6
Earthquake
Response of
Linear Systems
CIVL507 Class notes 1
Strong Motion Accelerographs:
(a) SMA-1 and (b) SSA-2
(a)
(b)
Figure 6.1.1 from Dynamics of Structures: Theory and Applications of Earthquake Engineering, by Anil K. Chopra, Prentice-Hall, 2017
CIVL507 Class notes 2
Earthquake Excitation
A selection of
horizontal motions
from different
Earthquakes
CIVL507 Class notes 3
Cascadia Seismicity
Cascadia Region - Seismic Sources
CIVL507 Class notes 4
Earthquake Excitation
Loma Prieta
Earthquake 1989,
PGA
CIVL507 Class notes 5
Earthquake Excitation
Near fault effects
Fault-normal component
Northridge Earthquake
1994
Note the long-period
pulse evident in the
acceleration, that is also
visible in the velocity
and displacement
responses
CIVL507 Class notes 6
Earthquake Excitation
NS component of El Centro (Imperial Valley) Earthquake from
1940
Data presented in Appendix 6 of Chopra (2012) and available digitally from
CIVL507 Class notes
[Link] 7
Earthquake Excitation
For Engineering, the most useful way of defining the shaking
of the ground during an earthquake is the time variation of
acceleration, ug(t). Remember
mü + cu̇ + ku=−mü g (t)
i.e. if we know ü g(t) and the system properties m, c, k, the
problem is defined completely for a SDoF system.
These are recorded using strong-motion accelerographs…
CIVL507 Class notes 8
Equation of Motion
The Equation of Motion of this system can be expressed as:
ü + 2ζωn u̇ + ωn 2 u=−ü g (t)
We write formally that for a given ü g(t), u(t) depends only on
Tn and ζ: u ≡ u(t, Tn, ζ)
CIVL507 Class notes 9
Earthquake Excitation
Often an implicit assumption in using these recorded motions
for analysis of structures is a rigid base, or rigid underlying
soil.
This means that there can be no Soil-Structure Interaction.
Soil-Structure Interaction (SSI) is a vibrant field of study at the
moment (including here at UBC), the effects of which are very
real and often changing the response quite substantially.
Despite this knowledge, we will neglect the effects of SSI for
now, and assume a rigid base and base motion unaltered by
the presence of a structure.
CIVL507 Class notes 10
Response History
For Engineering, the response quantity of greatest interest is
the displacement, u(t), of the inertial mass relative to the
motion of the ground.
We use this to determine internal forces of structural
members, moments, shears, etc.
Of interest too, in
addition to u(t), is
ut(t), the total
displacement of
the inertial mass
(eg. to prevent
pounding, damage
to fragile gear)
CIVL507 Class notes 11
Response History
Let’s look at some deformations, u(t), as a result of applying
the El Centro acceleration, to three systems with identical ζ,
but different ωn values.
CIVL507 Class notes 12
Response History
Equivalent Static Force, fS
Definition of important design parameters: Vb(t), Mb(t) and
pseudo-acceleration, A(t)
CIVL507 Class notes 13
Response History
Pseudo-acceleration,
A(t), for the same
example responses
to El Centro
CIVL507 Class notes 14
Response Spectrum
This is a central concept in Earthquake Engineering
It summarises the peak response of all possible linear SDoF
Systems to a particular component of ground motion
It is embedded in the Building Code
A response spectrum is a plot of a peak value of a response
quantity Vs natural vibration period, Tn, of the system (or
related quantity)
We design for the worst case scenario
CIVL507 Class notes 15
The Different Response Spectra
We know all we require is u(t) to compute the internal forces.
Hence the deformation response spectrum, D, is all that we
require to obtain peak values u0 (≡ D)
But, we will include the methods to calculate two additional
(and related) spectra, the pseudo-velocity and pseudo-
acceleration spectra, as these provide additional and useful
data later on
CIVL507 Class notes 16
The Different Response Spectra
Procedure to develop the deformation response spectrum, D,
Developed here for the El Centro motion used earlier
CIVL507 Class notes 17
The Different Response Spectra
Pseudo-velocity response spectrum,
Let’s consider a quantity which we will call, pseudo-velocity,
V, related to D as shown here. It can also be shown to be
related the peak strain energy, Eso
mV2
V = ωnD Es0 =
2
CIVL507 Class notes 18
The Different Response Spectra
Pseudo-acceleration response spectrum,
Let’s consider the quantity which we have previously called,
pseudo-acceleration, A, related to D as shown here. It can
also be shown to be related the peak base shear, Vbo
A = ωn2 D Vb0 =mA
CIVL507 Class notes 19
The Different Response Spectra
Deformation, D,
pseudo-velocity, V, and
pseudo-acceleration, A,
response spectra
CIVL507 Class notes 20
CIVL507 Class notes 21
The Different Response Spectra
Combined D-V- A response spectrum
CIVL507 Class notes 22
The Different Response Spectra
Combined D-V- A response spectrum (for more ζ’s)
CIVL507 Class notes 23
The Different Response Spectra
Designers are particularly interested in A/g and D:
CIVL507 Class notes 24
CIVL507 Class notes 25
CIVL507 Class notes 26
Peak Structural Response
Using the Response Spectra
If the response spectrum for a ground motion is available, the
peak value of deformation is simple to determine
The is because the computationally intensive work has
already been done!
We can now easily
calculate important
values such as:
fS0
Vb0
Mb0
CIVL507 Class notes 27
Peak Structural Response
Example – Using a Response Spectrum
The figure below shows a SDoF system, the properties of
the steel pipe are: outside diameter, d0=4.5in., inside
diameter, di=4.026in., thickness, t=0.237in., second moment
of cross sectional area, I=7.23in.4, E=29,000ksi, weight,
w=10.79lb/ft length, ζ=0.02. Determine the peak deformation
and bending stress in the cantilever due to the El Centro
Ground Motion.
CIVL507 Class notes 28
Peak Structural Response
Example – Using a Response Spectrum
Response Spectrum for the El Centro Ground Motion
(ζ=0.02).
CIVL507 Class notes 29
Peak Structural Response
Example – Using a Response Spectrum
The stress of 46.5ksi we just calculated in the previous
example exceeded the allowable stress and designer
decided to increase the size of the pipe. The properties of
the new pipe are: d0=8.625in.
di=7.981in.
t=0.322in.
I=72.5in.4
Investigate the advantages of this increased pipe size.
CIVL507 Class notes 30
Peak Structural Response
Example – Using a Response Spectrum
Response Spectrum for the El Centro Ground Motion
(ζ=0.02).
CIVL507 Class notes 31
Peak Structural Response
Example – Using a Response Spectrum
In the frame below the beam is much stiffer than the columns
and can be assumed to be rigid. The cross section of the
columns is 10in. square. Determine the base shear in the two
columns at the moment of peak response due to the El Centro
ground motion. Assume m=10kips, E=3×103 and ζ=0.05.
CIVL507 Class notes 32
Peak Structural Response
Example – Using a Response Spectrum
Response Spectrum for the El Centro Ground Motion
(ζ = 0, 2%, 5%, 10% and 20%).
CIVL507 Class notes 33
Characteristics of the Response Spectrum
We are going to try to show the relationship between the
Response Spectrum and the Ground Motion parameters.
We have seen the peak responses of the El Centro motion.
They are reproduced here:
CIVL507 Class notes 34
Characteristics of the Response Spectrum
And now we plot this data with normalised scales:
CIVL507 Class notes 35
Characteristics of the Response Spectrum
If we plot these peak responses together with the Response
Spectrum:
CIVL507 Class notes 36
Characteristics of the Response Spectrum
Lastly, we focus solely on the 5% damping curve for clarity:
CIVL507 Class notes 37
Characteristics of the Response Spectrum
Acceleration sensitive example, Tn = 0.02s (ζ=0.02)
CIVL507 Class notes 38
Characteristics of the Response Spectrum
The Effect of Damping
Damping has markedly different effects depending on which
of the three spectral regions the structure falls into
The effects of damping tend to be greatest in the velocity
sensitive region of the spectrum
The effect of damping in reducing the response depends on
Tn, but this relationship is complicated and the subject of
much research
Dampers are commonly installed in response to response the
response
CIVL507 Class notes 39
Acceleration and pseudo-acceleration response spectra
3
ζ = 0.1 (a)
Acceleration üot
A / ügo or üot / ügo
2
Pseudo-acceleration A
2
(b)
ζ=0
1
A / üo
ζ = 0.1
t
ζ = 0.2
0
0.02 0.1 1 10 50
Tn, sec
CIVL507 Class notes 40
Figure 6.12.2 from Dynamics of Structures: Theory and Application to Earthquake Engineering, by Anil K. Chopra, Prentice-Hall 2017
Relative-velocity and pseudo-velocity response spectra
3
ζ = 0.1 (a)
Relative velocity u˙o
V / u̇go or u̇o / u̇go
2
Pseudo-velocity V
4
(b)
ζ = 0.2
ζ = 0.1
V / u˙o
1
ζ=0
0
0.02 0.1 1 10 50
Tn, sec
CIVL507 Class notes 41
Figure 6.12.1 from Dynamics of Structures: Theory and Application to Earthquake Engineering, by Anil K. Chopra, Prentice-Hall 2017
CIVL507 Class notes 42
Graph paper with four-way logarithmic scales
100
50
20
10
5
Pseudo-velocity V, in./sec
0.5
0.2
0.02 0.05 0.1 0.2 0.5 1 2 5 10 20 50
CIVL507 Class notes 43
Elastic Design Spectrum
Now that we know how to construct and use a Response
Spectrum, we can start to think about the Engineering Design
Spectrum
The Design Spectrum is intended for the design of new
structures
(And, in a slightly more limited sense, for the evaluation of
existing structures)
All of the Response Spectra we have looked at up until now
have been generated using a single excitation, or input
ground motion
CIVL507 Class notes 44
Elastic Design Spectrum
What if we were to look at Response Spectra for different
motions recorded at the same site? Imperial Valley in this
case.
CIVL507 Class notes 45
Elastic Design Spectrum
What if we are trying to create the Design Spectrum for a site
at which there have been no ground motions recorded?
We need to use motions recorded at different sites with similar
characteristics. Similar in:
- magnitude
- distance from fault
- fault mechanism
- geology of the path from source to site
- local site conditions
This is a difficult task in many regions of the world
Ground Motion selection is a topic of heated debate!
CIVL507 Class notes 46
Elastic Design Spectrum
Procedure to create the Design Spectrum for a site at which
there are recorded ground motions available
1) Select a number of appropriate motions, say I motions (11
is a common number here)
2) Normalise each motion so that all I motions have identical
peak acceleration values, ü 0 (or u̇ 0, u0, etc. may be
preferred in some situations)
3) Calculate the Response Spectrum for each of these
normalised motions
4) Calculate the mean and standard deviation values for the
distribution of spectral ordinates at each Tn.
CIVL507 Class notes 47
Elastic Design Spectrum
Procedure to create the Design Spectrum for a site at which
there are recorded ground motions available
CIVL507 Class notes 48
Elastic Design Spectrum
Procedure to create the Design Spectrum for a site at which
there are recorded ground motions available
CIVL507 Class notes 49
Elastic Design Spectrum
Design Spectrum Example - ü 0 = 1g, u̇ 0 = 48in./s, u0 = 36in
Follow procedure
to calculate V
CIVL507 Class notes 50
Elastic Design Spectrum
Design Spectrum Example - ü 0 = 1g, u̇ 0 = 48in./s, u0 = 36in
From V, calculate A
from A = ωnV
Oftentimes, it is
convenient to view
this Spectrum, the
D spectrum on their
own also
CIVL507 Class notes 51
Elastic Design Spectrum
Design Spectrum Example - ü 0 = 1g, u̇ 0 = 48in./s, u0 = 36in
D Spectrum
CIVL507 Class notes 52
Elastic Design Spectrum
Design Spectrum Example - ü 0 = 1g, u̇ 0 = 48in./s, u0 = 36in
Finally, the process
must be repeated
for varying ζ‘s
CIVL507 Class notes 53
Elastic Design Spectrum
Design Spectrum Example - ü 0 = 1g, u̇ 0 = 48in./s, u0 = 36in
Looking at the
pseudo-acceleration,
A Spectrum
for varying ζ‘s
CIVL507 Class notes 54
Elastic Design Spectrum
Design Spectrum Example - ü 0 = 1g, u̇ 0 = 48in./s, u0 = 36in
Looking at the
pseudo-acceleration,
A Spectrum
for varying ζ‘s
(linear axes now)
CIVL507 Class notes 55
Elastic Design Spectrum
How does the Design Spectrum compare to a Response
Spectrum? For El Centro, ü 0 = 0.319g (u̇ 0 = 15.3in./s, u0 =
11.5in are implied from firm ground ratios)
CIVL507 Class notes 56
Elastic Design Spectrum
How does the Design Spectrum compare to a Response
Spectrum? For El Centro, ü 0 = 0.319g (now we use actual
values of u̇ 0 = 13.04in./s, u0 = 8.4in)
CIVL507 Class notes 57
Elastic Design Spectrum
Emphasising the distinction between the Design Spectrum and
the Response Spectrum:
- Specified displacement (or design force)
Vs Response to ground motion
Here the Design Spectrum is defined using multiple sources:
CIVL507 Class notes 58
Acknowledgment
Most of the notes included in this package were prepared by
Dr. Jason Dowling as part of the lecture notes that he
prepared for CIVL507 in 2014
The majority of the figures have been provided as
supplementary material for the book by Prof. Chopra
CIVL507 Class notes 59
