Ground Response Analysis

Part - II
Lecture-26
1
Transfer function Evaluation: cases
Uniform undamped soil on rigid rock
Uniform damped soil on rigid rock
Uniform undamped soil on elastic rock
Uniform damped soil on elastic rock
Layered damped soil on elastic rock
Transfer Function
(Filter)
2
Uniform damped soil on elastic rock
Soil
Rock
G
s

s

G
r

r

H
A
s

B
s

A
r

B
r

z
s

z
r

u
s
(z
s
,t) = A
s
e
i(t k
s
z
s
)
+ B
s
e
i(t + k
s
z
s
)

u
r
(z
r
,t) = A
r
e
i(t - k
r
z
r
)
+ B
r
e
i(t + k
r
z
r
)

At z
s
= 0 (ground surface)
t(z
s
,t) = 0 A
s
= B
s

3
Uniform damped soil on elastic rock
u
s
(z
s
,t) = A
s
e
i(t k
s
z
s
)
+ B
s
e
i(t + k
s
z
s
)

Compatibility of displacements at the soil-rock boundary
requires
u
s
(z
s
=H) = u
r
(z
r
=0)

A
s
[(e
ik
s
H
+ e
-ik
s
H
) = A
r
+ B
r


Continuity of stresses at the soil-rock boundary requires
t
s
(z
s
=H) = t
r
(z
r
=0)

t = G u/z
A
s
G
s
k
s
(e
ik
s
H
- e
-ik
s
H
) = G
r
k
r
(B
r
A
r
) 4
Uniform damped soil on elastic rock
(B
r
A
r
) = A
s
(e
ik
s
H
- e
-ik
s
H
) G
s
k
s
/G
r
k
r

G
s
k
s
/G
r
k
r
= o
z
= Impedance ratio

(B
r
A
r
) = A
s
(e
ik
s
H
- e
-ik
s
H
) o
z

B
r
+ A
r
= A
s
[(e
ik
s
H
+ e
-ik
s
H
)]

B
r
= A
s
[ e
ik
s
H
(1+ o
z
) + e
-ik
s
H
(1- o
z
) ]

A
r
= A
s
[ e
ik
s
H
(1- o
z
) + e
-ik
s
H
(1+ o
z
) ]

F(e) = A
s
/A
r
= 2/ [e
ik
s
H
(1- o
z
) + e
-ik
s
H
(1+ o
z
) ]

F(e) = 1/[cos k
s
H - i o
z
sin k
s
H)]


5
Uniform damped soil on elastic rock
( ) ) ( sin cos
) , (
H k H k
F
s z s
2 2 2
1
0
o
e
+
= =
* *
/
sr r ss s z
V V o =
Impedance ratio
6
Uniform damped soil on elastic rock
Note:
Even with no soil damping, resonance cannot occur
Why?
Energy removed from soil layer by transmission into rock
Form of radiation damping
7
Layered damped soil on elastic rock
8
Layered damped soil on elastic rock
For layer j




From equilibrium




From compatibility



t i
z ik
j
z ik
j j j
e e B e A t z u
j j j j
e
) ( ) , (
* *

+ =
)
* *
1 1
j j j j
h ik
j
h ik
j j j
e B e A B A

+ +
+ = +
) (
* *
*
1
*
1
* *
1 1
j s j s
h ik
j
h ik
j
j j
j j
j j
e B e A
k G
k G
B A

+ +
+ +
=
9
Layered damped soil on elastic rock
For layer j




From equilibrium




From compatibility



t i z ik
j
z ik
j j j
e e B e A t z u
j j j j
e
) ( ) , (
* *

+ =
)
* *
1 1
j j j j
h ik
j
h ik
j j j
e B e A B A

+ +
+ = +
) (
* *
*
1
*
1
* *
1 1
j s j s
h ik
j
h ik
j
j j
j j
j j
e B e A
k G
k G
B A

+ +
+ +
=
If we know the response at layer j (A
j

and B
j
are known), then we have two
equations with two unknowns (A
j+1

and B
j+1
)
We can relate A
j+1
and B
j+1
to A
j
and B
j

by means of recursive relationships
10
Layered damped soil on elastic rock
Solving for unknowns







Or relating the coefficients to those at the ground surface



j j j j
h ik
j j
h ik
j j j
e B e A A
* *
) 1 (
2
1
) 1 (
2
1
* *
1

+
+ + = o o
1 1 1
1 1 1
) (
) (
B b B
A a A
j j
j j
e
e
+ +
+ +
=
=
j j j j
h ik
j j
h ik
j j j
e B e A B
* *
) 1 (
2
1
) 1 (
2
1
* *
1

+
+ + = o o
11
Layered damped soil on elastic rock
Then the transfer function relating the motion in layer i to
motion in layer j can be written as







If we know the motion at any layer, we can use this transfer
function to compute the corresponding motion at any other
layer.

The use of transfer function implies that a liner analysis is being
performed.

) ( ) (
) ( ) (
) (
e e
e e
e
j j
i i
ij
b a
b a
F
+
+
=
12
Equivalent linear analysis
The actual nonlinear hysteretic stress-strain behavior of
cyclically loaded soils can be approximated by equivalent
linear properties.
13
Equivalent linear analysis
Assume some initial strain and use this strain to estimate G
and
Use these G and values to compute the response
Determine peak strain and effective strain
Select properties based on updated strain level
14
Equivalent linear analysis
Compute response with new properties and determine
resulting effective shear strain
Repeat until the computed effective strains are consistent
with assumed effective strains

15
Nonlinear Analysis
Solve wave equation incrementally

Approximate partial derivatives


Finite difference form



t
u
t
u
z c
c
=
c
c
=
c
c

t
2
2
t
u u
t
u
z z
t i t t i t i t i
A

~
c
c
A

~
c
c
A + + , , , , 1

t t
t
t
u u
z
t i t i t i t i
A

~
A

+ + , , 1 , , 1

t t
16
Nonlinear Analysis
Solve wave equation incrementally
Then


Velocity at time t+At can be calculated
from velocity and shear stress at time t

) (
, , 1
,
.
,
.
t i t i
t i t t i
z
t
u u t t

A
A
+ =
+
A +
17
Nonlinear Analysis
Start with initial stiffness, G
max

Compute response for small time step, t

Compute shear strain amplitude at end of time step

Use stress-strain model to find G
tan
for next time step

Compute shear strain amplitude at end of next time step

Continue stepping through time for entire input motion
18
Nonlinear Analysis
t

Nonlinear response is simulated
in incrementally linear fashion

Material damping is taken care by
hysteretic response

Approach requires good model for
description of soil stress-strain
behaviour
19
Nonlinear Stress-strain models
Two main types
Cyclic nonlinear models
Advanced constitutive models
Cyclic nonlinear models
Requires:
Backbone curve
Unloading-reloading rules
Pore pressure model
20
Nonlinear Stress-strain models
Advanced constitutive models
o
1

o
2

o
3

Require:
Yield surface
Hardening rule
Failure surface
Flow rule

21
Nonlinear Stress-strain models
Cyclic nonlinear models
Advantages
Relatively simple
Small number of parameters
Disadvantages
Simplistic representation of soil behavior
Cannot capture dilatancy effects

Advanced constitutive models
Advantages
Can better represent mechanics of yield, failure
Disadvantages
Many parameters
Difficult to calibrate
22
Comparison of Equivalent Linear and Non-
Linear Site Response Analyses
Inherent linearity can lead to spurious resonances in
equivalent linear method
Use of effective shear strain can lead to overdamped
or underdamped system, depending on nature of
strain time history
Equivalent linear analyses much more efficient than
Nonlinear analyses can be formulated in terms of
effective stresses
Nonlinear analyses can predict permanent
deformations
23
Comparison of Equivalent Linear and Non-
Linear Site Response Analyses
Nonlinear analyses require reliable stress-strain, or constitutive,
models
Differences in computed response depend on the degree of
nonlinearity in the actual soil response

Stiff sites Results quite similar
Weak input motions

Soft sites Nonlinear analysis
preferable
Liquefiable sites
Strong input motions
24
25
Numerical Codes
Dimensions OS Equivalent Linear Nonlinear

1-D
DOS Dyneq, Shake91 AMPLE, DESRA, DMOD,
FLIP, SUMDES, TESS
Windows ShakeEdit, ProShake,
Shake2000, EERA
CyberQuake, DeepSoil,
NERA, FLAC, DMOD2000


2-D / 3-D

DOS
FLUSH,
QUAD4/QUAD4M,
TLUSH
DYNAFLOW, TARA-3, FLIP,
VERSAT, DYSAC2, LIQCA,
OpenSees
Windows QUAKE/W, SASSI2000 FLAC, PLAXIS
Numerous computer programs are available for ground response analysis.

Based on the computational procedure, number of dimensions, and operating
system, these codes can be classified as follows.
26
SHAKE
SHAKE is one of the widely used numerical programs for ground response
analysis.

Program SHAKE computes the responses in a system of homogeneous, visco-
elastic layers of infinite horizontal extent subjected to vertically travelling shear
waves. The program is based on the continuous solution to the wave equation
adapted for use with transient motions through the fast Fourier transform
algorithm.

The nonlinearity of the shear modulus and damping is accounted
for by the use of equivalent linear soil properties using an iterative procedure to
obtain values for modulus and damping compatible with the effective strains in
each layer.

The strain dependence of modulus and damping is accounted for by an
equivalent linear procedure based on an average effective strain level computed
for each layer. The program is able to handle systems with variation in both
moduli and damping, and takes into account the effect of the elastic base.
Compute the time history of acceleration at the surface of the linear
elastic soil deposit shown in Figure (a) in response to the E-W component
of the Gilroy No.1(rock) motion shown in the Figure (a).
Figure (a) Soil Deposit
Example Problem
27
Solution Computation of the ground surface motion from the bedrock motion
can be accomplished in the following series of steps:
- 1. Obtain the time history of acceleration of the input motion. In this case the
input motion is the E-W component of the Gilroy No.1 (rock) motion shown in
Figure (b) below. The Gilroy No.1 record consists of 2000 acceleration values at
0.02-sec intervals.
Figure b. E-W component of the Gilroy No.1 (rock) motion
28
- 2. Compute the Fourier series of the bedrock (input) motion. The Fourier series
is complex valued; its one-sided Fourier amplitude spectrum is shown in Figure
(c) below. The Fourier amplitude spectrum is defined for frequencies up to
1/2At=25Hz, but most of the energy in the bedrock motion is at frequencies less
than 5 to 10 Hz.
29
- 3. Compute the transfer function that relates the ground surface (output) motion to the
bed-rock ( input) motion. The transfer function for the case of undamped soil is real
valued [Figure (d)]. The transfer function has values of 1 below frequencies of about 10
Hz. However, at frequencies that approach the fundamental frequency of the soil deposit
(f
o
=vs/4H=26.25 Hz), the transfer function begins to take on large values.
30
- 4. Compute the Fourier series of the ground surface (output) motion as the product of
the transfer function the Fourier series of the bedrock (input) motion. At frequencies less
than 5 to 10 Hz, the Fourier spectrum of the ground surface motion is virtually the same as
that of the bedrock motion. Although the transfer function indicates that frequencies
above 20 Hz or so will be amplified strongly, the input motion is weak in that frequency
range. The one-sided amplitude spectrum is shown in Figure (e). Examination of this
Fourier amplitude spectrum indicates that the ground surface motion has somewhat more
high frequency motion, but is generally similar to that of the bedrock motion.
31
- 5. Obtain the time history of the ground surface motion by inverting its Fourier series.
Figure (f).
32
- Because the transfer function related to the
computation of free surface motion from bedrock
motion, an important problem of practical interest
involves the computation of bedrock motion from a
known free surface motion deconvolution
DECONVOLUTION
33
Exercise Problems
1. For the case of a uniform layer of undamped soil overlying rigid bedrock, develop a
transfer function that relates shear stress, t(z=H/2, t), to the bedrock acceleration,
Plot the modulus of the transfer function from kH=0 to kH=2t

2. An acceleration reduction factor can be defined as the ratio of the peak acceleration at
depth z, to the peak ground surface acceleration, i.e.




For the case of a uniform layer of undamped soil overlying rigid bedrock, develop an
expression for the reduction factor as a function of the thickness and shear wave
velocity of the soil layer, and the frequency of the input motion


) (
..
t u
b
) 0 (
) (
max
..
max
..
=
=
z u
z u
r
d
34
35
Kramer (1996) Geotechnical Earthquake Engineering, Prentice Hall.
Villaverde, R. (2009) Fundamental Concepts of Earthquake Engineering , CRC
Press.
Towhata, T. (2008) Geotechnical Earthquake Engineering, Springer.
SHAKE2000 Users manual.


References