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Soil Dynamics and Earthquake Engineering 15 (1996) 233-244
Copyright © 1996 Elsevier Science Limited
Printed in Great Britain. All rights reserved
0267-7261(95)00049-6 0267-7261/96/$15.00
ELSEVIER
(Received 3 June 1994; revised version received 27 November 1995; accepted 27 November 1995)
Key words: pile dynamics, lateral response, nonlinear, pile interaction, transient
response.
,Z ] " ""
Pi~
:lem :nt
(i
r = , ,
element
ix -' l
Fig. 1. Elements of the proposed model for nonlinear dynamic analysis of lateral response of single piles.
state of stress and discontinuity conditions at both sides where cu = undrained shear strength, hd = pile dia-
as the load direction changes. meter, 7 is the effective unit weight of soil,
Innerfield element. The soil reaction of the inner field J = empirical coefficient ranging from 0"25 to 0.5,
is modeled by a nonlinear spring the stiffness of which X = depth below the surface and XR = depth of the
is calculated with the assumption that plane stress reduced resistance zone, which can be calculated by
conditions hold, the inner field is a homogeneous solving eqns (3) and (4) simultaneously.
isotropic viscoelastic medium, the pile is rigid and The corresponding criteria for the lateral resistance of
circular, there is no separation at the soil-pile inter- sands at shallow depths Pvl or at large depth PU2 are
face, and the displacements are small. The stiffness
( X [ KoX tan ~ sin /3
solution under these conditions was obtained by Noval Cut = A,t'
& Sheta 8 as
tan 3
87rGm(1 - v)(3 - 4v)[(ro/rl) 2 + 1] q t a n ( 3 - ~b) (d + X t a n 3 t a n a )
knl = (ro/rl)2 + (3 - 4 v ) 2 [ ( r o / r l ) 2 + 1] ln(rl/ro) - 1'
(1) + K o X t a n / 3 ( t a n d p s i n 3 - t a n o 0 - K a d l } (5)
where r0 and r I are the inner and outer radii of the inner
field, respectively, and v is the Poisson's ratio o f the soil eu2 = ATXd[Ka (tan 8/3 - 1) + K0 tan ~btan 4 3]. (6)
stratum. Gm is the modified shear modulus calculated
In these equations, A is an empirical adjustment factor
according to the strain level, assuming that Poisson's
dependent on the depth from the soil surface and can be
ratio is constant, as
found in Ref. 9, K 0 is the earth pressure coefficient at rest
Gm = Gmax(1 - r/) (2) (0-4), ~b is the effective friction angle of the sand,
Gmax is the initial shear modulus of the soil layer, 77is the /3 = ~b/2 + 45 °, a = ok~2, Ka is the Rankin minimum
mobilization ratio defined as ~/= P / P u , where P is the active earth pressure coefficient defined as Ka =
horizontal load at the spring and P u is the ultimate tan2(45 ° - q~/2).
resistance of the spring calculated using the standard
relations given by the API. 9 For clay, the resistance is Far field element. Novak et al. 7 solved the problem of
given as a strength per unit length of the soil layer by the horizontal vibration of piles. In their solution, the
Pu = 3cud + 7Xd + JcuX X <~X R (3) plane strain conditions are assumed to hold. An explicit
solution for the soil horizontal complex stiffness of a unit
Pu = 9cud X > XR, (4) length of a cylinder embedded in a linear viscoelastic
Dynamic lateral pile response 235
L,J
Ld
r
.<
C~ I
~<
C:)
z
.<
L,_
kl-
o- . . . . ..<.....ao
O-O 0-$ I-0 1.$
Fig. 2. Variations of horizontal stiffnessand damping parameters, Sut and Su2, with dimensionlessfrequency a0 and soil Poisson's
ratio (after Novak et aL7).
medium is given by cally with a0. The effect of Poisson's ratio is that as it
increases, both of Sul and SuE increase in the specified
K = 7rG~T. (7) range of frequency. These observations suggest that the
In this equation G = Gmaxis the initial shear modulus outer field element can be modeled by a spring and
of the soil layer, a0 = wro/Vs is a dimensionless fre- dashpot whose constants depend on Poisson's ratio,
quency and T is a dimensionless factor given by but they are frequency independent and defined as
T = - 4Kl (b~)Kl (a~)+ a~K1 (b~)K0(4) + b~Ko(b~)Kl (a~) KI : G S u l (p)
boKo(bo)Kl
* * (ao)
* + aoKl(bo)Ko(ao)
. . . . . + boaoKo(bo)Ko(ao)
. . . (11)
cGro .
(8) C ---- -77--. Su2(a0 = 0"5, v),
Vs
where a~ and b~ are complex dimensionless frequencies
where Sul and Su2 are frequency independent with their
defined as values chosen according to Poisson's ratio of the soil
, ia o , _ iao (9) layer and the dominant dimensionless frequency a0.
ao -- +x/i--~s' bo ~x/1 + iDl These frequency independent stiffness and damping
in which ~ is the ratio between the longitudinal and shear parameters are used in the dynamic analysis in the time
wave velocities of the soil layer, Ds and D1 are the domain.
material damping constants, usually assumed to be
both equal to D, associated with shear and longitudinal Discontinuity conditions. Discontinuity conditions of
waves, respectively, and finally, K0 and K1 are the the motion between pile and soil are caused by the
modified Bessel functions of the second kind of orders slippage and gapping at the soil-pile interface. To
0 and 1, respectively. This solution is not suitable for the model these conditions logically the soil reactions to
time domain analysis because it is frequency dependent. the pile motion at both sides are modeled separately as
However, the real and imaginary parts may be separated shown in Fig. 1. The load-deflection curve for a pile
and eqn (7) can be rewritten as node at the topmost part of the pile, where soil-pile
separation takes place, is shown in Fig. 3 as well as the
K + G[Sul (a0, u, D) + iSu2(ao, v, D)] (10) corresponding horizontal displacements of the soil nodes
in which Sul and Su2 are real. Figure 2 shows the on both sides of the pile. For the pile initially loaded
variations of Sul and Su2 with the dimensionless fre- rightward, the soil node at the left is separated from the
quency a0 and v. It may be observed from the figure that pile as the force in the near field element reaches zero,
for the frequency range between 0.05 and 0-5, typical of assuming that soil does not resist tension. The soil node
offshore loading and many other applications, Sul may on the right is pushed with the pile to the right and Knl
be considered constant, while Sta increases monotoni- decreases as the load increases. In the unloading phase
236 M. H. E! Naggar, M. Novak
load
]Pile
Soil o n R i g h t ..................
Pile Face
/ )
4 deflection
f/
i'
!i
I
{Ul}
Since each pile is affected not only by its own load, but
bending stiffness matrix relating the translation u and
also by the load and deflection of other piles in the group,
rotation 0 to load P and moment M and is given as
the dynamic stiffness of a group of piles is greatly affected
by the interaction between piles. This effect is incorpo-
12/l -12/l 3 6/12 6/12 rated in the analysis as follows. For the lateral vibration,
Eplp -12/13 12/13 -6/12 -6/12 U2 interaction between piles depends on the angle, 0,
between the lines of the two piles and the direction of
6/12 -6/l 2 4/l 2/l 01 the horizontal applied force, as well as the spacing
6/12 -6/12 2/l 4/l 02 between them. Gazetas & Dobry 13 found that the 900-
passive pile m (Fig. 4) is affected essentially only by
S-waves which emanate from active pile 1 and which
Pz have a phase velocity Vs. They also found that the 0°-
(12) passive pile is affected by compression-extension waves
Ml
coming from the active pile and propagating with an
M2 apparent phase velocity which is equal to the so-called
Dynamic lateral pile response 237
3"4Vs
VLa -- v7r(1
- - -- - - 3 (13)
EQUATIONS OF MOTION Equations (24)-(30) are valid for soil nodes on both
sides of the pile.
The mass of the inner field, ms, is lumped at two nodes: When the pile is moving away from the soil node, P1
one half, ml, at the node adjacent to the pile, node 1, and decreases until it reaches zero. If loading continues in the
the other one, m2, at the node adjacent to the outer field, same direction, the resistance offered by that element will
node 2 as shown in Fig. 1. If the material damping is to stay at zero (no tension is allowed) and the soil node on
be added, a parallel dashpot may be considered with a this side is disconnected from the pile node accommo-
constant Cm to be suitably chosen. dating for the gap opening. On the other hand, when the
The equations of motion for the inner field expressing pile is moving towards the soil node, P1 increases until it
the equilibrium of masses m l and m2 are reaches the maximum soil resistance and Knt decreases
until it reaches the value of zero; the near field spring on
m l U l + Cm(/~l --/~2) + Knl(Ul -- u2) = P1 this side offers constant resistance to the pile motion. At
(24)
this point, for some soil types, the ultimate static resis-
m2/t2 -- Cm(/Jl -- U2) -- Knl(Ul -- u2) = P2,
tance of the soil may be reduced to display a post peak
where ul and u2 are displacements of nodes 1 and 2, and resistance as it has been observed for some soils such as
Pl is the force in the nonlinear spring which includes the dense sand and stiff clay. Reconnection of the soil-pile
confining pressure also, P2 is the soil resistance at node 2; nodes occurs again when the pile returns to the displaced
finally, Cm is the material damping in the inner field. position of the soil node and continues to move in the
The equation of motion for the outer field may be direction of the soil node. The stiffness of the spring K,,t is
written as assumed to be linear in the unloading phase.
¢~12 "-~ Klu = - P 2 + P, (25)
Solution of equations of motion
where P is the interactive force transmitted through the
soil from pile to pile. Introducing compatibility and For single piles and pile groups, the pile and soil dis-
equilibrium between the inner field and the outer field placements are evaluated in the time domain using the
results in linear acceleration assumption and the Newmark /3
method for direct time integration of the equations of
{ e l } = [ Amml + Accm + gnl -gnl - hcCm ] motion. The modified N e w t o n - R a p h s o n iteration
0 L -Knl -- Accm Knl + Amm2 + Acct + KI scheme is used to derive and solve the governing equi-
x
{u) {,1}
u2
+
62 - P
, (26)
librium equations.
VALIDATION O F T H E M O D E L
where c t = C -'1-Cm is the total damping. From eqn (26) it
can be deduced that The validity of the proposed nonlinear dynamic analysis
Knl + hccm is assessed through comparison with the results of some
U2 = (Knl + KI + Amm2 -}- Acct) Ul actual field tests as well as other analytical solutions in
the literature.
P - 62
-t (27)
(Knl -t- KI -t- Amm2 q- Acct) Comparison with field tests
P1 = [Knl + Amml +Accm Full-scale field tests on single piles were conducted at the
University of Houston. Piles were loaded with a static
(K,a + Accm) 2 ] cyclic load (O'Niel & Dunnavant 14) and a dynamic load
- (Knt + Kt + Amm2 + Acct) J Wl (Blaney & O'Nei115). The soil profile at the site is shown
in Fig. 6. Piles used in the tests are steel pipe piles with an
K.~( P - 62)
t- 6,, (28) outside diameter of 0.274m and a wall thickness of
(Knl + gl + Amm2 + Acct) 0-009 m. Figure 7 shows the piles and settings for both
where A m and Ac are constants of numerical integration cyclic and dynamic tests. The proposed model was used
for inertia and damping, respectively. Finally to compute the response for both cases. The results from
the analytical model and the field measurements are
61 = g,~- I(U 1 -- U2)i- 1 + Cm(/~l -- /~2)i- 1 + m l / / ~ - 1 plotted in Fig. 8 for the cyclic load test and in Fig. 9
for the dynamic load test. The cyclic pile response was
(29)
computed for a monotonically increasing load. The cor-
62 = - Knli - I (Ul -- u2) i- 1 -- Cm(/~l - u2) "Jr m2/i~-
"
1 relation between the computed and measured responses
for both the cyclic and dynamic load test is very good
+ Ktuig-1 _+_Ctt~-l. (30)
and may be observed in Figs 8 and 9.
Dynamic lateralpile response 239
P 15 g t
+0.91 - I
m
1800 4.49x104 80 10
-3.05
-~ 5
-6.10 1100 7.42x104 115
0 I T I
0.0 0.5 1.0 1.5
-9.15
Pile-headdisplacement(in.)
Single piles
Vibrator (8.9 IVYN)
The stiffness and damping parameters of a single pile are
computed for a steel pipe pile having an outer diameter
(a) (b)
of 1"45 m, a wall thickness of 0.05 m and a penetration
1.37 m depth of 50 m.
1.5raxl.5mcap(5.27~ [ --~
0.76 rn
0.30 m
1.5 I i I I
,,-?
Load amplitudeat:
-~'~-~ / ~ SteelTubularPile
I (wallThJcknesr~0.927 ~- 1.2
m
11.89 m ,i
13.10 m 0.9
~ 0.6 ted
E
~. o.3
._~ ~ 27.30 ¢m
0.0 I I I I
~_ 27.30 crn
0 1 2 3 4
I
Frequency (Hz)
Fig. 7. Pile properties and test settings for (a) cyclic pile load test
and (b) dynamic pile load test. Fig. 9. Computed and measured dynamic pile response.
240 M. H. El Naggar, M. Novak
i(.0t
(a) Pm a x e 5 i ,
a
m- s
s
III/1111111111111
t pp
I I I 1
2r o 0.0 0.1 0.2 0.3 0.4 0.5
Frequency ao
(b) Pm a x e Fig. 12. Complex stiffness for two-pile group (0 -- 0°).
Fig. 10. Soil profile for the example used in the comparison with
more rigorous frequency domain solution (a) single pile and (b)
group of two identical piles.
/ o o
J
v 2 o
~ Rigorous Real
.~" " solution --- Imag.
s
Presenent • Real
Model •
I
Imag. fr21 oc - fc21
0
0.0 0.1 0.2 0.3 0.4 0.5 CCr= frS c .fcs
Frequency a0
Fig. 13. Definition of single pile flexibility terms and interaction
Fig. 11. Complex stiffness for a single pile. factors.
Dynamic lateralpile response 241
2.0 I I I I 1.5 I I I I
1.2
~o 1.5
o.9 \\ -
~. 1.0
0.8
0.5
N ao 0 I0 0.3
* 0
0,0 I I I I ~ 0.0 I I I I
0.0 0.2 0.4 0.6 0.8 1.0 0.0 0.2 0.4 0.6 0.8 1.0
(a) P/Pu WPu
-3 I I I I -2.0 ~ "--. I I i
~-1.5
\\ _
0
~_, -2
"~. -1.0 -
-1
.~ -0.5
0
0 I I I I 0.0 I I I I
0.0 0.2 0.4 0.6 0.8 1.0 0.0 0.2 0.4 0.6 0.8 1.0
Co) P/Pu P/Pu
I I I I 3.5 I I I I
o~
Z 2.8 m
0 3.0 0
2.1
\
°~
\
N 1.5 - -
1.4
I=
°~0 0
0.7 --
0
.m
0
0.0 i i i w 0.0 I I I I
0.0 0.2 0.4 0.6 0.8 1.0 0.0 0.2 0.4 0.6 0.8 1.0
(c) PI Pu P/Po
Fig. 14. Equivalent linear stiffness and damping for single piles in homogeneous soil profile (a) horizontal (b) coupling (c) rotational.
displacement divided by the amplitude of the applied frequencies. The figure shows that as the loading ratio
load. The phase shift, ~bl, is approximated by the time lag P/Pu increases, the horizontal and coupling stiffness
between the peaks of both the displacement and load. constants decrease with mild slope until P/Pu = 0-6; at
The subscript 1 assumes different values for different this loading ratio the stiffness constants decrease drama-
flexibilities, i.e. h for horizontal, c for coupling and r for tically until they reach one third of the linear case
rotational. The figures displayed below show the varia- (P/Pu = 0-05). The damping constants also display the
tions of the equivalent linear stiffness and damping same behavior, but they start decreasing at lower loading
parameters for the horizontal, coupling and rotational ratios. The decrease in the rotational stiffness is negli-
cases with the loading ratio P/Pu. gible up to P/Pu = 0.8, but the decrease in the damping
Figure 14 shows the stiffness and damping constants is significant even at lower P/Pu ratios, especially for the
for the pile embedded in a homogeneous soil medium higher frequency. Stronger nonlinear effects are observed
whose Vs = 100ms -n and excited with two different for nonhomogeneous soil profiles and stiffer soils.
242 M . H. El Naggar, M . Novak
0.25 I I I I -15 I i s , i
I
[ ' a o = 0.05
0.20 -12 [- s/d - m ao=O.lO -
5 ~
G
0.15
0.05 -3 -
0.00 - I I I 0 I I I I
0.0 0.2 0.4 0.6 0.8 1.0 0.0 0.2 0.4 0.6 0.8 1.0
(a) P/Pu P/Pu
a¢ 0.25 i i o i I -15 , , a ,
< 0.10 -6
0.05 -3
0.00 t I i i ~ 0 I I I I
0.0 0.2 0.4 0.6 0.8 1.0 0.0 0.2 0.4 0.6 0.8 1.0
Oa) P/Pu P/Pu
¢tr
0.20 J , I I -15 I I I I i
sld -12
0.15 - s/d /
G
5
"O
~" -9
~. 0.I0
<8
0.05
-3
0.00 I I I 0
0.0 0.2 0.4 0.6 0.8 1.0 0.0 0.2 0.4 0.6 0.8 1.0
(c) P/Pu P/Pu
Fig. 15. Dynamic interaction factors for approximate nonlinear analysis for piles in homogeneous soil (0 = 0°) (a) horizontal (b)
coupling (c) rotational.
Interaction factors other piles are present (Fig. 13). To establish the equiva-
lent linear interaction factors, two loading cases are
The interaction coefficients are needed to perform the considered separately: a pile loaded individually and a
group analysis using the superposition approach. To group of two identical piles with only one of them
account approximately for the nonlinear effects in the loaded. The resulting deflection at the pile head is
lateral group analysis, the interaction factors should be
established taking the load level and nonlinear con- Ulm(t) = lUlmle ion. (31)
ditions into consideration.
The equivalent linear interaction factor is defined as In eqn (31), [UI[ is the amplitude, either in horizontal
the displacement of a load-free pile normalized by the translation or rotation, approximated by the peak deflec-
displacement of the loaded contiguous pile when no tion, and 4~ is the phase shift, approximated by the time
Dynamic lateral pile response 243
0.20 I I I i -15
a h sld * i i i
~
.<
0.10
10
5 ,N
\
i -9
-6
0.05
-3 ., .oOOg
slo
0.00 0 I I I I
0.0 0.2 0.4 0.6 0.8 1.0 0.0 0.2 0.4 0.6 0.8 1.0
(a) P/Pu P/Pu
0.16 i , i i -15 sld t i i i
sld
.-5-- \ -12 ---
0.12
. 0.08
<
0.04
-3
0.00 I i l i 0 t I 1 I
0.0 0.2 0.4 0.6 0.8 1.0 0.0 0.2 0.4 0.6 0.8 1.0
PI Pu P/Pu
Co)
I I I i -15 i i i , ,
~r sld
I sld
0.12
o -12 . . . . . .
~ 0.09
al
~ 0.06
0.03
0.00 ! I I ! 0 , l t l i
0.0 0.2 0.4 0.6 0.8 1.0 0.0 0.2 0.4 0.6 0.8 1.0
(c) P/Pu P/Pu
Fig. 16. Dynamic interaction factors for approximate nonlinear analysis for piles in homogeneous soil (0 = 90°) (a) horizontal (b)
coupling (c) rotational.
lag between the peaks of both the deflection and force. The dynamic interaction factor is a complex quantity
The subscript m takes the values 0 for the case of single which can be described either by its real and imaginary
pile loading and 1 for the load-free pile in the second case parts, al and a2, or in terms of its absolute value, I,~1, and
of loading. The loading starts from zero and the ampli- phase shift 4. Thus the interaction factor, a, may be
tude and phase shift are established after five loading written as
cycles. The response was found to stabilize almost com-
pletely after this number of cycles. The interaction factor ot = oq q- io~2 = Io~[ei~. (33)
is defined as
Ull(t) (32) The amplitude, [al l, and the phase shift, ~ , of the
al -- Ul0(t) " interaction factor resulting from eqn (32) may be
244 M. H. El Naggar, M. Novak
approximated by REFERENCES