Application for Structural Control

7/24/2019 Application for Structural Control

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Structural Control:Structural Control:

Overview and FundamentalsOverview and Fundamentals

Akira NishitaniAkira Nishitani

Vice President & ProfessorVice President & Professor

WASEA !niversit"# $ok"o# %aanWASEA !niversit"# $ok"o# %aan

anix@[email protected]


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OutlineOutline

1.1.Introduction forIntroduction for WASEDAWASEDAand Myselfand Myself 2.2.Introduction for Structural ControlIntroduction for Structural Control

3.3.Some keywords for structural controlSome keywords for structural control

4.4.Brief view of active structuralBrief view of active structuralcontrolcontrol 5.5.Components of control systemComponents of control system

6.6.Semiactive structural controlSemiactive structural control

7.7.Smart damping or smart dampersSmart damping or smart dampers ContinuedContinued


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OutlineOutline 'Cont(d)'Cont(d)

8.8.Signicance of nonlinearity or articially-Signicance of nonlinearity or articially-added nonlinearity in structural controladded nonlinearity in structural control

9.9.Semiactive variable slip-force levelSemiactive variable slip-force leveldampersdampers

10.10.Future directionsFuture directions

AppendixAppendix L control and L! controlL control and L! control


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** +, -ntroduction for:+, -ntroduction for:

Waseda Univ. andmyself


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A!"#A!"# WasedaWaseda


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Waseda !niversit"Waseda !niversit"sincesince

+../+../


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Waseda !niversit"Waseda !niversit"sincesince

+../+../


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Waseda !niversit":Waseda !niversit":

--Second oldest rivate universit" in %aan# foundedSecond oldest rivate universit" in %aan# foundedinin 1882.1882.

00 125125th Anniversar" inth Anniversar" in 20072007,,

0 the0 the $%s#$%s#rivate universit" in %aan thatrivate universit" in %aan thatesta1lished en2ineerin2 school,esta1lished en2ineerin2 school,

0 Waseda eartment of Architecture is the second0 Waseda eartment of Architecture is the second

oldest in %aan,oldest in %aan,


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Da#aDa#aof "aseda #niversityof "aseda #niversity::

--Num1er of students:Num1er of students: 50&00050&000

0 Num1er of students in School of Science0 Num1er of students in School of Science

and En2ineerin2:and En2ineerin2: 7&0007&0000 3ore than0 3ore than 100&000100&000alication formsalication forms

su1mitted to the Admission Center ever"su1mitted to the Admission Center ever"

"ear"ear


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3"self3"self:

-- Ph at Colum1ia#Ph at Colum1ia# 19801980

0 Vice0President# Waseda !niv,0 Vice0President# Waseda !niv,

since /445,since /445,0 Professor of Structural En2ineerin20 Professor of Structural En2ineerin2

in et, of Architecture# sincein et, of Architecture# since

+667,+667,


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3"self3"self 'Cont(d)'Cont(d):

- 8ave 1een doin2 researches related to smart8ave 1een doin2 researches related to smart

structures technolo2" includin2 active9semiactivestructures technolo2" includin2 active9semiactive

structural control for nearl" /4 "ears,structural control for nearl" /4 "ears,

0 8ave 1een involved to the activit" of0 8ave 1een involved to the activit" of I$SCMI$SCM%%International $ssociation forInternational $ssociation forStructural Control andStructural Control and

Monitoring &Monitoring & since its esta1lishment in +66,since its esta1lishment in +66,


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3"self3"self 'Cont(d)'Cont(d):

- 8ave 1een the Chairerson of the8ave 1een the Chairerson of the'S(S'S(S%'apan Society%'apan Societyfor (romotion offor (romotion ofScience&Science&)*+t, Committee)*+t, CommitteeononStructuralStructural

esponse Controlesponse Control since Aril /44;,since Aril /44;,0 Currentl"# Vice0President#0 Currentl"# Vice0President#'AEE'AEE%'apan%'apan

$ssociation of .art,/uake .ngineering&$ssociation of .art,/uake .ngineering&,,


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** /, -ntroduction for:/, -ntroduction for:

S#%")#"%al *!n#%!l


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< $ctive control

< (assive control


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< $ctive control

< (assive control

Wi#+ !% ,i#+!"#Ene%-y

s"pply

Wi#+ !% ,i#+!"#*!n#%!l

)!mp"#e%


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< A)#ivecontrol

< (assive control

Wi#+Ene%-y s"pply

Wi#+*!n#%!l)!mp"#e%


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< $ctive control

< (assivecontrol

Wi#+!"#Ene%-y s"pply

Wi#+!"#*!n#%!l)!mp"#e%


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< $ctive control0 "ll/a)#ive control

0 Semi/a)#ive!% Semia)#ive control

0 y%idcontrol

< (assive control

0 ase s!la#i!n0 (assive dampe%/ased control


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Seismic =esonse Control Princiles:Seismic =esonse Control Princiles:

)0)0 educe t,e e1ect of seismic e2citation0educe t,e e1ect of seismic e2citation0

30 (revent a structure from e2,ibiting t,e30 (revent a structure from e2,ibiting t,e

resonance vibration0resonance vibration0

40 5ransfer t,e vibration energy of a main40 5ransfer t,e vibration energy of a main

structure to t,e secondary oscillator0structure to t,e secondary oscillator0

60 (ut additional damping e1ect to a60 (ut additional damping e1ect to a

structure0structure0

*0 $dd a control force to a structure0*0 $dd a control force to a structure0


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+ese ideas ,e%e

p%!p!sed y !!%iandinaiin 1960.


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(%!fess!% a"i !!%i


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+ey p%!p!sed #+e idea

!f

Seismi)/esp!nse/

*!n#%!lled S#%")#"%es!%

.


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Seismi)/%esp!nse/)!n#%!lleds#%")#"%e

:!nlinea%:!nlinea%

me)+anisme)+anis

mm

"ildin-:!nlinea%:!nlinea%

me)+anisme)+anis

mm

:!nlinea%:!nlinea%

me)+anisme)+anis

mm

:!nlinea%:!nlinea%

me)+anisme)+anis

mm


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Seismic =esonse Control Princiles:Seismic =esonse Control Princiles:

)0)0 educe t,e e1ect of seismic e2citation0educe t,e e1ect of seismic e2citation0

Base IsolationBase Isolation

30 (revent a structure from e2,ibiting t,e30 (revent a structure from e2,ibiting t,e

resonance vibration0resonance vibration0

Base IsolationBase Isolation40 5ransfer t,e vibration energy of a40 5ransfer t,e vibration energy of a

structure to t,e secondarystructure to t,e secondary

oscillator0oscillator0 TMD ControlTMD Control

60 (ut additional damping e1ect to a60 (ut additional damping e1ect to a

structure0structure0

Passive dam er controlPassive dam er control


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'apan +as een leadin-#+e ,!%ld in #e%ms !f #+ep%a)#i)al appli)a#i!ns !fs#%")#"%al )!n#%!l

s)+emes.


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Practical Alications in %aan:

> of ?uildin2s:

?ase isolation: over 2&000 Passive damers: over 300

Active control: over 40


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; ey,!%ds f!%s#%")#"%al )!n#%!l.


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0 $30 $3

0 A30 A30 Smart damer0 Smart damer

0 Semiactive damer0 Semiactive damer

0 Controlla1le damer0 Controlla1le damer

0 @ control0 @ control

0 @B control0 @B control


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0 $3:0 $3: "ned ass"ned assDampe%Dampe%

0 A3:0 A3: A)#iveA)#iveassassDampe%Dampe%0 Smart damer0 Smart damer






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0 $3:0 $3: "ned ass"ned assDampe%Dampe%

0 A3:0 A3: A)#iveA)#iveassassDampe%Dampe%00 Sma%#Sma%#damerdamer






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$here are man" kinds of


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-ndeed#

D$he 3erriam0We1sterPaer1ack ictionar"

2ives a modern interretationof


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Containin2ami)%!p%!)ess!%

of limited calculatin2caa1ilit",


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With the names such as

7smart structures89 7intelligent structures89

7dynamic intelligent buildings89

etc,#

civil structures have 1een 2ettin2

more and more human 1ein2s0likecharacteristics,


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** , Overview of, Overview of

active structuralactive structural

control: control:


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00 -n +6.6#-n +6.6# a real 1uildin2 with active control technolo2"a real 1uildin2 with active control technolo2"

alied was comleted in $ok"o# %aan,alied was comleted in $ok"o# %aan,

00 $his was the first$his was the first fullfullscalescaleimplementation of active or computer-implementation of active or computer-based response controlbased response control in the world,in the world,


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(%!fess!% a"i !!%i


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$he name of the 1uildin2:$he name of the 1uildin2:

:yobas,i Seiwa Building:yobas,i Seiwa Building

'Currentl"#'Currentl"#:yobas,i Center Building:yobas,i Center Building))


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y!as+i *en#e%"ildin-


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0 $his 1uildin2 emlo"ed an0 $his 1uildin2 emlo"ed an ADAD

s"stem,s"stem,

--ADADis one of the t"ical activeis one of the t"ical active

control devices or actuators forcontrol devices or actuators for

1uildin2s,1uildin2s,


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ADAD


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00 ADADis a mass of wei2htis a mass of wei2htinstalled into the to floor orinstalled into the to floor or

near to floor#near to floor#

which is maniulated 1"which is maniulated 1"

a control comutera control comuter

1ased on the resonse data, 1ased on the resonse data,


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$he inertial force$he inertial force

resultin2 fromresultin2 from

ADAD

movementmovement

responding toresponding to

StructureStructure

Seismic or wind ecitationSeismic or wind ecitation

Control forceControl force


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A3

AD

D%ivin- !%)eD%ivin- !%)e

"ildin-


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A3

AD

D%ivin- !%)e"

"ildin-

ass !f ADm

ass !f "ildin-


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AD

xa

>

x-

x

"ildin- !%mains#%")#"%e


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$he euation of motion of a structural$he euation of motion of a structural

s"stem withs"stem with ADAD inte2rated is:inte2rated is:

+

=

+

+

=

+

+

u

ux

M

m

X

x

Kk

0k

X

x

M0

mm

u

ux

M

m

X

x

Kkk

kk

X

x

M0

0m

g

aa

g


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s"stem withs"stem with ADAD inte2rated:inte2rated:

)'

'+)#ofrawsecondthewitha1ovetheCom1inin2

)'

)'

)'

#rawfirsttheFrom

gag

aga

aga

gaa

g

aa

xXxmxMKXXM

kxuxXxm

ukxxXxm

uxmkxXxm

u

ux

M

m

X

x

Kk

0k

X

x

M0

mm

++=+

+=++

+=++

+=++

+

=

+

?1@


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s"stem withs"stem with ADAD inte2rated:inte2rated:

ag

gag

xmxmMKXXmM

xXxmxMKXXM

+=++

++=+

)()(

)(


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AD

xa

x

x-


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As a result#As a result#

since the 1irth of the world(s firstsince the 1irth of the world(s firstactive0controlled 1uildin2#active0controlled 1uildin2#

nownow more t,an 6;more t,an 6;

1uildin2s1uildin2s

in %aan have installedin %aan have installed

a variet" of active control schemes,a variet" of active control schemes,

Full0scale active control imlementations:Full0scale active control imlementations:


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:yobas,i Seiwa Bldg08 1989Bidg0 5.S8 1992$pplause 5ower8 1992?saka ?C 3;;8 1992:ansai $irport Control 5ower8 1992Long 5erm Credit Bank8 1993

$ndo >is,ikic,o Bldg08 1993(orte :ana@awa8 1994S,in=uku (ark 5ower8 1994IA!$ oyal Aotel8 1994MAI oko,ama Bldg08 1994

Aikarigaoka ' City8 1994Aamamatsu $C5 City8 1994iverside Sumida8 1994Aotel ?cean 6*8 1994?saka "5C Bldg08 1995

Full0scale active control imlementations'cont,):


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' )

owa :asai (,oeni2 5ower8 1995inku !ate 5ower8 1995

Airobe Miyake Bldg8 1995(la@a Ic,i,ara8 1995A.BIS ?saka8 1997>isseki oko,ama Bldg08 1997Itoyama 5ower8 1997

?tis .levator 5est 5ower8 1998Bunka !akuen8 1998?ita ?asis Airoba 3)8 1998?dakyu Sout,ern 5ower8 1998:a=ima S,i@uoka Bldg08 1998Sotetsu Bldg08 1998Century (ark 5ower8 1999Sosokan8 :eio #niv08 2000!ifu egional ?Dce8 C,ubu (ower .lectric Company8

2001


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8owever#8owever#

most of these imlementations weremost of these imlementations weremainl" aimed at the resonse controlmainl" aimed at the resonse control

a2ainsta2ainst smallm!de%a#e seismi)smallm!de%a#e seismi)oror

s#%!n- ,ind ex)i#a#i!n.s#%!n- ,ind ex)i#a#i!n.


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$he ultimate 2oal of active control:$he ultimate 2oal of active control:

5o en,ance t,e structural safety against5o en,ance t,e structural safety against

severe seismic events0severe seismic events0

>eed to establis, suc, a>eed to establis, suc, acontrol sc,eme as to ac,ieve t,econtrol sc,eme as to ac,ieve t,e

nal goal of active structuralnal goal of active structural

control0control0


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efe%en)eefe%en)e

A, Nishitani and G, -noue '/44+),A, Nishitani and G, -noue '/44+),

Overview of the alication of active9semiactive control inOverview of the alication of active9semiactive control in

%aan#%aan#

Ea%#+B"ae En-inee%in- C S#%")#"%al Dynami)sEa%#+B"ae En-inee%in- C S#%")#"%al Dynami)s # Vol,# Vol,74'++)# ,+H5H0+H;,74'++)# ,+H5H0+H;,


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Active structural control:Active structural control:

--$he full0scale active control imlementation$he full0scale active control imlementationto a civil structure has oened the doorto a civil structure has oened the door

toto


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** H, Comonents ofH, Comonents of

Control S"stem: Control S"stem:

-8ow is a control s"stem

comosedI


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From the oint of view ofFrom the oint of view of

s"stem control en2ineerin2# J,,s"stem control en2ineerin2# J,,


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Control S"stem:Control S"stem:

-(lant structure(lant structurewhosewhose

resonses are controlledresonses are controlled-SensorsSensors

0Control computerControl computerEControllerEController

00 Control actuatorControl actuator

C SC t l S t


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(lan

#

Sens!%

s

*!n#%!lle%

A)#"a#!%

*!n#%!lnp"#

Seismi)np"#


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Seismic Structural Control:Seismic Structural Control:

)0)0 educe t,e e1ect of seismic e2citationeduce t,e e1ect of seismic e2citationw,ic,w,ic,aa plan#plan#is sub=ected to0is sub=ected to0

3030 (revent a(revent a plan#plan#from e2,ibitingfrom e2,ibiting

t,e resonance vibration0 t,e resonance vibration040405ransfer t,e vibration energy of a5ransfer t,e vibration energy of a

plan#plan# to ato a )!n#%!l/a)#"a#!%)!n#%!l/a)#"a#!%00

6060 (ut additional damping e1ect to a(ut additional damping e1ect to aplan#plan#00

*0*0 $dd a control force to a$dd a control force to a plan#plan#

t,roug,t,roug,an a)#"a#!% !% a)#"a#!%s.an a)#"a#!% !% a)#"a#!%s.


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Passive Control S"stem:Passive Control S"stem:

* (lant structure(lant structurewhosewhose

resonses are controlledresonses are controlled** SensorsSensors

*Control computerControl computer

'Controller)'Controller)

** Control actuatorControl actuator


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?ase -solation:?ase -solation:




'Controller)'Controller)** Control actuatorControl actuator


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Passive amer Control:Passive amer Control:

)0)0 educe t,e e1ect of seismic e2citation0educe t,e e1ect of seismic e2citation03030 (revent a(revent a plan#plan#from e2,ibitingfrom e2,ibiting

t,e resonance vibration0 t,e resonance vibration0

40405ransfer t,e vibration energy of a5ransfer t,e vibration energy of aplan#plan# to ato a )!n#%!l/a)#"a#!%)!n#%!l/a)#"a#!%..

6060 (ut additional damping e1ect to a(ut additional damping e1ect to a

plan#plan#00*0*0 $dd a control force to a$dd a control force to a plan#plan#00


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$3 Control:$3 Control:

)0)0 educe t,e e1ect of seismic e2citation0educe t,e e1ect of seismic e2citation03030 (revent a(revent a plan#plan#from e2,ibitingfrom e2,ibiting

t,e resonance vibration0 t,e resonance vibration0

40405ransfer t,e vibration energy of a5ransfer t,e vibration energy of aplan#plan# to ato a)!n#%!l/a)#"a#!%.)!n#%!l/a)#"a#!%.


plan#plan#00*0*0 $dd a control force to a$dd a control force to a plan#plan#00


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?ase -solation:?ase -solation:

)0)0 educe t,e e1ect of seismic e2citation0educe t,e e1ect of seismic e2citation03030 (revent a(revent aplan#plan#from e2,ibitingfrom e2,ibiting

t,e resonance vibration0t,e resonance vibration0

40405ransfer t,e vibration energy of a5ransfer t,e vibration energy of aplan#plan# to ato a )!n#%!l/a)#"a#!%)!n#%!l/a)#"a#!%00


plan#.plan#.*0*0 $dd a control force to a$dd a control force to a plan#plan#00


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Active Control S"stem:Active Control S"stem:




'Controller)'Controller)** Control actuatorControl actuator


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A3 Control:A3 Control:

)0)0 educe t,e e1ect of seismic e2citation0educe t,e e1ect of seismic e2citation03030 (revent a(revent a plan#plan# from e2,ibitingfrom e2,ibiting

t,e resonance vibration0t,e resonance vibration0

40405ransfer t,e vibration energy of a5ransfer t,e vibration energy of aplan#plan# to a secondary vibrationto a secondary vibration

system0system0

6060 (ut additional damping e1ect to a(ut additional damping e1ect to aplan#plan#00

*0*0 $dd a control force to a$dd a control force to aplan#.plan#.


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$heoreticall"#$heoreticall"#

$here are two kinds of active$here are two kinds of active

control schemes: JJ,,control schemes: JJ,,


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$heoreticall"#$heoreticall"#

$here are two kinds of active$here are two kinds of active

control schemes:control schemes:

eeda)eeda)controlcontrolandandeed/f!%,a%deed/f!%,a%dcontrol0control0


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(lan

#

Sens!%

s

*!n#%!lle%

A)#"a#!%

*!n#%!lnp"#

Ex#e%nal inp"# s")+ as seismi)ex)i#a#i!n

"#p"#


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(lan

#

Sens!%

s

*!n#%!lle%

A)#"a#!%

*!n#%!lnp"#


"#p"#

eeda)


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(lan#

Sens!%s

*!n#%!lle%

A)#"a#!%

*!n#%!lnp"#


"#p"#

eeda)


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(lan

#

esp!ns

e

*!n#%!lle%

*!n#%!lnp"#


eeda)


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?s@

F?s@

*!n#%!lnp"#

Ex#e%nal inp"# ex)i#a#i!n

eeda)

esp!nse


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?s@

F?s@

*!n#%!lnp"#


eeda)

esp!nseeeda)-ain

(lan# #%ansfe%f"n)#i!n

l i i i


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?s@

F?s@

*!n#%!lnp"#


eeda)

esp!nseeeda)-ain

(lan# #%ansfe%f"n)#i!n


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(lan#

Sens!%s

*!n#%!lle%A)#"a#!%

*!n#%!lnp"#Ex#e%nal

inp"# s")+as seismi)ex)i#a#i!n esp!ns

e


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?s@

F?s@*!n#%!l

np"#Ex#e%nalinp"#ex)i#a#i!n esp!ns

e


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?s@

F?s@*!n#%!l

np"#Ex#e%nalinp"#ex)i#a#i!n esp!ns

e

eed/f!%,a%d

*!n#%!l


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** 5, Semiactive Structural5, Semiactive Structural

Control: Control:

-What is semiactive controlI

0 8ow is semiactive control

conductedI


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Semiactive control:

Com1ines the ene$)ial

fea#"%esof 1oth ofassive and active control

s"stems,

Semiactive control:


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Semiactive control:

Passive control: >o energy supply to a controlactuator needed0

Active control: Fle2ibility8 $daptability8 .Dcient performance0


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Semiactive control:

0 Gess ene%-y/ !%e eH)ien)y/ e##e%pe%f!%man)e

C SC t l S t


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-(lant structure(lant structurewhosewhose

resonses are controlledresonses are controlled

-SensorsSensors

0Control computerControl computerEControllerEController

00 Control actuatorControl actuator



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(lan

#

Sens!%

s

*!n#%!lle%

A)#"a#!%

Seismi)np"#


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Semiactive control:Semiactive control:

$here are two maKor wa"s$here are two maKor wa"s

definin2 or characteriLin2definin2 or characteriLin2semia)#ive )!n#%!lsemia)#ive )!n#%!lconcet,concet,

$he most 2eneral definition:$he most 2eneral definition:


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Semiactive control is JJSemiactive control is JJ



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Semiactive control isSemiactive control is conductedconducted1"1")+an-in- !% )!n#%!llin-)+an-in- !% )!n#%!llin-

a pa%# !f a pa%# !f)+a%a)#e%si#i)s)+a%a)#e%si#i)s!f!f

)!n#%!l a)#"a#!%)!n#%!l a)#"a#!%!nly a# app%!p%ia#e #ime!nly a# app%!p%ia#e #ime

ins#an#s.ins#an#s.



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Semiactive control isSemiactive control is conducted 1"conducted 1")+an-in- !% )!n#%!llin- a)+an-in- !% )!n#%!llin- apa%# !fpa%# !f)+a%a)#e%si#i)s)+a%a)#e%si#i)s!f!f )!n#%!l)!n#%!l

a)#"a#!%a)#"a#!%

!nly a#!nly a#

app%!p%ia#e #ime ins#an#s.app%!p%ia#e #ime ins#an#s.

Adap#ive )+a%a)#e%is#i)sAdap#ive )+a%a)#e%is#i)s,,

$his definition leads to:$his definition leads to:


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$his definition leads to:$his definition leads to:

00 Ga%-e p!,e% n!# needed.Ga%-e p!,e% n!# needed.

00 eB"i%ed p!,e% n!#eB"i%ed p!,e% n!#

dependen#dependen#

!f #+e ma-ni#"de !f!f #+e ma-ni#"de !f

seismi) ex)i#a#i!n.seismi) ex)i#a#i!n.

$he second si2nificant oint:$he second si2nificant oint:


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Semiactive control oerationSemiactive control oerationdoes not in=ect mec,anicaldoes not in=ect mec,anical

energyenergyinto a lant structure orinto a lant structure or

control device or actuator,control device or actuator,



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Semiactive control oerationSemiactive control oeration does notdoes notin=ect mec,anical energyin=ect mec,anical energyinto a lantinto a lant

structure or control device or actuator,structure or control device or actuator,

-t has-t has muc, less potentialmuc, less potential toto

desta1iliLe the structure,desta1iliLe the structure,

-n t"ical semiactive control:-n t"ical semiactive control:


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-n t"ical semiactive control:-n t"ical semiactive control:

Actuator:Actuator: Dampe%Dampe%

Controlled characteristics such asControlled characteristics such as

thethe dampingdampingcoeDcientcoeDcient##

the ma2nitude ofthe ma2nitude of relief loadrelief load

# etc,## etc,#

of theof the dampe%dampe%are controlled,are controlled,

$his kind of damers are JJ,,$his kind of damers are JJ,,

$"ical semiactive control:$"ical semiactive control:


100/212

$"ical semiactive control:$"ical semiactive control:

Actuator:Actuator: Dampe%Dampe%

Ccontrolled characteristics such asCcontrolled characteristics such as

thethe dampingdampingcoeDcientcoeDcient##

the ma2nitude ofthe ma2nitude of relief loadrelief load# etc,# etc,

of theof the dampe%dampe%are controlled,are controlled,

$his kind of damers are$his kind of damers are

calledcalled


101/212

$hen#$hen# for eamle#for eamle#

consider a t"e ofconsider a t"e of semiactivesemiactivecontrolcontrolin which thein which the dampin-dampin-

)!eH)ien#s)!eH)ien#s of installed viscousof installed viscous

damers are controlled,damers are controlled,



102/212


consider a t"e ofconsider a t"e of semiactivesemiactivecontrolcontrolin which the damin2 coefficientsin which the damin2 coefficients

of installed viscous damers areof installed viscous damers are

controlled,controlled,

$his chan2e would not have an" effect$his chan2e would not have an" effect

on the structure which is not su1Kect toon the structure which is not su1Kect toan" other eternal inut ecitation,an" other eternal inut ecitation,

On the contrar"On the contrar"


103/212

On the contrar"#On the contrar"#

tthe movement of A3he movement of A3 )!"ld)!"ldmake an entire structure vi1ratemake an entire structure vi1rate

even in case of no ot,er e2ternaleven in case of no ot,er e2ternal

input e2citationinput e2citation,,

On the contrar"On the contrar"


104/212

On the contrar"#On the contrar"#

tthe movement ofhe movement of ADADwould make anwould make anentire structure vi1rateentire structure vi1rate even in case of noeven in case of no

ot,er e2ternal input e2citationot,er e2ternal input e2citation,,

$his is ver"$his is ver" si-ni$)an#si-ni$)an# di1erencedi1erence1etween1etween full0activefull0activeandand

semi0activesemi0activecontrol,control,


105/212

A3

AD

(!,e%

"ildin-


106/212

Controlled damersControlled damers

Smart damersSmart damers

One of smart control schemesOne of smart control schemes

Control scheme 1ased on DControl scheme 1ased on Dsma%#sma%# or orDD)!n#%!lled)!n#%!lled damers damers


107/212

** ;, Smart damin2;, Smart damin2or Smart amers or Smart amers


108/212

Vi1ration Control

0 ?uildin2s

0 3otor vehicle susensions


109/212

*a% !dy!%

"ildin-

Sp%in-

Dampe%

z

xg


110/212

-Comuter control ofof susension s"stems

in +6.4s,-Comuter control

of 1uildin2s in +6.6,


111/212


112/212

*a%!dy

Sp%in-

Dampe%

z

xg


113/212

0 =ide Comfort

A1solute movement

of car 1od" M 4

0 rivin2 Sta1ilit"

3ovement of car 1od"M 3ovement of 2round


114/212

$rade0off 1etweenride comfort

and drivin2 sta1ilit"

Srin2

amer

Varia1le


115/212

$ransfer function

from xgtoz


116/212

@?

@?

x

z

g

1

2 0

i-+ dampin-

G!, dampin-

0

For 1etter ride comfort


117/212

For 1etter ride comfort#

smaller a1solute accelerations,

Aig, damping is not appropriate

for t,e ,ig,-fre/uency region0

Constant damping is notappropriate0

Sk"hook damer


118/212

z

xg

Sk"hook damer


119/212

z

xg

Csh

C

Sk"hook damer


120/212

z

xg

Csh

CC'z0xg)MCshz

...

Sk"hook damer


121/212

z

xg

Csh

CC'z0xg)MCshz

...

C MCshz 9 'z0xg). ..


122/212

Pioneerin2 -mlementationsPioneerin2 -mlementations

of Smart amin2:of Smart amin2:

G:a=ima S,i@uoka Building

G:eio #niversity Soso-kan Building

GC,ubu .lectric (ower E*E(!ifu egional ?Dce Building

aima S+iI"!a"ildin-


123/212

"ildin-


124/212

00:a=ima S,i@uoka Building:a=ima S,i@uoka Building

$he World(s first$he World(s first smart damping

ororsemiactive variable dampingsemiactive variable dampingimlementation to a 1uildin2,imlementation to a 1uildin2,

Varia1le damin2 s"stem in


125/212

Varia1le damin2 s"stem in

:a=ima S,i@uoka Bldg0:

$he damin2 coefficients

of oil0damers is controlled so that L!-based optimal control

forceshould 1e rovided

in terms of damin2 force,


126/212

ei! Univ. S!s!/an


127/212

"ildin-

00 :eio #niv0 Soso-kan Building:eio #niv0 Soso-kan Building


128/212

$he world(s first$he world(s first sma%# ase/sma%# ase/

is!la#edis!la#ed1uildin2 or1uildin2 or

1uildin2 with1uildin2 with ase is!la#i!nase is!la#i!nintegratingintegratingsemia)#ively/semia)#ively/

)!n#%!lled)!n#%!lled

va%iale dampin-va%iale dampin-s"stem,s"stem,


129/212

*E( Fif"*E( Fif"

e-i!nal H)ee-i!nal H)e

00 C.( !ifu egional ?Dce BuildingC.( !ifu egional ?Dce Building


130/212

C.( !ifu egional ?Dce BuildingC.( !ifu egional ?Dce Building

$he world(s first 1uildin2

emlo"in2

an autonomous-decentrali@edsemiactive smart dampings"stem,

A"#!n!m!"s/d li d l


131/212

de)en#%aliIed )!n#%!l

sys#em

A0 Control S"stem:A0 Control S"stem:


132/212

(lan

#

Sens!%

s

*!n#%!lle

%

A)#.

Seismi)

np"#

Sens!%s

*!n#%!lle%

A)#.

A)#.

*!n#%!lle%

Sens!%s

Autonomous0ecentraliLed


133/212


Control S"stem:

- Each of distri1uted control s"stems

isa"#!n!m!"sly

controlled1" its own local# de)en#%aliIed

)!n#%!lle%# not 1" onl" one center

controller,

- Aeig,t of a ,uge8 ,ig,-risebuilding


134/212

building

- "idt, of a ,uge building wit,very wide Hoors

?ne central control computerdoes not seem appropriate0

A"#!n!m!"s/de)en#%aliIed )!n#%!lsys#em E$ controlsystem


135/212


136/212

A/D Semia)#ive Dampe%


137/212


138/212

S,i#)+in- il Dampe% ,i#+ "il#/in *!n#%!lle%

Switc,ing oil damper wit, built-incontrollerJ


139/212

controller

-5,e 7damper9 is a Ma2well type ofsystem consisting of

a s#iJness elemen#Espringand a )!n#%!llale!il dampe% elemen#0


140/212

Srin2

amer


141/212

Disp*min

*max

Kel

By properly c,oosing t,e dampingcoeDcient8

3


142/212

*min

*min

*max

(assive

Dampe%ys#e%esis

*max

)

3

4

6


143/212

*max

*max

*max

*max


144/212


145/212

- .ac, damper autonomously


146/212

controlled by its own

decentrali@ed controller

A"#!n!m!"s/de)en#%aliIed

)!n#%!l sys#em

-Several newly constructedbuildings in 'apan ,ave installed


147/212

buildings in 'apan ,ave installed

t,is type of semia)#ive dampe%sys#ems0

-Switc,ing oil damper wit, built-in controllerJ


148/212


149/212

+e S+i=!d!me Dis#%i)#


150/212

+e S+i=!d!me aima!,e%


151/212

+e S+i=!d!me aima!,e%


152/212

!pp!n-i !,e%

A"#!n!m!"s/de)en#%aliIed)!n#%!l sys#em


153/212

0 Control operation could beconducted based upon t,eresponse information only in t,eneig,bor,ood of eac, controldevise0

)!n#%!l sys#em

A%#i$)ial :!nlinea%i#y concept

A"#!n!m!"s/de)en#%aliIed

control


154/212

A%#i$)ial :!nlinea%i#y concept

seems appropriate or tted tostructural control against seve%e

seismi) ex)i#a#i!ns0

control

** ., Si2nificance of nonlinearit"., Si2nificance of nonlinearit"

tifi i ll dd d li ittifi i ll dd d li it


155/212

or artificiall"0added nonlinearit"or artificiall"0added nonlinearit"

in structural controlin structural control

0 ?asic concet

0 Control effect

0 Oil h"draulic damers

@inear

structure?i0linear su1s"stem


156/212

tan-)L:

tan-)E

KL:

tan-)M:

tan-)M:

structure


157/212

Q9

Q

R

#an/1


158/212

#an/1

#an 1


159/212

amin2

Coefficient MW9W9'T)

W W

#an 1


160/212

#an/1

#an/1N

Euivalent viscous damin2 ratioM'+0)9''+U))

)/)/(( 11 +


161/212

1

2

11

1

1

+=

++

+=

++

+

=

QM4,;


162/212

Q 4,;

QM4,.

QM4,6

QM+,4

R

What would haen to a SOF


163/212


structure su1Kected to seismic

ecitation with this al2orithmI

Case +: QMRM4 H


164/212

Case +: Q R 4,H

Case /: QR

QM 4,7 RM 4,;El Centro +64 earthuake NScomonent with / m9sec2

L 0 5

=esonse Accelerations


165/212

MOLO 0.50.5

MO0.3& LO 0.7

=esonse islacement


166/212

MO 0.3& LO 0.7

0.7

MOLO 0.50.5

amer h"stereses


167/212

MO0.3& LO 0.7

MO LO 0.50.5


168/212

$s an $ semiactive controlsystem integrating articialnonlinearity p,ilosop,y8


169/212

Ka%iale slip/

f!%)e leveldampe%s

** 6,6, Semia)#iveSemia)#iveVaria1leVaria1le


170/212

Sli0force @evel amers Sli0force @evel amers

0 ?asic concet

0 Control effect

0 Oil h"draulic damers

0 ?asic concet:0 ?asic concet:


171/212

0 Semiactive control

0 !tiliLin2 artificial nonlinearit"

0 Autonomous0decentraliLed s"stem


172/212

7

A damer is controlled


173/212

A damer is controlledso that it 1e2ins to sli at the

occurrence of eak velocit",

0 No need for modelin2, 0 Onl" local resonse

information needed,


174/212


175/212

amer

ductilit"

factor M /

$he effectiveness of this scheme:


176/212

is anal"ticall" measured interms of euivalent viscous

damin2 ratio,


177/212

#an/1?ML@

#an/1M

amerUStructure



178/212

structure su1Kected to seismic

ecitation with this al2orithmI

Case +: QMRM4,H


179/212

Case +: Q R 4,H

Case /: QR

QM 4,7 RM 4,;El Centro +64 earthuake NScomonent with / m9sec2

=esonse Accelerations


180/212

== 0.5

0.5

=0.3, =

0.70.7

=esonse islacement


181/212

= 0.3, = 0.7

0.7

== 0.50.5

amer h"stereses


182/212

= 0.3, =

0.70.7

= = 0.5

0.5

Case +: QMRM 4,H


183/212

Estimated damin2coefficient M 4,4.;

Case /: QM 4,7 RM 4,;

Estimated damin2

coefficient M 4,+5/

Acceleration =esonse Sectrum


184/212

Simulation for a /40storie hi2h0


185/212

rise 1uildin2:

- Steel structural model

accountin2 for shear and1endin2 deformations,

Natural Period of ori2inal


186/212

structural model:

- +st 3ode: +,;. sec

- /nd 3ode: 4,H;; sec- 7rd 3ode: 4,7+4 sec

-amers are installedon ever"

fl


187/212

floor,- Each damer is controlled onl"

1ased uon the interstor" drift

resonse velocit", Autonomous0decentraliLed control,

- amer is effective onl" on shear

deformation,


C t l S t


188/212

Control S"stem:

- Each of distri1uted control s"stems

is a"#!n!m!"slycontrolled 1" its

own local# de)en#%aliIed

)!n#%!lle%# not 1" onl" one center

controller,

?uildin2 +:?uildin2 +: QMRM 4,;


189/212

22 R

?uildin2 /:?uildin2 /: QMRM +,4


190/212

3aimum resoonses

'a) Accelerations '1) dislacements

$he resented concet can 1e ut

into ractice utiliLin2 an oil


191/212

into ractice utiliLin2 an oil0

h"draulic damer01ased device,

- A damer containin2 an

electroma2netic relief valve is

utiliLed,

$he resented concet can 1e ut

into ractice utiliLin2 an oil


192/212

into ractice utiliLin2 an oil0

h"draulic damer01ased device,

- A damer containin2 an

electroma2netic relief valve is

utiliLed, $his is a kind of

varia1le0orifice damer,


193/212

rubbr bu!"

#$!%&'&r$($) *)%r&+,-'%$) r*$( .,*.

13

xpe% men a m! e !semia)#ive va%iale slip/f!%)e

level dampe%


194/212


195/212

elations,ip between damper velocityand electric voltage given to t,e valve

Eerimental results resondin2 to sinusoidalecitation with increasin2 amlitudes

e


196/212

s+ea%f!%

)e

?6:@

s+ea%f!%)e

?6:@

Displa)emen# ?mm@

*!ns#an#slip/f!%)elevel

Ka%iale

slip/f!%)elevel

=eference:=eference:


197/212

A, Nishitani# G, Nitta and G, -keda '/447),A, Nishitani# G, Nitta and G, -keda '/447),

D DSemiactive structural0control 1ased on varia1le sli0forceSemiactive structural0control 1ased on varia1le sli0force

level damerslevel damers##

'. !f S#%")#"%al En-inee%in-& AS*E'. !f S#%")#"%al En-inee%in-& AS*E&& Vol, +/6';)# ,6770 Vol, +/6';)# ,6770

64,64,

**


198/212

-- Semia)#iveSemia)#iveandand sma%#sma%#concet 1asedconcet 1asedschemesschemes havehave1een resented for1een resented for

structural control of 1uildin2sstructural control of 1uildin2s

as well as the full scale imlementationsas well as the full scale imlementationsof some of such schemes in %aan,of some of such schemes in %aan,

00

**


199/212

--$he concet of semiactive varia1le sli0$he concet of semiactive varia1le sli0force level damers has 1een resented,force level damers has 1een resented,

**+4,+4,Future directionsFuture directions:


200/212

--Semia)#iveSemia)#iveandand sma%#sma%#strate2ies# orstrate2ies# or

sma%# passivesma%# passivestrate2ies# are eected tostrate2ies# are eected to

la" more and more si2nificant role in thela" more and more si2nificant role in the

future sta2e of structural en2ineerin2#future sta2e of structural en2ineerin2#

inte2ratin2 theinte2ratin2 the a"#!n!m!"s/a"#!n!m!"s/

de)en#%aliIedde)en#%aliIedconcet,concet,

00

**Otimal control:Otimal control:

@ control & @B control@ control & @B control:


201/212

@:

Ginea%& P"ad%a#i)

@B:Ginea%& P"ad%a#i)and Fa"ssian

00

**@ control & @B control@ control & @B control:

$wo schemes for otimal control:


202/212

$wo schemes for otimal control:

esp!nseesp!nsewhetherwhetherp%!ailis#i)p%!ailis#i)

!% de#e%minis#i)Q!% de#e%minis#i)Q

-f the resonse is-f the resonse isp%!ailis#i)&p%!ailis#i)& thenthen

#+e )!n#%!l inp"##+e )!n#%!l inp"# will 1ewill 1e p%!ailis#i).p%!ailis#i).

GPF )!n#%!lGPF )!n#%!l,,

00

**@ control & @B control@ control & @B control:


203/212

-n the case wherethe resonse and control inut are

stationar"# Fa"ssianrandom rocesses#

GPF )!n#%!lGPF )!n#%!l,,

00


s"stem withs"stem with )!n#%!l inp"#)!n#%!l inp"#::


204/212

cfbuAxx

fu

x

x

x

x

dt

d

ufxxx

++=

+

+

=

+=++

8as%e,%i##eniseB"a#i!n3+is1

0

1

0

2

10

2

0

2

0

2

00

$he state euation:$he state euation:


205/212

)!n#%!l.GP

#i).de#e%minis

#+en#i)&de#e%minis#+en#i)&de#e%minis

a!ve+en

:

::

u

xf

cfbuAxx ++=

$he state euation:$he state euation:

cfbuAxx ++=


206/212

mean./Ie%!,i#+Fa"ssians#a#i!na%y

mean&/Ie%!,i#+Fa"ssians#a#i!na%y

#+enmean&/Ie%!,i#+

n!ise/,+i#eFa"ssians#a#i!na%y

a!ve+en

:

:

:

u

x

f

GPF )!n#%!l

+= T

T

xu

dttut"xtxT

#0

21)O')')'Nlim

#i)p%!ailisa%eand2f


207/212

+=

+

=

T

T

T

T

dttu!t"xtx!T

#!

xu

dttut"xtxT!#!

#

xu

0

2

0

2

1

1

)O)'N)O')'N'limON

)O')')'NlimON

.s#a#i!na%ya%eand

#i).p%!ailisals!is

#i)&p%!ailisa%eand2f

xu .s#a#i!na%ya%eand


208/212

)'lim

)'lim

))')')''lim

2

0

2

0

2

1

1

u!"xx!#!

dtT

u!"xx!#!

dttu!t"xtx!T

#!

T

T

T

T

T

+=

+=

+=

y

.s#a#i!na%ya%eand2+=

u!"xx!#!

xu

T)'lim


209/212

EB"a#i!n.i))a#i

eB"a#i!nf!ll!,in-#+esa#isfyin-

y-ivenis-aineeda)

y-ivenisinp"#*!n#%!l

0

1

1

=++

=

=

"$b$b$A$A

$b%

%

t%xt$u

T

)')'

@B control:@B control:


210/212

GPF )!n#%!l s#a#is#i)allysa#is$es #+e samlles# val"e !f

ER'.

Epi-%am


211/212

Little people discuss ot,erpeople0

$verage people discuss events0

Big people discuss ideas0

EM0S0 !rewal8 $0(0 $ndrews0

Kalman Filtering: Theor andPractice !sing MAT"AB%Second.dition&8 'o,n "iley8 3;;)


212/212

Documents

Application for Structural Control