Vibration Control of

Structures using Semi-active

MR Dampers
Contents
Introduction
Types of controls
Semi-active controls
Semi-active control devices
MR Fluid Dampers
Mathematical models of MR dampers
Semi-active control algorithms
Closure
2
Introduction
Seismically-excited Structures

3
Contd.
Wind-excited Structures Human-excited Structures
4
Tacoma Narrows Bridge,
Tacoma, Washington
Millennium Foot Bridge,
London, England
Control System
Structure
Sensors
Controller
Actuator
Seismic I nput
5
Control
Input
Seismic Response Control Principles
Reduce the effect of seismic excitation
Prevent a structure from exhibiting the resonance
vibration
Transfer the vibration energy of a main structure
to the secondary oscillator
Put additional damping effect to a structure
Add a control force to a structure

6
Classification of Structural Control
Friction damper
Metallic yield damper
Viscoelastic damper
TLD
TMD
Viscous fluid damper
MR damper
ER damper
7
Active control
+ External control force to reduce the responses
(i.e., provides input voltage)
+ Voltages required are computed by controller
using certain algorithms with inputs from sensors.
+ Sensors measure motion (strains, displ, vel, accl.)
+ Actuators apply forces to structure, thereby
adding or dissipating energy
Destabilization possible.
External power may not be available during
earthquake.


8
Passive control
+ Passive control device imparts forces that are
developed directly as a result of motion of
structure (i.e., no actuator involved).
+ No external power
+ Total energy (structure + passive device) cannot
increase, hence inherently stable.
No adaptability to various external load
Not as effective as active, hybrid, semi-active
control
9
Semi-active control
As an active control system, it monitors the feed-
back measurement, and generates appropriate
command signal.
As a passive control system, control forces are
developed as a result of the motion of the structure.
Reliability of passive system with adaptability of
active system


10
Semi-active control devices
11
Variable-Orifice Dampers
Variable friction dampers
Controllable fluid dampers
MR dampers
ER dampers
Semi-active control devices
Variable-Orifice Dampers
Variable friction dampers
Controllable fluid dampers
MR dampers
ER dampers
12
Semi-active control devices
Variable-Orifice Dampers
Variable friction dampers
Controllable fluid dampers
MR dampers
ER dampers
13
MR Fluid Dampers
Characteristics of MR fluid


Without
Magnetic Fields


With Magnetic Fields
14
Attractive features
High dissipative force at low velocity
Inherent stability and failure-safety
Continual optimization
High dynamic range
Mechanical simplicity
Fast response-time
Small device size
Large temperature range
15
Annular Orifice
Force vs Displacement curve of MRD
16
Wang et.al, Magnetorheological fluid dampers: a review of parametric modelling, Smart Mater.
Struct. 20 (2011)
Force vs Velocity curve of MRD
17
Wang et.al, Magnetorheological fluid dampers: a review of parametric modelling, Smart Mater.
Struct. 20 (2011)
Models of MR damper
Bingham Model
Bouc-Wen Model
Modified Bouc-Wen Model

18
0 0
) sgn( . f x c x f f
c mr
+ + =

Models of MR damper
Bingham Model
Bouc-Wen Model
Modified Bouc-Wen Model
19
( )
mr mr mr c
z x x k x c f o + + =
0 0 0

x A z x z z x z
n
mr
n
mr mr mr
+ =

| | | | | |
1
|
Models of MR damper
Bingham Model
Bouc-Wen Model
Modified Bouc-Wen Model
20
) ( ) ( ) (
0 1 0 0
x x k y x k y x c z f + + + =

o
Semi active control system
21
Semi-active control algorithms
Clipped-optimal Control Algorithm
Lyapunov Stability Theory-based Control
Algorithm(LYAP)
Maximum Energy Dissipation Algorithm
(MEDA)
Cost Function-based Semi-active Neuro-
control Algorithm
Fuzzy Logic control (FLC)
22
Indirect control command to MR damper
Control voltage v , instead of control force
Clipped algorithm
23
max
V v f f
i i c
= >
0 = <
i i c
v f f
f
c
f
i
f
c
-f
i
=0

=0 =0
=0
=0
=V
max
=V
max

i
= V
max
H ([f
c
-f
i
]f
i
)
f
c
: calculated optimal control force
f
i
: control force of MR damper
H : Heaviside step function
v
i
: control voltage
Clipped algorithm
24
max
V v f f
c i c
= >
c c i c
f v f f = s
f
c
f
i
f
c
-f
i
=0

=0 =0
=0
=0
=f
c
=f
c

i
= V
c
H ([f
c
-f
i
]f
i
)
f
c
: calculated optimal control force
f
i
: control force of MR damper
H : Heaviside step function
v
i
: control voltage
Lyapunov Control Algorithm(LYAP)

Primary method of testing the stability of
nonlinear or linear system with uncertainty.
Any scalar function V(x) that satisfies the 2
conditions
V(x) is a positive definite,
V(x) is a negative definite function
is a lyapunov function.
If V(x) fulfill the conditions means the
trajectories are bounded system is stable.
Lyapunov equation
25
A
T
P+PA+Q=0
Fuzzy Logic control (FLC)
Fuzzy Logic is all about relative importance of
precision
Minimization of some objective function,
which tends to reduce the structural response
Neural nets tend to provide control forces,
which would reduce the response of the
structure when subjected to unknown future
earthquakes


26
FLC-Contd
The advantage of this approach is its inherent
robustness and its ability to handle the non-
linear behaviour of the structure
A FLC is incorporated into a closed-loop
control system similar to conventional
controllers where
R=reference input,
E=input signal error,
u=output control force,
W=earthquake excitation, and
Y=response after control.
27
FLC-Contd
if-then rule
M
I
: if X
1
=A
i
and X
2
=B
i
then Y=C
i
i is number of control rules,
X1 and X2 are variables of the antecedent part and
Y is a variable of the consequent part.
A
i
, B
i
, and C
i
are linguistic values of the fuzzy
variables.
Components: fuzzification, rule base, decision
making and defuzzification
28
Closure
Structural control technologies has been
developed to mitigate vibration of civil
engineering structures
Structural control can improve serviceability
as well as safety of structures
Semi-active control is promising for civil
engineering applications with the use of MR
dampers
29
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