OpenSees User Manual(1)

1、Open System for Earthquake Engineering Simulation (OpenSees)OpenSees Command Language ManualSilvia Mazzoni, Frank McKenna, Michael H. Scott, Gregory L. Fenves, et al.Printed on 1 July, 2007 IIIContentsIn troducti on11Notation11Copyright13In troducti on to the Tel comma nd Ianguage14Tel Commands Form

2、at15Example Tel Commands16Additional Tel Resources17Open Sees Interpreter18Open Sees19Open Sees Features21WHYOPENSEES?21+ The library of materials, elements and an alysis comma nds makes Open Sees a powerful tool for numerical simulation of nonlinear structural and geotechnical systems21+ The Open S

3、ees library of comp onents is ever-growi ng and at the leadi ng edge of numerical-simulation models21+ The OpenSees in terface is based on a command-drive n scripting Ian guage which enables the user to create more-versatile in put files21+ Open Sees is not a black box, making it a useful educati on

4、al tool for nu merical modeling21 + You can create your own material, element or analysis tools and in corporate them into OpenSees21+ NEES is supporting in teg rati on of Open Sees as the simulatio n comp on ent of laboratory testing21MODELS:22+ linear & nonlinear structural and geotechnical models

5、22SIMULATIONS:23+ static push-over analyses23+ static reversed-cyclic analyses23+ dynamic time-series analyses23+ uniform-support excitation23+ multi-support excitation23MODELING FEATURES:23MODEL-BUILDING FEATURES:24ANALYSIS FEATURES:26ModelBuilder Object29Domain Object30Recorder Object31Analysis Ob

6、ject31Model-Building Objects33model Comma nd34Basic Model Builder34build Comma nd35node Command36mass Comma nd37Contents5constraints objects38Single-Point Constraints38fix Command38fixX Command39fixY Command39fixZ Command40Multi-Point Constraints41equalDOF Command41rigidDiaphragm Comma nd41rigidLink

7、 Command42uniaxialMaterial Command43“ Contributed Uniaxial Materials44BARSLIP Material44Concrete04 Material - Popovics Concrete Material57Concrete04 Material Behavior61FatigueMaterialExample.tcl63Limit State Material73Shear Limit Curve74Axial Limit Curve75Shear Limit Curve76Example Files for Limit S

8、tate Material78PINCHING4 Material84PINCHING4 Uniaxial Material Model Discussion90PyTzQz Uniaxial Materials104PySimplel Material104TzSimplel Material105QzSimplel Material106PyLiql Material107TzLiql Material108PySimplel Gen Command110TzSimplelGen Command111ReinforcingSteel “ Material Behavior125Elasti

9、c Material125Elastic-Perfectly Plastic Material126Elastic-Perfectly Plastic Gap Material128Elastic-No Tension Material129Parallel Material130Series Material131Hardening Material133ConcreteOl Material - Zero Tensile Strength134Concrete。! - Material Behavior137Concrete02 Material - Lin ear Ten sion So

10、fte ning137Concrete02 - Material Behavior143Concrete03 Material - Nonlinear Tension Softening143Concrete03 - Material Behavior147SteelOl Material147SteelOl “ Material Behavior152Steel02 Material - Giuffre-Menegotto-Pinto Model with Isotropic Strain Hardening153Steel02 “ Material Behavior158Hystereti

11、c Material158Hysteretic “ Material Behavior161Viscous Material161nDMaterial Command162Elastic Isotropic Material162J2 Plasticity Material163Plane Stress Material163Plate Fiber Material164UC Davis Soil Models164Template Elasto-Plastic Material164UCSD Soil Models169section Comma nd191Elastic Section19

12、2Uniaxial Section193Fiber Section194Fiber Command196Quadrilateral Patch Command197Circular Patch Command199Straight Layer Comma nd201Circular Layer Comma nd202Section Aggregator203Elastic Membrane Plate Section205Plate Fiber Section205Bidirectional Section206Isolator2spri ng Secti on: Model to in el

13、ude buckli ng behavior of an elastomeric beari ng207eleme nt Comma nd215ContentsTruss Element215Corotational Truss Element216Elastic Beam Column Element217NonLinear BeamColumn Elements218Nonlinear Beam Column Element218Beam With Hinges Element219Displacement-Based Beam-Column Element223Zero-Length E

14、lements223Zero-Length Element224Zero-Length ND Element225Zero-Length Section Element226Quadrilateral Elements227Quad Element227Shell Element228Bbar Plane Strain Quadrilateral Element228Enhanced Strain Quadrilateral Element229Brick Elements230Standard Brick Element230Bbar Brick Element231BeamColumnJo

15、int Element232Beam-Column Joint Element Discussion236Beam-Column Joint Element Discussion236UC Davis Soil Elements256FourNodeQuadUP Element256u-p-U element258Eight Node Brick Element259Twenty Node Brick Element261UC San Diego Soil Elements263block Comma nd273block2D Command274block3D Command276regio

16、n Comma nd278Geometric Tra nsformatio n Comma nd280Linear Tra nsformati on280P-Delta Transformati on286Corotational Transformation287Time Series288Constant Time Series289Linear Time Series289Rectangular Time Series290Sine Time Series291Path Time Series292pattern Command294Contents VIIIplain Pattern2

17、94load Command295sp Command296eleLoad Command297UniformExcitation Pattern298Multiplesupport Pattern299groundMotion Command299Plain GroundMotion300Interpolated GroundMotion301imposedMotion Command301Recorder Objects303Node Recorder303EnvelopeNode Recorder305Drift Recorder306Element Recorder307Envelop

18、eElement Recorder309Display Recorder310Plot Recorder311playback Command311Analysis Objects313constraints Comma nd316Plain Constraints318Penalty Method318Lagrange Multipliers319Transformation Method320numberer Command321Plain Numberer321RCM Numberer322system Comma nd323BmndGeneral SOE324BandSPD SOE32

19、4ProfileSPD SOE324SparseGeneral SOE324UmfPack SOE325SparseSPD SOE325test Comma nd326Norm Unbalance Test326Norm Displacement Increme nt Test327Energy Increment Test328algorithm Comma nd329Linear Algorithm329Newton Algorithm329Newton with Line Search Algorithm330Modified Newton Algorithm331Krylov-Newt

20、on Algorithm331BFGS Algorithm331Broyden Algorithm332integrator Command333Load Control334Displacement Control335Minimum Unbalanced Displacement Norm336Arc-Length Control336Newmark Method337Hilbert-Hughes-Taylor Method338analysis Comma nd339Static Analysis339Transient Analysis340VariableTransient Anal

21、ysis341rayleigh command342eigen Command343an alyze Comma nd344dataBase Commands345FileDatastore Command345save Command346restore Command346Miscellaneous Commands347print Command347reset Command348wipe Comma nd348wipeAnalysis Command348loadConst Command349getTime Command349nodeDisp Command349video Co

22、mma nd350play Comma nd351nodeBounds351display Command352How To353Run OpenSees354 .Define Units & Constants356.Generate Matlab Commands357 .Define Tel Procedure357.Read External files359Building The Model360.Define Variables and Parameters360.Build Model and Define Nodes363.Build Model and Define Nod

23、es using Variables364 .Define Materials364 .Define Elements365Defining Output366.Define Analysis-Output Generation366.Define Data-Plot During Analysis368Gravity Loads369 .Define Gravity Loads369 .Run Gravity Analysis370Static Analysis370.Define Static Pushover Analysis370Contentsix.Run Static Pushov

24、er Analysis371Dynamic Analysis372 .Define Dynamic Ground-Motion Analysis372.Run Dynamic Ground-Motion Analysis373.Combine Input-File Components373Run Parameter Study374 .Run Moment-Curvature Analysis on Section376.Determine Natural Period & Frequency377Getting Started with Open Sees379Introduction38

25、1Down load OpenSees382Run Open Sees384Problem Definition386Model Builder387Nodes388Elements390Recorders391Summary of Model-Building In put File391Loads and Analysis3941. Load definition3942. Analysis definition and features3953. Analysis execution396Gravity Loads396Summary of Gravity Loads399Lateral

26、 Loads - Static Pushover400Lateral Loads - Cyclic Lateral Load401Lateral Loads - Dynamic ground motion402Getting Going with Open Sees (un der developme nt)406Problem Definition407Model Building408Variables and Units408Model Builder410Nodal Coordinates & Masses, Boundary Conditions410Materials411Elem

27、ent Cross Section412Elements and Element Connectivity413Gravity and other Constant Loads414Summary of Defining Structural Model414Error-Checking Tip for Model Building419Recorders for Output425Analysis Comp on ents426Script Utilities Library427Contents#matTest.tcl427RCcircSectio n.tcl429RCcircSectio

28、 nFEDEAS.tcl430RCFrameDisplay.tcl432MomentCurvature.tcl433ReadSMDFile.tcl434RotSpring2D436StFramePZLdisplay.tcl437Wsection.tcl437RigidFrame3Ddisplay.tcl438Un its&Constants.tcl439MatlabOutput.tcl440genPlaneFrame.tcl440References443Index44711Chapter 1IntroductionThis docume nt is inten ded to outline

29、the basic commands curre ntly available with the Open Sees interpreter. This interpreter is an extension of the Tcl/Tk Ianguage for use with OpenSees.OpenSees is an objectoriented framework for finite element analysis OpenSees intended users are in the research comm un ity. A key feature of Open See

30、s is the in tercha ngeability of comp on ents and the ability to integrate existing libraries and new components into the framework (not just new eleme nt classes) without the need to change the existi ng code. Core comp orients, that is the abstract base classes, defi ne the min imal in terface (mi

31、n imal to make addi ng new comp on ent classes easier but large eno ugh to en sure all that is required can be accommodated).In This ChapterNotation11Copyright13Introduction tothe Tel command language14Open Sees Interpreter18NotationThe notation presented in this chapter is used throughout this docu

32、ment.Input values are a string, unless the first character is a $, in which case an integer, floating point number or variable is to be provided. In the Tel language, variable references start with the $ character. Tel expressions cn also be used as input to the comma nds where the in put value is s

33、pecified by the first character being a $Optional values are identified in enclosing braces.Whe n specifyi ng a variable qua ntity of values, the comma nd line contains (x $values). The number of values required, x, and the types of values, $values, are specified in the description of the comma nd.A

34、n arbitrary number of in put values is in dicated with the dot-dot-dot notati on, i.e. $value1 $value2Chapter 1 Introduction17The OpenSees interpreter constructs objects in the order they are specified by the user. New objects are often based on previously-defined objects. When specified as an objec

35、t parameter, a previously-defined object must have already been added to the Domain. This requirement is specified in the descripti on of the comma nd argume nts.Also, and very important:Do not use greek fonts ANYWHERE in your documentation, not only do they not come out in Html, they are not allowe

36、d in tel, which is where this is important. I recommend spelling out the letters: alpha, beta, gamma, eps (short for epsilon), etc.I recommend to not use them in your figures either, as you would be unable to refer to them. If you must use them you have to do it very carefully, as it may be okey for

37、 internal variablesExample comma nd:node $nodeTag (ndm $coords) vmass (ndf $MassValues)This line executes the node command (page 36) assigns coordinates and masses to a specified no de. The $nodeTag argume nt is an in teger tag ide ntifying the no de.The coordinate argume nts are specified with the

38、parentheses () because the number of arguments is dependent on the definition of the model (ndm (page 34): two arguments in 2D and three in 3D.The mass specification at the node definition is optional. Therefore, it is enclosed in braces. The number of mass arguments is also dependent on the model d

39、efinition, depending on the number of degrees of freedom assigned to a node (nc/f (page 34).CopyrightCopyright 1999,2000 The Regents of the University of California. All Rights Reserved.Permission to use, copy, modify, and distribute this software and its documentation for educati on al, research an

40、d non-profit purposes, without fee, and without a writte n agreeme nt is hereby gran ted, provided that the above copyright notice, this paragraph and the following three paragraphs appear in all copies.Permission to incorporate this software into commercial products may be obtained by contacting th

41、e University of California. Bill Hoskins Office of Tech no logy Lice rising, 2150 Shattuck Avenue #150 Berkeley, CA 94720-1620, (510) 643-7201This software program and documentation are copyrighted by The Regents of the University of California. The software program and documentation are supplied as

42、 is, without any accompanying services from The Regents. The Regents does not warrant that the operation of the program will be uninterrupted or error-free. The end-user understands that the program was developed for research purposes and is advised not to rely exclusively on the program for any rea

43、s on.IN NO EVENT SHALL THE UNIVERSITY OF CALIFORNIA BE LIABLE TO ANY PARTY FOR DIRECT, INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES, INCLUDING LOST PROFITS, ARISING OUT OF THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF THE UNIVERSITY OF CALIFORNIA HAS BEEN ADVISED OF THE POSSIBIL

44、ITY OF SUCH DAMAGE THE UNIVERSITY OF CALIFORNIA SPECIFICALLY DISCLAIMS ANY WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE. THE SOFTWARE PROVIDED HEREUNDER IS ON AN AS IS BASIS, AND THE UNIVERSITY OF CALIFORNIA HAS NO OBLIGATI

45、ONS TO PROVIDE MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS.Introduction to the Tel command languageThe Tel scripting language was chose n to support the Open Sees comma nds, which are used to define the problem geometry, loadi ng, formulati on and solution. These comma nds are onel

46、ine comma nds which have specific tasks, as described in this manual. The Tel language provides useful programming tools, such as variables manipulation, mathematical-expression evaluation and control structures.Tel is a string-based scripting language which allows the following: Variables and varia

47、ble substitution Mathematical-expression evaluation Basic control structures (if, while, for, foreach) Procedures File manipulationMore information on Tel commands can be found at its web site: Tcl/Tk Primer (/scripting/primer.html) (/scripting/primer.ht

48、ml)Handy Tel commands: incr Increment the value of a variable:set a 1 incr aa book referenee:Brent Welch , Ken Jones, and Jeff Hobbs: Practical Programming in Tel and Tk, (/book/) 4th Edition ISBN: 0-13-038560-3, June, 2003 (/book/)Tel Commands FormatTel scrip

49、ts are made up of comma nds separated by new lines or semicol on (;).The basic syntax for a Tel comma nd is:comma nd $arg1 $arg2 commandname of the Tel command or user-defined procedure$arg1 $arg2 . arguments for the commandTel allows any argume nt to be nested comma nd:comma nd nestedcomma nd1 nest

50、edcommand2where the are used to delimit the nested commands. The Tel interpreter will first evaluate the n ested commands and will then evaluate the outer comma nd with the results to the nested commands.The most basic comma nd in Tel is the set command:set variable $valuefor example:set a 5The Tel

51、interpreter regards a comma nd starting with the pond sign 併)to be a comment stateme nt, so it does not execute anything following the #. For example:# this command assigns the value 5 to the variable aset a 5The pound sign and the semicolon can be used together to put comments on the same line as t

52、he command For example:set a 5; # this command assigns the value 5 to the variable aExample Tel Commandsarithmeticprocedurefor & foreach functionsset a 11set b aaset b $a1expr 2 + 35expr 2 + $a3set b expr 2 + $a3proc sum a b return expr $a + $bsum 2 35set c sum 2 35for set i 1 $i file manipulationpr

53、ocedure & if statementset fileld open tmp w anu mberputs $fileld “hello”close $filelDtype tmp hellosource Examplei .telproc guess value global sumif $value $sum puts “too high else puts “you got it!” guess 9too lowAdditional Tel ResourcesHere are additional resources for Tel:http:/www. freeprogrammi

54、ngresources. com/tcl.html(http:/wwwJ/tcl.html)(a large list of helpful resources)http:/www.tcl.tk/man/ (http:/www.tcl.tk/man/)(Tcl/Tk manual pages)/afs/sipb/user/qolem/doc/tcltk-iap2000/TclTk1.html(/afs/sipb/user/golem/doc/tcltk-iap2000/TclTk1.html)(a tutorial describi ng many comma nds by describi ng their implementation in a short program)/book/ (/book/)(some sample chapters from Practical Programming in Tel and Tk, by Welch and Jones)/tcl/ (http:/philip.qre