Prof. A.

Meher Prasad
Department of Civil Engineering
Indian Institute of Technology Madras
email: prasadam@iitm.ac.in
 Dynamic Equations of Motion

Force excited system

{P ( t )}
[ m]{x} + [c ]{ x} + [ K ]{ x} =
Ground excited system

− [ m]{xg }
[ m]{u} + [c]{u} + [ K ]{u} =
where {u}
is the relative displacement of the
structure w.r.t ground.
Ground Acceleration vector

{x } = {1 } x + {1 } x + {1 } x

g x gx y gy z gz

where, x
gx xgy xgz are the ground accelerations in x,y,z
directions respectively.

xgy xgx {1x } ,{1y } ,{1z } are null vectors except that those
elements are equal to 1, which
xgz corresponds to x,y,z translational
Non-moving
reference DOF.
Modal Superposition applied to GES

u} ∑ {φ j }q j ( t )
n
Let {=
j =1

System equations reduce to following uncoupled equations

qj + 2ζ j p j q j ( t ) + p j 2 q j ( t ) =− p j 2 C jx xgx + C jy xgy + C jz xgz 

where participation factors,

 
{φ j } [ m]  I xy 
T

1 
 z 

C jx = 2
jy p j {φ }T [ m ]{φ }
jz j j

Note: aj = bj = 0 since initial conditions are zero i.e {=

u0 } {=
u0 } {0}
Solution to uncoupled equation of motion can be expressed as,
q j (t ) = C jx Ajx (t ) + C jy Ajy (t ) + C jz Ajz (t )
− pj t
−ξ j p j ( t −τ )
where Aj x
y
1− ζ j2
∫ gx
0

x (τ )
y
e sin  pdj (t − τ )  dτ
z z

Maximum values of Ai x = Sa x (ξ j , T j )
y y
z z

q j max = C jx Sax (ζ j , T j ) + C jy S ay (ζ j , T j ) + C jz Saz (ζ j , T j )

The maximum relative displacement of the i th DOF in the j th mod e is
(U ij ) max = φij q j max
In general , for design the response quantities of interest are:
Equivalent lateral loads
Storey shears
R = maximum values of (u , fs , Δ, V, M) Storey Moments

Relative displacements Storey drifts

Modal combination rules

1) SRSS
2) CQC
3) Double Sum
4) Grouping
**Since the maximum response in each mode would not
necessarily occur at the same instant of time, over
conservative to add separate modal maximum responses.
SRSS :

Square Root of Sum of Squares .It gives most probable maximum

response. N
R ( Σ R 2j )
j =1

Serious errors for closely spaced frequencies and for 3-D

structures ,which include torsional contribution.
CQC :
Complete Quadratic Combination Rule (Wilson, Der Kiureghion &
Baya 1981). It is based on random vibration theory.

N N
R ( Σ Σ Riα ij R j )
=i 1 =j 1

where Ri are the maximum responses inthe i th and j thmodes

j

8(ζ iζ j ) 2 (ζ i + ρζ j ) ρ 2
1 3
pj
α ij = ;ρ
(1 − ρ ) + 4ζ iζ j ρ (1 + ρ ) + 4(ζ i + ζ j ) ρ
2 2 2 2 2 2
pi

Note: All cross modal terms included very good agreement with full
modal superposition extra computation minimal.
 Multiple support Excitation

Super structure free Dof

Support Dof

  M ff 
 

 M fr   

{}
uf

 
  C ff 
+ 
{ }

C fr   

u f

   K ff 

+
  { }


 K fr   

uf

 { P}
 
=


 
  M rf 


{}
[ M rr ]   ur   Crf 


{}
[Crr ]   u r


   K rf 


{}
[ K rr ]   u r

 

 {0} 
  

{ur } = Support motion(restrained dof)

{u } = Super structure free dof
f

{P} = Nodal force excitation vector

Decompose {uf} into pseudo static and dynamic parts
{uf}= {us} + {ud}

Considering only static response ( i.e. stiffness matrix alone)

 K ff  {us } +  K fr  {ur } =
{0}
−1
{us } = [i ]{ur }
−  K ff   K fr  {ur } =

Influence matrix
Describes influence of support displacement on structural
displacement
jth column of [i]=structural displacements due to unit
support displacement url only (l th base displacement)
 M ff  {uf } + C ff  {u f } +  K ff  {u f } +  M fr  {ur } + C fr  {ur } +  K fr  {ur } =
{P}
i.e
 M ff  {ud } + C ff  {ud } +  K ff  {ud } +  M ff  {us } + C ff  {us } +  K ff  {us }
+  M fr  {ur } + C fr  {ur } +  K fr  {ur } = {P}
But
{us } = [i ]{ur } and  K ff  {us } +  K fr  {ur } =
{0} (By definition )
so {us } = [i ]{ur }
{us } = [i ]{ur }
i.e.  M ff  {ud } + C ff  {ud } +  K ff  {ud }

= {P} −   M ff  {i} +  M fr   {ur } −  C ff  {i} + C fr   {ur }

If assume light damping

 M ff  {ud } + C ff  {ud } +  K ff  {ud } =

{P} −   M ff  {i} +  M fr   {ur }
For lumped mass system  M fr  ≈ [ 0]
Carryout Mode superposition
[Φ ]{q ( t )}
{ud } = [Φ ]  M ff  [ Φ ] = [ I ]
T
and

Uncoupled equations of motion are,

{φ } {P} − {φ }   M ff  [i ] +  M fr   {ur }
T T
qo + 2ζ j p j q j + p =
2
qj
j j j    
 M big ≈ 106 m

xgx ( t )

P ( t ) = M big {
xgx (t )}

A big mass (much bigger than the total

mass of the structure (~106×total mass)
is added to each degree of freedom at
moving bases.
As more big masses are applied, more
u1s us2 us3
low frequency modes have to be
extracted.
The desired base motion is obtained by applying a point
force to each degree of freedom at moving bases by
PsN = M big usN
N
Where Mbig=big mass and us is the applied acceleration
prescribed for degree of freedom N associated with
moving supports
The combined equation of motion is
[ M ]{u} + [C ]{u} + [ K ]{u} ={P} + {Ps }
with {Ps } = ∑  M i  {usi }
big

Where  M  is the diagonal matrix containing the big

i
big

masses for moving base ‘i’ and {usi } is the base motion
applied to this base
The mass matrix [M] now contains the mass of the
structure as well as the big masses associated with the
secondary base.

{φ } [ M ]{φ } = 1
T
The modal equations j j

qo + 2ζ j p j q j + p 2j q= {φ } {P} + {φ } {Ps }

T T
with j
 Ratio of Natural Response peaks (m/s2)
large mass frequency
X1 max X2 max X3 max X4 max
to structure
102 10-9 52.0552 6.5531 1.0335 0.9524
4.8011
5.3025
104 10-10 52.2823 6.7641 1.0003 0.9995
4.7871
5.2910
106 0.0 52.2836 6.7661 1.000 0.9999
4.7876
5.2909
108 0.0 52.2836 6.7662 1.000 1.000
4.7876
5.2909