Uniqueness of Bridges for Structural Analysis

Chapter 2 Bridges are;

Dynamic Response Analysis of  long in the longitudinal direction, and structural
Bridge Structures properties and soil condition are not the same along the
axial axis
 consists of many structural types (deck bridges, arch
bridges, cable stayed bridges, suspension bridges, ….)
 have various shapes (straight, skewed, curved,
separation into several segments, and combination of
2005 Course those types)
Tokyo Institute of Technology  have various heights (short bridges and high bridges)
Kazuhiko Kawashima  are made of various materials (RC, PC, steel,
composites)

Types of Analysis Idealization of a Bridge

 Idealization of a superstructure & substructures
 Idealization of foundations
Linear Nonlinear  Idealization of soil response
 Multiple excitation effect (out of coherent GM)
Static SL SNL
(pushover
analys is)
Dynamic DL DNL

1
Analytical Model of Superstructures Analytical Model of Substructures

Idealization of Substructures

3D FEM Idealization
P13
Soil springs P12
P11
P10 Deck
P9
P8
P7
Column
P6
P5
P4

2
 Plastic Deformation of RC Column Idealization of Bridges

Stiffness Idealization
n
K   ki Total stiffness matrix
i 1 Element stiffness matrix
n
K t   kt Time dependent stiffness
i 1

Mass Idealization
n Total mass matrix
M   mi Element mass matrix
i 1

T C  T M  T K
Idealization of Bridges (continued)
 211 0 . . 
0 1 0 
Damping Idealization  0 222 .  0 1 
   
There are various sources which contribute to energy  . . .    . 
dissipation. It is common to idealize the energy dissipation    
. . 0 .
in terms of the viscous damping.    
n  0 . . 0 2 nn   1 
C   ci
i 1 12 . . . 0
2
Since valuation of element damping matrix is generally 0 2 .
Orthogonarity
Difficult, the system damping ratio is often assumed by  . . .
condition
he Rayleigh damping as
. . 0
C  M   K (2.5)
0 . . 0 n 2

3
 2i i    i 2
Ct  M  K t
1  
 i    i 
2  i  The above assumption sometimes results in problem,
 and  can be determined by assigning  for arbitrary because
two modes as

 Solution becomes unstable sometimes
  Does not capture the fact that inelastic response of
i
structural members dissipate energy which results in an
j increase of damping ratio
i
j
 

Strain Energy Proportional Damping Ratio Equations of Motion

n T
 k m  k m  k m  k m Single-degree-of-freedom oscillator
k  m 1 n (2.6) F  m (u  ug )
T ut
 k m  k m  k m ug u  k u  cu
m 1

Kinematic Energy Proportional Damping Ratio u : relative displacement

n u t : absolute displacement
T
 k m  k m  mm  k m u g : ground displacement
k  m 1 n (2.7)
T
 k m  mm  k m
m 1 mu  cu  ku  mug
Strain energy proportional damping ratio may be better in a
system in which hysteretic energy dissipation is predominant

4
 Equations of Motion (continued) Equations of Motion (continued)
Multi-degree-of-freedom system Multiple Excitation
uti Mu  C u  Ku  MBug
ug u u  u1 , u2 ,........,un T
i

1 0 0
0 0 0 ugx
   
B  bX bY bZ   1 1 0 ug  ugy
0 0 1  
  ugz  c  ut  free nodal points
ut   b 
1 0 0
ut  non-zero support displacements

The equation of motions can be written by enlarging

the mass, damping and stiffness matrices as well as the
uc dynamic load vector to account for the nb support
u cs displacements
M b  ut   Ct Ct  ut 
 M b
 b T      
 (M ) M bb  utb  (Ctb )T Ctbb  utb 

c  ut  free nodal points  K

t K t  ut  R (t ) 
b
ut   b  
bb    
  (2.12)
ut  non-zero support displacements ( Ktb )T K t  utb  R b (t )
quasi-static displacements The equations of motion associated with n free nodal point
us  u  c c displacement become
       us  u (2.11)
ubs  ub 
b
dynamic displacements
M 
b ub 
M  b   Ct  
b  ut  
Ct  b   K t 
b  ut 
Kt  b   R(t)
From definition, u  0 ut  ut  ut  (2.13)

5
 b b
Substitution of Eq. (2.11) into Eq. (2.13) yields From K t us  Kt us  0

M b   us  u   Ct Ct   us  u   u s   K t1K tb usb   Bt usb

 M b
(2.16)
 b T        
bb   b   b 
 (M ) M bb   ubs  ub   (Ctb )T Ct   us  u  
Bt  K t 1K tb represents a matrix of quasi-static
 K K t   us  u  
b R ( t )  influence coefficients resulting from the nb non-zero
 t  
bb   b   b   b 
( Ktb )T K t   us  u   R (t ) support displacements. If the system is linear,
all coefficients in Bt are invariant with time.
By definition of the quasi-static displacement
K t us  Ktb ubs  0 (2.15) 
Mu  Ct u  Kt u  R(t)  M 
b us 
M  b   Ct  
b us 
Ct  s 
us  us 

Mu  Ct u  Kt u  R(t)  M  
b us 
M  b   Ct  
b us 
Ct  s 
 R (t )  MBt ubs
=0 us  us  (2.17)
small compared to inertia force nxn nx nb nb x 1
(2.14)

Multiple Support Excitation Rigid Support Excitation

Mu  Ct u  Kt u  R (t )  MBt ubs (2.17) M u  Ct u  Kt u  R(t)  MB rurg (t)

ubs  um ugX 

g (t) (2.18)   nxn nx3 3x1
r
ug   ugY 
 u 
 Mu  Ct u  Kt u  R(t)  MBt um
g (t) (2.19)  gZ 


B r  bX r bY r bZ r 

6
 Linear Analysis Linear Analysis (continued)
Kt  K Ct  C ΦT KΦ  Ω 2
Mu  Ct u  Kt u  R (t )  MBt ubs ΦT MΦ  I

Mu  C u  Ku  R(t)  MBug (t) where,

2  diag (i 2 )
a) Natural Mode Shapes and Natural Frequencies
Mu  Ku  0 u  q
u  Φq
u    e i t
u  q
 Kφi  ωi 2 Mφi

Solving equation of motion for a SDOF system

M u  Ct u  Kt u  R(t)  MBug(t) 2 *
q  Λ q  Ω q  R (t)

 M  q  C  q  K q  R(t)  MBug(t) 

R*(t)  ΦT R(t)  MB ug (t) 
i  2i i qi  i 2qi  R *i
q (i  1,2,......,r)

T M q  T C q   T K q   T ( R(t)  MBug (t)) Time History Analysis
Direct integration method
2 * Determine qi qi qi
q  Λ q  Ω q  R (t) (2.28)
u  q
where, u  Φq
  diag (2i i ) Only assumption u  q

R*(t)  ΦT R(t)  MB ug (t)  Determine force, stress and strain

7
Response Spectral Method
2 *
q  Λ q  Ω q  R (t)

R*(t)  ΦT R(t)  MB ug (t)
qi  2i i qi  i 2qi  R *i
qi (t ) max  iT MB S DX (Ti , hi ) S DY (Ti , hi ) S DZ (Ti , hi )
ui (t ) max  i qi (t ) max
r 
u(t ) SRSS    ui (t ) 2max 
i 1 
Nonlinear Dynamic Response Analysis
Equations of motion in the incremental form

(i  1,2,......,r) MΔu(t)  Ct Δu(t)  K t Δu(t)  ΔR(t)  MBΔug (t)
(2.47)
Δu(t)  u(t  Δt)  u(t)
Δu(t)  u(t  Δt)  u(t)
(2.31) Δu(t)  u(t  Δt)  u(t)
R (t )  R(T  t )  R(t )
(2.32) Δug (t)  ug (t  Δt)  ug(t)
1/ 2
(2.33)

Nonlinear Dynamic Response Analysis Newmark’s generalized acceleration method (continued)

(continued)
Newmark’s generalized acceleration method Constant Acceleration Method

u(t  t ) u(t  t ) u (t  t )
u(t  t ) u(t  t ) u (t  t )

u(t)  u(t)  u (t) 

u(t)  u(t)  u (t) 
t t  t t t  t t t  t
t t  t t t  t t t  t
u(t )  u(t  t )
u( )  0 u( )d  C1 u( ) 
ut  u(0)  C1 2 t
u ( )   0 u( ) d  C1  C 2 u( )  ut  (ut  ut t )  ut t  ut  (ut  ut t )
ut t  u(t)  0t u( )d  C1
2 2
2
u ( )  ut  ut  (ut  ut t )
ut  u (0)  C 2 4 t 2
ut t  u (t )   0t u( )d  C1t  C 2  ut t  ut  ut t  (ut  ut  t )
4

8
 Newmark’s generalized acceleration method (continued) Newmark’s generalized acceleration method (continued)
Linear Acceleration Method
u(t  t ) u (t  t ) u (t  t ) u(t  t ) u(t  t ) u (t  t )

u(t )  u (t )  u (t )  u(t) u(t) u (t)

t t  t t t  t t t  t t t  t t t
 t  t t  t
u( )  ut  (ut  t  ut )
t  2
u( )  ut  ut  (ut  t  ut ) u(t  Δt)  u(t)  ( 1  δ)u(t)  δu(t  Δt) (2.50)
2t t 2 u(t  Δt)  u(t)  u(t)Δt  ( 1/ 2  σ)u(t)  σ u(t  Δt)
 ut t  ut  ut t  (ut  t  ut )
2
u  2  3

1 
1 constant acceleration method
u ( )  ut  ut  t  (ut  t  ut ) 4
2 6 2
u  t 2  t3
 ut t  ut  ut t  t
1 1
 (ut  t  ut )   linear acceleration method
2 6 2 6

Newmark’s generalized acceleration method (continued) Newmark’s generalized acceleration method (continued)

Δu(t)  C1Δu(t)  C3u(t)  C 4u(t) MΔu(t)  Ct Δu(t)  K t Δu(t)  ΔR(t)  MBΔug (t) (2.47)
(2.51)
Δu(t)  C2 Δu(t)  C4u(t)  C5u(t) Δu(t)  C1Δu(t)  C3u(t)  C 4u(t)
(2.51)
Δu(t)  C2 Δu(t)  C4u(t)  C5u(t)
constant acceleration linear acceleration
~ ~
method method K t Δu(t)  ΔR(t) (2.52)
C1  4 / t 2 C1  6 / t 2 where,
~
C 2  2 / t C 2  3 / t K t  C1M  C2 Ct  Kt (2.53)
ΔR (t)  ΔR(t)  MBΔug (t)  C3M  C 4Ct u(t)
~
C3  4 /  t C3  6 /  t
C4  2 C4  3  C4 M  C5Ct u(t) (2.54)
C5  0 C5   t / 2

9
 Accuracy of Computed Responses Accuracy of Computed Responses (continued)
~ ~
K t Δu(t)  ΔR(t)
~ Computed restoring force
K t  C1M  C2 Ct  Kt R (t  t )  Mut  t  Cut  t  Ft S t
R(t ) R (t   t) Exact restoring force = R(t  t )
Unbalance force Rt   t  Rt  t
R(t )

R(t  t )
u (t  t ) R(t ) R (t   t) 
 Mut  t  C ut   t  FtS  t 
R(t )
u (t  t )
u (t   t ) R(t  t )
Overshooting
u (t   t )

Accuracy of Computed Responses (continued) Accuracy of Computed Responses (continued)

If error > tolerance,

δRt  Δt
ΔP   ΔPS
Rt  Δt  Rt  Δt  δRt  Δt
 re-compute using a smaller time increment of
 E  Rt   t numerical integration-This is always effective to
a  aT a improve the stability and accuracy of solution.
max(Rt   t ,i )
 add unbalanced forces to the incremental forces at
. the next time step
.  use a numerical iteration
.
If error > tolerance,

10
 Add unbalanced forces to the incremental Add unbalanced forces to the incremental
forces at the next time step forces at the next time step (continued)
Unbalance Force at time t:

Rt  Rt  Mut  Cut  Ft S  This method is effective when unloading and reloading
are important
Incremental Equations of Motion
MΔu(t)  Ct Δ u(t)  K t Δu(t)  ΔR(t)
Add the unbalance force to the incremental external force
MΔu(t)  Ct Δ u(t)  K t Δu(t)
 Rt  Rt
 
 Rt  t  Rt  Rt  Mut  Cut  Ft S 

t  Cut  Ft S
 Rt  t  Mu 

Numerical Iteration for the Equilibrium of Computer Soft-wares for Dynamic Response
Equations of Motion Analysis
Unbalance force General Purpose Soft-wares

Rt  Rt  Mut  Cut  Ft S   ASKA
Equations of motion for Equilibrium  DYNA
R(t ) Collection  ABAQUA
R (t )
(i) (i) (i) (i) (i)  SAP
Mδut  Cδut  Kt δut  δRt
R(t  t ) ……
(i) (i1 ) (i)
u (t) δut  ut  ut  Multi-purposes
R(t ) (i)
δut  ut
(i1 )
 ut
(i)
 Well maintenance
(i) (i1 ) (i)  Some kind of consensus for the results
δut  ut  ut
u (t ) (1)
Rt  Rt  Not so easy to modify
 User routines may be included depending on programs
(i) (i) (i) S(i)
δRt  Rt  Mut  C ut  Ft

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Computer Soft-wares for Dynamic Response Structures of Computer Programs for Dynamic
Analysis (continued) Response Analysis
Hand-made Input structural shape (coordinate) & properties
 Easy to include problem-oriented routines Input ground motions

 Difficult for maintenance for the use of other Form time invariant structural properties such as mass
groups and long-term maintenance matrix, stiffness of elastic elements
 Few consensus for the results At time t
 Open-base forum for source code Form time dependent properties such as stiffness of
nonlinear element
 Prepare well documented manual and example
problems K t  K L  K NL
~ ~
Solve Kt u (t )  R(t ) (2.52)

Determine displacements, velocities, accelerations, force, Exercise of Chapter 2

stress, and strain at time t   t

Check the accuracy by Eq. (2.62) or similar forms Q. 2.1 Derive Eq. (2.17) from Eqs. (2.12) and (2.16)

If the accuracy is not enough, use small smaller time Q. 2.2 Derive Eq. (2.28) from Eq. (2.23)
increment, or add unbalance force to the next
incremental force, or iteration Q. 2.3 Derive Eqs. (2.50) and (2.51) for both the constant
and linear acceleration methods
Store the responses on a file
t  t  t Repeat until the end of ground motion

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 Q. 2.5 Using the computer program developed in Q. 2.4,
Q. 2.4 Develop a computer program for a SDOF oscillator compute responses of SDOF oscillators for the following
subjected to an arbitrary ground motion at its base using conditions
the Newmark’s direct integration scheme
k
r  N =0, 0.1, 1
a) Linear kE

T=0.5 & 1 s
b) Bilinear

Lateral Displacement

13
Classification of Dynamic Response Analysis Classification of Dynamic Response Analysis
Linear Analys is Linear Analys is
Mode Superposition Method Features of the Mode Superposition Method
 Compute natural periods and mode shapes  Required to compute natural periods and mode
 Compute response of SDOF systems shapes
 Compute response of a structure by mode  Standard procedure to compute time history and
superposition peak responses of a structure
 Time history analysis  Restricted only to the linear analysis
 Response spectrum analysis  Importance of the response spectrum analysis that
For example, square root of the sum of the squares the computer time is shorter is decreasing due to
progress of computers, however the importance
n
u (t ) 
2 that the peak response can be directly computed
 ui (t )
i 1 based on “response spectrum” is still existing.

Classification of Dynamic Response Analysis Classification of Dynamic Response Analysis

Linear Analys is
Direct integration analysis Frequency Domain Analys is
 Frequency dependent stiffness and damping can be
 Can be implemented to both linear & nonlinear
explicitly included in the analysis
response analysis
 Can be used only for linear analysis. However
 All modes are considered in analysis
material nonlinearity is sometimes included as an
 Only analytical method which is used for nonlinear “equivalent analysis.”
structures
 Well used for soil and soil-structure interaction
analys is.
 SHAKE & LUSH families are often used.

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 Idealization of Ground
 Ground response is important in the evaluation of
structural response
 Strong nonlinear behavior of ground
 Soil-structure interaction effect
 Idealize both soil an structure
 Idealize the constraint of soil by soil-springs
 Differential ground motion, incoherency, spatial
variation of ground motion
Type of Ground Motions
 Elastic response spectrum (Design response spectra)
 Ground accelerations
 Ground surface accelerations
 Bedrock accelerations
 Accuracy of ground accelerations (measured
by an analog-type accelerograph)
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