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Professional 16/09/2015
Introduction to seismic and
spectral analysis
Rafał Gawęda
Artur Kosakowski
© 2013
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Welcome to Autodesk Help Webinar Series!
Where do we announce?
www.autodesk.com/help-webinars
Autodesk RSA Forum
BIM Toolbox
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What are « Webinars » and how they are
intended to work
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Topics covered in this “Webinar” and what we
plan for the next one:
This Webinar :
Why and when to use spectral analysis
Description of the modal analysis main settings
An example of spectral analysis: the Seismic
analysis
How to prepare a model to seismic design
Load to mass conversion
Seismic analysis creation
Generation of code combinations
Results analysis and verification
Tips and common errors
Additional resources
Next Webinar : How to create and run code
verification of user defined section
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Why and when to use spectral \ seismic
analysis
A physical phenomenon that depends on time can be described
by one or few signals.
The spectral analysis allow to describe such phenomenon (like
variation of velocities, Accelerations or Displacements)
depending on Periods, pulsations or Frequencies.
The main use of this analysis in Robot is to describe the seismic
action on a structure.
In this webinar, we’ll then focus on the seismic analysis.
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Description of the modal analysis main
settings
In order to be able to create a
seismic analysis, a modal
analysis must be set first.
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Description of the modal analysis main
settings Number of modes: Number of modes to be
calculated
Consistent: Mass is distributed uniformly
along each elements:
Lumped with rotations: Mass is distributed
only to nodes. With this matrix, the
rotational energies of masses ARE
considered
Lumped without rotations: Mass is
distributed only to nodes. With this
matrix, the rotational energies of masses
ARE NOT considered
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Description of the modal analysis main
settings
Active mass directions: allow the user to
specify in which direction masses are
allowed to act.
Disregard density: Disable the automatic
consideration of self weight as masses
Sturm check: The Sturm sequence check
tests whether all eigenvalues were found
in a certain interval.
Modal: Conducts a modal analysis of the
structure. Sturm check can be used.
Seismic: intended for use with limits.
Sturm check is not used.
Seismic (Pseudo mode): Conducts a
Spectral and a seismic analysis using the
pseudo modal method. This should be
used only when applying classic analysis
methods based on modal decomposition
results in a very long structure analysis
time
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Description of the modal analysis main
settings This area contains the different method available in order to solve
eigenproblem.
Generally, “Subspace iteration “or (starting from ARSA 2015) “ Block
Lanczos algorithm” are used.
“ Block Lanczos algorithm” is a much faster solution that had been
implemented in latest version of Robot.
Base Reduction method (also know as Rayleigh‐Ritz method) allow the user
to reduce the initial complex problem to a simpler one by excluding
undesirable degree of freedom from the model.
The user can define the nodes list that will be consider in the problem.
This method should be used only by experienced users.
Limits can be defined in order to automatically stop the analysis when a
certain value of period, frequency, pulsation or percentage of mass
participation is obtained. If one of those limits are used, the number of
modes parameters is not considered anymore.
In this area the user can define the damping parameter to scale response
spectrum. One can use “Include damping in calculation (according to
PS92)” damping value will then automatically be determined according
the French seismic code PS92 (NF P 06‐013) formula. 5 section 6.2.3.4
This option allow user to define the accidental eccentricities of masses
that one wants to consider.
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Spectral vs Seismic
Difference between seismic and spectral analysis in Robot:
SEISMIC analysis:
• Based on the chosen code, seismic analysis works out the response spectrum etc
automatically based on the input parameters (region etc).
• The user can set an expected base shear that Robot will limit seismic base shear to.
(For selected codes)
SPECTRAL method
• Required to define the correct response spectrum;
• It is needed to do an initial run, then go back and do a second iteration to apply scaling
factors to limit base shear to the expected value
(if required to calculate base shear according to national code but code is not
implemented in Robot).
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How to prepare a model for seismic
design
Seismic actions in Robot are acting along GLOBAL coordinate system of axes.
It is recommended to create model for seismic analysis in such way that the main directions of
seismic actions on structure should be parallel to GLOBAL coordinate system
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How to prepare a model for seismic
design
First design the structure only under static cases.
In case of concrete structures mind to create a new material with a reduced Young modulus in order
to comply with point 4.3.1(7) of the EN 1998‐1‐1 ( « Unless a more accurate analysis of the cracked
elements is performed, the elastic flexural and shear stiffness properties of concrete and masonry
may be taken equal to one‐half of the corresponding stiffness of the uncracked elements ») or use
the Reduction of moment of inertia method instead.
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Load to mass conversion
Loads that are defined in the model should be transformed into mass in order to be considered
during the modal analysis.
Loads can be transformed into mass in this dialog box:
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Load to mass conversion
The conversion coefficient depends on the load nature.
This coefficient should be calculated accordingly with the EN 1998‐1‐1.
EN 1998‐1‐1 Art.4.2.4 formula 4.2
can be found in table 4.2 of the EN‐1998‐1‐1
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Load to mass conversion
Can be found in the EN 1990 table A1.1
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Damping for earthquake analysis
Damping defined in advanced parameters of modal case
is used in:
1/ damping correction of elastic spectra in these seismic codes where it is possible ‐ for
instance in EN‐1998‐1‐1 (Eurocode 8)
2/ in calculation of complete quadratic combinations (CQC) and double sum method (2SM)
combinations ‐ see appropriate Help topic
Damping defined in spectral analysis is not used directly in spectral analysis calculations‐ it can
be treated as some identifier of various spectra here. It is used when preparing spectra in case
of spectra interpolation.
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Seismic case creation
It’s also possible to manually enter an user value of acceleration :
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Seismic case creation
In case you need to use specific values of TB, TC, TD, etc (spectrum definition values), use the code « EN 1998‐1:2004‐
General
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Combinations between modes
According to EC8, CQC combinations between modes shall be used
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Combinations between directions
In case of EC8 code it is possible to use square root of the sum of squares combinations
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Combinations between directions
Or
to use Newmark combinations
Mind that only half of the quadratic combinations (positive ones) will be generated first, the other part will
automatically be generated during the automatic code combinations generation .
In case of manual combination, the user will have to create the missing ones.
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Generation of code combinations
Then generate the automatic code combinations
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Analysis results and verifications
First, check the results of the modal analysis:
Cumulated masses percentage in all directions must be
above 90% (In some country such as France mainland for
instance, Z direction can be ignored see paragraph
4.3.3.5.2(1) of EN 1998‐1‐1).
Minimal frequency must be above 5Hz.
Total masses values must be approximately equal to the
sum of the sum of reaction for all the load cases converted
as mass
Analysis results and verifications
This organigram has been made based on our
interpretation of the code. The user remain free to
adapt this process to his interpretation.
When M>70% but still <90%, if the number of
calculated mode is small enough you can increase
the number of mode instead of using the Residual
mode.
Analysis results and verifications
Total mass verification
Analysis results and verifications
In case of seismic analysis using response spectra method, results are given for quadratic
combinations. When calculating quadratic combinations (square root of the sum of squares or more
advanced types like CQC) the information about results sign is lost.
In Robot this information can be restored specifying main mode.
In such case quadratic combinations of results are multiplied by the sign of appropriate result for
selected vibration mode (the main or dominating one).
Defining dominating (main) modes for specific seismic load cases is the method to restore sign of
results lost when calculating quadratic combinations between modes.
This sign is inherited by Newmark combinations containing such seismic cases
Analysis results and verifications
n case of quadratic combinations it is necessary to change
hem into signed ones too.
Generally in the dialogue below it is impossible to activate
Signed combination" without "Quadratic combination"
When planning to use signed quadratic combinations
between seismic directions it is recommended to activate
it in direction parameters of seismic analysis. In such case
more then one such combination will be automatically
generated ‐ so it will not be necessary to manually define
additional ones
Analysis results and verifications
efore looking at any results on the seismic cases mind to define the main mode number for all the
efined seismic / spectral cases:
Analysis results and verifications
he use of the CQC or SRSS combination depends on the modes dependency see Article 4.3.3.3.2(1) of
N 1998‐1‐1.
or all calculated modes Tj<=0.9 Ti then the SRSS combination can be use, otherwise, the CQC
ombination should be used.
uch information can be found in the modal results table:
Analysis results and verifications
raphical results such as maps, deformations, diagrams, etc and results and tables can be displayed for
specific mode by using this drop down list:
t is useful to check the deformation under a specific mode for the modal analysis for instance .
Analysis results and verifications
’s possible to display the spectral acceleration used for each mode in the modal analysis results table.
Analysis results and verifications
l data related to the seismic spectrum can be found in the full calculation note:
Examples
Step by Step examples how to create seismic cases according to EC8 and UBC97 are posted here:
http://forums.autodesk.com/t5/robot‐structural‐analysis/seismic‐loading/m‐p/3249644#M1627
Tips and common errors
xcessive differences between total mass manual calculation and values provided by Robot:
Mind that the 3 available mass matrix do not distribute the masses the same way.
umped ones distribute masses on nodes, so masses affected to support nodes are « lost ».
ou can make a try with the consistent mass matrix to make sure that the difference is due to
mped matrix.
it’s the case, add some nodes on bar elements next to supports:
Tips and common errors
isregard Z seismic direction:
In some countries like France Main Land for instance, it is allowed to disregard the Z direction of
the seismic action (see paragraph 4.3.3.5.2(1) of EN 1998‐1‐1).
To do so, don’t disable the Z direction of masses since this can affect the determination of the
eigenvalues.
Apply the coefficient zero in the Z direction in Direction definition dialog box instead :
Tips and common errors
estart the calculation:
When one is in the process to reach the 90% of participating mass it is usually needed to realize
successive calculations by increasing or decreasing the modes number.
For big model for which calculation usually take time, it’s recomended to use the
« Calculation Restart » Feature in order to recalculate only the modal and seismic cases instead
of calculating again the whole set of cases.
Tips and common errors
isplacements results and consideration of the behavior factor:
It is not necessary to manually multiply the displacement results obtain under the seismic action
by the behavior factor.
Point 4.3.4(1)P of the EN 1998‐1‐1 is taken into account.
esults Save :
It is possible to save the results only the quadratic combination (SRSS, CQC, etc…) in the file and
delete the results available for all individual mode.
In such case signing combinations \ selecting main mode must be done before starting
calculations.
Mind that if this check box is checked, then one
will be able to obtain results under quadratic
combination only for the type of results that are
checked in the green framed area on the screen
capture.
For other results like the Von Misses stresses
that are calculated only when the user ask for
their display, the software won’t be able to
make the quadratic sum since the results for all
individual modes had been deleted.
Tips and common errors
ow to obtain base shearing results at the bottom of the building under seismic case:
or selected national codes only)
In reactions sums in directions X and Y under seismic actions.
In calculation note
Tips and common errors
w to create static load case from spectral, seismic case
Or by API tool located here:
Tips and common errors
w to obtain the overall rotational bending moment at the bottom of the building under seismic case reduced at
e point (gravity center or rigidity center for instance) :
You’ll need to manually calculate those values based on the sum of reaction.
The sum of moment available in the table of reactions are reduced to the point (0, 0, 0) so those sum can’t be
used like that.
Assuming that:
• the original "Sum of reac." for forces and moments are FX, FY, FZ, MX, MY, MZ respectively
• the new references have Xc, Yc, Zc coordinates (gravity center or rigidity center for instance)
• the reaction moments converted to the new coordinates are MXc, MYc, MZc
e formulas for the converted reaction moments are:
MXc = MX ‐ FZ*Yc + FY*Zc
MYc = MY + FZ*Xc ‐ FX*Zc
MZc = MZ + FX*Yc ‐ FY*Xc
re is the link to Excel macro calculating it after results import from Robot
p://forums.autodesk.com/t5/robot‐structural‐analysis/outils‐calcul‐du‐moment‐global‐de‐renversement/m‐
5819228
Tips and common errors
Defining the main modes is really important:
Defining the main modes is recommended.
Since a quadratic combination consist of the square root of the sum of squared results, all the
results under such combinations are inevitably positive.
Defining the main modes allow Robot to affect a sign to those kind of results.
Execution Error Number 3060:
This error cannot be disregarded.
This is displayed when you ignored an instability for static load cases calculation .
Solve this instability before going any further.
Execution Error Number 500:
You probably entered an excessive value of masses eccentricity.
Check it and correct the value if necessary.
Tips and common errors
Nonlinear seismic, spectral – why not
In any case of non‐linear properties (tension‐only members, uplift supports, cables, elasto‐plastic
members, non‐linear releases, non‐linear hinges, etc.) such objects are resulting in non‐linear
behavior of the structure.
In such case, in general, vibrations are non‐linear – they are not harmonic but spectral / seismic
analyses are based on assumption of harmonic vibrations. It is so because stiffness of the structure
can be changing during vibrations.
Dynamic modal analysis is a linear analysis assuming constant stiffness of the structure.
In case of non‐linear models the dynamic modal analysis is run for the linearized model, i.e.
assuming constant stiffness resulting from static load case preceding given modal load case.
It means that results of modal analysis can be different depending after which static load case the
modal analysis load case is defined.
Tips and common errors
Nonlinear seismic, spectral
The precise approach for nonlinear seismic analysis is using non‐linear Time History Analysis.
It is possible in Robot but:
• It is necessary to input time history of ground motion
Theoretical basis how to calculate THA ground motion function basing can be found here:
https://hal.archives‐ouvertes.fr/file/index/docid/700245/filename/laurendeauetal2012.pdf
Example software : https://goo.gl/JRf73Q
• Non‐linear time history is the type of analysis requiring significant hardware resources and
requiring quite a long time
Tips and common errors
essage « Number of missing eigenvalue found »:
uch message can be displayed when there are multiple similar eigenvalues (vibration frequencies in case of dynamic modal analysis)
rresponding usually to local vibrations of some part of the structure. In such case it may happen that during iterations the order of
ch eigenvalues is changing and eigenvalues which were originally in the range of calculated ones will no longer be in this range. Such
tuation is detected by Sturm sequence check and reported as shown on the screen capture below.
NO ‐ corresponds to finishing modal analysis and passing to next load case without searching for "lost" eigenvalues
YES ‐corresponds to internal increase of the range of searched eigenvalues and attempting to find the lost ones. After this increase
and attempt another Sturm sequence check is done and if nothing is lost analysis is continued without any message. If some "lost"
eigenvalues are still detected then this message is displayed again and further increase of the range of searched eigenvalues is
possible
How to generate relative displacements of supports under seismic actions according NF EN 1998‐1‐1:
French article and tool available here.
How to consider mass eccentricities:
See video here (French Language)
ttp://knowledge.autodesk.com
roubleshooting Articles – this is a new page focused around your most
ommon troubleshooting problems:
ttp://knowledge.autodesk.com/support/robot‐structural‐analysis‐
roducts/troubleshooting#?sort=score
Questions ?
may not be able to answer all questions during the webinar. Please post them on the
Next webinar session on 07/10/2015 for the following topic :
How to create and run code verification of user defined section