Structural Modeling
With Examples
Silvia Mazzoni, PhD
Structural Consultant
Degenkolb Engineers
OpenSees Days 2010
Tcl & OpenSees commands
Comand syntax:
command arg1 arg2 ; # comment
example Tcl command:
set a 1;
# assign value of 1 to a
set b [expr 2*$a];
example OpenSees command:
node 1 10. 10. -mass $Mnode 0 0
Silvia Mazzoni, OpenSees Days 2010
ModelBuilder Objects
model Command
node Command
mass Command
constraints objects
uniaxialMaterial Command
nDMaterial Command
section Command
Geometric Transformation Command
element Command
block Command
region Command
Time Series
pattern Command
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Model Command
This command is used to construct the BasicBuilder object.
model BasicBuilder -ndm $ndm <-ndf $ndf>
$ndm
dimension of problem (1,2 or 3)
$ndf
number of degrees of freedom at
node (optional)
(default value depends on value of
ndm:
ndm=1 -> ndf=1
ndm=2 -> ndf=3
ndm=3 -> ndf=6)
model BasicBuilder -ndm 3 -ndf 6
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ModelBuilder Objects
model Command
node Command
mass Command
constraints objects
uniaxialMaterial Command
nDMaterial Command
section Command
Geometric Transformation Command
element Command
block Command
region Command
Time Series
pattern Command
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Nodal Coordinates
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sample command
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nodes and boundary conditions
copy and paste from manual:
node $nodeTag (ndm $coords) <-mass (ndf $MassValues)>
$nodeTag
integer tag identifying node
$coords
nodal coordinates (ndm arguments)
$MassValues
nodal mass corresponding to each DOF (ndf
arguments) (optional)
fix $nodeTag (ndf $ConstrValues)
$nodeTag
$ConstrValues
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integer tag identifying the node to be
constrained
constraint type (0 or 1). ndf values are
specified, corresponding to the ndf
degrees-of-freedom.
The two constraint types are:
0
unconstrained
constrained
Nodal coordinates and BC
1.
# Define nodes;
2.
node 1
0.0
0.0
# frame is in X-Y plane (X-horizontal, Y-vertical)
0.0
3.
node 2
100.
0.0
0.0
4.
node 3
0.0
$Lcol
0.0
-mass 4.7 0.0 0.0 0.0 0.0 0.0
5.
node 4
$Lbeam
$Lcol
0.0
-mass $Mnode 0.0 0.0 0.0 0.0 0.0
6.
# Boundary conditions;
7.
fix
1 1 1 1 1 1;
8.
fix
1 1 1 1 1 1
9.
fix
0 0 1 1 1 0
10.
fix
0 0 1 1 1 0
11.
12.
13.
14.
--1--
--2--
coordinates & mass
# node DX DY DZ RX RY RZ ! 1: fixed, 0: released
boundary conditions
3-----------------------4
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ModelBuilder Objects
model Command
node Command
mass Command
constraints objects
uniaxialMaterial Command
nDMaterial Command
section Command
Geometric Transformation Command
element Command
block Command
region Command
Time Series
pattern Command
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uniaxialMaterials:
stress-strain (force-deformation) behavior
Core Materials
Elastic Material
Elastic-Perfectly Plastic Material
Elastic-Perfectly Plastic Gap Material
Elastic-No Tension Material
Parallel Material
Series Material
Hardening Material
Concrete01 Material
Concrete02 Material
Concrete03 Material
Steel01 Material
Steel02 Material
Hardening
Hysteretic Material
Viscous Material
Contributed Materials
BARSLIP Material
Bond_SP01
Concrete04 Material Popovics
Concrete07 Chang & Manders
Fatigue Material
Hyperbolic Gap Material
Limit State Material
PINCHING4 Material
PyTzQz Uniaxial Materials
Reinforcing Steel Material
SelfCentering Material
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materials
copy and paste from manual:
uniaxialMaterial Elastic $matTag $E <$eta>
$matTag
unique material object integer tag
$E
tangent
$eta
damping tangent (optional,
default=0.0)
uniaxialMaterial Concrete01 $matTag $fpc $epsc0 $fpcu $epsU
$matTag
unique material object integer tag
$fpc
compressive strength*
$epsc0
strain at compressive strength*
$fpcu
crushing strength*
$epsU
strain at crushing strength*
*NOTE: Compressive concrete parameters should be input as negative values.
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tcl if statement
if {logical statement} {
.series of commands..
}
set a 7
if {$a==7} {
puts $a
}
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materials
concrete
uniaxialMaterial Concrete01 $matTag $fpc $epsc0 $fpcu $epsU
1.
set ConcreteMaterialType elastic
2.
if {$ConcreteMaterialType == elastic} {
3.
# options: "elastic","inelastic"
uniaxialMaterial Elastic $Idcore $Ec
4.
uniaxialMaterial Elastic $Idcover $Ec
5.
} else {;
# $ConcreteMaterialType == inelastic
6.
# uniaxial Kent-Scott-Park concrete model w/ linear unload/reload, no T strength (-ve comp.)
7.
uniaxialMaterial Concrete01 $IDcore
8.
uniaxialMaterial Concrete01 $IDcover $fc1U $eps1U $fc2U $eps2U;
9.
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$fc1C $eps1C $fc2C $eps2C;
# Core
# Cover
uniaxialMaterial Hysteretic $matTag $s1p $e1p $s2p $e2p <$s3p
$e3p> $s1n $e1n $s2n $e2n <$s3n $e3n> $pinchX $pinchY
$damage1 $damage2 <$beta>
$matTag
unique material object integer tag
$s1p
$e1p
stress and strain (or force & deformation) at first point of the envelope
in the positive direction
$s2p
$e2p
stress and strain (or force & deformation) at second point of the
envelope in the positive direction
$s3p
$e3p
stress and strain (or force & deformation) at third point of the envelope
in the positive direction (optional)
$s1n
$e1n
stress and strain (or force & deformation) at first point of the envelope
in the negative direction*
$s2n
$e2n
stress and strain (or force & deformation) at second point of the
envelope in the negative direction*
$s3n
$e3n
stress and strain (or force & deformation) at third point of the envelope
in the negative direction (optional)*
$pinchX
pinching factor for strain (or deformation) during reloading
$pinchY
pinching factor for stress (or force) during reloading
$damage1
$damage2
$beta
damage due to ductility: D1(mu-1)
damage due to energy: D2(Eii/Eult)
power used to determine the degraded unloading stiffness based on
ductility, mu-beta (optional, default=0.0)
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materials
reinforcing steel
1. set SteelMaterialType "hysteretic";
2. if {$SteelMaterialType == "elastic"} {
3. uniaxialMaterial Elastic $IDsteel $Es
4. } elseif {$SteelMaterialType == "bilinear"} {
5. uniaxialMaterial Steel01 $Idsteel $Fy $Es $Bs
6. } else {; #$SteelMaterialType == "hysteretic
7.
uniaxialMaterial Hysteretic $IDsteel $Fy $epsY $Fy1 $epsY1 $Fu
$epsU -$Fy -$epsY -$Fy1 -$epsY1 -$Fu -$epsU $pinchX $pinchY
$damage1 $damage2 $betaMUsteel
8. }
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ModelBuilder Objects
model Command
node Command
mass Command
constraints objects
uniaxialMaterial Command
nDMaterial Command Presented in Geotech
section Command
Geometric Transformation Command
element Command
block Command
region Command
Time Series
pattern Command
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OpenSees Sections:
beam-column element:
Elastic Section
Uniaxial Section
Fiber Section
Section Aggregator
Elastic Membrane Plate Section
Plate Fiber Section
Bidirectional Section
Isolator2spring Section: Model to include buckling
behavior of an elastomeric bearing
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Uniaxial Beam-Column Sections:
Elastic Section
linear-elastic moment-curvature relationship
Uniaxial Section
user-defined moment-curvature relationship (use
unaxialMaterial)
uncoupled P-M and anything else
Fiber Section
user-defined section geometry/materials via fibers
coupled P-M interaction
coupled bi-directional response
Section Aggregator
combine all uncoupled responses (e.g., Uniaxial flexure +
Uniaxial Axial, Fiber flexure/axial + shear)
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fiber section command
cover patch
section Fiber $secTag {
fiber <fiber arguments>
patch <patch arguments>
layer <layer arguments>
}
core patch
external
radius
fiber $yLoc $zLoc $A $matTag
internal
radius
steel layer
$yLoc
y coordinate of the fiber in the section (local coordinate system)
$zLoc
z coordinate of the fiber in the section (local coordinate system)
$A
area of fiber
$matTag
material tag of the pre-defined uniaxialMaterial object used to
represent the stress-strain for the area of the fiber
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section command (cont.)
patch circ $matTag $numSubdivCirc $numSubdivRad $yCenter $zCenter
$intRad $extRad <$startAng $endAng>
$matTag
material integer tag of the previously-defined
uniaxialMaterial object used to represent the stressstrain for the area of the fiber
$numSubdivCirc
number of subdivisions (fibers) in the circumferential
direction.
$numSubdivRad
irc=4
$numSubdivC
number of subdivisions (fibers) in the radial
direction.
$intRad
internal radius
$extRad
external radius
$startAng
starting angle (optional. default=0.0)
$endAng
ending angle (optional. default=360.0)
$e
xt
Ra
d
$n
um
Su
bd
ivR
ad
=3
$yCenter $zCenter y & z-coordinates of the center of the circle
$endAng
$i
nt
Ra
d
$startAng
($yCenter, $zCenter)
patch quad $matTag $numSubdivIJ $numSubdivJK $yI $zI $yJ $zJ $yK $zK $yL $zL
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section command (cont.)
layer circ $matTag $numBar $areaBar $yCenter $zCenter $radius
<$startAng $endAng>
$matTag
material integer tag of the previously-defined
uniaxialMaterial object used to represent the stressstrain for the area of the fiber
$numBar
number of reinforcing bars along layer
$areaBar
area of individual reinforcing bar
$yCenter
$zCenter
$radius
$startAng
y and z-coordinates of center of reinforcing layer
(local coordinate system)
=5
radius of reinforcing layer
$endAng
rs
Ba
um
$n
starting and ending angle of
reinforcing layer, respectively.
(Optional, Default: a full circle
is assumed 0-360)
z
$endAng
$startAng
$rad
ius
($yCenter, $zCenter)
layer straight $matTag $numBars $areaBar $yStart $zStart $yEnd $zEnd
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tcl procedure
used for repeated series of commands on a set of input variables
proc procName {input variables} {
series of commands
}
to execute:
procName (input variables)
proc multiply {a b} {
set c [expr $a*$b]
return $c
}
set a 3; set b 5
set result [multiply $a $b]
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tcl proc: define fiber section
proc RCcircSection {id Ri Ro cover coreID coverID steelID Nbars Ab nfCoreR nfCoreT nfCoverR nfCoverT} {
section fiberSec $id {
CONCRETE
set Rc [expr $Ro-$cover];
# Core radius
patch circ $coreID $nfCoreT $nfCoreR 0 0 $Ri $Rc 0 360;
# Define the core patch
patch circ $coverID $nfCoverT $nfCoverR 0 0 $Rc $Ro 0 360;
# Define the cover patch
STEEL
if {$Nbars<= 0} { return }
}
}
set theta [expr 360.0/$Nbars];
# angle increment between bars
layer circ $steelID $Nbars $Ab 0 0 $Rc $theta 360;
# Define the reinforcing layer
core patch
cover
CONCRETE
cover patch
Ri
call:
Ro
360o/Nbars
Ab
STEEL
RCcircSection $id $Ri $Ro $cover $coreID $coverID $steelID $Nbars $Ab $nfCoreR $nfCoreT
$nfCoverR $nfCoverT
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UniaxialSection
Use uniaxialMaterial to define
section moment-curvature
relationship
Hysteretic Material
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section aggregator
groups previously-defined uniaxialMaterial objects, or sections, into a single section
force-deformation model
section Aggregator $secTag $matTag1 $string1 $matTag2 $string2 ....... <-section $sectionTag>
$secTag
unique section object integer tag
$matTag1, $matTag2 ...
previously-defined uniaxialMaterial objects
$string1, $string2 ....
the force-deformation quantities corresponding to each section object. One of the following strings
is used:
P
Axial force-deformation
Mz
Moment-curvature about section local z-axis
Vy
Shear force-deformation along section local y-axis
My
Vz
T
<-section $sectionTag>
Moment-curvature about section local y-axis
Shear force-deformation along section local z-axis
Torsion Force-Deformation
specifies a previously-defined Section object (identified by the argument $sectionTag) to which
these uniaxialMaterial objects may be added to recursively define a new Section object
V
Vy
Vy
M
Mz, Vy
Mz
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P, Mz, Vy
P, Mz
ModelBuilder Objects
model Command
node Command
mass Command
constraints objects
uniaxialMaterial Command
nDMaterial Command
section Command
Geometric Transformation Command
element Command
block Command
region Command
Time Series
pattern Command
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geometric transformation
performs a linear geometric transformation of beam
stiffness and resisting force from the basic system to the
global-coordinate system
geomTransf $Type $transfTag $vecxzX $vecxzY $vecxzZ
<-jntOffset $dXi $dYi $dZi $dXj $dYj $dZj>
$Type
Transformation Type: Linear, PDelta or Corotational
$transfTag
unique identifier for CrdTransf object
$vecxzX
$vecxzY
$vecxzZ
ONLY IN 3D. X, Y, and Z components of vecxz, the vector used to define the local
x-z plane of the local-coordinate system. The local y-axis is defined by taking the
cross product of the x-axis and the vecxz vector.
These components are specified in the global-coordinate system X,Y,Z and define a
vector that is in a plane parallel to the x-z plane of the local-coordinate system.
These items need to be specified for the three-dimensional problem.
$dXi $dYi
$dZi
joint offset values -- absolute offsets specified with respect to the global
coordinate system for element-end node i (the number of arguments depends on
the dimensions of the current model) (optional)
$dXj $dYj
$dZj
joint offset values -- absolute offsets specified with respect to the global
coordinate system for element-end node j (the number of arguments depends on
the dimensions of the current model) (optional)
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local coordinate system
x
node j
e
lan
zp
x
al
loc
node i
element orientation:
element 2
vector parallel to vecxz
Y
X
vecxz (vecxzX, vecxzY, vecxzZ)
y
x
z
y
1
t
n
e
m
le
e
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ModelBuilder Objects
model Command
node Command
mass Command
constraints objects
uniaxialMaterial Command
nDMaterial Command
section Command
Geometric Transformation Command
element Command
block Command
region Command
Time Series
pattern Command
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elements
Truss Element
Corotational Truss Element
Elastic Beam Column Element
NonLinear Beam-Column Elements
Zero-Length Elements
Quadrilateral Elements
Brick Elements
FourNodeQuadUP Element
BeamColumnJoint Element
Nonlinear Beam Column Element
Beam With Hinges Element
Displacement-Based Beam-Column Element
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Elastic Beam Column Element
2D:
element elasticBeamColumn $eleTag $iNode $jNode
$A $E $Iz $transfTag
3D:
element elasticBeamColumn $eleTag $iNode $jNode
$A $E $G $J $Iy $Iz $transfTag
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Nonlinear Beam Column Element
element nonlinearBeamColumn $eleTag $iNode $jNode $numIntgrPts
$secTag $transfTag <-mass $massDens> <-iter $maxIters $tol>
$eleTag
$iNode
unique element object tag
$jNode
end nodes
$numIntgrPts
number of integration points along the element.
$secTag
identifier for previously-defined section object
$transfTag
identifier for previously-defined coordinate-transformation (CrdTransf) object
$massDens
element mass density (per unit length), from which a lumped-mass matrix is formed
(optional, default=0.0)
$maxIters
maximum number of iterations to undertake to satisfy element compatibility
(optional, default=1)
$tol
tolerance for satisfaction of element compatibility (optional, default=10-16)
integration points
element node
element node
element
force-deformation
(stress-strain)
section
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elements
set ColumnType inelastic;
Tcl procedure
source RCcircSection.tcl;
RCcircSection
# proc to define circular fiber section flexure
$IDcolFlex $riCol $roCol $cover $IDcore $IDcover $IDsteel $NbCol $AbCol $nfCoreR $nfCoreT $nfCoverR $nfCoverT
uniaxialMaterial Elastic $IDcolTors $GJ;
section Aggregator $IDcolSec
# Define torsion
$IDcolTors
geomTransf Linear $IDcolTrans 0 0 1;
T -section $IDcolFlex;
# attach torsion & flex
# no 2nd-order effects, define element normal
1 3
$Acol
$Ec
$G
$J $IyCol $IzCol $IDcolTrans
element elasticBeamColumn 2
2 4
$Acol
$Ec
$G
$J $IyCol $IzCol $IDcolTrans
} else {;
# $ColumnType == inelastic
# element element type
ID, node I, node J, no. int pts, section ID, transf. ID
element nonlinearBeamColumn 1
$np $IDcolSec $IDcolTrans
element nonlinearBeamColumn 2
$np $IDcolSec $IDcolTrans
geomTransf Linear
$IDbeamTrans
element elasticBeamColumn
3 3 4
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0 0 1; # BEAM transformation, element normal
$Abeam $Ec $G $J $IyBeam $IzBeam $IDbeamTrans
BEAM
element elasticBeamColumn 1
COLUMN
if {$ColumnType == elastic} {
beamWithHinges Element
2D:
3D:
element beamWithHinges $eleTag $iNode $jNode $secTagI
$HingeLengthI $secTagJ $HingeLengthJ $E $A $Iz $transfTag
<-mass $massDens> <-iter $maxIters $tol>
element beamWithHinges $eleTag $iNode $jNode $secTagI
$HingeLengthI $secTagJ $HingeLengthJ $E $A $Iz $Iy $G $J
$transfTag <-mass $massDens> <-iter $maxIters $tol>
$HingeLengthJ
elastic behavior
$HingeLengthI
inelastic-section
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beamWithHinges Element
$eleTag
$iNode
unique element object tag
$jNode
end nodes
$secTagI
identifier for previously-defined section object corresponding to node I
$HingeLengthI
hinge length at node I
$secTagJ
identifier for previously-defined section object corresponding to node J
$HingeLengthJ
hinge length at node J
$E
Young's Modulus
$A
area of element cross-section
$Iz
section moment of inertia about the section local z-axis
$Iy
section moment of inertia about the section local y-axis
$G
Shear Modulus
$J
torsional moment of inertia of cross section
$transfTag
identifier for previously-defined coordinate-transformation (CrdTransf)
object
$massDens
element mass density (per unit length), from which a lumped-mass matrix is
formed (optional, default=0.0)
$maxIters
maximum number of iterations to undertake to satisfy element compatibility
(optional, default=1)
tolerance for satisfaction of element compatibility (optional, default=10-16)
$tol
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ZeroLength Element
DOF spring
Use uniaxialMaterial to define
force-deformation response.
Translational dof: force-deformation
Rotational dof: moment-rotation
e.g. Hysteretic Material
1M applications
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ModelBuilder Objects
model Command
node Command
mass Command
constraints objects
uniaxialMaterial Command
nDMaterial Command
section Command
Geometric Transformation Command
element Command
block Command
region Command
Time Series
pattern Command
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Loads pattern command
pattern Plain $patternTag (TimeSeriesType arguments) {
load (load-command arguments)
sp (sp-command arguments)
eleLoad (eleLoad-command arguments)
}
$patternTag
unique pattern object tag
TimeSeriesType
arguments
list which is parsed to construct the TimeSeries
object associated with the LoadPattern object.
load ...
list of commands to construct nodal loads -- the
NodalLoad object
sp ...
list of commands to construct single-point
constraints -- the SP_Constraint object
eleLoad ...
list of commands to construct element loads -- the
eleLoad object
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pattern command (cont.)
load $nodeTag (ndf $LoadValues)
$nodeTag
node on which loads act
$LoadValues
load values that are to be applied to the node.
Valid range is from 1 through ndf, the number of
nodal degrees-of-freedom.
sp $nodeTag $DOFtag $DOFvalue
$nodeTag
node on which the single-point constraint acts
$DOFtag
degree-of-freedom at the node being constrained.
Valid range is from 1 through ndf, the number of
nodal degrees-of-freedom.
$DOFvalue
reference value of the constraint to be applied to
the DOF at the node.
pattern Plain 1 Linear {
load 3
0.0 -$Pdl 0.0 0.0 0.0 -$Mdl
load 4
0.0 -$Pdl 0.0 0.0 0.0 +$Mdl
sp
1 2 -0.001
}
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pattern command (cont.)
2D:
Uniformly-distributed load:
eleLoad -ele $eleTag1 <$eleTag2 ....> -type -beamUniform $Wz <$Wx>
Point load:
eleLoad -ele $eleTag1 <$eleTag2 ....> -type -beamPoint $Pz $xL <$Px>
3D:
Uniformly-distributed load:
eleLoad -ele $eleTag1 <$eleTag2 ....> -type -beamUniform $Wy $Wz <$Wx>
Point load:
eleLoad -ele $eleTag1 <$eleTag2 ....> -type -beamPoint $Py $Pz $xL <$Px>
pattern Plain 1 Linear {
sp
1 2 -0.001
eleLoad -ele 3 -type -beamUniform [expr -$Weight/$LBeam]
}
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Structural Example
Reinforced-Concrete Frame:
Building the Model
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Analysis
Model Building
Example 4 in examples manual
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problem statement
Reinforced-Concrete Portal Frame
use kip, inch and sec as basic units
GEOMETRY
4000kip
Weight
B
A
Y
Z
A
36
LBeam
42
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LCol
5 BBeam
BCol
5
HBeam
HCol
section A-A
section B-B
..remember what we told you
about Tcl?
Tcl is a string based scripting language
enables variables and variable substitution
(use variables to define units!!!)
Expression evaluation
Array management
Basic control structures (if , while, for,
foreach)
Procedures
File manipulation
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Tcl enables variables & variable
substitution:
example Tcl command:
set a 1;
set b [expr 2*$a];
Define Units:
set in 1.0;
set ft [expr 12.*$in]
set Hcol [expr 3.*$ft + 6.*$in]
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Ex4.Portal2D.build.InelasticFiberSection.tcl
Put unit definitions into a file
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LibUnits.tcl
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Geometry, Weight, Mass
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Nodes: Coords, BC, Mass
element
node
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node
element
element
node
Y
X
node
Concrete Material: Concrete02
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Steel Material: Steel02
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Materials
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Section Command
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Beam Section: Elastic
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Column Section: Fiber Section
concrete
steel
l
stee
material stress-strain
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HSec
concrete
BSec
Patch Command: Concrete
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Layer Command: Steel
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Column & Beam Sections
y
CoverCol
HCol
CoverCol
BCol
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Transformations and Elements
element
node
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node
element
element
node
Y
X
node
Recorders
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Gravity Load
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node
element
element
node
3
2
element
node
Y
X
node
Gravity Analysis
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Run OpenSees
source Ex4.Portal2D.build.InelasticSection.tcl
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Structural Example
Reinforced-Concrete Frame:
Lateral-Load Analysis
Silvia Mazzoni, OpenSees Days 2010
Silvia Mazzoni, OpenSees Days 2010
Analysis
Model Building
Example 4 in examples manual
LibAnalysisStaticParameters.tcl
Silvia Mazzoni, OpenSees Days 2010
LibAnalysisDynamicParameters.tcl
Silvia Mazzoni, OpenSees Days 2010
Static Pushover: define load
Silvia Mazzoni, OpenSees Days 2010
Static Pushover: analyze
Silvia Mazzoni, OpenSees Days 2010
Cyclic Pushover: define Load
Silvia Mazzoni, OpenSees Days 2010
Cyclic Pushover: analyze
Silvia Mazzoni, OpenSees Days 2010
Uniform Excitation 1D: define
Silvia Mazzoni, OpenSees Days 2010
Uniform Excitation 1D: damping
Silvia Mazzoni, OpenSees Days 2010
Uniform Excitation 1D: analyze
Silvia Mazzoni, OpenSees Days 2010
Uniform Excitation 2D: define
Silvia Mazzoni, OpenSees Days 2010
Uniform Excitation 2D: analyze
Silvia Mazzoni, OpenSees Days 2010
Questions,
or statements:
The OpenSees Community Forum:
http://opensees.berkeley.edu/community/in
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which can be accessed from:
http://opensees.berkeley.edu
Silvia Mazzoni, OpenSees Days 2010
