National Taiwan University

Department of Civil Engineering

Introduction to Seismic Design of Structures
(8)

Response Spectrum of
Seismic Record
Lap-Loi Chung (鍾立來)
National Center for Research on Earthquake Engineering
Civil Engineering, National Taiwan University
Civil Engineering, National Cheng Kung University
 Response Spectrum of Seismic Record
Seismic record: 地震紀錄
Response spectrum: 反應譜
Displacement response spectrum: 位移反應譜
Velocity response spectrum: 速度反應譜
Acceleration response spectrum: 加速度反應譜
Spectral displacement: 譜位移
Spectral velocity: 譜速度
Spectral acceleration: 譜加速度

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 Seismic Response
Motion equation mx(t )  cx (t )  kx(t )  mx0 (t )
x(0)  0, x (0)  0
Structural relative displacement
x[n  1]  a11x[n ]  a12 x[n ]  b1 x0 [n ] a11 (0 ,  , t )
 0 t 0 a12 (0 ,  , t )
a11  e [cos d t  sin d t ]
d
 t
b1 (0 ,  , t )
e 0
sin d t
a12 
d
1  0 t 0
b1  mb1   [1  e (cos d t  sin d t )]
2
0 d
3
 Seismic Response
Motion equation mx(t )  cx (t )  kx(t )  mx0 (t )
x(0)  0, x (0)  0
Structural relative velocity
x[n  1]  a21x[n ]  a22 x[n ]  b2 x0 [n ] a21 (0 ,  , t )

  t
2
a22 (0 ,  , t )
a21   0
e 0
sin d t
d b2 (0 ,  , t )
 t  0
a22  e 0
(cos d t  sin d t )
d
1  0 t
b2   mb2   e sin d t
d
4
 Seismic Response
Motion equation mx(t )  cx (t )  kx(t )  mx0 (t )
x(0)  0, x (0)  0
Structural absolute acceleration
xa [n  1]  02 x[n  1]  20 x[n  1]

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 Response Spectrum of Seismic Record
Motion equation mx(t )  cx (t )  kx(t )  mx0 (t )
x(0)  0, x (0)  0 a11 (0 ,  , t )
Structural responses a12 (0 ,  , t )
x[n  1]  a11x[n ]  a12 x[n ]  b1 x0 [n ] b1 (0 ,  , t )
a21 (0 ,  , t )
x[n  1]  a21x[n ]  a22 x[n ]  b2 x0 [n ] a22 (0 ,  , t )
xa [n  1]  02 x[n  1]  20 x[n  1] b2 (0 ,  , t )

Given seismic record x0 [n]  x0 (nt ), n  0,1,2,

Structural responses vary with natural frequency
and damping ratio
xmax  max x[n] x max ( 0 ,  )
x(0 ,  ) n
xmax (0 ,  )
x (0 ,  ) xmax  max x[n]
n xa,max (0 ,  )
xa (0 ,  ) xa,max  max xa [n]
n 6
 Response Spectrum of Seismic Record
xmax (0 ,  )
Lightly damped   0.05  5% xmax (0 ,  )
xa,max (0 ,  )
(Relative) displacement response spectrum
xmax (0 )  xmax (T )

(Relative) velocity response spectrum

xmax (0 )  xmax (T )

(Absolute) acceleration response spectrum

xa,max (0 )  xa,max (T )

7
 Response Spectrum of Seismic Record
Response spectrum is relationship between peak
response (relative displacement, relative velocity or
absolute acceleration) and natural frequency
(period) of SDOF structure under same base
excitation.
TCU026(EW) Sa Respons Specturm
350
Peak response Spectral acceleration ζ= 5%
300
(absolute)
250
acceleration spectrum
Sa (gal)

200

150

100
Frequency (period)
50
0 1 2 3 4 5
T (sec)
Structural vibrational period 8
 Response Spectrum of Seismic Record
Under same excitation (ground acceleration), peak
structural responses (displacement, velocity,
acceleration) vary with structural vibration period
(frequency).
150
TCU026 ground acceleration time history
x(t )
Ground acceleration TCU026
ground acceleration (cm/sec )
2

100
k
50
ux0g ((tt))
0
c m
-50

-100

mx(t )  cx (t )  kx(t )  mx0 (t )

-150
0 10 20 30 40 50 60 70 80 90
time

 x(t )  20 x (t )  02 x(t )   x0 (t )

9
 Seismic Responses
TCU026 ground acceleration time history
x(t )
150
Ground acceleration TCU026
k
ground acceleration (cm/sec )
2

100
TCU026 uxg0 (t ))
50
c m
0

-50

-100
mx(t )  cx (t )  kx(t )  mx0 (t )
 x(t )  20 x (t )  02 x(t )   x0 (t )
-150
0 10 20 30 40 50 60 70 80 90
time

4 15
(49.575sec, 13.5398 cm) 
3
Relative displacement T = 1 sec T = 2.5 sec

2
10
xmax = 13.54 cm
displacement (cm)

displacement (cm)
5
1

0 0

-1
-5
-2

-3
xmax = 3.45 cm -10
(45.635sec, -3.4502 cm)  Relative displacement
-4 -15
0 10 20 30 40 50 60 70 80 90 0 10 20 30 40 50 60 70 80 90
time time

0  6.28 rad s , T  1 s,   0.05 0  2.51 rad s , T  2.5 s,   0.05

10
 Displacement Spectrum of Seismic Record
Relative 15 30

displacement 10
(49.575sec, 13.5398 cm)  T = 2.5 sec
20
T = 4 sec

T = 2.5 s

displacement (cm)
displacement (cm)
5 10

0 0

-5 -10

-10 -20
(57.11sec, -21.6957 cm) 

Relative -15
0 10 20 30 40 50 60 70 80 90
-30
0 10 20 30 40 50 60 70 80 90

displacement time
Relative time

T = 1.0 s
4

3
T = 1 sec
displacement
2
50
TCU026(EW) Sd Respons Specturm
T = 4.0 s
displacement (cm)

1 ζ= 5%
0 Displacement
-1 40
-2
spectrum
-3
(45.635sec, -3.4502 cm)  30
-4
0 10 20 30 40 50 60 70 80 90
Sd

1.5 time
(46.495sec, 1.417 cm)  T = 0.5 sec

1 20 21.70 cm
displacement (cm)

0.5

0 10
xmax = 13.54 cm
-0.5 1.42 cm xmax = 3.45 cm
0
-1 0 1 2 3 4 5
T
-1.5
0 10 20 30 40
time
50 60 70 80 Relative
90

displacement
T = 0.5 s 11
 Velocity Spectrum of Seismic Record
Relative 40 60

velocity 30
(53.785sec, 32.3447 cm/sec) 
T = 2.5 sec

(58.04sec, 40.1115 cm/sec) 

T = 4 sec

T = 2.5 s 20
40

velocity (cm/sec)

velocity (cm/sec)
10 20

0
0

-10
-20
-20

Relative -30
0 10 20 30 40 50 60 70 80 90
-40
0 10 20 30 40 50 60 70 80 90

velocity 30
time time
Relative
T = 1.0 s 20
(45.91sec, 22.769 cm/sec) 
T = 1 sec
velocity
TCU026(EW) Sv Respons Specturm
T = 4.0 s
velocity (cm/sec)

10 60
ζ= 5%
0
50
-10

-20
40
40.11 cm/s
-30
0 10 20 30 40
time
50 60 70 80 90
32.34 cm/s
Sv

15
T = 0.5 sec
30
10

5 20
22.77 cm/s
velocity (cm/sec)

0
10 15.59 cm/s velocity
-5

-10
spectrum
0
-15 (46.61sec, -15.5893 cm/sec)  0 1 2 3 4 5
-20
Relative T
0 10 20 30 40
time
50 60 70 80
velocity
90

T = 0.5 s
12
 Acceleration Spectrum of Seismic Record
200 200
T = 2.5 sec T = 4 sec
150 (46.41sec, 152.7055 cm/sec) 
150 (46.41sec, 150.6317 cm/sec) 

abs. acceleration (cm/sec )

abs. acceleration (cm/sec )

2

2
100
100
50
50
0
0
-50

-100 -50

-150 -100
0 10 20 30 40 50 60 70 80 90 0 10 20 30 40 50 60 70 80 90
200 time time
T = 1 sec
150
abs. acceleration (cm/sec )
2

100
TCU026(EW) Sa Respons Specturm
50
350
0 ζ= 5%
-50
300
-100

-150
(46.07sec, -183.4193 cm/sec)  250
-200
0 10 20 30 40 50 60 70 80 90
time
2
200 (46.785sec, 198.9584 cm/sec ) 
Sa

T = 0.5 sec 200

150
abs. acceleration (cm/sec )
2

100
150
50

0
100
acceleration
-50

-100
spectrum
-150 50
0 1 2 3 4 5
-200
0 10 20 30 40 50 60 70 80 90
T
time

13
 Response Spectrum of Seismic Record
TCU026(EW) Sd Respons Specturm TCU026(EW) Sa Respons Specturm
50 350
ζ= 5% ζ= 5%

300
40
acceleration
displacement 250
30 spectrum
spectrum
Sd

Sa
200
20
150

10
100

0 50
0 1 2 3 4 5 0 1 2 3 4 5
T T

When T → 0, structure is so rigid that it moves

with ground. xmax = 0 and aa,max = PGA (peak
ground acceleration).
T → ∞, structure disconnected from ground. No
absolute displacement and xmax = peak ground
displacement. aa,max = 0.
14
Response Spectrum (Damping Effect)
TCU026 Sd Respons Specturm
120
ζ=2%
displacement ζ=5%
100 ζ=10%
spectrum ζ=20%
80 ζ=30%
ζ=40%
ζ=50%
Sd

60

40

20

0
0 1 2 3 4 5 6 7 8
T

ζ↑ Sd↓ 15
Response Spectrum (Damping Effect)
TCU026 Sv Respons Specturm
100
velocity ζ=2%
ζ=5%
80
spectrum ζ=10%
ζ=20%
ζ=30%
60 ζ=40%
ζ=50%
Sv

40

20

0
0 1 2 3 4 5 6 7 8
T

ζ↑ Sv↓ 16
Response Spectrum (Damping Effect)
TCU026 Sa Respons Specturm
500
acceleration ζ=2%
ζ=5%
400
spectrum ζ=10%
ζ=20%
ζ=30%
300 ζ=40%
ζ=50%
Sa

200

100

0
0 1 2 3 4 5 6 7 8
T

ζ↑ Sa↓ 17
Response Spectrum of Seismic Records
Sa Respons Specturm
3.5
TCU026
3 TCU029
CHY008
El Centro
2.5

2
Sa

1.5

0.5

0
0 1 2 3 4 5
T

18
 Response Spectrum of Seismic Record
Response spectrum is curve of maximum (SDOF)
structural response versus structural vibration
period.
x(t )
k
x 0 (t )
c m

19
 Response Spectrum of Seismic Record
x(t )
k
x 0 (t )
c m

Displacement response spectrum is curve of

maximum structural relative displacement versus
structural vibration period.
Velocity response spectrum is maximum relative
velocity versus period.
Acceleration response spectrum is maximum
absolute acceleration versus period.
20
 Displacement Response Spectrum
Maximum structural relative displacement
Sd (T ,  )  max ( x[n] )
n

1
f0 
T

0  2f 0

  5%  0.05

21
 Velocity Response Spectrum
Maximum structural relative velocity
Sv (T , )  max ( x[n] )
n

1
f0 
T

0  2f 0

  5%  0.05

22
 Acceleration Response Spectrum
Maximum structural absolute acceleration
Sa (T , )  max ( x[n]  x0 [n] )
n

1
f0 
T

0  2f 0

  5%  0.05

23
 Seismic Record
Station: TAP097 (E+)
Event: Hualien earthquake, March 31, 2002
Sampling period: t  0.004 s

Time length: 99.996 s

Number of data points: N  25000

Peak Ground Acceleration, PGA): 96.24 gal

24
 Seismic Record
Ground acceleration

Δt  0.004 s

Peak Ground Acceleration, PGA 96.24 gal

25
 Response Spectrum of Seismic Record
Motion equation mx(t )  cx (t )  kx(t )  mx0 (t )
 x(t )  20 x(t )  0 x(t )   x0 (t )
  2

x (0)  0, x (0)  0
Structural vibration period
T
 0.01, 0.01259, 0.01585, 0.01995, 0.0251,
0.0316, 0.0398, 0.0501, 0.0631, 0.0794
0.1, 0.1259, 0.1585, 0.1995, 0.251,
0.316, 0.398, 0.501, 0.631, 0.794
Damping ratio
1.0, 1.259, 1.585, 1.995, 2.51,
  5%  0.05
3.16, 3.98, 5.01, 6.31, 7.94,10.0 s
26
Response Spectrum of Seismic Record
Displacement spectrum

Velocity spectrum

Acceleration spectrum

27
 HW8
Use matlab to plot the displacement, velocity and
acceleration response spectrum of seismic record.
Upload matlab code to ceiba.
mx(t )  cx (t )  kx(t )  mx0 (t )
E.O.M
 x(t )  20 x (t )  02 x(t )   x0 (t )

Structural vibration period T0  0 ~ 10(s)

Damping ratio   2%,5%,10%, 20%, 40%

28
 HW8
Station Code：TCU079(E+)
Date：1999/9/21 Chi Chi earthquake
Sampling period ： t  0.005 s

Record Length： 89.995s

Number of sampling： N  18000

Peak ground acceleration (PGA)： 579.794 gal

29
 Response Spectrum of Seismic Record
(1-1) Videos on Strategies for Prevention of
Earthquake Disaster
English https://youtu.be/P0-ZqkSWAgk
Chinese https://youtu.be/Pv0zlzDh9DI
(1-2) Videos on Earthquake Engineering and
Seismic Design
English https://youtu.be/x0SoVtwTCVI

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 Response Spectrum of Seismic Record
(2-1) Videos on Fundamental Vibration Period
English https://youtu.be/heIqjIP3dJM
Chinese https://youtu.be/-WPHcpRCGqw
(2-2) Videos on Simplified Calculation of
Fundamental Period
English https://youtu.be/PFAtC5GcN1Y
Chinese https://youtu.be/CmILRnIS65w

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 Response Spectrum of Seismic Record
(3-1) Videos on Forced Vibration of Undamped
Structure (1)
English https://youtu.be/R3ouXosWlvA
Chinese https://youtu.be/kqOWgimUrOQ
(3-2) Videos on Forced Vibration of Undamped
Structure (2)
English https://youtu.be/NYB0ZMqWDLY
Chinese https://youtu.be/kqOWgimUrOQ
(4) Videos on Damping of Structure
English https://youtu.be/bt3XDUG-VYg
Chinese https://youtu.be/W2K-zTz4WvU
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 Response Spectrum of Seismic Record
(5-1) Videos on Forced Vibration of SDOF
Structure (1)
English https://youtu.be/yYx4Z2DXycQ
Chinese https://youtu.be/lUp3oHNG2Kg
(5-2) Videos on Forced Vibration of SDOF
Structure (2)
English https://youtu.be/VxFieYPSh68
Chinese https://youtu.be/lUp3oHNG2Kg

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 Response Spectrum of Seismic Record
(6-1) Videos on Dynamic Analysis of SDOF
Structure (1)
English https://youtu.be/QGaLxvNM-Sk
Chinese https://youtu.be/OQlqFqlvyTw
(6-2) Videos on Dynamic Analysis of SDOF
Structure (2)
English https://youtu.be/JiO4bK-FpmU
Chinese https://youtu.be/OQlqFqlvyTw
(7) Videos on Seismic Analysis of SDOF Structure
English https://youtu.be/muwUsj7zHuQ
Chinese https://youtu.be/qljvU_pxStA
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 Response Spectrum of Seismic Record
(8) Videos on Response Spectrum of Seismic
Record
English https://youtu.be/eca-kfiM-fg
Chinese https://youtu.be/xA7boiyNquA

35
 Response Spectrum of Seismic Record
Given seismic record and damping ratio
Peak responses vary with vibration period
(Relative) displacement spectrum
(Relative) velocity spectrum
(Absolute) acceleration spectrum

Thank You!

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