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Linear Time History Analysis
of MDOF Structure by Mode
Superposition Method
using Newmark’s β Method
Carleton University
© Mostafa Tazarv
Graduate Student
Version 1.0
Modal Time History Analysis © Mostafa Tazarv
Introduction
Structural dynamic is a mandatory graduate level course for structural/earthquake engineering
student all around the world. One of the most important topics of this course is to solve modal
equations of motion of a Multi Degree of Freedom (MDOF) structure by a numerical method
such as Nemark’s β method and Wilson-Ѳ method. Modal response should be assembled to
obtain each DOF response. Applied load can be a base excitation earthquake or time-dependent
loads on stories.
Here, I will introduce a MATLAB function which can do a time history analysis of an n-DOF
structure with a certain Number of Modes (nom). Then, I will show how to use this function with
two examples one excited by half-cycle harmonic on two stories and another excited by Elcentro
earthquake.
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Modal Time History Analysis © Mostafa Tazarv
function [disp,EF]=NM(n,nom,dt,F,ft,M,K,zet,omega2,phi)
% INPUTS:
% n: Number of Stories or generally, Number fo DOFs
% nom: Number of Modes that you want to consider in analysis; (nom <= n)
% dt: Time Interval (Sampling Time) of force or earthquake
% F: Spatial Load Distribution Vector; in the case of base seismic
% exitation F=-g*M*[1 1 1 ... 1]'; (A vector)
% ft: Time-Variant Component of Load (A Vector); in the
% case of base seismic exitation ft=Ag (Ground Acceleration in g)
% M: Mass Matrix of Stories (n x n)
% K: Stiffness Matrix of Stories (n x n)
% zet: Damping Ratio in percent (%); e.g. 5
% omega2: Eigen-Values Matrix (nom x nom); e.g. [phi,omega2]=eig(K,M);
% phi: Eigen-Vectors (nom x nom); e.g. [phi,omega2]=eig(K,M);
As long as the size of stiffness matrix and mass matrix are equal, there will be no restriction on this
function.
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Modal Time History Analysis © Mostafa Tazarv
⎡k1 + k 2 − k2 0 0⎤ ⎡m1 0 0 0⎤
⎢ −k k 2 + k3 − k3 0⎥ ⎥ ⎢0 m2 0 0 ⎥⎥
K=⎢ 2
, M =⎢
⎢ 0 − k3 ... ... ⎥ ⎢0 0 ... ... ⎥
⎢ ⎥ ⎢ ⎥
⎣ 0 0 ... kn ⎦ ⎣0 0 ... mn ⎦
⎡ 2.0 - 1.0 0 0 0 0 0 0⎤
⎢ - 1.0 1.5 - 0.5 0 0 0 0 0 ⎥⎥
⎢
⎢ 0 - 0.50 1.0 - 0.5 0 0 0 0⎥
⎢ ⎥
0 0 - 0.5 1.0 - 0.5 0 0 0⎥
K = 109 × ⎢ ( N / m)
⎢ 0 0 0 - 0.5 1.0 - 0.5 0 0⎥
⎢ ⎥
⎢ 0 0 0 0 - 0.5 1.0 - 0.5 0⎥
⎢ 0 0 0 0 0 - 0.5 1.0 - 0.5 ⎥
⎢ ⎥
Figure 1- Shear Building
⎣⎢ 0 0 0 0 0 0 - 0.5 0.5⎦⎥
⎡ 8 0 0 0 0 0 0 0⎤
⎢ 0 8 0 0 0 0 0 0 ⎥⎥
⎢
⎢ 0 0 8 0 0 0 0 0⎥
⎢ ⎥
0 0 0 8 0 0 0 0⎥
M = 10 × ⎢
6
(kg = N .s 2 / m)
⎢ 0 0 0 0 8 0 0 0 ⎥
⎢ ⎥
⎢ 0 0 0 0 0 4 0 0⎥
⎢ 0 0 0 0 0 0 4 0⎥
⎢ ⎥
⎣⎢ 0 0 0 0 0 0 0 4⎦⎥
Derived mass and stiffness matrixes can be used as inputs of eigen-problem and modal analysis.
For this section, only 2 modes are desired. Then, eigenvalues and eigenvectors have been
calculated. Figure 2 illustrates modal shape of first two modes normalized to mass.
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Modal Time History Analysis © Mostafa Tazarv
Figure 2- Mode Shapes of First Two Modes of Shear Building (Normalized to Mass)
⎡ - 0.0264 - 0.0727 ⎤
⎢ - 0.0518 - 0.1280 ⎥⎥
⎢
⎢ - 0.0994 - 0.1776 ⎥
⎢ ⎥
- 0.1403 - 0.1423 ⎥
Φ = 10 × ⎢
−3
⎢ - 0.1720 - 0.0391 ⎥
⎢ ⎥
⎢ - 0.1923 0.0828 ⎥
⎢ - 0.2062 0.1849 ⎥
⎢ ⎥
⎣⎢ - 0.2132 0.2429 ⎦⎥
4.1408 0
0 29.8429
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Modal Tim
me History An
nalysis © Mostafa Taazarv
As meentioned before, t
to solve equation of mootion of each mode,
m
Y&&n + 2ξ nωnY&n + ω n Yn = ϕ n .F . f (t ) , load shoulld be in the form of
2 T
. . Here, is a
half-sine wave with thet period of 4.93 a
and 0 0 0 75 1
100 0 0 0 (kN). Thiss load
is illustraated in Figu
ure 3. All reequired dataa has been provided
p so far to do modal
m analyssis as
follows:
function [disp
p,EF]=NM(
(8,2,0.00
05,F,ft,M
M,K,0,ome
ega2,phi)
)
Figure 3-
3 Decomposin
ng of Loads in
nto Two Comp
ponents (dt for f(t) is 0.005 sec)
s
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Modal Time History Analysis © Mostafa Tazarv
Figure 5- Elastic Force Time history of Some Stories considering Two Modes
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Modal Time History Analysis © Mostafa Tazarv
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Modal Time History Analysis © Mostafa Tazarv
1 1 1 1 1 1 1 1
⎡ 19.586 ⎤
⎢ 0 79.014 ⎥
⎢ Sym. ⎥
⎢ 0 0 204.44 ⎥
⎢ ⎥
⎢ 0 0 0 1.3905e + 005 ⎥
⎢ ⎥ (rad/s)
2
0 0 0 0 2.046e + 005
⎢ ⎥
⎢ 0 0 0 0 0 4.7739e + 005 ⎥
⎢ 0 0 0 0 0 0 6.5069e + 005 ⎥
⎢ ⎥
⎣⎢ 0 0 0 0 0 0 0 9.4734e + 005⎦⎥
Dynamic properties are shown above. First 4 mode shapes are also plotted in figure 7. We
will use only first 3 mode shapes and natural frequencies since we want to use only these
modes.
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Modal Time History Analysis © Mostafa Tazarv
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Modal Time History Analysis © Mostafa Tazarv
Recall NM Function:
function [disp,EF]=NM(8,3,0.02,F,ft,M,K,5,omega2,phi)
Responses are plotted in Figure 9 for node 3 in X-direction with 5% damping ratio.
Reference:
1. Humar J. L., “Dynamic of Structures”, Prentice Hall, 1990
2. Chopra A., “Dynamic of Structures”, Prentice Hall, 1995
3. MATLAB, The MathWorks Inc., 2009
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