2nd level Degree in Structural and Geotechnical Engineering

Master Degree in Emerging

Emerging Technologies for Construction
Construction
Course of Earthquake Engineering and Structural Control

BASIC PRINCIPLES
OF STRUCTURAL CONTROL

prof. Giorgio SERINO

Department od Structural Engineering
University of Naples Federico II

SDoF SYSTEM: EQUATION OF MOTION

m&x& + cx& + FR ( x, x& , ...)) = m&x&g + F C

m&x&t + cx& + FR ( x, x& , ...) + C = F ,

where : xt = x + x g

SDoF SYSTEM: ENERGY BALANCE

t

m&x& dx + cx&dx + F
0

( x, x& , ...)) dx + Cdx = Fdx

where : dx
d = dx
d t dx
d g = x&t dt dx
d g

t
t
t
t
t
1 2
m
x
dx
=
m
x
x
dt

m
x
dx
=
m
x
d
x

m
x
dx
=
m
x
(
t
)

&
&
&
&
&
&
&
&
&
&
&
&
t
t
t
t
g
t
t
t
g
t
0
0
0
0
0
0 m&x&t dxg
2
t

t
t
t
t
t
1 2
mx&t (t ) + cx&dx + FR dx + Cdx = m&x&t dx g + Fdx
0
0
0
0
0
2

E K (t ) + E (t ) + [E E (t ) + E H (t )] + E IC (t ) = E IS (t ) + E IF (t )

For t t q (at rest condition after external action ceased) :

E + E H + E IC = E IS + E IF
DESIGN STRATEGIES
S
F
Reduce energy input E I + E I

Increase viscous dissipated energy E

Increase hysteretic dissipated energy E H
Increase
I
energy dissipated
di i t d b
by control
t l fforce E IC

CLASSIFICATION OF STRUCTURAL CONTROL SYSTEMS (1)

ISOLATION SYSTEMS. Decouple the structure with

respect to the predominant components of the dynamic
part of it)) rests on special
p
excitation. The structure ((or p
isolation devices, which have to allow significant
relative displacements and provide sufficient energy
dissipation capability to limit them.
PASSIVE ENERGY DISSIPATION SYSTEMS. Provide
p g in order to
increased distributed structural damping
reduce structural response. Example of dissipation
mechanisms: metallic yielding, friction, viscous or
viscoelestic damping, lead extrusion.

CLASSIFICATION OF STRUCTURAL CONTROL SYSTEMS (2)

TUNED MASS / LIQUID DAMPERS (TMD/TLD). The

addition of a relatively small mass on top of the
structure tuned to oscillate in counterphase with respect
to the predominant mode of vibration allows to eliminate
the peak of dynamic amplification function and thus
cancel resonance.
ACTIVE CONTROL SYSTEMS.
SYSTEMS Reduce
R d
structural
t t l
response by applying forces on the structure which
oppose to the dynamic forces generated by the external
excitation. Require significant source of external energy
power and intelligent
intelligent acquisition and actuation
electronic hardware.

CLASSIFICATION OF STRUCTURAL CONTROL SYSTEMS (3)

SEMI-ACTIVE CONTROL SYSTEM. Insertion of
mechanical-variable stiffness and/or damping devices
maximize the efficacy of passive systems and eliminate
resonance effects.
ff t Require
R
i smallll source off external
t
l
energy power and intelligent acquisition and actuation
electronic hardware.
hardware
HYBRID CONTROL SYSTEMS.
SYSTEMS Combination
C bi ti
off
passive and active systems. Passive systems may be
isolation energy dissipation or tuned mass dampers.
isolation,
dampers
Require limited source of external energy power and
intelligent
intelligent
acquisition and actuation electronic
hardware.

PASSIVE PROTECTION SYSTEM

PASSIVE PROTECTION
SYSTEM
FEEDBACK

EXCITATION

STRUCTURE

RESPONSE

control forces generated by motion of structure

does not require an external source of energy

ACTIVE PROTECTION SYSTEM

COMPUTER
ENERGY
SOURCE

ACTIVE PROTECTION
SYSTEM

SENSORS

FEEDFORWARD

EXCITATION

SENSORS

FEEDBACK

STRUCTURE

RESPONSE

control forces generated by protection system

requires a significant external source of energy

SEMI-ACTIVE PROTECTION SYSTEM

COMPUTER
SMALL
ENERGY
SOURCE

SENSORS

SEMI-ACTIVE
PROTECTION SYSTEM

FEEDFORWARD

EXCITATION

SENSORS

FEEDBACK

STRUCTURE

RESPONSE

control forces generated by motion of structure

requires a small external source of energy

EXAMPLES OF PASSIVE
ENERGY DISSIPATION SYSTEMS

Metallic yielding devices:

ADAS (Added
(Add d Damping
D
i and
d Stiff
Stiffness))

Friction devices: Wire Rope

Viscoelastic devices: general aspects

Stress-strain plot

Typical damper configuration

Viscoelastic devices: mechanical properties

Typical damper properties

Dependence on temperature

Viscoelastic devices: application

World Trade Center, NY

Original drawings

Viscous fluid devices: GERB pot dampers

Viscous fluid devices: TAYLOR dampers

Taylor Fluid Damper

Fluidic Control Orifice Design

35-story building in Boston

EXAMPLES OF
ISOLATION SYSTEMS

Ospedale del mare

Dati generali
Appalto = Concessione +
Project Financing
Costo totale = 187 milioni di euro
Consegna lavori = 1 marzo 2009

Corpo alto
(8 piani)

X
Corpo basso
(3 piani)
Struttura intelaiata in c.a.
2 blocchi di altezza 12.6 m e 32.6 m
Pianta quadrata di lati 150 x 148 m

Solai con ampie aperture per zone

giardino

Ospedale del mare

Sistema di isolamento sismico
600 mm
650 mm
800 mm

Mescola
normale

Mescola
dura

15.5

15.5

350

300

Modulo di taglio
0.800.12
((N/mm2)
Smorzamento
viscoso
equivalente (%)

Diametro
isolatore
(mm)

600
650
800

1.400.21
2.00

15

15

HDRB 650

1.60

Numero di
isolatori

Rigidezza
orizzontale Kh
(kN/mm)

Rigidezza
verticale Kv
(kN/mm)

Rapporto di
rigidezza
Kv/Kh

122
108
97

11.51
51
2.98
4.89

1802
2472
3949

1195
830
808

Shear Stress ((MPa)

Propriet
meccaniche
Resistenza a
compressione
(N/mm2)
Deformazione
ultima
(%)

1 20
1.20

HDRB 800

0.80
0.40
HDRB 600
0.00
0.00

0.20

Modalit posizionamento
Isolatori e relative connessioni

Impianti
tecnologici

0.40

0.60

Shear deformation ()

0.80

1.00

1.20

OUR LADY OF TEARS SHRINE

structural design
g by
y Riccardo Morandi
in the years 1966-68 the underground part
was built (foundations and crypt)
construction of the Upper Temple
began at the end of the Eighties
(capacity 11.000 persons)
inaugurated
i
t d iin 1994 b
by P
Pope JJ. P
Paulus
l II

G. Serino, M. Spizzuoco, M.R. Marsico The Santuario Madonna delle Lacrime in Siracusa as recent application

DIST - Univ. Napoli Federico II

OUR LADY OF TEARS SHRINE

fair-face reinforced concrete

structure, with an imposing
truncated-conical dome
huge prestressed concrete base
ring resting on 22 r.c. columns of
trapeizoidal shape
from the p.c. ring cantilevered
boxed elements of 17 m span,
supporting hanging lateral chapels
Dbase = 71,40 m (at bearing axes)
Plan surface = 4000 m2
H = 74,30 m from Temple floor

G. Serino, M. Spizzuoco, M.R. Marsico The Santuario Madonna delle Lacrime in Siracusa as recent application

DIST - Univ. Napoli Federico II

OUR LADY OF TEARS SHRINE

G. Serino, M. Spizzuoco, M.R. Marsico The Santuario Madonna delle Lacrime in Siracusa as recent application

DIST - Univ. Napoli Federico II

SEISMIC ISOLATION INTERVENTION AND DEVICES

designed according to seismic code in force at construction time (D.M. 24.01.1986)
need to substitute the 22 original bearings (leaking of neoprene)
seismic upgrading according to new seismic code (O.P.C.M. n 3274/2003)

De ice characteristics
Device
characteristics:
Nnom = 11000 kN
Nmax = 14000 kN
max = 0,01 rad
srad = 200 mm
stan = 150 mm

G. Serino, M. Spizzuoco, M.R. Marsico The Santuario Madonna delle Lacrime in Siracusa as recent application

DIST - Univ. Napoli Federico II

SEISMIC ISOLATION INTERVENTION AND DEVICES

SCHEME OF DOME
RESTRAINTS

G. Serino, M. Spizzuoco, M.R. Marsico The Santuario Madonna delle Lacrime in Siracusa as recent application

DIST - Univ. Napoli Federico II

SEISMIC ISOLATION INTERVENTION AND DEVICES

H t
Hysteresis
i cycles
l on a couple
l off moons
sickle
i kl d
dampers ((v = 2 mm/s;
/ s = 150 mm))
G. Serino, M. Spizzuoco, M.R. Marsico The Santuario Madonna delle Lacrime in Siracusa as recent application

DIST - Univ. Napoli Federico II

SEISMIC SIMULATION RESPONSE

Design seismic action
(OPCM 3274/3431):
ag = 0,20 g
soilil ttype A ((rock)
k)
= 5%
6

Se(T) [m/s ]

0
0

0.5

1.5

2.5

3.5

periodo [s]

G. Serino, M. Spizzuoco, M.R. Marsico The Santuario Madonna delle Lacrime in Siracusa as recent application

DIST - Univ. Napoli Federico II

4.5

SEISMIC SIMULATION RESPONSE

spostamento cupola lungo X [m
mm]

70

Prima dell'intervento di isolamento

Dopo l'intervento di isolamento

60
50
40
30

AFTER
ISOLATION

Bending moment
radial direction

19252 kN-m

3068 kN-m

Bending moment
tangential direction

99124 kN-m

2235 kN-m

Shear
Sh
radial direction

25714 kN

582 kN

Shear
tangential direction

4699 kN

748 kN

10
0
-10
-20
0

10

15

20

25

tempo [s]
70

spostamentoo cupola lungo Y [mm]

BEFORE
ISOLATION

20

Prima dell'intervento di isolamento

Dopo l'intervento di isolamento

60
50
40
30
20
10
0
-10
-20
0

10

15

20

25

tempo [s]

G. Serino, M. Spizzuoco, M.R. Marsico The Santuario Madonna delle Lacrime in Siracusa as recent application

DIST - Univ. Napoli Federico II

EXAMPLES OF
TUNED MASS / LIQUID DAMPERS

Tuned Mass Damper : working principle

Structure w/out and with TMD

Amplification factor as a
function of

Tuned Mass Damper: application to chimneys

Tuned Mass Damper: Shimizu system

Wind response: Huis Ten Bosch Tower in Nakasaki

Tuned Roller-Pendulum Damper: Okumura system

Tuned Liquid Damper: Shimizu system

Yokohama
Marine Tower

EXAMPLES OF
ACTIVE CONTROL SYSTEMS

Active Mass Damper: Kajima system

Active Mass Damper: Kajima system

Active Mass Damper: Kajima system

Active Mass Damper: Kajima system

EXAMPLES OF
SEMI ACTIVE CONTROL SYSTEMS
SEMI-ACTIVE

displac
cement

Energy control algorhythm: working principle

T
t mass displacement
top
di l
t
piston displacement

time

displacement
between plates ends

Energy control algorhythm: implementation

Semi-active
Semi
active brace

Maxwellll element
M
l
with
ih
bi-state viscous damping
(t)

xs(t)

c(t)

Control algorhythm

if
if

f (t ) & (t ) > 0 then c(t ) = cmax

f (t ) & (t ) < 0 then c(t ) = cmin

TMR Program: Training and Mobility of Researchers

Action 2: Access to Large-Scale Facilities
ACCESS TO LARGE SHAKING TABLES
AND REACTION WALL FACILITIES

Experimental
p
Research
(call published on Int. Journ. on Earthq. Engng. and Struct. Dynamics - June 1996 issue)

Title of research:

DEVELOPMENT AND APPLICATION OF SEMI-ACTIVE OLEODYNAMIC DAMPERS

FOR SEISMIC RESPONSE CONTROL

Proposer:

Dr. Giorgio SERINO - Dept. of Structural Analysis and Design

University of Naples Federico II - via Claudio 21 - 80125 Naples (I)

Research team:

Mr. Christos GEORGAKIS - Univ. of Bristol (UK)

Dr. Antonio OCCHIUZZI - University of Naples Federico II (I)
Mr. Marco RUSSO - Bouygues S.A., Direction Scientifique (F)
Dr. Giorgio SERINO - University of Naples Federico II (I)
Dr. Panagiotis TSOPELAS - SUNY Buffalo (USA)

Host Laboratory:

Structural Dynamics Testing Laboratory - ISMES spa - via Pastrengo 9 - 24068 Seriate, BG (I)

Use of equipment:

approx. 15 days

Length of stay:

approx. 100 days (20 days each researcher)

Connected industry: FIP INDUSTRIALE spa - via Scapacchi 41 - 35030 Selvazzano, PD (I)

f(t)

Semi active oleodynamic fluid device

Semi-active

Semi-active device: scheme of the oleodynamic circuit

5
P
3

7
1

47 MPa
4
P
6
3

Semi-active assembly (device + elastic thin plates)

upper fixed steel restraints

8 + 8 flexible high-tensile steel plates
prototype semi-active damper

lower mobile
steel restraint

Shaking table tests

Implementation
p
of semi-active control system
y
National
N
ti
l Instruments
I t
t
PCI-MIO-16XE-50
acquisition board
((16 channels,,
20 KS/s sampling rate,
16 bit resolution,
PCI bus)

24V D
DC

5V DC
C - Contro
ol Signal

Displacement
transducer

Electrovalve
operations

IBM Compatible
P200MMX
personal Computer

Relais - power box

earthquake: El Centro -6 dB

20

displa
acement [mm
m]

Shaking table tests

uncontrolled
passive
semiactive

15
10
5
0
-5
-10
-15
-20
0

time [s]
[ ]

10

earthquake: Tolmezzo -8 dB

displacement [m
mm]

20

uncontrolled
passive
semiactive
i i

15
10
5
0
-5
-10
-15
-20
2

10

time [s]

12

The semi-active system

y
is more efficient than the best passive
p
system
y
!

El Centro NS

Displaacement [mm]

25

Uncontrolled
Best passive
SA E
Energy

20
15
10
5
0
-5

-10
-15
-20
-25
2

disp
placement

Control algorhythm:

Time [s]

T
top mass displacement
piston displacement

time

reduction of efficiency

displacem
ment

di l
displacement
t
between plates ends

top mass displacement

piston displacement
time

displacement
between plates ends

Opening
p
g at p
peak displacement
p
tests

control delay

opening delay

closing delay

45

Displaacement [mm
m] / Voltage [[V

total opening delay

effective opening time

commanded opening time

35
control signal

displacement between
plates ends (xb - xp)

absolute base displacement (xb)

25

15

piston displacement (-xp)

1.76
-5

1.78

1.80
t1

t2

t3

1.82

1.84

t4

t5

1.86

Time [s]

Delays
y measured during
g the tests
80

70

60
closing

Time delays [mss]

50

40

30

20

opening

10

control

0
0

10

20

30

40

50

60

Commanded opening time [ms]

70

80

90

SPACE
S
C

Project

Semi-active and Passive Control of the Dynamic Behaviour of

Structures subjected to Earthquakes, Wind and Vibrations

University of Roma Tre

Contract EVG1-CT-1999-00016

Magnetorheological fluid semi

semi-active
active device

SPACE

Project

Magnetorheological fluid semi

semi-active
active device

SPACE

Project

Experimental apparatus
LVDT D8
LVDT D2
L d cellll
Load
Accelerometer

Main body of damper

F1

Load cell
Actuator D4

A7

V5 I6

Shaking table

F3

Power Supply
PC Processor
Oscilloscopy
DAQ board

Labview
Real-Time

Semi-active tests for the evaluation of delays

Test: 0.5 Hz 20mm

Semi-active tests for the evaluation of delays

Test: 3 Hz 20mm

SHAKING TABLE TESTS

ON THE MISS STRUCTURE

SEMI-ACTIVE BRACE
Elastic Brace

kb

fy(t)

mb
cd(t)

Bingham Model

Si l model
Simple
d l ffor the
th MR bracing
b i system
t

Energy
gy Algorithm
g
I (t ) = I max

I (t ) = I min

if
if

f (t )&(t ) 0
f (t )&(t ) < 0

EXAMPLES OF
HYBRID CONTROL SYSTEMS

Hybrid system: DUOX (Kajima)

Hybrid system: DUOX (Kajima)

Hybrid system: DUOX (Kajima)

Ando Nishikicho building in Tokyo

Hybrid system: DUOX (Kajima)

Hybrid system: Multi-stage Pendulum (Mitsubishi)

Hybrid
y
system:
y
Multi-stage
g Pendulum ((Mitsubishi))

Landmark Tower in Yokohama

Footbridge Forchheim
Cable-stayed bridge construction across the Main-Donau-Kanal

Bridge data:
Steel structure
8 stay cables
Timber footpath
Total length 117,50 m
Deck width 4,25 m
1st eigenfrequencies:
1,2 - 3,5 Hz

Footbridge Forchheim
Installation of a TMD for control of pedestrian induced vibrations

Excitation
Reduction of
of vertical
vertical vibrations
vibrations
st eigenmode ff=1,24
(2
f=2,86
2,86 Hz)
(1nd
1,24

Walking
Running
pedestrians

Main-Donau-Kanal

Installation
a a o of
o Installation
Ianstallation of a portable TMD
fixed passiveTMD
for testing the new MR damper
Possibility:
y First p
practical application
pp
and verification of a semi-active TMD

Footbridge Forchheim
Magnetorheological damper and portable TMD

Footbridge Forchheim
Test with 5 researchers running at 2.8 Hz