Prof - Jung July22 APSS2010

2010-07-22
2010 Asia-Pacific Summer School on Smart Structures Technology

The University of Tokyo, Japan
July 15 ~ August 4, 2010
CONTENTS
Structural Control
for Civil Engineering
Applications
Hyung-Jo Jung
Overview
Passive Control
Active Control
Hybrid Control
Semi-active Control
Summary
Dept. of Civil & Environmental Engineering

KAIST, Korea
2
Overview
OVERVIEW
Background
Civil Structures: Long-span Bridges
l Background
l Motive
of Structural Control
l Distinctive
Features of Structural Control
l Evolution of
Structural Control
l Classification
of Structural Control
Overview
Overview
Background
Civil Structures: Long-span Bridges

Bridge
Span
[m]
Country
Civil Structures: High-rise Buildings
Cable-stayed Bridges
Suspension Bridges
No.
Background
Year
Akashi-Kaikyo
1991
Japan
1998
Xihoumen
1650
China
2009
Denmark 1998
No.
Bridge
Russky
Span
[m]
1104
Sutong
Stonecutters
Country
Year
Russia
2012
1088
China
2008
1018
China
2009
Great Belt East
1624
Gwangyang
1545
Korea
2012
Edong
926
China
2009
Runyang South
1490
China
2005
Tatara
890
Japan
1999
Nanjing-4
1418
China
2013
Pont de Normandie
856
France
1995
Humber
1410
UK
1981
Jingsha
816
China
2009
Jiangyin
1385
China
1999
Incheon
800
Korea
2009
Tsing Ma
1377
China
1997
Chongming
730
China
2009
10
Hardanger
1310
Norway
2013
10
Minpu
708
China
2009
2010-07-22
Overview
Background
Overview
Civil Structures: High-rise Buildings
Background
Vibration Problem of Structures
Excitation
Structure
Input
System
Response
Output
Displacement (Safety)
Acceleration (Serviceability)
Increase in construction of high-rise buildings

7
Overview
Overview
Background
Background
Northridge Earthquake, 1994
Seismically-excited Structures
72 deaths,
1500 injured, 1000s homeless , > $15B cost
10
Overview
Overview
Background
Great Hanshin Earthquake, Kobe, Japan, 1995
Background
Sichuan Earthquake, China (2008)
Estimated losses: 70k deaths , 370k injured, 5.0m homeless
6434 deaths, 35k injured , 300k homeless , > $150B cost

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2010-07-22
Overview
Background
Overview
Other Recent Earthquakes

Chi-Chi (Taiwan, 1999)
Kocaeli (Turkey, 1999)
Wind-excited Structures
Sumatra-Andaman
(Indonesia, 2004)
2500 dead
10,000 injured
100,000 homeless
20,000dead
>$6B damage
India (2001)
Background
230,000 dead
125,000 injured
1.69 m homeless
Nisqually (Seattle, WA, 2001)
20,000 (official)
90,000 (unofficial)
dead
1 death (heart)
400 injured
$1B--$2B damage
$1B
Tacoma Narrows Bridge, Tacoma, Washington
13
14
Overview
Overview
Background
Structure & Aerodynamic instability

phenomenon
Background
Wind-induced vibration
Period of Phenomenon @ Period of Structure
(Resonance)
Tokyo Wan Aqua-line, Tokyo, Japan
15
Overview
Background
Overview
16
Background
Human-excited Structures
Tokyo Wan Aqua-line, Tokyo, Japan

Millennium Foot Bridge, London, England
After completion of the superstructure, oscillation with an amplitude over 0.5 m was observed.
To suppress it,
16 tuned mass dampers(TMD) were installed.

Part of the steed deck was stiffened.
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2010-07-22
Overview
Background
Overview
Motive of Structural Control
Human-excited Structures
l Increased flexibility
the trend toward taller, longer and more flexible structures
l Increased safety levels

higher safety level demands : tall structures, nuclear power
plants
l Increased stringent performance

requirements
strict performance guide lines: radar tracking stations, radio
telescope structures, aerospace structures
l Implementation of passive control systems for

retrofitting the bridge
l Better utilization of materials and lower cost
37 fluid-viscous dampers (horizontal movement)

52 tuned mass dampers (vertical movement)
economic considerations: savings in materials, weight and

costs
(www.arup.com/MillenniumBridge/)
19
20
Overview
Overview
l Classification of
Distinctive Features of Structural

Control
Control
Structural
Metallic yield damper
Viscoelastic damper
Passive Control
l Civil engineering structures are statically

stable.
Friction damper
Energy dissipation
Viscous fluid damper
the addition of purely active control force can cause

destabilization.
in contrast to aerospace structures which requires active
control for stability.
Energy transfer
TMD
TLD
Structural Control
Base isolation
l Loads are highly uncertain.

Active Control
earthquake and wind loads have no definite magnitude and

arrival time.
on the other hand, mechanical loads are fairly well
documented.
TLCD
Active mass driver

Active tendon
Hybrid mass driver
Hybrid Control
Active base-isolation
l Performance requirements are generally

coarse.
Variable orifice damper

Semi-active Control
ER damper
Controllable fluid damper
MR damper
21
Overview
l Classification of
Structural
l Classification of
Structural
22
Overview
Control
Control
Applicable range of structural control systems
Passive, Active, Semi-active Control

Passive Control
Active Control
non-controllable
no power required
controllable
significant power required
Semi-active Control
controllable
little power required
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2010-07-22
l Classification of
Overview
Structural
Overview
l Evolution of
Control
Applicable range of structural control systems
Structural Control
l The beginning of structural control

John Milne (1885): the first example of an isolated building
(a small house of wood on ball bearings)
J. A. Calantarients (1909): a different isolation system to
isolate the building from its foundation using layers of talc or
mica building slides during an earthquake.
25
26
Overview
l Evolution of
Structural Control
PASSIVE CONTROL
l Introduction
l Modern structural control concept

T. Kobori (1956): proposed a basic concept of active
seismic-response-controlled structure. (the earliest attempt
to formulate the problem of active control for applications to
civil engineering structures)
J.T.P. Yao (1972): indicated the way to the present active
control research in the field of civil engineering.
l Metallic
Yield Dampers
l Friction
Dampers
l Viscoelastic
l Viscous
l Trend of main research topic
~1970s
Active
control
1970s ~ 1990s
Semi-active
control
1990s ~ 2000s
Semi-active
control???
l Base
Dampers
Energy transfer
Isolation Systems
27
28
Passive Control
Passive Control
l Introduction
l Introduction
Passive Control Systems
Four Main Advantages of Passive Control
PED*
Excitation
(kinetic energy heat)
Dampers
l Tuned Liquid
2010s ~
Energy dissipation
Fluid Dampers
l Tuned Mass
Passive
control
Dampers
Structure
l It is usually relatively inexpensive.

Response
l It consumes no external energy (energy may not be

available during a major earthquake).
Passive Damper
Base Isolation
* PED: passive energy dissipation
l It is inherently stable.
l It works even during a major earthquake.
Tuned Mass Damper

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2010-07-22
Passive Control
l Introduction
Passive Control
l Introduction
Theoretical Behavior of Different Types of Dampers
(Force-Displacement Response)
Energy Dissipation Mechanisms

l Conversion of kinetic energy to heat:
Metallic damper
Friction damper
Viscoelastic damper
Fluid damper
frictional sliding
yielding of metals
phase transformation in metals
deformation of viscoelastic solids or fluids
fluid orificing
l Transferring of energy among vibrating modes:

supplemental oscillators, which act as dynamic vibration
absorbers.
31
32
Passive Control
l Introduction
l Inelastic deformation of metallic substances.
Energy
strain energy from

elastic and plastic
deformation
damping energy
Energy
Energy Dissipation Performance
kinetic energy
Passive Control
lMetallic Yield Dampers
l The idea of utilizing added metallic energy dissipators

within a structure to absorb a large portion of the seismic
energy: the conceptual and experimental work of Kelly et al.
(1972) and Skinner et al. (1975).
kinetic energy
l Several of the devices considered: torsional beams, flexural

beams, and U-strip energy dissipators.
damping energy
strain energy from
elastic deformation
Time(sec)
Time(sec)
without Damper
with Damper
33
34
Passive Control
Passive Control
Plate-type
ADAS
ADAS
Installation
P
ADAS
Behavior of a damper:
Bending under horizontal load
The area within the hysteresis loops measures the amount of dissipated energy.
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Passive Control
A triangular plate damper or triangular added damping and stiffness

devices (TADAS)
Low-yield strength steel

Tennozu Project
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37
42-story high-rise RC condominium
38
Copyright 2008 Shimizu Corporation, All Rights Reserved
Passive Control
lFriction Dampers
l Friction:
an excellent mechanism for energy dissipation
used for many years in automotive brakes to dissipate kinetic energy
l It is important to minimize stick-slip phenomena to avoid

introducing high-frequency excitation.
l Compatible materials to maintain a consistent coefficient of
friction over the intended life of device
l Not to slip during wind storms or moderate earthquakes.
under severe loading conditions, the devices slip at a predetermined
Honeycomb Damper
Installation of Honeycomb Damper
optimum load before yielding occurs in primary structural members.
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40
Passive Control
lFriction Dampers
Passive Control
lFriction Dampers
l Rotational Friction Damper
l Pall-Friction Damper
Steel Plate
Hinge
Steel Plate
Bolt
Hard Steel Washer
Nut
Friction Pad Material
Disc Springs
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2010-07-22
Passive Control
lFriction Dampers
Passive Control
lViscoelastic Dampers
l Rotational Friction Damper

Mechanism of the Damper
l Metallic and frictional devices: seismic application

l The VE dampers: applications in both wind and seismic
protection
VE solid materials can be used to dissipate energy at all
deformation levels
l Characteristics of VE materials
Mechanism of the Damper

Force
Force
Tension
Rotation
Rotation
Tension
1) rate dependent behavior (viscous)

2) elastic behavior (elastic)
3) store and dissipate energy at all deformation levels
Tension
This new friction damper device is based on rotational friction and designed to:
be stable in performance over many cycles
be compact
be easy to manufacture
be fast and simple to install (no need for a qualified staff)
be requiring little or no maintenance
be inexpensive
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44
Passive Control
Typical Viscoelastic Damper
F/2
Center plate
F/2
Passive Control
l World Trade Center in New York (1969)
Steel flange
Steel
flange
10,000 Visco-elastic dampers in each tower

Evenly distributed from 10th to the 110th floor
Damping: 2.5%~3%
Center
plate
VE Material
VE Material
F
P
Steel
Plate
Visco-elastic
Viscodamper
Viscoelastic
Material
Deformed
VE dampers dissipate energy through

shear deformation of the VE layers.
Typical Hysteretic Loops

45
46
Passive Control
Passive Control
l The Two Union Square Building in Seattle (1988)
l The Columbia SeaFirst Building in Seattle (1982)
VE Damper
16 large dampers were installed parallel to four columns

in one floor
to reduce wind-induced vibration
260 viscoelastic dampers to reduce wind-induced vibration

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2010-07-22
Passive Control
l Full-scale 5 story steel tower
l Galleria Palace in Seoul
Visco-elastic
Material
wide beam
column
Brace Type
C Building
core wall
Visco--elastic Material
Visco
Steel
Plate
Shear
Force (Q)
Steel
Plate
Implementation
VE damper
of VE Damper
Shear
Force
(Q)
deformation

(d)
Thickness (t)
Shear Strain g = d/t
M Department Store
Wall Type
50
Copyright 2008 Shimizu Corporation, All Rights Reserved
49
K.W. Min (Dankook Univ., Korea)
Passive Control
Passive Control
lViscous Fluid Dampers

l The action of solids (inelastic deformation): metallic,
friction and viscoelastic dampers
l The action of fluids: viscous fluid dampers (e.g., the automotive shock absorber)
l Viscous fluid dampers, widely used in aerospace and military
applications, have recently adapted for structural
applications.
Seismic fluid viscous damper, 50,000 pounds output Seismic fluid viscous dampers for large
highway bridge, 1.5 million pounds output
force
l For low damping force rate, a simplified force-velocity relationship
F = C0 X&
where C0 is independent of the frequency but dependent on ambient temperature
l Most viscous fluid dampers in current applications

F = CoV n
( 0.3 n 0.75 )
Seismic fluid viscous dampers, 1.3 and 2.0

million pounds output
obtained by special design of the orifices

advantages : the force tends to flatten out at higher velocities
51
52
Passive Control
Passive Control
Seismic Design with Fluid Dampers as Part of a Base Isolation System

the new San Bernardino County Medical Center at Colton, California (1994)
l 3-Story Pacific Bell North Area Operations Center (1995)

62 Dampers ( each damper : capacity = 130kN , stroke=50mm)
nearly 200 pieces of a 320,000 lb. output Fluid Viscous Damper.

All buildings are base isolated on large rubber bearings, with dampers mounted
in parallel with the bearings
(a) Under Construction
53
(b) Damper installation
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2010-07-22
Passive Control
Passive Control
Seismic Damper Installation at the New Pacific Northwest

Baseball Park
Seismic Rehabilitation of an Historic Structure
- The dampers are used for seismic protection of the roof during earthquakes.
- 3600 kN eight dampers with stroke of 381mm
This is an historic structure, and the owner wished to minimize

changes to the building's appearance.
55
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Passive Control
lTuned Mass Dampers (TMD)
Passive Control

Classical Undamped Tuned Mass Damper (TMD)
(or Dynamic Vibration Absorber (DVA))
l The objective of incorporating a TMD into a structure:

to reduce energy dissipation demand on the primary
structural members under the action of external forces.
An undamped main mass-spring system under a sinusoidal force F0sinwt
l The mechanism of a TMD:

transferring some of the structural vibrational energy to
the TMD which consists of an auxiliary mass-spring-dashpot
system anchored or attached to the main structure.
k
m
x
l The modern concept of TMDs for structural applications

(Frahm 1909)
- the forcing frequency (w) = the natural frequency of the main mass (wn=k/m)
the response is infinite (i.e., resonance)
it can cause severe problems for vibrating systems.
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58
Passive Control
Passive Control

Animation of the main mass and TMD at three frequencies.
When an absorbing mass-spring system (i.e. TMD) is attached to the main

mass and the resonance of the TMD is tuned to match that of the main mass
The 2-DOF system has two natural frequencies, corresponding to the

two natural modes of vibration for the system.
(i.e., wn = wTMD =w)

the motion of the main mass is reduced to zero at its resonance frequency.
the energy of the main mass is apparently "absorbed" by the TMD.
w < wn
w = wn
w > wn
m
ka
ma
x(t) = Xsin wt = 0
xa(t) = Xasin wt = -(F0/ka)sin wt
59
In the lower frequency mode,

both masses move in the same
direction, in-phase with each
other.
undamped classical
tuned mass damper
In the higher frequency mode the

two masses move in opposite
direction, 180 out of phase with
60
each other.
60
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2010-07-22
Passive Control
Passive Control

l Citicorp Center in New York, USA
Displacement vs. Frequency plots:

The plots below show the displacements as a function of normalized frequency
(driving frequency divided by natural frequency of main mass).
main mass
displacement
TMD
displacement
- The blue dashed curve: the displacement response of the undamped main mass alone.
- The blue curve: the displacement of the main mass after undamped TMD has been attached.
(A TMD mass (20% of the main mass) is tuned to the resonance frequency of the main mass.)
- The red curve: the displacement of the absorber mass.
- Notes:
(1) the main mass has zero displacement at the original problem frequency.
(2) there are now two new resonance frequencies.
(3) the displacement of the TMD mass is infinite at the same two resonance frequencies.
(4) the response at the target frequency is finite (approximately 4.8).
61
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Passive Control
Passive Control
l John Hancock Tower in Boston, USA
Chiba Port Tower,

Tokyo Bay, Japan
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Passive Control
Petronas Towers: TMD
Taipei 101, Taiwan
l Supplementary damping
Towers: not necessary
Sky bridge: 3 TMDs per each leg. (73 kg ea)
Pinnacles: simple chain impact dampers
Pinnacle TMDs
TMD
Building TMD 66
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2010-07-22
Passive Control
l Building TMD in Taipei 101
l Pinnacle TMDs
660 ton. (0.24% of building mass)

Worlds largest.
TMD and its support occupy five
upper floors.
Visible from a mezzanine level.
$3.5-million turnkey contract.
Includes Dampers and 60m tall
pinnacle.
Additional $800k for the damper
ball.
Made of 12.5 cm thick steel plate.
Peak acceleration of the top was
reduced from 7 mili-g to 5 milli-g.
The damper will not have any role
during earthquakes?
Two 4.5 ton dampers

Flat steel masses tuned by springs are able to move
horizontally in any direction.
To reduce cumulative fatigue damage due to wind-induced
motion.
67
CSA
68
CSA

Park Tower Hotel & Residences

l Chicago, Illinois, United States
l 70 story multi-use building
48 stories of condos over 18 story
hotel
l 824 ft. tall tower
l 5 story parking garage
l Building was designed with a tuned mass
damper to control lateral accelerations
70
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CSA
70
Passive Control

l TMD for Wind Vibration Control of Apartments

l Modified structure
Initial structural properties:
l T = 7.26 sec
l Drift = 13 = h/700
l Acceleration = 35 mg
Final structural properties

without damper:
5.18
4.95
l T = 5.18 sec
l Drift = 9.7 in. = h/940
l Acceleration = 20.7 mg
4.87
acceleration[gal]
With addition of damper:
3.41
3.1
2
2.98
3.41
3.41
2.94
3
2
1
l Acceleration = 15 mg
Centum Park Apartments (Busan, Korea)

71
No.101
No.103
without TMD
with TMD
No.105
ISO6897
(Posco E&C; TE Solution, Korea)
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2010-07-22
Passive Control
lTuned Liquid Dampers (TLD)
Passive Control

Haneda Airport Air Traffic Control Tower
(1993, H=77.6m)
l In TMD, typically a solid concrete or metal block acts as

the secondary mass.
l Liquids are used to provide all of the necessary
characteristic of the secondary system.
l The liquid not only supplies the required secondary mass,
but also the damping through viscous action primarily in
the boundary layers.
l Gravity provides the necessary restoring mechanism.
TLD
TLCD
(Tuned Liquid
Column Damper)
TSD
(Tuned Sloshing
Damper)
73
74
Super Sloshing Damper
l Tuned Liquid Column Damper in Random House

Two TLCDs at the roof level (290 tons
and 430tons)
Large U-shaped tanks at right angles.
Moving water mass is 550 tons (0.33% of
building weight) in each tank.
Cost effective. Cheaper than a pendulum
TMD.
Tokyo Dome Hotel
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Passive Control
Passive Control
lBase Isolation System

l One of the most widely implemented and accepted control
strategies
l Decouple the structures and/or its components from
potentially damaging earthquake-induced ground or support
motions .
l Allow large deformations of control devices to achieve these
goals.
l TLCD for Wind Vibration Control of Apartments
0.5
-0.5
77
Small-scale Experimental Test
Peak Acc. (m/sec2)
Acc. (m/sec2)
Uncontrolled
Controlled
20
40
Time (sec)
60
80
Uncontrolled
Controlled
0.4
0.3
0.2
Period shift
Damping
effect
Displacement
0.5
Acceleration
Period shift
Damping
effect
0.1
0
1
2
Frequency (Hz)
Test Results
(POSCO E&C and RIST, Korea)
Period
Acceleration response spectrum
Period
Displacement response spectrum
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Passive Control
Passive Control
Base Isolation System

During an earthquake, a fixed-base building can sway from side
to side.
l Basic requirements of base isolation

1. Flexibility
2. Energy dissipation capacity
3. Sufficient stiffness under small load
l Seismic behavior of base isolated structures
When a base isolation system is used, the sideways movement

occurs mainly in the bearings, and the building hardly distorts
at all.
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Passive Control
Passive Control
Conventional bridges with earthquake

resistant design
Load dispersing bridge (Base Isolated)

RB and LRB are used to disperse the horizontal force induced on each pier.
Horizontal force is concentrated on a rigid pier.
81
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Passive Control
Passive Control
Seismic isolation bridge
Square Base Isolators made of Multilayer Natural Rubber with an

internal Lead Plug
LRB is used to increase the vibration period and damp the vibration.
83
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Passive Control
Passive Control
Function
(2) Horizontal elasticity function (prolonged oscillation period)
- Earthquake vibration is converted to low speed motion
Multi-layer rubber isolator Function
- As horizontal stiffness of the multi-layer rubber bearing is low, strong earthquake

vibration is alleviated and the oscillation period of the building is increased.
(1) Load supporting / Rotation Absorbing function

- Rubber reinforced with steel plates provides stable support for structures
- Multilayer construction provides better vertical rigidity than single layer rubber
pads for supporting a building.
(3) Restoration function

- Horizontal elasticity returns the building to its original position.
- After an earthquake the restoring force of the rubber layers returns the
building to the original position.
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Passive Control
Passive Control
Function of lead plug (damper)
USC Hospital
LA City Hall
(First base-isolated hospital in U.S.)(in retrofit)
(4) Vibration damping function

- It absorbs large vibration of the structure
New LA Cathedral
(under construction)
- As the layers of rubber are distorted, the lead plug is plastically deformed, which
absorbs the earthquake energy and quickly damps the vibration.
(5) Trigger function

- Reduces vibration from sources other than earthquake.
- Vibration generated by strong winds are avoided as the relative rigidity of the lead
plug restricts the flexibility of the isolation system until the plug is subjected to a
certain level of force.
friction pendulum bearings

87
rubber bearings
bearings in basement
Passive Control
88
Passive Control

Lead Rubber Bearings (LRB) in
Bridges
Base-isolated Condominiums
89
Base Isolators in Bridges
90
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2010-07-22
Passive Control
Passive Control

Example: Tohoku Univ.
Example: LNG Tank
Acceleration resp. of left bld.
Acceleration resp. of right bld.
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92
Active Control
Active Control
ACTIVE CONTROL
Introduction
Active Control Systems
l Introduction
Structure
Excitation
Response
l Actuators
l Control Algorithms
Feedforward
Link
l Full-scale Applications
Control Actuators
Sensors
Computer
Feedback
Link
Sensors
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Active Control
Introduction
Introduction
Actuator
Sensor
l Initial concept paper: J.T.P. Yao (1972)

l An external source powers control actuator(s) that apply
forces to the structure in a prescribed manner.
Sensors
m
l Control forces can be used to both add and dissipate energy

in the structure.
Actuator
Active Bracing
Active Control
l In an active feedback system, the signals sent to the control

actuators are a function of the response of the system
measured with physical sensors (optical, mechanical,
electrical, chemical, and so on).
Active Mass Damper
Control Computer
95
96
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Active Control
Introduction
Active Control
l Advantages (attractive features):
Introduction
l Active structural control is not popular for seismic hazard

mitigation because
enhanced effectiveness in motion control
Energy consumption during seismic events, when power blackout
relative insensitivity to site conditions and ground motions
is highly likely to occur
applicability to multi-hazard situations
Stability concern: what if the control system becomes unstable?
greater ability to select control objectives
l Disadvantages (issues to be solved):
l Active structural control is still very useful for reducing windinduced vibrations in bridges and buildings
Capital cost and maintenance

reliance on external power
Active mass damper (AMD)
system reliability and stability
Hybrid mass damper (HMD)
gaining acceptance by the profession
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98
Active Control
Introduction
Active Control
Active Mass Driver (AMD) Experiment:

Acceleration Feedback Control Strategies
Introduction
Arrangement of AMD
2 translational
z act (t )
1 translational &
rotational
2 translational &
rotational
z&&a3 (t )
z&&a2 (t )
z&&a1 (t )
Control
Computer/
DSP Board
z&&g (t )
(B.F. Spencer, Jr., UIUC)99
100
Active Control
lControl Algorithms
Active Control
lFull-scale Applications
Kyobashi Seiwa Building (1989)
l Optimal Control
AMD-1
l Stochastic Control
Sensor
l Adaptive Control
AMD-2
Control
Computer
l Intelligent Control
Neural network-based control (i.e., neuro-controller)

Fuzzy logic-based control (i.e., fuzzy controller)
Sensor
l Sliding Mode Control

l Robust Control
Sensor
101
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Active Control
Active Control
Kyobashi Seiwa Building (1989)
Yokohama Landmark Tower (1993): AMD
103
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Active Control
Active Control
AMD for Wind Vibration Control of Building in Use
(2007)
Shinjuku Park Tower (1994): AMD
Bending 23F X-dir

10
x uncont
x cont
-5
-10
500
1000
1500
Bending 23F Y-dir
2000
2500
3000
5
y uncont
y cont
AMD System
Acceleration
Gal
Unit No. 1 side

0
10
20
30
40
10
20
30
40
50
60
70
80
90
100
70
80
90
100
Acceleration
Gal
10
Unit No. 2 side
0
-10
50
60
20
Unit No. 1
0
-20
10
20
30
40
50
60
70
80
90
Unit No. 2
0
-20
10
20
30
40
50
Time s
60
70
80
90
100
-10
10
20
30
40
10
20
30
40
60
70
80
90
100
60
70
80
90
100
Unit No. 2 side

0
40
20
0
-20
-40
-5
500
1000
1500
Rotation 23F
2000
2500
3000
3
50
Unit No. 1
theta uncont
theta cont
1
0
10
20
30
40
50
60
70
80
90
100
-1
Unit No. 2
-2
0
10
20
Uncontrolled case
105
50
10
-10
40
20
0
-20
-40
100
20
Unit No. 1 side

0
Displacement
cm
-10
10
Displacement
cm
Displacement
cm
Displacement
cm
Acceleration
Gal
Acceleration
Gal
0
10
30
40
50
Time s
60
70
80
90
Controlled case
100
-3
-4
500
Free Vibration Test
1000
1500
2000
2500
3000
Numerical Verification
106
(Lotte E&C and KAIST)
Active Control
AMD for Wind Vibration Control of Building in Use
(2007)
HYBRID CONTROL
l Introduction
l Hybrid
Reinforcement
Lifting
Temporary Hoist Frame
Mass Damper (HMD)
l (Semi-)Active
Base Isolation
l Full-scale Applications
Assembling
Control Panel
Completion
(Lotte E&C and KAIST)
108
18
2010-07-22
Hybrid Control
lIntroduction
lIntroduction
Hybrid Control Systems

(passive devices + (semi-)active system)

l The combined use of active and passive control systems
l For example,
PED
Structure
Excitation
Sensors
a structure equipped with distributed viscoelastic damping

supplemented with an active mass damper on or near the top
of the structure
A base isolated structure with actuators actively controlled to
enhance performance
The hybrid mass damper (HMD) is a combination of a TMD
and an active control actuator, which is the most common
control device employed in full-scale civil engineering
applications.
Response
Control Actuators
Feedforward
Link
Hybrid Control
Feedback
Link
Computer
Sensors
109
110
Hybrid Control
lIntroduction
l The most common control device in full-scale structure

l HMD = TMD + active control actuator
l Advantages

Actuator or
MR damper
Hybrid Control
lHybrid Mass Damper (HMD)
Sensor
- compact
- efficient
- practically implementable
Sensors
Actuator
DUOX HMD
- high control efficiency
with a small actuator force
(Semi-)Active Base
Isolation
Hybrid Mass Damper
Control Computer
111
112
Hybrid Control
HMD for Air-traffic Control Tower (Incheon Intl Airport)
Shanghai World Financial Center: HMD

l Active tuned mass damper
Two dampers on the 90th floor.

Sensors are used to measure the building sway
with a computer to control
x
HMD1
HMD2
0.10
0.05
0.05
0.00
-0.05
-0.10
20
Air Traffic Control Tower: 100. 4 m

Natural Freqeuncy: 0.71 Hz
Hybrid Mass Damper (HMD)
0.10
Acceleration (m/s )
Acceleration (m/s2)
Location of HMDs: 19th Floor

(80 m above ground)
TMD
mode
40
60
0.00
100
Signal w/o HMD
120
Shape
-0.05
Controlled by
HMD mode
Uncontrolled
80
Time (sec)
Hybrid Control
140
-0.10
20
40
60
80
100
120
140
Time (sec)
Signal w/ HMD
The Hole in the building reduces vortexshedding induced force.
114
113
19
2010-07-22
Hybrid (or Smart) Base Isolation
Experimental Setup
MR Damper
x&&g
[parameters of the experimental model]

mass of the base: 10.5 kg
mass of the structure: 57.5 kg
total mass: 68 kg
Max force of the MR damper (at current of 0.5 A): 45 N
6.6 % of the total mass
115
(B.F. Spencer, Jr. (UIUC))
116
Response to Strong Earthquake

Acc. [g]
Experimental Setup
f1 = 1.42 Hz (0.47 Hz), z 1 = 1.0%
0.4
0.2
0
-0.2
-0.4
f2 = 11.65 Hz (3.88 Hz), z 2 = 3.5%
Max: 0.2g
(0.44g for full scale)
0
10
Without damper
Acceleration [g]
Input Motion (El Centro NS)
Optimal passive
(constant voltage)
0.15
0.1
0.05
0
-0.05
-0.1
-0.15
Smart damping
28 % reduction (Peak)
29 % reduction (RMS)
0
10
Structural Acceleration
117
SEMI-ACTIVE CONTROL
Acc. [g]
Response to Moderate Earthquake

0.4
0.2
0
-0.2
-0.4
Max: 0.07g
(0.15g for full scale)
0
Acceleration [g]
118
Input Motion (El Centro NS)
10
l Introduction
Without damper
Optimal passive
(constant voltage)
0.04
Smart Damper
0.02
0
49 % increase (Peak)
49 % increase (RMS)
-0.02
-0.04
0
l MR
Fluids and Dampers
l MR
Damper-based Control Systems
l Control of Cable
10
l Limitation
Structural Acceleration
Vibration
of Semi-active Control
119
120
20
2010-07-22
Semi-active Control
lIntroduction
Semi-active Control
lIntroduction
Semi-active Control Devices
Semi-active Control Systems

Structure
Excitation
combine the best features of both passive and active control

dont require large power sources : can operate on battery
power, which is critical during seismic events when the main
power source to structure may fail
performance is better than passive devices and have potential
to achieve similar performance with fully active devices
Response
PED
Definition
cannot inject mechanical energy into the controlled structure,
but has properties that can be controlled to optimally reduce
the responses of the system
have no potential to destabilize the structural system
(Bounded Input-Bounded Output stability)
Control Actuators
Sensors
Computer
Sensors
121
122
Semi-active Control
lIntroduction
Semi-active Control
lIntroduction
Smart Damping?
Semi-active Control Systems

MR damper Sensors
Sensor
Sensor
MR elastomer
MR damper
Semi-active damper
Semi-active TMD
Control Computer
Smart Base Isolation
Control Computer
123
124
Semi-active Control
Semi-active Control
lIntroduction
lIntroduction
Smart Damping?
Smart Damping?
125
126
21
2010-07-22
Semi-active Control
lIntroduction
Semi-active Control
lIntroduction
Full-scale Applications
Full-scale Applications
lK-Building
Kajima Shizuoka Building:

Observations from the May 7,
1999 M4.9 Earthquake
lR-Building
Hybrid mass damper: 2
238.05m, 54 story
Semi-active
hydraulic damper: 88
Semi-active
hydraulic dampers: 356
127
128
Semi-active Control
l MR Fluids and Dampers

MR Fluids
MR Dampers
l Magnetorheological (MR) dampers are semi-active control
devices that use MR fluids to produce controllable dampers.
l Attractive features:
l What are they?

Micron-sized, polarizable, iron particles in oil
l What do they do?
Newtonian in the absence of applied field
Develop yield strength when field applied
Provide reliable means for a low-power,

rapid response interface between electronic
controls and mechanical devices
Semi-active Control
High dissipative force at low velocity.

Continual optimization.
High dynamic range
Inherent stability and failure-safety.
Mechanical simplicity.
Fast response-time.
Small device size.
Large temperature range.
Annular Orifice
129
130
Semi-active Control
Semi-active Control
lMR Damper-based Control System

Responses due to 120% El Centro Earthquake
MR Fluid Linear Damper:

- used in semi-active suspension system
- used in highway vehicle seats
3-Story Scale-Model Building

x&&a 3
x&&a 2
Current
Driver
x&&a1
f , xd
x&&g
Control
Computer
Rheonetic SD-1000
MR Damper
131
Height: 158 cm
Mass: 304 kg
Measured Response
75% reduction in peak displacements
50% reduction in peak accelerations
30% better response reduction than when
device is operated in passive capacity
132
(B.F. Spencer, Jr., UIUC)
22
2010-07-22
Semi-active Control

Full-scale Applications: Building
Semi-active Control

Full-scale Applications: Base-isolated Building
Nihon-Kagaku-Miraikan, Tokyo
National Museum of Emerging Science a
nd Innovation
Two 30-ton, MR Fluid dampers b

uilt by Sanwa Tekki using Lord
MR fluid are installed between 3
rd and 5th floors
133
134
Semi-active Control
lControl of Cable Vibration
Semi-active Control
Control of Stay Cable Vibration using MR Dampers
Damper Installation and Test Results
Existing solutions:
20
-10
0
1000
2000
(a) A10 In-Plane
3000
Out-of-plane accelerometer
MR damper
1000
2000
2000
3000
Time (s)
10
-20
3000
A11
(With Twin-damper)
-10
0
1000
Time (s)
2000
(d) A11 Out-of-Plane
3000
Time (s)
20
2
10
0
-10
0
1000
2000
(e) A12 In-Plane
II
1000
20
-20
New Solution
(b) A10 Out-of-Plane
Acceleration (m/s )
0
-10
(c) A11 In-Plane
Displacement transducer
(without damper)
20
10
-20
In-plane accelerometer
Time (s)
Augment damping through

discrete viscous dampers
attached transverse to cable
A10
10
-10
-20
20
Bridge Deck
Acceleration (m/s )
10
-20
Acceleration (m/s )
Dampers
Cable restrainers which tie

together cables
Altered surface roughness on
cables
Acceleration (m/s )
Acceleration (m/s )
20
Acceleration (m/s )
Standard
Solution
In-plane
3000
10
A12
(without damper)
-10
-20
1000
Time (s)
2000
(f) A12 Out-of-Plane
3000
Time (s)
Out-of-plane
Acceleration time-history response (0s ~ 2600s)
(Y.Q. Ni, 2001)
Semi-active Control
Full Installation and Verification
Field Test Results
Damping Ratio (%)
Single Damper
Semi-active Control
Without Damper
0.70
0.60
0.50
0.40
0.30
0.20
0.10
0.00
Damping ratios of 1st in-plane

mode under vibration
amplitude 0.04~0.07 m/s2
0
8
Voltage (v)
12
(Y.Q. Ni, 2001)
(Y.Q. Ni, 2001)
23
2010-07-22
Semi-active Control
lLimitation of Semi-active Control
Semi-active Control
Maintenance and Implementation Issues
How to Solve the Problems

(Future Direction of Structural Control)
: Functionally upgraded passive (or smart passive) devices
Approach 1: passive devices having adaptability

- Can mimic the function of semi-active devices.
Adaptive Negative Stiffness System (Nagarajaiah, Rice U.)
MR damper with Electromagnetic Induction Device (Jung, KAIST)
It requires a feedback control system including sensors, a

controller and an external power source.
It is difficult to install and maintain the conventional smart
system, especially in the cases of large-scale structures such
as long-span bridges.
Approach 2: simpler semi-active control devices

- Wireless sensor network
- Decentralized control
- Energy harvesting
139
140
Semi-active Control
SUMMARY
Example: MR Damper with Electromagnetic Induction

(EMI) Device (H.-J. Jung): one possible approach
Conventional system
Proposed system
current
Induced
current
power source
command
MR Damper
MR Damper
controller
damper
deformation
sensor
l Structural control technologies has been

developed to to mitigate vibration of civil
engineering structures such as bridges and
buildings.
magnetic
field
EMI system
l Structural control can improve serviceability as

well as safety of structures.
Control System
displacement at 1st floor

(mm)
Preliminary Performance Test using Large-scale Shaking Table
l Semi-active control is promising for civil

engineering applications. However, limitation
in implementation and maintenance should be
resolved. Smart passive control
8
uncontrolled
smart passive system
4
0
-4
-8
0
10
12
14
time (sec)
Displacement at 1st floor

induced current
(A)
1.6
0.8
0
-0.8
-1.6
0
10
12
14
time (sec)
142
Induced current from EMI system
REFERENCES
u Spencer,
B.F., Jr., Current Practice and Future Trends in Structural

Control, Lotte Symposium, 2008.
u Housner, et al., Structural Control: Past, Present, and Future,
Journal of Engineering Mechanics, ASCE, 123(9), 1997
u T.T. Soong, Active Structural Control: Theory and Practice,
John Wiley & Sons,1990.
u T.T. Soong and G.F. Dargush, Passive Energy Dissipation Systems
in Structural Engineering, John Wiley & Sons, 1997.
143
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2010-07-22

2010 Asia-Pacific Summer School on Smart Structures Technology

Dept. of Civil & Environmental Engineering

Features of Structural Control

Civil Structures: Long-span Bridges

Civil Structures: High-rise Buildings

Great Belt East

Civil Structures: High-rise Buildings

Increase in construction of high-rise buildings

1500 injured, 1000s homeless , > $15B cost

Great Hanshin Earthquake, Kobe, Japan, 1995

Estimated losses: 70k deaths , 370k injured, 5.0m homeless

6434 deaths, 35k injured , 300k homeless , > $150B cost

Other Recent Earthquakes

Kocaeli (Turkey, 1999)

Nisqually (Seattle, WA, 2001)

Tacoma Narrows Bridge, Tacoma, Washington

Structure & Aerodynamic instability

Tokyo Wan Aqua-line, Tokyo, Japan

Tokyo Wan Aqua-line, Tokyo, Japan

16 tuned mass dampers(TMD) were installed.

Motive of Structural Control

l Increased safety levels

l Increased stringent performance

l Implementation of passive control systems for

l Better utilization of materials and lower cost

37 fluid-viscous dampers (horizontal movement)

economic considerations: savings in materials, weight and

Distinctive Features of Structural

Metallic yield damper

l Civil engineering structures are statically

Viscous fluid damper

the addition of purely active control force can cause

l Loads are highly uncertain.

earthquake and wind loads have no definite magnitude and

Active mass driver

l Performance requirements are generally

Variable orifice damper

Applicable range of structural control systems

Passive, Active, Semi-active Control

l The beginning of structural control

l Modern structural control concept

l Trend of main research topic

Passive Control Systems

Four Main Advantages of Passive Control

(kinetic energy heat)

l It is usually relatively inexpensive.

l It consumes no external energy (energy may not be

l It works even during a major earthquake.

Tuned Mass Damper

Energy Dissipation Mechanisms

l Transferring of energy among vibrating modes:

l Inelastic deformation of metallic substances.

strain energy from

Energy Dissipation Performance

lMetallic Yield Dampers

l The idea of utilizing added metallic energy dissipators

l Several of the devices considered: torsional beams, flexural

lMetallic Yield Dampers

lMetallic Yield Dampers

lMetallic Yield Dampers

lMetallic Yield Dampers

A triangular plate damper or triangular added damping and stiffness