Response of MDOF structures

to ground motion

 M  x(t )  C  x (t )   K  x(t )    M 1 xg (t )

  

If damping is well-behaving, or can be approximated

using equivalent viscous damping, we can decouple the
equations of motion using modal decomposition:

 q1 (t ) 
 q (t ) 
 
 x(t )  1 2
      
 
 N   2      q(t )

qN (t ) 

and separate the system into its natural modes.

1
  M  x(t )  C  x (t )   K  x(t )    M 1 xg (t )
  

becomes

   M   q (t )    C   q (t )     K   q (t )      M 1 x (t )
T T T T
i i i i i i i i i i g

i  1, 2,, N

   M  
T
or when normalized with respect to modal mass i i

qi (t )  2i wi qi (t )  wi2 qi (t )   i xg (t ) i  1, 2,, N

qi (t )  2i wi qi (t )  wi2 qi (t )   i xg (t ) i  1, 2,, N

   M 1, called modal participation factor for mode i.

T

i
i
where  
   M  
T
i i

   M 1 
m

T
j ji
j 1
i  
i
 
       m 
T N
 i M  i j
2
ji
j 1

2
 qi (t )  2i wi qi (t )  wi2 qi (t )   i xg (t ) i  1, 2,, N

For a lightly damped (underdamped) system that is initially at rest,

rest
solution can be found using the convolution/Duhamel’s integral from

i t

 x ( )e
i wi ( t  )
qi (t )   g sin wd ,i (t  )d
wd ,i 0

Or using a numerical solution algorithm, once you compute qi (t )

you can find the contribution of the i-th mode to the response of the
structure.

Using the modal response, we can find various responses in each mode.

Contribution of the i-th mode to the displacement x j (t ) at the j-th floor:

x ji (t )   ji qi (t ) j  1, 2, , N

Interstory drift, i.e. story distortion, in story j is given by the difference of

displacements of the floor above and floor below:

 ji (t )  x ji (t )  x( j 1) i (t )

3
 To find internal forces (story shears, moments, etc.) associated with
deformations convenient, we can introduce the concept of equivalent
lateral forces.
Equivalent lateral forces are external forces F which, if applied as
forces, would cause structural displacements x.
static forces

At any instant of time, the equivalent lateral forces associated

with displacements due to contribution by mode i :

 F1i (t ) 
 F (t ) 
Fi (t )   2i 
  
 FNi (t ) 
Fi (t )   K  xi (t ) undamped
 

Similarly, we can use inertial forces to find the equivalent lateral forces:

Fi (t )    M  xiabs (t ) see next page

 
 
xabs (t )  x(t )  1 xg (t )   i qi (t )   i i xg (t )
N N

i 1  i 1 

 
xiabs (t )  i  qi (t )  i xg (t )   i (2i wi qi (t )  wi2qi (t ))
 
x abs
(t )   w 2

i  i i i than the displacement term, and as such, neglected.


q (t ) the velocity term is at least an order of magnitude smaller

  
Fi (t )    M  wi2 i qi (t )  wi2  M  i qi (t )
 
 
 F1i (t )   wi m11i qi (t )   wi m1 x1i (t ) 
2 2

 F (t )   2   2 
 2i   wi m22i qi (t )   wi m2 x2i (t ) 
Fi (t )     
        
 FNi (t )   w2 m  q (t )   w2 m x (t ) 
 i N Ni i   i N Ni 

4
 x (t )    q (t )
 
   
i [ M ] x (t )  i [ M ]    q (t )  i [ M ] i qi (t )      
T T T

     
 
i [ M ] x (t )
T

qi (t )   T 
 
i [ M ] i
 
 
i [ M ]1  
T

if  x (t )  1 qi (t ) x ( t )1   T   i
    i [ M ] i
 
   
 1 
  N
1      2    i  i  
    i 1 
 N 

i t

 x ( )e
i wi ( t  )
As qi (t )   g sin wd ,i (t  ) d
wd ,i 0

the equivalent lateral force at the j-th floor can be found from

i t

 x ( )e
i wi ( t  )
F ji (t )   w m j ji
2
i g sin wd ,i (t  ) d
wd ,i 0

Internal forces can be determined by static analysis of the

structure loaded
l d d by
b the
h equivalent
i l lateral
l l forces.
f

5
 Story shear at j-th story due to response in i-th mode may be
calculated by summing the modal inertial forces above and at story j :
N
V ji (t )   Fki (t )
k j

Total shear force at the foundation level

(“base shear”) due to response in i-th mode:
N
V0i (t )   Fji (t )
j 1

Total overturning moment at the foundation level (“base

overturning moment”) due to response in i-th mode:
N
M 0i (t )   Fji (t )  h j h j : elev. of story j above the base
j 1

We can write the base shear for i-th mode as

V0i (t )   Fji (t )   m j  x ji (t )    wi2 m j x ji

N N N

e
j 1 j 1 j 1

N
i t
V0i (t )    wi2 m j ji  x ( )e
g
i wi ( t  )
sin wd ,i (t  )d
j 1 wd ,i 0
t


T


w2
 
V0i (t )   1  M  i  i i  xg ( )ei wi (t  ) sin wd ,i (t  )d
wd ,i 0

   M 1 w x ( )e
T
t

 M   
2
V0i (t )   1 
i wi ( t  )
sin wd ,i (t  )d
T i i
     M   w
i T g
d ,i 0
i i
 

1  M i   1  M i     M 1

T T
 i
T T
But
    

6
    M 1
T 2
t
i wi2
wd ,i 0
V (t )    xg ( )e i wi ( t  ) sin wd ,i (t  )d
   M  
0i T
i i

2
 N 
   ji m j  2 t
V0i (t )   N  wi x ( )e i wi ( t  ) sin w (t  )d
j 1
 g d ,i

 j ji  
2 w
m  d ,i 0

j 1

2
 N 
   ji m j 
The term  j 1  is called the “effective modal mass” of mode i.
 m  
N
2
j ji
j 1

The overturning base moment for i-th mode could be written as

N
M 0i (t )   Fji (t )  h j
j 1

   M 1  h m 
T
N  wi2 t
  xg ( )e i wi ( t  ) sin wd ,i (t  )d
i
M 0i (t )    ji 
   M   
T j j
i i
j 1  d ,i 0
w

7
 Base Overturning Moment mode i
Equivalent Height mode i =
Base Shearmode i

N N

M 0i (t )
F
j 1
jji (t )  h j h m 
j 1
j j ji
j

hequiv ,i   N
 N

F m 
V0i (t )
ji (t ) j ji
j 1 j 1

hequiv ,i

2
 N 
   ji m j 
“Effective modal mass” of mode i =
 j 1 

 m  
N
2
j ji
j 1

M (t )
h m 
j 1
j j ji

hequiv ,i  0i  N

m 
V0i (t )
j ji
j 1

8
Building Mode 1 Mode 2 Mode 3 Mode 4 Mode 5 Mode 6 Mode 7 Mode 8 Mode 9 Mode 10

Effective Modal Mass 1.00

1-Story
Equivalent Height 1.00

Effective Modal Mass 0.95 0.05

2-Story
Equivalent Height 0.81 -0.31

Effective Modal Mass 0 91

0.91 0 07
0.07 0 01
0.01
3-Story
Equivalent Height 0.75 -0.27 0.19

Effective Modal Mass 0.89 0.08 0.02 0.00

4-Story
Equivalent Height 0.72 -0.25 0.16 -0.13

Effective Modal Mass 0.88 0.09 0.02 0.01 0.00

5-Story
Equivalent Height 0.70 -0.24 0.15 -0.12 0.10

Effective Modal Mass 0.87 0.09 0.03 0.01 0.00 0.00

6-Story
Equivalent Height 0.69 -0.24 0.15 -0.11 0.09 -0.09

Effective Modal Mass 0.86 0.09 0.03 0.01 0.01 0.00 0.00
7-Story
Equivalent Height 0.68 -0.23 0.14 -0.11 0.09 -0.08 0.07

Effective Modal Mass 0.86 0.09 0.03 0.01 0.01 0.00 0.00 0.00
8 Story
8-Story
Equivalent Height 0.68 -0.23 0.14 -0.10 0.08 -0.07 0.07 -0.06

Effective Modal Mass 0.85 0.09 0.03 0.01 0.01 0.00 0.00 0.00 0.00
9-Story
Equivalent Height 0.67 -0.23 0.14 -0.10 0.08 -0.07 0.06 -0.06 0.06

Effective Modal Mass 0.85 0.09 0.03 0.01 0.01 0.00 0.00 0.00 0.00 0.00
10-Story
Equivalent Height 0.67 -0.22 0.14 -0.10 0.08 -0.07 0.06 -0.06 0.05 -0.05

The total response of the structure is obtained by combining the

modal responses in all the modes of vibration.
The displacement at the j-th floor, the lateral force at the j-th floor, the
base shear, and the base moment are given by

N
x j (t )   x ji (t )
i 1
N
F j (t )   Fji (t )
i 1
N
V0 (t )   V0i (t )
i 1
N
M 0 (t )   M 0i (t )
i 1

9
 MODAL DECOMPOSITION APPROACH TO ANALYSE
BASE-EXCITED STRUCTURES

The response of an idealized multistory building to earthquake ground motion can be

computed by the following procedure:

1. Find the ground acceleration.

2 D
2. Define
fi the
h structurall properties:
i
a. Compute mass and stiffness distribution (i.e. [M] and [K])
b. Estimate modal damping ratios.
    
3. Find natural frequencies w1 , w2 , , wN and modeshapes 1 , 2 , , N of
  
vibration (i.e. solve the eigenvalue problem).

4. Compute the response of individual modes of vibration by repeating the following

steps for each mode:
a. Compute the modal response qi (t ) by numerical evaluation of the
Duhamel integral.
integral
b. Compute the floor displacements.
c. Compute story drifts from the floor displacements.
d. Compute the equivalent lateral forces.
e. Compute internal forces –story shears and moments– by static analysis of
the structure subject to the equivalent forces.
5. Determine the total value of any response quantity by combining the modal
contributions that response quantity.

Examples

10
T1=1.2 sec
T2=0.7 sec
T3=0.4 sec

Total wt=900 kip

11
12
El Centro 5/18/1940 EQ ground
motion – NS component. The length
of the record is 30 sec.

13
Use the response records to compute inertia forces developed in the structure.

Ex: Inertial forces that develop in the structure during 1st mode response .

14
 Distribution of the modal inertial forces follow the respective modeshape

Distribution of shear forces in the structure for the first three modes:

15
Modal base shear demand

16
Question: Is there an easier way to estimate
maximum response?

YES!
use response spectra

i t
i
 x ( )e
i wi ( t  )
qi (t )   g sin wd ,i (t  )d   Wi (t , xg , i , wi )
wd ,i 0
wd ,i

where Wi (t , xg , i , wi )   xg ( )e i wi ( t  ) sin wd ,i (t  )d

0

For lightly damped structures wd ,i  wi, so we can approximate

i
qi (t )   Wi (t , xg ,  i , wi )
wi

For example, displacements are

i
 x(t )   qi (t ) i (t )     
N N
Wi (t , xg , i , wi ) i (t )
 i 1  i 1 wi 

17
 Interested in the “maxima” – the absolute maximum quantities, such as peak displacement,
peak interstory drift (story distortion), and such.

Ex: Maximum displacement of floor j.

We find the maximum story displacement for each story and in each mode.
Say, we want to find, x ji (t ) the displacement of j-th story due to response in i-th mode.

x ji (t )   ji qi (t )

i
x max
ji  max x ji (t )   ji max qi (t )   ji qimax (t )   ji max Wi (t , xg , i , wi )
t t wi t

1
max Wi (t , xg , i , wi )  SD (Ti , i | xg )
wi t
The maximum displacement (relative to ground) of a single-degree-of-freedom system

with period Ti and damping ratio  i when excited with the given ground motion xg .

i
x max
ji  max x ji (t )   ji max qi (t )   ji qimax (t )   ji max Wi (t , xg , i , wi )
t t wi t

x max
ji   ji  i SD (Ti , i | xg )

How do we find total response?

18
x j (t )  x j1 (t )  x j 2 (t )    x jN (t )

x max
j  max x j1 (t )  x j 2 (t )    x jN (t )
t

max x j1 (t )  x j 2 (t )    x jN (t )  max x j1 (t )  max x j 2 (t )    max x jN (t )

t t t t

Absolute Sum approach (Absolute combination)

N N
x max
j  max x j1 (t )  max x j 2 (t )    max x jN (t )   max x ji (t )  x max
ji
t t t t
i 1 i 1

Square-root of Sum of Squares (SRSS) combination

 x 
N
max 2
x max
j  ji
i 1

 ji (t )  x ji (t )  x( j 1)i (t )

N
 j (t )    ji (t )
i 1

 
N
max 2
 max
j (t )  ji
i 1

CAUTION: When you want to combine the effects of the modes to estimate a reasonable
p
value for the maximum of a response p
parameter ((story
y displacement,
p interstory
y drift, story
y
force, etc.), you need to find value of the response parameter for each mode and then
combine using any of the combination rules.

Do not use already-combined response parameters (say, story displacement estimates

that considered contributions from all modes) to estimate other response parameters (say,
story forces); such an approach will result in erroneous estimates.

19
 Base shear

   M 1 T 2
t
i wi2
wd ,i 0
V (t )    xg ( )e i wi ( t  ) sin wd ,i (t  )d
   M  
0i T
i i

  M 1 wT 2

i t
   x ( )e
i wi ( t  )
sin wd ,i (t  )d
   M  
T i g
i i 0

   M 1 T 2

i
V0max  max V0i (t )   wi max Wi (t , xg , i , wi )
   M  
i T
t t
i i

wi max Wi (t , xg , i , wi )  PSA(Ti , i | xg )

t

   M 1
T 2

i
V0max   PSA(Ti , i | xg )
   M  
i T
i i

V0max
i  Effective modal massi  PSA(Ti , i | xg )

How do we find total base shear?

 V 
N N
V0 max 
i 1
max 2
0i    effective modal mass i  PSA(Ti , i | xg ) 
i 1

20
Example: 7-story building

The spectral displacement values at the first four periods of our 7-story structure are

T1  0.68sec
0 68sec  Sd 1  44.43
43 in q1max  1SD1  4.33 x 4.43 in=19.2 in
T2  0.23sec  S d 2  0.44 in giving q2max  0.62 in
T3  0.14sec  Sd 3  0.15 in q3max  0.12 in
T4  0.11sec  S d 4  0.07 in q4max  0.04 in

21
 T1  0.68sec  S d 1  4.43 in  q1max  19.2 in
T2  0.23sec  Sd 2  0.44 in  q2max  0.62 in
T3  0.14sec  S d 3  0.15 in  q3max  0.12 in
T4  0.11sec  Sd 4  0.07 in  q4max  0.04 in

Roof displacement

max
u71  71q1max  0.2914 x 19.2 in  5.6 in
max
u72  72 q2max  0.17 in (3.1% of the first-mode response.)
u max
73  q max
73 3  0.03 in (0.6% of the first-mode response.)

Note that these maxima match the maxima in the corresponding response histories.

22
Roof total displacement estimate
Absolute Sum approach (Absolute combination)

u7max  u71
max
 u72
max
 u73
max
 u74
max
 u75
max
 u76
max
 u77
max

 5.59  0.17  0.03  0.008  0.0027  0.00092  0.000015  5.80 in

Square-root of Sum of Squares (SRSS) combination

u7max  u   u   u   u   u   u   u 
max 2
71
max 2
72
max 2
73
max 2
74
max 2
75
max 2
76
max 2
77

 5.59 in

Rule of thumb:

Maximum displacement at the roof is 1.2~1.5 times the spectral displacement

of the fundamental mode.

More like 1.2 for frame and 1.5 for shearwall buildings.

23
 Base Shear Force

V0max
i   Effective Modal Mass i  PSA(Ti , i | xg )

24
 Mode Effective Modal Mass Effective Period Spectral Pseudo-
(kip-sec2/ft) Weight (sec) Acceleration, SA
(kip) (g)

1 18.74 603.4 0.68 0.96

2 1.96 63.1 0.23 0.84
3 0.62 20.0 0.14 0.75
4 0.26 8.4 0.11 0.65
5 0.11 3.5 0.09 -
6 0.04 1.3 0.08 -
7 0.01 0.3 0.07 -

Total : 700 kip

V01max  18.74  0.96 g  579.3 kip

V02max  1.96  0.84 g  53.0 kip (9% of first-mode response)
V03max  0.62  0.75 g  15.0 kip
p ((3% of first-mode response)
p )
V max
04  0.26  0.65 g  5.5 kip (1% of first-mode response)

Absolute Sum approach (Absolute combination)

V0max  658 kip

Square-root of Sum of Squares (SRSS) combination

V0max  584 kip

25
Modal base shear demand

26