Abstract
The problem of non-classical dynamic analysis of structures resting on flexible bases is studied in this paper. Because of presence of the underlying soil in the dynamic model of structure that acts like an energy sink, the damping matrix is not proportional to structural mass and stiffness and theoretically a non-classical approach should be followed in modal analysis. Considering one to twenty-story buildings, two types of soils, and several suits of ground motions each containing ten earthquake records specifically selected for each building, the seismic responses are calculated using a time history modal analysis in this paper. Three cases are considered: fixed-base buildings with classical analysis, flexible-base buildings with classical and non-classical analysis. It is shown that the code-based soil-structure interaction (SSI) analysis for the fundamental mode is not always safe. Also, on each soil type, instances of importance of accounting for the non-classical nature of the SSI system are clarified. Cases for which the base flexibility should be considered for the higher modes too are distinguished. Finally, simple correction factors are derived for converting the fixed-base responses of moment frames, resting on surface foundations on medium and soft soils, to the responses including soil-structure interaction effects.
Similar content being viewed by others
References
American Institute of Steel Construction (2005) Specification for structural steel buildings. AISC-ASD, Chicago
American Society of Civil Engineers (2010) Minimum design loads for buildings and other structures, ASCE standard ASCE/SEI 7-10 including Supplement no. 1, American Society of Civil Engineers, Reston, Virginia
American Society of Civil Engineers (2013) Seismic rehabilitation of existing buildings, ASCE/SEI 41-13. ASCE Publications, Reston
Ashour SA (1987) Elastic seismic response of buildings with supplemental damping. Ph.D. Dissertation, Department of Civil Engineering, University of Michigan
Bommer JJ, Mendis R (2005) Scaling of spectral displacement ordinates with damping ratios. J Earthq Eng Struct Dyn 34:145–165
Computers and Structures, Inc. (2014) SAP2000, an integrated analysis and design software, version 17
Eurocode No. 8 (2003) Design of structures for earthquake resistance, part 1: general rules, seismic actions and rules for buildings. CEN, Brussels
Foss KA (1958) Coordinates which uncouple the equations of motion of damped linear dynamic system. J Appl Mech ASME 25:361–364
Gazetas G (1991) Formulas and charts for impedances of surface and embedded foundations. J Geotech Eng 117:1363–1381
Internet Site. http://peer.berkeley.edu/peer_ground_motion_database. Accessed May 2013
Lin YY, Chang KC (2003) A Study on damping reduction factor for buildings under earthquake ground motions. J Struct Eng 129(2):206–214
Newmark NM, Hall WJ (1982) Earthquake spectra and design. Engineering monographs on earthquake criteria, structural design, and strong motion records, earthquake engineering research institute, Berkeley, California
Pekcan G, Mander JB, Chen SS (1999) Fundamental considerations for the design of non-linear viscous dampers. J Earthq Eng Struct Dyn 28:1405–1425
Ramirez OM, Constantinou MC, Whittaker AS, Kircher CA, Chrysostomou CZ (2002) Elastic and inelastic seismic response of buildings with damping systems. Earthq Spectra 18(3):531–547
Sadek F, Mohraz B, Riley MA (2000) Linear procedures for structures with velocity dependent dampers. J Struct Eng 126:887–895
Sinha R, Igusa T (1995) CQC and SRSS methods for non-classically damped structures. J Earthq Eng Struct Dyn 24:615–619
Song J, Chu Y, Liang Z, Lee GC (2008) Response-spectrum-based analysis for generally damped linear structures. In: The 14 world conference on earthquake engineering, China, Beijing
Veletsos AS, Ventura CE (1986) Modal analysis of non-classical damped linear system. Earthquake Eng Struct Dynam 14:217–243
Wu JP, Hanson RD (1989) Study of inelastic spectra with high damping. J Struct Eng 115:1412–1431
Zhou XY, Yu RF (2008) Mode superposition method of non stationary seismic responses for non classically damped linear systems. J Earthquake Eng 12:473–516
Ziaeifar M, Tavousi S (2005) Mass participation in non-classical mass isolated systems. Asian J Civ Eng (Build Hous) 6:273–301
Author information
Authors and Affiliations
Corresponding author
Appendices
Appendix 1: Equations of motion
The equations of motion of the system of Fig. 1 can be written as follows:
in which:
and:
and:
In the above equations, \(m_{i} \;{\text{and}}\; m_{b}\; \left( {i = 1, 2, \ldots ,n; n = {\text{number of stories}}} \right)\) are mass of the ith floor and the foundation, respectively, \(h_{i}\) is the height of the ith floor from the base, \(I_{i}\) and \(I_{b}\) are respectively the mass moments of inertia of the ith story and the foundation, \(c_{i}\) and \(k_{i}\) are the damping coefficient and the lateral relative stiffness of the ith story, respectively, \(c_{jj}\) and \(k_{jj}\) with \(j = u\) or \(\psi\) are respectively the damping and stiffness impedances of the supporting medium in translational and rotational directions, \(u_{i}\), \(u_{b}\) and \(u_{g}\) are the horizontal displacements of the ith story, the foundation, and ground with respect to a fixed reference, respectively, \(\psi\) is the rotational component of motion of foundation, and a dot represents derivation with respect to time.
Appendix 2: The free vibration response characteristics
The homogeneous solution of Eq. (24) can be written as:
in which r and \(\left\{ \psi \right\}\) are the characteristic value and vector, respectively, and \(\{ U\}\) is defined in Eq. (2). Substitution of (28) in (24) with p(t) = 0 gives:
Foss (1958) showed that the characteristic Eq. (29) can be reduced to:
in which:
The dimension of Eq. (30) is 2 N where N = n + 2 with the additional two DOF’s of the foundation included. Its solution results in N complex conjugates for r and \(\uppsi\). If \(r_{j}\) and \(\bar{r}_{j}\) are a pair of characteristic values and \(\{\uppsi\}\) and \(\{ {\bar{\psi }}\}\) a pair of characteristic vectors where the over bar denotes complex conjugate, then the following relations are introduced:
in which \(i = \sqrt { - 1}\), \(q_{j}\) and \(\tilde{p}_{j}\) are real constants, and, \(\{ \phi_{\text{j}} \}\) and \(\{ \chi_{j} \}\) are N-component real vectors. Then the new parameters \(p_{j}\) and \(\xi_{j}\) are defined as follows:
Then:
Substituting Eq. (32) in (28) results in:
The displacement response in Eq. (35) consists of two parts: the damped amplitude and the oscillation function, which are as follows:
Equation (36) shows that \(\xi_{j}\) is the damping ratio of the jth mode while \(p_{\text{j}}\) and \({\tilde{\text{p}}}_{j}\) show the undamped and damped frequencies of the jth mode, respectively, all being positive values.
The total response in the jth mode (j = 1, 2, …, N) can be calculated combining contributions from both complex conjugates as:
in which \(C_{j}\) is a complex constant. Equation (38) can be simplified as:
in which Re denotes real value. Summing the combinations of all modes, the total response at each degree of freedom can be written as:
Using modal orthogonality conditions, it can be shown that (Veletsos and Ventura 1986):
in which \(\left\{ {U(0)} \right\}\) and \(\left\{ {\dot{U}\left( 0 \right)} \right\}\) are the vectors of initial displacement and initial velocity of the system.
Appendix 3: The displacement response to base acceleration
Response of the system of Fig. (1) to a base acceleration that is equivalent to a constant initial velocity at all horizontal degrees of freedom, can be calculated from Eqs. (40) and (41) with the following initial values:
in which \(\nu_{0}\) is the value of the initial velocity. Substituting Eq. (42) in (41) results in:
in which \(B_{j} = C_{j} /\nu_{0}\). Now, Eq. (43) is substituted in (40) to result in:
To write the response in the real form, the amplitude in (44) is decomposed as follows:
in which \(\left\{ {\beta_{j}^{\nu } } \right\}\) and \(\left\{ {\gamma_{j}^{\nu } } \right\}\) are real and imaginary parts of the term on the left. Substituting (45) in (44) gives:
The unit impulse response function for the system is introduced as:
The derivative of Eq. (47) is:
Replacing (47) and (48) in (46) results in:
in which:
For calculating the response at \(t_{0} = \tau\) to a base acceleration \({\ddot{u}}_{g} (t)\), the velocity \(\nu (\tau )\) is computed as:
If Eq. (51) is substituted in (49) and integrated to the arbitrary time \(t\), the dynamic response will be resulted as Eq. (4).
Appendix 4: The base shear
To calculate the base shear due to ground motion, first the vector of lateral story forces is computed using (24) as:
\(\left\{ {\dot{U}} \right\}\) and \(\left\{ U \right\}\) are determined from (44) and replaced in (52) to give:
Using the homogenous form of (24) with (28) in (53), \(f\left( {\,t\,} \right)\) is written as:
Using Eqs. (45), (47), and (48) in (54) and integrating, give the vector of lateral forces as follows:
in which:
Equation (55) can also be written as:
where:
Then the base shear is computed as the summation of lateral story forces resulting in Eq. (6).
Appendix 5: Characteristics of the selected records
The earthquake records selected with the criteria of this study are described in the following table.
Order | NGA no. | EQ. name | Date | Station | Soil type | Distance (km) | Max Acc. (g) |
---|---|---|---|---|---|---|---|
1 | 169 | Imperial Valley-06 | 10/15/79 | DELTA | D | 22.0 | 0.28 |
2 | 178 | Imperial Valley-06 | 10/15/79 | El Centro Array #3 | E | 12.85 | 0.26 |
3 | 726 | Superstition Hills-02 | 11/24/87 | Salton Sea Wildlife Refuge | E | 25.88 | 0.13 |
4 | 732 | Loma Prieta | 10/18/89 | APEEL 2—Redwood City | E | 43.23 | 0.08 |
5 | 777 | Loma Prieta | 10/15/79 | HOLLISTER CITY HALL | D | 27.6 | 0.23 |
6 | 778 | Loma Prieta | 10/18/89 | Hollister Differential Array | D | 24.8 | 0.26 |
7 | 786 | Loma Prieta | 10/18/89 | Palo Alto—1900 Embarc | D | 30.81 | 0.21 |
8 | 806 | Loma Prieta | 10/18/89 | Sunnyvale Colton Ave | D | 24.23 | 0.21 |
9 | 953 | Northridge-01 | 01/17/94 | Beverly Hills—14145 Mulhol | D | 17.15 | 0.55 |
10 | 987 | Northridge-01 | 1/17/94 | LA—Centinela St | D | 28.3 | 0.25 |
11 | 995 | Northridge-01 | 01/17/94 | LA—Hollywood Stor FF | D | 24.03 | 0.37 |
12 | 996 | Northridge-01 | 01/17/94 | LA—FARING RD | D | 20.81 | 0.34 |
13 | 1001 | Northridge-01 | 01/17/94 | LA—S Grand Ave | D | 33.99 | 0.27 |
14 | 1003 | Northridge-01 | 01/17/94 | LA—Saturn St | D | 27.01 | 0.45 |
15 | 1038 | Northridge-01 | 1/17/94 | Montebello Bluff | E | 45.03 | 0.15 |
16 | 1044 | Northridge-01 | 01/17/94 | Newhall—Fire Sta | D | 5.92 | 0.70 |
17 | 1063 | Northridge-01 | 1/17/94 | Rinaldi Receiving Sta | D | 6.5 | 0.63 |
18 | 1085 | Northridge-01 | 01/17/94 | SYLMAR-CONVERTER STA-EAST | D | 5.19 | 0.65 |
19 | 1087 | Northridge-01 | 01/17/94 | Tarzana—Cedar Hill A | D | 15.6 | 0.99 |
20 | 1107 | Kobe, Japan | 01/16/95 | Kakogawa | D | 22.5 | 0.35 |
21 | 1111 | Kobe, Japan | 01/16/95 | Nishi—Akashi | E | 7.08 | 0.49 |
22 | 1113 | Kobe, Japan | 01/16/95 | Osaj | E | 21.35 | 0.08 |
23 | 1116 | Kobe, Japan | 01/16/95 | Shin—Osaka | E | 19.15 | 0.23 |
24 | 1119 | Kobe, Japan | 01/16/95 | Takarazu | E | 0.27 | 0.71 |
25 | 1120 | Kobe, Japan | 01/16/95 | Takatori | E | 1.47 | 0.65 |
26 | 1180 | Chi–Chi, Taiwan | 09/20/99 | CHY002 | E | 24.96 | 0.13 |
27 | 1183 | Chi–Chi, Taiwan | 09/20/99 | CHY008 | E | 40.43 | 0.12 |
28 | 1186 | Chi–Chi, Taiwan | 09/20/99 | CHY014 | D | 34.18 | 0.24 |
29 | 1187 | Chi–Chi, Taiwan | 09/20/99 | CHY015 | D | 38.13 | 0.16 |
30 | 1194 | Chi–Chi, Taiwan | 09/20/99 | CHY025 | E | 19.07 | 0.15 |
31 | 1196 | Chi–Chi, Taiwan | 09/20/99 | CHY027 | E | 41.99 | 0.06 |
32 | 1197 | Chi–Chi, Taiwan | 09/20/99 | CHY028 | D | 3.12 | 0.79 |
33 | 1199 | Chi–Chi, Taiwan | 09/20/99 | CHY032 | E | 35.43 | 0.09 |
34 | 1201 | Chi–Chi, Taiwan | 09/20/99 | CHY034 | D | 14.82 | 0.30 |
35 | 1203 | Chi–Chi, Taiwan | 09/20/99 | CHY036 | D | 16.04 | 0.26 |
36 | 1204 | Chi–Chi, Taiwan | 09/20/99 | CHY039 | E | 31.87 | 0.11 |
37 | 1205 | Chi–Chi, Taiwan | 09/20/99 | CHY041 | E | 19.83 | 0.46 |
38 | 1228 | Chi–Chi, Taiwan | 09/20/99 | CHY076 | E | 42.15 | 0.08 |
39 | 1233 | Chi–Chi, Taiwan | 09/20/99 | CHY082 | E | 36.09 | 0.07 |
40 | 1236 | Chi–Chi, Taiwan | 09/20/99 | CHY088 | D | 37.48 | 0.18 |
41 | 1238 | Chi–Chi, Taiwan | 09/20/99 | CHY092 | E | 22.69 | 0.10 |
42 | 1240 | Chi–Chi, Taiwan | 09/20/99 | CHY094 | E | 37.1 | 0.06 |
43 | 1246 | Chi–Chi, Taiwan | 09/20/99 | CHY104 | E | 18.02 | 0.18 |
44 | 1478 | Chi–Chi, Taiwan | 09/20/99 | TCU033 | D | 40.88 | 0.18 |
45 | 1483 | Chi–Chi, Taiwan | 09/20/99 | TCU040 | E | 22.06 | 0.13 |
46 | 1484 | Chi–Chi, Taiwan | 09/20/99 | TCU042 | D | 26.31 | 0.21 |
47 | 1492 | Chi–Chi, Taiwan | 09/20/99 | TCU052 | D | 0.66 | 0.35 |
48 | 1496 | Chi–Chi, Taiwan | 09/20/99 | TCU056 | E | 10.48 | 0.14 |
49 | 1503 | Chi–Chi, Taiwan | 09/20/99 | TCU065 | D | 0.57 | 0.66 |
50 | 1504 | Chi–Chi, Taiwan | 09/20/99 | TCU067 | D | 0.62 | 0.41 |
51 | 1507 | Chi–Chi, Taiwan | 09/20/99 | TCU071 | D | 5.8 | 0.62 |
52 | 1508 | Chi–Chi, Taiwan | 09/20/99 | TCU072 | D | 7.08 | 0.40 |
53 | 1509 | Chi–Chi, Taiwan | 09/20/99 | TCU074 | D | 13.46 | 0.45 |
54 | 1529 | Chi–Chi, Taiwan | 09/20/99 | TCU102 | D | 1.49 | 0.24 |
55 | 1536 | Chi–Chi, Taiwan | 09/20/99 | TCU110 | E | 11.58 | 0.18 |
56 | 1537 | Chi–Chi, Taiwan | 09/20/99 | TCU111 | E | 22.12 | 0.11 |
57 | 1538 | Chi–Chi, Taiwan | 09/20/99 | TCU112 | E | 27.48 | 0.08 |
58 | 1541 | Chi–Chi, Taiwan | 09/20/99 | TCU116 | E | 12.38 | 0.17 |
59 | 1542 | Chi–Chi, Taiwan | 09/20/99 | TCU117 | E | 25.42 | 0.13 |
60 | 1553 | Chi–Chi, Taiwan | 09/20/99 | TCU141 | E | 24.19 | 0.09 |
61 | 1602 | DUZCE, Turkey | 11/12/99 | BOLU | D | 12.04 | 0.77 |
62 | 1605 | DUZCE, Turkey | 11/12/99 | DUZCE | D | 6.58 | 0.43 |
Rights and permissions
About this article
Cite this article
Behnamfar, F., Alibabaei, H. Classical and non-classical time history and spectrum analysis of soil-structure interaction systems. Bull Earthquake Eng 15, 931–965 (2017). https://doi.org/10.1007/s10518-016-9991-7
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s10518-016-9991-7