Journal of Earthquake Engineering

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SEISMIC RESPONSE CONTROL OF A CABLE-STAYED

BRIDGE BY VARIABLE DAMPERS

ANAT RUANGRASSAMEE & KAZUHIKO KAWASHIMA

To cite this article: ANAT RUANGRASSAMEE & KAZUHIKO KAWASHIMA (2006) SEISMIC
RESPONSE CONTROL OF A CABLE-STAYED BRIDGE BY VARIABLE DAMPERS, Journal of
Earthquake Engineering, 10:1, 153-165, DOI: 10.1080/13632460609350591

To link to this article: http://dx.doi.org/10.1080/13632460609350591

Published online: 04 Sep 2008.

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 Journal of Earthquake Engineering, Vol. 10, No. 1 (2006) 153-165
@ Imperial College Press Imperial College Press
wwu.lcpress.co.uL

SEISMIC RESPONSE CONTROL OF A CABLE-STAYED

BRIDGE BY VARIABLE DAMPERS
Downloaded by [University of California Santa Barbara] at 14:19 03 October 2015

ANAT RUANGRASSAMEE
Department of Civil Engineering, Chulalongkorn University
Paturnwan, Bangkok 10330, Thailand

KAZUHIKO KAWASHIMA
Department of Civil Engineering, Tokyo Institute of Technology
2-12-1 0-Okayama, Megum, Tokyo 152-8552, Japan

Received 30 December 2002

Reviewed 21 March 2005
Accepted 9 May 2005

Cablestayed bridges exhibit unique responses under a strong motion. It is partly due
t o the complexity in their damping mechanism. Recently, the benchmark problem of a
cable-stayed bridge was developed to clarify the effectiveness of various seismic control
strategies. Due to the new development of magnetorheological dampers, the application
of variable dampers in bridges becomes possible. In this study, the effectiveness of the
nonlinear viscous damping force scheme and the two-step friction damping force scheme
are investigated. It is found that the nonlinear viscous damping force scheme is effective
to control the response of the cable-stayed bridge with less demand for the damping force
capacity of a damper. In addition, the twc-step friction damping force scheme shows the
improvement over conventional friction damping because the energy dissipation of a
damper can be increased.

Keywords: Seismic response control; cable-stayed bridge; dampers.

1. Introduction
Cable-stayed bridges exhibit unique responses under a strong motion. One of
reasons is the complexity in their damping mechanism [Nazmy and Abdel-Ghaffar,
1990; Kawashima and Unjoh, 1992; Kawashima et al., 19931. Recently, the bench-
mark problem of a cable-stayed bridge was developed to solve the issue on the
seismic control of a cabIe-stayed bridge using damping devices [Dyke et aL, 20001.
The bridge is used as a benchmark problem for applying various control strategies.
Passive control has been implemented in bridges worldwide since the 1970s
[Buckle and Mayes, 1992; Kawashima, 19921. In particular, the seismic isolation
with a limited increase of a natural period to limit a displacement, which is known as
"the Menshin Design," has been widely accepted in Japan after the 1995 Hyogo-ken
Nanbu Earthquake. On the other hand, active control has not been implemented
for mitigating seismic damage in an extreme earthquake, although there are some
 154 A . Ruangmssamee Ef K. Kawashima

examples in which efforts have been made for controlling bridges during a con-
struction stage and response control for a moderate earthquake using a control
device provided for mitigating aerodynamic oscillation. Large energy supplies and
electrical devices with limited durability inherent in the active control prevent the
implementation.
Semi-active control systems have been developed in the past decade. Semi-active
control systems offer the reliability of passive devices, yet provide the adaptabil-
ity of active control systems. Since the semi-active control systems are inherently
stable and require much less power, it is promising. The variable damper which
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was termed as a semi-active control device with a variable damping force algorithm
has been developed since the late 1980s [Kawashima and Unjoh, 19941. Originally,
the semi-active control device provides an adaptable damping force, by adjusting
the size of the orifice through which viscous fluid flows when a piston moves in
a hydraulic cylinder. The damping force was pieset as the function of the stroke.
Recently, magnetorheological (MR) dampers have been developed [Spencer et al.,
1997; Sunakoda et al., 20001. MR Auid can be controlled with small power s u p
plies, and the dynamic range of the damping force level is quite large. The authors
developed variable dampers with the use of a MR damper [Ruangrassamee and
Kawashima, 20011. From the study, the variable damping force generated by a MR
damper is close to the commanded damping force except that the damping force
slightly decreases as the excitation Frequency increases. The variable damper has
been proved to be effective for controlling response of typical highway bridges based
on shaking table tests and analyses [Ruangrassarnee and Kawashima, 20031. In this
study, the effectiveness of various variable damping force schemes for controlling
the benchmark cable-stayed bridge is investigated.

2. Analytical Model and Parameters

Figure 1 shows the cable-stayed bridge used in this study. The cable-stayed bridge
is the benchmark problem proposed by Dyke et a!. [2000].The bridge is supported
by two reinforced concrete towers (Piers 2, 3 and 4) and a side bent (Bent 1).There
are 12 additional piers in the approach bridge horn the Bent 1 side. The main span
is 350.6m long, and the side spans are 142.7m long. The main deck is supported by

Pier 4

Fig. 1. Analytical model.

 Seismic Response Control of a Cable-Stayed Bridge 155

128 cables in addition to bearings. The total width of the deck is 29.3m. The deck
is composed of steel beams and prestressed concrete slabs. The H-shaped tower is
100 m high at Pier 2 and 105 m high at Pier 3.
Sixteen 6.67 MN shock transmission devices are installed at the connection
between the tower and the deck. The devices allow the thermal movement but
rigidly connect the tower and the deck under a strong ground motion. The bearings
at Bent 1. and Pier 4 permit longitudinal displacement and rotation about the ,

transverse and vertical axis to take place.

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Dyke et al. [2000] developed a three-dimensional linear model of the bridge in

MATLAB. The stiffness matrices used in the linear model were determined from a
nonlinear static analysis corresponding to the deformed state of the bridge under
dead loads. Because the longitudinal response is generally a major concern in the
seismic design of cable-stayed bridges, and the longitudinal response is related to the
likelihood of pounding or unseating of a deck and the likelihood of failure of cables,
the longitudinal response is studied here. The approaching bridge is not included in
the model. Since the bridge is supported by bedrock, the soil-structure interaction
effect is disregarded. The ground motion is applied in the longitudinal direction of
the bridge and acts simultaneously to all supports, neglecting the spatial variation of
ground motions. The model contains 419 degree-of-freedoms. The damping ratio of
3% is assigned to each mode. The first three natural periods of the model assuming
that the deck is connected to the towers by the shock transmission devices are
3.45s, 2.70s and 2.14s.
Researchers are allowed to replace the shock transmission devices with passive,
semi-active, or active control devices. When the deck and the tower are discon-
nected, the first three natural periods of the modified evaluation model become
6.18 s, 3.75 s and 2.69 s. Note that the reference structure used as a basis for
comparison of control strategies is the bridge with shock transmission devices
installed. In this investigation, twelve MR dampers are installed to reduce seismic
responses of the cable-stayed bridge. Each damper is placed between the deck and
each side of a pier. Hence, there are eight dampers at Piers 1 and 2, and four
dampers a t Bent 1 and Pier 4. In this investigation, various damping force schemes
of the dampers were considered.
Three ground motions as shown in Figs. 2 and 3 were applied to the bridge.
The El Centro record which was obtained at the Imperial Valley Irrigation District
substation in-El Centro, California during the M7.1 Imperial Valley, California
earthquake of May 18, 1940 has a peak ground acceleration of 0.35g. This record
has been widely used for seismic performance evaluation of structures. The Mexico
record was obtained at the Galeta de Campos station with site geology of Meta-
Andesite Breccia on September 19, 1985 during the M8.1 Michoacan, Mexico earth-
quake. The epicentral distance was 27km. The peak ground acceleration is 0.14g.
The Mexico record was used because the geological condition of the bridge site was ,

similar to that of the station [Dyke et aL, 20001. The Gebze record obtained at the
Gebze Tubitak Marmara Arastirma Merkezi on August 17, 1999 during the M7.4
 156 A . Ruangnwsamee E3 K. Kawashima

C
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2 0
-8E -2-
9 (b) Mexico record

-
N
4 -

2 2 -
2 0
-E8 -2-
(c) Gebze record
2 I

40 10 20 30 40
Time (s)

Fig. 2. Ground motion records used in the analysis.

Fig. 3. Response spectra of the strong motion records.

Kocaeli, Turkey earthquake has a peak ground acceleration of 0.26g. The epicen-
tral distance was 17km.The ground acceleration shows a pulse-like motion. The
El Centro and Gebze records allow researchers to test control strategies on ground
motions with different characteristics.

3. Effectiveness of Variable Dampers

Figure 4 shows the responses of the base moment at Pier 3 and the deck displace-
ment at Bent 1 of the bridge with shock transmission devices under the El Centro
record. The base moment at Pier 3 is presented here because the response is largest
 Seismic Response Control of a Cable-Stayed Bridge 157

Time (s) T i e (s)

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(a) Base moment at Pier 3 (b) Deck displacement

Fig. 4. Responses of the cable-stayed bridge with shock transmission devices (referenced bridge)
under the El Centro record.

Time (s) Time (s)

(a) Base moment at Pier 3 (b) Deck displacement
Fig. 5 . Responses of the cablestayed bridge without damper.

between two towers. I t is seen that the maximum base moment is 888.4 MN.m, and
the maximum deck displacement is 0.077m. Figure 5 shows the responses of the
base moment at Pier 3 and the deck displacement at Bent 1 of the bridge with-
out any device under the same ground motion. The base moment decreases from
888.4 MN.m to 398.3 MN.m, however, the deck displacement increases significantly
from 0.077m to 0.363mI which could adversely cause pounding between the deck
with the approach girder. The trade-off between the forces in towers and the deck
displacement is similar to the isolation effect in base-isolated bridges. The funda-
mental mode of vibration becomes predominate in bridge responses.

3.1. Viscous damping force scheme

Viscous dampers have been used as supplemental' energy dissipating devices. The
damping force is derived from viscous fluid passing through an orifice from one
chamber to another chamber in a cylinder. The MR damper can be used to produce
the viscous-type damping force. The damping force FD is expressed as:

in which c and U represent the viscous damping coefficient and the piston velocity
of a MR damper, respectively.
 15.3 A. Ruangrassamee Ed K.Kawashirna

Figure 6 shows the responses of the cable-stayed bridge controlled by the viscous
damping force scheme under the El Centro record. The damping coefficient was
set to 6 hIN.s/m here to show some typical responses. Using the viscous damping
force scheme, the base moment becomes 299.5 MN.m, decreasing by 66% from the
reference bridge. The deck displacement reduces from 0.077m to 0.068m. It is seen
that the reduction of tower moment is significant. The inertia of the deck is not
directly transferred to the towers once the towers and the deck are not rigidly
connected. The installation of the dampers reduced both the tower moment and
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the deck displacement. Figure 7 represents responses of a damper at Pier 4, which

shows the largest damping force of about 3 I\AN among the dampers.
Figure 8 shows how maximum responses change according to damping coeffi-
cients under the three ground motions. It is seen that as the damping coefficient
increases, the base moment decreases and become stable at damping coefficients
larger than 10 MN.s/m. The deck displacement decreases significantly a s damping
coefficient increases up to about 5 MN.s/m.

Time (s) Time (s)

(a) Base moment a t Pier 3 (b) Deck displacement
Fig. 6. Responses of the cabel-stayed bridge controlled by the viscous damping force scheme
under the El Centro record (damping coefficient = 6 MN.s/m).

Smke (m) Velocity (ds)

(a) Damping force versus stroke (b) Damping force versus velocity
Fig. 7. Responses of the damper a t Pier 4 under the El Centro record (damping coefficient =
6 NN.s/m).
 Seismic Response Control of a Cable-Stayed Bridge 159

Damping Coefficient (MN.s/m) Damping Coefficient (MN.s/m)

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(a) Base moment ( b ) Deck displacement

Fig. 8. Effect of damping coefficients on responses under the viscous damping force scheme.

3.2. Nonlinear viscous damping force scheme

As one may see from Fig. 7, the damping force under the viscous damping force
scheme reaches its maximum value of about 3 MN in only a few cycles. Consequently
if dampers with a capacity of 3MN are used, the dampers are not fully used up to
its capacity. It may be beneficial to provide a force limit to the viscous damping
force scheme to use a MR damper with a Iower capacity. The damping force FD in
the nonlinear viscous damping force scheme is expressed as

in which c is a viscous damping coefficient, u is the piston velocity of a MR damper,

and FL represents a damping force limit.
Figure 9 shows the responses of a damper at Pier 4. A damping coefficient of
6 MN.s/m and a force limit of 1MN were assumed here. Table 1 lists the maximum
responses of the bridge controlled by the nonlinear viscous damping force scheme
under the El Centro record. Comparing to the viscous damping force scheme, the
response increases by 9% while the nonlinear viscous damping force scheme requires

Stroke (m) Velocity (mls)

(a) Damping force versus stroke (b) Damping force versus velocity
Fig. 9. Responses of the damper a t Pier 4 under the El Gentro record (damping coefficient =
6 MN.s/m and force limit = 1MN).
 Table I. Peak responses under El Centro record.
Base shear Base moment Deck dispiacement
Damping force schemes (MN) (MN.m) (m)
With shock transmission devices 38.4 888.4 0.077
Without devices 22.2 398.3 0.363
Viscous damping 16.8 299.5 0.068
Nonlinear viscous damping 18.2 308.6 0.074

z ~ r 7
Friction damping 16.9 360.9 0.047
Twc-step friction damping 16.5 293.8 0.046
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Cenm record
500 ' - - - - - El
Cebze record
Mexico record

400
300
200 . --------__------
100 ---.-.-.-.-.-.-.-.----

Force Limit (MN) Force Limit (MN)

Fig. 10. Effect of force limits on maximum responses under the nonlinear viscous damping force
scheme.

only 33% the maximum damping force required by the viscous damping force algo-
rithm. The effect of the force limit on maximum responses under the three ground
motions is shown in Fig. 10. The damping coefficient was assumed to be 6 MN.s/m
here. It is seen that the reduction of responses is remarkable up to a force limit of
1MN. Among three ground motion records, the effectiveness of the nonlinear viscous
damping force scheme is prominent under the Gebze record which has long-period
pulse accelerations. It is important to note that in the nonlinear viscous damping
force scheme, the careful selection of the damping force limit from the response
analysis would result in significant reduction of responses while demanding a lower
capacity of a damper.

3.3. Two-step friction damping force scheme

A friction damper provides a constant damping force for the entire range of the
stroke, and it dissipates larger amount of energy than a viscous damper with the
same damping force capacity. This would resuIt in a large reduction of response of
the bridge. Providing a constant damping force close to the force capacity of the
damper may be the effective and simple way. However, if the damping force level
of a friction damper is large, it may result in a decrease in the energy dissipation,
because the large damping force tends to lock the movement between the deck and
the towers.
 Seismic Rssponse Control of a Cable-Stayed Bridge 161

To modify the characteristic of the friction damping, a twc-step friction damping

force scheme is proposed. The damping force FD is provided as
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in which u is the piston velocity of a damper, k is the slope.of the relation between
a damping force and a piston velocity at the velocity close to zero to allow smooth
transition of a damping force and is set to a large value, FF is a friction force level,
/3 is a decreasing ratio of the damping force (0 < ,B < I), and iLt is a transitional
velocity of the damper. FF is set equal to the force capacity of a MR damper. The
smaller force leveI functions t o facilitate the movement of the damper when the
piston of the damper is moving with a small velocity. It is noted here that change
of the damping force is not necessarily limited only to two steps, but can occur at
arbitrary steps.
The responses of the bridge controlled by friction damping with a constant
friction force of 3MN and the twestep friction damping force scheme under the
El Centro record are surnrnarised in Table 1. Figures 11 and 12 show damping
forces under a friction damping force scheme and a two-step friction damping force
scheme, respectively, at Pier 4. The maximum damping force FF, the decreasing
rate /3, and the transitional velocity ut were assumed here as 3 MN, 0.5 and 0.2 m/s,
respectively. Comparing to the friction damping force scheme, the base moment of
the tower reduces from 360.9MN.m to 293.8MN.m under the two-step friction
damping force scheme. The maximum stroke of the damper is 0.047m and 0.049m
under the friction and two-step friction damping force schemes, respectively. The
strokes of the damper are virtually the same for both friction and twc-step friction
damping force schemes.

Suoke (m) Velocity (mls)

(a) Damping force versus stroke (b) Damping force versus velocity
Fig. 11. Damping force at Pier 4 under the El Centro record (friction force = 3 MN).
 162 A . Ruangmssamee & K. Kawa-shama

Stroke (m) Velocity (mls)

(a) Damping force versus stroke (b) Damping force versus velocity
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Fig. 12. Damping force a t Pier 4 controlled by the two-step friction damping force scheme under
the El Centro record.

Parametric study was conducted by varying the friction force level FF of the
friction and the two-step friction damping force schemes. Figure 13 compares the
maximum response versus the maximum friction force relation under the friction
damping and two-step friction damping force schemes. The two-step friction damp-
ing force scheme provides more reduction of base moment than the friction damping
force scheme. As seen from the energy dissipation in the dampers, the two-step fric-
tion force scheme can dissipate more energy. It is because the damper is facilitated
to move even at a small velocity. The deck displacements from both damping force
schemes are close.

-
E
500
2 400
E
- 300
9
5
I
ZOO
g 100
4 0 01 1
0 1 2 3 4 5 6
Maximum Friction Force (MN) Maximum Friction Force (MN)
(a) Base moment (b) Deck displacement

-Ei -Two-step friction

----- friction
Twwstep
(at Pier 2)
(at Pier 3) -
3- - Friction (at Pier 2 )
z ----- Friction (at Pier 3 )
E

Maximum Friction Force (MN)

(c) Energy dissipation

Fig. 13. Comparison of maximum responses of the cable-stayed bridge controlled by the friction
damping and two-step friction damping force schemes under the El Centro record.
 Seismic Response Control of a Cable-Stayed Bridge 163

4. Comparison of Evaluation Criteria

Dyke et al. 120001 presented a set of 18 criteria for comparing the effectiveness of
various control strategies in terms of peak responses, normed responses over the
entire time record, and the requirements of the control system. Among them, some
basic criteria are discussed here.
The normalised bending moment at the base of the tower &-, the normalised
damping force FD, m d the normalised deck displacement are defined as a
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where &IFax = the maximum bending moment at the bases of the towers,
fm" = the maximum damping force of the dampers, W = weight of the super-
structure (SlOMN), and d?" = the maximum deck displacement. The subscript R
in Eqs. (6)-(8) represents the values corresponding to the reference bridge.
Figure 14 presents the norrnalised bending moment at the base of the towers &IT
versus the norrnalised damping force FD under four damping force schemes. Under
the viscous and nonlinear viscous damping force schemes, the normalised bending
moment decreases significantly when the normalised damping force increases from
zero to about 0.002 for the Mexico record. The nonlinear viscous damping force
scheme provides the similar reduction of the bending moment at a smaller damping
force. The two-step friction damping force scheme provides larger reduction of the
bending moment than the friction damping force scheme. The bending moment
increases again as the normalised friction force level increases larger than about
0.002 in the friction damping force scheme. Because the deck restoring force is very
small in the cable-stayed bridge compared to standard bridges, the lock of a deck
to the substructures occurs at a smaller damping force level.

Viscous

Fricrion
.--
.-.---
Twc-step friction

=E E 0 2
$E '

0.0
0.000 0.002 0.004 0.006 0.008
Normalised Damping Force Normalised Damping Force
(a) El Centro record (b) Mexico record
Fig. 14. Dependence of the normalised bending moment at the tower on the normalised damping
force.
 164 A . Ruangmssamee B K. Kawashima

- - - - - Nonlinear
Friction
viscous

.....-a -- Two-step friction

Normalised Damping Force Normalised Damping Force

(a) El Centro record (b) Mexico record
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Fig. 15. Dependence of the normalied deck displacement on the normalised damping force.

Figure 15 shows the normalised deck displacement b versus the normalised

damping force pD relation. The deck displacement decreases as the damping force
increases as mentioned previously. It is seen that the friction damping force scheme
provides the smallest deck displacement. The nonlinear viscous damping force
scheme yields more reduction of the deck displacement than the viscous damping
force scheme at the same damping force level.

5 . Conclusions
This study investigated two variable damping force schemes in controlling the seis-
mic responses of the benchmark cable-stayed bridge. Based on the results of the
benchmark problem presented here, the following conclusions may be deduced:

(i) Providing a limit on the damping force is effective on the control of seismic
responses and it demands a lower capacity in MR dampers. The nonlinear vis-
cous damping force scheme can give larger reduction on the base moment than
the original bridge with the shock transmission devices. The normalised bend-
ing moment at the base of tower decreases significantly when the normalised
damping force increases horn zero to 0.002.
(ii) An increase in the damping force level of a friction damper results in a decrease
in the energy dissipation because of the lock of the deck relative to substruc-
tures. To modify the characteristic of the friction damper, the two-step friction
damping force scheme was proposed. Because the stiffness of the cable-stayed
bridge is smaller than standard bridges, the lock occurs at smaller damping
force levels. The two-step friction damping force scheme provides larger reduc-
tion in the base moment than the friction damping without sacrificing the deck
displacement.
(iii) From the analysis under three ground motions, the effectiveness of the damping
force schemes is prominent for the Gebze record which has a pulse-like motion.
The effect of ground motion characteristics on control efficiency deserves
detailed investigations in the future.
 Seismic Response Control of a Cable-Stayed Bridge 165

Acknowledgements
The authors appreciate kind cooperation from Dr. Shirley Dyke, Associate
Professor, Washington University a t St. Louis in providing useful information of
the benchmark cable-stayed bridge.
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