Response Spectrum PDF

First version: September 2003 (Last modified 2010) Ahmed Elgamal & Mike Fraser
Single-Degree-of-Freedom (SDOF)
and Response Spectrum
Ahmed Elgamal
Dynamics of a Simple Structure

The Single-Degree-Of-Freedom (SDOF) Equation
References
Dynamics of Structures, Anil K. Chopra, Prentice Hall, New Jersey, ISBN 0-13-855214-2
(Chapter 3).
Elements of Earthquake Engineering And Structural Dynamics, André Filiatrault,
Polytechnic International Press, Montréal, Canada, ISBN 2-553-00629-4 (Section 4.2.3).
1
Equation of motion (external force)
Free-Body Diagram (FBD)
fI
p(t)
fS
fD
fs fD
k c
fI + fD + fs = p(t) 1 1
where fI,fD, and fs are forces due to u ů
Inertia, Damping and Stiffness respectively: fs = k u fD = c ů

mu  cu  ku  p(t )
u(t)
c fD fI
p(t) p(t)
m fS
k FBD
Mass-spring damper system

3
Earthquake Ground Motion (ug)
fI + fD + fs = 0
u )
fI = m u t = m( u g +
m(u  u g )  cu  ku  0
mu  cu  ku  mu g
You may note that: ug(t)

(t)
External
force
=
Earthquake Fixed base

Excitation ug(t)
u = relative displacement (displacement of the structure relative to the ground)

ut = total displacement
fI = m x (total or absolute acceleration)
4
2
Undamped natural frequency

Property of structure when allowed to vibrate freely without external excitation
k Undamped natural circular frequency of vibration (radians/second)
w
m
w
f natural cyclic frequency of vibration (cycles/second or 1/second or Hz)
2p
1 T
T natural period of vibration (second)
f
T is the time required for one cycle of free vibration
If damping is present, replace w by wD
where w D  w 1  x 2 natural frequency*, and

c
x fraction of critical damping coefficient (damping ratio, zeta)
2 mw
c c
  (dimensionless measure of damping)
cc 2 km
c c  2mw  2 km cc = critical damping
* Note: In earthquake engineering, wD = w approximately, since z is usually below 0.2 (or 20%) 5
in terms of x
mu  cu  ku   mu g
in terms of x c k
u  u  u   u g
m u  m
c   kum  mu g
u
u  2cxw u kw u   u g
2
u  u  u   u g
m m
u
general x < 0.2, i.e., wD  w D  f,uT=oscillation
2xw
TD u  w u   u g
2
cIn
c is the least level of damping
, fprevents
that
u cc or larger
Inccgeneral x < 0.2,that
least damping wD  w , oscillation
i.e.,prevents fD  f, T = TD
x1
cxc least
may be in the range
damping – 0.2 or 2% - 20%
of 0.02 oscillation
that prevents cc or larger
x1 t
5% is sometimes a typical value.
e.g., damper on a swinging door
x may be in the range of 0.02 – 0.2 or 2% - 20%
t
in terms of x e.g., damper on a swinging door
mu  cu  ku   mu g
c k
u  u  u   u g
m m
u  2xw u  w 2 u   u g
u
In general x < 0.2, i.e., wD  w , fD  f, T = TD 6
cc least damping that prevents oscillation cc or larger

x1
x may be in the range of 0.02 – 0.2 or 2% - 20%

t 3
Note: After the phase of forced vibration (due to external force or base excitation, or initial
conditions), the structure continues to vibrate in a “free vibration” mode till it stops due to
damping. The ratio between amplitude in two successive cycles is
ui
 e 2 px
u i 1
where we define the logarithmic decrement as

 u 
  2px  ln  i  if you measure a free vibration response you can find x.
 u i 1 
ui
ui+1
Note: for peaks j cycles apart
 u 
ln  i   j  2 jpx
 ui j 
 
Free vibration
Why is c c  2mw  2 km
Critical viscous damping
The free vibration equation may be written as

mx  cx  kx  0
and the general solution is
 2   2 
  c   c    k   t   c   c    k   t
 2m  2 m   m  2m  2 m   m
x  C1 e   C2 e 
2
 c  k
if  2m   m , the radical part of the exponent will vanish. This will produce aperiodic
 
response (non-oscillatory). In this case
c2 k
 c  2 km c c
( 2m) 2 m or
k 2
since w  , cc is also equal to 2mw (note that 2 km  2 mw m  2mw )
m
2 2k
and also c c  2 km  2 k (k / w ) 
w
8
4
First version: 2003 (Last modified 2010) Ahmed Elgamal & Mike Fraser
10
11
5
Deformation Response Spectrum
For a given EQ excitation calculate |umax|

from SDOF response with a certain x
and within a range of natural periods or
frequencies.
|umax| for each frequency will be found

from the computed u(t) history at this frequency.
A plot of |umax| vs. natural period is constructed

representing the deformation (or displacement)
response spectrum (Sd).
From this figure, one can directly read the

maximum relative displacement of any structure
of natural period T (and a particular value of x
as damping)
From: Chopra, Dynamics of Structures, A Primer

12
Example
Units for natural frequency calculation (SI units)

Weight = 9.81 kN = 9810 N = 9810 kg (m /s2)
Gravity (g) = 9.81m/s2
Mass (m) = W/g = 9180/9.81 = 1000 kg
Stiffness (k) = 81 kN/m = 81000 N/m = 81000 kg (m/s2)/m = kg /s2
w = SQRT (k/m) = SQRT (81000/1000) = 9 radians/sec
f = w / (2 p) = 1.43 Hz (units of 1/s or cycles/sec)
Units for natural frequency calculation (English units)

Weight (W) = 193.2 Tons = 193.2 (2000) = 386,400 lbs = 386.4 kips
g = 386.4 in/sec/sec (or in/s2)
Mass (m) = W/g = 1.0 kips s2 /in
Stiffness (k) = 144 kips/in
w =SQRT (k/m) = 12 radians/sec
f = w / (2 p) = 1.91 Hz (units of 1/s or cycles/sec)
Note: The weight of an object is the force of gravity on the object and may be defined as the
mass times the acceleration of gravity, w = mg. Weight is what is measured by a scale (e.g.,
weight of a person). Since the weight is a force, its SI unit is Newton.
13
6
Concept of Equivalent lateral force fs
If fs is applied as a static force, it would cause the deformation u.
Thus at any instant of time:

k
fs = ku(t) , or in terms of the mass fs(t) = mw2u(t) w
m
The maximum force will be
f s,max  mw2 u max  ku max  mSa  kSd
k
Sa  Sd Sa  w2Sd
m
Sd = deformation or displacement response spectrum
Sa  w2Sd = pseudo-acceleration response spectrum
The maximum strain energy Emax stored in the structure during shaking is: From: Chopra,
Dynamics of Structures, A Primer
1 1 1 k 2 2 1 1
E max  ku 2max  kSd2  2
ω Sd  mω 2Sd2  mS 2V
2 2 2ω 2 2
where S v  wSd = pseudo-velocity response spectrum
14
Note that Sd, Sv and Sa are inter-related by

S a  w 2S d  wS v
Sa, Sv are directly related to Sd

by w2 and w respectively or by (2pf)2 and 2pf;
2
 2p   2p 
or   and   as shown in Figure.
 T   T 
Due to this direct relation, a 4-way plot
is usually used to display Sa, Sv and Sd
on a single graph as shown in Figure.
In this figure, the logarithm of
period T, Sa, Sv and Sd is used.
From: Chopra, Dynamics of Structures, A Primer

15
7
From: Chopra, Dynamics of Structures
16
In order to cover the damping
range of interest,
it is common to perform
the same calculations for
x =0.0, 0.02, 0.05, 0.10,
and 0.20 (see Figure)
Typical Notation:
Sv  PSV  V
Sa  PSA  A
Sd  SD  D
Example (El-Centro motion):
Find maximum displacement
and base shear of tower
with f = 2 Hz, x = 2%
and k = 1.5 MN/m
Period T = 1/f = 0.5 second

Sd = 2.5 inches = 0.0635 m
Forcemax = kumax From: Chopra, Dynamics of Structures, A Primer
= 1.5 MN/m x 0.0635m = 95.25 kN
17
8
18
September 2003 Ahmed Elgamal & Mike Fraser
(5% Damping) 19
9
September 2003 Ahmed Elgamal & Mike Fraser
20
Inspection of this figure shows

that the maximum response
at short period
(high frequency stiff structure)
is controlled by the ground
acceleration, low frequency
(long period) by ground
displacement, and intermediate
period by ground velocity.
Get copy of El-Centro
(May 18, 1940)
earthquake record
S00E (N-S component)
ftp nisee.ce.berkeley.edu
(128.32.43.154)
login: anonymous
password: your_indent
cd pub/a.k.chopra
get el_centro.data
quit From: Chopra, Dynamics of Structures
21
10
Note that response spectrum

for relative velocity
may be obtained from
the SDOF response history,
and similarly for üt =(ü+üg).
These spectra are known
as relative velocity
and total acceleration
response spectra,
and are different from the
pseudo velocity
and pseudo acceleration
spectra S v and S a
(which are directly
related to S d).
e.g. for x = 0 %
m(ü+üg) + k u = 0
or (ü+üg) + w2u = 0
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23
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25
12
26
27
13
28
29
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30
31
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33
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34
35
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36
Elastic Design Spectrum
Use recorded ground motions (available)

Use ground motions recorded at similar sites:
Magnitude of earthquake
Distance of site form earthquake fault
Fault mechanism
Local Soil Conditions
Geology/travel path of seismic waves
Motions recorded at the same location.

For design, we need an envelope. One way
is to take the average (mean) of these values
(use statistics to define curves for mean
and standard deviation, see next page)
37
18
Mean response spectrum is smooth relative to any of the original contributing spectra
38
As an alternative Empirical
approach, the periods shown on the
this Figure and the values in the
Table can be used to construct a
Median elastic design spectrum (or
a Median + one Sigma), where
Sigma is the Standard Deviation.
For any geographic location,
these spectra are built based on
an estimate of peak ground
acceleration, velocity, and
displacement as this location.
The periods and values in Table 6.9.1
were selected to give a good match
to a statistical curve such as Figure 6.9.2
based on an ensemble
of 50 earthquakes on competent soils. 39
19
(Design Spectrum may include more than one Earthquake fault scenario)
http://dap3.dot.ca.gov/shake_stable/
About Caltrans ARS Online

This web-based tool calculates both deterministic and probabilistic acceleration response spectra for any
location in California based on criteria provided in Appendix B of Caltrans Seismic Design Criteria 40
20

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First version: September 2003 (Last modified 2010) Ahmed Elgamal & Mike Fraser

Dynamics of a Simple Structure

Inertia, Damping and Stiffness respectively: fs = k u fD = c ů

Mass-spring damper system

m(u  u g )  cu  ku  0

mu  cu  ku  mu g

You may note that: ug(t)

Earthquake Fixed base

u = relative displacement (displacement of the structure relative to the ground)

Undamped natural frequency

where w D  w 1  x 2 natural frequency*, and

c c  2mw  2 km cc = critical damping

mu  cu  ku   mu g

u  2xw u  w 2 u   u g

cc least damping that prevents oscillation cc or larger

x may be in the range of 0.02 – 0.2 or 2% - 20%

where we define the logarithmic decrement as

The free vibration equation may be written as

Deformation Response Spectrum

For a given EQ excitation calculate |umax|

|umax| for each frequency will be found

A plot of |umax| vs. natural period is constructed

From this figure, one can directly read the

From: Chopra, Dynamics of Structures, A Primer

Units for natural frequency calculation (SI units)

Units for natural frequency calculation (English units)

Concept of Equivalent lateral force fs

If fs is applied as a static force, it would cause the deformation u.

Thus at any instant of time:

Sa  w2Sd = pseudo-acceleration response spectrum

Note that Sd, Sv and Sa are inter-related by

Sa, Sv are directly related to Sd

From: Chopra, Dynamics of Structures, A Primer

From: Chopra, Dynamics of Structures

Period T = 1/f = 0.5 second

September 2003 Ahmed Elgamal & Mike Fraser

Inspection of this figure shows

Note that response spectrum

Elastic Design Spectrum

Use recorded ground motions (available)

Motions recorded at the same location.

From: Chopra, Dynamics of Structures

were selected to give a good match

to a statistical curve such as Figure 6.9.2

of 50 earthquakes on competent soils. 39

About Caltrans ARS Online

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