Dynamic response analysis of solitary flexible rocking bodies: modeling and behavior under pulse‐like ground excitation

Results obtained for rigid structures suggest that rocking can be used as seismic response modification strategy. However, actual structures are not rigid: structural elements where rocking is expected to occur are often slender and flexible. Modeling of the rocking motion and impact of flexible bodies is a challenging task. A non‐linear elastic viscously damped zero‐length spring rocking model, directly usable in conventional finite element software, is presented in this paper. The flexible rocking body is modeled using a conventional beam‐column element with distributed masses. This model is verified by comparing its pulse excitation response to the corresponding analytical solution and validated by overturning analysis of rocking blocks subjected to a recorded ground motion excitation. The rigid rocking block model provides a good approximation of the seismic response of solitary flexible columns designed to uplift when excited by pulse‐like ground motions. Guidance for development of rocking column models in ordinary finite element software is provided. Copyright © 2014 John Wiley & Sons, Ltd.     

Ductility‐dependent intensity measure that accounts for ground‐motion spectral shape and duration

The calculated nonlinear structural responses of a building can vary greatly, even if recorded ground motions are scaled to the same spectral acceleration at a building's fundamental period. To reduce the variation in structural response at a particular ground‐motion intensity, this paper proposes an intensity measure (IM_comb) that accounts for the combined effects of spectral acceleration, ground‐motion duration, and response spectrum shape. The intensity measure includes a new measure of spectral shape that integrates the spectrum over a period range that depends on the structure's ductility. The new IM is efficient, sufficient, scalable, transparent, and versatile. These features make it suitable for evaluating the intensities of measured and simulated ground motions. The efficiency and sufficiency of the new IM is demonstrated for the following: (i) elastic‐perfectly plastic single‐degree‐of‐freedom (SDOF) oscillators with a variety of ductility demands and periods; (ii) ductile and brittle deteriorating SDOF systems with a variety of periods; and (iii) collapse analysis for 30 previously designed frames. The efficiency is attributable to the inclusion of duration and to the ductility dependence of the spectral shape measure. For each of these systems, the transparency of the intensity measure made it possible to identify the sensitivity of structural response to the various characteristics of the ground motion. Spectral shape affected all structures, but in particular, ductile structures. Duration only affected structures with cyclic deterioration. Copyright © 2015 John Wiley & Sons, Ltd.     

The three‐dimensional behavior of inverted pendulum cylindrical structures during earthquakes

In order to use rocking as a seismic response modification strategy along both directions of seismic excitation, a three‐dimensional (3D) rocking model should be developed. Since stepping or rolling rocking structural members out of their initial position is not a desirable performance, a rocking design should not involve these modes of motion. To this end, a model that takes the aforementioned constraint into account needs to be developed. This paper examines the 3D motion of a bounded rigid cylinder that is allowed to uplift and sustain rocking and wobbling (unsteady rolling) motion without sliding or rolling out of its initial position (i.e., a 3D inverted pendulum). Thus, the cylinder is constrained to zero residual displacement at the end of its 3D motion. This 3D dynamic model of the rocking rigid cylinder has two DOFs (three when damping is included), making it the simplest 3D extension of Housner's classical two‐dimensional (2D) rocking model. The development of models with and without damping is presented first. They are simple enough to perform extensive parametric analyses. Modes of motion of the cylinder are identified and presented. Then, 3D rocking and wobbling earthquake response spectra are constructed and compared with the classical 2D rocking earthquake response spectra. The 3D bounded rocking earthquake response spectra for the ground motions considered seem to have a very simple linear form. Finally, it is shown that the use of a 2D rocking model may lead to unacceptably unconservative estimates of the 3D rocking and wobbling seismic response. Copyright © 2017 John Wiley & Sons, Ltd.     

Near‐fault ground motions,and the response of elastic and inelastic single‐degree‐of‐freedom (SDOF) systems

In order to investigate the response of structures to near‐fault seismic excitations, the ground motion input should be properly characterized and parameterized in terms of simple, yet accurate and reliable, mathematical models whose input parameters have a clear physical interpretation and scale, to the extent possible, with earthquake magnitude. Such a mathematical model for the representation of the coherent (long‐period) ground motion components has been proposed by the authors in a previous study and is being exploited in this article for the investigation of the elastic and inelastic response of the single‐degree‐of‐freedom (SDOF) system to near‐fault seismic excitations. A parametric analysis of the dynamic response of the SDOF system as a function of the input parameters of the mathematical model is performed to gain insight regarding the near‐fault ground motion characteristics that significantly affect the elastic and inelastic structural performance. A parameter of the mathematical representation of near‐fault motions, referred to as ‘pulse duration’ (T_P), emerges as a key parameter of the problem under investigation. Specifically, T_P is employed to normalize the elastic and inelastic response spectra of actual near‐fault strong ground motion records. Such normalization makes feasible the specification of design spectra and reduction factors appropriate for near‐fault ground motions. The ‘pulse duration’ (T_P) is related to an important parameter of the rupture process referred to as ‘rise time’ (τ) which is controlled by the dimension of the sub‐events that compose the mainshock. Copyright © 2004 John Wiley & Sons, Ltd.     

The effects of repeated earthquake ground motions on the non‐linear response of SDOF systems

In many parts of the world, the repetition of medium–strong intensity earthquake ground motions at brief intervals of time has been observed. The new design philosophies for buildings in seismic areas are based on multi‐level design approaches, which take into account more than a single damageability limit state. According to these approaches, a sequence of seismic actions may produce important consequences on the structural safety. In this paper, the effects of repeated earthquake ground motions on the response of single‐degree‐of‐freedom systems (SDOF) with non‐linear behaviour are analysed. A comparison is performed with the effect of a single seismic event on the originally non‐damaged system for different hysteretic models in terms of pseudo‐acceleration response spectra, behaviour factor q and damage parameters. The elastic–perfect plastic system is the most vulnerable one under repeated earthquake ground motions and is characterized by a strong reduction of the q‐factor. A moment resisting steel frame is analysed as well, showing a reduction of the q‐factor under repeated earthquake ground motions even larger than that of an equivalent SDOF system. Copyright © 2002 John Wiley & Sons, Ltd.     

Seismic demand models for probabilistic risk analysis of near fault vertical ground motion effects on ordinary highway bridges

The influence of vertical ground motions on the seismic response of highway bridges is not very well understood. Recent studies suggest that vertical ground motions can substantially increase force and moment demands on bridge columns and girders and cannot be overlooked in seismic design of bridge structures. For an evaluation of vertical ground motion effects on the response of single‐bent two‐span highway bridges, a systematic study combining the critical engineering demand parameters (EDPs) and ground motion intensity measures (IMs) is required. Results of a parametric study examining a range of highway bridge configurations subjected to selected sets of horizontal and vertical ground motions are used to determine the structural parameters that are significantly amplified by the vertical excitations. The amplification in these parameters is modeled using simple equations that are functions of horizontal and vertical spectral accelerations at the corresponding horizontal and vertical fundamental periods of the bridge. This paper describes the derivation of seismic demand models developed for typical highway overcrossings by incorporating critical EDPs and combined effects of horizontal and vertical ground motion IMs depending on the type of the parameter and the period of the structure. These models may be used individually as risk‐based design tools to determine the probability of exceeding the critical levels of EDP for pre‐determined levels of ground shaking or may be included explicitly in probabilistic seismic risk assessments. Copyright © 2011 John Wiley & Sons, Ltd.     

Response of tall cantilever wall buildings to strong pulse type seismic excitation

This paper investigates the seismic response of tall cantilever wall buildings subjected to pulse type ground motion, with special focus on the relation between the characteristics of ground motion and the higher‐modes of response. Buildings 10, 20, and 40 stories high were designed such that inelastic deformation was concentrated at a single flexural plastic hinge at their base. Using nonlinear response history analysis, the buildings were subjected to near‐fault seismic ground motions and simple closed‐form pulses, which represented distinct pulses within the ground motions. Euler–Bernoulli beam models with lumped mass and lumped plasticity were used to model the buildings. The response of the buildings to the closed‐form pulses fairly matched that of the near‐fault records. Subsequently, a parametric study was conducted for the buildings subjected to three types of closed‐form pulses with a broad range of periods and amplitudes. The results of the parametric study demonstrate the importance of the ratio of the fundamental period of the structure to the period of the pulse to the excitation of higher modes. The study shows that if the modal response spectrum analysis approach is used — considering the first four modes with a uniform yield reduction factor for all modes, and with the square root of sum of squares modal combination rule — it significantly underestimates bending moment and shear force responses. A response spectrum analysis method that uses different yield reduction factors for the first and the higher modes is presented. Copyright © 2011 John Wiley & Sons, Ltd.     

Dynamics of rocking podium structures

A rocking podium structure is a class of structures consisting of a superstructure placed on top of a rigid slab supported by free‐standing columns. The free‐standing columns respond to sufficiently strong ground motion excitation by uplifting and rocking. Uplift works as a mechanical fuse that limits the forces transmitted to the superstructure, while rocking enables large lateral displacements. Such ‘soft‐story’ system runs counter to the modern seismic design philosophy but has been used to construct several hundred buildings in countries of the former USSR following Polyakov's rule‐of‐thumb guidelines: (i) that the superstructure behave as a rigid body and (ii) that the maximum lateral displacement of the rocking podium frame be estimated using elastic earthquake displacement response spectra. The objectives of this paper are to present a dynamic model for analysis of the in‐plane seismic response of rocking podium structures and to investigate if Polyakov's rule‐of‐thumb guidelines are adequate for the design of such structures. Examination of the rocking podium structure response to analytical pulse and recorded ground motion excitations shows that the rocking podium structures are stable and that Polyakov's rule‐of‐thumb guidelines produce generally conservative designs. Copyright © 2017 John Wiley & Sons, Ltd.     

The rocking response of large flexible structures to earthquakes

The rocking response of structures subjected to strong ground motions is a problem of ‘several scales’. While small structures are sensitive to acceleration pulses acting successively, large structures are more significantly affected by coherent low frequency components of ground motion. As a result, the rocking response of large structures is more stable and orderly, allowing effective isolation from the ground without imminent danger of overturning. This paper aims to characterize and predict the maximum rocking response of large and flexible structures to earthquakes using an idealized structural model. To achieve this, the maximum rocking demand caused by different earthquake records was evaluated using several ground motion intensity measures. Pulse-type records which typically have high peak ground velocity and lower frequency content caused large rocking amplitudes, whereas non-pulse type records caused random rocking motion confined to small rocking amplitudes. Coherent velocity pulses were therefore identified as the primary cause of significant rocking motion. Using a suite of pulse-type ground motions, it was observed that idealized wavelets fitted to velocity pulses can adequately describe the rocking response of large structures. Further, a parametric analysis demonstrates that pulse shape parameters affect the maximum rocking response significantly. Based on these two findings, a probabilistic analysis method is proposed for estimating the maximum rocking demand to pulse-type earthquakes. The dimensionless demand maps, produced using these methods, have predictive power in the near-field provided that pulse period and amplitude can be estimated a priori. Use of this method within a probabilistic seismic demand analysis framework is briefly discussed.     

The dynamics of an elastic structure coupled with a rocking wall

This paper investigates the dynamic response of an elastic single‐degree‐of‐freedom oscillator coupled with a rocking wall. Both configurations of a stepping rocking wall and a pinned rocking wall that have been reported in the literature are examined. The full nonlinear equations of motions are derived, and the paper shows through a comprehensive parametric analysis that the coupling with a rocking wall has mixed results on suppressing the dynamic response of the elastic oscillator. The stepping rocking wall is most effective in suppressing displacements of relative flexible structures with a heavier wall being most effective. In contrast, the pinned wall amplifies the displacements along a wide range of the spectrum with a heavier wall being most detrimental. This happens partly because in a pinned wall the moment from its weight works against stability. Copyright © 2016 John Wiley & Sons, Ltd.     

Seismic response of self‐centring hysteretic SDOF systems

The seismic response of single‐degree‐of‐freedom (SDOF) systems incorporating flag‐shaped hysteretic structural behaviour, with self‐centring capability, is investigated numerically. For a SDOF system with a given initial period and strength level, the flag‐shaped hysteretic behaviour is fully defined by a post‐yielding stiffness parameter and an energy‐dissipation parameter. A comprehensive parametric study was conducted to determine the influence of these parameters on SDOF structural response, in terms of displacement ductility, absolute acceleration and absorbed energy. This parametric study was conducted using an ensemble of 20 historical earthquake records corresponding to ordinary ground motions having a probability of exceedence of 10% in 50 years, in California. The responses of the flag‐shaped hysteretic SDOF systems are compared against the responses of similar bilinear elasto‐plastic hysteretic SDOF systems. In this study the elasto‐plastic hysteretic SDOF systems are assigned parameters representative of steel moment resisting frames (MRFs) with post‐Northridge welded beam‐to‐column connections. In turn, the flag‐shaped hysteretic SDOF systems are representative of steel MRFs with newly proposed post‐tensioned energy‐dissipating connections. Building structures with initial periods ranging from 0.1 to 2.0s and having various strength levels are considered. It is shown that a flag‐shaped hysteretic SDOF system of equal or lesser strength can always be found to match or better the response of an elasto‐plastic hysteretic SDOF system in terms of displacement ductility and without incurring any residual drift from the seismic event. Copyright © 2002 John Wiley & Sons, Ltd.     

Response of tall buildings to base rocking induced by Rayleigh waves

By now, it is well known that long‐period surface waves can induce resonant response in high‐rise buildings, in particular those located in sedimentary basins. Rayleigh wave passage has been reported to induce rocking motion at the base of the buildings which can increase displacement demands significantly. However, the building behavior to base rocking has not been extensively studied because commercially available instruments do not record rotational components of ground motion, and thus, rocking time histories have not been available to the analysts. In a recent study, we proposed an effective method for estimating the rocking associated with Rayleigh waves, which takes into account their frequency‐dependent phase velocities. In the present work, we select a number of recorded seismic motions which include surface waves on sedimentary basins from recent well‐recorded earthquake events. Then, we proceed to identify and extract the recorded surface waves by using the technique mentioned above. Using realistic soil‐structure analytical models that have been proposed in the published literature for high‐rise buildings, we study their response to Rayleigh waves as they respond to both translational and rocking motions. Of particular interest is to compare the response of such structures with and without the presence of rotational motions due to surface waves. Using the roof displacement and the building interstory drift as response quantities, our results indicate that demands are controlled by rotational (rocking) motions associated with Rayleigh waves.     

Rocking amplification and strong‐motion duration

This paper characterizes the ability of natural ground motions to induce rocking demands on rigid structures. In particular, focusing on rocking blocks of different size and slenderness subjected to a large number of historic earthquake records, the study unveils the predominant importance of the strong‐motion duration to rocking amplification (ie, peak rocking response without overturning). It proposes original dimensionless intensity measures (IMs), which capture the total duration (or total impulse accordingly) of the time intervals during which the ground motion is capable of triggering rocking motion. The results show that the proposed duration‐based IMs outperform all other examined (intensity, frequency, duration, and/or energy‐based) scalar IMs in terms of both “efficiency” and “sufficiency.” Further, the pertinent probabilistic seismic demand models offer a prediction of the peak rocking demand, which is adequately “universal” and of satisfactory accuracy. Lastly, the analysis shows that an IM that “efficiently” captures rocking amplification is not necessarily an “efficient” IM for predicting rocking overturning, which is dominated by the velocity characteristics (eg, peak velocity) of the ground motion.     

竖向地震动加速度反应谱特性

以33次地震中的地表地震动记录为数据基础,考虑场地条件、震级和距离的影响,分别对竖向地震动的加速度规准化反应谱和双规准化反应谱进行了研究。结果表明,规准反应谱明显受到场地条件、震级和震中距的影响,不同场地、距离和震级的平均规准反应谱之间差别显著;相比较而言,不依赖于场地、距离和震级的平均双规准反应谱之间却表现出良好的规律性和一致性。双规准反应谱的统一特性可以为竖向地震动设计谱的预测提供参考依据。     

Tuned liquid dampers for controlling earthquake response of structures

Numerical simulations of a single‐degree‐of‐freedom (SDOF) structure, rigidly supporting a tuned liquid damper (TLD) and subjected to both real and artificially generated earthquake ground motions, show that a properly designed TLD can significantly reduce the structure's response to these motions. The TLD is a rigid, rectangular tank with shallow water in it. Its fundamental linear sloshing frequency is tuned to the structure's natural frequency. The TLD is more effective in reducing structural response as the ground excitation level increases. This is because it then dissipates more energy due to sloshing and wave breaking. A larger water‐depth to tank‐length ratio than previous studies suggested, which still falls within the constraint of shallow water theory, is shown to be more suitable for excitation levels expected in strong earthquake motions. A larger water‐mass to structure‐mass ratio is shown to be required for a TLD to remain equally effective as structural damping increases. Furthermore, the reduction in response is seen to be fairly insensitive to the bandwidth of the ground motion but is dependent on the structure's natural frequency relative to the significant ground frequencies. Finally, a practical approach is suggested for the design of a TLD to control earthquake response. Copyright © 2000 John Wiley & Sons, Ltd.     

A noniterative design procedure for supplemental brace–damper systems in single‐degree‐of‐freedom systems

In this paper, a method for designing supplemental brace–damper systems in single‐degree‐of‐freedom (SDOF) structures is presented. We include the effects of the supporting brace stiffness in the dynamic response by using a viscoelastic Maxwell model. On the basis of the study of an SDOF under ground excitation, we propose a noniterative design procedure for simultaneously specifying both the damper and the brace while assuring a desired structural performance. It is shown that to increase the damper size beyond the value delivered by the proposed criteria will not provide any improvement but actually worsen the structural response. The design method presented here shows excellent agreement with the FEMA 273 design approach but offers solutions closer to optimality. Copyright © 2013 John Wiley & Sons, Ltd.     

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.     

The interaction of elasticity and rocking in flexible structures allowed to uplift

Numerous structures uplift under the influence of strong ground motion. Although many researchers have investigated the effects of base uplift on very stiff (ideally rigid) structures, the rocking response of flexible structures has received less attention. Related practical analysis methods treat these structures with simplified ‘equivalent’ oscillators without directly addressing the interaction between elasticity and rocking. This paper addresses the fundamental dynamics of flexible rocking structures. The nonlinear equations of motion, derived using a Lagrangian formulation for large rotations, are presented for an idealized structural model. Particular attention is devoted to the transition between successive phases; a physically consistent classical impact framework is utilized alongside an energy approach. The fundamental dynamic properties of the flexible rocking system are compared with those of similar linear elastic oscillators and rigid rocking structures, revealing the distinct characteristics of flexible rocking structures. In particular, parametric analysis is performed to quantify the effect of elasticity on uplift, overturning instability, and harmonic response, from which an uplifted resonance emerges. The contribution of stability and strength to the collapse of flexible rocking structures is discussed. Copyright © 2012 John Wiley & Sons, Ltd.     

Inelastic spectra for infilled reinforced concrete frames

In two companion papers a simplified non‐linear analysis procedure for infilled reinforced concrete frames is introduced. In this paper a simple relation between strength reduction factor, ductility and period (R–µ–T relation) is presented. It is intended to be used for the determination of inelastic displacement ratios and of inelastic spectra in conjunction with idealized elastic spectra. The R–µ–T relation was developed from results of an extensive parametric study employing a SDOF mathematical model composed of structural elements representing the frame and infill. The structural parameters, used in the proposed R–µ–T relation, in addition to the parameters used in a usual (e.g. elasto‐plastic) system, are ductility at the beginning of strength degradation, and the reduction of strength after the failure of the infills. Formulae depend also on the corner periods of the elastic spectrum. The proposed equations were validated by comparing results in terms of the reduction factors, inelastic displacement ratios, and inelastic spectra in the acceleration–displacement format, with those obtained by non‐linear dynamic analyses for three sets of recorded and semi‐artificial ground motions. A new approach was used for generating semi‐artificial ground motions compatible with the target spectrum. This approach preserves the basic characteristics of individual ground motions, whereas the mean spectrum of the whole ground motion set fits the target spectrum excellently. In the parametric study, the R–µ–T relation was determined by assuming a constant reduction factor, while the corresponding ductility was calculated for different ground motions. The mean values proved to be noticeably different from the mean values determined based on a constant ductility approach, while the median values determined by the different procedures were between the two means. The approach employed in the study yields a R–µ–T relation which is conservative both for design and performance assessment (compared with a relation based on median values). Copyright © 2004 John Wiley & Sons, Ltd.