Damage Detection For Shear Structures Based On Wavelet Spectral Transmissibility Matrices Under Nonstationary Stochastic Excitation

STRUCTURAL CONTROL AND HEALTH MONITORING
Struct. Control Health Monit. (2016)

Published online in Wiley Online Library (wileyonlinelibrary.com). DOI: 10.1002/stc.1862
Damage detection for shear structures based on wavelet spectral

transmissibility matrices under nonstationary stochastic excitation
Jun Luo1,*,, Gang Liu1,2 and Zongming Huang1,2
2
1
School of Civil Engineering, Chongqing University, Chongqing 400045, China
Key Laboratory of New Technology for Construction of Cities in Mountain Area, (Chongqing University), Ministry of
Education, Chongqing 400045, China
SUMMARY
A new method of spectral transmissibility function extraction and damage detection for shear frame structures
under nonstationary stochastic excitation is proposed. A new concept named wavelet spectral transmissibility
function is proposed as damage feature. It is demonstrated that the wavelet spectral transmissibility function can
characterize the structure while closing to the natural frequencies of the structure. Subsequence, the singular value
decomposition of wavelet spectral transmissibility matrices with different references is proposed as an identication
method of natural frequencies, and wavelet spectral transmissibility functions between two neighborhood
measurement points at the natural frequencies under nonstationary stochastic excitation. At last, a new damage
indicator is developed to locate and quantify the damage of shear frame structure, based on the wavelet spectral
transmissibility functions and constraint linear least square method. A numerical model and a lab-scale frame
structure successfully verify the validity of the proposed algorithm. Copyright 2016 John Wiley & Sons, Ltd.
Received 13 May 2015; Revised 18 December 2015; Accepted 4 March 2016
KEY WORDS: damage identication; wavelet spectral transmissibility function; constraint linear least square
method; nonstationary stochastic excitation; shear frame structure
1. INTRODUCTION
Damage may be produced under long-term load, and the reliability of the structure will be reduced
accordingly. Monitoring the in-situ structure has the extremely positive signicance, which related
with peoples lives and property safety. Currently, the main operating condition monitoring methods
are preventive maintenance and healthy monitoring. The structure health monitoring (SHM) can
acquire the running state of the structure in real time, which associated with data acquisition, data
transmission and damage detection method. So, the healthy monitoring methods have ourished in
recently years [1]. As an important part of health monitory system, damage detection methods have
been paid great attention in the industry.
Because of its advantages, the damage detection methods have been developed in civil engineering
and have been studied in the simulation and laboratory [29]. Damage detection methods can be roughly
divided into data-driven damage detection methods and model-based damage detection methods.
Data-driven damage detection methods extract the damage feature of structure directly from the
structural dynamic response before and after the damage, such as power spectral density function
[10], wavelet spectral function [11] and the coefcient of the time series model [12]. Most of the
data-driven damage detection methods have an assumption that the environment excitation is a white
noise. However, the actual environment load have obvious nonstationary, such as vehicles, pulsating
*Correspondence to: Jun Luo, School of Civil Engineering, Chongqing University, Chongqing 400045, China.
E-mail: jluo@cqu.edu.cn
Copyright 2016 John Wiley & Sons, Ltd.
J. LUO, G. LIU AND Z. HUANG
wind and ground pulsation [1315]. Although the time varying time series model has been proposed to
describe the nonstationary signal, there are still some disadvantages on the model order determination
and the model parameters calculation of the time series model.
Because of model-based damage detection methods do not require external incentive to remain the
same before and after damage and can identify the damage rapidly and accurately based on the change
of dynamic characteristics, it has ourished in civil engineering. The model-based damage detection
methods extract dynamic characteristics of structure before and after the damage, such as natural
frequencies, mode shapes, frequency response function (FRF) [16], wavelet-based frequency response
function (wavelet-based FRF) [17,18] and transmissibility function (TF). And then, the damage feature
is constructed to identify the damage occurred, the damage location and the damage degree. Compared
to the natural frequencies and mode shapes, the FRF and TF have a higher sensitivity in local damage.
While the environment load can be measured and the load is stationary, the FRFs can be estimated by
the Fourier transforms of the input and the output of the structure. And while the environment load can
be measured and the load is nonstationary, the wavelet-based FRFs should be used and can be estimated
by the wavelet transforms of the input and the output of the structure. However, the measurement of the
environment load is hard to implement for large civil engineering structure. So, the TFs is a practicability dynamic characteristic because the method needs the structural dynamic response only.
TFs were used to identify the damage in [19], and then Worden has used TFs to identify and locate
the damage [20,21]. These studies indicate that the TFs have a high sensitivity to damage and they do
not depend on the frequency content of the excitation. However, TFs depend on the location of the
excitations. Simon Chesn [22] use the TFs change before and after damage in a specied frequency
range to locate damage. The result shows that the damage indicator based on TFs can locate damage,
although the result is inuenced by the external load location and the frequency range specied. In
order to overcome this disadvantage, using the TFs around the natural frequencies is a choice [23].
At present, the TFs-based damage feature can identify the damage occurred and the damage location
and cannot identify the absolute damage degree. In addition, most of the researches assume that the
TFs can be obtained accurately or be estimated by the power spectrum density functions while the
structure is excited by environment load, which be suitable for only steady state random excitations.
The nonstationarity of the actual environment load may lead to great uncertainty of damage detection
results if the environment load is viewed as a steady state random excitations.
The difculty arising in the transmissibility functions estimation for nonstationary environmental
excitations is overcome by introducing the wavelet transformation and SVD in this paper. The
proposed wavelet transmissibility matrices are linearly dependent in the columns when they converge
at the natural frequencies of the structure. Therefore, the singular values converge to zero and the
product between the averages of the singular values of each wavelet transmissibility matrix is used
to identify the natural frequencies of the structure. The wavelet transmissibility matrix can be
reconstruction by the rst singular value, the rst left singular vector and the rst right singular vector.
From the purication matrix, the TFs can be extracted. Furthermore, a new damage indicator based on
transmissibility functions and constrained linear least square method is proposed to locate damage and
quantify the damage of shear frame structure. The proposed method was veried through a numerical
example and a steel frame model in the laboratory. Results demonstrate the ability and reliability of the
proposed method for nonstationary environmental excitations.
2. WAVELET SPECTRUM TRANSMISSIBILITY

2.1. Structural nonstationary stochastic vibration and wavelet spectrum analysis
Consider an n degree of freedom structural system. Let [M], [K] and [C] denote the mass, stiffness and
damping matrices. Let {y(t)} denote the displacement response and let {u(t)} denote the environmental
excitation, respectively. The equations of motion can be expressed as
M fy t g C fy_ t g K fyt g fut g
(1)
Based on the basic principle of structural dynamics, the acceleration response of the ith degree of
freedom can be expressed as

DOI: 10.1002/stc
DAMAGE DETECTION FOR SHEAR STRUCTURES UNDER NONSTATIONARY EXCITATION
y i t
g1
hig ug t d
(2)
where t denotes continuous time, hig is the impulse response function with the ith acceleration response
and the gth excitation and is the time delay variable.
Applying the wavelet transform of the acceleration response and exchanging the order of integration
evaluates the time-frequency spectrum [24]:

1
tb
dt
W y i a; b; y i t a;b t dt p y i t
a
! a

1 n
tb
dt
p 0 hig ug t d
(3)
a
a
g1

n
1
tb
0 hig p ug t
dt d
a
a
g1
where (t) is the mother wavelet function, a is the scale parameter and b is translation parameter.
In view of the dynamics of structure, the acceleration impulse response function of the LIT system
can be represented by
n
gr r
(4)
hig ir q e r r cosdr r
r1
mr 1 2r
where ir is the amplitude of mode r; mr is modal mass; r is the modal damping ratio; r is the modal
phase; r is the modal natural frequency and dr is the modal damped natural frequency.
Substitution of Equation (4) into Equation (3) provides
n
r
(5)
W yi a; b; qir Ar a; b;
2
r1 m
1
r
r
with
n
Ar a; b;
r r
cosdr r W ug a; b; ; d

1
tb
dt
W ug a; b; ; p ug t
a
a
g1
gr e
(6)
The scale-wavelet energy spectrum between the ith and kth acceleration response can be derived as
following [24]:
W yi a; b; W y k a; b; db 10
WESy i yk a; 0
r
s
CB
C
qir
Ar a; b; A@ qksAs a; b; Adb
r1m
s1m
1 2r
1 2s
s
r
B
@
n
(7)
Based on the principle of wavelet analysis, the relationship between the scale parameter and the
analysis frequency can be represented by [25]
a f c =f
(8)
where fc is the center frequency of the mother wavelet function.

Furthermore, the scale-wavelet energy spectrum between the ith and kth acceleration responses can
be rewritten as following equation and be called the frequency-wavelet energy spectrum:

WESyi yk f ; W
0y i f ; b; W yk f ; b; db 10
r
s
CB n
C
qir Ar f ; b; A@ qks As f ; b; Adb
2
2
r1m
s1
ms 1 s
1 r
r
B n
@
(9)
with

DOI: 10.1002/stc
gr e r r cosdr r W ug f ; b; ; d
g1

1
tb
W ug f ; b; ; p ug t
dt:
f c =f
f c =f
Ar f ; b;

(10)
Under the assumption that vibration modes are well separated, the frequency-wavelet energy
spectrum of the ith and kth acceleration responses at the resonant frequency is dominated by the
contribution of the corresponding vibration mode and will be approximated as the following equation
when it is near a natural frequency fr:
lim WESyi yk f ; ir kr
f f r
2r
Ar f ; b; Ar f ; b; db:
2
m2r 1 r
(11)
2.2. Wavelet spectrum transmissibility

Based on the power spectrum density, W. J. Yan et al. [26] dened the transmissibility between the ith
and jth degree of freedom as the following formulation:
T ki;j f Syi y k f =Syj y k f
(12)
where Sik(f) is the cross power spectral density function between the ith and kth degree of freedom.
Sjk(f) is the cross power spectral density function between the jth and kth degree of freedom.
Under the stationary excitation, the cross power spectral density function can be estimated
accurately. However, the acceleration response under the nonstationary excitation tend to behave in
nonstationary time series because of the nonstationary frequency and amplitude of the ambient
excitation and the power spectral estimation method cannot handle the nonstationary time series.
Therefore, the wavelet spectrum transmissibility (WST) is proposed in this study based on the
frequency-wavelet energy spectrum.
The wavelet spectrum transmissibility between the ith and jth degree of freedom can be dened:
T ki;j f
WESyi y k f ;
WES
0yj y k f ;
10
r
s
CB n
C
qir Ar f ; b; A@ qks As f ; b; Adb
2
2
r1m
s1
1 r
ms 1 s
r
0
10
1 :
B
@
(13)
jr r
s
CB n
C
q Ar f ; b; A@ qks As f ; b; Adb
2
2
r1m
s1
1 r
ms 1 s
r
B
@
n
Equations (11) and (13) can be used to establish the wavelet spectrum transmissibility between the
ith and jth degree of freedom in the natural frequency fr:
WESyi y k f ;
WESyj y k f ;
2
ir kr 2 r 2 Ar f ; b; Ar f ; b; db
mr 1 r
ir :
jr
2r
A f ; b; Ar f ; b; db
jr kr 2
2 r
mr 1 r
limf f r T ki;j f limf f r
(14)
Equation (14) indicates that the wavelet spectrum transmissibility between two degree of freedom is
only associated with the amplitudes of mode r in the natural frequency fr. Therefore, the wavelet
spectrum transmissibility between two degree of freedom can reect the state of the structure and be
used to construct damage feature.

DOI: 10.1002/stc
2.3. Wavelet spectrum transmissibility in natural frequencies identication

To get the wavelet spectrum transmissibility between the ith and jth degree of freedom in natural
frequencies robustly and noise stably, the SVD method is introduced. First, the wavelet spectrum
transmissibility matrix should be constituted as follows:
2 1
3
T 1; j f T 21; j f T n1; j f
6 T1 f T2 f Tn f 7
2; j
2; j
2; j
7 j 1; 2; ; n:
(15)
T j f 6
4
5
1
2
n
T n; j f T n; j f T n; j f
While the analysis frequency f approaches the natural frequency fr, the wavelet spectrum transmissibility matrix converge to the following matrix:
2
3
1;r 1;r
1;r
6 j;r j;r
j;r 7
6
7
6 2;r 2;r
2;r 7
6
7
lim T j f 6
(16)
j;r j;r
j;r 7
6
7 j 1; 2; ; n:
f f r
6
7
7
6
4 n;r n;r
n;r 5
j;r j;r
j;r
In equation (16), the columns of the wavelet spectrum transmissibility matrix in natural frequency
are linearly dependent. This means that the rank of the matrix in natural frequencies is one and the rank
of the matrix in other analysis frequencies are greater than one. The SVD can be used to assess the rank
of the matrix with the singular values. The SVD of the matrix is dened as follows:

H
j 1; 2; ; n
(17)
T j f Uj f j f V j f
where Uj( f) and Vj( f) are the left and right singular vectors, respectively. j( f) is the diagonal matrix
containing the singular values, with j = [1 j,2 j,,n j]. H is a conjugate transpose.
For different value of j, the singular values j can be calculated. So the function ( f), the arithmetic
mean of the inverse of singular values from the second singular value, is used to estimate natural
frequencies[27]:
!
n
1 n 1
j
(18)
f
q2 n j1 q
where q j(q = 1,2,,n) is the singular values of the wavelet spectrum transmissibility matrix Tj( f).
Furthermore, the wavelet spectrum transmissibility matrix can be reconstruction by the rst singular
value, the rst left singular vector and the rst right singular vector:
2
T^ 11; j f T^ 21; j f
6
T^ 12; j f T^ 22; j f
T^ j f 6
4
T^ 1n; j f T^ 2n; j f

H
1j U j1 f V j1 f
3
T^ n1; j f
T^ n2; j f 7
7
5
T^ nn; j f
j 1; 2; ; n:
(19)
From the purication matrix T j( f), the TFs can be extracted. While the analysis frequency f
approaches the natural frequency fr, the j + 1 row of the purication matrix T j( f) can be expressed as
following:

n
o
j1;r
j1;r
j1;r
1
2
n
^
^
^
:
(20)
lim T j1; j f T j1; j f T j1; j f
j;r
j;r
j;r
f f r
Thus, the transmissibility function between the j + 1 and j degree of freedom can be calculated by
the arithmetic mean of the parameters from equation (20). For different value of j, the transmissibility

DOI: 10.1002/stc
functions between two degree of freedom adjacent to each other can be obtained while the analysis
frequency f approaches the natural frequency fr.
3. DAMAGE DETECTION BASED ON WAVELET SPECTRUM TRANSMISSIBILITY

Based on the structural dynamics, the element damage coefcient of the shear frame structure has been
derived (Appendices A):
(
a1 P1;1 a2 P1;2 an P1;n P1;1 P1;2 P1;n

ai Pi;1 ai1 Pi;2 an Pi;n Pi;1 Pi;2 Pi;n

1 T un1;n;r 1 T un1;n;r 1 T un1;n;r 1 T un1;n;p

1 T d2;1;s
P1;1 1 T un1;n;r
P1;2
1 T u2;1;r 1 T un1;n;p 1 T un1;n;r 1 T u2;1;p

1
0

1 T u2;1;r 1 T un1;n;r 1 T u2;1;r 1 T un1;n;p
@

A 1 T dn1;n;s
P1;n 1
u
u
u
u
1 T 2;1;r 1 T n1;n;p 1 T n1;n;r 1 T 2;1;p

Pi;1 1 T un1;n;r 1 T di1;i;s

Pi;2 1 T un1;n;r 1 T di1;i;s Pi;3
h

i

Pi;n 1 T ui1;i;r 1 T ui1;i;r Pi;3 1 T dn1;n;s

1 T un1;n;r 1 T ui1;i;p 1 T ui1;i;r 1 T un1;n;p

Pi;3
1 T ui1;i;r 1 T un1;n;p 1 T un1;n;r 1 T ui1;i;p
(21)
where a = {a1,a2,,an} are the element damage coefcients. Superscript u and d mean that the structure
system are health and damage, respectively.
Based on equation (21), any two wavelet spectrum transmissibility function at the natural frequency
fr and fp from the health state and one wavelet spectrum transmissibility function at the natural
frequency fs from the damage state can be used to establish the element damage coefcient equations.
And the constrained linear least square method is introduced to get the element damage coefcient,
which can indicate the damage locations and damage severity.
There are n unknown variables and only n 1 element damage coefcient equations and the
ill-posed problem may be encountered. However, the wavelet spectrum transmissibility functions
identied from the health state and the damage state almost are from the same modal orders. Thus,
using different modal order from the health state and the damage state, 4(n 1) element damage
coefcient equations can be obtained and the element damage coefcients a can be estimated with
the constrained linear least square method.
Thus, the damage identication can be realized in the following steps:
(1) Use the same modal order of health state and damage state to establish the equation (21). If there
are two modal orders identied, n element damage coefcient equations can be established with
the s in equation (21) are the rst modal order and other n element damage coefcient equations
can be established with the s in equation (21) are the second modal order while the r and p are the
rst modal order and the second modal order identied, respectively. Additional, if the r and p in
equation (21) are the second modal order and the rst modal order identied respectively, the
other 2n element damage coefcient equations can be established similarly.
(2) Identify the damage location and damage severity. Assuming the element damage coefcient
varies from 0.0 to 1.0, the damage location and damage severity can be determined by the
constrained linear least square method.
The owchart of this proposed method is given in Figure 1. It is worth noting that the transmissibility functions between every adjacent degree of freedom are required to perform the damage detection.
For a real shear frame structure, at least one accelerometer at horizontal direction should be installed for
every story. However, if the number of useable sensors is less than the required number, the

DOI: 10.1002/stc
transmissibility functions between every adjacent story can be identied using a sensor clustering
method with at least two sensors installed at adjacent stories. By changing the sensor location, all
the transmissibility functions between every adjacent degree of freedom can be obtained, and then
the damage detection can be identied.
4. NUMERICAL EXAMPLES
4.1. Five freedom system
Consider a ve freedom system as shown in Figure 2. The weights of all the mass are equal to one. The
spring stiffness values of k1 = 1200 N/m, k2 = 1200 N/m, k3 = 1000 N/m, k4 = 1200 N/m and k5 = 1000 N/
m. Assuming the damping is the Rayleigh damping, the damping matrix is [C] = [M] + [K] and the
coefcient of = 0.3081 and = 7.5 104. The damage cases are shown in Table I.
Five uncorrelated forces were applied to the system. The uncorrelated forces were generated from
amplitude white noise ltering by a single degree of freedom system and the velocities response of
the system were selected. The amplitude modulation functions were generated by random sampling
Figure 1. Flowchart of the proposed damage detection algorithm under nonstationary excitation.
Figure 2. Five degree of freedom system.


DOI: 10.1002/stc
Table I. Damage cases of the ve degree of freedom system.

Cases
Damage location
Damage severity
k2
5%
k2
10%
k4
5%
k4
10%
k2
10%
k4
10%
from the standard uniform distribution on the open interval (0,1). The single degree of freedom system
had a predominant frequency of 3.0 Hz and a damping ratio of 0.1.
The acceleration responses were captured with Newmark method and the sampling frequency was
100 Hz. The sampling time for each test was 700 s, and the number of tests was ve. Meanwhile, the
white noise was added to the acceleration response of the system to consider the effects of the environmental noise and the ratios of the noise amplitude to signal amplitude (NSA) were 0.05, 0.1 and 0.15,
respectively. The acceleration response of the mass 5 with 0.15 noise level under health state is shown
in Figure 3.
4.2. Wavelet spectrum transmissibility at the natural frequencies identication

The wavelet spectrum transmissibility for the health state and the damage state can be calculated by the
proposed method. The analysis frequencies were generated by uniformly space sampling and the
sampling interval is 0.01 Hz.
The values of the center frequency and the bandwidth parameter are determined by ensuring the
frequency resolution and having the enough data after removing some data to avoid the end effects.
The complex morlet wavelet is chosen to be the wavelet basis function with the center frequency is
10 Hz and the bandwidth parameter is 25. Before identifying the frequency-wavelet energy spectrum,
the rst 10 000 and the end 10 000 wavelet coefcient must be burned to avoid the end effects.
The average function ( f) identied from the four tests is shown in Figure 4 and the natural frequencies can be picked from the average function ( f). The identied natural frequencies are shown in
Table II and the identied average wavelet spectrum transmissibility at the identied natural frequencies are shown in Table III.
4.3. Damage detection results

Based on the proposed method, arbitrary two wavelet spectrum transmissibility functions are used to
identify the damage location and damage severity. However, the lower order modes are identied
much more easily and the rst and second order wavelet spectrum transmissibility functions are chosen
to identify the damage of the structure. The identied damage location and damage severity are shown
in Table IV, Table V, Table VI, Figure 57.
Figure 3. The acceleration response of the mass 5 with 0.05 noise level under health state.

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Figure 4. The average function (f) identied from the ve tests under health state with 0.05 noise level.
Table II. Natural frequencies identied under health state with 0.05 noise level.
Modes
1
2
Theoretical value (Hz)
Estimated (Hz)
Error (%)
4.444
6.767
4.4
6.73
0.990
0.547
Table III. Average wavelet spectrum transmissibility function at the identied natural frequencies under health
state with 0.05 noise level.
Mode 1
T21
T32
T43
T54
Mode 2
Theoretical
Estimated
Error (%)
Theoretical
Estimated
Error (%)
1.350
0.531
0.385
4.540
1.351
0.531
0.387
4.526
0.074
0.000
0.519
0.308
0.494
2.038
0.736
1.238
0.499
2.023
0.729
1.248
1.012
0.736
0.951
0.808
Table IV. Identied damage location and severity (NSA = 0.05).

Cases
Case 1
Case 2
Case 3
Case 4
Case 5
a
a
a
a
a
0.009
0.003
0.007
0.006
0.007
0.066
0.113
0.017
0.013
0.110
0.007
0.008
0.006
0.005
0.007
0.009
0.007
0.055
0.107
0.109
0.013
0.012
0.013
0.011
0.012
Bold data mean that the actual damage occurred at these locations.
Table V. Identied damage location and severity (NSA = 0.10).

Cases
Case 1
Case 2
Case 3
Case 4
Case 5
a
a
a
a
a
0.008
0.006
0.009
0.006
0.007
0.064
0.116
0.019
0.016
0.107
0.005
0.011
0.006
0.005
0.006
0.008
0.008
0.055
0.106
0.109
0.015
0.015
0.015
0.013
0.014
5. DAMAGE EXPERIMENT
5.1. Steel frame testbed
The steel frame testbed was composed of steel plates, gusset plates and the bolts and was shown in Figure 8.
The size of the steel plates is 350 mm 65 mm 4 mm. The damage of the structure was simulated by

DOI: 10.1002/stc
Table VI. Identied damage location and severity (NSA = 0.15).

Cases
Case 1
Case 2
Case 3
Case 4
Case 5
a
a
a
a
a
0.002
0.004
0.005
0.005
0.000
0.061
0.110
0.012
0.011
0.105
0.016
0.015
0.016
0.015
0.017
0.008
0.006
0.051
0.106
0.107
0.012
0.010
0.010
0.011
0.007
Figure 5. EDCs of 5 DOF simulation with NSA is 0.05.


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Figure 8. Four-story steel frame and standard damage element.
change the unbroken column steel plates to standard broken column steel plates shown in Figure 8. The standard broken column steel plates are cut by 20% and 40% and the length broken is 210 mm.
The acceleration sensors are installed in the columns, and the external excitation is from two articial
hammers with random percussion uninterruptedly. The sampling frequency is 300Hz and the damage cases
are shown in Table VII. There are ve tests for the health state and the damage state and the acceleration
response of the sensor 4 from the rst test is shown in Figure 9. The run test [28] of the measurement
dynamic response under health state are shown in Table VIII and the result shows that there are
nonstationarity in the measurement dynamic response. The run test is a non-parametric statistical test and
can be used to check the stationarity of the signals.
5.2. Natural frequencies and wavelet transmissibility identication
The sampling interval of the analysis frequencies is 0.01 Hz. The center frequency and the bandwidth
parameter of the complex morlet wavelet are 10 Hz and 25, respectively. Before identifying the
Table VII. Damage cases of the steel frame.
Damage location
Case 1
Case 2
Case 3
Two
Two
Two
Two
column of the second oor

column of the third oor
Damage severity
Change the unbroken
Change the unbroken
Change the unbroken
Change the unbroken
plate to
plate to
plate to
plate to
20%
40%
40%
20%
cut plate
cut plate
cut plate
cut plate
Figure 9. The acceleration response of the sensor 4 from the rst test under health state.

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Table VIII. Run test result for the health state while the interval length is 3 s.
Sensor 1
H
The rst test
The second test
The third test
The fourth test
The fth test
F
F
T
F
F
Sensor 2
Sensor 3
Sensor 4
Z*
4.3573
2.6805
0.8964
3.1158
2.1654
F
F
T
F
T
6.0661
2.6805
1.4086
2.5127
0.7978
F
F
T
F
T
5.7243
2.6805
0.3842
2.5127
1.2537
F
F
T
F
T
5.7243
2.2516
0.8964
2.7137
1.2537
#
H is the hypothesis testing, standing for the acceleration response is stationary.
*Z stands for the values of the Hypothesis test while the signicance level is equal to 0.05.
frequency-wavelet energy spectrum, the rst 10 000 and the end 10 000 wavelet coefcient must be
burned to avoid the end effects.
The average function ( f) identied from the ve tests is shown in Figure 10 and the identied
average wavelet spectrum transmissibility at the identied natural frequencies are shown in Table IX.
5.3. Damage detection results
Based on the proposed method, the rst and second order wavelet spectrum transmissibility functions
identied are chosen to identify the damage of the structure. The identied damage location and damage
severity are shown in Table X and Figure 11. It is demonstrated that the proposed method can identify
the damage location and damage severity accurately. However, because of the cuts of the column plate only
Figure 10. The average function (f) identied from the ve tests.
Table IX. Average wavelet spectrum transmissibility function at the identied natural frequencies.
T21
T32
T43
Mode 1
Mode 2
0.351
1.632
0.893
1.260
1.277
0.582
Table X. The identied damage location and degree.

Floor 1
Case 1
Case 2
Case 3
Floor 2
Floor 3
Floor 4
Estimated
Exact
Estimated
Exact
Estimated
Exact
Estimated
Exact
0.002
0.000
0.024
0.000
0.000
0.000
0.069
0.225
0.171
0.100
0.210
0.210
0.000
0.000
0.069
0.000
0.000
0.100
0.000
0.045
0.005
0.000
0.000
0.000

DOI: 10.1002/stc
Figure 11. EDCs of the steel frame.
occurred in part of the length, the exact damage severity values are not equal to the ratio of the cuts and the
measurement of the exact damage severity values is shown in Appendix B.
6. CONCLUSION
The proposed damage detection method is able to identify the damage location and damage severity of
the shear frame structure under nonstationary environmental excitations. The frequency-wavelet
energy spectrum is used to construct the wavelet transmissibility matrices and SVD is used to
reconstitute the purication wavelet transmissibility matrices. The wavelet transmissibility functions
can be identied from the purication matrices and a new damage indicator based on the identied
wavelet transmissibility functions and constrained linear least square method is proposed to locate
damage and quantify the damage of shear frame structure.
A numerical example and a steel frame model in the laboratory were used for validation. The
excitations were generated from amplitude white noise ltering by a single degree of freedom system.
The analysis of the acceleration responses demonstrated that the proposed method reliably identied
the damage location and damage severity under nonstationary environmental excitations.
Appendix A: Element damage coefcient equation for shear frame structure
Consider an N degree of freedom mass-spring model as shown in Figure A1. The weight of the ith mass
is mi. The stiffness of the ith spring is ki. The damping coefcient of the ith damping system is ci. The
characteristic equation of the model can be expressed as:
K f r g 2r M f r g
(A1)
with
2
k1 k2
6 k2
6
K 6
4
0
k2
k2 k3
0
k3
k n1
0
k n1 kn
kn
3
0
0 7
7
0 7
kn 5
kn
M diagf m1
m2
m n g
(A2)
where {r} is the amplitude of mode r; r is the modal natural frequency.
Figure A1. Shear structure model.


DOI: 10.1002/stc
Substitution of equation (A2) into equation (A1) provides

8
2
>
< k 1 1;r k2 1;r k 2 2;r r m1 1;r
k i i1;r k i i;r k i1 i;r k i1 i1;r 2r mi i;r
>
:
kn n1;r k n n;r 2r mn n;r
(A3)
If the wavelet spectrum transmissibility function between the i and j degree of freedom with the
analysis frequency f approaches the natural frequency fr is written as Ti,j,r, the equation (A3) can be
represented as:
8
2
>
< k1 k 2 k 2 T 2;1;r r m1
k i T i1;i;r k i ki1 k i1 T i1;i;r 2r mi
>
:
kn T n1;n;r k n 2r mn :
(A4)
While the structure is health, the weight of the ith mass is mui and the stiffness of the ith spring is kui .
Additional, the natural frequency of mode r is ur . So the characteristic equation of mode r can be
represented as:
8 u
k k u2 k u2 T u2;1;r vur mu1
>
< 1
kui T ui1;i;r k ui k ui1 k ui1 T ui1;i;r vur mui
>
: u u
k n T n1;n;r k un vur mun
with
(A5)
2
vur ur :
(A6)
Similarly, while the structure is health and the natural frequency of mode p is up. The characteristic
equation of mode r can be represented as:
8 u

k k u2 k u2 T u2;1;p vup mu1
>
>
(A7)
< 1

kui T ui1;i;p kui k ui1 kui1 T ui1;i;p vup mui
>
>
: ku T u
k u vu mu
n n1;n;p
with
2
vup up :
(A8)
Substitution of equation (A7) into equation (A5) provides:

8

u
u
>

1

T
1

T
>
n1;n;r
n1;n;p
>
>
>

S1
>
>
u
u
<
1 T 2;1;r 1 T n1;n;p 1 T un1;n;r 1 T u2;1;p

u
u
u
u
>
1

T
1

T

1

T
1

T
>
n1;n;r
i1;i;p
i1;i;r
n1;n;p
>
>
>

Si
>
>
:
1 Tu
1 Tu
1 Tu
1 Tu
i1;i;r
n1;n;p
n1;n;r
(A9)
i1;i;p
with
Si k i1 =ki
i 1; 2; ; n 1:
(A10)
While the structure is damage, the element damage coefcient a = {a1,a2,,an} and the stiffness of
the ith spring is kdi = (1 ai)kui . Additional, the weight of the ith mass is mdi and the natural frequency of
mode s is ds . So the characteristic equation of the damage structure can be represented as:

DOI: 10.1002/stc
(A11)
1 a1 k u1 1 a2 ku2 1 a2 ku2 T d2;1;s vds md1
>
>
>
>
<
1 ai kui 1 ai1 kui1 1 ai k ui T di1;i;s 1 ai1 kui1 T di1;i;s vds mdi

>
>
>
>
: 1 a ku T d
u
d d
n n n1;n;s 1 an k n vs mn
with
2
vds ds
(A12)
Assuming the weight of every mass are not change before and after damage, substitution of
equation (A11) into equation (A5) provides
8

h

i h

i
>
a1 a2 S1 1 T d2;1;s b 1 S1 1 T u2;1;r 1 S1 1 T d2;1;s
>
>
>
>

h

i h

i
<
ai 1 T di1;i;s ai1 Si 1 T di1;i;s b 1 T ui1;i;r Si 1 T ui1;i;r 1 T di1;i;s Si 1 T di1;i;s
>
>

>
>
>
d
u
: an T d
n1;n;s 1 T n1;n;s 1 b T n1;n;r 1
(A13)
with
b vds =vur :
(A14)
Substitution of equation (A9) into equation (A13) provides:

(

a1 D1;1 a2 D1;2 b 1 D1;3 D1;1 D1;2
ai Di;1 ai1 Di;2 b Di;4 Di;3 Di;1 Di;2
an Dn;1 bDn;2 Dn;1

1 T un1;n;r 1 T d2;1;s 1 T un1;n;p 1 T d2;1;s

D1;1 1 D1;2

D1;3
Di;1
Di;5

1 T un1;n;r 1 T u2;1;r 1 T un1;n;p


Di;2 1 T di1;i;s Di;5 Di;3 1 T ui1;i;r Di;5 Di;4 1 T ui1;i;r
1 T di1;i;s


Dn;1 1 T dn1;n;s
Dn;2 1 T un1;n;r :

1 T u2;1;r

(A15)
Substitution of the last expression in equation (A15) into the rst n 1 expressions:
(
a1 P1;1 a2 P1;2 an P1;n P1;1 P1;2 P1;n

ai Pi;1 ai1 Pi;2 an Pi;n Pi;1 Pi;2 Pi;n

1 T un1;n;r 1 T un1;n;r 1 T un1;n;r 1 T un1;n;p

1 T d2;1;s
P1;1 1 T un1;n;r
P1;2
u
u
u
u
1 T 2;1;r 1 T n1;n;p 1 T n1;n;r 1 T 2;1;p

1

1 T un1;n;r 1 T u2;1;r 1 T un1;n;p

A 1 T dn1;n;s
P1;n @1

Pi;1 1 T un1;n;r 1 T di1;i;s

Pi;2 1 T un1;n;r 1 T di1;i;s Pi;3
h

i

Pi;n 1 T ui1;i;r 1 T ui1;i;r Pi;3 1 T dn1;n;s


:
Pi;3
0
1 T u2;1;r

(A16)

DOI: 10.1002/stc
So far, the element damage coefcient equations has been established. If the wavelet spectrum
transmissibility at the natural frequencies has been identied from the acceleration response, the
unknown variables are the element damage coefcient a = {a1,a2,,an}.
Appendix B: Measurement of the exact damage severity values of the steel frame
Because of using the bolted connection, calculating the stiffness reduction ratio of the layer accurately
is difculty. So a testing equipment is used to measure the stiffness reduction ratio of the layer as
shown in Figure B1. First, a horizontal nodal force was applied to the nodal of the layer and measure
the static displacement of the layer wu using a dial indicator. And then, replacing the unbroken plates
with the broken plates and measure the static displacement of the layer wd using a dial indicator under
the same horizontal nodal force as the health state. Finally, the stiffness reduction ratio of the layer can
be calculated by
1
wu
:
wd
(B1)
It should be noted that the nodal force should be smaller for avoiding the inuence of the nonlinear
and the maximum nodal displacement is less than 0.5 mm in this measurement.
Figure B1. The test equipment for testing the lateral stiffness reduction ratio.
ACKNOWLEDGEMENTS
The authors would like to thank the support from the fundamental research funds for the central universities in
China (CDJZR14205501) and the National Natural Science Fund of China (ID number: 51178486)
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DOI: 10.1002/stc

Damage Detection For Shear Structures Based On Wavelet Spectral Transmissibility Matrices Under Nonstationary Stochastic Excitation

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STRUCTURAL CONTROL AND HEALTH MONITORING

Struct. Control Health Monit. (2016)