1. February 12, 2008 1John Anderson GE/CEE 479/679 Earthquake Engineering GE / CE - 479/679 Topic 7. Response and Fourier Spectra John G. Anderson Professor of Geophysics

2. February 12, 2008 2John Anderson GE/CEE 479/679 m Earth k y0y0 F y x = y-y 0 (x is negative here) Hooke’s Law c Friction Law z(t)

3. February 12, 2008 3John Anderson GE/CEE 479/679 In this case, the force acting on the mass due to the spring and the dashpot is the same: However, now the acceleration must be measured in an inertial reference frame, where the motion of the mass is (x(t)+z(t)). In Newton’s Second Law, this gives: or:

4. February 12, 2008 4John Anderson GE/CEE 479/679 So, the differential equation for the forced oscillator is: After dividing by m, as previously, this equation becomes: This is the differential equation that we use to characterize both seismic instruments and as a simple approximation for some structures, leading to the response spectrum.

5. February 12, 2008 5John Anderson GE/CEE 479/679 DuHammel’s Integral This integral gives a general solution for the response of the SDF oscillator. Let: The response of the oscillator to a(t) is:

6. February 12, 2008 6John Anderson GE/CEE 479/679 Let’s take the DuHammel’s integral apart to understand it. First, consider the response of the oscillator to a(t) when a(t) is an impulse at time t=0. Model this by: The result is:

7. February 12, 2008 7John Anderson GE/CEE 479/679 H(t) is the Heaviside step function. It is defined as: H(t)=0, t<0 H(t)=1, t>=0 This removes any acausal part of the solution - the oscillator starts only when the input arrives. t=0 0 1

8. February 12, 2008 8John Anderson GE/CEE 479/679 This is the result for an oscillator with f 0 = 1.0 Hz and h=0.05. It is the same as the result for the free, damped oscillator with initial conditions of zero displacement but positive velocity.

9. February 12, 2008 9John Anderson GE/CEE 479/679 The complete integral can be regarded as the result of summing the contributions from many impulses. The ground motion a(τ) can be regarded as an envelope of numerous impulses, each with its own time delay and amplitude. The delay of each impulse is τ. The argument (t- τ) in the response gives response to the impulse delayed to the proper start time. The integral sums up all the contributions.

10. February 12, 2008 10John Anderson GE/CEE 479/679 Convolutions. In general, an integral of the form is known as a convolution. The properties of convolutions have been studied extensively by mathematicians.

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12. February 12, 2008 12John Anderson GE/CEE 479/679 Examples How do oscillators with different damping respond to the same record? Seismologists prefer high damping, i.e. h~0.8-1.0. Structures generally have low damping, i.e. h~0.01-0.2.

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16. February 12, 2008 16John Anderson GE/CEE 479/679 Response Spectra The response of an oscillator to an input accelerogram can be considered a simple example of the response of a structure. It is useful to be able to characterize an accelerogram by the response of many different structures with different natural frequencies. That is the purpose of the response spectra.

17. February 12, 2008 17John Anderson GE/CEE 479/679 What is a Spectrum? A spectrum is, first of all, a function of frequency. Second, for our purposes, it is determined from a single time series, such as a record of the ground motion. The spectrum in general shows some frequency-dependent characteristic of the ground motion.

18. February 12, 2008 18John Anderson GE/CEE 479/679 Displacement Response Spectrum Consider a suite of several SDF oscillators. They all have the same damping h (e.g. h=0.05) They each have a different natural frequency f n. They each respond somewhat differently to the same earthquake record. Generate the displacement response, x(t) for each.

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20. February 12, 2008 20John Anderson GE/CEE 479/679 Use these calculations to form the displacement response spectrum. Measure the maximum excursion of each oscillator from zero. Plot that maximum excursion as a function of the natural frequency of the oscillator, f n. One may also plot that maximum excursion as a function of the natural period of the oscillator, T 0 =1/f 0.

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22. February 12, 2008 22John Anderson GE/CEE 479/679 Definition Displacement Response Spectrum. Designate by SD. SD can be a function of either frequency or period.

23. February 12, 2008 23John Anderson GE/CEE 479/679 Assymptotic properties Follow from the equation of motion Suppose ω n is very small --> 0. Then approximately, So at low frequencies, x(t)=z(t), so SD is asymptotic to the peak displacement of the ground.

24. February 12, 2008 24John Anderson GE/CEE 479/679 Assymptotic properties Follow from the equation of motion Suppose ω n is very large. Then approximately, So at high frequencies, SD is asymptotic to the peak acceleration of the ground divided by the angular frequency.

25. February 12, 2008 25John Anderson GE/CEE 479/679 Velocity Response Spectrum Consider a suite of several SDF oscillators. They all have the same damping h (e.g. h=0.05) They each have a different natural frequency f 0. They each respond somewhat differently to the same earthquake record. Generate the velocity response, for each.

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27. February 12, 2008 27John Anderson GE/CEE 479/679 Use these calculations to form the velocity response spectrum. Measure the maximum velocity of each oscillator. Plot that maximum velocity as a function of the natural frequency of the oscillator, f 0. One may also plot that maximum velocity as a function of the natural period of the oscillator, T 0 =1/f 0.

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29. February 12, 2008 29John Anderson GE/CEE 479/679 Definition Velocity Response Spectrum. Designate by SV. SV can be a function of either frequency or period.

30. February 12, 2008 30John Anderson GE/CEE 479/679 How is SD related to SV? Consider first a sinusoidal function: The velocity will be: Seismograms and the response of structures are not perfectly sinusiodal. Nevertheless, this is a useful approximation. We define: And we recognize that:

31. February 12, 2008 31John Anderson GE/CEE 479/679 Definition PSV is the Pseudo-relative velocity spectrum The definition is:

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33. February 12, 2008 33John Anderson GE/CEE 479/679 PSV plot discussion This PSV spectrum is plotted on tripartite axes. The axes that slope down to the right can be used to read SD directly. The axes that slope up to the right can be used to read PSA directly. The definition of PSA is

34. February 12, 2008 34John Anderson GE/CEE 479/679 PSV plot discussion This PSV spectrum shows results for several different dampings all at once. In general, for a higher damping, the spectral values decrease.

35. February 12, 2008 35John Anderson GE/CEE 479/679 PSV plot discussion Considering the asymptotic properties of SD, you can read the peak displacement and the peak acceleration of the record directly from this plot. Peak acceleration ~ 0.1g Peak displacement ~ 0.03 cm

36. February 12, 2008 36John Anderson GE/CEE 479/679 Absolute Acceleration Response, SA One more kind of response spectrum. This one is derived from the equations of motion: SA is the maximum acceleration of the mass in an inertial frame of reference: This can be rearranged as follows:

37. February 12, 2008 37John Anderson GE/CEE 479/679 Summary: 5 types of response spectra SD = Maximum relative displacement response. SV = Maximum relative velocity response. SA = Maximum absolute acceleration response

38. February 12, 2008 38John Anderson GE/CEE 479/679 Here are some more examples of response spectra Magnitude dependence at fixed distance from a ground motion prediction model, aka “regression”. Distance dependence at fixed magnitude from a ground motion prediction model, aka “regression”. Data from Guerrero, Mexico.

39. February 12, 2008 39John Anderson GE/CEE 479/679 Data from Guerrero, Mexico, Anderson and Quaas (1988)

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43. February 12, 2008 43John Anderson GE/CEE 479/679 Main Point from these spectra Magnitude dependence. –High frequencies increase slowly with magnitude. –Low frequencies increase much faster with magnitude.

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45. February 12, 2008 45John Anderson GE/CEE 479/679 Note about ground motion prediction equations AKA “regressions Smoother than any individual data. Magnitude dependence may be underestimated.

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47. February 12, 2008 47John Anderson GE/CEE 479/679 Note about ground motion prediction equations Spectral amplitudes decrease with distance. High frequencies decrease more rapidly with distance. Low frequencies decrease less rapidly. This feature of the distance dependence makes good physical sense.