Nonlinear Time Domain Modeling and Simulation of Surface

Introduction ESSI Modeling Summary

Nonlinear Time DomainModeling and Simulation of

Surface and Embedded NPPS

Boris Jeremicwith contributions from

Federico Pisanò, Jose Abell, Kohei Watanabe, Chao Luo

University of California, DavisLawrence Berkeley National Laboratory, Berkeley

DOE NPH,October 2014

Jeremic et al.

ESSI Modeling and Simulation


Outline

IntroductionMotivationModeling Uncertainty

ESSI ModelingModeling Issues3D, Inclined, Body and Surface Seismic WavesNonlinear Material Behavior

Summary

Jeremic et al.



Motivation

Outline



Summary

Jeremic et al.



Motivation

Motivation

I Improving seismic design (safety and economy) forNuclear Facilities (NFs)

I Earthquake Soil Structure Interaction (ESSI) in time andspace, plays a major role in successes and failures

I Accurate following and directing (!) the flow of seismicenergy in ESSI system to optimize ESSI system for

I Safety andI Economy

I Development of high fidelity numerical modeling andsimulation tools to analyze realistic ESSI behavior,Real ESSI Simulator

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Motivation

Predictive CapabilitiesI Verification provides evidence that the model is solved

correctly. Mathematics issue.I Validation provides evidence that the correct model is

solved. Physics issue.I Prediction: use of computational model to foretell the state

of a physical system under consideration under conditionsfor which the computational model has not been validated.

I Real ESSI Simulator: a software, hardware anddocumentation system for high fidelity, high performance,time domain, nonlinear, 3D, finite element modeling andsimulation of earthquake-soil/rock-structure interaction ofNuclear Facilities (NFs)

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Motivation

Seismic Energy Input and Dissipation for NFs

I Seismic waves input (flux) into SSI systemI Mechanical dissipation outside of SSI domain:

I reflected (surface, NF) wave radiationI SSI (NF) system oscillation radiation

I Mechanical dissipation/conversion inside SSI domain:I plasticity of soil and rockI nonlinear contact zone (foundation – soil/rock)I plasticity/damage of structure, foundationI viscous coupling of porous solid with pore fluid (soil)I viscous coupling of structure/foundation with fluids

I Numerical energy dissipation/production

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Modeling Uncertainty

Outline



Summary

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I Real ESSI goal: reduction of modeling uncertainty

I Simplified modeling: important features are neglected(structure complexity, 6D ground motions, non-linearities)

I Modeling Uncertainty: unnecessary and unrealisticmodeling simplifications

I Modeling simplifications are justifiable if one or two levelhigher sophistication model shows that features beingsimplified out are not important

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Complexity and Uncertainty in Motions and MaterialI 6D (3 translations (horizontal and vertical), 3 rotations)

I Sources of uncertainties in ground motions (Source, Path(rock), soil (rock))

I Most engineering materials and components experienceinelastic deformations for service and hazard loads

I Pressure sensitive materials (soil, rock, concrete, &c.)have complex constitutive response, tying togethernonlinear stress-strain with volume response

I In addition, man-made and natural materials are spatiallyvariable and their material modeling parameters areuncertain

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SPT Based Determination of Young’s Modulus

5 10 15 20 25 30 35

5000

10000

15000

20000

25000

30000

SPT N Value

You

ng’s

Mod

ulus

, E (

kPa)

E = (101.125*19.3) N 0.63

−10000 0 10000

0.00002

0.00004

0.00006

0.00008

Residual (w.r.t Mean) Young’s Modulus (kPa)

Nor

mal

ized

Fre

quen

cy

Transformation of SPT N-value→ 1-D Young’s modulus, E (cf.Phoon and Kulhawy (1999B))Histogram of the residual (w.r.t the deterministic transformationequation) Young’s modulus, along with fitted probability densityfunction

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Modeling Issues

Outline



Summary

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Modeling Issues

Important Issues for ESSI Modeling and Simulation

I Verification and Validation

I 6D, inclined, body and surface seismic waves

I Uncorrelated (incoherent) motions

I Nonlinear material (soil, rock, concrete, steel, &c.)

I Nonlinear foundation-soil/rock contact (dry and saturated),slip – gap

I Saturated dense vs loose soil with buoyant forces

I Isolators, dissipators

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Modeling Issues

ESSI Models

Detailedhighfidelitymodelstakingintoaccountall of theissues

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Modeling Issues

In Detail: Main ESSI Issues for SMRs

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3D, Inclined, Body and Surface Seismic Waves

Outline



Summary

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Real Earthquake Ground Motions

I Body waves: P and S waves

I Inclined waves

I Surface waves: Rayleigh, Love waves, &c.

I 6D waves (3 translations, 3 rotations)

I Surface waves carry most seismic energy

I Lack of correlation (incoherence)

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3D, Body and Surface Seismic Waves

2km10km

5km

x

y

xy

1

1

22

2km

0.2km

0 0 2 4 6 8 10 12

Time (s)

0.2 m/s2

z=3000m

z=3200m

z=3400m

z=3600m

z=3800m

z=4000m

z=4200m

z=4400m

z=4600m

z=4800m

z=5000m

0 0 2 4 6 8 10 12

Time (s)

0.2 m/s2

z=3000m

z=3200m

z=3400m

z=3600m

z=3800m

z=4000m

z=4200m

z=4400m

z=4600m

z=4800m

z=5000m

horizontal accelerations vertical accelerationsJeremic et al.




Body and Surface Wave Animations

I Homogeneous soil/rock, 45deg off vertical

I Homogeneous soil/rock, 45deg off vertical, motion vectors

I Homogeneous soil/rock, 45deg off vertical, motion vectors,NPP location

Jeremic et al.


http://sokocalo.engr.ucdavis.edu/~jeremic/lecture_notes_online_material/_Chapter_Applications_Earthquake_Soil_Structure_Interaction_General_Aspects/color_high-quality/homo_50m-mesh_45degree_Ormsby.mp4

http://sokocalo.engr.ucdavis.edu/~jeremic/lecture_notes_online_material/_Chapter_Applications_Earthquake_Soil_Structure_Interaction_General_Aspects/vector/homo_50m-mesh_45degree_Ormsby.mp4

http://sokocalo.engr.ucdavis.edu/~jeremic/lecture_notes_online_material/_Chapter_Applications_Earthquake_Soil_Structure_Interaction_General_Aspects/vector/homo_50m-mesh_45degree_Ormsby_X5000-Z5000.mp4

http://sokocalo.engr.ucdavis.edu/~jeremic/lecture_notes_online_material/_Chapter_Applications_Earthquake_Soil_Structure_Interaction_General_Aspects/vector/homo_50m-mesh_45degree_Ormsby_X5000-Z5000.mp4


Nonlinear Material Behavior

Outline



Summary

Jeremic et al.




Validation: Lotung, LSST07, G/Gmax and Damping

I Nonlinear, 3D elastic-plastic, Pisanò material model forLotung (validation)

I 1D wave propagation, only LSST07 is close to 1D!I No volume change data (a serious issue!)

10−4

10−3

10−2

10−1

1000

0.2

0.4

0.6

0.8

1 (0.0001,1)(0.0003,0.98)(0.001,0.92)

(0.0033,0.77)

(0.01,0.59)

(0.0333,0.43)

(0.1,0.27)

(0.333,0.14)(1,0.08)

(0.0001,1)(0.0003,1) (0.001,0.98)(0.0033,0.93)

(0.01,0.8)

(0.0333,0.57)

(0.1,0.29)

(0.333,0.12)(1,0.08)

Shear Strain[%]

G/G

max

0−6m6−34m34−47m

10−4

10−3

10−2

10−1

1000

5

10

15

20

(0.0001,1.2)(0.0003,1.4)(0.001,1.7) (0.0033,2.1)(0.01,3.3)

(0.0333,6.5)

(0.1,11.2)

(0.333,16)

(1,18.6)

(0.0001,1.2)(0.0003,1.4)(0.001,1.7) (0.0033,2.1)(0.01,3.3)

(0.0333,5.1)

(0.1,7.5)

(0.333,11)

(1,13.5)

Shear Strain[%]

Dam

ping

Rat

io[%

]

0−6m6−34m34−47m

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Validation: Lotung, LSST07, Downhole Motions

0 10 20 30−2

−1

0

1

2

t[s]

a[m

/s2 ]

Time History of Surface

Recorded MotionSimulated Motion

0 10 20 30−2

−1

0

1

2

t[s]

a[m

/s2 ]

Time History of 6m depth


0 10 20 30−2

−1

0

1

2

t[s]

a[m

/s2 ]



0 10 20 30−2

−1

0

1

2

t[s]

a[m

/s2 ]



Jeremic et al.




Validation: Lotung, LSST07, Fourier Spectra

100

101

0

100

200

300

400

f[Hz]

Fou

rier

Am

plitu

de [m

/s2 ]

Fourier Spectrum of Surface


100

101

0

100

200

300

400

f[Hz]

Fou

rier

Am

plitu

de [m

/s2 ]

Fourier Spectrum of 6m depth


100

101

0

100

200

300

400

f[Hz]

Fou

rier

Am

plitu

de [m

/s2 ]



100

101

0

100

200

300

400

f[Hz]

Fou

rier

Am

plitu

de [m

/s2 ]



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NPP with Base Slip and GapI Low friction zone between

concrete foundation and soil/rockI Inclined, 3D, body and surface,

seismic wave field (wavelets:Ricker, Ormsby; real seismic, &c.)

0 0 2 4 6 8 10 12

Time (s)

0 0 2 4 6 8 10 12

Time (s)

horizontal verticalJeremic et al.




Acc. Response for a Full 3D (at 45◦) Ricker Wavelet

top X

-40

-20

0

20

40

0 1 2 3 4 5 6 7 8

Acc

eler

atio

n (m

/s2)

Time (s)

Slip BehaviorNo-slip Behavior

top Z

-40

-20

0

20

40

0 1 2 3 4 5 6 7 8

Acc

eler

atio

n (m

/s2)

Time (s)


bottom X

-40

-20

0

20

40

0 1 2 3 4 5 6 7 8

Acc

eler

atio

n (m

/s2)

Time (s)


bottom Z

-40

-20

0

20

40

0 1 2 3 4 5 6 7 8

Acc

eler

atio

n (m

/s2)

Time (s)


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Slipping Response and Energy Dissipated (45◦ Ricker)4.5s 4.6s 4.7s

30 40 50 60 70 80 90 100 110

X (m)

30

40

50

60

70

80

90

100

110

Y (

m)

0

0.005

0.01

0.015

0.02

0.025

0.03

30 40 50 60 70 80 90 100 110

X (m)

30

40

50

60

70

80

90

100

110

Y (

m)

0

0.005

0.01

0.015

0.02

0.025

0.03

30 40 50 60 70 80 90 100 110

X (m)

30

40

50

60

70

80

90

100

110

Y (

m)

0

0.005

0.01

0.015

0.02

0.025

0.03

4.8s 4.9s 5.0s

30 40 50 60 70 80 90 100 110

X (m)

30

40

50

60

70

80

90

100

110

Y (

m)

0

0.005

0.01

0.015

0.02

0.025

0.03

30 40 50 60 70 80 90 100 110

X (m)

30

40

50

60

70

80

90

100

110

Y (

m)

0

0.005

0.01

0.015

0.02

0.025

0.03

30 40 50 60 70 80 90 100 110

X (m)

30

40

50

60

70

80

90

100

110

Y (

m)

0

0.005

0.01

0.015

0.02

0.025

0.03

5.1s 5.2s 5.3s

30 40 50 60 70 80 90 100 110

X (m)

30

40

50

60

70

80

90

100

110

Y (

m)

0

0.005

0.01

0.015

0.02

0.025

0.03

30 40 50 60 70 80 90 100 110

X (m)

30

40

50

60

70

80

90

100

110

Y (

m)

0

0.005

0.01

0.015

0.02

0.025

0.03

30 40 50 60 70 80 90 100 110

X (m)

30

40

50

60

70

80

90

100

110

Y (

m)

0

0.005

0.01

0.015

0.02

0.025

0.03

0

500

1000

1500

2000

2500

3000

3500

0 1 2 3 4 5 6 7 8

Ene

rgy

(kJ)

Time (s)

Jeremic et al.




Gaping Response (45◦ Ricker Wavelet)4.5s 4.6s 4.7s

30 40 50 60 70 80 90 100 110

X (m)

30

40

50

60

70

80

90

100

110Y

(m

)

0

0.02

0.04

0.06

0.08

0.1

0.12

30 40 50 60 70 80 90 100 110

X (m)

30

40

50

60

70

80

90

100

110

Y (

m)

0

0.02

0.04

0.06

0.08

0.1

0.12

30 40 50 60 70 80 90 100 110

X (m)

30

40

50

60

70

80

90

100

110

Y (

m)

0

0.02

0.04

0.06

0.08

0.1

0.12

4.8s 4.9s 5.0s

30 40 50 60 70 80 90 100 110

X (m)

30

40

50

60

70

80

90

100

110

Y (

m)

0

0.02

0.04

0.06

0.08

0.1

0.12

30 40 50 60 70 80 90 100 110

X (m)

30

40

50

60

70

80

90

100

110

Y (

m)

0

0.02

0.04

0.06

0.08

0.1

0.12

30 40 50 60 70 80 90 100 110

X (m)

30

40

50

60

70

80

90

100

110

Y (

m)

0

0.02

0.04

0.06

0.08

0.1

0.12

5.1s 5.2s 5.3s

30 40 50 60 70 80 90 100 110

X (m)

30

40

50

60

70

80

90

100

110

Y (

m)

0

0.02

0.04

0.06

0.08

0.1

0.12

30 40 50 60 70 80 90 100 110

X (m)

30

40

50

60

70

80

90

100

110

Y (

m)

0

0.02

0.04

0.06

0.08

0.1

0.12

30 40 50 60 70 80 90 100 110

X (m)

30

40

50

60

70

80

90

100

110

Y (

m)

0

0.02

0.04

0.06

0.08

0.1

0.12

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Summary

Summary

I Earthquake Soil Structure Interaction, in time domain,nonlinear, uncertain, plays a decisive role in seismicperformance of Nuclear Facilities

I Improve design and retrofits (safety and economy) throughhigh fidelity, physics based modeling and simulation

I Real ESSI Simulator System, verified (extensive) andvalidated (not so extensive), for modeling and simulationsused for design, retrofits and regulatory decision making

I Education and training of users (designers, regulators,owners) proves essential

Jeremic et al.



Summary

Acknowledgement

I Funding from and collaboration with the US-NRC,US-DOE, US-NSF, CNSC, LLNL, INL, AREVA NP GmbH,and Shimizu Corp. is greatly appreciated,

I Collaborators: Dr. Budnitz (LBNL), Dr. Kammerer (BechtelCorp.), Prof. Whittaker (UB), Mr. Orbovic (CNSC), Prof.Pisanò (TU Delft), Prof. Sett (UB), and UCD students: Mr.Abell, Mr. Jeong, Mr. Kamranimoghadam, Mr. Karapiperis,Mr. Watanabe, Mr. Chao, Dr. Tafazzoli,

Jeremic et al.


Documents

Nonlinear Time Domain Modeling and Simulation of Surface