Active interaction control of civil structures. Part 2: MDOF systems

In this paper, the performance of active interaction control (AIC) algorithms is assessed within the context of two realistic building models. The AIC control approach is proposed as a semi‐active means of mitigating the structural response during large earthquakes. To implement the AIC control algorithms into MDOF systems, the modal control (MC) approach that directs the control effort to certain dominant response modes is formulated and utilized herein. Two structures, a 3‐storey building and a 9‐storey steel‐framed benchmark building controlled by the AIC algorithms are analysed for two historical earthquake records. The results of numerical simulation verify the efficacy of the AIC control algorithms in controlling vibration of building structures during large earthquakes. Copyright © 2001 John Wiley & Sons, Ltd.     

利用ARX模型识别土-结构体系的低阶模态频率和阻尼

利用美国Alaska-14层的办公大楼及周围场地上记录到的地震动，对此结构进行了低阶模态频率和阻尼的识别。和考虑土-结构动力相互作用后的土-结体系的低阶模态的频率和阻尼的识别。提供了一种ARX参数模型辨识方法，并与非参数模型辨识比较分析，发现两种模型得到的低阶模态频率和阻尼基本一致，但在高阶模态上会出现明显的差异。通过分析还发现考虑土-结相互作用后，体系的传递函数幅值有所降低。并编制了相应的Matlab计算程序。     

Structural identification using linear models and earthquake records

The problem of determining linear models of structures from seismic response data is investigated using ideas from the theory of system identification. The approach is to determine the optimal estimates of the model parameters by minimizing a selected measure-of-fit between the responses of the structure and the model. Because earthquake records are normally available from only a small number of locations in a structure, and because of noise in the records, it is necessary in practice to estimate parameters of the dominant modes in the records, rather than the stiffness and damping matrices of the linear model. A new algorithm is developed to determine the optimal estimates of the modal parameters. After tests with simulated data, the method is applied to a multi-storey building using records from the 1971 San Fernando earthquake in California. New information is obtained concerning the properties of the lower modes of the building and the time-varying character of the equivalent linear parameters.     

APPLICATION OF OFF-LINE AND ON-LINE IDENTIFICATION TECHNIQUES TO BUILDING SEISMIC RESPONSE DATA

The objectives of this paper are to present a comparison of the dynamic characteristics of a seven-storey reinforced concrete building (Van Nuys–Holiday Inn) identified from four recorded strong-motion response data (Whittier earthquake, Landers earthquake, Big Bear earthquake and Northridge earthquake). In the analysis, time-domain methods for estimating the system parameters and the modal properties of the building are studied. Both off-line and on-line identification algorithms are applied to these seismic response data. Under the assumption of a linear time-invariant system the ARX model and ARMAX model are used. Comparison of the identification results using different models are made. In addition, recursive procedures are adapted as on-line identification and the time-varying modal parameters are estimated. For structural systems under strong earthquake excitation, a recursive identification method, adaptive forgetting through multiple models (AFMM), is introduced to identify systems with rapidly changing parameters. Through the analysis of the seismic response data of the building subjected to four earthquakes the identification algorithm and the identification results are discussed.     

Parametric time‐domain identification of multiple‐input systems using decoupled output signals

Civil engineering structures are often subjected to multidirectional actions such as earthquake ground motion, which lead to complex structural responses. The contributions from the latter multidirectional actions to the response are highly coupled, leading to a MIMO system identification problem. Compared with single‐input, multiple‐output (SIMO) system identification, MIMO problems are more computationally complex and error prone. In this paper, a new system identification strategy is proposed for civil engineering structures with multiple inputs that induce strong coupling in the response. The proposed solution comprises converting the MIMO problem into separate SIMO problems, decoupling the outputs by extracting the contribution from the respective input signals to the outputs. To this end, a QR factorization‐based decoupling method is employed, and its performance is examined. Three factors, which affect the accuracy of the decoupling result, including memory length, input correlation, and system damping, are investigated. Additionally, a system identification method that combines the autoregressive model with exogenous input (ARX) and the Eigensystem Realization Algorithm (ERA) is proposed. The associated extended modal amplitude coherence and modal phase collinearity are used to delineate the structural and noise modes in the fitted ARX model. The efficacy of the ARX‐ERA method is then demonstrated through identification of the modal properties of a highway overcrossing bridge. Copyright © 2013 John Wiley & Sons, Ltd.     

Influence of lateral-load-resisting system on the earthquake response of structures—a system identification study

Analysis and comparison of the dynamic responses of three well instrumented (with accelerographs) high-rise buildings shaken during the 1984 Morgan Hill earthquake are presented. The buildings examined in the present work are (i) the Town Park Towers Apartment building, a 10-storey, concrete shear wall building; (ii) the Great Western Savings and Loan building, a 10-storey building with concrete frames and shear walls; and (iii) the Santa Clara County Office building, a 13-storey, moment-resistant steel frame building. The structures are located within 2 km of each other and, as may be confirmed by visual inspection of the recorded seismograms, experienced similar ground motions. One-dimensional and three-dimensional linear structural models are fitted to the observations using the modal minimization method' for structural identification, in order to determine optimal estimates of the parameters of the dominant modes of the buildings. The time-varying character of these parameters over the duration of the response is also investigated. Comparison of the recorded earthquake response of the structures reveals that the type of lateral-load-resisting system has an important effect on the dynamic behaviour of the structures because it controls the spacing of the characteristic modes on the frequency axis. The Santa Clara County Office building has closely spaced natural frequencies and exhibits strong torsional response and modal coupling. Its dynamic behaviour is contrasted with that of the Great Western Savings and Loan building which has well separated natural frequencies and exhibits small torsional response and no modal coupling. Strong modal coupling causes a beating-type phenomenon and makes earthquake response of structures different from that envisioned by codes.     

ARX结构模态参数识别方法对比(Ⅱ)——基于地震观测记录的对比

结构参数识别是结构抗震安全性能鉴定和健康诊断的基础,利用地震观测记录来识别结构模态参数,是地震工程领域备受关注的研究课题之一。本文利用实际结构的地震观测记录,对一维、多维和整体ARX模型三种模态参数识别方法进行了对比分析。结果表明：整体ARX模型对多自由度结构的模态参数识别较为稳定且精度较高;实际应用中多维ARX模型有时会导致丢失模态和虚假模态现象。     

Predictive active control of MDOF structures

This paper presents a theoretical study of a predictive active control system used to improve the response of multi‐degree‐of‐freedom (MDOF) structures to earthquakes. As an example a building frame equipped with electrorheological (ER) dampers is considered. The aim of the design is to find a combination of forces that are produced by the ER dampers in order to obtain an optimal structural response. The mechanical response of ER fluid dampers is regulated by an electric field. Linear auto‐regressive model with exogenous input (ARX) is used to predict the displacements and the velocities of the frame in order to overcome the time‐delay problem in the control system. The control forces in the ER devices are calculated at every time step by the optimal control theory (OCT) according to the values of the displacements and of the velocities that are predicted at the next time step at each storey of the structure. A numerical analysis of a seven‐storey ER damped structure is presented as an example. It shows a significant improvement of the structural response when the predictive active control system is applied compared to that of an uncontrolled structure or that of a structure with controlled damping forces with time delay. The structure's displacements and velocities that were used to obtain the optimal control forces were predicted according to an ‘occurring’ earthquake by the ARX model (predictive control). The response was similar to that of the structure with control forces that were calculated from a ‘known’ complete history of the earthquake's displacement and velocity values, and were applied without delay (instantaneous control). Copyright © 2000 John Wiley & Sons, Ltd.     

Seismic response estimation method for earthquake‐damaged RC buildings

This study proposes a procedure for identifying spectral response curves for earthquake‐damaged areas in developing countries without seismic records. An earthquake‐damaged reinforced concrete building located in Padang, Indonesia was selected to illustrate the identification of the maximum seismic response during the 2009 West Sumatra earthquake. This paper summarizes the damage incurred by the building; the majority of the damage was observed in the third story in the span direction. The damage was quantitatively evaluated using the damage index R according to the Japanese guidelines for post‐earthquake damage evaluation. The damage index was also applied to the proposed spectral response identification method. The seismic performance of the building was evaluated by a nonlinear static analysis. The analytical results reproduced a drift concentration in the third story. The R‐index decreased with an increase in the story drift, which provided an estimation of the maximum response of the building during the earthquake. The estimation was verified via an earthquake response analysis of the building using ground acceleration data, which were simulated based on acceleration records of engineering bedrock that considered site amplification. The maximum response estimated by the R‐index was consistent with the maximum response obtained from the earthquake response analysis. Therefore, the proposed method enables the construction of spectral response curves by integrating the identification results for the maximum responses in a number of earthquake‐damaged buildings despite a lack of seismic records. Copyright © 2016 The Authors. Earthquake Engineering & Structural Dynamics published by John Wiley & Sons Ltd.     

ARX结构模态参数识别方法对比(I)——基于理论地震反应时程的对比

结构参数识别是结构抗震安全性能鉴定和健康诊断的基础。利用地震观测记录来识别结构模态参数,是地震工程领域备受关注的研究课题之一。本文利用三层平面框架结构的理论地震反应时程,对一维、多维和整体ARX模型三种模态参数识别方法进行了对比分析。结果表明：整体ARX模型的识别结果较为稳定且精度较高,更适合于进行多自由度结构参数识别。     

新型随机地震动模型

在研究结构的随机地震反应时，要用大量的符合场地条件的地震记录作为输入数据。但强震历史记录却不是每个地区都有的，因此根据符合场地条件的现有地震记录建立随机地震动模型具有重要意义。本文利用中国抗震规范2001版修正选取的样本波作为目标波，考虑了幅值和频率的双重非平稳性，建立了新型随机地震动模型——改进的时变ARMA模型随机地震动模型。通过使用残差的卡方检验法，对多种非平稳ARMA模型生成的模拟波进行检验；同时又比较丁模拟波与目标波的功率谱密度图和反应谱图。结果证明：此法能够更精确地反映不同场地条件地震动的频谱和幅值的真实内容，从而建立符合目标场地条件的更为有效的模拟地震动，为相关研究与工程设计架起一座桥梁。     

汶川地震近断层地震动作用下 结构地震响应特征分析

研究了具有不同自振特性的建筑结构在近断层速度脉冲型及非速度脉冲型地震动作用下的结构层间变形分布,揭示了近断层速度脉冲对工程结构地震响应的特殊影响. 从汶川M_S8.0地震近断层强震记录中选取两组典型速度脉冲型记录和非脉冲型记录, 根据确定的目标地震动强度水平,利用时域叠加小波函数法对选择的强震记录进行调整, 使之与目标地震动水平对应的加速度反应谱保持一致, 以此作为结构地震反应分析的地震动输入. 选取具有不同自振特征的3层、11层和20层典型钢筋混凝土框架结构, 建立有限元分析模型, 分别计算在速度脉冲型与非速度脉冲型记录作用下这些结构层间变形分布. 研究表明,速度脉冲型记录与非速度脉冲型记录作用下结构层间变形有明显差异, 且与结构自振特征有关.就低层结构的层间变形而言, 非速度脉冲型记录的影响较速度脉冲型记录的影响大. 随着结构自振周期的增加, 高阶振型的影响更加明显. 与非速度脉冲型记录相比,速度脉冲型记录的结构层间位移反应中值及离散程度较大. 速度脉冲型记录更容易激发高层结构的高阶振型, 产生较大的层间位移反应. 非速度脉冲型记录对中低层结构层间变形影响较大.因此, 在开展近断层结构地震影响评价时, 应考虑近断层速度脉冲的影响.      

Damage evaluation models of reinforced concrete buildings based on the damage statistics and simulated strong motions during the 1995 Hyogo‐ken Nanbu earthquake

We have tried to estimate the yield shear strengths of reinforced concrete (RC) buildings based on the damage statistics in Kobe surveyed after the Hyogo‐ken Nanbu, Japan, earthquake of 1995 and the non‐linear response analyses for synthetic waveforms calculated from a complex seismic source and a three‐dimensional basin structure. First, a set of building models that represented the RC building stock in Kobe was constructed and plausible non‐linear multi‐degree‐of‐freedom models with four different numbers of stories were created based on the current seismic code and construction practice. For response analysis the damage criterion and the strength distribution should be assumed a priori. When the damage ratios for these standard models were calculated it was found that the damage ratios were so high that we had to increase the average yield strengths in order to match the calculated damage ratios to those observed. After searching the best models it was found that the estimated average yield strengths should be much higher than those based on the code, especially for low‐rise buildings. Using this set of building models we succeeded in reproducing the belt‐shaped area with high damage ratios in Kobe. One can apply the proposed methodology to different countries if there is enough damage data, strong motion records, and building statistics. If there is sparse damage data at several locations only, then our models can be adjusted to reproduce observed damage data and used for damage prediction as a first‐order approximation. Copyright © 2004 John Wiley & Sons, Ltd.     

A case study of mimo system identification applied to building seismic records

A large number of high quality strong-motion records of building response are obtained from recent earthquake events in California. The accelerometers are typically deployed at several levels from the basement up. In order to learn as much as possible about the building behaviour from these records, a multiple input-multiple output (MIMO) system identification procedure is implemented to analyse these records in a systematic way. The procedure is an extension of the least-square-output-error method applied to a classically damped linear second order system. The time varying behaviour is modelled through a time window approach. The procedure includes (i) preliminary record analysis, (ii) input and model selection, (iii) parameter identification and (iv) drift analysis. The records of a 15-storey reinforced concrete building obtained during the Whittier earthquake are analysed. It is found that the fundamental period is much longer than that of a regular building. The torsional response is significant and is caused by both the translational and the torsional motions at the ground level. The maximum drift occurs at the ground storey. The second and the third translational modes in each direction are as important as the first modes in making up the ground storey drift. When the maximum drift occurs in one direction the corresponding drift in the orthogonal direction can be as high as 30 per cent of the maximum drift.     

A new model order reduction strategy adapted to nonlinear problems in earthquake engineering

Earthquake dynamic response analysis of large complex structures, especially in the presence of nonlinearities, usually turns out to be computationally expensive. In this paper, the methodical developments of a new model order reduction strategy (MOR) based on the proper orthogonal decomposition (POD) method as well as its practical applicability to a realistic building structure are presented. The seismic performance of the building structure, a medical complex, is to be improved by means of base isolation realized by frictional pendulum bearings. According to the new introduced MOR strategy, a set of deterministic POD modes (transformation matrix) is assembled, which is derived based on the information of parts of the response history, so‐called snapshots, of the structure under a representative earthquake excitation. Subsequently, this transformation matrix is utilized to create reduced‐order models of the structure subjected to different earthquake excitations. These sets of nonlinear low‐order representations are now solved in a fractional amount of time in comparison with the computations of the full (non‐reduced) systems. The results demonstrate accurate approximations of the physical (full) responses by means of this new MOR strategy if the probable behavior of the structure has already been captured in the POD snapshots. Copyright © 2016 The Authors. Earthquake Engineering & Structural Dynamics Published by John Wiley & Sons Ltd.     

Influence of time‐varying frequency content in earthquake ground motions on seismic response of linear elastic systems

Earthquake ground motion records are nonstationary in both amplitude and frequency content. However, the latter nonstationarity is typically neglected mainly for the sake of mathematical simplicity. To study the stochastic effects of the time‐varying frequency content of earthquake ground motions on the seismic response of structural systems, a pair of closely related stochastic ground motion models is adopted here. The first model (referred to as ground motion model I) corresponds to a fully nonstationary stochastic earthquake ground motion model previously developed by the authors. The second model (referred to as ground motion model II) is nonstationary in amplitude only and is derived from the first model. Ground motion models I and II have the same mean‐square function and global frequency content but different features of time variation in the frequency content, in that no time variation of the frequency content exists in ground motion model II. New explicit closed‐form solutions are derived for the response of linear elastic SDOF and MDOF systems subjected to stochastic ground motion model II. New analytical solutions for the evolutionary cross‐correlation and cross‐PSD functions between the ground motion input and the structural response are also derived for linear systems subjected to ground motion model I. Comparative analytical results are presented to quantify the effects of the time‐varying frequency content of earthquake ground motions on the structural response of linear elastic systems. It is found that the time‐varying frequency content in the seismic input can have significant effects on the stochastic properties of system response. Copyright © 2016 John Wiley & Sons, Ltd.     

Evaluation of the structural damage of high‐rise reinforced concrete buildings using ambient vibrations recorded before and after damage

Evaluation of the degrees of structural damage suffered by high‐rise residential buildings after being subjected to strong ground motions is extremely important to the development of life continuity planning for building residents. However, these evaluations cannot be based on strong‐motion records alone, because earthquake observation equipment is not installed in most such buildings in Japan. In this study, we propose simple equations for estimating the stiffness degradation rate and the peak inter‐story drift ratio (PIDR) by using ambient vibration records instead of strong‐motion records when high‐rise RC buildings are subjected to a severe earthquake. More specifically, we propose one equation that relates the square root of the stiffness degradation rate, which is the ratio of natural frequencies at the maximum response to the preliminary tremor response (elastic state), in strong‐motion records with the ratio of natural frequencies identified from ambient vibrations before and after damage was suffered. We also propose an equation that relates the PIDR with the stiffness degradation rate on the basis of the stiffness‐degrading bilinear restoring force characteristic derived from the strong‐motion records of 13 high‐rise buildings for the 1995 Hyogoken‐Nanbu Earthquake (Mw 6.9) and the 2011 Tohoku‐Oki Earthquake (Mw 9.0). Copyright © 2015 John Wiley & Sons, Ltd.     

Verification of system identification utilizing shaking table tests of a full‐scale 4‐story steel building

This paper verifies the feasibility of the proposed system identification methods by utilizing shaking table tests of a full‐scale four‐story steel building at E‐Defense in Japan. The natural frequencies, damping ratios and modal shapes are evaluated by single‐input‐four‐output ARX models. These modal parameters are prepared to identify the mass, damping and stiffness matrices when the objective structure is modelled as a four degrees of freedom (4DOF) linear shear building in each horizontal direction. The nonlinearity in stiffness is expressed as a Bouc–Wen hysteretic system when it is modelled as a 4DOF nonlinear shear building. The identified hysteretic curves of all stories are compared to the corresponding experimental results. The simple damage detection is implemented using single‐input‐single‐output ARX models, which require only two measurements in each horizontal direction. The modal parameters are equivalent‐linearly evaluated by the recursive Least Squares Method with a forgetting factor. When the structure is damaged, its natural frequencies decrease, and the corresponding damping ratios increase. The fluctuation of the identified modal properties is the indirect information for damage detection of the structure. Copyright © 2015 John Wiley & Sons, Ltd.     

Empirical formula for fundamental vibration periods of reinforced concrete buildings in Taiwan

More than 30 buildings around Taiwan have been selected to monitor the floor responses under seismic excitation. The structural array monitoring system in each building controls at most 27 channels of accelerometers distributed in several floors. Those buildings were triggered by many events during the past five years of operation. In each building, the records at the basement can be considered as the ground excitation, and the others at the upper floors are the structural responses. The frequency transfer functions of those buildings can be identified by ARX models, and then the fundamental vibration periods are estimated. The identified fundamental vibration periods using different events are compared in order to ensure the reliability of system identification. An empirical formula in predicting the fundamental vibration period is presented through the regression analysis to the identified fundamental vibration periods of 21 reinforced concrete (RC) moment‐resisting frame (MRF) buildings. It is found that the height of a building plays an important role in predicting the fundamental vibration period, compared with the length, width, and time after completion of the building. It is also found that the RC MRF buildings in Taiwan tend to be stiffer than those in the U.S. Copyright © 2000 John Wiley & Sons, Ltd.     

System identification applied to long‐span cable‐supported bridges using seismic records

This paper presents the application of system identification (SI) to long‐span cable‐supported bridges using seismic records. The SI method is based on the System Realization using Information Matrix (SRIM) that utilizes correlations between base motions and bridge accelerations to identify coefficient matrices of a state‐space model. Numerical simulations using a benchmark cable‐stayed bridge demonstrate the advantages of this method in dealing with multiple‐input multiple‐output (MIMO) data from relatively short seismic records. Important issues related to the effects of sensor arrangement, measurement noise, input inclusion, and the types of input with respect to identification results are also investigated. The method is applied to identify modal parameters of the Yokohama Bay Bridge, Rainbow Bridge, and Tsurumi Fairway Bridge using the records from the 2004 Chuetsu‐Niigata earthquake. Comparison of modal parameters with the results of ambient vibration tests, forced vibration tests, and analytical models are presented together with discussions regarding the effects of earthquake excitation amplitude on global and local structural modes. Copyright © 2007 John Wiley & Sons, Ltd.