Nuclear Engineering and Deign 52 (1979) 99-110
g) North-Holland PublishingCompany
OUTLINE OF DYNAMIC ANALYSIS FOR PIPING SYSTEMS
Kent GORDIS
DST ComputerServices, SA, CH.1216 Geneva, Switzerland
Received 11 August 1978
The paper deals, in a coherent mathematical manner, with a number of theoretical and practical problems involvedin
the solution of dynamic structural problems by the modal superposition method. In particular, problems related to piping
system structures subject to s/ngle or multi-levelsupport movement loading are treated.
0. Introduction and summary of main results
There are a number of theoretical and practical
problems involved in the solution of dynamic problems
by the modal superposition method. These are:
1. How many mass points?
2. How to concentrate mass?
3. How many modes?
4. How to account for the effect (which cannot be
neglected) of the higher modes?
5. How to account for resonances in the neighbor-
hood of calculated natural frequencies?
6. How to account for damping?
7. How to construct bound solutions for any kind
of dynamic loads, including multilevel support move-
ments and applied forces?
8. Finally, how to construct modal bound and/or
time history solutions at a reasonable cost?
I am preparing a paper [4] in which I deal with
these problems in a coherent and general manner. To
achieve this objective, I have used a purely mathema.
tical (as opposed to intuitive, physical or experimental)
methodology. To illustrate the methodology, I present
in this paper my results relating to structures subject
to single or multi-level support movement loading.
In the first 14 sections, I establish the mathematical
notation and, at the same time, I outline results which
effect practical calculations (such as "rigid mode for-
ces") but which are not specifically related to the
mathematical solution of structures subject to support
movement loading. In section 15, I give a precise ma-
99
thematical description of the widely used response
analysis method which is referred to in this paper as
"Classical Response Analysis", and which I show is
valid only for single level problems. In section 16, I
present a precise mathematical description of several
methods for solving multi-level problems. Section 17
compares the various methods described in this paper.
The Classical Response Analysis method involves
finding maximum modal responses "relative to the
ground motion". In mathematical terms, this means
that the displacements are represented in a "shifted"
coordinate system which is moving rigidly with respect
to the support movements. Such a shift is well defined
only if all supports are moving rigidly with respect
to each other.
In this paper I extend the notion of a "shift" from
such "ground motion" shifts t o encompass any shift
which starts from rest. I define the class of "rigid ~hifts"
as shifts for which the coordinates of the points of the
structure are moving rigidly with respect to each other.
I show that only rigid shifts have the property that all
internal member forces due to the shift are zero.
I examine methods for extending Classical Response
Analysis to multi-level problems us~g rigid shifts. I
show that, in general, rigid shift methods result in two
types of terms. First, there are terms, similar to terms
used in Classical Response Analysis, involving mass
weighted participation factors which multiply accelera-
ffOn responses. In addition, there are terms involving
stiffness weighted participation factors which multiply
displacement responses.
100 K. Gordis / Dynamic analysis Jor piping s),stems
I show that the terms involving stiffness weighted
participation factors and displacement responses are
zero for a rigid shift if and only if the problem is a
single level problem with "ground motion" shift. This
explains why these terms do not enter Classical Res-
ponse Analysis calculations, and shows that such terms
must be used to solve multi-level problems by rigid
shift methods.
The expression (16.27) demonstrates that mass and
stiffness weighted participation factors are related.
Finally, I examine another method for solving
multilevel problems, which is based on the "pseudo
static" shift described by Clough and Penzien in [1].
This method, which I call the "Clough and Penzien"
method, is a generalization of Classical Response
Analysis which involves only acceleration responses.
The Clough and Penzien method has been used by
Schmid and Ludwig [2] and Leimbach [3] and by Wu
et al. [5] as the basis for a computer solution for multi-
level problems, I show that the Clough and Penzien shift
is not a rigid shift, and hence, that it is necessary to
include bounds for the internal member forces due to
the shift. This requirement is recognized by Clough and
Penzien, who refer to this effect as "pseudo static
stresses" but is not explicitly mentioned by Schmid and
Ludwig.
In (16.23) I have derived an expression for the
modal response for the Clough and Penzien method.
This expression involves only the 6 X 6 stiffness ma-
trices of support members, rather than the "influence
function matrix" used by both Schmid and Ludwig and
by Wu et al. and, therefore, represents an important
computational simplification.
1. Notation
The following conventions are usually observed in
this paper. Exceptions are obvious from the context.
Bold face upper case letters are used to denote ma-
trices which describe characteristics of the entire struc-
ture. For example, K denotes the stiffness matrix of
the structure.
Bold faced lower case letters are used to denote
vectors which describe characteristics of the entire
structure. For example, x(t) denotes the vector of the
displacements at the degrees-of-freedom of the struc-
ture.
Non bold faced upper case letters :ire t~sed Io der?otc
both 6 X 6 matrices and 6-vectors. Examples are K,.~.
the 6 × 6 stiffness matrix of the member (q, r) at poin~
r, and Xr(t) the 6-vector of displacements corresponding
to the six degrees-of-freedom at poini r
Non bold faced upper case letters are also used to
denote the total number of various quantities. For
example, J denotes the total number of modes.
Non bold faced lower case letters are used to denote
scalars. For example, yj(t) denotes the scalar modal
anaplitude for mode ].
2. Equations of motion
The undamped equations of motion of the piping
system may be represented in the form
MYc + Kx = f (2.0)
x(0) : o
where K is the N X N system stiffness matrix; M is the
N X N mass matrix; x -= x(t) is the N-vector of unknown
displacements; and f - o f ( t ) is the N-vector of applied
forces. We assume that of(0) = 3~(0) = 0.
3. Natural frequencies and mode shapes
The natural frequencies co] are scatars, and the mode
shapes ej are N-vectors f o r j = 1,2 ..... J which satisfy
Kej = coTMej , (3.0)
eTMe] = t , (3.1)
where the superscript "T" denotes "transpose". We
note that the "dot" product eTMei is a scalar.
4. Modal amplitudes
The scalar modal amplitudes Yi(t) are defined by
the expressions
t
sin coj(t - T) eTf(r) d-r. (4.0)
yj(t) = f
7-=0
We note that the "dot" product e]'.f(7) is a scalar, which
we may think of as the projection of the vector applied
force on the ]th mode shape.
 K. Gordgs / Dynamic analysis for piping systems tO1

5. Solution by modal s u p e r ~ n mode/. Then

t
With this definition of the modal amplitudes, I show
ym/(t) = CO! f sin CO/(t - r)gm(~) d r . (6.2)
in [4] that the solution of the equations of motion
¢=0
(2.0) is given by
And we denote by Pra/the ruth component of the
x(t)= ~]~ elY/(t). (5.0) M-vector in the first parentheses of eq. (6.1), which
all modes
we call the "scalar participation factor" for degree-of-
In [4] I show that for most practical calculations, it freedom m of the independent components of the
is not necessary to use all the modes. Only "non-rigid" loading for mode/. Then
modes need by included, while the effect of the higher
Pml = (UTe/),n • (6.3)
"rigid" modes is reflected by using the "rigid mode
forces" as loads. Then by eq. (6.1)
The integral expression (4.0) for calculating the
modal amplitudes is called a "convolution integral". y/(t) = COl' ~/'n emf/mj(t). (6.4)
DST Computer Services has developed a very efficient
computer routine to evaluate convolution integrals,
which has been implemented in the program EBASCO/
PIPESTRESS. 7. Shift of coordinates

The methods described in the preceding sections

can be generalized by introducing a "shift" of coor-
6. Participation factor/resl~nse method
dinates as follows.
Suppose v -- v(t) is any N-vector such that v(O) -- ~(0) :
Suppose that the applied force f(t) can be repre- O, and define the N-vector u -- u(t) by
sented as a linear combination of M g N independent
components. Then there exists an M-vector g(t) and a u(t) = x C t ) - v(t). (7.0)
time-independent N X M matrix U such that v(t) is the "shift" vector and u(t) is the "shifted" dis-
placement.
f(t) = Vg(t). (6.0)
Then substituting eq. (7.0) into eq. (2.0) we arrive
The components off(t) are the independent compo- at the "shifted" equations of motion
nents of the loading.
Then substituting eq. (6.0) into eq. (4.0) we obtain M~ + Ku -- f - M~ - Xv (7.1)

t u(0) = ~ ( 0 ) = 0 .
yj(t) = col' f sin coj(t - r) eTug(O dr If we denote by
1"=0
f v = f - M~ - x v , (7.2)
t
= CO[2(uTe/)T(CO// Sin CO/(/' -- r ) g C r ) d l " ) . ( 6 . 1 ) then we may think offv(t) as the "shifted" applied
T=o force, and we may define the "shifted" modal ampli-
tudes by
We note that in eq. (6.1) the expressions in the paten.
theses are both M-vectors, while their "dot" product t
is a scalar. In the following, we describe the compo- Yu/(t) = col I / sin co/(t - r) eTfv(r) de. (7.3)
nents of these M-vectors separately. 1-=0
We denote by 7m/(t) the ruth component of the
With these definitions we have
M-vector in the second parentheses of eq. (6.1), which
we call the "scalar response" for degree-of-freedom rn u(t)= ~ ep, v/(t ) . (7.4)
of the independent components of the loading for all modes
102 K. Gordis / Dynamic analysis for piping systems
8. Beam structures
We will apply the preceding results to beam struc-
tures. The structural members of beam structures are
beams. Pipes and other types of "beams" have con-
tinuously distributed mass. The methods described in
this paper apply to finite dimensional structures.
Therefore, it is necessary to concentrate the mass of the
structure at a finite number of points which are called
"mass-points". For practical calculations the time for
solution depends on how many mass-points must be
used to accurately model the continuously distributed
mass. In [4] I describe methods for determining and
locating the minimum number of mass-points, and for
efficiently concentrating the mass of the structure at
these points. For the purposes of this paper we simply
assume that the mass is concentrated at the end-points
of the beams, which are the "points" of the structure.
We denote by (q, r) the member with end-points q
and r, and we say that the member (q, r) "connects"
the points q and r.
We assume that the beam structure has six degrees-
of-freedom (three translational and three rotational)
at each point.
We assume that there are two types of points,
"boundary points" where the time-history of the six
displacement components is given, and "internal
points" where the six displacement components are
unknowns. (There are, of course, other possible cases,
such as structures containing partially restrained points,
but these cases are not difficult to treat using general-
izations of the methods described in this paper.)
An "internal member" is a member which connects
two internal points, and an "anchor" connects a boun-
dary point and an internal point.
We assume that no member intersects itself or con-
nects two boundary points, and that the structure is
connected and contains at least one anchor.
We further assume that the structure is "elastic".
This means that the 6-vector "member forces" Frq(t)
satisfy
Hooke's Law
Frq (t) = Krq (Xr(t) - SrqXq (t)), (8.0)
where Frq-Frq(t) is the 6-vector "member force" act-
ing at mass-point r which causes the distortion in member
(q, r); Krq is the 6 X 6 positive definite stiffness matrix
of" the member (q, r) at point r; Srq is the 6 X 6 trans-
fer matrix which transfers a 6-vector displacement at
point q to a rigid-body equivalent displacement at
point r; Xr=-XT(t) is the 6-vector displacement at
r. Xq=-Xq(D the same for point q. At each internal
point r we have
Newton' Law
MrXr + ~ Frq =Fr, (8.1)
all m e m b e r s
(q,~)
where Mr is the 6 × 6 non-negative definite mass ma-
trix of inertial mass concentrated at point r. We
assume that there is no mass cross-coupling. Fr -
Fr(t) is the 6-vector applied force acting at point r.
Substituting eq. (8.0) into eq. (8.t) and separating
known and unknown terms, we obtain for each internal
point r
Mr2, + KrqXr - ~ KrqSrqXq
all m e m b e r s internal mem-
(q,r) bers (q,r)
: F~ + ~ KrqSrqXq • (8.2)
anchors
(q,')
The equations (8.2) may be summarized in the form
M~ + Kx = f , (8.3)
where if there are n internal points then M and K are
both 6n × 6n and x and f are 6n-vectors.
I show in [4] that for connected structures with at
least one anchor the positive definiteness of the 6 X 6
member stiffness matrices implies the positive defini-
teness of K. It follows that K is non-singular.
If we assume that both structure and loading are at
rest at time t = O, then eq. (8.3) is in the form of eq.
(2.0), and represents the equations of motion of the
beam structure.
Eqs. (3.0) and (3.1) define the natural frequencies coj
and the mode shapes ej of the beam structure. The
mode shapes ej are 6n-vectors.
Denote by Erj the 6-vector formed from the six com-
ponents of ej corresponding to internal point r.
Then substituting eq. (5.0) into eq. (8.0) it follows
that for internal members (q, r)
Frq(t) = ~ Krq(Erj - SrqEqj) yj(t) . (8.4)
all m o d e s
 K. Gordlx/ Dynamic analy~afor piping arystems
(Although eq. (8.4) applies only to internal members,
in practice, this expression may be used for all mem-
bers of a structure. The "real" anchors can be treated
as internal members by connecting them to the bound-
ary with "dummy" rigid spings.)
We may now discuss the computational aspects of
this type of time-history analysis. From eq. (5.0) we
see that if we have calculated the time-history of the
modal amplitudes at various time-steps, then we can
construct the instantaneous displacements at "solu-
tion time-steps" using the modal amplitudes and the
mode shapes. (The "solution time-steps" are any sub-
set of the time-steps at which the modal amplitudes
have been calculated.)
There are two methods which may be used to cal-
culate the instantanoeus member forces.
The first method consists of using the instanta-
neous displacements to calculate the member forces.
This method requires a "static" solution for each solu-
tion time-step.
The second method consists of calculating the time-
independent "modal distortion vectors" which are
defined by
K,q (E,/ - S,qEqj) (8.s)
for each internal member (q, r) for each mode j.
This method requires a "static" solution for each
mode. The member forces are then calculated by eq.
(8.4) for each solution time-step.
In [4] I show that for practical calculations only
the "non-rigid" modes need to be used. The effect
of the higher "rigid" modes is reflected in the "rigid
mode force" solutions, which require an additional
"static" solution for each independent component of
the loading.
From the point of view of cost, the choice between
these two methods depends upon which method
requires fewer "static" solutions.
Finally, we state several useful properties of trans-
fer matrices.
s,, = 1 (8.6)
SrqSqp = Srp. (8.7)
It follows from eq. (8.6) and eq. (8.7) that Ser3,q = 1
and hence that transfer matrices are non-singular and
that
= sq, . (8.8)
103
9. Beam stna:tur~ ~dth shift
For shift vectorv(t) we denote by V r - Vr(t ) the
6-vector formed from the six components of v(0
corresponding to internal point r, and denote by Ur =-
Ur(t ) the 6-vector formed from the six components of
u(t) corresponding to internal point r.
Then substituting eq. (7.0) into eq. (8.0) we ob-
tain for internal members (q, r)
F,q = K,q (v, - S,q vq)
+ K,q (V, - S,q V q ) . (9.0)
The first term on the right in eq. (9.0) is the force
which causes the distortion of the member relative to
the shifted coordinate system. The second term, which
we call the "shift force", is the force which causes the
member to assume its shifted "shape". Then for inter-
hal mebers (q, r) using eq. (7.4) in eq. (9.0)
Frq(t) = ~J K,q(E,/- SrqEcd)yui(t )
all modes
+ Krq(Yr(t ) - Srq Vq(t)). (9.1)
A shift for which all internal points are moving rigidly
with respect to each other is called a "rigid shift". Any
rigid shift may be expressed as
v,(t) = S, b Vb(t ) , (9.2)
where Vb - Vb(t) is a 6-vector which we may think of
as describing the motion of an arbitrary point b not
necessarily on the structure. The shift force is zero
for all internal members of a connected structure if
and only if the shift is rigid.
I outline the argument which demonstrates this
important property of shift forces. First, if the shift
is rigid, then by eq. (9.2)
V r - S r q V q = S r b V b - Srq,.,£qbVb = O. (9.3)
Thus, for rigid shifts the shift force is zero for all
internal members.
Conversely, if the shift force is zero for every inter-
nal member, then, since member stiffness matrices are
positive definite and, hence, non-singular, for any
internal member (q, r) we have
Vr = S r q V q , (9.4)
and we see that r is moving rigidly with respect to q.
Since the structure is connected, using the symmetry
104 K. Gordis/Dynamic analysis,forpiping systems

and transitivity of the relation "moving rigidly with If the shift is a rigid shift, using eq. i9.2
respect to", we infer that the components of the shift
vector corresponding to the internal points are movo ( K v )r = G KrqSrbVb - ~ KrqSrqSqbVb
ing rigidly with respect to each other. all members internal
(q,r) members
In the special case where the shift vector consists (v.~)
of the structure moving rigidly with respect to one of
its boundary points a, we have for every internal ~__a KraSrbG
point r anchors
(~r)
G : &~x~ , (9.5)
(l l.l)
where X a =-Xa (t) is the 6-vector time-history displace-
ment at boundary point a. 0 if no anchor is connected to point r .
We denote by (KBX B - Kv)r the 6-vector formed
from the six components O f K B X B Kv corresponding
10. Boundary movement loading to internal point r.
Tlien for rigid shifts, using eqs. (10.1) and (11. i), we
have
If the loading is entirely due to boundary move-
ments then we may represent the applied force by
Kra(SraXa - SrbVb)
f(t) = KMCB(t) , (10.0) anchors
(~r)
where if there are n internal points and na boundary
(K~xB - Kv)~ = (1 t.2)
points, then K B is the 6n × 6n B boundary stiffness
matrix, x B - x B ( t ) is the 6nB-vector of the boundary 0 if no anchor is connected to
displacements. We assume that xa(0) = An(0) = 0. point r .
We denote by (KaXB)r the 6-vector formed from the
From eq. (11.2) we see that if
six components OfKBX B corresponding to internal
point r. Then from eq. (8.2) SraXa = &bV~ , (1 1.3)
for all anchors a then
KraSraXa
anchors KBx B - Kv = 0 . (1 t.4)
(a,r)
But eq. (11.3) is equivalent to
(KBXB) r = (10.1)
x a = Sa~ G (1 1.S)
0 if no anchor is connected to point r .
for all anchors a, which means that all boundary points
are moving rigidly with respect to point b, which im-
plies that all boundary points are also moving rigidly
11. Boundary movement loading with rigid shift with respect to each other. It follows that eq. (11.4)
holds if all boundary points are moving rigidly with
respect to each other, and if the shifted coordinate
For the shift vector v(t) we denote by (Kv)r the system is moving rigidly with respect to the boundary
6-vector formed from the six components of Kv cor-
points.
responding to internal point r.
Then comparing eqs. (8.3) and (8.2) we see that
12. Bound solutions
(Kv)r = G KrqVr- ~ KrqSrqVct.
all m e m b e r s internal (1 1.0)
(q, r) members The ASME code requires that the solution for
(q,r) dynamic load cases be combined with other cases, such
 K. Gordls / Dynamic analy~ for p/p/rigsystems
as dead-weight, thermal expansion, etc. From a practi-
cal point of view, to comply with this requirement it
is necessary to construct one or more bound solutions
for the dynamic load cases. Two types o f methods
which can be used to construct such bound solutions
are described below.
12.1. T~me-history method
Using one of the methods available to calculate
the time-history solution of the equations of motion,
we may construct one or more bound solutions
from the intantaneous solutions. For example, the
time-history solutions may be calculated by modal
superposition, as explained in this paper.
12.2. Modal amplitude bound method
Alternatively, we may construct a bound solution
as follows. Denote by y~OUnda bound for the absolute
value of the/th modal amplitude, and by y ~ the
maximum absolute value of the/th modal amplitude.
Then
y~ound ~ y~nax= max ly/(t)l, (12.0)
t
and we see from eq. (5.0) that we may use as a bound
solution
Ix(t)l< ~ le/ly~ °und , (12.1)
all modes
and from eq. (8.4) for internal members (q, r)
IF,q(t)I, ~ IXrq(F,,/-SrqEql)lYpUnd,(12.2)
all modes
and from eq. (9.1) for internal members (q, r) in terms
of the shifted modal amplitudes
lFrq(t)l< ~ IKrq(Er/-SrqEql)lyvl~ und
all modes
+ maxl Krq(Vr(t ) - SrqVq(t))l. (12.3)
Before discussing methods for constructing bounds
for modal amplitudes, I make two observations.
First, because modal components (and shift forces)
are added "absolute" in the above expressions, the
bound solutions constructed using eqs. (12.1), (12.2)
or (12.3) are conservative. They are, in general,
i 05
greater than "true" bound solutions calculated from
time-history solutions.
Second, we see from eq. (12.0) that the best pos.
sible bounds are obtained from eqs. (12.1) or (12.2)
using
y~ound = y~aX .
13. Maximum modal amplitude method
This method consists of calculating the time.his-
tory of the modal amplitudes using eq. (4.0) for every
time-step for which applied force data is available. The
bound for the/th modal amplitude is simply the maxi-
mum absolute value for the corresponding modal
amplitude time-history.
I make two observations about this method. First,
this method is identical to a true time-history solution,
up to the step of finding the time-history of the mo-
dal amplitudes. We see from eq. (4.0) that this method
requires knowledge of both the mode shapes of the
structure and the time-history of the loading. Second,
this method yields the best possible bounds for the
modal amplitudes. Therefore, for this method we may
write
y~ound =y~nax . (13.0)
14. Participation factor/response spectrum method
This method is based upon the results of section 6.
Using the notation of section 6, define
~' = max l'}'m/(t)l, (14.0)
t
then by eq. (6.4)
]Yl(t)l< ~o72~ 'Pm/I'T~m~= y~O~d. (14.1)
m
The curve of 7 ~ x versus frequency is the "response
spectrum" of the ruth independent component of the
loarling.
I make two observations about this method. First, it
is clear from eq. (14.1) that, in general, the bounds
obtained from this method will not be the best pos-
sible. In most cases, the method of section 13 will
yield better bounds than this method. Second, we see
from eq. (622) that the maximum response for any
frequency can be calculated without reference to the
mode shapes, and is, in this sense, independent of the
structure.
106 K. Gordis / Dynamic analysis for piping systems

15. Classical response analysis then there are only three non-zero components of
eTM~, which may be represented as
The method of Classical Response Analysis is a
method for finding bounds for modal amplitudes in
eT Mv = Px "~ax + P yiJ2ay + P z / az " (1 5.7)
the case where the dynamic loading consists of all where Px/, Py/and Pzj are respectively the x, y and z
boundary points translating in parallel. In this case, components of the 6-vector
a rigid shift is made into the coordinate system which
M~L~j, (15.8)
is translating in parallel with the boundary points. internal
Using eqs. (11.4) and (10.0) in eq. (7.2) we have points r

f~ = -M~ (15.0) Pxj, Pyj and Pzj are the familiar x, y and z participa-
and from (7.3) tion factors for mode j. Substituting eq. (15.7) into
eq. (15.1) we obtain
t
yoj(t)=-wf ' f sin ¢oj(t- OefM~(Odr. (15.1) yvj(t) = -col 2 (Pxjraj(t) + pyj~j(t) + pzjraj (t)) (t 5.9)
7-=0 where
Then t
rax/(t)=co]y sinco](t- OXax(r) dr (15.10)
eTMo = ~ E}Mr("r. (15.2) 7-=0
internal
points r with similar definitions for ~ i and ~]. Eq. (15.9)
Using eq. (9.5) and the symmetry of Mr we have shows that we may use
ybound =
uj 6o72([Pxji~x~ax + [pyj[~y~aX + [pzjl~r~ax)
eTMv = ~ (MrErj) T Sra)(a. (15.3) (15.11)
internal
points r rax~aX, r~,}nax,~ a x are the familiar x, y, z acceleration
If we assume that the boundary movement is purely response spectra values for mode j.
translational then Since we have used a rigid shift, the shift forces are
zero for all internal members, and we may use eq.
SraXa = X a . (15.4) (15.11) in eq. (12.3) to obtain bounds for the member
So that forces in internal members.
In this case, we can also arrive at bounds for mem-
eTM~ = ( ~ (MrErj)) T X a . (15.5) ber forces in anchors. Thus, if r is an internal point and
internal a is a boundary point, then using eqs. (7.0), (9.5) and
points r
(7.4) we obtain
eTM~ is represented in eq. (15.5) as the "dot" product F~. = r , . (X, - S~aXa)
of two 6-vectors.
If we denote the components of the purely trans- = Kra(Ur + Vr - SraXa)
lational boundary movement by
= K~a (U, + SraXa - - SraXa)

1X ax
= Kra Ur

Xa = Xazl , (15.6) = ~ KraErlYvj, (15.12)

I all m o d e s
0 and, therefore, we have
i0 Ifra(t)l< ~ g-Lra~r]'.gu]
b" [ "b°und (15.13)
L0 all m o d e s
 K. Gordi: / Dynamic analyttsfor piping systems 107

We may summarize the foregoing as follows: if all 16,1 Rigid shift method
the boundary points are moving rigidly with respect
to each other, and if we shift to a coordinate system In this method we shift into a coordinate system
moving rigidly with respect to the boundary points, which is moving rigidly with respect to an arbitrary
then point b not necessarily a point on the structure.
- since we have made a rigid shift, all the members From eqs. (7.3) and (10.0) we see that to calculate
shift forces are zero. This enables us to use the bounds the shifted model amplitudes we need to analyze the
for the shifted modal amplitudes to calculate bounds expression
for member forces;
e~f~ = eT ( K . x . - M~ - gv)
- since KBx n - Kv = 0 the shifted applied force
is -M0, which enables us to calculate simple bounds = e~(KBx B - gv) - e~/W~;. (16.2)
for the shifted modal amplitudes.
Then using eq. (9.2) we have
Note that the foregoing applies even if the rota-
tional components of the boundary motion are non-
zero, and even if there is non-zero rotational inertia.
e~M~= ~
internal
ET/MrVr= (
internal
EM,S,O,o)S, b
- If, in addition, the boundary motion is purely " points r points r (16.3)
translational, and thereis no rotational inertia, then where Io is any one of the levels. We note that the
we arrive at the familiar Classical Response Analysis 6-vector
solution.
Finally, we note that this method depends on the Sa, o# b (16.4)
assumption that the damping is zero or negligible.
describes the acceleration of the shift at point aao.
Using (11.2) and (16.1)
16. Multi-level problems
e~(/CBx B - / c v ) = Z) egx, s,.xo- S,bVb)
anchors
If all the boundary points are not moving rigidly (a, r)
with respect to one another, then we see from eq.
(11.2) that for any rigid shift v(t) we must expect that
levels anchors
S.,bVb) (16.5)
K s x B - Kv ~ O . (16.0) I (a, r) at
level I
Therefore, for any rigid shift applied force will not
We note that the 6-vector
assume the simple form -M~ as was the case for Clas-
sical Response Analysis. On the other hand, if we Xa s - SatbVb (16.6)
require that the shift vector satisfy KBx B -- Kv = O,
then such a shift will not be rigid, and some of the describes the movement of the point a ! relative to the
member shift forces will be non-zero. shift.
These observations lead to two methods, the "rigid The expressions (16.3) and (16.5) suggest that we
shift method" and the "Clough and Penzien method" define the 6-vector participation factors andthe
for extending Classical Response Analysis to the multi. 6-vector responses as follows.
level case. I describe these methods in the following. The 6-vector "mass weighted participation factor"
First, I det'me the "levels" of a structure. A "level" P~t/for level I for mode / is defined by
is a set of boundary points which are moving rigidly
with respect to each other. We assume that the struc- P~ai = ~a sTatMrEr/ (16.7)
internal
ture has L levels, and we choose a "reference point" points •
in each level. We denote by at the reference point for
level l. and the 6-vector "stiffness weighted participation
If boundary point a is at level I then factor" P/~ for level I for mode / is defined by

Xa = SmfYat . (16.1) P~=snchors

~ (~r) 8T~tK,aEr/• (16.8)
at level I
108 K. Gordis / Dynamic analys& for piping ~vstems

The 6-vector "acceleration response" R]bi(t ) of level principle, no more complex to caict~tate thal~ the
l for mode j with respect to the shift Vb is defined by acceleration response spectra, they are not used u;
Classical Response Analysis calculations and, hence,
t
are not part of the "standard" procedure.
R]bi( t) = coi f sin wi(t - r)Satbfib(r) dr (16.9) We complete our discussion of iigid shift methods
7"=0
by examining tile "unshifled" case which .corresponds
and the 6-vector "displacement response" Rab/(t) of to
level I for mode j with respect to the shift Va is defined
by Vb(t ) = 0 {1(i. t 5)

t
in this case the acceleration response is zero, and cq.
(16.11) reduces to
sin ~o/(t - r) ()(at(r) - SalbVb(T)) dr.
7-=0
(16.10) yi(t) = 0o72 ~ PlKTRaad(t) (16.16)
levels
l
Then substituting eqs. (16.3) and (16.5) into eq.
(7.3) and using the definitions (16.7), (16.8), (16.9) where Ra, i(t) is the 6-vector "absolute displacement
and (16.10), we obtain response'r for level l for mode / defined by

y#(t) = co/- 2 [ eloJ

MT a
Rlo~/(t) + ~ KT d /-
levots Rm.(t)]. R ,j(t) = j
o
sin co](t - r)Xat(r) dr, (16.17)
(16.1 1)
l
7-=0
It follows that we may use
and we may use
ybound -2 r,~ ,T~amax ~ pK T/?dmax
oj =6o] II loft l~lobJ + levels --lj *'lbj ]
(16.12)
),bound =COi- 2 ~ [,pKlXRdmax
#' at/ (16.18)
levels
I
If the shifted coordinate system is moving rigidly with
Thus, it is quite simple to calculate bound solutions in
respect to level l o then Xat = SatbV ~ and from eq.
terms of unshifted modal amplitudes. However, if
(16.10) we have
level l is moving approximately (but not exactly) in
phase with level 10, then we may expect the bound
Rdoatol(t) = 0 . (16.13)
solutions calculated from eq. (16.12) to be less con-
It follows from eq. (16.11) that for single level prob- servative (and, therefore, more desirable) than the
lems, if the sfiifted coordinate system is moving bound solutions calculated from eq. (16.18).
rigidly with respect to the supports then
16. 2 Clough and Penzien method
-2 T a t
y oi(t ) = -a~ j t~tol R toatol ( ) . (16.14)
This method is suggested by Clough and Penzien
If there are no boundary rotations and there is no
in section 27-4 of their book "Dynamics of Struc-
rotational inertia, it is easily verified that (16.14)
tures" [11. The method is based on a shift for which
reduces to the Classical Response Analysis expression
the shift vector v(t) satisfies
(15.9).
The evaluation of the 6-vector participation factors Kv = KBXB . (16.19)
presents no computational difficulty. Nor does the
(We can characterize this shift vector as the instanta-
evaluation of the acceleration response spectra, which
neous static equilibrium configuration of the struc-
are simply bounds for the expression given in eq.
ture with respect to the boundary movements.)
(16.9). If there are no rotational components, the
Since K is non-singular, we may solve eq. (16.19) for
acceleration response spectra reduce to the familiar
v and using eq. (7.2) we obtain
values of Classical Response Analysis. On the other
hand, while the displacement response spectra are, in fv = -M~ = -MK-1Kn2B , (16.20)
 K. Cordb / Dynamic analysis for piping systems 109

and from the symmetry of M and K [5], the above expressions concern only the "primary"
terms. In [4], I have derived very s~nple bounds for the
eTf v = --eTMK-XK~cB = - ( K - I M e / ) T KB3c a . (16.21)
" s e c o n d a r y " terms.
Using eqs. (3.0), (lO.l) and (16.1)

anchors 17. Conclusion

We compare the different methods described in

=-¢o;= ~-J ( ~ ET KraSrat)~at. (16.22) this paper.
levels anchors (a,r)
! at level i First, for multi-level boundary movement problems,
we compare the Clough and Penzien method to rigid
Then, using eqs. (16.8) and (16.9) in (7.3) we have shift methods. The Clough and Penzien method has
the advantage that it only involves familiar accelera-
yu](t)--co/
_ -4
. ~. P~K T Raad(t)
a
, (16.23) tion response spectra, while rigid shift methods require
levels
l displacement spectra. A further advantage of the Clough
and Penzien method is that it separates "primary" and
and we may use
"secondary" terms.
Next, we compare participation factor/response
y ~ u n d = ¢0;" ~ IP~I T Raa
amax
d • (16.24)
levels spectrum methods of section 14, 15, and 16 (includ-
I ing "Clough and Penzien" and "rigid shift") to the
In [4] I have derived the following interesting identity maximum model amplitude method of section 13 for
for any point b calculating bounds for modal amplitudes.
The advantage of participation factor/responce
~o~ ~ STrbMrEd= ~ ST~KraEr/ (16.25) spectrum methods is that response spectra may be
internal anchors evaluated for "levels", and then used for any struc-
points • (a,•)
tures which contain boundary points at these levels.
(16.25) may be used to establish the following rela- This advantage is relatively minor for problems for
tionship between the mass weighted and the stiffness which the time history of the loading is available. The
weighted participation factors. maximum modal amplitude method requires re-calcula-
tion of the convolution integrals (4.0) for each struc-
T .~
= co/- 2 . ~ . S~ta,:~/. (16.26) ture analyzed. But the evaluation of these integrals can
1@~15
i
be carried out very efficiently. Further this method
yields the best possible bounds, and may be applied to
It follows that for single level problems problems which involve applied forces as well as bound-
ary movements.
= ~72P~o/ (16.27)
Finally, we compare the methods which use bounds
and we see that for single level problems that (16.23) for the modal amplitudes to a true time-history solu-
is identical to (16.14). This, in turn, shows that the tion.
C1ough and Pcnzien method reduces to Classical In unusual cases where there are either very few
Response Analysis for single level problems with no time steps or very many modes, it is possible that
boundary rotations and no rotational inertia. true time-history may require fewer "static" solutions
The calculation of bound solutions for multi-level than modal bound methods. In the typical case, how-
problems using the Clough and Penzien method is ever, true time-history will require the same number
quite simple. The only spectra which are involved are of "static" solutions as modal bound methods, but
the familiar acceleration response spectra. A further will,in addition, require the construction by superpo-
advantage of this method is that it separates "primary" sition of instantaneous solutions at each solution time
(inertial) terms, and "secondary" (support movement) step, and will further requite a method of constructing
terms as foreseen by the ASME code. As in [2] and one or more bound solutions from these instantaneous
110 K. Gordis /Dynamic analysis for piping systems
solutions. Thus, in most cases, true time-history will
require more calculation than modal b o u n d methods.
On the other hand, the true time-history method will
usually result in less conservative (and, therefore, more
desirable), bound solutions. This " t r a d e - o f f ' should
be evaluated on a case-by-case basis.
References
[1] R.W. Clough and J. Penzien, Dynamics of Structures
(McGraw Hill, New York, 1975).
[2] tt.J. Schmid and J. Ludwig, Design of' Piping Systems
with the Procedure of Multiple Support Excitation,
(unpublished manuscript).
[3] K.R. Leimbach, Multiple Support Excitation, unpublished
manuscript.
[4] K. Gordis, Modal Superposition Methods for solving
finite Dimensional Dynamic Elastic Structural Problems,
in preparation.
[5] R.W. Wu, F.A. Hussain and L.K. Liu, Nucl. Eng. Des.
47 (1978) 273.