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1 2 3 Dhileep.M ,Trivedi.A ,Bose.P.R 1AssistantProfessor,DepartmentofCivilEngineering,SCMSSchoolofEngineering andTechnology,Karukutty,Ernakulam,Kerala 2Dean,FacultyofTechnology,UniversityofDelhi, DelhiCollegeofEngineeringCampus,BawanaRoad,Delhi 42 3Head,EngineeringandDisasterManagement,DDFconsultantsPvt.Ltd.,Delhi kaviyad@bsnl.in

Behaviorofhighfrequencymodalresponsesinnonlinearseismic analysis

ABSTRACT Practical difficulties associated with the non linear direct numerical integration of the equationsof motion leadstotheuseofnonlinearstaticpushoveranalysisofstructures. Pushover analysis is getting popular due to its simplicity. High frequency modes and nonlinear effects may play an important role in stiff and/or irregular structures. The contributionofhighermodesinpushoveranalysisisnotfullydeveloped.Thebehaviorof highfrequencymodalresponsesinnonlinearseismicanalysisofstructuresisnotknown. Inthispaperanattemptismadetostudythebehaviorofhighfrequencymodalresponses innonlinearseismicanalysisofstructures. Keyword: Pushover, High Frequency Modal Response, Rigid Frequency, Non linear, SeismicAnalysis 1.Introduction Inseismicanalysisanddesignofstructures,adirectintegrationoftheequationofmotion isconsideredtoyieldthetrueresponseofastructurewhensubjectedtotheparticular earthquake time history considered in the analysis. Practical difficulties associated with the analysis of large real life structural models dictate the use of response spectrum methodofanalysisinsteadofthedirectintegrationmethod.Furthermore,theearthquake input needed in the design of structures subjected to future earthquakes is defined in terms of a response spectrum. The response spectrum method of analysis utilizes the conceptof modal superposition. In typical regular building structures only a few lower ordermodesaresufficienttoevaluatethetotalresponsewithreasonableaccuracy.Unlike regularstructures,high frequency modesandnonlineareffectscontributessignificantly intheseismicanalysisofirregularstructures. Non linear seismic analysis of structures involves direct numerical integration of the equations of motion. This method is impractical and computationally tedious for most practical applications. Therefore an approximate nonlinear static analysis procedure known as pushover analysis is used instead of nonlinear dynamic analysis (ATC40, 1996 FEMA273, 1997 FEMA274, 1997 FEMA356, 2000). The guidelines given by Federal Emergency Management Agency (FEMA) and Applied Technology Council (ATC) for pushover analysis assumes the lateral force distribution based on the 723

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fundamentalmodeofvibration.Inthecaseofsimpleregularstructures,thefundamental modeissufficienttoevaluatethetotalresponsewithreasonableaccuracy.Unlikeregular structures,the fundamental mode in an irregular structure is typically a localized mode that may not have any bearing on the response of certain other parts within a structure (Dhileep and Bose, 2009). FEMA356 recommends that higher mode effects shall be considerediftheshearinanystoryresultingfromthemodalanalysisconsideringmodes requiredforobtaining90%massparticipationexceeds130%ofthecorrespondingstory shear considering only the first mode response. To satisfy this criterion, structural engineersmayconsiderseveralhighermodeswhosefrequenciesmaybehigherthanthe fundamental mode. In order to take the response contributions of higher modes into account, a modal pushover analysis is proposed (Chopra and Goel, 2001 Kalkan and Kunnath, 2004 Barros and Almeida, 2005). Unlike linear analysis, the contribution of high frequency modes in pushover analysis is not fully developed and is a developing area of research. Further the effect of high frequency modal responses in non linear analysisofstructuresisnotknown.Thispaperdiscussesthebehaviorofhighfrequency modalresponsesinthenonlinearstaticpushoveranalysisofstructures. 2.Nonlinearseismicanalysis Equationofmotion foranidealizedsingledegreeof freedomsystemwithastiffnessK, massManddampingcoefficientCisgivenby,
& & M & +C & + f(U,sign & )= - M{ }&g U U U 1u

(1)

where, f( ,sign &) denotesthe hysteretic relation between the lateral force fs and the U U lateraldisplacementU(Chopra1998ChopraandGoel,2001).Oninitialloading,within the yield strength fy , the system is linearly elastic with stiffness K. Yielding begins whentheforcereaches fy andthedeformationreachestheyielddeformationUy.Inthe post yielding region the stiffness of the frame may be taken as K, where, varies between 0 to 10% (FEMA 273, 1997). The yield strength fy is related to the strength required for the structure to remain elastic fo , during the ground motion, through the yieldstrengthreductionfactor, Ry ,definedby R y = fo Uo = fy Uy (2)

where Uy is the yield deformation and Ry is equal to 1 for linearly elastic systems and greater than 1 for systems that deforms in to the inelastic range. Performance based designrequiresanestimateofthemaximumdisplacement,astructurewillundergodueto adesignearthquake.Inordertoachievethis,anonlineardynamicanalysis isrequired. Howeverduetothecomputationaleffortsandpracticaldifficultiesofnonlineardynamic analysis,nonlinearstaticpushoveranalysisisnowwidelyusedasanalternative.

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2.1Pushoveranalysis Pushoveranalysisisaperformancebasedanalysisprocedure,usuallyconsistsofapplying a vertical distribution of lateral loads to a model of an existing or previously designed structure. These loads are increased until the peak response of the structure is obtained (Figure1).

Figure1:PushoverAnalysis The pushover curve is a plot between the base shear and roof displacement. This pushover curve is then converted to acceleration displacement response spectrum (ADRS) known as capacity spectrum (ATC40, 1996 FEMA356, 2000). Further the elastic response spectrum is converted to the demand spectra in ADRS format. The capacity spectrum and demand spectrum are then super imposed to obtain the performancepoint. 3.SpectralregionsinaResponseSpectrum The spectral regions in a response spectrum can be divided into three, 1) a high frequencyregion,2)amidfrequencyregionand 3)alowfrequencyregion(Moranteet al, 1999 USNRC, 2006). In highfrequency region, the spectral acceleration becomes equal to the peak ground acceleration, often referred to as the zero period acceleration (ZPA). Inthis region of spectrum, the periodic partof the response becomes negligible andonlytherigidpartofresponseremains.Theresponsesinthisregionareinphaseto each other and combine algebraically. The minimum frequency in the highfrequency region beyond which the spectral acceleration curves for various damping ratios have samevalueswasdefinedastherigidfrequency(Guptaetal,1996).Inthelowfrequency regionofthespectrum,theresponsesarenotinphasewiththegroundacceleration,and generally are not in phase with each other. The rigid part of response in this region is equaltozeroandtheresponsecontainsonlydampedperiodicpart.

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The definition of the rigid frequency can be very important in the response spectrum methodforaccuratelyevaluatingthestructuralresponse,thevariouscodesandstandards define its value which is based primarily on the ease of implementation and notonthe accuracyofthecalculatedresponse.Thepremisefordoingsoistoavoidthepracticeof determining the rigid frequency from a visual inspection of response spectrum curves. Thefixingupofrigidfrequencybasedupontheconvergenceofdifferentspectralcurves withdifferentdampingratioscanbepronetoindividualjudgmentandcanbeleadtothe useofdifferentrigid frequenciesbydifferentengineers(Dhileep,2007Dhileep,2008). Recent studies (Dhileep and Sopna, 2011) show that the spectral curves with different dampingratiosconvergesatdifferentfrequencies.Insteadofrigid frequency,adamped rigidfrequencyisproposedbasedontheconvergenceofaspectralcurvewiththespectral curveshavinghigherdampingratios. 4. Behaviorofhighfrequencymodalresponses At high frequencies, the periodic part of the response becomes negligible and only the rigid part of response remains. Moreover the period of a high frequency mode is very short,sotheresponseinsuchamodeisessentiallystaticthandynamic.Considerthefirst nmodesofaNdegreesoffreedomsystem,havingfrequencieslessthandampedrigid frequencyandlettheresponseinthesenmodesbe U ,andtheresponseintheremaining rigidmodesbe Uo .Then,
n n N i=n 1 + N i= n 1 +

U = Ui = f iX Uo = Ui = i
i=1 i=1

f X
i

(3) (4)

U =U + U o

Forhighfrequencymodes,Eqs.(3)and(4)givestheequationofmotionas,
& && M& o +C& o + KUo = -MUbou g U U

(5)

where,
n

Ubo =Ub - f iGi ,

i=1

(8)

M= mass matrix, C= damping matrix and K= Stiffness matrix. Since the residual & & & responseinhighfrequencymodesarepseudostatic,wecanneglecttheterms Uand Uin Eq.(7),therefore
& & KUo =-MUbou g

(9)

Theresponse ina high frequency mode isessentially staticandcould bedetermined by static analysis using equation (9) instead of dynamic analysis. The responses of the

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modesinthemidfrequencyregionconsistsofarigid(static)partandadampedperiodic part.

Figure2:ElasticresponsespectrumofElCentro1940earthquakeinnormalscale Figure2showstheelasticresponsespectrumofElCentro1940earthquake.Thespectral acceleration in the high frequency zone is equal to the zero period acceleration. The linearresponse in high frequency modesofthisregioncanbeobtainedbyconductinga static analysis using zero period acceleration in equation (9). Figure 3(a) shows the demand spectrum corresponding to El Centro 1940 ground motion in ADRS format. Figure 3(b) shows the enlarged portion corresponding to the rigid zone of the demand spectrum. In this zone it is observed thatthe spectral acceleration remains constant and equaltozeroperiodacceleration(Figure3b).Inmodalpushoveranalysis,thestructureis subjectedtoanincrementalforcepatternofnMnSA, wherenisthemodalparticipation factor,n isthemodeshapeandSA isthespectralacceleration.Inhighfrequencymodes thebehaviorofrigidmodesarestaticandtheirmodalresponsecanbeobtainedbyastatic analysis. In high frequency modes the structure is subjected to force pattern given by the right hand side of equation (9). Therefore pushover analysis can be conducted in high frequency modes by pushing the structure using an incremental load pattern given by equation (9). Pushover analysis is a non linear static approximation to the nonlinear timehistoryanalysis.Thereforehighermodesareexpectedtogivemoreaccurateresults in a non linear static analysis compared to the modes in the mid frequency and low frequencyregionsofaresponsespectrum.

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(a)

(b)

Figure3:ElCentro1940groundmotion(a)Demandspectrum(b)Demandspectrum correspondingtorigidzone 5.NumericalVerification To study the behavior of high frequency modal responses in non linear static pushover analysis a 2D frame model as shown in Figure 4 is considered. The frequencies are changed by changing the geometrical parametersof the modal and pushover analysis is conductedusingthefirstmode.

Figure4:Modelof2Dframe 728

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The analysis is conducted using SAP 2000 for different frequencies (CSI, 2003). For pushoveranalysis,M3hingesareassignedtobeamsandPM2M3hingesareassignedto columnsaccordingtoFEMA356documentusingtheoptionsgiven inSAP2000.Load cases are defined and then analyses are performed. From the pushover curve the performance point in terms of spectral acceleration and spectral displacement, and the correspondingbaseshearandroofdisplacementwereobtainedfor5%dampedElCentro, 1940responsespectrum.Theresultsarecomparedwiththepeakdisplacementobtained fromthenonlinearmodaltimehistoryanalysis(THA)performedusingElCentro,1940 groundmotionwith5%damping.TheresultsobtainedaretabulatedinTable1. Table1:Displacementsfordifferentfrequencies Sl.No. Frequency(Hz) 1 2 3 4 5 6 9.7 17.67 26.602 36.484 41.801 50.884 Displacement(m) Pushoveranalysis NonlinearTHA 3 3 1.566X10 1.022X10 4 4 3.038X10 2.326X10 4 4 1.306X10 1.277X10 5 5 6.849X10 6.784X10 5 5 5.205X10 5.167X10 5 5 3.556X10 3.57X10 %Error 53.22 30.61 2.271 0.958 0.735 0.392

From Table 1 it is observed that the percentage error in pushover analysis at a low frequency of 9.7 Hz is 53.22% when compared to time history analysis. For high frequenciesthepushoveranalysisgivesresultswithlessthan1%error.Thisshowsthat thebehaviorofhighfrequencynonlinearmodalresponsesisessentiallystatic.Therefore thenon linearresponsesofstructuresinhigh frequencyrigid modescanbeobtainedby conductinganonlinearstaticanalysis,insteadofanonlineardynamicanalysis.Furtherit is observed that there is a decrease in error as the frequency increases from low frequency zone to highfrequency zone. This is due to the presence of rigid part of responseinthemidfrequencyzoneofspectrum. 6.Conclusions Nonlinear static pushover analysis used as an approximation to nonlinear time history analysis is becomingastandardtoolamongtheengineers,researchersandprofessionals worldwide.Highfrequencymodesmaycontributesignificantlyintheseismicanalysisof irregular and/or stiff structures. In order to take the contributions of higher modes structuralengineersmayincludehighfrequencymodesinthenonlinearstaticpushover analysis.Thebehaviorofhighfrequencymodesinnonlinearstaticpushoveranalysisof irregular structuresisstudied. Athigh frequencies,theresponsesof nonlineardynamic analysis converge to the nonlinear static pushover analysis. Therefore non linear response of high frequency modes can be evaluated using a non linear static push over analysiswithan incremental forcepatterngivenbytheir modal masscontributiontimes zero period acceleration. The higher modes with rigid content as a major contributing 729

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factor exhibit a better accuracy in nonlinear pushover analysis of structures when comparedtothedampedperiodicmodes. Acknowledgements The authors are thankful to Haritha P.H., Lecturer, KMCT Engineering College, Kozhikodeforherassistanceinsolvingnumericalproblems. 7.References 1. AppliedTechnologyCouncil(ATC),1996,SeismicEvaluationandRetrofitof ConcreteBuildings,ReportATC40,AppliedTechnologycouncil,Redwood City,CaliforniaSeismicSafetyCommission. Chopra, A.K.(1998). Dynamics of Structures: Theory and applications to rd earthquakeengineering,3 Ed., PrenticeHall,NewDelhi. Chopra,A.K.,andGoel,R.K.,2001,AModalPushoverAnalysisProcedure to Estimating Seismic Demands for Buildings: Theory and Preliminary Evaluation,PEERReport2001/03,PacificEarthquakeEngineeringResearch Center,UniversityofCalifornia,Berkeley,California. Computers & Structures, Inc., 2003, SAP 2000 Analysis Reference Manual, Berkeley,California:CSI. DhileepMandBoseP.R.,2007,EffectofHighFrequencyModesinSeismic AnalysisofBuildings,ProceedingsoftheInternational ConferenceonCivil Engineering intheNewMillennium:OpportunitiesandChallenges,Howrah, India,16. Dhileep M. and Bose P. R., 2008, A Comparative study of Missing Mass Correction Methods for Response Spectrum method of Seismic Analysis, Computers&Structures,86(2122),20872094.
. Dhileep M and Bose P.R., 2009, Seismic Analysis of Irregular Buildings: MissingMassEffect,JournalofStructuralEngineering,SERC,Vol.35,No. 5,359365.

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Dhileep M. and Sopna S.N., 2011, Effect of Rigid Content on Modal ResponseCombination,StructuresandBuildings(Acceptedforpublication) FEMA 356, 2000, Prestandard and commentary for the Seismic Rehabilitation of Buildings, Building Seismic Safety Council forthe Federal EmergencyManagementAgency,Washington,D.C.

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10. FEMA273, 1997 NEHRP Guidelines for the Seismic Rehabilitation of Buildings, Building Seismic Safety Council for the Federal Emergency ManagementAgency,Washington,D.C. 11. FEMA 274, 1997 NEHRP Commentary on the Guidelines for the Seismic Rehabilitation of Buildings, Building Seismic Safety Council forthe Federal EmergencyManagementAgency,Washington,D.C. 12. Gupta, A.K., Hassan, T. and Gupta, A. (1996), Correlation coefficients for modal response combination of nonclassically damped systems. Nuclear EngineeringandDesign165,6780. 13. Kalkan, E. and Kunnath, S.K.,2004 Method of modal combination for th pushover analysis of the building, 13 World Conference of Earthquake Engineering,Vancouver,B.C.,Canada.,PaperNo.2713. 14. Morante, R., Wang, Y., Chokshi, N., Kenneally, R. and Norris W., 1999, EvaluationofModalCombinationMethodsforSeismicResponseSpectrum Analysis,15thInternationalConferenceonStructuralMechanics inReactor Technology, Seoul (KR), BNLNUREG66410, paper ID K4A4US. . 15. Rui Carneiro Barros and Ricardo Almeida, 2005, Pushover Analysis of Asymmetric ThreeDimensional Building Frames, Journal of Civil EngineeringandManagement, 11(1),pp.312. 16. USNRC, 2006, Combining modal responses and spatial components in seismicresponseanalysis,Regulatoryguide1.92,Officeofnuclearregulatory research,USNuc.Reg.CommissionR2.

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