modal damping, proportional
damping and added dampers can all be used to significantly reduce the high
frequency fluctuations that can occur in the models with friction pendulum
isolators.
For nonlinear direct integration time history analysis cases, proportional
damping or added dampers can both be used to significantly reduce the high
frequency fluctuations that can occur in the models with friction pendulum
isolators. However, it is important to realize that proportional damping will not
completely eliminate the fluctuations because the stiffness proportional
component of the damping will be zero when the isolators are uplifted, and it is
the stiffness proportional component of the damping that is effective in damping
out the high frequency behavior. Thus, if nonlinear direct integration time
histories are used, added damper elements may be a better alternative than
proportional damping in the analysis case to reduce the high frequency
fluctuations in the results.

EXAMPLE 6-011 - 22