Semiactive Damping of Stay Cables

Stay cables, such as are used in cable-stayed bridges, are prone to vibration due to their low inherent damping characteristics. Transversely attached passive viscous dampers have been implemented in many bridges to dampen such vibration. Several studies have investigated optimal passive linear viscous dampers; however, even the optimal passive device can only add a small amount of damping to the cable when attached a reasonable distance from the cable/deck anchorage. This paper investigates the potential for improved damping using semiactive devices. The equations of motion of the cable/damper system are derived using an assumed modes approach and a control-oriented model is developed. The control-oriented model is shown to be more accurate than other models and facilitates low-order control designs. The effectiveness of passive linear viscous dampers is reviewed. The response of a cable with passive, active, and semiactive dampers is studied. The response with a semiactive damper is found to be dramatically reduced compared to the optimal passive linear viscous damper for typical damper configurations, thus demonstrating the potential benefits using a semiactive damper for absorbing cable vibratory energy.     

Damping of Taut-Cable Systems: Effects of Linear Elastic Spring Support

The influence of linear elastic support on the damper effectiveness of a cable-damper system was investigated by modeling the system as a taut string, an intermediate damper, and a spring in series. Two types of damper were analyzed in this study: (1)?the linear elastic damper; and (2)?the friction threshold. An exact formulation for the free vibration of the system was developed for the linear viscous damping system, and a complex eigenfrequencies equation was worked to obtain the explicit solution for the frequency shift. A damping ratio equation for different modes, which depicts the effect of the spring, was developed from the frequency shift. An effective flexibility coefficient was introduced to investigate the effect of different values of support stiffness on the effectiveness of the linear viscous damper. A universal curve family diagram was constructed, which indicated that linear elastic support reduces the effectiveness of the linear viscous damper. The universal curve obtained previously by Main and Jones was a special case of this universal curve family for the case in which the stiffness of the support approached infinity. The equation of maximum force introduced to the spring was also derived and was shown to be positively related to the cable tension force and the cable vibration amplitude at the damper attachment location. The influence of the linear elastic support on a cable-damper system with a friction threshold was also investigated by using the result of the linear viscous damper and the equivalent energy method. The result showed that the linear elastic support also reduces the effectiveness of the friction threshold. An equation showing how to select an optimal friction threshold for a stay cable was also proposed.     

Cytokine induction of platelet activation

A three-dimensional, two-part model of the foot, for use in a simulation of human gait, is presented. Previous simulations of gait have not included the foot segment (e.g. Siegler et al., 1982, J. Biomechanics 15, 415-425) or have fastened it to the ground (e.g. Onyshko and Winter, 1980, J. Biomechanics 13, 361-368). A foot model based on viscoelastic elements (e.g. Meglan, 1991, Ph.D. thesis, Ohio State Univ.), allows more freedom of movement and thus models the physical system more closely. The current model was developed by running simulations of the foot in isolation from just before heel contact to just after toe-off. The driving inputs to the simulation were the resultant ankle joint forces and moments taken from a gait analysis. Nine linear, vertically oriented spring/damper systems, positioned along the midline of the foot were used to model the combined viscoelastic behaviour of the foot, shoe and floor. Associated with each vertical spring/damper system were two orthogonally placed, linear, horizontal dampers used to provide the shear components of the ground reaction force. Torques at the metatarsal-phalangeal joint were supplied by a linear, torsional spring and damper. Control about the vertical axis and the long axis of the foot was achieved by the use of linear, torsional dampers. The predicted kinetic and kinematic values are very similar to those taken from the gait analysis. The model represents an improvement over previous work because the transition from swing to stance was smooth and continuous without the foot being constrained to any specific trajectory.     

Isolation System for Vibration Control of Stay Cables

Rain-wind induced cable vibration can cause serious problems in cable-stayed bridges. Externally attached dampers have been used to provide an effective means to suppress the vibration of relatively short stay cables. For very long stay cables, however, such damper systems are rendered ineffective, as the dampers need be attached near the end of the cables for aesthetic reasons. This paper investigates a new stay-cable isolation system to mitigate the cable vibration. The proposed isolation system, which consists of a laminated rubber bearing and an internal damper, may be installed inside of the cable anchorage. A simple analytical model of the cable-damper system is developed first based on the taut string representation of the cable. The response of a cable with the proposed isolation system is obtained and then compared to those of the cable with and without an external passive damper. The proposed stay-cable isolation system is shown to perform better than the optimal passive viscous damper, thereby demonstrating its applicability in large cable-stayed bridges.     

Experimental Verification of Smart Cable Damping

Stay cables, such as are used in cable-stayed bridges, are prone to vibration due to their low inherent damping characteristics. Transversely attached passive viscous dampers have been implemented in many bridges to dampen such vibration. However, only minimal damping can be added if the attachment point is close to the bridge deck. For longer bridge cables, the relative attachment point becomes increasingly smaller, and passive damping may become insufficient. A recent analytical study by the authors demonstrated that “smart” semiactive damping can provide increased supplemental damping. This paper experimentally verifies a smart damping control strategy employing H2/linear quadratic Gaussian (LQG) clipped optimal control using only force and displacement measurements at the damper for an inclined flat-sag cable. A shear mode magnetorheological fluid damper is attached to a 12.65?m inclined flat-sag steel cable to reduce cable vibration. Cable response is seen to be substantially reduced by the smart damper.     

Stochastic Response of an Inclined Shallow Cable with Linear Viscous Dampers under Stochastic Excitation

Considering the coupling between the in-plane and out-of-plane vibration, the stochastic response of an inclined shallow cable with linear viscous dampers subjected to Gaussian white noise excitation is investigated in this paper. Selecting the static deflection shape due to a concentrated force at the dampers location and the first sine term as shape functions, a reduced four-degree-of-freedom system of nonlinear stochastic ordinary differential equations are derived to describe dynamic response of the cable. Since only polynomial-type terms are contained, the fourth-order cumulant-neglect closure together with the C-type Gram-Charlier expansion with a fourth-order closure are applied to obtain statistical moments, power spectral density and probabilistic density function of the cable response, whose availability is verified by Monte Carlo method. Taking a typical cable as an example, the influence of several factors, which include excitation level and direction as well as damper size, on the dynamic response of the cable is extensively investigated. It is found that the sum of mean square in-plane and out-of-plane displacement is primarily independent of the load direction when the excitation level and viscous coefficient of the damper are fixed. Moreover, the peak frequency and half-band width of the spectra of both the in-plane and the out-of-plane displacements are increasing with excitation level when the damper size is constant. It is also observed that, even though the actual optimal damper size is slightly greater than the one obtained by the complex modal theory, the difference of statistical moment of the cable caused by these two damper size is negligible, so the vibration reduction effect provided by the theoretical optimal viscous coefficient is satisfactory.     

Design of Mechanical Viscous Dampers for Stay Cables

External dampers have been utilized in a number of cable-stayed bridges to suppress transverse cable vibrations. However, simple and accurate damper design recommendations that concurrently consider all important cable parameters are lacking. Previous efforts have been based on the idealization of cables as taut strings. In this paper, the governing differential equation for vibration of cables containing a viscous damper was first converted to a complex eigenvalue problem containing nondimensional cable parameters. Then, a parametric study was conducted involving repeated solutions of the eigenvalue problem for a wide range of nondimensional parameters. Based on the results of the parametric study, the effects of dampers on first mode vibration frequencies and first mode cable damping ratios were presented in nondimensional format. It is shown that for the range of parameters involved in most stay cables, the influence of cable sag is insignificant, whereas the cable bending stiffness can have a significant influence on the resulting cable damping ratios. Simplified nondimensional relationships are proposed for calculating damper-induced changes in the first mode cable damping ratios. Results of laboratory tests on a scaled model cable are compared with the estimated values using the formulation presented. Finally, example problems are presented for comparison with other relationships, and for the design of mechanical viscous dampers for suppression of cable vibrations including rain-wind induced vibrations.     

Damping of Taut-Cable Systems: Two Dampers on a Single Stay

The mitigation of in-plane stay oscillation in cable-stayed bridges is commonly addressed by placing an external mechanical damper, linear or nonlinear, on each stay or by introducing transverse cross-ties among cables. Although the problem of a cable with a single external damper has found significant attention in the past and different techniques have been proposed for the solution of the free-vibration problem, limitations are related to the fact that the location of the damper is usually very close to the cable end (on the bridge deck side) due to geometric constraints, leading to inherently low modal damping in the fundamental modes. In this paper the installation of more than one damper on an individual stay is considered to overcome such limitations and to increase the overall performance of the system. An existing procedure, based on the linearized taut-string theory, was modified to allow for the presence of multiple external discrete viscous dampers. The case of two devices with arbitrary location has been solved, identifying advantages and disadvantages of the proposed solution. In addition, extensions of the practical “universal curve” and the interpretation thereof are presented.     

Evaluation of Viscous Dampers for Stay-Cable Vibration Mitigation

Many cable-stayed bridges around the world have displayed excessive and unanticipated vibrations of the main stays, often associated with the simultaneous occurrence of wind and rain, and mitigation of these vibrations has become a significant concern in cable-stayed bridge design and retrofit. Much of the previous research on this problem has been conducted using wind tunnels, and there have been relatively few opportunities to measure the vibrations at full-scale. This paper presents results from long-term field measurements of cable vibrations on a cable-stayed bridge in the United States. Characteristics of different types of measured vibrations are summarized, and the effectiveness of passive linear dampers in vibration suppression is evaluated by comparing response statistics from two stays before and after installation of dampers and by investigating in detail the damper performance in a few selected records corresponding to different types of excitation. The dampers are observed to be quite effective, but a fundamental limitation of mode-dependence in linear damper performance is emphasized, and some potential advantages offered by a nonlinear damper are discussed.     

Control of Seismically Excited Cable-Stayed Bridge Using Resetting Semiactive Stiffness Dampers

Cable-stayed bridges are prone to exhibit large amplitude oscillations because of their large flexibility, small mass, and small inherent damping. Hence, the reduction of seismic or wind-induced vibration of cable-stayed bridges is vital for their safety and serviceability. In this paper, a resetting semiactive stiffness damper (RSASD) is used to control the peak dynamic response of a recently developed benchmark problem on a cable-stayed bridge subject to earthquakes. The model of the benchmark cable-stayed bridge is based on the actual cable-stayed bridge that is under construction on Cape Girardeau, Mo. The prime aim of this study is to investigate the application of protective devices, such as semiactive and passive dampers, in reducing the displacement of the deck as well as base shear and moments at the base of the towers. In this research, the applications of the RSASD as well as passive viscous and fluid dampers to the benchmark bridge problem have been investigated. Numerical simulations are conducted by installing RSASD devices as well as passive viscous and friction dampers between the pier and the deck of the bridge. Numerical results clearly indicate that the displacement of the deck, and shear and moments at the base of the towers, are reduced substantially by installing these protective devices. In particular, energy dissipating capabilities and performance of the RSASD are quite remarkable. It is shown that the RSASD is quite effective in reducing peak response quantities of the bridge to a level similar to that of the sample active controller. A further reduction in response quantities can be achieved by using the RSASD in a combination of passive viscous dampers.     

Viscous Heating of Fluid Dampers under Small and Large Amplitude Motions: Experimental Studies and Parametric Modeling

This paper summarizes the results from a comprehensive experimental program in an effort to better understand the phenomenon of viscous heating of fluid dampers under small-stroke (wind loading) and large-stroke (earthquake loading) motions. Two dampers, one with 15-kip and one with 250-kip force output at peak design velocity, have been instrumented and tested under various amplitudes and frequencies. Temperature histories at different locations along the damper casing and within the silicon fluid that undergoes the shearing action have been recorded. Experimental data under small-stroke motions of the 250-kip damper showed that a single closed-form expression derived from first principles is capable of predicting the temperature rise at different locations of the damper with fidelity. The recorded data under long-stroke motions suggest a two-parameter law of cooling that allows the estimation of the internal temperature of the silicon oil once the external temperature on the damper casing is known. The presented cooling law is an extension of Newton’s law of cooling. The study concludes that for both dampers, the same values of the model parameters provide a good approximation of the cooling behavior. The study presents a valuable formula that can be used in practice to estimate the internal fluid temperature of the damper given the external shell temperature.     

Seismic Analysis of Structures with Viscoelastic Dampers

Viscoelastic dampers are being used in structures to mitigate dynamic effects. The models of varying complexities from simple maxwell element to differential models with fractional and complex order derivatives have been used to represent their frequency-dependent force deformation characteristics. More complex models are able to capture the frequency dependence of the material properties better, but are difficult to use in analyses. However, the classical models consisting of assemblies of Kelvin and/or Maxwell elements with an adequate number of parameters can be formed to capture the frequency dependence as accurately as the more sophisticated fractional derivative models can do. The main advantage in adopting these classical models is a simpler and smaller system of equations, which can be conveniently analyzed for nonlinear and linear systems. In this study, the two classical mechanical models consisting of Kelvin chains and Maxwell ladder are used. It is shown that these mechanical models are as effective as the fractional derivative model in capturing the effect of the frequency dependence of the material properties in response calculations and are more convenient to use in dynamic response analyses.     

Relating Damping to Soil Permeability

Published comparisons of complex moduli in dry and saturated soils have shown that viscous behavior is only evident when a sufficiently massive viscous fluid (like water) is present. That is, the loss tangent is frequency dependent for water saturated specimens, but nearly frequency independent for dry samples. While the Kelvin–Voigt (KV) representation of a soil captures the general viscous behavior using a dashpot, it fails to account for the possibly separate motions of the fluid and frame (there is only a single mass element). An alternative representation which separates the two masses, water and frame, is presented here. This Kelvin–Voigt–Maxwell–Biot (KVMB) model draws on elements of the long standing linear viscoelastic models in a way that connects the viscous damping to permeability and inertial mass coupling. A mathematical mapping between the KV and KVMB representations is derived and permits continued use of the KV model, while retaining an understanding of the separate mass motions.     

Free Vibrations of Taut Cable with Attached Damper. I: Linear Viscous Damper

Free vibrations of a taut cable with an attached linear viscous damper are investigated in detail using an analytical formulation of the complex eigenvalue problem. This problem is of considerable practical interest in the context of stay-cable vibration suppression in bridges. An expression for the eigenvalues is derived that is independent of the damper coefficient, giving the range of attainable modal damping ratios and corresponding oscillation frequencies in every mode for a given damper location without approximation. This formulation reveals the importance of damper-induced frequency shifts in characterizing the response of the system. New regimes of behavior are observed when these frequency shifts are large, as is the case in higher modes and for damper locations further from the end of the cable. For a damper located sufficiently near the antinode in a given mode, a regime of solutions is identified for which the damping approaches critical as the damper coefficient approaches a critical value. A regime diagram is developed to indicate the type of behavior in each mode for any given damper location.     

Dynamic Characteristics of Chilean Bridges with Seismic Protection

A new highway system is being constructed in Chile including many bridges. Due to the high seismic risk in the country, high damping rubber bearings, friction bearings, and passive energy dissipation devices have been considered in the design of the majority of the new moderate and large span bridges. Their design follows American Association of State Highway guidelines and technical specifications from the Chilean Ministry of Public Works. Experimental and analytical studies have been performed in three of these structures: (1) a 383 m long continuous beam bridge supported on high damping rubber bearings; (2) a 268 m long continuous beam bridge supported on friction bearing with additional viscous dampers; and (3) a five-span simply supported beam bridge resting on neoprene bearings. Predominant periods and damping characteristics for small amplitude vibrations have been determined from output-only nonparametric analyses. Comparison with standard analytical structural models indicates that the models normally used for analysis yield comparable predominant periods and mode shapes but the damping values typically recommended are larger than the ones observed from ambient vibrations, even when additional energy dissipation elements are present.     

Combined Damping Effect of Two Dampers on a Stay Cable

The combined effect of two dampers, either on the same end or opposite ends of a stay cable, is analytically studied in this paper. By considering small distances of the dampers from the anchorages, an asymptotic formula for the modal damping ratio of the cable is derived from which the total damping effect is presented in an explicit form. It is shown that when two dampers are installed at opposite ends of the cable, the total damping effect is asymptotically the sum of the contributions from single dampers. On the contrast, if two dampers are at the same end, there is no advantage of increasing the maximum modal damping in the cable over the use of a single damper.     

Earthquake Response of Elastic Single-Degree-of-Freedom Systems with Nonlinear Viscoelastic Dampers

Investigated are the steady-forced and earthquake responses of single-degree-of-freedom (SDF) systems with a nonlinear viscoelastic damper (VED), which consists of a nonlinear fluid viscous damper (FVD) connected in series to a linear elastic bracing element (chevron or inverted V-shaped braces). For a wide range of bracing stiffness, nonlinear dampers are advantageous because they achieve essentially the same reduction in system responses but with a significantly reduced force. Damper nonlinearity has little influence on the structural response in the velocity-sensitive region of the spectrum even if the bracing is fairly flexible, but differences up to 16% were observed in other spectral regions. As expected, supplemental damping reduces structural response and the response reduction depends on the bracing stiffness, with this dependence varying with the spectral regions. For practical applications, a procedure is presented to estimate the design values of structural deformation, structural force, foundation shear, and damper force directly from the earthquake design (or response) spectrum. Finally, a procedure is presented to determine the damper and bracing properties necessary to limit the structural deformation to some design value or to the structural capacity.     

Comparison between Shape Memory Alloy Seismic Restrainers and Other Bridge Retrofit Devices

Strong earthquakes can result in large longitudinal displacements in multiple-frame bridges. This could lead to excessive displacements/openings at the intermediate joints. Bridges with small seat widths are vulnerable to the unseating of their superstructure. Seismic steel restrainers are currently used to limit the joint openings in bridges. However, past earthquakes have shown that restrainer cables have limitations in regards to preventing unseating in bridges. Other devices have been proposed to limit joint displacements, including metallic dampers, viscoelastic dampers, and shape memory alloys (SMAs), which are known for their ability to recover their original shape after being deformed. A sensitivity study and a case study are conducted using computer simulations to compare the effectiveness of SMA retrofit devices with other devices. The results show that the effectiveness of the devices is a function of the characteristics of the bridge frames and the ground motion characteristics. In all cases, the steel restrainer cables were the least effective in limiting joint displacements. The SMA devices have the additional benefit of significantly limiting the residual joint displacement in bridges.     

Dynamic Modeling of Large-Scale Magnetorheological Damper Systems for Civil Engineering Applications

Magnetorheological (MR) dampers are one of the most promising new devices for structural vibration mitigation. Because of their mechanical simplicity, high dynamic range, low power requirements, large force capacity, and robustness, these devices have been shown to mesh well with earthquake and wind engineering application demands and constraints. Quasistatic models of MR dampers have been investigated by researchers. Although useful for damper design, these models are not sufficient to describe the MR damper behavior under dynamic loading. This paper presents a new dynamic model of the overall MR damper system which is comprised of two parts: (1) a dynamic model of the power supply and (2) a dynamic model of the MR damper. Because previous studies have demonstrated that a current-driven power supply can substantially reduce the MR damper response time, this study employs a current driver to power the MR damper. The operating principles of the current driver, and an appropriate dynamic model are provided. Subsequently, MR damper force response analysis is performed, and a phenomenological model based on the Bouc–Wen model is proposed to estimate the MR damper behavior under dynamic loading. This model accommodates the MR fluid stiction phenomenon, as well as fluid inertial and shear thinning effects. Compared with other types of models based on the Bouc–Wen model, the proposed model has been shown to be more effective, especially in describing the force rolloff in the low velocity region, force overshoots when velocity changes in sign, and two clockwise hysteresis loops at the velocity extremes.