Semi‐active tuned mass damper building systems: Design

Passive and semi‐active tuned mass damper (PTMD and SATMD) building systems are proposed to mitigate structural response due to seismic loads. The structure's upper portion self plays a role either as a tuned mass passive damper or a semi‐active resetable device is adopted as a control feature for the PTMD, creating a SATMD system. Two‐degree‐of‐freedom analytical studies are employed to design the prototype structural system, specify its element characteristics and effectiveness for seismic responses, including defining the resetable device dynamics. The optimal parameters are derived for the large mass ratio by numerical analysis. For the SATMD building system the stiffness of the resetable device design is combined with rubber bearing stiffness. From parametric studies, effective practical control schemes can be derived for the SATMD system. To verify the principal efficacy of the conceptual system, the controlled system response is compared with the response spectrum of the earthquake suites used. The control ability of the SATMD scheme is compared with that of an uncontrolled (No TMD) and an ideal PTMD building systems for multi‐level seismic intensity. Copyright © 2009 John Wiley & Sons, Ltd.     

An off-and-towards-equilibrium strategy for vibrational control of structures

Traditional control strategies have difficulty handling nonlinear behavior of structures, time variable features and parameter uncertainties of structural control systems under seismic excitation. An off-and-towardsequilibrium （OTE） strategy combined with fuzzy control is presented in this paper to overcome these difficulties. According to the OTE strategy, the control force is designed from the viewpoint of a mechanical relationship between the motions of the structure, the exciting force and the control force. The advantage of the OTE strategy is that it can be used for a variety of control systems. In order to evaluate the performance of the proposed strategy, the seismic performance of a three-story shear building with an Active Tendon System （ATS） using a Fuzzy Logic Controller （FLC） is studied. The main advantage of the fuzzy controller is its inherent robustness and ability to handle any nonlinear behavior of structures. However, there are no design guidelines to set up the corresponding control rule table for a FLC. Based on the proposed strategy for the FLC, a control rule table associated with the building under study is developed, which then allows formation of a detailed algorithm. The results obtained in this study show that the proposed strategy performs slightly better than the linear quadratic regulator （LQR） strategy, while possessing several advantages over the LQR controller. Consequently, the feasibility and validity of the proposed strategy are verified.     

Tracking modal parameters from building seismic response data using recursive subspace identification algorithm

Tracking modal parameters and estimating the current structural state of a building from seismic response measurements, particularly during strong earthquake excitations, can provide useful information for building safety assessment and the adaptive control of a structure. Therefore, online or recursive identification techniques need to be developed and implemented for building seismic response monitoring. This paper develops and examines different methods to track modal parameters from building seismic response data. The methods include recursive data‐driven subspace identification (RSI‐DATA) using Givens rotation algorithm, and RSI‐DATA using Bona fide algorithm. The question on how well the results of RSI‐DATA reflect the real condition is investigated and verified with a bilinear SDOF simulation study. Time‐varying modal parameters of a four‐story reinforced concrete school building are identified based on a series of earthquake excitations, including several seismic events, large and small. Discussions on the different methods' ability to track the time‐varying modal parameters are presented. The variation of the identified building modal frequencies and damping ratios from a series of event‐by‐event seismic responses, particularly before and after retrofitting of the building is also discussed. Copyright © 2017 John Wiley & Sons, Ltd.     

Semi‐active tuned mass damper building systems: Application

Seismic performance attributes of multi‐story passive and semi‐active tuned mass damper (PTMD and SATMD) building systems are investigated for 12‐story moment resisting frames modeled as ‘10+2’ stories and ‘8+4’ stories. Segmented upper portion of the stories are isolated as a tuned mass, and a passive viscous damper or semi‐active resetable device is adopted as energy dissipation strategy. The semi‐active approach uses feedback control to alter or manipulate the reaction forces, effectively re‐tuning the system depending on the structural response. Optimum tuned mass damper control parameters and appropriate matching SATMD configurations are adopted from a companion study on a simplified two‐degree‐of‐freedom system. Statistical performance metrics are presented for 30 probabilistically scaled earthquake records from the SAC project. Time history analyses are used to compute response reduction factors across a wide range of seismic hazard intensities. Results show that large SATMD systems can effectively manage seismic response for multi‐degree‐of freedom systems across a broad range of ground motions in comparison to passive solutions. Specific results include the identification of differences in the mechanisms by which SATMD and PTMD systems remove energy, based on the differences in the devices used. Additionally, variability is seen to be tighter for the SATMD systems across the suites of ground motions used, indicating a more robust control system. While the overall efficacy of the concept is shown the major issues, such as isolation layer displacement, are discussed in detail not available in simplified spectral analyses, providing further insight into the dynamics of these issues for these systems. Copyright © 2009 John Wiley & Sons, Ltd.     

Suboptimal Rayleigh damping coefficients in seismic analysis of viscously-damped structures

An optimization method for the consistent evaluation of two Rayleigh damping coefficients is proposed. By minimizing an objective function such as an error term of the peak displacement of a structure, the two coefficients can be determined with response spectral analysis. The optimization method degenerates into the conventional method used in current practices when only two modes of vibration are included in the objective function. Therefore, the proposed method with all significant modes included for simplicity in practical applications results in suboptimal damping coefficients. The effects of both spatial distribution and frequency content of excitations as well as structural dynamic characteristics on the evaluation of Rayleigh damping coefficients were investigated with a five-story building structure. Two application examples with a 62-story high-rise building and a 840 m long cable-stayed bridge under ten earthquake excitations demonstrated the accuracy and effectiveness of the proposed method to account for all of the above effects.     

Control law for variable damping device defined by a non-linear differential equation

This paper proposes a non-linear control law for a variable damping device (VDD) aimed at reducing structural seismic responses. The VDD is attached to the structure by an auxiliary spring element composing a non-linear Maxwell element. The VDD's damping coefficient is adjusted to control the reactive internal force in the non-linear Maxwell element. A large controlled force is thus produced with little external power required to adjust the VDD's damping coefficient. The proposed control law defines the rate or increment of the VDD's damping coefficient at a certain moment by a differential equation or its discretized form. The controlled force vs. deformation relation plots parallelogram-like hysteretic curves, which indicates quick action and energy dissipation. Fundamental characteristics of an SDOF model with the VDD controlled by the proposed law are examined for impulse, sin and seismic excitations. The law for the SDOF model is extended to one for an MDOF model. The control effect for a 3DOF model is examined by numerical experiments. Copyright © 1999 John Wiley & Sons, Ltd.     

随机结构分析的扩阶系统方法(Ⅱ)——结构动力分析

本文论述随机结构系统在确定性时程激励下的分析方法。文中提供的扩阶系统动力方程的一般公式,适用于同时具有随机质量、随机阻尼、随机刚度参数的多自由度动力系统。文中并对此扩阶动力方程建议了基于线性加速度假定的递归聚缩算法。     

不同阻尼特性材料组合结构的弹塑性动力时程响应计算

本文提出一种不必形成与存储总阻尼矩阵的非线性结构动力时程分析的算法,用于计算非比例、非经典阻尼结构弹塑性动力响应。该算法的软件实现简单,对现有比例阻尼结构分析程序稍加修改即可。基于此算法的计算机程序满足了由两种阻尼特性材料建造的建筑结构非线性动力时程分析的需要。     

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.     

Probabilistic approach for active control of structures: experimental verification

In our previous study (Earthquake Engineering and Structural Dynamics 2003; 32 :2301), we have developed a probabilistic algorithm for active control of structures. In the probabilistic control algorithm, the control force is determined by the probability that the structural energy exceeds a specified target critical energy, and the direction of a control force is determined by the Lyapunov controller design method. In this paper, an experimental verification of the proposed probabilistic control algorithm is presented. A three‐story test structure equipped with an active mass driver (AMD) has been used. The effectiveness of the control algorithm has been examined by exciting the test structure using a sinusoidal signal, a scaled El Centro earthquake and a broadband Gaussian white noise; and, especially, experiments on control have been performed under different conditions to that of system identification in order to prove the stability and robustness of the proposed control algorithm. The experimental results indicate that the probabilistic control algorithm can achieve a significant response reduction under various types of ground excitations even when the modeling error exists. Copyright © 2004 John Wiley & Sons, Ltd.     

非平稳地震激励下隔震曲线梁桥振动控制研究

曲线梁桥由于其平面不规则性导致结构在地震激励下产生弯扭耦合效应,使得隔震曲线梁桥的地震响应更加复杂。目前常用的控制方法是将隔震技术与附加减震装置相结合对曲线梁桥进行控制。本文将地震动考虑为一均匀调制非平稳随机过程,针对隔震曲线梁桥长周期、低频率的特点,选取Clough-Pension平稳地震动功率谱模型作为随机地震动输入模型,对无控(NON-C)、经典线性最优控制(COC)以及序列最优控制算法(SOC)三种状态下的曲线桥梁进行随机响应分析。通过建立曲线梁桥在随机地震动作用下的运动方程,求出减震控制结构的位移谱密度、加速度谱密度响应及时变方差。分析结果表明:序列最优控制算法(SOC)在使隔震层位移得到减小的同时,可以更有效地控制上部结构的地震响应,具有更好的控制效果。     

Damping characteristics of friction damped braced frame and its effectiveness in the mega-sub controlled structure system

Based on energy dissipation and structural control principle, a new structural configuration, called the mega- sub controlled structure (MSCS) with friction damped braces (FDBs), is first presented. Meanwhile, to calculate the damping coefficient in the slipping state a new analytical method is proposed. The damping characteristics of one-storey friction damped braced frame (FDBF) are investigated, and the influence of the structural parameters on the energy dissipation and the practical engineering design are discussed. The nonlinear dynamic equations and the analytical model of the MSCS with FDBs are established. Three building structures with different structural configurations, which were designed with reference to the conventional mega-sub structures such as used in Tokyo City Hall, are comparatively investigated. The results illustrate that the structure presented in the paper has excellent dynamic properties and satisfactory control effectiveness.     

变阻尼半主动结构控制振动台试验

在一个１：４的五层模型刚架结构上进行了变阻尼半主动结构控制振动台试验．在结构的底层安装了一个溢流阀式变阻尼控制器,输入几种不同的地震动并采用几种不同的控制算法对结构进行了变阻尼半主动控制。振动台试验结果表明,受阻尼半主动结构控制仅需要很少的电能,就可以达到较好的控制效果,是一种很有应用前景的结构振动控制方案。结合溢流阀式变阻尼控制器的特点,分析了一些因素对控制效果的影响．     

Theoretical and experimental research on a new system of semi-active structural control with variable stiffness and damping

In this paper, a new system of semi active structural control with active variable stiffness and damping (AVSD) is suggested. This new system amplifies the structural displacement to dissipate more energy, and in turn, effectively reduces the structural response in the case of relatively small story drifts, which occur during earthquakes. A predictive instantaneous optimal control algorithm is established for a SDOF structure equipped with an AVSD system Comparative shaking table tests of a 1/4 scale single story structural model with a full scale control device have been conducted. From the experimental and analytical results, it is shown that when compared to structures without control or with the active variable stiffness control alone, the suggested system exhibits higher efficiency in controlling the structural response, requires less energy input, operates with higher reliability, and can be manufactured at a lower cost and used in a wider range of engineering applications.     

结构参数控制器优化分布的一种计算方法

参数控制器就是通过改变受控结构的参数（阻尼或刚度）来减小其振动响应的控制系统。本文以高层建筑结构为研究对象,推导了在地震作用下结构层间位移响应的计算方法,并根据其计算结果确定参数控制器的优化分布,文中还以某１０层建筑结构为例进行了仿真计算。     

Variable gain feedback control technique of active mass damper and its application to hybrid structural control

A systematic design procedure and an algorithm are devised for variable gain feedback (VGF) control of buildings with active mass damper (AMD) systems. The limit of the stroke length of the auxiliary mass, which is considered to be one of the most important physical constraints for application of AMD systems to actual structures, is studied. A set of variable feedback gains is designed as a function of a single variable that indicates a trade-off between the reduction of the building response and the amplitude of the auxiliary mass stroke, and this variable is on-line controlled to keep the amplitude of the auxiliary mass stroke constant, and within its limits. A design method of static output feedback controller for modal control of buildings with non-classical damping is also presented. Next, an efficient control method for hybrid structural control is developed, with combined use of the VGF control and the static output feedback control. It is shown through numerical examples that the proposed control method effectively adapts the control performance according to the variation in the intensity level of the external excitations in such a manner that the amplitude of the auxiliary mass stroke is kept within its limits and the control power is restrained as well. The application range of the AMD systems is thereby improved significantly. © 1997 John Wiley & Sons, Ltd.     

基于小波包能量特征向量的结构动力响应损伤识别

在结构动力响应监测中如何准确判断结构损伤状况是工程上的一大难题,本文研究通过小波包能量特征向量提取结构损伤信息来识别结构损伤的方法,并进行实验分析,同时分析噪声对能量值的影响。实验发现:小波包能量特征向量具有识别结构状态的能力,并且不受噪声的影响,相反,对观测信号去噪后不利于能量特征向量的提取。     

台湾某钢框架大楼采用阻尼器补强结构减震效果评析

阻尼器是一种效果良好的减震装置,将阻尼器安装于结构中能够适时为结构体系提供阻尼力,从而减小地震作用对结构的破坏。黏滞阻尼器对振动的反应比较敏感,在结构受到较小振动时就可以发挥其减震效果,其阻尼力会随着振动周期和使用状态温度的不同而变化。当地震发生时,安装在结构中的阻尼器会消减地震作用,降低传导到主结构体系的地震能量,减小结构相对位移。本文介绍了黏滞阻尼器的工作原理和安装有黏滞阻尼器的结构体系的阻尼比的计算方法,对减震结构的减震效果的评析方法做出探讨,并以一安装有黏滞阻尼器的台湾某既有钢框架结构为例,分析了(1)该结构在遭受地震作用时的地震反应;(2)该结构体系在不同地震作用水平时的阻尼比,包括主体结构阻尼比和黏滞阻尼器阻尼比;(3)结构安装黏滞阻尼器后的减震效果。实例对本文的减震评析方法和减震效果进行了说明和分析,计算及分析结果表明利用黏滞阻尼器加固既有结构能够取得较好的减震效果,本文所提减震效果评析方法是一种实用有效的评析方法,对类似工程的减震评析具有一定的参考价值。     

Selective controlled base isolation system with magnetorheological dampers

A base isolation system composed of low‐damping isolation bearings and magnetorheological (MR) fluid dampers is described. The MR fluid changes its properties under the influence of a magnetic field resulting in a damper with characteristics that may be modified in real time. This feature enables optimal control under changing excitations in a stable and cost‐effective manner. The voltage is applied according to a selective control strategy. According to the proposed approach the dampers are activated only within a given range of the base displacements. The selective control improves the efficiency of the system and significantly reduces the control forces required for an optimal structural behaviour. Models of five‐ and eight‐storey buildings are used to study the efficiency of the proposed system. Copyright © 2002 John Wiley & Sons, Ltd.     

Optimum design of actively controlled structures

The optimum design of seismic structures equipped with active controls is presented. The design variables are structural parameters, such as structural stiffness or moment of inertia. The optimization procedure is carried out in two stages. First, the optimal control forces are expressed in closed form, as implicit functions of the design variables. In the second stage, the structural parameters are varied in order to minimize a structural weight objective function. The algorithm is applied to structural systems under earthquake excitations, for displacement, frequency and control force constraints.