Experimental verification of torsional response control of asymmetric buildings using MR dampers

This paper proposes a semiactive control system to reduce the coupled lateral and torsional motions in asymmetric buildings subjected to horizontal seismic excitations. Magnetorheological (MR) dampers are applied as semiactive control devices and the control input determination is based on a clipped‐optimal control algorithm which uses absolute acceleration feedback. The performance of this method is studied experimentally using a 2‐story building model with an asymmetric stiffness distribution. An automated system identification methodology is implemented to develop a control‐oriented model which has the natural frequencies observed in the experimental system. The parameters for the MR damper model are identified using experimental data to develop an integrated model of the structure and MR dampers. To demonstrate the performance of this control system on the experimental structure, a shake table is used to reproduce an El Centro 1940 N–S earthquake as well as a random white noise excitation. The responses for the proposed control system are compared to those of passive control cases in which a constant voltage is applied to the MR damper. Copyright © 2003 John Wiley & Sons, Ltd.     

Dynamic characteristics and seismic behavior of prefabricated steel stairs in a full‐scale five‐story building shake table test program

This paper investigates the dynamic characteristics and seismic behavior of prefabricated steel stairs in a full‐scale five‐story building shake table test program. The test building was subjected to a suite of earthquake input motions and low‐amplitude white noise base excitations first, while the building was isolated at its base, and subsequently while it was fixed to the shake table platen. This paper presents the modal characteristics of the stairs identified using the data recorded from white noise base excitation tests as well as the physical and measured responses of the stairs from the earthquake tests. The observed damage to the stairs is categorized into three distinct damage states and is correlated with the interstory drift demands of the building. These shake table tests highlight the seismic vulnerability of modern designed stair systems and in particular identifies as a key research need the importance of improving the deformability of flight‐to‐building connections. Copyright © 2015 John Wiley & Sons, Ltd.     

Seismic performance evaluation of typical dampers designed by Chinese building code

Adding dampers is a commonly adopted seismic risk mitigation strategy for modern buildings, and the corresponding design procedure of dampers has been well established by the Chinese Building Code. Even though all types of dampers are designed by the same procedure, actual seismic performance of the building may differ from one to the others. In this study, a nine-story benchmark steel building is established, and three different and typical types of dampers are designed according to the Chinese Building Code to realize structural vibration control under strong earthquake excitation. The seismic response of the prototype building equipped with a viscoelastic damper, viscous damper and buckling-restrained brace(BRB) subjected to 10 earthquake records are calculated, and Incremental Dynamic Analysis(IDA) is performed to describe progressive damage of the structure under increasing earthquake intensity. In the perspective of fragility, it shows that the viscoelastic damper has the highest collapse margin ratio(CMR), and the viscous damper provides the best drift control. Both the BRB and viscoelastic dampers can effectively reduce the floor acceleration responses in the mid-rise building.     

Concept and performance testing of a high‐capacity oil damper comprising multiple damper units

There has been a significant increase in the size of building structures in recent years. Huge structures such as high‐rise buildings and large‐domed stadiums require high‐performance structural control, including the use of high‐capacity dampers, especially in an earthquake‐prone country like Japan. The objective of the present study was the enhancement of both human and structural safety in such structures through the development of a rate‐dependent type of damper with a high damping capacity. Among the various available types of rate‐dependent dampers, the authors focused on the oil damper owing to its stable performance against long‐duration vibrations. The target maximum damping force was 6000 kN, which is higher than that of any existing oil damper utilized in building structures. The authors developed a novel concept for achieving this high capacity while maintaining the size of the damper within acceptable dimensions from an architectural point of view. The concept involves the use of multiple damper units that produce mechanically parallel damping forces spatially arranged in series. As a prototype, a 1500‐kN oil damper was fabricated by combining three 500‐kN dampers. The 1500‐kN prototype damper was conceived as a full‐scale prototype of a damper that is more slender than comparable commercially available dampers in Japan, and as a scaled model of the proposed 6000‐kN damper. Sinusoidal loading tests were conducted on the prototype damper using a frequency range of 0.1–1.5 Hz and a velocity range of 0.4–300 mm/s. The results confirmed that the damper produced the design damping forces. The results of earthquake loading tests also revealed that the damper exerted a stable damping force against a large earthquake and maintained its performance after the earthquake. The damper is particularly effective against earthquakes with long‐period components that could increase the temperature of a damper. This is afforded by its high heat capacity compared to conventional dampers. Considering that the proposed 6000‐kN damper will generate a damping force that is about 2–3 times that of the strongest conventional oil damper, existing manufacturer test machines would be inadequate for evaluating its full performance characteristics. To address this issue, the authors also propose a test method for evaluating the overall damping force. The method is premised on the fact that the characteristic feature of the proposed damper is its combination of multiple damper units. The overall performance is thus evaluated using the test results for the individual damper units while the other dampers are bypassed. This method was verified by the results of the abovementioned sinusoidal loading tests, with the error for the 1500‐kN prototype damper found to be less than 5%. Copyright © 2016 John Wiley & Sons, Ltd.     

SEISMIC TESTING OF A BUILDING STRUCTURE WITH A SEMI-ACTIVE FLUID DAMPER CONTROL SYSTEM

This paper describes shaking table tests of a multi-storey scale-model building structure subjected to seismic excitation and controlled by a semi-active fluid damper control system. The semi-active dampers were installed in the lateral bracing of the structure and the mechanical properties of the dampers were modified according to control algorithms which utilized the measured response of the structure. A simplified time-delay compensation method was developed to account for delays within the control system. The results of the shaking table tests are presented and interpreted and analytical predictions are shown to compare reasonably well with the experimental results. © 1997 John Wiley & Sons, Ltd.     

Semi‐active control of sliding isolated bridges using MR dampers: an experimental and numerical study

Sliding base‐isolation systems used in bridges reduce pier drifts, but at the expense of increased bearing displacements under near‐source pulse‐type earthquakes. It is common practice to incorporate supplemental passive non‐linear dampers into the isolation system to counter increased bearing displacements. Non‐linear passive dampers can certainly reduce bearing displacements, but only with increased isolation level forces and pier drifts. The semi‐active controllable non‐linear dampers, which can vary damping in real time, can reduce bearing displacements without further increase in forces and pier drifts; and hence deserve investigation. In this study performance of such a ‘smart’ sliding isolation system, used in a 1:20 scaled bridge model, employing semi‐active controllable magneto‐rheological (MR) dampers is investigated, analytically and experimentally, under several near‐fault earthquakes. A non‐linear analytical model, which incorporates the non‐linearities of sliding bearings and the MR damper, is developed. A Lyapunov control algorithm for control of the MR damper is developed and implemented in shake table tests. Analytical and shake table test results are compared. It is shown that the smart MR damper reduces bearing displacements further than the passive low‐ and high‐damping cases, while maintaining isolation level forces less than the passive high‐damping case. Copyright © 2005 John Wiley & Sons, Ltd.     

Effect of earthquake energy input characteristics on hysteretic damper efficiency

Robust performance of hysteretic dampers, used in controlling mid‐rise buildings, against change of earthquake characteristics is investigated in this paper. A shear type ten‐storey building incorporating hysteretic dampers is studied as a model under the assumption of elastic perfectly plastic behavior for inelastic frame and damper deformations. An energy‐based damper performance index is used to evaluate damper overall efficiency. Thirty‐five earthquake records are applied and the damper strength is optimized for each earthquake record to obtain the maximum performance index or the damper efficiency. Based on the obtained numerical results it is found that, besides the effect of maximum energy input on damper efficiency, other time‐dependant properties such as energy‐based effective duration and earthquake dominant period have great influence on the damper efficiency. A factor (α), which represents the combined effect of maximum energy input, effective duration and dominant earthquake period, is also derived for the prediction of damper efficiency. Copyright © 2003 John Wiley & Sons, Ltd.     

Experimental study of the semi‐active control of building structures using the shaking table

A magnetorheological (MR) damper has been manufactured and tested and a non‐linear model is discussed. The parameters for the model are identified from an identification set of experimental data; these parameters are then used to reconstruct the force vs. displacement and the force vs. velocity hysteresis cycles of the MR damper for the hysteretic model. Then experiments are conducted on a three‐storey frame model using impact excitation, which identifies dynamic parameters of the model equipped with and without the MR damper. Natural frequencies, damping ratios and mode shapes, as well as structural properties, such as the mass, stiffness and damping matrices, are obtained. A semi‐active control method such as a variable structure controller is studied. Based on the ‘reaching law’ method, a feedback controller is presented. In order to evaluate the efficiency of the control system and the effect of earthquake ground motions, both numerical analysis and shaking table tests of the model, with and without the MR damper, have been carried out under three different ground motions: El Centro 1940, Taft 1952, and Ninghe 1976 (Tangshan Earthquake in Chinese). It is found from both the numerical analysis and the shaking table tests that the maximum accelerations and relative displacements for all floors are significantly reduced with the MR damper. A reasonable agreement between the results obtained from the numerical analysis and those from the shaking table tests is also observed. On the other hand, tests conducted at different earthquake excitations and various excitation levels demonstrate the ability of the MR damper to surpass the performance of a comparable passive system in a variety of situations. Copyright © 2003 John Wiley & Sons, Ltd.     

带粘弹性阻尼器结构振动台试验设计——基于OpenSees的阻尼器尺寸选择

基于带粘弹性阻尼器钢框架结构振动台试验,提出了基于OpenSees的阻尼器尺寸选择方法。首先,通过试验获得一种特定尺寸阻尼器的滞回曲线,根据粘弹性阻尼器相似理论,将其转换为一系列不同尺寸的阻尼器滞回曲线。使用Bouc-Wen模型对它们进行参数识别并添加到结构分析模型中,利用OpenSees软件对添加阻尼器结构和纯框架结构进行不同水准的3条地震波下动力时程分析。最后,通过综合考查阻尼器的减震效果和最大应变来确定合适的用于振动台试验当中的阻尼器尺寸。结果表明,本方法可避免对不同尺寸阻尼器逐个进行性能试验,Bouc-Wen模型可较准确地模拟阻尼器力学性能,OpenSees非线性动力时程分析可准确模拟试验过程,根据提出的选择指标能简单方便地确定阻尼器的尺寸。     

Spring-viscous damper systems for combined seismic and vibration isolation

The coupled lateral-vertical-rocking dynamic response of spring-viscous damper isolated structures is considered. The force-displacement relation of the viscous dampers is described by an experimentally calibrated fractional derivative viscoelasticity model. The equations of motion are derived and reduced to a form for direct solution by the discrete Fourier transform method. The validity and accuracy of the derived solution are demonstrated by comparison with shake table test results. The developed analysis procedure is employed in the seismic analysis of a recently constructed isolated structure. The analytical and experimental results demonstrate that spring-viscous damper isolation systems are capable of providing both effective seismic and vibration isolation.     

Optimum placement and characteristics of velocity-dependent dampers under seismic excitation

In this study,through novel drift-based equations of motion in the frequency domain,optimum placement and characteristics of linear velocity-dependent dampers are investigated.In this study,the sum of the square of the absolute values of transfer matrix elements for interstory drifts is considered as the optimization index.Optimum placement and characteristics of dampers are simultaneously obtained by minimizing the optimization index through an incremental procedure.In each step of the procedure,a predefined value is considered as the damper characteristic.The optimum story for this increment is selected such that it leads to a minimum value for the optimization index.The procedure is repeated for the next increments until the optimization index meets its target value,which is obtained according to the desired damping ratio for the overall structure.In other words,the desired overall damping ratio is the input to the proposed procedure,and the optimal placement and characteristics of the dampers are its output.It is observed that the optimal placement of a velocitydependent damper depends on the damping coefficient of the added damper,frequency of the excitation,and distribution of the mass,stiffness,and inherent damping of the main structure.     

Damping identification of a full‐scale passively controlled five‐story steel building structure

A series of large‐scale dynamic tests was conducted on a passively controlled five‐story steel building on the E‐Defense shaking table facility in Japan to accumulate knowledge of realistic seismic behavior of passively controlled structures. The specimen was tested by repeatedly inserting and replacing each of four damper types, that is, the buckling restrained braces, viscous dampers, oil dampers, and viscoelastic dampers. Finally, the bare steel moment frame was tested after removing all dampers. A variety of excitations was applied to the specimen, including white noise, various levels of seismic motion, and shaker excitation. System identification was implemented to extract dynamic properties of the specimen from the recorded floor acceleration data. Damping characteristics of the specimen were identified. In addition, simplified estimations of the supplemental damping ratios provided by added dampers were presented to provide insight into understanding the damping characteristics of the specimen. It is shown that damping ratios for the specimen equipped with velocity‐dependent dampers decreased obviously with the increasing order of modes, exhibiting frequency dependency. Damping ratios for the specimen equipped with oil and viscoelastic dampers remained constant regardless of vibration amplitudes, whereas those for the specimen equipped with viscous dampers increased obviously with an increase in vibration amplitudes because of the viscosity nonlinearity of the dampers. In very small‐amplitude vibrations, viscous and oil dampers provided much lower supplemental damping than the standard, whereas viscoelastic dampers could be very efficient. Copyright © 2012 John Wiley & Sons, Ltd.     

新型SMA耗能器及结构地震反应控制试验研究

利用NiTi合金丝的超弹性性能，本文提出了两种新型SMA被动耗能器，分别称之为拉伸型SMA耗能器和剪刀型SMA耗能器。通过对耗能器的构造设计，安装在耗能器中的NiTi丝始终处于受拉状态，避免了合金丝在结构振动过程中受压屈曲。文中阐述了拉伸型SMA耗能器和剪刀型SMA耗能器的构造及工作原理，并将其安装在模型结构上进行了地震模拟振动台试验，验证了新型SMA耗能器的减振效果。     

Shake table testing of an elevator system in a full‐scale five‐story building

This paper investigates the seismic performance of a functional traction elevator as part of a full‐scale five‐story building shake table test program. The test building was subjected to a suite of earthquake input motions of increasing intensity, first while the building was isolated at its base and subsequently while it was fixed to the shake table platen. In addition, low‐amplitude white noise base excitation tests were conducted while the elevator system was placed in three different configurations, namely, by varying the vertical location of its cabin and counterweight, to study the acceleration amplifications of the elevator components due to dynamic excitations. During the earthquake tests, detailed observation of the physical damage and operability of the elevator as well as its measured response are reported. Although the cabin and counterweight sustained large accelerations because of impact during these tests, the use of well‐restrained guide shoes demonstrated its effectiveness in preventing the cabin and counterweight from derailment during high‐intensity earthquake shaking. However, differential displacements induced by the building imposed undesirable distortion of the elevator components and their surrounding support structure, which caused damage and inoperability of the elevator doors. It is recommended that these aspects be explicitly considered in elevator seismic design. Copyright © 2016 John Wiley & Sons, Ltd.     

Seismic response control using electromagnetic inertial mass dampers

This paper presents a new type of electromagnetic damper with rotating inertial mass that has been developed to control the vibrations of structures subjected to earthquakes. The electromagnetic inertial mass damper (EIMD) consists of a ball screw that converts axial oscillation of the rod end into rotational motion of the internal flywheel and an electric generator that is turned by the rotation of the inner rod. The EIMD is able to generate a large inertial force created by the rotating flywheel and a variable damping force developed by the electric generator. Device performance tests of reduced‐scale and full‐scale EIMDs were undertaken to verify the basic characteristics of the damper and the validity of the derived theoretical formulae. Shaking table tests of a three‐story structure with EIMDs and earthquake response analyses of a building with EIMDs were conducted to demonstrate the seismic response control performance of the EIMD. The EIMD is able to reduce story drifts as well as accelerations and surpasses conventional types of dampers in reducing acceleration responses. Copyright © 2013 John Wiley & Sons, Ltd.     

Real‐time hybrid testing of a smart base isolation system

Real‐time hybrid testing is a very effective technique for evaluating the dynamic responses of rate‐dependent structural systems subjected to earthquake excitation. A smart base isolation system has been proposed by others using conventional low‐damping isolators and controllable damping devices such as magnetorheological (MR) dampers to achieve specified control target performance. In this paper, real‐time hybrid tests of a smart base isolation system are conducted. The simulation is for a base‐isolated two‐degrees‐of‐freedom building model where the superstructure and the low‐damping base isolator are numerically simulated, and the MR damper is physically tested. The target displacement obtained from the step‐by‐step integration of the numerical substructure is imposed on the MR damper, which is driven by three different control algorithms in real‐time. To compensate the actuator delay and improve the accuracy of the test, an adaptive phase‐lead compensator is implemented. The accuracy of each test is investigated by using the root mean square error and the tracking indicator. Experimental results demonstrate that the hybrid testing procedure using the proposed actuator compensation techniques is effective for investigating the control performance of the MR damper in a smart base isolation system. Copyright © 2013 John Wiley & Sons, Ltd.     

Damage assessment through structural identification of a three‐story large‐scale precast concrete structure

This paper investigates the damage assessment of a three‐story half‐scale precast concrete building resembling a parking garage through structural identification. The structure was tested under earthquake‐type loading on the NEES large high‐performance outdoor shake table at the University of California San Diego in 2008. The tests provide a unique opportunity to capture the dynamic performance of precast concrete structures built under realistic boundary conditions. The effective modal parameters of the structure at different damage states have been identified from white‐noise and scaled earthquake test data with the assumption that the structure responded in a quasi‐linear manner. Modal identification has been performed using the deterministic‐stochastic subspace identification method based on the measured input–output data. The changes in the identified modal parameters are correlated to the observed damage. In general, the natural frequencies decrease, and the damping ratios increase as the structure is exposed to larger base excitations, indicating loss of stiffness, development/propagation of cracks, and failure in joint connections. The analysis of the modal rotations and curvatures allowed the localization of shear and flexural damages respectively and the checking of the effectiveness of repair actions. Copyright © 2013 John Wiley & Sons, Ltd.     

Seismic evaluation of 1940s asymmetric wood‐frame building using conventional measurements and high‐definition laser scanning

This study presents results from shake table experiments of a wood‐frame building conducted at the University of California, Berkeley. A 13.5‐ft × 19.5‐ft two‐story wood‐frame building representing San Francisco 1940s design of a residential building with a garage space on the first story (house‐over‐garage) was tested. The test building was subjected to scaled ground motion based on Los Gatos record from Loma Prieta 1989 earthquake. The strong motion time history was scaled to match design spectra of a site in Richmond district of San Francisco. The test results demonstrated the seismic vulnerability of the test building due to soft story mechanism and significant twisting when shaken in two horizontal directions. In addition to conventional instrumentation for measuring acceleration and position of selected points of the test building, high‐definition laser scanning technology was employed to assess global and local anomalies of the building after the shake table tests. The analysis conducted in this study showed very good correlation between conventional data recorded from position transducers and the laser scans. These laser scans expanded limits of conventional data at discrete points and allowed analyzing the whole building after shaking. Copyright © 2009 John Wiley & Sons, Ltd.