Dynamic Example

S-FRAME DYNAMIC & SEISMIC ANALYSIS EXAMPLES
SOFTEK Services Ltd. 2010
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S-FRAME ANALYSIS & DESIGN EXAMPLES

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Dynamic Analysis
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Objective
The objective of the following examples is to illustrate and provide guidance on the use of the features available in S-FRAME for seismic/dynamic Time History analysis. While they are necessarily discussed, the intention is not to explain or advise on theories of dynamic analysis. Those seeking such information are recommended to consult the references. We can also highly recommend the relevent courses (most of which are offered via the internet) of the Structural Engineers Association of BCs Certificate in Structural Engineering (CSE) program see http://www.seabc.ca/courses.html for more details. Discussions on aspects and methods of modeling,
assumptions, theories etc are kept to a minimum to aid clarity and simplicity. The intention is to outline, for competent and professionally qualified individuals, the use of S-FRAME and S-STEEL as tools in the dynamic analysis.
Disclaimer
While the authors of this document have tried to be as accurate as possible, they cannot be held responsible for any errors and omissions in it or in the designs of others that might be based on it. This document is intended for the use of professional personnel competent to evaluate the significance and limitations of its contents and recommendations, and who will accept the responsibility for its application. Users of information from this publication assume all liability. The authors and SOFTEK Services Ltd. disclaim any and all responsibility for the applications of the stated principles and for the accuracy of any of the material contained herein.
Acknowledgements
With grateful acknowledgement to Luis E. Garca and Mete A. Sozen for their kind permission to include in this document excerpts from their Purdue University CE571 course notes (Reference [1]). This acknowledgement does not imply any endorsement by Dr Garca or Professor Sozen of SOFTEK programs, nor any checking or validation by them of these programs operation or output.
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S-FRAME ANALYSIS & DESIGN EXAMPLES

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Dynamic Analysis
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S-FRAME VERIFICATION EXAMPLES SOFTEK Services Ltd.

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Time History Analysis: Blast Load

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S-FRAME BLAST LOAD TIME HISTORY ANALYSIS
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CONTENTS
EXAMPLE BRIEF .............................................................................................................................................................................5 S-FRAME MODEL ............................................................................................................................................................................6 SECTIONS ...........................................................................................................................................................................................7 MATERIALS ........................................................................................................................................................................................8 RIGID DIAPHRAGM FLOORS ...............................................................................................................................................................9 FLOOR NUMBERS .........................................................................................................................................................................10 VIBRATION ANALYSIS ................................................................................................................................................................11 VIBRATION RESULTS COMPARISON .................................................................................................................................................12 TIME HISTORY ANALYSIS .........................................................................................................................................................13 TIME HISTORY LOADS .....................................................................................................................................................................13 INPUTTING TIME HISTORY LOADS ............................................................................................................................................14
DAMPING & RAYLEIGH DAMPING COEFFICIENTS ............................................................................................................................16 CONSTANT TIME STEP SIZE ...............................................................................................................................................................19 ANALYSIS DURATION ......................................................................................................................................................................20 NEWMARK COEFFICIENTS ................................................................................................................................................................21 TIME HISTORY ANALYSIS SETTINGS ................................................................................................................................................22 RESULTS ..........................................................................................................................................................................................23 TIME HISTORY RESPONSE ................................................................................................................................................................23 DEFLECTIONS ...................................................................................................................................................................................24 FLOOR FORCES .................................................................................................................................................................................25 SENSITIVITY TO RAYLEIGH DAMPING COEFFICIENTS .......................................................................................................................26 FURTHER OUTPUT PARAMETERS...........................................................................................................................................27 PRACTICAL DISCUSSION; PEAK RESPONSE AND OUTPUT REDUCTION....................................................................29 FURTHER DESIGN VALUES ...............................................................................................................................................................32 REFERENCES..................................................................................................................................................................................33 SUGGESTED VALUES FOR DAMPING RATIO .......................................................................................................................34
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1 Example Brief
Further aspects of the building/analysis model either discussed within the body of the example or not stated explicitly are: Supports are fully fixed. Floors act as rigid diaphragms. Mass distribution is idealized as concentrated at the floors only column and girders elements are massless. Contribution to stiffness matrix of shear stiffness is not considered.
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2 S-FRAME Model
The frame is input as per the Example details and dimensions. One analysis element per beam/column is used. All connections are rigid and supports are fully fixed (it was found that this is the case, though it is not explicitly stated in the Example). The X-axis is chosen as the axis of displacement in S-FRAME.
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2.1
Sections
S-FRAMEs Tapered section tool is used to create the Girder and Column sections (sections do not have to be tapered). Sections thus created will render correctly and can be readily edited.
To give closer agreement with the example (which does not consider shear stiffness) the Shear Area (Av) of the sections is set = 0. There is no reason why this should be done in practice; while shear effects are often small enough to be neglected they nevertheless occur.
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2.2
Materials
Since the building mass in the example is idealized as concentrated at the floors, again to give closer agreement, a zero density material is created for the frame members so these do not introduce distributed mass which would change the vibration characteristics to some extent. A second material with the specified force density (per unit thickness) is created for the diaphragm panels which are used to introduce the floor mass.
Material Modulus of Elasticity;
E = 25 GPa =
25000 N/mm ; (we note that this is a typical value for reinforced concrete for short term loading)
Note a sensible value of
G (shear modulus) is also entered as this is a component of the S-FRAME Beam Element stiffness = gacc 1000 kg/m3 = 0.0000098067 N/mm3
gacc = 9.807 m/s2;)
matrix for both shear and torsional stiffness. Slab material force density; (gravitational acceleration;
Since the Slab Material is only applied to the Rigid Diaphragm panel for mass generation, the E and G values for this material are irrelevant.
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2.3
Rigid Diaphragm Floors
Since a rigid diaphragm effect is specified in the Example, Rigid Diaphragm Panels are used to model this behaviour. These panels also provide a convenient method of introducing the floor mass. The panels are assigned thickness = 1000mm and a material with appropriate force density (see above). S-FRAME automatically calculates the mass of the diaphragm and applies it as a lumped mass at the centroid of the panel area. For convenience, since engineers usually work in terms of weight rather than mass, S-FRAME describes mass in terms of force units.
Note - The E & G values of the material assigned to a Rigid Diaphragm Panel have no effect on its stiffness the diaphragm is rigid in-plane and has zero stiffness out of plane
Slab material force density; Floor Volume; Floor Weight; Floor Mass;
= gacc 1000 kg/m3 = 9.80710 N/mm3

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Vi = 10m 6m 1000mm = 60 m3 Wi = Vi = 588.40 kN Mi = Vi /gacc = 60.00 tonne
Although it is not necessary for analysis, the lumped mass of the panel can be exposed by running the S-FRAME command EDIT/Mesh Generator/Generate Rigid Diaphragm Mass. Note that the diaphragm produces translational mass in both lateral axes, as well as Z-rotational mass. The example only actually requires X-Translational Mass since it only considers one direction of response.
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3 Floor Numbers
Finally Floor Numbers are applied to joints to identify floors. Note that Floor Number = 1 is applied to the base support joints. This is required for S-FRAME to calculate storey drifts, storey shears and floor forces. This completes the modeling process.
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4 Vibration Analysis
Before running Time History Analysis, the vibration characteristics of the structure are assessed and verified. The following Vibration settings are initially used; Jacobi Threshold Eigenvalue Extraction Method (since the model is relatively small and has few modes) and 10 Eigenvalues (mode shapes) requested.
With this 3D model, some modes are found which are not given in the Example. S-FRAME finds typical Y-direction and torsional modes in addition to the required X-direction modes, since there is Y-Translational and Z-Rotational Mass.
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Undesired modes can be removed by deleting the Y-Trans and Z-Rotational lumped masses to restrict the DOFs to the X-axis. This gives the following first 4 modes (only 4 Eigenvalues requested) which are all X-direction modes only. Removal of undesired modes could also be achieved by preventing Y-translation and rotation with appropriate supports.
4.1
Vibration Results Comparison
Comparing S-FRAMES results to the example there is excellent agreement.
S-FRAME
Reference
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5 Time History Analysis

5.1 Time History Loads
The Example specifies the following linearly varying time dependent pressure vs time load which has; a total duration of 0.6s, a maximum of 5 kPa @ 0.1s and minimum of -1 kPa @ 0.4s. This must be converted to force vs time functions which can be applied to discrete joints in the structure.
Since the example considers only the displacement of the floors, it is sensible to apply the load at the beam/column intersection joints. We calculate the tributary area of each joint and hence the maximum and minimum forces for the function at this joint.
Three functions are required; Interior Joints; Corner Joints; F_Max = 75 kN, F_Min = -15 kN F_Max = 18.75 kN, F_Min = -3.75 kN Edge Joints; F_Max = 37.5 kN, F_Min = -7.5 kN
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5.2
Inputting Time History Loads
First the required Force vs Time functions are created and saved to a file. Once the data is input and the curve Added the function is plotted and can be verified graphically. E.g. the following data is input for the function for Interior Joints: Time (s) 0 0.1 0.4 0.6 Force (kN) 0 75 -15 0
The Nodal Excitation Type is set and the appropriate functions created and added to a Time History Data file (file type *.DTH) with the Function Tool.
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When all the required functions have been created the Time History Load file is saved. Note that this file is saved seperately from the model file i.e. the time history load data is not held in the *.TEL model file.
5.2.1
Assigning Functions to Model
The functions are then assigned to the appropriate joints in the appropriate direction (X Translation) in the following manner. Each function is assigned a number so that correct assignment can be graphically verified. 1. 2. 3. Select the Direction to apply in X-Translation Select the Function to apply e.g. function#1 Click on joint(s) using mouse to apply
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5.3
Damping & Rayleigh Damping Coefficients
S-FRAME employs the Newmark direct time integration method for Time History Analysis, not a modal combination method. For more detailed information on theory and solutions see S-FRAMEs Theory Manual, and References 1 and 2. For the direct Integration methods damping can not be explicitly set to a single value for all modes. Damping is a function of frequency and is introduced via the Rayleigh Damping Coefficients and which are used to form the damping matrix [C]. It is important to note that these coefficients are not themselves damping values. For non-zero values of both and a desired value of damping can be set precisely only for two frequencies, r and s. The damping value is expressed as a percentage (of critical damping) and the frequencies are angular frequencies in terms of radians/s, not Hz. The values of and which produce precisely the desired damping value at two frequencies only can then calculated (from the following equation (see References 1. and 2) and input into S-FRAME for analysis.
Damping for other modes is a function of their frequency and hence will (the desired damping). See the plots on the following pages for examples. Ideally the damping should be reasonably close to the desired value for modes which contribute significantly to the response. Hence a prior frequency analysis is generally required to determine the models frequency characteristics and make a rationale choice of two frequencies for which to calculate and . dominate the response then the choice is obvious. Reference [1] states: If only one or two frequencies Otherwise two frequencies can be chosen which give a reasonable
approximation to the desired damping for a range of frequencies in which the modes which contribute most to the response fall.
It is convenient to take r as the value of the fundamental frequency and s as the frequency corresponding to the last of the upper modes that significantly contribute to the response. This way the first mode and mode s will have exactly the same damping, and all modes in between will have somewhat smaller similar values and the modes with frequencies larger than s will have larger damping values thus reducing their contribution to response.
5.3.1
Damping Value
The Example does not discuss the rationale for using = 2%. See the table at the end of the document (page 34), reproduced from Reference [2], for some recommended values. Inferring from the Examples material E value and section sizes that the building is concrete, the value could have been chosen for well-reinforced concrete (only slight cracking).
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For the Example, we could first choose Mode 1 and Mode 4 for initial values of and from:
=
Damping;
2 r s r + s
r = 10.736;
and
2 r + s
= 2% ;
1st mode;
2nd mode;
s = 86.926
= 2rs/(r + s) = 0.382232 = 2/(r + s) = 0.0004096

These values produce the following damping/frequency relationship:
Total Damping Ratio
Rayleigh Damping
Mass Damping Stiffness Damping Mode 1 Mode 2 Min Damping Desired Damping
5.00% 4.50% 4.00% 3.50%

Damping Ratio
3.00% 2.50% 2.00% 1.50%

1.25%
1.00% 0.50% 0.00% 0

1.709 13.835
8
Frequency (Hz)
10
12
14
The damping for other frequencies can be determined preceisely from; Mode 2; f2 = 5.46 Hz; Mode 3; f3 = 9.839 Hz;
i =
i + 2 i 2
2 = 34.306; 3 = 61.822;
2 = /(22) + (2)/2 = 1.260 % 3 = /(23) + (3)/2 = 1.575 %
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Alternatively Mode 1 and Mode 2 could be used giving: 1st mode;
r = 10.736;
2nd mode;
s = 34.306
= 2rs/(r + s) = 0.327081 = 2/(r + s) = 0.0008881 These values produce the following damping/frequency relationship:
Total Damping Ratio
Rayleigh Damping
Mass Damping Stiffness Damping Mode 1 Mode 2 Min Damping Desired Damping
5.00% 4.50% 4.00% 3.50%

Damping Ratio
3.00% 2.50% 2.00%

1.70%
1.50% 1.00% 0.50% 0.00% 0

1.709 5.460
8
Frequency (Hz)
10
12
14
The damping for other frequencies > 2%; Mode 3; f3 = 9.839 Hz; Mode 4; f4 = 13.035 Hz;
3 = 61.822; 4 = 86.926;
3 = /(23) + (3)/2 = 3.010 % 4 = /(24) + (4)/2 = 4.048 %
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5.4
Constant time step size
Next the analysis Time Step size t is considered. The time step size should be sufficiently small for accurate analysis. However, the smaller the time step size, the higher the cost (in terms of computational time) of analysis for a given duration of analysis e.g. the Examples first 2.5s of response. Additionally the analysis duration is limited by the maximum number of allowable time steps which is 32,767 (a limit imposed by current software architecture). So ideally the time step size should be no smaller than it need be. The S-FRAME Theory Manual pg 34 gives a rule of thumb for t as follows:
Where = the highest (angular) frequency component of the forcing function in rads/s and = 4. Since we more commonly think in terms of period the above expression can be conveniently re-formulated as follows:
T=
Where
1 2 = f
t cr
Tf 20 4
Tf 80
Tf = 1/.
However, what if Tf is unknown or not applicable? The rule of thumb derives from two principles, the first of
which is illustrated by the following figure
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Principles:
1. Refer to the figure above; for a given forcing (or input) frequency given natural frequency
conveniently expressed in terms of the ratio of the forcing frequency to the natural frequency
/i. The figure illustrates this phenomenon. Furthermore it can be seen that the response in modes with a small ratio /i is essentially static and the response in modes with a large ratio /i is negligible. Below /i = 1/4 further increases in i do not produce significant change in response hence frequencies (of response) higher than 4 = need not be considered.
i (o
(A in the figure) the response of the system for a

The divergence is
in the figure) generally reduces as the frequencies diverge.
2.
Around 20 equal time intervals are required to discretize both the input and response motions with sufficient accuracy.
These principles explain the origin of the values of 4 and 20 in the rule of thumb. Thus a rational choice of time step size is based on a) deciding which is the highest frequency required to be discretized considering both input and response and b) dividing the resulting (lowest) period by 20. From the foregoing discussion we can derive a more general and practical rule of thumb. Let us call the highest frequency of the response fr with corresponding period Tr. If Tf is known or guessed at to a reasonable degree then it is not necessary to know Tr (following Principle 1) and from Principle 2. we set the time step t = (Tf /4)/20 = Tf /80. If Tf is unknown or inapplicable (as in Example 4) we consider the likely highest significant response frequency fr = 1/Tr and set t = Tr /20. For the Example
Tf is inapplicable and Tr is known, being the period of mode 4.

t ; Tr/20 = 0.0036 s
Tr = T4 = 0.072 s;
A value of t = 0.00125 was chosen since it is < the maximum calculated above and conveniently gives a time step at t = 0.2875s which is close to t = 0.2873s for which the Example gives results.
5.5
Analysis Duration
TA_max = 32,767 t
The Examples analysis duration of 2.5s is used. As discussed previously, the duration has a maximum possible value governed by the time step size: Duration Limit;
For a constant time step, the analysis duration is not explicitly entered; the user inputs the time step size t and total time steps
N from which the duration derives.

t = 0.00125s; Desired analysis time;
TA = 2.5s;
total time steps;
N = TA/ t = 2000
The peak response may occur during the free-vibration portion of response i.e. after the exciting function has ended and the time to peak response (or steady state in the case of a periodic forcing function) may not be known with any great certainty. Hence in practice it is generally sensible to continue analysis beyond the end of excitation where applicable and some experimentation may be required with analysis duration having viewed initial results.
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5.6
Newmark Coefficients
Alpha Zero Damping Non-zero Damping 0.2525 0.25 Beta 0.5050 0.5
These are generally one of two sets of values as follows. See S-FRAME Theory Manual and References for more information.
Since the example has a specified non-zero damping the appropriate values are input in S-FRAME.
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5.7
Time History Analysis Settings
The preceding consideration leads to the following initial Linear Dynamic Time History analysis settings
t =
N= = =
The Rayleigh damping coefficient values are those calculated on page 17 above for Modes 1 and 4. The other Constant time-step integration parameters are discussed later (see pg 27) and are not considered at this stage.
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6 RESULTS
6.1 Time History Response
The time history response at a chosen joint can be readily assessed by right-clicking the joint and choosing Response Time History from the context menu: S-FRAME plots the chosen result parameter e.g. X-Displacement vs time so the user can easily identify the maximum response and the approximate time at which this occurs. There is a Trace function to assist with this using this it can be seen that the maximum -ve X-displacement response occurs at around 0.58s for example.
Note that the response calculated by S-FRAME is the total response for all modes. S-FRAME does not explicitly evaluate the response of each mode as per the Examples method as this is not usually required, the total response generally being of primary interest.
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6.2 Deflections
More detailed results for each time step are also available. S-FRAME presents each time step as a discrete loadcase for which all the usual results (both Graphical and Numerical) are available as for a static analysis. We wish to compare the displacement results, so the displacement diagram is chosen, viewing of Dx (X-displacement) values is enabled and time step 230 @ time = 0.2875 s is selected.
The results are given (in meters) on page 33 of the Example for t = 0.2873s
6.2.1
Comparison
Floor Displacement (mm) 4th Floor 3 Floor 2nd Floor 1 Floor
st rd
Reference
29.373 25.103 17.455 7.479
S-FRAME
29.333 25.107 17.496 7.509
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6.3
Floor Forces
Floor Forces which can be compared with those in the Example are available in Numerical Results.
The Example gives results for t = 0.2873s
6.3.1
Comparison
Floor Force (kN) 4th Floor 3 Floor 2
nd st rd
Reference
175.97 180.18 145.05 83.75
S-FRAME
173.39 180.46 148.31 85.68
Floor
1 Floor
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6.4
Sensitivity to Rayleigh Damping Coefficients
If the and values calculated for Modes 1 and 2 (see page 18) are used the following results are obtained (Damping 2). While these generally give marginally better agreement, this serves to illustrate that results for this example are relatively insensitive to the choice of the second frequency (s) for deriving the damping coefficients, since the response is dominated by that of mode1. However, this may not always be the case. In practice some experimentation may be required with the choice of frequencies and hence damping coefficient values.
Floor Displacement (mm) 4th Floor 3 Floor 2nd Floor 1 Floor

st rd
Reference
29.373 25.103 17.455 7.479
S-FRAME
Damping 1 29.333 25.107 17.496 7.509
S-FRAME
Damping 2 29.352 25.104 17.473 7.493
% Change
0.06% -0.01% -0.13% -0.21%
Floor Force (kN) 4th Floor 3rd Floor 2

nd st
Reference
175.97 180.18 145.05 83.75
S-FRAME
Damping 1 173.39 180.46 148.31 85.68
S-FRAME
Damping 2 174.61 180.62 146.2 85.00
% Change
0.70% 0.09% -1.42% -0.79%
Floor
1 Floor
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7 Further Output Parameters

Further analysis options are also available for Constant time-step integration.
Initial time 18 sec This parameter applies to the input record and is the time at which S-FRAME begins to read data from the input function for analysis. This might be employed to use only part of a long record.
The final two parameters can be used to minimize the amount of analysis output i.e. the number of time step result cases. They can best be understood by viewing their effect on the response result plot of this example. Output to file after 1000 time steps
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N and t remain as before the analysis solution is unchanged but output (to result files) only begins at t = 1000t = 1.25s. In this example this results in the peak response, which occurs before t = 1.25s, being missed. This
option might be used to limit output to a portion where steady state is achieved for a periodic input. Output to file every 100 time steps
N and t remain as before the analysis solution is unchanged but results are only available at time intervals = 100t =
0.125s. This produces a more crude record of the response which may not capture some peak values with sufficient accuracy.
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8 Practical Issues; Peak Response and Output Reduction

The Example does not discuss Peak Response but this will usually be of primary interest. This can be estimated for certain values using the Response Plot disucussed previously. Exact values can be found in the Numerical Results Spreadsheet using the Find Max/Min function when viewing results for All Load Cases (i.e. Time Steps)
Additionally, the Numerical Results Spreadsheets can be exported wholesale (via a simple copy/paste operation) to a dedicated spreadsheet application like Microsoft Excel where customized response plots can be reproduced of all results and maxima and minima easily found. This was done to produce the following plots.
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The following plots displaying the response for 2.5s and the max/minima were produced in this manner using data for every 1 st time step for; Roof Displacement (X-direction), Base Shear and Maximum (end) Moment in a 1 floor beam (parallel to Xaxis)
X-Deflection vs Time: Every 1 Time Step

40 30
0.879, 29.879
Deflection (mm)
20 10 0 -10 0 -20 -30 -40 Tim e (s)
0.5
1.5
2.5
0.581, -31.951
Base Shear vs Time: Every 1 Time Step

800 600
0.595, 649.239
Base Shear (kN)
400 200 0 -200 0 -400 -600 -800
0.5
1 0.879, -610.903 Time (s)
1.5
2.5
1st Floor Beam Moment vs Time: Every 1 Time Step

300
Moment (kNm)
200 100 0 -100 0 -200 -300
0.879, 237.907
0.5
1 0.592, -252.295 Time (s)
1.5
2.5
It is interesting to note that the peak positive displacement, positive moment and negative base shear occur during the free vibration portion of response i.e. after the cessation of excitation. It can also be seen that the response in general is st dominated by that of the 1 mode, the period of response peaks being around 0.6s. Finally, we see that the peak values, which would be used for maximum design values, all occur at t < 1s. Thus analysis duration could sensibly be reduced to 1s to minimize analysis cost (i.e. time for an analysis run) and result-processing demand.
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8.1.1
Output Every __ Time Steps
The following plots illustrate the effect of Ouput Every 10 and Every 100 time steps clearly this gives an increasingly approximate record of the response.
X-Deflection: Every 10 Time Steps
40 30
X-Deflection: Every 100 Time Steps

0.875, 29.857
40 30
Deflection (mm)
Deflection (mm)
20 10 0 -10 0 -20 -30 -40
20 10 0 -10 0 -20 -30 -40
0.875, 29.857
0.25
0.5
0.75 0.588, 31.895
0.25
0.5
0.75 0.625, 29.209
Time (s)
Time (s)
Base Shear: Every 10 Time Steps

800 600
Base Shear: Every 100 Time Steps

800 600
0.600, 647.606
Base Shear (kN)
Base Shear (kN)
400 200 0 -200 0 -400 -600 -800
400 200 0 -200 0 -400 -600 -800
0.625, 589.456
0.25
0.5
0.75
1 0.875, 609.806
0.25
0.5
0.75
1 0.875, 609.806
Time (s)
Time (s)
1st Floor Beam Moment: Every 10 Time Steps

300 200
1st Floor Beam Moment: Every 100 Time Steps

300 200
0.875, 237.565
0.875, 237.565
100 0 -100 -200 -300
Moment (kNm)
Moment (kNm)
100 0 -100 -200 -300
0.25
0.5
0.75 0.588, 251.694
0.25
0.5
0.75 0.625, 230.665
Time (s)
Time (s)
Comparing with the plots for every 1 step; for ouptut every 10 steps the change in peak values is insignificant, while every 100 steps significantly under estimates some; Every 1 +ve Base Shear (kN) -ve Beam Moment (kNm) 649.2 -252.3 Every 10 647.6 -251.7 % diff -0.25% -0.24% Every 100 589.5 -230.7 % dif -9.20% -8.56%
Output every 10 time steps could thus sensibly be used to reduce output and improve post-analysis operations.
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8.2
Further Design Values
Using the options discussed above to minimize analysis cost and output, S-FRAMEs Envelope function can be efficiently used to produce envelopes of design forces for members for example e.g. Moment:
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9 REFERENCES
[1] Luis E. Garca & Mete A. Sozen, Multiple Degrees of Freedom Structural Dynamics, Purdue University CE571 Earthquake Engineering, 2002 [2] Anil K. Chopra, Dynamics of Structures: Theory and Applications to Earthquake Engineering (2nd Edition), Prentice Hall, 2000
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10 Suggested Values for Damping Ratio

The following Table is reproduced from Reference [2]. Stress Level Type and Condition of Structure Working stress, no more than about
1 yield point 2
Damping Ratio (%) 2-3
Welded steel, prestresses concrete, well-reinforced concrete (only slight cracking) Reinforced concrete with considerable cracking Bolted and/or riveted steel, Wood structures with nailed or bolted joints Welded steel, prestressed
3-5
5-7
5-7
At or just below yield point
concrete (without complete loss in prestress) Prestressed concrete with no prestress left Reinforced concrete Bolted and/or riveted steel, Wood structures with bolted joints Wood structures with nailed joints 15-20 7-10 7-10 10-15
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#275 - 13500 Maycrest Way Richmond, BC, Canada, V6V 2N8 Tel: +1(604) 273 7737 Section Sheet no./rev.
Time History & Response Spectrum Analysis of Seismic Load

Calc. by Date Chk'd by Date App'd by
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S-FRAME SEISMIC TIME HISTORY ANALYSIS
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CONTENTS
EXAMPLE 5 .......................................................................................................................................................................................5 S-FRAME MODEL ............................................................................................................................................................................6 SECTIONS ...........................................................................................................................................................................................7 MATERIALS ........................................................................................................................................................................................8 RIGID DIAPHRAGM FLOORS .....................................................................................................................................................9
BUILDING MASS ...............................................................................................................................................................................10 FLOOR NUMBERS .........................................................................................................................................................................11 STATIC ANALYSIS ........................................................................................................................................................................11 VIBRATION ANALYSIS ................................................................................................................................................................13 VIBRATION RESULTS COMPARISON .................................................................................................................................................14 TIME HISTORY ANALYSIS .................................................................................................................................................15
TIME HISTORY LOAD .......................................................................................................................................................................15 DAMPING & RAYLEIGH DAMPING COEFFICIENTS ............................................................................................................................16 CONSTANT TIME STEP SIZE ...............................................................................................................................................................18 ACCELEROGRAMS & SAMPLING .......................................................................................................................................................20 FREQUENCY CONTENT .....................................................................................................................................................................21 ANALYSIS DURATION ......................................................................................................................................................................22 NEWMARK COEFFICIENTS ................................................................................................................................................................22 TIME HISTORY ANALYSIS SETTINGS ................................................................................................................................................23 RESULTS ..........................................................................................................................................................................................24 TIME HISTORY RESPONSE ................................................................................................................................................................24 DEFLECTIONS ...................................................................................................................................................................................26 FLOOR FORCES .................................................................................................................................................................................27 BASE SHEAR & OVERTURNING MOMENT (OTM) ............................................................................................................................28 TIME-VARIATION OF BASE SHEAR ...................................................................................................................................................29 TIME STEP SIZE SENSITIVITY ..................................................................................................................................................30 FLOOR FORCES AND STOREY SHEARS .................................................................................................................................31 FLOOR FORCES FROM STOREY SHEARS ............................................................................................................................................32 EXAMPLE 6: MODAL SPECTRAL ANALYSIS.........................................................................................................................33 PRODUCING A RESPONSE SPECTRA FROM TIME HISTORY ANALYSIS ...............................................................................................34
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S-FRAME RESPONSE SPECTRUM ANALYSIS
...........................................................................................................................35
RESPONSE SPECTRUM ANALYSIS SETTINGS .....................................................................................................................................36 MODAL RESPONSE RESULTS ............................................................................................................................................................37 EXAMPLE 7 MODAL COMBINATION....................................................................................................................................44 STOREY SHEAR ENVELOPE & FLOOR FORCES ..................................................................................................................................46 FINAL COMPARISON ...................................................................................................................................................................50 CONCLUSION .................................................................................................................................................................................50 REFERENCES..................................................................................................................................................................................51 SUGGESTED VALUES FOR DAMPING RATIO .......................................................................................................................52
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1 Example 5
Further assumptions of the building/analysis model either discussed within the body of the example or not stated explicitly are: a) Supports are fully fixed. b) Floors act as rigid diaphragms. c) Mass distribution is idealized as concentrated at the floors only; hence column and girders elements are massless. d) Shear stiffness of elements is not considered.
e)
Beam-column connections are rigid producing a Moment Frame SFRS
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2 S-FRAME Model
The frame is input as per the Example details and dimensions. One analysis element per beam/column is used. The X-axis is chosen as the axis of displacement in S-FRAME and since the frame is regular it is convenient to use S-FRAMEs regular framework model generator with the following input:
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2.1
Sections
S-FRAMEs Tapered section tool is used to create the Girder and Column sections (sections do not have to be tapered). Sections created in this manner will render correctly and can be readily edited.
As per assumption (d) the Shear Area (Av) of the sections is set = 0 in which case S-FRAME will not calculate shear effects. There is no reason why this should be done in practice; while shear effects are often small enough to be neglected they nevertheless occur.
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2.2
Materials
Since the building mass in the example is idealized as concentrated at the floors a zero density material is created for application to the frame members so extra distributed mass is not introduced. Material Modulus of Elasticity; concrete for short term loading) E = 25 GPa = 25000 N/mm2; (we note that this is a typical value for reinforced
A realistic value of G (shear modulus) is also entered as this is a component of the S-FRAME Beam Element stiffness matrix for both shear and torsional stiffness and hence is generally required for stability of a 3D model.
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2.3
Rigid Diaphragm Floors
As an alternative to using Panel Elements, S-FRAMEs Constraint Tool is used to model the specified Rigid Diaphragm Floors. Brief explanation of constraint concept here -- Firstly Constraints are created for each floor. The Constraint Tool includes the options of applying different translational and rotational masses and eccentricities for each constraint, though this is not required for the Example all these values are left as zero.
The Constraints are applied in turn to each floor the option to Auto Find (joints) in Z Plane is used in conjunction with Find Closest Joint. The latter option refers to the Constraint Master Joint (CMJ), since a joint already exists at this position (the middle of each floor). The Master Joint is located at the centre of mass of each floor. When a constraint is applied, S-FRAME confirms this graphically by; colouring the CMJ red, drawing dashed lines from the CMJ to constrained joints to represent the influence of the constraint and assigning the constraint number to joints.
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2.4
Building Mass
The Translational Mass option of the Constraint is not used since this automatically applies mass in both X and Y directions (to the Constraint Master Joint) while the Example only requires X-Mass. Instead, the Lumped Mass Tool is used to deliberately apply X-Translational mass only to the CMJs. This will simplify the Vibration modes of the model. For convenience, since engineers usually work in terms of weight rather than mass, S-FRAME describes mass in terms of force units.
2.4.1
Floor Mass
m = 1780 kg/m2 Ai = 12m12m = 144.000 m2 Mi = m Ai = 256.320 tonne;
3
Total mass per unit area; Floor area; Floor Mass; Floor Weight;
(Example rounds this to 256 Mg)
Wi = 25610 kggacc = 2510.5024 kN
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3 Floor Numbers
Finally Floor Numbers are applied to joints to identify floors. This enables S-FRAME to calculate storey drifts, shears and floor forces. This completes the modeling process.
4 Static Analysis
Although not strictly necessary for the Example, in practice it is sensible to first assess results of an analysis of static loads. We are interested in lateral inertial forces i.e. a portion of the building weight applied laterally - and the building mass is modeled using lumped mass, so this can conveniently be performed by specifying a Gravitational Factor in the X-axis direction. We could, for example, enter a value of 0.25 for a uniform acceleration of all the masses of 0.25g.
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Linear Static Analysis of this gives the following displacements, reactions and total base shear.
Check;
Floor force; Total force;
Fj = 0.25Wi = 627.63 kN F = 6wj = 3765.75 kN
It is interesting to note at this point that Reference [3] gives an approximate formula based on Rayleighs principle that is suggested in many building codes for the fundamental natural period from a static lateral analysis (where perhaps a direct vibration analysis is not available). In practice this could be a good idea to provide an initial idea of the expected building analytical (rather than empirical) frequency
T1 = 2
Where;
N j =1 N
w ju 2 j
Eq. 12.23 Ref[3]
F u j =1 sj j
Fsj is floor force
wj is floor weight;
uj is floor displacement;
Any convenient set of lateral forces can be used such as code ESFP forces, though to derive these a first guess of the building period is required, the codes empirical method usually being used. Using the above forces and results gives an approximate period T = 1.15s as follows
Floor 6 5 4 3 2 1 u(mm) 103.58 96.42 84.05 66.1 42.99 17.08 u (m) 0.10358 0.09642 0.08405 0.0661 0.04299 0.01708 W (kN) Fs (N) 627625.6 627625.6 627625.6 627625.6 627625.6 627625.6 w (N) 2510502.4 2510502.4 2510502.4 2510502.4 2510502.4 2510502.4 Fs*u 65009.46 60515.66 52751.93 41486.05 26981.62 10719.85 w*u2 26934.72 23339.68 17735.2 10968.91 4639.76 732.3798
2510.5 2510.5 2510.5 2510.5 2510.5 2510.5
= 257464.6 84350.65 T= 1.15 s
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5 Vibration Analysis
Before running Time History Analysis, the vibration characteristics of the structure are assessed and verified. The following Vibration settings are initially used; Jacobi Threshold Eigenvalue Extraction Method (since the model is relatively small and has few modes) and 6 Eigenvalues (mode shapes) requested.
Since the mass has been idealized S-FRAME finds only X-direction modes these can be viewed in the Numerical Results Frequency Spreadsheet.
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5.1
Vibration Results Comparison
Comparing S-FRAMES results to the example there is excellent agreement. We note that the approximate fundamental period of 1.15s from a Static Analysis discussed in section 4 above was indeed a good approximation to the first modes period.
S-FRAME
Reference
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6 Time History Analysis

6.1 Time History Load
The Example specifies the N-S component of the El Centro 1940 record which can be found in the S-FRAME library of Accelerograms. A new Time History Load case is created and the records accessed as follows. The Support Excitation Type and the chart button clicked to access the record library files.
The correct record (in the Accsmall.dac file) is #14 Imperial Valley Earthquake El Centro. There are two such records with this main title, the header description gives the direction 270 Degrees equating to the N-S direction. To apply the record for analysis in the X-axis direction it is selected and OKd then an X-Scale factor <>0 is entered. We note that sign (not the magnitude) of the results of the Example are consistent with ve values of the Accelerogram data presumably due to the choice of sign convention for analysis. Hence to obtain the same signs as the Example results X-Scale = -1 is entered.
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6.2
Damping & Rayleigh Damping Coefficients
S-FRAME employs a Newmark direct time integration method for Time History Analysis, not the modal combination method used in the Example. For more detailed information on Time History Analysis theory and solutions see S-FRAMEs Theory Manual, and References. While the Example sets a constant damping value for all modes, this is not possible for the direct integration method employed by S-FRAME. Damping is a function of frequency and is introduced via the Rayleigh Damping Coefficients and which are used to form the damping matrix [C]. It is important to note that these coefficients are NOT themselves damping values. For non-zero values of both and a desired value of damping can be set precisely only for two frequencies, r and s. Note that the damping value is a percentage (of critical damping) and the frequencies are angular frequencies in terms of radians/s, not Hz. The values of and which produce the desired damping value at these two frequencies only can then calculated (from the following equation (see References 1. and 2) and input into S-FRAME for analysis.
Damping for other modes is a function of their frequency and hence will (the desired damping). Ideally the damping should be reasonably close to the desired value for modes which contribute significantly to the response. Hence a prior frequency analysis such as has already been performed is generally required to determine the models frequency characteristics and make a rationale choice of two frequencies for which to calculate and . If only one or two frequencies dominate the response then the choice is obvious. Otherwise two frequencies can be chosen which give a reasonable approximation to the desired damping for a range of frequencies in which the modes which contribute most to the response fall. Reference [1] states:
It is convenient to take r as the value of the fundamental frequency and s as the frequency corresponding to the last of the upper modes that significantly contribute to the response. This way the first mode and mode s will have exactly the same damping, and all modes in between will have somewhat smaller similar values and the modes with frequencies larger than s will have larger damping values thus reducing their contribution to response.
Since the Example uses a modal time history approach method of solution, where damping is explicitly set to precisely 5% for all modes, and since this is not possible in S-FRAME due to the nature of the direct time integration solution, we do not expect precisely the same results.
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As discussed in the Example, modes 1 and 2 dominate the response hence the frequencies of these are used to derive and from the relationship given above for 5% damping:
=
Damping;
2 r s r + s
r = 5.436;
and
2 r + s
= 5% ;
1st mode;
2nd mode;
s = 17.372
= 2rs/(r + s) = 0.414040 = 2/(r + s) = 0.0043844

These values produce the following damping vs frequency plot
Rayleigh Damping
Total Damping Ratio Mass Damping Stiffness Damping Mode 1 Mode 2 Min Damping Desired Damping
14.00%
12.00%
10.00%
Damping Ratio
8.00%
6.00%
4.26%
4.00%
2.00%
0.00% 0
0.865
2.765
6
Frequency (Hz)
10
The damping for other frequencies 5%, as can be seen from the plot, and can be determined precisely from;
i =
Mode 3; Mode 6; f3 = 5.113 Hz; f6 = 13.42 Hz;
i + 2 i 2
3 = 32.128; 6 = 84.322;
2 = /(23) + (3)/2 = 7.7 % 3 = /(26) + (6)/2 = 18.7 %
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6.3
Constant time step size
Next the analysis Time Step size t is considered. The time step size should be sufficiently small for accurate analysis. However, the smaller the time step size, the higher the cost (in terms of computational time) of analysis for a given duration of analysis e.g. the first 15s of the input record. Additionally the analysis duration is limited by the maximum number of allowable time steps which is 32,767 (a limit imposed by S-FRAMEs current software architecture). So ideally the time step size should be no smaller than it need be. The S-FRAME Theory Manual pg 34 gives a rule of thumb for the time step as follows:
Where = the highest (angular) frequency component of the forcing function in rads/s and = 4. Since we more commonly think in terms of period the above expression can be conveniently re-formulated as follows:
T=
1 2 = f
t cr
Tf 20 4
Tf 80
Where Tf = 2/. However, what if Tf is unknown or not applicable? The rule of thumb derives from two main principles, the first of which is illustrated by the following figure
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Principles:
1. Refer to the figure above; for a given forcing (or input) frequency (A in the figure) the response of the system for a given natural frequency i (o in the figure) generally reduces as these frequencies diverge. The divergence is conveniently expressed in terms of the ratio of the forcing frequency to the natural frequency /i. The figure illustrates this phenomenon. Furthermore it can be seen that the response in modes with a small ratio /i is essentially static and the response in modes with a large ratio /i is negligible. Below /i = 1/4 further increases in i do not produce significant change in response hence frequencies (of response) higher than 4 = need not be considered. 2. Around 20 equal time intervals are required to discretize both the input and response motions with sufficient accuracy. These principles explain the origin of the values of 4 and 20 in the rule of thumb. Thus a rational choice of time step size is based on a) deciding which is the highest frequency to be discretized considering both input and response and b) dividing the resulting (lowest) period by 20 From this we can derive a more general rule. Let us call the highest frequency of the response fr with corresponding period Tr. If Tf is known or guessed at to a reasonable degree then it is not necessary to know Tr (following Principle 1) and from Principle 2. we cant set the time step t = (Tf /4)/20 = Tf /80.
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If Tf is unknown or inapplicable (as in Example 4) we consider the likely highest significant response frequency fr = 1/Tr and set t = Tr /20.
6.4
Accelerograms & Sampling
Accelerograms with discrete data points such as those found in the S-FRAME Library are essentially a digital record of an analog signal and thus the maximum possible frequency content is finite and furthermore is determined by the sampling rate or frequency according to the following theorem:
The NyquistShannon sampling theorem states that for an infinite record perfect reconstruction of a signal is possible when the sampling frequency is greater than twice the maximum frequency of the signal being sampled. Stated mathematically;
where:
fs > 2fmax
fs is the sampling frequency and fmax is the max frequency of signal (in this case the earthquake)
For the El Centro record the data points are given every 0.02s and, moreover, the record is not infinite. Thus: Sampling period; Max frequency; Ts = 0.02s; Sampling rate; Min period; fs = 1/Ts = 50.000 Hz Tmin > 2Ts = 0.04s
fmax < fs/2 = 25 Hz;
So, according to the theorem, the highest frequency component of the El Centro record is < 25 Hz The time step size rule of thumb discussed above derives from this value; the highest frequency component (in radians/s) of the forcing function. For a given accelerogram may not be known, but from the preceding discussion we know it cannot contain (i.e. describe) frequencies higher than half the sample rate. Thus a practical lower bound can be calculated for the time step size from the record sample rate (or period).
T f > 2Ts t cr
Ts s 40
Thus for our El Centro accelerogram min time step; tcr = Ts/40 = 0.0005 s
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6.5
Frequency Content
Another rationale for Tf and hence time step size would be from the frequency content of the earthquake record. This is commonly assessed by performing a frequency analysis of the record see Reference [3]. For example the program NONLIN will do this automatically below is a screenshot from NONLIN of a Fourier Amplitude Spectrum for the same El Centro record as that used in the Example. We note that the maximum of the Frequency Range of the analysis is 24.99, which accords with the previous discussion.
Such an analysis may indicate, for example, that the periods of interest in the record those which contain significant energy lie in the range 0.1s-10s. In this case we could take 0.1s as a likely value for Tf :
Tf = 0.1s;
t Tf/80 = 0.0013 s
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A time step size t = 0.001s was chosen as a reasonable initial value from the foregoing and also since this produces a step at t=3.08s for which the Example gives results. It should not be forgotten that the initial value of t derives from a rule of thumb. Thus it is not guaranteed to be the precise value which produces the best accuracy in all circumstances without exception. In practice some experimentation with time step size may be required; to test for sensitivity of results to this value and also from making some educated guesses about the value of Tr from a review of the results of an initial analysis. Thus obtaining good results may be an iterative process. Additionally some compromise may be required depending on the desired analysis duration and acceptable analysis cost (i.e. time), since these are both determined by the time step size.
6.6
Analysis Duration
Duration Limit; Tmax = 32,767 t
As discussed this has an upper limit deriving from the max possible number of time steps and the time step size t.
The Examples analysis duration of 15s is used. For a constant time step, the analysis duration is not explicitly entered; the user inputs the time step size t and total time steps N from which the duration derives. t = 0.001s; Desired analysis time;
TA = 15s
Total time steps required;
N = TA/ t = 15000
The peak response may not occur during excitation and furthermore the time to peak response (or steady state in the case of a periodic forcing function) is generally not known. Hence in practice experimentation may be required with analysis duration having viewed initial results.
6.7
information.
Newmark Coefficients
These are generally one of two sets of values as follows. See S-FRAME Theory Manual and References for more Alpha Zero Damping Non-zero Damping 0.2525 0.25 Beta 0.5050 0.5
Since the example has specified damping the appropriate values are input in S-FRAME.
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6.8
Time History Analysis Settings
The preceding discussion leads to the following initial analysis settings. S-FRAMEs Linear Dynamic Time History option is selected which is equivalent to the Examples step by stepmethod employing Newmarks Beta method some references term this Response History Analysis.
To limit the amount of output the option to Output to file (i.e. results) every 10 time steps is set this in conjunction with the time step size will give a time step at t = 3.08s for comparison with the Example.
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7 RESULTS
7.1 Time History Response
The response at a chosen joint can be readily assessed by right-clicking the joint and choosing Response Time History from the context menu: S-FRAME plots the chosen result parameter e.g. X-Displacement vs time so the user can easily assess; the nature of the response, the maximum response and the approximate time at which this occurs. There is a Trace function to assist with this using this it can be seen that the maximum +ve X-displacement response occurs at around 6s for example.
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A joint in the Roof level (any, since they all have the same displacement due to the rigid diaphragm behaviour) is selected in this manner to produce the following X-displacement response
It can be seen immediately that the shape of the response compares very closely with that of the Example.
The precise maximums and minimums for a Joint can be found in S-FRAME from the Numerical Results Spreadsheet by: 1. Select a single joint (e.g. any Roof Joint) 2. Select all time steps for viewing: 3. Use the find function to find the maximum and minimum values and corresponding time step
This produces the following results; Max Displacement = 146.405 mm @ t = 5.92s Min Displacement = -130.219 mm @ t = 3.04s
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7.2 Deflections
More detailed results for each time step are also available. S-FRAME presents the results of each time step as a load case for which all the usual results (both Graphical and Numerical) are available as for a static analysis. We wish to compare the displacement results, so the displacement diagram is chosen, viewing of Dx (X-displacement) values is enabled and load case 311 corresponding to t = 3.08 s is selected.
The results are given (in meters) on page 43 of the Example for t = 3.08s
Floor Displacement (mm) Roof 5 Floor 4 Floor 3 Floor 2

nd st rd th th
Reference
125.33 117.51 103.31 79.56 48.55 18.23
S-FRAME
124.92 117.04 102.88 81.18 52.31 20.28
Floor
1 Floor
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7.3
Floor Forces
Floor forces, which can be compared with those in the Example, are available in Numerical Results.
The Example gives the following values in kN for time t = 3.08s
Floor Force (kN) Roof 5 Floor 4 Floor 3 Floor 2

nd st rd th th
Reference
-658.49 -636.50 -920.33 -1041.9 -663.43 -308.29
S-FRAME
-658.17 -724.87 -883.99 -933.26 -742.89 -407.15
Floor
1 Floor
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7.4
Base Shear & Overturning Moment (OTM)
The Base Shear, V, and Overturning Moment for each time step can also be readily viewed graphically:
Reference
Total Base Shear (kN) Total Overturning Moment (kNm)
S-FRAME
4350.3 47406
-4229.0 -46727
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7.5
Time-Variation of Base Shear
From the Example:
S-FRAME does not automatically produce such a plot. However, the Numerical Results Base Shear Spreadsheet for all time steps can be directly copied to Excel, for example, to produce such a plot. This was performed to produce the following which shows good agreement in both general shape and maximum and minimum
Base Shear vs Time
5000
5.88, 4,384.13
2500 Base Shear (kN)
-2500
-5000 0 1 2 3
3.07, 4,363.42
4 5 6 7 Tim e (s) 8 9 10 11 12 13 14 15
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8 Time Step Size Sensitivity

Examining the sensitivity of results to time step size, it can be seen that using t = 0.01s which is 10 larger than the initial value does not change results significantly. Since, as the Example discusses, the response is dominated by the first 2 modes this makes sense; even though the input contains higher frequency signals and the model exhibits higher frequency modes these do not contributed greatly to the response. As discussed, around 20 (equal time) intervals are required to discretize the response motions with sufficient accuracy. So for the highest significant response frequency (of mode 2) this gives t 0.362/20 = 0.018s > 0.01s.
Floor Displacement at t = 3.08s (mm)
Reference
125.33 117.51 103.31 79.56 48.55 18.23
S-FRAME t = 0.001s 124.92 117.04 102.88 81.18 52.31 20.28 S-FRAME t = 0.001s (mm) 146.405 -130.219 S-FRAME t = 0.001s -658.17 -724.87 -883.99 -933.26 -742.89 -407.15
S-FRAME t = 0.01s 124.78 117.02 102.93 81.19 52.28 20.25
% Change 0.1 0.0 0.0 0.0 0.1 0.1 S-FRAME t = 0.01s
Roof 5 Floor 4 Floor 3 Floor 2 Floor 1 Floor

st nd rd th th
Max Displacement (mm)
Reference
(mm) 148.729 -128.367 t (s) ---
% Change 0.0 0.0 t 0.5 1.0
t (s) 5.92 3.04
(mm) 146.334 -130.226
t (s) 5.89 3.01
Maximum Minimum
Floor Force at t = 3.08s (kN)
Reference
-658.49 -636.50 -920.33 -1041.9 -663.43 -308.29
S-FRAME t = 0.01s -640.38 -733.08 -900.31 -936.82 -730.57 -399.64
% Change 2.7 -1.1 -1.8 -0.4 1.7 1.8
Roof 5 Floor 4 Floor 3 Floor 2 Floor 1 Floor

st nd rd th th
At t = 3.08s (kN) Total Base Shear (kN) Total Overturning Moment (kNm)
Reference
-4229.0 -46727
S-FRAME t = 0.001s 4350.3 47406
S-FRAME t = 0.01s 4340.79 47340
% Change 0.2 0.1
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9 Floor Forces and Storey Shears

Although not necessary, it can be shown that the Storey Shears can be obtained graphically using the Freebody Forces Tool by selecting only the elements which comprise the Freebody above a particular floor. S-FRAME calculates the resultant forces acting on the Freebody (from unselected elements) from equilibrium, the sum of which is the total storey shear and is reported in the legend.
Freebody
If the above is performed for successive storeys the building shear distribution can be developed as shown below (for a particular time step, in the case of Time History Analysis). These are the same as the Storey Shears (e.g. Shear X) reported in the Numerical Results Storey Forces Spreadsheet. The Floor Forces can be derived from these as shown below.
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9.1
Floor Forces from Storey Shears

Storey Shear Envelope t = 3.08s
18
Fx6
-658.17
Vx6
15
Fx5
-1383.05
12 Floor h (m)
Fx4
Vx5
-2267.03
Fx3
Vx4
-3200.29
Vx3
6
Fx2
-3943.18
Vx2
3
Fx1
-4350.33
Vx1
0 -6000.00 -5000.00 -4000.00 -3000.00 Shear (kN) -2000.00 -1000.00 0.00
The Floor forces Fxi can be determined from the Storey Shears Vxi from:
Fx (i ) = Vx (i ) Vx ( i +1)
For Example; Shear storey 4; Force at Floor 4;
Vx4 = -2267.03 kN;
Shear storey 5;
Vx5 = -1383.05 kN
Fx4 = Vx4 Vx5 = -884.0 kN
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10 Example 6: Modal Spectral Analysis
Example 6 goes on to look at an alternative analysis of the same record using the Displacement Response Spectrum of the ground motion. This is the response to the ground motion record of a SDOF (single degree of freedom) system for a range periods.
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10.1
Producing a Response Spectra from Time History Analysis
S-FRAME can automatically produce a response spectrum plot for any joint in the structure. In practice, this might be used for the design of a component attached to a part of a structure e.g. the roof. The accelerations experienced by such a component can be very different to the ground motions accelerations at points in a structure can be highly amplified depending on its dynamic characteristics. The generated Spectra (at a joint) are accessed in the same manner as the Time History Response; by right-clicking the desired joint and selecting the Response Time History option from the resulting context menu (see page 24) then choosing the Response Spectra tab. To obtain the ground motion response spectrum this is performed for a support joint. This is performed in S-FRAME to produce a plot similar to that of the example note that the following are specified to produce a comparable plot; Relative = OFF (i.e. Absolute) Damping value = 0.05 = 5% Plot Option = Sd (displacement), Direction = X period range End Period = 2s
Compare this to the plot in the Example (see above). The plot can be printed and also saved to an input file for a Response Spectrum Analysis (a *.DRS file) by clicking the Save As button.
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10.2
S-FRAME Response Spectrum Analysis
An input response spectrum file was produced from the preceding Time History Analysis as discussed above in order to perform a Response Spectrum Analysis in S-FRAME to compare results to Example 6 and 7. A Response Spectrum type load case is created and the generated spectra file selected. Similarly to Time History Analysis, a scale factor <>0 is required to specify the application of all or a portion of the curve in a particular direction. X-Scale = 1.0 is entered
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10.3
Response Spectrum Analysis Settings
The Unstressed Response Spectrum analysis option is chosen. Note that the majority of the analysis settings are associated with a Vibration Analysis, since this is a precursor to Response Spectrum calculations. These settings are the same as those previously used in the investigation prior to the Time History Analysis requesting 6 Eigenvalues (mode shapes). The Scale options are not used, since the Examples do not discuss scaled or Design Code-based results.
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10.4
Modal Response Results
Though ultimately we are interested in the combined response of all modes, the Example first looks at the Modal response the response of each individual mode. The modal response is a single displacement vector of the structure for which it is in static equilibrium (an important point). By default S-FRAME initially presents the results of modal combination for the RSA Load case, since these are usually of primary interest and it is necessary to toggle on the Modal Response option e.g. modal displacements can be viewed in S-FRAME by selecting the following options when viewing graphical results; Modal Response = ON, Direction = X, Mode Shape = 1, displacement values = Dx
These exhibit good agreement to the results of the Example; all mode shapes are displayed on the next page.
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S-FRAME Results; Modal displacements (mm)
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The Example gives the following detailed displacements for each mode.
Comparable results can be viewed in S-FRAMEs Numerical Results as follows by selecting a single joint in each floor here only the CMJs are selected - and choosing Modal Response for All Mode Shapes
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10.4.1
Displacement Comparison
Mode 1 Floor Displacement (mm) Roof 5 Floor 4 Floor 3 Floor 2
nd st rd th th
Reference
148.703 136.429 115.519 84.882 49.588 18.061
S-FRAME
146.552 134.432 114.192 86.513 53.652 20.167
Floor
1 Floor
10.4.2
Storey Drift
Comparable results can be viewed in S-FRAMEs Storey Drift spreadsheet:
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10.4.3
Maximum Modal Lateral Forces
Comparable results can be viewed in S-FRAMEs Numerical Results Floor Forces by choosing Modal Response for All Mode Shapes
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10.4.4
Modal Lateral Force Comparison

Modal Lateral Floor Force (kN) Roof 5 Floor 4 Floor 3 Floor 2
nd st rd th th
Reference
Mode1 1108.3 1016.2 860.2 632.9 369.4 135.1 Mode2 -748.9 -264.8 331.8 761.5 765.9 363.0
S-FRAME
Mode1 1108.2 1016.5 863.5 654.2 405.7 152.5 Mode2 -721.6 -255.8 314.1 699.3 692.2 329.0
Floor
1 Floor
10.4.5
Graphical Modal Lateral Forces
The Modal Lateral Forces can be viewed graphically also as follows. S-FRAME displays the forces at the CMJs. In the following screenshot the Reactions Tool is activated and Modal results for Mode 1 are displayed so the Lateral forces and resulting Base Shear and OTM can be viewed simultaneously.
* note that since the model is viewed from the front (i.e. the X-Z plane) in this screen-shot the reactions at support joints are superimposed on top of each other. Thus there are three reactions with the value 418.61 (kN) for example. The reactions thus do in fact sum to the same as the total base shear displayed in the Legend: Total Reaction; 3(-418.61kN -562.94kN 418.61kN) = -4200.48 kN
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10.4.6
Base Shear & Overturning Moment
From Example:
Comparable results can be viewed in S-FRAMEs Numerical Results Base Shears Spreadsheet by choosing Modal Response for All Modes.
RSA Modal Base Shears

(kN) Mode 1 Mode 2 Mode 3 Mode 4 Mode 5 Mode 6
Reference
4122.1 1208.5 444.6 257.9 106.1 29.1
S-FRAME
4200.5 1057.2 419.8 250.9 94.8 26.2
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11 Example 7 Modal Combination

In S-FRAME modal combination of results does not require a further analysis these results are available for a single Response Spectrum analysis run. When the load case is created, the Modal Combination Method is specified on the same page as the direction scale factor. The Example first looks at the SRSS combination method.
11.1.1
Maximum Credible Storey Displacements
All the following results in S-FRAME are viewed with the Modal Result option OFF and are hence the Modal Combination values which result from applying the Modal Combination Method (MCM) to the modal results.
Example
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11.1.2
Modal Combination Storey Shears & Floor Forces
The Example warns about the dangers of applying the modal combination method to the modal floor forces this does not produce meaningful results. First the modal combination (maximum credible) Storey Shears are calculated
S-FRAME performs this operation automatically for all storeys by applying the MCM to the modal Storey shears:
Comparison
RSA SRSS Modal Combination Storey Shears
(kN) 6th 5 4 3 2
th th
Reference
1417.6 2369.8 3080.3 3640.1 4080.2 4327.6
S-FRAME
1393.9 2351.0 3080.0 3663.8 4116.7 4360.1
rd
nd st
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11.2
Storey Shear Envelope & Floor Forces
A plot of the Storey Shears Vxi produces the Storey Shear Envelope. The modal combination Floor Forces Fxi are derived from this envelope, not by applying the MCM to the modal Floor Forces.
RSA SRSS Storey Shear Envelope & Floor Forces

Floor Force, 1393.89 1393.89
18
15
Floor Force, 957.09
2350.98
12 Floor h (m)
Floor Force, 728.99
3079.97
Floor Force, 583.85 Floor Force, 452.91
3663.82
4116.73
Floor Force, 243.37
4360.11
0 0.00
1000.00
2000.00
3000.00
4000.00
5000.00
Shear, Force (kN)

The Floor forces Fxi are calculated from Storey Shears Vxi from:
Fx (i ) = Vx (i ) Vx ( i +1)
For Example; Shear storey 4; Force at Floor 4;
Vx4 =3079.97 kN;
Shear storey 5;
Vx5 = 2350.98 kN
Fx4 = Vx4 Vx5 = 729.0 kN
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11.2.1
Base Shear
From the Example (this is of course the same result as the shear for Storey 1)
A comparable result is directly available from the S-FRAME Base Shear results Spreadsheet.
11.2.2
Storey:
Overturning Moments
Example S-FRAME Storey Forces Spreadsheet
Base:
A comparable result is directly available from the S-FRAME Base Shears results Spreadsheet.
Comparison
RSA SRSS Modal Combination Base Results
Base Shear (kN) Overturning Moment (kNm)
Reference
4327.6 53865.8
S-FRAME
4360.1 54374.2
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11.2.3
Static Equivalent Lateral Forces
As noted these cannot be derived by applying the MCM to the modal Floor Forces Fxi . They are derived from the Modal Combination Storey Shears as disucussed on page 32 above.
Comparison
RSA SRSS Modal Combination Equivalent Lateral Force (kN) Roof 5 Floor 4 Floor 3 Floor 2
nd st rd th th
Reference
1417.6 951.9 710.5 559.8 440.3 247.6
S-FRAME
1393.9 957.1 729.0 583.9 452.9 243.4
Floor
1 Floor
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The Example notes that the Overturning Moment resulting from these forces does not equal that computed by applying the MCM to the modal Storey Overturning moments:
This result can be reproduced easily in S-FRAME using the option to Generate a Load case of Equivalent Lateral Forces (ELFs) from the results of a Response Spectrum Analysis Load case. This is performed in the Loads view via the command Edit/Generate Equivalent Static Loads from RSA Case The ELFs are automatically applied to the CMJs. Analysis of this load case produces the following result; the Base shear is the same as the MCM base shear, but the OTM is not and is comparable to that computed from the ELFs of the Example.
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12 Final Comparison
From the Example
S-FRAME
Parameter Roof lateral displacement (mm) Base shear (kN) Overturning Moment (kNm) Example 5 THA Example 6 RSA Absolute Combination* Example 7 RSA SRSS Combination Example 7 RSA CQC Combination
146.4 4 380 54 588
158 6 049 57 498
146.9 4 360 54 374
146.8 4 372 54 368
*These Absolute Sum Combination values can be obtained directly from S-FRAME by choosing this as the MCM for the Response Spectrum Load case.
13 Conclusion
Generally we see excellent agreement in results between the example and S-FRAME. Small differences are explained by for example: different method of time history solution (modal vs direct integration) involving different damping % for some modes; some rounding in the Examples hand computations; the Example does not consider other phenomenon like elastic shortening of columns which are implicit in the S-FRAME analysis; possible differences in the accelerogram and/or the displacement response spectrum data used by the Example. It is interesting to note that S-FRAMEs results for RSA SRSS Combination Base Shear and OTM agree almost exactly with those of the Examples step-by-step (time history). S-FRAMEs results for a CQC combination are also included for comparison, showing that there is negligible difference to those of SRSS combination in this case.
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14 References
[1] Luis E. Garca & Mete A. Sozen, Multiple Degrees of Freedom Structural Dynamics, Purdue University CE571 Earthquake Engineering, 2002 [2] Anil K. Chopra, Dynamics of Structures: Theory and Applications to Earthquake Engineering (2nd Edition), Prentice Hall, 2000 [3] Roberto Villaverde, Fundamental Concepts of Earthquake Engineering, CRC Press, 2009
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15 Suggested Values for Damping Ratio

The following Table is reproduced from Reference [2]. Stress Level Type and Condition of Structure Working stress, no more than about
1 yield point 2
Damping Ratio (%) 2-3
Welded steel, prestressed concrete, well-reinforced concrete (only slight cracking) Reinforced concrete with considerable cracking Bolted and/or riveted steel, Wood structures with nailed or bolted joints Welded steel, prestressed
3-5
5-7
5-7
At or just below yield point
concrete (without complete loss in prestress) Prestressed concrete with no prestress left Reinforced concrete Bolted and/or riveted steel, Wood structures with bolted joints Wood structures with nailed joints 15-20 7-10 7-10 10-15

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