Evaluation of Rayleigh damping and its influence on engineering demand parameter estimates

The effects of Rayleigh damping model on the engineering demand parameters of two steel moment‐resisting frame buildings were evaluated. Two‐dimensional models of the buildings were created and response history analysis were conducted for three different hazard levels. The response history analysis results indicate that mass‐proportional damping leads to high damping forces compared with restoring forces and may lead to overestimation of floor acceleration demands for both buildings. Stiffness‐proportional damping, on the other hand, is observed to suppress the higher‐mode effects in the nine‐story building resulting in lower story drift demands in the upper floors compared with other damping models. Rayleigh damping models, which combine mass‐proportional and stiffness‐proportional components, that are anchored at reduced modal frequencies lead to reasonable damping forces and floor acceleration demands for both buildings and does not suppress higher‐mode effects in the nine‐story building. Copyright © 2012 John Wiley & Sons, Ltd.     

Initial versus tangent stiffness‐based Rayleigh damping in inelastic time history seismic analyses

In the inelastic time history analyses of structures in seismic motion, part of the seismic energy that is imparted to the structure is absorbed by the inelastic structural model, and Rayleigh damping is commonly used in practice as an additional energy dissipation source. It has been acknowledged that Rayleigh damping models lack physical consistency and that, in turn, it must be carefully used to avoid encountering unintended consequences as the appearance of artificial damping. There are concerns raised by the mass proportional part of Rayleigh damping, but they are not considered in this paper. As far as the stiffness proportional part of Rayleigh damping is concerned, either the initial structural stiffness or the updated tangent stiffness can be used. The objective of this paper is to provide a comprehensive comparison of these two types of Rayleigh damping models so that a practitioner (i) can objectively choose the type of Rayleigh damping model that best fits her/his needs and (ii) is provided with useful analytical tools to design Rayleigh damping model with good control on the damping ratios throughout inelastic analysis. To that end, a review of the literature dedicated to Rayleigh damping within these last two decades is first presented; then, practical tools to control the modal damping ratios throughout the time history analysis are developed; a simple example is finally used to illustrate the differences resulting from the use of either initial or tangent stiffness‐based Rayleigh damping model. Copyright © 2013 John Wiley & Sons, Ltd.     

Modeling viscous damping in nonlinear response history analysis of buildings for earthquake excitation

The Rayleigh damping model, which is pervasive in nonlinear response history analysis (RHA) of buildings, is shown to develop ‘spurious’ damping forces and lead to inaccurate response results. We prove that a viscous damping matrix constructed by superposition of modal damping matrices—irrespective of the number of modes included or values assigned to modal damping ratios—completely eliminates the ‘spurious’ damping forces. This is the damping model recommended for nonlinear RHA. Replacing the stiffness‐proportional part of Rayleigh damping by the tangent stiffness matrix is shown to improve response results. However, this model is not recommended because it lacks a physical basis and has conceptual implications that are troubling: hysteresis in damping force–velocity relationship and negative damping at large displacements. Furthermore, the model conflicts with the constant‐damping model that has been the basis for fundamental concepts and accumulated experience about the inelastic response of structures. With a distributed plasticity model, the structural response is not sensitive to the damping model; even the Rayleigh damping model leads to acceptable results. This perspective on damping provides yet another reason to employ the superior distributed plasticity models in nonlinear RHA. OpenSees software has been extended to include a damping matrix defined as the superposition of modal damping matrices. Although this model leads to a full populated damping matrix, the additional computational demands are demonstrated to be minimal. Copyright © 2015 John Wiley & Sons, Ltd.     

Discussion of ‘Modelling viscous damping in nonlinear response history analysis of buildings for earthquake excitation’ by Anil K. Chopra and Frank McKenna

This discussion deals with recommendations in the paper on appropriate damping formulations for use in nonlinear response history analysis of buildings. Concern over potentially excessive damping forces and moments should extend beyond the damping moments produced by the stiffness proportional part of Rayleigh damping that corresponds to rotational springs used to explicitly model plastic hinges. The key to an appropriate damping formulation for nonlinear analysis is a realistic mechanism that allows all damping forces and moments to be meaningfully assessed. Then features can be added to keep these forces and moments within reasonable bounds. Copyright © 2016 John Wiley & Sons, Ltd.     

Appropriate viscous damping for nonlinear time‐history analysis of base‐isolated reinforced concrete buildings

There is no consensus at the present time regarding an appropriate approach to model viscous damping in nonlinear time‐history analysis of base‐isolated buildings because of uncertainties associated with quantification of energy dissipation. Therefore, in this study, the effects of modeling viscous damping on the response of base‐isolated reinforced concrete buildings subjected to earthquake ground motions are investigated. The test results of a reduced‐scale three‐story building previously tested on a shaking table are compared with three‐dimensional finite element simulation results. The study is primarily focused on nonlinear direct‐integration time‐history analysis, where many different approaches of modeling viscous damping, developed within the framework of Rayleigh damping are considered. Nonlinear direct‐integration time‐history analysis results reveal that the damping ratio as well as the approach used to model damping has significant effects on the response, and quite importantly, a damping ratio of 1% is more appropriate in simulating the response than a damping ratio of 5%. It is shown that stiffness‐proportional damping, where the coefficient multiplying the stiffness matrix is calculated from the frequency of the base‐isolated building with the post‐elastic stiffness of the isolation system, provides reasonable estimates of the peak response indicators, in addition to being able to capture the frequency content of the response very well. Furthermore, nonlinear modal time‐history analyses using constant as well as frequency‐dependent modal damping are also performed for comparison purposes. It was found that for nonlinear modal time‐history analysis, frequency‐dependent damping, where zero damping is assigned to the frequencies below the fundamental frequency of the superstructure for a fixed‐base condition and 5% damping is assigned to all other frequencies, is more appropriate, than 5% constant damping. Copyright © 2013 John Wiley & Sons, Ltd.     

Operator‐splitting method for real‐time substructure testing

It has been shown that the operator‐splitting method (OSM) provides explicit and unconditionally stable solutions for quasi‐static pseudo‐dynamic substructure testing. However, the OSM provides only an explicit target displacement but not an explicit target velocity, so that it is essentially an implicit method for real‐time substructure testing (RST) when the velocity‐dependent restoring force is considered. This paper proposes a target velocity formulation based on the forward difference of the predicted displacements so as to render the OSM explicit for RST. The stability and accuracy of the resulting OSM‐RST algorithm are investigated. It is shown that the OSM‐RST is unconditionally stable so long as the non‐linear stiffness and damping are of the softening type (i.e. the tangent stiffness and damping never exceed the initial values). The stability of the OSM‐RST for structures with infinite tangent damping coefficient or stiffness is also proved, and the stability of the method for MDOF structures with a non‐classical damping matrix is demonstrated by an energy criterion. The effects of actuator delay and compensation are analysed based on the bilinear approximation of the actuator step response. Experiments on damped SDOF and MDOF structures verify that the stability of the OSM‐RST is preserved when the experimental substructure generates velocity‐dependent reaction forces, whereas the stability of real‐time substructure tests based on the central difference method is worsened by the damping of the specimen. Copyright © 2005 John Wiley & Sons, Ltd.     

Time‐domain viscoelastic analysis of earth structures

In this paper two causal models that approximate the nearly frequency‐independent cyclic behaviour of soils are analysed in detail. The study was motivated by the need to conduct time‐domain viscoelastic analysis on soil structures without adopting the ad hoc assumption of Rayleigh damping. First, the causal hysteretic model is introduced in which its imaginary part is frequency independent the same way that is the imaginary part of the popular non‐causal constant hysteretic model. The adoption of an imaginary part that is frequency independent even at the zero‐frequency limit, in conjunction with the condition that the proposed model should be causal, yields a real part that is frequency dependent and singular at zero frequency. The paper shows that the causal hysteretic model, although pathological at the static limit, is the mathematical connection between the non‐causal constant hysteretic model and the physically realizable Biot model. The mathematical structure of the two causal models is examined and it is shown that the causal hysteretic model is precisely the high‐frequency limit of the Biot model. Although both models have a closed‐form time‐domain representation, only the Biot model is suitable for a time‐domain viscoelastic analysis with commercially available computer software. The paper demonstrates that the simplest, causal and physically realizable linear hysteretic model that can approximate the cyclic behaviour of soil is the Biot model. The proposed study elucidates how the dynamic analysis of soil structures can be conducted rigorously in terms of the viscoelastic properties of the soil material and not with the ad hoc Rayleigh damping approach which occasionally has been criticized that tends to overdamp the higher vibration modes. The study concludes that under pulse‐type motions the Rayleigh damping approximation tends to overestimate displacements because of the inappropriate viscous type of dissipation that is imposed. Under longer motions that induce several cycles, the concept of equivalent viscous damping is more appropriate and the Rayleigh damping approximation results to a response that is comparable to the response computed with a rigorous time‐domain viscoelastic finite element analysis. Copyright © 2000 John Wiley & Sons, Ltd.     

多级串联非比例阻尼隔震结构地震响应分析

建立了多级串联非比例阻尼隔震结构动力分析模型;引用分区瑞利阻尼模型将非比例阻尼矩阵分解为瑞利阻尼矩阵和体现非比例阻尼的余项阻尼矩阵,推导出结构的阻尼矩阵;并编制了MATLAB动力时程分析程序,对一实际隔震工程进行地震响应分析.结果表明:随着下部结构刚度的增加,结构的层剪力比和隔震层位移响应峰值均趋向于基础隔震结构的对应值;当下部结构为一层,且层间刚度大于上部结构底层层间刚度4～6倍时,可以近似按基础隔震结构进行动力分析.     

Response analysis of rigid structures rocking on viscoelastic foundation

In this paper the rocking response of slender/rigid structures stepping on a viscoelastic foundation is revisited. The study examines in depth the motion of the system with a non‐linear analysis that complements the linear analysis presented in the past by other investigators. The non‐linear formulation combines the fully non‐linear equations of motion together with the impulse‐momentum equations during impacts. The study shows that the response of the rocking block depends on the size, shape and slenderness of the block, the stiffness and damping of the foundation and the energy loss during impact. The effect of the stiffness and damping of the foundation system along with the influence of the coefficient of restitution during impact is presented in rocking spectra in which the peak values of the response are compared with those of the rigid block rocking on a monolithic base. Various trends of the response are identified. For instance, less slender and smaller blocks have a tendency to separate easier, whereas the smaller the angle of slenderness, the less sensitive the response to the flexibility, damping and coefficient of restitution of the foundation. Copyright © 2008 John Wiley & Sons, Ltd.     

Pseudodynamic response of torsionally unbalanced two‐storey test structure

Two one‐way eccentric, two‐storey, one‐by‐one‐bay reinforced concrete (RC) structures are pseudodynamically tested under unidirectional ground motions. Theoretical considerations about the effect of torsional coupling on modal periods and shapes agree with modal results of the test structure, considering member stiffness is equal to the secant stiffness to yielding in skew‐symmetric bending. Modal periods of such an elastic structure are in fair agreement with effective periods inferred from the measured response at the beginning of a test of a thoroughly cracked structure and at the end of the test. A time‐varying stiffness matrix and a non‐proportional damping matrix fitted to the test results may be used to reproduce the measured response approximately by modal superposition and identify the role of the four time‐varying modes. Flexible side columns sustained very large drift demands simultaneously in the two transverse directions and suffered significant but not heavy, damage at lap‐splices. RC‐jacketing of the flexible side columns practically eliminated the static eccentricity between the floor centres of twist and mass as well as the torsional response. Inelastic time‐history analysis with point‐hinge member models, using as elastic stiffness the secant stiffness to yielding and neglecting post‐ultimate‐strength cyclic degradation of resistance in members with plain bars and poor detailing, predicted fairly well the response until the peak displacements and member deformations occurred. After that, it underestimated displacement peaks and the lengthening of the apparent period and missed the gradual drifting of the response towards a permanent offset. Copyright © 2007 John Wiley & Sons, Ltd.     

Non‐parametric–parametric model for random uncertainties in non‐linear structural dynamics: application to earthquake engineering

This paper deals with the transient response of a non‐linear dynamical system with random uncertainties. The non‐parametric probabilistic model of random uncertainties recently published and extended to non‐linear dynamical system analysis is used in order to model random uncertainties related to the linear part of the finite element model. The non‐linearities are due to restoring forces whose parameters are uncertain and are modeled by the parametric approach. Jayne's maximum entropy principle with the constraints defined by the available information allows the probabilistic model of such random variables to be constructed. Therefore, a non‐parametric–parametric formulation is developed in order to model all the sources of uncertainties in such a non‐linear dynamical system. Finally, a numerical application for earthquake engineering analysis is proposed concerning a reactor cooling system under seismic loads. Copyright © 2003 John Wiley & Sons, Ltd.     

Semi‐active control of sliding isolated bridges using MR dampers: an experimental and numerical study

Sliding base‐isolation systems used in bridges reduce pier drifts, but at the expense of increased bearing displacements under near‐source pulse‐type earthquakes. It is common practice to incorporate supplemental passive non‐linear dampers into the isolation system to counter increased bearing displacements. Non‐linear passive dampers can certainly reduce bearing displacements, but only with increased isolation level forces and pier drifts. The semi‐active controllable non‐linear dampers, which can vary damping in real time, can reduce bearing displacements without further increase in forces and pier drifts; and hence deserve investigation. In this study performance of such a ‘smart’ sliding isolation system, used in a 1:20 scaled bridge model, employing semi‐active controllable magneto‐rheological (MR) dampers is investigated, analytically and experimentally, under several near‐fault earthquakes. A non‐linear analytical model, which incorporates the non‐linearities of sliding bearings and the MR damper, is developed. A Lyapunov control algorithm for control of the MR damper is developed and implemented in shake table tests. Analytical and shake table test results are compared. It is shown that the smart MR damper reduces bearing displacements further than the passive low‐ and high‐damping cases, while maintaining isolation level forces less than the passive high‐damping case. Copyright © 2005 John Wiley & Sons, Ltd.     

Numerical artifacts associated with Rayleigh and modal damping models of inelastic structures with massless coordinates

The paper presents a detailed reexamination of the effects of three damping models on the inelastic seismic response of structures with massless degrees of freedom. The models considered correspond to (a) Rayleigh damping based on current properties (tangent stiffness), (b) Rayleigh damping based on initial properties, and (c) modal damping. The results suggest that some nonzero damping forces/moments at massless DOFs obtained in multistory frames for the case of Rayleigh damping with tangent stiffness may be numerical artifacts rather than a deficiency of the damping model. The results also indicate that significant artificial numerical oscillations in the velocities of the secondary components of MDOF structures are introduced when modal damping or mass-proportional damping is used.     

Simplified seismic analysis of one‐way asymmetric elastic systems with supplemental damping

This study investigates the effectiveness of the modal analysis using two‐degree‐of‐freedom (2DOF) modal stick to deal with the seismic analysis of one‐way asymmetric elastic systems with supplemental damping. The 2DOF modal stick possessing the non‐proportional damping property enables the modal translation and rotation to not be proportional even at elastic state. The analytical results of one‐storey and three‐storey buildings obtained by the proposed method are compared with those obtained by direct integration of the equation of motion and conventional approximate method, which neglects the off‐diagonal elements in the transformed damping matrix. It is found that the proposed simplified method, compared to conventional approximate methods, can significantly improve the accuracy of the analytical results and, at the same time, without obviously increasing computational efforts. Copyright © 2006 John Wiley & Sons, Ltd.     

System identification of the Vincent Thomas suspension bridge using earthquake records

The Vincent Thomas Bridge in the Los Angeles metropolitan area, is a critical artery for commercial traffic flow in and out of the Los Angeles Harbor, and is at risk in the seismically active Southern California region, particularly because it straddles the Palos Verdes fault zone. A combination of linear and non‐linear system identification techniques is employed to obtain a complete reduced‐order, multi‐input–multi‐output (MIMO) dynamic model of the Vincent Thomas Bridge based on the dynamic response of the structure to the 1987 Whittier and 1994 Northridge earthquakes. Starting with the available acceleration measurements (which consists of 15 accelerometers on the bridge structure and 10 accelerometers at various locations on its base), an efficient least‐squares‐based time‐domain identification procedure is applied to the data set to develop a reduced‐order, equivalent linear, multi‐degree‐of‐freedom model. Although not the main focus of this study, the linear system identification method is also combined with a non‐parametric identification technique, to generate a reduced‐order non‐linear mathematical model suitable for use in subsequent studies to predict, with good fidelity, the total response of the bridge under arbitrary dynamic environments. Results of this study yield measurements of the equivalent linear modal properties (frequencies, mode shapes and non‐proportional damping) as well as quantitative measures of the extent and nature of non‐linear interaction forces arising from strong ground shaking. It is shown that, for the particular subset of observations used in the identification procedure, the apparent non‐linearities in the system restoring forces are quite significant, and they contribute substantially to the improved fidelity of the model. Also shown is the potential of the identification technique under discussion to detect slight changes in the structure's influence coefficients, which may be indicators of damage and degradation in the structure being monitored. Difficulties associated with accurately estimating damping for lightly damped long‐span structures from their earthquake response are discussed. The technical issues raised in this paper indicate the need for added spatial resolution in sensor instrumentation to obtain identified mathematical models of structural systems with the broadest range of validity. Copyright © 2003 John Wiley & Sons, Ltd.     

Joint inversion of Rayleigh‐wave dispersion data and vertical electric sounding data: synthetic tests on characteristic sub‐surface models

In the traditional inversion of the Rayleigh dispersion curve, layer thickness, which is the second most sensitive parameter of modelling the Rayleigh dispersion curve, is usually assumed as correct and is used as fixed a priori information. Because the knowledge of the layer thickness is typically not precise, the use of such a priori information may result in the traditional Rayleigh dispersion curve inversions getting trapped in some local minima and may show results that are far from the real solution. In this study, we try to avoid this issue by using a joint inversion of the Rayleigh dispersion curve data with vertical electric sounding data, where we use the common‐layer thickness to couple the two methods. The key idea of the proposed joint inversion scheme is to combine methods in one joint Jacobian matrix and to invert for layer S‐wave velocity, resistivity, and layer thickness as an additional parameter, in contrast with a traditional Rayleigh dispersion curve inversion. The proposed joint inversion approach is tested with noise‐free and Gaussian noise data on six characteristic, synthetic sub‐surface models: a model with a typical dispersion; a low‐velocity, half‐space model; a model with particularly stiff and soft layers, respectively; and a model reproduced from the stiff and soft layers for different layer‐resistivity propagation. In the joint inversion process, the non‐linear damped least squares method is used together with the singular value decomposition approach to find a proper damping value for each iteration. The proposed joint inversion scheme tests many damping values, and it chooses the one that best approximates the observed data in the current iteration. The quality of the joint inversion is checked with the relative distance measure. In addition, a sensitivity analysis is performed for the typical dispersive sub‐surface model to illustrate the benefits of the proposed joint scheme. The results of synthetic models revealed that the combination of the Rayleigh dispersion curve and vertical electric sounding methods in a joint scheme allows to provide reliable sub‐surface models even in complex and challenging situations and without using any a priori information.     

地震作用下多层剪切型组合结构的合理综合阻尼比取值探讨

对于组合结构,提出了一种新的基于单元瑞利阻尼模型的应变能振型阻尼比,并证明了其在特定整体阻尼矩阵下与强迫解耦法的等价性;推导了具有明确理论依据的综合阻尼比计算公式,并基于相应的应变能振型阻尼比得出了结构的刚度综合阻尼比和瑞利综合阻尼比。分别采用复振型分解法和振型分解法对算例结构进行了地震荷载作用下的弹性时程分析,结果表明,瑞利综合阻尼比对于以剪切变形为主的多层组合结构具有良好的计算精度和适用性。     

Effects of the improper modeling of viscous damping on the first-mode and higher-mode dominated responses of base-isolated buildings

In many finite element platforms, a classical global damping matrix based on the elastic stiffness of the system (including isolators) is usually developed as part of the solution to the equations of motion of base-isolated buildings. The conducted analytical and numerical investigations illustrate that this approach can lead to the introduction of unintended damping to the first and higher vibration modes and the spurious suppression of the respective structural responses. A similar shortcoming might be observed even when a nonclassical damping model (ie, an assembly of the superstructure and isolation system damping sub-matrices) is used. For example, the use of Rayleigh damping approach to develop the superstructure damping sub-matrix can lead to the undesired addition of damping to the isolated mode arising from the mass-proportional component of the superstructure damping. On the other hand, the improper use of nonclassical stiffness-proportional damping (eg, determining the proportional damping coefficient, β_k , based on the first mode) can result in assigning significant damping to the higher-modes and the unintended mitigation of the higher-mode responses. Results show that a nonclassical stiffness-proportional model in which β_k is determined based on the second modal period of a base-isolated building can reasonably specify the intended damping to the higher modes without imparting undesirable damping to the first mode. The nonclassical stiffness-proportional damping can be introduced to the numerical model through explicit viscous damper elements attached between adjacent floors. In structural analysis software such as SAP2000®, the desired nonclassical damping can be also modeled through specifying damping solely to the superstructure material.     

A method for the transfer function matrix of combined primary–secondary systems using classical modal decomposition

An iterative method is presented to compute the transfer function matrix of combined primary–secondary systems for seismic response analysis. It accounts for non‐proportional damping and dynamic interaction of the combined system. A closed form sequence is developed for the iterative computation of the transfer function matrix. Such sequence is assembled using independently the real classical mode frequencies, shapes and damping ratios of the primary system, and the natural frequency and critical damping ratio of the SDOF secondary system. The necessary and sufficient condition for convergence of the sequence is given in the paper. The method is illustrated through a couple of examples, including one of an appendix connected to a multi‐storey shear building. Convergence of the method is thoroughly analysed and peak responses are obtained using a spectral density function approach. Copyright © 2005 John Wiley & Sons, Ltd.     

On the accuracy of simplified methods for the analysis of isolated bridges

To foster the use of seismic isolation in structures, existing guidelines strive to formulate design methods which are simple and accessible to non‐specialized engineers. On the other hand, not all of the simplifying provisions adopted by the norms can be said to have been adequately tested to provide a consistent level of accuracy. The study attempts, in particular, to elucidate three aspects related to the methods of analysis for linear or linearized isolated bridges on which little or no advice can be found in the norms. The first one is about the way one has to account for the fact that damping matrices of isolated bridges are never of proportional type. The present study demonstrates, through a number of typical applications, that classical modal analysis, using real modes and the diagonal terms of the modal damping matrices, still provide a fully acceptable approximation. The second and third aspects are related to the use of linearization expressions extended to the analysis of hyperstatic bridges. Parametric analyses conducted in the study show that none of the formulas in current use gives satisfactory results for both the displacement and the force responses, a requirement for a reliable design of an isolated bridge. How to use the equivalent linear parameters, and in particular the isolators equivalent damping ratios, in the context of a modal analysis, is treated next. This problem is seldom if ever mentioned in the norms where at most a formula is given for constructing modal damping ratios based on the damping ratios of the isolators. A rational, approximate procedure is discussed in this paper, applicable to all types of structures with non‐proportional damping, which in the case of bridges can be shown to reduce to the expression provided in the Japanese bridge design guidelines. Copyright © 2001 John Wiley & Sons, Ltd.