LINEAR QUADRATIC REGULATOR FOR STRUCTURE UNDER ON-LINE PREDICTED FUTURE SEISMIC EXCITATION

A predictive-adaptive (PA) control algorithm has been developed for a structure under a seismic excitation. This algorithm analyses information of an observed seismic excitation, estimates future structural responses and determines the control force for the structure, based on the linear quadratic regulator. That is, at a given moment t_k: (1) seismic excitation information is converted to an autoregressive model, which forms the state equation for the excitation; (2) the identification model is combined with the structural model to build a state equation in an augmented space; (3) the weighted quadratic norm of the state vector and the future control force is formed as a cost function for estimating future responses; (4) the Ricatti equation is solved to find the optimum value of the cost function; and (5) the optimum gain matrix is obtained, and the control force is determined. The PA algorithm is not restricted to one type of control system, but can be applied to both an active driver system and an active tendon system. Its effectiveness is confirmed by numerical experiments for 1DOF and 3DOF structural models under sine and seismic excitations.     

Seismic response control of a complex structure using multiple MR dampers： experimental investigation

This paper presents an experimental investigation on semi-active seismic response control of a multistory building with a podium structure using multiple magnetorheological (MR) dampers manipulated by a logic control algorithm. The experiments are performed in three phases on a seismic simulator with a slender 12-story building model representing a multi-story building and a relatively stiff 3-story building model typifying a podium structure. The first phase of the investigation is to assess control performance of using three MR dampers to link the 3-story building to the 12-story building, in which seismic responses of the controlled two buildings are compared with those of the two buildings without any connection and with rigid connection. The second phase is to investigate reliability of the semi-active control system and robustness of the logic control algorithm when 2 out of 3 MR dampers fail and when the electricity supply to MR dampers is completely stopped. The last phase is to examine sensitivity of semi-active control performance of two buildings to change in ground excitation. The experimental results show that multiple MR dampers with the logic control algorithm can achieve a significant reduction in seismic responses of both buildings. The proposed semi-active control system is of high reliability and good robustness.     

Some aspects of testing small-scale masonry building models on simple earthquake simulators

The basic aspects of testing small-scale masonry building models on simple earthquake simulators are discussed. Since the scale effects represent a difficult problem to solve, the overall seismic behaviour of structural systems, and not the behaviour of structulal details, has been studied by testing the reduced-sized models on a simple earthquake simulator. Accurate results regarding the dynamic behaviour and failure mechanism of the tested structures have been obtained by means of testing the relatively simple, adequately designed small-scale masonry building models. A simple earthquake simulator capable of simulating the uni-directional earthquake ground motion has been developed to study the seismic behaviour of masonry building models. Although a multipurpose programmable actuator was used to drive the shaking table, the comparison of the dynamic characteristics of the generated shaking-table motion and the earthquake acceleration records used for the simulation of seismic loads showed an acceptable degree of correlation between the input and output seismic motion.     

带裙房高层建筑地震反应控制振动台试验研究

2002年9月在香港理工大学成功地进行了带裙房高层建筑地震反应控制试验研究。设计和制作的结构模型是带3层裙房的12层高楼剪切模型,在裙房顶层与主楼之间安装单MR阻尼器形成MR阻尼器耦联结构模型。MR阻尼器采用美国LORD公司摩擦型MR阻尼器,并且选用其配套产品计算机电流控制器对其进行控制,控制系统采用德国dSPACE公司实时控制系统。对独立主楼、独立裙房和原结构模型的动力特性进行了辨识;对结构模型进行了El Centro地震动作用下的地震反应振动台试验;以作者提出的MR阻尼器半主动逻辑控制算法,对MR阻尼器耦联的结构模型进行了地震反应振动台试验。试验结果表明：用MR阻尼器耦联主楼与裙房,采用半主动逻辑控制方法进行控制,能有效抑制主楼的鞭梢效应并使主楼和裙房的地震反应减小。     

Numerical simulations of a highway bridge structure employing passive negative stiffness device for seismic protection

A new passive seismic response control device has been developed, fabricated, and tested by the authors and shown to be capable of producing negative stiffness via a purely mechanical mechanism, thus representing a new generation of seismic protection devices. Although the concept of negative stiffness may appear to be a reversal on the desired relationship between the force and displacement in structures (the desired relationship being that the product of restoring force and displacement is nonnegative), when implemented in parallel with a structure having positive stiffness, the combined system appears to have substantially reduced stiffness while remaining stable. Thus, there is an ‘apparent weakening and softening’ of the structure that results in reduced forces and increased displacements (where the weakening and softening is of a non‐damaging nature in that it occurs in a seismic protection device rather than within the structural framing system). Any excessive displacement response can then be limited by incorporating a damping device in parallel with the negative stiffness device. The combination of negative stiffness and passive damping provides a large degree of control over the expected performance of the structure. In this paper, a numerical study is presented on the performance of a seismically isolated highway bridge model that is subjected to various strong earthquake ground motions. The Negative Stiffness Devices (NSDs) are described along with their hysteretic behavior as obtained from a series of cyclic tests wherein the tests were conducted using a modified design of the NSDs (modified for testing within the bridge model). Using the results from the cyclic tests, numerical simulations of the seismic response of the isolated bridge model were conducted for various configurations (with/without negative stiffness devices and/or viscous dampers). The results demonstrate that the addition of negative stiffness devices reduces the base shear substantially, while the deck displacement is limited to acceptable values. This assessment was conducted as part of a NEES (Network for Earthquake Engineering Simulation) project which included shaking table tests of a quarter‐scale highway bridge model. Copyright © 2014 John Wiley & Sons, Ltd.     

An experimental study on using MR damper to mitigate longitudinal seismic response of a suspension bridge

In this paper, the seismic response reduction performance of magnetorheological (MR) damper is experimentally investigated for a suspension bridge. First, the force–displacement and force–velocity curves under a range of excitation frequencies, amplitudes and currents are obtained by mechanical behavior test of the RD1097 type MR damper. Then a new non-linear hysteretic model is proposed to model the mechanical behavior of the MR damper and the model parameters are identified from test data. An experimental method, as well as a set of testing setups with the MR damper for longitudinal seismic response reduction of a SDOF generalized system representing the fundamental longitudinal mode of suspension bridge, is developed. Finally, the seismic response reduction experiment subject to three kinds of earthquake excitations, including the Pingsheng Bridge earthquake wave, the El-Centro wave and the Taft wave, is carried out, and nine control cases, including uncontrolled, six passive control schemes with different input currents and two semi-active Bang–Bang control schemes, are tested. The results verify that the seismic response reduction experimental method is feasible and the good performance of seismic longitudinal response reduction of the suspension bridge can be achieved by MR damper. It is also shown that the passive control with optimum input current outperforms the semi-active Bang–Bang controls.     

Semi-active model predictive control for 3rd generation benchmark problem using smart dampers

A semi-active strategy for model predictive control (MPC), in which magneto-rheological dampers are used as an actuator, is presented for use in reducing the nonlinear seismic response of high-rise buildings. A multi-step predictive model is developed to estimate the seismic performance of high-rise buildings, taking into account of the effects of nonlinearity, time-variability, model mismatching, and disturbances and uncertainty of controlled system parameters by the predicted error feedback in the multi-step predictive model. Based on the predictive model, a Kalman-Bucy observer suitable for semi-active strategy is proposed to estimate the state vector from the acceleration and semi-active control force feedback. The main advantage of the proposed strategy is its inherent stability, simplicity, on-line real-time operation, and the ability to handle nonlinearity, uncertainty, and time-variability properties of structures. Numerical simulation of the nonlinear seismic responses of a controlled 20-story benchmark building is carried out, and the simulation results are compared to those of other control systems. The results show that the developed semi-active strategy can efficiently reduce the nonlinear seismic response of high-rise buildings.     

装配式混凝土框架结构体系的抗震承载力测试研究

为了提高装配式混凝土框架结构体系的抗震承载力,需要对承载力进行量化测试,提出一种基于弹性模量载荷应力线性评估的装配式混凝土框架结构体系的抗震承载力测试方法。构建装配式混凝土框架结构体系的抗震承载力测试的约束参量模型,结合受力参量估计方法进行应力屈服响应评估,测试装配式混凝土框架结构体系的抗震动态承载力,采用屈服应力推服响应控制方法进行装配式混凝土框架结构体系的抗震承载力的自动加载和自适应控制,测试式混凝土框架结构体系的抗震承载力和抗拉能力,实现混凝土框架结构体系的抗震承载力参数的优化估计。测试结果表明,采用该方法进行装配式混凝土框架结构体系的抗震承载力测试的准确性较高,提高了建筑体的抗震力。     

Analysis of shaking table-structure interaction effects during seismic simulation tests

An analytical model is developed to evaluate performance characteristics of unidirectional seismic simulators (shaking tables). The validity of the model is verified with experimental measurements of the frequency response of the shaking table at the Catholic University of Peru. Interaction effects between shaking table and structure are first studied by analysing the response of a two DOF (degree of freedom) oscillator with mechanical properties representative of the actuator-table-structure system. A single DOF viscoelastic oscillator representing the structural test specimen is then included in the analytical model of the seismic simulator, and the behaviour of the combined system is evaluated, in the frequency domain, in terms of response stability and accuracy of reproduction of the command signal. Numerical simulations of system response under different load conditions are subsequently performed in order to study the influence of shaking table and test structure characteristics on the interaction phenomenon. The results obtained explain some of the performance degradation observed in seismic simulation tests involving very heavy structures and provide guidelines for the design of more reliable shaking table systems.     

Fuzzy logic control of bridge structures using intelligent semi-active seismic isolation systems

Passive supplemental damping in a seismically isolated structure provides the necessary energy dissipation to limit the isolation system displacement. However, damper forces can become quite large as the passive damping level is increased, resulting in the requirement to transfer large forces at the damper connections to the structure which may be particularly difficult to accommodate in retrofit applications. One method to limit the level of damping force while simultaneously controlling the isolation system displacement is to utilize an intelligent hybrid isolation system containing semi-active dampers in which the damping coeffic ient can be modulated. The effectiveness of such a hybrid seismic isolation system for earthquake hazard mitigation is investigated in this paper. The system is examined through an analytical and computational study of the seismic response of a bridge structure containing a hybrid isolation system consisting of elastomeric bearings and semi-active dampers. Control algorithms for operation of the semi-active dampers are developed based on fuzzy logic control theory. Practical limits on the response of the isolation system are considered and utilized in the evaluation of the control algorithms. The results of the study show that both passive and semi-active hybrid seismic isolation systems consisting of combined base isolation bearings and supplemental energy dissipation devices can be beneficial in reducing the seismic response of structures. These hybrid systems may prevent or significantly reduce structural damage during a seismic event. Furthermore, it is shown that intelligent semi-active seismic isolation systems are capable of controlling the peak deck displacement of bridges, and thus reducing the required length of expansion joints, while simultaneously limiting peak damper forces. Copyright © 1999 John Wiley & Sons, Ltd.     

屋盖MR智能隔震系统对升船结构顶部厂房地震鞭梢效应的模糊控制

基于抑制升船结构顶部厂房地震鞭梢效应的目的，本文提出了升船结构顶部厂房屋盖MR智能隔震模糊控制的思想。文中，在建立屋盖智能隔震升船结构计算力学模型的基础上，建立了屋盖MR智能隔震系统对升船结构顶部厂房地震反应模糊控制的设计计算方法。文中并以中国某大坝巨型升船结构为背景，设计了屋盖MR智能隔震系统对升船结构顶部厂房地震反应模糊控制的控制系统。仿真分析和对MR阻尼器的参数研究表明，安装合适的屋盖MR智能隔震系统并采用模糊控制策略能有效地抑制具有不确定参数升船结构顶部厂房地震反应的鞭梢效应，且模糊控制器能保持较好的稳定性能。     

Control of structural seismic response by self-recurrent neural network (SRNN)

A new paradigm called self-recurrent neural network (SRNN) is proposed. Two SRNNs are utilized in a control system, one as an emulator and the other as a controller. To guarantee convergence and for faster learning, an approach using adaptive learning rate is developed by Lyapunov function. Finally, the neural network control algorithm is developed for on-line control of structural seismic response in real time. Simulation-results have shown that it can effectively control structural seismic response and make it consist with the desired response. © 1998 John Wiley & Sons, Ltd.     

建筑抗震实时混合试验时滞补偿方法研究综述

时滞补偿是建筑抗震实时混合试验的重要问题。文章对时滞补偿方法的研究进行总结,将时滞补偿方法分为基于时间的位移预测时滞补偿方法、基于反馈力的位移预测时滞补偿方法、基于加载系统模型求逆的时滞补偿方法、基于控制理论的时滞补偿方法和基于集成理念的综合补偿方法。     

巨型框筒部分悬挂结构控制体系地震反应特性及阻尼控制研究

本文提出巨型框筒部分悬挂结构新体系，研究这种结构体系对地震反应特性，提出用阻尼器进行巨型框筒部分悬挂体系地震反应的控制方法，采用结构动力学有限元方法，建立空间分析模型，对结构体系进行地震随机振动分析、时程分析和地震反应谱分析。分析结果表明，这种结构体系能有效地减小结构的地震响应，最后研究了影响控制效果的主要因素及控制器参数的影响规律。     

Generalized minimum variance control for buildings under seismic ground motion

The generalized minimum variance (GMV) algorithm for the control of civil engineering structures is developed and presented in this paper. This algorithm needs the knowledge of the seismic excitation model to derive the autoregressive moving average exogen model of the structure. Then the GMV control is applied. The control is designed such that the variance of the generalized cost function is minimized. To demonstrate the effectiveness of this control technique, simulation tests using a single‐degree‐of‐freedom structure are performed. The results show that the relative displacement of the structure and the control effort are significantly reduced. Copyright © 2001 John Wiley & Sons, Ltd.     

Reinforced concrete scaled columns under cyclic actions

In the area of reduced-scale model testing, increasing the size of model structures as a means of improving the model performance is often inhibited by the capacity limitation of the available seismic testing facilities. This was the case in a recent experimental programme conducted at NTUA in which several 1:5.5-scale model frames were tested on an earthquake simulator. In order to improve the model reliability, the following measures were taken: strictly obeying the geometric scaling in almost all aspects; using deformed bars as model reinforcement; and using stone-aggregate microconcrete for constructing the models, etc. To evaluate the effectiveness of these measures, a parallel column test programme was conducted in which duplicates of typical columns in the test model frames were prepared, along with those of large sizes following similitude laws. The column specimens were tested under reversals of lateral load. Besides the scale effects, general rules regarding the influences of transverse confinement and axial force on the ductility and strength of columns were also confirmed on the small-scale model columns.     

Experimental study of identification and control of structures using neural network. Part 2: control

Experimental verifications of a recently developed active structural control method using neural networks are presented in this paper. The experiments were performed on the earthquake simulator at the University of Illinois at Urbana—Champaign. The test specimen was a 1/4 scale model of a three-storey building. The control system consisted of a tendon/pulley system controlled by a single hydraulic actuator at the base. The control mechanism was implemented through four active pre-tensioned tendons connected to the hydraulic actuator at the first floor. The structure modelling and system identification has been presented in a companion paper. (Earthquake Engng. Struct. Dyn. 28 , 995–1018 (1999)). This paper presents the controller design and implementation. Three controllers were developed and designed: two neurocontrollers, one with a single sensor feedback and the other with three sensor feedback, and one optimal controller with acceleration feedback. The experimental design of the neurocontrollers is accomplished in three steps: system identification, multiple emulator neural networks training and finally the neurocontrollers training with the aid of multiple emulator neural networks. The effectiveness of both neurocontrollers are demonstrated from experimental results. The robustness and the relative stability are presented and discussed. The experimental results of the optimal controller performance is presented and assessed. Comparison between the optimal controller and neurocontrollers is presented and discussed. Copyright © 1999 John Wiley & Sons, Ltd.     

耗能-隔震柔性底层钢管混凝土-钢筋混凝土组合框架的实验研究

本文用钢管混凝土柱作为结构底层耗能柱、用承重墙和隔震器控制结构底层倒塌破坏,从而提出了一种新的耗能-隔震柔性底层结构体系。通过本文12根钢管混凝土柱和文献[7]中7根钢管混凝土柱的低周疲劳实验,初步确定了钢管混凝土柱地震损伤模型的参数;通过两个钢管混凝土-钢筋混凝土三层框架模型和一个纯钢筋混凝土三层框架模型的拟动力实验,研究和比较了两类结构体系的地震损伤。     

结构地震反应性态的物理随机最优控制

本研究发展了结构地震反应性态的随机最优控制理论和方法。这一研究建立在物理随机系统思想的新理论框架下,突破了以I^to随机微分方程描述动力系统的经典随机最优控制的藩篱。提出了基于系统二阶统计量评价、单目标超越概率和多目标能量均衡的控制器参数设计准则,以及基于概率可控指标的控制器位置设计准则,并将它们统一为物理随机最优控制的广义最优控制律。数值算例分析表明,本文发展的物理随机最优控制方法能够实现结构地震反应性态的精细化控制。     

Statistical performance analysis of seismic‐excited structures with active interaction control

This paper presents a statistical performance analysis of a semi‐active structural control system for suppressing the vibration response of building structures during strong seismic events. The proposed semi‐active mass damper device consists of a high‐frequency mass damper with large stiffness, and an actively controlled interaction element that connects the mass damper to the structure. Through actively modulating the operating states of the interaction elements according to pre‐specified control logic, vibrational energy in the structure is dissipated in the mass damper device and the vibration of the structure is thus suppressed. The control logic, categorized under active interaction control, is defined directly in physical space by minimizing the inter‐storey drift of the structure to the maximum extent. This semi‐active structural control approach has been shown to be effective in reducing the vibration response of building structures due to specific earthquake ground motions. To further evaluate the control performance, a Monte Carlo simulation of the seismic response of a three‐storey steel‐framed building model equipped with the proposed semi‐active mass damper device is performed based on a large ensemble of artificially generated earthquake ground motions. A procedure for generating code‐compatible artificial earthquake accelerograms is also briefly described. The results obtained clearly demonstrate the effectiveness of the proposed semi‐active mass damper device in controlling vibrations of building structures during large earthquakes. Copyright © 2003 John Wiley & Sons, Ltd.