CIE5260-2017 - L17 - SSI in Earthquake Engineering (Part I)

Structural Response to Earthquakes
CIE 5260
Dr. Apostolos Tsouvalas
Section Offshore Engineering

Department of Hydraulic Structures
Faculty of Civil Engineering and Geosciences
a.tsouvalas@tudelft.nl
Tel.: 015 27 89225, Room 6.61
Lecture 17
CIE 5260
Delft, 2017
1/ 57
Contents of lecture 17
Soil-Structure Interaction in Earthquake Engineering

List of contents:
Introduction
Introduction
Effects of soil-structure interaction on the response of structures
Effects of SSI
Conceptual formulation of SSI problem
Conceptual formulation of
SSI problem - Direct modelling method
Modelling of soil-foundation - Substructure method
system
Modelling of the soil-foundation system
Case study
- Shallow foundation
- Foundation on piles
Case study: Derivation of soil dynamic stiffness
CIE 5260
Structural Response to
Earthquakes
Lecture 17
2/ 57
Soil-Structure Interaction (SSI) in
Earthquake Engineering
List of contents:
Introduction
Effects of SSI
SSI problem
Modelling of soil-foundation
system
Case study
CIE 5260
The mechanism of soil-structure interaction
Earthquakes
in Earthquake Engineering
Lecture 17
3/ 57
Effects of SSI on the structural response
The seismic motion (in all seismic design codes) is

prescribed as a free-field motion at the ground surface.
List of contents:
The presence of structures resting on top of the soil alters

Introduction
the free-field ground motion into some (unknown) ground
Effects of SSI
motion directly beneath the structure.
SSI problem
The ground motion beneath the structure needs to be
system
determined together with the response of the structure.
Case study
When is SSI relevant?

What types of analysis are possible when SSI needs to
CIE 5260
be considered?
Earthquakes
Lecture 17
4/ 57
Effects of SSI on the structural response
The reaction of soil changes the vibration characteristics of the

structure resting on top of it.
List of contents:
The resulting soil-structure response depends strongly on the
Introduction type of foundations shallow foundations, foundations on piles.
Effects of SSI
The fundamental structural period is increased together with
SSI problem
extra energy dissipation due to radiation of waves into the
underlying soil.
system
Structural response may be amplified in some cases (e.g. soil
Case study resonances).
CIE 5260
Earthquakes
Lecture 17
A soil column may amplify the
structural response at certain
Energy radiated away from the periods (Lecture 5)
structure on the form of waves
5/ 57
Engineering practice regarding SSI
In engineering practice, SSI is very often neglected due to:

List of contents:
Introduction
Structural period elongation moves the eigenperiods
Effects of SSI
outside the energy containing periods of the ground motion.
SSI problem
Extra damping radiation of waves carrying energy away
from the vibrating structure.
system
Case study
Is this a conservative choice?

CIE 5260
Earthquakes
Lecture 17
6/ 57
Engineering practice regarding SSI
The inconsideration of SSI is not always justified:

List of contents:
Period elongation is not always beneficial;

Introduction
Effects of SSI Deformation can be (significantly) underestimated when

dynamic SSI is neglected;
SSI problem
Radiation damping may not be enough to dissipate the
energy due to structural vibrations;
system
Case study Soil amplification effects may be overlooked.
CIE 5260 Only through physical understanding of the phenomenon of

Earthquakes SSI one may (conservatively) neglect or (properly) consider
Lecture 17
SSI in seismic design of structures.
7/ 57

List of contents:
Introduction
Introduction
Effects of SSI
Conceptual formulation
of SSI problem - Direct modelling method
Modelling of soil-foundation - Substructure method
system
Case study
CIE 5260
Earthquakes
Lecture 17
8/ 57
Formulation of the SSI problem
List of contents: Two principal ways to consider SSI in seismic design:

Introduction
I. Direct method valid for both linear and non-linear
Effects of SSI
systems
of SSI problem
II. Substructure method valid for linear systems only
system
Case study
Focus will be placed on the substructure method of analysis.
CIE 5260
Earthquakes
Lecture 17
9/ 57
Direct approach
List of contents:
Introduction
Effects of SSI
of SSI problem
system
Case study
Both soil and structure are modelled in a single step using a FE model.
CIE 5260
Structural Response to (t ) + Cx (t ) + Kx(t ) =
Mx b (t )
Mru
Earthquakes
Lecture 17
u b (t ) is the prescribed motion at the boundaries of the soil

(truncated) domain.
10/ 57
Direct approach
Key issues related to the direct approach:

List of contents:
o Treatment of the truncated soil boundaries;
Introduction
o Mesh size should be fine shortest wavelength;
Effects of SSI
o Soil domain should be large enough longest wavelength;
of SSI problem
Modelling of soil-foundation o Special consideration is needed for soil damping;

system
Case study o FE package should be able to model both structure and soil with
equal rigour;
o Provides limited insight into the dynamics of the coupled system;
o Computationally very demading inefficient modelling approach

CIE 5260
Structural Response to applicable only to few special cases.
Earthquakes
Lecture 17
11/ 57
Substructure method
List of contents:
Introduction
Effects of SSI
of SSI problem
system
Case study
Structure (domain I) FE model of the structure (or any

other discrete or continuous model of finite dimensions)
CIE 5260 Soil medium (domain II) soil reaction is represented

Earthquakes by dynamic stiffness matrix of the foundation-soil system;
Lecture 17
Soil-Structure interface force equilibrium and

displacement compatibility should be satisfied at all times.
12/ 57

List of contents:
Introduction
Introduction
Effects of SSI
Modelling of soil- - Substructure method
foundation system
Case study
CIE 5260
Earthquakes
Lecture 17
13/ 57
Classification of foundation types
List of contents: Rigid

Introduction
Studied in this
course
Effects of SSI
Shallow foundation
Structure supported
SSI problem
directly on the ground
Modelling of soil- surface
foundation system Foundation Flexible
Case study
Deep foundation Not studied in
this course!
Structure supported by
piles embedded into the
soil
CIE 5260
Earthquakes
Lecture 17
14/ 57
Modelling methods for dynamic soil
resistivity
List of contents:
Frequency dependent
Introduction Local springs and
dashpots
Modelling methods for soil-
Effects of SSI
(dynamic springs)
foundation systems
SSI problem
Frequency independent
Modelling of soil-
foundation system
Case study Boundary Element (BE)

approach
Finite Element (FE)

CIE 5260
approach
Earthquakes
Lecture 17
Semi-analytical
methods
15/ 57

List of contents:
Introduction
Introduction
Effects of SSI
foundation system
Case study
CIE 5260
Earthquakes
Lecture 17
16/ 57
Shallow foundations
A foundation system in which the structure rests either
on individual footings on top of a uniform (and rather
rigid) mat foundation;
List of contents:
Introduction For a rigid foundation block, the motion is fully

Effects of SSI determined in space by assigning to it six degrees of
Conceptual formulation of freedom: three translational and three rotational;
SSI problem
Modelling of soil-
foundation system
Case study
Figure: Rigid Foundation block on top of a soil medium.

Source: G. Gazetas, Foundation vibrations, 1991.
CIE 5260
Earthquakes
Lecture 17
Task: The dynamic reaction of the soil to the shallow
foundation needs to be determined.
17/ 57
Frequency-dependent stiffness and
damping
List of contents:
Introduction
Effects of SSI
SSI problem
Modelling of soil-
foundation system
Case study
The dynamic reaction of the soil to a rigid foundation

CIE 5260 block can be fully described by a complex-valued [6x6]
Earthquakes dynamic stiffness matrix.
Lecture 17
18/ 57
Definition of dynamic stiffness
z (t ) + Rz (t ) =
I. Force balance mu Fz (t )
List of contents:
LB
Introduction
Effects of SSI
II. Reaction force Rz (t ) =
00
z ( x, y ,t )dxdy
SSI problem
Modelling of soil- Fourier Domain:

foundation system
Case study m 2u z ( ) + R z ( ) =
Fz ( )
R z ( ) = kz ( ) u z ( )
CIE 5260
(m + kz ( ))u z ( ) =
Earthquakes
Lecture 17
2
Fz ( )
19/ 57
Definition of dynamic stiffness
List of contents:
Introduction
Effects of SSI
SSI problem
Modelling of soil-
kz()
foundation system
Case study
CIE 5260
Earthquakes
Lecture 17
How can we determine the soil dynamic
stiffness accurately?
20/ 57
Derivation of the dynamic stiffness for
vertical motion
List of contents:
Introduction
Effects of SSI
SSI problem
Modelling of soil-
foundation system
R z ( )
k z ( ) =
Case study
u z ( )
Therefore the determination of kz ( ) requires the calculation of

CIE 5260
Structural Response to the soil dynamic displacement u z ( ) caused by the application of
Earthquakes
Lecture 17
a unit reaction force on top of a massless, rigid foundation.
21/ 57
vertical motion
List of contents:
Introduction
Effects of SSI
SSI problem
Modelling of soil-
foundation system
Case study
Let R z ( ) =1
R z ( ) 1
CIE 5260 u z ( ) = = 1 fz ( ) = 1 kz ( ) = fz ( )
Earthquakes
kz ( ) kz ( ) kz ( )
Lecture 17
fz ( ) is the flexibility and kz ( ) is the dynamic stiffness.
22/ 57
vertical motion
List of contents:
A foundation block has 6 degrees of freedom.
Introduction
Application of a vertical unit force yields the first column of
Effects of SSI
the flexibility matrix:
SSI problem
fz ( ) = [ f zz ; f zy ; f zx ; f z ,rx ; f z ,ry ; f z ,rz ]T
Modelling of soil-
foundation system
Case study
The rest of the columns are obtained by application of unit
forces at each of the six degrees of freedom.
CIE 5260
Earthquakes
Lecture 17
23/ 57
Derivation of the dynamic stiffness
matrix for horizontal motion
List of contents:
Introduction
Effects of SSI
SSI problem
Modelling of soil-
foundation system
Case study
Derivation of the third column of the flexibility matrix:

CIE 5260
Earthquakes fx ( ) = [ f xz ; f xy ; f xx ; f x ,rx ; f x ,ry ; f x ,rz ]T
Lecture 17
24/ 57
Derivation of the complete dynamic
stiffness matrix
List of contents:
The complete flexibility matrix is built up by gathering all
components obtained column-by-column:
Introduction
Effects of SSI f ( ) =[ fz ; fy ; fx ; frx ; fry ; frz ]

SSI problem
Modelling of soil-
The dynamic stiffness matrix is obtained by direct inversion of
foundation system the flexibility matrix:
Case study
( ) = f ( ) 1
K

66 66
CIE 5260
Earthquakes
Lecture 17 Note that instead of obtaining the flexibility matrix first and then
invert it, the dynamic stiffness matrix can be derived directly by
applying unit displacement (or rotation) in each degree of freedom.
25/ 57
Models used for derivation of the
dynamic soil stiffness matrix
List of contents:
For the determination of the stiffness matrix, one
Introduction can use:
Effects of SSI
Conceptual formulation of FE models;

SSI problem
Modelling of soil-
BE models;
foundation system
Semi-analytical or analytical models;
Case study
In-situ measurements;
Any combination of the above.
CIE 5260
Earthquakes
Lecture 17
26/ 57
Properties of the dynamic stiffness
matrix
List of contents: ( ) is a function of:

K
Introduction
the shape of the foundation-soil system (circular,
Effects of SSI
rectangular, etc.);
SSI problem
the amount of embedment of the foundation block into the
Modelling of soil-
foundation system
soil (shallow, partially or fully embedded foundation);
Case study
the soil profile;
the mode of vibration and the excitation frequency;
CIE 5260
the flexibility of the foundation block here we focus on
Earthquakes
rather rigid foundation blocks.
Lecture 17
27/ 57
Soil stiffness and soil damping
The complex-valued dynamic stiffness matrix can be separated

into the real and imaginary parts:
List of contents:
Introduction
( ) Re K
=
K (
( ) + i Im K)
( )( )
Effects of SSI
Represents soil Represents soil
SSI problem
stiffness and damping
Modelling of soil- added mass
foundation system
Case study
The complex-valued dynamic stiffness matrix can be re-written

in the following form:
=
K ( ) K ( )
( ) + iC
CIE 5260
Earthquakes
Lecture 17
( ) = Re ( K
( ) ) ( )
=
C ( )
C + 2 / K
( )
K
radiation damping material damping
28/ 57
Steps for derivation of the dynamic
stiffness matrix
List of contents:
Step 1: treat the soil (half-space, layered soil) as
Introduction a 3D continuum;
Effects of SSI
SSI problem
Step 2: Compose the total dynamic soil stiffness
Modelling of soil-
by application of unit displacement at each
foundation system degree of freedom;
Case study
Step 3: represent the exact reaction force of the

soil to the rigid foundation block as:
F s ( ) = K
( )u ( )
CIE 5260
Earthquakes
Lecture 17
29/ 57
Use of tables in engineering design
For engineering design purposes, one can use tables and

List of contents:
formulae, i.e. the ones given by G. Gazetas, Foundation

Introduction
Effects of SSI vibrations , 1991, p553-593 for a direct determination of

Conceptual formulation of the soil impedance matrices in various configurations provided
SSI problem
Modelling of soil- that the foundation block can be considered as rigid.

foundation system
Case study
These tables are also presented in the lecture notes. Hereafter
we discuss their use in application to a real case study.
CIE 5260
Earthquakes
Lecture 17
30/ 57
Use of tables in engineering design
List of contents:
Introduction
Effects of SSI
SSI problem
Modelling of soil-
foundation system
Case study
CIE 5260
Link to Table for case (a)
Earthquakes
Lecture 17 Link to Table for case (b)
Link to Table for circular foundations
31/ 57
Example: derivation of dynamic
stiffness for rigid shallow foundation
List of contents:
Introduction
For the example discussed in the following slides we
Effects of SSI
have made use of engineering tables provided in G.
Gazetas, Foundation vibrations , 1991, p553-
SSI problem
593. The tables are also included in the lecture
system
notes.
Case study
CIE 5260
Earthquakes
Lecture 17
32/ 57
Dynamic stiffness-use of tables
Illustrative example:
= =
L / B 3.5, Ab 57.6m 2 ,
I bx 82m 4 , I by 904m 4
= =
f 30Hz, Vs 310m/s
G =192MPa
= 2000kg/m3
= 0.33
= 0.05
CIE 5260
Delft, 2017
33/ 57
Vertical mode (z)
= =
Ab 57.6m 2
, L 7.45m
=
G 192Mpa, 0.33
A
= b2
4L
Static stiffness:
K z 2GL (0.73+1.54 0.75 ) 5500103 kN/m

=
1
CIE 5260
Delft, 2017
34/ 57
Vertical mode (z)
Dynamic stiffness
coefficient:
a0 =
= B 2 302.15
Vs 192106 /2000
=1.308
1 2
k z 0.93
a0 = B
Vs
CIE 5260
Delft, 2017
35/ 57
Vertical mode (z)
Dynamic stiffness:
K z = K z k z = 5500103 0.93=5.1106 kN/m
CIE 5260
Delft, 2017
36/ 57
Vertical mode (z)
Radiation dashpot
coefficient:
cz =1.0
a0 = B
Vs
CIE 5260
Delft, 2017
37/ 57
Vertical mode (z)
= 3.4 V= =
z 1.0, 0.05
VLa s, c
(1 )
Radiation dashpot coefficient:
C z = ( VLa Ab )cz = 2.050057.61.0 5.8104 kN s/m
Total damping:
2Kz
C z ( VLa Ab )cz +
= 6.0104 kN.s/m

CIE 5260
Delft, 2017
38/ 57
Lateral horizontal mode (y)
Static stiffness:
K y= 2GL (2 + 2.50 0.85 ) 4790103 kN/m

2
CIE 5260
Delft, 2017
39/ 57
Dynamic stiffness
coefficient:
k y 1.2
CIE 5260
Delft, 2017
40/ 57
Dynamic stiffness:
K y = K y k y = 4790103 1.2 5.8106 kN/m
CIE 5260
Delft, 2017
41/ 57
Radiation dashpot
coefficient:
c y =1.0
CIE 5260
Delft, 2017
42/ 57
= =
c y 1.0, 0.05
C y = ( Vs Ab )c y = 2.031057.61.0 3.6104 kN s/m
Total damping:
2K y
C y ( Vs Ab )c y +
= 3.9104 kN.s/m

CIE 5260
Delft, 2017
43/ 57
Rocking mode (rx)
Static stiffness:
() ( )
0.25
=K rx G I 0.75 L 2.4 + 0.5 B 2.7107 kN m
1 bx B L
Dynamic stiffness coefficient:
k rx 1 0.20a0 =
0.74
Dynamic stiffness:
K rx = K rx k rx = 2.7107 0.74 2.0107 kN m
CIE 5260
Delft, 2017
44/ 57
Rocking mode (rx)
Radiation dashpot
coefficient:
crx = 0.5
a0 = B
Vs
CIE 5260
Delft, 2017
45/ 57
Rocking mode (rx)
= =
crx 0.5, 0.05
Crx= ( VLa I bx )crx= 2.050082.00.5 4.1104 kN sm
Total damping:
2 K rx
Crx ( VLa I bx )crx +
= 5.2104 kN.sm

CIE 5260
Delft, 2017
46/ 57
Torsional mode
Static stiffness:

( )
10
= K t GJ b 4 +11 1
0.75 B 1.5108
kN m J=b I bx + I by
L

Dynamic stiffness coefficient:
kt 1 0.14a0 0.82
Dynamic stiffness:
K t =K t kt 1.5108 0.82 1.2108 kN m
CIE 5260
Delft, 2017
47/ 57
Torsional mode
Radiation dashpot
coefficient:
ct = 0.90
CIE 5260
Delft, 2017
48/ 57
Torsional mode
= =
ct 0.90, 0.05
C=t ( Vs J b )c=t 2.03109850.90 5.5105kN sm
Total damping:
2 Kt
Ct ( Vs J b )ct +
= 6.1105 kN.sm

CIE 5260
Delft, 2017
49/ 57
Dynamic matrix
K z 0 0 0 C z 0 0 0
0 Ky 0 0 0 Cy 0 0
( )
K + i
0 0 K rx 0 0 0 Crx 0

0 0 0 Kt 0 0 0 Ct
CIE 5260
Delft, 2017
50/ 57
Dynamic matrix
5.1106 0 0 0

0 5.8106 0 0
K ( ) =
0 0 2.0107 0
8
0 0 0 1.210
6.0104 0 0 0

0 3.9104 0 0
+(2 30) i
0 0 5.2104 0
5
0 0 0 6.110
CIE 5260
Delft, 2017
51/ 57
Frequency-independent springs and
dashpots
The use of frequency-independent springs and dashpots
List of contents:
allows one to analyse the system in time domain using
Introduction
classical approaches such as modal analysis.
Effects of SSI
SSI problem
Frequency-independent springs and dashpots should be used
Modelling of soil-
foundation system with great caution because:
Case study
The true soil response is (necessarily) frequency-dependent;
Earthquake excitation is broadband;
Multiple modes are usually excited in a structure.
CIE 5260
Earthquakes
Lecture 17
52/ 57
Frequency-independent springs and
dashpots for a circular rigid foundation block
List of contents:
4Gr 8Gr 8Gr 3
Introduction =kz = ; kh = ; k ;
1 2 3(1- )
Effects of SSI
0.56Gr 3 1
=k h = ; k 5.66= r ; (
3
).
SSI problem
3(1- ) 3
3 vs r 3 4.6 vs r 2 0.4 vs r 4
Modelling of soil-
foundation system
=Cr = ; Ch = ; C ;
Case study 1 2 1
0.4 vs r 3 1
=C h = ; C 0.8 = vs r 4 ( )
2 3
CIE 5260
Earthquakes
The subscript , , , stand for vertical, horizontal,
Lecture 17
rocking and torsional motion, respectively.
53/ 57

List of contents:
Introduction
Introduction
Effects of SSI
foundation system
Case study
CIE 5260
Earthquakes
Lecture 17
54/ 57
Foundations on piles
Models used to treat pile foundations:

List of contents:
Introduction Dynamic Winkler-type or Kelvin-Voigt type

Effects of SSI foundation (represent soil reaction) acting on piles;
SSI problem Analytical functions (or semi-analytical) that neglect
Modelling of soil- secondary components of deformation and forces
foundation system along the pile-soil interface and enforce BCs at the
Case study interface in terms of soil modes;
FE or FE-BE formulations;
Analytical or semi-analytical formulations that focus

CIE 5260 on dynamic impedance matrix at the level of the
Earthquakes pile-head along.
Lecture 17
55/ 57
Use of engineering tables in the
design
List of contents:
Introduction
Effects of SSI
SSI problem
Modelling of soil-
foundation system
Case study
CIE 5260 The active length of a pile. Three characteristic soil profiles.
Earthquakes
Lecture 17
Link to Table for sway and rocking impedance

Link to Table for axial impedance
56/ 57
Reading material
o Lecture slides
o Lecture notes: Sections 4.1-4.3 of Lecture Notes CIE5260
CIE 5260
Earthquakes
Lecture 17
57/ 57

CIE5260-2017 - L17 - SSI in Earthquake Engineering (Part I)

Uploaded by

Document Information

Original Description:

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

CIE5260-2017 - L17 - SSI in Earthquake Engineering (Part I)

Uploaded by

Copyright:

Available Formats

Structural Response to Earthquakes

Section Offshore Engineering

Soil-Structure Interaction in Earthquake Engineering

Case study: Derivation of soil dynamic stiffness

The seismic motion (in all seismic design codes) is

The presence of structures resting on top of the soil alters

When is SSI relevant?

The reaction of soil changes the vibration characteristics of the

In engineering practice, SSI is very often neglected due to:

Is this a conservative choice?

The inconsideration of SSI is not always justified:

Period elongation is not always beneficial;

Effects of SSI Deformation can be (significantly) underestimated when

Case study Soil amplification effects may be overlooked.

CIE 5260 Only through physical understanding of the phenomenon of

Soil-Structure Interaction in Earthquake Engineering

Case study: Derivation of soil dynamic stiffness

List of contents: Two principal ways to consider SSI in seismic design:

Focus will be placed on the substructure method of analysis.

u b (t ) is the prescribed motion at the boundaries of the soil

Key issues related to the direct approach:

Modelling of soil-foundation o Special consideration is needed for soil damping;

o Provides limited insight into the dynamics of the coupled system;

o Computationally very demading inefficient modelling approach

Structure (domain I) FE model of the structure (or any

CIE 5260 Soil medium (domain II) soil reaction is represented

Soil-Structure interface force equilibrium and

Soil-Structure Interaction in Earthquake Engineering

Case study: Derivation of soil dynamic stiffness

List of contents: Rigid

Case study Boundary Element (BE)

Finite Element (FE)

Soil-Structure Interaction in Earthquake Engineering

Case study: Derivation of soil dynamic stiffness

Introduction For a rigid foundation block, the motion is fully

Figure: Rigid Foundation block on top of a soil medium.

The dynamic reaction of the soil to a rigid foundation

Modelling of soil- Fourier Domain:

Therefore the determination of kz ( ) requires the calculation of

fz ( ) is the flexibility and kz ( ) is the dynamic stiffness.

Derivation of the third column of the flexibility matrix:

Effects of SSI f ( ) =[ fz ; fy ; fx ; frx ; fry ; frz ]

Conceptual formulation of FE models;

List of contents: ( ) is a function of:

the mode of vibration and the excitation frequency;

The complex-valued dynamic stiffness matrix can be separated

The complex-valued dynamic stiffness matrix can be re-written

Step 3: represent the exact reaction force of the

For engineering design purposes, one can use tables and

formulae, i.e. the ones given by G. Gazetas, Foundation

Effects of SSI vibrations , 1991, p553-593 for a direct determination of

Modelling of soil- that the foundation block can be considered as rigid.

K z 2GL (0.73+1.54 0.75 ) 5500103 kN/m

K z = K z k z = 5500103 0.93=5.1106 kN/m

C z = ( VLa Ab )cz = 2.050057.61.0 5.8104 kN s/m

K y= 2GL (2 + 2.50 0.85 ) 4790103 kN/m

K y = K y k y = 4790103 1.2 5.8106 kN/m

Radiation dashpot coefficient:

C y = ( Vs Ab )c y = 2.031057.61.0 3.6104 kN s/m

Radiation dashpot coefficient:

Crx= ( VLa I bx )crx= 2.050082.00.5 4.1104 kN sm

Radiation dashpot coefficient: