8th ASCE Specialty Conference on Probabilistic Mechanics and Structural Reliability

PMC2000-277

VIBRATION CONTROL OF MULTIPLE BUILDINGS CONNECTED WITH ACTIVE CONTROLLED BRIDGES FOR IMPROVING RELIABILITY UNDER THE LARGE SEISMIC EXCITATION
Kazuto Seto and Toru Watanabe Nihon University, Tokyo, JAPAN 101-8308 seto@mech.cst.nihon-u.ac.jp, toruw@mech.cst.nihon-u.ac.jp
Abstract This paper proposes an active vibration control method for multiple high-rise buildings arranged in parallel. According to the proposed method, some flexible buildings connected with control devices called "active control bridge", are controlled through active interaction among them. This method has a merit of obtaining sufficient control force under low frequency. By this method, it is possible to control vibration of the super tall buildings against strong winds and large earthquakes. In this paper, four model buildings are connected with four actuators. The objective of this research work is to control the first bending and the first torsional mode of each building by this method. The control effect is evaluated by exciting the base of the structures with earthquake waves and measuring the response of the structures. Experimental results show that fairly good control performance has been gained by this method.

Introduction In recent years, various studies on active vibration control of flexible structures have been carried out. In applying such systems to real structures, however, spillover often causes instability and the reliabilty of the structure is strongly damaged. Meanwhile, one of the authors had showed a controller design method taking account of spillover. The method is based on two ideas: first, locate sensors and actuators taking account of unobservablity and uncontrollability of neglected vibration modes. Second, put low-pass filters into control system so as to reduce control spillover for neglected modes. By combining these two ideas, the spillover is reduced and the reliability of the structure-controller system is greatly modified. Moreover, One of the authors had also presented a new vibration control mechanism as a substitute for active mass dampers. According to this method, two or more buildings are connected by the passage installed active control devices respectively, and the buildings are controlled through active interaction among them. In this paper, the proposed method and mechanism are experimentally tested and the effectiveness of them are verified.

Reduced Order Model of Structures Outline of the Model Structures An outline of the model structures is shown in Figure 1. Four towers labeled as tower
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A, tower B, tower C and tower D are flexible structures with a large number of vibration modes, and they have 9, 10, 11 and 12 stories respectively. Tower A is connected with tower B and tower C by two actuators on the 8th story. Similarly tower D is connected with tower B and tower C by two actuators on the 9th story. Each tower gain the control force in two directions (x and y) independently. The vibration characteristics of those four buildings are analyzed with the FEM software ANSYS. The first three vibration modes of the tower A are shown in Figure 2 on behalf of those of the four buildings, and the natural frequencies of four buildings are shown in table 1. The bending and torsional modes appear alternately as shown in the figure..

Tower C

Tower D Tower B

Tower A

Actuator

y x

Figure 1. Schematic of the model buildings

1st mode 2nd mode 3rd mode Figure 2. Mode shapes of the structures

Table 1. The natural frequencies of the structures

1st mode Tower A Tower B Tower C Tower D 10.8 Hz 9.6 Hz 8.7 Hz 7.7 Hz 2nd mode 14.8 Hz 13.2 Hz 12.0 Hz 10.7 Hz 3rd mode 33.7 Hz 30.0 Hz 27.0 Hz 23.5 Hz

Modeling Method In this study, control target modes are the 1st bending and the 1st torsional mode of each tower. Therefore each tower has to be reduced to 2DOF lumped mass model respectively. The reduced order models are made with Reduced order modeling method using uncontrollability and unobservability. This method is simply explained below. At first, lumped masses of the reduced order model are defined at points on which
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actuators are installed. On these points, a modal matrix which consists of the first two modes can be obtained. If this matrix normalized by the corresponding modal mass is referred as and the natural frequencies are defined by a diagonal matrix then the physical mass matrix M and stiffness matrix K can be expressed as
M = T 1 K = T 1 2 1

(1) (2)

Here, in order to satisfy the condition of lumped parameter system, which is the both sides of the right hand matrix in equation (1), the modification that can lead to zero is determined by the following equation
=
T

T 1

(3)

Through this iterative procedure the error function can be brought to zero and then the modal matrix that meets the lumped parameter system condition can be obtained. At last, the physical mass matrix and stiffness matrix can be determined by equation (1) and (2). In experiments, the sensors that monitor the state values of the system are placed at the node of the 4th mode, and therefore this mode is unobservable and spillover is also avoided.
C-Tower kc1 cc2 cc12 y kc2 mc2 x c2 ma1 ca1 ca12 ka1 ca2 A-Tower f2 ka12 cc1 mc1 kc12 kd2 c4 md2 f4 kd12 c3 kb12 cb12 ma2 f1 mb1 ka2 cb1 D-Tower cd12 cd2 kd1 cd1 md1 f3 mb2 kb2 cb2 kb1 B-Tower

c1

Figure 3. The reduced order lumped model of the structures

Control System Design State Equation Model of the Structures The equation of motion is set up in two directions(x and y) below. Since the towers used in this study have the same characteristics in the both directions, the model parameters are same in the both directions as well.
mx + cx + kx = fu + ha

(4)

This equation is transformed into the state equation as follows.

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X = AX + B1U + B2a

(5)

Here X denotes a state vector, U is a control value vector and a is a disturbance vector, namely.
X = x a1 x a2 x b1 x b2 x c1 x c2 x d1 x d2 y a1 y a2 y b1 y b2 y c1 y c2 y d1 y d2 x a1 x a2 x b1 x b2 x c1 x c2 x d1 x d2 y a1 y a2 y b1 y b2 y c1 y c2 y d1 y d2 U = u ab u ac u bd u cd T

(6) (7)

Besides, matrixes A, B1, B2 are given as follows.

1 1 m 1 f A = m c m k , B1 = I O O 1 , B2 = m h O

Suboptimal Filtered LQ Control The optimal feedback gain is computed for the control object represented by Eq.5 by use of the LQ control theory. Nevertheless there is some risk that the neglected higher modes may cause the spillover instability when a control experiment is done. In this study, low pass filters are equipped in order to prevent the spillover instability, and the LQ control theory is applied to the augmented system consisting of the low pass filter and the control object. When the control variable U f is output through the low pass filter, the state equation and an output equation about the low pass filters are set as follows.
X f = A f X f + BfU f , Yf = C f X f

(8)

Similarly the control object is set as follows.

X s = A sX s + BsU s , Ys = C sX s

(9)

Since an input of the control object U s is the output of the filter Y f , the state equation of the augmented system is represented as follows.
X = AX + BU , Y = CX A= O Af BsC f A s , B= Bf O , C= Cf O O Cs

(10)

For reducing the number of sensors required by LQ control, the suboptimal control theory known as the solution in the case that there is a structural restriction is applied, and the order of system matrix is reduced from 40 to 24. If vector Z represents the reduced state vector, the relation of Z and X is represented with the restricted matrix S. The control law is written like this.
U = K sZ

(11)

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Here the suboptimal feedback gain matrix is formulated below.

K s = KS T SS T
1

(12)

Control Experiment Experimental Setup The experimental setup is shown in Fig.4. The sensors measure the relative displacements between the base and each structure. These displacement signals are input through the A/D converter. In the computer the velocity signals are calculated from the displacement signals, and the control value is calculated by multiplying the feedback gain matrix by the state vector. The control value is outputted through the D/A converter and the amplifier. The actuators generate the control force and control the vibration of all the structure. In this experiment, the linear actuators consisting of the permanent magnets and the moving coil are used.
Amp.
Building-C Building-D Building-B

D/A
Converter

Signal Generator

Building-A

U A/D
Converter

Earthquake Wave

y x

xa2,xb1,xc1,xd2, ya1,yb2,yc2,yd1

Controller

Shaker

Figure 4. The experimental setup

Frequency Response The experimental responses measured by FFT analyzer under the impulse test are shown in Figure 5. From this figure, resonance peaks of the 1st and 2nd mode of the each building are well controlled. Therefore it is also able to control the torsional mode effectively by the proposed method. Seismic Response The seismic responses are shown in Fig. 6. The applied seismic wave is the Kobe EW wave record. The wave is normalized so that a dominant frequency is brought close to the 1st natural frequency of the model structures. A thin dotted line shows response without control, and a thick solid line shows response with control. This figure shows that the experiment has a good effect on the first bending and tortional modes.
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60 40 20 0 -20 -40 60 40 20 0 Compliance dB -20 -40 60 40 20 0 -20 -40 60 40 20 0 -20 -40 0 10 20 30 Frequency Hz 40 50
0

without control with control

4
without control with control

A-tower
without control with control

-4 4

A-tower
without control with control

B-tower
without control with control

Displacement mm

B-tower
-4 4
without control with control

C-tower
without control with control
-4 4

C-tower
without control with control

D-tower
-4 0 1 2 3 4 5

D-tower
6 7 8

Time s

Figure 5. Frequency responses

Figure 6. seismic responses

Conclusions From the above experimental results, some conclusion can be drawn. According to the authors' proposed method, the 1st bending and the 1st torsional modes of four model buildings can be controlled at the same time. Besides according to the proposed modeling method, the two-degree-of-freedom lumped model which takes one bending vibration mode and one torsional vibration mode of structures into consideration has been created. In addition by using the filtered LQ control, it is possible to control the vibration of the structures while the spillover is prevented. This vibration control method is applied similarly to any case that the structures with different dynamics are arranged in parallel, and is effective to ensure structural reliability.
References
Seto, K. and Mitsuta, S., (1994), "A New Method for Making a Reduced-Order Model of Flexible Structures Using Unobservability and Uncontrollability and its Application in Vibration Control", JSME Int. J., Ser.C, 373, 444-449. Seto, K., Toba, Y. and Matsumoto, (1995) Y., "Reduced Order Modeling and Vibration Control Method for Flexible Structure arranged in Parallel", American Control Conference, Proceedings, TM15-1:35, 2344-2348.

Seto and Watanabe