2C09

Design for seismic and climate changes

Lecture 09: Seismic analysis of MDOF systems

Aurel Stratan, Politehnica University of Timisoara

14/03/2014
European Erasmus Mundus Master Course

Sustainable Constructions
under Natural Hazards and Catastrophic Events
520121-1-2011-1-CZ-ERA MUNDUS-EMMC

Lecture outline
9.1. Modal analysis.
9.2. Effective modal mass.
9.3. Modal response spectrum analysis.
9.4. The lateral force method.
9.5 Accidental torsion. Accounting for torsional effects in
structural analysis.
9.6 Combination of the effects of the components of the
seismic action.

Modal analysis of seismic time-history response

Equation of motion of a MDOF system with damping
excited by ground motion:

mu c u k u peff t

p t m1 u t
eff

Modal analysis can be applied

Multistorey frame:
N DOFs
(lateral displacements at storey levels)
Mass matrix [m] is a diagonal one
with elements mjj=mj
Distribution of effective forces
{peff(t)} given by the expression
{s}=[m]{1}, independent of time

Modal analysis of seismic time-history response

Vector {s} can be expanded using the following
expression
N

s m 1 sr r m r
r 1

r 1

Multiplying both sides with n and using the

orthogonality property:
T
T

m
1

n n n mn
T

from where:

Notations:

n m1 n m1
n

T
Mn
n mn
Ln
n
Mn

Ln n m 1 m j jn
j 1

M n n mn m j jn2
j 1

Modal analysis of seismic time-history response

Contribution of n-th mode to [m]{1}:
s jn n m j jn
sn n mn
In the case of a MDOF system excited by ground motion
Pn t
2
qn 2 nn qn n qn
Mn

Pn t
Mn

n p t
T

n m n

n m 1
T

n m n

becomes

ug t n ug t

p t m1 u t
eff

qn 2 nn qn n2 qn n ug t
Equation of motion
of a SDOF system:
2 D 2 D u t
D
n
n n n
n
n
g

qn t n Dn t

Modal analysis of seismic time-history response

Contribution of n-th mode to total displacements {u(t)}:
u jn t n jn Dn t
u t n n qn t n n Dn t
Equivalent static forces in n-th mode:
2

D
t

f t n k u t n n n n n mn n Dn t sn An t

u t

n n Dn t

2
k

n n m n

sn n mn
An t n2 Dn t

Equivalent static forces are the product of 2 factors:

contributions {s}n in the n-th mode to distribution [m]{1} of
effective forces {peff(t)}
pseudo-acceleration of n-th mode SDOF system to ground motion

Modal analysis of seismic time-history response

Equivalent static forces in n-th mode n-th mode
contributions rn(t) to the response quantity r(t)
Response quantity rn(t) can be expressed by:

rn t rnst An t
rnst - modal static response, by applying "forces" {s}n

sn n mn
Total response sum of modal contributions in all
modes
N

u t u t
n 1

n 1

r t rn t rnst An t
n 1

n 1

Dn t

Interpretation of modal analysis

Interpretation of modal analysis

Interpretation of modal analysis

Modal analysis of seismic response: summary

Define numerically ground acceleration

Define the structural properties
- mass [m] and stiffness [k] matrices
- critical damping ratio n
Determine n and {}n
Determine modal components {s}n of the distribution of
effective seismic forces
Compute response in each mode following the
sequence:
- static response rnst of the structure from {s}n
- pseudo-acceleration An(t) of n-th mode SDOF system
- resp. quantities rn(t) from the n-th mode rn t rnst An t
N
N
Combine modal contributions
st
r
t

r
t

n
n An t
to obtain the total response
n 1

n 1

Effective modal mass

Modal analysis - equivalent static forces in n-th mode
n-th mode contributions rn(t) to the response quantity
r(t):

f t s
n

An t

sn n mn

s jn n m j jn

Ln
n
Mn
N

Ln n m1 m j jn
j 1

M n n mn m j jn2
j 1

Effective modal mass

Response quantity rn(t) can be
expressed by: rn t rnst An t
rnst - modal static response, by
applying "forces" {s}n

sn n mn

s jn n m j jn

Multistorey structures:
base shear force Vb
N

st
bn

V s jn n m j jn n Ln M n*
j 1

j 1

M n Ln m j jn
j 1

*
n

n
2
m

j jn
j 1

Effective modal mass

Base shear force in n-th mode:

Vbn t Vbnst An t
*
(1)
substituting Vbnst M n* Vbn t M n An t
A SDOF system with mass m, natural circular frequency
n and critical damping ratio n

Vb t mAn t

(2)

Comparing eq. (1) and (2) Mn* - effective modal mass

MDOF: only the portion Mn* of the total mass of the
structure is effective in producing the base shear force
The sum of effective modal masses over all N modes is
equal to the total mass of the structure N * N
Mn mj
n 1

j 1

Effective modal mass

Spectral analysis
Modal analysis: time-history response
N

rn t rnst An t

r t rn t
n 1

r0 max t r t

Design - peak values of forces and displacements

Spectral analysis: direct determination of peak values of
forces and displacements
Peak response rno of the contribution rn(t) in the n-th
mode to the total response r(t)
rn 0 rnst An
An - spectral pseudo-acceleration

Modal contrib. and total time-history response

Methods for combination of peak modal response

Absolute sum
N

r0 rn 0
n 1

suitable for structures with closely spaced natural modes

of vibration

Square Root of Sum of Squares (SRSS):

N

r0

2
r
n0
n 1

suitable for structures with distinct modes of vibration

Methods for combination of peak modal response

Complete quadratic combination (CQC):
N

r0

i 1

in ri 0 rn0
n 1

r0

2
r

n 0 in ri 0 rn 0
n 1
i 1 n 1

in

Spectral analysis: summary

Define structural properties

- mass [m] and stiffness [k] matrices
- critical damping ratio n
Determine n (Tn=2/n) and {}n
Response in n-th mode:
- Tn and n pseudo-acceleration An from the response
spectrum
f n sn An
- equivalent static forces
- compute response quantity rn from forces {f}n, for each
response quantity
Combine modal contributions rn to obtain total response
using SRSS or CQC combination methods
Note: generally it is NOT necessary to consider ALL
modes of vibration

Spectral analysis: summary

[m]

Define properties of the structure:

- mass matrix [m] and stiffness matrix [k]
- critical damping ratio n

[k]

Find out natural circular frequencies n

(with the corresponding periods Tn = 2/n)
and natural modes of vibration {}n

31

32

33

21

22

23

11

12

13

{ }1, T1

{ }2, T 2

{ }3, T 3

For each mode of

vibration find out:

A3

Pseudo
accelerations An
from the response
spectrum
corresponding to
periods of vibration
Tn

A2
A1

T3

Equivalent static
forces {f}n

T2

T1

f 31

f 32

f 33

f 21

f 22

f 23

f 11

f 12

f 13

{ }1, T1

Response rn due to
forces {f}n, for each
required response
quantity (forces,
displacements, etc.

{ }2, T 2

M A1

r1

{ }3, T 3

M A2

r2

M A3

Compute the total response r by combining

modal contributions rn (e.g. using the SRSS
method)

M A=M A12+M A22+M A32

Modal response spectrum analysis

Modal response spectrum analysis a.k.a. spectral analysis

Spectral analysis:
is the default analysis method in EN 1998-1
can be used always (also in cases when lateral force method cannot be applied)

Number of modes that need to be considered in analysis:

the sum of effective modal masses for the considered modes should amount to at
least 90% of the total mass of the structure,
all modes with effective modal mass larger than 5% of the total mass of the
structure were considered in analysis

Combination of modal response:

Sum of absolute values (ABS)
Square root of sum of squares (SRSS)
response in two modes k and k+1 can be considered independent if Tk and Tk+1
check the following relationship:

Tk 1 0.9Tk
Complete quadratic combination (CQC)

Results are generally conservative, but the correlation between time

and sign of peak values of different response quantities is not known

Lateral force method

Can be used for structures whose seismic response is
not influenced significantly by higher modes of vibration
EN 1998-1 criteria for fulfilling the requirement above:
structure with T1 2.0 sec and T1 4TC
structure regular in elevation

A simplified spectral analysis, that considers the

contribution of the fundamental mode only

Vbn M n* An Fb Sd T1 m
(Vb1 Fb; A1 Sd(T1); M1* m )

Lateral force method

Base shear force (EN 1998-1):

Fb Sd T1 m
Sd(T1) - ordinate of the design response spectrum
corresponding to fundamental period T1
m - total mass of the structure
- correction factor (contribution of the fundamental
mode of vibration using the concept of effective modal
mass):
= 0.85 if T1 TC and the structure is higher than two
storeys, and
= 1.0 in all other cases

Lateral force method

Equivalent static force at storey i in mode n:
N

miin

M n* i N1
2
m

i in

i in

f in n miin An

where

i 1
N

2
m

i in

i 1

i 1

using the expression An Vbn M n*

N

N
2
m

i in

miin
fin n miin An

i 1
N

2
m

i in
i 1

miinVbn

i 1

miin
i 1

Vbn

miin
n

i in

i 1

Lateral force method

Equivalent static forces

miin

fin Vbn

i in

i 1

Lateral force at storey i (EN 1998-1):

Fi Fb

mi si
N

m s

i i

i 1

Fb - base shear force in the fundamental mode of vibration

si - displacement of the mass i in the fundamental mode shape
n - number of storeys in the structure
mi - storey mass

Lateral force method

Fundamental mode shape can be approximated by a
horizontal displacements increasing linearly with height

Fi Fb

mi zi
N

m z

i i

i 1

Fi

mi
zi

For structures with height <40m

Fb

T1 Ct H 3 4
Ct = 0.085 moment-resisting steel frames,
Ct = 0.075 moment resisting reinforced concrete frames or steel
eccentrically braced frames,
Ct = 0.05 all other structures.

Accidental torsional effects

Uncertainties associated with distribution of storey
masses and/or spatial variation of ground motion
Accidental eccentricity e1i = 0.05 Li (EN 1998-1)
Spatial structural model: M 1i e1i Fi

e1x
Y
Fx

CM

e1y

Ly

CM

Fy

Lx

Accidental eccentricity: lateral force method

If the lateral stiffness and mass are symmetrically
distributed in plan and unless the accidental eccentricity
is taken into account by a more exact method, the
accidental torsional effects may be accounted for by
multiplying the action effects in the individual load
resisting elements resulting from the application of lateral
forces by a factor

x
For spatial models (3D): 1 0.6
Le

x
For planar models (2D): 1 1.2
Le
31

Accidental eccentricity: lateral force method

x is the distance of the element under consideration from
the centre of mass of the building in plan, measured
perpendicularly to the direction of the seismic action
considered;
Le is the distance between the two outermost lateral load
resisting elements, measured perpendicularly to the
direction of the seismic action considered.

32

Accidental eccentricity: spectral analysis

For spatial models (3D): the accidental torsional effects
may be determined as the envelope of the effects
resulting from the application of static loadings,
consisting of sets of torsional moments Mai about the
vertical axis of each storey i:
M3

M ai eai Fi

M2
M1

Mai is the torsional moment applied at storey i about its

vertical axis;
eai is the accidental eccentricity of storey mass i for all
relevant directions;
Fi is the horizontal force acting on storey i, as derived
using the lateral force method.

33

Accidental eccentricity: spectral analysis

For planar models (2D): the accidental torsional effects
may be accounted for by multiplying the action effects in
the individual load resisting elements resulting from
analysis by a factor

x
1 1.2
Le
x is the distance of the element under consideration from
the centre of mass of the building in plan, measured
perpendicularly to the direction of the seismic action
considered;
Le is the distance between the two outermost lateral load
resisting elements, measured perpendicularly to the
direction of the seismic action considered.
34

Components of the seismic action

Seismic action has components along three orthogonal
axes:
2 horizontal components
1 vertical components

Vrancea, 04.03.1977, INCERC (B), NS

1
0
-1
-2

-1.95
0

10

15
20
25
30
Vrancea, 04.03.1977,
timp, sINCERC (B), EW

35

40

35

40

1.62
acceleratie, m/s 2

Peak values of ag for

horizontal motion are NOT
recorded at the same time instant
Peak values of response are NOT
recorded at the same time instant

acceleratie, m/s 2

1
0
-1
-2

10

15

20
timp, s

25

30

Components of the seismic action

Simultaneous action of two orthogonal horizontal
components (lateral force or spectral analysis):
Seismic response is evaluated separately for each direction of
seismic action
Peak value of response from the simultaneous action of two
horizontal components is obtained by the SRSS combination of
directional response:
2
2
EEd EEdx
EEdy

Alternative method for combination

of components of seismic actions

Components of the seismic action

When vertical component
is considered as well:
2
2
2
EEd EEdx
EEdy
EEdz

Vertical component
Vertical component of seismic action shall be considered
when vertical peak ground acceleration agv0.25g, and the
structure has one of the following characteristics:

has horizontal elements spanning over 20 m

has cantilever elements with a length over 5 m
has prestressed horizontal elements
has columns supported on beams
is base-isolated

References / additional reading

Anil Chopra, "Dynamics of Structures: Theory and
Applications to Earthquake Engineering", Prentice-Hall,
Upper Saddle River, New Jersey, 2001.
EN 1998-1:2004. "Eurocode 8: Design of structures for
earthquake resistance - Part 1: General rules, seismic
actions and rules for buildings".

39

aurel.stratan@upt.ro
http://steel.fsv.cvut.cz/suscos