1 Dynamics+of+Structures 12.7

1
Dynamics of Structures
Lecture 1
Anil K. Chopra
Electricity Generating Authority of Thailand
Bangkok, Thailand
December 7-8, 2010
EGAT Thailand Bangkok, Thailand
EGAT Thailand Bangkok, Thailand 2
Simple System
Simple System
Free Vibration of Idealized Systems
Idealized Systems Free Vibration
Decay of Free Vibration
Aluminum Model
Plexiglass Model
Equation of Motion
+ + =
1
0
D S
f f f
( )
+ + =
g
mu cu ku mu t
Single-Degree-of-Freedom System
Lateral Stiffness
= EI EI
b c
=
3
3EI
k
h
=
3
96
7
c
EI
k
h
Undamped Free Vibration
+ = 0 mu ku
( ) ( )
( )
e e
e
= +
0
0 cos sin
n n
n
u
u t u t t
e =
n
k
m
Natural Frequency (Period) of Vibration
t
e
=
2
sec
n
n
T
e = rads/sec
n
k
m
e
t
= cps (Hz)
2
n
n
f
Three-Story Steel Frame Building
Direction Period, sec
Long 0.63
Short 0.74
Torsion 0.46
Sixty-Story Steel Frame Building
Period = 2.90 sec
Golden Gate Bridge
Direction Period, sec
Transverse 18.2
Vertical 10.9
Longitudinal 3.8
Torsional 4.4
Pine Flat Dam, 400 ft high
Water Depth, ft Period, sec
310 0.288
345 0.306
Damped Free Vibration
Equation of Motion
+ + = 0 mu cu ku
,e e + + =
2
2 0
n n
u u u
,
e
= =
cr
2
n
c c
m c
Damping Ratio
Effects of Damping (,<1)
Effects of Damping
Measurement of Period & Damping
,
t
+
=
1
ln
2
i
i j
u
j u
Example
Peak Time,
t
i
(sec)
Peak,
1 1.110 0.915
11 3.844 0.076
( )
i
u g
( )
,
t
= =
= =
3.844 1.110
0.273 sec
10
1 0.915
ln 0.0396 or 3.96%
2 10 0.076
D
T
g
g
Vibration Generator
Vibration Generator
( )
e e + + =
2
sin
e
mu cu ku m e t
Measurement of Frequency & Damping
Frequency
n
f
,

=
Damping Ratio
2
b a
n
f f
f
Earthquake Ground Motions
Earthquake Ground Motions
Ground Acceleration, Velocity & Displacement
Equation of Motion
( )
+ + =
g
mu cu ku mu t
( )
,e e + + =
2
2
n n g
u u u u t
( ) ( )
,
For a given , response depends on
Natural vibration period
Damping ratio
g
n
u t u t
T
Structural Response Depends on T
n
and ,
Structural Deformation & Forces
Equivalent Static Forces
Pseudo-Acceleration
Internal Forces by Static Analysis
( ) ( )
=
s
f t ku t
( ) ( ) ( )
e = =
2
s n
f t m u t mA t
( ) ( )
e =
2
n
A t u t
( ) ( ) ( ) ( )
= =
b b b
V t mA t M t hV t
Earthquake Response Spectrum
Peak Response
Plot of
for fixed damping
( )
max r r t
o
versus r T
o n
Deformation Response Spectrum
Pseudo Velocity Response Spectrum
Plot of V vs T
n
t
e = =
2
n
n
V D D
T
1 2 3
T
n
, sec
Pseudo Acceleration Response Spectrum
Plot of A vs T
n
t
e
| |
= =
|
\ .
2
2
n
n
A D D
T
= = =
bo So
A
V f mA w
g
Peak Force
Combined D-V-A Spectrum
t
e
e t
= = = =
2
2
n
n
n n
T A
V D A V D
T
Combined D-V-A Spectrum
, = 0, 2, 5, 10, and 20%
Pseudo-Acceleration Response Spectrum
, = 0, 2, 5, 10, and 20%
Deformation Response Spectrum
, = 0, 2, 5, 10, and 20%
Peak Response from Spectrum
t t
| |
= = =
|
\ .
2
2 2
n n
o
T T
u D V A
= =
So
f kD mA
Internal forces by statics
= = =
bo bo bo
V kD mA M hV
Example
= =
3
3
0.211 kip/in
EI
k
L
= =
2
5.20
kip-sec /in
386
w
m
g
e = = 3.96 rad/sec
n
k
m
=1.59 sec
n
T
Example
= 5.0 in. D
= 0.20 A g
= = 5.0 in.
o
u D
Example
= =1.04 kips
So
A
f w
g
=
max
12.48 kip-ft M
o = =
max
46.5 ksi
Mc
I
Response Spectrum and Peak Ground
Accleration, Velocity, and Displacement
Response Spectrum Plotted on Normalized Scales
Mean Response Spectrum & Design Spectrum
Construction of Elastic Design Spectrum
Amplification Factors
Damping,
,
(%)
Median (50
th
percentile) One Sigma (84.1th percentile)
o
A
o
V
o
D
o
A
o
V
o
D
1 3.21 2.31 1.82 4.38 3.38 2.73
2 2.74 2.03 1.63 3.66 2.92 2.42
5 2.12 1.65 1.39 2.71 2.30 2.01
10 1.64 1.37 1.20 1.99 1.84 1.69
20 1.17 1.08 1.01 1.26 1.37 1.38
N. M. Newmark and W. J. Hall, Earthquake Spectra and Design, EERI, Berkeley, CA, 1982, pp. 35, and 36.
Construction of Design Spectrum, 84
th
Percentile, , = 5%
= = = 1 , 48in. / sec, 36in.
go go go
u g u u
Elastic Design Spectrum, 84
th
Percentile, , = 5%
= = = 1 , 48in. / sec, 36in.
go go go
u g u u
Elastic Design Spectrum, , = 1, 2, 5, 10, 20%
= = = 1 , 48in. / sec, 36in.
go go go
u g u u
Elastic Design Spectrum, , = 1, 2, 5, 10, 20%
= = = 1 , 48in. / sec, 36in.
go go go
u g u u

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