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DOI 10.1007/s10518-011-9261-7
ORIGINAL RESEARCH PAPER
A simplied 3D model for soil-structure interaction
with radiation damping and free eld input
V. Saouma F. Miura G. Lebon Y. Yagome
Received: 25 August 2010 / Accepted: 22 March 2011
Springer Science+Business Media B.V. 2011
Abstract This paper addresses the time history nite element analysis of rock-structure
interaction. Modeled is not only the lateral energy dissipation, but also the interaction between
the far eld and the numerical model itself. This is accomplished by a preliminary analysis
of the far eld as a shear beam (for lateral excitation), and then velocities and displacements
are transferred to the model as nodal forces through damping and stiffness matrices respec-
tively. Details of the nite element implementation are given, along with an extensive series
of simulations comparing this method, with the one of Lysmer for both 2D and 3D models.
The model is derived from the principle of virtual work, and its implementation does not
require any modication of existing nite element codes, only clever pre and postprocessing
of results are needed.
Keywords Soil-Structure interaction Radiation damping Dams Finite elements
List of symbols
Latin symbols
E Young modulus
F force vector
C Damping Matrix
V. Saouma (B)
University of Colorado, Boulder, Colorado, USA
e-mail: saouma@colorado.edu
F. Miura
Yamaguchi University, Yamaguchi, Japan
G. Lebon
LMT-Cachan, (ENS Cachan/CNRS/UPMC/PRES UniverSud), Paris, France
Y. Yagome
Tokyo Electric Power Service Company, Tokyo, Japan
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Bull Earthquake Eng
C
L
i
Lysmer Damping matrix along axis i
F
C
Equivalent nodal forces due to free eld velocities
F
K
Equivalent nodal forces due to free eld displacements
F
R
Equivalent nodal forces due to free eld Rayleigh damping
K Stiffness matrix
M Mass matrix
N Shape functions
t Traction vector
t
i
Element size along axis i
u, u, u Nodal displacements, velocities and accelerations
U
i nt
Internal strain energy
V Wave velocity
W
ext
External work
Greek symbols
Poissons ratio
Lame parameter
Mass density
Shear modulus
Boundary of
Element volume
Stress tensor
1 Introduction
When modeling the wave motion in a spatial domain, it is essential to introduce articial
boundaries to limit the bounded domain to a reasonable size. The simple Dirichlet boundary
condition, in which displacements are xed, is unsuitable as substantial reection (through
Snells law) will occur at the boundary and reected waves will degrade the solution. A
solution to this nagging problem could be to enlarge the numerical mesh, thus delaying the
side reections. Obviously this solution considerably increases the expense of computation
and is not viable unless articial damping can be introduced in the material near the far eld,
(Hudson et al. 1994). Thus, a numerical model (nite element in our case) should absorb the
incoming waves just as they would be absorbed by the free eld physically.
The apparent complexity of modeling the dispersion of the incoming waves at the bound-
ary, has compelled most analyses of dams to simply ignore the mass of the foundation,
(Ghanaat 2004; Mills-Bria et al. 2006) and thus potentially overestimating peak accelera-
tions.
Lysmer and Kuhlemeyer (1969) were the rst to investigate this problem. Their solution
is simple, elegant and quite effective. It is based on the premises that one can surround the
rock boundary by viscous boundaries (through energy absorbent dashpots) with
t
n
= V
P
u; t
s1
= V
S
v; t
s2
= V
S
w; (1)
where t
n
and t
s
are the normal and shear tractions respectively; u, v and w the normal and
two tangential particle velocities at the boundary; is the mass density; V
S
and V
P
are the
shear and pressure waves velocities respectively given by
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Bull Earthquake Eng
V
S
=
_
and V
P
=
1
s
V
S
where s
2
=
1 2
2(1 )
(2)
where and are the shear modulus and the Poisson ratio respectively.
Strictly speaking, one must thus enforce the so-called Sommerfeld boundary condition,
(Zienkiewicz et al. 1979) which is more casually referred to as LysmerKuhlemeyer bound-
ary condition. It is an exact solution if the P and S waves impinge at a right angle the
articial boundary. However they are only approximate solutions for inclined body waves
where the reected energy is only a small part of the total energy. In many cases, the farther
one chooses the articial boundary to be from a source which radiates waves, the more the
angle of incidence with respect to the articial boundary will approach 90
; (2)
The contact surface of the free eld
FF F
F
+
F
+
F
+
+
+
(3)
where each term XY infers the effect of Y on X. This is clearly a tightly coupled problem,
however if we neglect the inuence of the model on the free eld response, this reduces to
FF F
0 0
0 0
0 0
+
+
+
0 0
+
_
F 0
0
_
(4)
then
+
becomes zero we now have a loosely coupled system through
+
. Hence
we can consider the equation of motion for the free eld by itself, and will account for the
interaction in the equation of motion in by adding forces, stemming from
+
, on the
right hand side. We next write the rst equation of motion for the free eld:
M
F
u
F
+ C
F
u
F
+ K
F
u
F
= t
F
(5)
solving this equation, we determine the displacements and velocities along
, and then
solve for the equation of motion in the model:
M
+ C
+ K
= t
bot
_
C
R
lft
u
lft
+ K
lft
u
lft
_
. , .
Left Virtual Interface
_
C
R
rgt
u
rgt
+ K
rgt
u
rgt
_
. , .
Right Virtual Interface
(6)
where M, C, and K are the usual mass, damping and stiffness matrices respectively; the
subscripts lft, rgt, and bot correspond to left, right, and bottom; the superscript R corresponds to
Rayleigh damping.
So far, we have not accounted for one of the premises of the model, that is absorbtion of
the outgoing scattered wave, this is simply added through the inclusion of the dashpots in
accordance with the LysmerKuhlmeyer model. We note that the viscous forces should be
expressed in terms of the relative displacements between
+
and
.
M
+ C
+ K
+ C
dp
lft
_
u
+
lft
u
lft
_
+ C
dp
rgt
_
u
+
rgt
u
rgt
_
+ C
dp
bot
u
bot
= t
bot
_
C
R
lft
u
lft
+ K
lft
u
lft
_
_
C
R
rgt
u
rgt
+ K
rgt
u
rgt
_
(7)
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Bull Earthquake Eng
+ C
+ K
_
+
_
C
dp
lft
u
lft
+ C
dp
rgt
u
rgt
+ C
dp
bot
u
B
_
= t
bot
+
_
F
C
lft
+ F
K
lft
+ F
R
lft
_
+
_
F
C
rgt
+ F
K
rgt
+ F
R
rgt
_
(8)
Where F
C
, F
K
, and F
R
are the vectors of nodal equivalent forces caused by the free eld
velocities, stiffness and damping respectively. They will be separately derived later. The
corresponding three dimensional equation would be
_
M
+ C
+ K
_
+
_
C
dp
lft
u
lft
+ C
dp
rgt
u
rgt
+ C
dp
bck
u
bck
+ C
dp
fro
u
fro
+ C
dp
bot
u
B
_
= t
bot
+
_
F
C
lft
+F
K
lft
+F
R
lft
_
+
_
F
C
rgt
+F
K
rgt
+F
R
rgt
_
+
_
F
C
bck
+F
K
bck
+F
R
bck
_
+
_
F
C
fro
+F
K
fro
+F
R
fro
_
(9)
where bck and fro correspond to the back and front sides respectively.
To derive the expressions of the forces in the right hand side of Eq. 9 we apply the principle
of virtual work to the system
_
u. [ u + u + F] d =
_
u.
_
t
bot
+ t
_
d (10)
where is the mass density, the viscosity parameter, Fthe internal force, u the displacement
vector, t
bot
and t
are the surface traction on the boundary (base and free eld). It can be
readily shown that the left and right hand sides of Eq. 10 corresponds to the integral form of
the left and right hand sides of Eq. 9 respectively.
2.1 Internal virtual work
Discretizing the continuum through shape function, (Zienkiewicz et al. 2005), it can be read-
ily shown that the left hand side and the rst right hand side term of Eq. 10 correspond to the
classical form of the equation of motion
123
Bull Earthquake Eng
M
+ C
+ Ku
In the context of the present analysis, this can be generalized to the right hand side of Eq. 9.
2.2 External virtual work
Focusing on the remaining term of the external virtual force can be expressed as
_
u.t
d =
t
y
_
0
t
z
_
0
[ut
n
+ vt
s1
+ wt
s2
] dzdy (11)
In the next sections we will separately determine the tractions caused by presence of dashpots
or the free eld displacements.
2.2.1 Forces caused by velocity
Due to the presence of the dashpots around the bounded model, we substitute Eq. 2 into
Eq. 11. It should be noted that in the model, the velocities will actually correspond to dif-
ference in velocities between the free eld and the bounded model: u
lft
u
lft
as in Eq. 7.
The nodal displacements along the surface boundary can be expressed in terms of the known
nodal ones through the shape functions (assuming a linear variation). Considering the x-plane
the nite element discretization yields
u = N
u
u; u = N
u
u; V
p
u = V
p
N
u
u
v = N
v
u; v = N
v
u; V
s
v = V
s
N
v
u
w = N
w
u; w = N
w
u; V
s
w = V
s
N
w
u
(12)
where the shape functions, for the bilinear element shown in Fig. 2, are given by
N
u
=
1
t
y
t
z
(t
y
y)(t
z
z) 0 0 (t
z
z)y 0 0 zy 0 0 z(t
y
y) 0 0
T
N
v
=
1
t
y
t
z
0 (t
y
y)(t
z
z) 0 0 (t
z
z)y 0 0 zy 0 0 z(t
y
y) 0
T
N
w
=
1
t
y
t
z
0 0 (t
y
y)(t
z
z) 0 0 (t
z
z)y 0 0 zy 0 0 z(t
y
y)
T
(13)
and
u = u
1
v
1
w
1
u
2
v
2
w
2
u
3
v
3
w
3
u
4
v
4
w
4
T
(14)
Substituting
1
in Eq. 11,
_
u.td =
t
z
_
0
t
y
_
0
V
p
N
u
.N
T
u
+ V
s
_
N
v
.N
T
v
+ N
w
.N
T
w
_
dydz (15)
or F
C
= C
dp
x
u where
1
All operations performed by Mathematica.
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Bull Earthquake Eng
x
t
z
z
y
t
y
t
x
R
i
g
h
t
F
r
o
n
t
L
e
f
t
B
a
c
k
x
t
z
z
y
t
y
t
x
R
i
g
h
t
F
r
o
n
t
L
e
f
t
B
a
c
k
x
t
z
z
y
t
y
t
x t
y
t
x
R
i
g
h
t
F
r
o
n
t
L
e
f
t
B
a
c
k
x
y
z
t
z
t
y
1
2
3
4
t
n
t
s2
t
s1
1
2
3
4
z
y
t
n
t
s2
t
s1
x
-ve X (Left) +ve X (Right)
t
z
t
y
x
y
z
t
z
t
y
1
2
3
4
t
n
t
s2
t
s1
1
2
3
4
z
y
t
n
t
s2
t
s1
x
-ve X (Left) +ve X (Right)
t
z
t
y
Fig. 2 2D idealization and
x
plane
C
L
x
=
t
y
t
z
36
4V
p
0 0 2V
p
0 0 V
p
0 0 2V
p
0 0
0 4V
s
0 0 2V
s
0 0 V
s
0 0 2V
s
0
0 0 4V
s
0 0 2V
s
0 0 V
s
0 0 2V
s
2V
p
0 0 4V
p
0 0 2V
p
0 0 V
p
0 0
0 2V
s
0 0 4V
s
0 0 2V
s
0 0 V
s
0
0 0 2V
s
0 0 4V
s
0 0 2V
s
0 0 V
s
V
p
0 0 2V
p
0 0 4V
p
0 0 2V
p
0 0
0 V
s
0 0 2V
s
0 0 4V
s
0 0 2V
s
0
0 0 V
s
0 0 2V
s
0 0 4V
s
0 0 2V
s
2V
p
0 0 V
p
0 0 2V
p
0 0 4V
p
0 0
0 2V
s
0 0 V
s
0 0 2V
s
0 0 4V
s
0
0 0 2V
s
0 0 V
s
0 0 2V
s
0 0 4V
s
(16)
The corresponding expressions for the y axis is given by Eq. 28 in the appendix, and the
same expression applies on the positive and negative faces.
The two dimensional equivalent matrix is obtained by simply adding rows and columns
14, 36, 710, 912 (while dropping rows and columns 2, 5, 8 and 11) in Eq. 16. This
reduces to
F
C
=
t
z
6
2V
p
0 V
p
0
0 2V
s
0 V
s
V
p
0 2V
p
0
0 V
s
0 2V
s
u
1
v
1
u
2
v
2
(17)
It should be noted that both the left and right sides will be subjected to the same C
L
x
matrix.
2.2.2 Forces caused by displacements
The lateral forces exerted on the bounded domain by the free eld displacements are deter-
mined next. The free eld will be modeled as a shear beam (where
u
x
= 0) and in the
most general case, Fig. 2, there will be displacements along the three axis x, y and z. Hence,
unsymmetric and non-homogeneous boundaries could be accounted for. The traction terms
to be substituted in Eq. 11 are thus
123
Bull Earthquake Eng
t
n
=
xx
=
_
xx
+
yy
+
zz
_
+ 2
xx
=
_
v
y
+
w
z
_
t
s1
=
xy
=
xy
=
u
y
t
s2
=
xz
=
xz
=
u
z
(18)
where and are the classical Lames parameters,
=
E
(1 + )(1 2)
; =
E
2(1 + )
(19)
The internal displacements can be expressed in terms of the known nodal ones through
the shape functions, Eq. 13. Substituting into Eq. 11, we obtain:
W
ext
= u
t
z
_
0
t
y
_
0
_
N
u
.
_
_
N
v
y
+
N
w
z
__
+ N
v
.
_
N
u
y
_
+ N
w
.
_
N
u
z
__
dydzu
(20)
Or
F
K
= K
+
x
u (21)
where
F
K
= F
1,u
F
1,v
F
1,w
F
2,u
F
2,v
F
2,w
F
3,u
F
3,v
F
3,w
F
4,u
F
4,v
F
4,w
T
(22)
and the corresponding stiffness matrix is given by
K
+
x
=
1
12
0 2t
z
2t
y
0 2t
z
t
y
0 t
z
t
y
0 t
z
2t
y
2t
z
0 0 2t
z
0 0 t
z
0 0 t
z
0 0
2t
y
0 0 t
y
0 0 t
y
0 0 2t
y
0 0
0 2t
z
t
y
0 2t
z
2t
y
0 t
z
2t
y
0 t
z
t
y
2t
z
0 0 2t
z
0 0 t
z
0 0 t
z
0 0
t
y
0 0 2t
y
0 0 2t
y
0 0 t
y
0 0
0 t
z
t
y
0 t
z
2t
y
0 2t
z
2t
y
0 2t
z
t
y
t
z
0 0 t
z
0 0 2t
z
0 0 2t
z
0 0
t
y
0 0 2t
y
0 0 2t
y
0 0 t
y
0 0
0 t
z
2t
y
0 t
z
t
y
0 2t
z
t
y
0 2t
z
2t
y
t
z
0 0 t
z
0 0 2t
z
0 0 2t
z
0 0
2t
y
0 0 t
y
0 0 t
y
0 0 2t
y
0 0
(23)
The expression for K
x
, K
+
y
, and K
y
are given in the Appendix by Eqs. 26, 29 and 30
respectively.
Rayleigh damping is introduced
_
F
R
_
=
f
[K] (24)
where is the damping factor at frequency f . We note that this is stiffness proportional only
since we are dealing with a massless element.
Again, the two dimensional equivalent matrix is obtained by simply adding rows and
columns 14, 36, 710, 912 (while dropping rows and columns 2, 5, 8 and 11). This
reduces to
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Bull Earthquake Eng
Free Field
Free Field
dp
bot
C
{ } { }
, ,
,
ff R ff R
u u
{ } { }
, ,
,
ff L ff L
u u
F
F
{ } { }
, ,
,
{ } { }
, ,
,
Fig. 3 2D nite element modeling
K
+
x
=
t
2
0 0
0 0
0 0
0 0
(25)
3 Modeling
All the components of Eq. 9 having been dened, the analysis could then proceed as follows
(for the 2D case), Fig. 3:
1. Discretize the free eld with an arbitrary mesh which is topologically consistent with
the adjacent one in the bounded domain (that is to each boundary node of the foundation
mesh corresponds a node in the free eld mesh). Place dashpots at the base of the mesh.
2. Constrain the vertical displacements of all the nodes (thus allowing only shear deforma-
tion), apply an horizontal excitation and analyze.
3. If the seismic record includes a vertical component, repeat the analysis by constraining
all the horizontal displacements (thus allowing only axial deformation), apply the vertical
component of the excitation and analyze.
4. Determine the nodal equivalent forces F
C
, F
K
and F
R
from Eqs. 17, 21, and 24 respec-
tively.
5. Apply these as external (time dependent) boundary forces to the bounded domain (as in
Eq. 8) and analyze.
In 3D, the model becomes more complex, Fig. 4. We would have to perform rst three
analyses (assuming that the earthquake record has x, y and z components) of each of the
corner blocks, transfer the nodal equivalent forces to the four side blocks using the procedure
outlined above. Those in turn will be analyzed three times each, and nally nodal equiva-
lent forces again transferred to the bounded domain. Thus, potentially twenty four analyses
would have to be performed before the foundation can be analyzed. It should be noted that
each one of those free eld analysis is not computationally intensive, the major difculty
is book-keeping to properly determine the nodal forces and transfer them, at each time
increment, to the correct corresponding node.
Amajor advantage of this method, is that there is no need to modify existing nite element
programs (as is the case in Bielak and Christiano 1984 and Basu 2009). The entire operation
is the result of clever post and preprocessing of analysis which can be performed on most
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Bull Earthquake Eng
Fig. 4 3D nite element
modeling
2
2
2
2
1 1
1
1
2
2
2
2
1 11
11
11
Fig. 5 Vertical supports in the horizontal direction
existing nite element codes (only requirement: support dashpot elements). This requires:
(1) compatible meshes (identically positioned nodes in the main and free eld meshes) be
prepared; (2) selected output (displacements and velocities) be generated by the free eld
analysis; and (3) an external code which transforms free-eld displacements and velocities
into nodal forces for the main mesh. This procedure was fully automated in our computer
program, (Saouma et al. 2010). Undoubtedly, this effort would have to be contrasted with the
preparation of a very large mesh as previously specied with the code QUAD4M, (Hudson
et al. 1994) in which specially damped elements are placed in the far-eld.
Horizontal foundation modeling requires special attention as xed supports would also
reect elastic waves resulting in rocking and can not be used. Hence, the foundation must
simply be supported by vertical dashpots, Fig. 5. To account for gravity loads, rst a
static analysis is performed with vertical supports, then supports are removed, and reactions
replaced by nodal forces for the dynamic analysis along with dashpots.
4 Validation problems
To assess the effectiveness of the method in dissipating elastic waves an extensive paramet-
ric study is performed. We consider a soft foundation with E, and equal to 1.563
10
3
MN/m
2
, 2,500 kg/m
3
and 0.25 respectively. This corresponds to a shear wave velocity
(V
S
from Eq. 2) of 500m/s. Hence by exciting the base with a harmonic excitation with
period of 0.4s, a full wave length develops over 200m which is the height of the model.
Length is set to 800m, and the 3D model in turn is 200 by 800 by 800m. Since the base
excitation has a magnitude of 1 m/s
2
, ideally we should have a similar (though with a phase
lag) response at the top of the bounded domain. In both cases element size was 25m (except
for a ne 2D mesh with half this size). Results are assessed by examining the acceleration
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Bull Earthquake Eng
0 1 2 3 4 5 6 7 8 9 10
4
3
2
1
0
1
2
3
4
2DNothing
Fig. 6 Selected results for 2D analyses with free boundaries; crest accelerations, deformed shapes with
contour lines of V
X
and V
Y
0 1 2 3 4 5 6 7 8 9 10
1
0.5
0
0.5
1
2DLysmer
Fig. 7 Selected results for 2D Lysmer analyses; crest accelerations, deformed shapes with contour lines of
V
X
and V
Y
at the top, distribution of accelerations at h/8 increments, deformed shapes and velocity or
acceleration contour lines. From this investigation we conclude that:
1. When the boundaries are left bare (for both 2D and 3D analyses), results are totally
unacceptable, Fig. 6.
2. 2D Lysmer yields nearly perfect (0.9) acceleration at h, nearly zero accelerations at the
knots (h/4 and 3h/4) barely acceptable displacements for horizontal excitation, and very
bad ones for a vertical excitation. Top accelerations due to vertical excitation were slightly
better than when a horizontal was applied, Fig. 7.
3. 2D Present model gave excellent top acceleration ( 1.0), nearly zero ones at the knots
(have as large as those predicted by Lysmer), and a deformation which indeed is con-
sistent with a shear beam. It should be noted that best results are achieved when both
terms where included (C and K). Similarly, excellent results were obtained for vertical
excitation (the importance of including both terms was more accentuated than for the
horizontal acceleration), Fig. 8.
4. The 3D analysis based on Lysmers model yields top acceleration slightly higher than
1.0 a good deformation, and not quite a homogeneous velocity distribution, Fig. 9.
5. the 3D analysis based on the present model yielded a nearly perfect acceleration distri-
bution from bottom to top, a very smooth deformation, and internal velocity distribution,
Fig. 10.
In summary, Lysmers model performs better in 3D than in 2D, whereas the present one
yields excellent results in all analyses.
5 Conclusions
Finite element modeling of the mass in the foundation of massive civil engineering structures
subjected to ground excitation may be critical. An implementation, and extension of a model
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Bull Earthquake Eng
0 1 2 3 4 5 6 7 8 9 10
1
0.5
0
0.5
1
2DMiura
Fig. 8 Selected results for 2D Miura analyses; crest accelerations, deformed shapes with contour lines of V
X
and V
Y
0 1 2 3 4 5 6 7 8 9 10
1
0.5
0
0.5
1
3DLysmer
1.0
0.
1.0
h
1.0
0.
1.0
7h/8
1.0
0.
1.0
3h/4
1.0
0.
1.0
5h/8
1.0
0.
1.0
h/2
1.0
0.
1.0
3h/8
1.0
0.
1.0
h/4
1.0
0.
1.0
h/8
0 1 2 3 4 5 6 7 8 9 10
1.0
0.
1.0
Time [sec.]
0
Fig. 9 Selected results for 3D Lysmer analyses; crest accelerations, accelerations at h = 0, h/8, h/4, 3h/8,
h/2, 5h/8, 3h/4, 7h/8 and h; deformed shapes with contour lines of V
X
0 1 2 3 4 5 6 7 8 9 10
1
0.5
0
0.5
1
3DMiura
1.0
0.
1.0
h
1.0
0.
1.0
7h/8
1.0
0.
1.0
3h/4
1.0
0.
1.0
5h/8
1.0
0.
1.0
h/2
1.0
0.
1.0
3h/8
1.0
0.
1.0
h/4
1.0
0.
1.0
h/8
0 1 2 3 4 5 6 7 8 9 10
1.0
0.
1.0
Time [sec.]
0
Fig. 10 Selected results for 3D Miura analyses; Crest accelerations, accelerations at h = 0, h/8, h/4, 3h/8,
h/2, 5h/8, 3h/4, 7h/8 and h; deformed shapes with contour lines of V
X
originally proposed by Miura (itself an extension of work by Smith) was presented. Relevant
equations derived for both 2Dand 3Dcases for implementation in a nite element simulation.
Anoteworthy note of the model, is that it does not require modication of the source code (as
long as it supports dashpots), however extensive data-shufing is necessary. An extensive
parametric study was undertaken, and the advantages of the model, over some of the existing
ones, was highlighted.
Acknowledgments The rst author would like to acknowledge the nancial support of the Tokyo Electric
Power Company (TEPCO) and the Tokyo Electric Power Service Company (TEPSCO) for their nancial and
technical support. The invaluable help of Dr. Haussmann who programmed the model is also acknowledged.
The third author would like to acknowledge the encouragement and support of Prof. Ragueneau in pursuing
this study with the rst author at the University of Colorado.
123
Bull Earthquake Eng
Appendix equations for other planes
See Fig. 11.
K
x
=
1
12
0 2t
z
2t
y
0 2t
z
t
y
0 t
z
t
y
0 t
z
2t
y
2t
z
0 0 2t
z
0 0 t
z
0 0 t
z
0 0
2t
y
0 0 t
y
0 0 t
y
0 0 2t
y
0 0
0 2t
z
t
y
0 2t
z
2t
y
0 t
z
2t
y
0 t
z
t
y
2t
z
0 0 2t
z
0 0 t
z
0 0 t
z
0 0
t
y
0 0 2t
y
0 0 2t
y
0 0 t
y
0 0
0 t
z
t
y
0 t
z
2t
y
0 2t
z
2t
y
0 2t
z
t
y
t
z
0 0 t
z
0 0 2t
z
0 0 2t
z
0 0
t
y
0 0 2t
y
0 0 2t
y
0 0 t
y
0 0
0 t
z
2t
y
0 t
z
t
y
0 2t
z
t
y
0 2t
z
2t
y
t
z
0 0 t
z
0 0 2t
z
0 0 2t
z
0 0
2t
y
0 0 t
y
0 0 t
y
0 0 2t
y
0 0
(26)
(27)
C
L
y
=
t
x
t
y
36
4V
s
0 0 2V
s
0 0 V
s
0 0 2V
s
0 0
0 4V
p
0 0 2V
p
0 0 V
p
0 0 2V
p
0
0 0 4V
s
0 0 2V
s
0 0 V
s
0 0 2V
s
2V
s
0 0 4V
s
0 0 2V
s
0 0 V
s
0 0
0 2V
p
0 0 4V
p
0 0 2V
p
0 0 V
p
0
0 0 2V
s
0 0 4V
s
0 0 2V
s
0 0 V
s
V
s
0 0 2V
s
0 0 4V
s
0 0 2V
s
0 0
0 V
p
0 0 2V
p
0 0 4V
p
0 0 2V
p
0
0 0 V
s
0 0 2V
s
0 0 4V
s
0 0 2V
s
2V
s
0 0 V
s
0 0 2V
s
0 0 4V
s
0 0
0 2V
p
0 0 V
p
0 0 2V
p
0 0 4V
p
0
0 0 2V
s
0 0 V
s
0 0 2V
s
0 0 4V
s
(28)
x
t
y
R
i
g
h
t
F
r
o
n
t
L
e
f
t
B
a
c
k
R
i
g
h
t
F
r
o
n
t
L
e
f
t
B
a
c
k
t
z
z
y
t
x
R
i
g
h
t
F
r
o
n
t
L
e
f
t
B
a
c
k
+ve Y (Back)
t
n
-ve Y (Front)
z
y
x
1
2
3
4
t
z
t
x
t
s2
t
s1
t
n
z
y
x
1
2
3
4
t
z
t
x
t
s2
t
s1
Fig. 11 2D idealization and
y
Plane
123
Bull Earthquake Eng
K
+
y
=
1
12
0 2t
z
0 0 2t
z
0 0 t
z
0 0 t
z
0
2t
z
0 2t
x
2t
z
0 t
x
t
z
0 t
x
t
z
0 2t
x
0 2t
x
0 0 t
x
0 0 t
x
0 0 2t
x
0
0 2t
z
0 0 2t
z
0 0 t
z
0 0 t
z
0
2t
z
0 t
x
2t
z
0 2t
x
t
z
0 2t
x
t
z
0 t
x
0 t
x
0 0 2t
x
0 0 2t
x
0 0 t
x
0
0 t
z
0 0 t
z
0 0 2t
z
0 0 2t
z
0
t
z
0 t
x
t
z
0 2t
x
2t
z
0 2t
x
2t
z
0 t
x
0 t
x
0 0 2t
x
0 0 2t
x
0 0 t
x
0
0 t
z
0 0 t
z
0 0 2t
z
0 0 2t
z
0
t
z
0 2t
x
t
z
0 t
x
2t
z
0 t
x
2t
z
0 2t
x
0 2t
x
0 0 t
x
0 0 t
x
0 0 2t
x
0
(29)
K
y
=
1
12
0 2t
z
0 0 2t
z
0 0 t
z
0 0 t
z
0
2t
z
0 2t
x
2t
z
0 t
x
t
z
0 t
x
t
z
0 2t
x
0 2t
x
0 0 t
x
0 0 t
x
0 0 2t
x
0
0 2t
z
0 0 2t
z
0 0 t
z
0 0 t
z
0
2t
z
0 t
x
2t
z
0 2t
x
t
z
0 2t
x
t
z
0 t
x
0 t
x
0 0 2t
x
0 0 2t
x
0 0 t
x
0
0 t
z
0 0 t
z
0 0 2t
z
0 0 2t
z
0
t
z
0 t
x
t
z
0 2t
x
2t
z
0 2t
x
2t
z
0 t
x
0 t
x
0 0 2t
x
0 0 2t
x
0 0 t
x
0
0 t
z
0 0 t
z
0 0 2t
z
0 0 2t
z
0
t
z
0 2t
x
t
z
0 t
x
2t
z
0 t
x
2t
z
0 2t
x
0 2t
x
0 0 t
x
0 0 t
x
0 0 2t
x
0
(30)
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