Engineering Structures, Vol. 17, No. 9, pp.

655~67, 1995
[]UTTERWORTH Elsevier Science Ltd
[] EINEMANN Printed in Great Britain
0141-0296(95)00035-6 0141~)296/Q5 $10.00 + 0.0(1

Performance of tuned mass

dampers under wind loads
K. C. S. Kwok
School of Civil and Mining Engineering, The Universi~, of Sydney, Sydney, NSW 2006,
Australia

B. Samali
Graduate School of Engineering, Universi~ of Technology, Sydney, P.O. Box 123,
Broadway, NSW 2007, Australia

The performance of both passive and active tuned mass damper

(TMD) systems can be readily assessed by parametric studies
which have been the subject of numerous research. The results of
those parametric studies are invaluable in the selection of optimum
TMD parameters. Few experimental verifications of TMD theory
have been carried out, particularly those involving active control,
but the results of those experiments generally compared well with
those obtained by parametric studies. Despite some serious design
constraints, a number of passive and active tuned mass damper
systems have been successfully installed in tall buildings and other
structures to reduce the dynamic response due to wind and earth-
quakes. The results of extensive full-scale measurement programs
conducted on a significant number of these clearly show the effec-
tiveness of the systems.

Keywords: tall buildings, wind-induced response, damping, tuned

mass dampers, active mass dampers

1. Introduction scale verifications, of mass damper performance under

A significant number of tall buildings and towers, parti-
cularly in Japan, are fitted with a variety of passive and
active vibration control devices to reduce the dynamic
response caused by environmental loads such as wind and
earthquake. Although it is not yet routine design practice
to design damping capacity into a structural system, or to
consider the need for other mechanical means to increase
the damping capacity of a building, this has become
increasingly more common in the new generation of tall
and super tall buildings. The selection of a particular type
of vibration control device is governed by a number of fac-
tors which include efficiency, compactness and weight,
capital cost, operating cost, maintenance requirements and
safety. To reduce wind-induced response of tall structures,
particularly in relation to acceleration response with respect
to human comfort requirement, mass dampers, in either
passive, active or hybrid form, are the most frequently used
devices with over 20 major installations in buildings and
observation towers worldwide.
This paper presents a brief description of the theory of
passive and active tuned mass dampers. Recent advances
in mass damper design and their practical applications are
reviewed. Experimental verifications, and in particular full-
wind loading are presented.
2. Tuned mass dampers (TMD)
2.1. Theom.
Vibration absorber systems such as tuned mass dampers
(TMD) have been widely used for vibration control in
mechanical engineering systems ~,2. In recent years, TMD
theory has been adopted to reduce vibrations of tall build-
ings and other civil engineering structures. Basically, a
TMD is a device consisting of a mass attached to a building
or structure as shown in Figure 1, such that it oscillates at
the same frequency as the structure but with a phase shift.
The mass is usually attached to the building via a spring-
dashpot system and energy is dissipated by the dashpot as
relative motion develops between the mass and the struc-
ture.
Consider a one-degree-of-freedom system fitted with a
tuned mass damper, as shown in Figure 1. The equations
of motion of the resultant two-degree-of-freedom system
subjected to an external excitation F can be written in
the form
m13~1+klXl +cik+k2(xl-x2)+c2(kl-.t2)--F (I)

655
656 Performance o f tuned mass dampers under wind loads: K. C. S. Kwok and B. Samali

X2 (t)
1.0 1 i I I [ i I i 1

t,
¢.-.,
F(t) -.,--0.007 - ~
/

ill/x,,
klS/
/¢/,4",,~///,¢~v///~N~t///~//zx\
/ ~-.=_

~5
Figure I One-degree-of-freedom system fitted with TMD

)/
. _ t.t.

m222 + k2(x2 - x ] ) + c2(x2 - x , ) = 0 (2)

in which
ml
m2
mass of main system
mass of tuned mass damper
005 1.0 1.5
kl stiffness of main system
Frequency Tuning Ratio w2
k2 stiffness of tuned mass damper
Cl damping capacity of main system la) Effective Damping .~e
c2 damping capacity of tuned mass damper
xl = xl(t) response of main system
x2 = x2(t) response of tuned mass damper
1st time derivative
1.0
._._05-~
' '__.2.--- -~- I ' '

2nd time derivative

It follows that
wl natural frequency of main system = ~(kl/m~) E
g
~o2 natural frequency of tuned mass damper =
4(kz/m2)
The effectiveness of a TMD can be evaluated in terms
~,~ 05
of an effective damping. By replacing the two-degree-of- Zl
freedom system (with the tuned mass damper) with an O
equivalent one-degree-of-freedom system shown in Figure
2, an effective damping G of the equivalent system can be ._.~ u..

defined as the viscous damping required to sustain the same

magnitude of response under the same excitation. Once the / \\
external excitation is defined, the effective damping and the
relative movement of a TMD can be readily determined.

2.2. Parametric study

0 0.5 1.0 1.5
Frequency Tuning Ratio w._L
The performance of a tuned mass damper system in build- u~
ings and other structures can be readily assessed by para- (b) Relative Hovement of Tuned Hass Damper
metric studies. It is common practice to study the structure-
damper system under sinusoidal and white noise excitations Figure 3 Effective damping and relative movement of TMD for
mass ratio of 0.02
which are regarded as the two extremes of narrow-band and
wide-band excitations, respectively. For example, under
random excitation, the values of effective damping and nor- the effective damping ~e provided by the TMD, which may
malized relative movement for a mass ratio of 0.02 are
be obtained from design charts such as those shown in Fig-
shown in Figure 3 as a function of frequency tuning ratio ure 3. That is,
and the damping capacity of the TMD.
For a lightly-damped building fitted with a tuned mass
if, = ~, + if,, (3)
damper, the total effective damping if, of the building can
be taken as the linear sum of the structural damping ~, and The effectiveness of a TMD on the response of a one-
degree-of-freedom system can be readily extended to con-
tinuous structures such as tall buildings by using a modal
x, ( , ) ~ ~ / e ~ ' ' ~ F(t) approach. Parametric studies have been conducted by Xu

y,#/
////ZN ~///,e,~///se, Y/Z/A', ~///,Cv~f¢/~ \
et al. 3'4 and Kawaguchi et al. 5 in which empirical wind
force functions were employed to study the performance of
TMD in reducing the wind-induced alongwind and cross-
wind response of tall buildings and structures. It has been
Figure2 Equivalent one-degree-of-freedom system for main shown that while there were significant reductions in
system fitted with TMD responses for the particular modes of vibration being con-
Performance of tuned mass dampers under wind loads: K. C. S. Kwok and B. Samali
trolled, the higher modes were unaffected. Those higher
modes of vibration may become the dominant modes of
vibration whose control, if necessary, would require separ-
ate TMDs tuned accordingly. Xu and Kwok 6 further studied
the performance and optimization of TMDs in tall buildings
based on wind tunnel generated alongwind, crosswind and
torque excitation spectra. It was found that the efficiency
of TMDs was less when the building was excited by those
'real' excitations than that indicated by using a conven-
tional random excitation model.
Fujino and Abe 7 investigated the characteristics of a mul-
tiple tuned mass damper (MTMD) whose tuning frequency
bandwidth was distributed around the natural frequency of
the structure subjected to control. Numerical simulation
using a random excitation model showed that the perform-
ance of the MTMD was insensitive to tuning. For a parti-
cular mass ratio, a smaller damping value but a larger rela-
tive displacement was required for each individual TMD
than that for a single TMD to achieve the same equivalent
damping value.
2.3. Experimental verification
Wind tunnel model tests on Sydney Tower were performed
by Vickery and Davenport 8, and on Citicorp Center, New
York City by lsyumov et al 9. Those are two notable earlier
studies in which a model of a TMD was incorporated in
the building model to study the effect of a TMD in reducing
wind-induced responses. The wind-induced response of the
CAARC standard tall building with and without a TMD
was studied by Tanaka and Mak m using a 1:1000 scale
model and by Xu et al. ]j using a 1:400 scale model. Xu et
a l ) 2 also investigated the effect of a TMD on the torsional
response of a model tall building with a rectangular cross-
section and a 10% geometrical eccentricity. The common
difficulties encountered in wind tunnel model tests involv-
ing a TMD are the restriction of available space within the
building model into which a model of the TMD can be
installed, the size and weight of the TMD mass, the pro--
vision of stiffness and damping to the model TMD and its
tuning. For the small mass ratio generally used, in the order
of 1% to 2% of the modal mass, the model TMD mass
usually weighs in the order of grams. For the study conduc-
ted by Tanaka and Mak m, the TMD mass weighed only
1.1 g. Stiffness for the model TMD can be achieved by
attaching steel wire or strip to the mass, and tuning of the
TMD by adjusting the length of the wire or strip. A reason-
able range of damping values for the model TMD can be
obtained by covering the wire with plastic tape or lam-
inating the strip with rubber. The integrity of such a TMD
model, including tuning frequency and damping, was con-
firmed by Xu et al. ~ using a laser displacement sensor.
Despite those difficulties, the results of those wind tunnel
model studies showed that model TMDs can be utilized
to reduce wind-induced responses. Furthermore, the wind
tunnel test results compared well with results obtained by
parametric studies.
3. Active tuned mass damper ( A T M D )
3.1. Theory and parametric study
The effectiveness of vibration control for large civil engin-
eering structures can be enhanced by the addition of an
active control capacity. Consider a one-degree-of-freedom
657
Actuator
x 2 (t)
I ~
X 1 (t)
/,#/
/ / / / A N Y / / / . C ' . . X / I I , C~V / / I . O . ~ / / / . C v V / / , ¢ ~ \
Figure4 One-degree-of-freedom system fitted with active
TMD
system such as that shown in Figure 4 fitted with an
actively controlled tuned mass damper. The equations of
motion are similar to equations (1) and (2) but with an
additional control force u, that is
m~2j + klx] + c~5c + k2(x ~ - x2) + c:(3ct -.t2) = F + u
(4)
m222 + k2(x2 - X 1) ~- C2(-~ 2 -- 3(I) = 14 (5)
Essentially the active control system regulates a supply
of external force to counteract the dynamic response of the
structure. The active control system which regulates the
control force usually consists of
• Sensors which monitor either the external excitations or
the structural response quantities such as displacements,
velocities and accelerations, or both
• A computer which processes the measured intormation
and computes the required control forces based on a
selected control algorithm
• Actuators to generate the required control forces
The design of an active control system can be based on
classical control theory. The control algorithms are classi-
fied according to the way the measured infornlation is util-
ized as follows
• Closed-loop control in which the control forces are
determined by the measured (feedback) response of the
structure
• Open-loop control in which the control forces are
determined by the measured external excitation
• Closed-open-loop control in which the control forces are
determined by both the measured response of the struc-
ture and the measured external excitation
For example, a closed-loop control system shown in the
form of a block diagram in Figure 5 can be based on a
linear function of the measured displacement, velocity and
acceleration responses of the main system to regulate the
control force, such that
Building
uce~
Actuator
Figure 5 Block diagram of closed-loop active control system
658 Performance of tuned mass dampers under wind loads: K. C. S. Kwok and B. Samali

U = alJfl + a2/c 1 + a3xl (6)
in which a~, a2 and a 3 are gains assigned to the feedback
signals which are measured by the acceleration, velocity
and displacement sensors.
Substitution of equation (6) into equations (4) and (5)
yields
(ml - al)£1 + (Cl - a 2 ) J:l + (kl - a3)xl (7)
+ k2(xl - X 2 ) + C2(.~l -J;'2) = F
It is obvious from equation (7) that the dynamic character-
istics of the main structure, i.e., the mass, damping and
stiffness have been modified by the active control force.
For more complex multi-degree-of-freedom systems, the
equations of motion can be more conveniently expressed
in a state-vector form
Z= AZ + BU + F (8)
where
Z = Z(t) vector of state variables
u= u(t) control force vector
A system matrix
B matrix specifying locations of active
controllers
F vector of external excitations
1st time derivative
The effectiveness of an active control system is usually
measured in terms of structural safety, human comfort, and
minimum cost. Structural safety can be ensured by
imposing a constraint on the maximum allowable deflection
and/or acceleration at a critical location of the structure.
In addition, a human comfort requirement dictates that the
acceleration should not violate some acceptable criterion.
The cost of active control imposes a third constraint and it
can usually be expressed as a function of the magnitude of
the control forces applied to the structure. While it is desir-
able to maximize the safety of the structure and to minimize
the cost, both requirements cannot be achieved simul-
taneously. In order to reach a compromise between the two
conflicting requirements, an objective function, referred to
in the literature as a performance index J, can be formulated
with the appropriate weighting functions. Many perform-
ance indices have been covered in the literature for dif-
fering requirements in vibration control for various types
of structures. A commonly used performance index for civil
engineering structures is
with active orifices, have been investigated for possible
application in vibration control in civil engineering struc-
tures. It has been shown that a significant reduction in struc-
tural loads and responses can be achieved by the use of
active control systems, while keeping the magnitude of
damper mass and control forces within an acceptable range.
3.2. Experimental verification
The vast majority of investigations so far on the feasibility
of active vibration control of civil engineering structures
under wind excitation have been based on theoretical analy-
ses and numerical simulations. Very few experimental stud-
ies have been carried out to test the validity of active con-
trol systems under wind excitation. Facioni et al. 13"14
investigated the performance of active tuned mass dampers
using wind tunnel model studies at a scale of 1:100. Active
tuned mass dampers (ATMDs) of different mass ratio, tun-
ing frequency ratio and damper damping were tested in a
1:100 scale aeroelastic model of a tall building in simulated
turbulent boundary layer flow conditions. Those ATMDs
were controlled using a suboptimal control algorithm based
on a displacement feedback gain of approximately 2.5. Sig-
nificant reduction in the crosswind responses of the tall
building model were observed; for example, for a gen-
eralized mass ratio of 1.59%, a tuning frequency ratio of
1.03, and a damper damping ratio of 6%, the total damping
of the building model was increased from 1.05% to 2.59%
of critical damping and the crosswind response reduced by
about 1/3 at a reduced wind velocity of 8. The major diffi-
culties of this type of wind tunnel model test were the small
size of the physical models, the design and installation of
the active control mechanism, and the extrapolation of
experimental results to prototype values.
Prior to installation of the prototypes in buildings, scaled
models of active tuned mass dampers are occasionally built
and tested on shake tables which simulate the motion of
the building under wind excitation. Experimental buildings
and tower structures have also been built to accommodate
full-size ATMDs so that the performance of those TMDs
can be assessed under real loading conditions. Both these
experimental approaches provide valuable information but
the costs are prohibitively high.
4. Practical considerations
There are a number of factors which influence the selection
of vibration control system for tall buildings and structures,
namely: efficiency; size and compactness; capital cost;
operating cost; maintenance and safety.
In the engineering design of a tuned mass damper, the
amount of dynamic response reduction that can be econ-

J=f [ Z r Q Z + U r R U ] dt
in which: Q is the weighting matrix for response; R is the
weighting matrix for control force; ~-is an appropriate time
interval; and a superscript T denotes the transpose of a
matrix. A process of optimization can then be performed by
minimizing this performance index to establish an optimal
vibration control for the structure.
Numerous examples of active vibration control systems,
including active tuned mass damper systems, active tendon
control systems, active aerodynamic appendages, active
pulse control systems, and tuned liquid column dampers
(9)
omically achieved is dictated by several practical design
considerations. First and foremost is the amount of
additional mass, usually no more than about i - 2 % of the
modal mass, that can be practically placed at the top of a
building. It is not uncommon to have the damper mass
weighing up to 400 t. The damper mass is usually made up
of steel or concrete and the TMD has to be allocated to a
dedicated space which has to be designed accordingly to
accommodate the extra weight. Water storage tanks, which
are essential to building services, have been successfully
integrated into the design of TMDs in which case the extra
space and strength requirements are largely avoided.
Another major engineering problem is the necessity to
allow for the TMD mass to move relative to the building,
Performance of tuned mass dampers under wind loads: K. C. S. Kwok and B. Samali
even at small building movements at low levels of exci-
tation, and to allow for tuning. The simplest arrangement
is to suspend the mass in the form of a pendulum as shown
in Figure 6a of which the frequency of oscillation is simply
a function of the length of suspension. For buildings with
a low natural frequency, the length of suspension of the
pendulum can be quite large in which case extra headroom
is required for the TMD to be hung. Recently compact mul-
tistage pendulums such as that shown in Figure 6b have
been developed to accommodate the long suspension length
required. Inverted pendulums have also been used in which
coil springs are usually employed to provide stability and
stiffness. Since the natural frequencies of a building are
sensitive to design changes and are often difficult to predict
accurately, the required tuning frequency is usually determ-
ined by full-scale measurement after the building is com-
pleted. Modern pendulum-type TMDs are mostly designed
to be adjustable in the field. The suspension length is
adjusted by sliding clamps to allow for fine tuning to the
desirable tuning frequency. Pendulum-type TMDs are
occasionally augmented by coil springs for fine tuning.
Mechanically guided slide tables, hydrostatic bearings,
and laminated rubber bearings have also been used to pro-
vide a low friction platform for the damper mass to respond
to the movement of the building. Coil springs or variable
stiffness pneumatic springs provide stiffness for the tuning
of the TMDs. For TMDs fitted with laminated rubber bear-
ings, the bearings act as horizontal springs. These types of
TMDs are generally more compact with no special require-
ment for a large headroom compared to that for a conven-
tional pendulum-type TMD but they are more complex and
hence more expensive.
Once the TMD is specified, given the above design con-
straints, the effectiveness of the damper and the general
range of response reduction is set. For example, at a mass
ratio of 2%, an additional damping capacity of around 3%,
of critical damping could be achieved, as shown in Figure
3, but this would require fine tuning and comparatively
large motions of the damper mass relative to the building.
This can be reduced by the selection of a higher mass
damper damping, but with a corresponding decrease in the
effective damping. Normally, fairly large movements of the
TMD mass relative to the building must be accommodated,
and safety devices such as mechanical stops or other brak-
ing systems need to be installed to limit the excessive travel
of the mass. Locking devices such as manually or automati-
cally applied locking pins can also be used to secure the
mass in a stationary position when the wind speed, the
(a) \\\\\\\\\\
Rope/~.///A
//)~'\.\.//T'I \,...\.
/ ./ k \
r.l_._ ~ ./ I \, r--i'b,
L _1
- Requiredspace
Figure 6 (a) Simple and (b) multistage pendulum TMD (from Yamazaki et al. TM)
659
movement of the building or the movement of the damper
mass exceeds a certain predetermined safe operational
level.
Most mass damper systems can be designed to operate
as active control systems in which the damper mass is
driven to counteract the wind-induced vibrations of build-
ings. Computer controlled servohydraulic actuators and
servomotor driven mechanisms can be used to drive the
damper mass. A combination of signals from strategically
located wind speed, acceleration, velocity and displacement
sensors provide the feedback for the control algorithm.
Because of the capacity of the driver to generate a substan-
tial control force and the possibility of instability in the
control, actively controlled buildings are usually safe-
guarded by additional safety measures such as automatic
shutdown when there is a power failure or when sensors
detect wind speed, movement of the building or the move-
ment of the damper mass exceeding a certain predetermined
safe operational level.
The major benefits of an active control system are the
smaller damper mass and higher efficiency. While a con-
ventional TMD may provide an additional damping of 3%
to 4% of critical damping, an active system can add 10%
or more. However, the additional equipment required for
an active system such as actuators, sensors and computers
substantially increases the capital cost of an active control
system. The capital cost of a conventional TMD system
could be in the vicinity of 1% of the building cost, and 2%
of the building cost for an active system. In addition, the
operating and maintenance costs of an active system are
also higher.
Hybrid mass damper systems have recently been intro-
duced to exploit the benefits of both the conventional tuned
mass damper system and the active control system. A
hybrid system is programmed to function as either a con-
ventional TMD or as an active system according to the
wind conditions and the resultant building and damper mass
vibration characteristics. This restricts the operation of the
active mode of control to only when an optimum increase
in damping and a large reduction in wind-induced response
is required. At other times when moderate increase in
damping and reduction in the wind-induced response are
adequate, the system operates in a passive mode. While the
initial capital cost would remain high because of the added
cost of the active capacity, there is a considerable saving
in operating and maintenance cost.
(b)
Rope
-7
3m
/ / I / / / / / I / / / I /
I-- Requiredspace
-
660 Performance of tuned mass dampers under wind loads: K. C. S. Kwok and B. Samali
5. Performance of TMDs in tall buildings and
structures
Despite some serious design constraints, a number of large-
scale TMD systems have been successfully installed,
mostly in the past decade, in tall buildings and other struc-
tures to reduce wind-induced vibrations. With the advent
of new technologies and innovative designs, an increasing
number of TMDs have been designed with an active
capacity a number of which have recently been completed
with more under construction or on the drawing board.
5.1. Tuned mass dampers
Many chimneys and antenna masts have been installed with
pendulum-type tuned mass dampers to reduce wind-
induced vibrations. One famous example is the 102 m steel
antenna mast on top of the 553 m tall CN Tower in
Toronto, Canada, which has two doughnut-shaped pendu-
lum tuned mass dampers, similar to the type shown in Fig-
ure 6a, to reduce the second and fourth modes of vibration.
Each damper is supported via universal joints by three steel
beams attached to the side of the antenna mast, which
allows pivoted motions in all directions. Shock absorbers
are anchored on the side of the mast and attached to the
centre of each universal joint to dissipate energy.
The 305 m tall Sydney Tower, which is a cable-stayed
steel structure serving as an observation tower with a res-
taurant facility, also uses a pendulum-type tuned mass
damper system. The 180 t, doughnut-shaped water tank
near the top of the turret, as shown in Figure 7, which
normally serves as the Tower's water and fire protection
supply, was incorporated into the design of the TMD to
reduce wind-induced motions 8. Energy associated with
relative movements between the tower and the water tank
is dissipated by eight shock absorbers, installed tangentially
to the tank and anchored to the floor. The maximum travel
of the water tank is restricted to _+ 150 mm. A second TMD
of a similar design, in the form of a steel ring and with a
suspended mass of 40 t, was installed on the intermediate
anchorage platform, approximately halfway up the tower,
324.8m
Spire i
Turret --
Turret
ZS~.6m. Level
Cable = 33
215m
Protective _.~ ~ L e v e l
Sleeve 2/,"g"- tpJ~U ~
Intermediate 165m Univer,,I J
Anchorage-
Ring . J
12 g Tube
Movement .*6" max
Centrepoinf Building
Figure 7 Water tank TMD at Sydney Tower
to further increase the damping level, particularly in the
second mode of vibration which is the dominant frequency
in terms of human perception. Results of full-scale
measurements of the acceleration responses presented by
Kwok 16, and Kwok and Macdonald ]7 showed that with the
installation of the TMDs, the damping value of the second
mode of vibration was increased from 0.4% to 1.5% of
critical damping and the wind-induced acceleration
response was reduced by 40% to 50%.
The Crystal Tower in Osaka, which is a 37-storey 157 m
tall rectangular cross-sectioned office building of steel con-
struction, also makes use of the storage tanks at the top of
the buildings as tuned mass dampers ~8,~9. Two of the nine
water tanks, each weighing 90t, are used to control
vibrations in the east-west direction with a first mode natu-
ral frequency of 0.28 Hz, and four water tanks, each also
weighing 90 t, are used for the north-south direction with
a natural frequency of 0.24 Hz. These represent a mass ratio
of 1.3% and 2.5%, respectively, of the modal mass of the
first mode of vibration. Each storage tank is hung by steel
rods and guard rails are fitted to guide the oscillations in
the prescribed direction only. Coil springs are fitted to aug-
ment the stiffness of the TMDs to achieve a tuning fre-
quency of 0.24 Hz. The damper damping value is set at
12%. The maximum travel of the storage tanks is restricted
to + 250 mm and the water tanks can be locked in a station-
ary position by steel pins. Full-scale measurements of the
response of the tower were taken under typhoon wind con-
ditions in 1990 and 1991 with a peak gust wind speed of
38.6 m/s at the top of the tower. The results show that with
the TMDs operating, the response of the tower was
approximately half of the predicted value based on a struc-
tural damping value of 1% of critical damping.
The recently completed Chifley Tower in Sydney, which
is a 52-storey 209 m tall office building of steel construc-
tion, is fitted with a single pendulum-type tuned mass
damper, claimed to be the largest of its kind in the world,
on the 44th floor2°. A cubical ( 4 m x 4 m z 4 m ) 400t
block of steel, which represents 2% of the total building
Universal Type Connection
~ ,
/
7
~~..~-~~,, -- Shock Absorber
( IL II II I II--
~ " ~ ~ ~ N u t on Threaded
I Svaging
Water Tank THD
Performance of tuned mass dampers under wind loads: K. C. S. Kwok and B. Samali
ELEVATION
NOT TO SCALE
Figure 8 T M D at Chifley T o w e r
mass, is suspended by steel cables and relative movements
of the mass dissipates energy via hydraulic cylinders fitted
along both the north-south and east-west axes, as shown
in Figure 8. The maximum travel of the mass is restricted
to + 9 1 0 m m which is also the design stroke of the
hydraulic cylinders. The natural frequency of vibration and
the structural damping of the tower were determined from
free vibration tests in which the tower was excited by the
damper mass driven by a pair of actuators. The structural
damping of the tower was found to be just under 1% of
critical damping. The natural frequencies of the tower were
found to be dependent on the amplitude of vibration.
Accordingly, the TMD was tuned to a frequency corre-.
sponding to the most frequent amplitude at which the TMD
is required to reduce the building vibrations. It was
accepted that at other amplitudes of vibration, the TMD
will be slightly out of tune. With the TMD operating, the
tower was found to exhibit an additional damping of
between 2% to 4% of critical damping depending on the
amplitude of vibration.
An inverted pendulum-type TMD, as shown in Figure
9, was installed at the 100 m level of the 134 m high Higa-
M2 ~ ~.~ .2~/~ ~ adjusting the precharge pressure. The damper damping is
, k2 c2 \i\~1 i1[iI
/ / /\ / /
Figure 9 I n v e r t e d p e n d u l u m - t y p e T M D
661
- - ANTI-YAW
FR~E CABLES
I JACKS
HASS~
////////1
BLOCK
PLAN VIEW
NOTTO SIAL[
shiyama Sky Tower in Nagoya, Japan 21,22. The compact
2.5 m square by 3 m high TMD has a 19.8 t damper mass
which is pivoted at the base of the damper. Coil springs
provide stiffness to the TMD which is tuned to first mode
natural frequencies of 0.48 Hz and 0.54 Hz along the two
orthogonal axes of the tower. The maximum travel of the
damper mass is restricted to + 150 mm and the damper
damping coefficient, which is provided by shock absorbers,
is set at 10%. The results of manual excitation tests show
that the damping value of the tower is approximately 0.5%
of critical damping without the TMD, and approximately
3% of critical damping with the TMD. The TMD is
expected to reduce the wind-induced response of the tower
by 30% to 50%.
The 278 m tall Citicorp Center in New York City
employed a slide platform-type TMD system, as shown in
Figure 10, at the 63rd floor23'24. The TMD consists of a
373 t reinforced concrete mass which rides on low friction
hydrostatic bearings designed to react to building motions
of 1 mg or less. The maximum travel of the damper mass
is restricted to +_.1.14 m. The damper stiffness is provided
by nitrogen-charged pneumatic springs and the spring rate
and hence the tuning frequency can be varied readily by
provided by two double acting servohydraulic actuators
mounted north-south and east-west and connected to the
base of the damper mass via a large swivel. The electronic
control system generates reference values for an 'ideal'
I passive TMD based on measured building accelerations.
The actual damper mass displacement is also measured and
compared with the computed reference values. The feed-
back from the error signal is used to generate a command
signal to the actuators which apply relatively small correc-
662 Performance of tuned mass dampers under wind loads: K. C. S. Kwok and B. Samali
East-West
Uneer Motion
Concrete
MeN Block
82O.OOOIb
30'x30'xg'
Reaction Bultresses
Foc
Oveflravel Snubbers
Pressure Balanced
e ~ n g - (12)
Anti Yaw /
Unkam
Ovqmn~d Surfocm
SnublxN~
(16 Snuad~em
2 Each Ammmbly)
Console
MTS Tuned Mess Damper System
C l t l c o r p Center, N e w Y o r k C i t y
Figure 10 TMD system at Citicorp Center, New York City (courtesy
tion forces to the damper mass to keep it acting like an
'ideal' TMD. During the other part of the oscillating cycle
of the damper mass, the actuators function as energy dissi-
pation devices. In order to increase the life of the system,
reduce maintenance and conserve energy, the TMD system
is activated when the building acceleration exceeds 3 mg,
and is deactivated after the building acceleration has
remained below 0.75 mg for an hour. The active force capa-
bility of the TMD system was used as an excitor to deter-
mine the natural frequency (to which the TMD was sub-
sequently tuned) and damping of the building, which was
found to be approximately 1% of critical damping. The
operational parameters of the TMD are a mass ratio of 2%
of the first mode modal mass, damper damping of 14%
of critical damping, and a tuning ratio of 1. The effective
damping, which can be obtained from Figure 3, is about
3% of critical damping with a relative displacement ratio
of about 3.5. This gives a total damping (structural damping
plus added damping from the TMD) of about 4% of critical
damping which is expected to reduce the wind-induced
response by about 40% to 50%.
The 60-storey John Hancock Tower in Boston uses a
tuned mass damper system similar to that in the Citicorp
Center 25. Two TMDs were installed 67 m apart at either
end of the 58th floor. Each TMD consists of a 273 t lead-
filled box which rides on hydrostatic bearings along a long
steel plate on which a thin layer of oil is forced through
holes in the plate. The TMDs are restrained by stiff springs
anchored to interior columns of the building, and are con-
nected to servohydraulic actuators. The dampers were
designed to move only in the east-west direction and can
be induced to work together to counteract swaying motions
or in opposition to resist torsional motions.
It is interesting to note that although both the tuned mass
E-W
Control
Actuatm
Flxtwe .
Service
- Manifold
Motor
Control Center
Nodh-South
L i m e Mollon
Fixture
/ .,N),.~... \ - \
Io Idlu Block
Nlbogen Charged N-S
spr~
(2 EachFixture) Act~
63~d Floor
of MTS Systems Corporation)
damper systems installed at Citicorp Center and John Han-
cock Tower employed a sophisticated control system and
some active force capability, they were designed to function
as a conventional passive TMD because of energy consider-
ations and a lack of prototype experience with large-scale
active control systems at the time. It is understood that both
these TMD systems have operated successfully since the
late 1970s.
Chiba Port Tower in Japan, which is a rhombus-shaped
steel structure 125 m in height and serves as an observation
tower, employs a slide platform-type TMD as shown in
Figure 11 to reduce vibrations caused by both strong winds
and earthquakes 26'27. The damper mass is placed on top of
a slide platform which moves in a xy horizontal plane along
rails. The effective mass weighs 10 t in the x direction and
15 t in the y direction which represent a mass ratio of
approximately 0.9% and 1.3%, respectively, of the first
mode modal mass. The maximum travel of the mass is
restricted to _+ 1 m. Coil springs provide stiffness to the
mass and the TMD is tuned to the first mode natural fre-
quency of approximately 0.43 Hz. The movements of the
slide platforms activate, via rack and pinion, viscous damp-
ing devices filled with silicon oil, the damping character-
istic of which is adjustable. The damping value of the tower
was determined by vibration tests using the cable release
method, and also when the tower was excited by minor
earthquakes. The damping value of the tower was found to
be 0.5% of critical damping without the TMD, and up to
7.3% of critical damping with the TMD operating. The
response of the tower was monitored under typhoon wind
conditions with a maximum gust wind speed at the top of
the tower of 38.1 m/s. The results show that with the TMD
operating, the acceleration response of the tower was
approximately half that without the TMD.
Performance of tuned mass dampers under wind loads: K. C. S. Kwok and B. Samali 663

Mass (M1) Oil buffer (X-direction)

[M2)
nion (X-direction)
• (Y-direction)

direction)
g (Y-direction)
'-direction)
,~ ~n)

Damping device (Y-direction)

Figure 11 TMD in Chiba Port T o w e r (from Ohtake eta/. 27)

The Fukuoka Tower uses a slide platform-type tuned Laminated Rubber

mass damper similar to that used in the Chiba Port Tower -.- =7
to reduce wind-induced vibration 28'29. The tower is a steel
structure triangular in plan and 151 m high. A 83 m tall ~las_~_{s !
mast sits on top of the tower, giving it a total height of
234 m above ground. The effective mass weighs 30 t in the
x direction and 25 t in the y direction which represents a
~ : i a i r , Brake~ ~ .,"
mass ratio of approximately 1.5% and 1.3%, respectively,
of the first mode modal mass. The maximum travel of the sh0ck I --
mass is restricted to + 1.1 m. Coil springs provide stiffness
to the mass and the TMD is tuned to the first mode natural
frequency of approximately 0.32 Hz. The damper damping
value was set at 12%. The results of a manual excitation Laminated Rubb P
test showed that the damping value of the tower is approxi- i,k .----------m., ;, ,C-~-ti
mately 0.6% of the critical damping without the TMD. The
TMD was used to impose an impulse loading on the tower
from which the damping was estimated from the free
vibration decay to be approximately 4.5% of the critical ........ /I 1~50 [ 1,~)50 I 1.350 I
damping with the TMD operating. The TMD is expected L1ml[ bw[~cn/I 3550 _J
to reduce the wind-induced response of the tower by 30%
Figure 12 TMD using laminated rubber bearings (from Kawa-
to 40%. mura et al? 2)
A TMD using laminated rubber bearings, as shown in
Figure 12, was installed at the 89 m level of the 105 m tall without the TMD is about 1% to 1.5% of critical damping.
Huis Ten Bosch Domtoren, an observation tower at Naga- Under typhoon wind conditions, the total damping of the
saki, Japan ~° ~2. The tower is a steel structure with a basic tower with the TMD operating was estimated to be up to
15.8 m square section and an octagonal section for the top 4% of critical damping, including possibly a positive aero-
one-third of the tower. The damper mass is made up of dynamic damping component. With maximum gust wind
7.8 t of concrete and steel which represents a mass ratio speeds at the top of the tower reaching 50.1 m/s, the accel-
of approximately 1.2% of the first mode modal mass. The eration response of the tower with the TMD operating was
laminated rubber bearings are designed to act as horizontal found to be a half to a third of that without the TMD. It
springs which facilitate the tuning of the TMD to the pre- is interesting to note that the natural frequency of the tower,
dicted first mode natural frequency of 0.59 Hz. Vibration and particularly the tuning frequency and damping charac-
energy is dissipated via viscoelastic material made from teristic of the TMD were found to be dependent on the
asphalt which was inserted between the steel plates of the displacement of the tower. Hence the TMD is expected to
laminated rubber bearings. The damping coefficient of the be more efficient at large amplitudes of tower displacement
TMD was assumed to be 6%. The maximum travel of the than at low amplitudes.
damper mass is restricted to + 600 mm. An air brake is
automatically activated when the horizontal deformation of 5.2. Active mass dampers and active tuned mass
the damper mass exceeds 400 mm. The results of manual dampers
excitation test and random decrement analysis of the wind- The Kyobashi Seiwa Building in Tokyo, an office building
induced response show that the damping value of the tower of steel construction 32.4 m in height and with a 9.5:1
664 Performance o f tuned mass dampers under wind loads: K. C. S. Kwok and B. Samali
height-to-breadth ratio, is believed to be the first building
to be fitted with a purely active mass driver (AMD) system
to reduce both seismic and wind-induced response 33.
Vibration along the short axis is controlled by a 4 t mass
placed at the centre of the building on the 1lth floor, and
torsional vibration is controlled by a 1 t mass placed at the
end of the same floor. The above ground mass of the build-
ing is approximately 340 t which suggests that the mass
ratio would be of the order of 0.5% or less of the respective
modal masses. The two damper masses are suspended by
wire rope and driven by servohydraulic actuators but
neither are tuned to the natural frequencies. The control
algorithm is an optimal control based on the velocities of
the damper masses relative to the ground obtained from
acceleration measurements of the building and the damper
masses. The control algorithm is designed to reduce wind-
induced vibrations by a half to two-thirds. The natural fre-
quencies of vibration were determined by forced vibration
tests to be 1.065 Hz along the short axis and 1.85 Hz in
torsion, and the damping values were found to be 0.77%
and 1.96% of critical damping, respectively. Full-scale
measurements of the response of the tower were taken
under earthquake and typhoon wind conditions with a peak
gust wind speed of 25.5 m/s at the top of the building. The
results show that with the active damper operating, the stan-
dard deviation of the acceleration response was reduced by
50% to 60% and the peak acceleration response by about
67% compared with that without the active damper.
The control tower at Kansai International Airport in
Osaka, which is a steel structure with a 12.9 m square plan
form and 86 m in height, employs two active tuned mass
dampers as shown in Figure 13 at the 72 m level to reduce
wind-induced vibrations 34-36. The ATMDs are of the pen-
dulum-type each weighing 5 t. The mass ratio is approxi-
mately 0.4% of the total mass or approximately 1.2% of
the first mode modal mass. Coil springs provide stiffness
to the mass which allows tuning to the first mode natural
frequency of approximately 0.8 Hz. Oil dampers provide
damping which is set at a damping ratio of 5%. The damper
mass is driven by AC servomotors and ball screws in an
xy horizontal plan with a maximum travel of + 300 mm and
a controlled amplitude of + 150 mm. The control algorithm
is an optimal control using a linear quadratic regulator. In
the event of power failure or system abnormality, the
damper is automatically switched to the passive mode. The
AC servomotor
Figure 13 Active TMD installed in control tower at Kansai Inter-
national Airport (from Hirai et aL34)
damper mass can also be held in a stationary position using
a brake-applied condition. The results of a random dec-
rement analysis of the low amplitude wind-induced
response showed that the damping value of the tower is
about 0.4% of critical damping without the damper and up
to 7.1% with active control. The results of larger amplitude
shake tests using the damper as a shaker show that the
damping values of the tower were 0.3% to 0.5% of critical
damping in translation and 0.3% in torsion without the
damper, and up to 15% in translation and 0.8% in torsion
with active control. The ATMDs are expected to reduce the
wind-induced vibrations by 50%.
The recently completed 70-storey 296 m high Landmark
Tower in Yokohama is the tallest building in Japan and is
fitted with two active tuned mass dampers to reduce wind-
induced vibrations ~.37. The tower has a basic square plan
shape and a small taper. The first eight floors and below
are in steel reinforced concrete and the higher floors are in
steel. Each damper mass weighs 170 t and is located at
opposite corners of the tower at the 282 m level. The com-
bined weight represents a mass ratio of 0.65% of the first
mode modal mass. The ATMDs are of a multistage pendu-
lum-type, as shown in Figure 14 and each stage of the pen-
dulum is adjustable to facilitate tuning to the first mode
natural frequency of 0.185 Hz. Oil dampers with an adjust-
able damping coefficient are fitted between the frames of
each stage. The damper mass is driven by AC servomotors
and ball screws in an xy horizontal plan with a maximum
travel of + 1.7 m and a controlled amplitude of + 1.5 m.
The control algorithm is an optimal feedback control based
on the displacement and velocity of the tower and the
damper mass, and a nonlinear component related to the
wind excitation. In the event of power failure or system
abnormality, the damper is automatically switched to the
passive mode. The damper mass can also be held in a
braked condition in which a large damping coefficient is
selected for the oil dampers. The tower underwent exten-
sive wind tunnel model testing and a quarter-scale model
of the ATMD with a mass of 3 t was also tested on a shake
table using simulated motions corresponding to wind forces
of up to 43 m/s. The results of the shake tests using the
damper as a shaker showed that the damping values of the
tower were about 0.8% of critical damping without the
dampers, about 2.4% with the dampers operating in a pass-
ive mode, and up to about 12% with active control 38. The
ATMDs are expected to reduce the wind-induced vibrations
by 50% to 60%. It was noted that a purely passive TMD
would require twice the mass to achieve the same level of
motion reduction.
The ACT Tower, a 212 m high 46-storey office/hotel
building of ellipsoidat cross-section under construction in
Hamamatsu City, Japan, is to be fitted with two active tuned
mass dampers similar to those in the Landmark Tower to
reduce wind-induced vibrations 39'4°. Each damper weighs
90 t and is located on the 45th floor, one close to the centre
and one at the edge of the floor so that torsional vibrations
can also be controlled. The combined weight represents a
mass ratio of 0.6% of the first mode modal mass. The active
control capacity is directed along the minor axis only, with
the maximum travel of the damper mass restricted to
+ 1.5 m. The dampers act only as a passive TMD along the
major axis, with the maximum travel of the damper mass
restricted to _+900 mm. The control system is designed to
set the damping coefficient of the oil dampers to a high
value when the mass dampers are in a stop condition. The
Performance of tuned mass dampers under wind loads: K. C. S. Kwok and B. Samali
Multi-S!
~ Addll
Rope
Steel
~ Natul
Oil da-,l.,~, u~,-~,, ,,,~ ,,°,,,~
Figure 14 Multistage pendulum-type TMD (from Yamazaki et al.TM)
mass dampers are automatically switched to active mode,
with the damping coefficient of the oil dampers set to a
low value, when the building vibration exceeds 2 rag. When
the wind speed exceeds the five-year return period design
wind speed, and when the motion of the damper mass
exceeds 1.5 m, the mass dampers operate in a passive
mode. When the wind speed exceeds the 100-year return
period design wind speed, the mass dampers are automati-
cally switched to the stop condition. The ATMDs were
expected to reduce the standard deviation acceleration
response by about 40% and the peak acceleration response
by about 50%.
The Sendagaya INTES office building in Tokyo, which
is a 58 m tall steel structure, employs two active mass dam-
pers for vibration control 41'42. Two 36 t storage tanks, each
supported on laminated rubber bearings similar to that
shown in Figure 11, are located at opposite ends at the
45 m level to control vibrations in one of the translational
modes and also torsion. The combined weight of the two
storage tanks represents a mass ratio of approximately 2%
of the total building mass which would be approximately
0.7% of the first mode modal mass. The AMDs have a
natural frequency of 0.48 Hz which is tuned to neither the
translational natural frequency of 0.59 Hz nor the torsional
natural frequency of 0.64 Hz. The water tanks are driven
by servohydraulic actuators. The results of shake tests using
the AMDs show that the damping value of the building was
about 2.8% of critical damping without the active control,
and about 9.8% with active control. Those results suggest
that the laminated rubber bearings contributed significantly
to the damping capacity of the building.
A 21-storey 130 m high office building in Tokyo also
uses its storage tanks supported on laminated rubber bear-
ings as an active tuned mass dampe# 3. The storage tanks
weigh 200 t which represents a mass ratio of approximately
0.7% of the first mode modal mass. The ATMD is tuned
to the first mode natural frequency of approximately
0.34 Hz in both the x and y axes. The damper mass is driven
by servo-actuators in an xy horizontal plan with a maximum
travel of +_ 1 m. The control algorithm is based on a variable
665
u.~ o.uuums ~.uul~-ng part
feedback gain which maintains the movement of the
damper mass below the maximum allowable value. The
mode of operation of the mass damper is switched from
active to passive mode in accordance with the severity of
the loading and the response of the building. In the event
of power failure, the damper functions as a passive TMD.
The 50-storey 200 m high ORC 200 Symbol Tower in
Osaka, Japan, which is an office building of steel construc-
tion with a rectangular plan form, is fitted with two active
tuned mass dampers 42,44-46. Two 100 t masses, each sup-
ported on laminated rubber bearings similar to that shown
in Figure 11, are located approximately 20 m apart on the
181 m level. The dampers act as an ATMD for torsion and
for vibrations in the translational mode along the short v
axis of the tower with the maximum travel of the damper
mass restricted to + 1 m. The dampers function as a passive
TMD along the long x axis with the maximum travel of
the damper mass restricted to + 500 mm. The combined
mass of the two damper masses represents a mass ratio of
approximately 1.3% of the first mode modal mass. The
natural period of the dampers are adjustable within the
range of 3.3 to 4 s. The damper masses are driven by AC
servomotors and ball screws in the y axis based on an opti-
mal feedback control derived from the displacement and
velocity of the tower and the damper mass. The mass dam-
pers are switched from the active control mode to passive
mode as wind speed increases. When the wind speed
exceeds that for a 5-year return period, the mass dampers
are locked in a stationary position. The results of shake
tests show that the damping value in the translational modes
was approximately 1% of critical damping and approxi-
mately 2% in torsion without active control. With active
control, the corresponding values were approximately 8.5%
and up to 7.5%, respectively. Full-scale measurements of
the response of the tower were taken for mean wind speeds
of up to 17 m/s at the top of the tower. The results show
that with the active control, the peak acceleration response
was reduced by about 50% compared with that without the
active control.
The Riverside Sumida building, a 133 m high 33-storey
666 Performance of tuned mass dampers under wind loads: K. C. S. Kwok and B. Samali
office/residential building under construction by Obayashi
Corporation in Tokyo, is to be fitted with two active mass
dampers each weighing 15 t47. The damper is guided to
move in one direction only and is driven by a servomotor
and ball screw. The AMD is expected to reduce wind-
induced vibrations by two-thirds.
6. C o n c l u s i o n s
The theory of passive and active tuned mass dampers is
well defined and understood. These theories have been suc-
cessfully applied in the design of vibration control systems
to reduce the dynamic response of tall buildings and other
structures due to wind and earthquakes. A number of fac-
tors influence the design of these vibration control systems.
Of these, the efficiency, size and compactness, maintenance
requirements and safety of the system can be dealt with
effectively by sound engineering practices. The capital and
operating costs depend on the required level of response
reduction, whether the system is a passive or an active one,
and the degree of complexity of the system.
The performance of a TMD system can be readily
assessed by parametric studies which have been the subject
of numerous research. It has further been shown that the
effectiveness of TMDs can be enhanced by the addition of
an active control capacity. The results of those parametric
studies are invaluable in the selection of optimum TMD
parameters, particularly when realistic excitation spectra are
employed in place of a conventional random excitation
model. In contrast, few experimental verifications of TMD
theory have been carried out, particularly those involving
active control. The results of these experiments, which
included wind tunnel model studies, shake table model tests
using simulated wind-induced vibration, and an experimen-
tal building fitted with prototype devices, generally com-
pared well with those obtained by parametric studies.
Extensive full-scale measurements have been taken on a
significant number of tall buildings and structures which
were fitted with either passive or active tuned mass damper
systems to determine the effectiveness of the systems. The
results show that an additional damping of 3% to 4% of
critical damping and 40% to 50% reduction in the wind-
induced response can be achieved with a passive system,
and an additional damping of 10% of critical damping or
more and reduction in wind-induced response of up to two-
thirds with an active system.
Acknowledgments
The authors are indebted to Professor Y. Tamura of Tokyo
Institute of Polytechnics who supplied many of the refer-
ences published in Japanese and provided valuable assist-
ance in the translation of these into English. The permission
of Dr Yamazaki of Mitsubishi Estate Co. Ltd to reproduce
two figures and reference some of his recent unpublished
data, MTS Systems Corporation, Mitsubishi Heavy Indus-
tries, Takenaka Corporation and Shimizu Corporation to
reproduce diagrams from their published works, and the
assistance of Mr Matthew O'Hearn of Flack and Kurtz
Consulting Engineers in providing the unpublished infor-
mation and figures in relation to the Chifley Tower are
gratefully acknowledged.
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