• Experimental Methods
- Classification
- Type of Excitation
- Type of Response
• Analysis Methods
- Classification : Parametric vs Non-parametric
- Type of Model : Structural vs Modal vs Non-Physical Numerical Model
- Domain: Time vs Frequency vs Cross Time-Frequency
• Uncertainties
• Examples of Application
2. Model Updating
- obtain FEM calibrated structural model
- adjust structural parameters after retrofit or modification
4. Earthquake Engineering
- performance of structure during earthquake
- post-earthquake structural assessment
5. Wind Engineering
- verification/comparison with wind tunnel results
- aerodynamic performance (e.g. aerodynamic damping of long-span bridges)
6. Soil-Structure Interaction
- characterize and quantify parameter of surrounding soil medium
7. Traffic-structure Interaction
- characterize structural response due to certain type of vehicle/train
- detect changes in structure-vehicle interaction medium (e.g. pavement effect on bridge
response, railway track effect on train comfort measure)
1.Introduction : Scopes – Global and Local
Example of Global Structural Identification : Modal identification
of instrumented bridges for global assessment of the
structure
-2.5
-3.5
d= 0.055)
-5
80 100 120 140 160 180 200 220
Time (s)
2.Exp Methods : Classification of Required Data
• Manual excitation
Impulse response functions (IRF) or free-vibration response.
Neither mass nor stiffness can be identified. Modal frequency
and damping can be estimated quite accurately.
1
Example of free vibration
0.5
response of a stay cable
A c c e le ra tio n (m
2
) /s
0
-0.5
-1
-1.5
80 100 120 140 160 180 200 220
Time (s)
Free-Vibration Response
Frequency Response
Raw Data
Single-mode free-vibration
response
Logarithmic Decrement
using envelope of decay response
Giving excitation to a stay cable by pull-and
released test Single-mode damping value
2.Exp Methods : Dynamic Loads – Controllable Un-Measurable Excitation
Vehicle excitation:
1. Response larger than ambient vibration
response.
2. Stress and acceleration responses can
be conducted simultaneously
3. Effect of vehicle-bridge interaction
should be considered in analysis.
Example of acceleration response when a truck
passing a bridge
2.Exp Methods : Dynamic Loads – Uncontrollable Measurable Excitation
Seismic excitation
Transfer functions or frequency response functions (FRFs) between seismic
input (base excitation) to output (structure response) . Structural properties,
modal properties and modal participation factor can be estimated.
Example of vertical acc and the spectrum of a medium span highway bridge to traffic.
Bridge response subjected to open traffic usually treated as stationary random process,
since the input is unknown. Effect of vehicle mass is usually neglected. However, in case of
short span bridge, the effect of vehicle mass may not be negligible and influence the
identified bridge frequency.
2.Exp Methods : Type of Response Excitation
Dynamic:
• Acceleration
• Relative of absolute displacement
• Velocity
• Inclination
• Strain
• Stress
• Water Pressure
• Structural and environmental temperature
• Wind Velocity
• Wind Direction
3. Analysis Methods: Classification
Parametric Model
Structural model and initial estimate of model parameters are
known a priori. Measured responses are fitted to obtain the
best estimate of model parameters.
Non-Parametric Model
Model structure is not specified a priori. Structural responses
are used to obtain model parameters by means of dynamical
system and quantities such as cross/auto-correlations, transfer
function/frequency response function.
3. Analysis Methods: Classification
Example of Parametric Model
Output-Error Minimization for system identification using seismic
response.
Theoretical model or structural
model is required
F = objective function
x ( k 1) A x ( k ) B z ( k )
y ( k ) R x (k ) [ D ]z (k )
• Does not have physical relationship with the structure (i.e. no spatial information, no
geometry distribution of mass, stiffness, and damping)
• Simply a parameter curve-fit of the given mathematical model to the measured data.
• Examples : Auto Regressive Moving Average (ARMA) and its variants, Rational
Polynomial Model etc.
• Some can be converted to modal model form.
Example : Auto Regressive Moving Average (ARMA) Model where the auto regressive
coefficients can be related to modal parameters
d n y (t ) d n 1 y (t ) dy (t )
n
a n 1 n 1
a1 a 0 y (t )
dt dt dt
d m u (t ) d m 1u (t ) du (t )
bm m
bm 1 m 1
b1 b0 u (t )
du du dt
3. Analysis Methods : Domain
1. Frequency Domain
28
3. Analysis Methods : Domain
2. Time Domain
29
3. Analysis Methods : Domain
3. Cross Time-Frequency Domain
Represents frequency evolution as time progresses.
Can detect non-linearity and non-stationary signals
30
3. Analysis Methods : Direct and Indirect Method Time Domain
Direct Method
When the IRF/FRF is available, they can be use as input directly to
system identification method.
Indirect Method
When the IRF/FRF is unavailable such as in case of ambient
vibration measurement, an additional method is needed to
construct synthetic IRF , ex. through cross-correlation (Natural
Excitation Technique (NEXT) or through Random Decrement.
Randec ITD
31
3. Analysis Methods : Checklist
Types of Inputs and Outputs System Identification Method
32
4. Uncertainties
33
4. Uncertainties : Error propagation analysis using perturbation
Example of error propagation in System Realization using Information Matrix
Objectives:
To define and quantify the error on Realization of Modal
Realization of Modal
the modal parameters as the effect Parameters
Parameters
of input and output noise w(e) = w(0) + eD w
w, z, j
z(e) = z(0) + eD z
34
f(e) = f(0) + eDf
4. Uncertainties : Bootstrap Analysis
Example of investigation of the effect of variability and to estimate the confidence
bounds of identified modal parameters by NEXT-ERA
Randomly selected
Ensemble 2 ERA
(M component) w2, x2,f2
CCF7, CCF2, CCF1,…CCFM
Compute CCF average
. .
. .
. .
Randomly selected Ensemble P
(M component) ERA
CCF4, CCF6, CCF2,…CCFM wp, xp,fp
Compute CCF average
37
5. Examples: Ambient Vibration Measurement of Suspension Bridge
Using NEXT -ERA Modal Parameters
38
5. Examples: Ambient Vibration Measurement of Suspension Bridge
39
5. Examples: Seismic-Induced System Identification of Cable-Stayed Bridge
40
5. Examples: Seismic-Induced System Identification of Cable-Stayed Bridge
A data driven identification method was applied considering multiple input excitation
and multiple responses (MIMO System)
41
5. Examples: Seismic-Induced System Identification of Cable-Stayed Bridge
With dense instrumentation and good quality of seismic records we identify bridge
modal parameters until high order
42
5. Examples: Seismic-Induced System Identification of Cable-Stayed Bridge
Observation of the performance of seismic isolation devices using 1st longitudinal
mode (Siringoringo & Fujino 2008 )
(a) Typical slip-slip Mode (Earthquake 1990-02-20) (b) Typical Mixed Slip-Stick Mode (Earthquake 1995-07-03 )
From the first longitudinal mode we can observe behavior of Link-Bearing Connection
during earthquake.
It was found that the expected slip-slip mode only occurred during large earthquake. 43
Suggested Readings Materials:
Theoretical and Experimental Modal Analysis by Maia, Silva, He, Lieven et al.
Applied System Identification by Jer Nan Juang
Monitoring and Assessment of Structures by GST Armer
The State of the Art in Structural Identification of Constructed Facilities (ASCE Report 1999)
Q&S
Questions and Sharing?
• Dionysius Siringoringo
dion@bridge.t.u-tokyo.ac.jp
44