Earthquake Engineering Ahmed Elgamal

Michael Fraser
Solved MDOF and Modal Analysis Example
1


Use:

E
steel
=29,000 ksi
I
c
=164.8 in
4

h
1
=15 ft
h
2
=12 ft

in
s kip
in
s lb
s in
ft ft
ft
lb
g
W
m
2 2
2 2
09317 . 0 17 . 93
4 . 386
30 40
30

=

=
|
|
.
|

\
|
|
|
.
|

\
|
= =
Plan View
30 ft
40 ft




(a) For the two-story building shown above, define the two-degree-of-freedom free vibration matrix
equation in terms of k and m. Using this matrix equation, determine the natural frequencies
1
and
2
(in terms of k and m). Using these expressions for
1
and
2,
plug in numerical values and determine
1

and
2
in radians. For each natural frequency, define and sketch the corresponding mode shape.

(b) Verify that the modes are orthogonal as expected.

(c) Normalize the first mode such that
1
T
m
1
=1.0

(d) Use the normalized first mode (from above) to verify that
1
T
k
1
=
1
2


(e) Use the El Centro Response Spectrum and a damping ratio of 5% to estimate the maximum base shear
and moment.

(f) Find
0
a and
1
a in k m c
1 0
a a + = for a viscous damping of 5% in modes 1 and 2.

3
i
c
3
i
c
floor 3
i
c
column
h
48EI
h
EI
12 4 k
h
12EI
k =
|
|
.
|

\
|
=
|
|
.
|

\
|
=
i
Earthquake Engineering Ahmed Elgamal
Michael Fraser
Solved MDOF and Modal Analysis Example
2

( )( )
( )
in kip
in
in ksi
h
EI
k
c
335 . 39
180
8 . 164 29000 48 48
3
4
3
1
1
= = =

( )( )
( )
in kip
in
in ksi
h
EI
k
c
826 . 76
144
8 . 164 29000 48 48
3
4
3
2
2
= = =

in
s kip
m
2
09317 . 0

=


Write the equation of motion in matrix form:


)
`

=
)
`

+
+
)
`

0
0
0
0 3
2
1
2 2
2 2 1
2
1
u
u
k k
k k k
u
u
m
m




substitute in u u
2
= and rearrange to get

)
`

=
)
`

+
0
0 3
2
1
2
2 2
2
2
2 1
u
u
m k k
k m k k

Take the determinant and set equal to zero

0
3
2
2 2
2
2
2 1
=

+
m k k
k m k k

0 4 3
2 1
2
2
2
1
4 2
= + k k mk mk m

substituting k
1
, k
2
, and m:

0.0260419467
4
- 32.2963556
2
+ 3021.95071 =0


Solving this quadratic equation for
2
yields


34 0.05208389
314.789917 043.05459 1 2963556 . 32
2
1
+
=

Earthquake Engineering Ahmed Elgamal
Michael Fraser
Solved MDOF and Modal Analysis Example
3
34 0.05208389
314.789917 043.05459 1 2963556 . 32
2
2
+ +
=

or,
2
2
2
1
95 . 101
s
rad
=
2
2
2
2
1138
s
rad
=

s
rad
097 . 10
1
=
s
rad
734 . 33
2
=

Hz f 607 . 1
2
1
1
= =

Sec
f
T 6223 . 0
1
1
1
= =
Hz f 369 . 5
2
2
2
= =

Sec
f
T 1863 . 0
1
2
2
= =


Determining 1
st
Mode Shape:

Plug k
1
, k
2
, m, and
1
=10.097 rad/sec into
)
`

=
)
`

+
0
0 3
21
11
2
1 2 2
2
2
1 2 1

m k k
k m k k


( )( )
( )( )
)
`

=
)
`

+
0
0
09317 . 0 097 . 10 826 . 76 826 . 76
826 . 76 09317 . 0 3 097 . 10 826 . 76 335 . 39
21
11
2
2

)
`

=
)
`

0
0
327 . 67 826 . 76
826 . 76 665 . 87
21
11

0 826 . 76 665 . 87
21 11
=

let 1
21
= , then

( ) 0 1 826 . 76 665 . 87
11
=

876 . 0
665 . 87
826 . 76
11
= =

Earthquake Engineering Ahmed Elgamal
Michael Fraser
Solved MDOF and Modal Analysis Example
4
)
`

=
)
`

=
000 . 1
876 . 0
21
11
1

Determining 2
nd
Mode Shape:

Plug k
1
, k
2
, m, and
2
=33.734 rad/sec into
)
`

=
)
`

+
0
0 3
22
12
2
2 2 2
2
2
2 2 1

m k k
k m k k


( )( )
( )( )
)
`

=
)
`

+
0
0
09317 . 0 734 . 33 826 . 76 826 . 76
826 . 76 09317 . 0 3 734 . 33 826 . 76 335 . 39
22
12
2
2

)
`

=
)
`

0
0
200 . 29 826 . 76
826 . 76 917 . 201
22
12

0 826 . 76 917 . 201
22 12
=

let 1
22
= , then

( ) 0 1 826 . 76 917 . 201
12
=

380 . 0
917 . 201
826 . 76
12
=

=

)
`

=
)
`

=
000 . 1
380 . 0
22
12
2

Earthquake Engineering Ahmed Elgamal
Michael Fraser
Solved MDOF and Modal Analysis Example
5

0
5
10
15
20
25
30
0 0.5 1 1.5
h
e
i
g
h
t

(
f
t
)

11
=0.876

21
=1.000


0
5
10
15
20
25
30
-0.5 0 0.5 1 1.5
h
e
i
g
h
t

(
f
t
)

22
=1.000

12
=-0.380

1
st
Mode Shape 2
nd
Mode Shape

(b) Verify that the modes are orthogonal as expected.

To verify that the modes are orthogonal, need to show that 0 = =
j j
k

m

T
i
T
i
, for ij

| |
( )
| | 0
1
380 . 0
10 317 . 9 024485 . 0
1
380 . 0
09317 . 0 0
0 09317 . 0 3
1 876 . 0
2
1
=
)
`

=
)
`

=

x
T
2
m




| | | | 0
1
380 . 0
5264 . 9 9310 . 24
1
380 . 0
826 . 76 826 . 76
826 . 76 826 . 76 335 . 39
1 876 . 0
1
=
)
`

=
)
`

+
=
2
k

T



Can also show 0
2 2
= =
1 1
k

m

T T




(c) Normalize the first mode such that
1
T
m
1
=1.0

| |
( )
30766 . 0
1
876 . 0
09317 . 0 0
0 09317 . 0 3
1 876 . 0
1
=
)
`

=
1
m

T


Divide
1
by 30766 . 0 , therefore
)
`

=
)
`

=
8029 . 1
5793 . 1
21
11
1

Earthquake Engineering Ahmed Elgamal
Michael Fraser
Solved MDOF and Modal Analysis Example
6
Check: | |
( )
00 . 1
8029 . 1
5793 . 1
09317 . 0 0
0 09317 . 0 3
8029 . 1 5793 . 1
1
=
)
`

=
1
m

T
ok



(d) Use the normalized first mode (from above) to verify that
1
T
k
1
=
1
2



| |
2
1
2
2
2
1
097 . 10 950 . 101
8029 . 1
5793 . 1
826 . 76 826 . 76
826 . 76 826 . 76 335 . 39
8029 . 1 5793 . 1 =
|
.
|

\
|
= =
)
`

+
=
s
rad
s
rad
T
2
k



Earthquake Engineering Ahmed Elgamal
Michael Fraser
Solved MDOF and Modal Analysis Example
7

(e) Use the El Centro Response Spectrum and a damping ratio of 5% to estimate the maximum base shear and
moment.



From Response Spectrum:

For T
1
=0.622 sec and =5%, D
1
=2.8 in. and A
1
=0.8g =309.12 in/s
2


For T
2
=0.0.186 sec and =5%, D
2
=0.31 in. and A
2
=0.9g =347.76 in/s
2


jn j n
n
n
jn
m A
M
L
f =



Earthquake Engineering Ahmed Elgamal
Michael Fraser
Solved MDOF and Modal Analysis Example
8

=
=
=
2
1
2
2
1
j
ji j
j
ji j
i
i
m
m
M
L

( )( ) ( )( )
( )( ) ( )( )
0987 . 1
1 09317 . 0 876 . 0 27951 . 0
1 09317 . 0 876 . 0 27951 . 0
2 2 2
21 2
2
11 1
21 2 11 1
2
1
2
1
2
1
1
1
1
=
+
+
=
+
+
= =

=
=

m m
m m
m
m
M
L
j
j j
j
j j


( )( ) ( )( )
( )( ) ( )( )
0977 . 0
1 09317 . 0 380 . 0 27951 . 0
1 09317 . 0 380 . 0 27951 . 0
2 2 2
22 2
2
12 1
22 2 12 1
2
1
2
2
2
1
2
2
2
=
+
+
=
+
+
= =

=
=

m m
m m
m
m
M
L
j
j j
j
j j


( ) ( ) kips
in
s kip
s
in
m A
M
L
f 159 . 83 876 . 0 27951 . 0 12 . 309 0987 . 1
2
2 11 1 1
1
1
11
=
|
|
.
|

\
|
|
.
|

\
|
= =

( ) ( ) kips
in
s kip
s
in
m A
M
L
f 609 . 3 380 . 0 27951 . 0 76 . 347 0977 . 0
2
2 12 1 2
2
2
12
=
|
|
.
|

\
|
|
.
|

\
|
= =

( ) ( ) kips
in
s kip
s
in
m A
M
L
f 643 . 31 1 09317 . 0 12 . 309 0987 . 1
2
2 21 2 1
1
1
21
=
|
|
.
|

\
|
|
.
|

\
|
= =

( ) ( ) kips
in
s kip
s
in
m A
M
L
f 166 . 3 1 09317 . 0 76 . 347 0977 . 0
2
2 22 2 2
2
2
22
=
|
|
.
|

\
|
|
.
|

\
|
= =

Base Shear

=
=
N
j
jn n
f V
1
0


kips kips kips f f f V
j
j
80 . 114 643 . 31 159 . 83
21 11
2
1
1 01
= + = + = =

=


kips kips kips f f f V
j
j
443 . 0 166 . 3 609 . 3
22 12
2
1
2 02
= = + = =

=


Calculate Maximum Base Shear, V
0 max
Earthquake Engineering Ahmed Elgamal
Michael Fraser
Solved MDOF and Modal Analysis Example
9

( ) ( ) ( ) ( ) kips kips kips V V V 80 . 114 443 . 0 80 . 114
2 2 2
02
2
01 max 0
= + = + =


Base Moment

j
N
j
jn n
d f M

=
=
1
0


( ) ( ) in kips in kips in kips d f d f d f M
j
j
j
= + = + = =

=
0 . 25221 324 643 . 31 180 159 . 83
2 21 1 11
2
1
1 01


( ) ( ) in kips in kips in kips d f d f d f M
j
j
j
= = + = =

=
16 . 376 324 166 . 3 180 609 . 3
2 22 1 12
2
1
2 02


Calculate Maximum Base Moment, M
0 max


( ) ( ) ( ) ( ) ft kips in kips in kips in kips M M M = = + = + = 0 . 2102 8 . 25223 16 . 376 0 . 25221
2 2 2
02
2
01 max 0





(f) Find
0
a and
1
a in k m c
1 0
a a + = for a viscous damping of 5% in modes 1 and 2.

1
=
2
= =0.05


( )
( )( )
s rad
s rad s rad
s rad s rad
a
j i
j i
777 . 0
734 . 33 097 . 10
734 . 33 097 . 10 2
05 . 0
2
0
=
+
=
+
=




( )
s rad s rad s rad
a
j i
1
00228 . 0
734 . 33 097 . 10
2
05 . 0
2
1
=
+
=
+
=




s rad a 777 . 0
0
= & rad s a 00228 . 0
1
=