Professional Documents
Culture Documents
107]
A set of formulas for the dynamic stiffness of a pile (spring and dashpot coefficients) to use in inertial
interaction analysis is proposed, utilising elastodynamic solutions. The method is based on solving a
Lagrangian system of coupled equations for the pile and the soil motions for a range of vibration
frequencies and also by considering the vertical, radial and angular stresses on the pile–soil interface.
The solution extensively uses Bessel functions of the second kind and results are compared with
finite-element models and field pile load tests. A dimensionless frequency related to the well-known
active length of pile is proposed to separate inertial and kinematic interactions. A formula is also
proposed for estimation of the active length of a pile in a two-layered soil. A specific depth is
introduced beyond which soil layering does not have any appreciable effects on dynamic stiffness. It
is commonly (rather arbitrarily) assumed that the first natural frequency of soil strata differentiates
radiation (geometric) damping from hysteretic (material) damping for both types of interactions of the
pile–soil system. In contrast, this paper proposes a new formulation based on relative pile–soil
stiffness and frequency of the pile head loading to differentiate these two classes of damping
behaviour. The application of the formulation is shown through an example.
1
2 SHADLOU AND BHATTACHARYA
Table 1. Some recommendations for Winkler-type spring and dashpot coefficients of cylindrical piles
0:108 1:108
: Es 1
Biot (1937) 1 315 Es –
Ep 1 2
0:836 Es 1=12
Vesic (1961) Es –
1 2 Ep
Lysmer & Richart (1966) – 2rs Dp (V s þ V p )
Davisson (1970) and Prakash & Sharma (1990) 67S u –
1:67 Es 1=12
Yoshida & Yoshinaka (1972) Es –
1 Ep
2
Undrained shear strength of the cohesive soils. Note also that E is Young’s modulus of soil; E is equivalent elastic modulus of pile; is
s p s
hysteretic damping of soil material; Dp is pile diameter; V La is the so-called Lysmer analogue wave velocity; is Poisson ratio of soil.
problem, see Fig. 1(a) for details. Hamilton’s principle for a and W is the work done by external loading. In order to
conservative system states that the integral of the difference solve this equation, it is assumed that the displacement of an
between kinetic and potential energies yields to a zero individual point can be described by the following displace-
variation. According to the Lagrangian theorem, the Lagran- ment vector obtained from the separation of variables in
gian function (L) is given by equation (1). cylindrical coordinates
8 9 8 9
u º cos(Ł)eiøt >
L ¼ T UT þ W (1) >
< r> = > < (z) (r) =
u(z,t,r,Ł) ¼ uŁ ¼ º(z) j(r) sin(Ł)eiøt (2)
where T is kinetic energy and U T is total potential energy, >
: > ; > : >
;
which also contains the strain energy stored in the system, uz 0
M(ω,t)
P ⫽ Po eiωt P ⫽ Po eiωt
N
P(ω,t) Layer 1
2r0 kx
Layer 1 H1 Layer 2
Layer 2 H2 Cx
⫽
...
L r
Layer j Hj
Layer n Hn Layer n
Layer n ⫹ 1
Half-space
Fictitious
pile
(a) (b)
Fig. 1. Statement of the problem: (a) theoretical model; (b) inertial interaction and Winkler coefficients
DYNAMIC STIFFNESS OF PILE IN A LAYERED ELASTIC CONTINUUM 3
where º(z,t) , (r) , j(r) are horizontal pile displacement at the strain tensor in cylindrical coordinates and after some
depth z and time t, horizontal soil displacement factor manipulations, the following equation is obtained for the
(longitudinal displacement) in radial direction located at a strain energy function stored in soil elements
radius r from the pile axis, and horizontal soil displacement
factor in circumferential direction located at a radius r ð1
1 ð" 2
@
from the pile axis, respectively. ø is the frequency of U T;1 ¼ (ºs þ 2Gs ) º2
interest. Equation (2) is similar to the form presented by 2 @r
0 r0
Basu et al. (2009) if dynamic terms (eiøt ) are omitted. In
this study, it is assumed that vertical displacement of the
soil is neglected. Ł is the angle between the radius of an @ º 2
þ 2ºs ( þ j)
individual element and the loading direction. In order to @r r
link the pile motion to a specific element, the following
boundary conditions are applied to each individual infinite- º 2
z¼L
In the above equation, the superimposed dot ( _ ) and þ Ep I P º0(z)
9(z¼0,Lp ) jz¼0 p þ P
(z) jz¼0 M
9(z) jz¼0 ¼ 0
superimposed dash ( 9 ) represent the derivation with respect (18)
to time (temporal) and z (spatial) aspects respectively and
the equation can be simplified by a short, compact form as
described in equation (12).
ðð where
S¼ _ º9z , º0z , , j, 9r , j9r )dz r dr
L(z, r, º, º, (12) (
ð
1 2
d d dj
Because the above Lagrangian comprises three kinds of ¼ r(ºs þ 2Gs ) þ 2( þ j) ºs Gs
functions (º(z,t) , (r) , j(r) ), the Euler–Lagrange equation of dr dr dr
r0
the action S could be separated by equations (13), (14) and
(15) as 2 )
8 " 9 1 2 dj
ð <1
1 ð # =
þ (ºs þ 3Gs )( þ j) þ rGs
r dr
dr
@L @ @L @ @L @ 2 @L
þ 2
(z) dz 8 " #
: @º @z @º9z @t @ º_ @z @º0z ; > Ð
1
r0 0 >
> N rGs ( þ j )dr
2 2
0 < z , Lp
z¼1 z¼1 >
>
>
< r0
@L @ @L @L
dr þ
(z) þ
9 ˆ¼
@º z0 z¼0
( z)
@º9z @z @º0z > " #
z¼0 >
> Ð
1
>
: N r rGs ( þ j )dr þ r0 Gs
>
>
2 2 2
Lp < z , 1
þ P
(z) z¼0 M
9(z) z¼0 ¼ 0 0
(13) 8 1
8 9 > Ð
ð
ð >1
1 > >
> rrs (2 þ j2 )dr 0 < z , Lp
< @L @ @L = @L r¼1 >
>
< r0
(r) dr dz þ (r) ¼0
>
:r @ @r @9r >
; @9r r¼r0 ¼
>
> Ð
1
0 0 >
>
: rrs ( þ j )dr þ r0 rs
> 2 2 2
Lp < z , 1
(14) r0
8 9
1 ð
ð >1< >
= (19)
@L @ @L @L r¼1
(r) dr dz þ (r) ¼0
>
:r @j @r @j9r >
; @j9r r¼r0
0 0 One can then write the corresponding equation for the
(15) pile embedded in n-layered soil overlying the half-space, as
shown in Appendix 1. To extend the formulation to soil
Because the soil motion is restricted by fixed boundary motion, the following system of differential equations needs
conditions and the pile motion is a free boundary condition at to be solved
DYNAMIC STIFFNESS OF PILE IN A LAYERED ELASTIC CONTINUUM 5
8
1ð > 1d d dj S 1 S 3 (S 1 þ S 3 )( þ j)
1d d dj S 1 S 3 >
> S1 r þ
S1 r þ >
>
r dr dr dr r >
> r dr dr dr r r2
>
>
r0 < (S þ S ø2 ) ¼ 0
4 5
> 1d
> dj d S 1 S 3 (S 1 þ S 3 )( þ j)
(S 1 þ S 3 )( þ j) (20) >
> S r
(S 4 þ S 5 ø ) (r) dr
2 >
> 3
r 2 >
> r dr dr dr r r2
>
:
(S 4 þ S 5 ø2 )j ¼ 0
d (23)
þ (r) S 1 r þ S 2 ( þ j)jr¼1
r¼r0 ¼ 0
dr
1ð Owing to the displacement vector (equation (2)), the
1d dj d S 1 S 3 following dilatational and rotational strains have been devel-
S3 r oped as
r dr dr dr r
r0 8
>
> 1 d(rU r ) 1 dU Ł 1 d(r) j
< ¼ þ ¼ þ
(S 1 þ S 3 )( þ j) (21) r dr r dŁ r dr r
(S 4 þ S 5 ø 2
)j (r) dr (24)
r2 >
>
:w ¼ 1 d(rU Ł ) 1 dU r 1 d(rj)
¼ þ
r dr r dŁ r dr r
dj r¼1
þ (r) S 3 r þ S 2 ( þ j)jr¼r0 ¼ 0
dr Substituting equation (24) into equation (23) results in
8
>
> d S 3 dw
where > S1
< (S 4 þ S 5 ø2 ) ¼ 0
dr r dŁ
(25)
ð
1 >
> S 1 d dw
>
: þ S3 (S 4 þ S 5 ø )j ¼ 0
2
S 1 ¼ (ºs þ 2Gs )º2 dz r dŁ dr
0
The above equation can be represented by introducing the
following potential functions
ð
1
8 8
S2 ¼ ºs º2 dz >
> d 1 d >
> d
< Ur ¼ þ < ¼ þ
dr r dŁ dr r
0 ) (26)
>
>
: UŁ ¼ 1 d d >
>
: d
j¼
ð
1 r dŁ dr r dr
S3 ¼ Gs º2 dz (22)
Finally, combining equations (25) and (26) gives
0
(
S 1 =2 (S 4 þ S 5 ø2 ) ¼ 0
ð
1 2 (27)
dº S 3 =2 (S 4 þ S 5 ø2 ) ¼ 0
S4 ¼ Gs dz
dz
0 where =2 is Laplacian in polar coordinates. Equation (27)
can be solved by Bessel functions as follows
ð
1
H ⫽ 20 m
2ð
And,
" #
p(z) d dj
K (z) ¼ ¼ r0 (ºs(z) þ 2Gs(z) ) Gs(z)
º(z) dr r¼r0 dr r¼r0
(33)
The above system of equations can conveniently be solved
by conventional mathematical tools. Fig. 2. Comparisons with 3D finite-element model (in this figure,
pile diameter has been scaled by two times the real value)
Validation
Validation by comparing with finite-element model. Finite-
element analyses have been carried out to evaluate the research is shown in Table 3, which clearly shows the
validity of the proposed method. The open system for efficiency of the present formulation.
earthquake engineering simulation (Opensees) based 3D
finite-element code for pile foundations in elastic media
(Mazzoni et al., 2006) has been used to analyse the validity
Validation by comparing with experimental pushover loa-
of the developed solution. Fig. 2 depicts the 3D finite-
ding. McClelland & Focht (1958) performed a static push-
element model. Soil is modelled as a linear elastic material
over test together with external bending moment on a pile in
and a free head pile is subjected to dynamic pushover lateral
normally consolidated clay. Details of soil and pile properties
load. Pile displacement and bending moment have been used
have been back-calculated by Randolph (1981) (see also Basu
as benchmarks for the proposed solution. Table 2 shows the
et al. (2009)). This pile was loaded by a lateral force
detail of the soil and pile properties. This sample shows
P ¼ 300 kN, bending moment M ¼ 265 kN m and zero
the result of a single pile embedded in elastic half-space. The
axial loading. Randolph (1981) analysed this example with a
boundaries of the soil model in the finite-element model were
finite-element model assuming a linear variation of soil shear
extended to a horizontal distance of 50Dp from the centre of
modulus with depth (circa 0.8z MN/m3 ) and Poisson ratio of
pile to avoid spurious wave reflection into the system. (Seed
0.3. The same assumptions for soil and pile properties are
& Lysmer (1978) proposed 25 Dp for this limitation.) Fig. 3
considered in this research. Fig. 7 compares the results
illustrates the pile displacement for static and dynamic
obtained from field measurement, finite-element model and
pushover tests where the dynamic test was carried out for a
the current analysis. A very close match is evident.
vibration frequency of 21.06 Hz (as high-frequency vibra-
tion). Fig. 4 demonstrates pile bending moment for the tests.
It is observed that the proposed method provides an
acceptable match with the 3D finite-element model. Figs 5 APPLICATION OF THE FORMULATION
and 6 on the other hand, plot the normalised soil Inertial interaction
displacement ( and j) as defined in equation (2) against When a pile is vibrating loaded at its top, it imparts
normalised radial distance from the pile centre at t ¼ 0 and energy to the system. Part of the energy is then transferred
t ¼ 0:285 s, which correspond to static and dynamic loading, to the soil and it eventually decays spatially with depth (Fig.
respectively. These figures represent the validity of the model 1), as well as radially. Depending on the soil properties near
with respect to reduction of soil displacement at distances the pile top, large bending moments are generated at and
from the pile centre. The comparison of the computation time below the pile head. The parameters that are required in the
between the 3D finite-element model and the presented analysis are
2 2
4
4
Depth: m
Depth: m
6
6
8
8
10
⫺0·001 0·001 0·003 0·005
10
Displacement: m ⫺20·0 20·0 60·0
(a)
Bending moment: kN m
(a)
0
2
Present research
4
Finite-element model
Depth: m
4
Depth: m
6 Present research
6
Finite-element model
8
10
⫺0·001 0·001 0·003 0·005
Displacement: m
(b)
10
⫺20·0 20·0 60·0
Fig. 3. Pile displacement in respect of different types of pile head
Bending moment: kN m
vibration: (a) static pushover test; (b) dynamic pushover test with
(b)
vibration frequency 21.06 Hz
Fig. 4. Pile bending moment in respect of different types of pile
(a) loading (vibration frequency, magnitude and type of head vibration: (a) static pushover test; (b) dynamic pushover test
with vibration frequency 21.06 Hz
loading)
(b) soil properties
(c) length of pile affected by pile-head loading.
hysteretic and radiation regions. Meanwhile, the previous
A formulation should link all of the above parameters and model of dynamic stiffness can be calculated from the
propose robust spring and damping coefficients for inertial presented form by a transfer matrix. Since k x and cx are
interaction, as shown by equation (34). frequency dependent, two normalised coefficients (S x1 and
( ) 0 1( ) S x2 ) are suggested to make the regression analysis straight-
kx 3 @ 1 2s a0 A S x1 forward; these are presented by design charts. a0 ¼ ørp =V s
¼ Gs 2 s r p (34)
cx 2 S x2 is a dimensionless frequency.
ø Vs Two values of frequency are considered for normalising
purposes and to present the results: (a) zero frequency,
Equation (34) has some advantage over the conventional which represents static stiffness, S x1(ø¼0) , and (b) high-
dynamic stiffness model (k x þ iøC x ) in the sense that effects frequency point, which may be characterised by full radia-
of material damping (s ) are subtracted from dashpot and tion damping as S x2(ø!1) : It may also be noted that these
spring coefficients to better evaluate those parameters in the normalising parameters consider material properties to
8 SHADLOU AND BHATTACHARYA
1·0 1·0
0·6
0·6 0·4
φ(r)
φ
0·2
0·4
0
0·2 ⫺0·2
⫺0·4
0 20 40 60 80
0 r/r0
0 20 40 60 80 (a)
r/r0
(a)
0·4
0
0·2
⫺0·2 0
Finite-element model
⫺0·6 ⫺0·6
⫺0·8
⫺0·8
⫺1·0
0 20 40 60 80
r/r0
⫺1·0 (b)
0 20 40 60 80
r/r0 Fig. 6. Bi-normalised longitudinal displacement of soil in
(b) dynamic pushover loading (t 0.285 s) at: (a) longitudinal plane
crossing pile centre at ground level (ö); (b) transverse plane
Fig. 5. Bi-normalised longitudinal displacement of soil in static j)
crossing pile centre at ground level (j
pushover loading at: (a) longitudinal plane crossing pile centre at
ground level (ö); (b) transverse plane crossing pile centre at
j)
ground level (j Strictly speaking, inertial and kinematic interactions
simultaneously affect the pile behaviour in seismic zones.
Applying the superposition method, it is possible to separate
reduce design charts. Two kinds of loading (quasi-static and kinematic and inertial interaction and solve each problem
dynamic) are considered by defining two margins in zero individually (Makris & Gazetas, 1992; Mylonakis et al.,
and high frequencies. Hence three important parameters will 1997). Although this assumption is strictly valid for a linear
be investigated hereafter, namely: (a) static spring coefficient system, it can also be applied to a moderately non-linear
(S x1(ø¼0) ), (b) radiational dimensionless frequency (a0r ) for system as an engineering approximation. Kinematic inter-
transferring quasi-static loading to dynamic loading and (c) action is applied through the soil motion during the earth-
radiation damping at high-frequency vibration (S x2(ø!1) ). quake, and inertial interaction is applied by D’Alembert
Finite-element (no. of elements: 6930) CPU: Intel core 2 duo RAM: 4 GB 46 min
Present research CPU: Intel core 2 duo RAM: 4 GB 21 s
DYNAMIC STIFFNESS OF PILE IN A LAYERED ELASTIC CONTINUUM 9
Pile displacement: mm
influenced by frequency, represented by radiation dimension-
⫺5 0 5 10 15 20 25
0 less frequency (which is dependent on Ep =Es ).
The definition of radiation dimensionless frequency (a0r )
in terms of active length of pile (Lac ), is given by
rp
5 Lac ¼ (36)
2a0r
Figure 8 plots the regression analysis to present the
10 Experimental results radiation dimensionless frequency as a function of Ep =Es :
Depth: m
damping of the soil media do not have any considerable 15 Present research
effects on radiation dimensionless frequency, a0r : This point
(radiation frequency relevant to a0r ) depicts the drop of 10
spring coefficient and a margin for changing material damp-
ing to geometric damping so it can be presented as a 5
function of maximum active length. This parameter can also
separate two conventional viewpoints on the soil–pile inter- 0
10 100 1000 10 000
action problem, called the kinematic and inertial inter- Ep/Es
actions. It means that kinematic interaction will be
influenced by fundamental shear frequency of the stratum Fig. 9. Comparison between present and previous research stud-
(which is independent of Ep =Es ), but inertial interaction is ies on active length of pile embedded in one layer of soil media
10 SHADLOU AND BHATTACHARYA
1·7
been proposed for the active length of pile in a two-layer Ep/Es ⫽1000
soil
Ep/Es ⫽10 000
0:23 1·5
Ep
Lac ¼ 2:78Dp (38)
Es1
1·3
where
[δ1]ω⫽0
1·1
H 1 Es2
¼ f
unloading/reloading
, (39)
Soils under
In the above equations, Es1 represents the Young’s mod-
silty sand
ulus of the top layer of the stratum. Lac1 is the active length 0·7
of pile calculated using equation (37), which represents the
expected active length of pile if the full stratum is covered
by a top layer. Fig. 10 presents the modification factor (). It 0·5
0 0·1 0·2 0·3 0·4 0·5
shows that when the bottom layer is stiffened, the active νs
length decreases. (a)
Once Lac is obtained, it is possible to back-calculate the
radiation dimensionless a0r using equation (36). νs ⫽ 0·45, L/D ⫽ 40
3·5
Proposed spring
Static stiffness (Sx1( ø¼0) ) coefficient – inertial
It can be shown that the dynamic stiffness is a function of 3·0
Mylonakis (2001) –
the vibration frequency, H 1 =L, Es2 =Es1 and Ep =Es1 for fixed- kinematic
head piles under lateral dynamic loading. Static Winkler
modulus (k x ) is proposed (equation (40)) to overcome the 2·5
[δ1]ω⫽0
fitting problems
k x ¼ 1:5Gs S x1(ø¼0) ¼ 1(ø¼0) Es (40) 2·0
where 1 represents a coefficient considering static pushover
loading for a pile embedded in a one-layer soil profile
overlying a half-space, and Es is the elastic modulus of the 1·5
top layer. ¼ (=1 ) is a correction factor to take into
account soil layering. For long, flexible piles, 1 can be Gazetas & Dobry (1984)
obtained by way of the following equation, which is formu- 1·0
100 1000 10 000
lated by regression analysis Ep/Es
0:1 (b)
Ep
1(ø¼0) ¼ 3 1
: f (s ) (41)
Es1 Fig. 11. Static spring coefficient for long flexible piles:
(a) variations plotted against Poisson ratio of soil; (b) relationship
where f (s ) is a function of the Poisson ratio of soil. Figs between pile–soil stiffness ratio and spring coefficient, and its
11(a) and 11(b) show the relations between 1 and its comparison with transient analysis
variables, such as pile–soil stiffness ratio (Ep =Es ) and soil
Poisson ratio. If the effect of Poisson ratio is neglected,
f (s ) ¼ 1: Fig. 11(b) also shows the difference between static For two-layered soils, there is another factor, , which is
Winkler coefficient for inertial and kinematic interactions for a function of H 1 =Lac1 and Es2 =Es1 , and can be obtained
soils having Poisson ratio of 0.45. from Fig. 12. As can be observed, there is a critical depth
that either amplifies or reduces the spring coefficient, de-
1·2
Es2/Es1
pending on the location of the interface. It may also be
noted that the effects of layering on static spring coefficient
1·0 of the soil–pile system may be neglected for H 1 . 0:7Lac1 ,
1
hence the proposed equation (equation (40)) is valid for
pushover loading of long and flexible piles where H 1 is less
0·8
than 0:7Lac1 : For instance, this range of top layer thickness
2 is around 8Dp for Ep =Es1 ¼ 1000: It is shown that, for most
χ 0·6 field applications, the top layer dictates the pile behaviour
where its thickness is greater than 0:7Lac1 :
5
0·4
10 Radiation damping coefficient
0·2
Figure 13 plots the solution for S x2(a0 ¼1) for a wide range
∞ of Poisson ratio of soil (s ) and damping (s ). It is assumed
(rather arbitrarily) that radiation damping corresponds to
0 a0 ¼ 1, but it is proposed in this paper that radiation
0 0·2 0·4 0·6 0·8 1·0 damping should be limited by a finite value. The damping
H1/Lac1
coefficient suggested can be obtained from equation (42),
Fig. 10. The modification factor of active length of pile for the obtained through non-linear regression analysis of the results
case of a two-layer stratum presented in Fig. 13.
DYNAMIC STIFFNESS OF PILE IN A LAYERED ELASTIC CONTINUUM 11
1·8 0:911s
0·5 Vc ¼ : Vs (43)
3 2 5s
1·6 0·75
2
The above two equations provide a new form of radiation
damping when compared to the previous research (a sum-
Es2/Es1 4
1·4 mary of the other damping formulations is given in Appen-
6 dix 2).
8 Figure 14 shows a non-dimensional plot of the variation
μ 1·2
of the Sx2 parameter for a range of non-dimensional frequen-
10
cies. Damping coefficient (S x2 ) for a range of a0 < a0r is
1·0
suggested as S x2 ffi 7s for one-layer soil strata and
S x2 ffi 2:5s for two-layered soil. It is worth noting that
S x2 ffi 0 represents the case of a clamped pile-tip
0·8 (Lp < Lac1 ). This estimation shows that, for dimensionless
frequencies (a0 ) less than the radiation dimensionless fre-
quency (a0r ) of the soil–pile system, the damping coefficient
0·6 is also contributed by hysteresis material damping. This
0 0·2 0·4 0·6 0·8 1·0
H1/Lac1 form of damping coefficient provides a conservative form
rather than the actual one because (a) S x2(a0 ¼a0r ) is greater
Fig. 12. Effects of layering on static spring coefficients than 2:5s and (b) S x2(a0 ¼0) at zero dimensionless frequency
goes to infinity. In the figure, a0n is conveniently introduced
3·0 δs ⫽ 2%
to show the transition from mixed hysteretic-radiation phase
to full radiation phase.
Original data Following a regression analysis on single- and multi-layer
Fitted equation soil data for the range of dimensionless frequencies greater
than a0n , radiation damping is given by following the equa-
2·5 tion for case 1 (single layer)
1=5
Sx2(a0⫽¥)
1·9
Sx2
Mixed Radiation
νs ⫽ 0·005 phase phase
1·7 Sx2(a0⫽∞)
1·3 1
0·01 0·1
δs
(b)
Multi-layered soil
Fig. 13. Radiation damping coefficient: (a) as a function of soil 7δs
Poisson ratio; (b) as a function of soil material damping
Sx2(a0⫽∞)
Vc : :
S x2(a0 ¼1) :
¼ 1 76 1 þ (1:186e0 777s 0:186e5 713s ) 2·5δs a0
Vs
Sx2(a0⫽∞)
(42) 1 a0n ∞ a0r
⬵3
a0r
1·1
1·0
Sx2 /Sx2(a0⫽∞)
Sx1 /αsSx1(ω⫽0)
1·0
Ep/Es ⫽ 100
0·5
Ep/Es ⫽ 500
0·9
Ep/Es ⫽ 1000
Ep/Es ⫽ 10 000
0·8 0
0 2 4 6 8 10 0 2 4 6 8 10
a0 /a0r a0 /a0r
(a) (b)
1·1 0·2
Es2/Es1 ⫽ 2,
0·3
H1/Lac1 ⫽
1·0 1·0
0·4
Sx2/Sx2(a0⫽∞)
Sx1/αsSx1(ω⫽0)
0·6
0·9
0·8 0·5
0·7
0·6 0
0 1 2 3 4 5 0 1 2 3 4 5
a0 /a0r a0 /a0r
(a) (b)
1·2 1·5
Reference (Es2/Es1) ⫽ 1
0·2
1·1
Es2/Es1 ⫽ 5,
0·3
H1/Lac1 ⫽
1·0 1·0
0·4
Sx2/Sx2(a0⫽∞)
Sx1/αsSx1(ω⫽0)
0·6
0·9
0·8 0·5
0·7
0·6 0
0 1 2 3 4 5 0 1 2 3 4 5
a0 /a0r a0 /a0r
(c) (d)
Fig. 16. Dynamic stiffness of two-layer soil media over half-space: (a), (b) normalised spring coefficients; (c), (d) normalised damping
coefficients (Ep /Es1 1000, äs 2%)
DYNAMIC STIFFNESS OF PILE IN A LAYERED ELASTIC CONTINUUM 13
1·8
have a constant shape and it is difficult to show a unique
relation. Depending on the pile diameter and the shear wave
νs ⫽ 0·45
velocity of the top layer of soil, a0r will separate the phases
of interest for dynamic stiffness.
1·6
1·4
bridge pier is embedded in a two-layer homogeneous over-
νs ⫽ 0·005
consolidated soil stratum overlying the half space. It is
necessary to estimate the amplification of deck displacement
considering the flexibility of the foundations. Using the
1·2
formulation derived in the third and fourth sections of this
paper on the ‘Elastodynamic formulation’ and its applica-
tion, the dynamic behaviour of the soil–pile–superstructure
system is predicted for the problem shown in Fig. 18
1·0 (Ep =Es1 ¼ 1000, Es2 =Es1 ¼ 2). For the first layer, the shear
0·01 0·1 wave velocity is on the order of 70 m/s. T 1 is the first
δs
natural period of a fixed-base supported bridge, which is 2 s.
Fig. 17. Effects of hysteretic damping of soil on spring coefficient
Details of the calculations are shown in Appendix 3 and the
of soil–pile system results are summarised here.
T1,st ⫽ 2 s
DISCUSSION
Normalised spring coefficients have the same shape for δst ⫽ 5%
Hst ⫽ 10 m
a0 < a0r , as shown in Figs 15 and 16, and this unique form
EstIst ⫽ 2EpIp
is independent of layering effects of soil. Hence the afore- Es1 ⫽ 25 MPa
mentioned region of normalised dimensionless frequency can H1 ⫽ 2·5 m Layer 1 νs1 ⫽ 0·4
be categorised as a quasi-static stiffness or quasi-static be-
haviour of the pile, and dynamics does not have any consid- ρs1 ⫽ 1800 kg/m3
erable effects on this phase. This inference further reinforces δs1 ⫽ 5%
Dp ⫽ 0·6 m
the initial assumption made in this research about the
separation between two phases of dynamic stiffness: (a) Es2 ⫽ 50 MPa
Lp ⫽ 20 m Layer 2
phase I, which has quasi-static properties and is called the νs2 ⫽ 0·4
hysteretic part, and (b) phase II, which introduces the Ep ⫽ 25 GPa
ρs2 ⫽ 1800 kg/m3
dynamic properties and is termed the radiation part. Phase I
is the result of inelastic response of the soil and phase II is ρp ⫽ 2500 kg/m3 δs2 ⫽ 5%
the result of waves emanating from the soil–pile interface to
infinity. In contrast to phase 1, the dynamic part does not Fig. 18. Bridge–pier system supported on pile foundation
14 SHADLOU AND BHATTACHARYA
Once the dynamic stiffness of the soil–pile system has Ep elastic modulus of equivalent pile
been obtained (see Appendix 3) and the BDWF model EP I P flexural rigidity of pile
solved, it is possible to obtain the dynamic response. Fig. 19 Es elastic modulus of soil overlying half space
shows the amplification of the deck displacement through an Es1 elastic modulus of top layer of soil in two-layer soil
inertial interaction phenomenon. It is shown that the period Es2 elastic modulus of second layer of soil in two-layer
media
of the bridge pier considering the interaction phenomena is eiøt dynamic steady state term
around 40% greater than the period of the fixed-base system. Gs shear modulus of soil
This methodology can also be applied for other kinds of G s complex Lame’s constant of soil layer
dynamic interactions, such as traffic loading, wind loading H1 depth of top layer of soil
or any vibration on superstructures (offshore wind turbines). IP pile moment of inertia
I j ([]), K j ([]) modified Bessel functions of the first and second kind,
respectively, of the order j
CONCLUSION K (z) dynamic plane strain stiffness of pile
kx spring coefficient
Inertial interaction of soil and pile has been shown to be Lp , L pile length
important for layered strata and it was found that the pile Lac active length of pile
behaviour is mostly influenced by the soil properties of the Lac1 active length of pile relevant to top layer of soil in
top layer. Spring and damping coefficients of soil–pile multi-layered soil
elements have been proposed for carrying out beam-on- M bending moment acting at pile head
dynamic Winkler foundation (BDWF) type analysis using P translational horizontal load
normalising factors obtained through rigorous elastodynamic p(z) traction force per unit length affected on pile
solutions. The proposed formulation for a static spring coef- q specific distance in radial-longitudinal direction away
ficient considers wide ranges of Poisson ratio and soil–pile from pile centre
r radius from pile axis
stiffness ratio. The well-known concept of ‘active length of
rp , r0 pile radius
pile’ is proposed for layered soil. It has been shown that Su undrained shear strength of the cohesive soils
inertial interaction alters the spring coefficients for the cases S x1 dynamic spring coefficient in this study
where the top-layer thickness of the soil is less than 70% of S x2 damping coefficient new formulation in this study
the active length. A new radiation damping coefficient based S x2(a0 ¼1) radiation damping coefficient
on a proposed wave velocity has been suggested. s specific distance in radial-transverse direction away
from pile centre
T kinetic energy
UT total potential energy
NOTATION Vc wave velocity represented for radiation damping
A1 , A2 arbitrary constants
V La Lysmer analogue wave velocity
a0 dimensionless frequency
Vp P-wave velocity of soil
a0n dimensionless frequency relevant to transition from
Vs shear wave velocity of soil
mixed-material geometric damping to fully geometric
W work done by external loading
damping
Æs normalising coefficient
a0r radiation dimensionless frequency
frequency-independent coefficient for static spring
B1 , B2 arbitrary constants
s hysteretic damping of soil material
Cx damping coefficient
ij i, j component of strain tensor of soil element
Dp pile diameter
loss angle
(z) small variation of pile displacement
20
Ł angle between radius of individual element and
Soil–pile–superstructure interaction loading direction
18 Fixed-base system
ºs complex Lame’s constant of soil layer
º(z,t) horizontal pile displacement at depth z and time t
16
non-dimensional factor to take into account layering
into spring coefficient
p mass per unit length of the pile
14
s , Poisson ratio
Amplification factor
rs soil density
12
ij i, j component of stress tensor of soil element
non-dimensional factor to take into account layering
10
into active length formulation of pile
(r) small variation of soil displacement in radial-
8
longitudinal direction
scalar function of Helmholtz equation
6
j(r) horizontal soil displacement factor in circumferential
direction located at a radius r from pile axis
4
(r) horizontal soil displacement factor (longitudinal
displacement) in radial direction at radius r from pile
2 axis
ø rotational frequency of vibration (rad/s)
0 ø1 fundamental shear frequency of the stratum (rad/s)
0·4 0·6 0·8 1·0 1·2 1·4 1·6 1·8
T/T1 vector function of Helmholtz equation
(r) small variation of soil displacement in radial-
Fig. 19. Amplification factor of bridge deck considering SSI transverse direction
DYNAMIC STIFFNESS OF PILE IN A LAYERED ELASTIC CONTINUUM 15
APPENDIX 1. PILE MOTION FOR A PILE EMBEDDED ºi jz¼H 1 þH 2 þH 3 þþH i ¼ ºiþ1 jz¼H 1 þH 2 þH 3 þþH i (57)
IN n LAYERED SOIL OVER HALF SPACE
dºi dºiþ1
This appendix provides the necessary details for the solution of ¼ (58)
dz z¼H 1 þH 2 þH 3 þþH i dz z¼H 1 þH 2 þH 3 þþH i
the equations presented in the third section of the paper on
‘Elastodynamic formulation’. ˆi º9i þ Ep I P º- i
z¼H þH þH þþH
1 2 3 i
Euler–Lagrange equations and transversality conditions are as (59)
follows ¼ ˆiþ1 º9iþ1 þ Ep I P º-iþ1 z¼H þH þH þþH
1 2 3 i
ð1
H
n h i o
Ep I P º i0 z¼H 1 þH 2 þH 3 þþH i ¼ Ep I P º i0þ1 z¼H 1 þH 2 þH 3 þþH i (60)
1(z) þ ˆ1 º01(z) þ 1 (p þ 1 )ø º1
(z1 ) dz
Ep I P º+ 2
which corresponds to the range of periods as These ordinary differential equations can be solved by initial and
0:307 s < T , 1 boundary conditions on the pile head, and at the interface of two
layers, respectively (Kavvadas & Gazetas, 1993).
As the fixed-base period of the superstructure is greater than the
threshold period (0:307 s), a quasi-static pile vibration is expected.
Step 7: Estimation of deck response
It is assumed that the bridge pier and deck is like a lumped-mass
Step 3: Obtaining static spring coefficient (kx ) cantilever–beam supported on a pile foundation. Est I st (the rigidity
Following equation (40), equation (41), and Fig. 12, the static of the pier bridge) is assumed to be 2 times that of the pile.
spring coefficient will be calculated for the first and second layer as
a general form, which maintains the consistency condition as follows
k x ¼ 1(ø¼0) Es REFERENCES
where Basu, D., Salgado, R. & Prezzi, M. (2009). A continuum-based
0:1 model for analysis of laterally loaded piles in layered soil.
Ep : Géotechnique 59, No. 2, 127–140, http://dx.doi.org/10.1680/
1(ø¼0) ¼ 3:1 ¼ 1:1 3 3:1 3 (1000)0 1 ¼ 1:633 geot.2007.00011.
Es1
Berger, E., Mahin, S. & Pyke, R. (1977). Simplified method for
So the static spring coefficients for first and second layers will be evaluating soil–pile structure interaction effects. Proceedings of
k x1 ¼ 1:633Es1 ¼ 40:825 MPa 9th offshore technology conference, Houston, TX, pp. 589–598.
Biot, M. A. (1937). Bending of an infinite beam on an elastic
k x2 ¼ 1:633Es2 ¼ 81:65 MPa foundation. J. Appl. Mech., ASME 4, No. 1, A1–A7.
Blaney, G. W., Kausel, E. & Roesset, J. M. (1976). Dynamic
stiffness of piles. In Numerical methods in geomechanics (ed.
Step 4: Obtaining dynamic spring coefficients (Sx1 ) C. S. V. Desai), pp. 1001–1012. Blacksburg, VA, USA: ASCE.
Following equation (40), the static component S x1(ø¼0) will be Bowles, J. E. (1997). Foundation analysis and design. Singapore:
McGraw-Hill.
k x1 k x2 1:633 3 2(1 þ s )
S x1(ø¼0) ¼ : ¼ ¼ ¼ 0:97 Broms, B. (1964). Lateral resistance of piles in cohesionless soil.
1 5Gs1 1:5Gs2 1:5 J. Soil Mech. Found. Div. 90, No. 2, 123–156.
For the ranges of a0 < a0r , equation (49) can be written as Cubrinovski, M. & Ishihara, K. (2004). Simplified method for
analysis of piles undergoing lateral spreading in liquefied soils.
Æs ¼ (Æ9s 1)a0 þ 1 ¼ (1:07 1)a0 þ 1 ! 1 < Æs < 1:006 Soils Found. 44, No. 5, 119–133.
which is negligible. Dynamic spring coefficients can be obtained Dash, S., Bhattacharya, S. & Blakeborough, A. (2010). Bending–
from Fig. 16(a), noting that S x1(ø¼0) ¼ 0:97, and therefore buckling interaction as a failure mechanism of piles in liquefi-
able soils. Soil Dynam. Earthquake Engng 30, No. 1–2, 32–39.
S x1 Davies, T. G. & Budhu, M. (1986). Nonlinear analysis of laterally
0:8 < < 1 ! 0:776 < S x1 < 0:97
Æs S x1(ø¼0) loaded piles in heavily overconsolidated clays. Géotechnique 36,
No. 4, 527–538, http://dx.doi.org/10.1680/geot.1986.36.4.527.
Davisson, M. & Gill, H. (1963). Laterally loaded piles in layered
Step 5: Obtaining damping coefficient (Sx2 ) soil system. ASCE J. Soil Mech. Found. Div. 89, No. 3, 63–94.
As discussed in Step 2, the pile behaviour is in pseudo-static Davisson, M. T. (1970). Lateral load capacity of piles. In Highway
phase, therefore the effects of radiation on the dissipated energy of Research Record, pp. 104–112. Washington, DC, USA:
the system are negligible (depending on the natural period of Research Board, National Academy of Science.
vibration). According to Fig. 14, the damping coefficient is constant Dezzi, F., Carbonari, S. & Leoni, G. (2010). Kinematic bending
for the required range of dimensionless frequency and is given by moments in pile foundations. Soil Dynam. Earthquake Engng
30, No. 3, 119–132.
S x2 ¼ 2:5s ¼ 2:5 3 0:05 ¼ 0:125 Dobry, R. & Gazetas, G. (1988). Simple method for dynamic
stiffness and damping of floating pile groups. Géotechnique 38,
where s is the material damping of soil.
No. 4, 557–574, http://dx.doi.org/10.1680/geot.1988.38.4.557.
In this example, the radiation damping coefficient is not
Dobry, R. & O’Rourke, M. J. (1983). Discussion on seismic
applicable. However, it may be required for some cases, for
response of end-bearing pile by Flores-Berrones, R. and Whit-
example, machine foundations or a pile supported in liquefied
man, R. V. J. Geotech. Engng Div., ASCE 109, No. 5, 778–
ground.
781.
Dobry, R., Oweis, I. & Urzua, A. (1976). Simplified procedure for
estimating the fundamental period of a soil profile. Bull. Seis-
Step 6: Total dynamic stiffness (kx þ iøcx ) and soil–pile mol. Soc. Am. 66, No. 4, 2193–1321.
interaction model Dobry, R., Vicente, E., O’Rourke, M. & Roesset, J. (1982).
Following equation (34), the dynamic stiffness for the top layer Horizontal stiffness and damping of single piles. J. Geotech.
and bottom layer can be easily obtained by Engng Div. 108, No. 3, 439–459.
DYNAMIC STIFFNESS OF PILE IN A LAYERED ELASTIC CONTINUUM 17
Fleming, W. G., Weltman, A. J., Randolph, M. F. & Elson, W. K. vibrating piles. Int. J. Earthquake Engng Struct. Dynamics 5,
(1992). Piling engineering, 2nd edn. Glasgow, UK: Surrey No. 3, 249–261.
University Press. Novak, M. (1974). Dynamic stiffness and damping of piles. Can.
Gazetas, G. (1991). Foundation vibration. In Foundation engineer- Geotech. J. 11, No. 4, 574–591.
ing handbook (ed. H. Y. Fang), pp. 553–593. New York, NY, Prakash, S. & Sharma, H. D. (1990). Pile foundations in engineer-
USA: Van Nostrand Reinholds. ing practice. New York, NY, USA: Wiley.
Gazetas, G. & Dobry, R. (1984a). Horizontal response of piles in Randolph, M. F. (1981). The response of flexible piles to lateral
layered soils. J. Geotech. Engng, ASCE 110, No. 1, 20–40. loading. Géotechnique 31, No. 2, 247–259, http://dx.doi.org/
Gazetas, G. & Dobry, R. (1984b). Simplified radiation damping 10.1680/geot.1981.31.2.247.
model for piles and footings. J. Engng Mech. 110, No. 6, 937– Roesset, J. M. (1980). The use of simple models in soil–structure
956. interaction. In Civil engineering and nuclear power, paper 10-3.
Kagawa, T. & Kraft, L. (1980). Lateral load–deflection relationships New York, NY, USA: ASCE.
of pile subjected to dynamic loadings. Soils Found. 20, No. 4, Roesset, J. M. & Angelides, D. (1980). Dynamic stiffness of piles.
19–36. In Numerical methods in offshore piling, pp. 75–81. London,
Kavvadas, M. & Gazetas, G. (1993). Kinematic seismic response UK: Institution of Civil Engineers.
and bending of free-head piles in layered soil. Géotechnique 43, SAP2000 (2004). Integrated software for structural analysis and
No. 2, 207–222, http://dx.doi.org/10.1680/geot.1993.43.2.207. design. Berkeley, CA, USA: Computer and Structures Inc.
Liyanapathirana, D. & Poulos, H. (2010). Analysis of pile behavior (CSI).
in liquefying sloping ground. Comput. Geotech. 37, No. 1, 115– Seed, H. B. & Lysmer, J. (1978). Soil structure interaction analyses
124. by finite elements – state of the art. Nucl. Engng and Design
Lysmer, J. & Richart, F. E. (1966). Dynamic response of footing to 46, No. 2, 349–365.
vertcal loading. J. Soil Mech. Found. Div., ASCE 92, No. SM1, Sica, S., Mylonakis, G. & Simonelli, A. (2011). Transient kinematic
65–91. pile bending in two-layer soil. Soil Dynam. Earthquake Engng
Makris, N. & Gazetas, G. (1992). Dynamic pile–soil–pile inter- 31, No. 7, 891–905.
action. Part II: lateral and seismic response. Earthquake Engng Syngros, C. (2004). Seismic response of piles and pile-supported
Struct. Dynamics 21, No. 2, 145–162. bridges piers evaluated through case histories. PhD thesis, The
Mazzoni, S., McKenna, F. & Fenves, G. (2006). Open system for City College and the Graduate Center, City University of New
earthquake engineering simulation user manual. See http:// York, New York, NY, USA.
opensees.berkeley.edu/OpenSees/manuals/usermanual/ (accessed Tokimatsu, K. & Nomura, S. (1991). Effects of ground deformation
17/03/2014). on pile stresses during soil liquefaction. J. Struct. Construction
McClelland, B. & Focht, J. A. (1958). Soil modulus for laterally Engng, AIJ 426, 107–113 (in Japanese).
loaded piles. Trans. ASCE 123, 1049–1063. Velez, A., Gazetas, G. & Krishnan, R. (1983). Lateral dynamic
Mylonakis, G. (2001). Simplified model for seismic pile bending at response of constrained head piles. J. Geotech. Engng 109, No.
soil layer interfaces. Soils Found. 41, No. 4, 47–58. 9, 1063–1081.
Mylonakis, G., Nikolaou, A. & Gazetas, G. (1997). Soil–pile– Vesic, A. (1961). Bending of beam resting on isotropic elastic solid.
bridge interaction: kinematic and inertial effects. Part I: soft J. Engng Mech. Div. 87, No. 2, 35–53.
soil. Earthquake Engng Struct. Dynamics 26, No. 3, 337–359. Yoshida, I. & Yoshinaka, R. (1972). A method to estimate modulus of
Nogami, T. & Novak, M. (1977). Resistance of soil to horizontally horizontal subgrade reaction for pile. Soils Found. 12, No. 3, 497.