ACTIVE/PASSIVE SEISMIC CONTROL OF STRUCTURES

In civil engineering, structural integrity and safety are of utmost importance as the consequences of failure are devastating. Maintaining the structural integrity becomes particularly important when the structures are subjected to severe earthquakes and strong wind-loading. Various passive and active control means have been considered to avoid catastrophic failure due to seismic or wind excitations. In this paper, a new class of hybrid actuators is presented which consists of a piezoelectric stack actuator combined with a viscoelastic damper to form a passive/active brace system (PAB). The actuator is used for mitigating structural dynamic responses of a three-storey structure subjected to simulated earthquakes loading. The proposed hybrid actuator is selected because it combines the attractive attributes of active and passive systems as well as because it has high stiffness-weight ratio, high frequency bandwidth, and low power consumption. The theoretical and experimental performance characteristics of the three-storey structure with the hybrid PAB actuator are presented. Comparisons are also included when the structure is controlled with conventional viscoeiastic dampers or conventional active control braces that operate without any viscoelastic damping. These comparisons emphasize the effectiveness of the hybrid actuator in damping out simulated seismic vibrations.     

Nonlinear Structural Response to Low-Cut Filtered Ground Acceleration Records

Ground acceleration records obtained from instruments in the field are often filtered to reduce noise in both low and high frequency bands before being used for structural response analyses. The structural analysis using a filtered acceleration record may elongate the fundamental period of a structure which will potentially lead to an underestimation of the nonlinear response.

The nonlinear response of single-degree-of-freedom systems to low-cut filtered ground acceleration records is investigated. Based on the results of this study, a simple criterion for selecting ground acceleration records for seismic response analyses is proposed to avoid underestimating the nonlinear structural response.     

NONLINEAR SHAKE TABLE IDENTIFICATION AND CONTROL FOR NEAR-FIELD EARTHQUAKE TESTING

The primary focus of a structural shake table system is the accurate reproduction of acceleration records for testing. However, many systems deliver variable and less than optimal performance, particularly when reproducing large near-field seismic events that require extreme table performance. Improved identification and control methods are developed for large hydraulic servo-actuated shake table systems that can exhibit unacceptable tracking response for large, near-field seismic testing. The research is presented in the context of a 5-tonne shake table facility at the University of Canterbury that is of typical design. The system is identified using a frequency response approach that accounts for the actual magnitudes and frequencies of motion encountered in seismic testing. The models and methods developed are experimentally verified and the impact of different feedback variables such as acceleration, velocity and displacement are examined.

The methods show that shake table control in testing large near-field seismic events is often a trade off between accurate tracking and nonlinear velocity saturation of the hydraulic valves that can result in severe acceleration spikes. Control methods are developed to improve performance and include both acceleration and displacement feedback to reduce the acceleration spikes, and record modification, where the reference signal is modified to conform to the shake table's operational parameters. Results show record modification gives exact tracking for near-field ground motions, and optimal system response for reference signals with velocity components greater then the system capabilities. Overall, the research presents a methodology for simple effective identification, modelling, diagnosis and control of structural shake table systems that can be readily generalised and applied to any similar facility.     

Direct Acceleration Feedback Control of Shake Tables with Force Stabilization

This study presents a new strategy for shake table control that uses direct acceleration feedback without need for displacement feedback. To ensure stability against table drift, force feedback is incorporated. The proposed control strategy was experimentally validated using the shake table at the Johns Hopkins University. Experimental results showed that the proposed control strategy produced more accurate acceleration tracking than conventional displacement-controlled strategies. This article provides the control architecture, details of the controller design, and experimental results. Furthermore, the impact of input errors in shake table testing on the structural response is also discussed.     

故宫太和殿动力特性与常遇地震响应

为更好地保护故宫太和殿,采用有限元分析方法,研究了太和殿的动力特性及常遇地震作用下的响应。采用弹簧单元模拟榫卯节点及斗拱构造,并考虑柱础为铰接,建立了太和殿有限元模型。通过模态分析,获得了太和殿基频及主振型;通过对模型进行时程分析,获得了典型节点的位移、加速度响应曲线,以及典型单元的内力响应曲线,评价了太和殿的抗震性能。结果表明:太和殿基频为0.9Hz,主振型以平动为主;常遇地震作用下,太和殿能保持稳定振动状态,结构的内力和变形均在容许范围内,且斗拱及榫卯节点均能发挥一定的减震作用。     

Modified Full Operator Hybrid Simulation Algorithm and its Application to the Seismic Response Simulation of a Composite Coupled Wall System

A new version of the Full Operator Method (FOM) is proposed in this work. The numerical characteristics of the modified FOM (mFOM) are investigated, both theoretically and analytically. It is found that mFOM is unconditionally stable when the estimated stiffness of the structure is larger than or equal to the actual stiffness. Simulations using two numerical examples are carried out to demonstrate the capability of the mFOM. The seismic response simulation of a composite coupled wall system suggests that the mFOM is capable of generating reasonably accurate solutions despite the presence of structural complexity, material nonlinearity, and displacement control errors.     

Predicting the Seismic Response of Capacity-Designed Structures by Equivalent Linearization

An equivalent linearization procedure is developed for predicting the inelastic deformations and internal forces of capacity-designed structures under earthquake excitations. The procedure employs response spectrum analysis, and mainly consists of the construction of an equivalent linear system by reducing the stiffness of structural members that are expected to respond in the inelastic range. These members are well defined in structures designed with capacity principles. Maximum modal displacement demands of the equivalent linear system are determined either from the equal displacement rule, or from independent nonlinear response history analysis of SDOF systems representing inelastic modes.

Predictions obtained from the proposed equivalent linearization procedure are evaluated comparatively by using the results of nonlinear response history analysis as benchmark, linear elastic response spectrum analysis and conventional pushover analysis. The deformations and capacity controlled actions of a 12-story symmetrical plan concrete frame and a 6-story unsymmetrical plan concrete frame are obtained by each method under 96 strong ground motions. It is observed that the proposed procedure results in better accuracy in estimating the inelastic seismic displacement response parameters and capacity controlled forces than the other two approximate methods.     

Modeling and Control of the CSCEC Multi-Function Testing System

In order to promote the research and development on evaluating the seismic performance of structures, China State Construction Engineering Corporation (CSCEC) planned to construct a large-scale loading testing facility, the Multi-Function Testing System (MFTS). This facility can perform full-scale, real-time, 6-degree-of-freedom static and dynamic testing of rubber bearings and many types of structural components including long columns, shear walls and cross shape joints. The basic performances of the MFTS are a clearance of 9.1 m × 6.6 m × 10 m for specimen installation, maximum x-directional displacement 1500 mm, maximum y-directional velocity 1570 mm/s and maximum z-directional compressive load 108 MN. The system configuration and performance specifications of the MFTS are presented in this paper. The inverse kinematics model and the nonlinear model of the hydraulic servosystem of the MFTS are built. A modified feedback forward kinematics algorithm is developed for real-time control of the MFTS. Internal force characteristics of the loading system are analyzed. The internal force control method based on real-time solution of basis of internal force space is proposed for the system with large motion ranges. The motion controller combining position control loop and internal force control loop is developed. To meet the requirement of simultaneously imposing vertical compressive load and horizontal displacement, a mixed load and displacement controller is designed, where a direct force control loop is used to improve the response speed of the force control and reduce spatial dynamic coupling effects. Finally, a dynamic bearing testing is performed. The test results demonstrate that the system using the proposed controller has good abilities on position tracking, force balance, and load following.     

INELASTIC SEISMIC RESPONSE ANALYSIS BASED ON ENERGY DENSITY SPECTRA

Energy balance is used to characterise the seismic energy in inelastic structures where energy input to the structure is decomposed into strain energy, kinetic energy, damping energy, and plastic energy. The exact quantification of plastic energy is derived based on force analogy method for moment-resisting frames. A method of generating energy density spectra is then proposed based on yield displacement of a single degree of freedom system. The effects of different structural vibration characteristics are then studied on energy density spectra. These effects include variations of yield displacement level, earth-quake scaling factor, and damping ratio, which proves to be useful in improving the basic understanding of energy characteristics in structural dynamic response. Finally, the use of energy density spectra is demonstrated on a multi-degree of freedom structure to show the practical applications of these spectra.     

Seismic Fragility Evaluation of RC Frame Structures Retrofitted with Controlled Concrete Rocking Column and Damping Technique

Acceleration response of simple yielding structure is proportional to its own weight, but it is limited by yield strength. Thus, using rocking columns that reduces global yield strength, a limited acceleration is achieved. However, the displacement becomes large due to lower strength and higher inelasticity, but it can be controlled by adding damping. Performing fragility analyses, the seismic response of R/C frame structures with rocking columns and viscous dampers is investigated. Near field MCEER ground motions are considered. The analyses show that the story accelerations are reduced by using rocking columns, while the story displacements are controlled by using viscous dampers.     

Seismic Response of Base-Isolated Benchmark Building with Variable Sliding Isolators

The seismic response of base-isolated benchmark building with variable sliding isolators like variable friction pendulum system (VFPS), variable frequency pendulum isolator (VFPI), and variable curvature friction pendulum system (VCFPS), along with conventional friction pendulum system (FPS), was studied under the seven earthquakes. The earthquakes are applied bi-directionally in the horizontal plane ignoring vertical ground motion component. The shear type base-isolated benchmark building is modeled as three-dimensional linear elastic structure having three degrees of freedom at each floor level. Time domain dynamic analysis of the benchmark building was carried out with the help of constant average acceleration Newmark-Beta method and nonlinear isolation forces was taken care by fourth-order Runge-Kutta method. The base-isolated benchmark building is investigated for uniform isolation and hybrid isolation in combination with laminated rubber bearings through the performance criteria and time history response of important structural response parameters like floor accelerations, base displacement, etc. It is observed that variable sliding isolators performed better than conventional FPS due to their varying characteristic properties which enable them to alter the isolator forces depending upon their isolator displacements thus improves the performance of the structure. The VFPS efficiently controls large isolator displacements and VFPI and VCFPS improve super structural response on the cost of isolator displacement. It is also observed that the hybrid isolation is relatively better in comparison to the uniform isolation for the benchmark building.     

Optimal Control of Structures under Earthquakes Including Soil-Structure Interaction

It is well known that the soil-structure interaction (SSI) changes the dynamic response of a structure supported on flexible soil. The analysis of optimally controlled SSI systems has certain difficulties due to the nature of the SSI and the optimal control problem. In this paper, a two-step iteration-based numerical algorithm is proposed to handle optimally controlled SSI systems under earthquakes. First, the optimal control forces are obtained by using a fixed-base system. Then, the optimal control forces are converted to the frequency domain by the Fourier transform technique to be used in the equations of the SSI system. The lateral displacement and the rocking of the foundation are obtained from the equations of the SSI system containing the optimal control forces in the frequency domain. The lateral displacement and rocking of the foundation are then converted to the time domain by the inverse Fourier transform technique, and the lateral accelerations and the rocking accelerations of the foundation are obtained by the forward finite difference method. During the second step, the optimal control forces are calculated again by using the lateral acceleration and the rocking acceleration of the foundation along with the earthquake ground motion. Using the method explained above, the optimal control forces obtained in the time domain are used in the equations of the soil-structure system from which the behavior of foundation and structure is obtained. In the final section of the paper, a numerical study is conducted for a controlled structure supported on flexible soil.     

南京长江大桥桥头堡抗震加固受力性能研究

为研究南京长江大桥桥头堡填充墙加固对结构抗震性能的影响,提出考虑较高填充墙开裂的双斜撑模型,用于罕遇地震工况下桥头堡的抗震性能计算,同时提出考虑填充墙加固后刚度增强效应的建模方法。利用SAP2000建立了加固前后用于多遇地震工况、设防地震工况及罕遇地震工况的分析模型,并选取了桥头堡在1974年经历的实际地震激励时程及El-Centro地震激励时程作为激励进行了加固前后结构的抗震性能分析比较。研究发现,填充墙加固后桥头堡的抗震性能有了明显提升,其位移响应峰值约下降8%~23%,层间位移角响应峰值约下降12%~22%,而且桥头堡结构在设防地震情况下2个方向的层间位移角均满足了规范要求。另外,在罕遇地震工况下,未加固的填充墙开裂会使结构的扭转刚度下降,而填充墙加固可有效提升结构的扭转刚度,降低桥头堡在地震时发生扭转振动的概率。这2种地震荷载激励的分析结果差异约在3%~21%不等,且响应峰值出现的位置也有一些不同,故对桥头堡进行抗震时程分析时建议选取多条地震波输入综合分析。研究成果可为同类型的钢筋混凝土建筑遗产的抗震加固提供借鉴和参考。     

Seismic Evaluation of Tall Buildings Using a Simplified but Accurate Analysis Procedure

A simplified analysis procedure for evaluating the nonlinear seismic responses of tall reinforced concrete (RC) buildings is examined in this study. It is called the Uncoupled Modal Response History Analysis (UMRHA) procedure. It can be viewed as an extended version of the classical modal analysis procedure, where the nonlinear response of each vibration mode is first computed, and they are later on combined into the total response of the structure. The procedure requires the knowledge of the modal hysteretic behavior, which can be obtained from a cyclic modal pushover analysis. The responses of four tall buildings in Bangkok to distant large earthquakes are computed by this procedure and compared with those obtained from the Nonlinear Response History Analysis (NLRHA) procedure. These four buildings have different heights—varying from 20 to 44 stories, different configurations of floor plan, and different arrangement of RC walls. The comparison shows that the UMRHA procedure is able to accurately compute the story shears and story overturning moments, floor accelerations, and inter-story drifts of all these tall buildings. The required computational effort is also extremely low compared to that of the NLRHA procedure. Moreover, since the UMRHA procedure computes the response of each individual vibration mode, it provides more understanding and insight into the complex nonlinear seismic responses of these tall buildings.     

Robust Design of a Single Tuned Mass Damper for Controlling Torsional Response of Asymmetric-Plan Systems

A new robust design methodology to control the seismic performance of asymmetric structures equipped with a Single Tuned Mass Damper (STMD) is presented in this article. This design approach aims to control the seismic response of such systems by reducing both flexible-and stiff-edge maximum displacement. The dynamic problem has been investigated in the state space representation showing that the TMD works as a closed-loop feedback control action. A synthetic index to estimate the seismic performance of the main system has been defined by using H_∞ norm. Wide-ranging parametric numerical experimentation has been carried out to obtain design formulae for the STMD in order to minimize such a performance index. These formulae allow for a simple design of STMD position and stiffness to optimally control both translational and rotational motion components, whereas two mass devices are generally considered to improve the seismic performance of asymmetric structural systems The effectiveness and efficiency of the obtained design formulae have been tested by investigating the dynamic behavior of the asymmetric structure after being subjected to different recorded seismic inputs.     

Seismic Performance of Tuned Liquid Column Dampers for Structural Control Using Real-Time Hybrid Simulation

This article presents real-time hybrid simulation (RTHS) in a single-degree-of-freedom (SDOF) steel frame incorporated with tuned liquid column damper (TLCD). The SDOF steel frame is numerically simulated, and the TLCD alone is physically experimented on a shaking table. The delay-dependent stability of RTHS system for TLCD investigation is first assessed; and the delay-dependent accuracy is verified by comparing the responses obtained through the RTHS, the conventional shaking table test, and an analytical solution. Then, RTHSs are carried out to evaluate the effects of mass ratio, structural damping ratio, structural stiffness, and peak ground acceleration on the reduction effectiveness of STLCD. The nonlinear behavior of the STLCD is experimentally captured. Finally, the structural responses under STLCD and multiple TLCDs (MTLCD) control are compared. It is found that the performance of STLCD strongly depends on structural parameters and properties of earthquakes; both MTLCD and STLCD induce approximately the same response reductions, and the former can enhance the control performance in certain cases. These results presented here may contribute to improve the design and application of TLCDs in practical engineering.     

Definition of Seismic Input for Out-of-Plane Response of Masonry Walls: I. Parametric Study

Response of masonry walls to out-of-plane excitation is a complex, yet inadequately addressed theme in seismic analysis. The seismic input expected on an out-of-plane wall (or a generic “secondary system”) in a masonry building is the ground excitation filtered by the in-plane response of the walls and the floor diaphragm response. More generally, the dynamic response of the primary structure, which can be nonlinear, contributes to the filtering phenomenon. The current article delves into the details and results of several nonlinear dynamic time-history analyses executed within a parametric framework. The study addresses masonry structures with rigid diaphragm response to lateral loads. The scope of the parametric study is to demonstrate the influence of inelastic structural response on the seismic response of secondary systems and eventually develop an expression to estimate the seismic input on secondary systems that explicitly accounts for the level of inelasticity in the primary structure in terms of the displacement ductility demand. The proposed formulation is discussed in the companion article.     

YIELDING OSCILLATOR UNDER TRIANGULAR GROUND ACCELERATION PULSE

An analytical solution is presented for the response of a bilinear inelastic simple oscillator to a symmetric triangular ground acceleration pulse. This type of motion is typical of near-fault recordings generated by source-directivity effects that may generate severe damage. Explicit closed-form expressions are derived for: (i) the inelastic response of the oscillator during the rising and decaying phases of the excitation as well as the ensuing free oscillations; (ii) the time of structural yielding; (iii) the time of peak response; (iv) the associated ductility demand. It is shown that when the duration of the pulse is long relative to the elastic period of the structure and its amplitude is of the same order as the yielding seismic coefficient, serious damage may occur if significant ductility cannot be supplied. The effect of post-yielding structural stiffness on ductility demand is also examined. Contrary to presently-used numerical algorithms, the proposed analytical solution allows many key response parameters to be evaluated in closed-form expressions and insight to be gained on the'response of inelastic structures to such motions. The model is evaluated against numerical results from actual near-field recorded motions. Illustrative examples are also presented.     

Stochastic Seismic Response of Pipelines with Corrosion

For aging pipelines, corrosion gradually appears inside and outside during in-service time. However, because the uncertainty characteristics of the soil around the pipeline and conveying material in the pipeline, the generation and development processes of the pipeline corrosion would be stochastic processes. This background must be taken into account in the seismic response analysis of the pipeline. In this article, using Markov chain with absorbing barrier, a model simulating the evolution of the pipeline corrosion is presented. This model divides a pipeline into several segments and obtains the distribution probabilities of the cross section areas of the segments. Elastic foundation beam method and random perturbation method are used to obtain the seismic response of the pipeline with corrosion. To validate the proposed method, two pipelines are investigated in detail. The mean and standard deviation of the displacements and stress of the pipeline under earthquake are evaluated by the proposed method. Also, the results of one pipeline are compared with Monte Carlo random simulation. The numerical results show that the proposed model can reasonably predict the seismic response of the pipeline with corrosion.     

Analytical Seismic Assessment of a Tall Long-Span Curved Reinforced-Concrete Bridge. Part I: Numerical Modeling and Input Excitation

The seismic response of bridges is affected by a number of modeling considerations, such as pier embedment, buried pile caps, seat-type abutments, pounding, bond slip and architecturally flared part of piers, and loading considerations, such as non-uniform ground excitations and orientation of ground motion components, which are not readily addressed by design codes. This article addresses a methodology for the nonlinear static and dynamic analysis of a tall, long-span, curved, reinforced-concrete bridge, the Mogollon Rim Viaduct. Various modeling scenarios are considered for the bridge components, soil-structure interaction system, and materials, i.e., concrete and reinforcing steel, covering all its geotechnical and structural aspects based on recent advances in bridge engineering. Various analysis methodologies (nonlinear static pushover, time history response to uniform and spatially variable seismic excitations, and incremental dynamic analyses) are performed. For the dynamic analyses, a suite of nine earthquake accelerograms are selected and their characteristics are investigated using seismic intensity parameters. A recently developed approach for the generation of non-uniform seismic excitations, i.e., spatially variable simulations conditioned on the recorded time series, is used. Methods for the evaluation of structural performance are discussed and their limitations addressed. The numerical results of the seismic assessment of the Mogollon Rim Viaduct are presented in the companion article (Part II). The sensitivity of the bridge response to the adopted modeling, loading and analyzing strategies, as well as the correlation between structural damage and seismic intensity parameters are examined in detail.