Idealized Single Degree of Freedom Structure

F ( t ), u( t ) F(t)
Mass

Damping t
Stiffness

u(t)

t
 Equation of Dynamic Equilibrium
f I (t ) F (t )

f D (t )
0.5 f S ( t ) 0.5 f S ( t )

F (t )  f I (t )  f D (t )  f S (t )  0
f I (t )  f D (t )  f S (t )  F (t )
 Observed Response of Linear SDOF
(Development of Equilibrium Equation)
Spring Force, kips Damping Force, Kips Inertial Force, kips
30.00 4.00 50.00

15.00 2.00 25.00

0.00 0.00 0.00

-15.00 -2.00 -25.00

-30.00 -4.00 -50.00

-0.60 -0.30 0.00 0.30 0.60 -20.00 -10.00 0.00 10.00 20.00 -500 -250 0 250 500
Velocity, In/sec 2
Displacement, inches Acceleration, in/sec

SLOPE = k SLOPE = c SLOPE = m

= 50 kip/in = 0.254 kip-sec/in = 0.130 kip-sec2/in

f S ( t )  k u( t ) f D ( t )  c u ( t ) f I (t )  m u
( t )
 Equation of Dynamic Equilibrium
f I (t ) F (t )

f D (t )
0.5 f S ( t ) 0.5 f S ( t )

f I (t )  f D (t )  f S (t )  F (t )

( t )  c u ( t )  k u( t )  F ( t )
mu
Properties of Structural DAMPING (2)

DAMPING FORCE
AREA =
DAMPING ENERGY
DISSIPATED

DISPLACEMENT

Damping vs Displacement response is

Elliptical for Linear Viscous Damper
 CONCEPT of ENERGY ABSORBED and DISSIPATED

F ENERGY F ENERGY
ABSORBED DISSIPATED

u u
LOADING YIELDING

ENERGY + ENERGY
F RECOVERED F DISSIPATED

u u
UNLOADING UNLOADED
 Development of Effective Earthquake Force
ut
ug ur
Ground Motion Time History u
g ( t )
0.40

0.20

GROUNDACC, g
0.00

-0.20

-0.40
0.00 1.00 2.00 3.00 4.00 5.00 6.00
TIME, SECONDS

g ( t )  u
m [u r ( t )]  c u r ( t )  k ur ( t )  0
mu r ( t )  c u r ( t )  k ur ( t )   mu g ( t )
 RELATIVE TOTAL
ur uTotal  ug  ur
M M

FI ,r  ur  M FI ,Total  uTotal  M

Somewhat Meaningless Total Base Shear
 Undamped Free Vibration

Equation of Motion: mu( t )  k u( t )  0

Initial Conditions: u0 u 0
Assume: u( t )  A sin(t )  B cos(t )
u 0 k
Solution: A   B  u0 
 m

u 0
u( t )  u0 cos(t )  sin(t )

 Undamped Free Vibration (2)
u 0 T = 0.5 seconds
1.0
Displacement, inches

3
2
1
0
u0
-1
-2
-3
0.0 0.5 1.0 1.5 2.0
Time, seconds

Circular Frequency Cyclic Frequency Period of Vibration

(radians/sec) (cycles/sec, Hertz) (seconds/cycle)

k  1 2
 f  T 
m 2 f 
Periods of Vibration of Common Structures

20 story moment resisting frame T=2.2 sec.

10 story moment resisting frame T=1.4 sec.
1 story moment resisting frame T=0.2 sec

20 story braced frame T=1.6 sec

10 story braced frame T=0.9 sec
1 story braced frame T=0.1 sec
 Damped Free Vibration

Equation of Motion: ( t )  c u ( t )  k u( t )  0

mu
Initial Conditions: u0 u 0
Assume: u( t )  e st

Solution:

t  u 0  u0 
u( t )  e u0 cos( D t )  sin( D t )
 D 
c c
  D   1  2
2 m cc
Displacement, inches Damped Free Vibration (3)

3
2
1 0% Damping
0 10% Damping
-1 20% Damping
-2
-3
0.0 0.5 1.0 1.5 2.0
Time, seconds

D   1   2
 Undamped Harmonic Loading

Equation of Motion: ( t )  k u( t )  p0 sin( t )

mu
 = Frequency of the forcing function
2
 T = 0.25 Seconds
T
po=100 kips
150
100
Force, Kips

50
0
-50
-100
-150
0.00 0.25 0.50 0.75 1.00 1.25 1.50 1.75 2.00
Time, Seconds
 Undamped Harmonic Loading

Equation of Motion: ( t )  k u( t )  p0 sin( t )

mu

Assume system is initially at rest

Particular Solution:u( t )  C sin( t )
Complimentary Solution: u( t )  A sin(t )  B cos(t )

Solution:

p0 1   
u( t )   sin( t )  sin(t )
k 1  ( /  ) 2
  
 Undamped Harmonic Loading

 LOADING FREQUENCY
Define 
 Structure’s NATURAL FREQUENCY

Transient Response
Dynamic Magnifier (at STRUCTURE Frequency)

p0 1
2 
u( t )  sin( t )   sin(t )
k 1 
Steady State
Static Displacement
Response
(At LOADING Frequency)
 Undamped Resonant Response Curve
80

40
2 uS
Displacement, in.

-40

Linear Envelope

-80
0.00 0.25 0.50 0.75 1.00 1.25 1.50 1.75 2.00
Time, seconds
 Response Ratio: Steady State to Static
(Signs Retained)
12.00

8.00 In Phase
Magnification Factor 1/(1- 2)

4.00 Resonance
0.00

-4.00
180 Degrees Out of Phase
-8.00

-12.00
0.00 0.50 1.00 1.50 2.00 2.50 3.00
Frequency Ratio 
 Response Ratio: Steady State to Static
(Absolute Values)
12.00

Resonance
10.00
Magnification Factor 1/(1- 2)

8.00

6.00

4.00
Slowly
Loaded
2.00 Rapidly
1.00 Loaded
0.00
0.00 0.50 1.00 1.50 2.00 2.50 3.00
Frequency Ratio 
 Damped Harmonic Loading
Equation of Motion: (t )  cu ( t )  k u(t )  p0 sin( t )
mu

2
T   0.25 Seconds

po=100 kips
150
100
Force, Kips

50
0
-50
-100
-150
0.00 0.25 0.50 0.75 1.00 1.25 1.50 1.75 2.00
Time, Seconds
 Damped Harmonic Loading
Equation of Motion: (t )  cu (t )  k u( t )  p0 sin( t )
mu
c
 D   1 2
2m
Assume system is initially at rest
Particular Solution: u( t )  C sin( t )  D cos( t )
Complimentary Solution:
u( t )  e  t
 A sin( D t )  B cos( D t )
Solution:
u( t )  e  t  A sin( D t )  B cos( D t ) 
 C sin( t )  D cos( t )
 Damped Harmonic Loading

Transient Response, Eventually Damps Out

Solution: u ( t )  e  t
 A sin( D t )  B cos( D t )
 C sin( t )  D cos( t )
Steady State Response

po 1  2
C
k (1   2 ) 2  ( 2 ) 2
po  2
D
k (1   2 ) 2  (2 ) 2
Damped Harmonic Loading (5% Damping)
BETA=1 (Resonance)
Beta=0.5
Beta=2.0
50
40
Displacement Amplitude, Inches

30
20
10
0
-10
-20
-30
-40
-50
0.00 1.00 2.00 3.00 4.00 5.00
Time, Seconds
 14.00
Resonance
12.00 0.0% Damping
5.0 % Damping
10.0% Damping
Dynamic Response Amplifier

10.00 25.0 % Damping

8.00
1
RD 
6.00 (1   2 ) 2  (2 ) 2
4.00
Slowly
Loaded
2.00 Rapidly
Loaded
0.00
0.00 0.50 1.00 1.50 2.00 2.50 3.00
Frequency Ratio,
 Alternative Form of the
Equation of Motion
Equation of Motion: (t )  cu (t )  k u(t )  p0 sin( t )
mu
c k p
Divide by m: u(t )  u (t )  u (t )  sin( t )
0

m m m
c c k
but   or  2 and  2

2m m m
p
Therefore: (t )  2u (t )   u (t ) 
u 2
sin( t )
0

m
 General Dynamic Loading

For SDOF systems subject to general dynamic loads,

response may be obtained by:

•Duhamel’s Integral
•Time-stepping methods
 Development of an Elastic Displacement
Response Spectrum, 5% Damping
0.40
El Centro Earthquake Record

0.20
GROUND ACC, g

0.00

-0.20
Maximum Displacement Response Spectrum
16
-0.40

DISPLACEMENT, inches
14
0.00 1.00 2.00 3.00 4.00 5.00 6.00
TIME, SECONDS 12

10

8
T=0.6 Seconds
4.00 6
DISPLACEMENT, in.

2.00 4
0.00
2
-2.00
0
-4.00
0 2 4 6 8 10
0.00 1.00 2.00 3.00 4.00 5.00 6.00
PERIOD, Seconds

8.00
T=2.0 Seconds
DISPLACEMENT, In.

4.00

0.00

-4.00

-8.00
0.00 1.00 2.00 3.00 4.00 5.00 6.00
 Development of an Elastic Response Spectrum
40

PSEUDOVELOCITY, in/sec
30
16
DISPLACEMENT, inches

20
12
10

8
0
0 2 4 6 8 10
4 PERIOD, Seconds

0 1.00

PSEUDOACCELERATION, g
0 2 4 6 8 10
0.80
PERIOD, Seconds
0.60

PSV (T )  D 0.40

0.20

PSA(T )   D 2 0.00
0 2 4 6 8 10
PERIOD, Seconds
 NEHRP Recommended Provisions
Use a Smoothed Design Acceleration Spectrum
“Short
Period” SDS
SDS Acceleration 1 Sa = 0.6 T + 0.4 SDS
T0
Spectral Response

2
Acceleration, Sa

“Long Period”
2 Sa = SDS
Acceleration
SD1 1 3 SD1
3 Sa =
T
0.2 SD1
T0 =
T0 TS
SDS
T = 1.0
Period, T
Average Acceleration Spectra for Different Site Conditions