Extensions of nonlinear error propagation analysis for explicit pseudodynamic testing

Two important extensions of a technique to perform a nonlinear error propagation analysis for an explicit pseudodynamic algorithm (Chang, 2003) are presented. One extends the stability study from a given time step to a complete step-by-step integration procedure. It is analytically proven that ensuring stability conditions in each time step leads to a stable computation of the entire step-by-step integration procedure. The other extension shows that the nonlinear error propagation results, which are derived for a nonlinear single degree of freedom (SDOF) system, can be applied to a nonlinear multiple degree of freedom (MDOF) system. This application is dependent upon the determination of the natural frequencies of the system in each time step, since all the numerical properties and error propagation properties in the time step are closely related to these frequencies. The results are derived from the step degree of nonlinearity. An instantaneous degree of nonlinearity is introduced to replace the step degree of nonlinearity and is shown to be easier to use in practice. The extensions can be also applied to the results derived from a SDOF system based on the instantaneous degree of nonlinearity, and hence a time step might be appropriately chosen to perform a pseudodynamic test prior to testing.     

Analytical exploration of γ-function explicit method for pseudodynamic testing of nonlinear systems

It has been well studied that the γ-function explicit method can be effective in providing favorable numerical dissipation for linear elastic systems. However, its performance for nonlinear systems is unclear due to a lack of analytical evaluation techniques. Thus, a novel technique is proposed herein to evaluate its efficiency for application to nonlinear systems by introducing two parameters to describe the stiffness change. As a result, the numerical properties and error propagation characteristics of the γ-function explicit method for the pseudodynamic testing of a nonlinear system are analytically assessed. It is found that the upper stability limit decreases as the step degree of nonlinearity increases; and it increases as the current degree of nonlinearity increases. It is also shown that this integration method provides favorable numerical dissipation not only for linear elastic systems but also for nonlinear systems. Furthermore, error propagation analysis reveals that the numerical dissipation can effectively suppress the severe error propagation of high frequency modes while the low frequency responses are almost unaffected for both linear elastic and nonlinear systems.     

Investigations of nonlinear performances of implicit pseudodynamic algorithms

Although it has been shown that the implementation of the HHT-α method can result in improved error propagation properties in pseudodynamic testing if the equation of motion is used instead of the difference equation to evaluate the next step acceleration, this paper proves that this method might lead to instability when used to solve a nonlinear system. Its unconditional stability is verified only for linear elastic systems, while for nonlinear systems, instability occurs as the step degree of convergence is less than 1. It is worth noting that the step degree of convergence can frequently be less than 1 in pseudodynamic testing, since a convergent solution is achieved only when the step degree of convergence is close to 1 regardless of whether its value is greater or less than 1. Therefore, the application of this scheme to pseudodynamic testing should be prohibited, since the possibility of instability might incorrectly destroy a specimen. Consequently, the implementation of the HHT-α method by using the difference equation to determine the next step acceleration is recommended for use in pseudodynamic testing.     

Nonlinear evaluations of unconditionally stable explicit algorithms

Two explicit integration algorithms with unconditional stability for linear elastic systems have been successfully developed for pseudodynamic testing.Their numerical properties in the solution of a linear elastic system have been well explored and their applications to the pseudodynamic testing of a nonlinear system have been shown to be feasible. However,their numerical properties in the solution of a nonlinear system are not apparent.Therefore,the performance of both algorithms for use in the solution...     

A family of explicit algorithms for general pseudodynamic testing

A new family of explicit pseudodynamic algorithms is proposed for general pseudodynamic testing. One particular subfamily seems very promising for use in general pseudodynamic testing since the stability problem for a structure does not need to be considered. This is because this subfamily is unconditionally stable for any instantaneous stiffness softening system, linear elastic system and instantaneous stiffness hardening system that might occur in the pseudodynamic testing of a real structure. In addition, it also offers good accuracy when compared to a general second-order accurate method for both linear elastic and nonlinear systems.     

Cumulative experimental errors in pseudodynamic tests

In pseudodynamic tests, experimental feedback errors are accumulated in the step-by-step integration procedure. In this paper, the growth of cumulative experimental errors is examined. Approximate cumulative error bounds are derived for linear single- and multi-degree-of-freedom systems, based on realistic models of random and systematic feedback errors. These studies show that the rate of cumulative error growth with respect to the integration time step increases rapidly with the natural frequency of the specimen and the integration time interval used. Hence, the higher modes of a multi-degree-of-freedom system are more sensitive to experimental errors than the lower ones. Furthermore, it is shown that some systematic errors are extremely undesirable. Rational criteria for assessing the reliability of pseudodynamic test results are presented.     

An unconditionally stable hybrid pseudodynamic algorithm

There is a significant motivation to implement an unconditionally stable scheme in the pseudodynamic test method. As more complex experiments with many degrees of freedom are tested, explicit time integration methods limit the size of time step on the basis of the highest natural frequency of the system. This is true even though the response of the structure may be dominated by a few lower frequency modes. The limit on step size is undesirable because it physically increases the duration of a test, but more importantly, because the number of steps to completion increases and error propagation problems increase with the number of steps in a test. In addition, incremental displacements within each step become smaller, introducing the potential for problems associated with stress relaxation. An unconditionally stable algorithm allows the time step to be selected to give accurate response in the modes of interest without regard for higher mode characteristics.     

Kinematic transformations for planar multi‐directional pseudodynamic testing

The pseudodynamic (PSD) test method imposes command displacements to a test structure for a given time step. The measured restoring forces and displaced position achieved in the test structure are then used to integrate the equations of motion to determine the command displacements for the next time step. Multi‐directional displacements of the test structure can introduce error in the measured restoring forces and displaced position. The subsequently determined command displacements will not be correct unless the effects of the multi‐directional displacements are considered. This paper presents two approaches for correcting kinematic errors in planar multi‐directional PSD testing, where the test structure is loaded through a rigid loading block. The first approach, referred to as the incremental kinematic transformation method, employs linear displacement transformations within each time step. The second method, referred to as the total kinematic transformation method, is based on accurate nonlinear displacement transformations. Using three displacement sensors and the trigonometric law of cosines, this second method enables the simultaneous nonlinear equations that express the motion of the loading block to be solved without using iteration. The formulation and example applications for each method are given. Results from numerical simulations and laboratory experiments show that the total transformation method maintains accuracy, while the incremental transformation method may accumulate error if the incremental rotation of the loading block is not small over the time step. A procedure for estimating the incremental error in the incremental kinematic transformation method is presented as a means to predict and possibly control the error. Copyright © 2009 John Wiley & Sons, Ltd.     

Improved time integration for pseudodynamic tests

Converting the second-order differential equation to a first-order equation by integrating it with respect to time once as the governing equation of motion for a structural system can be very promising in the pseudodynamic testing. This was originally found and developed by Chang. The application of this time-integration technique to the Newmark explicit method is implimented and investigated in this paper. The main advantages of using the integral form of Newmark explicit method instead of the commonly used Newmark explicit method in a pseudodynamic test are: a less-error propagation effect, a better capability in capturing the rapid changes of dynamic loading and in eliminating the adverse linearization errors. All these improvements have been verified by theoretical studies and experimental tests. Consequently, for a same time step this time-integration technique may result in less-error propagation and achieve more accurate test results than applying the original form of Newmark explicit method in a pseudodynamic test due to these significant improvements. Thus, the incorporation of this proposed time-integration technique into the direct integration method for pseudodynamic testings is strongly recommended. © 1998 John Wiley & Sons, Ltd.     

A Woodbury solution method for efficient seismic collapse analysis of space truss structures based on hybrid nonlinearity separation

This study presents a fast algorithm for collapse behavior simulation of space truss structures under extreme earthquake excitation by introducing the Woodbury formula to efficiently solve the structural response caused by material and geometric nonlinearity (hybrid nonlinearity). The Woodbury formula, which is an efficient tool in mathematics for solving low-rank perturbation problems, has successfully been used to improve the efficiency of local material nonlinear analysis but still has difficulties with seismic collapse analysis in which geometric nonlinearity should be considered. In this study, by implementing stiffness matrix decomposition according to the unchanged reference configuration, the effects of hybrid nonlinearity on the change in tangent stiffness of truss structures are uniformly formulated in the form of hybrid nonlinear perturbation to the reference elastic stiffness. Thus, a hybrid nonlinearity separated governing equation can be established, in which the hybrid nonlinear behaviors are depicted by the additional nonlinear degrees of freedom (NLDOFs) separated from the reference system. This allows for employing the Woodbury formula to perform seismic collapse analysis of space truss structures for avoiding the repeated updating of the global stiffness. To overcome the adverse effect of the large NLDOF number caused by the global characteristics of geometric nonlinearity on the efficiency advantages of the Woodbury formula during seismic collapse analysis, an element state judgment strategy and an adaptive restart mechanism are presented to activate only a small number of NLDOFs within critical local regions. The accuracy and efficiency of the proposed method are verified by two numerical examples.     

A numerical study of 1-D nonlinear P-wave propagation in solid

IntroductionBecauseoftheextensivedistributionofruptures,micro-cracksandcrystalfracturesintheearth,therelationshipsbetweenthestressandstrainarenolongerlinear,infact,theyarenonlinear.Inordertoinvestigateandusethenonlinearcharacteristicsofsolidmediumintheearth,weshouldconsidertheinfluenceofnonlinearresponseduringthecourseofseismicmodelingandinversion.Thisisoneoftheimportantstudyfieldsthathavebeenpaidgreatattentionsinthere-centyearsintheworld(Minster,etal,1991;ZHANG,TENG,1993).Thenonlinearchar…     

Scattering and dissipation of seismic waves in the presence of nonlinearity

The processes of seismic wave scattering and dissipation are examined in a medium that, in addition to being inhomogeneous and anelastic, is nonlinear and seismically active (seismic emission). In such a medium, there is a complex interrelation between the effects of nonlinearity, scattering and dissipation. Thus, nonlinear interactions between the various components (primary, scattered and induced) of a developing wavefield cause nonlinear (or wave-on-wave) scattering and, by transferring part of the wave energy to the high-frequency region, contribute to its scattering and dissipation. On the other hand, whereas dissipation opposes the accumulation of nonlinear effects by reducing the wave amplitudes, scattering assists it by increasing the propagation distance (and hence the interaction time).Estimates based on results of field experiments involving vibrators indicate that, as a rule, scattering on inhomogeneities is much stronger than nonlinear scattering, and that nonlinear effects may often dominate dissipative ones.The nonlinearity of the transmitting medium explains observedQ-value anomalies, and its seismic activity explains the existence ofP coda and the temporal changes in codaQ.     

On the accuracy of an implicit algorithm for pseudodynamic tests

The error-propagation characteristics of an implicit time integration algorithm in pseudodynamic testing are examined. It is shown that the implicit algorithm is superior to explicit integration algorithms in terms of experimental error amplification. The influence of systematic experimental errors is studied and methods for controlling these errors are examined. In spite of the fact that the implicit algorithm is unconditionally stable, it is shown that the integration time interval in a pseudodynamic test is limited by the calibration range of the electronic hardware as well as the degree of participation of the higher modes. Furthermore, the tolerance for experimental errors decreases as the integration time interval increases.     

Nonlinear seismic analysis of reinforced concrete frames using the force analogy method

A method of nonlinear seismic analysis for RC framed structures considering full‐range factors, including stiffness and strength degradation, geometric nonlinearity, and structural member failure, is established based on the fundamental concept of the force analogy method. The strong material nonlinearity, large geometric deformation, and internal forces redistribution due to the member failure can be depicted by the proposed local plastic mechanisms, the rotation hinges at the member ends and the slide hinges assigned to the columns, of which the measurement relationships are moment versus plastic rotation and shear force versus shear plastic deformation, respectively. They are capable of evaluating the exact response of RC structures. Because only unchanging initial stiffness matrices are used through the whole computation process, the state‐space formulation was used for solving the equations of motion. The advantages of the force analogy method, such as high efficiency and stability, are still retained. The exactness of the proposed local plastic mechanisms is verified against a group of tests data, and the application of the proposed procedure is performed to an RC framed structure to simulate the full‐range nonlinear response by increasing the excitation step by step until failure of partial structural members appear. Copyright © 2014 John Wiley & Sons, Ltd.     

Retracted: Discussion of paper ‘Development of a family of unconditionally stable explicit direct integration algorithms with controllable numerical energy dissipation’ by Chinmoy Kolay and James M. Ricles,Earthquake Engineering and Structural Dynamics 2014; 43:1361–1380

It seems that the explicit KR‐α method (KRM) is promising for the step‐by‐step integration because it simultaneously integrates unconditional stability, explicit formulation, and numerical dissipation together. It was shown that KRM can inherit the numerical dispersion and energy dissipation properties of the generalized‐α method (GM) for a linear elastic system, and it reduces to CR method (CRM) if ρ_∞ = 1is adopted, where ρ_∞ is the spectral radius of the amplification matrix of KRM as the product of the natural frequency and the step size tends to infinity. However, two unusual properties were found for KRM and CRM, and they might limit their application to solve either linear elastic or nonlinear systems. One is the lack of capability to capture the structural nonlinearity, and the other is that it is unable to realistically reflect the dynamic loading. Copyright © 2014 John Wiley & Sons, Ltd.     

Nonlinear dynamic analysis of complex structures

A general step-by-step solution technique is presented for the evaluation of the dynamic response of structural systems with physical and geometrical nonlinearities. The algorithm is stable for all time increments and in the analysis of linear systems introduces a predictable amount of error for a specified time step. Guidelines are given for the selection of the time step size for different types of dynamic loadings. The method can be applied to the static and dynamic analysis of both discrete structural systems and continuous solids idealized as an assemblage of finite elements. Results of several nonlinear analyses are presented and compared with results obtained by other methods and from experiments.     

强非线性杜芬系统随机振动的等效化研究

以相对穿阈率为评估指标，探讨了强非线性杜芬系统稳态随机振动的等效化问题。结果表明，在不同位移阈值条件下，随着系统振动非线性的增强，立方恢复力等效模型预测精度逐步提高。该等效模型对强非线性杜芬系统具有良好的适用性。     

Discussion of paper ‘Development of a family of unconditionally stable explicit direct integration algorithms with controllable numerical energy dissipation’ by Chinmoy Kolay and James M. Ricles,Earthquake Engineering and Structural Dynamics 2014; 43:1361–1380

It seems that the explicit KR‐α method (KRM), which was developed by Kolay and Ricles, is promising for the step‐by‐step integration because it simultaneously integrates unconditional stability, explicit formulation, and numerical dissipation together. It was shown that KRM can inherit the numerical dispersion and energy dissipation properties of the generalized‐α method [1] for a linear elastic system, and it reduces to CR method (CRM), which was developed by Chen and Ricles [2] if ρ_∞ = 1 is adopted, where ρ_∞ is the spectral radius of the amplification matrix of KRM as the product of the natural frequency and the step size tends to infinity. However, two unusual properties were found for KRM and CRM, and they might limit their application to solve either linear elastic or nonlinear systems. One is the lack of capability to capture the structural nonlinearity, and the other is that it is unable to realistically reflect the dynamic loading. Copyright © 2014 John Wiley & Sons, Ltd.     

Non-planar pseudodynamic testing

The pseudodynamic test method provides a means of inexpensive seismic performance testing for laboratories that do not have a shaking table. However, most pseudodynamic tests to date have used planar portions of structures subjected to a single lateral component of base excitation, mimicking the type of testing that would occur on a shaking table. There has been little work on the extension of the pseudodynamic test method to three-dimensional testing of structures under multiple components of base excitation. In this paper a three-dimensional specimen is tested under a multicomponent fixed base excitation and the response is compared to shaking table tests. The paper presents an overview of the pseudodynamic test method, including non-planar extensions, and highlights many physical problems that occurred during the testing process. Many of these problems apply to any pseudodynamic test, not just non-planar tests, but the results show that very accurate non-planar tests can be achieved with careful error control.