Quake Summit 2011 Buffalo, NY

Real Time Hybrid Simulation for Validation of Advanced Damping Systems on Large-Scale Applications(NEESR Project 648)Anthony FriedmanQuake Summit 2012 - Boston, MA

NEESR TeamShirley DykeTony FriedmanNestor CastanedaJames RiclesRichard SauseBaiping DongAnil AgrawalJianqui ZhangRich ChristensonZhaoshuo Jiang Bill SpencerBrian PhillipsYoungjin Cha

Yunbyeong Chae

Ali Ozdagli

Ryan Ahn223PerformanceBased DesignActuator Motion ControlMR Damper ControlReal-Time Hybrid SimulationControl Performance ValidationMention the over-arching goal is to demonstrate (at large-scale) performance gains that are possible using advanced damping devices (MR dampers)34PerformanceBased DesignActuator Motion ControlMR Damper ControlReal-Time Hybrid SimulationControl Performance ValidationA Simplified Design Procedure (SDP) (Chae 2011) is used to perform an integrated design of the perimeter moment resisting frames (MRFs), the damped braced frames (DBFs), gravity frames, and dampers to achieve performance objectives for the building.

Tributary seismic areaNorthSouthEastWestNorthSouthLean-on columnPG3PG2PG1MRFDBF5Performance-Based DesignMotivation if these devices are used in real-world structures, we need acceptable design procedures for these devices and structures5Performance-Based DesignW18x46W18x46W14x38W10x17W8x76W8x76W12x40W12x40W12x40HSS8x6X3/8HSS8x6X3/8HSS8x6X3/8RBSRBS

RBS Beam-column connection

Elevation view of test frameDiaphragmDamper FrameMRFPG3CBFMRFBasementGround floorMRFDBF1st floor2nd floor3rd floor

67PerformanceBased DesignActuator Motion ControlMR Damper ControlReal-Time Hybrid SimulationControl Performance ValidationManufactured by Lord Corporation200 kN force capacity1.47 m (58 inches) in lengthStroke of 584 mm (23 inches)Controlled with an Advanced Motion Controls PWM amplifier and an 80 V DC power supply

8MR Damper ControlMR fluid consists of micron-sized particles suspended in a carrier oil. Application of a magnetic field induces particle chains to form.

9MR Damper Control

10MR Damper Control

Advanced Hazards Mitigation Laboratory at the University of Connecticut has three large-scale Lord Corporation MR dampers

10Advanced damping systems offer flexibility in achieving a myriad of goals in performance-based design

Semi-active control offers the benefits of active and passive controlLow power level requirements DissipativeStability11Control DesignConsider large-scale device dynamicsOver- and back-driving the damper (ODCOC)Practical design for easy implementationDevice-mounted simple passive controller (SPC)Optimal ControlDecentralized Output Feedback Polynomial controller (DOFPC)

12Control Approaches

Force Rise Time at constant 50 mm/secForce Decay Time at constant 50 mm/sec13ODCOC1314SPC

1415DOFPC

Uses an optimization routine to select polynomial coefficients

1516PerformanceBased DesignActuator Motion ControlMR Damper ControlReal-Time Hybrid SimulationControl Performance ValidationCoupled Actuator Systems17

Want the experimental structure (coupled with the analytical componnents) to behvae as the real structure would under an earthquake excitation. To achieve this, I need to command these three actuator to displace by tracking a desired trajectory in real-time. But, as you can see, the three actuators are connected to each other through the frame, and each has its own individual dynamics. In order to achieve good tracking, we need a good motion controller.17Servo-hydraulic systems introduces dynamics into the RTHS loopActuator dynamics are coupled to the specimen through the natural velocity feedbackWhen multiple actuators are connected to the same specimen, the actuator dynamics become coupled+ Servo-Hydraulic System Gxu(s)Natural Velocity FeedbackActuatorSpecimen

Servo-Controllerand Servo-Valve+

Coupled Actuator Systems18Model-based multi-actuator control is designed to eliminate the modeled dynamics of the servo-hydraulic system (Phillips 2012)Total control law is a combination of feedforward and feedback:GFF(s)LQGGxu(s)euFBuFFuFeedforward ControllerFeedback ControllerServo-Hydraulic Dynamics+-++

Model-Based Multi- ActuatorControl19First successful real-time test demonstrating multi-actuator motion control on a large-scale frame structure1920PerformanceBased DesignActuator Motion ControlMR Damper ControlReal-Time Hybrid SimulationControl Performance ValidationAnalytical Substructure

ExperimentalSubstructure

ActuatorTarget PCDAQ

Servo-hydraulic Controller

SensorsExperimentValve CommandActuatorSensorSignalsActuatorSensorSignalsActuatorCommandSubstructureSensorMeasurementsMRDCommandReal-Time Hybrid Simulation21Data flow diagram (generic) for RTHS21Conducted quasi-static testing to determine the inter-story stiffness values (Ahn 2012)22Frame Identification

Constant/Step current testing

Insert new photo

23MR Damper Identification

Perform RTHS with two structures3-Story Prototype Structure9-Story Benchmark StructureMultiple damper deployment schemes are consideredExamine global response characteristics under various seismic inputsExamine controller robustness in various scenariosExamine RTHS repeatability24Real-Time Hybrid Simulation25Real-Time Hybrid Simulation

GravityframesStructure with MR dampersAnalytical substructure Gravity System + MRF

PG3PG2PG1W3W2W1Experimental substructure DBF + MR damper26PerformanceBased DesignActuator Motion ControlMR Damper ControlReal-Time Hybrid SimulationControl Performance Validation27Control Performance Validation

28Control Performance Validation

29Control Performance Validation

30Control Performance Validation

31Control Performance Validation

32Control Performance Validation

33Control Performance ValidationELCDisp. ReductionDrift ReductionAcc. ReductionForce (kN)PON26.2%58.3%12.1%145COC23.7%21.8%17.1%99ODCOC22.9%28.7%28.0%9334Control Performance ValidationELCDisp. ReductionDrift ReductionAcc. ReductionForce (kN)PON26.2%58.3%12.1%145COC23.7%21.8%17.1%99ODCOC22.9%28.7%28.0%9335Control Performance ValidationELCDisp. ReductionDrift ReductionAcc. ReductionForce (kN)PON26.2%58.3%12.1%145COC23.7%21.8%17.1%99ODCOC22.9%28.7%28.0%93SIM and RTHS results compare wellSemi-active controllers are superior in terms of acceleration response reduction (~15% improvement)Semi-active controller were able to achieve superior response reductions while also using less force36Control Performance ValidationTalk about the general results between the two structures3637PerformanceBased DesignActuator Motion ControlMR Damper ControlReal-Time Hybrid SimulationControl Performance ValidationDeveloped and applied SDP for an integrated designDeveloped and successfully employed a real-time actuator tracking controller on multiple actuators attached to a large-scale steel frameImplemented several newly developed semi-active control methods for large-scale MR dampersSuccessfully performed large-scale RTHS3-Story Prototype Structure9-Story Benchmark StructureConsidered multiple damper deployment schemesValidated controller performance and demonstrated improved response reductions using MR Dampers and SA control for several seismic inputs38Accomplishments

AAAS Exhibition BoothREU Korea ProjectEERI CompetitionEPICS CourseEducational Activities391.AAASExhibition BoothAn exhibition booth called Smart Buildings: Containing Earthquake Damage at the(American Assoc. for the Advancement of Science) Advancing Science, Serving Society(AAAS) Meeting in San Diego February 18-21, 2010 in partnership withNEESwas hosted. Graduate Student Ali Irmak Ozdagli at Purdue University, Zhaoshuo Jiang at the University of Connecticut and Prof. Shirley Dyke at Purdue University participated in this event.

2.REUKorea ProjectProf. Richard Christenson at the University of Connecticut, Prof. Juan M. Caicedo at the University of South Carolina and Prof. Gunjin Yun at the University of Akron hold aResearch Experiences for Undergraduates(REU) Korea project intended to provide undergraduate researchers with an international experience in Korea applying advanced technologies (Magneto-rheological fluid dampers) to structural engineering challenges.

3.EERISeismic Design CompetitionIntelligent Infrastructure Systems Laboratory(IISL) graduate students Nestor Castaneda, Zhuxiong Sun and Xiuyu Gao, assist PurdueEarthquake Engineering Research Institute(EERI) team to test their 2011 design for2011EERISeismic Design Competitionin San Diego.

4.EPICSCourse at PurdueThis Spring (Spring 2011) a section of theEPICScourse at Purdue conducted a design project to develop a MR damper demo to be used in educational activities. The goal was to develop an instructional demonstration of the MR damper to enable students to be more aware of what technologies are available for reducing earthquake damage in structures. Three freshman level students took on this design effort. Dr. Shirley Dyke was the main faculty advisor for this effort, providing expertise in structural control and MR dampers. The students led the effort and developed an inexpensive MR fluid for use in a demo damping device. This project is intended to continue into the fall semester with new students, and will focus on installing these devices in a structure for demonstration purposes.

3940DissertationsChae, Y., (2011) "Seismic Hazard Mitigation of Building Structures using Magneto-rheological Dampers," Ph.D. Dissertation,Lehigh UniversityJiang, Z., (2011) Increasing Resilience in Civil Structures Using Smart Damping Technology Ph.D. Dissertation, University of ConnecticutPhillips, B.. (2012) Model-based Feedforward-Feedback Control for Real-Time Hybrid Simulation of Large-Scale Structures Ph.D. Dissertation,University of Illinois Urbana/ChampaignCastaneda, N., (2012) Development / Validation of a Real-time Computational Framework for Hybrid Simulation of Dynamically-excited Steel Frame Structures Ph.D. Diss.,Purdue UniversityZhang, J., (2012) A Novel MR Damper-based Semi-Active Control System for Seismic Hazard Mitigation of Structures Ph.D. Dissertation, City University of New YorkFriedman, A., (2012) Development and Experimental Validation of Control Strategies for Advanced Damping Systems using Real-Time Hybrid Simulation Ph.D. Dissertation, Purdue UniversityDong, B., (2012) TBD, Ph.D. Dissertation,Lehigh UniversityAhn, R., (2012) TBD M.S. Thesis, Lehigh University

41Data Sets Project 648MR Damper Characterization TestsPhillips, B., et al., MR Damper Characterization - UIUC - Damper 3 www.nees.org DOI TBDChae, Y., et al. MR Damper Characterization Lehigh Damper 1 www.nees.org DOI TBDChae, Y., et al. MR Damper Characterization Lehigh Damper 2 www.nees.org DOI - TBDSystem Identification TestsOzdagli, A., et al. Dynamic Identification of the DBF Lehigh www.nees.org DOI - TBDReal Time Hybrid TestsFriedman, A., et al., Control Validation for 3-Story Prototype Structure - Single MR Damper - www.nees.org DOI TBDFriedman, A., et al., Control Validation for 9-Story Benchmark Structure - Single MR Damper - www.nees.org DOI - TBDFriedman, A., et al., Control Validation for 9-Story Benchmark Structure - Two MR Dampers - www.nees.org DOI TBD42AcknowledgementsThe researchers involved in this project wish to thank the following:The National Science FoundationCMMI Grant # - 1011534George E. Brown Jr. Network for Earthquake Engineering Simulation (NEES)NEES@Lehigh and NEES@UIUC Personnel

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