Response Spectrum SKJ

1
Strong Ground Motion and Concept

of Response Spectrum
February 2012
Sudhir K Jain, IIT Gandhinagar
Sudhir K. Jain February 2012
EQ Ground Motions
Low Amplitude Vibrations
Long distance events
Usually displacements
Earth Scientists
0
200 400 600 800 1000 1200
A
m
p
l
i
t
u
d
e
Time (s)
Teleseismic Earthquake Recording
P PP
S
Surface Waves
Sudhir K. Jain Slide 2 February 2012
Strong Ground Motions
Near-field ground motions
Usually accelerations
Engineers
-0.3
-0.2
-0.1
0
0.1
0.2
0.3
0 10 20 30 40 50 60 70 80
A
c
c
n
.

(
g
)
PGA=0.32g
Time (seconds)
EQ Ground Motions
Peak Ground Parameters
Acceleration (PGA)
Velocity (PGV)
Displacement (PGD)
(Martinez-Pereira, 1999)
Maximum Recorded Motion
Parameters
Duration of Significant Shaking
Frequency Content
0 10 20 30 40 50 60
0.5g
Time (sec)
1985 Mexico Earthquake (SCT 1A; N90E)
1940 Imperial Valley Earthquake (El Centro; S00E)
1971 San Fernando Earthquake (Pacoima Dam; N76W)
1991 Uttarkashi Earthquake (Uttarkashi, N75E)
Characteristics
Influence of
Magnitude of EQ
Source mechanism
Type of faulting
Distance from source
Soil/rock medium along travel path
Local soil site, geology, topology, etc.,.
Attenuation
with Distance
Fault
Fault
Characteristics
Sudhir K. Jain February 2012 Slide 8
Accelerogram
During ground shaking, one can measure
ground acceleration versus time (accelerogram)
using an accelerograph
Accelerograph is the instrument
Accelerogramis the record obtained from it
Accelerogram is the variation of ground acceleration with
time (also called time history of ground motion)
Typical Accelerograph
This is a typical analog instrument. These days, digital instruments are
becoming popular (photo from Earthquakes by Bolt)
Typical
Accelerograms
From Dynamics of Structures
by A K Chopra, Prentice Hall
Time, sec
Response Spectrum (contd)
If the ground moves as per the given
accelerogram, what is the maximum response of
a single degree of freedom (SDOF) system (of
given natural period and damping)?
Response may mean any quantity of interest,
e.g., deformation, acceleration
T=2 sec,
Damping =2%
Ground motion time history
Time, sec
a(t)/g
Using a computer, one can calculate the
response of SDOF system with time (time
history of response)
Can pick maximum response of this SDOF
system (of given T and damping) from this
response time history
See next slide
Time, sec
a(t)/g
Ground motion time history
Time History of Deformation (relative displacement
of mass with respect to base) response
Maximum response = 7.47 in.
T=2 sec,
Damping =2%
Time, sec
d(t)
Repeat this exercise for different values of
natural period.
For design, we usually need only the maximum
response.
Hence, for future use, plot maximum response
versus natural period (for a given value of
damping).
Such a plot of maximum response versus
natural period for a given accelerogram is called
response spectrum.
Time, sec
a
g
(t)/g
Displacement
Response
Spectrum for
the above time
history
Time, sec
d(t)/g
d(t)/g
d(t)/g
T=0.5 sec
=2%
T=1.0 sec
=2%
T=2.0 sec
=2%
d
m
a
x
T, sec Figure After Chopra, 2001
Response Spectrum is useful to obtain maximum
response of any SDOF system for that
accelerogram and for that value of damping.
See example on next slide
Example
Ground Acceleration Time History
Acceleration Response Spectrum for the
above accelerogram for 5% damping
(Fig. from Seed and Idriss, 1982)
Mass = 10,000kg
Natural Period T=1 sec
Damping =5% of critical
From Response Spectrum:
Spectral Acceleration (for T=1sec) = 0.48 g
Max. Base Shear = Mass x Spectral Accln.
=(10,000kg) x (0.48x9.81m/sec
2
)
= 47,000 N = 47 kN
Max. Base Moment
=(47kN) x (3m) = 141 kN-m
3m
Undamped Natural Period T (sec)
Time (sec)
M
a
x
i
m
u
m

A
c
c
e
l
e
r
a
t
i
o
n
,

g
A
c
c
e
l
e
r
a
t
i
o
n
,

g
May repeat the entire process for different values of
damping
Velocity response spectra
for N-S component of 1940
El Centro record (damping
values of 0, 2, 5 and 10%)
Fig From Housner, 1970
Natural Period T (sec)
M
a
x
i
m
u
m

V
e
l
o
c
i
t
y
,

i
n
/
s
e
c
Unless otherwise mentioned, response spectrum
is based on a linear elastic system
By response we may mean any response
quantity of interest to us, for example:
Absolute acceleration of the mass
Termed as Acceleration Response Spectrum
Relative velocity of the mass with respect to
base
Termed as Velocity Response Spectrum
Relative displacement of the mass with respect
to base
Termed as Displacement Response Spectrum
Word Spectra is used to denote plural of
Spectrum.
Since SDOF system responds maximum to the
waves of frequency near its own natural
frequency,
Response spectrum is also a very good way to
characterize the strong ground motion from
engineering view point.
For instance, relative strength of low frequency versus high
frequency waves
See example on next slide
Example: Velocity spectra from two accelerograms
Note that the two response spectra above show very different frequency content. Ground
motion B has more energy at low periods. An expert may be able to make out from these
spectra that B is recorded at a short distance (say 15km) from a small earthquake, while A
is recorded from a large earthquake at a large distance (say 100km) (Fig. edited from
Housner, 1970)
Natural Period T (sec)
V
e
l
o
c
i
t
y
,

f
t
/
s
e
c
Response spectrum is a very powerful tool.
Uses of response spectrum:
To obtain maximum response of a SDOF system
(to the original accelerogram using which
response spectrum was obtained)
To obtain maximum response in a particular
mode of vibration of a multi degree of freedom
(MDOF) system
It tells about the characteristics of the ground
motion (accelerogram)
Different terms used in IS:1893
Design Acceleration Spectrum (clause 3.5)
Response Spectrum (clause 3.27)
Acceleration Response Spectrum (used in cl.
3.30)
Design Spectrum (title of cl. 6.4)
Structural Response Factor
Average response acceleration coefficient (see
terminology of Sa/g on p. 11)
Title of Fig. 2: Response Spectra for .
It is better if the code uses the term
consistently.
Smooth Response Spectrum
Real spectrum has somewhat irregular shape
with local peaks and valleys
For design purpose, local peaks and valleys
should be ignored
Since natural period cannot be calculated with
that much accuracy.
Hence, smooth response spectrum used for
design purposes
For developing design spectra, one also needs
to consider other issues
We will discuss this later.
Smooth Response Spectrum (contd)
Acceleration Spectra Velocity Spectra Displacement Spectra
Shown here are typical smooth spectra used in design
for different values of damping
(Fig. from Housner, 1970)
Period (sec)
Period (sec) Period (sec)
Ground Acceleration (contd...)
Note the term Peak Ground Acceleration
(PGA) is max acceleration of ground.
Because of deformation in the structure, the
motion of its base and the superstructure will be
different
Max acceleration experienced by mass of the
structure will be different from the PGA (except if
the structure is rigid)
Ground Acceleration
ZPA stands for Zero Period Acceleration.
Implies max acceleration experienced by a
structure having zero natural period (T=0).
Zero Period Acceleration
An infinitely rigid structure
Has zero natural period (T=0)
Does not deform:
No relative motion between its mass and its base
Mass has same acceleration as of the ground
Hence, ZPA is same as Peak Ground
Acceleration
For very low values of period, acceleration
spectrum tends to be equal to PGA.
We should be able to read the value of PGA
from an acceleration spectrum.
Peak Ground Acceleration (contd)
Average shape of acceleration response
spectrum for 5% damping (Fig. on next slide)
Ordinate at 0.1 to 0.3 sec ~ 2.5 times the PGA
There can be a stray peak in the ground motion;
i.e., unusually large peak.
Such a peak does not affect most of the
response spectrum and needs to be ignored.
Effective Peak Ground Acceleration
(EPGA) defined as 0.40 times the spectral
acceleration in 0.1 to 0.3 sec range (cl. 3.11)
There are also other definitions of EPGA, but we
will not concern ourselves with those.
Typical shape of acceleration spectrum
Typical shape of acceleration response spectrum
Spectral acceleration at zero period (T=0) gives PGA
Value at 0.1-0.3 sec is ~ 2.5 times PGA value (for 5% damping)
PGA = 0.6g
0.00
0.20
0.40
0.60
0.80
1.00
1.20
1.40
1.60
1.80
0.0 0.5 1.0 1.5 2.0 2.5 3.0 3.5 4.0 4.5
Period (sec)
S
p
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c
t
r
a
l

A
c
c
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l
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(
g
)
What is Design Spectrum
Seismic Design Force can be specified in terms
of Response Spectrum:
Termed as Design Spectrum
Response Spectrum versus Design Spectrum
Consider the Acceleration Response Spectrum
Notice the region of red circle marked: a slight
change in natural period can lead to large
variation in maximum acceleration
Undamped Natural Period T (sec)
S
p
e
c
t
r
a
l

A
c
c
e
l
e
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a
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n
,

g
Response Spectrum versus Design Spectrum (contd)
Natural period of a civil engineering structure
cannot be calculated precisely
Design specification should not very sensitive to
a small change in natural period.
Hence, design spectrum is a smooth or average
shape without local peaks and valleys you see in
the response spectrum
Design Spectrum
Since some damage is expected and accepted in
the structure during strong shaking, design
spectrum is developed considering the
overstrength, redundancy, and ductility in the
structure.
The site may be prone to shaking from large but
distant earthquakes as well as from medium but
nearby earthquakes: design spectrum may
account for these as well.
See Fig. next slide.
Design Spectrum (contd)
Natural vibration period T
n
, sec
S
p
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c
t
r
a
l

A
c
c
e
l
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a
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o
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,

g
Fig. from Dynamics of Structures by Chopra, 2001
Design Spectrum is a design specification
It must take into account any issues that have
bearing on seismic safety.
Design Spectrum must be accompanied by:
Load factors or permissible stresses that must be
used
Different choice of load factors will give different seismic
safety to the structure
Damping to be used in design
Variation in the value of damping used will affect the design
force.
Method of calculation of natural period
Depending on modeling assumptions, one can get different
values of natural period.
Type of detailing for ductility
Design force can be lowered if structure has higher ductility.
Soil Effect
Recorded earthquake motions show that
response spectrum shape differs for different
type of soil profile at the site
Period (sec)
Fig. from
Geotechnical
Earthquake
Engineering, by
Kramer, 1996
Soil Effect (contd)
This variation in ground motion characteristic for
different sites is now accounted for through different
shapes of response spectrum for three types of sites.
S
p
e
c
t
r
a
l

A
c
c
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a
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C
o
e
f
f
i
c
i
e
n
t

(
S
a
/
g
)
Period(s)
Fig. from
IS:1893-2002
Shape of Design Spectrum
The three curves in Fig. 2 have been drawn
based on general trends of average response
spectra shapes.
In recent years, the US codes (UBC, NEHRP and
IBC) have provided more sophistication wherein
the shape of design spectrum varies from area
to area depending on the ground motion
characteristics expected.
Design Spectrum for Stiff Structures
For very stiff structures (T < 0.1sec), ductility is not helpful in
reducing the design force.
Actual shape of response spectrum
(may be used for higher modes only)
T(seconds)
S
p
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c
t
r
a
l

a
c
c
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Design spectrum assumes peak
extends to T=0
Concept sometimes used by the codes for
response spectrum in low period range.
As a stiff structure gets
damaged during the
shaking, its period
elongates
i.e., during the same
ground shaking, a very
stiff structure may ride
up the ascending part
of the graph.
Codes tend to
disallow the reduction
in force in the period
range of T < 0.1sec

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Strong Ground Motion and Concept

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