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Table 1
Parameter identification.
Parameter Characteristic value Symbol
fr = 1/2 (MPa)
p
Initial stiffness: Uncracked f0
c U
Cracked fr ≈ 0 C
Bond–slip: Tight λ = 20 T
Loose λ = 40 L
Post-yield stiffness: Hard Kp = 0.10 Ke H
Soft Kp = 0.02 Ke S
Unloading stiffness: Nonreducing γ =0 N
Reducing γ = 0.6 R
Viscous damping: 2% mass proportional ξ = 0.02 α2
5% mass proportional ξ = 0.05 α5
2% stiffness proportional ξ = 0.02 β2
5% stiffness proportional ξ = 0.05 β5
and u = 2.6 MPa (0.375 ksi), gives λ = 40. The large values of θ 0 when unloading from a positive direction depend on the values of
that correspond to the L cases may also be interpreted as including Ke , θe , and θm for the positive direction.
some joint flexibility. In relation to the representative moment–rotation curves
shown in Table 1, the yield point is identified with an open circle of
3.3. Post-yield stiffness coordinates (θe , My ) where My = Ke θe and Ke is the slope from the
origin to the yield point; Kr is the slope of the unloading segments
The moment–rotation post-yield stiffness, Kp , is expressed as a R or N; and θm is defined by the largest rotation along segments S
fraction of the secant-to-yield stiffness, Ke = My /θe where θe is the or H.
effective yield rotation which includes bond–slip effects. Two cases Two values of γ are considered: zero to represent a non-redu-
are considered: a soft case (S ) where Kp = 0.02Ke and a hard case cing (N ) unloading stiffness and 0.6 to represent a reducing (R)
(H ) where Kp = 0.10Ke . The values of Kp are directly defined in case. The case of γ = 0 is investigated because engineers often
programs PERFORM 3D and SAP 2000 via M–θ curves while LARZ choose oversimplified hysteresis models where the unloading stiff-
requires a special definition of the bond–slip beyond the yield point ness is assumed constant throughout the response history analysis.
to control Kp . The value of γ = 0.6 was selected over the original 0.4 recom-
The moment and rotation at ultimate depend on the assumed mended by Takeda [13] because pilot studies [9] showed an im-
material properties, the curvature distribution along the member proved correlation with the measured data considered.
length, and the plastic-hinge length. Instead of the precise calcula- A different hysteresis model is used by each of the programs
tion of the ultimate point, it is convenient to define the post-yield considered: the Takeda model [13] in program LARZ; the energy-
stiffness as a function of the secant to yield. A finite positive slope
ratio model [5] in PERFORM 3D; and the pivot model [14] in SAP
is assigned to the stiffness after yielding to incorporate the strain
2000. All of these models are stiffness-reducing models. In LARZ,
hardening characteristics of the longitudinal reinforcement. This
the value of γ is directly assigned as a Takeda hysteresis model
approach also gives the analyst the option of defining the primary
parameter but in PERFORM 3D and SAP 2000 the target value of γ
moment–rotation curve mainly as a function of the yield point.
has to be emulated through other hysteresis parameters.
Because the structures considered in this study predominantly
In PERFORM 3D, the N case is represented by an energy-
responded with rotation demands below the ultimate point, the
dissipation ratio of 0.5 and the R case by a ratio of 0.2. In SAP
suggested approach proved satisfactory without need for consid-
eration of strength degradation. 2000, the N case is represented with the pivot model using αpivot =
10, βpivot = 0.5, and ηpivot = 0; for the R case, the pivot model is
defined using αpivot = 1.0, βpivot = 0.3, and ηpivot = 10. These
3.4. Unloading stiffness
variables are described in detail in Refs. [5,6,14].
Measured load–deformation hysteresis data for reinforced
concrete members have shown that the unloading stiffness 3.5. Viscous damping
decreases as the maximum deformation increases [12]. The
unloading stiffness has been defined in relation to a stiffness- When inelastic behavior is explicitly considered, damping is
reducing exponent, γ , as implemented by the Takeda hysteresis meant to represent the energy dissipation associated with pre-
model [13]: yield stages of response and therefore is usually taken into ac-
γ count by means of a damping factor expressed as a fraction of
θe
Kr = Ke (4) critical damping. Damping forces are assumed to be proportional
θm to the relative velocities of the points where the translational de-
where Kr is the unloading stiffness, Ke is the secant stiffness to the grees of freedom (at floor levels) are defined. The damping matrix
yield point, θe is the effective yield rotation including bond–slip is assumed to be a linear combination of the mass and stiffness
effects, and θm is the maximum rotation attained. The values of Kr matrices, as expressed in Eq. (1). This means that if damping is
2934 A. Lepage et al. / Engineering Structures 32 (2010) 2931–2939
a b
Fig. 1. Test structures, (a) MF1 and MF2 and (b) FNW.
defined as stiffness proportional then the damping matrix is up- Generally, test runs of a given specimen included repetitions
dated every time an element cracks or yields, whereas if damping is of free vibration tests, to determine low-amplitude natural fre-
defined as mass proportional then it remains unchanged through- quencies, followed by earthquake simulation. The sequence was
out the analysis. In addition, stiffness-proportional damping im- repeated with the intensity of the earthquake simulation being in-
plies increased damping values on modes of vibration other than creased in successive runs. Only the first two runs are considered.
the fundamental mode whereas mass-proportional damping im- These runs targeted a roof displacement of approximately 1% the
plies reduced damping values on the higher modes. frame height for run 1 and 2% for run 2. The base motions were
Four cases for the amount and type of viscous damping are con- patterned after El Centro 1940 NS with the time scale compressed
sidered. Two cases use mass-proportional damping at 2% and 5% of by a factor of 2.5 to obtain realistic ratios between input frequency
critical damping (α2 , α5 ) and two cases use stiffness-proportional contents and natural frequencies of the specimens. Recorded data
damping at 2% and 5% of critical damping (β2 , β5 ). The constants α include displacements relative to the ground and absolute acceler-
and β (Eq. (1)) are determined using Eq. (2) with the fundamental ations, all measured at beam lines.
frequency of vibration always based on uncracked section proper- Specimens were cast using small-aggregate concrete with a
ties. nominal compressive strength of 35 MPa (5 ksi) and a modulus of
Table 1 presents a summary of the five modeling parameters elasticity of about 21,000 MPa (3000 ksi). All members were rein-
considered. Four parameters adopt two values and a fifth param- forced by steel wire gage No. 13 and 16, longitudinally and trans-
eter adopts four values, giving at most a total of 64 combinations versely, respectively. Longitudinal reinforcement with a nominal
per structure for a single ground motion and for each program of yield stress of 350 MPa (50 ksi) was continuous through all joints
analysis. and extended into exterior joint stubs for anchorage. Transverse re-
inforcement provided by rectangular spirals prevented shear fail-
4. Structures and ground motions ure before flexural failure. Beam–column joints were reinforced
with helical spirals to prevent joint failures. More details about the
Nonlinear dynamic analyses are performed on three small-scale fabrication of the specimens are found in Refs. [15–17]. Tabulated
test structures responding to two separate shake-table base mo-
data in Ref. [9] describe all member properties in relation to the
tions and a real building subjected to the ground motions recorded
modeling parameters presented in Section 3.
at its base during the 1994 Northridge earthquake. The analyses
incorporate the combinations of parameter values presented in
Section 3. 4.2. Instrumented building: HEW and HNS
4.1. Test structures: MF1, MF2, and FNW The seven-story Holiday Inn building in Van Nuys (California)
was built in 1966 on the northeast side of the Los Angeles basin
The tests were performed using the University of Illinois earth- at ±6 km (4 miles) from the epicenter of the 1994 Northridge
quake simulator [2]. Geometries of the specimens are shown in earthquake. The structure is essentially symmetrical in elevation
Fig. 1. Structures MF1 [15], MF2 [16] and FNW [17] were composed and in plan about both axes (Fig. 2), except for light framing
of two planar frames working in parallel. The ten-story structures, members supporting the stairway and elevator openings on the
MF1 and MF2, had identical geometries except for the discontin- southwest end. The nonlinear dynamic analysis of the building
ued beam at the first story in MF2. The nine-story structure, FNW, is performed using two-dimensional models for each direction
had a tall first story. Nominal cross sectional dimensions of beams of analysis: the East–West frames, or structure HEW, and the
and columns were identical for all three frames, with all columns North–South frames, or structure HNS. Given the symmetrical
stiffer and stronger than the beams. The heavy base girders and layout and the presence of perimeter moment frames, the merits
the specimen-to-simulator connections were designed to simulate of a 2D model have been explored and proven satisfactory [3].
a fixed-base condition. The story weights were nominally 4.45 kN The floor system is a reinforced concrete flat plate that is
(1 kip) with the exception of the first story in MF2 where nearly 220 mm (8.5 in.) thick at typical floors, 250 mm (10 in.) at the first
1/3 of the weight was removed. The weights were transferred di- floor, and 200 mm (8 in.) at the roof. Spandrel beams, 410 mm
rectly to the column centerlines such that each column carried an (16 in.) wide in the EW direction and 360 mm (14 in.) in the
equal fraction of the story weight. NS direction, are typically 570 mm (22.5 in.) deep, except at the
A. Lepage et al. / Engineering Structures 32 (2010) 2931–2939 2935
Imaginary
to top of slab (Roof)
(Rc, Ic)
(Base) Err
Elevation EW Elevation NS or
(Section A–A) (Section B–B)
d
Calculate
(Rm, Im)
d
sure
NORTH Mea
Plan
Real
Fig. 2. Holiday Inn building in Van Nuys, California. Fig. 3. FDE representation.
first floor and roof with depths of 760 mm (30 in.) and 560 mm domain. For each frequency, the real and imaginary components
(22 in.), respectively. Seismic design of the building was based on of the complex number can be thought of as x–y coordinates
the assumption that the code-specified lateral forces were resisted (Argand diagram) defining the vectors shown in Fig. 3. The FDE in-
by the combined action of the interior slab–column frames and dex is based on the error vector (Fig. 3) normalized by the sum of
exterior beam–column frames. The interior column cross sections the vector magnitudes of the measured and calculated signals:
are 510 mm (20 in.) square in the first story and 460 mm (18 in.) f2
square above. Exterior columns are 360 × 510 mm (14 × 20 in.) for
q 2 2
P
RMi − RCi + IMi − IC i
the full building height with the 510 mm (20 in.) dimension along i=f1
the NS direction. Although the column longitudinal reinforcement FDE = (5)
f2 q q
R2Mi + IM
2
R2Ci + IC2i
P
ratios range between one and three percent of the column gross +
i
area, the transverse reinforcement, spaced at 300 mm (12 in.), is i=f1
noncompliant with modern special moment frame requirements. where RMi and IMi are the real and imaginary components of the
All concrete is normal-weight with the first-story columns measured signal at frequency i; RCi and ICi are the real and imag-
having a specified compressive strength of 35 MPa (5 ksi). The inary components of the calculated signal at frequency i; f1 and
first-level floor slab and columns between levels 1 and 2 were f2 are the starting and ending frequencies for summation. In this
built with 28 MPa (4 ksi) concrete. All other concrete above grade study, frequencies f1 and f2 are defined as a function of the fun-
had a specified concrete strength of 21 MPa (3 ksi). Columns are damental period, T1 , of the uncracked structure, using 1/(4T1 )
reinforced with steel having a specified yield of 410 MPa (60 ksi), and 1/(0.1T1 ), respectively. This range is expected to capture the
while beams and slabs used 280 MPa (40 ksi) steel. The foundation most relevant frequency content of the signals representing inelas-
system consists of groups of cast-in-place reinforced concrete tic structural response. The duration of the response history over
friction piles with pile caps connected by grade beams. which the index is calculated is set to approximately 30T1 .
The structure damage due to the 1994 Northridge earthquake
was serious. The perimeter frames had extensive cracking of 6. Analysis cases and results
concrete related to shear and bond stresses, especially at columns.
A total of 16 accelerometers located at the roof, fifth, second, first, To identify the combinations of modeling parameters that
and ground levels recorded motions in the EW, NS, and vertical lead to a realistic response, the FDE index is determined for the
directions. The recorded horizontal peak ground accelerations roof displacement history obtained from each of the nonlinear
were 0.45 g (EW) and 0.42 g (NS). The building experienced roof dynamic analysis cases considered. First, trends are identified in
displacements of about 1.3% the building height. the data corresponding to the test structures; and second, the
Tabulated data are included in Ref. [9] describing all member Holiday Inn building is analyzed to verify if the combinations that
properties in relation to the modeling parameters presented in give satisfactory calculated-to-measured correlations for the test
Section 3. structures also work for the full-scale building.
Program LARZ was used in all three test structures (MF1, MF2,
5. FDE index and FNW) and in the Holiday Inn building (HEW and HNS) for all
64 possible parameter value combinations (see Table 2). Programs
The FDE index [18] measures the correlation between two PERFORM 3D and SAP 2000 were also used to model the same
waveforms. The index is used herein to help identify the combi- structures but with a reduced number of cases due to program lim-
nations of modeling parameters that lead to the best correlations itations. When using discrete nonlinear springs at member ends,
between measured and calculated roof displacement response for both PERFORM 3D and SAP 2000 cannot appropriately represent
the structures considered. Roof displacement is chosen as the key the U models using a breakpoint before the yield point.
response parameter because it has proven satisfactory for charac- For each analysis program, the FDE index data were sorted
terizing the global and local response of frames having individual for each type of structure and damping and presented in the
elements without abrupt changes in stiffness and with columns form of FDE clocks (Figs. 4–9). An FDE clock [18] is a graphical
proportioned to develop limited yielding [4]. representation resembling a dart board, where the center of the
The FDE index quantifies amplitude and phase deviations be- chart (FDE = 0) indicates a perfect correlation between the
tween two signals and gives a value between 0 and 1, where 0 is measured and calculated response histories. A point near the
for a perfect correlation and 1 is for 180° out of phase. The index periphery (FDE = 0.75) represents a very poor correlation. The
uses the Fourier transform of both the measured and calculated circle is divided into 16 sectors, where each sector represents one
signals to represent them as complex numbers in the frequency of the 16 models after the combination of U /C , H /S, N /R, and T /L.
2936 A. Lepage et al. / Engineering Structures 32 (2010) 2931–2939
Table 2
Analysis cases.
Program Structure Base motion Parameters Cases
LARZ MF1/MF2/FNW run 1/run 2 U /C , H /S , N /R, T /L, α2 /α5 /β2 /β5 3 × 2 × 64 = 384
HEW/HNS 1994 Northridge U /C , H /S , N /R, T /L, α2 /α5 /β2 /β5 2 × 1 × 64 = 128
PERFORM 3D MF1/MF2/FNW run 1/run 2 C , H /S , N /R, T /L, α2 /α5 /β2 /β5 3 × 2 × 32 = 192
HEW/HNS 1994 Northridge C , H /S , N /R, T /L, α2 2 × 1 × 8 = 16
SAP 2000 MF1/MF2/FNW run 1/run 2 C , H /S , N /R, T /L, α2 /α5 /β2 /β5 3 × 2 × 32 = 192
HEW/HNS 1994 Northridge C , H /S , N /R, T /L, α2 2 × 1 × 8 = 16
Fig. 4. FDE clocks, structure MF1, program LARZ. Fig. 6. FDE clocks, structure FNW, program LARZ.
6.1. Test structures: MF1, MF2, and FNW 6.2. Instrumented building: HEW and HNS
The goodness-of-fit data for the calculated roof displacement The goodness-of-fit data for the calculated roof displacement
response for all 384 LARZ cases (see Table 2) are summarized in response for all 128 LARZ cases (see Table 2) are summarized in
the FDE clocks shown in Figs. 4–6. The plotted data include a cross the FDE clocks shown in Fig. 14. The FDE clock data suggest that
marker to identify cases where the amplitude of the maximum the U models in LARZ have a better correlation with the measured
A. Lepage et al. / Engineering Structures 32 (2010) 2931–2939 2937
a b
Fig. 7. FDE clocks, structure MF1, (a) PERFORM 3D and (b) SAP 2000.
a b
Fig. 8. FDE clocks, structure MF2, (a) PERFORM 3D and (b) SAP 2000.
a b
Fig. 9. FDE clocks, structure FNW, (a) PERFORM 3D and (b) SAP 2000.
Fig. 11. Roof displacement histories, test structures run 2, program LARZ.
a b
Fig. 15. FDE clocks, structures HEW and HNS, (a) PERFORM 3D and (b) SAP 2000.
Fig. 12. Base shear histories, test structures run 2, program LARZ.
Fig. 16. Roof displacement histories, structures HEW and HNS, program LARZ.
C models and that higher values of damping work well with the References
softer L models.
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