Earthquake Engineering

Response spectra

Nicola Buratti
DICAM
Earthquake Engineering – Response spectra

Response of elastic SDOF systems

Base ground motion Response of the SDOF

structure
u(t)

u [mm]
u ( t ) + 2ζωu ( t ) + ω 2u ( t ) =
−ug ( t )
Earthquake Engineering – Response spectra

Response of elastic SDOF systems 5

4

Ground acceleration
3
2

[m/s2]
1
0
-1 0 5 10 15 20

u ( t ) + 2ζωu ( t ) + ω 2u ( t ) =
−ug ( t )
-2
-3
-4
time [s]

0.06

𝑘𝑘 SDOF: T=0.5s; 𝜻𝜻=5%

0.04
Recalling that 𝜔𝜔𝑛𝑛 = , the elastic reaction

Displacement [m]
𝑚𝑚 0.02

force of the SDOF can be rewritten as: 0

0 5 10 15 20
-0.02

𝑓𝑓𝑠𝑠 t = ku t = 𝜔𝜔𝑛𝑛 2 𝑢𝑢 𝑡𝑡 𝑚𝑚 = 𝐴𝐴 𝑡𝑡 𝑚𝑚 -0.04

-0.06
time [s]

12
10
𝜔𝜔𝑛𝑛 2 𝑢𝑢 𝑡𝑡 is called pseudo-acceleration: 𝐴𝐴 𝑡𝑡 8
Pseudo-acceleration 6
4
2
[m/s2]
0
-2 0 5 10 15 20
-4
-6
-8
-10
-12
time [s]
Earthquake Engineering – Response spectra

Response of elastic SDOF systems

u(t)

For undamped system:

𝑚𝑚 𝑢𝑢(𝑡𝑡)
̈ + 𝑢𝑢̈ 𝑔𝑔 (𝑡𝑡) + 𝑘𝑘𝑘𝑘(𝑡𝑡) = 0
𝑚𝑚 𝑢𝑢(𝑡𝑡)
̈ + 𝑢𝑢̈ 𝑔𝑔 (𝑡𝑡) = −𝑘𝑘𝑘𝑘(𝑡𝑡)
𝑚𝑚 𝑢𝑢(𝑡𝑡)
̈ + 𝑢𝑢̈ 𝑔𝑔 (𝑡𝑡) = −𝜔𝜔𝑛𝑛 2 𝑢𝑢 𝑡𝑡 𝑚𝑚
𝑚𝑚 𝑢𝑢(𝑡𝑡)
̈ + 𝑢𝑢̈ 𝑔𝑔 (𝑡𝑡) = −𝑚𝑚𝑚𝑚(𝑡𝑡)

If damping ratio is equal to 0, the pseudo-acceleration is equal to minus the total

acceleration of the system.
However, if damping is introduced, a difference can be observed between the
total acceleration and the pseudo-acceleration:

𝑚𝑚 𝑢𝑢(𝑡𝑡)
̈ + 𝑢𝑢̈ 𝑔𝑔 (𝑡𝑡) + 𝑐𝑐𝑢𝑢̇ 𝑡𝑡 + 𝑘𝑘𝑘𝑘(𝑡𝑡) = 0
𝑚𝑚 𝑢𝑢(𝑡𝑡)
̈ + 𝑢𝑢̈ 𝑔𝑔 (𝑡𝑡) + 𝑐𝑐𝑢𝑢̇ 𝑡𝑡 = −𝑘𝑘𝑘𝑘(𝑡𝑡)
𝑚𝑚 𝑢𝑢(𝑡𝑡)
̈ + 𝑢𝑢̈ 𝑔𝑔 (𝑡𝑡) + 𝑐𝑐𝑢𝑢̇ 𝑡𝑡 = −𝑚𝑚𝑚𝑚(𝑡𝑡)
Earthquake Engineering – Response spectra

Maximum Response of elastic SDOF systems

The maximum force is achieved when the displacement is maximum. Hence:

𝑓𝑓𝑠𝑠,𝑚𝑚𝑚𝑚𝑚𝑚 = max 𝑓𝑓𝑠𝑠 t = 𝜔𝜔𝑛𝑛 2 max |𝑢𝑢 𝑡𝑡 | 𝑚𝑚 = max |𝐴𝐴 𝑡𝑡 |𝑚𝑚

𝑆𝑆𝐷𝐷 𝑆𝑆𝐴𝐴

𝑓𝑓𝑠𝑠,𝑚𝑚𝑚𝑚𝑚𝑚 = 𝜔𝜔𝑛𝑛 2 𝑆𝑆𝐷𝐷 𝑚𝑚 = 𝑆𝑆𝐴𝐴 𝑚𝑚

Earthquake Engineering – Response spectra

Maximum Response of elastic SDOF systems

𝑆𝑆𝐷𝐷 = max |𝑢𝑢 𝑡𝑡 | Spectral displacement

𝑆𝑆𝑉𝑉 = max |𝑉𝑉 𝑡𝑡 | = 𝜔𝜔𝑛𝑛 𝑆𝑆𝐷𝐷 Spectral Pseudo – velocity
𝑆𝑆𝐴𝐴 = max |𝐴𝐴 𝑡𝑡 | = 𝜔𝜔𝑛𝑛 2 𝑆𝑆𝐷𝐷 Spectral Pseudo – acceleration
𝑆𝑆𝐴𝐴,𝑡𝑡𝑡𝑡𝑡𝑡 = max |𝑢𝑢̈ 𝑡𝑡 t | Spectral total acceleration
𝑆𝑆𝑉𝑉,𝑟𝑟𝑟𝑟𝑟𝑟 = max |𝑢𝑢̇ 𝑡𝑡 | Spectral relative velocity

2𝜋𝜋
Where 𝜔𝜔𝑛𝑛 =
𝑇𝑇𝑛𝑛

Elastic response spectra

The Elastic Response Spectrum a plot of the maximum displacement, pseudo-

velocity, pseudo-acceleration, etc., of a SDOF system subjected to a ground-
motion, as a function of its natural period Tn (or natural frequency), for a fixed
damping ratio ζ (usually 5%).
Earthquake Engineering – Response spectra

Displacement Response Spectrum

Accelerogram selected

𝑆𝑆𝐷𝐷

Structure (SDOF)

M
2π
T= 1s
=
K

u ( t ) + 2ζωu ( t ) + ω 2u ( t ) =
−mu g ( t )

response
𝑢𝑢 𝑡𝑡 [m]
Earthquake Engineering – Response spectra

Displacement Response Spectrum

Accelerogram selected

𝑆𝑆𝐷𝐷

Structure (SDOF)

M
2π
T= 2s
=
K

u ( t ) + 2ζωu ( t ) + ω 2u ( t ) =
−mu g ( t )

response
𝑢𝑢 𝑡𝑡 [m]
Earthquake Engineering – Response spectra

Displacement Response Spectrum

𝑆𝑆𝐷𝐷
Accelerogram selected

By repeating the same procedure for

SDOF systems with different natural
periods, the elastic displacement
response spectrum is obtained.

The spectrum depends on the

selected damping ratio and on the
selected accelerogram.
Earthquake Engineering – Response spectra

Displacement Response Spectrum

1. Select an accelerogram;
2. Choose the damping ratio for the structure ζ;
3. Select a value of the natural period T of the SDOF;
4. Solve the equation of motion;
5. Evaluate the maximum response in terms of displacement Sd = max[u(t)]
6. Repeat this process from step 3 to 5 for every period T to be considered.
Earthquake Engineering – Response spectra

Pseudo-velocity and pseudo-acceleration RS

Given the displacement response spectrum (SD.)
Pseudo-velocity and the Pseudo-acceleration response spectra can be
easily computed. For each point of SD we can use the following
relationships
SV(Ti)= ωi SD(Ti) = (2π/Ti) SD(Ti)

SA(Ti) = ωi2 SD(Ti) = (2π/Ti)2 SD(Ti) S D

1 2

SA SV

1 2
Earthquake Engineering – Response spectra

Elastic response spectra

Accelerogra
Accelerograms Pseudo -Acceleration
mmi SpettroSpectrum
di Risposta
(acceleration time-histories) Response

Different Accelerograms Different response spectra

Earthquake Engineering – Response spectra

Elastic response spectra - different damping ratios

acceleratio
Ground

n
0 5 10 15 20
u(t u(t
time [s]
) )
Displacement [m]

𝑻𝑻𝒏𝒏 = 𝟎𝟎. 𝟓𝟓𝟓𝟓 0 5 10 15 20 𝑻𝑻𝒏𝒏 = 𝟎𝟎. 𝟓𝟓𝟓𝟓

𝝃𝝃 = 𝟓𝟓𝟓 𝜻𝜻 = 𝟐𝟐𝟐𝟐𝟐

time [s]

𝑆𝑆𝐷𝐷 [m]

The response of the system depends on

the considered damping ratio: different
response spectra correspond to different
values of damping.
Earthquake Engineering – Response spectra

Elastic response spectra- effect of damping

ζ = 0.1
ζ= 0.05
ζ= 0.02
Earthquake Engineering – Response spectra

Elastic response spectra

Spectral velocity Spectral acceleration

Earthquake Engineering – Response spectra

Elastic response spectra

Response Spectra
can be defined in terms of

Displacement Pseudo - velocity Pseudo - acceleration

Related to the peak Related to the peak Related to the peak

deformation of a strain energy stored in value of the
system the system during the equivalent static force
ground-motion:
1
𝐸𝐸𝑚𝑚𝑚𝑚𝑚𝑚 = 𝑘𝑘|𝑢𝑢𝑚𝑚𝑚𝑚𝑚𝑚 |2
2
1
𝐸𝐸𝑚𝑚𝑚𝑚𝑚𝑚 = 𝜔𝜔𝑛𝑛 2 𝑚𝑚𝑆𝑆𝑑𝑑 2
2
1 2
𝐸𝐸𝑚𝑚𝑚𝑚𝑚𝑚 = 𝑆𝑆𝑉𝑉 𝑚𝑚
2
Earthquake Engineering – Response spectra

Combined D-V-A response spectrum

It is convenient to display the spectra on a log-log graph, with the abscissa
representing the natural period of the system (or some dimensionless measure of
it) and the ordinate representing the pseudo velocity ,SV (in a dimensional or
dimensionless form).
SV

El Centro Ground Motion,

N-S component (1940)

Period T
Earthquake Engineering – Response spectra

Combined D-V-A response spectrum

On such a plot, 2 further axes can be identified: SD and SA.
Earthquake Engineering – Response spectra

Combined D-V-A response spectrum

Displ. = K 2π
SV = ω S D = SD
T
In the logarithmic plane,
the equation becomes:
Velocity

log(SV ) =
= log(2π ) + log(SD ) − log(T )
A line at Displacement = cost
= K equation has slope -45° :

log(SV ) = [a + K ] − 1 ⋅ log(T )

Period T
Earthquake Engineering – Response spectra

Combined D-V-A response spectrum

Advantages:
• The response spectrum can be approximated more readily and accurately in terms of
all three quantities rather than in terms of a single quantity and an arithmetic plot.
• In certain regions of the spectrum the spectral deformations can more conveniently
be expressed indirectly in terms of SV or SA rather than directly in terms of Sd. All
these values can be read off directly from the logarithmic plot.
Earthquake Engineering – Response spectra

Combined D-V-A response spectrum

2π
accell. = K SA = ω 2 S D = ω SV = SV
T
In the logarithmic plane, the
equation becomes:
Velocity

log(SV ) =
= − log(2π ) + log(SA) + log(T )
A line at Acc = cost = k is
inclined at +45°:
log(SV ) = [− a + K ] + 1 ⋅ log(T )

Period T
Earthquake Engineering – Response spectra

Combined D-V-A response spectrum

Spectral Region:
Velocità

Constant displacement

Periodo T
Earthquake Engineering – Response spectra

Combined D-V-A response spectrum

Combined D-PSV-PSA Spectrum

Spectral Region:
Velocity

Constant pseudo-velocity

Constant displacement

Period T
Earthquake Engineering – Response spectra

Combined D-V-A response spectrum

Spectral Region:
Velocity

Constant pseudo - velocity

Constant displacement

Constant pseudo - acceleration

Period T
Earthquake Engineering – Response spectra

Combined D-V-A response spectrum

Spectral Region:
Velocity

Region at Constant SV

Region at Constant SA

Region at Constant Displacement

At the ends of connecting
portions (green).

Period T
Earthquake Engineering – Response spectra

Combined D-V-A response spectrum

Velocity

ug

Low values of T

Period T
Acceleration approximately equal to ground
acceleration - Relative displacement very small
Earthquake Engineering – Response spectra

Combined D-V-A response spectrum

Velocity

ug
ug

High values of T
Low values of T

Period T
Acceleration approximately equal to Acceleration very small - Relative
ground acceleration - Relative displacement approximately equal
displacement very small to ground displacement
Earthquake Engineering – Response spectra

Combined D-V-A response spectrum

Effect of Damping Ratio

0%
2%
5%
10%
20%
Earthquake Engineering – Response spectra

Acceleration Displacement Response Spectra (ADRS)

S A (Ti ) = ωi2 S D (Ti )

𝑆𝑆𝐴𝐴 [𝑐𝑐𝑐𝑐⁄𝑠𝑠 2 ]

S A (Ti )
= S D (Ti )
ω i
2
 Earthquake Engineering – Response spectra

Acceleration Displacement Response Spectra (ADRS)

𝑆𝑆𝐴𝐴 [𝑐𝑐𝑐𝑐⁄𝑠𝑠 2 ]

𝑆𝑆𝐷𝐷 [𝑐𝑐𝑐𝑐]

S A (Ti )
S A (Ti ) = ω S D (Ti )
i
2
= S D (Ti )
ω i
2
Earthquake Engineering – Response spectra

Acceleration Displacement Response Spectra (ADRS)

𝑆𝑆𝐴𝐴 [𝑐𝑐𝑐𝑐⁄𝑠𝑠 2 ]

𝑆𝑆𝐷𝐷 [cm]
S A (Ti )
S A (Ti ) = ω S D (Ti )
i
2
= S D (Ti )
ω i
2
Earthquake Engineering – Response spectra

Acceleration Displacement Response Spectra (ADRS)

ωi = const
=Ti const ⇒
𝑆𝑆𝐴𝐴 [𝑐𝑐𝑐𝑐⁄𝑠𝑠 2 ]

2π
ωi = const
=
Ti

S A (Ti ) = ωi2 S D (Ti )

𝑆𝑆𝐷𝐷 [cm]
Earthquake Engineering – Response spectra

Example

m = 43 000 kg
k = 40 000 kN/m
ζ= 0.02 k 40000 ⋅1000
ωn = = = 30.5 rad / s
m 43000

2π 2 ⋅ 3.1415
Tn = = = 0.206 s
ωn 30.5
Earthquake Engineering – Response spectra

Example

1.08

0.206
Earthquake Engineering – Response spectra

Example

m = 43 000 kg k 40000 ⋅ 1000

ωn = = = 30.5 rad / s
k = 40 000 kN/m m 43000
2π 2 ⋅ 3.1415
ζ = 0.02 Tn = = = 0.206s
ωn 30.5
from response spectrum we obtain:
Max pseudo acceleration = SA (T=0.206s) = 1.08 g
Maximum Displacement =SD (T=0.206s) = SA
(T=0.206s)/𝜔𝜔n 2= 11.4 mm
Maximum force acting on the structure:
2
FS ,max = kS D (ωn , ζ ) = mωn S D (ωn , ζ ) = m ⋅ SA(ωn , ζ )

Fs,max = m*SA =43 000 x 1.08 x 9.81/1000 = 456 kN

Fs,max = k*SD= 40 000 x 11.4/1000 = 456 kN

 Nicola Buratti

DICAM – Department of Civil, Chemical, Environmental and

Materials Engineering

nicola.buratti@unibo.it

www.unibo.it