Earthquake Engineering Ahmed Elgamal

Michael Fraser
Solved MDOF and Modal Analysis Example

Use:

Esteel = 29,000 ksi

Ic = 164.8 in4
h1 = 15 ft
h2 = 12 ft

W lb 40 ft 30 ft lb s 2 kip s 2
m= = 30 2 = 93 . 17 = 0 . 09317
g ft 386.4 in s 2 in in

40 ft 12EI EI 48EIc
k column = 3 c k floor i = 412 3c =
hi hi h 3i

30 ft

Plan View

(a) For the two-story building shown above, define the two-degree-of-freedom free vibration matrix
equation in terms of k and m. Using this matrix equation, determine the natural frequencies 1 and 2
(in terms of k and m). Using these expressions for 1 and 2, plug in numerical values and determine 1
and 2 in radians. For each natural frequency, define and sketch the corresponding mode shape.

(b) Verify that the modes are orthogonal as expected.

(c) Normalize the first mode such that 1Tm1 = 1.0

(d) Use the normalized first mode (from above) to verify that 1Tk1 = 12

(e) Use the El Centro Response Spectrum and a damping ratio of 5% to estimate the maximum base shear
and moment.

(f) Find a 0 and a 1 in c = a 0 m + a 1k for a viscous damping of 5% in modes 1 and 2.

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Earthquake Engineering Ahmed Elgamal
Michael Fraser
Solved MDOF and Modal Analysis Example

k1 = =
(
48 EI c 48(29000 ksi ) 164.8 in 4 )
= 39.335 kip in
h13 (180 in )3

k2 = =
(
48 EI c 48(29000 ksi ) 164.8 in 4 )
= 76.826 kip in
h23 (144 in )3

kip s 2
m = 0.09317
in

Write the equation of motion in matrix form:

3m 0 u1 k1 + k 2 k 2 u1 0
0 m u + k =
k 2 u2 0
2 2

= 2u and rearrange to get

substitute in u

k1 + k 2 2 3m k 2 u1 0
=
k2 k 2 2 m u2 0

Take the determinant and set equal to zero

k1 + k 2 2 3m k2
=0
k2 k2 2 m

3m 2 4 mk1 2 4mk 2 2 + k1k 2 = 0

substituting k1, k2, and m:

0.0260419467 4 - 32.2963556 2 + 3021.95071 = 0

Solving this quadratic equation for 2 yields

+ 32.2963556 1 043.05459 314.789917

12 =
0.0520838934

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Earthquake Engineering Ahmed Elgamal
Michael Fraser
Solved MDOF and Modal Analysis Example
+ 32.2963556 + 1 043.05459 314.789917
22 =
0.0520838934

or,
rad 2
= 101.95 2
2
1
s
rad 2
22 = 1138 2
s

rad
1 = 10.097
s
rad
2 = 33.734
s

1 1
f1 = = 1.607 Hz T1 = = 0.6223 Sec
2 f1
1
f 2 = 2 = 5.369 Hz T2 = = 0.1863 Sec
2 f2

Determining 1st Mode Shape:

k1 + k 2 12 3m k 2 11 0
Plug k1, k2, m, and 1 = 10.097 rad/sec into 2 =
k 2 k 2 1 m
21 0

( )
39.335 + 76.826 10.097 2 (3 0.09317 ) 76.826 11 0
=

76.826 ( )
76.826 10.097 2 (0.09317 ) 21 0

87.665 76.826 11 0
76.826 67.327 = 0
21

87.66511 76.82621 = 0

let 21 = 1 , then

87.66511 76.826(1) = 0

76.826
11 = = 0.876
87.665

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Earthquake Engineering Ahmed Elgamal
Michael Fraser
Solved MDOF and Modal Analysis Example
0.876
= 11 =
21 1.000
1

Determining 2nd Mode Shape:

k + k 22 3m k 2 12 0
Plug k1, k2, m, and 2 = 33.734 rad/sec into 1 2 =
k2 k 2 22 m 22 0

( )
39.335 + 76.826 33.734 2 (3 0.09317 ) 76.826 12 0
=

76.826 ( )
76.826 33.734 (0.09317 ) 22 0
2

201.917 76.826 12 0
76.826 29.200 = 0
22

201.91712 76.82622 = 0

let 22 = 1 , then

201.91712 76.826(1) = 0

76.826
12 = = 0.380
201.917

0.380
= 12 =
22 1.000
2

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 Earthquake Engineering Ahmed Elgamal
Michael Fraser
Solved MDOF and Modal Analysis Example
30 30

21 = 1.000 22 = 1.000

25 25

20 20

height (ft)
height (ft)

15 15 12 = -0.380
11 = 0.876

10 10

5 5

0 0
0 0.5 1 1.5 -0.5 0 0.5 1 1.5

st nd
1 Mode Shape 2 Mode Shape

(b) Verify that the modes are orthogonal as expected.

T T
To verify that the modes are orthogonal, need to show that i m j = i k j = 0 , for ij

(3)0.09317 0 0.380 2 0.380

T
1m 2 = [0.876 1] = 0 .024485 9.317 x10 =0 [ ]
0 0.09317 1 1

39.335 + 76.826 76.826 0.380 0.380

T
1k 2 = [0.876 1] = [24.9310 9.5264] =0
76.826 76.826 1 1

T
= T =0
Can also show 2m 1 2k 1

(c) Normalize the first mode such that 1Tm1 = 1.0

(3)0.09317 0 0.876
T
1m = [0.876 1] = 0.30766
0.09317 1
1
0

1.5793
Divide 1 by 0.30766 , therefore = 11 =
21 1.8029
1

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 Earthquake Engineering Ahmed Elgamal
Michael Fraser
Solved MDOF and Modal Analysis Example
(3)0.09317 0 1.5793
T
1m = [1.5793 1.8029] = 1.00
0.09317 1.8029
Check: 1 ok
0

(d) Use the normalized first mode (from above) to verify that 1Tk1 = 12

39.335 + 76.826 76.826 1.5793

2
rad 2 rad
T
1k 2 = [1.5793 1.8029] = 101.950 2 = 10.097 = 1
2

76.826 76.826 1.8029 s s

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Earthquake Engineering Ahmed Elgamal
Michael Fraser
Solved MDOF and Modal Analysis Example

(e) Use the El Centro Response Spectrum and a damping ratio of 5% to estimate the maximum base shear and
moment.

From Response Spectrum:

For T1 = 0.622 sec and = 5%, D1 = 2.8 in. and A1 = 0.8g = 309.12 in/s2

For T2 = 0.0.186 sec and = 5%, D2 = 0.31 in. and A2 = 0.9g = 347.76 in/s2

Ln
f jn = An m j jn
Mn

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Earthquake Engineering Ahmed Elgamal
Michael Fraser
Solved MDOF and Modal Analysis Example
2

Li
m
j =1
j ji

= 2

m
Mi 2
j ji
j =1

L1
m
j =1
j j1
m111 + m221 (0.27951)(0.876) + (0.09317 )(1) = 1.0987
= = =
2
m111 + m221 (0.27951)(0.876)2 + (0.09317 )(1)2
2 2

m
M1 2
j j1
j =1

L2
m
j =1
j j2
m112 + m222 (0.27951)( 0.380) + (0.09317 )(1) = 0.0977
= = =
2
m112 + m222 (0.27951)( 0.380 )2 + (0.09317 )(1)2
2 2

m
M2 2
j j2
j =1

in kip s 2
A1m111 = (1.0987 ) 309.12 2 0.27951 (0.876 ) = 83.159 kips
L1
f11 =
M1 s in

in kip s 2
A2 m112 = ( 0.0977 ) 347.76 2 0.27951 ( 0.380) = 3.609 kips
L2
f12 =
M2 s in

in kip s 2
A1m221 = (1.0987 ) 309.12 2 0.09317 (1) = 31.643 kips
L1
f 21 =
M1 s in

in kip s 2
A2 m222 = ( 0.0977 ) 347.76 2 0.09317 (1) = 3.166 kips
L2
f 22 =
M2 s in

Base Shear

N
V0 n = f jn
j =1

2
V01 = f j1 = f11 + f 21 = 83.159 kips + 31.643 kips = 114.80 kips
j =1

2
V02 = f j 2 = f12 + f 22 = 3.609 kips 3.166 kips = 0.443 kips
j =1

Calculate Maximum Base Shear, V0 max

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Earthquake Engineering Ahmed Elgamal
Michael Fraser
Solved MDOF and Modal Analysis Example

V0 max = (V01 )2 + (V02 )2 = (114.80 kips )2 + (0.443 kips )2 = 114.80 kips

Base Moment

N
M 0 n = f jn d j
j =1

2
M 01 = f j1d j = f11d1 + f 21d 2 = 83.159 kips(180 in ) + 31.643 kips(324 in ) = 25221.0 kips in
j =1

2
M 02 = f j 2 d j = f12 d1 + f 22 d 2 = 3.609 kips(180 in ) 3.166 kips(324 in ) = 376.16 kips in
j =1

Calculate Maximum Base Moment, M0 max

M 0 max = (M 01 )2 + (M 02 )2 = (25221.0 kips in )2 + ( 376.16 kips in )2 = 25223.8 kips in = 2102.0 kips ft

(f) Find a 0 and a 1 in c = a 0 m + a 1k for a viscous damping of 5% in modes 1 and 2.

1 = 2 = = 0.05

2i j 2(10.097 rad s )(33.734 rad s )

a0 = = (0.05) = 0.777 rad s
i + j 10.097 rad s + 33.734 rad s

= (0.05)
2 2 1
a1 = = 0.00228
i + j 10.097 rad s + 33.734 rad s rad s

a0 = 0.777 rad s & a1 = 0.00228 s rad