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1.

INTRODUCTION In recent years, due to developments in design technology and material qualities in civil engineering, the structures (high-rise building and long-span bridges) become more light and slender. This has caused the structures to be subjected to series structural vibrations when they are located in environments prone to earthquakes or high winds. These vibrations may lead to serious structural damage and potential structural failure. Structural control is a diverse field of study. Structural control is one area of current research that looks promising in attaining reduce structural vibrations during loadings such as earthquakes and strong winds. The reduction of structural vibrations occurs by adding a mechanical system that is installed in a structure. The concept of employing structural control to minimize structural vibration was proposed in the 1970s. Structural control based on various passive, active, hybrid and semi-active control schemes offers attractive opportunities to mitigate damage and loss of serviceability caused by natural hazards such as earthquakes and hurricanes.

2. BUILDINGS RESPONSE TO EARTHQUAKE 2.1 Dynamic Characteristics 2.1.1 Building frequency and period To begin with the magnitude of the building response--that is, the accelerations which it undergoes-- depends primarily upon the frequencies of the input ground motion and the building's natural frequency. When these are near or equal to one another, the building's response reaches a peak level.When the frequency contents of the ground motion are around the building's natural frequency, it is said that the building and the ground motion are in resonance with one another. Resonance tends to increase or amplify the building's response. Because of this, buildings suffer the greatest damage from ground motion at a frequency close or equal to their own natural frequency. In some circumstances, this dynamic amplification effect can increase the building acceleration to a value two times or more that of the ground acceleration at the base of the building. Generally, buildings with higher natural frequencies, a short natural period, tend to suffer higher accelerations but smaller displacement. In the case of buildings with
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lower natural frequencies, a long natural period, this is reversed: the buildings will experience lower accelerations but larger displacements. 2.1.2 Ductility Ductility is the ability to undergo distortion or deformation (bending, for example), without resulting in complete breakage or failure. One of the primary tasks of an engineer designing a building to be earthquake resistant is to ensure that the building will possess enough ductility to withstand the size and types of earthquakes it is likely to experience during its lifetime. 2.1.3 Damping Damping is due to internal friction and the absorption of energy by the building's structural and non-structural elements. All buildings possess some intrinsic damping. The more damping a building possesses, the sooner it will stop vibrating (which of course is highly desirable from the standpoint of earthquake performance). Today, some of the more advanced techniques of earthquake resistant design and construction employ added damping devices like shock absorbers to supplement artificially the intrinsic damping of a building and so improve its earthquake performance. Viscosity damping ratios of different construction materials are

Building Damping Viscous Damping Ratio Construction Type Min. Mean Max.

Tall m)

Buildings(h>~100 0.010 0.007 0.015 0.010 0.020 0.013

Reinforced concrete Steel Buildings ( h ~ 50 m) Reinforced concrete Steel

0.020 0.015

0.025 0.020

0.030 0.025

Table 2.1.3 damping level in buildings Department of CE, GEC, Thrissur 2

The damping ratio is a dimensionless measure describing how oscillations in a system decay after a disturbance. The damping ratio is a measure of describing how rapidly the oscillations decay from one bounce to the next. 2.2 Response Spectra The response spectrum is a plot of the maximum response of displacement, velocity, acceleration or any other quantity of interest to a specified load function for all possible single degree of freedom systems. Different buildings can respond in widely differing manners to the same earthquake ground motion. Conversely, any given building will act differently during different earthquakes, which gives rise to the need of concisely representing the building's range of responses to ground motion of different frequency contents. Such a representation is known as a response spectrum. Response spectra are very important "tools" in earthquake engineering. Fig.2.2(a) shows a highly simplified version of a response spectrum. Even though highly simplified, it does show how building response characteristics vary with building frequency and period: as building period lengthens, accelerations decrease and displacement increases. On the other hand, buildings with shorter periods undergo higher accelerations but smaller displacements. The amount of acceleration which a building undergoes during an earthquake is a critical factor in determining how much damage it will suffer.

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Fig.2.2(a) Simplified Response Spectra A response spectrum is used to provide the most descriptive representation of the influence of a given earthquake on a structure or machine. If the ground acceleration from an earthquake is known, the response of the structure can be computed. Therefore, a response spectrum can be generated for that earthquake. Maximum relative displacement, velocity, and total accelerations are found out. Time-histories of ground accelerations from different earthquakes are quite different; the resulting spectra will also be very different. We generate earthquake design spectra by averaging spectra from past earthquakes to design structures to resist earthquakes.

Fig2.2(b) Design response spectra Department of CE, GEC, Thrissur 4

3.VIBRATION CONTROL 3.1 Model of Simple Vibration Absorber Model for simple vibration absorber consist of the two masses m1 and m2. Here model shown in the fig is undamped two degree of freedom system excited with a sinusoidal component of f=F0sin (wt). In the fig.3.1 m1 stands for the mass of building, m2 stands for the mass of vibration absorber. k1 and k2 are the stiffness coefficient of the structure and vibration absorber. And the equation can be given as under

m111+k1x1+k2(x1-x2) = f m22 2 +k2(x2-x1) = 0

(1) (2)

Fig.3.1 Model for the Analysis of Vibration Absorber

The magnitude of the frequency response is obtained from the following equations: As structure is excited by f=F0 sin(wt) put x1=X1sin(w1t) ;x2=X2 sin (w2t);
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-m1 w12X1+ (k1+k2)X1-k2x2=F0(3)


-k2X1-w2 2

m2X2+k2X2=0

(4)

When the forcing frequency w is equal to the natural frequency of the vibration absorber (i.e.w2=k2/m2), we get

X1=0 X2= -F0/K2 (putting w2=k2/m2 in equation 3 and 4)


Therefore, the motion of the main mass is ideally zero and the spring force of the absorber is at all times equal and opposite to the applied force, F0. Hence no force is transmitted to the supporting structure. 3.2. Vibration control devices The control of structural vibrations produced by earthquake or wind can be done by various means such as modifying rigidities, masses, damping, or shape, and by providing passive or active counter forces. Structural control methods that can be used include 1- Passive control systems. 2- Active control systems. 3- Semi-active control systems. 3.2.1 passive control system A passive control system does not require an external power source. Passive control devices impart forces that are developed in response to the motion of the structure. The passive control devices cannot increase the energy in a passively controlled structural system, including the passive devices. The concept of a tuned mass damper (TMD) as an added energy-absorbing system dates to 1909. Much analysis in vibration has related to the use of TMD (or vibration absorbers) in mechanical engineering systems. Robert J. McNamara studied the TMD as an energy-absorbing system to reduce wind-induced structural response of
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buildings in the elastic range behaviour. A tuned liquid damper (TLD) is a special class of TMD where the mass is replaced by liquid (usually water). The sloshing of the liquid mimics the motion of the TMD mass. Tuned liquid column dampers (TLCDs) are a special type of TLDs relying on the motion of the liquid column in a U-tube to counteract the forces acting on the structure, with damping introduced in the oscillating liquid column through an orifice In order to achieve better protection for the bridge subjected to strong vertical ground motion, helical springs are used as shock absorbers with fluid dampers as energy dissipaters. They concluded that the response of acceleration in an isolated damped bridge model, particularly at the mid-span, has been greatly reduced up to 75% compared to the non-isolated case. The damping level of a structural system isolated by fluid dampers could be over 20% with more energy absorbed, offering a dramatic reduction in deflection at no cost of increase in base shear. Also they noted that extra damping becomes less efficient at higher damping levels. However, a passive control system has limited ability because it is not able to adapt to structural changes or varying usage patterns and loading conditions. To overcome these shortcomings, active, and semi-active controls can be used. Advantages 1) It can be easily installed 2) selection of material of damping is easy as the characteristics of various
damper materials are well known and have been scientifically researched for decades

3) there is no moving parts 4) it can be easily replaced Disadvantages 1) performance of passive dampers are limited on to limited frequency band.

3.2.2 active control device An active control system is one in which an external source powers control actuator(s) that apply forces to the structure in a prescribed manner. These forces can be used to both add and dissipate energy in the structure. In an active feedback

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control system, the signals sent to the control actuators are a function of the response of the system measured with physical sensors (optical, mechanical, electrical, chemical, and so on). The generation of control forces by actuator requires large power sources , which are on the order of ten kilowatts for small structures and may reach several megawatts for large structures. The primary effect of some experimentally tested active control system has been to modify the level of damping with a minor modification of stiffness. An overview of active structural control is provided by Spencer et al. He discussed frequency domain optimal control strategies for active control of civil engineering structures under seismic loading. They reported that, in contrast to previously reported time domain based controllers; the numerical studies show that these control techniques are capable of reducing the buildings response in both the first and second mode response using an active mass damper. They also concluded that the frequency domain optimal control design methods are flexible and offer a good match between control concepts and engineering practice. Different active control devices are: the active mass driver system (AMD), the active tendon system and the active bracing system. The control forces can be used to both add and dissipate energy in the structure. The control forces within the framework of an active control system are generated by wide variety of actuators that can act hydraulic, pneumatic, electromagnetic .piezoelectric or motor driven ball screw actuation. The controller (e.g. computer)is a device that receives signals from the response of the structures measured by physical sensors(within active control using feedback) and that on basis of a predetermined control algorithm compares the received signal with a desired response and used the error to generate a proper control signal. The control signal is then sent to actuator. In feed-forward control, the disturbance, not the response, is measured and used to generate the control signals. Both the feedback and feed-forward principles can be used together in the semi active control systems. Since active control relies on external power, which requires routine maintenance and thus may become potentially unstable, semi-active control have been studied by many researchers. It combines active and passive control systems and attempts to utilize the advantages of both methods to achieve better effects.

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Advantages 1) Significant control of vibration by imposing force on the structure 2) It can be used in wide range of frequencies. Disadvantages 1) It has got lot of moving parts 2) Utilisation of high amount of input energy which may not be available at the time of vibration occurs.

3.2.3 semiactive control system Semi-active control systems combine the features of active and passive control to reduce the response of structures to various dynamic loadings. Semiactive control systems are a class of active control systems for which the external energy requirements are orders of magnitude smaller than typical active control systems. Typically, semi-active control devices do not add mechanical energy to the structural system (including the structure and the control actuators), therefore bounded-input bounded-output is guaranteed. Semi-active control devices are often viewed as controllable passive devices. Structures typically dissipate energy from extreme dynamic events by allowing damage to the structure. Semi-active control provides supplemental damping to more efficiently dissipate energy due to dynamic loads preserving the primary structure. Semi-active control systems include: (1) active variable stiffness, where the stiffness of the structure is adjusted to establish a non-resonant condition between the structure and excitation; and (2) active variable damper, where the damping coefficient of the device is varied to achieve the most reduction in the response. As it has seen that new trends are more concentrates on the use of semi active controlling device. Hence our discussion is more tends on the different consideration in semi active device. Here MR dampers are explained in details.

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Advantages 1) Small size 2) Few moving parts 3) Reacts dynamically to a number of vibration frequencies Disadvantages 1) Relatively low amount of use. This is mainly due to the fact that it is quite a new solution in the market and not very widely researched yet. 4. MAGNETO RHEOLOGICAL DAMPERS There has been a great deal of interest in recent years in use of magneto rheological (MR) dampers for semi-active structural control. The advantages of using such devices include low power requirements, high reliability, ensured stability of the control system, and higher force capacities in comparison to other types of damping devices. The study on the application of a MR damper for semi-active control of bridges is conducted by a series of cyclic loading tests and shaking table tests. It was concluded that the MR damper can be idealized with good accuracy by the model friction and viscous elements in parallel. Correlative study was conducted on a bridge model with the MR damper under the control algorithms represented by the analysis with good accuracy. Magneto-rheological fluid (MRF) dampers are also utilized to control vibration of a scaled, two-span bridge. In this work, the focus is on a combination of passive and semi-active damping capabilities of a bridge. Magneto rheological fluid dampers use magneto rheological fluids thus this can be discussed in detail as 4.1 Magneto rheological fluids MR uids are the magnetic analogs of electro rheological uids and typically consist of micron-sized, magnetically polarizable particles dispersed in a carrier medium such as mineral or silicone oil. When a magnetic eld is applied to the uids, particle chains form, and the uid becomes a semi-solid and exhibits viscoelastic behaviour. Transition to rheological equilibrium can be achieved in a few milliseconds, allowing construction of devices with high bandwidth. MR uids can operate at temperatures from 40 to 150o C with only slight variations

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in the yield stress. Moreover, MR uids are not sensitive to impurities such as are commonly encountered during manufacturing and usage, and little particle/carrier uid separation takes place in MR uids under common ow conditions. Further a wider choice of additives (surfactants, dispersants, friction modiers, anti-wear agents, etc.) can generally be used with MR uids to enhance stability, seal life, bearing life, etc., since electro-chemistry does not affect the magneto-polarization mechanism. The MR uid can be readily controlled with a low voltage (e.g., ~12 24V), current-driven power supply outputting only ~12 amps. A magneto rheological fluid (MR fluid) is a type of smart fluid in a carrier fluid, usually a type of oil. When subjected to a magnetic field, the fluid greatly increases its apparentviscosity, to the point of becoming a viscoelastic solid. Importantly, the yield stress of the fluid when in its active ("on") state can be controlled very accurately by varying the magnetic field intensity. The upshot of this is that the fluid's ability to transmit force can be controlled with anelectromagnet, which gives rise to its many possible control-based applications. MR fluid is different from a Ferro fluid which has smaller particles. MR fluid particles are primarily on the micro meter-scale and are too dense for Brownian motion to keep them suspended (in the lower density carrier fluid). Ferro fluid particles are primarily nanoparticles that are suspended by Brownian motionand generally will not settle under normal conditions. As a result, these two fluids have very different applications.MR Fluids are non-colloidal suspensions of magnetisable particles that are of the order of tens of 20-50 m in diameter. MR devices are capable of much higher yield strengths when activated. The main difference between Ferro fluids and MR fluids is the size of the polarizable particles. In Ferro fluids, these particles are an order of magnitude smaller than MR Fluids that is they are 1-2 m, in contrast to 20-50 m for MR fluids. MR Fluid is composed of oil, usually mineral or silicon based, and varying percentages of ferrous particles that have been coated with an anti-coagulant material. Engineering notes by Lord Corporation have reported that when inactivated, MR Fluid displays Newtonian-like behaviour when exposed to a magnetic field, the ferrous particles that are dispersed throughout the fluid form

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magnetic dipoles. These magnetic dipoles align themselves along lines of magnetic flux, as shown in Fig.4.1

Fig 4.1(a) Dipole alignment of ferrous particles

(Reference: A paper on design fabrication and evaluation of MR dampers presented by A Ashfak and A Saeed at world academy of science and technology) Fig.4.1(a) shows Dipole alignments of ferrous particles On a larger scale, this reordering of ferrous dipole particles can be visualized as a very large number of microscopic beads that are threaded onto a very thin string as is shown in Fig. below.

Fig 4.1(b) String and beads analogy of MR fluids[2]

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One can picture this thin string stretching from one magnetic pole to the other and perpendicular to each paramagnetic pole surface. 4.1.1 String and beads analogy of activated MR fluid In this analogy, the spherical beads represent iron particles and each string represents a single flux line. One can picture many of these strings of beads placed closely together much like the bristles of a toothbrush. Once aligned in this fashion, the ferrous particles resist being moved out of their respective flux lines and act as a barrier to fluid flow. Typically, MR fluids can be used in three different ways, all of which can be applied to MR damper design depending on the dampers intended use. These modes of operation are referred to as squeeze mode, valve mode and shear mode. 4.2 Types of MR dampers There are three main types of MR dampers. These are the mono tube, the twin tube, and the double-ended MR damper. Of the three types, the mono tube is the most common since it can be installed in any orientation and is compact in size. A mono tube MR damper, shown in Fig.5.3, has only one reservoir for the MR fluid and an accumulator mechanism to accommodate the change in volume that results from piston rod movement. The accumulator piston provides a barrier between the MR fluid and a compressed gas (usually nitrogen) that is used to accommodate the volume changes that occur when the piston rod enters the housing.

Fig 4.2(a) Mono tube MR dampers[2]

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The twin tube MR damper is one that has two fluid reservoirs, one inside of the other, as shown in Fig. 5.4. In this configuration, the damper has an inner and outer housing. The inner housing guides the piston rod assembly, in exactly the same manner as in a mono tube damper. The volume enclosed by the inner housing is referred to as the inner reservoir. Likewise, the volume that is defined by the space between the inner housing and the outer housing is referred to as the outer reservoir. The inner reservoir is filled with MR fluid so that no air pockets exist.

Fig 5.4 Twin tube MR dampers[2] To accommodate changes in volume due to piston rod movement, an outer reservoir that is partially filled with MR fluid is used. Therefore, the outer tube in a twin tube damper serves the same purpose as the pneumatic accumulator mechanism in mono tube dampers. In practice, a valve assembly called a foot valve is attached to the bottom of the inner housing to regulate the flow of fluid between the two reservoirs. As the piston rod enters the damper, MR fluid flows from the inner reservoir into the outer reservoir through the compression valve, which is part of the foot valve assembly. The amount of fluid that flows from the inner reservoir into the outer reservoir is equal to the volume displaced by the piston rod as it enters the inner housing. As the piston rod is withdrawn from the damper, MR fluid flows from the outer reservoir into the inner reservoir through the return valve, which is also part of the foot valve assembly. The final type of MR damper is called a double-ended damper since a piston rod of equal diameter protrudes from both ends of the damper housing. Fig. 9 shows a section view of a typical double-ended MR damper. Since there is no change in volume as the

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piston rod moves relative to the damper body, the double-ended damper does not require an accumulator mechanism. Double-ended MR dampers have been used for bicycle applications gun recoil applications, commercial applications and for controlling building sway motion caused by wind gusts and earthquakes.

Fig 5.5 Double ended MR dampers[2]

4.3 MR damper mathematics MR fluid behaves in two distinct modes: off state and activated state. While Newtonian like behaviour is common in the off state, the fluid behaves as a Bingham plastic with variable yield strength when activated. Though the fluid does have the departures from this model, this gives a good reference as to the behaviour of the fluid . The shear stress associated with the flow of MR fluid can be predicted by the Bingham equations

= y (B ) + , >y

(1)

In equation (1), is the fluid shear stress,y is the fluids yield stress at a given magnetic flux density B, is the plastic viscosity(i.e. viscosity at B=0), and is the fluid shear rate. This equation holds for fluid stresses above the field dependent yield stress. However, for fluid stresses below y, the MR fluid behaves as a visco-elastic material:

=G ,<y

(2)

Where is the fluid shear stress, G is the complex material modulus, and is the fluid shear. MR dampers generally use the pressure driven flow (valve) mode of

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the fluid. Pressure driven flow mode has two components to the pressure drop: pressure loss due to viscous drag, and pressure loss due to the field dependent yield stress, as shown in equation (3)

P = Pn + Pt
=12QL/ g w+ c L/g (3)

In equation (3), P is the total pressure drop, P is the viscous pressure loss, P is the field dependent yield stress pressure loss, is the fluid viscosity, Q is the flow rate, L is the pole length, w is the pole width, g is the fluid gap, and yis the field dependent yield stress. Many of these dimensions are illustrated in Fig. below. The variable changes from a minimum value of 2 (for P/P<1) to a maximum value of 3 (for P/P<100).

Fig 5.6 Flow mode used in MR dampers [2]

4.4 Design configuration To use the concept of MR fluid damper we need to produce magnetic field in the flow path of the MR fluid.MR fluid flows from the right chamber to the left chamber and vice-versa when piston moves to and fro. The magnetic field is applied by using a copper coil wound around the piston body. The leads to the coil
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are taken out through the hallow piston rod. The configuration is simple and easy to manufacture. The design involves both magnetic circuit designs along with previously mentioned mechanical design. The design also based upon type of MR fluid used in the damper. Fig below illustrates the conceptual design of the MR damper. Spool of magnet wire, Shown with the vertical hash marks, generate magnetic flux within the steel piston. The flux in the magnetic circuit flows axially through the piston core of diameter Dc, beneath the winding, radially through the piston poles of length Lp, through a gap of thickness tg, in which the MR fluid flows, and axially through the cylinder wall of thickness tw. Our MR damper design involves six different physically dimensioned parameters. They are the diameter of the cylinder bore, Db, the diameter of the piston rod, Dp, the thickness of the casing wall, tw, the diameter of the piston core, Dc, the inside piston diameter, Dh, the pole length, Lp and the thickness of the gap, tg.

Fig 5.7 Design of MR dampers [2]

4.5 testing and analysis Testing of MR dampers is done for the analysing the efficiency.Fig.5.8 shows the variation of force with time at different applied voltage for typical MR dampers. Fig.8 shows the equivalent damping coefficients vs. voltage. As the voltage increases the damping force increases for the constant interval of time. Fig.9 shows the variation of force versus displacement of the damper. Fig.10 shows the
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variation of force versus velocity. These plots show that the damping force is very low for zero current and it increases gradually as the current is increased. Also the yield stress part of the damping force dominates the viscous force. This means we have very good control over the damping force, which is necessary for semi-active control. Also the controllable force is not zero at zero current which means the yield stress is never zero.

Fig 5.8 Force vs. time [2]

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Fig 5.9Equivalent damping coefficients vs. voltage[2]

Fig 5.9 Force vs displacement [2]

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Fig 5.10. Force vs velocity[2]

5. CONCLUSION A review of various vibratory control devices has been made. Building response to the dynamic vibration is discussed. Different dynamic characteristics of building such as building frequency and period ,ductility and damping response were discussed. Model of simple vibration absorber is considered and the theory involved in the vibration absorber is noted for a particular excitation. There are three different type of vibratory control devices as passive, active and semi active. Passive doesnt use any external energy for its function. In active control devices external energy are used. As during earthquake power failure is common, this could limit the use of active devices. Thus semi active devices come into use as it combines the action of both active and passive devices to reduce the response of structures to various dynamic loadings. Semiactive control systems are a class of active control systems for which the external energy requirements are orders of magnitude smaller than typical active control

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systems. Magneto rheological dampers are the commonly used semi active device which gives a good result as the semi active vibratory control device. MR dampers contain magneto rheological fluids. Viscoelastic characteristics of MR fluids are discussed. MR fluids contains ferrous particles and it align under magnetic field to give its particular property. Different designs involved in MR dampers are discussed.

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REFERENCE
[1]. Mario Paz, Structural dynamics theory and computation second edition,CBS publishers. [2]. A Ashfak and A Saeed , A paper on design fabrication and evaluation of MR dampers presented at world academy of science and technology. [3]. Aly Mousaad Aly, A thesis on vibration control in structures due to earthquake effects using MR damper, submitted to the Department of Mechanical Power Engineering at Alexandria university. [4]. Kerla A Villarreal , paper on effects of MR dampers on structural vibration parameter, dept. of civil and environmental engg .FAMU FSU college of engineering, host institution Tokyo university.

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