University Politehnica of Bucharest

Facultaty of Automatic Control and Computer Science

Doctoral Thesis

Advanced Techniques for Seismic Vibration Control

Monica Patrascu

Abstract

The thesis' main objective is the study and design of advanced control systems for seismic vibration
control. Taking into account the constructive particularities of the controlled plant, the performance
requirements and the implementation possibilities, the thesis, on the one hand, includes an analysis
of current structural damping methods; on the other hand, the author's own control strategies are
proposed. Advanced control architectures are designed, considering the technological characteristics
of the necessary specialized equipment. The thesis approaches an ample and contemporary subject,
with respect to the effects of seismic vibrations over structures, with applications in the field of
control techniques for this particular problem.

A study over the topic of seismic vibration control brings out the contributions of the last few
decades over the destructive nature of earthquakes, as well as the development of practical methods
of analysis and design of earthquake resistant structures, in the fields of seismic engineering and
structural vibration control. A synthesis of modeling methods for structures reveals the components
of the spatial motion of buildings, the input types (commands and disturbances) in respect to which
the structural response can be analyzed. In the thesis there are analyzed a series of dampers for
structural vibration control, in two cases: electrohydraulic and magnetoreological dampers.

Through the design of structural vibration control algorithms and through testing of two semi-active
dampers, with various placement configurations and earthquake types, the thesis offers a base in
selecting structural vibration control algorithms. The obtained results offer significant reduction of
seismic vibrations, by decreasing displacements and accelerations, as well as inter-story drifts. The
thesis presents a flexible and modular architecture for controlling a city from the seismic protection
point of view, which integrates intelligent techniques for the control of structures, intelligent
building management and Smart City systems.
 Supervisor: Ioan Dumitrache, PhD, University Politehnica of Bucharest

Public Defense: dec. 2011

Title: Doctor, Magna Cum Laude

*N.B. This thesis is written in Romanian. For the English version of the research included in this thesis, please consult the
following publications:

Patrascu M., Dragoicea M., Ion A. 2014 - Emergent Intelligence in Agents: A Scalable Architecture for Smart
Cities, Proc. of the International Conference on System Theory, Control and Computing ICSTCC 2014, Sinaia,
Romania, pp.181-186, dx.doi.org/10.1109/ICSTCC.2014.6982412

Patrascu M. 2015 - Genetically enhanced modal controller design for seismic vibration in nonlinear multi-
damper configuration, Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and
Control Engineering, vol. 229, is. 2, pp. 158-168, dx.doi.org/10.1177/0959651814550540

Patrascu M., Dumitrache I. 2012 - Hybrid Geno-Fuzzy Controller For Seismic Vibration Control, Proceedings
of the UKACC International Conference on Control 2012, Cardiff, United Kingdom, ISBN 978-1-4673-1560-9,
pp. 52-57, dx.doi.org/10.3182/10.1109/CONTROL.2012.6334605

Patrascu M., Dumitrache I., Patrut P. 2012 - A comparative study for advanced seismic vibration control
algorithms, UPB Scientific Bulletin, Series C: Electrical Engineering, vol. 74, is. 4, pp. 3-16

Hanchevici A.B., Patrascu M., Dumitrache I. 2012 - A Hybrid PID-Fuzzy Control for Linear SISO Systems with
Variant Communication Delays, Advances in Fuzzy Systems, Special Issue on Fuzzy Functions, Relations, and
Fuzzy Transforms, http://dx.doi.org/10.1155/2012/217068

References

Ali Sk.F., Ramaswamy A. 2009 - Optimal fuzzy logic control for MDOF structural systems using evolutionary algorithms -
Engineering Applications of Artificial Intelligence 22; 407–419
Antoulas A., D. Sorensen, K. Gallivan, P. Van Dooren, A. Grama, C. Hoffmann, A. Sameh 2004 - Model reduction of large-scale
dynamical (mechanical) systems - ICCS 2004, Krakow, Poland
Bitaraf M., O.E. Ozbulut, S.Hurlebaus, L.Barroso 2010 - Application of semi-active control strategies for seismic protection of
buildings with MR dampers - Engineering Structures 32; 3040-3047
Boffa J. 2006 - Model reduction of large structural systems for active vibration control -
University of Technology, Sydney, Australia
BSSC 2006 - NEHRP Recommended Provisions: Design Examples. FEMA 451. Prepared by the Building Seismic Safety Council.
Chen C-W, K. Yeh, W.-L.Chiang, C.-Y.Chen, D.-J.Wu 2007a - Modeling, Hinf Control and Stability Analysis for Structural Systems
Using Takagi-Sugeno Fuzzy Model - Journal of Vibration and Control, 13(11): 1519–1534
Chen S.-H., L.-A.Zheng, J.-H.Chou 2007b - A Mixed Robust/Optimal Active Vibration Control for Uncertain Flexible Structural
Systems with Nonlinear Actuators Using Genetic Algorithm - Journal of Vibration and Control; 13; 185-201
Choi K.-M., S.-W.Cho , D.-O.Kim, I.-W.Lee 2005 - Active control for seismic response reduction using modal-fuzzy approach -
International Journal of Solids and Structures 42; 4779–4794
Chopra A. 2001 - Dynamics of Structures: Theory and Applications to Earthquake Engineering, Prentice-Hall, New Jersey
Choy, G.L., Boatwright, J.L. 1995 - Global patterns of radiated seismic energy and apparent stress - Journal of Geophysical Research
100; 18205–28
Christenson R. E. 2001 - Semiactive control of civil structures for natural hazard mitigation: analytical and experimental studies -
University of Notre Dame, Indiana
Conte J.P., Durrani A.J., Shelton R.O. 1994 - Seismic Response Modeling of Multi-Story Buildings Using Neural Netweorks - Journal
of Intelligent Material Systems and Structures, p. 392-402
Craig, Roy R. 1981 - Structural dynamics: an introduction to computer methods, Wiley
Crainic L. 2003 - Reinforced Concrete Structures, Ed. Napoca Star, Cluj-Napoca
Dimoiu, I. 1999 - Inginerie Seismica, Editura Academiei Romane, Bucuresti
Dumitrache I. 2005 - Ingineria reglarii automate - Bucuresti
Dumitrache I., Buiu C - 1999 Algoritmi genetici, Editura Nemira, Cluj-Napoca, Romania
Dumitrache, I., Catana, I., Panduru, V., Patrascu, M. 2009 - Fuzzy control strategies for magnetorheological dampers. Proceedings of
the 17th Intl. Conference on Control Systems and Computer Science, Bucharest, Romania, p. 215-220
Dupont P., P. KasturI, A. Stokes 1997 - Semi-active control of friction dampers - Journal of Sound and Vibration 202(2), 203-218
Dyke S.J., B.F. Spencer Jr., M.K. Sain and J.D. Carlson 1996a - Experimental verification of semi-active structural control strategies
using acceleration feedback - In the Proceedings of the 3rd International Conference on Motion and Vibration Control, September 1–6,
Chiba, Japan, Vol. III, pp. 291–296.
Dyke S.J., Spencer B.F. Jr., Sain M.K., Carlson J.D. 1996b - Modeling and control of magnetorheological dampers for seismic response
reduction - Smart Materials and Structures, vol. 5, p. 565–575.
Flatau A.B., D.L. Hall and J. M. Schlesselman 1993 - Magnetostrictive Vibration Control Systems - Journal of Intelligent Material
Systems and Structures; 4; 560-565
Fowler, C.M.R. 2005 - The solid earth: an introduction to global geophysics - Cambridge University Press
Guclu R., H. Yazici 2007 - Fuzzy Logic Control of a Non-linear Structural System against Earthquake Induced Vibration - Journal of
Vibration and Control; 13; 1535
Hanks, T.C., Kanamori, H. 1979 - Moment magnitude scale - Journal of Geophysical Research 84 ; 2348–50
Hiemenz, G.J., Wereley, N.M. 1999 - Seismic Response of Civil Structures Utilizing Semi-Active MR and ER Bracing Systems -
Journal of Intelligent Material Systems and Structures, p. 646-651
Hitachi. 2011 - Next Generation Smart Cities, www.hitachi.co.jp/products/smartcity/en/
Hong S.-R. and Choi S.-B. 2005 - Vibration Control of a Structural System Using Magneto-Rheological Fluid Mount - Journal of
Intelligent Material Systems and Structures; 16; 931-936
Ifrim M. 1984 - Dinamica Structurilor si Inginerie Seismica. Editia a II-a - Editura Didactica si Pedagogica, Bucuresti
Jing C., X.Youlin, Q.Weilian, W.Zhtlun 2004 - Seismic response control of a complex structure using multiple MR dampers:
experimental investigation - Earthquake Engineering and Engineering Vibration Vol.3, 181-193
Kelly T.E. 2001 - In-structure damping and energy dissipation Design Guidelines, Holmes Consulting Group
Kelly, J.M., Leitmann, G., Soldatos, A.G. 1987 - Robust Control of Base-Isolated Structures under Earthquake Excitation - Journal of
Optimization Theory and Applications, vol. 53, p. 159-180
Kim H.-S., Roschke P.N. 2006 - Design of fuzzy logic controller for smart base isolation system using genetic algorithm - Engineering
Structures 28; 84–96
Kim H.-S., Roschke P.N. 2007 - GA-fuzzy control of smart base isolated benchmark building using supervisory control technique -
Advances in Engineering Software 38; 453–465
Kobori T. 1990 - Technology Development and Forecast of Dynamical Intelligent Building (D.I.B) - Journal of Intelligent Material
Systems and Structures; 1; 391
391 - 407
Lai C.-Y., W.H. Liao 2002 - Vibration control of a suspension system via a megnetorheological fluid damper - Journal of Vibration and
Control, p. 527-547.
Li, H.N, Jia, Y., Wang, S.Y. 2004 - Theoretical and Experimental Studies on Reduction for Multi-Model Seismic Responses of High-
Rise Structures by Tuned Liquid Dampers - Journal of Vibration and Control, vol. 10, p. 1041-1056
Lin C.-C., L.-Y.Lu, G.-L.Lin, T.-W. Yang 2010 - Vibration control of seismic structures using semi-active friction multiple tuned mass
dampers - Engineering Structures 32; 3404-3417
Lin P. Y., P. N. Roschke, C. H. Loh, C. P. Cheng 2004 - Hybrid controlled base-isolation system with semi-active magnetorheological
damper and pendulum system - 13th World Conference on Earthquake Engineering Vancouver, B.C., Canada
Liu W. 2005 - Vibration Control of Large Scale Flexible Structures Using Magnetorheological Dampers - Worcester Polytechnic
Institute
Liut D.A., E.E. Matheu, M.P. Singh and D.T. Mook 2000 - A Modified Gradient-Search Training Technique for Neural-Network
Structural Control - Journal of Vibration and Control; 6; 1243-1268
Lu L-Y, G.-L.Lin, T.-C.Kuo 2008 - Stiffness controllable isolation system for near-fault seismic isolation - Engineering Structures, 30,
747–765
Ma H., Yam M.C.H. 2011- Modelling of a self-centring damper and its application in structural control - Journal of Constructional Steel
Research 67; 656–666
Madden G. J., M. D. Symans, N. Wongprasert 2002 - Experimental verification of seismic response of building frame with adaptive
sliding base isolation system, Journal of Structural Engineering, ASCE, 128(8), 1037–45.
Meystel A.M., Albus, J.S. 2002 - Intelligent systems: architecture, design, and control, Wiley
Neelakantan V.A. and Washington G.N. 2008 - Vibration Control of Structural Systems using MR dampers and a `Modified' Sliding
Mode Control Technique - Journal of Intelligent Material Systems and Structures; 19; 211-223
Nishimura I, A.M. Abdel-Ghaffar, Sami F. Masri, R.K. Miller, J.L. Beck, T.K. Caughey and W.D. Iwan 1992 - An Experimental Study
of the Active Control of a Building Model - Journal of Intelligent Material Systems and Structures; 3; 134 - 165
Oates W.S. and Smith R.C. 2008 - Nonlinear Optimal Control Techniques for Vibration Attenuation Using Magnetostrictive Actuators -
Journal of Intelligent Material Systems and Structures; 19; 193-209
Omori, F. 1894 - On the aftershocks of earthquakes - Journal of the College of Science, Imperial University of Tokyo 7; 111–200.
Park K.-S., H.-M.Koh, C.-W.Seo 2004 - Independent modal space fuzzy control of earthquake-excited structures - Engineering
Structures 26; 279–289
Park K.-S., H.-M.Koh, S.-Y.Ok 2002 - Active control of earthquake excited structures using fuzzy supervisory technique - Advances in
Engineering Software 33; 761–768
Patrascu M., Hanchevici A.B., Dumitrache I., Tuning of PID Controllers for Non-Linear MIMO Systems Using Genetic Algorithms, the
18th IFAC World Congress, Milano, Italy, 2011
Petrescu I. 1978 - Pamantul: o biografie geologica - Editura Albatros, Iasi
Pourzeynali S. , H.H. Lavasani, A.H. Modarayi 2007 - Active control of high rise building structures using fuzzy logic and genetic
algorithms - Engineering Structures 29; 346–357
Pozo F., Ikhouane F, G.Pujol and J.Rodellar 2006 - Adaptive Backstepping Control of Hysteretic Base-Isolated Structures - Journal of
Vibration and Control; 12; 373-393
Rao M. M. and Datta T. K. 2005 - Predictive Active Control of Building Frames with a
Solo Neurocontroller - Journal of Vibration and Control; 11; 627-641
Renzi E. and De Angelis M. 2005 - Optimal Semi-active Control and Non-linear Dynamic Response of Variable Stiffness Structures -
Journal of Vibration and Control; 11; 1253-1289
Renzi E., G. Serino 2003 - Testing and modelling a semi-actively controlled steel frame structure aquipped with MR dampers -
Structural Control and Health Monitoring
Rew K.-H., J.-H.Han, I.Lee 2002 - Multi-Modal Vibration Control Using Adaptive Positive Position Feedback - Journal of Intelligent
Material Systems and Structures; 13; 13-22
Ribakov Y. 2009 - Semi-active Pneumatic Devices for Control of MDOF Structures - The Open Construction and Building Technology
Journal, 3, 141-145
SACOS. 2008 - Sisteme autonome avansate pentru controlul oscilaţiilor structurilor -Raport de cercetare - Grant CEEX 51/2005-2008
Salimbahrami B. 2005 - Structure Preserving Order Reduction of Large Scale Second Order Models - Technischen Universitat
Munchen
Samanta A., Banerji P. 2010 - Structural vibration control using modified tuned liquid
dampers - The IES Journal Part A: Civil & Structural Engineering 3:1, 14-27
Shook D.A., P.N.Roschke, P.-Y.Lin, C.-H.Loh 2008 - GA-optimized fuzzy logic control of a large-scale building for seismic loads -
Engineering Structures 30; 436–449
Simoes R.C., V. Steffen, J. Der Hagopian, J. Mahfoud 2007 - Modal Active Vibration Control of a Rotor Using Piezoelectric Stack
Actuators - Journal of Vibration and Control, p. 45-64
Sims N.D., R. Stanway, A. Johnson 1999 - Vibration control using smart fluids: a state-of-the-art review - The Schock and Vibration
Digest, p. 195-203.
Spencer B.F.Jr, M.K.Sain 1998 - Controlling Buildings: A New Frontier in Feedback - The Shock and Vibration Digest; 30; 267
Spencer B.F.Jr, S.J.Dyke, M.K.Sain, J.D.Carlson 1997 - Phenomenological model for a magnetorheological damper - Journal of
Engineering Mechanics ASCE, vol. 123, p. 230–238
Stefanoiu D., J. Culita, P. Stoica 2005 - Fundamentele modelarii si identificarii sistemelor - Bucuresti
Stratan A. 2007 - Dinamica structurilor si inginerie seismica, Ed Orizonturi Universitare, Timisoara
Su J.-P., C.-Y. Liang 2002 - A novel fuzzy sliding mode control scheme for nonlinear systems with bounded inputs - Journal of
Vibration and Control, p. 945-965
Symans M.D. and Constantinou M.C. 1997 - Experimental Testing and Analtical Modeling of Semi-Active Fluid Dampers for Seismic
Protection - Journal of Intelligent Material Systems and Structures; 8; 644-657
Symans M.D., M.C. Constantinou 1997a - Experimental Testing and Analytical modeling of Semi-Active Fluid Dampers for Seismic
Protection - Journal of Intelligent Material Systems and Structures, p. 644-657
Symans M.D., M.C. Constantinou 1997b - Seismic Testing of a Building Structure with a Semi-active Fluid Damper Control System -
Earthqake Engineering and Structural Dynamics, vol. 26, 759-777
Symans, M.D., Madden, G.J. and Wongprasert, N. 1999 - Semi-Active Hybrid
Seismic Isolation Systems: Addressing the Limitations of Passive Isolation Systems - Proc. of Structures Congress 1999, ASCE, New
Orleans, LA, April, pp. 862-865.
Utsu, T. 1961 - A statistical study of the occurrence of aftershocks - Geophysical Magazine 30; 521–605
Wang D. H. and Liao W. H. 2005 - Semiactive Controllers for Magnetorheological Fluid Dampers - Journal of Intelligent Material
Systems and Structures; 16; 983-993
Wang, X. and Gordaninejad, F. 2001 - Dynamic Modeling of Semi-Active ER/MR Fluid Dampers - Damping and Isolation,
Proceedings of SPIE Conference on Smart Materials and Structures, Ed. Daniel J. Inman, Vol. 4331, pp. 82-91
Yan G., Zhou L.L. 2006 - Integrated fuzzy logic and genetic algorithms for multi-objective control of structures using MR dampers -
Journal of Sound and Vibration 296; 368–382
Yang G., H.J. Jung, B.F. Spencer Jr., 2002 - Dynamic model of full-scale MR dampers for civil engineering applications, Grant CMS
99- 00234 by National Science Foundation and Lord Corporation.
Yang, S.M., Chen, C.J., Huang, W.L. 2006 - Structural Vibration Suppression by a Neural-Network Controller with a Mass-Damper
Actuator - Journal of Vibration and Control, vol. 12(5), p. 495-508
Zhang X.Z., F.Y. Cheng, H.P. Jiang, G.D. Chen, M.L. Lou 2002 - Hybrid control realization in building structures and effectiveness
comparison with MR control - 15th ASCE Engineering Mechanics Conference, Columbia University, NY
Zhang Y., A.G. Alleyne, D. Zheng 2005 - A hybrid control strategy for active vibration isolation with electrohydraulic actuators -
Control Engineering Practice 13; 279–289