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.     

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.     

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.     

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.     

Sliding Mode Control of Cable-Stayed Bridge Subjected to Seismic Excitation

The working group on bridge control within the ASCE Committee on Structural Control recently initiated a first-generation benchmark problem addressing the control of a cable-stayed bridge subjected to seismic excitation. Previous research examined the applicability of a LQG-based semiactive control system using magnetorheological (MR) dampers to reduce the structural response of the benchmark bridge and confirmed the capability of the MR damper-based system for seismic response reduction. In this paper, sliding mode control (SMC) is applied in lieu of the LQG formulation to the benchmark bridge problem. The performance and robustness of the SMC-based semiactive control system using MR dampers (SMC/MR) is investigated through a series of numerical simulations, and it is confirmed that SMC/MR can be very effectively applied to the benchmark cable-stayed bridge, subjected to a wide range of seismic loading conditions.     

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.     

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.     

Performance and Repair Design of Stay Cables with Rain/Wind-Induced Vibrations

The results of a multifaceted investigation into large-amplitude vibrations of bridge stay cables are presented. The vibration of the stay cables occurred under light rain and wind conditions, and resulted in low-frequency, large-amplitude oscillations having recorded displacements of over 24?in. (0.6?m). Due to concerns about the implications of the vibrations on the integrity and durability of the stay cables and observed damage to stay-cable anchorage components, an investigation and repair program was developed. The final repair program arose from an investigation that combined the talents of practicing engineers, the Texas Department of Transportation, and representatives from four universities. Ultimately, a combination of supplemental hydraulic dampers and cable restrainers were used to mitigate the vibrations. This paper describes the results of the investigation and presents the practice-based methodology used to develop the implemented repair program.     

Implementation of Modal Control for Seismically Excited Structures using Magnetorheological Dampers

This paper proposes an implementation of modal control for seismically excited structures using magnetorheological (MR) dampers. Many control algorithms such as clipped-optimal control, decentralized bang-bang control, and the control algorithms based on Lyapunov stability theory have been adopted for semiactive systems including MR dampers. In spite of good features, some algorithms have drawbacks such as poor performance or difficulties in designing the weighting matrix of the controller. However, modal control reshapes the motion of a structure by merely controlling a few selected vibration modes. Hence a modal control scheme is more convenient to design the controller than other control algorithms. Although modal control has been investigated for several decades, its potential for semiactive control, especially for the MR damper, has not been exploited. Thus, in order to study the effectiveness for a MR damper system, a modal control scheme is implemented to seismically excited structures. A Kalman filter is included in a control scheme to estimate modal states from measurements by sensors. Three cases of the structural measurement are considered by a Kalman filter to verify the effect of each measurement; displacement, velocity, and acceleration, respectively. Moreover, a low-pass filter is applied to eliminate the spillover problem. In a numerical example, a six-story building model with the MR dampers on the bottom two floors is used to verify the proposed modal control scheme. The El Centro earthquake is used to excite the system, and the reduction in the drifts, accelerations, and relative displacements throughout the structure is examined. The performance of the proposed modal control scheme is compared with that of other control algorithms previously studied. The numerical results indicate that the motion of the structure is effectively suppressed by merely controlling a few lowest modes, although resulting responses varied greatly depending on the choice of measurements available and weightings.     

Dynamic Behavior of Stay Cables with Rotational Dampers

Vibration reduction in stay cables by means of viscous dampers is of great interest in cable damage prevention and serviceability of structural system supported by such cables. The paper presents a study on the effectiveness, as well as the limits, of rotational viscous dampers and springs inserted at the two ends of a bending-stiff taut cable; influence of rotational stiffness of the springs is also investigated. After a nondimensional expression of the equation of motion has been obtained, as in other cases of nonproportionally damped continuous structures, complex modal analysis is pursued, obtaining complex eigenvalues and eigenfunctions. Comparison with intermediate dampers, widely used in bridge engineering, is performed showing the range of nondimensional parameters for which the proposed approach is of interest. Finally, a numerical technique based on complex mode superposition is presented in order to evaluate time domain responses for transversal distributed excitation. As an example, the procedure is applied to a wind-exposed cable.     

Control of Wind-Induced Self-Excited Oscillations by Transfer of Internal Energy to Higher Modes of Vibration. I: Analysis in Two Degrees of Freedom

This paper and its companion paper present a new remedy to control wind-induced self-excited oscillation of long and flexible structures with low-internal damping, such as stay cables in cable-stayed bridges. A simple magnetic or mechanical device is used to disturb the cable motion in the lower modes of vibration and thus to transfer a portion of the internal energy of the system from the lower modes to higher modes. Because higher modes generally have high-positive aerodynamic damping when lower modes are excited by wind, the transferred energy is dissipated during the decay of high-frequency vibration. The present paper aims at capturing the fundamentals of energy transfer and dissipation through a detailed theoretical analysis based on a simplified model: A two-degree-of-freedom system with galloping-type self-exciting wind forces. The efficiency to reduce the amplitude of oscillation with a passive device and two types of semiactive devices is demonstrated using energy considerations. Results of numerical simulations are also presented.     

Vibration of Tensioned Beams with Intermediate Damper. II: Damper near a Support

Analytical solutions are used to investigate the free vibrations of tensioned beams with a viscous damper attached transversely near a support. This problem is of particular relevance for stay-cable vibration suppression, but no restrictions on the level of axial load are introduced, and the results are quite broadly applicable. Characteristic equations for both clamped and pinned supports are rearranged into forms suitable for numerical solution by fixed-point iteration, whereby the complex eigenfrequencies and corresponding damping ratios can be accurately computed within a few iterations. Explicit asymptotic approximations for the complex eigenfrequencies are also obtained, subject to restrictions on the closeness of the eigenfrequencies to their undamped values. These asymptotic approximations are expressed in the same “universal” form identified in previous studies. It is observed that the maximum attainable modal damping ratios and the corresponding optimal values of the damper coefficient can be significantly affected by bending stiffness and by the nature of the support conditions, and a nondimensional parameter grouping is identified that enables an assessment of when bending stiffness should be considered.     

Nontarget Image-Based Technique for Small Cable Vibration Measurement

In this paper, a proof-of-concept image-based technique is proposed for measuring small cable vibration. The technique analyzes an image sequence of a vibrating cable segment captured by a camera. An optical flow method is used to calculate variation of optical intensity of an arbitrary selected region of interest (ROI) on the cable image sequence. The obtained optical flow vector provides the direction of vibration for the ROI on the cable segment, which then can be used to estimate displacement of the ROI on the image plane. Furthermore, actual displacement of the ROI can be extracted when some conditions are met. The proposed technique is validated both in the laboratory using a rigid pipe and in the field on a small pedestrian bridge cable. Results show that the technique is able to measure the pipe motion and the cable vibration accurately. The proposed technique requires only one commercial camera, and no prior camera calibration is needed. In addition, the use of an optical flow method eliminates the need to attach any target to the cable and makes the technique very easy to implement. Despite these advantages, the technique still needs further development before it can be applied to long-span bridge cables.     

Cable Erection Test at Splay Band for Spatial Suspension Bridge

The Yongjong Grand Bridge includes a self-anchored suspension bridge with inclined cable planes. The bridge uses splay bands (cable collars) to flare the main cables at the anchorage, which is located at the end of a stiffening truss. During cable erection, some of the wires at the splay band were expected to experience lateral displacement and/or lift phenomena because of the large flare angles at the splay band. Mockup cable erection tests at the anchorage were carried out to find the degree of displacement of the wires and to determine appropriate measures to deal with these problems. Through these tests, methods to arrange wires at the splay bands were devised and tried, and the selected method was successfully used for the actual bridge.     

Finite-Element Analysis and Vibration Testing of a Two-Span Masonry Arch Bridge

This paper presents the analytical modeling, modal testing, and finite-element model updating for a two-span masonry arch bridge. An Ottoman masonry arch bridge built in the 19th century and located at Camlihemsin, Rize, Turkey is selected as an example. Analytical modal analysis is performed on the developed 3D finite-element model of the bridge to obtain dynamic characteristics. The ambient vibration tests are conducted under natural excitation such as human walking. The operational modal analysis is carried out using peak picking method in the frequency domain and stochastic subspace identification method in the time domain, and dynamic characteristics (natural frequencies, mode shapes, and damping ratios) are determined experimentally. Finite-element model of the bridge is updated to minimize the differences between analytically and experimentally estimated dynamic characteristics by changing boundary conditions. At the end of the study, maximum differences in the natural frequencies are reduced on average from 18 to 7% and a good agreement is found between analytical and experimental dynamic characteristics after finite-element model updating.     

Control of Suspension Bridge Nonlinear Vibrations due to Moving Loads

The flexibility and low damping of the long-span suspended cables in the suspension bridges make them prone to vibrations due to wind and moving loads, which affect the dynamic response of the suspended cables and the bridge deck. This paper shows the design of two control schemes to control the nonlinear vibrations in the suspended cable and the bridge deck due to a vertical load moving on the bridge deck with a constant speed. The first control scheme is an optimal state feedback controller. The second control scheme is a robust state feedback controller, whose design is based on the design of optimal controllers. The proposed controllers, whose design is based on Lyapunov theory, guarantee the asymptotic stability of the system. A vertical cable between the bridge deck and the suspended cable is used to install a hydraulic actuator able to generate the active control force on the bridge deck. The MATLAB software is used to simulate the performance of the system with the designed controllers. The simulation results indicate that the proposed controllers are capable of significantly reducing the nonlinear oscillations of the system. In addition, the performance of the system with the proposed controllers is compared to the performance of the system controlled with a velocity feedback controller. It is found that the system with the proposed controllers can provide better performance than the system with the velocity feedback controller.     

Probabilistic Strength Estimates and Reliability of Damaged Parallel Wire Cables

Cable reliability analysis involves the combined evaluation of cable capacity and cable load in a probabilistic manner. Assessment of cable capacity is only possible through visual inspections of the wires, field sampling, laboratory analysis of the degraded wire populations, and analytical techniques. In addition to a brief presentation of cable mechanics and deterministic models that approximate cable strength, this paper discusses inspection methodologies and statistical methods of estimation of the sizes of the degraded wire populations, and wire properties, leading to cable capacities. These capacities are described by probability distributions. The paper also discusses fundamentals of reliability analysis as they apply to bridge cables. Load criteria of present standard specifications (such as AASHTO or other international codes) are not applicable to long-span suspension bridges. The paper discusses criteria of bridge loading and reliability indices for bridge cables. More work is needed in the evaluation of loading for long-span bridges.     

Challenges in the Application of Stochastic Modal Identification Methods to a Cable-Stayed Bridge

This paper presents an analysis of the data collected in the ambient vibration test of the International Guadiana cable-stayed Bridge, which links Portugal and Spain, based on different output-only identification techniques: peak-picking, frequency domain decomposition, covariance-driven stochastic subspace identification, and data-driven stochastic subspace identification. The purpose of the analysis is to compare the performance of the four techniques and evaluate their efficiency in dealing with specific challenges involved in the modal identification of the tested cable-stayed bridge, namely the existence of closely spaced modes, the perturbation produced by the local vibration of stay-cables, and the variation of modal damping coefficients with wind velocity. The identified natural frequencies and mode shapes are compared with the corresponding modal parameters provided by a previously developed numerical model. Additionally, the variability of some modal damping coefficients is related with the variation of the wind characteristics and associated with a component of aerodynamic damping.     

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.     

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.