Professional Documents
Culture Documents
CONTENTS
Structural Control
for Civil Engineering
Applications
Hyung-Jo Jung
Overview
Passive Control
Active Control
Hybrid Control
Semi-active Control
Summary
Overview
OVERVIEW
Background
Civil Structures: Long-span Bridges
l Background
l Motive
of Structural Control
l Distinctive
l Evolution of
Structural Control
l Classification
of Structural Control
Overview
Overview
Background
Span
[m]
Country
Cable-stayed Bridges
Suspension Bridges
No.
Background
Year
Akashi-Kaikyo
1991
Japan
1998
Xihoumen
1650
China
2009
Denmark 1998
No.
Bridge
Russky
Span
[m]
1104
Sutong
Stonecutters
Country
Year
Russia
2012
1088
China
2008
1018
China
2009
1624
Gwangyang
1545
Korea
2012
Edong
926
China
2009
Runyang South
1490
China
2005
Tatara
890
Japan
1999
Nanjing-4
1418
China
2013
Pont de Normandie
856
France
1995
Humber
1410
UK
1981
Jingsha
816
China
2009
Jiangyin
1385
China
1999
Incheon
800
Korea
2009
Tsing Ma
1377
China
1997
Chongming
730
China
2009
10
Hardanger
1310
Norway
2013
10
Minpu
708
China
2009
2010-07-22
Overview
Background
Overview
Background
Vibration Problem of Structures
Excitation
Structure
Input
System
Response
Output
Displacement (Safety)
Acceleration (Serviceability)
Overview
Overview
Background
Background
Northridge Earthquake, 1994
Seismically-excited Structures
72 deaths,
10
Overview
Overview
Background
Background
Sichuan Earthquake, China (2008)
12
2010-07-22
Overview
Background
Overview
Wind-excited Structures
Sumatra-Andaman
(Indonesia, 2004)
2500 dead
10,000 injured
100,000 homeless
20,000dead
>$6B damage
India (2001)
Background
230,000 dead
125,000 injured
1.69 m homeless
20,000 (official)
90,000 (unofficial)
dead
1 death (heart)
400 injured
$1B--$2B damage
$1B
13
14
Overview
Overview
Background
Background
Wind-excited Structures
Wind-induced vibration
Period of Phenomenon @ Period of Structure
(Resonance)
15
Overview
Background
Overview
Wind-excited Structures
16
Background
Human-excited Structures
After completion of the superstructure, oscillation with an amplitude over 0.5 m was observed.
To suppress it,
17
17
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2010-07-22
Overview
Background
Overview
Human-excited Structures
l Increased flexibility
the trend toward taller, longer and more flexible structures
(www.arup.com/MillenniumBridge/)
19
20
Overview
Overview
l Classification of
Control
Structural
Viscoelastic damper
Passive Control
Friction damper
Energy dissipation
Energy transfer
TMD
TLD
Structural Control
Base isolation
TLCD
Hybrid Control
Active base-isolation
ER damper
Controllable fluid damper
MR damper
21
Overview
l Classification of
Structural
l Classification of
Structural
22
Overview
Control
Control
Active Control
non-controllable
no power required
controllable
significant power required
Semi-active Control
controllable
little power required
23
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2010-07-22
l Classification of
Overview
Structural
Overview
l Evolution of
Control
Applicable range of structural control systems
Structural Control
25
26
Overview
l Evolution of
Structural Control
PASSIVE CONTROL
l Introduction
l Metallic
Yield Dampers
l Friction
Dampers
l Viscoelastic
l Viscous
~1970s
Active
control
1970s ~ 1990s
Semi-active
control
1990s ~ 2000s
Semi-active
control???
l Base
Dampers
Energy transfer
Isolation Systems
27
28
Passive Control
Passive Control
l Introduction
l Introduction
PED*
Excitation
Dampers
l Tuned Liquid
2010s ~
Energy dissipation
Fluid Dampers
l Tuned Mass
Passive
control
Dampers
Structure
Passive Damper
Base Isolation
* PED: passive energy dissipation
l It is inherently stable.
30
2010-07-22
Passive Control
l Introduction
Passive Control
l Introduction
Theoretical Behavior of Different Types of Dampers
(Force-Displacement Response)
Metallic damper
Friction damper
Viscoelastic damper
Fluid damper
frictional sliding
yielding of metals
phase transformation in metals
deformation of viscoelastic solids or fluids
fluid orificing
31
32
Passive Control
l Introduction
Energy
Energy
kinetic energy
Passive Control
damping energy
strain energy from
elastic deformation
Time(sec)
Time(sec)
without Damper
with Damper
33
34
Passive Control
Passive Control
Plate-type
ADAS
ADAS
Installation
P
ADAS
Behavior of a damper:
Bending under horizontal load
The area within the hysteresis loops measures the amount of dissipated energy.
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2010-07-22
Passive Control
38
37
38
Passive Control
lFriction Dampers
l Friction:
an excellent mechanism for energy dissipation
used for many years in automotive brakes to dissipate kinetic energy
39
40
Passive Control
lFriction Dampers
Passive Control
lFriction Dampers
l Rotational Friction Damper
l Pall-Friction Damper
Steel Plate
Hinge
Steel Plate
Bolt
Hard Steel Washer
Nut
Friction Pad Material
Disc Springs
41
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2010-07-22
Passive Control
lFriction Dampers
Passive Control
lViscoelastic Dampers
Force
Tension
Rotation
Rotation
Tension
Tension
This new friction damper device is based on rotational friction and designed to:
be stable in performance over many cycles
be compact
be easy to manufacture
be fast and simple to install (no need for a qualified staff)
be requiring little or no maintenance
be inexpensive
43
44
Passive Control
lViscoelastic Dampers
Typical Viscoelastic Damper
F/2
Center plate
F/2
Passive Control
lViscoelastic Dampers
l World Trade Center in New York (1969)
Steel flange
Steel
flange
Center
plate
VE Material
VE Material
F
P
Steel
Plate
Visco-elastic
Viscodamper
Viscoelastic
Material
Deformed
46
Passive Control
lViscoelastic Dampers
Passive Control
lViscoelastic Dampers
l The Two Union Square Building in Seattle (1988)
VE Damper
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2010-07-22
Passive Control
lViscoelastic Dampers
lViscoelastic Dampers
l Full-scale 5 story steel tower
Visco-elastic
Material
wide beam
column
Brace Type
C Building
core wall
Visco--elastic Material
Visco
Steel
Plate
Shear
Force (Q)
Steel
Plate
Implementation
VE damper
of VE Damper
Shear
Force
(Q)
deformation
(d)
Thickness (t)
Shear Strain g = d/t
M Department Store
Wall Type
50
Copyright 2008 Shimizu Corporation, All Rights Reserved
49
Passive Control
Passive Control
Seismic fluid viscous damper, 50,000 pounds output Seismic fluid viscous dampers for large
highway bridge, 1.5 million pounds output
force
F = C0 X&
where C0 is independent of the frequency but dependent on ambient temperature
51
52
Passive Control
Passive Control
53
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2010-07-22
Passive Control
Passive Control
- The dampers are used for seismic protection of the roof during earthquakes.
- 3600 kN eight dampers with stroke of 381mm
55
56
Passive Control
Passive Control
k
m
x
- the forcing frequency (w) = the natural frequency of the main mass (wn=k/m)
the response is infinite (i.e., resonance)
it can cause severe problems for vibrating systems.
57
58
Passive Control
Passive Control
w < wn
w = wn
w > wn
m
ka
ma
x(t) = Xsin wt = 0
xa(t) = Xasin wt = -(F0/ka)sin wt
59
undamped classical
tuned mass damper
60
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2010-07-22
Passive Control
Passive Control
TMD
displacement
- The blue dashed curve: the displacement response of the undamped main mass alone.
- The blue curve: the displacement of the main mass after undamped TMD has been attached.
(A TMD mass (20% of the main mass) is tuned to the resonance frequency of the main mass.)
- The red curve: the displacement of the absorber mass.
- Notes:
(1) the main mass has zero displacement at the original problem frequency.
(2) there are now two new resonance frequencies.
(3) the displacement of the TMD mass is infinite at the same two resonance frequencies.
(4) the response at the target frequency is finite (approximately 4.8).
61
62
Passive Control
Passive Control
63
64
Passive Control
l Supplementary damping
Towers: not necessary
Sky bridge: 3 TMDs per each leg. (73 kg ea)
Pinnacles: simple chain impact dampers
Pinnacle TMDs
TMD
Building TMD 66
65
66
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2010-07-22
Passive Control
l Pinnacle TMDs
67
CSA
68
CSA
70
69
CSA
70
Passive Control
5.18
4.95
l T = 5.18 sec
l Drift = 9.7 in. = h/940
l Acceleration = 20.7 mg
4.87
acceleration[gal]
3.41
3.1
2
2.98
3.41
3.41
2.94
3
2
1
l Acceleration = 15 mg
No.101
No.103
without TMD
with TMD
No.105
ISO6897
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2010-07-22
Passive Control
Passive Control
TLCD
(Tuned Liquid
Column Damper)
TSD
(Tuned Sloshing
Damper)
73
74
75
76
Passive Control
Passive Control
0.5
-0.5
77
Acc. (m/sec2)
Uncontrolled
Controlled
20
40
Time (sec)
60
80
Uncontrolled
Controlled
0.4
0.3
0.2
Period shift
Damping
effect
Displacement
0.5
Acceleration
Period shift
Damping
effect
0.1
0
1
2
Frequency (Hz)
Test Results
(POSCO E&C and RIST, Korea)
Period
Acceleration response spectrum
Period
Displacement response spectrum
78
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2010-07-22
Passive Control
Passive Control
80
Passive Control
Passive Control
81
82
Passive Control
Passive Control
LRB is used to increase the vibration period and damp the vibration.
83
84
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2010-07-22
Passive Control
Passive Control
Function
(2) Horizontal elasticity function (prolonged oscillation period)
- Earthquake vibration is converted to low speed motion
86
Passive Control
Passive Control
USC Hospital
LA City Hall
New LA Cathedral
(under construction)
- As the layers of rubber are distorted, the lead plug is plastically deformed, which
absorbs the earthquake energy and quickly damps the vibration.
rubber bearings
bearings in basement
Passive Control
88
Passive Control
Base-isolated Condominiums
89
90
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2010-07-22
Passive Control
Passive Control
91
92
Active Control
Active Control
ACTIVE CONTROL
Introduction
Active Control Systems
l Introduction
Structure
Excitation
Response
l Actuators
l Control Algorithms
Feedforward
Link
l Full-scale Applications
Control Actuators
Sensors
Computer
Feedback
Link
Sensors
93
94
Active Control
Introduction
Active Control Systems
Introduction
Active Control Systems
Actuator
Sensor
Sensors
m
Actuator
Active Bracing
Active Control
Control Computer
95
96
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2010-07-22
Active Control
Introduction
Active Control
Introduction
l Active structural control is still very useful for reducing windinduced vibrations in bridges and buildings
97
98
Active Control
Introduction
Active Control
Introduction
Arrangement of AMD
2 translational
z act (t )
1 translational &
rotational
2 translational &
rotational
z&&a3 (t )
z&&a2 (t )
z&&a1 (t )
Control
Computer/
DSP Board
z&&g (t )
100
Active Control
lControl Algorithms
Active Control
lFull-scale Applications
Kyobashi Seiwa Building (1989)
l Optimal Control
AMD-1
l Stochastic Control
Sensor
l Adaptive Control
AMD-2
Control
Computer
l Intelligent Control
Sensor
101
102
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2010-07-22
Active Control
Active Control
lFull-scale Applications
lFull-scale Applications
103
104
Active Control
Active Control
lFull-scale Applications
lFull-scale Applications
AMD for Wind Vibration Control of Building in Use
(2007)
-5
-10
500
1000
1500
Bending 23F Y-dir
2000
2500
3000
5
y uncont
y cont
AMD System
Acceleration
Gal
10
20
30
40
10
20
30
40
50
60
70
80
90
100
70
80
90
100
Acceleration
Gal
10
Unit No. 2 side
0
-10
50
60
20
Unit No. 1
0
-20
10
20
30
40
50
60
70
80
90
Unit No. 2
0
-20
10
20
30
40
50
Time s
60
70
80
90
100
-10
10
20
30
40
10
20
30
40
60
70
80
90
100
60
70
80
90
100
40
20
0
-20
-40
-5
500
1000
1500
Rotation 23F
2000
2500
3000
3
50
Unit No. 1
theta uncont
theta cont
1
0
10
20
30
40
50
60
70
80
90
100
-1
Unit No. 2
-2
0
10
20
Uncontrolled case
105
50
10
-10
40
20
0
-20
-40
100
20
Displacement
cm
-10
10
Displacement
cm
Displacement
cm
Displacement
cm
Acceleration
Gal
Acceleration
Gal
0
10
30
40
50
Time s
60
70
80
90
Controlled case
100
-3
-4
500
1000
1500
2000
2500
3000
Numerical Verification
106
Active Control
lFull-scale Applications
AMD for Wind Vibration Control of Building in Use
(2007)
HYBRID CONTROL
l Introduction
l Hybrid
Reinforcement
Lifting
l (Semi-)Active
Base Isolation
l Full-scale Applications
Assembling
Control Panel
Completion
108
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2010-07-22
Hybrid Control
lIntroduction
lIntroduction
PED
Structure
Excitation
Sensors
Response
Control Actuators
Feedforward
Link
Hybrid Control
Feedback
Link
Computer
Sensors
109
110
Hybrid Control
lIntroduction
Hybrid Control
Sensor
- compact
- efficient
- practically implementable
Sensors
Actuator
DUOX HMD
- high control efficiency
with a small actuator force
(Semi-)Active Base
Isolation
Control Computer
111
112
Hybrid Control
lFull-scale Applications
HMD for Air-traffic Control Tower (Incheon Intl Airport)
x
HMD1
HMD2
0.10
0.05
0.05
0.00
-0.05
-0.10
20
0.10
Acceleration (m/s )
Acceleration (m/s2)
TMD
mode
40
60
0.00
100
120
Shape
-0.05
Controlled by
HMD mode
Uncontrolled
80
Time (sec)
Hybrid Control
lFull-scale Applications
140
-0.10
20
40
60
80
100
120
140
Time (sec)
Signal w/ HMD
114
113
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2010-07-22
Experimental Setup
MR Damper
x&&g
116
Experimental Setup
f1 = 1.42 Hz (0.47 Hz), z 1 = 1.0%
0.4
0.2
0
-0.2
-0.4
Max: 0.2g
(0.44g for full scale)
0
10
Without damper
Acceleration [g]
Optimal passive
(constant voltage)
0.15
0.1
0.05
0
-0.05
-0.1
-0.15
Smart damping
28 % reduction (Peak)
29 % reduction (RMS)
0
10
Structural Acceleration
46 % reduction (Peak)
59 % reduction (RMS)
117
SEMI-ACTIVE CONTROL
Acc. [g]
Max: 0.07g
(0.15g for full scale)
0
Acceleration [g]
118
10
l Introduction
Without damper
Optimal passive
(constant voltage)
0.04
Smart Damper
0.02
0
49 % increase (Peak)
49 % increase (RMS)
-0.02
-0.04
0
l MR
l MR
l Control of Cable
10
l Limitation
Structural Acceleration
Vibration
of Semi-active Control
37 % reduction (Peak)
49 % reduction (RMS)
(B.F. Spencer, Jr. (UIUC))
119
120
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2010-07-22
Semi-active Control
lIntroduction
Semi-active Control
lIntroduction
Semi-active Control Devices
Excitation
Response
PED
Definition
cannot inject mechanical energy into the controlled structure,
but has properties that can be controlled to optimally reduce
the responses of the system
have no potential to destabilize the structural system
(Bounded Input-Bounded Output stability)
Control Actuators
Sensors
Computer
Sensors
121
122
Semi-active Control
lIntroduction
Semi-active Control
lIntroduction
Smart Damping?
Sensor
MR elastomer
MR damper
Semi-active damper
Semi-active TMD
Control Computer
Control Computer
123
124
Semi-active Control
Semi-active Control
lIntroduction
lIntroduction
Smart Damping?
Smart Damping?
125
126
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2010-07-22
Semi-active Control
lIntroduction
Semi-active Control
lIntroduction
Full-scale Applications
Full-scale Applications
lK-Building
lR-Building
238.05m, 54 story
Semi-active
hydraulic damper: 88
Semi-active
hydraulic dampers: 356
127
128
Semi-active Control
MR Dampers
l Magnetorheological (MR) dampers are semi-active control
devices that use MR fluids to produce controllable dampers.
l Attractive features:
Semi-active Control
Annular Orifice
129
130
Semi-active Control
Semi-active Control
x&&a 2
Current
Driver
x&&a1
f , xd
x&&g
Control
Computer
Rheonetic SD-1000
MR Damper
131
Height: 158 cm
Mass: 304 kg
Measured Response
75% reduction in peak displacements
50% reduction in peak accelerations
30% better response reduction than when
device is operated in passive capacity
132
(B.F. Spencer, Jr., UIUC)
22
2010-07-22
Semi-active Control
Semi-active Control
Nihon-Kagaku-Miraikan, Tokyo
National Museum of Emerging Science a
nd Innovation
134
Semi-active Control
Semi-active Control
Existing solutions:
20
-10
0
1000
2000
3000
Out-of-plane accelerometer
MR damper
1000
2000
2000
3000
Time (s)
10
-20
3000
A11
(With Twin-damper)
-10
0
1000
Time (s)
2000
3000
Time (s)
20
2
10
0
-10
0
1000
2000
II
1000
20
-20
New Solution
Acceleration (m/s )
0
-10
Displacement transducer
(without damper)
20
10
-20
In-plane accelerometer
Time (s)
A10
10
-10
-20
20
Bridge Deck
Acceleration (m/s )
10
-20
Acceleration (m/s )
Dampers
Acceleration (m/s )
Acceleration (m/s )
20
Acceleration (m/s )
Standard
Solution
In-plane
3000
10
A12
(without damper)
-10
-20
1000
Time (s)
2000
3000
Time (s)
Out-of-plane
Semi-active Control
Single Damper
Semi-active Control
Without Damper
0.70
0.60
0.50
0.40
0.30
0.20
0.10
0.00
8
Voltage (v)
12
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2010-07-22
Semi-active Control
Semi-active Control
139
140
Semi-active Control
SUMMARY
Proposed system
current
Induced
current
power source
command
MR Damper
MR Damper
controller
damper
deformation
sensor
magnetic
field
EMI system
Control System
8
uncontrolled
4
0
-4
-8
0
10
12
14
time (sec)
1.6
0.8
0
-0.8
-1.6
0
10
12
14
time (sec)
142
REFERENCES
u Spencer,
143
24