Structural Dynamics of Linear
Elastic MDOF Systems
u1
u2
u3
MDOF Dynamics 1
Revised 3/09/06
Structural Dynamics of Elastic
MDOF Systems
Equations of Motion for MDOF Systems
Uncoupling of Equations through use of
Natural Mode Shapes
Solution of Uncoupled Equations
Recombination of Computed Response
Modal Response History Analysis
Modal Response Spectrum Analysis
Equivalent Lateral Force Method
MDOF Dynamics 2
Relevance to ASCE 7-05
ASCE 7-05 Provides guidance for three specific
analysis procedures:
Equivalent Lateral Force Analysis (ELF)
Modal Superposition Analysis (MSA)
Response History Analysis (RHA)
ELF Usually Allowed
ELF Not Allowed
Cs
See ASCE 7-05
Table 12.6-1
Ts
3.5Ts
T
MDOF Dynamics 3
Planar Frame with 36 Degrees of Freedom
uy
Majority of Mass
is in Floors
rz Typical Nodal
DOF
10
11
12
13
14
15
16
ux
Motion is
Predominantly
Lateral
MDOF Dynamics 4
Planar Frame with 36 Static Degrees of Freedom
but with only THREE Dynamic DOF
u1
u2
u3
u1
U = u2
u
3
MDOF Dynamics 5
Development of Flexibility Matrix
f1=1 kip
d1,1
d2,1
d1,1
d2,1
d3,1
d3,1
MDOF Dynamics 6
Development of Flexibility Matrix
d1,2
f2=1 kip
d2,2
d1,1 d1,2
d2,1 d2,2
d3,2
d3,1 d3,2
MDOF Dynamics 7
Development of Flexibility Matrix
d1,3
d2,3
f3=1 kip
d1,1 d1,2 d1,3
d2,1 d2,2 d2,3
d3,1 d3,2 d3,3
d3,3
MDOF Dynamics 8
Concept of Linear Combination of
Shapes (Flexibility)
d1,1
d1,2
d1,3
U = d2,1 f1 + d2,2 f2 + d2,3 f3
d
d
d
3,1
3,2
3,3
d1,1 d1,2 d1,3 f1
U = d2,1 d2,2 d2,3 f2
d3,1 d3,2 d3,3 f3
D F =U
K = D -1
KU=F
MDOF Dynamics 9
Static Condensation
K m,m
K
n ,m
K m ,n U m Fm
=
K n ,n U n {0}
DOF with mass
Massless DOF
K m ,m U m + K m ,n U n = Fm
K n ,m U m + K n ,n U n = {0}
MDOF Dynamics 10
Static Condensation
(continued)
Rearrange
Plug into
Simplify
1
n,n
U n = K K n,m U m
1
n ,n
K m ,m U m K m ,n K K n ,m U m = Fm
K m ,m K m ,n K K n ,m U m = Fm
1
n,n
K = K m,m K m,n K n,n K n ,m
Condensed Stiffness Matrix
MDOF Dynamics 11
Idealized Structural Property Matrices
m1
f1(t), u1(t)
m2
f2(t), u2(t)
m3
f3(t), u3(t)
k1
k2
k3
-k1
0
k1
K = -k1 k1+ k 2
-k 2
0
-k 2
k 2 + k 3
0
m1 0
M = 0 m2 0
0 0 m3
f1 (t )
F (t ) = f 2 (t )
f3 (t )
u1 (t )
U (t ) = u2 (t )
u (t )
3
Note: Damping to be shown later
MDOF Dynamics 12
Coupled Equations of Motion
for Undamped Forced Vibration
+ KU(t) = F(t)
MU(t)
k1
0
u1 (t ) k1
0 u1 (t ) f1 (t )
m1 0
0 m2 0
k 2 u 2 (t ) = f 2 (t )
u 2 (t ) + k1 k1 + k 2
0
k 2 + k 3 u 3 (t ) f 3 (t )
k 3
0 m3
u 3 (t ) 0
DOF 2
1 (t) + k1u1 (t ) k1u2 (t) = f1 (t )
m1u
2 (t ) k1u1 (t) + k1u2 (t) + k 2u2 (t) k 2u3 (t) = f2 (t )
m2u
DOF 3
3 (t ) k 2u2 (t ) + k 2u3 (t) + k3u3 (t) = f3 (t )
m3u
DOF 1
MDOF Dynamics 13
We need to develop a way to solve the
equations of motion.
This will be done by a transformation of coordinates
from Normal Coordinates (displacements at the nodes)
To Modal Coordinates (amplitudes of the natural
Mode shapes).
Because of the Orthogonality Property of the natural mode
shapes, the equations of motion become uncoupled,
allowing them to be solved as SDOF equations.
After solving, we can transform back to the normal
coordinates.
MDOF Dynamics 14
Solutions for System in Undamped Free Vibration
(Natural Mode Shapes and Frequencies)
+ KU(t) = {0}
MU(t)
Assume
U(t ) = sin t
2
K
M = {0}
Then
1,1
1 = 2,1 , 1
3,1
t ) = 2 sin t
U(
has three (n) solutions:
1,2
2 = 2,2 , 2
3,2
1,3
3 = 2,3 , 3
3,3
Natural Frequency
Natural Mode Shape
MDOF Dynamics 15
Solutions for System in Undamped Free Vibration
K = 2M
For a SINGLE Mode
K = M2
For ALL Modes
Where: = [1 2 3 ]
12
2
2
2
=
Note: Mode shape has arbitrary scale; usually
1,i = 1.0
or
T M = I
MDOF Dynamics 16
Mode Shapes for Idealized 3-Story Frame
1,2
1,1
1,3
Node
2,3
2,2
2,1
Node
Node
3,1
3,2
MODE 1
3,3
MODE 2
MODE 3
MDOF Dynamics 17
Concept of Linear Combination of Mode Shapes
(Transformation of Coordinates)
U =Y
Mode Shape
1,1 1,2 1,3 y1
1,1
1,2
1,3
U = 2,1 2,2 2,3 y2 U = 2,1 y1 + 2,2 y2 + 2,3 y3
3,1 3,2 3,3 y3
3,1
3,2
3,3
Modal Coordinate =
amplitude of mode
shape
MDOF Dynamics 18
Orthogonality Conditions
= [1 2 3 ]
Generalized Mass
m1*
T
*
M =
m2
*
m3
Generalized Damping
c1*
T
*
C =
c2
*
c3
Generalized Stiffness
k1*
T
*
k2
K =
*
k3
Generalized Force
f1* (t )
*
T
F(t ) = f2 (t )
f * (t )
3
MDOF Dynamics 19
Development of Uncoupled Equations of Motion
MDOF Equation of Motion:
CU+
KU = F(t )
MU+
Transformation of Coordinates:
U = Y
Substitution:
CFY+
KFY = F(t )
MFY+
Premultiply by T :
+ TCY
+ T KY = T F(t)
T MY
Using Orthogonality Conditions: Uncoupled Equations of Motion are:
m1*
y c1*
y k1*
y f1* (t )
1
1
1
*
*
*
*
m2
c2
k2
y2 +
y 2 +
y2 = f2 (t )
*
* y
* y *
y
m3 3
c3 3
k3 3 f3 (t )
MDOF Dynamics 20
Development of Uncoupled Equations of Motion
(Explicit Form)
MODE 1
m1*y1 + c1*y 1 + k1*y1 = f1* (t )
MODE 2
m*2y2 + c*2 y 2 + k*2 y2 = f2* (t )
MODE 3
m*3y3 + c*3 y 3 + k*3 y3 = f3* (t )
MDOF Dynamics 21
Development of Uncoupled Equations of Motion
(Explicit Form)
Simplify by Dividing Through by m* and defining
MODE 1
y1 + 211y 1 + 12 y1 = f1* (t) / m1*
MODE 2
y2 + 222 y 2 + 22 y2 = f 2* (t) / m*2
MODE 3
y3 + 233 y 3 + 32 y3 = f3* (t) / m*3
c*i
i = *
2mi i
MDOF Dynamics 22
Earthquake Loading for MDOF System
ug U
r,1
ug (t ) +
u r ,1 (t )
FI (t ) = M ug (t ) +
u r ,2 (t ) =
u (t ) +
u
(
t
)
r ,3
g
u r ,1 (t )
1.0
M 1.0 ug (t ) + M
u r ,2 (t )
1.0
u
(
t
)
r ,3
Move to RHS as
FEFF (t ) = - M Rug (t )
MDOF Dynamics 23
Modal Earthquake Loading
F (t) = MR
ug (t)
*
m1=2
u1
m2=3
m3=1
u2
u3
M= 3
R = 1
1
2 + 1
M =
3
1
R= 1
0
ug (t )
m3=1
m1=2
u1
u3
m2=3
u2
ug (t )
MDOF Dynamics 24
Definition of Modal Participation Factor
For earthquakes:
g (t)
f (t) = MRu
*
i
T
i
Typical Modal Equation:
f (t)
MR
yi + 2ii y i + yi = * =
u g (t)
*
mi
mi
2
i
*
i
T
i
Modal Participation Factor pi
MDOF Dynamics 25
Caution Regarding Modal Participation Factor
pi =
MR
T
i
*
i
T
i M i
Its value is dependent on the (arbitrary) method
used to scale the mode shapes.
MDOF Dynamics 26
Variation of First Mode Participation Factor
with First Mode Shape
p1=1.0
p1=1.4
1.0
p1=1.6
1.0
1.0
MDOF Dynamics 27
Concept of Effective Modal Mass
For each Mode i
mi = pi mi
The sum of the effective modal mass for all modes is
equal to the total structural mass.
The value of effective modal mass is
independent of mode shape scaling.
Use enough modes in the analysis to provide
a total effective mass not less than 90% of the
total structural mass
MDOF Dynamics 28
Variation of First Mode Effective Mass
with First Mode Shape
m1 / M
=1.0
m1 / M =0.9
m1 / M =0.7
1.0
1.0
1.0
MDOF Dynamics 29
Derivation of Effective Modal Mass (1)
For each mode:
2
yi + 2ii yi + i yi = pi
ug
SDOF system:
q i + 2ii q i + q =
ug
2
i i
Modal response history, qi(t) is obtained
by first solving the SDOF system.
MDOF Dynamics 30
Derivation of Effective Modal Mass (2)
From Previous Slide
yi (t ) = pi q i (t )
Recall
u i (t ) = i yi (t )
Substitute
u i (t ) = pi i q i (t )
MDOF Dynamics 31
Derivation of Effective Modal Mass (3)
Applied static forces required to produce ui(t):
Vi (t ) = Kui (t ) = PK
i i qi (t )
Recall:
Ki = i M i
2
Substitute:
Vi (t ) = M i Pii qi (t )
2
MDOF Dynamics 32
Derivation of Effective Modal Mass (4)
Vi = Vi R
T
Total shear in mode:
Vi = ( M i ) RPi qi (t ) = i MRPi qi (t )
T
Define effective modal mass:
Acceleration in mode
M i = MRPi
T
i
and
Vi = M i qi (t )
2
MDOF Dynamics 33
Derivation of Effective Modal Mass (5)
i MR T
M i = i MRPi = T
i M i Pi
i M i i
T
M i = Pi mi
MDOF Dynamics 34
Development of a Modal Damping Matrix
In previous development, we have assumed:
c1*
*
T
C =
c2
c3
Two Methods Described Herein:
Rayleigh Proportional Damping
Wilson Discrete Modal Damping
MDOF Dynamics 35
Rayleigh Proportional Damping
MASS
PROPORTIONAL
DAMPER
STIFFNESS
PROPORTIONAL
DAMPER
C = M + K
MDOF Dynamics 36
Rayleigh Proportional Damping
C = M + K
For Modal Equations to Be Uncoupled:
2nn = Cn
Assumes
T M = I
T
n
Using Orthogonality Conditions:
2nn = +
2
n
n =
1
2n
n
2
MDOF Dynamics 37
Rayleigh Proportional Damping
Select Damping value in two modes, m and n
Compute Coefficients and :
m n
=2 2
2
n m
m m
n
1 / 1 /
n
m n
Form Damping Matrix
C = M + K
MDOF Dynamics 38
Rayleigh Proportional Damping (Example)
5% Critical in Modes 1 and 3
Structural Frequencies
Mode
1
2
3
4
5
4.94
14.6
25.9
39.2
52.8
Modal Damping Ratio
0.15
TYPE
MASS
STIFFNESS
TOTAL
= 0.41487
= 0.00324
0.10
0.05
0.00
0
20
40
Frequency, Radians/Sec.
60
MDOF Dynamics 39
Rayleigh Proportional Damping (Example)
5% Damping in Modes 1 & 2, 1 & 3, 1 & 4, or 1 & 5
0.15
Modes
1&2
1&3
1&4
1&5
.36892
.41487
.43871
.45174
0.00513
0.00324
0.00227
0.00173
1,2
Modal Damping Ratio
Proportionality Factors
(5% each indicated mode)
MODES
1,3
1,4
1,5
0.10
0.05
0.00
0
20
40
Fequency, Radians/sec
MDOF Dynamics 40
60
Wilson Damping
*
Directly Specify Modal Damping Values i
c1*
2m1*11*
*
*
*
T
C =
c2
2m222
=
*
*
*
c3
2m333
MDOF Dynamics 41
FORMATION OF EXPLICIT DAMPING MATRIX
FROM WILSON MODAL DAMPING
(NOT Usually Required)
211
T C =
2 2 2
2 n 1 n 1
( )
T 1
=c
2 n n
c 1 = C
n
T
C = M 2
i i i i M
i =1
MDOF Dynamics 42
Wilson Damping (Example)
5% Damping in Modes 1 and 2, 3
10% in Mode 5, Zero in Mode 4
12
10
Modal Damping Ratio
10
8
6
5
4
2
0
0
4.94
14.57
25.9
39.2
52.8
Frequency, Radians per second
MDOF Dynamics 43
Wilson Damping (Example)
5% Damping in all Modes
12
Modal Damping Ratio
10
8
6
5
4.94
14.57
25.9
39.2
52.8
4
2
0
Frequency, Radians per second
MDOF Dynamics 44
Solution of MDOF Equations of Motion
Explicit (Step by Step) Integration of Coupled Equations
Explicit Integration of FULL SET of Uncoupled Equations
Explicit Integration of PARTIAL SET of Uncoupled
Equations (Approximate)
Modal Response Spectrum Analysis (Approximate)
MDOF Dynamics 45
Computed Response for
Piecewise Linear Loading
Force, V(t)
Vt2
Vt1
t0
Vt 2 Vt 2
=
t2 t1
t1
t2 t3
Time, t
Time,
MDOF Dynamics 46
EXAMPLE of MDOF Response of Structure
Responding to 1940 El Centro Earthquake
u1(t)
Example # 1
m1=1.0 k-s2/in
10 ft
k1=60 k/in
u2(t)
Assume Wilson
Damping with 5%
critical in each mode.
m2=1.5 k-s2/in
k2=120 k/in
10 ft
u3(t)
m3=2.0 k-s2/in
10 ft
k3=180 k/in
N-S Component of 1940 El Centro earthquake
Maximum acceleration = 0.35 g
MDOF Dynamics 47
Example # 1 (Continued)
Form Property Matrices:
m1=1.0 k-s2/in
u1(t)
k1=60 k/in
m2=1.5 k-s2/in
u2(t)
.
10
kip s2 / in
M=
15
.
2.0
k2=120 k/in
m3=2.0 k-s2/in
u3(t)
k3=180 k/in
0
60 60
K = 60 180 120 kip / in
0 120 300
MDOF Dynamics 48
Example # 1 (Continued)
Solve Eigenvalue Problem:
m1=1.0 k-s2/in
u1(t)
k1=60 k/in
m2=1.5 k-s2/in
u2(t)
k2=120 k/in
m3=2.0 k-s2/in
u3(t)
k3=180 k/in
K = M2
.
210
sec2
966
.
2 =
212.4
1.000 1.000 1.000
= 0.644 0.601 2.57
0.300 0.676 2.47
MDOF Dynamics 49
Normalization of Modes using
0.208
0.749 0.638
= 0.478 0.384 0.534
0.223 0.431 0.514
M = I
T
1.000 1.000 1.000
vs 0.644 0.601 2.57
0.300 0.676 2.47
MDOF Dynamics 50
Example # 1 (Continued)
Mode Shapes and Periods of Vibration
MODE 1
=4.58 rad/sec
T=1.37 sec
MODE 2
=9.83 rad/sec
T=0.639 sec
MODE 3
=14.57 rad/sec
T=0.431 sec
MDOF Dynamics 51
Example # 1 (Continued)
m1=1.0 k-s2/in
u1(t)
k1=60 k/in
m2=1.5 k-s2/in
u2(t)
k2=120 k/in
m3=2.0 k-s2/in
.
458
. rad / sec
n = 983
1457
.
.
137
Tn = 0639
. sec
0431
Compute Generalized Mass:
1801
u3(t)
kip sec 2 / in
2.455
M * = T M =
2310
.
k3=180 k/in
MDOF Dynamics 52
Example # 1 (Continued)
m1=1.0 k-s2/in
u1(t)
k1=60 k/in
m2=1.5 k-s2/in
u2(t)
k2=120 k/in
m3=2.0 k-s2/in
u3(t)
k3=180 k/in
Compute Generalized Loading:
V (t ) = MRv (t )
*
2.566
*
Vn = 1.254 vg (t )
2.080
MDOF Dynamics 53
Example # 1 (Continued)
Write Uncoupled (Modal) Equations of Motion:
m1=1.0 k-s2/in
u1(t)
m2=1.5 k-s2/in
k1=60 k/in
y2 + 22 2 y 2 + 22 y2 = V2* (t ) / m2*
u2(t)
y3 + 23 3 y 3 + 32 y3 = V3* (t ) / m3*
k2=120 k/in
m3=2.0 k-s2/in
y1 + 211 y1 + 12 y1 = V1* (t ) / m1*
u3(t)
k3=180 k/in
y1 + 0.458 y1 + 21.0 y1 = 1.425vg (t )
y2 + 0.983y2 + 96.6 y2 = 0.511vg (t)
y3 + 1.457y3 + 212.4 y3 = 0.090vg (t)
MDOF Dynamics 54
Modal Participation Factors
Mode 1
Mode 2
Mode 3
Modal Scaling
1 .4 2 5
1 .9 1 1
0 .5 1 1
0 .7 9 9
0 .0 9 0
0 .4 3 5
i,1 = 10
.
i Mi =10
.
T
MDOF Dynamics 55
Modal Participation Factors
1.000
0.744
1.425 0.644 = 1.911 0.480
0.300
0.223
using 1,1
=1
using T M
1
=1
MDOF Dynamics 56
Effective Modal Mass
Mn
M n = Pn m
2
*
n
Mode 1
3.66
Mode 2
Mode 3
0.64
0.20
Accum%
81
81
14
95
5
100%
4.50 100%
MDOF Dynamics 57
Example # 1 (Continued)
Solving Modal Equation via NONLIN:
For MODE 1:
*
*
2
y1 + 211 y1 + 1 y1 = V1 (t ) / m1
1.00 y1 + 0.458 y1 + 21.0 y1 = 1.425vg (t )
M = 1.00 kip-sec2/in
C = 0.458 kip-sec/in
K1 = 21.0 kips/inch
Scale Ground Acceleration by Factor 1.425
MDOF Dynamics 58
Example # 1 (Continued)
MODAL Displacement Response Histories (From NONLIN)
6.00
3.00
T1=1.37 sec
0.00
-3.00
-6.00
MODE 1
10
11
12
2.00
1.00
T2=0.64
0.00
-1.00
-2.00
MODE 2
10
11
12
0.20
0.10
T3=0.43
0.00
-0.10
-0.20
MODE 3
Time, Seconds
10
11
12
Maxima
MDOF Dynamics 59
Example # 1 (Continued)
MODAL Response Histories:
5
Modal Displacement, Inches
4
3
2
1
0
-1
-2
MODE 1
MODE 2
MODE 3
-3
-4
-5
0
10
12
Time, Seconds
MDOF Dynamics 60
Example #1 (Continued)
u(t ) = y(t )
Compute Story Displacement Response-Histories:
u1(t)
u2(t)
u3(t)
6
4
2
0
-2
-4
-6
0
10
11
12
10
11
12
10
11
12
6
4
2
0
-2
-4
-6
6
4
2
0
-2
-4
-6
0
Time, Seconds
=0.300 x MODE 1 - 0.676 x MODE 2 + 2.47 x MODE 3
MDOF Dynamics 61
Example #1 (Continued)
Compute Story Shear Response-Histories:
u1(t)
u2(t)
u3(t)
400
200
0
-200
-400
0
10
11
12
10
11
12
10
11
12
400
200
0
-200
-400
400
200
0
-200
-400
Time, Seconds
=k2[u2(t)-u3(t)]
MDOF Dynamics 62
Example #1 (Continued)
Displacements and Forces at time of Maximum Displacements
(t = 6.04 seconds)
0
134.8 k
5.11
134.8
62.1 k
1348
2.86
196.9
23.5 k
3317
1.22
220.4
Story Shear (k)
5521
Story OTM (ft-k)
MDOF Dynamics 63
Example # 1(Continued)
Displacements and Forces at time of Maximum Shear
(t = 3.18 seconds)
38.2 k
3.91
38.2
124.7 k
382
3.28
162.9
182.7 k
2111
1.92
345.6
Story Shear (k)
5567
Story OTM (ft-k)
MDOF Dynamics 64
Modal Response Response Spectrum Method
Instead of solving the time history problem for each
mode, use a response spectrum to compute the
MAXIMUM response in each mode.
These maxima are generally NONCONCURRENT
Combine the maximum modal responses using some
statistical technique, such as Square Root of the Sum of
the Squares (SRSS), or Complete Quadratic Combination
(CQC)
The technique is APPROXIMATE
It is the basis for the Equivalent Lateral Force (ELF) Method
MDOF Dynamics 65
Example #1 (Response Spectrum Method)
Displacement Response Spectrum
1940 El Centro, 0.35g, 5% Damping
Spectral Displacement, Inches
7.00
6.00
MODAL RESPONSE
5.00
4.00
3.47
3.00
3.04
2.00
1.00
0.00
0.00
1.20
0.20
0.40
0.60
0.80
1.00
1.20
1.40
1.60
1.80
2.00
Period, Seconds
MODE 3
T=0.431 Sec.
MODE 2
T=0.639 Sec.
MODE 1
T=1.37 Sec.
MDOF Dynamics 66
Example #1 (Continued)
Spectral Displacement, Inches
7.00
6.00
5.00
4.00
3.47
3.00
3.04
2.00
1.20
1.00
0.00
0.00
0.20
0.40
0.60
0.80
1.00
1.20
1.40
1.60
1.80
2.00
Period, Seconds
Modal Equations of Motion
y1 + 0.458 y1 + 21.0 y1 = 1.425vg (t )
y2 + 0.983 y 2 + 96.6 y2 = 0.511vg (t )
y3 + 1.457 y 3 + 212.4 y3 = 0.090vg (t )
Modal Maxima
y1 = 1425
.
* 3.47 = 4.94"
y2 = 0.511* 3.04 = 155
. "
y3 = 0.090 *120
. = 0108
. "
MDOF Dynamics 67
Example
#1(Continued)
Spectral Displacement, Inches
7.00
6.00
5.00
The Scaled Response
Spectrum values give
the Same Modal Maxima
as the Previous Response
Histories
3.47x 1.425
4.00
3.00
3.04 x 0.511
2.00
1.20 x 0.090
1.00
0.00
0.00
0.20
0.40
0.60
0.80
1.00
1.20
1.40
1.60
1.80
2.00
Period, Seconds
6.00
MODE 1
T=1.37
3.00
0.00
-3.00
-6.00
0
10
11
12
10
11
12
10
11
12
2.00
MODE 2
T=0.64
1.00
0.00
-1.00
-2.00
0.20
MODE 3
T=0.43
0.10
0.00
-0.10
-0.20
Time, Seconds
MDOF Dynamics 68
Example #1 (Continued)
Computing NONCONCURRENT Story Displacements
MODE 1
.
1000
4.940
0
.
644
4
.
940
=
3181
.
0.300
1482
MODE 2
.
.
1000
1550
0
.
601
1550
.
=
0
.
931
0.676
1048
MODE 3
.
.
1000
0108
.
= 0.278
2.570 0108
2.470
0.267
MDOF Dynamics 69
Example #1 (Continued)
Modal Combination Techniques (For Displacement)
At time of Max. Displacement
Sum of Absolute Values
4.940 + 1.550 + 0.108 6.60
+
+
4
.
39
3
.
181
0
.
931
0
.
278
=
1.482 + 1.048 + 0.267 2.80
Square Root of the Sum of the Squares
Exact
5.15
2.86
1.22
Envelope of story displacement
4.9402 + 1.5502 + 0.1082 5.18
2
2
2
3.181 + 0.931 + 0.278 = 3.33
1.4822 + 1.0482 + 0.2672 1.84
5.15
3.18
1.93
Response Spectrum Results
Response History Results
MDOF Dynamics 70
Example #1 (Continued)
Computing Interstory Drifts
MODE 1
.
. 1759
4.940 3181
.
. 1482
.
= 1699
3181
1482
.
0 1482
.
MODE 2
.
. (0931
. ) 2481
1550
.
.
(
.
)
=
0117
0931
1048
1048
1048
.
.
0
MODE 3
.
. (0278
. ) 0386
0108
.
. 0267
. = 0545
0278
.
0267
. 0 0267
MDOF Dynamics 71
Example #1 (Continued)
Computing Interstory Shears (Using Drift)
MODE 1
.
. (60) 1055
1759
. (120) = 203.9
1699
1482
. (180) 266.8
MODE 2
.
2.481(60) 1489
.
.
(
)
=
14
0
0117
120
1886
1048
.
.
(
)
180
MODE 3
.
. (60) 232
0386
.
.
(
)
=
654
0545
120
481
0267
.
.
(
)
180
MDOF Dynamics 72
Example #1 (Continued)
Computing Interstory Shears: SRSS Combination
1062 + 149 2 + 23.2 2 220
2
2
2
204 + 14 + 65.4 = 215
267 2 + 189 2 + 481
. 2 331
Exact
Exact
Exact
38.2
163
346
135
197
220
207
203
346
At time of
Max. Shear
At time of Max.
Displacement
Envelope = Maximum
per Story
MDOF Dynamics 73
Caution:
Do NOT compute story shears from the story
drifts derived from the SRSS of the story
displacements.
Calculate the story Shears in each mode
(using modal drifts) and then SRSS
the results.
MDOF Dynamics 74
Using Less than Full (Possible)
Number of Natural Modes
MODAL Response Histories:
5
Modal Displacement, Inches
4
3
2
1
0
-1
-2
MODE 1
MODE 2
MODE 3
-3
-4
-5
0
10
12
Time, Seconds
MDOF Dynamics 75
Using Less than Full Number of Natural Modes
Time-History for MODE 1
y1 (t1) y1 (t 2) y1 (t 3) y1 (t 4) y1 (t5) y1 (t 6) y1 (t 7) y1 (t8) .... y1 (tn)
y(t ) = y2 (t1) y2 (t 2) y2 (t 3) y2 (t 4) y2 (t5) y2 (t 6) y2 (t 7) y2 (t8) .... y2 (tn)
y3 (t1) y3 (t 2) y3 (t 3) y3 (t 4) y3 (t5) y3 (t 6) y3 (t 7) y3 (t8) .... y3 (tn)
u(t ) = [1 2
Transformation:
3 x nt
3x3
3 ] y (t )
3 x nt
3 x nt
Time-History for DOF 1
u1 (t1) u1 (t 2) u1 (t 3) u1 (t 4) u1 (t 5) u1 (t 6) u1 (t 7) u1 (t8) .... u1 (tn)
u(t ) = u2 (t1) u2 (t 2) u2 (t 3) u2 (t 4) u2 (t 5) u2 (t 6) u2 (t 7) u2 (t8) .... u2 (tn)
u3 (t1) u3 (t 2) u3 (t 3) u3 (t 4) u3 (t5) u3 (t 6) u3 (t 7) u3 (t8) .... u3 (tn)
MDOF Dynamics 76
Using Less than Full Number of Natural Modes
Time-History for MODE 1
y (t1) y1 (t 2) y1 (t 3) y1 (t 4) y1 (t 5) y1 (t 6) y1 (t 7) y1 (t8) .... y1 (tn)
y (t ) = 1
y2 (t1) y2 (t 2) y2 (t 3) y2 (t 4) y2 (t5) y2 (t 6) y2 (t 7) y2 (t8) .... y2 (tn)
NOTE: Mode 3 NOT Analyzed
u(t ) = 1 2 y (t )
Transformation:
3 x nt
3x2
2 x nt
3 x nt
Time-History for DOF 1
u1 (t1) u1 (t 2) u1 (t 3) u1 (t 4) u1 (t 5) u1 (t 6) u1 (t 7) u1 (t8) .... u1 (tn)
u(t ) = u2 (t1) u2 (t 2) u2 (t 3) u2 (t 4) u2 (t 5) u2 (t 6) u2 (t 7) u2 (t8) .... u2 (tn)
u3 (t1) u3 (t 2) u3 (t 3) u3 (t 4) u3 (t5) u3 (t 6) u3 (t 7) u3 (t8) .... u3 (tn)
MDOF Dynamics 77
Using Less than Full Number of Natural Modes
(Modal Response Spectrum Technique)
Sum of Absolute Values
4.940 + 1.550 + 0.108 6.60 6.49
3.181 + 0.931 + 0.278 = 4.39 4.112
1.482 + 1.048 + 0.267 2.80 2.53
Square Root of the Sum of the Squares
4.940 2 + 1.550 2 + 0.108 2 5.18 5.18
2
2
2
3
.
181
0
.
931
0
.
278
3
.
33
3
.
31
+
+
=
1.482 2 + 1.048 2 + 0.267 2 1.84 1.82
Envelope of Story
Displacement
5.15
3
.
18
1.93
3 modes 2 modes
MDOF Dynamics 78
ASCE 7 allow an Approximate
Modal Analysis Technique Called the
EQUIVALENT LATERAL FORCE PROCEDURE
Empirical Period of Vibration
Smoothed Response Spectrum
Compute Total Base Shear V as if SDOF
Distribute V Along Height assuming
Regular Geometry
Compute Displacements and Member
Forces using Standard Procedures
MDOF Dynamics 79
EQUIVALENT LATERAL FORCE PROCEDURE
Method is based on FIRST MODE
response
Higher modes can be included empirically
Has been calibrated to provide a
reasonable estimate of the envelope
of story shear, NOT to provide accurate
estimates of story force
May result in overestimate of overturning
moment.
MDOF Dynamics 80
EQUIVALENT LATERAL FORCE PROCEDURE
Assume first mode effective mass = Total Mass = M = W/g
Use Response Spectrum to obtain Total Acceleration at T1
Acceleration, g
Sa1
T1
Period, Sec.
W
VB = ( S a1 g ) M = ( S a1 g ) = S a1W
g
MDOF Dynamics 81
EQUIVALENT LATERAL FORCE PROCEDURE
dr
Wx
hx
Assume Linear First Mode Response
fx
hx
2 Wx
f x (t ) = d r (t )1
h
g
VB (t ) =
d r (t )12
f i (t ) =
hg
nstories
i =1
nstories
hW
i =1
Portion of base shear applied to story i
f x (t )
hxWx
= nstories
VB (t )
hiWi
i =1
MDOF Dynamics 82
ELF EXAMPLE
m1=1.0 k-s2/in
k1=60 k/in
m2=1.5
3h
k2=120 k/in
Recall
T1=1.37 seconds
m3=2.0
k3=180 k/in
MDOF Dynamics 83
ELF EXAMPLE
Total Weight = M x g = (1.0 + 1.5 + 2.0) 386.4 = 1738 kips
Spectral Acceleration = 2SD = (2/1.37)2 x 3.47 = 72.7 in/sec2
= 0.188g
Spectral Displacement, Inches
7.00
6.00
5.00
4.00
3.47
3.00
2.00
1.00
1.37sec
0.00
0.00
0.20
0.40
0.60
0.80
1.00
1.20
1.40
1.60
1.80
2.00
Period, Seconds
Base Shear = SaW = 0.188 x 1738 = 327 kips
MDOF Dynamics 84
ELF EXAMPLE (Story Forces)
386(3h)
f3 =
= 0.381 VB = 0.375(327) = 125 kips
386(3h) + 579(2h) + 722(h)
W=386 k
W=579 k
3h
W=722 k
125 k
125 k
77 k
125 k
(220 k)
250 k
(215 k)
327 k
(331 k)
327 k
Story Shear (k)
MDOF Dynamics 85
ELF EXAMPLE (Story Displacements)
Units=inches
Time History
(Envelope)
5.15
3.18
1.93
Modal Response
Spectrum
5.18
3.33
1.84
ELF
5.98
3.89
1.82
MDOF Dynamics 86
ELF EXAMPLE (Summary)
ELF procedure gives GOOD CORRELATION
with base shear (327 kips ELF vs 331 kps Modal
Response Spectrum)
ELF story force distribution is NOT as GOOD.
ELF underestimates shears in upper stories.
ELF gives reasonable correlation with displacements
MDOF Dynamics 87
ASCE 7-05 ELF APPROACH
Uses Empirical Period of Vibration
Uses Smoothed Response Spectrum
Has Correction for Higher Modes
Has Correction for Overturning Moment
Has Limitations on Use
MDOF Dynamics 88
Approximate Periods of Vibration
Ta = C h
x
t n
Ct = 0.028, x = 0.8 for Steel Moment Frames
Ct = 0.016, x = 0.9 for Concrete Moment Frames
Ct = 0.030, x = 0.75 for Eccentrically Braced Frames
Ct = 0.020, x = 0.75 for All Other Systems
Note: Buildings ONLY!
T = 0.1N
a
For Moment Frames < 12 stories in height, minimum
story height of 10 feet. N= Number of Stories.
MDOF Dynamics 89
Adjustment Factor on Approximate Period
T = Ta Cu Tcomputed
SD1
> 0.40g
0.30g
0.20g
0.15g
< 0.1g
Cu
1.4
1.4
1.5
1.6
1.7
Applicable ONLY if Tcomputed comes from a properly
substantiated analysis
MDOF Dynamics 90
ASCE 7 Smoothed Design Acceleration Spectrum
(for use with ELF)
Spectral Response
Acceleration, Sa
V = C SW
SDS
Short
Period
Acceleration
1
SD1
Long Period
Acceleration
T=0.2
T = 1.0
CS =
S DS
R
I
S D1
CS =
R
T
I
Varies
Period, T
MDOF Dynamics 91
R is the Response Modification Factor which is a
function of system inelastic behavior. This is covered
in the topic on inelastic behavior. For now, we will
Use R=1 which implies linear elastic behavior.
I is the Importance Factor.
This depends on the
Seismic Use Group. I=1.5 for Essential Facilities,
1.25 for important high occupancy structures,
and 1.0 for normal structures. This is covered
in the topic on the ASCE 7 Provisions. For now,
we will use I=1.
MDOF Dynamics 92
EQUIVALENT LATERAL FORCE PROCEDURE
Higher Mode Effects
1st Mode
=
2nd Mode
Combined
MDOF Dynamics 93
Distribution of Forces along Height
Fx = CvxV
Cvx =
k
x x
wh
n
wh
i =1
k
i i
MDOF Dynamics 94
k accounts for Higher Mode Effects
k = 0.5T + 0.75
(sloped portion only)
k
2.0
1.0
2.5
0.5
Period, Sec
k=1
k=2
MDOF Dynamics 95
ELF EXAMPLE (Story Forces)
V=327 kips
T=1.37 seconds
W=386 k
k=0.5(1.37)+0.75=1.435
146 k
(125 k)
146 k
W=579 k
120 k
(125 k)
266 k
3h
W=722 k
61 k
(77 k)
327 k
327 k
Story Shear (k)
MDOF Dynamics 96
ASCE 7 ELF Limitations
Applicable ONLY to Regular structures with T
less than 3.5 Ts
Note:(Ts=SD1/SDS)
Adjacent story stiffness does not vary more than 30%
Adjacent story strength does not vary more than 20%
Adjacent story masses does not vary more than 50%
If violated, must use more advanced analysis (typically
Modal response spectrum analysis)
MDOF Dynamics 97
ASCE 7 ELF
Other considerations that effect loading
Orthogonal Loading Effects
Redundancy
Accidential Torsion
Torsional Amplification
P-Delta Effects
Importance Factor
Ductility and Overstrength
MDOF Dynamics 98
