National Taiwan University

Department of Civil Engineering

Introduction to Seismic Design of Structures
(2-1)

Fundamental Vibration Period

Lap-Loi Chung (鍾立來)
National Center for Research on Earthquake Engineering
Civil Engineering, National Taiwan University
Civil Engineering, National Cheng Kung University
 Fundamental Vibration Period T
Fundamental vibration period: 基本振動週期
Portal frame: 門型構架
Seismic force: 地震力
Approximate Fundamental period (seismic design
codes): 近似之基本振動週期 (耐震設計規範)
Fundamental vibration frequency: 基本振動頻率
Free body diagram: 自由體圖
Mass: 質量
Stiffness: 勁度
Inertial force: 慣性力
Restoring force: 回復力
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 Fundamental Vibration Period T
External force: 外力
Free vibration:自由振動
Initial displacement: 初始位移
Initial velocity: 初始速度
Laplace transform: 拉氏變換
Inverse Laplace transform: 拉氏逆變換
Derivative: 導數

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 Fundamental Vibration Period T
Weight of beam and slab: m
Weight of column neglected.

Eb , I b , Lb Portal frame

Ec , I c , H c

Stiffness k？
Fundamental vibration period T？
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 Fundamental Vibration Period T
Fundamental vibration period T of Taipei 101?

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 Fundamental Vibration Period T
Fundamental vibration period T of structure: time
for one complete cycle of vibration (unit s)
The higher the stiffness, the shorter the vibration
period.

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 Fundamental Vibration Period T
Structural responses (displacement, velocity and
acceleration) depends on vibration period.
The longer the period, the larger the displacement
and the smaller the acceleration.
Seismic force depends on structural responses.

Development of deformation capacity depends on

vibration period.
The longer the period, the better the development.
Seismic force depends on development of
deformation capacity.
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 Approximate Fundamental Period T
Approximate fundamental period T (unit s) of steel
structure with moment resisting (rigid) frames and
without nonstructural rigid wall, shear wall or
other lateral force resisting members:
Seismic Design Codes
T  0.085h
34
n Sec. 2.6 Eq. 2.9
hn: building height (m) (roof elevation from base)

The higher the building height hn, the longer the

fundamental period.
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 Approximate Fundamental Period T
Approximate fundamental period T (unit s) of
reinforced concrete or steel reinforced concrete
structures with moment resisting frame and
without nonstructural rigid wall, shear wall or
other lateral force resisting members:
SDC Sec. 2.6
T  0.070h
34
n Eq. 2.10

With same building height hn, steel structure has

longer fundamental period T than reinforced
concrete structure.
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 Approximate Fundamental Period T
Approximate fundamental period T (unit s) of
other structure with nonstructural rigid wall, shear
wall or other lateral force resisting members:
SDC Sec. 2.6
T  0.050h
34
n
Eq. 2.11

With same building height hn, structure with walls

has shorter fundamental period than that without.

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 Fundamental Vibration Period T
Fundamental vibration frequency (unit Hz, cycles
per second),
f =1/ T 。
The longer the fundamental period, the smaller the
seismic force.
T↑，f↓，V↓。
The shorter the fundamental period, the larger the
seismic force.
T↓，f↑，V↑ 。

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 Fundamental Vibration Period T
2π
Structural displacement x (t )  D sin t T
ω
Angular frequency ω (unit rad/s)   2f

Structural velocity v(t )  x (t )  D cos t

Structural acceleration a(t )  x(t )   D 2 sin t

With same displacement amplitude D, the higher

the frequency ω, the larger the acceleration a and
the larger the seismic force.
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 Fundamental Vibration Period T
2π
T
ω
Structural acceleration a (t )  x(t )  A sin t

A
Structural velocity v (t )  x (t )   cos t

A
Structural displacement x(t )   sin t
 2

With same acceleration amplitude A, the higher the

frequency ω, the smaller the displacement x.

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Motion Equation of Structure

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 Motion Equation of Structure
Free body diagram

Newton’s second law ma(t )  F (t )  kx(t )

 mx(t )  F (t )  kx(t )
 mx(t )  kx(t )  F (t )

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 Motion Equation of Structure
Motion equation of
undamped single-degree-freedom structure
mx(t )  kx(t )  F (t ) Engineering Mathematics
Ordinary Differential Equation
Mass m Inertial force mx(t )

Stiffness k Restoring force kx(t )

External force F (t )

Second order non-homogeneous ordinary

differential equation with constant coefficients.
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 Motion Equation of Structure
Free vibration F (t )  0

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 Motion Equation of Structure
Free vibration F (t )  0
Second order homogeneous
mx(t )  kx(t )  0
ordinary differential equation
k
 x(t )  x(t )  0 with constant coefficients.
m
k
 x(t )   x(t )  0
2
0 Vibration frequency 0 
m
With same mass m, the larger the stiffness k, the
higher the frequency f and the shorter the period T.
With same stiffness k, the larger the mass m, the
lower the frequency f, the longer the period T.
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 Motion Equation of Structure
ODE
Free vibration x(t )  02 x (t )  0
Let x(t )  et  x (t )  et  x(t )  2et

x(t )  02 x(t )  0  2 e t  02 e t  0

 (2  02 )e t  0
    0
2 2
0

 1  0i, 2  0i

i  1

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 Motion Equation of Structure
ODE
Free vibration x(t )  02 x (t )  0

x (t )  C1e 1t  C2e 2t

 C1e i0t  C2ei0t
 C1 (cos0t  i sin 0t )  C2 (cos0t  i sin 0t )
 (C1  C2 )cos0t  i ( C1  C2 ) sin 0t
 c1cos0t  c2 sin 0t
c1  C1  C2
Euler’s formula
c2  i ( C1  C2 )
ei  cos  i sin 
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 Motion Equation of Structure
Free vibration x(t )  02 x (t )  0 ODE

Displacement x(t )  c1cos0t  c2 sin 0t

Velocity x (t )  c10 sin 0t  c20 cos 0t
Acceleration x(t )  c102 cos 0t  c202 sin 0t

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 Motion Equation of Structure
x (t )  c1cos0 t  c2 sin 0 t
Free vibration x (t )  c10 sin 0 t  c20 cos 0 t
x(t )  02 x (t )  0 x(t )  c102 cos 0 t  c202 sin 0 t

Initial Initial
displacement x(0)  x0 velocity x (0)  0
x(0)  x0  c1 (1)  c2 (0)  x0  c1  x0
x (0)  0  c10 (0)  c20 (1)  0  c2  0
Displacement x(t )  x0 cos0t
Velocity x (t )   x00 sin 0t
ODE
Acceleration x(t )   x002 cos 0t
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 Motion Equation of Structure
x (t )  c1cos0 t  c2 sin 0 t
Free vibration x (t )  c10 sin 0 t  c20 cos 0 t
x(t )  02 x (t )  0 x(t )  c102 cos 0 t  c202 sin 0 t

Initial displacement x(0)  0

Initial velocity x (0)  x0
x(0)  0  c1 (1)  c2 (0)  0  c1  0
x (0)  x0  c10 (0)  c20 (1)  x0  c2  x0 0
Displacement x(t )  ( x0 0 )sin 0t
Velocity x (t )  x0 cos 0t ODE
Acceleration x(t )   x00 sin 0t
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 Motion Equation of Structure
x (t )  c1cos0 t  c2 sin 0 t
Free vibration
x (t )  c10 sin 0 t  c20 cos 0 t
x(t )  02 x (t )  0
x(t )  c102 cos 0 t  c202 sin 0 t

Initial displacement x(0)  x0

Initial velocity x (0)  x0
x(0)  x0  c1 (1)  c2 (0)  x0  c1  x0
x (0)  x0  c10 (0)  c20 (1)  x0  c2  x0 0

Displacement x (t )  x0cos0t  ( x0 0 ) sin 0t

Velocity x (t )   x00 sin 0t  x0 cos 0t ODE
Acceleration x(t )   x002 cos 0t  x00 sin 0t
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 Laplace Transform
X(s): Laplace transform of x(t)
 Engineering
X ( s)  L {x(t )}   e x(t )dt
 st
Mathematics
0
Laplace
Transformation

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 Laplace Transform
x (t )  e , t  0
at

Laplace transform
Laplace

X ( s )   e e dt
at  st Transformation
0

1 ( s  a ) t  1
 e e 
at LT
, sa
sa 0 sa
1
 , sa
sa

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 Laplace Transform
x (t )  sin t , t  0

Laplace transform
 LT
X ( s )   sin te dt
 st
0 ei  cos  i sin 

1 it
 (e  e it )e  stdt
0 2i
1
1 1 1 e 
at LT
, sa
 (  ) sa
2i s  i s  i
 
 2 sin t  2
LT
s  2 s 2
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 Laplace Transform
x (t )  cos t , t  0

Laplace transform
 LT
X ( s )   cos te dt
 st
0 ei  cos  i sin 
 1 it
  (e  e it )e  stdt
0 2
1
1 1 1 e 
at LT
, sa
 (  ) sa
2 s  i s  i
s
 2 cos t  2
LT s
s  2 s 2
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 Laplace Transform
Laplace transform x (t ), t  0
of derivative d
x (t )  x (t ), t  0
dt
 
 st 
L {x (t )}   x (t )e dt  x(t )e
 st
   x(t ) se dt
 st
0 0 0

  x(0)  s  x(t )e dt  sL {x(t )}  x(0)
 st
0

 udv  uv   vdu
integration
by parts

L {x (t )}  sL {x (t )}  x (0) LT

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 Laplace Transform
L {x (t )}  sL {x (t )}  x (0) x (t ), t  0
d
x (t )  x (t ), t  0
dt
Laplace transform of d2
second derivative x(t )  2 x (t ), t  0
dt

L {x(t )}  sL {x (t )}  x (0)

 s[ sL {x(t )}  x(0)]  x (0)
 s 2L {x(t )}  sx (0)  x (0)

L {x(t )}  s 2L {x(t )}  sx(0)  x (0) LT

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 Laplace Transform
Free vibration x(t )  02 x (t )  0

Initial conditions x(0)  x0 , x (0)  x0

Taking Laplace transformation

x(t )  02 x(t )  0
 s X ( s )  sx (0)  x(0)  0 X ( s )  0
2
 2

sx0  x0
 X ( s)  2 LT
s  02

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 Laplace Transform
Free vibration x(t )  02 x (t )  0
Initial conditions x(0)  x0 , x (0)  x0
Taking inverse Laplace transformation
s x0 0
X ( s )  x0 2 
s  0 0 s 2  02
2
s
x0 cos t  2
LT

 x(t )  x0 cos 0t  sin 0t s 2

0

p. 24 sin t  2
LT

LT s 2

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 Free Vibration of Structure
Free vibration
Mass m  2000 ton
stiffness k  m(2 ) 2  78957 kN m
Natural frequency 0  k m  2  6.283 rad s
f 0  0 2  1 Hz

Natural period T0  1 f 0  1 s

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 Free Vibration of Structure
Free vibration m  2000 ton

k  m(2 ) 2  78957 kN m
f 0  1 Hz T0  1 s
Initial displacement x(0)  x0  0.1 m
Initial velocity x (0)  x 0  0
Displacement x(t )  x0cos0t  0.1cos2t (m)

Velocity x (t )   x00 sin 0t  0.2 sin 2t ( m s)

Acceleration x(t )   x002 cos 0t  0.4 2 cos 2t ( m s 2 )

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Free Vibration of Structure
f 0  1 Hz T0  1 s

x (0)  0.1 m
D  0.1 m

x (0)  x 0  0
V  0.1(2 ) m s

A  0.1(2 ) 2 m s 2

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 Homework2-1

m  4 (ton)
EI C  3.2 104 (kN  m2 )
h  4 (m)

• Find the vibration period T of the structure

• Assume the mass of the column is negligible
• Assume the beam is assumed to be rigid
m
Hint: T  2
k

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 Homework2-2
• Find the vibration frequency f and period T
of the single-degree-freedom(SDOF) structure
•Plot the displacement x(t) of structure by Matlab
(Remember to use “grid on”)
Free Vibration mx(t )  kx(t )  0
Mass m  100 ton

Stiffness k  1000 kN m

Initial
x(0)  x0  0.01m, x (0)  x0  0
conditions
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 References
Ministry of Interior (2011), ‘Seismic Design Codes
of Buildings’.
Ordinary differential equation, Engineering
Mathematics.
Laplace transform, Engineering Mathematics.
Videos on Fundamental Vibration Period
English https://youtu.be/heIqjIP3dJM
Chinese
https://www.youtube.com/watch?v=t6J2VvVTA_E
&t=2912s

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 Fundamental Vibration Period T
Seismic force depends on fundamental vibration
period T.

Thank you!

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