BOOK Connor Jerome J. - Introduction to Structural Motion Control

Sections

Introduction
1.1MOTIVATION FOR STRUCTURAL MOTION CONTROL
1.1.1Limitations of Conventional Structural Design
1.1.2Motion-based Structural Design and Motion Control
Section 1.2Motion Versus Strength Issues for Building-type Structures3
1.2MOTION VERSUS STRENGTH ISSUES FOR BUILDING-TYPE STRUCTURES
Example 1.1: Cantilever shear beam
Example 1.2: Cantilever bending beam
Example 1.3: Quasi-shear beam frame
Section 1.3Design of a Single-degree-of-freedom System for Dynamic Loading9
1.3DESIGN OF A SINGLE-DEGREE-OF-FREEDOM SYSTEM FOR DYNAMIC LOADING
1.3.1Response for Periodic Excitation
1.3.2Design Criteria
1.3.3Methodology for Acceleration-controlled Design
Example 1.4: An illustration of acceleration controlled design
Example 1.6: Force reduction
1.4DESIGN OF A SINGLE-DEGREE-OF-FREEDOM SYSTEM FOR SUPPORT MOTION
1.4.1Response for Periodic Support Motion
1.4.2Design Scenarios
Example 1.7: Controlling acceleration due to ground motion
Example 1.8: Controlling relative motion due to ground motion
Section 1.5Stiffness Distribution for a Two-degree-of-freedom System23
1.5STIFFNESS DISTRIBUTION FOR A TWO-DEGREE-OF-FREEDOM SYSTEM
Example 1.9: 2DOF system with equal masses
1.6CONTROL STRATEGIES FOR MOTION-BASED DESIGN
1.7SCOPE OF TEXT
PROBLEMS
Passive Control
Optimal Stiffness Distribution
2.1INTRODUCTION
2.2GOVERNING EQUATIONS: TRANSVERSE BENDING OF PLANAR BEAMS
2.2.1Planar Deformation-Displacement Relations
2.2.2Optimal Deformation and Displacement Profiles
2.2.3Equilibrium Equations
2.2.4Force-Deformation Relations
Example 2.1: Composite sandwich beam
Example 2.2: Equivalent rigidities for a discrete truss beam
Example 2.3: Cantilever beam: quasi-static seismic loading
Example 2.4: Truss beam revisited
Section 2.5Stiffness Distribution: Truss under Static Loading59
Example 2.5: 3DOF shear beam
2.5STIFFNESS DISTRIBUTION: TRUSS UNDER STATIC LOADING
Example 2.6: Application of least squares approaches
Section 2.6Stiffness Distribution for a Cantilever Beam: Dynamic Response73
2.6STIFFNESS DISTRIBUTION FOR A CANTILEVER BEAM: DYNAMIC RESPONSE
2.6.1Rigidity Distribution: Undamped Response
Section 2.7Stiffness Distribution for a Discrete Shear Beam: Dynamic Response77
2.7STIFFNESS DISTRIBUTION FOR A DISCRETE SHEAR BEAM: DYNAMIC RESPONSE
Example 2.8: 3DOF shear beam
2.8STIFFNESS CALIBRATION
Example 2.9: 3DOF shear beam revisited
Example 2.13: Example 2.12 revisited
2.8.4Stiffness Calibration: Seismic Excitation
Section 2.10Stiffness Modification for Seismic Excitation113
Optimal Passive Damping Distribution
3.1INTRODUCTION
Section 3.2Viscous, Frictional, and Hysteretic Damping139
3.2VISCOUS, FRICTIONAL, AND HYSTERETIC DAMPING
3.2.1Viscous Damping
Example 3.1: Viscous damper
3.2.2Friction Damping
3.2.3Hysteretic Damping
Example 3.2: Stiffness of a rod hysteretic damper
Example 3.3: Stiffness of two hysteretic dampers in series
3.3VISCOELASTIC MATERIAL DAMPING
Example 3.4: Viscoelastic damper
3.4EQUIVALENT VISCOUS DAMPING
Section 3.5Damping Parameters: Discrete Shear Beam159
3.5DAMPING PARAMETERS: DISCRETE SHEAR BEAM
3.5.1Damping Systems
3.5.2Rigid Structural Members: Linear Viscous Behavior
3.5.3Rigid Structural Members: Linear Viscoelastic Behavior
Example 3.8:
Example 3.9: Example 3.7 revisited
Example 3.10: Viscoelastic damper design
Example 3.11: Hysteretic damper design: diagonal element
3.5.4Flexible Structural Members: Linear Viscoelastic Behavior
Example 3.12: Coupled spring-damper model
3.6DAMPING PARAMETERS: TRUSS BEAM
3.6.1Linear Viscous Behavior
Section 3.7Damping Distribution for MDOF Systems177
3.6.2Linear Viscoelastic Behavior
3.7DAMPING DISTRIBUTION FOR MDOF SYSTEMS
3.7.1Multimode Free Vibration Response
Example 3.13: Eigenvalue problem: 2DOF
Example 3.14: Modal response for nonproportional damping
3.7.2Stiffness Proportional Viscous Damping
Example 3.15: Low-rise buildings
4.1INTRODUCTION
4.2AN INTRODUCTORY EXAMPLE
4.3EXAMPLES OF EXISTING TUNED MASS DAMPER SYSTEMS
4.3.1Translational Tuned Mass Dampers
4.3.2Pendulum Tuned Mass Damper
Section 4.4Tuned Mass Damper Theory for SDOF Systems229
4.4TUNED MASS DAMPER THEORY FOR SDOF SYSTEMS
4.4.1Undamped Structure: Undamped TMD
4.4.2Undamped Structure: Damped TMD
4.4.3Damped Structure: Damped TMD
Example 4.3: Design of a TMD for a damped SDOF system
4.5CASE STUDIES: SDOF SYSTEMS
4.6TUNED MASS DAMPER THEORY FOR MDOF SYSTEMS
Example 4.4: Design of a TMD for a damped MDOF system
Example 4.5: Design of TMDs for a simply supported beam
4.7CASE STUDIES: MDOF SYSTEMS
Base Isolation Systems
5.1INTRODUCTION
Section 5.2Isolation for SDOF Systems287
5.2ISOLATION FOR SDOF SYSTEMS
5.2.1SDOF Examples
5.2.2Bearing Terminology
5.2.3Modified SDOF Model
5.2.4Periodic Excitation: Modified SDOF Model
5.2.5Seismic Excitation: Modified SDOF Model
Section 5.3Design Issues for Structural Isolation Systems303
5.3DESIGN ISSUES FOR STRUCTURAL ISOLATION SYSTEMS
5.3.1Flexibility
5.3.2Rigidity Under Low-level Lateral Loads
5.3.3Energy Dissipation/Absorption
5.3.4Modeling of a Natural Rubber Bearing (NRB)
5.3.5Modeling of a Lead Rubber Bearing (LRB)
Section 5.4Examples of Existing Base Isolation Systems313
5.3.6Applicability of Base Isolation Systems
5.4EXAMPLES OF EXISTING BASE ISOLATION SYSTEMS
5.4.7San Francisco City Hall
5.4.8Long Beach V.A. Hospital
5.5OPTIMAL STIFFNESS DISTRIBUTION: DISCRETE SHEAR BEAM
5.5.1Scaled Stiffness Distribution
5.5.2Fundamental Mode Response
Example 5.4: Example 5.3 revisited
5.5.3Stiffness Calibration for Seismic Isolation
Example 5.5: Stiffness calibration for Example 5.4
5.6OPTIMAL STIFFNESS DISTRIBUTION: CONTINUOUS CANTILEVER BEAM
5.6.1Stiffness Distribution: Undamped Response
5.6.2Fundamental Mode Equilibrium Equation
5.6.3Rigidity Calibration: Seismic Excitation
Example 5.6: Stiffness calibration: Example Building 2
5.7BUILDING DESIGN EXAMPLES
Active Control
6.1THE NATURE OF ACTIVE STRUCTURAL CONTROL
6.1.1Active versus Passive Control
6.1.2The Role of Feedback
Section 6.2An Introductory Example of Quasi-static Feedback Control367
6.1.3Computational Requirements and Models for Active Control
6.2AN INTRODUCTORY EXAMPLE OF QUASI-STATIC FEEDBACK CONTROL
Example 6.1: Shape control for uniform loading
Example 6.2: Discrete displacement data
6.3AN INTRODUCTORY EXAMPLE OF DYNAMIC FEEDBACK CONTROL
6.4ACTUATOR TECHNOLOGIES
6.4.1Introduction
6.4.2Force Application Schemes
6.4.3Large-scale Linear Actuators
6.4.4Large-scale Adaptive Configuration-based Actuators
6.4.5Small-scale Adaptive Material-based Actuators
6.5EXAMPLES OF EXISTING LARGE-SCALE ACTIVE STRUCTURAL CONTROL SYSTEMS
Quasi-Static Control Algorithms
7.1INTRODUCTION TO CONTROL ALGORITHMS
Section 7.2Active Prestressing of a Simply Supported Beam411
7.2ACTIVE PRESTRESSING OF A SIMPLY SUPPORTED BEAM
7.2.1Passive Prestressing
7.2.2Active Prestressing
7.2.3Active Prestressing with Concentrated Forces
Example 7.1: A single force actuator
Example 7.2: Two force actuators
7.2.4A General Active Prestressing Methodology
Example 7.3: Multiple actuators
7.3QUASI-STATIC DISPLACEMENT CONTROL OF BEAMS
7.3.1Continuous Least Squares Formulation
7.3.2Discrete Least Squares Formulation
Example 7.4: Cantilever beam—Least squares algorithm
7.3.3Extended Least Squares Formulation
Example 7.5: Example 7.4 revisited
7.4QUASI-STATIC CONTROL OF MDOF SYSTEMS
7.4.1Introduction
7.4.2Selection of Measures
Example 7.6: Illustrative examples of observability
Example 7.7: Illustrative examples of controllability
7.4.3Least Squares Control Algorithms
Example 7.8: Example 7.7 revisited
8.1INTRODUCTION
8.2STATE-SPACE FORMULATION: TIME-INVARIANT LINEAR SDOF SYSTEMS
8.2.1Governing Equations
8.2.2Free Vibration Uncontrolled Response
8.2.3General Solution: Linear Time-Invariant Systems
Example 8.1: Equivalence of Equations (8.18) and (8.24)
8.2.4Stability Criterion
8.2.5Linear Negative Feedback
8.2.6Effect of Time Delay on Feedback Control
8.2.7Stability Analysis for Time Delay
Section 8.3Discrete Time Formulation: SDOF Systems487
8.3DISCRETE TIME FORMULATION: SDOF SYSTEMS
8.3.1Governing Equation
8.3.2Linear Negative Feedback Control
Section 8.4Optimal Linear Feedback: Time-Invariant SDOF Systems505
8.4OPTIMAL LINEAR FEEDBACK: TIME-INVARIANT SDOF SYSTEMS
8.4.1Quadratic Performance Index
8.4.2An Example: Linear Quadratic Regulator Control Algorithm
8.4.3The Continuous Time Algebraic Riccati Equation
8.4.4The Discrete Time Algebraic Riccati Equation
8.4.5Finite Interval Discrete Time Algebraic Riccati Equation
Example 8.5: Example 8.4 revisited
8.4.6Continuous Time Riccati Differential Equation
Example 8.6: Application to scalar case
8.5STATE-SPACE FORMULATION FOR MDOF SYSTEMS
8.5.1Notation and Governing Equations
Example 8.8: General uncoupled damping
8.5.3Orthogonality Properties of the State Eigenvectors
Example 8.9: Initial conditions—free vibration response
8.5.4Determination of W and
8.5.5General Solution: Time-Invariant System
8.5.6Modal State-Space Formulation: Uncoupled Damping
8.5.7Modal State-Space Formulation: Arbitrary Damping
Example 8.10: Modal formulation—undamped case
Example 8.11: Modal formulation—uncoupled damping
Example 8.12: Modal parameters—4DOF system
Example 8.13: Modal response for Example 8.12
8.5.8Stability Analysis: Discrete Modal Formulation
Example 8.15: Stability analysis for Example 8.14
8.5.9Controllability of a Particular Modal Response
Example 8.16: Controllability analysis for a 20DOF Model
8.5.10Observability of a Particular Modal Response
Example 8.17: Observability analysis for a 20DOF model
8.6LQR CONTROL ALGORITHM: MDOF TIME-INVARIANT SYSTEMS
8.6.1Continuous Time Modal Formulation
8.6.2Discrete Time Modal Formulation
8.6.3Application Studies: LQR Control
Example 8.19: Alternate choice of response measures
8.7ADVANCED CONTROL THEORY TOPICS
8.7.1State Controllability
8.7.2State Observability
Example 8.20: 5DOF Model
Example 8.21: Example 8.20 revisited
8.7.3State Observer
8.7.4An Introduction to Input-Output Relationships
8.7.5SDOF Input-Output Relations
Example 8.22: Frequency domain solution procedure
8.7.7Input-Output Relationships Revisited
Example 8.23: Periodic excitation
Example 8.24: Impulsive loading
Example 8.25: Seismic excitation
Example 8.26: Estimate for , assuming
8.7.8MDOF Input-Output Relations

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