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MDOF Seismic Inertial Forces

Multi-Degree-of-Freedom Systems
Degree-of-Freedom is two or more
Degree-of-Freedom is the number of independent
displacement coordinates necessary to describe the
motion of the system.
Shear Building (Assumptions)
Beams and floor systems are rigid (infinitely stiff)
in flexure
Axial deformations of beams and columns are
neglected
Effect of axial force on stiffness of the columns
are neglected
Mass is concentrated at the floor levels
Linear viscous damping is associated with
deformational motions of each story

Two-Story Shear Building
(Loading Applied on Mass)
p
1
(t)
p
2
(t)
m
1

m
2

u
1

u
2

c
1

c
2

k
1

k
2

u
2

u
1

Equation of Motion of Two-Story Shear
Building
m
1
0


0 m
2
u
1

u
2

+
c
1
+c
2
-

c
2

- c
2
c
2
u
1

u
2

+
k
1
+k
2
-

k
2

- k
2
k
2
u
1

u
2

=
p
1
(t)

p
2
(t)
m

u

+
c

u
+
k

u

=
p(t)
General Form of the Equation of Motion
m
11
m
12

m
21
m
22

u
1

u
2

+
u
1

u
2

+
u
1

u
2

=
p
1
(t)

p
2
(t)
Physical meaning of each element of the matrices
m
ij
, c
ij
, k
ij
is the force at the i
th
mass due to a unit
acceleration, velocity or displacement at the j
th
mass,
respectively, with all other accelerations, velocities
and displacements equal to zero.
c
11
c
12

c
21
c
22

k
11
k
12

k
21
k
22

Equation of Motion of a Two-
Degree-of-Freedom System
(Base Excitation, Undamped)
2-DOF System Two-storey building with
rigid girder (Influence of Support Excitation)

f
i
x
e
d

r
e
f
e
r
e
n
c
e

a
x
i
s

v
g

v1
T

v1
m1
k
2
k
2
m2
k
2
k
2
v2
T

v2
Applications:
1. Motion of building caused by
earthquake
2. Motion of equipment due to
motion of building where it is
housed
2-DOF System Two-storey building with
rigid girder (Influence of Support Excitation)
=
+
v1
disp of mass1 rel to
moving support/base
total disp of mass1 rel
to fixed reference axis
v
g

v1
T

disp of frame support
rel to fixed reference
axis

f
i
x
e
d

r
e
f
e
r
e
n
c
e

a
x
i
s

v
g

v1
T

v1
m1
k
2
k
2
m2
k
2
k
2
v2
T

v2
2-DOF System Two-storey building with
rigid girder (Influence of Support Excitation)
=
+
disp of mass2 rel to
moving support/base
total disp of mass2 rel
to fixed reference axis
v
g

v2
T

disp of frame support
rel to fixed reference
axis

f
i
x
e
d

r
e
f
e
r
e
n
c
e

a
x
i
s

v
g

v1
T

v1
m1
k
2
k
2
m2
k
2
k
2
v2
T

v2
v2

f
i
x
e
d

r
e
f
e
r
e
n
c
e

a
x
i
s

v
g

m1 v1
T

k1v1
v1
v2
v1) - k2(v2
m2 v2
T

v1) - k2(v2 +
=
0
v1) - k2(v2
m1 v1
T
+
k1v1 - v1) - k2(v2 = 0
m2 v2
T

v
g
displacement of support/ground from a fixed reference axis
v
1
displacement of mass1 relative to the base
v
2
displacement of mass2 relative to the base
m
2
v
2
T
v
1
) - k
2
(v
2
+
=
0
m
1
v
1
T
+
k
1
v
1
- v
1
) - k
2
(v
2
= 0
=
+
v
1
v
g

v
1
T

=
+
v
g

v
2
T

v
2
v
1
=
+
v
1
v
g

v
1
T

=
+
v
g

v
2
T

v
2
v
1
m
2
v
2
k
2
v
2
+
k
2
v
1
-
=
m
1
v
1
+
(k
1
+ k
2
) v
1
-
k
2
v
2

= -
m
1
v
g

-
m
2
v
g

m
2
v
2
k
2
v
2
+
k
2
v
1
-
=
m
1
v
1
+
(k
1
+ k
2
) v
1
-
k
2
v
2

= -
m
1
v
g

-
m
2
v
g

m
1

0
0
m
2

+
v
1

v
2

k
1
+k
2
- k
2
- k
2
k
2
v
1

v
2

= -
m
1

0
0
m
2

1
1
v
g

M v
+ K
v
= -
M
1 v
g

If damping is considered:
+
=
-
m
1

0
0
m
2

1
1
v
g

= - 1 v
g

Equation of Motion (Ground Acceleration)
m
1
0


0 m
2
u
1

u
2

c
1
+c
2
-

c
2

- c
2
c
2
+
k
1
+k
2
-

k
2

- k
2
k
2
u
1

u
2

u
1

u
2

m

u

+
c

u
+
k

u

m

Equation of Motion (Loading on Mass)
m
1
0


0 m
2
u
1

u
2

+
c
1
+c
2
-

c
2

- c
2
c
2
u
1

u
2

+
k
1
+k
2
-

k
2

- k
2
k
2
u
1

u
2

=
p
1
(t)

p
2
(t)
m

u

+
c

u
+
k

u

=
p(t)
+
=
-
m
1

0
0
m
2

1
1
v
g

= - 1 v
g

Equation of Motion (Ground Acceleration)
m
1
0


0 m
2
u
1

u
2

c
1
+c
2
-

c
2

- c
2
c
2
+
k
1
+k
2
-

k
2

- k
2
k
2
u
1

u
2

u
1

u
2

m

u

+
c

u
+
k

u

m

Equivalence:
m
1

m
2

v
g

m
1

m
2

====
- m
1
v
g

- m
2
v
g

Disregard damping; solve eigenvalues and
eigenvectors. Uncouple the equation of motion:
+
=
-
m
1

0
0
m
2

1
1
v
g

= - 1 v
g

Equation of Motion (Ground Acceleration)
m
1
0


0 m
2
u
1

u
2

c
1
+c
2
-

c
2

- c
2
c
2
+
k
1
+k
2
-

k
2

- k
2
k
2
u
1

u
2

u
1

u
2

m

u

+
c

u
+
k

u

m


1
T
m


1
+
z

1


1
T
c


1
+
z

1


1
T
k


1
z

1
=


1
T
m

-
1 v
g


2
T
m


2
+
z

2


2
T
c


2
+
z

2


2
T
k


2
z

2
=


2
T
m

-
1 v
g


1
T
m


1
+
z

1


1
T
c


1
+
z

1


1
T
k


1
z

1
=


1
T
m

-
1 v
g


2
T
m


2
+
z

2


2
T
c


2
+
z

2


2
T
k


2
z

2
=


2
T
m

-
1 v
g

The above equations can be combined as:


T
m


+
z


T
c


+
z


T
k


z

=


T
m

-
1 v
g


1
T
m


1
+
z

1


1
T
c


1
+
z

1


1
T
k


1
z

1
=


1
T
m

-
1 v
g


2
T
m


2
+
z

2


2
T
c


2
+
z

2


2
T
k


2
z

2
=


2
T
m

-
1 v
g

m

1
* c

1
*
k

1
*
p

1
*
m

1
*
+
z

1
c

1
*
z

1
+
k

1
* z

1
= -
p

1
*
v
g

m

2
* c

2
*
k

2
*
p

2
*
m

2
*
+
z

2
c

2
*
z

2
+
k

2
* z

2
= -
p

2
*
v
g

m

1
*
+
z

1
c

1
*
z

1
+
k

1
* z

1
= -
p

1
*
v
g

m

2
*
+
z

2
c

2
*
z

2
+
k

2
* z

2
= -
p

2
*
v
g

The general form of the above equations is:
m

i
*
+
z

i
c

i
*
z

i
+
k

i
* z

i
= -
p

i
*
v
g

These are equations of motion of single-
degree-of-freedom systems, vibrating under
each mode.
Divide each term by :
m

i
*
+
z

i
c

i
*
z

i
+
k

i
* z

i
= -
p

i
*
v
g

m

i
*
+
z

i
i
v
g

2

i
z

i
+
i
z


2
i
= -
p

i
*
m

i
*
=
p

i
*
m

i
*


i
=


i
T
m

1


i
T
m


i
is called mode participation factor (for mode i)
Since v
g
is a function of time, we can express it as
max

g
v

+
z

i
i
2

i
z

i
+
i
z


2
i
=
=
g
v

f(t)

g
v

=
k
c
g

max

g
v

t

g
v

= f(t)

k
c
g

f(t)

k
c
g


i
-
The general form for the acceleration response is:

+
z

i
i
2

i
z

i
+
i
z


2
i =
f(t)

k
c
g


i
-
+
z

i
i
2

i
z

i
+
i
z


2
i
=
f(t)

k
c
g


i
- +


i
(t, , )

Quiz
m
1

0
0
m
2

+
v
1

v
2

k
1
+k
2
- k
2
- k
2
k
2
v
1

v
2

= -
m
1

0
0
m
2

1
1
v
g

MULTIPLY THE MATRICES
2 x 2 2 x 1 2 x 2 2 x 1
2 x 2
2 x 1
Quiz
m
1

0
0
m
2

+
v
1

v
2

k
1
+k
2
- k
2
- k
2
k
2
v
1

v
2

= -
m
1

0
0
m
2

1
1
v
g

MULTIPLY THE MATRICES
ANSWER
m
1

v
1

0
v
1

+ 0 v
2

m
2

+
v
2

+
( k
1
+k
2
) v
1
- k
2
v
2

- k
2
v
1

+ k
2
v
2

=
- m
1

v
g

- m
2

v
g

2 x 1 2 x 1 2 x 1
Quiz
ADD THE MATRICES
m
1

v
1

0
v
1

+ 0 v
2

m
2

+
v
2

+
( k
1
+k
2
) v
1
- k
2
v
2

- k
2
v
1

+ k
2
v
2

=
- m
1

v
g

- m
2

v
g

2 x 1 2 x 1 2 x 1
Quiz
ADD THE MATRICES
ANSWER
m
1

v
1

0
v
1

+ 0 v
2

m
2

+
v
2

+
( k
1
+k
2
) v
1
- k
2
v
2

- k
2
v
1

+ k
2
v
2

=
- m
1

v
g

- m
2

v
g

2 x 1 2 x 1 2 x 1
m
1

v
1
+ 0 v
2

( k
1
+k
2
) v
1
- k
2
v
2

+
0
v
1

m
2

+
v
2

- k
2
+ k
2
v
2

2 x 1
=
- m
1

v
g

- m
2

v
g

2 x 1
Quiz
WHAT ARE THE RESULTING TWO EQUATIONS?
m
1

v
1
+ 0 v
2

( k
1
+k
2
) v
1
- k
2
v
2

+
0
v
1

m
2

+
v
2

- k
2
+ k
2
v
2

2 x 1
=
- m
1

v
g

- m
2

v
g

2 x 1
Quiz
WHAT ARE THE RESULTING TWO EQUATIONS?
ANSWER
m
1

v
1
+ 0 v
2

( k
1
+k
2
) v
1
- k
2
v
2

+
0
v
1

m
2

+
v
2

- k
2
+ k
2
v
2

2 x 1
=
- m
1

v
g

- m
2

v
g

2 x 1
m
1

v
1
+ 0 v
2

( k
1
+k
2
) v
1
- k
2
v
2

+ =
- m
1

v
g

0
v
1

m
2

+
v
2

- k
2
+ k
2
v
2

- m
2

v
g
=
Quiz
COMBINE THE TWO EQUATIONS INTO ONE MATRIX EQUATION
m
1

v
1

( k
1
+k
2
) v
1
- k
2
v
2

+ =
- m
1

v
g

m
2
v
2

- k
2
+ k
2
v
2

- m
2

v
g
=
Quiz
COMBINE THE TWO EQUATIONS INTO ONE MATRIX EQUATION
m
1

v
1

( k
1
+k
2
) v
1
- k
2
v
2

+ =
- m
1

v
g

m
2
v
2

- k
2
+ k
2
v
2

- m
2

v
g
=
ANSWER
m
1

0
0
m
2

+
v
1

v
2

k
1
+k
2
- k
2
- k
2
k
2
v
1

v
2

= -
m
1

0
0
m
2

1
1
v
g

k4= 1600 kN/m
k4= 1600 kN/m
k3= 1200 kN/m k3= 1200 kN/m
m4= 4500 kg
k2= 800 kN/m
k2= 800 kN/m
m3= 3000 kg
m2= 3000 kg
k1= 400 kN/m
k1= 400 kN/m
m1= 1500 kg
x1
x2
x3
x4
k4= 1600 kN/m k4= 1600 kN/m
k3= 1200 kN/m k3= 1200 kN/m
m4= 4500 kg
k2= 800 kN/m k2= 800 kN/m
m3= 3000 kg
m2= 3000 kg
k1= 400 kN/m k1= 400 kN/m
m1= 1500 kg
x1
x2
x3
x4
x1=1
x2=0
x3=0
x4=0
800 kN
800 kN
800 kN
- 800 kN
0
0
k4= 1600 kN/m k4= 1600 kN/m
k3= 1200 kN/m k3= 1200 kN/m
m4= 4500 kg
k2= 800 kN/m k2= 800 kN/m
m3= 3000 kg
m2= 3000 kg
k1= 400 kN/m k1= 400 kN/m
m1= 1500 kg
x1
x2
x3
x4
x1=0
x2=1
x3=0
x4=0
800 kN
800 kN
1600 kN
1600 kN
- 800 kN
2400 kN
- 1600
0
k4= 1600 kN/m k4= 1600 kN/m
k3= 1200 kN/m k3= 1200 kN/m
m4= 4500 kg
k2= 800 kN/m k2= 800 kN/m
m3= 3000 kg
m2= 3000 kg
k1= 400 kN/m k1= 400 kN/m
m1= 1500 kg
x1
x2
x3
x4
x1=0
x3=1
x2=0
x4=0
1600 kN
1600 kN
2400 kN
2400 kN
0
- 1600 kN
4000 kN
-2400 kN
k4= 1600 kN/m k4= 1600 kN/m
k3= 1200 kN/m k3= 1200 kN/m
m4= 4500 kg
k2= 800 kN/m k2= 800 kN/m
m3= 3000 kg
m2= 3000 kg
k1= 400 kN/m k1= 400 kN/m
m1= 1500 kg
x1
x2
x3
x4
x1=0
x4=1
x2=0
x3=0
2400 kN
2400 kN
3200 kN
3200 kN
0
0
-2400 kN
5600 kN
800
- 800
0
0
- 800
2400
- 1600
0
0
- 1600
4000
-2400
0
0
-2400
5600
F1
F2
F3
F4
=
x1
x2
x3
x4
1 2 3
4
1500
0
0
0
0
3000
0
0
0
0
3000
0
0
0
0
4500
F1
F2
F3
F4
=
x1
x2
x3
x4
1 2 3
4
0
0
x4
1500
0
0
0
0
3000
0
0
0
0
3000
0
0
0
0
4500
x1
x2
x3
x4
1 2
3 4
+
800
- 800
0
0
- 800
2400
- 1600
0
0
- 1600
4000
-2400
0
0
-2400
5600
x1
x2
x3
1
2
3 4
=
0
0
M x
+
K x
=
0
M x
+
K x
=
0
Equation of motion:
Let
x
= a sin ( t )
x
=
a sin ( t ) -
2

(a)
(b)
Substitute (b)
to (a) results in
K
-

2

M
a
=
0
=
1
2
.
.
n
a1 =
a11
a21
.
.
an1
a2 =
a12
a22
.
.
an2
etc.
Mode1 Mode2
END

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