Mech Dynamics 15.0 L07 Spectrum PDF

Lecture 7
Response Spectrum Analysis

15.0 Release
ANSYS Mechanical
Linear and Nonlinear Dynamics
2012 ANSYS, Inc. February 5, 2014 1 Release 15.0
Topics covered
A. What is Response Spectrum Analysis
B. Generating the Response Spectrum
C. Types of Analyses
D. Single Point Response Spectrum Analysis
E. Mode Combination Methods
F. Rigid Response
G. Missing mass response
H. Multi point response spectrum
I. Analysis Settings
J. Workshop 7

A. What is Response Spectrum Analysis
A response spectrum analysis is mainly used in place of a time-

history analysis to determine the response of structures to random
or time-dependent loading conditions such as:
earthquakes,
wind loads,
ocean wave loads,
jet engine thrust,
rocket motor vibrations, and so on.

... What is Response Spectrum Analysis
The most accurate solution is to run a long transient analysis.

Large means many DOF. Long means many time points.
In many cases, this would take too much time and compute resources.
Instead of solving the (1) large model and (2) long transient together,
it can be desirable to approximate the maximum response quickly:
It uses the results of a modal analysis with a known spectrum to calculate

displacements and stresses in the model.
The spectrum is a graph of spectral value versus frequency that captures the
intensity and frequency content of time-history loads.

... What is Response Spectrum Analysis
Idea: solve the (1) large model and (2) long transient separately and
combine the results.
Large model Large model

Long transient Long transient
Large model Small model

Mode extraction Long transient

Mode shapes Response spectrum
Full solution Combined solution

Slow, accurate Fast, approximate

B. Generating the Response Spectrum
Response Spectrum:
A response spectrum is a plot of the maximum response of linear one-DOF
systems to a given time-history input.
The abscissa of the plot is the natural frequencies of the systems, the ordinates
is the maximum response:
Displacement
Velocity
Acceleration.

... Generating the Response Spectrum
The generation of the response spectrum will usually be done for you,
but the process can be described as follows:
1. Subject a small model to the transient loading.
smallest is 1 DOF oscillator (k, c, m)
2. Track the response over time (disp, velo, or accel).
note the maximum absolute amplitude over time
k m

m
k c e.g. for oscillator with frequency
= 30 Hz
max absolute value over time
S = 95 m/s2

3. Repeat for oscillator with different frequency (same damping).
4. Plot the max response over time as a function of frequency.
= 30 Hz = 50 Hz = 70 Hz
S = 95 m/s2 S = 138 m/s2 S = 86 m/s2

Note that the damping is included in the response spectrum.

Additional spectra can be generated for other damping values.

Using many oscillators results in a more detailed curve.
The graph is typically plotted in log-log scale.
This also allows us to generate the spectrum only once and reuse it for any
model.
For efficiency, one analysis is done on an array of many oscillators.

the same damping is used for all oscillators

We can easily convert between acceleration, velocity, and
displacement spectra by multiplying or dividing by the frequency.
remember to convert frequency units; rad/s = 2f Hz
S d S v / 2f S v S d 2f S a S d 2f
2
S a / 2f
2
S a / 2f S v 2f

C. Types of Analyses
There are two types of Response Spectrum Analysis available:
Response Spectrum
Single-Point Response Spectrum (SPRS) - Multi-Point Response Spectrum (MPRS)

Response Spectrum
D. Single-Point Response Spectrum
SPRS 15.0 Release
ANSYS Mechanical
Single Point Response Spectrum
The structure is excited by a spectrum of:
known direction and frequency components,
acting uniformly on all support points.
Application examples:
Nuclear power plant buildings and components, for
seismic loading
Airborne Electronic equipment for shock loading
Commercial buildings in earthquake zones
The structure is linear (i.e. constant stiffness and

mass).

... Participation Factor,
Recall from the Modal Analysis Chapter:
The participation factor is a measure of the response of the structure at a given
natural frequency.
represents how much each mode will contribute to the deflections and
stresses in a particular direction.
M K f 0
i
2
i
i f Ti M D
Modal Analysis
spectrum participation mode

mode frequency mode shape response
value factor coefficient
1 1 {f}1 S1 1 A1 {R}1
2 2 {f}2 S2 2 A2 {R}2
3 3 {f}3 S3 3 A3 {R}3

... Spectrum Values, S
For each , the spectrum value S can be
determined by a simple look-up from the
response-spectrum table.
Log-log interpolation is done for modal
frequencies between spectrum points.
No extrapolation is done for frequencies outside
of the spectrum range; i.e. the value at the
closest point is used.
mode spectrum participation mode

mode frequency response
shape value factor coefficient
1 1 {f}1 S1 1 A1 {R}1
2 2 {f}2 S2 2 A2 {R}2
3 3 {f}3 S3 3 A3 {R}3

... Mode Coefficients, A
The mode coefficients, Ai, is defined as the amplification factor that is multiplied
by the eigen vector to give the actual displacement in each mode.
Ai can be determined from the participation factors and the spectrum values,
depending on the type of spectrum input.
displacement velocity acceleration
S S
Ai Si i Ai i i Ai i 2 i
i i
Recall: participation factors measure the amount of mass moving in each direction for a unit
displacement.
1 1 {f}1 S1 1 A1 {R}1
2 2 {f}2 S2 2 A2 {R}2
3 3 {f}3 S3 3 A3 {R}3

... Response, R
The response (displacement, velocity or acceleration) for each mode can then be
computed from the frequency, mode coefficient, and mode shape.
Ri Ai f i for displacement response

Ri i Ai f i for velocity response
Ri i2 Ai f i for acceleration response
If there is more than one significant mode, the response for each mode must be
combined using some method.
spectrum participation mode
mode frequency mode shape response
value factor coefficient
1 1 {f}1 S1 1 A1 {R}1
2 2 {f}2 S2 2 A2 {R}2
3 3 {f}3 S3 3 A3 {R}3

E. Mode Combination
The response spectrum analysis calculates the maximum displacement/stresses
response in the structure (i.e., individual maximum modal responses of the
system).
It is not directly known how much of these maximum will combine to give an
actual total response (i.e., phasing of the modes).
It is unlikely that all the modal maxima will act simultaneously and be of the
same sign.

.. Mode Combination Methods
1. Square Root of the Sum of Squares (SRSS) Method
2. Complete Quadratic Combination (CQC) method
3. Rosenblueth (ROSE) method

.. Square Root of the Sum of Squares
(SRSS) Method
One straightforward method for calculating the combined response is to find
the square root of sum of squares (SRSS).
N
R R R
2
1
2
2 R
2
N R
2
i
i 1
For modes with sufficiently separated frequencies, the SRSS is approximately

the probable maximum value of response
SRSS is also known as the Goodman-Rosenblueth-Newmark rule
1 1 {f}1 S1 1 A1 {R}1
2 2 {f}2 S2 2 A2 {R}2
3 3 {f}3 S3 3 A3 {R}3

.. Square Root of the Sum of Squares
(SRSS) Method
There are circumstances in which this SRSS rule must be modified:
1. Accounting for modes with closely-spaced natural frequencies.
2. Adjusting for modes with partially- or fully-rigid responses.
3. Including high-frequency mode effects without extracting all modes.

.. Sufficiently-Spaced Modes
If modes are sufficiently spaced, the modes are uncorrelated.
1 2 3 4 5 6 7 8
It is valid to combine the responses using the SRSS method.
N
R R 2
i
i 1

.. Closely-Spaced Modes (Correlated)
If modes with closely-spaced frequencies exist, the SRSS method is not
applicable.
Modes with closely spaced frequencies become correlated.
1 7 8
2 3
4 5 6

The definition of modes with closely spaced frequencies is a function of the
critical damping ratio:
For critical damping ratios 2%

modes are considered closely spaced if the frequencies are within 10% of
each other
Example, for fi < fj , fi and fj are closely-spaced if fj 1.1 fi
For critical damping ratios > 2%

modes are considered closely spaced if the frequencies are within five times
the critical damping ratio of each other
Example: for fi < fj and 5% damping, fi and fj are closely-spaced if fj 1.25 fi
Example: for fi < fj and 10% damping, fi and fj are closely-spaced if fj 1.5 fi

Idea: come up with a coefficient () to determine the amount of correlation
between modes.
0.0 1.0
= 0: uncorrelated
= 1: fully correlated
0.0 < < 1.0: partially correlated
Two methods of combination can be used:

Each method has a formula for the correlation coefficient, , which

1. is based on the frequency and damping of modes i and j
2. is designed to vary between 1 (fully correlated) and 0 (uncorrelated)

Mode Combination Methods
1. Square Root of the Sum of Squares (SRSS) Method
R Ri2
N 2
i 1
1
N N 2
R k ij Ri Rj

i 1 j i

1
N N 2
R ij Ri Rj

i 1 j 1
Response Spectrum
F. Rigid Response 15.0 Release
ANSYS Mechanical
... Spectral Regions
There are two frequencies that can often be identified on a response
spectrum
fSP (frequency at peak response: Spectral Peak)
fZPA (frequency at rigid response: Zero Period Acceleration)
mid high
Low frequency frequency frequency
ZPA
fSP
fZPA
frequency at peak response
(spectral peak) frequency at rigid response
(zero period acceleration)
1. Low frequency (below fSP)

periodic region
modes generally uncorrelated (periodic) unless closely spaced
2. Mid frequency (between fSP and fZPA)

transition from periodic to rigid
modes have periodic component and rigid component
3. High Frequency (above fZPA)

rigid region
modes correlated with input frequency and, therefore, also with themselves

Low-Frequency Range
In the low-frequency range, the periodic responses predominate.
low
frequency
The responses are uncorrelated (unless closely spaced) and can be

combined using the SRSS, CQC, or ROSE methods.
1
N N
R p ij R p i R p j
2
i 1 j 1
High-Frequency Range
In the high-frequency range, the rigid responses predominate.
high
frequency
The responses are fully correlated (with the input frequency and
consequently with themselves) and can therefore be combined
algebraically, as follows: N
Rr Rr i
i 1
Mid-Frequency Range
In the mid-frequency range, the modal responses consist of
periodic components, and
rigid components.
mid
frequency

Mid-Frequency Range
Idea: come up with a coefficient () to split the response into a
periodic component and a rigid component.
0.0 1.0
= 0: periodic
= 1: rigid
0.0 < < 1.0: part periodic, part rigid
Methods to Calculate :
1. Lindley-Yow method
2. Gupta method

Lindley-Yow method
Lindley-Yow method, = (Sa)
ZPA
i
S ai
ZPA
=1
=0
ZPA: acceleration at zero

period
Sai: acceleration at the ith
The rigid response coefficient, , frequency
attains a minimum value at Sa,max
increases for decreasing Sa
attains a maximum value of 1 at Sa = ZPA
is set to zero where Sa < ZPA
Gupta method
Gupta method, = (f)
S a ,max
f1
=1 2S v ,max
f2
f1 2 f ZPA
3
ZPA
0 for f i f1
ln f / f
i i 1
for f1 f i f 2
=0 ln f 2 / f1
1 for fi f 2
f1 f2 fZPA
The rigid response coefficient, ,
attains a minimum value of 0 at f f1
increases linearly in log-log space between f1 and f2
attains a maximum value of 1 at f f2

Rigid Response
Lindley-Yow method Gupta method
Affects all modes with Sa ZPA. Affects all modes with f > f1.
Should not be used on modes with f < fSP.

Rigid Response Calculations
The individual modal responses are
calculated as before.
With rigid response turned on, these modes are
not combined directly.
The responses will be split into periodic and
rigid components.
rigid
spectrum periodic rigid
mode frequency response response
value component component
coefficient
1 1 S1 {R}1 1 {Rp}1 {Rr}1
2 2 S2 {R}2 2 {Rp}2 {Rr}2
3 3 S3 {R}3 3 {Rp}3 {Rr}3

The rigid response coefficient is calculated
according to the method selected.
ZPA
Lindley - Yow : i
S ai
ln f i / f1
Gupta : i
ln f 2 / f1
0.0 i 1.0
periodic rigid
spectrum rigid response
mode frequency response compon compo
value coefficient
ent nent
1 1 S1 {R}1 1 {Rp}1 {Rr}1
2 2 S2 {R}2 2 {Rp}2 {Rr}2
3 3 S3 {R}3 3 {Rp}3 {Rr}3

The periodic and rigid components are calculated from the rigid
response coefficient.
R p i 1 i2 Ri periodic component
Rr i i Ri rigid component
As before, the response for each mode must be combined

using some method.
Now, the periodic modes and rigid modes will be treated separately.
rigid
spectrum rigid response periodic
mode frequency response compon
value coefficient component
ent
1 1 S1 {R}1 1 {Rp}1 {Rr}1
2 2 S2 {R}2 2 {Rp}2 {Rr}2

3 3 S3 {R}3 3 {Rp}3 {Rr}3

Example: rigid response components using Gupta method.
1 2 3 4 5 6
rigid response periodic rigid

coefficient component component
1 0.5 {R}1 0.0 {R}1 {0}

periodic
2 1.4 {R}2 0.0 {R}2 {0}
3 3.6 {R}3 0.18 0.98 {R}3 0.18 {R}3

transition
4 6.4 {R}4 0.61 0.79 {R}4 0.61 {R}4
5 12 {R}5 1.0 {0} {R}5

rigid
6 25 {R}6 1.0 {0} {R}6
The periodic modes are combined according to the desired
combination rule (SRSS, CQC, or ROSE).
Recall: CQC or ROSE are used if closely spaced modes are present.
SRSS CQC ROSE
1 1 1

R R R k R R R R R
N 2 N N 2 N N 2
2

p
i 1
p i

p ij p i p j p ij p i p j
i 1 j 1 i 1 j 1
rigid
coefficient
1 1 S1 {R}1 1 {Rp}1 {Rr}1
2 2 S2 {R}2 2 {Rp}2 {Rr}2
3 3 S3 {R}3 3 {Rp}3 {Rr}3

The rigid modes are summed algebraically.
N
Rr Rr i
i 1
rigid
coefficient
1 1 S1 {R}1 1 {Rp}1 {Rr}1

2 2 S2 {R}2 2 {Rp}2 {Rr}2
3 3 S3 {R}3 3 {Rp}3 {Rr}3

The combined periodic and combined rigid modes are finally
combined to give the total response.
Rt Rr 2 R p 2
spectrum rigid response periodic rigid

value coefficient component component
1 1 S1 {R}1 1 {Rp}1 {Rr}1
2 2 S2 {R}2 2 {Rp}2 {Rr}2

3 3 S3 {R}3 3 {Rp}3 {Rr}3

Response Spectrum
G. Missing Mass Response15.0 Release
ANSYS Mechanical
Recall: Effective Mass
Recall: printed in the modal output file is the effective mass.
Generally, we cannot practically extract all possible modes to account
for 100% of the mass of the structure.
Many structures may have important natural vibration modes at frequencies
higher than the ZPA frequency, fZPA.
i f M D
T
i M eff ,i i2

Missing Mass Response
So far, we have addressed the low-, mid-, and high-frequency ranges of the
spectrum.
We could have many modes extend far beyond fZPA.
low mid high

frequency frequency frequency
ZPA
Neglected modes
R1 R2 R3 R4 R5 R6 R7 R8 R9 R10 R11

Missing Mass Response
Idea: if we can figure out how much mass is missing from the modal
analysis, then we dont have to extract all modes above fZPA.
its effect can be lumped into an additional response

Missing Mass Response Calculation
Recall, above fZPA, the acceleration response is rigid (in-phase), so it can be
fairly accurately represented by a static acceleration analysis.
1. We can calculate what the total inertia force should be above fZPA.
FT M DS ZPA
2. We can also calculate the inertia force contributed by each mode.
F M f
j j j S ZPA
3. The sum of inertia force contributed by all modes is simply
F M f
N N
j j j S ZPA
j 1 j 1

The missing inertia force must simply be the difference between
the total inertia force and the sum of modal inertia forces.
N
FM FT F j M f j j DS ZPA
N
j 1 j 1
The missing mass response is the static shape due to the missing
inertia forces.
RM K FM
1
The missing mass response is a pseudo-static response to an

acceleration base excitation.

If rigid response is included, then the missing mass is added to the rigid
response.
N
Rr Rr i RM
i 1
The total response is then calculated by combining the periodic and

rigid components.
R R p Rr
2 2

Response Spectrum
H. Multi-Point Response Spectrum
MPRS 15.0 Release
ANSYS Mechanical
Multi Point Response Spectrum
In multi-point response spectrum (MPRS),
different constrained points can be
subjected to different spectra
Up to 100 different excitations are
allowed.
The structure is linear (i.e. constant

stiffness and mass).

Multi-Point Response Spectrum
Each spectrum is treated individually first, so all of the previous
information on single-point response spectrum applies
closely spaced modes (SRSS, CQC, ROSE)
rigid response (Lindley-Yow, Gupta)
missing mass
Finally, the response of the structure is obtained by combining the

responses to each spectrum using the SRSS method.
RMPRS R 2
SPRS 1 R 2
SPRS 2
where
{RMPRS} is the total response of the MPRS analysis
{RSPRS}1 is the total response of the SPRS analysis for spectrum 1
{RSPRS}2 is the total response of the SPRS analysis for spectrum 2
etc

Response Spectrum
I. Analysis Settings 15.0 Release
ANSYS Mechanical
Setup
Setup a response spectrum analysis in the schematic by linking a modal system to a
response spectrum system at the solution level.

Recommended Solution Procedure
The recommended solution method is generally specified by your
design code.
combination method
rigid response method
missing mass effects
Alternatively, the best solution method can be determined by
extracting the modes to be used for combination and
comparing them to the response spectrum
1 2 3 4 5 6 7 8

Recommended Solution Procedure
Modes only in low-frequency region

SRSS (or CQC/ROSE for closely spaced modes).
No rigid response effects. No missing mass effects.
Modes only in mid- to high-frequency region
Rigid response by Lindley or Gupta method. Missing mass on.
Modes in all frequency regions
Rigid response by Gupta method. Missing mass on.

Analysis Settings
Points to Remember
The excitation is applied in the form of a response spectrum:
displacement,
Velocity, or
acceleration units.
The excitation must be applied at fixed degrees of freedom.

The response spectrum is calculated based on modal responses. A modal
analysis is therefore a prerequisite.
If response strain/stress is of interest, then the modal strain and the modal
stress need to be determined in the modal analysis.
The results are in terms of the maximum response.

Analysis Settings
Analysis Settings > Options

1. Number of Modes To Use:
It is recommended to include the modes whose frequencies span 1.5 times the
maximum frequency defined in the input response spectrum.
2. Spectrum Type:
Single Point or
Multiple Points.
3. Modes Combination Type:

SRSS method (more conservative),
CQC method, and
ROSE method.

Analysis Settings
Analysis Settings > Output Controls
By default, only displacement responses are calculated.

To include velocity and/or acceleration responses, set their respective Output
Controls to Yes.

Loads and Supports
Supported boundary condition types

include:
fixed support,
displacement,
remote displacement, and
body-to-ground spring.
For a Single Point spectrum type, input

excitation spectrums are applied to all
boundary condition types defined in the
model.
For Multiple Points however, each input

excitation spectrum is associated to only
one boundary condition type.

Loads and Supports
Three types of input excitation spectrum are supported:

displacement input excitation (RS Displacement),
velocity input excitation (RS Velocity), and
acceleration input excitation (RS Acceleration).
For each spectrum value, there is one corresponding frequency.

Loads and Supports
Missing Mass effect:

If set to YES, includes contribution of high frequency modes in the total
response calculation.
Only applicable to RS Acceleration excitation.
ZPA (Zero Period Acceleration) needs to be defined.

Loads and Supports
Rigid Response Effect:

Specify option to include or not include rigid responses to the total response
calculation by setting Rigid Response Effect to Yes or No.
The rigid responses normally occur in the frequency range that is lower than that
of missing mass responses, but is higher than that of periodic responses.
RS Acceleration RS Velocity RS Displacement
Gupta >> requires f1 and f2 Gupta >> requires f1 and f2 Gupta >> requires f1 and f2
Lindley >> requires ZPA

Results
Applicable results are directional (X/Y/Z) displacement, velocity and

acceleration.
If strain/stress are requested, applicable results are normal strain and stress,
shear strain and stress, and equivalent stress.

Results
Force Reaction and Moment Reaction probes can be scoped to a Remote

Displacement boundary condition to view Reactions Results.

Response Spectrum
Workshop 7 15.0 Release
ANSYS Mechanical
In this workshop, you will determine the response of a prestressed
suspension bridge subjected to a seismic load.
See your Dynamics Workshop supplement for details
WS7: Response Spectrum Analysis - Suspension Bridge

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Lecture 7

Response Spectrum Analysis

2012 ANSYS, Inc. February 5, 2014 2 Release 15.0

A response spectrum analysis is mainly used in place of a time-

2012 ANSYS, Inc. February 5, 2014 3 Release 15.0

The most accurate solution is to run a long transient analysis.

It uses the results of a modal analysis with a known spectrum to calculate

2012 ANSYS, Inc. February 5, 2014 4 Release 15.0

Large model Large model

Large model Small model

Full solution Combined solution

2012 ANSYS, Inc. February 5, 2014 5 Release 15.0

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Note that the damping is included in the response spectrum.

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For efficiency, one analysis is done on an array of many oscillators.

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The structure is linear (i.e. constant stiffness and

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spectrum participation mode

mode spectrum participation mode

Ri Ai f i for displacement response

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2. Complete Quadratic Combination (CQC) method

3. Rosenblueth (ROSE) method

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For modes with sufficiently separated frequencies, the SRSS is approximately

1. Accounting for modes with closely-spaced natural frequencies.

2. Adjusting for modes with partially- or fully-rigid responses.

3. Including high-frequency mode effects without extracting all modes.

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It is valid to combine the responses using the SRSS method.

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For critical damping ratios 2%

For critical damping ratios > 2%

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Two methods of combination can be used:

Each method has a formula for the correlation coefficient, , which

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2. Complete Quadratic Combination (CQC) method

3. Rosenblueth (ROSE) method

F. Rigid Response 15.0 Release

1. Low frequency (below fSP)

2. Mid frequency (between fSP and fZPA)

3. High Frequency (above fZPA)

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The responses are uncorrelated (unless closely spaced) and can be

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ZPA: acceleration at zero

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Lindley-Yow method Gupta method

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1 1 S1 {R}1 1 {Rp}1 {Rr}1

2 2 S2 {R}2 2 {Rp}2 {Rr}2

3 3 S3 {R}3 3 {Rp}3 {Rr}3

1 1 S1 {R}1 1 {Rp}1 {Rr}1

2 2 S2 {R}2 2 {Rp}2 {Rr}2