2C9

Design for seismic

and climate changes
Ji Mca
List of lectures
1. Elements of seismology and seismicity I
2. Elements of seismology and seismicity II
3. Dynamic analysis of single-degree-of-freedom systems I
4. Dynamic analysis of single-degree-of-freedom systems II
5. Dynamic analysis of single-degree-of-freedom systems III
6. Dynamic analysis of multi-degree-of-freedom systems
7. Finite element method in structural dynamics I
8. Finite element method in structural dynamics II
9. Earthquake analysis I
2
1. Dynamic response analysis
2. Time-stepping procedure
3. Central difference method
4. Newmarks method
5. Stability and computational error of time integration schemes
6. Example direct integration central difference method
7. Analysis of nonlinear response average acceleration method
8. HHT method
Finite element method in structural dynamics II
Numerical evaluation of dynamic response
Dynamic response analysis
For systems that behave in a linear elastic fashion
- If N is small it is appropriate to solve numerically the equations
( ) t + + = mu cu ku p

- If N is large it may be advantageous to use modal analysis
( ) t + + = Mq Cq Kq P

- For systems with classical damping C is a diagonal matrix
J uncoupled differential equations (see resolution of SDOF systems)
( ) ( ) ( ) ( )
n n n n n n n
M q t C q t K q t P t + + =

- For systems with nonclassical damping C is not diagonal and
the J equations are coupled use numerical methods to
solve the equations
M and K are diagonal matrices
n = 1, J
Dynamic response analysis
- The direct solution (using numerical methods) of the NxN system of equations
is adopted in the following situations:
( ) t + + = mu cu ku p

- For systems with few degrees of freedom
- For systems and excitations where most of the modes
contribute significantly to the response
- For systems that respond into the non-linear range
- Numerical methods can also be used within the modal analysis for system with
nonclassical damping
2. TIME-STEPPING PROCEDURE
- Equations of motion for linear MDOF system excited by force vector p(t) or
earthquake-induced ground motion
( ) or ( )
g
t u t + + = mu cu ku p m
( )
g
u t

initial conditions
0 0
(0) and (0) = = u u u u
time scale is divided into a series of time steps, usually of constant duration
1 i i
t t t
+
A =
( ) ( ) ( ) ( )
i i i i i i i i
t t t t p p u u u u u u
1 1 1 1 i i i i i i i i + + + +
+ + = + + = mu cu ku p mu cu ku p
Explicit methods - equations of motion are used at time instant i
Implicit methods - equations of motion are used at time instant i+1
1 1 1 i i i + + +
u u u
unknown vectors
Time-stepping procedure
- Modal equations for linear MDOF system excited by force vector p(t)
( ) t + + = Mq Cq Kq P

( ) ( )
1
( )
J
n n
n
t q t t
=
=

u q |
( ) ( )
T T T T
t t = = = = M m C c K k P p
1 1 1 1 i i i i i i i i + + + +
+ + = + + = Mq Cq Kq P Mq Cq Kq P

unknown vectors
1 1 1 i i i + + +
q q q

3. CENTRAL DIFFERENCE METHOD
explicit integration method
dynamic equilibrium condition
for direct solution x
n
u
i
f
n
p
i
M, C, K m, c, k
for modal analysis x
n
q
i
f
n
P
i
M, C, K M, C, K
2
1 1
1 1
2
2
t
x x x
x
t
x x
x
n n n
n
n n
n
A
+
=
A

=
+
+

1 1 1 1
2
2
2
n n n n
n n n n n
n n
M x Cx Kx f
x x x x x
M C Kx f
t t
+ +
+ + =
+
( (
+ + =
( (
A A


(

|
.
|

\
|
A

|
.
|

\
|
A

(

A
+
A
=

+ 1
2 2
1
2
1
2
1 1 2
2
1 1
n n n n
x C
t
M
t
x M
t
K f C
t
M
t
x
a

K
b
Central difference method
for diagonal M and C, finding an inverse of
is trivial (uncoupled equations)
1
2
2
1 1

(

A
+
A
C
t
M
t
M
T
t
t
A s
time step
conditionally stable method - stability is controlled by the highest frequency
or shortest period T
M
(function of the element size used in the FEM model)
the time step should be small enough to resolve the motion of the structure.
For modal analysis it is controlled by the highest mode with the period T
J
20
J
T
t A
the time step should be small enough to follow the loading function
acceleration records are typically given at constant time increments (e.g.
every 0.02 seconds) which may also influence the time step.
Central difference method
(initial conditions)
(effective stiffness matrix)
Central difference method
for direct solution: delete steps 1.1, 1.2, 2.1 and 2.5
replace (1) q by u, (2) M, C, K and P by m, c, k and p
(effective load vector)
4. NEWMARKS METHOD
implicit integration method
dynamic equilibrium condition
for direct solution x
n
u
i
f
n
p
i
M, C, K m, c, k
for modal analysis x
n
q
i
f
n
P
i
M, C, K M, C, K
( )
( )
1 1
2
1
2
1
1
5 . 0
+ +
+ +
A + A + =
A + A + A + =
n n n n
n n n n n
x t x t x x
t x x t x t x x



| |
1 1 1 1 + + + +
= + +
n n n n
f Kx x C x M

( ) ( )
2 2
1 1
1 0.5
n n n n n n n
M t C t K x f C x t x K x t x t x | |
+ +
( ( ( + A + A = + A + A + A


(discrete equations of motion)
(Newmarks equations)

K
1

n
f
+
Newmarks method
unconditionally stable method
for = 1/2 and = 1/4 (average acceleration method)
recommended time step depends on the shortest period of interest
] [

2
K t tC M K A + A + = |
( ) ( )
2
1 1

1 0.5
n n n n n n n
f f C x tx K x tx t x |
+ +
( = + A + A + A (


1 1 1

n n n
K x f x
+ + +
=

effective stiffness matrix
effective load vector
system of coupled equations
10
M
T
t A
Newmarks method
Newmarks method
for direct solution: delete steps 1.1, 1.2, 2.1 and 2.7
replace (1) q by u, (2) M, C, K and P by m, c, k and p
5. STABILITY AND COMPUTATIONAL ERROR OF TIME INTEGRATION
SCHEMES
J
T
t
t
| |
A s
|
\ .
( 0.551 )
J
t T A s
J
T
t
t
| |
A s
|
\ .
more
accurate
than
Stability and computational error of time integration schemes
Free vibration problem: 0 (0) 1 and (0) 0 ( ) cos
n
mu ku u u u t t e + = = = =
Errors: amplitude decay (AD)
period elongation (PE)
( 0.1 )
n
t T A =
numerical
damping?
6. EXAMPLE DIRECT INTEGRATION CENTRAL DIFFERENCE METHOD
m m 30 . 0 / 30 . 0
m 10 . 3
m 10 . 3
m 10 . 3
m 10 . 3
k
k
m
m
sec 22 . 0 sec 58 . 0
60 0
0 60
0
0
37280 18640
18640 18640
2
/ sec 60
/ 18640
1 . 3
10 * 75 . 6 * 10 * 43 . 3 * 12
* 2
12
* 2
2 1
2
4
4 7
3
= =
(

=
(

=
(

=
(

=
=
= = =

T T
m
m
M
k k
k k
K
m kN m
m kN
L
EI
k
4
3 3
2 7
10 * 75 . 6
12
3 . 0 * 3 . 0
12
, / 10 * 43 . 3

= = = =
bh
I m kN E
2 . 0
35 . 0
2 . 1
0 . 1
| | sec T
g t a
g
/ ) (
7 . 1
5 . 2
4 . 3
Example direct integration central difference method
Explicit time stepping scheme
General forcing function
( )
{ }
{ }
2
1
2 2 1
2
2
2
1
1
1
1 2 1
1
2
1
1
1
2
1
2
1
2
1
2
1 2
1
2
1
1
1
2
1
* 2 * ) 2 , 2 ( * ) 1 , 2 (
) 2 , 2 (
* 2 * ) 2 , 1 ( * ) 1 , 1 (
) 1 , 1 (
2
) 2 , 2 ( ) 1 , 2 (
) 2 , 1 ( ) 1 , 1 (
) 2 , 2 (
1
0
0
) 1 , 1 (
1
2
1
+
+
+

+
+
A
=
+
A
=
(

(
(
(
(

A =
(

+
(

A
=
n n n n n
n n n n n
n n n n n
n n n n n
x x x K x K f
M
t
x
x x x K x K f
M
t
x
x
x
x
x
x
x
K K
K K
f
f
M
M
t
x
x
x x Kx f M
t
x
1
1 1
2 2 2
1 2 1
n n n n
x M f K M x M x
t t t

+
(
( | | | |
=
( | | (
A A A
\ . \ .

(undamped system)
Example direct integration central difference method
for the base acceleration case
) (t a
{ }
{ }
2
1
2 2 1
2
2
1
1
1
1 2 1
2
1
1
* 2 * ) 2 , 2 ( * ) 1 , 2 ( * ) 2 , 2 (
) 2 , 2 (
* 2 * ) 2 , 1 ( * ) 1 , 1 ( * ) 1 , 1 (
) 1 , 1 (
+
+
+
A
=
+
A
=
n n n n n n
n n n n n n
x x x K x K a M
M
t
x
x x x K x K a M
M
t
x
{ }
{ }
2
1
2 2 1
2
2
1
1
1
1 2 1
2
1
1
* 2 * 37280 * 18640 * 60
60
* 2 * 18640 * 18640 * 60
60
+
+
+ +
A
=
+ +
A
=
n n n n n n
n n n n n n
x x x x a
t
x
x x x x a
t
x
for the problem considered
Example direct integration central difference method
sec 01 . 0 = At
Example direct integration central difference method
0.05sec t A =
Example direct integration central difference method
07 . 0
22 . 0
sec 08 . 0
min
~ = = A > = A
t t
T
t t
crit
inaccurate solution
Example direct integration central difference method
(unstable solution)
crit
t t A > = A sec 09 . 0
unstable solution
7. ANALYSIS OF NONLINEAR RESPONSE AVERAGE ACCELERATION
METHOD
( )
i i S i
i
A + A + A = A m u c u f p
Incremental equilibrium condition
Incremental resisting force
( ) ( ) ( )
sec
S i i i i
i T
A = A A f k u k u
( )
sec
i
k
( )
i
T
k
secant stiffness:
tangent stiffness:
(unknown)
(assumption)
(known)
Need for an iterative process
within each time step
Analysis of nonlinear response average acceleration method
1 1
;
4 2
|
| |
= =
|
\ .
(effective load vector)
(effective stiffness matrix)
Analysis of nonlinear response average acceleration method
cont.
M N-R method
- unconditionally stable method
- no numerical damping
- recommended time step depends on the shortest period of interest
Analysis of nonlinear response average acceleration method
Modified Newton-Raphson (M N-R) iteration
To reduce computational effort,
the tangent stiffness matrix is
not updated for each iteration
8. HILBER-HUGHES-TAYLOR (HHT) METHOD ( method)
implicit integration method generalization of Newmarks method
numerical damping of higher frequencies (elimination of high frequency
oscillations) + stable and second order convergent
dynamic equilibrium condition
for direct solution x
n
u
i
f
n
p
i
M, C, K m, c, k
for modal analysis x
n
q
i
f
n
P
i
M, C, K M, C, K
( )
( )
2 2
1 1
1 1
0.5
1
n n n n n
n n n n
x x tx t x x t
x x tx tx
| |

+ +
+ +
= + A + A + A
= + A + A


( )( ) ( ) ( )
1 1 1 1
1
n n n n n n
Mx Cx Kx Cx Kx f t o o
+ + + +
+ + + + =


(discrete equations of motion)
(Newmarks equations)
( )
1
1
n n
t t t o
+
= + + A

1 n
x
+

(unknowns)
HHT method
( )
2 1
1 4 0.3 0
2
| o o o = = s s
3 parameters values for unconditional stability and second-order accuracy:
the smaller value of more numerical damping is introduced to the system
for = 0 Newmarks method with no numerical damping
HHT method for transient analysis of nonlinear problems
( ) ( )
( )
( )
1 int
2 2
1 1
1 1
, ,
0.5
1
n n n n n
n n n n n
n n n n
Mx f x x f t x
x x tx t x x t
x x tx tx
o o o o
| |

+ + + + +
+ +
+ +
+ =
= + A + A + A
= + A + A



( )
int
,
n n
f x x
o o + +

vector of internal forces

(depends non-linearly on displacements and velocities)
( ) ( )( ) ( )
1
1
n n n o
o o
+ +
- = + - -
variables computed by convex combination
system of algebraic equations