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SUMMARY
A Markov method of analysis is presented for obtaining the seismic response of cable-stayed bridges
to non-stationary random ground motion. A uniformly modulated non-stationary model of the random
ground motion is assumed which is specied by the evolutionary r.m.s. ground acceleration. Both
vertical and horizontal components of the motion are considered to act simultaneously at the bridge
supports. The analysis duly takes into account the angle of incidence of the earthquake, the spatial
correlation of ground motion and the quasi-static excitation. A cable-stayed bridge is analysed under a
set of parametric variations in order to study the non-stationary response of the bridge. The results of
the numerical study indicate that (i) frequency domain spectral analysis with peak r.m.s. acceleration as
input could provide more r.m.s. response than the peak r.m.s. response obtained by the non-stationary
analysis; (ii) the longitudinal component of the ground motion signicantly inuences the vertical
vibration of the bridge; and (iii) the angle of incidence of the earthquake has considerable inuence on
the deck response. Copyright ? 2003 John Wiley & Sons, Ltd.
KEY WORDS: Markov method of analysis; seismic response of cable-stayed bridge; non-stationary
seismic excitation; modulating function; quasi-static bridge response
INTRODUCTION
A number of studies have been reported in recent years on the seismic analysis of cable-
supported bridges [19]. Some of these studies investigated also the eect of soilstructure
interaction on the seismic response of the bridge and made attempts to control the seismic
response using passive and hybrid control strategies. However, most of these studies have
been made either for a specied earthquake record or for an earthquake assumed to be a sta-
tionary random process. Very few studies considered an earthquake input as a non-stationary
random process. Hyun et al. [10] developed a method for non-stationary analysis of
suspension bridges subjected to multi-support excitations which was found to be mainly
Correspondence to: T. K. Datta, Civil Engineering Department, Indian Institute of Technology, New Delhi 110016,
India.
E-mail: tkdatta@civil.iitd.ernet.in
Received 13 February 2002
Revised 25 March 2003
Copyright ? 2003 John Wiley & Sons, Ltd. Accepted 28 August 2003
376 S. M. ALLAM AND T. K. DATTA
dependent upon the enveloping function of the time history of ground motion. The non-
stationary responses were obtained in terms of time-dependent variance functions. There have
been many studies on simpler structures to obtain their response to non-stationary seismic
excitations [1117]. Lin [11] treated the non-stationary excitation as a sequence of random
pulses. By modelling the earthquake as a ltered Poisson process, Shinozuka et al. [16, 17]
developed a procedure to obtain the time-dependent variance of the response. Debchaudhury
et al. [12, 13] and Gasparini et al. [14, 15] developed a method for obtaining the response
of multi-degree of freedom systems to non-stationary seismic excitation using the Markov
approach. The advantage of the Markov approach for the non-stationary analysis of structures
for seismic excitation is that it does not require the derivation of the evolutionary frequency
response function H (w; t), which may be dicult to obtain in many complex structures such as
suspension bridges. Furthermore, the method directly obtains the evolutionary r.m.s. response
of the system. However, the application of the Markov approach for the response analysis
of cable-stayed bridges to non-stationary seismic excitation is not straightforward. It involves
some complexities because of (i) the horizontal component of ground motion contributing to
the vertical vibration of the deck and (ii) the contribution of the pseudo-static component of
vertical motion to the total vertical vibration of the bridge deck.
Herein, the vertical response of the bridge deck of cable-stayed bridges to multi-component
partially correlated non-stationary random ground motion is obtained using a Markov formu-
lation unlike that presented by Hyun et al. [10]. Furthermore, the formulation is fairly general
in the sense that it takes into account the eects of the angle of incidence of the earthquake,
the ratio between the horizontal and vertical components of ground motion, the quasi-static
component of the response, and the movements of the tower supporting the cables. The uni-
formly modulated non-stationary model of the ground motion is considered in the study. Using
the proposed method of analysis, a cable-stayed bridge is analysed under a set of parametric
variations in order to investigate the non-stationary characteristics of the bridge responses.
THEORY
Seismic excitation
Seismic excitation is assumed to be a multi-component uniformly modulated non-stationary
random process. The three components of the ground motion are assumed to be dened in
the three principal directions of the earthquake and are assumed to be directed along the
principal axes of the bridge x, y, z or shifted with an angle as shown in Figure 1. The evo-
lutionary r.m.s. acceleration for each component of the ground motion is specied. The spatial
correlation between the seismic excitations at two points is given by a correlation function.
where a and Ko are parameters which depend on the direction of wave propagation as well
as wave type and earthquake type. The values of a and Ko are taken as 4.769 and 2.756,
respectively, as given by Loh [18], rij is the distance between the stations i and j measured
in the direction of wave propagation, which is assumed to coincide with the major principal
axis of the ground motion (u) as shown in Figure 1.
Copyright ? 2003 John Wiley & Sons, Ltd. Earthquake Engng Struct. Dyn. 2004; 33:375393
SEISMIC RESPONSE OF A CABLE-STAYED BRIDGE DECK 377
Figure 1. Layout of the principal axes of the bridge (x; y; z) and the principal
directions of the ground motion (u; v; w).
The non-stationary support excitations are considered as the outputs of lters excited by
the evolutionary white noise. For the formulation of the problem, the lters are augmented at
each support degree of freedom and are dened by
Xf i + 2f i !f i X f i + !f2i Xf i = Si + Wi
i = 1; 2; : : : ; ns (2)
Si + 2si !si S i + !si2 Si = Wi
where ns is the number of exciting degrees of freedom, i.e. the size of the excitation vector;
{Xf } is the vector of output of lters which is the input to the bridge supports at their degrees
of freedom; !f i and !si are the i-th lter parameters representing the predominant frequencies
and the other two parameters f i and si represent the damping ratios; {S } is the vector of
intermediate response and {W } is the vector of evolutionary white noise having a covariance
matrix as
ww (t; t + ) = E {[W (t) w (t)] [W (t + ) w (t + )] T } = Q(t):() (3)
where w is the mean vector of {W }, () is the Dirac delta function and Q(t) is known as
the matrix of white noise intensities. By integrating both sides of Equation (3)
ww (t; t + )= Q(t)() d
(4)
ww (t; t + ) d =Q(t)
Thus, Q(t) is the integral of the covariance function of white noise excitation components. In
the present formulation, the elements of the intensity matrix are modelled as piecewise linear
Copyright ? 2003 John Wiley & Sons, Ltd. Earthquake Engng Struct. Dyn. 2004; 33:375393
378 S. M. ALLAM AND T. K. DATTA
functions of time, although they can take any shape. Typical elements of the covariance matrix
are
= qij (t):()
ij is the correlation function between excitations corresponding to the i-th and j-th d.o.f. and
is given by Equation (1), and Wi and Wj are the mean values of the i-th and j-th elements
of the vector {W }. In general, the ground motion is dened by its free-eld record which
is the output of the lter. The inputs to the lters represent the bed-rock excitation and the
lters reect the soil media. It will be subsequently seen that the formulation requires the
specication of the matrix Q(t) of the intensities of white noise. The elements of [Q(t)]
are determined with the help of the specied evolutionary r.m.s. acceleration of free-eld
ground motion and the characteristics of the lters as given by Soliman and Datta [19] and
Debchaudhary et al. [12, 13].
Copyright ? 2003 John Wiley & Sons, Ltd. Earthquake Engng Struct. Dyn. 2004; 33:375393
SEISMIC RESPONSE OF A CABLE-STAYED BRIDGE DECK 379
Figure 2. Problem identication: (a) layout of the bridge under multi-component ground motion;
and (b) idealization of the bridge deck.
Wr
12 12
= gjr (xr )Xf j (t) cr gjr X f j r = 1; : : : ; Nb (7a)
g j=1 j=1
in which Ed Ir , Nr , Wr , g, and Ed are the exural rigidity, the constant axial force in the
r-th segment of the bridge deck produced by cables due to the dead load, the load per unit
length of the bridge, the acceleration due to gravity, and the modulus of elasticity of the
deck material, respectively. P(xr ; t) is dened as the applied load due to seismic excitations
at dierent support degrees of freedom. Xf j (t). j = 1; 2; : : : ; 12 are the accelerations at dierent
support degrees of freedom (Figure 2(a)) and gjr (xr ) is the vertical displacement of the r-th
segment of the bridge deck due to a unit displacement given at the j-th degree of freedom of
the supports. gjr (xr ) is obtained by solving for the entire bridge (i.e. deck, towers and cables),
considering no moment transfer between the deck and the tower, by a separate analysis using
standard structural analysis procedures. For multi-support excitation, it is quite often assumed
that the term Cr gjr , i.e., the damping force produced in the dynamic degrees of freedom due
to the movement of the support, may be ignored for a reasonable damping ratio since they do
not signicantly inuence the response [20]. With this assumption, the damping term of the
right-hand side of Equation (7(a)) is ignored and the equation retains the term containing the
Copyright ? 2003 John Wiley & Sons, Ltd. Earthquake Engng Struct. Dyn. 2004; 33:375393
380 S. M. ALLAM AND T. K. DATTA
ground acceleration only. The mode shapes and frequencies of the bridge are obtained by
the undamped free-vibration analysis as given by Chatterjee et al. [21].
where Nb is the number of beam segments, n (xr ) is the n-th vertical mode shape of the r-th
beam segment of the bridge, and n (t) is the n-th generalized coordinate. Furthermore, the
generalized equation of motion for the relative vertical vibration of the bridge deck can be
written as
12
n (t) + 2n !n n (t) + !n2 n (t) = jn Xf j (t) (8)
j=1
where Xf j (t) is the support displacement corresponding to the j-th degree of freedom
(Figure 2(a)) which is the output of a set of lters excited by the evolutionary white noise
as given by Equation (2); X f j (t) and Xf j (t) are the derivatives of Xf j (t), and jn is the
modal participation factor dened as
Nb W Lr
gjr (xr ) n (xr ) d xr
r=1 g 0
jn =
Lr
j = 1; 2; : : : ; 8
Nb W
n2 (xr ) d xr
r=1 g 0
Combining Equations (2) and (8), the equation of motion of the bridge can be written in the
state space with white noise as input in the following form:
{Z(t)} = [A]{Z(t)} + [B]{W (t)} (9)
where {Z(t)} is the vector of state variables given by
[Z1j ; Z2j ; Z3j ; Z4j ; Z5n ; Z6n ; ] j = 1; : : : ; 12 and n = 1; : : : ; M (10)
Copyright ? 2003 John Wiley & Sons, Ltd. Earthquake Engng Struct. Dyn. 2004; 33:375393
SEISMIC RESPONSE OF A CABLE-STAYED BRIDGE DECK 381
Wu , Wv , and Ww are the three components of ground motion and is the angle between Wu
and the x-direction (Figure 1). Explicit expressions of matrices A and B are given by Allam
[22]. The solution of Equation (9) in the time domain is given by
t
{Z(t)} = e[A](tt0 ) {Z(t0 )} + e[A](t) [B]{W ()} d (11)
t0
where
(t; t0 ) = e[A](t; t0 ) (14)
(t; t0 ) is the state transition matrix and may be calculated in dierent ways [2325]. Here,
the method of similarity transformation of matrix A is used for establishing (t; t0 ) [24]. The
covariance of the state variable
t1 t2
T
zz (t1 ; t2 ) = (t1 ; t0 )zz (t0 ) (t2 ; t0 ) + (t1 ; 1 )BQ(1 )(1 2 )B T T (t2 ; 2 ) d 1 d 2
t0 t0
(15)
The integral term is obtained by assuming t1 t2 , t0 61 6t1 and t0 62 6t2 , and the integration
is rst performed with respect to 1 , then with respect to 2 . In this case,
t2
zz (t1 ; t2 ) = (t1 ; t0 )zz (t0 ) T (t2 ; t0 ) + (t1 ; 2 )BQ(2 )B T T (t2 ; 2 ) d 2
t0
(16)
If the mean of the excitation vector is assumed to be zero (i.e. W = 0), then Equation (17)
fully describes the state output vector {Z(t)}. Thus, the covariance matrix of response can
be calculated at any time t provided that the covariance matrix at any previous time t0 , and
the matrix of strengths of the excitations (i.e. intensity matrix [Q(t)] of {W (t)}) are known.
The method of calculation of the piecewise linear elements (Figure 3) of the {Q(t)} matrix
is given in detail by Debchaudhary et al. [12, 13] and Soliman and Datta [19].
Copyright ? 2003 John Wiley & Sons, Ltd. Earthquake Engng Struct. Dyn. 2004; 33:375393
382 S. M. ALLAM AND T. K. DATTA
where
[ { } ] T = { 1 M }
[{X f }] T = [Xf 1 Xf 8 ]
Y2 (xr ; t) = [(xr )][ (t)][(xr )] T + [G(xr )][X f X f (t)][G(xr )] T
where [ (t)], [X f X f (t)], [X f (t)], and [X f (t)] can be easily assembled from the covari-
ance matrix of the state variable [zz (t)].
Similarly, the evolutionary mean square value of the bending moment can be obtained by
2 2
using E1 d d(x
x2
r)
and E1 d dG(x x2
r)
instead of (xr ) and G(xr ) respectively.
Copyright ? 2003 John Wiley & Sons, Ltd. Earthquake Engng Struct. Dyn. 2004; 33:375393
SEISMIC RESPONSE OF A CABLE-STAYED BRIDGE DECK 383
NUMERICAL STUDY
The example problem of the cable-stayed bridge, shown in Figure 4, is the same as that
considered by Morris [26]. Uniformly modulated non-stationary ground motion is expressed
in terms of the evolutionary r.m.s. ground acceleration. Three modulating functions, shown
in Figure 5, are considered in the study. The value of
fg (the peak value of the r.m.s.
ground acceleration) is taken as 0:61 m= s 2 . The ground motion is described along the principal
Copyright ? 2003 John Wiley & Sons, Ltd. Earthquake Engng Struct. Dyn. 2004; 33:375393
384 S. M. ALLAM AND T. K. DATTA
Copyright ? 2003 John Wiley & Sons, Ltd. Earthquake Engng Struct. Dyn. 2004; 33:375393
SEISMIC RESPONSE OF A CABLE-STAYED BRIDGE DECK 385
less. Furthermore, the variation of the r.m.s. response with time is dierent from that of
the corresponding modulating function of excitation with time. This is expected because of
the combined eects of the lack of correlation between support excitations, the contribution
of the horizontal component of ground motion on the vertical deck displacement and the
contribution of the quasistatic component of the response on the total response. The eect of
the non-stationarity on the response is shown by the dierence between the maximum r.m.s.
Copyright ? 2003 John Wiley & Sons, Ltd. Earthquake Engng Struct. Dyn. 2004; 33:375393
386 S. M. ALLAM AND T. K. DATTA
response and the r.m.s. response as obtained from the stationary analysis (frequency domain
spectral analysis). The latter is determined with input as double-ltered PSDF of ground
acceleration having
fg = 0:61 m= s 2 (i.e. the peak r.m.s. acceleration of the evolutionary input).
The dierence between the stationary r.m.s. responses and the maximum value of the non-
stationary r.m.s. responses is about 17% for the modulating function (2), about 25% for the
modulating function (3) and about 45% for the modulating function (1). For further parametric
studies, the modulating function (3) is used. It is apparent from Figure 5 that the dierence
between the two responses becomes less as the modulating function becomes wider. This
is the case because the degree of non-stationarity becomes more as the modulating function
becomes narrower.
Copyright ? 2003 John Wiley & Sons, Ltd. Earthquake Engng Struct. Dyn. 2004; 33:375393
Table I. Eect of the ratio between the three components of ground motion on the r.m.s. responses.
1.0 : 0.4 : 0.6a 0.6 : 0.5 : 0.6a 0.8 : 0.5 : 0.6a
Figure 9. Strength intensity functions for dierent soil parameters (soil condition).
Copyright ? 2003 John Wiley & Sons, Ltd. Earthquake Engng Struct. Dyn. 2004; 33:375393
Table II. Eect of the nature of the evolutionary excitation due to soil conditions on the r.m.s. responses.
Soft soil Firm soil Very rm soil
(6.2832, 0.62832, 0.4, 0.4) (15.708, 1.5708, 0.6, 0.6)a (31.416, 3.1416, 0.8, 0.8)a
b
Peak value of the evolutionary r.m.s. response (modulating function (3)).
non-stationary analysis with the r.m.s. responses as obtained from the stationary analysis. It
is seen from the table that the responses are more for the lter coecients corresponding to
the soft-soil condition. The reason for this is attributed to the fact that the frequency contents
of the excitations for the soft-soil condition are centred around a narrow band of frequencies
which are close to the fundamental frequency of the bridge. The dierence between the
responses obtained by the stationary and non-stationary analyses remains nearly the same for
the three lter coecients.
In order to study the eect of damping on the non-stationary response for dierent types of
excitations due to soil condition, the damping of the bridge is changed to 4% (in the original
data it is taken as 2%). The results for the two cases are compared in Table III. It is seen
that the peak value of non-stationary r.m.s. response is signicantly reduced. The decrease is
about 33%. The corresponding decrease is found to be about 25% for the stationary r.m.s.
response. Thus, the eect of damping is greater for non-stationary response analysis.
Copyright ? 2003 John Wiley & Sons, Ltd. Earthquake Engng Struct. Dyn. 2004; 33:375393
Table IV. Eect of the angle of incidence of the earthquake () on the r.m.s. displacement.
= 0:0 = 30 = 45 = 70 = 90
1 0.0509 0.0503 0.0509 0.0503 0.0509 0.0503 0.0509 0.0503 0.0509 0.0503
2 0.1549 0.1272 0.1641 0.1338 0.1685 0.1375 0.1322 0.1110 0.0823 0.0727
3 0.1707 0.1403 0.1811 0.1477 0.1870 0.1526 0.1442 0.1209 0.0855 0.0749
4 0.1427 0.1178 0.1512 0.1239 0.1570 0.1287 0.1203 0.1014 0.0740 0.0661
5 0.0509 0.0503 0.0509 0.0503 0.0509 0.0503 0.0509 0.0503 0.0509 0.0503
6 0.1847 0.1536 0.2009 0.1665 0.2089 0.1735 0.1441 0.1217 0.0739 0.0662
7 0.3181 0.2600 0.3557 0.2898 0.3561 0.2914 0.2382 0.1962 0.0955 0.0802
8 0.3615 0.2940 0.4181 0.3387 0.3961 0.3229 0.2599 0.2124 0.1157 0.0945
9 0.3522 0.2850 0.4164 0.3333 0.3820 0.3068 0.2435 0.1948 0.1277 0.1046
Firm soil; partially correlated; Ru : Rv : Rw = 1:0 : 1:0 : 1:0.
a
Peak value of the evolutionary r.m.s. response (modulating function (3)).
SEISMIC RESPONSE OF A CABLE-STAYED BRIDGE DECK
value of depends upon the section at which the response is obtained. This is the case
because the angle of incidence of earthquake inuences the response in a complex manner by
modifying the separation length being considered in the correlation function. Furthermore, the
dierence between the maximum r.m.s. response and the r.m.s. response as obtained by the
stationary and non-stationary analyses varies with . The value of for which this dierence
becomes a maximum depends upon the section at which the response is desired.
CONCLUSIONS
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