A macro‐element model for non‐linear soil–shallow foundation–structure interaction under seismic loads: theoretical development and experimental validation on large scale tests

In this paper, different formulations of a macro‐element model for non‐linear dynamic soil‐structure interaction analyses of structures lying on shallow foundations are first reviewed, and secondly, a novel formulation is introduced, which combines some of the characteristics of previous approaches with several additional features. This macro‐element allows one to model soil‐footing geometric (uplift) and material (soil plasticity) non‐linearities that are coupled through a stiffness degradation model. Footing uplift is introduced by a simple non‐linear elastic model based on the concept of effective foundation width, whereas soil plasticity is treated by means of a bounding surface approach in which a vertical load mapping rule is implemented. This mapping is particularly suited for the seismic loading case for which the proposed model has been conceived. The new macro‐element is subsequently validated using cyclic and dynamic large‐scale laboratory tests of shallow foundations on dense sand, namely: the TRISEE cyclic tests, the Public Works Research Institute and CAMUS IV shaking table tests. Based on this comprehensive validation process against a set of independent experimental results, a unique set of macro‐element parameters for shallow foundations on dense sand is proposed, which can be used to perform predictive analyses by means of the present model. Copyright © 2011 John Wiley & Sons, Ltd.     

A novel predictor–corrector algorithm for sub‐structure pseudo‐dynamic testing

A new predictor–corrector (P–C) method for multi‐site sub‐structure pseudo‐dynamic (PSD) test is proposed. This method is a mixed time integration method in which computational components separable from experimental components are solved by implicit time integration method (Newmark β method). The experiments are performed quasi‐statically based on explicit prediction of displacement. The proposed P–C method has an important advantage as it does not require the determination of the initial stiffness values of experimental components and is thus suitable for representing elastic and inelastic systems. A parameter relating to quality of displacement prediction at boundaries nodes is introduced. This parameter is determined such that P–C method can be applicable to many practical problems. Error‐propagation characteristics of P–C method are also presented. A series of examples including linear and non‐linear soil–foundation–structure interaction problem demonstrate the performance of the proposed method. Copyright © 2005 John Wiley & Sons, Ltd.     

Probabilistic evaluation of soil–foundation–structure interaction effects on seismic structural response

Complex seismic behaviour of soil–foundation–structure (SFS) systems together with uncertainties in system parameters and variability in earthquake ground motions result in a significant debate over the effects of soil–foundation–structure interaction (SFSI) on structural response. The aim of this study is to evaluate the influence of foundation flexibility on the structural seismic response by considering the variability in the system and uncertainties in the ground motion characteristics through comprehensive numerical simulations. An established rheological soil‐shallow foundation–structure model with equivalent linear soil behaviour and nonlinear behaviour of the superstructure has been used. A large number of models incorporating wide range of soil, foundation and structural parameters were generated using a robust Monte‐Carlo simulation. In total, 4.08 million time‐history analyses were performed over the adopted models using an ensemble of 40 earthquake ground motions as seismic input. The results of the analyses are used to rigorously quantify the effects of foundation flexibility on the structural distortion and total displacement of the superstructure through comparisons between the responses of SFS models and corresponding fixed‐base (FB) models. The effects of predominant period of the FB system, linear vs nonlinear modelling of the superstructure, type of nonlinear model used and key system parameters are quantified in terms of different probability levels for SFSI effects to cause an increase in the structural response and the level of amplification of the response in such cases. The results clearly illustrate the risk of underestimating the structural response associated with simplified approaches in which SFSI and nonlinear effects are ignored. Copyright © 2010 John Wiley & Sons, Ltd.     

Dynamic interaction of bridge–train system under non‐uniform seismic ground motion

The probability that an earthquake occurs when a train is running over a bridge in earthquake‐prone regions is much higher than before, for high‐speed railway lines are rapidly developed to connect major cities worldwide. This paper presents a finite element method‐based framework for dynamic analysis of coupled bridge–train systems under non‐uniform seismic ground motion, in which rail–wheel interactions and possible separations between wheels and rails are taken into consideration. The governing equations of motion of the coupled bridge–train system are established in an absolute coordinate system. Without considering the decomposition of seismic responses into pseudo‐static and inertia‐dynamic components, the equations of motion of the coupled system are formed in terms of displacement seismic ground motions. The mode superposition method is applied to the bridge structure to make the problem manageable while the Newmark‐β method with an iterative computation scheme is used to find the best solution for the problem concerned. Eight high‐speed trains running over a multi‐span steel truss‐arch bridge subject to earthquakes are taken as a case study. The results from the case study demonstrate that the spatial variation of seismic ground motion affects dynamic responses of the bridge–train system. The ignorance of pseudo‐static component when using acceleration seismic ground motions as input may underestimate seismic responses of the bridge–train system. The probability of separation between wheels and rails becomes higher with increasing train speed. Copyright © 2011 John Wiley & Sons, Ltd.     

Seismic behaviour of shallow foundations: Shaking table experiments vs numerical modelling

The capability of a simplified approach to model the behaviour of shallow foundations during earthquakes is explored by numerical simulation of a series of shaking table tests performed at the Public Works Research Institute, Tsukuba, Japan. After a summary of the experimental work, the numerical model is introduced, where the whole soil–foundation system is represented by a multi‐degrees‐of‐freedom elasto‐plastic macro‐element, supporting a single degree‐of‐freedom superstructure. In spite of its simplicity and of the large intensity of the excitation involving a high degree of nonlinearity in the foundation response, the proposed approach is found to provide very satisfactory results in predicting the rocking behaviour of the system and the seismic actions transmitted to the superstructure. The agreement is further improved by introducing a simple degradation rule of the foundation stiffness parameters, suitable to capture even some minor details of the observed rocking response. On the other hand, the performance of the model is not fully satisfactory in predicting vertical settlements. Copyright © 2007 John Wiley & Sons, Ltd.     

Free‐vibration analysis of a three‐dimensional soil–structure system

A procedure which involves a non‐linear eigenvalue problem and is based on the substructure method is proposed for the free‐vibration analysis of a soil–structure system. In this procedure, the structure is modelled by the standard finite element method, while the unbounded soil is modelled by the scaled boundary finite element method. The fundamental frequency, and the corresponding radiation damping ratio as well as the modal shape are obtained by using inverse iteration. The free vibration of a dam–foundation system, a hemispherical cavity and a hemispherical deposit are analysed in detail. The numerical results are compared with available results and are also verified by the Fourier transform of the impulsive response calculated in the time domain by the three‐dimensional soil–structure–wave interaction analysis procedure proposed in our previous paper. The fundamental frequency obtained by the present procedure is very close to that obtained by Touhei and Ohmachi, but the damping ratio and the imaginary part of modal shape are significantly different due to the different definition of damping ratio. This study shows that although the classical mode‐superposition method is not applicable to a soil–structure system due to the frequency dependence of the radiation damping, it is still of interest in earthquake engineering to evaluate the fundamental frequency and the corresponding radiation damping ratio of the soil–structure system. Copyright © 2001 John Wiley & Sons, Ltd.     

Modelling three‐dimensional non‐linear seismic performance of elevated bridges with emphasis on pounding of girders

Unseating of bridge girders/decks during earthquakes is very harmful to the safety and serviceability of bridges. Evidence from recent severe earthquakes indicates that in addition to damage along longitudinal direction, lateral displacement and rotation of bridge girders caused by pounding to adjacent girders can also lead to unseating. To simulate this effect, 3D modelling of the dynamic performance of whole bridge structures, including pounding, is needed strongly. This paper presents a 3D model that is practically suitable to precisely analyse pounding between bridge girders. Experiments have been conducted to verify the proposed pounding model. The 3D non‐linear modelling of steel elevated bridges is also discussed. A general‐purpose dynamic analysis program for bridges, namely dynamic analysis of bridge systems (DABS) has been developed. Seismic analyses on a chosen three‐span steel bridge are conducted for several cases including pounding as a case study. The applicability of the proposed pounding model is illustrated by the computations. The effects of poundings on the response of bridge girders are discussed and the computation results are given. Copyright © 2002 John Wiley & Sons, Ltd.     

Influence of dynamic soil–structure interaction on the nonlinear response and seismic reliability of multistorey systems

A set of reinforced concrete structures with gravitational loads and mechanical properties (strength and stiffness) representative of systems designed for earthquake resistance in accordance with current criteria and methods is selected to study the influence of dynamic soil–structure interaction on seismic response, ductility demands and reliability levels. The buildings are considered located at soft soil sites in the Valley of Mexico and subjected to ground motion time histories simulated in accordance with characteristic parameters of the maximum probable earthquake likely to occur during the system's expected life. For the near‐resonance condition the effects of soil–structure interaction on the ductility demands depend mainly on radiation damping. According to the geometry of the structures studied this damping is strongly correlated with the aspect ratio, obtained by dividing the building height by its width. In this way, for structures with aspect ratio greater than 1.4 the storey and global ductility demands increase with respect to those obtained with the same structures but on rigid base, while for structures with aspect ratio less than 1.4 the ductility demands decrease with respect to those for the structures on rigid base. For the cases when the fundamental period of the structure has values very different from the dominant ground period, soil–structure interaction leads in all cases to a reduction of the ductility demands, independently of the aspect ratio. The reliability index β is obtained as a function of the base shear ratio and of the seismic intensity acting on the nonlinear systems subjected to the simulated motions. The resulting reliability functions are very similar for systems on rigid or on flexible foundation, provided that in the latter case the base rotation and the lateral displacement are removed from the total response of the system. Copyright © 2006 John Wiley & Sons, Ltd.     

Simulations of non‐stationary frequency content and its importance to seismic assessment of structures

To verify the importance of the non‐stationary frequency characteristic of seismic ground motion, a joint time–frequency analysis technique of time signals, called chirplet‐based signal approximation, is developed to extract the non‐stationary frequency information from the recorded data. The chirplet‐based signal approximation is clear in concept, similar to Fourier Transform in mathematical expressions but with different base functions. Case studies show that the chirplet‐based signal approximation can represent the joint time–frequency variation of seismic ground motion quite well. Both the random models of uniform modulating process and evolutionary process are employed to generate artificial seismic waves. The joint time–frequency modulating function in the random model of evolutionary process is determined by chirplet‐based signal approximation. Finally, non‐linear response analysis of a SODF system and a frame structure is performed based on the generated artificial seismic waves. The results show that the non‐stationary frequency characteristic of seismic ground motion can significantly change the non‐linear response characteristics of structures, particularly when a structure goes into collapse phase under seismic action. It is concluded that non‐stationary frequency characteristic of seismic ground motion should be considered for the assessment of seismic capacity of structures. Copyright © 2002 John Wiley & Sons, Ltd.     

A method for coupled arch dam‐foundation‐reservoir seismic behaviour analysis

This paper presents a method for coupled arch dam–foundation–reservoir seismic behaviour analysis. The dam is discretized by finite elements (FE) and the foundation and reservoir are discretized by boundary elements (BE). The opening of contraction joints and the spatial variability of the seismic action is taken into account. The study of Pacoima dam by this method is also presented. The computed results show that no cracks were to be expected due to the vibrations induced during the Feb. 9, 1971 San Fernando earthquake. Copyright © 2000 John Wiley & Sons, Ltd.     

System identification for evaluating soil–structure interaction effects in buildings from strong motion recordings

Parametric system identification is used to evaluate seismic soil–structure interaction effects in buildings. The input–output strong motion data pairs needed for evaluations of flexible- and fixed-base fundamental mode parameters are derived. Recordings of lateral free-field, foundation, and roof motions, as well as foundation rocking, are found to be necessary for direct evaluations of modal parameters for both cases of base fixity. For the common situation of missing free-field or base rocking motions, procedures are developed for estimating the modal parameters that cannot be directly evaluated. The accuracy of these estimation procedures for fundamental mode vibration period and damping is verified for eleven sites with complete instrumentation of the structure, foundation, and free-field. © 1998 John Wiley & Sons, Ltd.     

Response simulation and seismic assessment of highway overcrossings

Interaction of bridge structures with the adjacent embankment fills and pile foundations is generally responsible for response modification of the system to strong ground excitations, to a degree that depends on soil compliance, support conditions, and soil mass mobilized in dynamic response. This paper presents a general modeling and assessment procedure specifically targeted for simulation of the dynamic response of short bridges such as highway overcrossings, where the embankment soil–structure interaction is the most prevalent. From previous studies it has been shown that in this type of interaction, seismic displacement demands are magnified in the critical bridge components such as the central piers. This issue is of particular relevance not only in new design but also in the assessment of the existing infrastructure. Among a wide range of issues relevant to soil–structure interaction, typical highway overcrossings that have flexible abutments supported on earth embankments were investigated extensively in the paper. Simulation procedures are proposed for consideration of bridge‐embankment interaction effects in practical analysis of these structures for estimation of their seismic performance. Results are extrapolated after extensive parametric studies and are used to extract ready‐to‐use, general, and parameterized capacity curves for a wide range of possible material properties and geometric characteristics of the bridge‐embankment assembly. Using two instrumented highway overpasses as benchmark examples, the capacity curves estimated using the proposed practical procedures are correlated successfully with the results of explicit incremental dynamic analysis, verifying the applicability of the simple tools developed herein, in seismic assessment of existing short bridges. Copyright © 2009 John Wiley & Sons, Ltd.     

Dynamic analysis of train–bridge system subjected to non‐uniform seismic excitations

Based on the theory of dynamic wheel–rail interactions, a dynamic model of coupled train–bridge system subjected to earthquakes is established, in which the non‐uniform characteristics of the seismic wave input from different foundations are considered. The bridge model is based on the modal comprehension analysis technique. Each vehicle is modelled with 31 degrees of freedom. The seismic loads are imposed on the bridge by using the influence matrix and exerted on the vehicles through the dynamic wheel–rail interaction relationships. The normal wheel–rail interaction is tackled by using the Hertzian contact theory, and the tangent wheel–rail interaction by the Kalker linear theory and the Shen–Hedrick–Elkins theory. A computer code is developed. A case study is performed to a continuous bridge on the planned Beijing–Shanghai high‐speed railway in China. Through input of typical seismic waves with different propagation velocities to the train–bridge system, the histories of the train running through the bridge are simulated and the dynamic responses of the bridge and the vehicles are calculated. The influences of train speed and seismic wave propagation velocity on the dynamic responses of the bridge–vehicle system are studied. The critical train speeds are proposed for running safety on high‐speed railway bridges under earthquakes of various intensities. Copyright © 2006 John Wiley & Sons, Ltd.     

Dynamic soil–structure interaction effects on the seismic response of suspension bridges

A stochastic approach has been formulated for the linear analysis of suspension bridges subjected to earthquake excitations. The transfer functions of various responses have been formulated while including the effects of dynamic Soil–Structure Interaction (SSI) via the use of the fixed-base modes of the structure. The excitation has been characterized by the ‘equivalent stationary’ processes corresponding to the free-field motions at each support and by an assumed coherency function between these motions. The proposed formulation considers the non-stationarity in the structural response due to sudden application of excitation by considering (i) the time-dependent frequency response functions, and (ii) the order statistics formulation for the peak factors in evolutionary response processes. The formulation has been illustrated by analysing the seismic response of the Golden Gate Bridge at San Francisco for two example excitations conforming to USNRC-specified design spectra. The significance of various governing parameters on the dynamic soil–structure interaction effects on the seismic response of suspension bridges has also been studied. It has been found that the contribution of the vertical component of ground motion to the bridge response increases with increasing soil compliance. Also, the extent to which the spatial variation of ground motion affects the bridge response depends on how significant the SSI effects are. Copyright © 1999 John Wiley & Sons Ltd.     

Optimum lateral load pattern for seismic design of elastic shear‐buildings incorporating soil–structure interaction effects

Recently, several new optimum loading patterns have been proposed by researchers for fixed‐base systems while their adequacy for soil–structure systems has not been evaluated yet. Through intensive dynamic analyses of multistory shear‐building models with soil–structure interaction subjected to a group of 21 artificial earthquakes adjusted to soft soil design spectrum, the adequacy of these optimum patterns is investigated. It is concluded that using these patterns the structures generally achieve near optimum performance in some range of periods. However, their efficiency reduces as soil flexibility increases especially when soil–structure interaction effects are significant. In the present paper, using the uniform distribution of damage over the height of structures, as the criterion, an optimization algorithm for seismic design of elastic soil–structure systems is developed. The effects of fundamental period, number of stories, earthquake excitation, soil flexibility, building aspect ratio, damping ratio and damping model on optimum distribution pattern are investigated. On the basis of 30,240 optimum load patterns derived from numerical simulations and nonlinear statistical regression analyses, a new lateral load pattern for elastic soil–structure systems is proposed. It is a function of the fundamental period of the structure, soil flexibility and structural slenderness ratio. It is shown that the seismic performance of such a structure is superior to those designed by code‐compliant or recently proposed patterns by researchers for fixed‐base structures. Using the proposed load pattern in this study, the designed structures experience up to 40% less structural weight as compared with the code‐compliant or optimum patterns developed based on fixed‐base structures. Copyright © 2012 John Wiley & Sons, Ltd.     

Non‐iterative time integration scheme for non‐linear dynamic FEM analysis

This paper proposes a non‐iterative time integration (NITI) scheme for non‐linear dynamic FEM analysis. The NITI scheme is constructed by combining explicit and implicit schemes, taking advantage of their merits, and enables stable computation without an iteration process for convergence even when used for non‐linear dynamic problems. Formulation of the NITI scheme is presented and its stability is studied. Although the NITI scheme is not unconditionally stable when applied to non‐linear problems, it is stable in most cases unless stiffness hardening occurs or the problem has a large velocity‐dependent term. The NITI scheme is applied to dynamic analysis of the non‐linear soil–structure system and computation results are compared with those by the central difference method (CDM). Comparison shows that the stability of the NITI scheme is superior to that of the CDM. Accuracy of the NITI scheme is verified because its results are identical with those by the CDM in which the time step is set as 1/10 of that for the NITI scheme. The application of the NITI scheme to the mesh‐partitioned FEM is also proposed. It is applied to dynamic analysis of the linear soil–structure system. It yields the same results as a conventional single‐domain FEM analysis using the Newmark β method. This result verifies the usability of mesh‐partitioned FEM analysis using the NITI scheme. Copyright © 2003 John Wiley& Sons, Ltd.     

A hybrid time frequency domain formulation for non-linear soil–structure interaction

Methods that combine frequency and time domain techniques offer an attractive alternative for solving Soil–Structure-interaction problems where the structure exhibits non-linear behaviour. In the hybrid-frequency-time-domain procedure a reference linear system is solved in the frequency domain and the difference between the actual restoring forces and those in the linear model are treated as pseudo-forces. In the solution scheme explored in this paper, designated as the hybrid-time-frequency-domain (HTFD) procedure, the equations of motion are solved in the time domain with due consideration for non-linearities and with the unbounded medium represented by frequency-independent springs and dampers. The frequency dependency of the impedance coefficients is introduced by means of pseudo-forces evaluated in the frequency domain at the end of each iteration. A criterion of stability for the HTFD approach is derived analytically and its validity is sustained numerically. As is often the case, the criterion takes the form of a limit of unity on the spectral radius of an appropriately defined matrix. Inspection of the terms in this matrix shows that convergence can be guaranteed by suitable selection of the reference impedance. The CPU times required to obtain converged solutions with the HTFD are found, in a number of numerical simulations, to be up to one order of magnitude less than those required by the alternative hybrid-frequency-time-domain approach. © 1998 John Wiley & Sons, Ltd.     

Investigation of the dynamic behaviour of a storage tank with different foundation types focusing on the soil‐foundation‐structure interactions using centrifuge model tests

This paper proposes a dynamic centrifuge model test method for the accurate simulation of the behaviours of a liquid storage tank with different types of foundations during earthquakes. The method can be used to determine the actual stress conditions of a prototype storage‐tank structure. It was used in the present study to investigate the soil‐foundation‐structure interactions of a simplified storage tank under two different earthquake motions, which were simulated using a shaking table installed in a centrifuge basket. Three different types of foundations were considered, namely, a shallow foundation, a slab on the surface of the ground connected to piles and a slab with disconnected piles. The test results were organised to compare the ground surface and foundation motions, the slab of foundation and top of structure motions and the horizontal and vertical motions of the slab, respectively. These were used to establish the complex dynamic behaviours of tank models with different foundations. The effects of soil–foundation–structure interaction with three foundation conditions and two different earthquake motions are focused and some important factors, that should be considered for future designs are also discussed in this research. Copyright © 2017 John Wiley & Sons, Ltd.     

Influence of free field variability on linear soil–structure interaction (SSI) by indirect integral representation

An integral equation for the representation of the response of a structure impinged by an incident wave field including soil–structure interaction is proposed. It requires the knowledge of the fundamental solution for the overall soil–structure domain when a unit load is applied to the structure. This fundamental solution is obtained by means of a substructuring technique and boundary integral equations using the Green tensors for homogeneous or horizontally stratified soil media. The effects of a non‐stationary modulated random incident field are addressed in terms of the instantaneous power spectral density of the structural response of interest for a given coherency function of the free field. Several applications of the proposed procedure are presented. The first one considers kinematic interaction of a rigid circular foundation and is used to validate the numerical implementation. The second one considers a complex structure on a stiff stratified soil and the last one considers the pounding effect between two adjacent, identical structures resting on a thin soft soil layer. Copyright © 2002 John Wiley & Sons, Ltd.     

Bridge–embankment interaction under transverse ground excitation

Seismic performance and dynamic response of bridge–embankments during strong or moderate ground excitations are investigated through finite element (FE) modelling and detailed dynamic analysis. Previous research studies have established that bridge–embankments exhibit increasingly flexible performance under high‐shear deformation levels and that soil displacements at bridge abutment supports may be significant particularly in the transverse direction. The 2D equation of motion is solved for the embankment, in order to evaluate the dynamic characteristics and to describe explicitly the seismic performance and dynamic response under transverse excitations accounting for soil nonlinearities, soil–structure interaction and imposed boundary conditions (BCs). Using the proposed model, equivalent elastic analysis was performed so as to evaluate the dynamic response of approach embankments while accounting for soil–structure interaction. The analytical procedures were applied in the case of a well‐documented bridge with monolithic supports (Painter Street Overcrossing, PSO) which had been instrumented and embankment participation was identified from its response records after the 1971 San Fernando earthquake. The dynamic characteristics and dynamic response of the PSO embankments were evaluated for alternative BCs accounting for soil–structure interaction. Explicit expressions for the evaluation of the critical embankment length L_c are provided in order to quantify soil contribution to the overall bridge system under strong intensity ground excitations. The dynamic response of the entire bridge system (deck–abutments–embankments) was also evaluated through simplified models that considered soil–structure interaction. Results obtained from this analysis are correlated with those of detailed 3D FE models and field data with good agreement. Copyright © 2007 John Wiley & Sons, Ltd.