EARTHQUAKE ENGINEERING AND STRUCTURAL DYNAMICS, VOL.

23,523-537 (1994)
CONSISTENT INELASTIC DESIGN SPECTRA: HYSTERETIC AND
INPUT ENERGY
PETER FAJFAR* AND TOM.42 VIDIC'
Department of Civil Engineering, Uniuersit.v qf Ljubljana. Jamom 2, Ljubljana, Slouenia
SUMMARY
This is the second of two companion papers on inelastic design spectra (for strength, displacement, hysteretic and input
energy) for systems with a prescribed ductility factor. All the spectra are consistent (interrelated and based on the same
assumptions). This paper deals with two quantities related to cumulative damage: hysteretic and input energy. The input
data for the procedure are the characteristics of the expected ground motion in terms of a smooth elastic pseudo-
acceleration spectrumand the time integral of the square of the ground acceleration 5 a' dt. Simple, approximate
expressions for two dimensionless parameters (the parameter y and the hysteretic to input energy ratio EH/EI) have been
proposed. The parameter 7, which controls the reduction of the deformation capacity of structures due to low-cycle
fatigue, depends on the natural period of the system, the prescribed ductility factor, the hysteretic behaviour and the
ground motion characteristics. The ratio EH/E, is influenced by damping, the ductility factor and the hysteretic
behaviour. Very good approximations to the inelastic spectra for hysteretic and input energy can bederived fromthe
elastic spectrumusing the spectra for the reduction factor R, proposed in the companion paper, and the proposed values
for y and E, / E, .
I NTRODUCTI ON
Structures have adequate seismic resistance if their limit strength and/or deformation capacities exceed
seismic demand in the case of severe earthquakes. The maximum relative displacement (or displacement
ductility) is the structural response parameter most widely used for evaluating the inelastic performance of
structures. It has been widely recognized, however, that the level of structural damage due to earthquakes
does not depend only on maximum displacement and that the cumulative damage resulting from numerous
inelastic cycles should also be taken into account.
The input energy E, is related to the cumulative damage potential of ground motions.'V2 The energy input
to an ordinary structure subjected to strong ground motion is dissipated in part by inelastic deformations
(the hysteretic energy EH) and in part by viscous damping, which represents miscellaneous damping effects
other than inelastic deformation (the damping energy). The whole inelastic deformation time-history has an
important effect on cumulative damage.' In practical damage models, however, it is very difficult to take into
account the details of a time-history. Dissipated hysteretic energy is the structural response parameter which
is often correlated to cumulative damage.
Already in the late fifties Housner3s4 proposed 'a limit design type of analysis to ensure that there was
sufficient energy-absorbing capacity to give an adequate factor of safety against collapse in the event to
extremely strong ground motion'. However, for about a quarter of a century the energy concept was ignored
in earthquake-resistant design because of the apparent complexities in the quantification of energy demands
and capacities and their implementation in the design process. It is only recently that the energy concept has
attracted extensive attention in the research community. In 1985 Akiyama published the English version of
a book on design based on the energy ~oncept.~ Over the last few years, several relevant publications, which
*Professor.
'Research Engineer
CCC 0098-8847/94/050523-15
0 1994 by J ohn Wiley & Sons, Ltd.
Receioed 5 November 1992
Revised 30 April 1993
534
P. FAJFAR AND T. VIDIC
discuss different problems connected with the energy concept, have appeared (e.g. References 6-19). I n I992
two topics were discussed at the International Workshop in Bled,20,z one of which was Energy concepts
and damage models. In the same year, Bertero promoted energy concepts in his keynote lecture at the 10th
World Conference in Madrid. As a result of research performed in recent years, an important improvement in
the estimation of input and hysteretic energy demands on structures has been achieved. However, the
implementation of an energy approach in earthquake-resistant design requires the estimation of both
demands and capacities in terms of energy. There still exists a great deal of uncertainty in the estimation of
energy supplies in structures.
Designers are reluctant to change radically the state-of-the-practice. So, a new procedure has it better
chance of being accepted if it represents only a minor change in a concept that is well understood and already
widely employed in practice. A promising technique fulfilling this condition seems to be the concept of
equivalent (reduced) ductility factors which take into account the influence of cyclic load reversals. The first
author of this paper has recently proposed a procedure based on equivalent ductility factors where the
reduction of ductility due to cumulative damage is controlled by the non-dimensional parameter 7: which in
fact represents a normalization of dissipated hysteretic energy.23
In this paper simple approximate formulae for determining the y-spectrum are proposed. They are based
on the results of extensive parametric studies performed at the University of Ljubljana. The spectrum for
hysteretic energy EH is derived from the elastic design (pseudo-acceleration) spectrum using the y-spectrum.
and from the spectrum for reduction factors (R-factors) developed in the companion paper.z4 Finally, the
input energy spectrum (for relative input energy, as defined according to Reference 18) is obtained from the
E,-spectrum using simple approximate formulae for the hysteretic to input energy ratio EHIEI. The whole
procedure was validated by comparing the approximate and exact spectra determined by non-linear
dynamic time-history analysis. All the spectra derived in this paper, as well as the spectra for reduction
factors, strength and displacement, discussed in the companion paper,24 are consistent, i.e. interrelated and
based on the same assumptions.
I t is interesting to note that the proposed procedure for the determination of energy spectra differs
basically from those which have been published so far (e.g. References 5 and 14). In existing procedures the
input energy spectrum is determined directly from the elastic input energy spectrum. Attention is paid mainly
to the maximum input energy which is imparted to systems with their natural period in the vicinity of the
predominant period of the ground motion. The very simple (typically bilinear) shape of the El-spectrum may
deviate considerably from the real shape of the spectrum, especially in the short- and long-period regions.
The same observation holds true for the EH-spectrum, which is typically derived from the El-spectrum using
approximate EH/ El relations. The proposed procedure, in contrast to existing procedures, yields energy
spectra which are reasonably accurate in the whole period region.
The procedure presented in this paper has been developed and validated by using smooth elastic
pseudo-acceleration spectra. It is not intended to be applied in the case of ground motions with extremely
narrow-band spectra, like that recorded on very soft soil deposits.
BASIC RELATIONS
The non-dimensional parameter y, which controls the reduction of the deformation capacity of structures due
to low-cycle fatigue, is defined by the formulaz3
where E , is the dissipated hysteretic energy, m the mass of the system, w the natural frequency and D the
maximum relative displacement of the system. Equation (1) can be rewritten as follows:
E H
-- =(YCOD)
m
f 2)
CONSISTENT INELASTIC DESIGN SPECTRA 525
For a SDOF system with a bilinear force-deformation envelope, the maximum relative displacement can
be computed asz4
where p is the ductility factor (maximum displacement divided by the yield displacement), A, is the value in
the pseudo-acceleration spectrum and R is the strength reduction factor. R is equal to the elastic strength
demand mA, divided by the inelastic strength demand F, , which is the yield strength required of an inelastic
system such that the ductility demand is limited to a prescribed value of p. From equations (2) and (3) it
follows that
E H = ( ? ! e ) 2 m
(4)
In the procedure presented in this paper, the elastic pseudo-acceleration spectrum A, and the ductility
factor p are assumed to be prescribed. Starting from these values, and using formulae for the reduction factor
R and the parameter y (which is a function of the ground motion characteristics), spectra for the dissipated
hysteretic energy per unit mass can easily be determined according to equation (4). Using formulae for the
hysteretic to input energy ratio EH/EI, the input energy per unit mass can be calculated from the formula
Equation (5) should not be used for low ductilities (e.g. p <1.5). This restriction, however, has no practical
consequences. The estimate of input energy demand, computed for p =1.5, can be used for elastic ( p =1 ) and
nearly elastic behaviour (1 <p <1.5).
ELASTIC SPECTRA
In this paper simple formulae for the determination of the approximate spectra for R, y and EH/EI will be
proposed. These spectra can be used to calculate EH and E, spectra in combination with any smooth elastic
spectrum (with the exception of extremely narrow-band spectra). For the validation of the proposed
procedure, the Newmark-Hall type of elastic spectrum has been used. A spectrum of this type was
determined for each record in each group separately by applying the amplification factors corresponding to
that group. More details are given in the companion paper.24
In subsequent discussions the transition periods T1 and T2, which represent the limits between the short-,
medium- and long-period regions of the Newmark-Hall elastic spectrum, will be used. They can be expressed
as functions of the peak ground motion parameters (acceleration as, velocity ug and displacement d g ) and the
corresponding spectral amplification factors c,, c,, C d : 24
The transition period T1 represents, according to one definition, the predominant period of the ground
motion. It is an important characteristic of the ground motion which is, as demonstrated in equation (6),
closely related to the peak ground velocity to acceleration ratio u g / u g .
PARAMETRIC STUDIES
The extensive parametric studies of the non-linear behaviour of SDOF systems, which have been carried out
in recent years at the University of Ljubljana, are described in detail el ~ewhere. ~~~ Here only the most
$26 P. FAJFAR AND T. VIDIC
important data and some of the most recent results, which have been used for the validation of the proposed
procedure, are summarized.
The study of the influence of different structural parameters was performed using records from California
and Montenegro, 1979 (20 records altogether, denoted in the text as the 'standard' group). The influence of
input motion has been studied using five different groups of records representing ground motions of basically
differing types. In addition to records from California and Montenegro, ground acceleration records
obtained in Friuli, 1976, Banja Luka, 1981, and Chile, 1985, have been used. (Some additional results.
corresponding to a Mexico City, 1985, group, which include ground motions recorded on significantly
different soil conditions, can be found in References 25 and 30.) It should be noted that the groups are rather
small, consisting of 10records (California, Montenegro), 8 records (Chile) or 6 records (Friuli, Banja Luka).
For the presentation of energies the records were normalized to J [ ( G~ / u ~ ) J u ' dt] =150 cmis. In the case of
non-dimensional quantities fy, EH/E,) no normalization is needed.
A bilinear hysteretic model and a stiffness degrading Q-model were used. (In both cases 10 per cent
hardening of the slope after yielding was assumed. The unloading stiffness degradation coefficient in the
Q-model amounted to 0-5.) Damping was assumed to be proportional to mass and instantaneous stiffness.
The two damping models place the bounds on the dynamic response. Mass-proportional damping assumes
a time-independent damping coefficient based on elastic properties. In the case of instantaneous stiffness-
proportional damping, a time-dependent damping coefficient based on tangent stiffness is assumed. More
details on the influence of the damping model can be found in Reference 31. In the majority of cases 5 per cent
damping was used. Some structural systems with 2 per cent damping were also analysed.
Most results in this paper are presented as mean spectra for the period range 0.1-2.5 s. The spectra were
computed by assuming a constant target ductility factor throughout the whole period range.
Some examples of the coefficients of variation obtained are shown in Figure 1. The small scatter of the
recently proposed parameter y is encouraging. The values of the coefficients of variation for y are mostly in
the range from 0-1 to 0.2. They are considerably smaller than those typical for the great majority of response
parameters involved in earthquake-resistant design. The coefficients of variation of encrgies are larger than
those in the case of 'classical' response parameters (e.g. displacements), which are directly proportional to the
parameter used for scaling of the ground motion. This is a consequence of the fact that energies are
proportional to the square of the scaling parameter. The ratio ofenergies, E H/ E I , however, is known to be the
most stable parameter involved in earthquake-resistant design. The scatter of this parameter is very small.
-
/I--
&5f--- /-
Figure 1 Coeflicients of variation (Q-model, 5 per cent mass-proportional damping): (a) for parameter ;', hysteretic energy E,,. inpiit
energy E, and E, / E, ratio ('standard' records); (b) for parameter y ( p =4)
CONSISTENT INELASTIC DESIGN SPECTRA 527
APPROXIMATE RELATIONS FOR THE DIMENSIONLESS PARAMETERS
In the procedure proposed in this paper the hysteretic and input energy spectra are determined indirectly
from the elastic pseudo-acceleration spectrum using the spectra for the dimensionless parameters R, y and
EH/'EI [equations (4) and (5)]. In this section, based on the results of the parametric studies, approximate
formulae for y and EH/EI are proposed. The reduction factor R is discussed in detail in the companion
paper,24 and only the most important results are summarized here.
Having in mind the large uncertainties inherent in the parameters involved in earthquake-resistant design,
and the relatively small samples used in the studies, no attempt has been made to perform rigorous statistics
in the derivation of the simplified expressions. The main idea was to produce formulae which are, on the one
hand, as simple as possible and, on the other, produce appropriate results for all derived spectra. Conse-
quently, trial and error procedures combined with some simple statistical methods have been used. The
group of 'standard' records was used when determining the approximate expressions. All constants in the
approximate relations were intentionally rounded off. The relations obtained have been checked using the
other groups of records.
Reduction factors
For R-spectra, the following bilinear curves have been proposed in Reference 24:
T
TO
R=cI (/J .- ~P- +I , T GT o
where TI is defined in equation (6). The constants cl, c 2 , cR and cT depend on the hysteretic behaviour and
damping.24 In the case of a bilinear hysteretic system with 5 per cent mass-proportional damping (this is the
main test example presented in this paper), the following values are proposed: c1 =1.35, c2 =075, cR =0.95,
CT =0.20.
The parameter y
The non-dimensional parameter y, defined according to equation (l), controls the low-cycle fatigue
effect.23 The results of the parametric study show that it depends mainly on the ground motion character-
istics. In addition, the influence of some structural parameters (period, ductility and hysteretic behaviour) can
be observed (Figure 2). The parameter y is practically independent of both the mathematical modelling of the
damping and the damping coefficient [Figure 3(a)].
The following formula is proposed:
where z T, z,, and zg are functions of the natural period, ductility and ground motion, respectively. The
constants in the expressions for zT and z, depend on the hysteretic behaviour (and on the damping model in
the case of z, for the bilinear model).
As far as the influence of the period T is concerned, the period range is divided into three regions, which
correspond to the short-, medium- and long-period regions of the elastic spectrum of the Newmark-Hall
type. Trilinear curves are proposed for z T. The values of zT for two hysteretic models are given in Table I.
The function z p, which quantitatively determines the influence of ductility, can bedefined as
where c, =0.70 in the case of the bilinear model and mass-proportional damping, c, =0-67 in the case of the
bilinear model and instantaneous-stiffness-proportional damping and c,, =0.58 in the case of the Q hysteretic
model.
P. FAJFAR AND T. VIDIC
Y
- 1. 5 ___ 5. 0
_ _ 2 . 0 _ _ 5 . 0
_ _ _ _ 3.0 _ ~ _ _ 8.0
4. 0 ..... ~~ 1 0 .
1 ' T r 7 - 7
rr-9 I , , I
0. 5 ' . 5 2 2. 5
- 8 I L I NE A R , MAS S
_ _ _ _ 9 1 L I NE A R ,
0. MAS S
.. 2. I N S T . S T I F F ,
I NS T . S T I F F .
7-1 ' ' ' ' I ' ' ' ' 1
I -, - r ~ i , 7 - T ---
0 . 5 1 1. 5 2 2. 5
(C)
, - . C H I L E
_ _ _ _ _ _ _ MONT E NE GR O
_ _ _ _ U . S . A .
F R I U I - I
R A N ~ P L U X A
0
I
C^
Figure 2. Comparison of 'exact' and approximate mean inelastic spectra for parameter y (5 per cent damping): (a) the influence of
ductility (bilinear model, mass-proportional damping); (b) the influence of hysteretic model and damping model ( p =4); (c) the influence
of ground motion ( p =4. bilinear model, mass-proportional damping)
CONSISTENT INELASTIC DESIGN SPECTRA
- -
Y -
529
- 5% MASS
_ _ _ _ 5% I N S T . S T l F F .
(a)
_ _ _ _ - - - _ _ _ - - - _ _ - _ _ _ - - - - - -
- m (b)
- 5% MASS
_ _ _ _ 5% I NS T . S T I F F .
__ 2% MASS
_ _ _ - 2% I N S T . S T I F F .
0
0 0 . 5 1 1. 5 2 2. 5 0 0. 5 1 1. 5 2 2. 5
0 0
0 0
- 5% MASS - 5% MASS
_ _ _ _ 5% I NS T . ST I F F . _ _ _ _ 5% I NS T . S T I F F .
~- 2% MASS __ 2% MASS
- - - - 2% I NS T . ST I FF. - _ _ - 2% I N S T . S T I F F .
(4
0 0 . 5 1 1. 5 2 2. 5 0 0 . 5 1 1. 5 2 2. 5
P E R I O C [sl P E R I OD [sl
Figure 3. Influence of damping on mean inelastic spectra ( p =4, Q-model): (a) parameter 7; (b) hysteretic to input energy ratio;
(c) hysteretic energy per unit mass; (d) input energy per unit mass
Table I. Values of zT
Period region
Model T < Ti Ti <T < T2 T > T2
0.65
0.50
T - TI
Bilinear 0.90 0.90 - 0.25 ~
T2 - TI
TI T2 - TI
T T - TI
1.05-0.30 - 0-75 - 0.25 ___
Q
TI and Tz are defined in equations (6) and (7).
530 P. FAJFAR AND T. VIDlC
The relative influence of the ground motion was quantified using the results of prior investigations for
maximum input energy and displacement. The following was observed: (a) the maximum input energy which
is imparted to systems with fundamental periods in the vicinity of the predominant period of the ground
motion (roughly T, ) depends mainly on the characteristics of the input motion, more specifically on the value
T1 Ju2 dt (References 14 and 27); (b) the maximum relative displacement D at the period T, is roughly
proportional to the product of the maximum ground velocity ug and T, ; (c) the EH/EI ratio is practically
independent of the ground motion. Taking (a), (b) and (c) into account, as well as the definitions of the
parameter J and period TI [equations (1) and (6)], the following function which quantifies the influence of
ground motion on 7 can be obtained:
where cg =0.5. This factor was determined based on the relations in the vicinity of the period T, . The results
of parametric studies have shown that equation (13) with a slightly modified factor (cg =0.4) can. as an
approximation, be applied in the whole period range. Consequently, it is proposed that cg =0.4 is used in
equation (1 3).
In the design process, the expected value ofJ u2 dt is often not available. In such a case one possible solution
is to use an approximate empirical relation, where a2 dt is expressed as a function of the peak ground
acceleration ug and the duration of the strong ground motion t D. Another solution is to derive a different
expression for the influence of ground motion, based on the assumption that maximum input energy, which
corresponds to a system with a period close to T I , is a function of ug and t n. 18*26 Both solutions are still
under investigation.
A schematic presentation of the ?-spectrum for two different hysteretic models is given in Figure 4.
77ie jiysterctic to input energy rutio EHIEI
The main conclusions of the parametric studies can be briefly summarized as follows. The most important
parameter influencing the hysteretic to input energy ratio EH/EI is damping. The result of a decrease in
viscous damping is an increase in the EH/Ei ratio over the whole period range. Mass-proportional damping is
more effective in reducing hysteretic energy than instantaneous-stiffness-proportional damping [Figures 3(b)
and 3(c)]. The moderate influence of ductility (with the exception of nearly elastic behaviour, where the EH/ El
ratio approaches zero) and hysteretic behaviour can be observed, while the influence of the ground motion
and the natural period is small (Figure 5).
0
TI
1 >
12 7
Figure 4. Schematic approximate spectra for the parameter ;
CONSISTENT INELASTIC DESIGN SPECTRA 531
n 0 . 5 1 1. 5 2 2. 5 0 0 . 5 1 1.5 2 2. 5
-1
- B I L I N E A R , MASS
_ _ _ _ B I L I N E A R . I NS T . S T I F F .
- 0, MASS
_ _ _ _ 0. 1NS T . S T I F F .
ALL GROUPS
0 0. 5 1 1. 5 2 2 . 5 0 0. 5 1 1. 5 2 2 . 5
P E R I OD I s 1 P E R I OD I s 1
Figure 5. Comparison of 'exact' and approximate mean inelastic spectra for the ratio E, / E, (5 per cent damping): (a) the influence of
ductility (bilinear model, mass-proportional damping); (b) the influence of hysteretic model and damping model ( p =4); (c) the influence
of ground motion ( p =4, bilinear model, mass-proportional damping)
P. FAJFAR AND r. VIDIC
Table 11. Values of the constants ct and cH for 5 per cent damping
Hysteretic model Q Q Bilinear Bilinear
Damping model Mass Instantaneous Mass Instantaneous
stiffness stiffness
-~
CF 0.85 1.10 0.90 1.05
Crj 0.80 0.90 0.95 0.95
Based on the results of the parametric studies, a simple approximate formula for EH/EI spectra is proposed:
where cE and cH are constants which depend on the hysteretic model and on the damping. The values for
5 per cent damping (for both mathematical models) are given in Table 11.
The influence of the damping coefficient is still under investigation and the values of the constants for 2 per
cent damping have not yet been determined. The increase in the ratio EH/EI due to a decrease in damping
from 5 to 2 per cent amounts, for the Q-model, to about 50 and 20 per cent for mass- and instantaneous-
stiffness-proportional damping, respectively [Figure 3(b)].
I t should be noted, however, that only the value of the EH/EI ratio for 5 per cent damping is needed in the
proposed procedure. The EH/ E, ratio is used for the determination of input energy [equation (5)l. A well-
known characteristic of the input energy spectrum is its independence of damping [Figure 3(d)]. Conse-
quently, the input energy determined for 5 per cent damping (using either mathematical model of damping)
applies also to other damping coefficients.
The authors believe that the present concept of viscous damping in non-linear analysis, although widely
employed, needs reconsideration. A definition of damping in the non-linear range, which includes the effects
of energy dissipation other than hysteretic energy, in terms of the damping to input energy ratio (i.e
1.0 - EH;El), seems to be reasonable.
VALIDATION OF THE PROCEDURE
The proposed procedure has been validated by comparing the approximate spcctra with the corresponding
mean spectra computed in the parametric studies using non-linear time-history analysis (exact spectra).
Some results are shown in Figures 2 and 5-7. A system with a bilinear hysteretic model, with a ductility factor
equal to 4, and with 5 per cent mass-proportional damping, subjected to the standard group of ground
motions, is chosen as the basic system. The influence of variations in ductility, hysteretic model and the
mathematical model of damping, as well as input motion, is shown in the figures. (Additional results are
presented in References 25 and 30.) Exact and approximate spectra are presented at the left- and right-hand
sides of the figures, respectively. Approximate spectra were determined for each record in the group
according to the procedure proposed in this paper. After that, the mean spectra for all records in the group
under investigation were calculated. It should be noted that the periods TI and T, vary for different records.
Therefore, the approximate mean spectra shown on the right-hand side in Figures 2 and 5-7 are smooth even
when trilinear ?-spectra have been used at the record level.
Very good agreement between the exact and approximate spectra can be observed. The correlation would
have been better if the constants in the approximate relations had not been intentionally rounded off. The
agreement of the energy spectra, which are quite sensitive to the inaccuracy of various parameters [it can be
seen from equation (4) that all the parameters influencing EHjm arc raiscd to a square], is especially
encouraging.
I n order to test the applicability of the proposed procedure for a design situation, approximate spectra
were computed using a typical elastic design spectrum of the Newmark-Hall type. Trapezoidal line fitting
was carried out on the mean elastic spectrum for the group of standard records. The elastic design spectrum
is defined by the peak ground motion parameters (a, =525 cm/s2, og =50 cm/s, d, =15 cm) and by the
CONSISTENT INELASTIC DESIGN SPECTRA
b
0
-
533
Y
. - 1. 5 - 1. 5
0
B I L I NE AR,
_ _ _ _ B I L 1 NE AR,
- 0. MASS
_ _ _ _ 0 , I N S T . S T I F F .
MASS
I NS T . S T I F F .
I
0 1 1 1 I I I I , , , I I I T I I I ! , 1 1 1 '7
0 0. 5 1 1. 5 2 2. 5
0
- C H I L E
_ _ _ _ U . S . A .
_ _ _ _ _ _ _ MONTENEGRO
_ _ F R l U L l
r -
0
- C H I L E
_ _ _ _ U. S . A.
_ _ _ _ _ _ _ MONTENEGRO
_ _ F R l U L l
_ _ _ _ B A N34 L U K A B A NJ A L UK A
0 0 . 5 I 1. 5 2 2. 5 0 0. 5 1 1. 5 2 2. 5
PERI OD [sl P E R I OD [sl
Figure 6. Comparison of 'exact' and approximate mean inelastic spectra for E,/m ( 5 per cent damping): (a) the influence of ductility
(bilinear model, mass-proportional damping); (b) the influence of hysteretic model and damping model ( p =4); (c) the influence of
ground motion ( p =4. bilinear model, mass-proportional damping)
534
P. FAJFAR AND T. VIDIC
' 3
0-' (a)
- 1
n ! E - Ej
o i
1
A
1*
- 1. 0. 1. 5
-- 2. 0
(b) . - B I L I N E A R . MAS S
_ _ _ _ B I L I N E A R , I N S T . S T I f F
____ 0, MAS S
~~ ~~ 0, I NST. STl FF.
0 0 5 1 1. 5
0
0
i]
-i
J
0 4
i
" ~ l l , I , I I I I , , , l x , r 7 T i - 7 7 1
1
1-
.5 1. 5 2 2.3 n 0 . 5 1 1 . &>
P E R I OD I s1 C E . Ci
Figure 7 Comparison of 'exact' and approximate mean inelastic spectra for E, / m (5 per cent damping): (a) the influence of ductility
(bilinear model, mass-proportional damping); (b) the influence of hysteretic model and damping model (p =4). (c) the influence of
ground motion ( p =4, bilinear model: mass-proportional damping)
CONSISTENT INELASTIC DESIGN SPECTRA 535
g-
h -
- 1.5 -
N -- 2 . 0 N
---- 3.0 \
0
* ------ 4. 0
- 5. 0
_ _ 6. 0 -
-
u) 0)
N
E
--.
N o-
u - 0 u - -
- 0
(b) B I L I NEAR, MASS
_ _ _ _ B I L I N E A R , I NS T . S T I F F .
- a, MA S S
_ _ _ _ 0 . I NS T . S T I F F .
I..
/ I \;.
I-.
I .. ..
0 -
L u N
- 1. 5 - -
2 . 0 N o-.
w c l
\ 6
---- 3 . 0
, - . B I L I N E A R , MASS
_ _ _ _ B I L I NEAR, I NS T . S T I F F .
~ 0, MASS
_ _ _ _ a, I N S T . S T I F F .
amplification factors (c, =2.4, c, =1.9, c d =1.7). The value of ja dt amounts to 236250cmZ/s3 in order to
permit a direct comparison of the results with the spectra shown in Figures 6 and 7. which are normalized to
J[ (u,/a,) f u dt] =150 cm/s. The computed spectra for hysteretic and input energy per unit mass are shown
in Figures 8 and 9. Fair agreement with the mean spectra shown in Figures 6 and 7 can be observed. The
main difference is in the peak values which, in the mean spectra, are smaller due to the smoothing effect of the
averaging process. The design spectra for energies shown in Figures 8 and 9 exhibit sharp peaks at the period
TI . This period cannot be accurately predicted in the design process. Consequently, a designer might wish to
smooth the energy spectra using mean or upper-bound values obtained from several design spectra which
correspond to a range of possible values of the input parameters.
536 P. FAJ FAR AND T. VIDIC
CONCLUSIONS
Based on an analysis of the results of extensive parametric studies of the inelastic response of SDOF systems,
three non-dimensional parameters (the reduction factor R, the parameter y and the hysteretic to input energy
ratio &/ El ) have been chosen as being the most convenient for approximate representations by simplc
formulae. Knowing the characteristics of the input motion represented by the elastic pseudo-acceleration
spectrum and sa dt and the spectra for the dimensionless parameters R, y and ,?&/El, the hysteretic and input
energy spectra can easily be determined. In addition, the parameter y has a clear physical meaning and can be
used as a stand-alone value in the determination of ductility factors reduced due to the low-cycle fatiguc
effect.
Due to the surprising accuracy of all the approximate spectra, only partly demonstrated in this paper, the
authors believe that the proposed procedure is soundly based. It may be, however, that further studies, using
larger statistical samples, will suggest some small changes in the proposed spectra for non-dimensional
values. The authors also believe that, for use in practical design procedures, some additional simplifications
of the spectra are possible without jeopardising the accuracy appropriate for design purposes.
ACKNOWLEDGEMENTS
The results presented in this paper are based on work supported by the Ministry for Science and Technology
of the Republic of Slovenia and by the US. NSF, in cooperation with the University of California, Berkeley.
and Stanford University. This support is gratefully acknowledged. The authors are indebted to Professor M .
Fischinger for important contributions in the early stage of the research on the energy concept and for
a critical review of the manuscript, as well as to Professor H. Krawinkler from Stanford University for
stimulating discussions and helpful suggestions throughout the work. The authors also welcomed the
suggestions of the reviewers.
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