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Tuned Mass Damper 9 Intro To Structural Motion Control Chapter 4 Purdue University
Tuned Mass Damper 9 Intro To Structural Motion Control Chapter 4 Purdue University
C H A P T E R 4
Tuned Mass
Damper
Systems
4.1
INTRODUCTION
A tuned mass damper (TMD) is a device consisting of a mass, a spring, and a damper
that is attached to a structure in order to reduce the dynamic response of the
structure. The frequency of the damper is tuned to a particular structural frequency so
that when that frequency is excited, the damper will resonate out of phase with the
structural motion. Energy is dissipated by the damper inertia force acting on the
structure. The TMD concept was first applied by Frahm in 1909 (Frahm, 1909) to
reduce the rolling motion of ships as well as ship hull vibrations. A theory for the
TMD was presented later in the paper by Ormondroyd and Den Hartog (1928),
followed by a detailed discussion of optimal tuning and damping parameters in Den
Hartogs book on mechanical vibrations (1940). The initial theory was applicable for
an undamped SDOF system subjected to a sinusoidal force excitation. Extension of
the theory to damped SDOF systems has been investigated by numerous researchers.
Significant contributions were made by Randall et al. (1981), Warburton (1981, 1982),
Warburton and Ayorinde (1980), and Tsai and Lin (1993).
This chapter starts with an introductory example of a TMD design and a brief
description of some of the implementations of tuned mass dampers in building
structures. A rigorous theory of tuned mass dampers for SDOF systems subjected
to harmonic force excitation and harmonic ground motion is discussed next. Various cases, including an undamped TMD attached to an undamped SDOF system, a
damped TMD attached to an undamped SDOF system, and a damped TMD
attached to a damped SDOF system, are considered. Time history responses for a
217
218
Chapter 4
range of SDOF systems connected to optimally tuned TMD and subjected to harmonic and seismic excitations are presented. The theory is then extended to MDOF
systems, where the TMD is used to dampen out the vibrations of a specific mode.
An assessment of the optimal placement locations of TMDs in building structures is
included. Numerous examples are provided to illustrate the level of control that can
be achieved with such passive devices for both harmonic and seismic excitations.
4.2
AN INTRODUCTORY EXAMPLE
In this section, the concept of the tuned mass damper is illustrated using the twomass system shown in Figure 4.1. Here, the subscript d refers to the tuned mass
damper; the structure is idealized as a single degree of freedom system. Introducing
the following notation
k
2
= ----m
(4.1)
c = 2m
(4.2)
k
2
d = ------dmd
(4.3)
c d = 2 d d m d
(4.4)
(4.5)
(4.6)
kd
md
m
c
cd
u
u 1 ud
Section 4.2
An Introductory Example
Tuned mass u d + 2 d d u d + d u d = u
219
(4.7)
The purpose of adding the mass damper is to limit the motion of the structure
when it is subjected to a particular excitation. The design of the mass damper
involves specifying the mass md , stiffness kd , and damping coefficient cd . The
optimal choice of these quantities is discussed in Section 4.4. In this example, the
near-optimal approximation for the frequency of the damper,
d =
(4.8)
is used to illustrate the design procedure. The stiffnesses for this frequency combination are related by
k d = mk
(4.9)
Equation (4.8) corresponds to tuning the damper to the fundamental period of the
structure.
Considering a periodic excitation,
p = p sin t
(4.10)
(4.11)
(4.12)
where u and denote the displacement amplitude and phase shift, respectively.
The critical loading scenario is the resonant condition, = . The solution for this
case has the following form:
p
1
u = -------- --------------------------------------21
km 1 + 2
- + --------
----2
m
d
(4.13)
1
u d = --------u
2 d
(4.14)
2
1
tan 1 = ------ + -------m 2 d
(4.15)
tan 2 = --2
(4.16)
220
Chapter 4
Note that the response of the tuned mass is 90 out of phase with the response of the
primary mass. This difference in phase produces the energy dissipation contributed
by the damper inertia force.
The response for no damper is given by
p 1
u = --- ------
k 2
(4.17)
1 = ---
2
(4.18)
(4.19)
m
2
1 2
e = ----- 1 + ------ + --------
m 2 d
2
(4.20)
where
Equation (4.20) shows the relative contribution of the damper parameters to the
total damping. Increasing the mass ratio magnifies the damping. However, since the
added mass also increases, there is a practical limit on m. Decreasing the damping
coefficient for the damper also increases the damping. Noting Eq. (4.14), the relative displacement also increases in this case, and just as for the mass, there is a practical limit on the relative motion of the damper. Selecting the final design requires a
compromise between these two constraints.
(1)
(2)
Section 4.2
An Introductory Example
221
u d
m
----- 1 + ----- = 0.1
u
2
(3)
Usually, u d is taken to be an order of magnitude greater than u . In this case, Eq. (3)
can be approximated as
m u d
----- ----- 0.1
2 u
(4)
(5)
(6)
(7)
k d = mk = 0.02k
(8)
It is important to note that with the addition of only 2% of the primary mass,
we obtain an effective damping ratio of 10%. The negative aspect is the large relative motion of the damper mass; in this case, 10 times the displacement of the primary mass. How to accommodate this motion in an actual structure is an important
design consideration.
A description of some applications of tuned mass dampers to building structures is presented in the following section to provide additional background on this
type of device prior to entering into a detailed discussion of the underlying theory.
222
4.3
Chapter 4
Floor beam
Direction of motion
FIGURE 4.2:
Section 4.3
224
Chapter 4
Chiba Port Tower (completed in 1986) was the first tower in Japan to be equipped
with a TMD. Chiba Port Tower is a steel structure 125 m high weighing 1950 metric
tons and having a rhombus-shaped plan with a side length of 15 m. The first and
second mode periods are 2.25 s and 0.51 s, respectively for the x direction and 2.7 s
and 0.57 s for the y direction. Damping for the fundamental mode is estimated at
0.5%. Damping ratios proportional to frequencies were assumed for the higher
modes in the analysis. The purpose of the TMD is to increase damping of the first
mode for both the x and y directions. Figure 4.3 shows the damper system. Manufactured by Mitsubishi Steel Manufacturing Co., Ltd., the damper has mass ratios
with respect to the modal mass of the first mode of about 1/120 in the x direction
and 1/80 in the y direction; periods in the x and y directions of 2.24 s and 2.72 s,
respectively; and a damper damping ratio of 15%. The maximum relative displacement of the damper with respect to the tower is about 1 m in each direction.
Reductions of around 30 to 40% in the displacement of the top floor and 30% in
the peak bending moments are expected.
The early versions of TMDs employ complex mechanisms for the bearing and
damping elements, have relatively large masses, occupy considerable space, and are
quite expensive. Recent versions, such as the scheme shown in Figure 4.4, have
been designed to minimize these limitations. This scheme employs a multiassemblage of elastomeric rubber bearings, which function as shear springs, and bitumen
rubber compound (BRC) elements, which provide viscoelastic damping capability.
The device is compact in size, requires unsophisticated controls, is multidirectional,
and is easily assembled and modified. Figure 4.5 shows a full-scale damper being
subjected to dynamic excitation by a shaking table. An actual installation is contained in Figure 4.6.
FIGURE 4.3: Tuned mass damper for Chiba-Port Tower. (Courtesy of J. Connor.)
Section 4.3
BRC
Multi-stage
rubber bearings
Air brake
Limit switch
FIGURE 4.4:
FIGURE 4.5:
FIGURE 4.6:
226
Chapter 4
Auxiliary mass
Actuator
Support
Floor beam
Direction of motion
FIGURE 4.7:
The effectiveness of a tuned mass damper can be increased by attaching an auxiliary mass and an actuator to the tuned mass and driving the auxiliary mass with the
actuator such that its response is out of phase with the response of the tuned mass.
Figure 4.7 illustrates this scheme. The effect of driving the auxiliary mass is to produce
an additional force that complements the force generated by the tuned mass and
therefore increases the equivalent damping of the TMD (we can obtain the same
behavior by attaching the actuator directly to the tuned mass, thereby eliminating the
need for an auxiliary mass). Since the actuator requires an external energy source,
this system is referred to as an active tuned mass damper. The scope of this chapter is
restricted to passive TMDs. Active TMDs are discussed in Chapter 6.
4.3.2 Pendulum Tuned Mass Damper
The problems associated with the bearings can be eliminated by supporting the
mass with cables which allow the system to behave as a pendulum. Figure 4.8(a)
shows a simple pendulum attached to a floor. Movement of the floor excites the
pendulum. The relative motion of the pendulum produces a horizontal force that
opposes the floor motion. This action can be represented by an equivalent SDOF
system that is attached to the floor, as indicated in Figure 4.8(b).
The equation of motion for the horizontal direction is
Wd
T sin + -------- ( u + ud ) = 0
g
(4.21)
where T is the tension in the cable. When is small, the following approximations
apply:
u d = L sin L
T Wd
Introducing these approximations transforms Eq. (4.21) to
(4.22)
Section 4.3
L
keq
md
ud
md
t50
u 1 ud
FIGURE 4.8:
W d
md u d + -------- u d = m d u
L
(4.23)
(4.24)
(4.25)
(4.26)
The simple pendulum tuned mass damper concept has a serious limitation.
Since the period depends on L, the required length for large Td may be greater than
the typical story height. For instance, the length for Td = 5 s is 6.2 meters whereas the
story height is between 4 and 5 meters. This problem can be eliminated by resorting to
the scheme illustrated in Figure 4.9. The interior rigid link magnifies the support
motion for the pendulum and results in the following equilibrium equation:
228
Chapter 4
md
u 1 u1
u 1 u1 1 u d
FIGURE 4.9:
Compound pendulum.
Wd
m d ( u + u 1 + u d ) + -------- u d = 0
L
(4.27)
The rigid link moves in phase with the damper and has the same displacement
amplitude. Then, taking u1 = ud in Eq. (4.27) results in
m d
W d
m d u d + -------- u d = ------- u
2L
2
(4.28)
The equivalent stiffness is Wd/2L, and it follows that the effective length is equal to
2L. Each additional link increases the effective length by L. An example of a pendulum-type damper is described next.
Crystal Tower (Nagase and Hisatoku, 1990)
The tower, located in Osaka, Japan, is 157 m high and 28 m by 67 m in plan, weighs
44000 metric tons, and has a fundamental period of approximately 4 s in the northsouth direction and 3 s in the east-west direction. A tuned pendulum mass damper
was included in the early phase of the design to decrease the wind-induced motion
of the building by about 50%. Six of the nine air cooling and heating ice thermal
storage tanks (each weighing 90 tons) are hung from the top roof girders and used
as a pendulum mass. Four tanks have a pendulum length of 4 m and slide in the
north-south direction; the other two tanks have a pendulum length of about 3 m
and slide in the east-west direction. Oil dampers connected to the pendulums dissipate the pendulum energy. Figure 4.10 shows the layout of the ice storage tanks that
were used as damper masses. Views of the actual building and one of the tanks are
presented in Figure 4.11 on page 230. The cost of this tuned mass damper system
was around $350,000, less than 0.2% of the construction cost.
Section 4.4
27.6 m
9.0 m
x
x
67.2 m
4m
Support frame
Suspension material
Ice storage
tank
Coil spring
Oil damper
Stopper
Oil damper
Coil spring
FIGURE 4.10:
230
Chapter 4
FIGURE 4.11:
m d [ ud + u ] + k d u d = m d a g
(4.29)
mu + ku k d u d = ma g + p
(4.30)
where a g is the absolute ground acceleration and p is the force loading applied to
the primary mass.
Section 4.4
md
Floor
(a)
md
keq
(b)
FIGURE 4.12:
Rocker pendulum.
kd
md
u 1 ug
ug
ud 1 u 1 ug
(4.31)
232
Chapter 4
p = p sin t
(4.32)
u = u sin t
(4.33)
u d = u d sin t
(4.34)
and substituting for these variables, the equilibrium equations are transformed to
[ m d 2 + k d ]u d m d 2 u = m d a g
(4.35)
k d u d + [ m 2 + k ]u = ma g + p
(4.36)
p 1 d ma g 1 + m d
u = --- -------------- ---------- --------------------------
k D1
D1
k
2
ma g m
p m
u d = ----- ---------- ---------- -------
k d D1
k d D 1
(4.37)
(4.38)
where
2
D 1 = [ 1 ] [ 1 d ] m
(4.39)
= ---- = ---------------
km
d = ------ = --------------------d
k d md
(4.40)
(4.41)
Selecting the mass ratio and damper frequency ratio such that
2
1 d + m = 0
reduces the solution to
(4.42)
Section 4.4
p
u = --k
(4.43)
p 2 ma
u d = ----- + ---------gkd
kd
(4.44)
This choice isolates the primary mass from ground motion and reduces the response
due to external force to the pseudostatic value, p k. A typical range for m is 0.01
to 0.1. Then the optimal damper frequency is very close to the forcing frequency.
The exact relationship follows from Eq. (4.42).
d
opt
= -----------------1+m
(4.45)
kd
opt
= [ d
2
mm
] m d = ----------------opt
1+m
(4.46)
p + a g
--------2
k
(4.47)
We specify the amount of relative displacement for the damper and determine
m with Eq. (4.47). Given m and , the stiffness is found using Eq. (4.46). It should
be noted that this stiffness applies for a particular forcing frequency. Once the mass
damper properties are defined, Eqs. (4.37) and (4.38) can be used to determine the
response for a different forcing frequency. The primary mass will move under
ground motion excitation in this case.
4.4.2 Undamped Structure: Damped TMD
The next level of complexity has damping included in the mass damper, as shown in
Figure 4.14. The equations of motion for this case are
m d ud + c d u d + k d u d + m d u = md a g
(4.48)
mu + ku c d u d k d ud = ma g + p
(4.49)
234
Chapter 4
The inclusion of the damping terms in Eqs. (4.48) and (4.49) produces a phase shift
between the periodic excitation and the response. It is convenient to work initially with
the solution expressed in terms of complex quantities. We express the excitation as
it
a g = a g e
(4.50)
it
p = p e
(4.51)
it
ud = u d e
(4.52)
it
(4.53)
(4.54)
[ ic d + k d ]u d + [ m 2 + k ]u = ma g + p
(4.55)
(4.56)
kd
k
m
md
cd
ug
FIGURE 4.14:
u 1 ug
ud 1 u 1 ug
Section 4.4
a g m
p
u d = ----------- ---------kD 2 kD 2
(4.57)
where
2
2 2
D 2 = [ 1 2 ] [ f ] m f + i2 d f [ 1 2 ( 1 + m ) ]
(4.58)
f = -----d
(4.59)
(4.60)
i
i
a g m
p
u d = --- H 3 e 3 ----------H 4 e 3
k
k
(4.61)
where the H factors define the amplification of the pseudo-static responses, and the
s are the phase angles between the response and the excitation. The various H
and terms are as follows:
2
2 2
[ f ] + [ 2 d f ]
H 1 = --------------------------------------------------------D2
(4.62)
2 2
[ ( 1 + m ) f ] + [ 2 d f ( 1 + m ) ]
H 2 = ----------------------------------------------------------------------------------------------D2
(4.63)
H 3 = ---------D2
(4.64)
1
H 4 = ---------D2
(4.65)
D2 =
2 2 2
( [ 1 ] [ f ] m f ) + ( 2 d f [ 1 ( 1 + m ) ] )
(4.66)
Also,
1 = 1 3
(4.67)
236
Chapter 4
2 = 2 3
(4.68)
2
2 d f [ 1 ( 1 + m ) ]
tan 3 = --------------------------------------------------------------2
2
2
2 2
[ 1 ] [ f ] m f
(4.69)
2 d f
tan 1 = --------------2
2
f
(4.70)
2 d f ( 1 + m )
tan 2 = ----------------------------------2
2
( 1 + m )f
(4.71)
For most applications, the mass ratio is less than about 0.05. Then the amplification
factors for external loading ( H 1 ) and ground motion ( H 2 ) are essentially equal. A
similar conclusion applies for the phase shift. In what follows, the solution corresponding to ground motion is examined and the optimal values of the damper properties for this loading condition are established. An in-depth treatment of the
external forcing case is contained in Den Hartogs text (Den Hartog, 1940).
Figure 4.15 shows the variation of H 2 with forcing frequency for specific values of damper mass m and frequency ratio f , and various values of the damper
damping ratio, d . When d = 0 , there are two peaks with infinite amplitude
located on each side of = 1 . As d is increased, the peaks approach each other
and then merge into a single peak located at 1. The behavior of the amplitudes
suggests that there is an optimal value of d for a given damper configuration ( m d
and k d or, equivalently, m and f ). Another key observation is that all the curves
pass through two common points, P and Q. Since these curves correspond to different values of d , the location of P and Q must depend only on m and f .
Proceeding with this line of reasoning, the expression for H 2 can be written as
2
H2 =
2 2
a1 + d a2
a2 a1 a2 + d
---------------------= ----- ------------------------2 2
2
a4 a2 a2 + 2
a3 + d a4
3
4
d
(4.72)
(4.73)
P, Q
a2
----a4
(4.74)
Section 4.4
30
m 5 0.01
f51
jd 5 1
25
jd 5 0
20
H2
P
15
0 , jd , 1
Q
10
0
0.8
r1
0.85
0.9
0.95
FIGURE 4.15:
r2
1
r5V
v
1.05
1.1
1.15
Plot of H 2 versus .
2
Substituting for the a terms in Eq. (4.73), we obtain a quadratic equation for :
1 + 0.5m 2
2
4
2
( 1 + m ) f + ---------------------- + f = 0
1+m
(4.75)
The two positive roots 1 and 2 are the frequency ratios corresponding to points
P and Q . Similarly, Eq. (4.74) expands to
H2
P, Q
1+m
= ---------------------------------------2
1 1, 2 ( 1 + m )
(4.76)
Figure 4.15 shows different values for H 2 at points P and Q. For optimal
behavior, we want to minimize the maximum amplitude. As a first step, we require
the values of H 2 for 1 and 2 to be equal. This produces a distribution that is
symmetrical about 2 = 1 ( 1 + m ) , as illustrated in Figure 4.16. Then, by increasing the damping ratio, d , we can lower the peak amplitudes until the peaks coincide with points P and Q. This state represents the optimal performance of the
TMD system. A further increase in d causes the peaks to merge and the amplitude
to increase beyond the optimal value.
238
Chapter 4
30
25
20
H2
jd ! jd
15
jd , jd
jd
opt
10
r1
0
0.85
0.9
r2
opt
0.95
1
r5V
v
opt
1.05
1.1
1.15
Requiring the amplitudes to be equal at P and Q is equivalent to the following condition on the roots:
2
1 1 ( 1 + m ) = 1 2 ( 1 + m )
(4.77)
Then, substituting for 1 and 2 using Eq. (4.75), we obtain a relation between the
optimal tuning frequency and the mass ratio:
1 0.5m
f opt = -------------------------1+m
d
opt
= f opt
(4.78)
(4.79)
Section 4.4
1, 2
opt
H2
opt
1 0.5m
-------------------------1+m
(4.80)
1+m
= ----------------0.5m
(4.81)
The expression for the optimal damping at the optimal tuning frequency is
opt
m ( 3 0.5m )
------------------------------------------------8 ( 1 + m ) ( 1 0.5m )
(4.82)
Figures 4.17 through 4.20 show the variation of the optimal parameters with the
mass ratio, m .
The response of the damper is defined by Eq. (4.61). Specializing this equation for the optimal conditions leads to the plot of amplification versus mass ratio
contained in Figure 4.21. A comparison of the damper motion with respect to the
motion of the primary mass for optimal conditions is shown in Figure 4.22.
0.98
fopt
0.96
0.94
0.92
0.9
0.88
0.01
0.02
0.03
0.04
0.05
m
0.06
0.07
0.08
0.09
0.1
240
Chapter 4
1.1
fopt
1.05
r2
opt
r1
opt
r1, 2
opt
0.95
0.9
0.85
0.8
FIGURE 4.18:
0.01
0.02
0.03
0.04
0.05
m
0.06
0.07
0.08
0.09
0.1
0.2
0.18
0.16
0.14
jd
opt
0.12
0.1
0.08
0.06
0.04
0.02
0
0.01
0.02
FIGURE 4.19:
0.03
0.04
0.05
m
0.06
0.07
0.08
0.09
0.1
Section 4.4
25
20
H2
opt
15
10
FIGURE 4.20:
0.01
0.02
0.03
0.04
0.05
m
0.06
0.07
0.08
0.09
0.1
300
250
H4
opt
200
150
100
50
0.01
FIGURE 4.21:
0.02
0.03
0.04
0.05
m
0.06
0.07
0.08
0.09
0.1
242
Chapter 4
20
fopt, r opt, j d opt
18
16
u d H4
5
H2
u
14
12
10
8
6
4
2
0
FIGURE 4.22:
0.01
0.02
0.03
0.04
0.05
m
0.06
0.07
0.08
0.09
0.1
Lastly, response curves for a typical mass ratio, m = 0.01, and optimal tuning
are plotted in Figure 4.23 and Figure 4.24. The response for no damper is also plotted in Figure 4.23. We observe that the effect of the damper is to limit the motion in
a frequency range centered on the natural frequency of the primary mass and
extending about 0.15. Outside of this range, the motion is not significantly influenced by the damper.
30
j d 5 0.0
j d 5 0.03
j d 5 0.061 (optimal)
j d 5 0.1
No damper
25
m 5 0.01
fopt 5 0.9876
H2
20
15
10
5
r
0.8
0.85
0.9
0.95
1 opt
2 opt
1.05
1.1
1.15
1.2
r5V
v
FIGURE 4.23:
Section 4.4
150
m 5 0.01
fopt 5 0.9876
j d 5 0.0
jd 5 0.03
jd 5 0.061 (optimal)
jd 5 0.1
jd 5 0.2
H4
100
50
0.85
FIGURE 4.24:
0.9
0.95
1
r5V
v
1.05
1.1
1.15
(4.83)
(4.84)
(4.85)
opt
Figure 4.25 shows the variation of e with the mass ratio. A mass ratio of 0.02 is
equivalent to about 5% damping in the primary system.
Chapter 4
0.12
fopt, r opt, j d opt
0.1
0.08
je
244
0.06
0.04
0.02
0.01
FIGURE 4.25:
0.02
0.03
0.04
0.05
m
0.06
0.07
0.08
0.09
0.1
opt
(4.86)
Compute k d :
2
k d = m d d = mk f
Determine d
Compute c d :
opt
c d = 2 d
2
opt
(4.87)
opt
d m d = mf opt 2 d
opt
(4.88)
Section 4.4
(1)
H4
---------------- < 6
H2
(2)
H2
opt
opt
Constraint Eq. (1) requires m 0.05 . For constraint Eq. (2), we need to take
m 0.02 . Therefore, m 0.05 controls the design. The relevant parameters are
m = 0.05
f opt = 0.94
m d = 0.05m
d = 0.94
k d = m f opt k = 0.044k
opt
= 0.135
Then
2
m d u d + cd u d + kd u d + md u = m d ag
(4.89)
mu + cu + ku c d u d k d u d = ma g + p
(4.90)
p
kd
md
m
c
cd
ug
u 1 ug
ud 1 u 1 ug
FIGURE 4.26: Damped SDOF system coupled with a damped TMD system.
246
Chapter 4
Proceeding in the same way as for the undamped case, the solution due to
periodic excitation (both p and ug) is expressed in polar form:
p
a g m
u = --- H 5 e i5 ----------H 6 e i6
k
k
(4.91)
p
a g m
u d = --- H 7 e i 7 ----------H 8 e i8
k
k
(4.92)
2 2
[ f ] + [ 2 d f ]
H 5 = ---------------------------------------------------------D3
2
2 2
(4.93)
2
[ ( 1 + m ) f ] + [ 2 d f ( 1 + m ) ]
H 6 = -----------------------------------------------------------------------------------------------D3
(4.94)
2
H 7 = ---------D3
(4.95)
1 + [ 2 ] 2
H 8 = -----------------------------D3
(4.96)
D 3 = { [ f 2 2 m + ( 1 2 ) ( f 2 2 ) 4 d f 2 ] 2
+ 4 [ ( f 2 2 ) + d f ( 1 2 ( 1 + m ) ) 2 ] }
(4.97)
5 = 1 7
(4.98)
6 = 2 7
(4.99)
8 = 3 7
(4.100)
( f 2 2 ) + d f ( 1 2 ( 1 + m ) )
tan 7 = 2 --------------------------------------------------------------------------------------------------- f 2 2 m + ( 1 2 ) ( f 2 2 ) 4 d f 2
tan 3 = 2
(4.101)
(4.102)
Section 4.4
to evaluate H 5 and H 7 for a range of , given the values for m, , f , and d . Starting with specific values for m and , plots of H 5 versus can be generated for a
range of f and d . Each H 5 plot has a peak value of H 5 . The particular combination of f and d that corresponds to the lowest peak value of H 5 is taken as the
optimal state. Repeating this process for different values of m and produces the
behavioral data needed to design the damper system.
Figure 4.27 shows the variation of the maximum value of H 5 for the optimal
state. The corresponding response of the damper is plotted in Figure 4.28. Adding
damping to the primary mass has an appreciable effect for small m. Noting
Eqs. (4.91) and (4.92), the ratio of damper displacement to primary mass displacement is given by
H7
u d
2
-------- = ------- = ---------------------------------------------------------H5
2
2 2
2
u
[ f ] + [ 2 d f ]
(4.103)
Since is small, this ratio is essentially independent of . Figure 4.29 confirms this
statement. The optimal values of the frequency and damping ratios generated
through simulation are plotted in Figures 4.30 and 4.31. Lastly, using Eq. (4.85),
can be converted to an equivalent damping ratio for the primary system.
H5
opt
1
e = ------------------2H 5
(4.104)
opt
2
f = -------------------------- + 1 2 1
1+m
(4.105)
d =
3m
2
------------------------------------------------- + ( 0.151 0.170 )
8 ( 1 + m ) ( 1 0.5m )
2
+ ( 0.163 + 4.980 ) m
(4.106)
248
Chapter 4
40
j
j
j
j
j
35
30
5 0.0
5 0.01
5 0.02
5 0.05
5 0.1
H5 opt
25
20
15
10
5
0
0.01
0.02
0.03
0.04
0.05
m
0.06
0.07
0.08
0.09
0.1
FIGURE 4.27: Maximum dynamic amplification factor for damped SDOF system.
300
j
j
j
j
j
250
5 0.0
5 0.01
5 0.02
5 0.05
5 0.1
H7
opt
200
150
100
50
0.01
FIGURE 4.28:
0.02
0.03
0.04
0.05
m
0.06
0.07
0.08
0.09
0.1
Section 4.4
20
j
j
j
j
j
18
16
14
5 0.0
5 0.01
5 0.02
5 0.05
5 0.1
u d H7
5
u
H5
12
10
8
6
4
2
0
FIGURE 4.29:
0.01
0.02
0.03
0.04
0.05
m
0.06
0.07
0.08
0.09
0.1
1
j
j
j
j
j
0.98
0.96
0.94
5 0.0
5 0.01
5 0.02
5 0.05
5 0.1
fopt
0.92
0.9
0.88
0.86
0.84
0.82
0.8
0.01
0.02
0.03
0.04
0.05
m
0.06
0.07
0.08
0.09
0.1
Chapter 4
0.2
0.18
0.16
0.14
jd
opt
0.12
0.1
0.08
j
j
j
j
j
0.06
0.04
0.02
0
0.01
0.02
0.03
FIGURE 4.31:
0.04
0.05
m
0.06
0.07
5 0.0
5 0.01
5 0.02
5 0.05
5 0.1
0.08
0.09
0.1
0.2
0.18
0.16
0.14
0.12
je
250
0.1
0.08
j
j
j
j
j
0.06
0.04
0.02
0
0.01
FIGURE 4.32:
0.02
0.03
0.04
0.05
m
0.06
0.07
5 0.0
5 0.01
5 0.02
5 0.05
5 0.1
0.08
0.09
0.1
Section 4.5
251
(1)
H7
---------------- < 6
H5
(2)
H5
opt
opt
Using Figure 4.27, the required mass ratio for = 0.02 is m 0.03. The other opti= 0.105 . Then
mal values are f opt = 0.965 and d
opt
m d = 0.03m
d = 0.955
k d = mfopt k = 0.027k
In this case, there is a significant reduction in the damper mass required for this set
of motion constraints. The choice between including damping in the primary system
versus incorporating a tuned mass damper depends on the relative costs and reliability of the two alternatives, and the nature of the structural problem. A TMD
system is generally more appropriate for upgrading an existing structure where
access to the structural elements is difficult.
4.5
Chapter 4
T 5 0.49 s
j 5 0.02
m 5 0.01
1
0.8
0.6
0.4
u (m)
0.2
0
20.2
20.4
20.6
20.8
21
With TMD
0
10
Without TMD
20
30
40
50
60
Time (s)
ud (m)
252
22
24
26
10
20
30
40
50
60
Time (s)
Section 4.5
253
T 5 0.49 s
j 5 0.02
m 5 0.01
1
0.8
0.6
0.4
u (m)
0.2
0
20.2
20.4
20.6
20.8
Without TMD
With TMD
21
0
10
20
30
40
50
60
Time (s)
FIGURE 4.35:
6
T 5 0.49 s
j 5 0.02
m 5 0.01
4
ud (m)
22
24
26
10
20
30
Time (s)
40
50
60
Chapter 4
T 5 0.49 s
j 5 0.02
m 5 0.01
1
0.8
0.6
0.4
u (m)
0.2
0
20.2
20.4
20.6
20.8
Without TMD
With TMD
21
10
FIGURE 4.37:
20
30
Time (s)
40
50
60
6
T 5 0.49 s
j 5 0.02
m 5 0.01
4
ud (m)
254
22
24
26
10
20
30
Time (s)
40
50
60
Section 4.5
255
T 5 5.35 s
j 5 0.02
m 5 0.01
1
0.8
0.6
0.4
u (m)
0.2
0
20.2
20.4
20.6
20.8
Without TMD
With TMD
21
0
10
20
30
40
50
60
Time (s)
ud (m)
22
24
26
10
20
30
Time (s)
40
50
60
Chapter 4
T 5 5.35 s
j 5 0.02
m 5 0.01
1
0.8
0.6
0.4
u (m)
0.2
0
20.2
20.4
20.6
20.8
Without TMD
With TMD
21
0
10
20
30
40
50
60
Time (s)
FIGURE 4.41:
6
T 5 5.35 s
j 5 0.02
m 5 0.01
ud (m)
256
22
24
26
10
20
30
Time (s)
40
50
60
Section 4.5
257
T 5 5.35 s
j 5 0.02
m 5 0.01
1
0.8
0.6
0.4
u (m)
0.2
0
20.2
20.4
20.6
20.8
Without TMD
With TMD
21
0
10
20
30
40
50
60
Time (s)
FIGURE 4.43:
6
T 5 5.35 s
j 5 0.02
m 5 0.01
ud (m)
22
24
26
10
20
30
Time (s)
40
50
60
258
4.6
Chapter 4
p2
k1
k2
kd
m1
m2
c2
c1
ug
cd
u1 1 ug
FIGURE 4.45:
md
u2 1 ug
u2 1 ug 1 ud
A 2DOF system having a damper attached to mass 2 is considered first to introduce the key ideas. The governing equations for the system shown in Figure 4.45 are
m1 u 1 + c1 u 1 + k1 u 1 k 2 ( u 2 u 1 ) c2 ( u 2 u 1 ) = p1 m1 u g
(4.107)
m 2 u2 + c2 ( u2 u 1 ) + k 2 ( u2 u 1 ) kd ud cd u d = p 2 m 2 ug
(4.108)
md ud + k d ud + c d ud = md ( u 2 + u g )
(4.109)
The key step is to combine Eqs. (4.107) and (4.108) and express the resulting
equation in a form similar to the SDOF case defined by Eq. (4.90). This operation
reduces the problem to an equivalent SDOF system, for which the theory of
Section 4.4 is applicable. The approach followed here is based on transforming the
original matrix equation to scalar modal equations.
Introducing matrix notation, Eqs. (4.107) and (4.108) are written as
0
p1 m1 ag
MU + CU + KU =
+
p 2 m 2 ag
k d u d + c d ud
where the various matrices are
(4.110)
Section 4.6
U =
u1
M=
m1
K =
k1 + k2 k 2
C =
c1 + c2 c2
(4.111)
u2
(4.112)
m2
k2
k2
c2
c2
(4.113)
(4.114)
(4.115)
The modal vectors satisfy the following orthogonality relations [see Eq. (2.211)]:
2
j K i = ij j j M i
(4.116)
(4.117)
T
2
j
k j = j K j = j m
(4.118)
T
c j = j C j
(4.119)
j =
j1
j2
(4.120)
= K
(4.121)
260
Chapter 4
j = 1, 2
(4.122)
+ j2 ( p 2 m 2 a g + k d u d + c d u d )
With this assumption, the modal damping ratio is given by
j
c j
j = -------------- = --------2
j
2 j m
(4.123)
(4.124)
[ m 1 11 + m 2 12 ]a g + 12 [ k d u d + c d u d ]
In general, u 2 is obtained by superposing the modal contributions
u 2 = 12 q 1 + 22 q 2
(4.125)
However, when the external forcing frequency is close to 1, the first mode
response will dominate, and it is reasonable to assume
u 2 12 q 1
(4.126)
1
q 1 = --------- u 2
12
(4.127)
Solving for q 1
Section 4.6
1e u2 + c 1e u 2 + k 1e u 2 = k d u d + c d u d
m
(4.128)
1e a g
+ p 1e 1e m
1e , c 1e , k 1e , p 1e , and 1e represent the equivalent SDOF parameters for
where m
the combination of mode 1 and node 2, the node at which the TMD is attached.
Their definition equations are
1
1e = -------m
- m1
2
12
(4.129)
1
- k1
k 1e = -------2
12
(4.130)
c 1e = k 1e
(4.131)
1e
11 p 1 + 12 p 2
= ----------------------------------- 12
(4.132)
12
1e = --------- ( m 1 11 + m 2 22 )
1
m
(4.133)
Equations (4.109) and (4.128) are similar in form to the SDOF equations
treated in the previous section. Both set of equations are compared next.
TMD equation
m d ud + c d u d + k d u d = m d ( u a g )
(4.134)
versus
m d ud + c d u d + k d u d = m d ( u2 a g )
Primary mass equation
mu + cu + ku = c d u d + k d u d + p ma g
versus
1e
m
(4.135)
1e a g
u2 + c 1e u 2 + k 1e u 2 = c d u d + k d u d + p 1e 1e m
Taking
u2 u
1e m
m
c 1e c
p 1e p
1e
k 1e k
(4.136)
262
Chapter 4
(4.137)
which differs from the corresponding SDOF equation by the factor . Therefore,
the solution for ground excitation generated earlier has to be modified to account
for the presence of .
The generalized solution is written in the same form as the SDOF case. We
need only to modify the terms associated with a g (i.e., H6, H8 and 6, 8). Their
expanded form is as follows:
2 2
[ ( + m )f ] + [ 2 d f ( + m ) ]
H 6 = ---------------------------------------------------------------------------------------------------D3
2
(4.138)
[ 1 + ( 1 ) ] + [ 2 ]
H 8 = ------------------------------------------------------------------D3
(4.139)
2 d f ( + m )
tan a 2 = --------------------------------------f 2 ( + m ) 2
(4.140)
2
tan a 3 = --------------------------------2
1 + ( 1 )
(4.141)
6 = a2 7
(4.142)
8 = a3 7
(4.143)
(4.144)
Given m and 1 , we find the tuning frequency and damper damping ratio using
Figures 4.30 and 4.31. The damper parameters are determined with
1e
md = m m
(4.145)
d = f opt 1
(4.146)
c d = 2 d
opt
d md
(4.147)
Section 4.6
m [ 1 M 1 ]
1e = -----------------------------md = m m
2
12
(4.148)
shows that we should select the TMD location to coincide with the maximum
amplitude of the mode shape that is being controlled. In this case, the first mode is
the target mode, and 12 is the maximum amplitude for 1.
This derivation can be readily generalized to allow for tuning on the i th
modal frequency. We write Eq. (4.127) as
1
q i -------- u 2
i2
(4.149)
(4.150)
2
ie
k ie = i m
(4.151)
(4.152)
k 1 = 12 = 118.44
2
k 2 = 8 = 78.96
Requiring a fundamental mode damping ratio of 2%, and taking damping proportional to stiffness ( C = K ), the corresponding is
2
0.02
= -------1- = ---------- = 0.0064
264
Chapter 4
The mass, stiffness, and damping matrices for these design conditions are
M = 1 0
0 1
K = 197.39 78.96
78.96 78.96
C =
1.26 0.51
0.51 0.51
2 = 15.39 rad/s
1 = 0.5
1.0
2 =
1.0
0.5
1 = T1 M 1 = 1.25
m
T
k 1 = 1 K 1 = 49.35
T
k 2 = 2 K 2 = 296.09
T
c 1 = 1 C 1 = 0.32
T
c 2 = 2 C 2 = 1.90
c 1
1 = ---------------- = 0.02
1
2 1 m
c 2
2 = ---------------- = 0.049
2
2 2 m
The optimal parameters for a TMD located at node 2, having a mass ratio of
0.01 and tuned to a specific mode, are as follows:
Mode 1: optimum location is node 2
f opt = 0.982
m d = 0.0125
opt
= 0.062
k d = 0.4754
c d = 0.0096
opt
= 0.068
k d = 2.7974
c d = 0.0254
Section 4.6
This result is for the damper located at node 2. When located at node 1, the mass
and stiffness are reduced 75%.
The general case of a MDOF system with a tuned mass damper connected to
the nth degree of freedom is treated in a similar manner. Using the notation defined
previously, the jth modal equation can be expressed as
j qj + c j q j + k j q j = p j + jn [ k d u d + c d u d ]
m
j = 1, 2, . . .
(4.153)
where p j denotes the modal force due to ground motion and external forcing, and
jn is the element of j corresponding to the nth displacement variable. To control
the ith modal response, we set j = i in Eq. (4.153) and introduce the
approximation
1
q i -------- u n
in
(4.154)
(4.155)
1
1
------- T
ie = ------m
2 i M i
2 Mi =
in
in
(4.156)
where
2
ie
k ie = i m
(4.157)
c ie = k ie
(4.158)
1
pie = --------p i
in
(4.159)
The remaining steps are the same as described previously. We specify m and i ,
determine the optimal tuning and damping values with Figures 4.30 and 4.31, and
then compute m d and d .
m
T
ie = ------- i M i
md = m m
2
in
(4.160)
d = f opt i
(4.161)
The optimal mass damper for mode i is obtained by selecting n such that in is the
maximum element in i .
266
Chapter 4
y, u
P*
x*
EI constant
x
L
FIGURE E4.5a
Consider the simply supported beam shown in Figure E4.5a. The modal
shapes and frequencies for the case where the cross sectional properties are constant and the transverse shear deformation is negligible are
nx
n ( x ) = sin ---------L
(1)
EI n 4
n2 = ------- ------
m L
(2)
n = 1, 2 ,
We obtain a set of N equations in terms of N modal coordinates by expressing
the transverse displacement, u(x, t), as
N
u =
q i ( t )j ( x )
(3)
j=1
and substituting for u in the principle of virtual displacements specialized for negligible transverse shear deformation [see Eq. (2.157)],
L
M dx
= b u dx
(4)
Substituting for ,
2
d
( u )
dx2
(5)
Section 4.6
and taking
u = q j j
(6)
(7)
j = 1, 2, . . . , N
Lastly, we substitute for M and b in terms of and q and evaluate the integrals. The expressions for M and b are
N
M = EI = EI q l l, xx
(8)
l=1
N
b = m u + b ( x, t ) = m l q l + b ( x, t )
(9)
l=1
j k dx
L
= jk ---2
(10)
0
L
j, xx k, xx dx
j 4 L
= ----- jk --- L
2
(11)
(12)
where
L
j = ----------mm
2
(13)
j 4 L
k j = EI ----- --- L 2
(14)
p j =
jx
- dx
b sin ------L
0
(15)
268
Chapter 4
When the external loading consists of a concentrated force applied at the location x = x * (see Figure E4.5a), the corresponding modal load for the jth mode is
jx *
p j = P * sin ----------L
(16)
In this example, the force is considered to be due to a mass attached to the beam as
indicated in Figure E4.5b. The equations for the tuned mass and the force are
md ( u * + u d ) + k d u d + cd u d = 0
(17)
md ( u * + u d ) = P *
(18)
u* 1 ud
md
kd
cd
u*
x*
FIGURE E4.5b
Suppose we want to control the ith modal response with a tuned mass damper
attached at x = x *. Taking j equal to i in Eqs. (12) and (13), the ith modal equation
has the form
*
i qi + k i q i = ( k d u d + c d u d ) sin ix
m
----------L
(19)
(20)
(21)
Section 4.6
where
1
i
ie = --------------------------m
m
* 2
ix
sin -----------
(22)
The remaining steps utilize the results generated for the SDOF undamped structure
ie and k ie as the mass
damped TMD system considered in Section 4.3. We use m
and stiffness parameters for the primary system.
To illustrate the procedure, consider the damper to be located at midspan, and
the first mode is to be controlled. Taking i = 1 and x * = L 2, the corresponding
parameters are
ix *
sin ----------- = 1
L
(23)
L
ie = m
1 = ----------mm
2
(24)
EIL 4
k ie = k 1 = ----------- ----
2 L
(25)
We specify the equivalent damping ratio, e , and determine the required mass ratio
from Figure 4.32. For example, taking e = 0.06 requires m = 0.03. The other
parameters corresponding to m = 0.03 follow from Figures 4.29, 4.30, and 4.31.
(26)
(27)
opt
= 0.105
u d
-----* = 5
u
(28)
Using these parameters, the corresponding expression for the damper properties are
1
m d = 0.03m
(29)
d = 0.965 1
(30)
k d = d2 m d
(31)
c d = 2 d d m d
(32)
270
Chapter 4
(33)
E = 2 10 11 N m 2
The beam parameters are
1 = 10, 000 kg
m
1 = 9.87 rad s
(34)
(35)
c d = 599.8 N s m
The total mass of the girder is 20,000 kg. Adding 300 kg, which is just 1.5% of the
total mass, produces an effective damping ratio of 0.06 for the first mode response.
The mode shape for the second mode has a null point at x = L/2, and therefore
locating a tuned mass at this point would have no effect on the second modal
response. The optimal locations are x * = L 4 and x * = 3L 4 . Taking x * = L 4
and i = 2, we obtain
ix *
sin ----------- = 1
L
(36)
L
2 = ----------m 2e = m
m
2
(37)
4
k 2e = k 2 = 8EIL ----
L
(38)
16EI 4
22 = ------------- ----
m L
(39)
The procedure from here on is the same as before. We specify e and determine the
required mass ratio and then the frequency and damping parameters. It is of interest
to compare the damper properties corresponding to the same equivalent damping
ratio. Taking e = 0.06, the damper properties for the example steel beam are
Section 4.7
271
(40)
m d = 300 kg
k d = 435, 440 N m
(41)
c d = 2400 N s m
(42)
The required damper stiffness is an order of magnitude greater than the corresponding value for the first mode response.
CASE STUDIES: MDOF SYSTEMS
This section presents shear deformation profiles for the standard set of building
examples defined in Table 2-4. A single TMD is placed at the top floor and tuned to
either the first or second mode. The structures are subjected to harmonic ground
acceleration with a frequency equal to the fundamental frequency of the buildings,
as well as scaled versions of El Centro and Taft ground accelerations. As expected,
significant reduction in the response is observed for the harmonic excitations (see
Figures 4.46 through 4.49). The damper is generally less effective for seismic excitation versus harmonic excitation (see Figures 4.50 through 4.61). Results for the low
period structures show more influence of the damper, which is to be expected since
the response is primarily due to the first mode. This data indicates that a TMD is
not the optimal solution for controlling the motion due to seismic excitation.
1
Building 1
Quadratic based
Initial
H 5 25 m
rm 5 20,000 kg/m
0.9
0.8
0.6
s 5 0.15
Sv 5 1.2 m/s
j 1 5 2%
0.5
Harmonic
TMD Mode 1
x
H
0.7
Normalized height
4.7
0.4
0.3
0.2
0.1
0
#*
0.001
0.002
FIGURE 4.46:
0.003
0.004
0.005
0.006
0.007
Maximum shear deformation # (m/m)
m 5 0%
m 5 1%
m 5 2%
m 5 5%
0.008
0.009
0.01
Chapter 4
1
Building 2
Quadratic based
Initial
H 5 50 m
rm 5 20,000 kg/m
s 5 0.25
Sv 5 1.2 m/s
j 1 5 2%
Harmonic
TMD Mode 1
0.9
0.8
Normalized height
x
H
0.7
0.6
0.5
0.4
0.3
0.2
m 5 0%
m 5 1%
m 5 2%
m 5 5%
0.1
0
#*
0.001
0.002
FIGURE 4.47:
0.008
0.009
0.01
1
Building 3
Quadratic based
Initial
H 5 100 m
rm 5 20,000 kg/m
s 5 0.40
Sv 5 1.2 m/s
j 1 5 2%
Harmonic
TMDMode 1
0.9
0.8
x
H
0.7
Normalized height
272
0.6
0.5
0.4
0.3
0.2
0.1
0
#*
0.001
0.002
FIGURE 4.48:
m 5 0%
m 5 1%
m 5 2%
m 5 5%
0.008
0.009
0.01
Section 4.7
1
Building 4
Quadratic based
Initial
H 5 200 m
rm 5 20,000 kg/m
s 5 0.63
Sv 5 1.2 m/s
j 1 5 2%
Harmonic
TMDMode 1
0.9
0.8
Normalized height
x
H
0.7
0.6
0.5
0.4
0.3
0.2
m 5 0%
m 5 1%
m 5 2%
m 5 5%
0.1
0
#*
0.001
0.002
0.003
0.004
0.005
0.006
0.007
0.008
0.009
0.01
FIGURE 4.49:
1
Building 1
Quadratic based
Initial
H 5 25 m
rm 5 20,000 kg/m
s 5 0.15
Sv 5 1.2 m/s
j 1 5 2%
El Centro
TMD Mode 1
0.9
0.8
Normalized height
x
H
0.7
0.6
0.5
0.4
0.3
0.2
0.1
0
#*
0.001
0.002
FIGURE 4.50:
m 5 0%
m 5 1%
m 5 2%
m 5 5%
0.008
0.009
0.01
273
Chapter 4
1
Building 1
Quadratic based
Initial
H 5 25 m
rm 5 20,000 kg/m
s 5 0.15
Sv 5 1.2 m/s
j 1 5 2%
Taft
TMD Mode 1
0.9
0.8
Normalized height
x
H
0.7
0.6
0.5
0.4
0.3
0.2
m 5 0%
m 5 1%
m 5 2%
m 5 5%
0.1
0
#*
0.001
0.002
0.003
0.004
0.005
0.006
0.007
0.008
0.009
0.01
FIGURE 4.51:
1
Building 2
Quadratic based
Initial
H 5 50 m
rm 5 20,000 kg/m
s 5 0.25
Sv 5 1.2 m/s
j 1 5 2%
El Centro
TMD Mode 1
0.9
0.8
x
H
0.7
Normalized height
274
0.6
0.5
0.4
0.3
0.2
0.1
0
#*
0.001
0.002
FIGURE 4.52:
m 5 0%
m 5 1%
m 5 2%
m 5 5%
0.008
0.009
0.01
Section 4.7
275
1
Building 2
Quadratic based
Initial
H 5 50 m
rm 5 20,000 kg/m
s 5 0.25
Sv 5 1.2 m/s
j 1 5 2%
Taft
TMD Mode 1
0.9
0.8
Normalized height
x
H
0.7
0.6
0.5
0.4
0.3
m 5 0%
m 5 1%
m 5 2%
m 5 5%
0.2
0.1
0
#*
0.001
0.002
FIGURE 4.53:
0.008
0.009
0.01
1
Building 3
Quadratic based
Initial
H 5 100 m
rm 5 20,000 kg/m
s 5 0.40
Sv 5 1.2 m/s
j 1 5 2%
El Centro
TMDMode 1
0.9
0.8
Normalized height
x
H
0.7
0.6
0.5
0.4
0.3
m 5 0%
m 5 1%
m 5 2%
m 5 5%
0.2
0.1
#*
0.001
0.002
FIGURE 4.54:
0.008
0.009
0.01
276
Chapter 4
1
0.9
Building 3
Quadratic based
Initial
H 5 100 m
rm 5 20,000 kg/m
s 5 0.40
Sv 5 1.2 m/s
j 1 5 2%
Taft
TMD Mode 1
0.8
Normalized height
x
H
0.7
0.6
0.5
0.4
0.3
m 5 0%
m 5 1%
m 5 2%
m 5 5%
0.2
0.1
0
#*
0.001
0.002
0.003
0.004
0.005
0.006
0.007
0.008
0.009
0.01
FIGURE 4.55:
1
Building 3
Quadratic based
Initial
H 5 100 m
rm 5 20,000 kg/m
s 5 0.40
Sv 5 1.2 m/s
j 1 5 2%
El Centro
TMD Mode 2
0.9
0.8
Normalized height
x
H
0.7
0.6
0.5
0.4
0.3
0.2
0.1
#*
0.001
0.002
FIGURE 4.56:
m 5 0%
m 5 1%
m 5 2%
m 5 5%
0.008
0.009
0.01
Section 4.7
277
1
0.9
Building 3
Quadratic based
Initial
H 5 100 m
rm 5 20,000 kg/m
s 5 0.40
Sv 5 1.2 m/s
j 1 5 2%
Taft
TMD Mode 2
0.8
Normalized height
x
H
0.7
0.6
0.5
0.4
0.3
m 5 0%
m 5 1%
m 5 2%
m 5 5%
0.2
0.1
0
#*
0.001
0.002
0.003
0.004
0.005
0.006
0.007
0.008
0.009
0.01
FIGURE 4.57:
1
0.9
Building 4
Quadratic based
Initial
H 5 200 m
rm 5 20,000 kg/m
s 5 0.63
Sv 5 1.2 m/s
j 1 5 2%
El Centro
TMD Mode 1
0.8
Normalized height
x
H
0.7
0.6
0.5
0.4
0.3
m 5 0%
m 5 1%
m 5 2%
m 5 5%
0.2
0.1
#*
0.001
0.002
FIGURE 4.58:
0.008
0.009
0.01
278
Chapter 4
1
0.9
Building 4
Quadratic based
Initial
H 5 200 m
rm 5 20,000 kg/m
s 5 0.63
Sv 5 1.2 m/s
j 1 5 2%
Taft
TMD Mode 1
0.8
Normalized height
x
H
0.7
0.6
0.5
0.4
0.3
m 5 0%
m 5 1%
m 5 2%
m 5 5%
0.2
0.1
0
#*
0.001
0.002
FIGURE 4.59:
0.008
0.009
0.01
1
0.9
Building 4
Quadratic based
Initial
H 5 200 m
rm 5 20,000 kg/m
s 5 0.63
Sv 5 1.2 m/s
j 1 5 2%
El Centro
TMDMode 2
0.8
Normalized height
x
H
0.7
0.6
0.5
0.4
0.3
m 5 0%
m 5 1%
m 5 2%
m 5 5%
0.2
0.1
#*
0.001
0.002
FIGURE 4.60:
0.008
0.009
0.01
Problems 279
1
Building 4
Quadratic based
Initial
H 5 200 m
rm 5 20,000 kg/m
s 5 0.63
Sv 5 1.2 m/s
j 1 5 2%
Taft
TMDMode 2
0.9
0.8
Normalized height
x
H
0.7
0.6
0.5
0.4
0.3
m 5 0%
m 5 1%
m 5 2%
m 5 5%
0.2
0.1
#*
0.001
0.002
FIGURE 4.61:
0.008
0.009
0.01
PROBLEMS
Problem 4.1
Verify Eqs. (4.13) through (4.17). Hint: Express p, u, and ud in complex form
p = p e it
u = ue it
u d = u d e it
and solve Eqs. (4.6) and (4.7) for u and u d . Then take
u = u e i1
u d = u d e i ( 1 + 2 )
= d =
280
Chapter 4
Problem 4.2
Refer to Eqs. (4.14) and (4.20). Express e as a function of m , , and u u d .
Take = 0.05 , and plot e versus m for a representative range of the magnitude
of the displacement ratio, u u d .
Problem 4.3
Figure 4.7 illustrates an active tuned mass damper configuration. The damper
can be modeled with the 2DOF system shown in Figure P4.3. The various terms are
as follows: u s is the total displacement of the support attached to the floor beam;
F a is the self-equilibrating force provided by the actuator; m d, k d, c d are parameters for the damper mass; k a and m a are parameters for the auxillary mass.
kd
ka
R
Fa
cd
ma
md
us 1 ud
us
us 1 ud 1 ua
FIGURE P4.3
Fa = ca ud
Specialize the equations for this case. How would you interpret the contribution of
the actuator force to the governing equation for the damper mass?
Problem 4.4
Design a pendulum damper system having a natural period of 6 seconds and
requiring less than 4 meters of vertical space.
Problems 281
Problem 4.5
L1
m1
L2
m2
FIGURE P4.5
The pendulum shown in Figure P4.5 is connected to a second mass, which is
free to move horizontally. The connection between mass 1 and mass 2 carries only
shear. Derive an equation for the period of the compound pendulum and the length
of an equivalent simple pendulum. Assume the links are rigid.
Problem 4.6
Refer to Figure 4.12. Establish the equations of motion for the mass, m d , considering to be small. Verify that the equivalent stiffness is equal to W d R .
Problem 4.7
Refer to Figure 4.15 and Eq. (4.76). Derive the corresponding expression for
P, Q starting with Eq. (4.62) and using the same reasoning strategy. Considering
the mass ratio, m , to be less than 0.03, estimate the difference in the optimal
values for the various parameters.
H1
Problem 4.8
Generate plots of H 1 versus for d ranging from 0 to 0.2, m = 0.01, and
f = 0.9876 . Compare the results with the plots shown in Figure 4.23.
Problem 4.9
Consider a system composed of an undamped primary mass and a tuned mass
damper. The solution for periodic force excitation is given by [see Eqs. (4.52) to (4.71)]
282
Chapter 4
u = ue it
(1)
u d = u d e it
(2)
p
u = --- H 1 e i1
k
(3)
p
u d = --- H 3 e i3
k
(4)
2 2
[ f ] + [ 2 d f ]
H 1 = -------------------------------------------------------D2
(5)
H 3 = ---------D2
D2 =
(6)
2
2 2 2
( [ 1 ] [ f ] m f ) + ( 2 d f [ 1 ( 1 + m ) ] )
(7)
The formulation for the optimal damper properties carried out in Section 4.3
was based on minimizing the peak value of H1 (actually H2 but H1 behaves in a similar way) (i.e., on controlling the displacement of the primary mass). Suppose the
design objective is to control the acceleration of the primary mass. Noting Eqs. (1)
and (3), the acceleration is given by
u = a = ae it
(8)
p 2
a = ---------- H 1 e i ( 1 + )
k
(9)
(10)
H1 = 2 H 1
(11)
where
Problems 283
Problem 4.10
Design a TMD for a damped SDOF system having = 0.02 . The design
motion constraints are
(a)
H5
opt
< 10
H7
---------------- < 5
H5
opt
(b)
H5
opt
<5
H7
---------------- < 5
H5
opt
u d u = 5
284
Chapter 4
(a) Determine the damper properties such that the equivalent damping
ratio for the fundamental mode is 0.16. Use the values of m, k, c from
Example 3.7. Assume stiffness proportional damping for c.
(b) Consider the tuned mass damper to be a pendulum attached to m 5
(Figure P4.12). Determine m d and L for the damper properties established in part (a).
u5
m5
L
k 5, c 5
md
FIGURE P4.12
(c) Repeat part (a) for the case where the mass damper is tuned for the second mode rather than for the first mode, and the desired equivalent
modal damping ratio is 0.3. Use the same values of m, k , c and assume
stiffness proportional damping.
Problem 4.13
Consider a cantilever shear beam with the following properties:
H = 50 m
0.6x
5
D T = 8 10 1 ---------- kN
H
(a) Model the beam as a 10DOF discrete shear beam having 5 m segments.
Determine the first three mode shapes and frequencies. Normalize the
mode shapes such that the peak amplitude is unity for each mode.
(b) Design tuned mass dampers to provide an effective modal damping ratio
of 0.10 for the first and third modes. Take 1 = 0.02 and assume modal
damping is proportional to stiffness.
Note: You need to first establish the optimal location of the tuned mass
dampers for the different modes.
Problem 4.14
Consider a simply supported steel beam having the following properties:
Problems 285
L = 30 m
m = 1500 kg m
I = 1 10
m4
(a) Design tuned mass damper systems that provide an equivalent damping
of 0.05 for each of the first three modes.
(b) Repeat part (a) with the constraint that an individual damper mass cannot exceed 300 kg. Hint: Utilize symmetry of a particular mode shape to
locate a pair of dampers whose function is to control that mode.
Problem 4.15
15 m
15 m
Constant EI
W
u1
FIGURE 4.15
Consider the simply supported beam shown in Figure P4.15. The beam has a
uniform weight of 15 kN/m and a concentrated weight at midspan of 100 kN. The
flexural rigidity is constant and equal to 200,000 kN-m2.
(a) Assume the first mode can be approximated by:
u = u 1 sin ---- x
L
Determine the governing equation for u 1 using the principle of virtual
displacements.
(b) Design a tuned mass damper to provide an equivalent damping ratio of
0.05 for the first mode. Assume no damping for the beam itself.
(c) Will the damper designed in part (b) be effective for the second mode?
Explain your answer.
Problem 4.16
Refer to Problem 3.25, part (b). Suggest a tuned mass damper for generating
the required energy dissipation.