Structural Dynamics of Linear Elastic
Multiple-Degrees-of-Freedom (MDOF) Systems
u1
u2
u3
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MDOF Dynamics 4 - 1
Structural Dynamics of Elastic
MDOF Systems
Equations of motion for MDOF systems
Uncoupling of equations through use of natural
mode shapes
Solution of uncoupled equations
Recombination of computed response
Modal response history analysis
Modal response spectrum analysis
Equivalent lateral force procedure
Instructional Material Complementing FEMA 451, Design Examples
MDOF Dynamics 4 - 2
Symbol Styles Used in this Topic
M
U
Matrix or vector (column matrix)
m
u
Element of matrix or vector or set
W
g
Scalars
(often shown with subscripts)
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MDOF Dynamics 4 - 3
Relevance to ASCE 7-05
ASCE 7-05 provides guidance for three specific
analysis procedures:
Equivalent lateral force (ELF) analysis
Modal superposition analysis (MSA)
Response history analysis (RHA)
ELF usually allowed
ELF not allowed
Cs
See ASCE 7-05
Table 12.6-1
Ts
3.5Ts
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MDOF Dynamics 4 - 4
Planar Frame with 36 Degrees of Freedom
uy
rz Typical nodal
Majority of mass
is in floors
9
10
11
12
13
14
15
16
Instructional Material Complementing FEMA 451, Design Examples
ux
DOF
Motion is
predominantly
lateral
MDOF Dynamics 4 - 5
Planar Frame with 36 Static Degrees of Freedom
But with Only THREE Dynamic DOF
u1
u2
u1
U = u2
u
3
u3
Instructional Material Complementing FEMA 451, Design Examples
MDOF Dynamics 4 - 6
Development of Flexibility Matrix
f1 = 1 kip
d1,1
d2,1
d1,1
d2,1
d3,1
d3,1
Instructional Material Complementing FEMA 451, Design Examples
MDOF Dynamics 4 - 7
Development of Flexibility Matrix
(continued)
d1,2
f2=1 kip
d2,2
d1,1 d1,2
d2,1 d2,2
d3,1 d3,2
d3,2
Instructional Material Complementing FEMA 451, Design Examples
MDOF Dynamics 4 - 8
Development of Flexibility Matrix
(continued)
d1,3
d2,3
d1,1 d1,2 d1,3
d2,1 d2,2 d2,3
f3 = 1 kip
d3,1 d3,2 d3,3
d3,3
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MDOF Dynamics 4 - 9
Concept of Linear Combination of Shapes
(Flexibility)
d1,1 d1,2 d1,3 f1
U = d2,1 d2,2 d2,3 f2
d3,1 d3,2 d3,3 f3
d1,1
d1,2
d1,3
U = d2,1 f1 + d2,2 f2 + d2,3 f3
d
d
d
3,1
3,2
3,3
DF=U
K = D-1
KU=F
Instructional Material Complementing FEMA 451, Design Examples
MDOF Dynamics 4 - 10
Static Condensation
K m,n Um Fm
=
K n,n Un {0}
K m,m
K
n,m
DOF with mass
Massless DOF
K m,mUm + K m,nUn = Fm
K n,mUm + K n,nUn = {0}
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MDOF Dynamics 4 - 11
Static Condensation
(continued)
Rearrange
Plug into
Simplify
1
n ,n
Un = K K n,mUm
1
n,n
K m,mUm K m,nK K n,mUm = Fm
K m,m K m,nK K n,m Um = Fm
1
n,n
K = K m,m K m,nK n,nK n,m
Condensed stiffness matrix
Instructional Material Complementing FEMA 451, Design Examples
MDOF Dynamics 4 - 12
Idealized Structural Property Matrices
m1
f1(t), u1(t)
k1
m2
f2(t), u2(t)
k2
m3
k3
f3(t), u3(t)
-k1
0
k1
K = -k1 k1+ k 2
-k 2
0
-k 2
k 2 + k 3
0
m1 0
M = 0 m2 0
0
0 m3
f1(t )
F(t ) = f2 (t )
f (t )
3
u1(t )
U(t ) = u2 (t )
u (t )
3
Note: Damping to be shown later
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MDOF Dynamics 4 - 13
Coupled Equations of Motion
for Undamped Forced Vibration
&&(t ) + KU(t ) = F(t )
MU
m1
0
0
m2
0
&&1 ( t )
0 u
&&
0 u
(
t
)
+
2
&& 3 ( t )
m 3 u
k1
k1
k1
k1 + k 2
k 3
0
u 1 ( t ) f1 ( t )
k 2 u 2 ( t ) = f 2 ( t )
k 2 + k 3 u 3 ( t ) f3 ( t )
DOF 2
&&1(t ) + k1u1(t ) k1u2 (t ) = f1(t )
m1u
&&2 (t ) k1u1(t ) + k1u2 (t ) + k 2u2 (t ) k 2u3 (t ) = f2 (t )
m 2u
DOF 3
&&3 (t ) k 2u2 (t ) + k 2u3 (t ) + k 3u3 (t ) = f3 (t )
m3u
DOF 1
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MDOF Dynamics 4 - 14
Developing a Way To Solve
the Equations of Motion
This will be done by a transformation of coordinates
from normal coordinates (displacements at the nodes)
To modal coordinates (amplitudes of the natural
Mode shapes).
Because of the orthogonality property of the natural mode
shapes, the equations of motion become uncoupled,
allowing them to be solved as SDOF equations.
After solving, we can transform back to the normal
coordinates.
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MDOF Dynamics 4 - 15
Solutions for System in Undamped Free Vibration
(Natural Mode Shapes and Frequencies)
&&(t ) + KU(t ) = {0}
MU
&& t ) = 2 sint
U(t ) = sin t U(
2
K
M = {0} has three (n) solutions:
Then
Assume
1,1
1 = 2,1 , 1
3,1
1,2
2 = 2,2 , 2
3,2
1,3
3 = 2,3 , 3
3,3
Natural frequency
Natural mode shape
Instructional Material Complementing FEMA 451, Design Examples
MDOF Dynamics 4 - 16
Solutions for System in Undamped Free Vibration
(continued)
For a SINGLE Mode
K = M2
For ALL Modes
Where: = [1 2 3 ]
12
2
2
2
2
K
=
=
Note: Mode shape has arbitrary scale; usually
Instructional Material Complementing FEMA 451, Design Examples
1,i = 1.0
or
T M = I
MDOF Dynamics 4 - 17
Mode Shapes for Idealized 3-Story Frame
1,2
1,1
1,3
Node
2,3
2,2
2,1
Node
Node
3,1
3,2
MODE 1
3,3
MODE 2
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MODE 3
MDOF Dynamics 4 - 18
Concept of Linear Combination of Mode Shapes
(Transformation of Coordinates)
U =Y
Mode shape
1,1 1,2 1,3 y1
1,1
1,2
1,3
U = 2,1 2,2 2,3 y2 U = 2,1 y1 + 2,2 y2 + 2,3 y3
3,1 3,2 3,3 y3
3,1
3,2
3,3
Modal coordinate =
amplitude of mode
shape
Instructional Material Complementing FEMA 451, Design Examples
MDOF Dynamics 4 - 19
Orthogonality Conditions
= [1 2 3 ]
Generalized mass
m1*
T
*
M =
m2
m
3
Generalized stiffness
k1*
T
*
k2
K =
k
3
Generalized damping
Generalized force
c1*
T
*
c2
C =
c
3
f1* (t )
*
T
F(t ) = f2 (t )
f * (t )
3
Instructional Material Complementing FEMA 451, Design Examples
MDOF Dynamics 4 - 20
Development of Uncoupled Equations of Motion
MDOF equation of motion:
Transformation of coordinates:
Substitution:
&&
&
MU+CU+KU
= F(t )
U = Y
&& C Y+K
&
M Y+
Y = F(t )
&& + TCY& + T KY = T F(t )
Premultiply by T : T MY
Using orthogonality conditions, uncoupled equations of motion are:
m1*
m *2
&&
y1 c 1*
&&
y2 +
m 3* &&
y 3
c 2*
y& 1 k 1*
&
y2 +
c 3* y& 3
k 2*
Instructional Material Complementing FEMA 451, Design Examples
y1 f1* (t )
*
y 2 = f2 (t )
k 3* y 3 f3* (t )
MDOF Dynamics 4 - 21
Development of Uncoupled Equations of Motion
(Explicit Form)
Mode 1
Mode 2
Mode 3
*
1 1
*
*
*
&&
&
m y +c1y1+k1y1 = f1 (t )
*
2 2
*
*
*
&&
&
m y +c2 y2 +k2 y2 = f2 (t )
*
3 3
*
*
*
&&
&
m y +c3 y3 +k3 y3 = f3 (t )
Instructional Material Complementing FEMA 451, Design Examples
MDOF Dynamics 4 - 22
Development of Uncoupled Equations of Motion
(Explicit Form)
*
ci
Simplify by dividing through by m* and defining i =
2mi*i
Mode 1
y&&1 + 211y&1 + 12 y1 = f1* (t )/ m1*
Mode 2
2
*
*
&&
&
y 2 + 222 y 2 + 2 y 2 = f2 (t ) / m2
Mode 3
y&&3 + 233 y& 3 + 32 y 3 = f3* (t ) / m3*
Instructional Material Complementing FEMA 451, Design Examples
MDOF Dynamics 4 - 23
Earthquake Loading for MDOF System
u&&g U&&r ,1
&&r ,1(t )
u&&g (t ) + u
&&r ,2 (t ) =
FI (t ) = M u&&g (t ) + u
u&& (t ) + u
&&
(
t
)
r ,3
g
&&r ,1(t )
u
1.0
&&
&&
M 1.0 ug (t ) + M ur ,2 (t )
1.0
u
&&
(
t
)
r ,3
Move to RHS as
FEFF (t ) = - M Ru&&g (t )
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MDOF Dynamics 4 - 24
Modal Earthquake Loading
m1 = 2
m2 = 3
m3 = 1
u1
u2
u3
u&&g (t )
m3 = 1
m1 = 2
m2 = 3
u1
u3
u2
u&&g (t )
F (t ) = MRu&&g (t )
*
M= 3
1
R = 1
1
1
2 + 1
M=
3 R= 1
0
1
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MDOF Dynamics 4 - 25
Definition of Modal Participation Factor
&&g (t )
fi (t ) = MRu
*
For earthquakes:
T
i
Typical modal equation:
fi (t )
MR
&&
y&&i + 2 i i y& i + y i =
u
=
g (t )
*
*
mi
mi
2
i
T
i
Modal participation factor pi
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MDOF Dynamics 4 - 26
Caution Regarding Modal Participation Factor
pi =
MR
T
i
*
i
Mi
T
i
Its value is dependent on the (arbitrary) method
used to scale the mode shapes.
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MDOF Dynamics 4 - 27
Variation of First Mode Participation Factor
with First Mode Shape
p1 = 1.0
1.0
p1 =1.4
p1 =1.6
1.0
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1.0
MDOF Dynamics 4 - 28
Concept of Effective Modal Mass
For each Mode I,
mi = pi mi
2
The sum of the effective modal mass for all
modes is
equal to the total structural mass.
The value of effective modal mass is
independent of mode shape scaling.
Use enough modes in the analysis to provide
a total effective mass not less than 90% of the
total structural mass.
Instructional Material Complementing FEMA 451, Design Examples
MDOF Dynamics 4 - 29
Variation of First Mode Effective Mass
with First Mode Shape
m1 / M = 1.0
1.0
m1 / M= 0.9 m1 / M= 0.7
1.0
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1.0
MDOF Dynamics 4 - 30
Derivation of Effective Modal Mass
For each mode:
(continued)
y&&i + 2i i y& i + y i = pi u&&g
2
i
SDOF system:
2
&&
&
qi + 2 i i qi + i qi = u&&g
Modal response history, qi(t) is obtained by first
solving the SDOF system.
Instructional Material Complementing FEMA 451, Design Examples
MDOF Dynamics 4 - 31
Derivation of Effective Modal Mass
(continued)
From previous slide
y i (t ) = pi qi (t )
Recall
ui (t ) = i y i (t )
Substitute
ui (t ) = pi i qi (t )
Instructional Material Complementing FEMA 451, Design Examples
MDOF Dynamics 4 - 32
Derivation of Effective Modal Mass
(continued)
Applied static forces required to produce ui(t):
Vi (t ) = Kui (t ) = Pi Ki qi (t )
Recall:
Ki = i Mi
2
Substitute:
Vi (t ) = Mi Pi i qi (t )
2
Instructional Material Complementing FEMA 451, Design Examples
MDOF Dynamics 4 - 33
Derivation of Effective Modal Mass
(continued)
Total shear in mode: Vi = Vi T R
Vi = (Mi ) RPi qi (t ) = i MRPi qi (t )
T
Acceleration in mode
Define effective modal mass:
Mi = MRPi
T
i
and
Vi = Mi qi (t )
2
Instructional Material Complementing FEMA 451, Design Examples
MDOF Dynamics 4 - 34
Derivation of Effective Modal Mass
(continued)
T
i MR T
T
Mi = i MRPi = T
i Mi Pi
i Mi i
Mi = Pi mi
2
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MDOF Dynamics 4 - 35
Development of a Modal Damping Matrix
In previous development, we have assumed:
c1*
T
*
c2
C =
c3
Two methods described herein:
Rayleigh proportional damping
Wilson discrete modal damping
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MDOF Dynamics 4 - 36
Rayleigh Proportional Damping
(continued)
MASS
PROPORTIONAL
DAMPER
STIFFNESS
PROPORTIONAL
DAMPER
C = M + K
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MDOF Dynamics 4 - 37
Rayleigh Proportional Damping
(continued)
C = M + K
For modal equations to be uncoupled:
Assumes
T M = I
2nn = Cn
T
n
Using orthogonality conditions:
2nn = +
2
n
1
n
n =
+
2n
2
Instructional Material Complementing FEMA 451, Design Examples
MDOF Dynamics 4 - 38
Rayleigh Proportional Damping
(continued)
Select damping value in two modes, m and n
Compute coefficients and :
m n
=2 2
2
n m
m m
n
1/ 1/
n
m n
Form damping matrix
C = M + K
Instructional Material Complementing FEMA 451, Design Examples
MDOF Dynamics 4 - 39
Rayleigh Proportional Damping (Example)
5% critical in Modes 1 and 3
Structural frequencies
Mode
1
2
3
4
5
4.94
14.6
25.9
39.2
52.8
Modal Damping Ratio
0.15
TYPE
MASS
STIFFNESS
TOTAL
= 0.41487
= 0.00324
0.10
0.05
0.00
0
20
40
Frequency, Radians/Sec.
Instructional Material Complementing FEMA 451, Design Examples
60
MDOF Dynamics 4 - 40
Rayleigh Proportional Damping (Example)
5% Damping in Modes 1 & 2, 1 & 3, 1 & 4, or 1 & 5
0.15
Modes
1&2
1&3
1&4
1&5
.36892
.41487
.43871
.45174
0.00513
0.00324
0.00227
0.00173
1,2
Modal Damping Ratio
Proportionality factors
(5% each indicated mode)
MODES
1,3
1,4
1,5
0.10
0.05
0.00
0
20
40
60
Fequency, Radians/sec
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MDOF Dynamics 4 - 41
Wilson Damping
*
Directly specify modal damping values i
2m1*11*
c1*
*
*
*
T
c2
2m222
C =
=
*
*
*
c3
2m333
Instructional Material Complementing FEMA 451, Design Examples
MDOF Dynamics 4 - 42
Formation of Explicit Damping Matrix
From Wilson Modal Damping
(NOT Usually Required)
211
2 22
T C =
2 n 1n 1
( )
=c
2 nn
T 1
c1 = C
n
T
C = M 2i i i i M
i =1
Instructional Material Complementing FEMA 451, Design Examples
MDOF Dynamics 4 - 43
Wilson Damping (Example)
5% Damping in Modes 1 and 2, 3
10% in Mode 5, Zero in Mode 4
12
10
Modal Damping Ratio
10
8
6
4
2
0
0
4.94
14.57
25.9
39.2
52.8
Frequency, Radians per second
Instructional Material Complementing FEMA 451, Design Examples
MDOF Dynamics 4 - 44
Wilson Damping (Example)
5% Damping in all Modes
12
Modal Damping Ratio
10
8
6
4.94
14.57
25.9
39.2
52.8
4
2
0
Frequency, Radians per second
Instructional Material Complementing FEMA 451, Design Examples
MDOF Dynamics 4 - 45
Solution of MDOF Equations of Motion
Explicit (step by step) integration of coupled equations
Explicit integration of FULL SET of uncoupled equations
Explicit integration of PARTIAL SET of uncoupled
Equations (approximate)
Modal response spectrum analysis (approximate)
Instructional Material Complementing FEMA 451, Design Examples
MDOF Dynamics 4 - 46
Computed Response for
Piecewise Linear Loading
Force, V(t)
Vt2
Vt1
t0
Vt 2 Vt 2
=
t2 t1
t1
t2 t3
Time, t
Time
Instructional Material Complementing FEMA 451, Design Examples
MDOF Dynamics 4 - 47
Example of MDOF Response of Structure
Responding to 1940 El Centro Earthquake
m1=1.0 k-s2/in
10 ft
u1(t)
k1=60 k/in
m2=1.5 k-s2/in
u2(t)
Example 1
Assume Wilson
damping with 5%
critical in each mode.
k2=120 k/in
10 ft
u3(t)
m3=2.0 k-s2/in
10 ft
k3=180 k/in
N-S component of 1940 El Centro earthquake
Maximum acceleration = 0.35 g
Instructional Material Complementing FEMA 451, Design Examples
MDOF Dynamics 4 - 48
Example 1 (continued)
Form property matrices:
m1=1.0 k-s2/in
u1(t)
k1=60 k/in
m2=1.5 k-s2/in
u2(t)
m3=2.0 k-s2/in
1.0
kip s2/in
M =
1.5
2.0
k2=120 k/in
u3(t)
k3=180 k/in
60
0
60
K = 60 180 120kip/in
0
120 300
Instructional Material Complementing FEMA 451, Design Examples
MDOF Dynamics 4 - 49
Example 1 (continued)
Solve eigenvalue problem:
m1=1.0 k-s2/in
u1(t)
k1=60 k/in
m2=1.5 k-s2/in
u2(t)
m3=2.0 k-s2/in
k2=120 k/in
u3(t)
k3=180 k/in
K = M2
21.0
2
2
=
96.6
sec
212.4
1.000 1.000 1.000
= 0.644 0.601 2.57
0.300 0.676 2.47
Instructional Material Complementing FEMA 451, Design Examples
MDOF Dynamics 4 - 50
Normalization of Modes Using
0.749 0.638 0.208
= 0.478 0.384 0.534
0.223 0.431 0.514
vs
M = I
T
1.000 1.000 1.000
0.644 0.601 2.57
0.300 0.676 2.47
Instructional Material Complementing FEMA 451, Design Examples
MDOF Dynamics 4 - 51
Example 1 (continued)
Mode Shapes and Periods of Vibration
MODE 1
= 4.58 rad/sec
T = 1.37 sec
MODE 2
= 9.83 rad/sec
T = 0.639 sec
Instructional Material Complementing FEMA 451, Design Examples
MODE 3
= 14.57 rad/sec
T = 0.431 sec
MDOF Dynamics 4 - 52
Example 1 (continued)
m1=1.0 k-s2/in
u1(t)
k1=60 k/in
m2=1.5 k-s2/in
u2(t)
k2=120 k/in
m3=2.0 k-s2/in
u3(t)
k3=180 k/in
4.58
n = 9.83 rad/ sec
14.57
1.37
Tn = 0.639sec
0.431
Compute Generalized Mass:
1 . 801
M * = T M =
2 . 455
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kip sec 2 / in
23 . 10
MDOF Dynamics 4 - 53
Example 1 (continued)
m1=1.0 k-s2/in
u1(t)
k1=60 k/in
m2=1.5
k-s2/in
Compute generalized loading:
V * (t ) = T MR v&&g (t )
u2(t)
k2=120 k/in
m3=2.0 k-s2/in
u3(t)
k3=180 k/in
2.566
&&
*
Vn = 1.254 vg (t )
2.080
Instructional Material Complementing FEMA 451, Design Examples
MDOF Dynamics 4 - 54
Example 1 (continued)
Write uncoupled (modal) equations of motion:
m1=1.0 k-s2/in
u1(t)
k1=60 k/in
m2=1.5 k-s2/in
u2(t)
k2=120 k/in
m3=2.0 k-s2/in
u3(t)
k3=180 k/in
y&&1 + 211y&1 + 12 y1 = V1* (t )/ m1*
y&&2 + 222 y& 2 + 22 y 2 = V2* (t ) / m2*
y&&3 + 233 y& 3 + 32 y 3 = V3* (t ) / m3*
y&&1 + 0.458y&1 + 21.0y1 = 1.425v&&g (t )
y&&2 + 0.983y&2 + 96.6y2 = 0.511v&&g (t )
y&&3 + 1.457y&3 + 212.4y3 = 0.090v&&g (t )
Instructional Material Complementing FEMA 451, Design Examples
MDOF Dynamics 4 - 55
Modal Participation Factors
Mode 1
Mode 2
Mode 3
Modal scaling
1 .4 2 5
1 .9 1 1
0 .5 1 1
0 .7 9 9
0 .0 9 0
0 .4 3 5
i,1 = 10
.
i Mi =10
.
T
Instructional Material Complementing FEMA 451, Design Examples
MDOF Dynamics 4 - 56
Modal Participation Factors
(continued)
1.000
0.744
1.425 0.644 = 1.9110.480
0.300
0.223
using 1,1
=1
using T M
1
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=1
MDOF Dynamics 4 - 57
Effective Modal Mass
Mn
Mn = Pn m
2
*
n
Mode 1
Mode 2
Mode 3
Accum%
3.66 81
81
0.64 14
95
0.20 5 100%
4.50 100%
Instructional Material Complementing FEMA 451, Design Examples
MDOF Dynamics 4 - 58
Example 1 (continued)
Solving modal equation via NONLIN:
For Mode 1:
&y&1 + 211y&1 + 12 y1 = V1* (t ) / m1*
1.00y&&1 + 0.458y&1 + 21.0y1 = 1.425v&&g (t )
M = 1.00 kip-sec2/in
C = 0.458 kip-sec/in
K1 = 21.0 kips/inch
Scale ground acceleration by factor 1.425
Instructional Material Complementing FEMA 451, Design Examples
MDOF Dynamics 4 - 59
Example 1 (continued)
Modal Displacement Response Histories (from NONLIN)
6.00
3.00
T1 = 1.37 sec
0.00
-3.00
-6.00
0
MODE 1
10
11
12
2.00
1.00
T2 = 0.64
0.00
-1.00
-2.00
MODE 2
10
11
12
0.20
0.10
T3 = 0.43
0.00
-0.10
-0.20
MODE 3
10
Time, Seconds
Instructional Material Complementing FEMA 451, Design Examples
11
12
Maxima
MDOF Dynamics 4 - 60
Example 1 (continued)
Modal Response Histories:
5
Modal Displacement, Inches
4
3
2
1
0
-1
-2
MODE 1
MODE 2
MODE 3
-3
-4
-5
0
10
12
Time, Seconds
Instructional Material Complementing FEMA 451, Design Examples
MDOF Dynamics 4 - 61
Example 1 (continued)
u(t ) = y (t )
Compute story displacement response histories:
u1(t)
u2(t)
u3(t)
6
4
2
0
-2
-4
-6
0
10
11
12
10
11
12
10
11
12
6
4
2
0
-2
-4
-6
6
4
2
0
-2
-4
-6
0
Time, Seconds
= 0.300 x Mode 1 - 0.676 x Mode 2 + 2.47 x Mode 3
Instructional Material Complementing FEMA 451, Design Examples
MDOF Dynamics 4 - 62
Example 1 (continued)
Compute story shear response histories:
u1(t)
u2(t)
u3(t)
400
200
0
-200
-400
0
10
11
12
10
11
12
10
11
12
400
200
0
-200
-400
400
200
0
-200
-400
Time, Seconds
= k2[u2(t) - u3(t)]
Instructional Material Complementing FEMA 451, Design Examples
MDOF Dynamics 4 - 63
Example 1 (continued)
Displacements and forces at time of maximum displacements
(t = 6.04 sec)
0
134.8 k
5.11
134.8
62.1 k
1348
2.86
196.9
1.22
23.5 k
3317
220.4
Story Shear (k)
Instructional Material Complementing FEMA 451, Design Examples
5521
Story OTM (ft-k)
MDOF Dynamics 4 - 64
Example 1 (continued)
Displacements and forces at time of maximum shear
(t = 3.18 sec)
38.2 k
3.91
38.2
124.7 k
382
3.28
182.7 k
162.9
2111
1.92
345.6
Story Shear (k)
Instructional Material Complementing FEMA 451, Design Examples
5567
Story OTM (ft-k)
MDOF Dynamics 4 - 65
Modal Response Response Spectrum Method
Instead of solving the time history problem for each
mode, use a response spectrum to compute the
maximum response in each mode.
These maxima are generally nonconcurrent.
Combine the maximum modal responses using some
statistical technique, such as square root of the sum of
the squares (SRSS) or complete quadratic combination
(CQC).
The technique is approximate.
It is the basis for the equivalent lateral force (ELF) method.
Instructional Material Complementing FEMA 451, Design Examples
MDOF Dynamics 4 - 66
Example 1 (Response Spectrum Method)
Displacement Response Spectrum
1940 El Centro, 0.35g, 5% Damping
Spectral Displacement, Inches
7.00
6.00
Modal response
5.00
4.00
3.47
3.00
2.00
1.00
0.00
0.00
3.04
1.20
0.20
0.40
0.60
0.80
1.00
1.20
1.40
1.60
1.80
2.00
Period, Seconds
Mode 3
T = 0.431 sec
Mode 2
T = 0.639 sec
Mode 1
T = 1.37 sec
Instructional Material Complementing FEMA 451, Design Examples
MDOF Dynamics 4 - 67
Example 1 (continued)
Spectral Displacement, Inches
7.00
6.00
5.00
4.00
3.47
3.00
3.04
2.00
1.20
1.00
0.00
0.00
0.20
0.40
0.60
0.80
1.00
1.20
1.40
1.60
1.80
2.00
Period, Seconds
Modal Equations of Motion
y&&1 + 0.458 y&1 + 21.0 y1 = 1.425v&&g (t )
Modal Maxima
y1 = 1.425 * 3.47 = 4.94"
y 2 = 0.511* 3.04 = 1.55"
y&&3 + 1.457 y& 3 + 212.4 y 3 = 0.090v&&g (t ) y 3 = 0.090 * 1.20 = 0.108"
y&&2 + 0.983 y& 2 + 96.6 y 2 = 0.511v&&g (t )
Instructional Material Complementing FEMA 451, Design Examples
MDOF Dynamics 4 - 68
Example 1 (continued)
Spectral Displacement, Inches
7.00
6.00
5.00
The scaled response
spectrum values give
the same modal maxima
as the previous time
Histories.
3.47x 1.425
4.00
3.00
3.04 x 0.511
2.00
1.20 x 0.090
1.00
0.00
0.00
0.20
0.40
0.60
0.80
1.00
1.20
1.40
1.60
1.80
2.00
Period, Seconds
6.00
Mode 1
T = 1.37
3.00
0.00
-3.00
-6.00
0
10
11
12
10
11
12
10
11
12
2.00
Mode 2
T = 0.64
1.00
0.00
-1.00
-2.00
0.20
Mode 3
T = 0.43
0.10
0.00
-0.10
-0.20
Time, Seconds
Instructional Material Complementing FEMA 451, Design Examples
MDOF Dynamics 4 - 69
Example 1 (continued)
Computing Nonconcurrent Story Displacements
Mode 1
1.000
4.940
=
0.644
4.940
3.181
0.300
1.482
Mode 2
1.000
1.550
0.601
1.550
0.931
0.676
1.048
Mode 3
0.108
1.000
2.5700.108 = 0.278
0.267
2.470
Instructional Material Complementing FEMA 451, Design Examples
MDOF Dynamics 4 - 70
Example 1 (continued)
Modal Combination Techniques (for Displacement)
Sum of Absolute Values:
At time of maximum displacement
Exact
5.15
4.940 + 1.550 + 0.108 6.60
3.181+ 0.931+ 0.278 = 4.39
1.482 + 1.048 + 0.267 2.80
Square Root of the Sum of the Squares:
4.9402 + 1.5502 + 0.1082
5.18
2
2
2
3.181 + 0.931 + 0.278 = 3.33
2
2
2 1.84
1.482 + 1.048 + 0.267
2.86
1.22
Envelope of story displacement
Instructional Material Complementing FEMA 451, Design Examples
5.15
3.18
1.93
MDOF Dynamics 4 - 71
Example 1 (continued)
Computing Interstory Drifts
Mode 1
4.940 3.181 1.759
3.181 1.482 = 1.699
1.482 0 1.482
Mode 2
1.550(0.931) 2.481
0
.
117
0
.
931
(
1
.
048
)
1.0480 1.048
Mode 3
0.108 (0.278) 0.386
0.278 0.267= 0.545
0.267 0 0.267
Instructional Material Complementing FEMA 451, Design Examples
MDOF Dynamics 4 - 72
Example 1 (continued)
Computing Interstory Shears (Using Drift)
Mode 1
1.759(60) 105.5
1.699(120) = 203.9
1.482(180) 266.8
Mode 2
2.481(60) 148.9
=
0.117(120)
14.0
1.048(180) 188.6
Mode 3
0.386(60) 23.2
0.545(120)
65.4
0.267(180) 48.1
Instructional Material Complementing FEMA 451, Design Examples
MDOF Dynamics 4 - 73
Example 1 (continued)
Computing Interstory Shears: SRSS Combination
106 2 + 149 2 + 23.22 220
2
2
2
+
+
215
=
204
14
65
.
4
267 2 + 189 2 + 48.12 331
Exact
Exact
Exact
38.2
163
346
135
197
220
207
203
346
At time of
max. shear
At time of max.
displacement
Envelope = maximum
per story
Instructional Material Complementing FEMA 451, Design Examples
MDOF Dynamics 4 - 74
Caution:
Do NOT compute story shears from the story
drifts derived from the SRSS of the story
displacements.
Calculate the story shears in each mode
(using modal drifts) and then SRSS
the results.
Instructional Material Complementing FEMA 451, Design Examples
MDOF Dynamics 4 - 75
Using Less than Full (Possible)
Number of Natural Modes
Modal Response Histories:
5
Modal Displacement, Inches
4
3
2
1
0
-1
-2
MODE 1
MODE 2
MODE 3
-3
-4
-5
0
10
12
Time, Seconds
Instructional Material Complementing FEMA 451, Design Examples
MDOF Dynamics 4 - 76
Using Less than Full Number of Natural Modes
Time-History for Mode 1
y1(t1) y1(t 2) y1(t 3) y1(t 4) y1(t 5) y1(t 6) y1(t 7) y1(t 8) .... y1(tn)
y (t ) = y 2 (t1) y 2 (t 2) y 2 (t 3) y 2 (t 4) y 2 (t 5) y 2 (t 6) y 2 (t 7) y 2 (t 8) .... y 2 (tn)
y3 (t1) y3 (t 2) y3 (t 3) y3 (t 4) y3 (t 5) y3 (t 6) y3 (t 7) y3 (t 8) .... y3 (tn)
u(t ) = [1 2 3 ]y (t )
Transformation:
3 x nt
3x3
3 x nt
3 x nt
Time History for DOF 1
u1(t1) u1(t 2) u1(t 3) u1(t 4) u1(t 5) u1(t 6) u1(t 7) u1(t 8) .... u1(tn)
u(t ) = u2 (t1) u2 (t 2) u2 (t 3) u2 (t 4) u2 (t 5) u2 (t 6) u2 (t 7) u2 (t 8) .... u2 (tn)
u3 (t1) u3 (t 2) u3 (t 3) u3 (t 4) u3 (t 5) u3 (t 6) u3 (t 7) u3 (t 8) .... u3 (tn)
Instructional Material Complementing FEMA 451, Design Examples
MDOF Dynamics 4 - 77
Using Less than Full Number of Natural Modes
Time History for Mode 1
y (t1) y1(t 2) y1(t 3) y1(t 4) y1(t 5) y1(t 6) y1(t 7) y1(t 8) .... y1(tn)
y (t ) = 1
y
(
t
1)
y
(
t
2)
y
(
t
3)
y
(
t
4)
y
(
t
5)
y
(
t
6)
y
(
t
7)
y
(
t
8)
....
y
(
tn
)
2
2
2
2
2
2
2
2
2
NOTE: Mode 3 NOT Analyzed
u(t ) = 1 2 y (t )
Transformation:
3 x nt
3x2
2 x nt
3 x nt
Time history for DOF 1
u1(t1) u1(t 2) u1(t 3) u1(t 4) u1(t 5) u1(t 6) u1(t 7) u1(t 8) .... u1(tn)
u(t ) = u2 (t1) u2 (t 2) u2 (t 3) u2 (t 4) u2 (t 5) u2 (t 6) u2 (t 7) u2 (t 8) .... u2 (tn)
u3 (t1) u3 (t 2) u3 (t 3) u3 (t 4) u3 (t 5) u3 (t 6) u3 (t 7) u3 (t 8) .... u3 (tn)
Instructional Material Complementing FEMA 451, Design Examples
MDOF Dynamics 4 - 78
Using Less than Full Number of Natural Modes
(Modal Response Spectrum Technique)
Sum of absolute values:
4.940 + 1.550 + 0.108 6.60
3.181 + 0.931 + 0.278 = 4.39
1.482 + 1.048 + 0.267 2.80
6.49
4.112
2.53
Square root of the sum of the squares:
4.9402 + 1.5502 + 0.1082
5.18
2
2
2
3.181 + 0.931 + 0.278 = 3.33
2
2
2 1.84
1.482 + 1.048 + 0.267
5.18
3.31
1.82
At time of maximum
displacement
Exact:
5.15
2.86
1.22
3 modes 2 modes
Instructional Material Complementing FEMA 451, Design Examples
MDOF Dynamics 4 - 79
Example of MDOF Response of Structure
Responding to 1940 El Centro Earthquake
m1=2.5 k-s2/in
10 ft
u1(t)
k1=150 k/in
m2=2.5 k-s2/in
u2(t)
Example 2
Assume Wilson
damping with 5%
critical in each mode.
k2=150 k/in
10 ft
u3(t)
m3=2.5 k-s2/in
10 ft
k3=150 k/in
N-S component of 1940 El Centro earthquake
Maximum acceleration = 0.35 g
Instructional Material Complementing FEMA 451, Design Examples
MDOF Dynamics 4 - 80
Example 2 (continued)
Form property matrices:
m1=2.5 k-s2/in
u1(t)
k1=150 k/in
m2=2.5 k-s2/in
u2(t)
m3=2.5 k-s2/in
2.5
kip s2/in
M =
2.5
2.5
k2=150 k/in
u3(t)
k3=150 k/in
0
150 150
K = 150 300 150 kip/in
0
150 300
Instructional Material Complementing FEMA 451, Design Examples
MDOF Dynamics 4 - 81
Example 2 (continued)
Solve = eigenvalue problem:
m1=2.5 k-s2/in
u1(t)
k1=150 k/in
m2=2.5 k-s2/in
u2(t)
m3=2.5 k-s2/in
k2=150 k/in
u3(t)
k3=150 k/in
K = M2
11.9
2
2
=
93.3
sec
194.8
1.000 1.000 1.000
= 0.802 0.555 2.247
0.445 1.247 1.802
Instructional Material Complementing FEMA 451, Design Examples
MDOF Dynamics 4 - 82
Normalization of Modes Using
M = I
T
0.466 0.373 0.207
1.000 1.000 1.000
= 0.373 0.207 0.465 vs 0.802 0.555 2.247
0.207 0.465 0.373
0.445 1.247 1.802
Instructional Material Complementing FEMA 451, Design Examples
MDOF Dynamics 4 - 83
Example 2 (continued)
Mode Shapes and Periods of Vibration
Mode 1
= 3.44 rad/sec
T = 1.82 sec
Mode 2
= 9.66 rad/sec
T = 0.65 sec
Instructional Material Complementing FEMA 451, Design Examples
Mode 3
= 13.96 rad/sec
T = 0.45 sec
MDOF Dynamics 4 - 84
Example 2 (continued)
m1=2.5 k-s2/in
u1(t)
k1=150 k/in
m2=2.5 k-s2/in
u2(t)
k2=150 k/in
m3=2.5 k-s2/in
u3(t)
k3=150 k/in
3.44
n = 9.66 rad/ sec
13.96
1.82
Tn = 0.65sec
0.45
Compute generalized mass:
4 .6 0 3
M * = T M =
7 .1 5 8
Instructional Material Complementing FEMA 451, Design Examples
k ip se c 2 / in
2 3 .2 4 1
MDOF Dynamics 4 - 85
Example 2 (continued)
m1=2.5 k-s2/in
m2=2.5
k-s2/in
u1(t)
Compute generalized loading:
k1=150 k/in
V * (t ) = T MR v&&g (t )
u2(t)
k2=150 k/in
m3=2.5 k-s2/in
u3(t)
k3=150 k/in
5.617
&&
*
Vn = 2.005 vg (t )
1.388
Instructional Material Complementing FEMA 451, Design Examples
MDOF Dynamics 4 - 86
Example 2 (continued)
Write uncoupled (modal) equations of motion:
m1=2.5 k-s2/in
u1(t)
m2=2.5 k-s2/in
k1=150 k/in
y&&2 + 222 y& 2 + 22 y 2 = V2* (t ) / m2*
u2(t)
y&&3 + 233 y& 3 + 32 y 3 = V3* (t ) / m3*
k2=150 k/in
m3=2.5 k-s2/in
y&&1 + 211y&1 + 12 y1 = V1* (t )/ m1*
u3(t)
k3=150 k/in
y&&1 + 0.345y&1 + 11.88y1 = 1.22v&&g (t )
y&&2 + 0.966y&2 + 93.29y2 = 0.280v&&g (t )
y&&3 + 1.395y&3 + 194.83y3 = 0.06v&&g (t )
Instructional Material Complementing FEMA 451, Design Examples
MDOF Dynamics 4 - 87
Modal Participation Factors
Mode 1 1 .2 2 2 .6 1 5
Mode 2 0 .2 8
0 .7 4 8
Mode 3 0 .0 6 0 0 .2 8 7
Modal scaling
i,1 = 10
.
i Mi =10
.
T
Instructional Material Complementing FEMA 451, Design Examples
MDOF Dynamics 4 - 88
Effective Modal Mass
Mn
Mn = Pn mn
2
% Accum%
Mode 1 6.856 91.40 91.40
Mode 2 0.562 7.50 98.90
Mode 3 0.083 1.10
100.0
7.50 100%
Instructional Material Complementing FEMA 451, Design Examples
MDOF Dynamics 4 - 89
Example 2 (continued)
Solving modal equation via NONLIN:
For Mode 1:
&y&1 + 211y&1 + 12 y1 = V1* (t ) / m1*
1.00y&&1 + 0.345y&1 + 11.88 y1 = 1.22v&&g (t )
M = 1.00 kip-sec2/in
C = 0.345 kip-sec/in
K1 = 11.88 kips/inch
Scale ground acceleration by factor 1.22
Instructional Material Complementing FEMA 451, Design Examples
MDOF Dynamics 4 - 90
Example 2 (continued)
Modal Displacement Response Histories (from NONLIN)
10.00
5.00
T=1.82
0.00
-5.00
-10.00
0
Mode 1
10
11
12
1.00
0.50
T=0.65
0.00
-0.50
Mode 2
-1.00
0
10
11
12
0.15
0.10
0.05
0.00
T=0.45
-0.05
-0.10
Mode 3
10
11
12
Maxima
Instructional Material Complementing FEMA 451, Design Examples
MDOF Dynamics 4 - 91
Example 2 (continued)
Modal Response Histories
8
MODE 1
MODE 2
MODE 3
Modal Displacement, Inches
6
4
2
0
-2
-4
-6
-8
0
10
12
Time, Seconds
Instructional Material Complementing FEMA 451, Design Examples
MDOF Dynamics 4 - 92
Example 2 (continued)
Compute story displacement response histories:
u1(t)
u2(t)
u3(t)
u(t ) = y (t )
8.00
6.00
4.00
2.00
0.00
-2.00
-4.00
-6.00
-8.00
0
10
11
12
10
11
12
10
11
12
8.00
6.00
4.00
2.00
0.00
-2.00
-4.00
-6.00
-8.00
8.00
6.00
4.00
2.00
0.00
-2.00
-4.00
-6.00
-8.00
= 0.445 x Mode 1 1.247 x Mode 2 + 1.802 x Mode 3
Instructional Material Complementing FEMA 451, Design Examples
MDOF Dynamics 4 - 93
Example 2 (continued)
Compute story shear response histories:
u1(t)
u2(t)
u3(t)
600.00
400.00
200.00
0.00
-200.00
-400.00
-600.00
0
10
11
12
10
11
12
10
11
12
600.00
400.00
200.00
0.00
-200.00
-400.00
-600.00
600.00
400.00
200.00
0.00
-200.00
-400.00
-600.00
Time, Seconds
=k2[u2(t)-u3(t)]
Instructional Material Complementing FEMA 451, Design Examples
MDOF Dynamics 4 - 94
Example 2 (continued)
Displacements and Forces at time of Maximum Displacements
(t = 8.96 seconds)
0
222.2 k
6.935
222.2
175.9 k
2222
5.454
398.1
21.9 k
6203
2.800
420.0
Story Shear (k)
Instructional Material Complementing FEMA 451, Design Examples
10403
Story OTM (ft-k)
MDOF Dynamics 4 - 95
Example 2 (continued)
Displacements and Forces at Time of Maximum Shear
(t = 6.26 sec)
130.10 k
6.44
130.10
180.45 k
1301
5.57
215.10 k
310.55
4406
3.50
525.65
Story Shear (k)
Instructional Material Complementing FEMA 451, Design Examples
9663
Story OTM (ft-k)
MDOF Dynamics 4 - 96
Modal Response Response Spectrum Method
Instead of solving the time history problem for each
mode, use a response spectrum to compute the
maximum response in each mode.
These maxima are generally nonconcurrent.
Combine the maximum modal responses using some
statistical technique, such as square root of the sum of
the squares (SRSS) or complete quadratic combination
(CQC).
The technique is approximate.
It is the basis for the equivalent lateral force (ELF) method.
Instructional Material Complementing FEMA 451, Design Examples
MDOF Dynamics 4 - 97
Example 2 (Response Spectrum Method)
Displacement Response Spectrum
1940 El Centro, 0.35g, 5% Damping
Spectral Displacement, Inches
7.00
MODAL RESPONSE
6.00
5.71
5.00
4.00
3.02
3.00
2.00
1.57
1.00
0.00
0.00
0.20
0.40
0.60
0.80
1.00
1.20
1.40
1.60
1.80
2.00
Period, Seconds
Mode 2
T = 0.65 sec
Mode 1
T = 1.82 sec
Instructional Material Complementing FEMA 451, Design Examples
MDOF Dynamics 4 - 98
Mode 3
T = 0.45 sec
Example 2 (continued)
Spectral Displacement, Inches
7.00
6.00
5.71
5.00
4.00
3.02
3.00
2.00
1.00
1.57
0.00
0.00
0.20
0.40
0.60
0.80
1.00
1.20
1.40
1.60
1.80
2.00
Period, Seconds
Modal Equations of Motion
y&&1 + 0.345 y&1 + 11.88 y1 = 1.22v&&g (t )
y&&2 + 0.966 y& 2 + 93.29 y 2 = 0.280v&&g (t )
y&&3 + 1.395 y& 3 + 194.83 y 3 = 0.060v&&g (t )
Modal Maxima
y1 = 1.22 * 5.71 = 6.966"
y 2 = 0.28 * 3.02 = 0.845"
y3 = 0.060 *1.57 = 0.094"
Instructional Material Complementing FEMA 451, Design Examples
MDOF Dynamics 4 - 99
S p e c tra l D is p la c e m e n t, In c h e s
7.00
6.00
Example 2 (continued)
5.71 x 1.22
in.
5.00
4.00
3.02 x 0.28 in.
3.00
2.00 1.57 x 0.06 in.
1.00
0.00
0.00 0.20 0.40 0.60 0.80 1.00 1.20 1.40 1.60 1.80 2.00
Period, Seconds
The scaled response
spectrum values give
the same modal maxima
as the previous time
histories.
10.00
5.00
0.00
Mode 1
T = 1.82
-5.00
-10.00
0
10
11
12
1.00
0.50
Mode 2
T = 0.65
0.00
-0.50
-1.00
0
10
10
11
12
0.15
Mode 3
T = 0.45
0.10
0.05
0.00
-0.05
-0.10
0
Instructional Material Complementing FEMA 451, Design Examples
MDOF Dynamics 4 - 100
11
12
Example 2 (continued)
Computing Nonconcurrent Story Displacements
Mode 1
1.000
6.966
0.802
6.966
5.586
=
0.445
3.100
Mode 2
1.000
0.845
0.555
0.845
0.469
1.247
1.053
Mode 3
1.000
0.094
2.247 0.094 = 0.211
1.802
0.169
Instructional Material Complementing FEMA 451, Design Examples
MDOF Dynamics 4 - 101
Example 2 (continued)
Modal Combination Techniques (For Displacement)
Sum of absolute values:
At time of maximum displacement
Exact
6.966 + 0.845 + 0.108 7.919
5.586 + 0.469 + 0.211 = 6.266
3.100 + 1.053 + 0.169 4.322
Square root of the sum of the squares
6.935
5.454
2.800
Envelope of story displacement
6.9662 + 0.8452 + 0.1082
7.02
2
2
2
5.586 + 0.469 + 0.211 = 5.61
2
2
2 3.28
3.100 + 1.053 + 0.169
Instructional Material Complementing FEMA 451, Design Examples
6.935
5.675
2.965
MDOF Dynamics 4 - 102
Example 2 (continued)
Computing Interstory Drifts
Mode 1
6.966 5.586 1.380
5.586 3.100 = 2.486
3.100 0 3.100
Mode 2
0.845 (0.469) 1.314
0.469
(
1.053)
0.584
1.053 0 1.053
Mode 3
0.108 ( 0.211) 0.319
0.211 0.169 = 0.380
0.169 0
0.169
Instructional Material Complementing FEMA 451, Design Examples
MDOF Dynamics 4 - 103
Example 2 (continued)
Computing Interstory Shears (Using Drift)
Mode 1
1.380(150) 207.0
2.486(150) = 372.9
3.100(150) 465.0
Mode 2
1.314(150) 197.1
0.584(150)
87.6
=
1.053(150) 157.9
Mode 3
0.319(150) 47.9
0.380(150)
57.0
0.169(150) 25.4
Instructional Material Complementing FEMA 451, Design Examples
MDOF Dynamics 4 - 104
Example 2 (continued)
Computing Interstory Shears: SRSS Combination
2072 + 197.12 + 47.92
289.81
2
2
2
+
+
=
372.9
87.6
57
387.27
491.73
2
2
2
465 + 157.9 + 25.4
Exact
Exact
Exact
130.1
310.5
525.7
222.2
398.1
420.0
304.0
398.5
525.7
At time of
max. shear
At time of max.
displacement
Envelope = maximum
per story
Instructional Material Complementing FEMA 451, Design Examples
MDOF Dynamics 4 - 105
ASCE 7 Allows an Approximate
Modal Analysis Technique Called the
Equivalent Lateral Force Procedure
Empirical period of vibration
Smoothed response spectrum
Compute total base shear, V, as if SDOF
Distribute V along height assuming regular
geometry
Compute displacements and member forces using
standard procedures
Instructional Material Complementing FEMA 451, Design Examples
MDOF Dynamics 4 - 106
Equivalent Lateral Force Procedure
Method is based on first mode response.
Higher modes can be included empirically.
Has been calibrated to provide a reasonable
estimate of the envelope
of story shear, NOT to provide accurate
estimates of story force.
May result in overestimate of overturning
moment.
Instructional Material Complementing FEMA 451, Design Examples
MDOF Dynamics 4 - 107
Equivalent Lateral Force Procedure
Assume first mode effective mass = total Mass = M = W/g
Use response spectrum to obtain total acceleration @ T1
Acceleration, g
Sa1
T1
Period, sec
W
= Sa1W
VB = (Sa1g )M = (Sa1g )
g
Instructional Material Complementing FEMA 451, Design Examples
MDOF Dynamics 4 - 108
Equivalent Lateral Force Procedure
dr
Wx
hx
Assume linear first mode response
fx
hx
2 Wx
fx (t ) = d r (t )1
h
g
VB (t ) =
nstories
i =1
d r (t )12
fi (t ) =
hg
nstories
i =1
hiWi
Portion of base shear applied to story i
fx (t )
=
VB (t )
hxWx
nstories
i =1
hiWi
Instructional Material Complementing FEMA 451, Design Examples
MDOF Dynamics 4 - 109
ELF Procedure Example
m1=1.0 k-s2/in
m2=1.5
k1=60 k/in
k2=120 k/in
3h
m3=2.0
Recall
T1 = 1.37 sec
k3=180 k/in
Instructional Material Complementing FEMA 451, Design Examples
MDOF Dynamics 4 - 110
ELF Procedure Example
Total weight = M x g = (1.0 + 1.5 + 2.0) 386.4 = 1738 kips
Spectral acceleration = w2SD = (2p/1.37)2 x 3.47 = 72.7
in/sec2 = 0.188g
Spectral Displacement, Inches
7.00
6.00
5.00
4.00
3.47 in.
3.00
2.00
1.00
1.37sec
0.00
0.00
0.20
0.40
0.60
0.80
1.00
1.20
1.40
1.60
1.80
2.00
Period, Seconds
Base shear = SaW = 0.188 x 1738 = 327 kips
Instructional Material Complementing FEMA 451, Design Examples
MDOF Dynamics 4 - 111
ELF Procedure Example (Story Forces)
386(3h )
= 0.381VB = 0.375(327) = 125 kips
f3 =
386(3h ) + 579(2h ) + 722(h )
W=386 k
W=579 k
3h
W=722 k
125 k
125 k
(220 k)
125 k
250 k
(215 k)
77 k
327 k
(331 k)
327 k
Story Shear (k)
Instructional Material Complementing FEMA 451, Design Examples
MDOF Dynamics 4 - 112
ELF Procedure Example (Story Displacements)
Units = inches
Time History
(Envelope)
5.15
3.18
1.93
Modal Response
Spectrum
5.18
3.33
1.84
Instructional Material Complementing FEMA 451, Design Examples
ELF
5.98
3.89
1.82
MDOF Dynamics 4 - 113
ELF Procedure Example (Summary)
ELF procedure gives good correlation with
base shear (327 kips ELF vs 331 kips modal
response spectrum).
ELF story force distribution is not as good.
ELF underestimates shears in upper stories.
ELF gives reasonable correlation with displacements.
Instructional Material Complementing FEMA 451, Design Examples
MDOF Dynamics 4 - 114
Equivalent Lateral Force Procedure
Higher Mode Effects
1st Mode
=
2nd Mode
Instructional Material Complementing FEMA 451, Design Examples
Combined
MDOF Dynamics 4 - 115
ASCE 7-05 ELF Approach
Uses empirical period of vibration
Uses smoothed response spectrum
Has correction for higher modes
Has correction for overturning moment
Has limitations on use
Instructional Material Complementing FEMA 451, Design Examples
MDOF Dynamics 4 - 116
Approximate Periods of Vibration
Ta = Ct h
x
n
Ct = 0.028, x = 0.8 for steel moment frames
Ct = 0.016, x = 0.9 for concrete moment frames
Ct = 0.030, x = 0.75 for eccentrically braced frames
Ct = 0.020, x = 0.75 for all other systems
Note: For building structures only!
Ta = 0.1N
For moment frames < 12 stories in height, minimum
story height of 10 feet. N = number of stories.
Instructional Material Complementing FEMA 451, Design Examples
MDOF Dynamics 4 - 117
Adjustment Factor on Approximate Period
T = TaCu Tcomputed
SD1
> 0.40g
0.30g
0.20g
0.15g
< 0.1g
Cu
1.4
1.4
1.5
1.6
1.7
Applicable only if Tcomputed comes from a properly
substantiated analysis.
Instructional Material Complementing FEMA 451, Design Examples
MDOF Dynamics 4 - 118
ASCE 7 Smoothed Design Acceleration Spectrum
(for Use with ELF Procedure)
Spectral Response
Acceleration, Sa
V = CSW
SDS
Short
period
acceleration
1
SD1
Long period
acceleration
T = 0.2
T = 1.0
SDS
CS =
R
I
SD1
CS =
R
T
I
Varies
Period, T
Instructional Material Complementing FEMA 451, Design Examples
MDOF Dynamics 4 - 119
R is the response modification factor, a
function of system inelastic behavior. This is covered
in the topic on inelastic behavior. For now, use
R = 1, which implies linear elastic behavior.
I is the importance factor which depends on the
Seismic Use Group. I = 1.5 for essential facilities,
1.25 for important high occupancy structures,
and 1.0 for normal structures. For now, use I = 1.
Instructional Material Complementing FEMA 451, Design Examples
MDOF Dynamics 4 - 120
Distribution of Forces Along Height
Fx = CvxV
Cvx =
k
x
wxh
n
w h
i =1
k
i
Instructional Material Complementing FEMA 451, Design Examples
MDOF Dynamics 4 - 121
k Accounts for Higher Mode Effects
k = 0.5T + 0.75
(sloped portion only)
k
2.0
1.0
0.5
2.5
Period, sec
k=2
k=1
Instructional Material Complementing FEMA 451, Design Examples
MDOF Dynamics 4 - 122
ELF Procedure Example (Story Forces)
V = 327 kips
T = 1.37 sec
W = 386k
k = 0.5(1.37) + 0.75 = 1.435
146 k
(125 k)
146 k
W = 579k
120 k
(125 k)
266 k
3h
W = 722k
61 k
(77 k)
327 k
327 k
Story Shear (k)
Instructional Material Complementing FEMA 451, Design Examples
MDOF Dynamics 4 - 123
ASCE 7 ELF Procedure Limitations
Applicable only to regular structures with T
less than 3.5Ts. Note that Ts = SD1/SDS.
Adjacent story stiffness does not vary more than 30%.
Adjacent story strength does not vary more than 20%.
Adjacent story masses does not vary more than 50%.
If violated, must use more advanced analysis (typically
modal response spectrum analysis).
Instructional Material Complementing FEMA 451, Design Examples
MDOF Dynamics 4 - 124
ASCE 7 ELF Procedure
Other Considerations Affecting Loading
Orthogonal loading effects
Redundancy
Accidential torsion
Torsional amplification
P-delta effects
Importance factor
Ductility and overstrength
Instructional Material Complementing FEMA 451, Design Examples
MDOF Dynamics 4 - 125