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Anthony Friedman Quake Summit 2012 - Boston, MA

Real Time Hybrid Simulation for Validation of Advanced Damping Systems on Large-Scale Applications (NEESR Project 648). Anthony Friedman Quake Summit 2012 - Boston, MA. NEESR Team. Shirley Dyke. James Ricles.

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Anthony Friedman Quake Summit 2012 - Boston, MA

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

  2. NEESR Team Shirley Dyke James Ricles Rich Christenson Anil Agrawal Bill Spencer Richard Sause Ryan Ahn Tony Friedman Brian Phillips YunbyeongChae Zhaoshuo Jiang Baiping Dong Ali Ozdagli Nestor Castaneda Youngjin Cha Jianqui Zhang

  3. Performance–Based Design MR Damper Control Control Performance Validation Actuator Motion Control Real-Time Hybrid Simulation

  4. Performance–Based Design MR Damper Control Control Performance Validation Actuator Motion Control Real-Time Hybrid Simulation

  5. North South North East West South Performance-Based Design • A 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 area PG3 PG2 PG1 MRF DBF Lean-on column

  6. Performance-Based Design Diaphragm W10x17 3rd floor W12x40 HSS8x6X3/8 RBS RBS W14x38 PG3 RBS Beam-column connection 2nd floor W12x40 HSS8x6X3/8 W18x46 1st floor W12x40 MRF W8x76 W8x76 HSS8x6X3/8 CBF W18x46 Ground floor MRF Basement DBF MRF Damper Frame Elevation view of test frame

  7. Performance–Based Design MR Damper Control Control Performance Validation Actuator Motion Control Real-Time Hybrid Simulation

  8. MR Damper Control • Manufactured by Lord Corporation • 200 kN force capacity • 1.47 m (58 inches) in length • Stroke of 584 mm (23 inches) • Controlled with an Advanced Motion Controls PWM amplifier and an 80 V DC power supply

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

  10. MR Damper Control

  11. Control Design • Advanced damping systems offer flexibility in achieving a myriad of goals in performance-based design • Semi-active control offers the benefits of active and passive control • Low power level requirements • Dissipative • Stability

  12. Control Approaches • Consider large-scale device dynamics • Over- and back-driving the damper (ODCOC) • Practical design for easy implementation • Device-mounted simple passive controller (SPC) • Optimal Control • Decentralized Output Feedback Polynomial controller (DOFPC)

  13. ODCOC Force Rise Time at constant 50 mm/sec Force Decay Time at constant 50 mm/sec

  14. SPC

  15. DOFPC • Uses an optimization routine to select polynomial coefficients

  16. Performance–Based Design MR Damper Control Control Performance Validation Actuator Motion Control Real-Time Hybrid Simulation

  17. Coupled Actuator Systems

  18. Coupled Actuator Systems • Servo-hydraulic systems introduces dynamics into the RTHS loop • Actuator dynamics are coupled to the specimen through the natural velocity feedback • When multiple actuators are connected to the same specimen, the actuator dynamics become coupled Servo-Hydraulic System Gxu(s) + + − − Actuator Servo-Controllerand Servo-Valve Specimen Natural Velocity Feedback

  19. Model-Based Multi- Actuator Control • Model-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: uFF GFF(s) FeedforwardController + + e uFB u Gxu(s) LQG + - Feedback Controller Servo-Hydraulic Dynamics

  20. Performance–Based Design MR Damper Control Control Performance Validation Actuator Motion Control Real-Time Hybrid Simulation

  21. Real-Time Hybrid Simulation Target PC Substructure Sensor Measurements Actuator Sensor Signals Analytical Substructure DAQ MRD Command Actuator Command Actuator Sensor Signals Servo-hydraulic Controller Experiment Experimental Substructure Sensors Actuator Valve Command

  22. Frame Identification • Conducted quasi-static testing to determine the inter-story stiffness values (Ahn 2012)

  23. MR Damper Identification • Constant/Step current testing • Insert new photo

  24. Real-Time Hybrid Simulation • Perform RTHS with two structures • 3-Story Prototype Structure • 9-Story Benchmark Structure • Multiple damper deployment schemes are considered • Examine global response characteristics under various seismic inputs • Examine controller robustness in various scenarios • Examine RTHS repeatability

  25. Real-Time Hybrid Simulation PG3 W3 Gravity frames PG2 W2 Structure with MR dampers W1 PG1 Analytical substructure Gravity System + MRF Experimental substructure DBF + MR damper

  26. Performance–Based Design MR Damper Control Control Performance Validation Actuator Motion Control Real-Time Hybrid Simulation

  27. Control Performance Validation

  28. Control Performance Validation

  29. Control Performance Validation

  30. Control Performance Validation

  31. Control Performance Validation

  32. Control Performance Validation

  33. Control Performance Validation

  34. Control Performance Validation

  35. Control Performance Validation

  36. Control Performance Validation • SIM and RTHS results compare well • Semi-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 force

  37. Performance–Based Design Actuator Motion Control Control Performance Validation Real-Time Hybrid Simulation MR Damper Control

  38. Accomplishments • Developed and applied SDP for an integrated design • Developed and successfully employed a real-time actuator tracking controller on multiple actuators attached to a large-scale steel frame • Implemented several newly developed semi-active control methods for large-scale MR dampers • Successfully performed large-scale RTHS • 3-Story Prototype Structure • 9-Story Benchmark Structure • Considered multiple damper deployment schemes • Validated controller performance and demonstrated improved response reductions using MR Dampers and SA control for several seismic inputs

  39. Educational Activities AAAS Exhibition Booth EPICS Course REU Korea Project EERI Competition

  40. Dissertations • Chae, Y., (2011) "Seismic Hazard Mitigation of Building Structures using Magneto-rheological Dampers," Ph.D. Dissertation, Lehigh University • Jiang, Z., (2011) “ Increasing Resilience in Civil Structures Using Smart Damping Technology” Ph.D. Dissertation, University of Connecticut • Phillips, B.. (2012) “Model-based Feedforward-Feedback Control for Real-Time Hybrid Simulation of Large-Scale Structures” Ph.D. Dissertation, University of Illinois – Urbana/Champaign • Castaneda, N., (2012) “Development / Validation of a Real-time Computational Framework for Hybrid Simulation of Dynamically-excited Steel Frame Structures” Ph.D. Diss., Purdue University • Zhang, J., (2012) “A Novel MR Damper-based Semi-Active Control System for Seismic Hazard Mitigation of Structures” Ph.D. Dissertation, City University of New York • Friedman, A., (2012) “Development and Experimental Validation of Control Strategies for Advanced Damping Systems using Real-Time Hybrid Simulation” Ph.D. Dissertation, Purdue University • Dong, B., (2012) TBD, Ph.D. Dissertation, Lehigh University • Ahn, R., (2012) TBD M.S. Thesis, Lehigh University

  41. Data Sets – Project 648 • MR Damper Characterization Tests • Phillips, B., et al., MR Damper Characterization - UIUC - Damper 3 www.nees.org DOI – TBD • Chae, Y., et al. MR Damper Characterization – Lehigh – Damper 1 www.nees.org DOI – TBD • Chae, Y., et al. MR Damper Characterization – Lehigh – Damper 2www.nees.org DOI - TBD • System Identification Tests • Ozdagli, A., et al. Dynamic Identification of the DBF – Lehigh www.nees.org DOI - TBD • Real Time Hybrid Tests • Friedman, A., et al., Control Validation for 3-Story Prototype Structure - Single MR Damper - www.nees.org DOI – TBD • Friedman, A., et al., Control Validation for 9-Story Benchmark Structure - Single MR Damper - www.nees.org DOI - TBD • Friedman, A., et al., Control Validation for 9-Story Benchmark Structure - Two MR Dampers - www.nees.org DOI – TBD

  42. Acknowledgements • The researchers involved in this project wish to thank the following: • The National Science Foundation • CMMI Grant # - 1011534 • George E. Brown Jr. Network for Earthquake Engineering Simulation (NEES) • NEES@Lehigh and NEES@UIUC Personnel

  43. Thank you for your time! Questions?

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