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Josh PowellCENV6134
Earthquake Engineering and
Seismic Design of Steel
Buildings
LECTURE 1: Introduction and Module overview
CENV6134 Module: Earthquake Engineering and Seismic
Design of Steel Buildings
Dr Mehdi Kashani
Associate Professor of Structural Engineering
Module Lead and Computer Lab Instructor
[email protected]
Room 178/4019 (currently working from home)
Earthquakes
Earthquakes can be catastrophic
Steel Buildings
Steel Buildings
Steel buildings and earthquakes
Aims of Module Teaching
• Appraisal and design of structures is the main activity of many
professional civil engineers. Study of structural behaviour, analysis
and design is a principal part of civil engineering teaching
• Structural engineering is a substantial economic activity. Many works
are of such a scale or complexity that they require extensive
management for their procurement, maintenance and later re-use or
demolition. The study of structural engineering is thus core within an
integrated programme leading to a degree in Civil Engineering.
• The module offers a unique opportunity for an advanced study on
performance-based seismic design and nonlinear structural analysis
for steel buildings
Learning Outcomes
• Understand and apply the fundamental principles of
earthquake engineering to design of buildings
• Apply the theory of nonlinear static and dynamic
analysis to a multi-storey building
• Model the hysteretic behaviour of the steel material
and steel structural elements under cyclic loading
• Evaluate a building design under the underlying
philosophy and guidelines of Eurocode 8
Research-led teaching and module ethos
• Combination of recorded Lectures (theory) and Computer Lab Sessions (computational
implementation of the theory)
• Use of commercial software (SAP2000). Computer Lab sessions involve interaction with the
Module leader and Post-Doctoral Researchers in using SAP2000. Tutorials on using the
SAP2000 software are provided
• An open-source MATLAB-based software has been developed specifically for this module.
You will experience the advantage of being able to see behind the scenes (i.e. having access
to the source code of the software) and how this can significantly improve your understanding
of the theory. Tutorials on using the MATLAB-based software are provided
• The content of two lectures (L17 and L20) will be set on the basis of your interaction with the
Module Leaders. You will set the agenda of the lectures!
• The Computer Lab Sessions in the last four weeks are solely devoted to the design project.
During these sessions, the Module Leader and Post-Doc Researchers will provide to you
feedback on your progress towards the completion of their project.
Staying Safe
We expect everyone in our community to:
• Behave responsibly, and treat fellow students and staff
with dignity and respect.
• Abide by all University and public COVID-19 guidance –
which may change at short notice.
• Self-isolate if showing symptoms or if asked to due to
contact with someone infected.
• Practice physical distancing.
• Wear face coverings.
• Follow directional signage.
• Regularly wash hands and use hand sanitiser.
• Wipe down surfaces after use.
Resources
Visit the Blackboard Webpage of the
Module!
****
Resources
• Module overview document: Overview of the lectures
and computer labs for each of the ten weeks (weeks 1-
11)
• 20 Recorded lectures slides: Theory and examples (with
solutions!)
• Content of lectures 17 and 20 will be set on the basis of
our interaction (these Lectures will also serve for
questions/answers on the design project!)
• Document with fundamental problems (and solutions!) on
earthquake engineering – please read it carefully in the
first two weeks
Resources (MATLAB)
• MATLAB-based software for computer lab sessions (will be
used for the design project!).
• Has been developed specifically for CENV6134.
• Is open-source, you can see the code!
• Offers a unique opportunity to understand the theory (see
behind the scenes – not a black box user!).
• Tutorials are provided!
• Lectures 2 and 3 will discuss it.
• Lab sessions will cover it.
• You can download it (along with the tutorials!).
Resources (SAP2000)
• SAP2000 is the software to be used for analysis and
design (computer lab sessions)
• Unique interface – excellent capabilities – used to design
impressive structures across the world
• Tutorials are provided (download them!)
• Watch and learn video tutorials (check the link on the
webpage!)
• SAP2000 will be used to carry out the design project –
should be your main focus!
Resources (important documents)
• Eurocode 8
• Eurocode 8 – Fully worked design examples
Resources (Bibliography)
• Chopra A, 2011. Dynamics of structures: Theory and
application to earthquake engineering. Prentice Hall.
• Elghazouli A, 2009. Seismic design of buildings to
Eurocode 8. CRC Press.
The Design Project
• 100% assessment of the module
• Deadline for online submission: TBC (** pm ** of ***)
• 20 pages report
• Read the document available online extremely carefully
• Last four lab sessions will be devoted to give you
feedback on your progress
• Two lectures (L17 and L20) will offer the opportunity for
open discussion and questions/answers
Your Commitment
• Be prepared for lectures by keeping up-to-date
information with an eye to understanding new
material
• Be prepared for lab sessions.
• Make progress on Design Project
Module overview
Fathers of earthquake engineering
Nathan M. Newmark
https://en.wikipedia.org/wiki/Nathan_M._Newmark
George W. Housner
https://en.wikipedia.org/wiki/George_W._Housner
John A. Blume
https://en.wikipedia.org/wiki/John_Blume
Students Ambassador for the CENV6134
Module
• Please define an Ambassador
• She/he should let the Module Leader know
for issues relevant to the module
• Actions will be taken to address these issues
Questions?
CENV6134 Earthquake
Engineering and
Seismic Design of Steel
Buildings
Dr Mehdi Kashani
Email: [email protected]
Office: Building 178/4019
Elastic single-
degree-of-freedom
(SDOF) system
Dynamic Loading
• Earthquakes
• Blast loading on buildings
• Wind-induced vibrations on tall buildings and long-span
bridges
• Wave loading on offshore structures
• Vibrations caused by human occupants, e.g. footbridges,
grandstands
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
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Elastic SDOF Systems
For simplicity, lumped parameter models are used (although mass is
distributed!) What is a lumped parameter model?
m: mass, k: stiffness, c: the damping
coefficient, p(t) the external dynamic
force, and u the displacement
c is the constant of proportionality
between force and velocity, measured in
Ns/m
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Lumped Model
How to convert a continuous structure to a lumped parameter model?
Mass-spring-damper model of a single storey frame
Common representations
Infinite degrees of freedom → one degree of freedom
m = mass of the roof beam plus some proportion of the column masses
k = sway stiffness of the frame
c = damping coefficient
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SDOF Vibration Tests
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
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Damping
What is damping?
c is very difficult to determine. Instead we use the global damping parameter ζ.
c
In civil engineering 0.01 ≤ ζ ≤ 0.1, Damping ratio
2 km
Assumed value of ζ= 0.05 is widely used in earthquake engineering
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
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Force-Deformation Relation
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Linear Elastic System
f s f s u Generic system
f s ku Linear elastic system
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
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Free Vibration vs. Forced Vibration
Dynamic ecxitation as consequence of :
Initial conditions External forces
Free vibration Forced vibration
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Equation of Motion
Mass-Spring-Damper System
2nd Newton Law u t Displacement
Velocity
Acceleration
Dynamic equilibrium is fundamental:
inertia force + damping force + stiffness force = external force
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
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Equation of Motion
Ground motion is a special case of dynamic loading
Relative displacement of
the mass and the ground
u u t ug
u t u ug
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Free Vibrations: Undamped SDOF
Zero Damping
Equation of motion Initial
conditions
n k / m Natural circular frequency (rad/sec).
Homogeneous differential equation
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
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Free Vibrations: Undamped SDOF
Solution:
2 m 1 n
Tn 2 Natural period fn Natural frequency
n k Tn 2
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Free Vibrations: Undamped SDOF
Amplitude
The motion does not decay
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Free Vibrations: Undamped SDOF
Example: A water tower consists of a 8 m high column supporting a 4 m high
water tank. The column has a hollow circular section with outer diameter 1 m
and wall thickness 0.2 m, and is made from concrete with E = 25000 MPa.
The tank has a mass of 20 ton and a capacity of 80 m3. Estimate the
fundamental period of vibration of the water tower based on an SDOF
assumption.
L=8+2=10 m; mempty≈20000 Nsec2/m; mfull ≈ 20000+80000=100000
Nsec2/m [1 N=1 kg⋅m/s2]
4
3 25 109 N m 2 1 1 2 0.2 m 4
4
k 3EI / L3 64
3.2044 106 N / m
103 m3
mempty 20000 N sec 2 / m
Tempty 2 2 0.4964sec
k 3.2044 106 N / m
mfull 100000 N sec 2 / m
Tfull 2 2 1.11sec
k 3.2044 106 N / m
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
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Free Vibrations: Damped SDOF
Non-Zero Damping
Equation of motion Initial
conditions
c
n k / m natural circular frequency damping ratio
2mn
Homogeneous differential equation
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Free Vibrations: Critical Damping
c c
damping ratio
2mn ccr
2k
ccr 2mn 2 km critical damping coefficient
n
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Free Vibrations: Under-Damped SDOF
For c ccr
Solution:
D n 1 2 Damped natural frequency
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Damping Influence
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Decay of Motion
Tn
TD Damped period of vibration
1 2
2
u t u 1 2
i enTD e Ratio of two successive peaks
u t TD ui 1
Logarithmic decrement
ui 2
ln
ui 1 1 2
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Periodic vs. Generic Dynamic Loading
For periodic forces or other particular cases the response can be obtained by
analytical methods
For generic forces the response can be obtained by numerical methods
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Numerical Integration
Equation of motion for non-linear system
p t pi p ti i 1,..., N Force given by discrete values
ti ti 1 ti Time inteval
i 1,......, N
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Numerical Integration
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Newmark’s method
12
1 1
6 4
Equilibrium equation at time i+1
(implicit function)
3 equations and 3 unknown values Solution (iterative method)
For linear systems the solution doesn’t need iterations
Equilibrium equation at time i+1
(linear elastic system)
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Special Case
Average Acceleration
Newmark’s method with 12 14
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Special Case
Linear Acceleration
Newmark’s method with 12 16
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Newmark’s Method - Linear Elastic Systems
ui ui 1 ui
pi pi 1 pi
Incremental Equation of motion
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Newmark’s Method - Linear Elastic Systems
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
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Newmark’s Method - Linear Elastic Systems
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
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CENV6134 Earthquake
Engineering and
Seismic Design of Steel
Buildings
Dr Mehdi Kashani
Email: [email protected]
Office: Building 178/4019
Inelastic single-
degree-of-freedom
(SDOF) system
Inelastic Behaviour
fs fs u Inelastic system (yielding)
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
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Equation of Motion
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
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Bilinear Elasto-Plastic Idealization
Yielding
force
Equal area
Yielding Maximum
displacemen displacemen
t t
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
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Bilinear Elasto-Plastic Hysteresis
Behaviour under cyclic
loading
- Elastic perfectly plastic behaviour
- Elasto-plastic with hardening
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
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Example of Nonlienar Response
https://www.youtube.com/watch?v=m5YBJAoilUo
https://www.youtube.com/watch?v=GxkhFLUmD7c
https://www.youtube.com/watch?v=yDEiTC03gNM
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Newmark’s Method
12
1 1
6 4
Equilibrium equation at time i+1
(implicit function)
3 equations and 3 unknown values Solution (iterative method)
ui ui 1 ui pi pi1 pi
Incremental Equation of motion
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
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Newmark’s Method
f s i ki sec ui
t
“small” steps
f s i ki T ui
Incremental
Equation of motion
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Newmark’s Method
k is the tangent stiffness
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
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Newmark’s Method
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Response Results
Errors as consequence of:
1) ki T ki sec 2) t costant
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Unloading Case
Errors can be avoided by iterative process in which integration is resumed
from time i with a step smaller than the full time step, whose size is
progressively adjusted so that at the end of such an adjusted time step, the
velocity is close to zero.
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Overestimation of Force
Errors can be avoided by iterative process: Newton-Raphson iteration
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Newton-Raphson
Modified Newton-Raphson Newton-Raphson
By the iteration is possible to minimize R
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MATLAB Code
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MATLAB Code
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Ground motions
Main file to execute the analyses
Reading the ground motions
Initialization of nonlinear spring
Force of the nonlinear spring
Non iterative procedure for linear systems
Iterative procedure for nonlinear systems
Definition of PGA, PGV and PGD
Results
Updating properties of nonlinear spring
Main file to define the spectra
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CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
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1
Ground motion acceleration
Acceleration [ m/sec2 ]
0.5
-0.5
-1
0 10 20 30 40 50 60
Time [ sec ]
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CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
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Newmark’s method - linear systems
The system is elastic and only
the elastic stiffness is needed
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Newmark’s method - linear systems
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Newmark’s method - nonlinear
systems
The system is non linear and is
necessary to define the properties of the
non linear spring
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Newmark’s method - nonlinear systems
Coefficient Kr defined for the analysis of
the linear elastic system is missing since it
is updataed every time.
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Newmark’s method - nonlinear systems
UpdateState defines the properties of the
non linear spring at the considered step
allowing the definition of the tangent
stiffness.
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1
0.06
Acceleration [ m/sec2 ]
0.5
0.04 -0.5
-1
Displacement [ m ]
0 10 20 30 40 50 60
Time [ sec ]
0.02
-0.02
-0.04
-0.06
0 10 20 30 40 50 60
Time [ sec ]
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1
0.6
Acceleration [ m/sec2 ]
0.5
-0.5
0.4
-1
0 10 20 30 40 50 60
Velocity [ m/sec ]
Time [ sec ]
0.2
-0.2
Nonlinear
Linear
-0.4
0 10 20 30 40 50 60
Time [ sec ]
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1
Acceleration [ m/sec2 ]
0.5
2 -0.5
Acceleration [ m/sec2 ] -1
0 10 20 30 40 50 60
1 Time [ sec ]
-1
-2
-3
-4
0 10 20 30 40 50 60
Time [ sec ]
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
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CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
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CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
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0.2
0.15
Sd [ m ]
0.1
1
Acceleration [ m/sec2 ]
0.5
0.05 Nonlinear 0
Linear -0.5
-1
0 10 20 30 40 50 60
Time [ sec ]
0
0 1 2 3 4
T [ sec ]
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0.5
0.4
Sv [ m/sec ]
0.3
0.2 1
Acceleration [ m/sec2 ]
0.5
Nonlinear 0
0.1 Linear -0.5
-1
0 10 20 30 40 50 60
Time [ sec ]
0
0 1 2 3 4
T [ sec ]
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
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3.5
Acceleration [ m/sec2 ]
0.5
3 -0.5
-1
2.5
0 10 20 30 40 50 60
Nonlinear Time [ sec ]
Sa [ m/sec ]
Linear
2
1.5
0.5
0
0 1 2 3 4
T [ sec ]
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
CENV6134 Earthquake
Engineering and
Seismic Design of Steel
Buildings
Dr Mehdi Kashani
Email: [email protected]
Office: Building 178/4019
Elastic Response
Spectrum
Earthquakes
The Earth’s crust sits on top of a number of slabs of rock around 10 km thick
called continental plates. These plates move slowly against each other - only a
matter of centimeters every year - but the constant movement causes
distortions in the plates, and as the distortions build up, any rock that can no
longer endure the movement breaks, and an earthquake occurs.
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Earthquakes
The point in the earth where the initial rupture takes place is called the
hypocentre or focus and the point on the surface directly above is called
the epicentre.
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
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Earthquakes
Energy radiates away from the site of the rupture in the form of stress
waves.
In a solid there are two types: pressure waves (P) and shear waves (S).
P waves travels faster (up to 7,500 m/s) than S waves (up to
4,000 m/s). The difference in speed is used with the time of arrival to
determine the distance from a recording station to source of the
earthquake. http://web.ics.purdue.edu/~braile/edumod/waves/Pwave.htm
http://web.ics.purdue.edu/~braile/edumod/waves/Swave.htm
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
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Background to Earthquake Loading
In addition, there are surface waves: Love waves and Rayleigh waves,
causing damage at distances far from the epicenter.
http://web.ics.purdue.edu/~braile/edumod/waves/Lwave.htm
http://web.ics.purdue.edu/~braile/edumod/waves/Rwave.htm
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Accelerograms
For engineering purposes the time variation of ground acceleration is
the most useful way of defining the shaking of the ground during an
earthquake.
Ground shacking is measured by accelerograph.
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Accelerograms
North-south component of horizontal ground acceleration, velocity and displacement.
El Centro, California, during the Imperial Valley earthquake of May 18, 1940.
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Equation of Motion
Elastic SDOF systems subjected to ground acceleration
For a given , the deformation response of the system depends only
on the natural frequency n (or Tn ) and its damping ratio, .
u u t , Tn ,
Note: Any two systems having the same value of Tn and will have the
same deformation response u t even though one system may be more
massive than the other or may be stiffer than the other.
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Response Quantities
Of greatest interest in earthquake engineering is the deformation
(displacement relative to the ground) of the system, or displacement u t
In elastic systems the internal forces (bending moment M and shear V)
are linearly related with the displacement; therefore once we know the
peak displacement, we can calculate the internal forces!
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Response history
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Response Spectrum
The response spectrum provides a convenient means to summarize the peak
response of all possible elastic systems to a particular component of ground
motion. It also provides a practical approach to apply the knowledge of
structural dynamics to the design of structures.
The plot of the peak (absolute!) value of a response quantity (for a fixed value
of the damping ratio, ) as a function of the natural vibration period, Tn , of the
system is called response spectrum
u0 Tn , max u t,Tn ,
t
Displacement response spectrum
Relative velocity response spectrum
Acceleration response spectrum
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Displacement Response Spectrum
El Centro Ground Motion
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Pseudo-Velocity Response Spectrum
2
V n uo uo Peak relative pseudo-velocity (pseudo-velocity)
Tn
The pseudo-velocity response spectrum is a plot of V as function of the
natural vibration periodTn of the system
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Pseudo-Acceleration Response Spectrum
Once the deformation response history u t has been evaluated by dynamic
analysis of the structure, the internal forces can be determined by static
analysis of the structure at each instant by using an equivalent static force.
f s t ku t k mn2
f s t mn2u t mA t
2
2
A u
2
n o uo Peak pseudo-acceleration (pseudo-acceleration)
Tn
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Pseudo-Acceleration Response Spectrum
The pseudo-acceleration response spectrum is a plot of A as function of
the natural vibration period Tn of the system.
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Construct the Spectrum
For a given ground acceleration time history :
1. Chose the damping ratio of the SDOF system
2. Select a value of the structural period Tn
3. Compute the deformation history u t by numerical method (i.e. Newmark’s method)
4. Determine the peak value uo max ;u t
2
2 2
5. Spectral ordinates uo ; V uo ; A uo
Tn Tn
6. Repeat step 2 to 5 for different values of Tn
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Elastic Design Spectrum
The elastic design spectrum is intended for the design of new
structures, or for the seismic evaluation of existing structures
The design spectrum is generated by statistical analysis of the
response spectra for an ensemble of recorded ground motions.
Spectra for several different earthquake records are derived,
thought to be representative of the seismology of the region, then
envelope and smooth them to construct the elastic design
spectrum.
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Elastic Design Spectrum
10.00
7.50
5.00
2.50
0.00
0.00 0.50 1.00 1.50 2.00 2.50 3.00
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Elastic Design Spectrum
12
10
8
Spectral acceleration Sa in
Sa (m/s/s)
Eurocode 8 is the pseudo- 6
acceleration A
4
0
0 1 2 3
Period (s)
Typical Eurocode 8 (EC8) design spectrum (5% damping) for soil type C
(dense sand or gravel, or stiff clay) and peak ground acceleration of 3.5 m/s2
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Elastic Design Spectrum
12
(b)
10
Sa (m/s/s)
6
(a) (c)
4
0
0 1 2 3
Period (s)
Three regions of response exist.
(a) Very stiff, short period structures simply move with the ground
(b) At intermediate periods, dynamic amplification of the ground motion by a factor
of 2.5 – 3 is found
(c) Long period structures move less than the ground beneath it
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Elastic Design Spectrum
In structural design, we generally wish to determine:
(a) the peak force to which the structure is subjected
(b) its peak displacement.
The peak force: F mS a
F Tn2 S a Tn2 S a
The peak displacement: S d mS a . 2 2
k 4 m 4 2
n
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Elastic Design Spectrum
Keep in mind that:
Force depends on the mass because F = m Sa, but the spectral acceleration
Sa and displacement Sd do not.
Sa and Sd are found from the elastic design spectrum and are functions
only of the natural period and damping ratio.
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Elastic Design Spectrum
Example: For the water tower in Lecture 2, estimate the peak base shear
force and bending moment under an earthquake loading defined by the elastic
design response spectrum shown in the figure below, for both the full and
empty cases.
12
Tempty 0.4964s 10
8
Tfull 1.11s
Sa (m/s/s)
6
Sa,empty 10 m / s 2
4
Sa,full 5.8 m / s 2 2
mempty = 20000 Nsec2/m 0
0 1 2 3
mfull = 20000 + 80000 = 100000 Nsec2/m
Period (s)
Fempty=20000 x 10 = 200 kN
Ffull=100000 x 5.8 = 580 kN
Shear force = F, Bending moment = FL
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
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CENV6134 Earthquake
Engineering and
Seismic Design of Steel
Buildings
Dr Mehdi Kashani
Email: [email protected]
Office: Building 178/4019
q-μ-T Relations and
Estimation of Peak
Response of Inelastic
SDOF Systems
Definitions
Peak forces and
F displacements of an
elastic and inelastic
SDOF system under the
Fe
same ground motion;
both SDOF systems have
the same stiffness and
mass
Fy
Uy Ue Um U
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Definitions
F: Resisting force
F
U: Displacement Fe
Uy: Yield displacement
Fy
Fy: Yield force
K= Fy/Uy: initial elastic stiffness U
Uy Ue Um
Fe: Peak force of the elastic system
Ue: Peak displacement of the elastic system
Um: Peak displacement of the inelastic system
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
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Ductility μ
F
Fe
Fy
Uy Ue Um U
μ=Um/Uy
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
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Behaviour (or Strength Reduction) Factor q
F
Fe
Fy
Uy Ue Um U
q=Fe/Fy
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
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Relation between q and μ
F
Fe
Fy
Uy Ue Um U
q=Fe/Fy=> q=(K*Ue)/(K*Uy)
q=Ue/Uy => q=(Ue/Um)*(Um/Uy)
q=(Ue/Um)*μ => μ/q=Um/Ue
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
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Parametric Studies on the Relation
between q-μ-T for SDOF Systems
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
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q-μ-T in Eurocode 8
Τc T
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
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q-μ-T in Eurocode 8: The Period Tc
12
10
8
Sa (m/s/s)
6
0
0 Tc 1 2 3
Period (s)
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
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q-μ-T in Eurocode 8: The Equal
q
Displacement Rule
We note that for SDOF systems with μ
period of vibration T>Tc : q=μ
1
We know that μ/q=Um/Ue
T
Τc
F
Therefore Um=Ue, i.e. for T>Tc the Fe
inelastic and elastic systems experience
approximately the same peak
displacement: Fy
EQUAL DISPLACEMENT RULE Uy Ue Um U
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
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The Equal Displacement Rule
(still in use after 60 yrs)
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
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q-μ-T in Eurocode 8: Short Period SDOF
Systems (T<Tc)
q
T
q=[(μ-1)/Τc] * T + 1 Τc
q<μ => Um>Ue (μ/q=Um/Ue)
For short period systems (T<Tc), the peak inelastic displacement
is higher than the peak elastic displacement
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
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Example
Consider a SDOF system with period of vibration T= 1.0 s
and mass m=100 kN m-1 s2
The elastic design spectrum is defined by the equations
0.0 s.≤T≤0.6 s. Sa=10 m/s.2
0.6 s.≤T≤3.0 s. Sa=6/T m/s.2
where Tc=0.6 s.
Determine the yield strength and estimate the peak
inelastic displacement of the SDOF system for q=4
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
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Solution
T=1 s. => ω=2π/Τ => ω = 2*3.14 => ω = 6.28 rad/s.
For T= 1 s., the design spectrum gives elastic spectral acceleration equal to:
Sa= 6/T => Sa = 6 m/s2
We know that by definition: Sa=ω2*Sd => Sd=6/6.282 => Sd=0.152 m
By definition, Ue=Sd => Ue=0.152 m
Because T>Tc, the equal displacement rule applies, i.e. Um=Ue => Um=0.152 m
Also, q=μ and μ=Um/Uy => Uy=Um/μ
Also, ω2=Κ/m => K=ω2*m => Fy/Uy=ω2*m => Fy=ω2*m*Uy
Therefore:
q=4 => Uy=0.152/4 => Uy=0.038 m and Fy=6.282*100*0.038 => Fy= 150 kN
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
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Homework
Consider a SDOF system with period of vibration T= 0.3 s
and mass m=100 kN m-1 s2
The elastic design spectrum is defined by the equations
0.0 s.≤T≤0.6 s. Sa=10 m/s.2
0.6 s.≤T≤3.0 s. Sa=6/T m/s.2
where Tc=0.6 s.
Determine the yield strength and estimate the peak
inelastic displacement of the SDOF system for q=4
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
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q-μ-T for SDOF systems can be used to
estimate the peak response of buildings
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
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q-μ-T for SDOF systems can be used to
estimate the peak response of buildings
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
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q-μ-T for SDOF systems can be used to
estimate the peak response of buildings
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
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q-μ-T for SDOF systems can be used to
estimate the peak response of buildings
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
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q-μ-T for SDOF systems can be used to
estimate the peak response of buildings
Details in next lectures…
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
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CENV6134 Earthquake
Engineering and
Seismic Design of Steel
Buildings
Dr Mehdi Kashani
Email: [email protected]
Office: Building 178/4019
Hysteretic Rules
Structural Steel Material under Cyclic
Loading
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
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Kinematic Hardening
Post-yield force increases with increasing deformation
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
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Isotropic Hardening
Yield force increases with cyclic inelastic deformation
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
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Bilinear Hysteresis
• Simulates kinematic hardening
• Does not simulate isotropic hardening
• Non-smooth transition from pre- to post-yield region
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
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Bilinear Model Computational
Implementation
• Parallel combination of an elastic/perfectly plastic spring and an elastic spring
• Updatestate.m function is an exemplary of the MATLAB code.
function Nlspr = UpdateState(Nlspr,u)
du = (u - Nlspr.Us);
if (Nlspr.YieldCode == 0)
Nlspr.Fs1 = Nlspr.Fs1 + Nlspr.K1*du;
if (Nlspr.Fs1 >= Nlspr.Fy1)
Nlspr.Fs1 = Nlspr.Fy1 ;
Nlspr.YieldCode = 1;
elseif (Nlspr.Fs1 < -Nlspr.Fy1)
Nlspr.Fs1 = -Nlspr.Fy1 ;
Nlspr.YieldCode = 1 ;
end
else
if ( Nlspr.Fs1 * du < 0)
Nlspr.Fs1 = Nlspr.Fs1 + Nlspr.K1*du;
if (Nlspr.Fs1 < -Nlspr.Fy1)
Nlspr.Fs1 = -Nlspr.Fy1;
elseif (Nlspr.Fs1 >= Nlspr.Fy1)
Nlspr.Fs1 = Nlspr.Fy1;
else
Nlspr.YieldCode = 0;
Nlspr.Ktan = Nlspr.K1 + Nlspr.K2;
end
end
end
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
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Bouc-Wen Hysteresis
• Simulates kinematic hardening
• Does not simulate isotropic hardening
• Smooth transition from pre- to post-yield region
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
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Bouc-Wen Model Computational
Implementation
Fy: yield force
k: elastic stiffness
p: post-yield stiffness ratio
z: dimensionless hysteretic parameter
β, γ: control the shape of the hysteresis (typical value: 0.5)
n: controls the sharpness of the smooth transition from the elastic to the inelastic
region of the hysteresis
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
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Bouc-Wen Model (Effect of n)
As n increases, the Bouc-Wen hysteresis approaches the
bilinear hysteresis
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
9
CENV6134 Earthquake
Engineering and
Seismic Design of Steel
Buildings
Dr Mehdi Kashani
Email: [email protected]
Office: Building 178/4019
Elastic Multi-
Degree-of-Freedom
(MDOF) System
Assumptions of SDOF System
u1 u1
m
EI, L EI, L
• Beam and columns are axially
inextensible
• Beam is flexural rigid
• Shear frame
• One translational DOF
SDOF frame
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
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Multi-Degree-Of-Freedom System (MDOF)
u2 u2 m2
m2
p2(t) p2(t)
EI2, L2 EI2, L2 2EI2, L2
u1 u1 u1 m1 u1
m m1
p1(t) p1(t)
EI, L EI, L EI1, L1 EI1, L1 2EI1, L1
Shear frame with one floor - SDOF Shear Frame with two floors - MDOF
m, c, k, u, p are scalar quantities m, c, k are matrices
u, P are vectors
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
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Formulation of Stiffness and Mass Matrices
Consider the three-storey building shown in this slide, which has axially rigid members
and flexural rigid beams, and therefore, is classified as a shear frame with 3 DOFs.
Formulate the mass and stiffness matrices for the purpose of dynamic analysis.
m3 u3 m3 p3(t)
k/2 k/2 k m1=4m
m2 u2 m2 p2(t)
m2=4m
k k 2k m3=3m
m1 u1 m1 p1(t)
m=1000kg
k k 2k k=150kN/m
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
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Formulation of Stiffness and Mass Matrices
f31=0 m3 f32=k m3 m3 u3=1
f33=k
Mass matrix:
m1 0 0 4 0 0
k k k
m 0 m2 0 0 4 0 tn
f21=2k m2 u2=1 f22=3k f23=k 0 0 m3 0 0 3
m2 m2
Stiffness matrix:
2k 2k 2k 4k 2k 0 600 300 0
k 2k 3k k 300 450 150
m1 u1=1 f12=2k m f13=0 m1
f11=4k 1 0 k k 0 150 150
Load vector:
2k 2k 2k
p Τ t p1 t p2 t p3 t
u1=1 u2=1 u3=1
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
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Equation of Motion for Ground-Motion
ut
u (N)
Story 3
• The displacement of the ground is
(j) denoted by ug
Story 2
• The total (or absolute)
(1) displacement of the mass mj by utj
Story 1
• The relative displacement between
mass mj and the ground by uj
Base
ug ug
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
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Equation of Motion for Ground-Motion
At each instant of time:
The above equations for all the N masses can be combined in vector form:
In the equation of dynamic equilibrium, p(t)=0 because no external dynamic
forces are applied (earthquakes do not apply forces but displacements!)
fI fD fS 0
The equation of motion shows that the ground motion can be replaced by effective
earthquake forces:
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
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Equation of Motion for Ground-Motion
A generalization is needed if some of the DOFs of the system are not in
the direction of the ground motion. In this case, the equation of
motion is written as:
i is the influence vector that represents the displacement of the
masses resulting from static application of a unit ground displacement
(see examples in the next slide)
The equations of motion are obtained as before, except that the ‘1
vector’ is replaced with the i vector
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
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Equation of Motion for Ground-Motion
N i3=1
This is a three DOF shear frame under unit ground
displacement. The static displacement along the 3
DOF (three floors) is equal to 1. Thus:
i2=1
j
iT 1 1 1
i1=1
1
m3 i2=1
m2 m2
u2 i3=0
u3
ug=1 ug=1
m1 m1 i1=1
u1
Under ug=1, the static
displacement of each DOF
is: u1=u2=1 and u3=0. Thus:
ug=1
iT 1 1 0 Sta
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
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Free Vibrations
Equations of motion for p(t) = 0 and without damping :
The above equation represents N homogeneous differential equations; N
is the number of DOFs. It is desired to find the solution of this equation
that satisfies the initial conditions:
uu 0
The solution describes the free vibrations of an un-damped MDOF
system and can be described mathematically by:
u t φn An cos ωnt Bn sinωnt , Equation Β
The deflected shape φn does not vary with time
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
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Free Vibrations
Substitution of Equation B into Equation A (see previous slide):
mA n ωn2 φn cos ωn t mB nωn2 φn sin ωn t kA n φn cos ωn t kB n φn sin ωn t 0
mωn2 k φn A n cos ωn t B n sin ωn t 0
The above equation is valid for t≥0 only when:
mω 2
n
k φn 0
which describes N homogeneous algebraic equations for the N
elements φjm (j=1, 2,…, N). This set always has the trivial solution
φn=0, which is not useful because it implies no motion. The nontrivial
solutions are obtained by:
det k mωn2 0
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
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Natural Frequencies & Eigenvectors
Calculation of natural frequencies
det k ωn2m 0
This equation results in a N degree polynomial equation. The roots of this
equation provide the N natural frequencies ωn (n=1,…,N).
ωn are arranged in ascending order. ω1<...<ωΝ
Calculation of eigenvectors
k ωn2m 0
When a natural frequency ωn is known, the above N simultaneous linear
equations can be solved to determine the corresponding vector φn. If we set e.g.
the first component φ1n equal to 1.0, then all the rest components can be
calculated.
The subscript n denotes the mode number and the first mode
(n=1) is known as the fundamental mode of vibration
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
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Natural Frequencies & Eigenvectors
Example 1 (10.41): Natural frequencies and modes of a two storey shear building
2m 0 3k k
m k
0 m k k
1 2 1
φ1 , φ2
1 1
Example 2: Natural frequencies and modes of a five storey shear building
5 DOF 1st Mode 2nd Mode 3rd Mode 4th Mode 5th Mode
structure
1: Dynamics of structures, Theory and applications to earthquake engineering, Anil A Chopra.
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
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Damping in Structures
• Impractical to form the damping matrix strictly from the dimensions
and properties of the structural members
• Instead damping ratios are extracted from recorded earthquake
motions of structures of various types
It is usual to consider the following damping in dynamical analyses:
• Mass-proportional damping: c=α0m, α0 constant.
• Stiffness-proportional damping: c=α1k, α1 constant.
• Rayleigh damping: c=α0m+α1k, α0 and α1 are constants.
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
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Mass or Stiffness Proportional Damping
The modal damping ratio is calculated as follows for the three cases:
(1) Mass proportionality : ξ n α0 2 1 ωn
(2) Stiffness proportional damping: ξ n α1 2 ωn
α 1 α1
(3) Rayleigh damping: ξ n 0 ωn nth mode ,
2 ωn 2
α 1 α
ξm 0 1 ωm mth mode
2 ωm 2
2ωn ωm ωnξ m ωmξ n 2 ω n ξ n ωm ξ m 2ωnωm 2
α0 , α1 α0 ξ , α1 ξ
ωn2 ωm2 ωn2 ωm2 ωn ωm ωn ωm
Modes n and m have different damping ratio Modes n and m have same
ξ damping ratio ξ
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
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Rayleigh Damping
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
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Rayleigh Damping
1. Set up the mass and stiffness matrices 2. Solve the eigenvalue problem for natural
frequencies and eigenvectors
4 0 0 600 300 0
k 300 450 150 3.973 1.000 0.756 0.382
m 0 4 0 rad
0
0 0 3 150 150 ω 9.143 Φ 0.842 0.672 0.684
14.60 sec 0.258 1.000 1.000
3. Determine α0 and α1 as follows: 4. The Rayleigh damping matrix
1 3.973 3.973 α0 0.05 5.68 2.287 0
α 2
c α0m α1k 2.287 4.539 1.144
1 9.143 9.143 1 0.05
α 0.277 0 1.144 1.975
0
α1 0.0076
5. Compute ξ3 for mode 3:
α 1 α1 0.277 1 0.0076
ξ3 0 ω 3
14.60 0.065
2 ω3 2 2 14.60 2
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
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Direct Integration
The system to be solved is governed by the following equations in matrix form:
At time i, the response of the system is known and satisfies the following
equations:
Using direct integration schemes the response at time i+1 will be determined
that satisfies the following equations:
When applied successively with i=0, 1, 2, … the time stepping procedure gives
the desired response at all time instants i=1, 2, 3, … The known initial
conditions at time i=0 provide the information necessary to start the procedure.
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
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CENV6134 Earthquake
Engineering and
Seismic Design of Steel
Buildings
Dr Mehdi Kashani
Email: [email protected]
Office: Building 178/4019
Modal time-history
and Response
Spectrum Analysis
Modal Time History Analysis
Mode shapes:
• an N-DOF system is able to vibrate in N different modes
• each mode has a distinct deformed shape and occurs at a specific natural
frequency (or period)
• the modes of vibration are system properties, independent of the external loading
Mode 1 Mode 2 Mode 3 Mode 4
Mode shapes of a four-storey shear-type building
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
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Modal Time History Analysis
J
u φ q
r 1
r r φ1q1 φ2q2 φ 3q3 ... φΝqΝ Φq
where qi is a function of time q(t) Mode i
qi
i1
i2
φi
... node j uij q
ij i
iN
Y
Displacements in ith mode of vibration
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
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Modal Time History Analysis
• Dynamic equations of a MDOF system
under ground motion.
cu ku miu
mu g
• N Degrees of Freedom
• N coupled equations
N N N
φ mφ q φ
i1
T
n i i
i1
T
n cφiqi φnT kφiqi φnT miu
i1
g Use modal coordinate
transformation and pre-
multiply with φnT
• We get N uncoupled equations.
mn qi t c n qi t k n qi t φnT miu
g t • Each mode acts as a SDOF system
and is independent of the responses
in all other modes
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
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Modal Time History Analysis
qn t 2ξ nωnq n t ωn2qn t Γnu
g t
Dimensionless ratio Γn=Ln/Mn is known as the modal participation factor
where L n φnTmi an earthquake excitation factor, representing the extent
to which the earthquake tends to excite response in
mode i
mn φnTmφn the modal mass
φn is the mode shape n
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
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Modal Time History Analysis
The vector of the maximum displacements in ith mode:
Li Sai Li Ti2
ui (max) φi . 2 Saiφi . 2 Mode i
Mi i Mi 4
The vector of horizontal force on all masses in ith
mode: node j uij=φijqi
Li
Fi (max) x
i (max)m j Sai im j
Mi
The total horizontal force on the structure
(usually called the base shear) in ith mode:
Li L2i
Fb (max) Sai φim j Sai Fbi(max)
Mi j M i
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
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Maximum Response Quantities
Li L2i
Fbi (max) Sai φim Sai Mode i
Mi j Mi
node j uij=φijqi
has units of mass and can be thought of
as the amount of mass participating in
the structural response in a particular
mode
If we sum this quantity for all modes of
vibration, the result is equal to the total
mass of the structure Fbi(max)
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
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Example 7.1: 2-Storey Shear Building
m2
k2/2 k2/2 • k1=3k, k2=k (k=200kN/m)
• m1=5 (x103 kg), m2=2.5 (x103 kg)
m1
• ξ=0.05
k1/2 k1/2
ug(t) ug(t)
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
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Eigenvalue Problem
Step 1: Formulation of stiffness k and mass m matrices
600 200 4.0 0
k kN m ; m x1000kg
200 200 0 2.0
Step 2: Solution of eigenvalue problem and determination of periods:
T 0.89 ω 7.07
k ω m φ
2
i i 0 T 1
T 0.44
sec ω 1
ω 14.14
rad / sec
2 2
Step 3: Determination of vibration mode shapes.
0.5 1.0
Φ φ1 φ 2
1.0 1.0
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
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De-Coupled Equations of Motion
Original system: 2 DOF 2 uncoupled equations
qn
Dn
Γn
t 2ξ ω D t ω2D t u
D g t , i=1,2
i i i i i i 1-DOF equation to solve
For each mode we assign a damping ratio (ξ1=ξ2=0.05).
φi Τmi m mass matrix
Compute mass participation factors Γi using equation: Γi Τ φ mode shape
φi mφi
i vector
Γn=Ln/Mn L n φnTmi mn φnTmφn
L1 φ1 mi 4.0
h Τ
0.5 1.0 Γ 1.333
h
L h Τ , Φ φ φ
1 2 1.0 1.0
Γ1 1
n
L 2 φ 2 mi 2.0 Γ
2 0.333
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
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Total Response of System
Solving the dynamic equation of the two SDOF systems we obtain the responses
D1(t) and D2(t).
Then using the given expressions we can estimate the time history response of any
quantity (floor displacement, base shear):
unj ΓnφnjDn (t) Contribution of mode n to the displacement of DOF j.
2
uj Γ φ
n 1
n Dn (t)
nj The total response of displacement at the DOF j.
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
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Time Histories
SDOF systems D1 and D2
D1 (m)
D2 (m)
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
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Modal History Analysis
The 1st floor displacement u11 and u12 due to natural modes 1 and 2,
respectively, as well as the full response u1:
(m)
11
u
(m)
12
u
u (m)
1
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
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Response Spectrum Analysis
Response-spectrum analysis (RSA) is a statistical type of analysis for the
estimation of the likely maximum response of structure to seismic loading by taking
into account the contribution of a number of significant natural modes of vibration.
How many modes to consider?
• To obtain the overall response of the structure, in theory we need to apply the
equations to each mode and then combine the results.
• A measure to count for the modes that contribute the most in the response of the
structure, is the ‘Effective Mass’ of each mode Γn=(Ln)2/Mn.
• In practice the scaling factors Ln/Mn and Ln2/Mn are small for higher modes so
normally it is sufficient to consider only the first few modes and sometimes just the
first one.
• The response of all modes of vibration contributing significantly to the global
response shall be taken into account. The sum of the effective modal masses that
are taken into account must be greater than 90%. Modes having effective mass
greater than 5% must be consider also.
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
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Modal History Analysis
Problem 2: How to combine them?
The equations at the bottom give only the peak values in each mode, and it is extremely
unlikely that these peaks will all occur at the same point in time.
Simple combination rules are therefore used to give an estimate of the total response.
– SRSS the peak overall response = peak modal response 2
– CQC – Complete Quadratic Combination.
Key formulas
Li Li Ti2 L L2i
i (max)
u Saiφi , ui (max) Saiφi . 2 , Fi (max) i Saimφi , Fbi (max) Sai
Mi Mi 4 Mi Mi
i: mode, j: node
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
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Response Spectrum Analysis
Summary of response spectrum analysis:
1. Perform free vibration analysis to find natural frequency wi and mode
shapes i. Estimate damping ratio .
2. For each mode (i = 1, 2, …, N):
(a) compute the modal properties Li and Mi
(b) read the spectral acceleration Sai from the design spectrum
for given wi and
(c) compute the desired peak response parameters
3. Combine peak modal contributions to give estimates of total response.
Usually it is possible to limit the number of modes that need be included
in the analysis, since the higher frequency modes contribute very little to
the response.
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
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Example 7.2: 4-Storey Shear Building
1st Mode
Mass and Vibration Modes 2nd Mode
3rd Mode
4th Mode
Level Mass Φ1 Φ2 Φ3 Φ4
(tn) (-) (-) (-) (-)
4 12.45 0.161 0.457 -0.440 0.756
3 12.45 0.347 0.673 -0.227 -0.612
2 12.45 0.585 0.160 0.763 0.224
1 12.45 0.716 -0.559 -0.415 -0.056
49.8
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
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Example 7.2: Modal Participation Factors
Level m mj Φ1j mj Φ2j mj Φ3j mjΦ4j mj Φ12 mjΦ2j2 mjΦ3j2 mj Φ4j2
(tn) (-) (-) (-) (-) (-) (-) (-) (-)
4 12.45 2.00 5.68 -5.48 9.42 0.32 2.59 2.41 7.12
3 12.45 4.32 8.38 -2.83 -7.62 1.50 5.64 0.64 4.67
2 12.45 7.28 1.99 9.50 2.78 4.26 0.32 7.26 0.62
1 12.45 8.91 -6.96 -5.16 -0.70 6.38 3.89 2.14 0.04
SUM 49.8 22.510 9.089 -3.964 3.879 12.451 12.450 12.450 12.450
L1 L2 L3 L4 M1 M2 M3 M4
Mode 1 Mode 2 Mode 3 Mode 4 Sum
Li/Mi = 1.81 0.73 -0.32 0.31 -
Li2/Mi = 40.69 6.63 1.26 1.21 49.8
Fraction of total weight = 0.82 0.13 0.03 0.02 100%
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
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Response Spectrum Acceleration
EN 1998-1-1 Elastic Response Spectrum
1.20
TB
1.00 TC
TD
Spectral Acceleration (g)
0.80 Elastic Response Spectrum
0.60
0.40
0.20
0.00
0.00 1.00 2.00 3.00 4.00 5.00
Period (sec)
(1) Mode 1: T1 = 0.39 sec, Sa = 1.05g
(2) Mode 2: T2 = 0.15 sec, Sa = 1.05g
(3) Mode 3: T3 = 0.1 sec, Sa = 0.84g
(4) Mode 4: T4 = 0.08 sec, Sa = 0.756g
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
19
Response Spectrum Acceleration
Spectral Acceleration Sa and modal participation factor Li/Mi
Mode 1 2 3 4
T (sec) 0.39 0.15 0.1 0.08
Sa (g) 1.05 1.05 0.84 0.756
Li/Mi 1.81 0.73 -0.32 0.31
Modal Floor Acceleration Modal Floor Displacements
üij(max) üij(max) üij(max) üij(max) SRSS u (max uij(max
uij(max) uij(max) ij SRSS
(g) (g) (g) (g) (g) ) )
(m) (m) (m) (m) (m)
3.054 3.499 1.177 1.782 5.112
0.0118 0.0020 0.0003 0.0003 0.012
6.583 5.161 0.607 -1.442 8.510
0.0254 0.0029 0.0002 -0.0002 0.026
11.099 1.223 -2.042 0.527 11.363
0.0428 0.0007 -0.0005 0.0001 0.043
13.583 -4.287 1.109 -0.132 14.288
0.0523 -0.0024 0.0003 0.0000 0.052
Li Li Ti2
i (max)
u
Mi
Saiφi , ui (max)
Mi
Saiφi . 2
4
SRRS peak modal response2
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
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Response Spectrum Acceleration
Storey Inertia Forces
Fij(max) Fij(max) Fij(max) Fij(max) SRSS Li
(kN) (kN) (kN) (kN) (kN) Fi (max) S aimφ i
Mi
38.029 43.563 14.655 22.181 63.645
L2i
81.966 64.253 7.559 -17.958 105.955 Fbi (max) S ai
Mi
138.194 15.221 -25.420 6.558 141.487
169.133 -53.374 13.809 -1.642 177.899
SRRS peak modal response 2
Base Shear Forces • Weight= 498 kN
Fb1(max) Fb2(max) Fb3(max) Fb4(max) SRSS • Base Shear = 433.14 kN
(m) (m) (m) (m) (m)
427.272 69.665 10.602 9.138 433.141
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
21
CENV6134 Earthquake
Engineering and
Seismic Design of Steel
Buildings
Dr Mehdi Kashani
Email: [email protected]
Office: Building 178/4019
Frames with
Rotational DOFs
Lumped Mass Idealisation
Plate
Beam
Column
• The mass is distributed throughout a real structure, but it can be
idealized as lumped (concentrated) at the nodes of the discretized
structure.
• Usually such a lumped mass idealization is satisfactory.
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
2
Lumped Mass Idealisation
m: Lumped mass matrix
derived by distributing the
mass of each element to its
nodes. The mass matrix has
only diagonal terms.
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
3
Static Condensation U3 U4
U1 U2
Lumping of mass
È1
È2
X X
Rotational/Vertical DOFs can be eliminated from the
The mass of the structure equations of motion because their inertial effects are
is idealized as lumped at small compared to the inertial effects of the
the nodes. horizontal DOFs when the frame is subjected to a
horizontal ground motion
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
4
Static Condensation
U3 U4
U1 U2
Lumping of mass
È1
È2
X
X
The elimination of the rotational and vertical DOFs is made via the static
condensation method.
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
5
Static Condensation
The equations of motion of a system
excluding damping
uo: are the DOFs to be eliminated
ut: are the remaining DOFs
The two partitioned equations
Modified equation of
motion
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
6
Example Frame
A plain frame is consisted of two columns and a beam. All members are 3m long
and have a HEB600 cross-section. The frame has two rotational and one
translational DOFs.
Perform the static condensation procedure to remove the rotational DOFs and
estimate the displacement of the roof under a ground excitation.
u2 m u3 u1
EI, L EI, L
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
7
Example Frame
u1 u3
u4 A beam element having two
u2 m translational and two rotational
degrees of freedom.
12EI L3 6EI L2 12EI L3 6EI L2
e 6EI L2 4EI L 6EI L2 2EI L
k The corresponding stiffness matrix
12EI L3 6EI L2 12EI L3 6EI L2
2
6EI L 2EI L 6EI L2 4EI L
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
8
Shear Frame Idealisation
u2 m u3 u1
3 DOFs: 1 translational and 2 rotational
EI, L EI, L
24EI L3 10EI L2 10EI L2
k tt k tc 2
k 6EI L 8EI L 2EI L
k ct k cc Stiffness matrix for the 3 DOF frame
6EI L
2
2EI L 8EI L
1
k̂ tt k tt k tok oo k ot 12EI L3 Stiffness matrix after condensation
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
9
Lumped Mass Idealisation
• Shear Frame: Only one degree of freedom
12EI
u1=1 3 k Stiffness for each of the two columns
12EI/L L3
24EI
12EI/L3 k Total stiffness
L3
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
10
Compare the Response of the Two Frames
5
4 Plane frame (condensation)
Shear Frame
3
Acceleration (m/sec2)
-1
-2
-3
-4
0 5 10 15 20 25 30 35 40 45 50
Time (Sec)
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
11
Compare the Response of the Two Frames
0.015
Plane frame (condensation)
Floor Displacement (m)
0.01 Shear frame
0.005
-0.005
-0.01
-0.015
0 5 10 15 20 25 30 35 40 45 50
Time (Sec)
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
12
4 DoF Cantilever Structure
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
13
Stiffness Matrix
Components of stiffness matrix due to 1st translational DOF u1
24EI L3 0 0 0
12EI L3 0 0 0
k1
0 0 0 0
6EI L2 0 0 0
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
14
Stiffness Matrix
Components of stiffness matrix due to 2nd translational DOF u2
0 12EI L3 0 0
0 12EI L3 0 0
k2
0 6EI L2 0 0
2
0 6EI L 0 0
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
15
Stiffness Matrix
Components of stiffness matrix due to 1st rotational DOF u3
0 0 0 0
0 0 6EI L2 0
k3
0 0 8EI L 0
0 0 2EI L 0
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
16
Stiffness Matrix
Components of stiffness matrix due to 2nd rotational DOF u4
u4=1 6EI/L2 4EI/L
0 0 0 6EI L2
EI,L
0 0 0 6EI L2
k4
0 0 0 2EI L
6EI/L2
2EI/L
0 0 0 4EI L
EI,L
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
17
Static Condensation
Stiffness contributions for
each Degree of Freedom
Final stiffness
matrix 24EI L3 0 0 0
12EI L3 0 0 0
k1
24EI L3 0
12EI L3 0 6EI L2
0 0 0
6EI L
2
0 0 0
4
12EI L3 12EI L3 6EI L2 6EI L2
k ki
i 1
0 6EI L2 8EI L 2EI L 0 12EI L3 0 0
6EI L2 6EI L2 2EI L 4EI L 0 12EI L3 0 0
k2
0 6EI L2 0 0
0 6EI L2 0 0
0 0 0 0
0 0 6EI L2 0
k3
0 0 8EI L 0
0 0 2EI L 0
0 0 0 6EI L2
0 0 0 6EI L2
k4
0 0 0 2EI L
0 0 0 4EI L
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
18
Static Condensation
Condensation of stiffness
ktt kto matrix
1
k̂ tt k tt k tok oo k ot
A 2x2 stiffness matrix for the
24EI L 3
12EI L 3
0 2
6EI L two translational degrees of
3
4 12EI L 12EI L3 6EI L2 6EI L2 freedom
k ki
i 1 EI 96 30
0 6EI L2
8EI L 2EI L k̂ tt
2 7L3 30 12
6EI L 6EI L2 2EI L 4EI L
kot koo
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
19
Modal Analysis
Stiffness Matrix before condensation
107669 53835
k tt
53835 53835
k k to
k tt
k ot k oo
0 80752
k οt
Stiffness Matrix after condensation 80752 80752
k̂ tt k tt k to k oo k ot
1
0 80752
k tο
61525 19227 80752 80752
k̂ tt
19227 7691
Mass matrix 323008 80752
k οο
80752 161504
4 0
m
0 2
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
20
Modal Analysis
m2 m2
m1 m1
Eigenvalue problem
kˆ tt
ω2m v 0
0.32 1.00
φ1 φ2
1.00 0.655
Eigenvector 1 Eigenvector 2
ω1 26.42rad sec ω2 136.11rad sec
Τ1 0.238 sec Τ2 0.046 sec
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
21
CENV6134 Earthquake
Engineering and
Seismic Design of Steel
Buildings
Dr Mehdi Kashani
Email: [email protected]
Office: Building 178/4019
Introduction to
Eurocode 8 (EC8)
Eurocode 8
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
2
Requirements
• No-collapse under the design seismic action; Ultimate
limit state; Protection of human life under the rare design
earthquake (Return period = 475 yrs).
• Damage limitation under a frequent seismic action;
Serviceability limit state; Operational infrastructure after
frequent earthquakes (Return period = 95 yrs).
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
3
Seismic Design
• The earthquake motion at a given point on the surface is
represented by an elastic ground acceleration response
spectrum.
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
4
Elastic Response Spectrum
Period,
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
5
Elastic Response Spectrum
Period,
where Se : elastic spectral acceleration
T : period of vibration
TB, TC,TD : period limits
ag : design ground acceleration
S : soil factor
η : damping correction factor
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
6
Elastic Response Spectrum
(1)
(2)
(3)
(4)
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
7
Elastic Response Spectrum
• Design ground acceleration
ag=γΙagR
where γI : importance factor (National Annex)
for class I: γI=0.8 class III: γI=1.2
class II: γI=1.0 class IV: γI=1.4
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
8
Elastic Response Spectrum
• Design ground acceleration
ag=γΙagR
where agR : reference peak ground acceleration
(National Annex)
• Damping correction factor
10
0.55
5
where ξ : viscous damping ratio
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
9
Elastic Response Spectrum
• Soil factor (S) and Period limits (TB,Tc,TD)
UK national annex recommends :
• Ground types A,B,C,D,E described by the following
stratigraphic profiles and parameters: next slide
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
10
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
11
Design Response Spectrum
• The capacity of structural systems to resist seismic actions in
the non-linear range generally permits their design for
resistance to seismic forces smaller than those corresponding
to a linear elastic response.
• To avoid explicit inelastic structural analysis in design, the
capacity of the structure to dissipate energy, through mainly
ductile behaviour of its elements or other mechanisms, is
taken into account by performing an elastic analysis based on
a response spectrum reduced with respect to the elastic one.
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
12
Design Response Spectrum
where Sd : design spectral acceleration
T : vibration period
TB, TC, TD : period limits
ag : design ground acceleration
S : soil factor
q : behaviour factor
β : lower bound factor (=0.2)
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
13
Design Response Spectrum
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
14
Methods of Analysis
• Linear analysis methods
a) lateral force method
b) modal response spectrum
• Nonlinear analysis methods
a) nonlinear static (pushover)
b) nonlinear time history (dynamic)
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
15
Lateral Force Method of Analysis
• Required conditions :
a) fundamental period, T1 ≤ (4TC, 2 sec)
Tc : period limit from spectrum
b) regular in elevation (discussed later)
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
16
Lateral Force Method of Analysis
• Base shear force:
where Sd(T1) : design spectral acceleration at T1
T1 : fundamental period
m : seismic mass above the foundation
λ : correction factor
= 0.85 if T1 ≤ 2TC & more than 2 storeys
= 1.0 otherwise
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
17
Lateral Force Method of Analysis
• Distribution of the seismic forces
si m i
Fi Fb if 1st mode shape has been calculated
s j m j
or
z m when the 1st mode shape is approximated by
Fi Fb i i
zj mj displacements increasing linearly along the height
where Fi : horizontal force at storey i
Fb : seismic base shear
mi,mj : seismic masses
si,sj : displacements of mi,mj in the 1st mode shape
zi,zj : heights of mi,mj above the foundation
Fb
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
18
Modal Response Spectrum Analysis
• Applied to buildings which do not satisfy the conditions for the
lateral force method
• Required number of modes
- sum of the effective modal masses ≥ 90% of total mass
or
- modes with effective modal mass > 5% of total mass
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
19
Modal Response Spectrum Analysis
• Combination of modal responses
EE Ei
E 2
(SRSS method)
where EE : seismic action effect
EEi : seismic action effect due to mode i
• SRSS applicable only if the vibration modes are well separated :
for modes i,j, if : Tj ≤ 0.9 Ti
• If not, the Complete Quadratic Combination (CQC) is required
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
20
Nonlinear Static Analysis (Pushover)
• Verify the structural performance of newly designed and of
existing buildings for the following purposes:
a) to verify or revise the over-strength factor
b) to estimate the expected plastic mechanism and the distribution
of damage
c) to assess the structural performance of existing or retrofitted
buildings
d) as an alternative to the design based on linear-elastic analysis
which uses the behaviour factor q
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
21
Nonlinear Static Analysis (Pushover)
• At least two vertical distributions of the lateral loads should be
applied:
a) a “uniform” pattern, based on lateral forces that are proportional to
mass
b) a “modal” pattern, proportional to lateral forces calculated with the
lateral force method of analysis
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
22
Nonlinear Time-History Analysis
• Direct numerical integration of the equations of motion using
accelerograms
• Appropriate scaling of the accelerograms is required
• At least 3 accelerograms required
• If more than 7 accelerograms are used, the design will be based
on the average of the response quantities from theses analyses
• If less than 7 accelerograms are used, the design will be based
on the most unfavourable response quantities from the analyses
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
23
Design of Buildings
• Basic principles
- structural simplicity
- uniformity, symmetry and redundancy
- bi-directional resistance and stiffness
- torsional resistance and stiffness
- diaphragmatic behaviour at storey level
- adequate foundation
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
24
Criteria for Structural Regularity
• Regular / Irregular buildings
Based on this distinction, there are implications for the :
- structural model
- method of analysis
- behaviour factor (q)
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
25
Regularity in Plan
• Lateral stiffness and mass distribution shall be approx.
symmetrical in plan with respect to 2 orthogonal axes
• Each floor shall be delimited by a polygonal convex line. If plan
set-backs exist, regularity is still satisfied provided that :
a) these set-backs do not affect the floor in-plan stiffness
b) A’ ≤ 5% A
A’
A
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
26
Regularity in Plan
• Slenderness : L max
4
L min
Lmax
Lmin
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
27
Regularity in Plan
• At each level and for each direction of analysis x and y, the
structural eccentricity eo and the torsional radius r shall be in
accordance with the two conditions below, which are expressed
for the direction of analysis y :
e ox 0.30 rx and rx ℓ s
where
eox : distance between the centre of stiffness and the
centre of mass, measured along the x direction
rx : square root of the ratio of the torsional stiffness to
the lateral stiffness in the y direction
ℓs : radius of gyration of the floor mass in plan
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
28
Regularity in Elevation
• All lateral load resisting systems shall run without interruption
from their foundations to the top of the building
• The lateral stiffness and the mass
of the individual storeys shall
remain constant or reduce
gradually, without abrupt changes,
from the base to the top of a
particular building
Stiffness irregularity Mass irregularity
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
29
Regularity in Elevation
• In framed buildings the ratio of the actual storey resistance to
the resistance required by the analysis should not vary
disproportionately between adjacent storeys
• for setbacks :
L1 L 2 L1 L 2 L L2
0.20 0.10 and 0.30
L1 L1 L
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
30
Regularity in Elevation
• for single setback :
setback above 0.15H setback below 0.15H
L 3 L1 L 3 L1
0.20 0.50
L L
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
31
Ultimate Limit State (ULS) Conditions
• Resistance condition
- for all structural members : Ed ≤ Rd
where Ed : seismic design actions
Rd : design resistance
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
32
Ultimate Limit State (ULS) Conditions
• Buildings shall be protected from earthquake-induced pounding
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
33
Ultimate Limit State (ULS) Conditions
• P-δ effects
P
Vh
where θ : interstorey drift sensitivity coefficient
P : gravity load at and above the storey
considered in the seismic design situation
V : total seismic story shear
h : storey height
δ : design interstorey displacement (=qdde)
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
34
Ultimate Limit State (ULS) Conditions
• P-δ effects
P
Vh
- if θ ≤ 0.10, P-Δ effects need not be taken into account
- if 0.10 < θ ≤ 0.20, P-Δ effects may approximately be taken into
account by multiplying the relevant seismic action effects by
1/(1-θ)
- if θ > 0.30, redesign
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
35
Ultimate Limit State (ULS) Conditions
• Ductility condition (capacity design)
at all joints : ΣMRc ≥ 1.3 ΣMRb
where
ΣΜRc : sum of the design values of the moments of
resistance of the columns framing the joint
ΣΜRb : sum of the design values of the moments of
resistance of the beams framing the joint
- Condition is waived at the top level of multi-storey building
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
36
Damage Limitation State
• Interstorey drift limitation
d r 0.005 buildings having non-structural elements of brittle
materials attached to the structure
h v
d r 0.0075 buildings having ductile non-structural elements
h v
buildings having non-structural elements fixed in a
d r 0.010
way so as not to interfere with structural
h v deformations, or without non-structural elements
dr : design interstorey drift (=qde), h : storey height
v : reduction factor (0.4 for class I,II, 0.5 for class III,IV)
de: interstorey drift under the design spectrum
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
37
CENV6134 Earthquake
Engineering and
Seismic Design of Steel
Buildings
Dr Mehdi Kashani
Email: [email protected]
Office: Building 178/4019
General Rules for
Steel Buildings in
EC8
Design Concepts
• Low-dissipative structural behaviour
Recommended only for low seismicity areas.
• Dissipative structural behaviour
Increased ability of the structure to dissipate energy in plastic
mechanisms.
Dissipative zones: parts of the structure to resist
earthquake actions through inelastic behaviour.
Specific requirements in class of steel sections and in rotational
capacity of connections.
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
2
Design Concepts
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
3
Materials
• The distribution of material properties in the structure
shall be such that dissipative zones form where they are
intended to in the design
• Dissipative zones are expected to yield before other zones
Meet one of the followings conditions (next slides):
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
4
Materials
Steel of dissipative zones :
fy,max ≤ 1.1 γov fy
where fy,max : upper value of the yield strength
fy : nominal yield strength
γov : overstrength factor
(=1.25, National Annex)
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
5
Structural Types
• Moment resisting frame
• Frame with concentric bracings
• Frame with eccentric bracings
• Structure with concrete cores or concrete walls
• Moment resisting frame combined with concentric
bracings
• Moment resisting frame combined with infills
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
6
Moment Resisting Frame (MRF)
Seismic forces are mainly resisted by members acting in an
essentially flexural manner
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
7
Moment Resisting Frame (MRF)
• Dissipative zones should be mainly located in plastic hinges in
the beams or in the beam-column joints so that energy is
dissipated by means of cyclic bending
• The dissipative zones may also be located in columns:
- at the base of the frame
- at the top of the columns in the upper storey of multi-
storey buildings
- at the top and bottom of columns in single storey
buildings in which NEd in columns conform to the
inequality: NEd / Npl,Rd < 0,3
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
8
Moment Resisting Frame (MRF)
Dissipative zones
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
9
Frames with Concentric Bracings
Seismic forces are mainly resisted by members subjected to
axial forces
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
10
Frames with Concentric Bracings
Diagonal bracing
V - bracing
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
11
Frames with Concentric Bracings
• Dissipative zones should be mainly located in the tensile
diagonals
• The bracings may belong to one of the following categories:
- active tension diagonal bracings, in which the horizontal
forces can be resisted by the tension diagonals only, neglecting
the compression diagonals
- V bracings, in which the horizontal forces can be resisted by
taking into account both tension & compression diagonals.
The intersection point of these diagonals lies on a horizontal
member which shall be continuous
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
12
Frames with Concentric Bracings
Dissipative
zones
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
13
Frames with Concentric Bracings
K bracings, in which the intersection of the diagonals lies on a
column may not be used
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
14
Frames with Eccentric Bracings
Seismic forces are mainly resisted by axially loaded members, but where
the eccentricity of the layout is such that energy can be dissipated in
seismic links by means of either cyclic bending or cyclic shear
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
15
Frames with Eccentric Bracings
Dissipative zones
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
16
Other Structural Types
Moment resisting frame combined
with concentric bracing
Structure with concrete cores Moment resisting frame
or concrete walls combined with infills
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
17
Behaviour Factors (upper limit)
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
18
Behaviour Factors (upper limit)
where
α1 : the value by which the horizontal seismic design action is
multiplied in order to first reach the plastic resistance in
any member in the structure, while all other design
actions remain constant
αu : the value by which the horizontal seismic design action is
multiplied, in order to form plastic hinges in a number of
sections sufficient for the development of overall
structural instability, while all other design actions
remain constant
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
19
Design Rules in Dissipative Zones
• Dissipative elements in compression or bending :
- requirements on cross-sectional class
CENV6134 Earthquake Engineering and Seismic Design of Steel Buildings
20
CENV6134
Earthquake Engineering and
Seismic Design of Steel
Buildings
LECTURE 11: Steel moment-resisting frames
(MRFs) - Behaviour and design according to EC8
Moment resisting frame (MRF)
Moment resisting frame (MRF)
• Seismic forces are mainly
resisted by members acting
in an essentially flexural
manner
Dissipative zones
• Dissipative zones should be mainly located in plastic
hinges in the beams or the beam-column joints so that
energy is dissipated by means of cyclic bending
• The dissipative zones may also be located in columns:
- at the base of the frame
- at the top of the columns in the upper storey of multi-
storey buildings
- at the top and bottom of columns in single storey
buildings in which NEd in columns conform to the
inequality: NEd / Npl,Rd < 0,3
Possible dissipative zones locations
Panel Zone
(Shear Yielding)
Beam
(Flexural Yielding)
Dissipative zones in beams
• If dissipative zones are
located in the structural
members, the non-
dissipative parts and the
connections of the
dissipative parts to the rest of
the structure shall have
sufficient overstrength to
allow the development of
cyclic yielding in the
dissipative parts
Dissipative zones in panel zones
• When dissipative zones are
located in the connections,
the connected members
shall have sufficient
overstrength to allow the
development of cyclic
yielding in the connections
Beams
• Beams should be verified as having sufficient resistance
against lateral and lateral torsional buckling in accordance
with EC3, assuming the formation of plastic hinge at one
end of the beam
• It should be verified that the full plastic moment of
resistance and rotation capacity are not decreased by
compression and shear forces. Thus, for class 1, 2 :
MEd NEd VEd
1.0 0.15 0.5
Mpl.Rd Npl.Rd Vpl.Rd
Beams
MEd NEd VEd
class 1,2 : 1.0, 0.15, 0.5
Mpl.Rd Npl.Rd Vpl.Rd
where MEd : design bending moment
NEd : design axial force
VEd : design shear
Mpl,Rd, Npl,Rd, Vpl,Rd : design resistances
Beams
VEd = VEd,G + (Mpl,Rd,A+Mpl,Rd,B) / L
where VEd,G : shear force due to non seismic actions
A B
L
G + ψ2 Q
Mpl,Rd Mpl,Rd
Columns
• The columns shall be verified in compression considering
the most unfavourable combination of the axial force and
bending moments, with :
NEd = NEd,G + 1.1 γov Ω NEd,E
MEd = MEd,G + 1.1 γov Ω MEd,E
VEd = VEd,G + 1.1 γov Ω VEd,E
where
NEd,G,MEd,G,VEd,G : design values due to non seismic
actions
NEd,E,MEd,E,VEd,E : design values due to seismic actions
γov : overstrength factor
Columns
• Ω : minimum value of Ω Mpl,Rd,i of all beams in which
i
MEd,i
dissipative zones are located
• At the base of the frame, at the top level of multi-storey
buildings and for single storey buildings where plastic
hinges are allowed to be formed, in the verifications the
acting moment should be taken equal to Mpl.Rd
• The column shear force VEd resulting from the structural
analysis should satisfy
VEd
the following expression : 0.5
Vpl,Rd
Connections
• If the structure is designed to dissipate energy in the
beams, the connections of the beams to the columns
should be designed to satisfy the following expression :
Rd ≥ 1.1 γov Rfy
where Rd : resistance of the connection
Rfy : plastic resistance of the connected
dissipative member
γov : overstrength factor
Connections
• The rotation capacity of the plastic hinge region (θp)
should be :
θp ≥ 35 mrad (for ductility class DCH)
θp ≥ 25 mrad (for ductility class DCM with q > 2)
where θp is defined as :
θp = δ / 0.5 L
where
L : beam span
δ : beam deflection at midspan
CENV6134
Earthquake Engineering and
Seismic Design of Steel Buildings
SAP2000 TUTORIAL: Design of a steel MRF
Geometry, materials and loads
Geometry of the frame
Bay width = 6m
Storey height = 3m
Columns
S355,
HEB
cross-‐sec:ons
Beams
S275,
IPE
cross-‐sec:ons
Loads on beams
15 kN/m for dead load
9 kN/m for live load
IniDalize a new model based on a template
STEP 1: (1) Create a new model
based on a selected template (here a
2D frame). (2) Select your units (e.g.
kN, m)
STEP 2: (1) Create the 2D
frame with 4 stories
(3 m storey height) and 3
bays ( 6 m bay width).
Reduce DOFs to a plane frame
Step
3:
(1)
From
Analyze
menu
you
select
“Set
Analysis
OpDons”
and
(2)
You
choose
Plane
Frame
(XZ
frame)
Apply
Boundary
CondiDons
Step 4: Select the four support
points at the boXom of the structure
a n d t h e n “ A s s i g n > J o i n t >
Restraints…” press the full fixity
restraint buXon which is the first
buXon in the “Fast Restraints” list.
Define Material ProperDes
Step
5:
(1)
Define
-‐
then
choose
Materials…
and
then
Add
New
Material…
(2)
Add
a
S355
grade
steel:
We
choose
Region
Europe,
Material
Steel
and
grade
S355.
(3)
Add
a
S275
grade
steel
in
a
similar
way.
Define
SecDon
ProperDes
Step
5:
“Define
>
SecDon
ProperDes”
menu
you
choose
“Frame
SecDons”
and
then
“Import
New
Property…”.
Import
secDons
from
a
database
Choose
I/Wide
Flange
and
then
import
the
EURO.PRO
file
Select
secDons
from
a
database
Select
the
material
grade
to
be
assigned
to
all
the
sec:ons
you
want
to
import.
üSelect the cross-‐sec:ons for the column members
(the HEB cross-‐sec:ons). Assign to these cross-‐sec:ons
the proper material (S355 for columns).
ü Repeat the same step for the beam members (IPE
cross-‐sec:ons and S275 material).
Add New Property (an Auto SelecDon List)
üDefine menu -‐ choose SecDon ProperDes
and then Frame SecDons.
ü Then select “Add new Property” and
create a new “Auto Select List”.
Choose the cross-‐secDons for the Auto SelecDon List
üChoose all the HEB sec:ons from the ‘List of
SecDons’ and Add them to the ‘Auto SelecDons’
ü We name this Auto Selec:on List Columns.
ü We repeat the same procedure to create an
‘Auto Select List’ for the Beams.
Assign to column members the Columns List
ü
You
select
all
the
columns
and
go
to:
Assign
>
Frame
>
Frame
SecDons…
ü
You
choose
the
Auto
SelecDon
List
‘Columns’
to
assign
it
to
the
columns.
ü
Follow
the
same
procedure
to
assign
the
Auto
SelecDon
List
‘Beams’
to
the
beams.
Set
the
diaphragms
ü
We
select
the
four
joints
of
the
first
floor
and
then:
Assign
>
Joint
>
Constraints
….
We
select
Diaphragm
and
press
Add
New
Constraint….
We
make
sure
that
Z
Axis
is
selected
as
the
Constraint
Axis
and
press
OK.
ü
We
repeat
the
same
procedure
to
apply
a
diaphragm
constraint
to
the
rest
of
the
floors.
Assign
End
Length
Offsets
ü
We
select
all
the
members
(beams
and
columns)
and
from
Assign
>
Frames
>
End
(Length)
Offsets…
we
choose
‘AutomaDc
from
ConnecDvity’
in
the
‘End
Offset
Along
Length’
Define
Load
Paaerns
ü From ‘Define’ we choose ‘Load Paaerns…’.
ü There is one load paXern defined by default. It is called ‘DEAD’ and it accounts already
for the self-‐weight of the structural members.
ü You Add New Load Paaern called ‘LIVE’ by selec:ng LIVE in Type, sejng Self Weight
MulDplier equal to 0 and pressing the Add New Load Paaern buXon.
Define Response Spectrum FuncDon
ü From the Define menu we select
‘FuncDons > Response Spectrum…’ to
add the design spectrum.
ü We choose the Eurocode 8 2004
design spectrum and set the peak
ground accelera:on equal to ag/g =
0.35, and the behavior factor equal to
6.5. We name this func:on as ‘EC8
Design Spectrum’.
Define Response Spectrum Load Case
üDefine > Load Cases … we Add New
Load Case for the response spectrum
analysis.
ü We name the analysis ‘Response
Spectrum’.
üWe choose ‘Response Spectrum’ in the
Load Case Type menu.
ü In the Loads Applied we add the EC8
Design Spectrum func:on and enter a
scale factor 9.81 to change the EC8 Design
Spectrum func:on from g units to m/sec2
units.
Define Load CombinaDon
ü ‘ D e fi n e > D e fi n e L o a d
CombinaDons’, we define the
three load combina:ons:
1. 1.35 G + 1.50 Q
2. 1.00 G + 0.30 Q + 1.00 EQx
3. 1.00 G + 1.00 Q
Assign distributed loads
ü We select all the beams. Then Assign >
Frame Loads > Distributed … we assign
the distributed load for DEAD load
paXern (15kN/m) as shown in the figure.
ü We repeat the same procedure to
define the distributed load for the LIVE
load paXern (9kN/m).
Define Mass Source
From
Define
>
Mass
Source
choose
to
modify
the
exis:ng
Mass
Source
MSSSRC1
by
unchecking
Element
Self
Mass
and
AddiDonal
Mass
and
then
Check
Specified
Load
PaXerns.
Then
we
add
the
DEAD
and
LIVE
load
paXern
mul:plied
by
1
and
0.3
respec:vely.
Define
Frame
Design
Preferences
At Design > Steel Frame Design > View
Revise/Preferences. Select Eurocode
3-‐2005 and choose to ignore the
‘Seismic Code’ and also the ‘Special
Seismic Load’.
Decrease the unbraced length of the beams for LTB
ü Beams are assumed to be laterally supported by transverse secondary beams every 1.2m
(bring back in mind your Steel Design Course – this will affect design against LTB and the
sosware needs to know about that!) Define for unbraced length raDo for LTB the value 0.2
(1.2/6).
üSelect all beams and assign the 0.2 ra:o at Design > Steel Frame Design > View/Revise
Overwrites…
Select Design Load CombinaDons
ü From the Design menu > Steel Frame
Design > Select Design Combos, we make
sure that the Load CombinaDon Type is set
to Strength and then Add the two load
combina:ons for strength design in the
Design Load CombinaDons as it is shown in
the Figure.
ü We repeat the same procedure with the
Load combinaDon Type set to DeflecDon
and add the 1.00G + 1.00Q in the Design
Load CombinaDon.
ü Uncheck the AutomaDcally Generate
Code-‐Based Design Load CombinaDons
Run the analysis
At Analyze > Run Analysis we click Run Now.
Read the results
We
get
the
results
for
all
load
cases
and
load
combina:ons.
Here
you
can
see
in
the
MODAL
results
the
first
mode
of
vibra:on
(Period
1.78
sec).
Run
Design
of
the
Frame
ü
At
Design
menu
>
Steel
Frame
Design
we
press
Start
Design/Check
of
structure
to
run
the
1st
design
of
the
steel
frame.
ü
At
Design
menu
>
Steel
Frame
Design
we
choose
Verify
Analysis
vs
Design
SecDon
in
order
to
see
how
many
of
the
exis:ng
sec:ons
differ
from
the
ones
SAP2000
have
es:mated
to
be
sufficient
during
the
1st
design
run.
You
can
see
which
sec:ons
are
different
from
the
design
ones
by
pressing
Yes,
otherwise
choose
No.
The
first
design
is
not
sufficient
for
design.
We
need
to
run
again
the
analysis.
ü
At
the
Analyze
menu
>
Run
Analysis
press
Run
Now
to
start
a
new
analysis.
Aser
the
analysis
ends,
run
the
design
again.
ü
Repeat
the
same
procedure
un:l
the
analysis
sec:ons
are
the
same
as
the
design
sec:ons.
ü
Then
at
Design
menu
>
Steel
Frame
Design
we
select
Verify
all
members
Passed…
to
check
whether
all
members
have
passed
the
stress/capacity
checks.
Final
Design
of
the
Frame
with
stress-‐capacity
check
These
are
the
final
sec:ons
that
sa:sfy
both
deflec:on
and
strength
ul:mate
states
aser
a
number
of
design
itera:ons.
4th
Floor
columns
HEB100,
HEB120
3rd Floor columns
HEB120, HEB140
2nd Floor columns
HEB140
1st Floor columns
HEB140, HEB160
Beams
IPE270
Interstorey
Drij
RaDo
Check
The
floor
design
displacements
shown
are
calculated
from
the
formula
of
Eurocode
8
(i.e.
Floor
Design
Interstorey
Allowable
q*v*d),
where
v=0.4
and
d
are
the
Displacements
Driss
Ra:o
IDR
displacements
from
the
combinaDon
G+0.3Q
+
E
(IDR)
21.79
cm
1.76
%
0.75
%
16.51
cm
1.87
%
0.75
%
10.90
cm
2.11
%
0.75
%
4.58
cm
1.52
%
0.75
%
The cross-‐sec:ons do not sa:sfy the Interstorey Dris Ra:o
limita:ons. We have to manually change the columns and
beams cross-‐sec:ons to sa:sfy the IDR limita:ons.
New cross-‐secDons for the columns
We change the column and beam cross-‐sec:ons un:l we sa:sfy the IDR requirements.
4th Floor columns
HEB260
3rd Floor columns
HEB260
2nd Floor columns
HEB300
1st Floor columns
HEB300
Beams IPE400 (1st, 2nd floors)
Beams IPE330 (3rd, 4th floors)
Interstorey Drij RaDo Check for new columns
We need to check whether the θ coefficient is less Interstorey
than 0.10. Please note that: P and V are obtained P (kN) V (kN) θ
Dris Ra:o
from the combina:on G+0.3Q+E, while the
Interstory Dris Ra:o from the design diplacements,
i.e. q*d (d: displacements from G+0.3Q+E)
1.06 % 338 94.79 0.038
1.36 % 678 111.46 0.083
1.30 % 1020 140.97 0.094
0.89 % 1364 156.97 0.077
The
interstorey
drij
sensiDvity
coefficient
θ
for
all
floors
is
less
than
0.10
so
the
P-‐Δ
effects
can
be
neglected
Capacity
check
for
a
joint
First floor column:
HEB 300
Wpl = 1869cm3
fy = 35.5kN / cm2
First floor beam:
IPE 400
Wpl = 1307cm3
fy = 27.5kN / cm2
To calculate MRC, you need to
∑ΜRc ≥ 1.30∑ΜRb consider the effect of the axial This check is satisfied for all
joints
force in the beam plas:c
moment resistance!
Design check of beams according to EC8
Shear forces for G+0.3Q
combina:on
ü VEd=56.86 kN (for right end
Check this beam of first floor beam).
ü Plas:c bending moment for
beam Mpl,Rd=359.4 kNm.
VEd,G=53.24kN
ü VEd,M = 2Mpl,Rd/6=119.8 kN
ü Av = 42.43 cm2 (IPE400)
ü fy = 27.5kN/cm2 (IPE400)
ü Vpl,Rd=673 kN
VEd,G=56.86kN
VEd = VEd,G +VEd,M = 177 kN
VEd / Vpl,Rd= 177 / 673 = 0.263 < 0.5
Design check of column according to EC8
We create a new load combina:on: G + 0.3Q + 1.1 γov Ω E
The
columns
shall
be
verified
in
compression
considering
the
most
unfavourable
combina:on
of
axial
force
and
bending
moments
from:
where
NEd,G,
MEd,G,
VEd,G
are
the
design
values
due
to
non
seismic
ac:ons
G+0.3Q
NEd,E,
MEd,E,
VEd,E
are
the
design
values
due
to
seismic
ac:on
E
γov
is
an
overstrength
factor
(equal
to
1.25
according
to
paragraph
6.2
(3)
of
EN1998-‐1-‐1)
Ω
is
the
minimum
value
of
Ωi
of
all
beams
in
which
dissipa:ve
zones
are
located
Mpl,Rd,i where
MEd,i
is
the
design
bending
moment
for
the
load
combina:on
G
+
0.3Q
+
E
Ωi =
MEd,i
EsDmaDon
of
Ω
You
can
either
read
from
the
screen
the
absolute
maximum
values
of
MEd,i
at
the
ends
of
the
beams
or
export
the
bending
moments
from
the
Display
>
Show
Tables…
Choose to display
element forces
Select the earthquake load combina:on:
1.0G + 0.3Q + E
EsDmaDon of Ω
From
File
you
can
choose
to
export
the
element
forces
to
excel
and
make
the
necessary
calcula:ons
to
get
the
minimum
Ω
The minimum Ω in this example is equal to 2.69.
Run Design in SAP for the new load combinaDon
The new load combina:on will be: G + 0.3Q + 3.695E
From Design > Steel Frame Design… > Select Design Combos…, we add the new load
combina:on in order to be considered in the new design.
From Design > Steel Frame Design… > Start Design/Check of Structure…, we run the new
design.
From Design > Steel Frame Design… > Verify All Members Passed… we verify if the columns
pass the stress/capacity checks.
ü The columns’ capacity ra:os is
below 0.7 for the new load
combina:on.
ü We don’t need to check beams
with this combina:on.
CENV6134
Earthquake Engineering and
Seismic Design of Steel
Buildings
LECTURE 13: Nonlinear modeling and analysis for
steel MRFs
Modeling concepts
Modeling concepts
Nonlinear analysis: results can be
meaningless due to lack of experience
• Before a nonlinear analysis is run, a linear analysis must be performed to
check the model
• Before a dynamic analysis is run, a static analysis must be performed to
check the model
• Are frequencies and mode shapes realistic?
• Do P-Delta effects make the period of vibration longer?
• Does the presence of gravity loads affect the sequence of formation of
plastic hinges?
• The above are only few essential steps before you ‘trust’ the results of
nonlinear analysis
Steel MRF
Behaviour of steel beams under cyclic
loading
4
3 x 10
1
Force
-1
-2
-3
-0 .0 6 -0 .0 4 -0 .0 2 0 0 .0 2 0 .0 4 0 .0 6
Displacement
Elastic beam with plastic hinges (lumped plasticity)
Elastic beam with plastic hinges (lumped
plasticity)
• Represents the hysteretic behaviour of the plastic hinges at
the end of beams and columns
• Can include moment-axial-shear interaction in the plastic
hinges
• Because all inelastic activity is concentrated in a zero
length plastic hinge, it is also referred as lumped plasticity
model
• See photo in Slide 6 and the location of the plastic hinge in
Slide 7, i.e. typically a plastic hinge is located at some
distance from the column flange
Elastic beam with plastic hinges – A plastic hinge is a
rotational spring with infinite (practically very large)
initial stiffness
Fiber beam element
Fiber beam element
• A plastic hinge is represented as a series of slices (along
the length of the beam) and a series of layers (through the
depth of the beam)
• Captures the growth in the length of plastic hinges as well
as neutral axis migration
• Moment-axial force interaction is handled automatically
• Referred to as spread of plasticity model
• Accurate but computationally expensive
Panel zone modeling
Panel zone modeling
Panel zone modeling
Panel zone modeling
Panel zone modeling
Panel zone modeling
Panel zone modeling
Geometric nonlinearity (P-delta effects)
Geometric nonlinearity (P-delta effects)
CENV6134
Earthquake Engineering and
Seismic Design of Steel
Buildings
LECTURE 14: Performance-based seismic
assessment according to Eurocode 8
Design check of a BRBF according to
Eurocode 8
Capacity curve from pushover analysis
Transformation of MDOF to SDOF
system
Transformation of MDOF to SDOF
system
Transformation of MDOF to SDOF
system
Idealized elastoplastic SDOF system
See figure in next
slide!
Idealized elastoplastic SDOF system
Target displacement of the SDOF system
Target displacement of the MDOF system
Results at the target displacement
Plastic deformations in BRBs and axial forces in non-dissipative elements at the
target displacement – checks can now be performed
Seismic assessment using nonlinear
dynamic analysis
Seismic assessment using nonlinear dynamic analysis according
to Eurocode 8
• Use artificial ground motions, which are developed so that their
response spectra match the elastic design response spectrum
(not adopted for simplicity in this course)
• Use real recorded ground motions, which have an average
spectrum that approaches the elastic design response spectrum
(not adopted for simplicity in this course)
• For this course: Use 3 recorded ground motions scaled
according to the figure in the next slide (check also the relevant
document describing the scaling procedure with the aid of the
MATLAB code provided for the module)
Seismic assessment using nonlinear
dynamic analysis
Performance-based seismic assessment
according to Eurocode 8
Step 1
• Perform linear analysis (response spectrum) and design using the behaviour factor and
all appropriate checks (damage limitation, P-Delta effects, capacity design, etc)
• This step results in known cross-sections of the members (beams, columns, BRBs, etc)
Step 2
• Perform pushover analysis and use the procedure in this lecture to assess the
adequacy of the design from Step 1
• Check the global plastic mechanism to assess the capacity design
• Check whether local plastic deformations are lower than the deformation capacities
(e.g. plastic hinge rotations in beams, BRBs elongations)
• Check that non-dissipative elements (e.g. columns) do not buckle
Step 3
• Perform nonlinear dynamic analysis (use scaled accelerograms) to assess the adequacy
of the design from Step 1
Step 4
• Revise design in Step 1 by using stricter design criteria to satisfy Steps 2 or/and 3
CENV6134
Earthquake Engineering and
Seismic Design of Steel
Buildings
LECTURE 15: Seismic design and assessment of
steel frames with buckling-restrained braces
(BRBs)
Buckling-Restrained Braced Frames
(BRBFs)
• Type of concentrically braced frame.
• Beams, columns and braces arranged to form a vertical
truss. Resist lateral earthquake forces by truss action.
• Special type of brace members used: Buckling-Restrained
Braces (BRBs). BRBS yield both in tension and
compression - no buckling!!
• Develop ductility through inelastic action (cyclic tension
and compression yielding) in BRBs.
• System combines high stiffness with high ductility.
Buckling-Restrained Brace (BRB)
Buckling-
Restrained Brace:
Steel Core
+
Casing
Casing
Steel Core
Buckling-Restrained Brace (BRB)
Buckling-
Restrained
A
Brace:
Steel Core
+
A
Casing
Casing Steel Core
Steel jacket
Mortar
Debonding material
Section A-A
Buckling-Restrained Brace (BRB)
P P
Steel core resists entire axial force P
Casing is debonded from steel core
- casing does not resist axial force P
- flexural stiffness of casing restrains buckling
of core
Buckling-Restrained Brace (BRB)
Buckling-
Restrained Brace:
Steel Core
+
Casing
Steel Core
Yielding Segment
Core projection and
brace connection
segment
Brace Behavior Under Cyclic Axial
P Loading
Py
• yields in tension (ductile)
• yields in compression (ductile)
• similar strength in tension and
compression (slightly stronger in
compression)
PCR
Py
P
Bracing Configurations for BRBFs
Single Diagonal Inverted V- Bracing V- Bracing
X- Bracing Two Story X- Bracing
Real Examples of BRBFs
Real Examples of BRBFs
Inelastic Response of BRBFs under
Earthquake Loading
Behaviour under seismic actions
Tension Brace: Yields Compression Brace: Yields
Columns and beams: remain essentially elastic
Behaviour under seismic actions
Compression Brace: Tension Brace: Yields
Yields
Columns and beams: remain essentially elastic
Design of BRBFs
• BRBFs are expected to withstand significant
inelastic deformations when subjected to the forces
resulting from the motions of the design
earthquake.
• Bracing members shall be composed of a structural
steel core and a system that restrains the steel core
from buckling.
• The steel core shall be designed to resist the entire
axial force in the brace.
Design of BRBFs
• Steel Core
Asc f ysc
N Ed N pl , Rd
0
Yielding Segment
NEd = design axial force of seismic action
Asc = area of steel core (yielding segment)
fysc = specified minimum yield stress of core, or
actual yield stress from coupon test
γM0 = 1.0
Design of BRBFs
• Overstrength factor
N Ed Ly
be
EAsc
Δbe = value of deformation quantity
Ly = length of yielding segment
E = modulus of elasticity
Asc = area of steel core (yielding segment)
bs qbe
Δbs = value of deformation quantity according to behaviour
factor
Design of BRBFs
• Overstrength factor
2bs
bs
Ly
εbs = deformation corresponding to 2.0 times the design story
drift
Strain hardening effects based on experimental tests are
taken into account.
• For tension-strain hardening adjustment factor ω.
• For compression-the compression strength factor β.
Design of BRBFs
• Overstrength factor
Design of non-dissipative elements (e.g.
beams, columns)
N Ed N Ed ,G 1.1 ov max(, )N Ed , E
VEd VEd ,G 1.1 ov max( , )VEd , E
M Ed M Ed ,G 1.1 ov max( , )M Ed , E
Design of BRBFs
N pl , Rdi
i
N Edi
min(i )
CENV6134
Earthquake Engineering and
Seismic Design of Steel
Buildings
LECTURE 16: Modern performance-based seismic
design
Definitions
• Performance-based seismic design: design a building to
resist different earthquake hazard levels within specified
performance levels
• Earthquake hazard level: Typically defined as an
acceleration response spectrum for a given mean return
period (the average number of years between events of
similar severity)
• Performance level:
a) Defined in terms of safety, cost and feasibility of repair, downtime,
other impacts on society
b) Related to damage level
c) Performance level ≈ damage level
Typical performance levels The picture can't be display ed.
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Joe’s Joe’s
Beer! Beer! Beer!
Food! Food! Food!
Operational Immediate Life Collapse
Occupancy Safety Prevention
Operational – negligible impact on building
Immediate Occupancy – building is safe to occupy but possibly
not useful until cleanup and repair has occurred
Life Safety – building is safe during event but possibly not
afterward
Collapse Prevention – building is on verge of collapse,
probable total loss
Typical seismic hazard levels
• Frequently occurred earthquake - FOE (varying between 50-
and 100- year return periods)
• Design basis earthquake - DBE (500-year return period)
• Maximum considered earthquake - MCE (2500-year return
period)
Performance objective: coupling of seismic hazard
levels and performance levels
Usually….
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Joe’s
Beer! Beer!
Food! Food!
Immediate occupancy Life Safety Collapse prevention
FOE DBE MCE
A better structure….
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Joe’s Joe’s
Beer! Beer!
Beer! Food!
Food! Food!
Operational Immediate occupancy Life Safety
FOE DBE MCE
Performance objective: coupling of seismic hazard
levels and performance levels
Quantitative definition of performance levels
• Damage of structural and non-structural elements
The primary damage index for both structural and displacement-
sensitive non-structural elements is the peak story drift
For other non-structural elements: peak absolute floor velocity and
acceleration, floor response spectra
Performance levels and damage (FEMA-356): story
drifts
Performance levels and damage (FEMA-356): plastic
hinge rotations
Story drift and plastic hinges
The development of performance-based seismic design
First generation Second generation (present)
FEMA-273 (1997) SEAOC (1995) FEMA-356 (2000)
Next generation
Authorities enforce current building codes
FEMA-445 (2006)
Flowchart for performance-based seismic design
Select
Performance
Objectives
Develop
Preliminary
Design
Assess
Performance
Capability
Revise
Design
Does
No Performance Yes
Meet Done
Objectives?
1. Select performance objectives
• Define seismic hazard levels Select
Performance
Objectives
Develop
Preliminary
Design
Assess
Performance
Capability
Revise
Design
Does
No Performance Yes
Meet Done
Objectives?
• Define performance levels (e.g., story drifts, member
forces, plastic hinges)
2. Develop preliminary design
Structural and seismic codes
Select
Performance
Objectives
Develop
Preliminary
Design
Assess
Performance
Capability
Revise
Design
Does
No Performance Yes
Meet Done
Objectives?
New knowledge will be adopted by seismic codes….…
(FEMA-350)
Preliminary design ensures…
1. Ductile global behavior (weak beam/strong column design
philosophy)
Preliminary design ensures…
1. Ductile global behavior (weak beam/strong column design
philosophy)
Preliminary design ensures…
2. Ductile local behavior (detailing of the fundamentals
elements of the structure)
Preliminary design ensures…
2. Ductile local behavior (detailing of the fundamentals
elements of the structure)
Preliminary design ensures…
3. A specific level of strength and stiffness
• Sufficient strength to resist specified forces
• Sufficient stiffness to limit permissible drifts under specified forces
3. Access performance capability
• We need procedures to estimate: peak story drifts, peak
plastic hinge rotations, peak member forces, peak floor
accelerations, …, e.t.c.
• Four procedures available (FEMA-350):
1. Linear static (an equivalent lateral force technique, similar, but not
identical to that contained in building codes)
2. Elastic, modal,response spectrum analysis
3. Nonlinear static procedure (known as “pushover analysis”)
4. Nonlinear dynamic analysis procedure
The nonlinear static analysis procedure is currently
adopted by commercial software packages
• Current knowledge… (FEMA-440)
Nonlinear static analysis procedure
Nonlinear static analysis procedure
Nonlinear static analysis procedure
The relation between peak inelastic and peak elastic
displacements….
Nonlinear static analysis procedure
The relation between peak inelastic and peak elastic
displacements….
Future performance-based seismic design
methodologies (FEMA-445)
Future performance-based seismic design
methodologies (FEMA-445)
Total expected repair cost for a given
scenario seismic event
Conclusions
Acceleration response
spectrum
Select
Code-based design Performance Limit values of damage
Objectives indices (story drifts, floor
accelerations, plastic
deformations, member
forces)
Use appropriate analysis Develop
(linear or nonlinear, static Preliminary
or dynamic) Design Compare response results
with limit values of damage
indices associated with the
Assess
performance level
Performance
Capability
Revise
Design
Does
No Performance Yes
Meet Done
Objectives?
CENV6134
Earthquake Engineering and
Seismic Design of Steel Buildings
SAP2000 TUTORIAL VOL. 2
1st and 2nd Vibration Modes
1st Vibration Mode 2nd Vibration Mode
T1= 0.80 sec T1= 0.28 sec
Modal participation mass ratio: 81% Modal participation mass ratio: 13%
3rd and 4th Vibration Modes
3rd Vibration Mode 4th Vibration Mode
T1= 0.15 sec T1= 0.10 sec
Modal participation mass ratio: 4% Modal participation mass ratio: 1%
Modal information from SAP2000
TABLE: Modal Participating Mass Ratios
OutputCase StepType StepNum Period UX UY UZ SumUX SumUY SumUZ
Text Text Unitless Sec Unitless Unitless Unitless Unitless Unitless Unitless
MODAL Mode 1 0.80 0.81 0.00 0.00 0.81 0.00 0.00
MODAL Mode 2 0.28 0.13 0.00 0.00 0.94 0.00 0.00
MODAL Mode 3 0.15 0.04 0.00 0.00 0.98 0.00 0.00
MODAL Mode 4 0.10 0.01 0.00 0.00 0.99 0.00 0.00
MODAL Mode 5 0.07 0.00 0.00 0.60 0.99 0.00 0.60
MODAL Mode 6 0.07 0.00 0.00 0.00 0.99 0.00 0.60
MODAL Mode 7 0.05 0.00 0.00 0.28 0.99 0.00 0.87
MODAL Mode 8 0.05 0.00 0.00 0.00 0.99 0.00 0.87
MODAL Mode 9 0.03 0.00 0.00 0.06 0.99 0.00 0.93
MODAL Mode 10 0.03 0.00 0.00 0.00 0.99 0.00 0.93
MODAL Mode 11 0.02 0.00 0.00 0.03 0.99 0.00 0.96
MODAL Mode 12 0.02 0.00 0.00 0.00 0.99 0.00 0.96
The two first vibration modes have the greatest contribution with a sum of the modal
participating mass factors equal to 94%.
Pushover Analysis
Uniform Pattern
(proportional to
mass lateral forces)
This analysis provides a capacity diagram, i.e. the base shear – roof displacement curve that
can be used to verify the seismic efficiency of the building
Frame
Pushover Analysis
Frame Hinge Assignment
We select the objects that we
want to assign hinges i.e.
columns, beams, braces and
then Assign -> Frame ->
Hinges.
Assignment of hinges to members
Assignment of beam hinges
• We assign two hinges
(one for each end of the beam)
• One at relative position x/L=0
• One at relative position x/L=1
Hinges in Beams
Auto Hinge Type
FEMA 356 hinges
(i) In FEMA 356, there is a distinction between beams and columns made of concrete or
steel.
The above choices are representative for a hinge assignment to beams
Hinges in columns
Assign hinges in columns
We choose to apply a P-M3 hinge, i.e. a bending moment rotation curve in M3 DOF sensitive to
axial load variability.
Pushover Analysis
Hinge with no strength drops
Hinge with strength drops
After Point C there is no drop in strength.
After Point C there is a drop in strength.
We choose the hinge to exhibit no strength drop in Assign -> Frame -> Hinge Overwrites.
Define Load Cases
Definition of a pushover analysis load case:
From Define -> Load cases -> Add New Load Case
You will need to predefine a nonlinear static load case which will be set as the
initial condition of the pushover analysis.
Pushover analysis properties
Properties
Analysis type: Nonlinear
• We select the Nonlinear
case which will be
considered as the initial
state of the pushover
analysis.
• Choose the loads to be
consider during the
pushover analysis. These
loads can be: a
predefined load pattern,
proportional to the mass
of the structure or to a
vibration mode e.g. the 1st
mode of the building.
Pushover analysis curve
1400
Pushover analysis curve
1200 Base shear on vertical axis and roof
displacement on horizontal axis.
1000
Base shear (kN)
At Point A the frame starts to yield
800 with the formation of the first plastic
hinge.
600
Point B is the last calculated
400 Pushover analysis curve equilibrium position of the frame
Point A
200
Point B
0
0 0.5 1 1.5 2
Roof displacement (m)
Plastic hinges at frame
Point A Point B
Base shear (kN)
Pushover analysis curve
Point A
Point B
Roof displacement (m)
Nonlinear time history analysis
Uniform Pattern
(proportional to
mass lateral forces)
EN1998 gives the possibility to use this method of analysis for seismic assessment
Define Time History Function
From Define -> Functions -> Time
History…, we define the time history to
use in the Time History Load Case.
Define Time History Function
We choose to add a function From File.
Define Time History Function
1. We browse to find the txt file that
has the ground acceleration values.
2. The time step of the accelerogram is
0.02sec. We add this value in the
appropriate box.
The accelerogram is shown in the
Function Graph.
Define Load Case
From Define -> Load Cases we define the
load case for the nonlinear dynamic analysis.
Load Case Data
Analysis Type: Nonlinear
Solution Type: Direct Integration
Geometric Nonlinearity Parameters:
You can include P-Delta phenomenon or
Large displacement.
A c c e l e r o g r a m : We c h o o s e t h e
accelerogram, the corresponding DOF
and a scale factor in order to be
consistent with the current units we are
using (here m/sec2).
Load Case Data
Time step data: We choose the number
of output time steps (2250 steps) and
the output time step size (0.02sec).
(2250 steps x 0.02 sec = 45sec)
So we will have results up to 45 sec.
Damping
You can choose to take into account a Rayleigh damping in the analysis.
Here we take into account a 0.03 damping ratio for the frequencies 1Hz and 10Hz. We use the
recalculate button and the mass/stiffness proportional coefficients are automatically estimated.
Time integration Parameters
We can choose from a number of time
integration schemes i.e. Newmark,
Wilson, Collocation mehtods.
We keep the default method, the ‘Hilber –
Hughes – Taylor’.
Time history results
1000
Base Shear
800
600
400 Roof displacement
Base shear (kN)
200
0
0 10 20 30 40 50
-200
-400 0.2
4th Floor
-600
0.15
-800
0.1
-1000
Time (Sec) Displacement (m)
0.05
0
You can get base shear or storey 0 5 10 15 20 25 30 35 40 45
-0.05
displacement time histories which
are useful in strength and drift -0.1
verifications. -0.15
-0.2
Time (Sec)
CENV6134
Earthquake Engineering and
Seismic Design of Steel
Buildings
LECTURE 18: Concentrically Braced Frames (CBFs)
Concentrically Braced Frames (CBFs)
• Beams, columns and braces arranged to form a
vertical truss. Horizontal earthquake forces are
mainly resisted by members subjected to axial
forces.
• Develop ductility through inelastic action in braces.
braces yield in tension
braces buckle in compression
Types of CBFs
Single Diagonal Inverted V- Bracing V- Bracing
X- Bracing Two Story X- Bracing
Real Examples of CBFs
Real Examples of CBFs
Behaviour under seismic actions
Behaviour under seismic actions
Tension Brace: Yields Compression Brace:
(ductile) Buckles
(nonductile)
Columns and beams: remain essentially elastic
Behaviour under seismic actions
Compression Brace Tension Brace (previously
(previously in tension): in compression): Yields
Buckles (ductile)
(nonductile)
Columns and beams: remain essentially elastic
Behaviour under seismic actions
Behaviour under seismic actions
Design Rules of EC8
• Dissipative zones should be mainly located in the
tensile diagonals.
• The bracings may belong to one of the following
categories:
active tension diagonal bracings-forces can be
resisted by the tension diagonals only
V bracings-horizontal forces can be resisted by
taking into account both tension and compression
diagonals
Design Rules of EC8
• Behaviour factors.
Design Rules of EC8
Design and detailing rules
• Design criteria:
Yielding of the diagonals in tension take place
before failure of the connections and before
yielding or buckling of the beams or columns.
The diagonal elements of bracings shall be placed
in such a way that the structure exhibits similar
load deflection characteristics at each storey in
opposite senses of the same braced direction
under load reversals
Design Rules of EC8
Design and detailing rules
• Design criteria:
A A
0.05
A A
A+ and A- are the areas of the
horizontal projections of the cross-
sections of the tension diagonals,
when the horizontal seismic
actions have a positive or negative
direction respectively
Design Rules of EC8
Design and detailing rules
• Diagonal members:
In frames with X diagonal bracings, the non-
dimensional slenderness should be limited
to: 1.3 2.0 .
In frames with diagonal bracings in which the
diagonals are not positioned as X diagonal
bracings, should be less than or equal to 2.0.
Design Rules of EC8
Design and detailing rules
• Diagonal members:
The yield resistance N pl , Rd of the gross cross-
section of the diagonals should be such that
N pl , Rd N Ed .
In order to satisfy a homogeneous dissipative
behaviour of the diagonals, it should be checked
that the maximum overstrength Ωi does not differ
from the minimum value Ω by more than 25%.
Design Rules of EC8
Design and detailing rules
• Beams and columns:
Beams and columns with axial forces should
meet the following minimum resistance
requirement:
N pl , Rd ( M Ed ) N Ed ,G 1.1 ov N Ed , E
Nonlinear Brace Behavior Under Cyclic
Axial Loading
P
Tension
Shortening Elongation
Compression
P
Nonlinear Brace Behavior Under Cyclic
Axial Loading
P
1. Brace loaded in compression to peak compression
capacity (buckling).
PCR
1
Nonlinear Brace Behavior Under Cyclic
Axial Loading
P
1. Brace loaded in compression to peak
compression capacity (buckling).
2. Continue loading in compression.
Compressive resistance drops rapidly.
Flexural plastic hinge forms at mid-
length (due to P-Δ moment in member).
2
plastic
PCR hinge
Δ P
1
Nonlinear Brace Behavior Under Cyclic
Axial Loading
P
1. Brace loaded in compression to peak
compression capacity (buckling).
2. Continue loading in compression.
Compressive resistance drops rapidly.
Flexural plastic hinge forms at mid-
3 length (due to P-Δ moment in member).
3. Remove load from member (P=0).
Member has permanent out-of-plane
2
deformation.
PCR
1
Nonlinear Brace Behavior Under Cyclic
Axial Loading
P
4
Py 4. Brace loaded in tension to yield.
3
P
2
PCR
1
Nonlinear Brace Behavior Under Cyclic
P Axial Loading
Py
4. Brace loaded in tension to yield.
5. Remove load from member (P=0).
Member still has permanent out-of-
plane deformation.
5
PCR
Nonlinear Brace Behavior Under Cyclic
Axial Loading
P 4. Brace loaded in tension to yield.
4
Py 5. Remove load from member (P=0).
Member still has permanent out-of-
plane deformation.
6. Brace loaded in compression to peak
compression capacity (buckling).
3 Peak compression capacity reduced
5 from previous cycle.
2 6
PCR P
1
Nonlinear Brace Behavior Under Cyclic
P Axial Loading
Py 4. Brace loaded in tension to yield.
5. Remove load from member (P=0).
Member still has permanent out-of-
plane deformation.
3 6. Brace loaded in compression to peak
5 compression capacity (buckling).
Peak compression capacity reduced
7 from previous cycle.
6
PCR 7. Continue loading in compression.
1 Flexural plastic hinge forms at mid-
length (due to P-Δ moment in
member).
P
Nonlinear Models
1. Maison and Popov (1980)
2. Ikeda and Mahin (1984)
3. Ballio and Perotti (1987)
4. Remennikov and Walpole (1997)
CENV6134
Earthquake Engineering and
Seismic Design of Steel
Buildings
LECTURE 19: Eccentrically Braced Frames (EBFs)
Eccentrically Braced Frames (EBFs)
• The horizontal forces are mainly resisted by axially loaded
members, but where the eccentricity of the layout is such
that energy can be dissipated in seismic links by means
of either cyclic bending or cyclic shear.
• EBFs can supply high levels of ductility (similar to MRFs),
but can also provide high levels of elastic stiffness
(similar to CBFs).
Eccentrically Braced Frames (EBFs)
e Link e Link
e Link e Link
Arrangements of EBFs
e e e e
e
e
Real Examples of EBFs
Real Examples of EBFs
Behaviour under seismic actions
Behaviour under seismic actions
Behaviour under seismic actions
Behaviour under seismic actions
Design Rules of EC8
Behaviour factors
Design Rules of EC8
Design criteria
Frames with eccentric bracings shall be designed so that
specific elements or parts of elements called seismic links
are able to dissipate energy by the formation of plastic
bending and/or plastic shear mechanisms.
The structural system shall be designed so that a
homogeneous dissipative behaviour of the whole set of
seismic links is realised.
Design Rules of EC8
Seismic links
Seismic links are classified into 3 categories according to the
type of plastic mechanism developed:
short links-dissipate energy by yielding essentially in
shear.
long links-dissipate energy by yielding essentially in
bending.
intermediate links-the plastic mechanism involves
bending and shear.
Design Rules of EC8
Seismic links
For I sections, the following parameters are used to define
the design resistances and limits of categories:
M pl ,link f ybtf (d tf )
Vpl ,link ( f y / 3)tw (d tf )
Design Rules of EC8
Seismic links
If N Ed / N pl , Rd 0.15
VEd Vp ,link
M Ed M p ,link
N Ed ,VEd ,M Ed are the design action effects (axial force, shear
force, bending moment) at both ends of the link.
Design Rules of EC8
Seismic links
If N Ed / N pl , Rd 0.15
VEd Vp ,link ,r
M Ed M p ,link ,r
Vp ,link ,r Vp ,link [1 ( N Ed / N pl , Rd )2 ]0.5
M p ,link ,r M p ,link ,r [1 ( N Ed / N pl , Rd )]0.5
Design Rules of EC8
If N Ed / N pl , Rd 0.15
e 1.6M p ,link / Vp ,link when R 0.3
or
e (1.15 0.5R)1.6M p ,link / Vp ,link when R 0.3
where R N Ed tw (d 2tf ) /(VEd A)
A is the gross area of the link.
Design Rules of EC8
Seismic links classification
In designs where equal moments would form simultaneously at
both ends of the link (I sections):
short links e es 1.6M p ,link / Vp ,link
long links e eL 3.0M p ,link / Vp ,link
intermediate links es e eL
Design Rules of EC8
Seismic links classification:
In designs where only one plastic hinge would form at one end of
the link (I sections):
short links e es 0.8(1 ) M p ,link / Vp ,link
long links e eL 1.5M p ,link / Vp ,link
intermediate links es e eL
α is the ratio of the smaller bending moments MEd,A at one end of the link in the seismic
design situation, to the greater bending moments MEd,B at the end where the plastic
hinge would form, both moments being taken as absolute values.
Design Rules of EC8
The link rotation θp angle should not exceed the following values:
short links p pR 0.08 radians
long links p pR 0.02 radians
intermediate links p pR the value determined by
linear interpolation between the above values.
Design Rules of EC8
Different rules for designing link stiffeners
Link Length = e
Full depth stiffeners on
both sides
Design Rules of EC8
Different rules for designing link stiffeners
Link Length = e
s s s s s
Design Rules of EC8
Different rules for designing link stiffeners
Link Length = e
1.5 bf 1.5 bf
Design Rules of EC8
Different rules for designing link stiffeners
Link Length = e
1.5 bf 1.5 bf
s s s s
Design Rules of EC8
Members not containing seismic links:
N Rd ( M Ed ,VEd ) N Ed ,G 1,1 ov N Ed ,
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