CONTROL OF SEISMIC RESPONSE OF

BUILDINGS USING MR-DAMPERS

STATICS VS. DYNAMIC SYSTEMS
• Static Systems
• Definition: Static systems are those in which the position or configuration remains
unchanged over time.
• Dynamic Systems
• Definition: Dynamic systems are those in which the position or configuration
changes over time.
CLASSIFICATION OF STRUCTURES BASED ON
DEGREE’S OF FREEDOM
1. SDOF System (Single Degree of Freedom):
- Represents a structural system with only one independent degree of freedom, simplifying dynamic
analysis by focusing on a single mass and its associated stiffness and damping.

2. MDOF System (Multiple Degrees of Freedom):

- Describes a structural system with multiple degrees of freedom, considering interactions between
several masses, springs, and dampers, enabling a more detailed and realistic representation of complex
structures' dynamic behaviour.
SDOF SYSTEM
Single Degree of Freedom (SDOF) Structures:

1. Free Vibrations:
• - SDOF structures with one degree of freedom oscillate without external forces after an
initial displacement.
• - Examples include simple pendulums and buildings swaying after a disturbance.

2. Forced Vibrations:
• - SDOF structures subjected to external periodic or non-periodic forces or
displacements.
• - Response depends on the applied force characteristics and the structure's single
degree of freedom.
FREE VIBRATIONS:
UN-DAMPED(SDOF)
• Start with the equation of motion : 𝑚𝑥ሷ + kx = 0
• Assume a solution of the form : 𝑥 𝑡 = 𝐴 cos(𝜔𝑡 + 𝜑)
𝑘
• Substitute this solution into the equation of motion and solve for ω. ω =
𝑚
𝑘
• The general solution for displacement 𝑥 𝑡 is : 𝑥 𝑡 = 𝐴 cos( 𝑡 + 𝜑)
𝑚

• This equation describes un-damped free vibration, where A is the initial displacement, ω is the natural
frequency, t is time, and ϕ is the phase angle determined by initial conditions.

FURTHER READING.
NUMERICAL SOLUTION
• Using the finite difference method, we discretize time into intervals Δt, for the equation :
𝒎𝒙ሷ + 𝐤𝐱 = 𝟎
• For free un-damped vibrations, c=0. We can rearrange the equation to find the next displacement
xn+1​ as follows :
xn+1​=2xn​−xn−1​−ωn2​xn​(Δt)2
• Where:
xn represents the displacement at time tn​.
xn−1 represents the displacement at the previous time step, tn−1​.
ωn​ is the natural frequency, ωn ​= mk​​.
Δt is the time step used in the numerical method.
• To find the velocity 𝒙ሶ 𝒏 + 𝟏​ at the next time step, we can use the central difference scheme:
𝒙ሶ 𝒏 + 𝟏​ = (xn+1​−xn−1)/(2Δt)​​
NUMERICAL V/S ANALYTICAL SOLUTION

USING MATLAB
USING SPREADSHEET

Here,
l=2
theta(1) = 0.785
v(1) = 0
lambda = sqrt(9.81 / l)
dt = 0.001
num_steps = 16000
FREE VIBRATIONS: VISCOUS DAMPING(SDOF)
• Consider a system with Mass (m), stiffness (k), viscous damping (c), External force (Fa).
• Start with the equation of motion for a single degree of freedom (SDOF) system:
𝑚𝑥ሷ + 𝑐 𝑥ሶ + 𝑘𝑥 = 0
• Derive the characteristic equation by assuming x(t)= eλt and substituting it into the equation:
𝑐 𝑘
𝜆2 + 𝜆 + = 0
𝑚 𝑚
• Solve the characteristic equation to find the roots λ1 and λ2​. These roots depend on the damping
(c), mass (m), and stiffness (k).
• Damping Classification: Based on the roots, classify the vibration as:
Overdamped (distinct real roots),
Critically damped (equal real roots),
Underdamped (complex conjugate roots).
• For each case, use the appropriate general solutions for displacement and velocity:
Overdamped : 𝑥 𝑡 = 𝐶1𝑒𝜆1𝑡 + 𝐶2𝑒𝜆2𝑡
Critically Damped : 𝑥 𝑡 = 𝐶1 + 𝐶2𝑡 eλ𝑡
Underdamped : 𝑥 𝑡 = 𝑒𝛼𝑡(𝐶1 cos 𝛽𝑡 + 𝐶2 sin(𝛽𝑡))
• Constants Determination: Apply initial conditions to determine the constants C1​ and C2 specific to
the problem.
• Final Solutions: Obtain the final solutions for displacement x(t) and velocity v(t).

FURTHER READING.
OVERDAMPED VIBRATIONS:
Description: In the overdamped case, the roots of the characteristic equation are real and distinct, indicating
a slow decay of oscillations. The system returns to equilibrium without oscillation.
Solution for Displacement : 𝑥 𝑡 = 𝐶1𝑒𝜆1𝑡 + 𝐶2𝑒𝜆2𝑡
Velocity : 𝑥ሶ 𝑡 = C1λ1𝑒𝜆1𝑡 + 𝐶2𝜆2𝑒𝜆2𝑡

CRITICALLY DAMPED VIBRATIONS:

Description: In the critically damped case, the roots of the characteristic equation are real and equal, indicating
the fastest return to equilibrium without oscillation. It reaches equilibrium in the shortest time.
Solution for Displacement : 𝑥 𝑡 = 𝐶1 + 𝐶2𝑡 eλ𝑡
Velocity : 𝑥ሶ 𝑡 = 𝜆𝐶1 + 𝐶2 𝑒𝜆𝑡

UNDERDAMPED VIBRATIONS:
Description: In the underdamped case, the roots of the characteristic equation are complex conjugates,
indicating oscillatory behaviour with gradual decay. The system undergoes oscillations before settling.
Solution for Displacement : 𝑥 𝑡 = 𝑒𝛼𝑡(𝐶1 cos 𝛽𝑡 + 𝐶2 sin(𝛽𝑡))
Velocity : 𝑥ሶ 𝑡 = 𝑒𝛼𝑡(𝐶1 (𝛼cos 𝛽𝑡 − 𝛽 sin(𝛽𝑡)) + 𝐶2 (𝛼 sin 𝛽𝑡 + 𝛽 cos(𝛽𝑡)))
 Responses for all four types of system (or values of damping ratio) in viscous damping. All four systems have the same mass and
spring values, and have been given the same initial perturbations (initial position and initial velocity); this is apparent because they
start at the same y-intercept and have the same slope at x=0.
ANALYTICAL SOLUTION
• The analytical solution for free vibrations of a single-degree-of-freedom (SDOF) system with viscous
damping (c) can be expressed as : −
𝒄𝒕

𝒙 𝒕 = 𝒆 𝟐𝒎 (𝑨𝒄𝒐𝒔 𝝎𝒅𝒕 + 𝑩𝒔𝒊𝒏 𝝎𝒅𝒕 )

Where:
- x(t) is the displacement of the mass as a function of time t.
• -A and B are constants determined by initial conditions.
• c/2m​ is the damping ratio.
𝑘 𝑐 2
• ωd​ is the damped angular frequency, given by 𝜔𝑑 = −
𝑚 2𝑚

This equation describes how the displacement of the damped SDOF system changes over time due to the
effects of mass, viscous damping, and stiffness, considering initial
NUMERICAL SOLUTION
Central Difference Method:
Discretization of Equations of Motion:
• Starting with the equation of motion for a damped SDOF system : 𝑚𝑥ሷ + 𝑐 𝑥ሶ + 𝑘𝑥 = 0
We discretize the time variable t into equally spaced time steps ℎ: 𝑡𝑖 = 𝑡0 + 𝑖ℎ
Here, ti​ represents the time at each discrete step.

Central Difference Approximation for Velocity and Acceleration:

• To approximate the velocity and acceleration at each time step, we use the central difference
method. The central difference formulae are:
• Velocity :
• Acceleration :
Displacement Update:
• Using the approximated velocity and acceleration, we can update the displacement
2
at each time
ℎ
step using the following central difference scheme: 𝑥𝑖 + 1 = 2𝑥𝑖 − 𝑥𝑖 − 1 + (−𝑐 𝑥ሶ 𝑖 − 𝑘𝑥ሶ 𝑖)
𝑚
NUMERICAL V/S ANALYTICAL SOLUTION
USING MATLAB
USING SPREADSHEET

Here,
m = 1.0
k = 10.0 (N/m)
c = 0.5 (N-s/m)
tmax = 10.0
dt = 0.01
x0 = 1.0m
v0 = 0.0m/sec
SDOF WITH HARMONIC LOADING
1. Start with the Equation of Motion:

- m is the mass of the system.

- c is the damping coefficient.
- k is the stiffness of the system.
- F0 is the amplitude of the harmonic force.
- ω is the angular frequency of the force.

2. Assume Harmonic Response:

We assume that the response of the system is

also harmonic and can be expressed as: 𝑥 𝑡 = 𝑋𝑐𝑜𝑠(𝜔𝑡 + 𝜙)

Where:
- X is the amplitude of the displacement.
- ϕ is the phase angle of the displacement.
3. Velocity and Acceleration:

To find the velocity and acceleration, we differentiate the displacement equation with respect to
time: 𝑥ሶ 𝑡 = −𝑋𝜔 sin 𝜔𝑡 + 𝜙 𝑥ሷ 𝑡 = −𝑋𝜔2cos(𝜔𝑡 + 𝜙)

4. Substitute into the Equation of Motion:

Now, we substitute the expressions for displacement, velocity, and acceleration into the equation of
motion: 𝑚 −𝑋𝜔2 cos 𝜔𝑡 + 𝜙 + 𝑐 −𝑋𝜔 sin 𝜔𝑡 + 𝜙 + 𝑘 𝑋𝑐𝑜𝑠 𝜔𝑡 + 𝜙 = 𝐹0cos(𝜔𝑡)
6. Solve for Displacement Amplitude (X):
Equate the coefficients of cos(ω t + ϕ) on both sides : −𝑚𝑋𝜔2 + 𝑘𝑥 = 𝐹0
𝐹0
Solve for X : 𝑋 =
𝑘−𝑚𝜔2

7. Solving for Phase Angle (ϕ):

To determine the phase angle (ϕ), we'll consider the case where damping (c) is present (non-
zero): Equate the coefficients of sin(ω t + ϕ) on both sides: -cXω = 0, Since c and ω are non-
zero, this implies that X = 0 or sin(ω t + ϕ) = 0.
- If X = 0, it means there's no displacement response, which is not the case we're interested
in.
- Therefore, we focus on sin(ω t + ϕ) = 0.
Solve for ϕ when sin(ω t + ϕ) = 0 : ωt + ϕ = nπ here n is an integer

ϕ = nπ – ωt
𝐹0
𝑥 𝑡 = ccos 𝜔𝑡 + 𝜙
𝑘 − 𝑚𝑤2
𝐹0
𝑥ሶ 𝑡 = − 2
cωsin 𝜔𝑡 + 𝜙
𝑘 − 𝑚𝑤
8. Dynamic Magnification Factor (DMF):
The Dynamic Magnification Factor (DMF) is the ratio of the maximum displacement amplitude X to
the static displacement Xs due to a constant force :
𝑋 1
𝐷𝑀𝐹 = =
𝑋𝑆 𝜔2 𝜔 2
1 − 2 2 + 2𝜁
𝜔𝑛 𝜔𝑛

9. Energy Transfer:
The rate of energy transfer (P(t)) from the force to the SDOF system at any given time can be
expressed as : 𝑃 𝑡 = 𝐹(𝑡)𝑥(𝑡) ሶ

𝐹0
Substituting the expressions for F(t) and , we obtain : 𝑃 𝑡 = −𝐹0cos(𝜔𝑡) cωsin 𝜔𝑡 + 𝜙
𝑘−𝑚𝑤2

FURTHER READING.
ANALYTICAL SOLUTION
- Equation of Motion : 𝑚𝑥ሷ + 𝑐 𝑥ሶ + 𝑘𝑥 = 𝐹0cos(𝜔𝑡)

𝐹0
- Displacement: 𝑥 𝑡 = ccos 𝜔𝑡 + 𝜙
𝑘−𝑚𝑤2

𝐹0
- Velocity : 𝑥ሶ 𝑡 = − cωsin 𝜔𝑡 + 𝜙
𝑘−𝑚𝑤2

𝐹0 2
- Acceleration : 𝑥ሷ 𝑡 = − 2 cω cos 𝜔𝑡 + 𝜙
𝑘−𝑚𝑤

𝑋 1
- Dynamic Magnification Factor: 𝐷𝑀𝐹 = =
𝑋𝑆 𝜔2 𝜔 2
1 − 𝜔2 2 + 2𝜁 𝜔
𝑛 𝑛

- Resonance: Occurs when (ω = ωn), leading to significant displacement amplification.

- Phase Angle (ϕ): Depends on damping (c), influencing phase relationships between displacement and
force.
NUMERICAL SOLUTION
Central Difference Method:
The central difference method is a simple numerical method for solving second-order differential
equations. It approximates the acceleration using central differences, and then integrates to find
velocity and displacement.

Here are the steps for implementing it:

- Discretize time from 0 to T with a time step h.
- Initialize arrays to store time, displacement, velocity, and acceleration.
- Use the following iterative scheme for each time step:
- Calculate acceleration:
- Update velocity:
- Update displacement:
NUMERICAL V/S ANALYTICAL SOLUTION
USING MATLAB
USING SPREADSHEET
m = 1.0kg
k = 10.0N/m
c = 0.5N-s/m
tMAX = 10.0s
dt = 0.01sec
x0 = 1.0m
v0 = 0.0 m/sec
Harmonic load parameters:
F=2.0N
omega_force = 2.0rad/sec
WHAT IS A MULTIPLE DEGREE OF FREEDOM
SYSTEM?
• Definition: "A system in which a structure can move in multiple independent directions (degrees
of freedom) simultaneously."

An example of a MDOF system

Free body diagram of a 3 mass spring system with three Degrees of Freedom, u1 , u2 and u3
 Equations of motion:

This system of equations constitutes the stiffness formulation of the equations of motion for a
three-
story shear building. It may conveniently be written in matrix notation as:

where [M] and [K] are the mass and stiffness matrices,
The elements of the stiffness matrix are designated stiffness coefficients. In general, the stiffness
coefficient, kij is is defined as the force at coordinate i when a unit displacement is given at j, all other
coordinates being fixed For example, the coefficient in the second row and second column, k22 = k2 + k3,
is the force required at the second floor when a unit displacement is given to this floor.

The problem of free vibration requires that the force vector {F} be equal to zero
For free vibrations of the undamped structure, we seek solutions of the form:

where ai is the amplitude of motion of the ith coordinate and n is the number of degrees of freedom. The
equation in vector form is:

The substitution of this vector equation into our matrix equation gives us :

Simplifying it we get:
The solution of this equation is of two types trivial and non trivial , the trivial solution being ai = 0 with all
displacements being individually 0.
However we need the non trivial solution

In general, the expansion of the determinant results in a polynomial equation of degree n in which
should be satisfied for n values of .This polynomial is known as the characteristic
equation of the system. For each of these values of satisfying the characteristic equation we can
solve for a1, a2, . . ., an in terms of an arbitrary constant
 TWO MASS SPRING DAMPER SYSTEM SOLUTION

m1 = 2; m2 = 1; Mass(kg)
c1 =1 c2 = 2 Damping Coefficient
k1 = 20; k2 = 25; Stiffness
w = 1; Angular Velocity (rad/s)
F = 5;
 STUDY ON STRUCTURES
INCORPORATED WITH MR DAMPERS
(BASED ON PSO ALGORITHM)
BASED ON RESEARCH PAPERS BY –
Ying-Qing, Xie Wen-Han, Jing Xingjian , Frontiers in Materials Study on Structures Incorporated With MR Damping Material Based
on PSO Algorithm, VOLUME 6 ,YEAR 2019 https://www.frontiersin.org/articles/10.3389/fmats.2019.00037
DOI=10.3389/fmats.2019.00037 ISSN=2296-8016

 G. Yang a, B.F. Spencer Jr. a , J.D. Carlson b , M.K. Sain, Department of Civil Engineering and Geological Sciences, Large-scale MR fluid
dampers: modelling and dynamic performance considerations, University of Notre Dame, 156 Fitzpatrick Hall, Notre Dame, IN 46556,
USA b Lord Corporation, 110 Lord Drive, Cary, NC 27511, USA c Department of Electrical Engineering, University of Notre Dame, Notre
Dame, IN 46556, USA
ABOUT THE MR DAMPERS BEING USED:
• MR dampers are used for reducing the vibration or dynamic response of structures.
• The shear-valve type of MR damper is used in this study.
• The relationship between the force and displacement of the MR damper is given by Equation (3):
fdi = fc sgn[u˙(t)] + c0u˙(t)
• The frictional force (fc) is calculated as fc = 3LdApτy, where Ld is the effective length, Ap is the
cross-sectional area of the piston, and τy is the yielding shear stress.
• - The coefficient c0 represents the damping of the MR damper.
ABOUT THE MR DAMPERS BEING USED:
• - The dynamic equation for the controlled structure equipped with MR dampers is described in
the study.
• - The magnitude of the external magnetic field can be controlled by control currents (Ic), which
affects the yielding shear stress (τy).
• - The relationship between τy and Ic is given by Equation (2):
τy = A1e−Ic + A2 ln(Ic + e) + A3Ic
• - A1, A2, and A3 are coefficients of the MR damping material.
• - The shear stress (τ) in the MR damping material is related to the shear strain rate (˙γ) by
Equation (1): τ = τy sgn( ˙γ ) + η ˙γ
• - The MR damping material can change from a free-flowing liquid to a viscoelastic solid when
subjected to a magnetic field.
• - The yield stress of the MR damping material can be controlled by changing the intensity of the
magnetic field.
ABOUT THE MR DAMPERS BEING USED:
• - The control currents applied to MR dampers can be adjusted to effectively reduce the
displacement and acceleration responses of structures.
• - Various control algorithms have been developed for controlling the control currents of MR
dampers, including linear optimal controllers, acceleration feedback control methods, intelligent
neuro-fuzzy control strategies, and fuzzy control algorithms with neural network models.
• - The particle swarm optimization (PSO) algorithm is used in this study to control the
displacement and acceleration responses of structures equipped with MR dampers.
• - The PSO algorithm effectively reduces the displacement responses and to some extent, the
acceleration responses of the structure.
• - The PSO algorithm is more effective in reducing seismic responses compared to passive control
structures.
• - The PSO algorithm allows for the selection of appropriate control currents for MR dampers
based on a fitness function.
• - The PSO algorithm optimizes the control currents to achieve multi-objective control of the MR
intelligent structure.
ABOUT THE MR DAMPERS BEING USED:
IMPORTANT POINTS
1. The control current applied to MR dampers affects the yielding shear stress of the MR damping
material, which in turn affects the displacement and acceleration responses of the structure.
2. The magnitude of structural displacement responses is crucial for the safety of building
structures, while the acceleration responses are related to the destruction of internal
appendages, furniture, and the safety of people within the structure.
3. The PSO algorithm optimizes control currents for MR dampers to reduce both displacement
and acceleration responses simultaneously, ensuring structural stability and minimizing
damage.
4. Displacement control is more important than acceleration control in seismic control of
structures, as the weight of displacement is greater than that of acceleration in the fitness
function.
5. Balancing displacement and acceleration responses is essential for achieving both structural
safety and comfort, as excessive displacement can compromise stability, while excessive
acceleration can lead to discomfort and potential damage.
DYNAMIC EQUATION OF THE CONTROLLED
STRUCTURE
• MR dampers are installed between the chevron brace on each floor of the steel frame structure.
• The dynamic equation for the n-floor steel frame structure equipped with MR dampers can be
described as
Mx¨ + Cx˙ + Kx = −MIs¨e − Bfd
• M, C, and K are the mass, damping, and stiffness matrices of the steel frame structure,
respectively.
• x is an n-dimensional vector to represent the displacement response of each floor of the steel
frame structure relative to the ground.
• I is an n-dimensional column vector with 1 for each element.
• s¨e is the seismic acceleration.
• B is an n-dimensional vector to show the number of MR dampers installed on each floor of the
steel frame structure.
• fd is an n-dimensional vector of control forces generated by MR dampers at each floor.
WHAT IS PSO ALGORITHM?
• The PSO algorithm (Particle Swarm Optimization) is a computational optimization technique
inspired by the social behaviour of bird flocking and fish schooling.
• The PSO algorithm involves a group of particles that move through a problem space, searching for
the optimal solution.
• Each particle adjusts its position and velocity based on its own experience and the best solution
found by the group.
vij(t + 1) = vij(t) + c1 ∗ rand1( ) ∗ (pij(t) − zij(t)) + c2 ∗ rand2( ) ∗ (pij(t) − zij(t))
zij(t + 1) = zij(t) + vij(t + 1)
where the subscript j means the j-th dimension of the particle; the subscript i means the i-th
particle in the particle swarm; t is the t-th generation; c1 represents the cognitive learning
coefficient which is used to adjust the step of particle that flies toward the best location of itself; c2
represents the social learning coefficient which is used to adjust the step of a particle that flies
toward the global best position; rand1( ) and rand2( ) are two independent random functions within
the range of [0,1]
PSO ALGORITHM WITH CONSTRICTION
FACTOR
• The PSO algorithm with constriction factor was proposed by Clerc in 1999 and enhanced by
Eberhart and Shi in 2000.
• The velocity evolution equation of the PSO algorithm with constriction factor is given by
vij(t + 1) = k * (vij(t) + c1 ∗ rand1( ) ∗ (pij(t) − zij(t)) + c2 ∗ rand2( ) ∗ (pij(t) − zij(t))
where vij(t) is the current velocity of the i-th particle in the j-th dimension, pij(t) is the optimal
position experienced by the i-th particle, zij(t) is the current position of the i-th particle, c1 and c2 are
cognitive and social learning coefficients, and rand1() and rand2() are random functions within the
range of [0,1].
• The constriction factor k in the algorithm is calculated as
k = 2 / (|2 - ϕ - √(ϕ2 - 4ϕ)|), where ϕ = c1 + c2 and ϕ > 4.
• The constriction factor controls and constrains the flight speed of particles in the PSO algorithm.
• The PSO algorithm with constriction factor achieves a balance between global detection and
particle exploitation, ensuring convergence of the particle swarm algorithm.
PSO ALGORITHM DESIGN OF MR
INTELLIGENT STRUCTURE
• The PSO algorithm is a multi-objective optimal control method.
• The algorithm aims to control both the displacement and acceleration responses of the structure.
• The PSO algorithm selects control currents for MR dampers to achieve multi-objective control.
• The fitness function is defined to minimize the displacement and acceleration responses.
• The PSO algorithm with constriction factor is chosen for its effectiveness in controlling particle
movement.
• The termination condition of the PSO algorithm is based on meeting seismic requirements for
displacement and acceleration responses.
• The PSO algorithm ensures the safety of the structure and allows for rapid selection of control
currents for MR dampers.
DEFINITION OF FITNESS FUNCTION
• - In the PSO control of an MR intelligent structure, a multi-objective optimal control algorithm is
adopted.
• - The fitness function, also known as the objective function, is used to set the targets for
structural displacement and acceleration.
• - The fitness function is defined as F(t) = αf1(t) + βf2(t), where F(t) is the fitness function, α and β
are weighting coefficients, and f1(t) and f2(t) are the objective functions for displacement and
acceleration, respectively.
• - The objective function f1(t) represents the maximum displacement response of each floor, while
f2(t) represents the maximum acceleration response of each floor.
f1(t) = |xn|/Max(xn)
f2(t) = ((|x¨1|/Max(x¨1)) +(|x¨2|/Max(x¨2)) + · · · + (|x¨n|/Max(x¨n ))/n
DEFINITION OF FITNESS FUNCTION

• The weighting coefficients α and β determine the weight relationship between displacement and
acceleration in the fitness function.
• The seismic requirements and building codes determine the maximum allowable displacement
(Max(xn)) for each floor, which is used in the fitness function.
• The fitness function is designed to prioritize displacement control over acceleration control, as
displacement is considered more important for structural safety.
• The selection of the fitness function is reasonable and effective in reducing structural
displacement responses and to some extent, acceleration responses.
TERMINATION CONDITION SETTING OF PSO
ALGORITHM
• The termination condition of the PSO algorithm in the study is based on whether the structural
displacement response and acceleration response meet the seismic requirements and building
codes.
• When the displacement response and acceleration response are less than the preset maximum
value, the search for the optimal solution can be terminated.
• The termination condition ensures the safety of building structures and allows for the rapid
selection of the control current (or voltage) of the MR damper.
• The PSO algorithm terminates when the structural displacement response and acceleration
response meet the seismic requirements, indicating that the optimal solution has been found.
• The setting of the termination conditions in the PSO algorithm ensures the effectiveness of the
control and the achievement of the desired objectives.
DIFFERENT CONTROL METHODS USING
WHICH MR DAMPER IS USED
• ON state: Refers to the control method where the control current applied to the MR damper is set
at the maximum current level (2A).
• OFF state: Refers to the control method where the control current applied to the MR damper is
set at the minimum current level (0A).
• PSO state: Refers to the control method using the Particle Swarm Optimization (PSO) algorithm to
control the MR intelligent structure. It involves optimizing the displacement and acceleration
responses simultaneously using the PSO algorithm.
• Uncontrolled state: Refers to the state where no control method is applied to the MR damper,
and the structure is left uncontrolled.
NUMERICAL ANALYSIS
• Numerical analysis was conducted on a five-floor steel frame structure with one MR damper
installed on each floor.
• The parameters of the structure, such as mass, stiffness, and height, were determined.
• The PSO algorithm was chosen as the control method for the MR intelligent structure.
• The PSO algorithm with a constriction factor was used to control and constrain the movement of
particles.
• The termination condition of the PSO algorithm was set based on the displacement and
acceleration responses meeting seismic requirements.
• El Centro seismic waves and Taft seismic waves were selected as the earthquake excitations.
• The maximum displacement and acceleration responses of each floor were compared between
the PSO control structure, ON-control structure, OFF-control structure, and uncontrolled
structure.
NUMERICAL ANALYSIS

• The PSO algorithm effectively reduced the displacement responses of the structure and to some
extent, reduced the acceleration responses as well.
• The PSO algorithm was more effective in reducing seismic responses compared to passive control
structures.
• The selection of the fitness function in the PSO algorithm was reasonable and effective.
• The PSO algorithm showed effectiveness in reducing displacement and acceleration responses
under different seismic excitations.
RESULTS
• Table 1 compares the maximum displacement responses of each floor under the El-Centro seismic
excitation.
• The PSO algorithm achieved a maximum displacement of 7.8 mm for the first floor, 6.3 mm for
the second floor, and 8.1 mm for the third floor.
• The ON-control method had displacements of 4.9 mm, 5.2 mm, and 7.1 mm for the respective
floors.
• The OFF-control method had displacements of 14.6 mm, 8.5 mm, and 11.2 mm for the respective
floors.
• The uncontrolled structure had displacements of 16.8 mm, 12.6 mm, and 16.7 mm for the
respective floors.
• The PSO algorithm reduced the displacements by 25.80%, 21.15%, and 14.08% compared to the
uncontrolled structure for the respective floors.
RESULTS
• Table 2 compares the maximum acceleration responses of each floor under the El-Centro seismic
excitation.
• The PSO algorithm achieved a maximum acceleration of 1.66 m/s2 for the first floor, 1.93 m/s2 for
the second floor.
• The ON-control method had accelerations of 5.21 m/s2 and 7.25 m/s2 for the respective floors.
• The OFF-control method had accelerations of 2.83 m/s2 and 6.00 m/s2 for the respective floors.
• The uncontrolled structure had accelerations of 2.36 m/s2 and 15.25 m/s2 for the respective
floors.
• The PSO algorithm reduced the accelerations by 68.13% and 73.76% compared to the ON-control
method for the respective floors.
CONCLUSION
• These results indicate that the PSO algorithm effectively reduced both the displacement and
acceleration responses of the structure under the El-Centro seismic excitation. The reduction
rates achieved by the PSO algorithm are significant compared to other control methods,
demonstrating its effectiveness in mitigating seismic responses.
 NEURO-FUZZY CONTROL OF STRUCTURES
THROUGH MR DAMPERS

BASED ON RESEARCH PAPER BY –

 K. C. Schurter and P. N. Roschke, "Neuro-fuzzy control of structures using magnetorheological dampers," Proceedings of the 2001
American Control Conference. (Cat. No.01CH37148), Arlington, VA, USA, 2001, pp. 1097-1102 vol.2, doi:
10.1109/ACC.2001.945866
INTRODUCTION
● Vibration control of constructed facilities is crucial for maintaining structural integrity and serviceability.
● Semi-active control schemes, such as variable damping devices, offer a low-power alternative to active
control methods.

OBJECTIVES
Develop a fuzzy controller based on acceleration feedback to reduce vibration in seismically excited
buildings with MR dampers.
Compare the performance of the proposed semi-active control scheme with passive control strategies
using MR dampers.
THEORY AND STRUCTURE OF FUZZY CONTROLLER
● The fuzzy controller is based on the correlation between building acceleration and voltage applied to MR
dampers.
● The controller is designed using the adaptive neuro-fuzzy inference system (ANFIS) architecture.
● Steps for designing the fuzzy controller: target controller creation, integration with building and damper
model, data collection, fuzzy controller creation, and replacement of target controller.
ANFIS(ADAPTIVE NEURO-FUZZY INFERENCE
SYSTEM)
• ANFIS is a hybrid system that takes the best of both neural networks and fuzzy logic. It's often used in
control systems where the complexity of the process and the need for adaptability make traditional
control methods less effective. ANFIS can learn from data and optimize its fuzzy logic rules to make
more accurate and flexible decisions in dynamic and uncertain environments

TRAINING OF FUZZY CONTROLLER WITH ANFIS

● Data collection for training the fuzzy controller involves recording building acceleration and voltage
during seismic disturbances.
● ANFIS is used to establish the correlation between acceleration and voltage.
● Training continues until the error function is minimized, establishing the correlation and completing
the design of the fuzzy controller.
TARGET CONTROLLER
 The acceleration feedback fuzzy controller outlined here is based on a strategy of
mimicking an expert according to a design method known as expert control.
 Through a process of knowledge acquisition involving lengthy interviews with human
operators and numerical observation, a set of linguistic descriptors (membership
functions) and if-then rules are defined to construct a fuzzy inference system.
 The goal of this process is to create a fuzzy controller that closely emulates, and can
therefore replace, a human operator

Block diagram for control feedback loop

TRAINING OF FUZZY CONTROLLER WITH
ANFIS
 Data collection for training the fuzzy controller involves recording building
acceleration and voltage during seismic disturbances.
 ANFIS is used to establish the correlation between acceleration and voltage.
 Training continues until the error function is minimized, establishing the correlation
between voltage and building acceleration and completing the design of the fuzzy
controller.

Block diagram for control feedback loop

 Chung et al. (1998) show that while pure acceleration feedback control is typically
unsuccessful when only data for the current time-step are used, it "becomes feasible
when the feedback data is extended to cover accelerations of the previous time-steps."
Therefore, the fuzzy controller uses acceleration feedback data from the current time-
step ,and one past time-step with an optimal delay time

Control Surface for Fuzzy Controller

EVALUATION OF FUZZY CONTROLLER
● Numerical simulations are conducted using a single degree of freedom (DOF) building model and a multiple
DOF building model.
● Performance measures include interstory drift, lateral acceleration, and column base shear.
● Results show that the fuzzy controller is less effective than passive dampers for the single DOF model but
superior for the multiple DOF model in reducing lateral acceleration.
SDOF
Semi-active control is not an optimal control strategy for vibration reduction of a singleDOF building with an MR
damper. In a situation where no limitation exists on magnitude of the damping force, a passive system surpasses
performance of a semi-active system when the upper limit control force of the two systems is equal

MDOF
Overall, the passive-on strategy is the most successful form of control when all aspects of performance are
considered. The semi-active scheme dictated by the fizzy controller is optimum if reduction of normed
absolute acceleration is of most interest
CONCLUSION
● The fuzzy controller based on acceleration feedback is less effective than passive damping for a single
DOF building model.
● MR dampers with the fuzzy controller are superior to passive dampers for reducing lateral
acceleration in multiple DOF structures.
● The proposed control scheme offers practical benefits and potential for real-world implementation.
REFERENCES
 Ying-Qing, Xie Wen-Han, Jing Xingjian , Frontiers in Materials Study on Structures Incorporated With
MR Damping Material Based on PSO Algorithm, VOLUME 6 ,YEAR 2019
https://www.frontiersin.org/articles/10.3389/fmats.2019.00037 DOI=10.3389/fmats.2019.00037
ISSN=2296-8016

 G. Yang a, B.F. Spencer Jr. a , J.D. Carlson b , M.K. Sain, Department of Civil Engineering and
Geological Sciences, Large-scale MR fluid dampers: modelling and dynamic performance
considerations, University of Notre Dame, 156 Fitzpatrick Hall, Notre Dame, IN 46556, USA b Lord
Corporation, 110 Lord Drive, Cary, NC 27511, USA c Department of Electrical Engineering, University of
Notre Dame, Notre Dame, IN 46556, USA

 K. C. Schurter and P. N. Roschke, "Neuro-fuzzy control of structures using magnetorheological

dampers," Proceedings of the 2001 American Control Conference. (Cat. No.01CH37148), Arlington,
VA, USA, 2001, pp. 1097-1102 vol.2, doi: 10.1109/ACC.2001.945866.