Dynamics of elastic–plastic shear frames with secondary structures: shake table and numerical studies

Results from experimental and numerical studies of earthquake‐excited small‐scale primary–secondary structures are presented. The primary structure considered is a plane three‐storey shear frame with a fundamental frequency of 5.5 Hz. The columns of the first floor are built with soft aluminium and they are stressed beyond its linear range of behaviour. After each test the elastic–plastic columns are replaced by a new set of undeformed virgin aluminium bars. The elastic–plastic shear frame is tested with and without an attached secondary structure. The secondary structure is modelled as an elastic SDOF oscillator, and its natural frequency is tuned to the fundamental frequency of the shear frame. Alternatively, the oscillator is mounted on the horizontal beam of the second and third floor. The base excitation of the structural model is characterized by a broad band random process with constant spectral density in a frequency range between 3 and 30 Hz. In the numerical study, the digital recorded acceleration of the base excites the mechanical model of the investigated structures. Numerical outcomes assuming fictitious unlimited elastic material behaviour of the shear frame are set in contrast to results from experiments and computational simulations where the measured non‐linear force displacement relation of the elastic–plastic floor is approximated by a piecewise linear curve. The effect of elastic–plastic materials on the dynamic interaction between primary and secondary structure is shown and the difference to unlimited elastic material behaviour is worked out in detail. Copyright © 2001 John Wiley & Sons, Ltd.     

Uniform hazard floor acceleration spectra for linear structures

This paper presents a practical method to compute uniform hazard floor acceleration spectra for linear oscillators attached to a linear structure. The method builds on a probabilistic seismic demand model that relates the acceleration response of the oscillator with that of the generic mode of vibration of the supporting structure. Interaction between oscillator and structure is ignored. Independency of the model on the specific characteristics of seismic hazard at the site is shown. By using the method floor spectra are determined through a closed‐form expression, given the mean annual frequency of interest, the damping ratio of the oscillators, the modal properties of the structure, and three uniform hazard spectra representing seismic hazard at the site. Copyright © 2016 John Wiley & Sons, Ltd.     

新型框架结构弹塑性地震反应的等效线性化方法研究

等效线性化方法是计算结构弹塑性地震反应的实用方法.通过对几种等效线性化方法的比较分析,提出了基于FEMA440 （2005）计算等效刚度和等效阻尼比的等效线性化方法;分别采用静力弹塑性分析方法和等效线性化方法,分析了局部使用高性能纤维增强混凝土新型框架结构的弹塑性地震反应.结果表明,两种方法所得结构的地震反应均比较接近.因此,本文建议的等效线性化方法能够较好地预测新型框架结构的弹塑性地震反应.     

A method for the direct estimation of floor acceleration spectra for elastic and inelastic MDOF structures

This paper deals with floor acceleration spectra, which are used for the seismic design and assessment of acceleration‐sensitive equipment installed in buildings. In design codes and in practice, not enough attention has been paid to the seismic resistance of such equipment. An ‘accurate’ determination of floor spectra requires a complex and quite demanding dynamic response history analysis. The purpose of the study presented in this paper is the development of a direct method for the determination of floor acceleration spectra, which enables their generation directly from the design spectrum of the structure, by taking into account the structure's dynamic properties. The method is also applicable to inelastic structures, which can greatly improve the economic aspects of equipment design. A parametric study of floor acceleration spectra for elastic and inelastic single‐degree‐of‐freedom (SDOF) and multiple‐degree‐of‐freedom structures was conducted by using (non)linear response history analysis. The equipment was modelled as an elastic single‐degree‐of‐freedom system. The proposed method was validated by comparing the results obtained with the more accurate results obtained in a parametric study. Due to its simplicity, the method is an appropriate tool for practice. In the case of inelastic structural behaviour, the method should be used in combination with the N2 method, or another appropriate method for simplified nonlinear structural analysis. Copyright © 2016 John Wiley & Sons, Ltd.     

Effects of soil–structure interaction on seismic base isolation

The effects of soil–structure interaction on the performance of a nonlinear seismic base isolation system for a simple elastic structure are examined. The steady-state response of the system to harmonic excitation is obtained by use of the equivalent linearization method. Simple analytical expressions for the deformation of the base isolation system and of the superstructure at resonance are obtained in terms of an effective replacement oscillator characterized by amplitude-dependent frequency, damping ratio, and excitation. Numerical results suggest that the seismic response of a structure resting on an inelastic base isolation system may be larger when the flexibility of the soil is considered than the corresponding response obtained by ignoring the effects of soil–structure interaction. It is shown that, in the undamped case and in the absence of soil–structure interaction effects, a critical harmonic excitation exists beyond which the steady-state resonant response of the isolators and structure become unbounded.     

Dynamic behaviour of structures with embedded foundations

A study of the dynamics of building-soil interaction is presented that includes embedding of the foundation and material damping. By considering buildings on rigid footings embedded into linear elastic soil with hysteretic damping, it is shown that the earthquake response of the building-foundation model may be found from the response to modified excitation of equivalent one-degree-of-freedom linear, viscously damped oscillators resting on rigid ground. For a single-storey building approximate formulas are developed for the modified natural frequency and damping ratio. Results show that the natural frequency and damping in the system increase with embedding. Effective damping also increases with internal friction in the soil. Ignoring these two factors may underestimate considerably the effective natural frequency and damping in the system. In spite of additional sources of energy dissipation provided by the soil, damping in the equivalent oscillator may be greater or smaller than that corresponding to the superstructure alone, depending upon the system parameters. For lightly damped superstructures, the peak amplitude of the steady-state overturning moment at the base of a building supported on flexible soil is significantly smaller than that corresponding to rigid ground. This result has practical implications for earthquake design.     

A two‐step direct method for estimating the seismic response of nonlinear structures equipped with nonlinear viscous dampers

The insertion of fluid viscous dampers in building structures is an innovative technology that can improve significantly the seismic response. These devices could be very useful also in the retrofit of existing buildings. The effect of this typology of damping system is usually identified with an equivalent supplemental damping ratio, which depends on the maximum displacement of the structure, so that iterative procedures are required. In this paper, a simplified direct assessment method for nonlinear structures equipped with nonlinear fluid viscous dampers is proposed. The method proposed in this study is composed by two steps. The first one yields the direct estimate of the supplemental damping ratio provided by nonlinear viscous dampers in presence of a linear elastic structural response. The second step extends the procedure to structures with nonlinear behavior. Both graphical and analytical approaches have been developed. The proposed method has then been verified through several applications and comparisons with nonlinear dynamic analyses. Moreover, an investigation has been performed with regard to the influence of the relations that define the damping reduction factor and the hysteretic damping. Copyright © 2014 John Wiley & Sons, Ltd.     

Effect of viscous damping devices on the response of seismically isolated structures

Viscous and other damping devices are often used as elements of seismic isolation systems. Despite the widespread application of nonlinear viscous systems particularly in Japan (with fewer applications in the USA and Taiwan), the application of viscous damping devices in isolation systems in the USA progressed intentionally toward the use of supplementary linear viscous devices due to the advantages offered by these devices. This paper presents experimental results on the behavior of seismically isolated structures with low damping elastomeric (LDE) and single friction pendulum (SFP) bearings with and without linear and nonlinear viscous dampers. The isolation systems are tested within a six‐story structure configured as moment frame and then again as braced frame. Emphasis is placed both on the acquisition of data related to the structural system (drifts, story shear forces, and isolator displacements) and on non‐structural systems (floor accelerations, floor spectral accelerations, and floor velocities). Moreover, the accuracy of analytical prediction of response is investigated based on the results of a total of 227 experiments, using 14 historic ground motions of far‐fault and near‐fault characteristics, on flexible moment frame and stiff braced frame structures isolated with LDE or SFP bearings and linear or nonlinear viscous dampers. It is concluded that when damping is needed to reduce displacement demands in the isolation system, linear viscous damping results in the least detrimental effect on the isolated structure. Moreover, the study concludes that the analytical prediction of peak floor accelerations and floor response spectra may contain errors that need to be considered when designing secondary systems. Copyright © 2014 John Wiley & Sons, Ltd.     

Soil–structure interaction in yielding systems

The effects of soil–structure interaction in yielding systems are evaluated, including both kinematic and inertial interaction. The concepts developed previously for interacting elastic systems are extended to include the non‐linear behavior of the structure. A simple soil–structure system representative of code‐ designed buildings is investigated. The replacement oscillator approach used in practice to account for the elastic interaction effects is adjusted to consider the inelastic interaction effects. This is done by means of a non‐linear replacement oscillator defined by an effective ductility together with the known effective period and damping of the system for the elastic condition. To demonstrate the efficiency of this simplified approach, extensive numerical evaluations are conducted for elastoplastic structures with embedded foundation in a soil layer over elastic bedrock, excited by vertically propagating shear waves. Both strength and displacement demands are computed with and without regard to the effect of foundation flexibility, taking as control motion the great 1985 Michoacan earthquake recorded at a site representative of the soft zone in Mexico City. Results are properly interpreted to show the relative effects of interaction for elastic and yielding systems. Finally, it is demonstrated how to implement this information in the context of code design of buildings. Copyright © 2003 John Wiley & Sons, Ltd.     

Strain-threshold- and frequency-dependent seismic simulation of nonlinear soils

A one-dimensional equivalent linear method (EQL) is widely used in estimating seismic ground response. For this method, the shear modulus and damping ratio of inelastic soil are supposed to be frequency independent. However, historical earthquake records and laboratory test results indicate that nonlinear soil behavior is frequency-dependent. Several frequency-dependent equivalent linear methods (FDEQL) related to the Fourier amplitude of shear strain time history have been developed to take into account the frequency-dependent soil behavior. Furthermore, the shear strain threshold plays an important role in soil behavior. For shear strains below the elastic shear strain threshold, soil behaves essentially as a linear elastic material. To consider the effect of elastic-shear-strain-threshold- and frequency-dependent soil behavior on wave propagation, the shear-strain-threshold- and frequency-dependent equivalent linear method (TFDEQL) is proposed. A series of analyses is implemented for EQL, FDEQL, and TFDEQL methods. Results show that elastic-shear-strain-threshold- and frequency-dependent soil behavior plays a great influence on the computed site response, especially for the high-frequency band. Also, the effect of elastic-strain-threshold- and frequency-dependent soil behavior on the site response is analyzed from relatively weak to strong input motion, and results show that the effect is more pronounced as input motion goes from weak to strong.     

Eigenproperties of non-classically damped primary structure and equipment systems by a perturbation approach

Closed-form expressions are obtained to calculate the approximate complex eigenvalues and eigenvectors of a system composed of a non-classically damped primary structure and a single degree of freedom oscillator. The expressions are obtained through a systematic second order perturbation analysis of a transformed eigenvalue problem of the combined system. The possibility of tuning between the structure and equipment is considered. The dynamic properties of the combined system are derived in terms of the complex eigenvalues and eigenvectors of the supporting structure and the frequency, mass and damping ratio of the equipment. Examples demonstrating the accuracy of the expressions for the eigenvalues and eigenvectors are presented. These eigenproperties are used for generation of floor response spectra for non-classically damped structures to incorporate the dynamic interaction effects between the structure and equipment.     

A review of adverse effects of damping in seismic isolation

In this paper the question of possible adverse effects of damping in seismic isolation because of higher mode response is investigated by means of simple models with a few degrees of freedom (DOF). In particular the second mode response of a 2 DOF system is examined in detail for both viscous and hysteretic (e.g. friction or elastoplastic) damping devices. Qualitative and approximate quantitative estimates are obtained by neglecting the influence of the modal coupling terms, due to viscous damping or friction forces, on the first mode response. It is shown that additional viscous damping has a diminishing effect on base displacement, storey shear force and floor spectra values in the vicinity of the first mode resonance. However, a significant amplification of the floor spectra values near the higher mode frequencies may occur. In accordance with the results of previous works, compared with the viscous damping case, hysteretic damping amplifies moderately the first storey shear force and significantly the upper storeys shear force. It also results, in a much more pronounced amplification of the floor spectral values than viscous damping, in the vicinity of the higher eigenfrequencies. However, the higher modes' response is milder if a realistic velocity dependence of the friction coefficient is taken into account. Copyright © 2007 John Wiley & Sons, Ltd.     

剪力墙的等效周期和等效阻尼比研究

结构弹塑性反应可用等效线性化方法中的等效刚度和等效阻尼比进行计算。为研究钢筋混凝土剪力墙的等效刚度和等效阻尼比,通过分析剪力墙的力-位移简化四折线滞回模型,推导了其屈服点和峰值点的等效刚度、等效周期和等效阻尼比的计算公式。为验证其准确性和适用性,采用提出的峰值点等效刚度、等效阻尼比公式和FEMA 440建议的公式,分别计算了42片钢筋混凝土剪力墙试件的等效刚度和等效阻尼比,并进行了对比分析。结果表明:提出的计算公式和FEMA 440建议的公式所得到的等效周期和等效阻尼比值与试验值比较吻合,因此,所提出的计算剪力墙的等效周期和等效阻尼比的公式较为合理。     

Optimum damping in linear isolation systems

Optimum isolation damping for minimum acceleration response of base-isolated structures subjected to stationary random excitation is investigated. Three linear models are considered to account for the energy dissipation mechanism of the isolation system: a Kelvin element, a linear hysteretic element and a standard solid linear element, commonly used viscoelastic models for isolation systems comprising natural rubber bearings and viscous dampers. The criterion selected for optimality is the minimization of the mean-square floor acceleration response. The effects of the frequency content of the excitation and superstructure properties on the optimum damping and on the mean-square acceleration response are addressed. The study basically shows that the attainable reduction in the floor acceleration largely depends on the energy dissipation mechanism assumed for the isolation system as well as on the frequency content of the ground acceleration process. Special care should be taken in accurately modelling the mechanical behaviour of the energy dissipation devices.     

Dynamic response analysis of nonlinear secondary oscillators to idealised seismic pulses

The paper deals with the seismic response analysis of nonlinear secondary oscillators. Bilinear, sliding and rocking single-degree-of-freedom dynamic systems are analysed as representative of a wide spectrum of secondary structures and nonstructural components. In the first stage, the equations governing their full dynamic interaction with linear multi-degree-of-freedom primary structures are formulated, and then conveniently simplified using primary-secondary two-degree-of-freedom systems and dimensionless coefficients. In the second stage, the cascade approximation is applied, whereby the feedback action of the secondary oscillator on the primary structure is neglected. Owing to the piecewise linearity of the secondary systems being considered, efficient semi-analytical and step-by-step numerical solutions are presented. The semi-analytical solutions allow the direct evaluation of the seismic response under pulse-type ground excitations and are also used to validate step-by-step numerical schemes, which in turn can be used for general-type seismic excitations. In the third stage, a set of decoupling criteria are proposed for the pulse-type base excitations, identifying the conditions under which a cascade analysis is admissible from an engineering standpoint. Finally, the influence and relative dependencies between the input parameters of the ground motion and the primary-secondary assembly are quantified on the response of the secondary systems through nonlinear floor response spectra, and general trends are identified and discussed.     

Seismic retrofitting of braced frame buildings by RC rocking walls and viscous dampers

A design procedure for seismic retrofitting of concentrically and eccentrically braced frame buildings is proposed and validated in this paper. Rocking walls are added to the existing system to ensure an almost uniform distribution of the interstorey displacement in elevation. To achieve direct and efficient control over the seismic performance, the design procedure is founded on the displacement‐based approach and makes use of overdamped elastic response spectra. The top displacement capacity of the building is evaluated based on a rigid lateral deformed configuration of the structure and on the ductility capacity of the dissipative members of the braced frames. The equivalent viscous damping ratio of the braced structure with rocking walls is calculated based on semi‐empirical relationships specifically calibrated in this paper for concentrically and eccentrically braced frames. If the equivalent viscous damping ratio of the structure is lower than the required equivalent viscous damping ratio, viscous dampers are added and arranged between the rocking walls and adjacent reaction columns. The design internal forces of the rocking walls are evaluated considering the contributions of more than one mode of vibration. The proposed design procedure is applied to a large set of archetype braced frame buildings and its effectiveness verified by nonlinear dynamic analysis.     

Sensitivity of seismically isolated structures

In this paper we study the sensitivity of seismically isolated structures to a small variability of the earthquake excitation and of some structural properties with respect to the probability of failure and floor spectra. In particular, the influence of the nonlinear behaviour of the isolated superstructure on the vulnerability and on the floor spectra is investigated by means of a series of Monte Carlo simulations of simple two degrees‐of‐freedom systems. Several types of passive and active isolation systems are examined and three different idealized nonlinear constitutive laws are considered for the superstructure. It is found that, in general, the probability of failure does not depend on the specific cyclic behaviour of the assumed constitutive law and general trends regarding the impact of different isolation devices on vulnerability are established. As for the floor spectra, the influence of moderate nonlinear behaviour of isolated superstructures, with the exception of the case of a non‐dissipative elastic nonlinear law, is negligible, contrary to the case of conventional structures. Copyright © 2008 John Wiley & Sons, Ltd.     

2D equivalent linear site effect simulation: example applications to two deep valleys

In the framework of the Sismovalp European project, an equivalent linear 2D code was developed to compute the response of a valley to SH waves, using the discrete wave-number method proposed by Aki and Larner (Aki K, Larner KL (1970) J Geophys Res 75:5). To overcome the frequency upper bound limitation, the Aki and Larner’s method is combined with a one-dimensional computation using a classical multi-layer method (Aki K, Richards PG (1980) Quantitative Seismology: Theory and Methods, vols. 1 & 2. W.H. Freeman & Co, San Francisco). The so-called “Aki–Larner extended method” is associated to an iterative algorithm, as proposed by Seed and Idriss (Seed HB, Idriss IM (1969) Report No. EERC 70–10, Earthquake Research Center, University of California, Berkeley, California) which accounts for the modulus and damping degradation using a linear visco-elastic model. A comparison of the results in the linear and the equivalent linear cases, for a magnitude 6.0 earthquake, shows that the account for the equivalent linear behaviour of the soil significantly reduces the amplification level, especially at frequencies higher than the fundamental resonance frequency of the site. In the case of site effects or microzonation studies devoted to produce design spectra for engineering structures, this can have a major impact on the associated results and costs, depending on the frequency of interest for the considered structure. As a first application of the developed technique, 2D equivalent linear Aki–Larner computations are used to perform the seismic microzonation study of the upper Rhone valley, in the Visp area (Switzerland), a typical 2D alpine valley. These investigations made it possible to determine site specific spectra, associated with different zones, to be used instead of the code spectra that do not take into account the local 2D amplification.     

Equivalent viscous damping for displacement-based seismic design of hysteretic damped braces for retrofitting framed buildings

A displacement-based design (DBD) procedure aiming to proportion hysteretic damped braces (HYDBs) in order to attain, for a specific level of seismic intensity, a designated performance level of a structure is proposed for the retrofitting of framed buildings. A key step for the reliability of the DBD procedure is the selection of the equivalent viscous damping in order to account for the energy dissipated by the damped braced frame. In this paper, expressions of the equivalent damping are obtained considering the energy dissipated by the HYDBs and the framed structure. To this end, dynamic analyses of an equivalent single degree of freedom system, whose response is idealized by a trilinear model, are carried out considering real accelerograms matching, on the average, Eurocode 8 (EC8) response spectrum for a medium subsoil class. Then, a three-storey reinforced concrete (r.c.) framed structure of a school building, designed in a medium-risk seismic region according to the Italian code in force in 1975, is supposed as retrofitted as if in a high-risk seismic region of the current seismic code (NTC08) by the insertion of HYDBs. Nonlinear static analyses are carried out to evaluate the vulnerability of the primary structure, characterized by the lack of interior girders along the floor slab direction, and to select optimal properties of the HYDBs. The effectiveness of the retrofitting solutions is checked referring to nonlinear dynamic analyses, considering artificially generated accelerograms whose response spectra match those adopted by NTC08 for the earthquake design levels corresponding to the serviceability and ultimate limit states.     

Evaluation of FEMA-440 for including soil-structure interaction

Replacing the entire soil-structure system with a fixed base oscillator to consider the effect of soil-structure interaction (SSI) is a common analysis method in seismic design. This technique has been included in design procedures such as NEHRP, ASCE, etc. by defining an equivalent fundamental period and damping ratio that can modify the response of the structure. However, recent studies indicate that the effects of SSI should be reconsidered when a structure undergoes a nonlinear displacement demand. In recent documents on Nonlinear Static Procedures (NSPs), FEMA-440 (2005), a modified damping ratio of the replacement oscillator was proposed by introducing the ductility of the soil-structure system obtained from pushover analysis. In this paper, the damping defined in FEMA-440 to include the soil-structure interaction effect is evaluated, and the accuracy of the Coefficient Method given in FEMA-440 and the Equivalent Linearization Method is studied. Although the improvements for Nonlinear Static Procedures (NSPs) in FEMA-440 are achieved for a fixed base SDOF structure, the soil effects are not perfectly obtained. Furthermore, the damping definition of a soil-structure system is extended to structures to consider bilinear behavior.