control 604-11

هو االول واالخر والظاهر والباطن

Semi- active MR damper

AnG_604 _ 11/5/2014

Semi Active Control by using Magnetorheological Damper for

Structures

Apr 15, 2023

2

Supervisor : Dr. AkbarpourBy: Amin Nooryan


AnG_604 _ 11/5/2014

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INTRODUCTIONIn recent years, due to developments in design technology and material qualities in civil

engineering, the structures become more light and slender. his will cause the structures to be

subjected to severe structural vibrations when they are located in environments where

earthquakes or high winds occur

these vibrations may lead to serious structural damage and potential failure.

Structural sustainability can be achieved by adding a mechanical system that is installed in

the structure to reduce vibrations. he vibrations can be controlled by various means, such as

modifying rigidities, masses, damping, or shape, and by providing passive or active counter

forces

Structural control methods that can be used include passive control systems, active control

systems, and semiactive control systems

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Passive:

1. No need of external power source

2. Simple, in xpensive and reliable isolation

3. Inherent performance limitations

Active:

1. Control forces change with

excitation and response characteristics

2. Need of external energy source

3. Can supply and dissipate energy

Semi-active:1. Excellent

compromise between passive and active systems

2. Require low power for signal processing

3. Improved vibration isolation

Semi-active control device has stability and reliability of passive

and adaptability of active system.


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انواع مختلف تجهیزات کنترل نیمه فعال

طکاکیLترل اصLیزات کنLی تجهLیون لغزشLای ایزوالسLه هLا مولفLانبی و یLای جLد هLا دارای بادبنLاینه : LهLا بLآنهL زشLلغ LطکاکیLاص LریبLض .LدLکننL تهلک میLمس Lازه راLر سLه بLرژی واردLان LهLد کLنLباشL می

وسیله فشار سیال سوپاپ های پنومتتیک کنترل می شود.

کوزLیال ویسLیزات سLه تجهLتون بLک پیسLیله یLه وسLه بLتند کLدرولیکی هسLیلندر هیLک سLامل یLا شLاینه :دLو قسLمت LتقسLیم Lمی گLرددL. نLیروLی رفت و برگشLتی LپیسLتونL توسLط شLکافL انتهLاییL بLه رLوغن ، نLیروی پاLسLخ را بوLجLود می آLورد. نLیروی خLرLوجی توLسLط درچLه LهLای LکنLتLرلی کLهL دو سLمLت پیسLتون

را به هم متصل می نماید تنظیم می شود.

TMDS، وTLDS :امیکیLیات دینLخصوصTDMS ود. درLترل می شLارجی کنLان خLط جریLتوس TLDS طLول محLفظLه هیLدLرولیLکی توسLط تیغLه چرخLنLده قاLبLل تنظLیم، تعLیین مLی گLردد بLنLابرایLن فرکLانس

غلظتی سیال درون آن تغییر می یابد.

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انواع مختلف تجهیزات کنترل نیمه فعال

دهLخت کننLترل سLیزات کنLازه تجهLانس سLختی و از این رو فرکLه جهت تنظیم سLیزات بLاین تجه :مLورد اسLتفاده قLرار می گیرنLد. این مسLئله شLرایط تشLدید جدیLدی را در طی زلزلLه ایجLاد می توانLد بادبنLد هLای سLخت کننLده اضLافه شLونده ای هسLتند کLه می این تجهLیزات شLامل کنLد. درگLیری ایجLاد کنLد و یLا آزاد کنLد و می توانLد شLامل سLختی سLازه بشLود یLا نشLود.و بLه صLورت

کلی با استفاده از یک کنترل سیال در پیستون سوپاپ دار انجام می شود.

وژیکیLریول مLیراگر هLای مغناطیسLی- الکLتریکی- ریولLوژیکی/ یLک میراگر هLای اینهLا شLامل :سLیلندر هیLدرولیکی هسLتند کLه محتLوی سLیال دارای ذرات دی الکتریLک معلLق در آن می باشLند.

) بLا تغیLیر مقLاومت سLیال را افLزایش یLا کLاهش دادبLا وجLود این ذرات قطLبی در سLیال می تLوان در تسLلیم حLال در جامLد یLک جسLم بLه ثانیLهسLیال میلیLنیوم الکLتریکی- یLک هLای مLیراگر )

ریولLوژیکی هماننLد مLیراگر هLای مغناطیسLی- ریولLوژیکی دارای یLک آهن ربLای الکLتریکی در بLاالی پیستون می باشند که میدان مغناطیسی را سازمان می دهد.

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SEMIACTIVE CONTROL USING MR DAMPERS

Magnetorheological (MR) fluid dampers:

new class of semi-active control devices that utilize MR fluids to provide

controllable damping forces.

MR damper-based control strategies• Reliability of passive control devices

• Versatility and adaptability of fully active control system

Attractive features

• Bounded-input, bounded-output stability

• Small energy requirements

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SMART DAMPING TECHNOLOGY

Smart damping technology is a type of semi-active control that employs variable dampers, for example, variable orifice dampers

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A highmagnetic field

creates a nearly unyielding damper

filled with a semisolid fluid

while no magnetic field produces an

ordinaryviscous damper.

1. magnetorheological )MR( fluid dampers,

2. and electrorheological )ER( fluid dampers


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MAGNETO RHEOLOGICAL FLUID

A magneto rheological fluid (MR fluid) is a type of smart fluid in a carrier fluid,

usually a type of oil. When subjected to a magnetic field, the fluid greatly increases

its apparent viscosity, to the point of becoming a visco-elastic solid. Importantly, the

yield stress of the fluid when in its active ("on") state can be controlled very

accurately by varying the magnetic field intensity. The upshot of which is that the

fluid's ability to transmit force can be controlled with an electromagnet, which gives

rise to its many possible control-based applications.

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CHARACTERISTICS :

1. Under a strong magnetic field its viscosity can be increased by more than two orders of

magnitude in a very short time (milliseconds) Hence, very low response time.

2. The change in viscosity is continuous and highly reversible.

3. Yield strength of up to 50-100 kPa.

4. Insensitivity to contaminants.

5. Low voltage (12-24 V) required for operation.

6. Broad working temperature range : -40º C to 150º C.

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WORKING OF MR FLUID

The magnetic particles, which are typically micrometer or nanometer scale spheres or ellipsoids, are suspended within the carrier oil are distributed randomly and in suspension under normal circumstances, as below.

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http://en.wikipedia.org/wiki/File:Smart_fluid_off_state.jpg


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When a magnetic field is applied, however, the microscopic particles (usually in the 0.1–10 µm

range) align themselves along the lines of magnetic flux. When the fluid is contained between

two poles (typically of separation 0.5–2 mm in the majority of devices), the resulting chains of

particles restrict the movement of the fluid, perpendicular to the direction of flux, effectively

increasing its viscosity.

Importantly, mechanical properties of the fluid in its “on” state are anisotropic. Thus in

designing a magneto rheological (or MR) device, it is crucial to ensure that the lines of flux are

perpendicular to the direction of the motion to be restricted.

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http://en.wikipedia.org/wiki/File:Smart_fluid_on_state.jpg


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MAGNETO-RHEOLOGICAL )MR DAMPERS( MR fluid is composed of oil and varying percentages of iron particles that have been

coated with an anti-coagulant material

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Without Magnetic field With Magnetic field

The MR fluid inside MR dampers is a suspension of micrometer-sized magnetic particles in a

carrier fluid. Upon exposure to a magnetic field, the free-

flowing linear viscous MR fluid can change to a semi-solid with

controllable yield stress in milliseconds


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MODES OF OPERATION OF MR FLUID15

a. Valve mode

b. Shear mode

c. Squeeze mode


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SQUEEZE MODE (OR COMPRESSION MODE)

Squeeze mode has a thin film (on the order of 0.020 in.) of MR fluid that is sandwiched between paramagnetic pole surfaces as shown in Figure-

The distance between the parallel pole

plates changes, which causes a squeeze flow.

Suitable for relatively high dynamic forces

with small amplitudes (few mm).

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SHEAR MODEIt differs in operation from squeeze mode due to moving paramagnetic sliding or rotating

surfaces. It has thin layer( 0.015 in.) of MR fluid sandwiched between paramagnetic surfaces.

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1. Magnetic field is perpendicular to the direction of motion of these moving surfaces.

2. Examples of shear mode include clutches, brakes, chucking and locking devices, dampers and structural composites.

3. Suitable for relatively small force applications.


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VALVE MODEIt is the most widely used of three modes. Here the two reservoirs of MR fluid are used and

magnetic field is used to impede the flow of MR fluid from one reservoir to another. Here the flow can be achieved by pressure drop between reservoirs and flow resistance can be controlled by magnetic field.

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These devices generally operate in

the valve mode


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APPLICATIONS OF MAGNETO RHEOLOGICAL FLUID

Mechanical Engineering

Military and Defense

Optics

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motor damping, operator seat/cab damping in construction vehicles, and more

body armor, helicopters, and various other all-terrain vehicles employ dynamic MR shock

absorbers

Hubble Space Telescope's corrective lens


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Automotive and Aerospace

Human Prosthesis

seismic control

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shock absorbers of a vehicle's suspension

human prosthetic legs

Building

Frame

Bridge

Suspended bridge

Base isolation

resonant response

In the past decade, magnetorheological )MR( fluid and MR damping devices have been

extensively investigated. Among the various applications of MR fluid, MR dampers have gained considerable attentions in vibration control of civil and mechanical structures.


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A MR damper offers a highly reliable mechanism for response reduction at a modest cost, and is fail-safe because the damper becomes passive if the control

hardware breaks down


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DONGTING LAKE BRIDGE HAS NOW MR DAMPERS TO CONTROL WIND-INDUCED VIBRATION

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The results verify that the seismic response reduction experimental method is feasible and the good performance of seismic longitudinal response reduction of the

suspension bridge can be achieved by MR damper.


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GRIARDEAU, MISSOURI, USA24

636 m 570 m


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25hybrid base isolation

system with semi-active devices, like MR dampers

Passive high-damping devices incorporated within the isolation system can control large bearing displacements associated with pulse-like earthquake ground motions, but the beneficial effects of the base isolation system may be significantly reduced for both moderate and strong earthquakes due to the transfer of energy into higher modes which can result in increased inter story drift and floor acceleration responses


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To reduce the resonant response of high-speed railway

bridges, semi-active magnetorheological dampers

are proposed

a combination of a double-beam system and MR dampers is proposed in this work that permits installing the dampers closer to, and even at

the exact location of the main beam antinodes.


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LIMITATION

High density, due to presence of iron, makes them heavy. However,

operating volumes are small, so while this is a problem, it is not

insurmountable.

High-quality fluids are expensive.

Fluids are subject to thickening after prolonged use and need

replacing.

Settling of ferro-particles can be a problem for some application

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INSTALLATION OF CONVENTIONAL MR DAMPER

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• Requirement of external power, controller, sensors

• Complication of networks using many MR dampersfor large-scale structure

• Difficulties to install and maintain

؟


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Without Magnetic Fields

With Magnetic Fields

Without Magnetic Fields

With Magnetic Fields


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CONTROL STRATEGY FOR SEMIACTIVE CONTROL

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Control Law

MRDamper Structure

DecisionBlock

NominalController

f f

cf

fu

y

gx

dd x,x

One of the challenges in the application of the MR dampers is to

developan effective control strategy that

can fully exploit the capabilities of the MR dampers


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SEMI-ACTIVE CONTROL ALGORITHM

وریتمLد. الگLده انLه شLیر مطالعLیرایی متغیLاس مLر اسLال بLه فعLترل نیمLای کنLوریتم هLاغلب الگهای مختلفی برای انواع میراگر ها توسعه پیدا کرده اند که شامله:

bang-bang controlروش کنترل غیر متمرکز بنگ بنگ 1.

clipped-optimal controlکنترل بهینه کوتاه 2.

homogeneous friction controlکنترل مدل اصککاک همگن 3.

neural network controlکنترل نیمه فعال را بر اساس الگوریتم های عصبی 4.

Lyapunov theoryکنترل فازی پایداری لیاپونو 5.

fuzzy control theoryکنترل فازی 6.

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Another challenges in the application of the MR dampers is

using an appropriate control algorithm to determine the command

voltage of the MR damper

بجز روش پایداری لیاپونو سایر

الگوریتم های کنترل براساس

ریکاتی بنا شده اند، که در آنها از

حل ماتریس ریکاتی جهت بدست

آوردن نیروی کنترل بهینه استفاده

شده است


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NEW CONTROL ALGORITHMa new control algorithm to command an MR damper implemented:

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inspired by a quasi-bang-bang

controller

fuzzy logiccontroller

he proposed controller shows its capabilityin reducing all floors’ absolute accelerations as

well as inter story drifts, in addition to requiring a minimum control force.


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DYNAMIC MODELthe following assumptions are considered for a shear building model:

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Equation of Motion

Using Newton’s second law ofmotion, the equation of motion may be written as follows


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STATE-SPACE REPRESENTATION

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an order differential equation may be expressed by a first-order vector-matrix differentialequation as follows:


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THe approach is inspired by the quasi bang-bang controller; however, the proposed method gives weights to the output in a way that is similar to a fuzzy logic controller. In addition to commanding

the current driver of the MR damper with the values 0 )minimum voltage( and max )maximum

voltage(, the proposed controller makes use of the values in between. he control algorithm is

expressed as follows:

SEMI-ACTIVE CONTROL ALGORITHMS

the physical properties of the primary structure, as well asthe type of the excitation input )earthquake or wind(,


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AN APPLICATION EXAMPLE37

he input ground acceleration used in the current study is the one-dimensional component of the 1940 El Centro earthquake


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NUMERICAL EXAMPLE 38

In this section, a three-story shear type building structure employing an MR damper is presented. The goal is to evaluate the performance of the semi-active nonlinear fuzzy control system. A typical example of a building structure employing an MR damper is depicted in

In this building structure, a SD-1000 MR damper has been applied whose parameters are given in Table


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the force predicted by the model is given by

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1. Controller Based on Lyapunov Stability theory

2. Decentralized Bang-Bang Controller

3. Clipped-Optimal Controller4. Modulated Homogeneous Friction

Controller5. Maximum Energy Dissipation

Controller6. Quasi-Bang-Bang Controller


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40


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he input ground acceleration used in the current study is the one-dimensional component of the 1940 El Centro earthquake


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Table 1 lists the peak responses of the building model, when subjected to the north-south

component of the 1940 EL Centro earthquake signals. In the table, uncontrolled case means

that the MR damper was not implemented in the building model. Passive-of and passive-on

mean that the input voltage to the current driver of the MR damper is set to zero and to the

maximum value (max = 2.25 volt), respectively. It is shown that the MR damper with both

passive-of and passive-on control cases is capable of reducing the structural responses over

the uncontrolled case. The passive-on case is better than the passive-of case in reducing the

maximum displacements. However, the passive-of case is better than the passive-on case in

reducing the maximum absolute accelerations. he results of the uncontrolled, the passive-of,

and the passive-on cases are similar to those presented in.

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he results listed in Table 1 show that, for all the controllers presented, Lyapunov controller B and

the quasi-bangbang controller provide the best reduction in the maximum floor displacement

(Xn). Considering the maximum absolute acceleration of the passive-of case as a reference, the

Lyapunov controller B increased the response by 7.% while the quasi-bang-bang controller did

not show signiicant reduction. the decentralized bang-bang controller provides an excellent

reduction in the absolute floor accelerations; however, it is not able to reduce the displacements

over the passive-on case. the clipped-optimal control algorithm gives a high reduction in both

the inter-story drits and the maximum floor displacements; also, it gives a good reduction in the

maximum absolute accelerations. A time domain comparison among all the controllers used is

shown in Figure 8. the comparison shows the capability of the proposed controller in reducing

the absolute acceleration response over all the controllers presented in the literature.

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SECOND EXAMPLE47

Semi-active MR dampers for reducing response of high-speed railway bridges


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SEMI-ACTIVE MR DAMPERS FOR REDUCING RESPONSE OF HIGH-SPEED RAILWAY BRIDGES

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Jiang and Christenson )2010( proposed the use of MR dampers to reduce the dynamic response of existing highway bridges. Initial experimental tests to validate some simulations were performed. The results showed that the effectiveness of MR dampers was limited and the displacement response of the bridge was only reduced about 17%. This is due to the fact that the MR dampers were installed far from the antinodes of the controlled mode shapes and the control algorithm to drive the MR

dampers was not robust enough in this study.


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Therefore, in order to make MR dampers more effective

The Bouc–Wen


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TRAIN AND STRUCTURAL SYSTEM

the railway excitation has been simulated using a moving load model , and vehicle–structure inter action has been neglected.

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The auxiliary beams, which are connected to the main beams

through the MR dampers shown in Fig. are considered as steel box

girders with constant cross section inside which the dampers are to be

installed. The dimensions of the auxiliary beams are determined

based on guaranteeing the accomplishment of the

Serviceability Limit State of vertical acceleration of the main beams

)bridges(


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The Bouc–Wen model is based on a phenomenological model (Spencer etal.,1997), which is described by the following

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INVERSE MODEL OF MR DAMPER FOR CONTROL FORCE

An inverse model of MR dampers as one part of a damping force control scheme is a model that predicts a control input voltage signal for a given displacement, velocity and force. The predicted input voltage, which is input to MR dampers, is used to produce the desired force, which is the purpose of the control strategy.

In this section, the adaptive neuro-fuzzy inference system technology (ANFIS) as implemented in the Fuzzy Logic Toolbox in MATLAB is used to build the inverse model

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A FLOWCHART TO CALCULATE THE INPUT VOLTAGE SIGNALS

U)T(

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TIME HISTORIES OF DISPLACEMENTS AND THE CORRESPONDING POWER SPECTRAL DENSITIES )PSD(

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SHOWS A TIME HISTORY OF THE VOLTAGE AND THE CORRESPONDING POWER SPECTRAL DENSITY

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BEST RESULTS 57

Of the 40,000 original data

sets, 14,000 are used as

training data while the

remaining data is used for

evaluation purposes. After

several trials, the best results

as indicated in Fig. 7 obtained.


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58

Fig. 8 represents the control system defined, where wi and ui are the modal

external load and the modal control force, respectively; z0i is the controlled out put,

containing the parameters to be minimized; zci is the control force that is

refined by a filter Wci)s(; and yi is the measured data. The weighting function Wci

)s( is a low-pass filter )LPF(in order to improve the tracking ability of the

magneto-rheological dampers. This function concentrates the control force on a defined

frequency range.


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SIMULATION RESULTS AND DISCUSSION

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the results show that the maximum acceleration of the main beam is reduced about 66.64% when compared to the acceleration of the bare structure subjected to the train passage at the resonant speed of v=287.33km/h


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In order to evaluate the performance of the semi-active controller with MR dampers, three situations are considered in which the MR damper is employed in a passive-off, passive-on and semi - active mode

In the case of the passive-off mode, the voltage command to the MR dampers is set at 0 V and in the passive-on mode, it is set at the maximum voltage level (12 V)

Besides, the effectiveness of MR dampers is also clarified through the comparison with a hypothetical retrofit using one equivalent fluid viscous damper in the same configuration and using the same auxiliary beam

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These results show again the effectiveness of the active and semi-active dampers. Besides, it can be seen that the reduction of

acceleration is higher than that of displacements in the semi-active and active control cases.

Another interesting issue withdrawn from these results is that the forces applied by the MR damper operating in semi-active mode are always smaller than those corresponding to the damper operating in the passive-on mode with a maximum input voltage 12 V.

It is indicated that higher damping forces are not always associated

with better results.

10%


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65The vibrations are reduced by 70.01% for the maximum displacement response and by 72.21% for the acceleration


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CONCLUSIONSSemi-active control strategies combine active and passive control schemes and attempt to offer

the advantages of both systems with better performance

Semi-active control device has stability and reliability of passive and adaptability of active system

Structural property estimation, modeling errors and time- variant material properties, which lead to detuning, may affect the control effectiveness of MR dampers

Smart damping technology assumes the positive aspects of both passive and active control devices; it can provide increased performance over passive control without the concerns of energy and stability associated with active control

study shows that the MR damper is highly controllable in a manner that permits a designer to achieve different control objectives.

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SUGGESTION

very little study has been done with regard to the effect of non-uniform distribution of the dampers

no solution for the optimal arrangement was provided

found that the adaptive feature of a fuzzy controller has various advantages in the control of a building including a MR damper system

genetic algorithms (GA) as an optimization tool in designing control systems for the output voltage of MR dampers achieve enhanced seismic performance with economical efficiency

Further research is recommended to apply for the larger-scale building structures equipped with many MR dampers.

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The door is open for interested researchers to come up with new methodology


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REFERNCE1. A magnetorheological damper capable of force and displacement sensing K.H. Lama, Z.H. Chena, Y.Q. Nia, , ∗

H.L.W. Chanb, Sensors and Actuators A 158 (2010) 51–59,

2. An experimental study on using MR damper to mitigate longitudinal seismic response of a suspension bridge, Meng-Gang Yang a,n, Zheng-QingChen b, Xu-GangHua, Soil Dynamics and Earthquake Engineering 31 (2011) 1171–1181

3. Application of semi-active control strategies for seismic protection of buildings with MR dampers, Maryam Bitaraf, Osman E. Ozbulut, Stefan Hurlebaus , Luciana Barroso, Engineering Structures 32 (2010) 30403047

4. Hierarchical semi-active control of base-isolated structures using a new inverse model of magnetorheological dampers, Arash Bahar a, Francesc Pozo b,*, Leonardo Acho b, José Rodellar a, Alex Barbat, Computers and Structures 88 (2010) 483–496

5. Optimal control of structural vibrations using a mixed-mode magnetorheological fluid mount, Seung-Bok Choi, Sung-Ryong Hong, Kum-Gil Sung, Jung-Woo Sohn, International Journal of Mechanical Sciences 50 (2008) 559–568

6. Optimal control of structures with semiactive tuned mass dampers, U. Aldemir, Journal of Sound and Vibration 266 (2003) 847–874

7. Optimal design of semi active control for adjacent buildings connected by MR damper based on integrated fuzzy logic and multi-objective genetic algorithm, Mehmet E. Uz, Muhammad N.S. Hadi, Engineering Structures 69 (2014) 135–148

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M.D.Martinez-Rodrigo b, V.Zabel a, C.Könke, Control EngineeringPractice32(2014)147–160

9. Semiactive nonlinear control of a building with a magnetorheological damper system, YeesockKim a, RezaLangari b, StefanHurlebaus , Mechanical Systems and Signal Processing 23 (2009) 300–315

10. Vibration Control of Buildings Using Magnetorheological Damper: A New Control Algorithm, AlyMousaad Aly, Hindawi Publishing Corporation Journal of Engineering Volume 2013, Article ID 596078, 10 pages http://dx.doi.org/10.1155/2013/596078

11. Fuzzy-PID Controller for Semi-Active Vibration Control Using Magnetorheological Fluid Damper, Banna Kasemi *, Asan G. A. Muthalif , M. Mahbubur Rashid, Sharmila Fathima, Procedia Engineering 41 ( 2012 ) 1221 – 1227

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14. Increasing Resilience in Civil Structures Using Smart Damping Technology Zhaoshuo Jiang, Ph.D. University of Connecticut, 2012, Submitted in Partial Fulfillment of the Requirements for the Degree of Doctor of Philosophy at the University of Connecticut

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distributed sensing, N.K. Chandiramani and S.P. Purohit, ∗ Shock and Vibration 19 (2012) 1427–1443

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18. Civil Engineering Applications of Vibration Control (Structural Control) Naresh K. Chandiramani, Associate Professor Room 141, Dept. of Civil Engineering

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