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Vertical Vibration Of Machine Foundations

Article  in  Journal of Geotechnical Engineering · January 1989

DOI: 10.1061/(ASCE)0733-9410(1989)115:1(56)

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VERTICAL VIBRATION OF M A C H I N E FOUNDATIONS

By Ali H. Nayfeh1 and Samir J. Serhan 2

ABSTRACT: A perturbation technique, the method of multiple scales, is used to

obtain an approximate analytical solution of the nonlinear dynamic response of
foundations on soils. The analysis takes into account the nonlinearity of the soil
material, radiation, hysteretic and viscous damping, and the effect of embedment.
Closed-form expressions are derived for the response, which show clearly the ef-
fects of the various parameters involved in soil dynamics. A closed-form expres-
sion is presented for the constant settlement of the nonlinear soil structure caused
by the vibration. In addition to large responses accompanying primary or main
resonances (the excitation frequency Cl is near the natural frequency of the foun-
dation <J)0), the results show that large responses can be caused by subharmonic
excitations of order one-half Cl ~ 2(o0 and superharmonic excitations of order two
Cl = (l/2)co0. Consequently, the practicing design engineer cannot afford to ignore
these resonances.

INTRODUCTION

Design in civil engineering has been always described as a trial-and error

procedure. The problem of vertical vibration of machine foundations has
received considerable attention since the early work of Reissner (1936). Pre-
dicting the resonant amplitudes and frequencies is the primary aim for com-
pleting this trial-and-error process. The method of multiple scales has pro-
vided solutions to many practical weakly nonlinear problems that are described
by second-order nonlinear differential equations similar to our present equa-
tion. Detailed descriptions of the method of multiple scales with an ex-
haustive bibliography is available in the textbooks by Nayfeh (1973, 1981)
and Nayfeh and Mook (1979). Fig. 1 shows the six degrees of freedom for
a foundation. The present study deals with the vertical mode of vibration
(Fig. 2) which has been known for its importance in the design of machine
foundations.
A rational theoretical approach involves the analysis of a vibratory mass
on an elastic, homogeneous, isotropic semi-infinite medium or, as it is com-
monly called, an elastic half-space. The actual case in the field depends on
different parameters, such as Poisson's ratio, the shear modulus, the pressure
distribution, the soil density, and the mass of the foundation. These param-
eters are difficult to obtain. Reissner (1936) was the first to mathematically
formulate the problem of a vibratory mass on an elastic half-space. It was
extended later by Sung (1953) to different contact pressure distributions and
by Bycroft (1956) to different modes of motion.
A second approach for attacking the vibratory motion of soils involves
approximating the infinite medium by a finite lumped model characterized
by a mass, a damper, and a spring representing the inertia term, an energy
'Univ. Distinguished Prof., Dept. of Engrg. Sci., and Mech., Virginia Polytech.
Inst, and State Univ., Blacksburg, VA 24061.
2
Grad. Student, Dept. of Engrg. Sci. and Mech., Virginia Polytech. Inst, and State
Univ., Blacksburg, VA 24061.
Note. Discussion open until June 1, 1989. To extend the closing date one month,
a written request must be filed with the ASCE Manager of Journals. The manuscript
for this paper was submitted for review and possible publication on October 26,
1987. This paper is part of the Journal of Geotechnical Engineering, Vol. 115,
No. 1, January, 1989. ©ASCE, ISSN 0733-9410/89/0001-0056/$1.00 + $.15 per
page. Paper No. 23098.

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FIG. 1. Six Modes of Vibration for Foundation (Richart 1962)

dissipation term, and a restoring force, respectively. The parameters of this

model are assumed to be frequency-independent. This approach was used
by Den Hartog (1931) for forced'vibrations with combined Coulomb and
viscous damping. Hsieh (1962) represented the half-space model as a one-
degree-of-freedom system with viscous damping, and Richart (1962) ex-
pressed this model in a convenient way to determine the resonant frequency.
Later, Veletsos and Verbic (1974) and Wong and Luco (1976) used this
model to study the response of rigid foundations. Funston and Hall (1967)
extended this model by including nonlinear subgrade restoring forces and
other soil dampings besides radiation damping. They adopted the spring-
mass model and considered a viscous damper in their study of the nonhys-
teretic nonlinearity using the numerical (3-integration method developed by
Newmark. Barkan (1962), Novak and Beredugo (1972), Novak and Sachs
(1973), Anandakrishnan and Krishnaswamy (1973), and Stokoe (1972) ex-
tended these analyses by investigating the effect of embedment of footings.
They observed a decrease in the amplitude of the steady-state response and
an increase in the resonant frequency. Chae (1970) noted that the embedment
of footings does not have a significant effect on the resonant frequencies in
the case of constant-force excitations (no eccentric masses). Dobry and Gaz-
etas (1986) presented a method to compute the effective dynamic stiffness
coefficient kd and viscous damping coefficient c of arbitrary shaped foun-
dations. The method is extended to account for the embedment (Gazetas et
al. 1985).
In another approach, Lysmer and Kuhlemeyer (1969) replaced the infinite
medium by a finite system with a special viscous boundary represented by
dashpots acting normal and tangential to the specified boundary in such a
way that perfect absorption of the elastic waves is possible. Hardin (1965)

FIG. 2. Problem under Consideration: Vertical Mode of Vibration for Foundation

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and Wu (1971) described the damping for cohesionless soils as a hysteretic

damping in nature.
Das (1983) stated that no significant permanent settlement of the vibratory
machine foundations occurred when the peak acceleration is less than 1 g,
and this settlement is inversely proportional to the degree of saturation of
the soil because of surface tension.
Between 1960 and 1962, a comprehensive program was established at the
Waterways Experiment Station, Vicksburg, Miss., for studying the vertical,
rocking, and torsional vibrations of foundations on soils. The results show
that the frequency and amplitude are not independent, a characteristic of
nonlinear behavior.
Woods et al. (1974) studied the dynamic deformations of a half-space
model by the use of double exposure stroboscopic holographic interferome-
try.
The studies (Dominguez and Roesset 1978; Gazetas and Roesset 1976;
Karasudhi et al. 1968; Luco and Westmann 1972; Rucker 1982; Wong and
Luco 1976) of the response of arbitrary shaped foundations show that the
aspect ratio can have a considerable effect on the system parameters. This
means that the practical assumption of an equivalent circular foundation
(Whitman and Richart 1967) of equal area (translational modes) or equal
moments of inertia (rotational modes) is not always right.
For a detailed discussion of the analysis of machine foundation, the reader
is referred to the review article of Gazetas (1983).

PROBLEM FORMULATION

The vertical vibration of an actual foundation embedded in a soil described

by its shear modulus G, Poisson's ratio v, and mass density p (Fig. 3) can
be represented by a lumped parameter system consisting of a nonlinear spring
exerting the restoring force q, a Coulomb friction F, and a one-degree-of-
freedom rigid body under an oscillatory force. The dynamic equilibrium of
the equivalent foundation system shown in Fig. 4 can be mathematically
expressed as

m--r + q + F sgn («) - mq = Q(J) (1)

AT

where
sgn (u) = 1 when u > 0 and sgn (u) = — 1 when u < 0 (2)
Here, u is the vertical displacement from the original position (not the static
equilibrium one), T is the time, the overdot indicates the derivative with
Q(T>

FIG. 3. Actual Foundation of Mass m Embedded in Soil Classified by Its Param-

eters G, p, and v

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Q(T)

F/2 F/2

•^7™777 * • yy? w*
FIG. 4. Equivalent Foundation System

respect to T, and m is the mass of the foundation, the machinery, and the
soil vibrating in phase with the foundation (effective mass of the soil). The
problem of whether to include the effective mass of the soil or not received
considerable attention. Hsieh (1962) developed values for the effective mass
of the soil for different modes of vibration. Richart and Whitman (1967)
emphasized the unimportance of the effective mass of the soil, because soil
particles under vibration are moving in different directions with different
accelerations. However, for high Poisson's ratios, the effective mass of the
soil may become important.
For a detailed discussion of the magnitude of the friction force due to
embedment, the reader is referred to Chae (1970), Den Hartog (1931),
Richart and Whitman (1967), Sridharan et al. (1981), and Stokoe (1972).
Testing of soil samples in triaxial machines shows that the variation of
the deviatoric stress o^ — a3 with the principal strain e, is not linear. For
numerical calculations, one can either smooth the experimental data and use
an interpolation scheme or use a theoretical model such as the hyperbolic
model

CTi — <r3 = e.i(a + be.{) (3)

Using the raw or smoothed data, one can use a regression analysis to rep-
resent the variation of the deviatoric stress as a polynomial in e, and obtain
a 3 = r,e, + r2e? + r3<=] (4)
in which the r„ are constants. Alternatively, starting from Eq. 3, one can
expand it for small 6i and obtain
1 b
2 b
3
cr3 = - £i (5)
a a a
Similarly, starting with the Ramberg-Osgood model (Ramberg and Osgood
1943), one can expand it for small 6! to obtain a polynomial expansion as

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in Eqs. 4 and 5. Eqs. 4 and 5 emphasize the presence of material nonlinearity

in the soil structure. On the other hand, the trend in the variation of the
restoring force q with displacement u is usually determined by plate load
tests. Chandra et al. (1984) and Massalas (1977) suggest the relation
q = ktu + k^u3 (6)
to incorporate the nonlinear behavior of soil. A method for obtaining the
values of kt and k3 has been suggested by Chandra (1979). Following Fun-
ston and Hall (1967), we can obtain a similar result if we expand the hy-
perbolic tangent model
k
q = - tanh (ub) (7)

in which k = the linear spring constant; and 8 = a nonlinear parameter. Eq.

7 can be expanded in a Taylor series to yield a polynomial in u. We note
that Eq. 7 is not quite suitable for cycling loading. It can be easily seen
that, for small values of u, q = ku, representing a force in a linear spring.
The damping in the system will be discussed in the next section.
The forcing function <2(T) is the result of the applied loads on the foun-
dation. These loads can be caused by the imbalance of rotating machinery,
earthquakes, water and wind waves, transportation vehicles, hammers, and
nearby blasts. For example, an eccentric mass m0 having the eccentricity e
in a given rotating machine produces an excitation given by
Q = m0e(l2 cos Ar (8)
in which Cl = the rotational frequency of the motion. If the foundation sup-
ports more than one unbalanced rotating machine, then the excitation will
consist of many components having different frequencies; it has the form
N
m
Q = 2 O*en&l COS (A.T + (3„) (9)
n=l

in which N = the number of eccentric masses; and p„ = the phase of the

mass n. The present study is limited to the case of an excitation consisting
of a single frequency having a constant amplitude. Thus the equation of
vertical vibration of a foundation on a nonlinear soil structure is taken as
d2u . A
m —- + q + F sgn (u) - tng = F0 cos OT (10)
ch

in which F0 and A are constants.

To study the motion of the foundation from its static equilibrium position,
we let
u = us + v (11)
in which us = the static settlement of the foundation due to its mass and the
mass of machinery, and it is given by
q{us) = mg (12)
Substituting Eq. 11 into Eq. 10, expanding the result for small v, and using
Eq. 12, we obtain

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d2v dq 1 d2q 1 d3q

m —-2 H (us)v H (K,)V H r («s)v
or du 2! OK2 3! du3
+ F sgn (v) = F0 cos AT (13)
We note that v need not be small compared with K,\ It follows from Eq. 13
that the linear undamped natural frequency w0 is given by
1/2
1 dq
w0 = ~ -J («,) (14)
m du
which takes the form
r
*""/2
0)0 sech (ush) (15)
m
for the case of the hyperbolic tangent model. This expression confirms the
dependence of the natural frequency of the foundation system on the dead
weights as observed by Eastwood (1953).
The solution can be simplified by introducing dimensionless quantities de-
fined by

n=— (16a)
w0

V
x =— . (166)
uc
t = W0T (16c)
in which uc = a characteristic displacement. Then, Eq. 13 can be rewritten
as
x + x + a2x2 + a3x3 + p.2 sgn (x) = F cos ilt (17)
in which the dot indicates the derivative with respect to t and
ucq"{us)
a2 = (18a)
2/nwo

a3 Wb)
6mwo
F
p,2 = (18c)
w« c w 0

and

"0
F = (18d)
muctsi0

ENERGY DISSIPATION

An equivalent linear viscous damping force c du/di could be added to

Eq. 1. This force represents two types of energy dissipation: radiation (geo-
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metrical) damping caused by the propagation of waves in the soil medium

and material (internal) damping caused by hysteretic and viscous effects. The
analogy between the lumped-parameter model and the problem of a vibratory
mass on an elastic half-space (elasticity problem) is used to obtain the damp-
ing coefficient c which will account for both types of damping. The effect
of radiation damping in vertically loaded footings is more significant than
hysteretic damping. To account for hysteretic damping, Dobry and Gazetas
(1986) used the correspondence principle of viscoelasticity (Lysmer 1980).
However, Kausel and Roesset (1975) imposed some conditions on the boundary
of the finite element region to account for the loss of energy by radiation.
To include a large class of loading-unloading forces, one can express Eq.
15 as (Lutes 1970; Jennings 1974; Wen 1975, 1976)
x + x + a|*|jt + aj sgn (x) + a2x2 + a 3 x 3 + l^x + \x2 sgn (i) + n- 3 |i|i
3
+ u. 4 i = / c o s tit (19)
in which a, a 1 ( a 2 , a 3 , u,1; u,2, u,3, u,4, / , and Cl are constants. A hysteretic
component z(x) could be added to the left side of Eq. 19 to account for the
internal damping caused by hysteretic effects. The modulation of z with time
can be described as (Wen 1976)
i = -a\x\z" - pi|z"| + Ax for odd n (20)
i = -a|i|z"~'|z| - $xz" + Ax for even n (21)
in which a, n, (J, and A are constants. The case of n = o° in Eq. 21 represents
an elastoplastic system.

METHOD OF SOLUTION

Large responses have been observed for systems governed by equations

similar to Eq. 17 when
, (\ 1 1 2 3 \

In the present work, we consider the case of primary resonance (Cl ~ w0),
superharmonic resonance of order two (Cl « (l/2)w 0 ), and subharmonic res-
onance of order one-half (Cl « 2<o0). We determine approximate analytical
solutions using a perturbation method, the method of multiple scales (Nayfeh
1973, 1981).

Primary Resonance
To analyze the case of Cl ~ a>0, perturbation methods require the nonlin-
earity, the damping, and the excitation to appear at the same time to balance
each other. This is so because, as the amplitude of the response increases,
the nonlinearity and the damping tend to reduce it. Thus, we let
x = vc (23a)
3
F =e / (23b)

2eVi = — • • (23c)

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p,2 sgn (i) = e3(i,2 sgn (i) (23d)

in which e = a small dimensionless parameter that serves as a bookkeeping
device and can be set equal to unity in the final solution. Then, Eq. 17
becomes
x + x + 2e2|x1i + ea 2 x 2 + e2a3;t3 + e2|x2 sgn (i) = e 2 /cos [It (24)
Before finding an approximate solution to Eq. 24, we find a solution to
the more general model described in Eq. 19. A hysteretic component z(x)
for the case of n = oo is added to Eq. 19 to account for the hysteretic damp-
ing; that is
x + x + e.2a\x\x + e2ot, sgn (x) + ea 2 x 2 + e 2 a 3 x 3 + 2e2|X!X + e2\x2 sgn (x)
+ e2^jL3|jc|jc + e2(jb4i3 + e2z(x) = e2f cos [It (25)
We seek a uniform approximate solution to Eq. 25 in the form
x = x0(T0,TuT2) + zXl(T0,TuT2) + e2x2(T0,TuT2) + ••• (26)
According to the method of multiple scales (Nayfeh 1973, 1981), the or-
dinary differential equation is converted into a partial differential equation
in terms of the scales T„ = e"t. The scale T0 = t is a fast scale that char-
acterizes motions occuring with the frequencies o)0 and Cl, whereas the scales
Tt = e.t and T2 = e2t are slow scales that characterize the modulation of the
amplitude and phase with the nonlinearity, damping, and possible reso-
nances. In terms of the T„, one can use the chain rule to transform the or-
dinary time derivatives into partial derivatives according to

d
— = D0 + e£>! + e2D2 + ••• (27)
dt
j2

— = Dl + 2zD0Dl + e 2 (2D 0 D 2 + D2) + ••• (28)

dr
in which D„ = d/dTn. Substituting Eqs. 2 6 - 2 8 into Eq. 25, equating coef-
ficients of like powers of e to zero, eliminating secular terms, and setting e
equal to 1 gives
1
x = a cos (£lt — y) H— ea 2 a 2 - cos (lilt - 27) - 1 (29)

in which a and 7 are given by

2(x2 4|x3 3 1
a = -\x,\a a |x4a + - / sin 7 + kx (30)
IT 3-ir 8 2
4a 2a! /5a! 3a 3 \ 22 /
7 = 0- a + + \a + — cos y + k2 (31)
3TT Tra \ 12 8 / 2a
where
2xs
ki = — (xs - a) . , (32a)

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(b)

-6 -I 1
a
(c)

FIG. 5. Frequency-Response Curves for Case of Primary Resonance for M-,

0.06 and/ = 0.24: (a) a, = 0; (b) ae = 1.0; (c) a, = -1.0

1 1 (a — 2x,
fe = - cos - 1- (32*)
2 V a a I \a a
a = H- 1 (32c)

For the model described in Eq. 24, Eqs. 30 and 31 reduce to

2|x2 1
a = — \iia 1— / sin 7 • (33)
TT 2

lOol - 9a3 /
•v = cr H a H cos 7 . (34)
24 2a

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750 760 770 780 790 800

t

FIG. 6. Effect of Embedment upon Amplitude of Response for Case of Primary

Resonance for <x2 = 0.5, a3 = 0.3, JJL, = 0.07, / = 0.07, and a = 0.01: (a) |x2 = 0.0;
(b) |x2 = 0.01; (c) p.2 = 0.03; (d) |x2 = 0.04

After a transient period, a and 7 attain constant values called steady-state

values (i.e., their derivatives with respect to t are zeros). Thus, for the steady
state, Eqs. 33 and 34 become
2(jt2 1
\i^a + = -/sin y (35)
TT 2

10a! - 9a3
era + a = — fcos 7 (36)
24
2J
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100 130

FIG. 7. Effect of Different Types of Damping upon Foundation Response for e

0.1 andx s = 1.5

Squaring Eqs. 35 and 36, adding the results, and solving the resulting equa-
tion forCT,we obtain the frequency-response equation
A 2-11'2
9a, f 4|iiH- 2
4MJ
2 (37)
24 2 2

Eq. 29 shows that, to the second approximation, the steady-state response

consists of a term having the frequency Cl, a term having the frequency 2fl,
and a constant term — (l/2)ea 2 a 2 . The last term produces a constant settle-
ment of the foundation caused by the oscillatory excitation and vanishes only
when the excitation vanishes.
Fig. 5 shows the effect of the nonlinearity; it bends the frequency-response
curves to the right for the case of hardening nonlinearity ae > 0 and to the
left for the case of softening nonlinearity a,, < 0, where
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a3 12
«i (38)

Using the model described in Eq. 7 and substituting for a 2 and a 3 into Eq.
38 yields
a, < 0 (39)
This confirms the fact that the soil structure appears to behave as though it
were a softening system in which the tangent modulus decreases as the am-
plitude of motion increases (Funston and Hall 1967). The bending of the
frequency-response curves, due to the presence of nonlinearity causes the
jump phenomenon. This may lead to a dangerous abrupt change in the am-
plitude of the foundation system. As the depth of embedment increases, the
amplitude of the response decreases as shown in Fig. 6, in agreement with
the results of Chae (1970). Fig. 7 shows the effect of different types of
damping on the response.

Subharmonic Resonance of Order One-Half

To analyze the case Cl ~ 2w0, we note that a larger excitation is needed
to produce a response as large as that in the case of primary resonance. The
damping has to be order e to appear at the same time as the quadratic non-
linearity which generates the large response at Cl « 2to0. Hence, the gov-
erning equation is rewritten as
x + x + 2e.ix.tX + e2|x2 sgn (x) + ea 2 x 2 + e 2 a 3 x 3 = / cos ilt (40)
Using the method of multiple scales (Nayfeh 1973, 1981), one obtains the
following equations describing the modulation of the amplitude and the phase
with time:
2 f2"
e \x2 j
a = —e^a + ——
2TT sin <j> sgn (D0x0)d<$> - eaTf sin \ (41)
Jo 2 2
9a, 10a?
ap 2al)A2a
24 (l(ft + 2)
9 7.2 2
ea2Aa e ji,2
H — + eal/cos X H cos § sgn (D0x0)d<$> (42)
2 2IT j 0

in which
1/2
1 2 2 2a 2 /
-il2
a ( l + | j -eVfO 2J
2(1 - XI2)
(43)
1 o
4e(j,,0
7 = - 2 p + ecrf + tan 'v, tan
(1 - a2)(ecr - 2)
and £1 = 2 + ecr. (44)
Eqs. 4 1 - 4 4 reduce to those of Nayfeh (1983) when u.2 = 0.
After transient oscillations, a and y tend to stationary (i.e., constant) val-
ues. They can be determined by a numerical integration of Eqs. 41 and 42.
To the second approximation, the steady-state response can be expressed as

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750 760 770 780 790 800

t
(a)

750 760 770 780 790 800

t
(b)

FIG. 8. Comparison of Linear and Nonlinear Responses of Foundation System

for Case of Subharmonic Response of Order One-Half for p., = 0.04, |x2 = 0.002,
/ = 0.15, and a = 0.01: (a) Nonlinear a2 = 1.3 and a;, = 1.6; (b) linear

1
1 1 , / 2e[AiOf
- 2 cos ftf H -r sin ilt
x = a0 cos \-2 Q,t 2 7o + v l + (1 - ft ) (1 - H2)

— cos 2ilt H— ea2an cos (fit — y0 + v) eoba2,

2 2 2
2 (1 - ii ) (l - 4il ) 6 2
1 ea 2 / 2 ea2/ao , 3 1 1 ,
cos I - ft/ 7o + ~ v J + ••• (45)
2 (1 - O2)2 (1 - n2)(fl2 + 2ft)
in which a0 and 70 are the steady-state values of a and 7. Fig. 8 confirms
the fact that the practicing design engineer cannot afford to ignore nonlin-
earities. The presence of the nonlinearity has an important effect on the re-
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(a)

750 760 770 780 790 800

t

(b)

FIG. 9. Comparison of Perturbation Solution with Numerical Solution for Re-

sponse of Footing-Soil System for Case of Subharmonic Resonance (1 = 2w„ for
a2 = 0.5, a3 = -0.5, |x, = 0.01, (JL2 = 0.002,/ = 0.15, andCT= 0.01: (a) Perturbation
Solution; (b) Numerical Solution

sponse of the foundation system in terms of the peak amplitude and the
overall shape of the time history. In this case, it follows from Eq. 45 that
the constant settlement up due to the vibration consists of two terms accord-
ing to
1 ea2/2
up = - - €a2fl0 (46)
2 1 -O2
Fig. 9 shows that the response predicted by the perturbation expansion for
a footing-soil system for the case of subharmonic resonance of order one-

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half is in good agreement with that obtained by numerically integrating Eq.

40 using a fifth-order Runge-Kutta Verner technique (numerical simulation).

Superharmonic Resonance of Order Two

To analyze the case ft ~ (l/2)(o 0 , we use Eq. 40, follow steps similar to
those in the case of subharmonic resonance of order one-half, and obtain
(Nayfeh 1984)
e, 2 ,
1 M-2 .
a = —eu^a ea 2 \ 2T sin 7 H sin <>
| sgn (D0x0)d$ (47)
2 2TT J0
•2„
1 e
2.,
2 2 3 . 2I T , , M-2
ap = e i,a + € S2a + - e a 2 \ r cos 7 + —— I cos <(> sgn (D0x0)rf4> (48)
2 2TT JO

in which
2s1 = St - M-f (49a)
8
/ «2 ,\ ,
5, = 6a 3 - " —, - 4al A2 (49ft)

9a, - 10al
S2 = — (49c)
24

7 = ear - p + v, \ =
J_— (50)
1 -ft2
e(cr — i'u-i) 4/eu.ift
2iy = 1 - — ^ (51)
2 1 - ft2
The stationary values of a and 7 can be obtained by numerically inte-
grating Eqs. 47 and 48. To the second approximation, the steady-state so-
lution can be expressed as
/ 2e(i,1fi/
x = a0 cos (2Clt + —70 + v) H : cos ftf H — sin ftf
1 - a2 (i - n2)2
1 2 1 , 1 ea2/2
- ea2fl0 cos (4ilt + -2y0 + 2v) - - ea 2 a 0 - - —rz
o 2 2 (1 — II )

+
~ 2 2 , „^ N cos (3ft? - 70 + v)
(1 - ft )(ft2 + 2ft)

+ eot2/ao
^i ^7, 7^ cos (Of - 70 + v) + ••• (52)
(ft2 - 2ft)(l - ft2)
in which a0 and 70 are the steady-state values of a and 7. For the case of
superharmonic resonance of order two, the constant settlement has the same
expression (Eq. 46) as in the case of subharmonic resonance of order one-
half. In contrast with the case of primary resonance, the peak amplitude of
the free-oscillation term is a function of a 2 , as in Eqs. 33 and 47.

SUMMARY AND CONCLUSIONS

The method of multiple scales is used to obtain an approximate analytical

solution of the vertical vibration of foundations on soil. The present work

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takes into account the nonlinearity of the soil structure, radiation, hysteretic
and viscous damping, and the effect of embedment.
Some general conclusions of the present work are as follows:

1. Large responses of a foundation resting on a soil occur when the excitation

frequency tl is equal or nearly equal to the natural frequency of the vibratory
system co0 or, as it is commonly called, primary resonance. In addition, the
present investigation indicates that other large responses can occur when A =
(l/2)o>0 (superharmonic resonance of order two) or Cl = 2o>0 (subharmonic res-
onance of order one-half). This means that by arbitrarily designing the foun-
dation system to have a natural frequency larger or smaller than the excitation
frequency, we are not on the safe side.
2. A closed-form expression is presented for the constant settlement of the
nonlinear soil structure caused by the vibration. The results show that the fre-
quency and amplitude are not independent, a characteristic of nonlinear behavior,
as observed at the Waterways Experiment Station.
3. The results of the perturbation solution are in good agreement with the
results of numerical simulation.
4. The embedment decreases the amplitude of vertical vibration of founda-
tions in agreement with the results of Chae (1970).

The present study needs to be extended to more than one degree of free-
dom. Coupling sliding and rocking vibrations of foundations is important in
the design of nuclear power plants and machine foundations. Coupled modes
of vibration are needed to handle the case of nonalignment of machinery on
foundations. The present analysis represents the vibratory motion of soils by
a finite lumped model characterized by a mass, a linear damper, and a spring.
A better solution could be obtained by extending the analysis to the case of
propagation of nonlinear waves in an elastic half-space.

APPENDIX I. REFERENCES

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881.
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elastic space or an elastic stratum." Trans. Royal Soc. London, Series A, 248,
327-368.
Chae, Y. S. (1970). "Dynamic behaviour of embedded foundation-soil systems."
Presented at 49th Ann. Mtg. of U.S. Highway Res. Board.
Chandra, S. (1979). "Analysis of beams and plates on nonlinear subgrades." thesis
presented to I. I. T. Kanpur, in partial fulfillment of the requirements for the
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Chandra, S., Madhav, M. R., and Iyengar, N. G. R. (1984). "Trapezoidal footings
on nonlinear subgrades." Int. J. Num. Anal. Meth. in Geomech., 8, 519-529.
Das, B. M. (1983). Fundamentals of soil dynamics. Elsevier Science Publishing Co.,
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Den Hartog, J. P. (1931). "Forced vibrations with combined coulomb and viscous
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Dobry, R., and Gazetas, G. (1986). "Dynamic response of arbitrarily shaped foun-
dations." J. Geotech. Engrg., ASCE, 112(2), 109-135.

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Dominguez, J., and Roesset, J. M. (1978). "Dynamic stiffness of rectangular foun-

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Riicker, W. (1982). "Dynamic behavior of rigid foundations of arbitrary shape on a

half space." Earthquake Engrg. Struct. Dyn., 10, 675-690.
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APPENDIX II. NOTATION

The following symbols are used in this paper:

a = amplitude of response;
c = damping coefficient;
e = eccentricity;
F = Coulomb damping force;
F = nondimensional amplitude of excitation;
/ = scaled, nondimensional amplitude of excitation;
F0 = amplitude of excitation;
G = shear modulus;
g = gravitational acceleration;
k = linear spring constant;
m = mass of foundation system;
m0 = eccentric mass;
Q = forcing function;
q = nonlinear restoring force;
t = nondimensional time;
u = vertical displacement;
uc = characteristic displacement;
us = static settlement;
u = velocity;
v = displacement from static equilibrium position;
wQ = natural frequency;
x = scaled, nondimensional vertical displacement from static
equilibrium position;
x = nondimensional vertical displacement from static equilibrium
position;

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z = hysteretic component;
<*2 = coefficient of quadratic nonlinearity;
<*3 = coefficient of cubic nonlinearity;
ae = effective coefficient of nonlinearity;
8 = nonlinear parameter;
e = small nondimensional parameter;
ei = principal strain;
M-i = scaled viscous-damping coefficient;
(X 2= scaled Coulomb-damping force;
P-i = nondimensional viscous-damping coefficient;
£2 = nondimensional Coulomb-damping force;
V = Poisson's ratio;
P = mass density;
a = detuning parameter;
0-1 - 0-3 = deviatoric stress;
T = time;
frequency of excitation; and
a ==
nondimensional frequency of excitation.
n

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