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SAP2000 9
METHODOLOGY
A comprehensive series of test problems, or examples, designed to test the various elements and analysis features of the program were created. The results produced by SAP2000 were compared to independent sources, such as hand calculated results, theoretical or published results, or results obtained from other structural/finite element programs. The comparison of the SAP2000 results with results obtained from independent sources is provided in tabular form as part of each example. Many different equation solver options are available in SAP2000. The different solver options typically give identical results for most of the verification problems. For a few numerically sensitive problems the different solver options may give slightly different results. The results presented in this document are those obtained using the Advanced equation solver running as a separate 32bit process on an Intel(R) Core(TM) i7 CPU with the Windows 7 Professional 64-bit operating system. ACCEPTANCE CRITERIA The comparison of the SAP2000 validation and verification example results with independent results is typically characterized in one of the following three ways. Exact: There is no difference between the SAP2000 results and the independent results within the larger of the accuracy of the typical SAP2000 output and the accuracy of the independent result. Acceptable: For force, moment and displacement values, the difference between the SAP2000 results and the independent results does not exceed five percent (5%). For internal force and stress values, the difference between the SAP2000 results and the independent results does not exceed ten percent (10%). For experimental values, the difference between the SAP2000 results and the independent results does not exceed twenty five percent (25%). Unacceptable: For force, moment and displacement values, the difference between the SAP2000 results and the independent results exceeds five percent (5%). For internal force and stress values, the difference between the SAP2000 results and the independent results exceeds ten percent (10%). For experimental values, the difference between the SAP2000 results and the independent results exceeds twenty five percent (25%).
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Software Verification
PROGRAM NAME: REVISION NO.:
SAP2000 9
The percentage difference between results is typically calculated using the following formula:
Percent Difference = 100 SAP2000 Result Independent Result -1
SUMMARY OF EXAMPLES The example problems are categorized into seven groups based on the structural elements used in the example. Table 1 defines the seven groups, illustrates the example problem numbering system used for each group, and identifies the summary table used for each group.
TABLE 1: GROUPING OF EXAMPLE PROBLEMS
Group 1 2 3 4 5 6 7 Structural Elements Tested Frame Shell Plane Asolid Solid Link Cable Example Numbering 1-001, 1-002, , 1-xxx 2-001, 2-002, , 2-xxx 3-001, 3-002, , 3-xxx 4-001, 4-002, , 4-xxx 5-001, 5-002, , 5-xxx 6-001, 6-002, , 6-xxx 7-001, 7-002, , 7-xxx Summary Table Table 2-1 Table 2-2 Table 2-3 Table 2-4 Table 2-5 Table 2-6 Table 2-7
As shown in Table 1, Tables 2-1 through 2-7 summarize the validation and verification examples for each of the seven categories. Tables 2-1 through 2-7 include the example number, the problem title, a summary of the program features tested and the method of independent verification.
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Software Verification
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SAP2000 9
1-001
General Loading
Hand calculation using the unit load method described on page 244 in Cook and Young 1985.
1-002
Temperature Loading
Hand calculation using standard thermal expansion formulas and using Table 3 items 6a and 6c on page 107 in Roark and Young 1975. Hand calculation using equation 8.1.3 on page 284 in Cook and Young 1985. Hand calculation using the beam deflection formulas in Table 3 item 1a and Table 3 item 2a on pages 96 and 98, respectively, in Table 3 in Roark and Young 1975. Hand calculation using the unit load method described on page 244 in Cook and Young 1985. Hand calculation using the unit load method described on page 244 in Cook and Young 1985.
1-003
1-004
Frame local axes rotated from global axes Use of AISC sections
1-005
Displacement Loading
1-006
Settlement of support in frame structures Rotation of support in frame structures Settlement of support with linear (translational) spring Rotation of support with rotational spring Skewed supports Skewed support settlement Structural behavior of a non-prismatic frame section Self weight calculations Linear variation of section area Linear, parabolic and cubic variation of moment of inertia Linear variation of section torsional constant Automatic frame subdivision
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1-007
End Releases
Hand calculation using the unit load method described on page 244 in Cook and Young 1985. Hand calculation using basic principles and the unit load method described on page 244 in Cook and Young 1985. Hand calculation using the unit load method described on page 244 in Cook and Young 1985. Hand calculation using statics. Hand calculation using the unit load method described on page 244 in Cook and Young 1985 together with statics. Hand calculated using formulas presented in Problem 3 on page 23 of Timoshenko 1956. Hand calculation based on formulas presented on page 313 of Clough and Penzien 1975.
1-011
Insertion Point
1-012
1-013
Frame line spring assignments Static analysis of beam on elastic foundation Automatic frame subdivision
1-014
Eigenvalue Problem
Eigenvalue analysis of a frame with unequal moment of inertia values (I22 I33) for bending modes Automatic frame subdivision
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SAP2000 9
1-015
1-016
P-Delta force assignment to frame objects Nonlinear static analysis using the P-Delta option Automatic frame subdivision
1-017
Static nonlinear analysis using the P-Delta option to provide tension stiffening Modal analysis of frame for eigenvalues
1-018
Calculation of bending, shear and axial deformations in a rigid frame Frame property modification factors
1-019
1-020
Modal analysis of frame for eigenvalues and time periods Response spectrum analysis Joint masses
1-021
Comparison with results published in Bathe and Wilson 1972 and comparison with results from another computer program published in Peterson 1981.
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Software Verification
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SAP2000 9
1-022
1-023
Three-dimensional frame analysis Modal analysis using eigenvectors Joint mass assignments
1-024
Response Spectrum Analysis of a ThreeDimensional Moment Frame Response Spectrum Analysis of a ThreeDimensional Braced Frame
Three-dimensional frame analysis Modal analysis using eigenvectors Rigid diaphragm constraint Joint mass assignments Response spectrum analysis
1-025
Three-dimensional frame analysis Modal analysis using eigenvectors Rigid diaphragm constraint Joint mass assignments Response spectrum analysis
Comparison with results from another computer program published in Peterson 1981. Hand calculation using the unit load method described on page 244 in Cook and Young 1985 together with basic deflection formulas and superposition. Hand calculation using the unit load method described on page 244 in Cook and Young 1985 together with basic deflection formulas.
1-026
Static nonlinear analysis of a frame structure using moment and shear hinges
1-027
Nonlinear static analysis using the construction sequence loading option Frame end releases
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1-029
1-030
Moving Loads
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2-001
Membrane analysis using shell elements Plate bending analysis using shell elements Thin-plate option Thick-plate option Joint displacement loading
2-002
Membrane analysis using shell elements Plate bending analysis using shell elements Effect of shell element aspect ratio Effect of geometrical distortion of shell element from rectangular Joint force loading
2-003
Membrane analysis using shell elements Plate bending analysis using shell elements Joint force loading
2-004
Membrane analysis using shell elements Plate bending analysis using shell elements Joint force loading
2-005
Plate bending analysis using shell elements Uniform load applied to shell elements Joint force loading
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Software Verification
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SAP2000 9
2-006
Three-dimensional analysis using shell elements Self weight applied to shell elements Gravity load applied to shell elements Uniform load applied to shell elements
2-007
Hemispherical Shell Structure with Static Loads Cantilever Plate Eigenvalue Problem
Three-dimensional analysis using shell elements Joint local axes Joint force loads Eigenvalue analysis using shell elements Area object mass assignment Area object automatic mesh Area object stiffness modifiers
2-008
2-009
Plate bending analysis using shell elements Area object spring assignment Joint force loads
2-010
Three-dimensional analysis using shell elements Surface pressure load applied to shell elements Joint local axes
2-011
Three-dimensional analysis using shell elements Joint patterns Shell element surface pressure load using joint pattern
2-012
Plate bending analysis of shell elements when shear deformations are significant Area object stiffness modifiers Frame distributed loads
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Software Verification
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SAP2000 9
2-013
2-014
Temperature gradient loading for shell elements Area object local axes Joint local axes
2-015
Orthotropic Plate
Plate bending analysis of shells Orthotropic material properties Area object stiffness modifiers Buckling analysis of shells Automatic area meshing (N x N) with added restraints Joint springs Frame property modifiers Frame distributed load Frame automatic subdivide at intermediate joints Buckling analysis of shells Joint force loads Active degrees of freedom Static nonlinear analysis of shell structure with large axial displacements using the SAP2000 P-Delta plus large displacements option Joint constraints Static nonlinear analysis of shell structure with large bending displacements using the SAP2000 P-Delta plus large displacements option Automatic area meshing Prestress tendon with parabolic tendon profile and different eccentricities at the two ends Prestress tendon modeled using loads and applied to area objects Prestress tendon modeled as elements and applied to area objects Prestress losses
2-016
Out-of-Plane Buckling
2-017
In-Plane Buckling
2-018
2-019
2-020
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SAP2000 9
3-001
Membrane analysis using plane stress elements Incompatible bending mode option for plane elements Joint displacement loading
3-002
Membrane analysis using plane elements Effect of plane element aspect ratio Effect of geometrical distortion of plane element from rectangular Joint force loading
3-003
3-004
Thick-Walled Cylinder
Analysis using plane stress elements Analysis using plane strain elements Plane surface pressure load
3-005
Pore Pressure
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SAP2000 9
4-001
4-002
Thick-Walled Cylinder
4-003
4-004
Pore Pressure
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SAP2000 9
Solid object bending with and without the incompatible modes option Effect of solid object aspect ratio Effect of geometrical distortion of solid object from a cube Joint force loading
5-003
Solid object bending with the incompatible bending modes option Joint force loading
5-004
Solid object bending and twist with the incompatible bending modes option Joint force loading
5-005
Plate bending analysis using solid elements Surface pressure load applied to solid objects Joint force loading
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Software Verification
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SAP2000 9
5-006
Three-dimensional analysis using solid objects Self weight applied to solid objects Gravity load applied to shell objects
5-007
5-008
Thick-Walled Cylinder
Analysis using solid elements Solid surface pressure load Joint local axes
Prestress tendon with parabolic tendon profile and different eccentricities at the two ends Prestress tendon modeled using loads and applied to solid objects Prestress tendon modeled as elements and applied to solid objects Prestress losses Buckling analysis of solids Joint force loads Active degrees of freedom
5-010
Buckling
5-011
Temperature Load
5-012
Plate bending analysis using solid elements Solid object surface spring assignment Solid object automatic mesh Joint force loads
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SAP2000 9
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SAP2000 9
6-001
6-002
Multi-linear links Displacement-controlled nonlinear static analysis Gap element links Force-controlled nonlinear static analysis Nonlinear modal time history analysis Nonlinear direct time history analysis Frame point loads Joint force loads Joint mass assignments Ramp loading for time histories
6-003
Gap Element
Hand calculation using the unit load method described on page 244 in Cook and Young 1985.
6-004
Hook Element
Hook element links Force-controlled nonlinear static analysis Frame temperature loads Damper element links Linear link elements Nonlinear modal time history analysis Nonlinear direct integration time history analysis Joint force loads Damper links with linear velocity exponents Frame end length offsets Joint mass assignments Modal analysis for ritz vectors Linear modal time history analysis Nonlinear modal time history analysis Linear direct integration time history analysis Nonlinear direct integration time history analysis Generalized displacements Damper links with nonlinear velocity exponents Frame end length offsets Joint mass assignments Modal analysis for ritz vectors Nonlinear modal time history analysis Nonlinear direct integration time history analysis Generalized displacements
Hand calculation using standard thermal expansion formulas. Hand calculation using equation 3.2.6 on page 70 in Chopra 1995. Comparison with experimental results from shake table tests published in Section 5, pages 61 through 73, of Scheller and Constantinou 1999. Comparison with experimental results from shake table tests published in Section 5, pages 61 through 73, of Scheller and Constantinou 1999.
6-005
6-006
6-007
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SAP2000 9
6-008
6-009
Plastic kinematic links Displacement-controlled nonlinear static analysis Link gravity load
6-010
Rubber isolator links Linear links Zero-length, two-joint link elements Diaphragm constraints Modal analysis for ritz vectors Nonlinear modal time history analysis Nonlinear direct integration time history analysis Generalized displacements
6-011
Friction pendulum link elements Damper link elements Zero-length, two-joint link elements Diaphragm constraints Frame end length offsets Modal analysis for ritz vectors Nonlinear modal time history analysis Nonlinear direct integration time history analysis Joint masses
6-012
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SAP2000 9
7-001
7-002
7-003
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SAP2000 9
MATRIX OF PROGRAM FEATURES COVERED IN EXAMPLES This section presents tables illustrating which element assignments, including loads, and which load case types are addressed in each of the examples. Table 3 shows the contents of the matrix tables.
TABLE 3: CONTENTS OF MATRIX TABLES
Features Joint assignments including loads Frame object assignments including loads Area object assignments including loads Solid object assignments including loads Link object assignments including loads Cable object assignment including loads Load case types Table Table 4-1 Table 4-2 Table 4-3 Table 4-4 Table 4-5 Table 4-6 Table 4-7
As illustrated in Table 3, the program features matrices are presented in tables 4-1 though 4-6. These tables are shown on the following pages.
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SAP2000 9
Joint forces
Joint displacements
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SAP2000 9
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SAP2000 9
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SAP2000 9
1-014, 1-017, 1-020, 1-021, 1-022, 1-023, 1-024, 1-025, 2-008 6-001 6-006, 6-007, 6-010, 6-011 1-020, 1-022, 1-024, 1-025 1-022, 6-001, 6-006
1-015
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