Numerical model for 3D steel moment frames with H-shaped beams and hollow-section columns under multi-directional seismic ground motions

•Numerical model which can consider elastoplastic behavior of panel zone of beam–column connection under multi-directional loadings.•Numerical model for 3D steel moment frame that comprised H-shaped beams, square hollow section columns and panels.•Comparison between loading test of cruciform frames and analysis results of proposed numerical model.•Time history response analysis of 3D steel moment frames under bidirectional ground motions.•Influence of strength ratios between structural members on energy dissipated from the plastic deformation of the beams, columns, and panels within each beam–column connection.