2. 1
Chapter 7 Stochastic response
of structures under earthquakes
7.1 Fundamentals of stochastic processes
7.2 Time domain method for linear structures
7.3 Frequency domain method
7.4 Nonlinear stochastic response of structures
7.5 Dynamic reliability of structures
3. 2
7.1.1 Time domain description
7.1 Fundamentals of stochastic process
x
t
o
x
t
o
x
t
o
1
t 2
t j
t
4. 3
7.1.1 Time domain description
7.1 Fundamentals of stochastic process
Finite dimensional distributions
Second order statistics
• mean
• Auto-
Correlation
function
5. 4
7.1.1 Time domain description
7.1 Fundamentals of stochastic process
Stationary process
Definition: strict - distribution
Definition: weak – second moments
Properties
• Symmetric
• Bounded
• Asymptotic decaying
6. 5
7.1.2 Frequency domain description
7.1 Fundamentals of stochastic process
The Wiener-Khinchin formula
• The power spectral
density function (PSD)
• The auto-correlation
function
Norbert Wiener (1894-1964)
Aleksandr Yakovlevich
Khinchin (1894-1959)
7. 6
7.1.2 Frequency domain description
7.1 Fundamentals of stochastic process
The physical sense of power spectral density function
• From the perspective of average energy
• From the perspective of a sample process
8. 7
Finite Fourier Transform:
Power spectral density function:
7.1.2 Frequency domain description
7.1 Fundamentals of stochastic process
9. 8
7.2.1 Time domain method for SDOF systems
7.2 Time domain method for linear structures
The equation of motion of a SDOF system
The standardized equation of motion
Closed-form solution – The Duhamel integral
10. 9
7.2.1 Time domain method for SDOF systems
7.2 Time domain method for linear structures
The mean response
Special case
If then
11. 10
7.2.1 Time domain method for SDOF systems
7.2 Time domain method for linear structures
The auto-correlation function
12. 11
7.2.1 Time domain method for SDOF systems
7.2 Time domain method for linear structures
Example 1: white noise excited system (Li & Chen 2009)
13. 12
7.2.2 Time domain method for MDOF systems
7.2 Time domain method for linear structures
Equation of motion
Closed-form solution – Duhamel integral
Auto-correlation function matrix
Direct Matrix Method
14. 13
7.2.2 Time domain method for MDOF systems
7.2 Time domain method for linear structures
Modal Superposition Method
Equation of motion
Modal expansion
Generalized SDOF systems
Standardized generalized SDOF systems
15. 14
7.2.2 Time domain method for MDOF systems
7.2 Time domain method for linear structures
Modal Superposition Method
Standardized generalized SDOF systems
Duhamel integral
The structural response
16. 15
7.2.2 Time domain method for MDOF systems
7.2 Time domain method for linear structures
Modal Superposition Method
The structural response
The auto-correlation function matrix
17. 16
7.2.2 Time domain method for MDOF systems
7.2 Time domain method for linear structures
Modal Superposition Method
The auto-correlation function matrix
18. 17
7.2.2 Time domain method for MDOF systems
7.2 Time domain method for linear structures
Modal Superposition Method
The auto-correlation function matrix
19. 18
7.2.2 Time domain method for MDOF systems
7.2 Time domain method for linear structures
Modal Superposition Method
Closed-form unit pulse response function matrix
20. 19
7.2.3 Modal decomposition response spectrum method
7.2 Time domain method for linear structures
Modal Superposition Method
Standardized generalized SDOF systems
Assume the responses are stationary
21. 20
7.2.3 Modal decomposition response spectrum method
7.2 Time domain method for linear structures
Assume the responses are stationary
Extreme value and the standard deviation – peak factor
Then
22. 21
7.2.3 Modal decomposition response spectrum method
7.2 Time domain method for linear structures
The CQC (complete quadratic combination)
The SRSS (Square root of summation of squares)
What is the correlation coefficients ? [Homework 1
of the Chapter 7]
23. 22
7.2.3 Modal decomposition response spectrum method
7.2 Time domain method for linear structures
The SRSS (Square root of summation of squares)
Clough & Penzien (1995)
24. 23
7.2.3 Modal decomposition response spectrum method
7.2 Time domain method for linear structures
The SRSS (Square root of summation of squares)
Newmark NN, Rosenblueth E. Fundamentals of Earthquake Engineering, Prentice-
Hall, 1971.
25. 24
7.2.3 Modal decomposition response spectrum method
7.2 Time domain method for linear structures
The SRSS (Square root of summation of squares)
Li YG, Fan F, Hong HP. Engineering Structures, 151 (2017) 381-390
26. 25
7.3.1 Frequency domain method for SDOF systems
7.3 Frequency domain method for linear struc
Equation of motion
Taking Fourier transform on both sides
Frequency transfer function
27. 26
7.3.1 Frequency domain method for SDOF systems
7.3 Frequency domain method for linear struc
Frequency transfer function
Taking the complex conjugate
Multiplying both sides
28. 27
7.3.1 Frequency domain method for SDOF systems
7.3 Frequency domain method for linear struc
Example 2: excited by white noise
Li & Chen (2009)
Half-power method
for damping ratio
estimate:
29. 28
7.3.1 Frequency domain method for SDOF systems
7.3 Frequency domain method for linear struc
Example 3: the Kanai-Tajimi spectrum (Homework 2
of Chapter 7)
• Consider a filtered SDOF system
• The Fourier transform yields:
• The Fourier transform of the acceleration response
31. 30
7.3.2 Frequency domain method for MDOF systems
7.3 Frequency domain method for linear struc
Modal superposition/decomposition method
Generalized SDOF systems:
Frequency response functions:
Modal superposition:
32. 31
7.3.2 Frequency domain method for MDOF systems
7.3 Frequency domain method for linear struc
Modal superposition/decomposition method
Equation of motion of a MDOF system:
Pseudo-Excitation method (Lin 1985):
33. 32
7.3.2 Frequency domain method for MDOF systems
7.3 Frequency domain method for linear struc
Modal superposition/decomposition method
Generalized SDOF systems:
Power spectral density matrix:
34. 33
7.3.1 Frequency domain method for SDOF systems
7.3 Frequency domain method for linear struc
Example 4: Response of MDOF system to white noise
excitation
The modal matrix and modal mass matrix:
The frequency response functions:
35. 34
7.3.1 Frequency domain method for SDOF systems
7.3 Frequency domain method for linear struc
Example 4: Response of MDOF system to white noise
excitation
The power spectral density of X1:
Contribution of
different modes
36. 35
7.4.1 The so-called unclosure problems
7.4 Stochastic response of nonlinear structu
-3 -2 -1 0 1 2 3
-6
-4
-2
0
2
4
6
Displacement (m)
Restoring
force
(kN)
Nonlinear
Linear
-0.02 -0.015 -0.01 -0.005 0 0.005 0.01
-2
-1.5
-1
-0.5
0
0.5
1
1.5
2
x 10
4
Inter-story Drift (m)
Restoring
force
(kN)
Linear
Nonlinear
37. 36
The principle of superposition does not hold!
• Duhamel integral is invalid
• Spectral analysis is invalid
7.4.1 The so-called unclosure problems
7.4 Stochastic response of nonlinear structu
38. 37
Second order statistics:
Second order statistics of input
Second order statistics of output
Linear systems:
7.4.1 The so-called unclosure problems
7.4 Stochastic response of nonlinear structu
39. 38
Nonlinear systems:
Second order statistics:
7.4.1 The so-called unclosure problems
7.4 Stochastic response of nonlinear structu
Second order statistics of input ?
Second order statistics of output
40. 39
Nonlinear systems:
Statistically equivalent linear systems:
Discrepancy: The error is random!
7.4 Stochastic response of nonlinear structu
7.4.2 Statistical linearization (equivalent linearization)
41. 40
Criterion 1:Minimizing the mean-square error (least
square method)
Criterion 2:Error is orthogonal to the displacement
and velocity
7.4 Stochastic response of nonlinear structu
7.4.2 Statistical linearization (equivalent linearization)
42. 41
Error orthogonal to displacement:
Error orthogonal to velocity:
7.4 Stochastic response of nonlinear structu
7.4.2 Statistical linearization (equivalent linearization)
43. 42
7.4 Stochastic response of nonlinear structu
7.4.2 Statistical linearization (equivalent linearization)
Error orthogonal to displacement:
Error orthogonal to velocity:
44. 43
Stationary processes (zero-mean case):
7.4 Stochastic response of nonlinear structu
7.4.2 Statistical linearization (equivalent linearization)
Error orthogonal to displacement and velocity:
47. 46
7.4.2 Statistical linearization (equivalent linearization)
7.4 Stochastic response of nonlinear structu
Case 3 – TLCD (Homework
3 of Chapter 7)
Stationary processes (zero-mean case):
48. 47
• Conservation of mass → Continuity equation
• Conservation of momemtum → Equation of motion
• Conservation of energy → Equation of energy
• Principle of Preservation of Probability→ Probability
density evolution equation
Deterministic
systems
Stochastic systems
Li J, Chen JB. Computational Mechanics, 2004, 34: 400-409.
Li, Chen JB. Structural Safety, 2008, 30: 65-77. 47
7.4 Stochastic response of nonlinear structu
7.4.3 Probability density evolution method (PDEM)
49. • Randomness in the initial condition → Liouville equation
• Randomness in external excitation → FPK equation
• Randomness in structural parameters → Dostupov-Pugachev equation
Chen JB, Li J. A note on the principle of preservation of probability and probability density
evolution equation. Probabilistic Engineering Mechanics, 2009, 24(1): 51-59
Change of
probability
density
Change of physical state
7.4 Stochastic response of nonlinear structu
7.4.3 Probability density evolution method (PDEM)
50. State space description – Liouville equation
Chen JB, Li J. A note on the principle of preservation of probability and probability density
evolution equation. Probabilistic Engineering Mechanics, 2009, 24(1): 51-59
7.4 Stochastic response of nonlinear structu
7.4.3 Probability density evolution method (PDEM)
51. ( )
t
X
D
dS
2
( )
t
X
1
( )
t
X
xi
The random event
at time instant t1
dV
(b) A domain in the state space
The same random event
at time instant t2
A certain random event
1
t
2
t
Li J, Chen J, Sun W, Peng Y. Probabilistic Engineering Mechanics, 2012, 28: 132-142. 50
( )
( ) ( )
( )
1 2
1 2
Pr{ ,
Pr{ , } }
t t
X
t t
X q q
=
Î W Î W
´ W ´ W
Q
Q
( ) ( )
1 2
1 2
, ,
, ,
t t
X X
p x dxd
t
d
t
p x xd
q
q
´ W
W
W ´ W
=
ò ò
Q Q
q q
q q
( ) 0
, ,
t
X
d
p x d
t
dt
xd
q
W´ W
=
ò Q
q q
Preservation of probability – Random event description
7.4 Stochastic response of nonlinear structu
7.4.3 Probability density evolution method (PDEM)
52. ( )
( )
( )
( )
( )
( )
0
0
0
, ,
, ,
, ,
, ,
, ,
, ,
t
X
X
X
X
X X
X
X X
X
d
p x dxd
d
p x J dxd
dp x d J
J p x dxd
p p h
h J p x J dxd
x x
p
t
dt
t
dt
t
t
dt d
p h
h p x
t
t
t
t
t
dx
x x
q
q
q
q
W´ W
W´ W
W´ W
W´ W
=
æ ö
÷
ç
= + ÷
ç ÷
ç
è ø
æ
æ ö ö
¶ ¶ ¶
÷ ÷
çç
= + +
÷ ÷
çç ÷ ÷
çç
èè ø ø
¶ ¶
æ
æ öö
¶ ¶ ¶ ÷
÷
çç
= + + ÷
÷
çç ÷
÷
çç
èè ø
¶
ø
¶ ¶ ¶
ò
ò
ò
ò
Q
Q
Q
Q
Q Q
Q
Q Q
Q
q q
q q
q
q q
q q
q
( ) 0
,
t
t
t
X X
X X
t
d
p hp
t
t
dxd
x
p p
h dxd
x
q
q
q
W´ W
W´ W
W´ W
æ ö
¶
=
¶ ÷
ç
= + ÷
ç ÷
ç
è ø
¶
æ ö
¶ ¶ ÷
ç
= + ÷
ç ÷
ç
è ø
¶
¶
¶
ò
ò
ò
Q Q
Q Q
q
q
q q
Li J, Chen JB. Stochastic Dynamics of Structures, John Wiley & Sons, 2009.
7.4 Stochastic response of nonlinear structu
7.4.3 Probability density evolution method (PDEM)
53. 52
Physical equation
Generalized density
evolution equation
• Li J, Chen JB. Stochastic Dynamics of Structures. John Wiley & Sons, 2009.
• Li J, Wu JY, Chen JB. Stochastic Damage Mechanics of Concrete Structures. Science Press, 2014.
The Quantity of Interest (QoI) Z can be:
• Macro-scale responses: displacement, shear force,…
• Local quantities: stress, strain, …
7.4 Stochastic response of nonlinear structu
7.4.3 Probability density evolution method (PDEM)
54. 7.4 Stochastic response of nonlinear structu
7.4.3 Probability density evolution method (PDEM)
56. Definition of first-passage reliability:
Single-boundary:
Double-boundary:
Envolop:
s
( ) Pr{ ( ) , (0, ]}
R T X t t T
= Î W Î
( ) Pr{ ( ) , (0, ]}
R T X t a t T
= £ Î
1 2
( ) Pr{ ( ) , (0, ]}
R T a X t a t T
= - £ £ Î
( ) Pr{ ( ) , (0, ]}
R T X t a t T
= £ Î
Á
Ã
Â
2
2
2
( )
( ) ( )
X t
X t X t
w
= +
&
Á
Ã
Â
( ) cos( )
( ) sin( )
X t A t
X t A t
w q
w w q
= +
= +
&
7.5 Dynamic reliability of structures
7.5.1 Definition
57. s
( ) Pr{ ( ) , (0, ]}
R T X t t T
= Î W Î
s
( ) Pr{ ( ) }
R T X T
= Î W
%
7.5 Dynamic reliability of structures
Definition of first-passage reliability:
7.5.1 Definition
58. 7.5.2 Level-crossing process theory
Basic ideas:
The number of crossing the threshold over [0,T] is a
random variable N.
Pr{N=0} is the reliability of the first-passage problem.
a
( )
x t
t
up-crossing down-crossing
o
7.5 Dynamic reliability of structures
59. Reliability problem of Poisson processes
The probability of crossing when there is no crossing before t:
( ) ( )
1
( ) { | }
( ) ( )
1 ( )
( )
( )
1 ( )
t
F t f t dt
t
t T t t T t
t
f t f t
F t
f t dt
F t
F t
a
- ¥
+
=
¥
= < + D >
D
ò
= ¾ ¾ ¾ ¾ ¾ ¾
®
-
¢
=
-
ò
Pr
( )
( ) ln[1 ( )] ( )
1 ( )
F t d
t F t t
F t dt
l l
+ +
¢
= ¾ ¾® - = -
-
0
0 0
( )
0
ln[1 ( )] ( )
1 ( )
t
t
t dt
F t C t dt
F t L e
l
l
+
+
-
- = - ¾ ¾®
ò
- =
ò
7.5 Dynamic reliability of structures
60. Reliability function of Poisson processes
The crossing probibility:
1
( ) { | }
{ , }
1
{ }
[ ( )] [ ( )]
1
( )
( )
( )
t T t t T t
t
T t t T t
t T t
R t t R t
t R t
R t
R t
a = < + D >
D
< + D >
=
D >
- + D - -
=
D
¢
= -
Pr
Pr
Pr
( )
( )
( )
R t
t
R t
a
¢
= - ( )
( )
1 ( )
F t
t
F t
l +
¢
=
-
( ) 1 ( )
R t F t
= -
7.5 Dynamic reliability of structures
61. Reliability of first-passage problem
0
( )
0
( ) 1 ( )
t
t dt
R t F t L e
a
- ò
= - =
0
( ) ( ) ( , , )
a XX
t t xp a x t dx
a a
+ ¥
+
= = ò &
& &
( )
( )
( )
R t
t
R t
a
¢
= -
Differential equation:
Reliability:
Single boundary:
( )
0
0
( ) ( ) ( )
( , , ) ( , , )
a b
XX XX
t t t
xp a x t dx x p b x t dx
a a a
+ -
-
+ ¥
- ¥
= +
= + - -
ò ò
& &
& & & &
Double boundary:
7.5 Dynamic reliability of structures
62. Figure 8.1 Excursion of a sample process
Mean crossing rate
“Crossing” event constructs a counting process。
The average times of crossing in unit time is:
a
( )
x t
t
up-crossing down-crossing
o
1
{ ( ) , ( ) }
X t t a X t a
t
a +
= + D > <
D
Pr
7.5 Dynamic reliability of structures
7.5.2 Level-crossing process theory
63. The probability of crossing:
{ }
,
,
0
0
1
{ ( ) , ( ) }
1
{ ( ) ( ) , ( ) }
1
( , , )
1
( , , )
1
( , , )
1
( , , )
( , , )
XX
x x t a x a
XX
x a x a x t
a
XX
a x t
XX
XX
X t t a X t a
t
X t X t t a X t a
t
p x x t dxdx
t
p x x t dxdx
t
dx p x x t dx
t
dx x tp a x t
t
xp a x t dx
a +
+ D > <
< > - D
¥
- D
¥
= + D > <
D
= + D > <
D
=
D
=
D
=
D
= D
D
=
ò
ò
ò ò
ò
&
&
&
&
&
&
&
&
&
& &
& &
& &
& & &
& & &
Pr
Pr
0
¥
ò
( )
x t
( )
x t
&
( )
( )
a x t
x t
dt
-
=
&
0
Equation (8.2.2)
7.5 Dynamic reliability of structures
7.5.2 Level-crossing process theory
64. The meaning of mean crossing rate:
The probability of crossing in unit time:
1
{ ( ) , ( ) }
X t t a X t a
t
a +
= + D > <
D
Pr
{ ( ) , ( ) } ( )
X t t a X t a t t
a +
+ D > < = D
Pr
The probability of crossing once during [t, t+△t] is then:
The probability of happening twice or more during △t is a quantity
of higher infinitesimal (i.e., = 0).
{ ( ) , ( ) }
{ 1}
X t t a X t a
N
+ D > <
= =
Pr
Pr
7.5 Dynamic reliability of structures
65. Therefore,
{ 1}
{ 2} ( )
{ 0} 1
[ ] { 1} 1 { 0} 0
[ ]
N t
N o t
N t
E N N N t
E N
t
a
a
a
a
+
+
+
+
ü
ï
= = D ï
ï
ï
³ = D ï
ï
ý
ï
Þ ï
ï
ï
= = - D ï
ï
þ
Þ
= = ´ + = ´ = D
Þ
=
D
Pr
Pr
Pr
Pr Pr
Thus, mean rate of crossing
= probability of crossing in unit time
7.5 Dynamic reliability of structures
7.5.2 Level-crossing process theory
66. Problem 1: Computation of the mean crossing rate
(1) Probability of crossing in the next unit time:
0
1
{ ( ) , ( ) }
( , , )
XX
X t t a X t a
t
xp x x t dx
a +
+ ¥
= + D > <
D
= ò &
& & &
Pr
(2) The probability of
conditioning on without
crossing: 1
( ) { | }
( )
1 ( )
t T t t T t
t
F t
F t
l +
= < + D >
D
¢
=
-
Pr
( , ) ( , )
1
{ ( ) | ( ) }
{ ( ) , ( ) }
1
{ ( ) }
( , )
a
X
F a t p x t dx
X t t a X t a
t
X t t a X t a
t X t a
F a t
a
a
- ¥
+
+
=
= + D > <
D
+ D > <
=
D <
ò
¾ ¾ ¾ ¾ ¾ ¾ ¾ ®
% Pr
Pr
Pr
7.5 Dynamic reliability of structures
67. Problem 2: Vanmarcke modification (wide-band
process)
a
( )
x t
t
up-crossing down-crossing
o
a
T a
T ¢
1
[ ]
a a
E T T
a +
¢
+ =
[ ]
( )
[ ]
a
X
a
a a
E T
p x dx
E T T
+ ¥
=
¢
+ ò
( )
( ) 1
[ ]
ˆ
a
X
X
a
p x dx
F a
E T
a a a
- ¥
+ + +
¢ = = =
ò
ˆ
( )
X
F a
a
a
+
+
=
7.5 Dynamic reliability of structures
68. ,
[ ] a
a a
a R
E N r
a
a
+
+
= =
1
1
[ ]
1 exp{ }
a
a
E N
r-
- -
;
1
1 exp{ }
( )
a
a a
X
r
F a
a a
-
+ + - -
=
% 0
( )
0
( ) 1 ( )
t
t dt
R t F t L e
a
- ò
= - =
t
( )
X t
( )
A t
a
o
7.5 Dynamic reliability of structures
Problem 3: Vanmarcke modification (narrow-band
process)
69. 0
a =
2
2
1
exp
2 2
X
a a
X X
a
s
a a
p s s
-
æ ö
÷
ç ÷
ç
= = - ÷
ç ÷
ç ÷
ç
è ø
&
0
1
2
X
X
s
l
p s
=
&
Mean crossing rate
Stationary Gaussian process:
Non-stationary Gaussian processes:
*2
2
2 2
* *2 *
2 2
1
( ) 1 exp
2 1 2
2 exp
2
2 1
X
a
X X
X X
X
a
t
a a a
s
a r
ps r s
r r
p
s s
s r
ì æ ö
ï ÷
ï ç
ï ÷
ç
= - -
í ÷
ç ÷
ï ç ÷
ç -
è ø
ï
ï
î
ü
æ ö æ öï
÷ ÷
ï
ç ç ï
÷ ÷
ç ç
+ - F ý
÷ ÷
ç ç
÷ ÷
ï
ç ÷
ç
÷
ç -
è ø
è ø ï
ï
þ
&
*
[ ( )], ( )
a a X t t
r r
= - =
E
7.5 Dynamic reliability of structures
70. Shortcomings
(1) Difficult to compute mean crossing rate;
(2) Only the correlation between two time instances are
used.
s
(0, ]
1, ,
( ) { ( ) , (0, ]}
{ [ ( ) ]}
{ [ ( ) 0]}
t T s
j n j
R T X t t T
X t
R g
Î
=
= Î W Î
= Î W
= >
X
L
I
I
Pr
Pr
Pr
7.5 Dynamic reliability of structures
72. s
0
( ) Pr{ ( ) , [ , ]}
R t X t
t t
= Î W Î
First-passage problem:
71
射人先射马
Shoot at his horse before the horseman
擒贼先擒王
To catch brigands, first catch their king
Du Fu (712-770)
7.5 Dynamic reliability of structures
73. Dynamic reliability:
Generalized density evolution equation:
Absorbing boundary condition:
s
( ) { ( ) , (0, ]}
R T X t t T
= Î W Î
Pr
( , , ) ( , , )
( , ) 0
X X
p x t p x t
X t
t x
¶ ¶
+ =
¶ ¶
&
Q Q
q q
q
f
( , , ) 0, for
X
p x t x
= Î W
Q q
7.5 Dynamic reliability of structures
7.5.3 Absorbing boundary method based on PDEM
74.
, ,
X
p x t
Θ
θ
Reliability
( , ) ( , , )
X X
p x t p x t d
W
= ò
( (
Q
Q q q
s
( ) ( , ) ( , )
X X
R T p x t dx p x t dx
¥
W - ¥
= =
ò ò
( (
“remaining” probability”
7.5 Dynamic reliability of structures
7.5.3 Absorbing boundary method based on PDEM
75. Absorbing boundary condition:
Reliability is:
b
( ) Pr{ ( ) , (0, ]}
R T X t x t T
= £ Î
b
( , , ) 0, for
X
p x t x x
= >
Q q
b
b
s ( , ) ( , )
x
X X
x
F p x t dx p x t dx
¥
- - ¥
= =
ò ò
( (
For the double boundary problem:
7.5 Dynamic reliability of structures
7.5.3 Absorbing boundary method based on PDEM
76. (a) Without absorbing boundary condition (b) With absorbing boundary condition
Figure 8.3 Contour of the PDF surface
7.5 Dynamic reliability of structures
7.5.3 Absorbing boundary method based on PDEM
77. Figure 8.4 First-passage reliability
7.5 Dynamic reliability of structures
7.5.3 Absorbing boundary method based on PDEM
78. 7.5 Dynamic reliability of structures
Homework 4 of Chapter 7
Compare and discuss the two methods (PDEM and
level-crossing process based) for dynamic
reliability.