Free Vibrations of Taut Cable with Attached Damper. II: Nonlinear Damper

Free vibrations of a taut cable with a nonlinear power-law damper attached near the end are considered. An approximate analytical solution for the amplitude-dependent effective damping ratios in each mode is developed by assuming the same form of solution as for the linear damper and minimizing the mean-square error in the force equilibrium at the damper. An asymptotic approximate solution for small frequency shifts reveals a nondimensional grouping of parameters allowing the development of an amplitude-dependent “universal estimation curve” for the power-law damper. The shape of the universal curve is slightly different for each value of the damper exponent, but for a given exponent the curve is nearly invariant over the same range of parameters as the universal curve for the linear damper. This formulation yields insights into the dependence of nonlinear damper performance on mode number and amplitude of oscillation, suggesting potential advantages that may be offered by a nonlinear damper over a traditional linear damper.     

Vibration of Tensioned Beams with Intermediate Damper. I: Formulation, Influence of Damper Location

Exact analytical solutions are formulated for free vibrations of tensioned beams with an intermediate viscous damper. The dynamic stiffness method is used in the problem formulation, and characteristic equations are obtained for both clamped and pinned supports. The complex eigenfrequencies form loci in the complex plane that originate at the undamped eigenfrequencies and terminate at the eigenfrequencies of the fully locked system, in which the damper acts as an intermediate pin support. The fully locked eigenfrequencies exhibit “curve veering,” in which adjacent eigenfrequencies approach and then veer apart as the damper passes a node of an undamped mode shape. Consideration of the evolution of the eigenfrequency loci with varying damper location reveals three distinct regimes of behavior, which prevail from the taut-string limit to the case of a beam without tension. The second regime corresponds to damper locations near the first antinode of a given undamped mode shape; in this regime, the loci bend backwards to intersect the imaginary axis, and two distinct nonoscillatory decaying solutions emerge when the damper coefficient exceeds a critical value.     

Analytical Study on Bending Effects in a Stay Cable with a Damper

The effects of bending on the modal properties of a stay cable with a transverse damper are analytically studied. Considering that the value of the flexural rigidity in the stay cable is small in practice, an explicit asymptotic formula for the modal damping of a cable with a general type of damper is derived. For a viscous damper, the asymptotic formula obtained is compact, accurate, and thus is very suitable for practical design. Furthermore, for the first few vibration modes of interest, the asymptotic solution is independent of the modal index. It is shown that flexure in the cable reduces the maximum attainable modal damping, possibly up to 20%, while it significantly increases the optimal damping coefficient of the damper.     

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: 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.     

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.     

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 Cables by a Transverse Force

A general asymptotic format is presented for the effect on the modal vibrations of a transverse damper close to the end of a cable. Complete locking of the damper leads to an increase of the natural frequencies, and it is demonstrated that the maximum attainable damping is a certain fraction of the relative frequency increase, depending on the type of damping device. The asymptotic format only includes a real and a complex nondimensional parameter, and it is demonstrated how these parameters can be determined from the frequency increase by locking and from an energy balance on the undamped natural vibration modes. It is shown how the asymptotic format can incorporate sag of the cable, and specific results are presented for viscous damping, the effect of stiffness and mass, fractional viscous damping, and a nonlinear viscous damper. The relation of the stiffness component to active and semiactive damping is discussed.     

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.     

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.     

Protecting Base-Isolated Structures from Near-Field Ground Motion by Tuned Interaction Damper

This paper deals with the combined use of a low-damping base-isolation system and a semiactive control system referred to as a tuned interaction damper (TI damper). The TI damper generates friction-type forces (rigid-plastic behavior) through interactions between the primary isolated structure and an auxiliary structure. Because of its energy-dissipation nature, a base-isolated structure controlled by a TI damper is inherently stable, and as a semiactive control device, its operation requires only minimal external power. The efficacy of the proposed hybrid system is examined through a numerical simulation for a five-story scaled building subjected to near-field ground motions. A sensitivity analysis on the parameter dependence of the structural response on control force limit, stiffness ratio, and frequency ratio is presented. By tuning these parameters to optimal values, the performance of the base-isolated structure equipped with a TI damper can be enhanced. Based on the numerical simulation results, it is concluded that a TI damper is capable of suppressing the base drift of base-isolated structures subjected to near-field earthquake ground motions while maintaining the superstructure interstory drift and accelerations at small levels.     

Wind Response Control of Building with Variable Stiffness Tuned Mass Damper Using Empirical Mode Decomposition/Hilbert Transform

The effectiveness of a novel semiactive variable stiffness-tuned mass damper (SAIVS-TMD) for the response control of a wind-excited tall benchmark building is investigated in this study. The benchmark building considered is a proposed 76-story concrete office tower in Melbourne, Australia. It is a slender building 306 m tall with a height to width ratio of 7.3; hence, it is wind sensitive. Across wind load data from wind tunnel tests are used in the present study. The objective of this study is to evaluate the new SAIVS-TMD system, that has the distinct advantage of continuously retuning its frequency due to real time control and is robust to changes in building stiffness and damping. In comparison, the passive tuned mass damper (TMD) can only be tuned to a fixed frequency. A time varying analytical model of the tall building with the SAIVS-TMD is developed. The frequency tuning of the SAIVS-TMD is achieved based on empirical mode decomposition and Hilbert transform instantaneous frequency algorithm developed by the writers. It is shown that the SAIVS-TMD can reduce the structural response substantially, when compared to the uncontrolled case, and it can reduce the response further when compared to the case with TMD. Additionally, it is shown the SAIVS-TMD reduces response even when the building stiffness changes by ±15% and is robust; whereas, the TMD loses its effectiveness under such building stiffness variations. It is also shown that SAIVS-TMD can reduce the response similar to an active TMD; however, with an order of magnitude less power consumption.     

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.     

Application of a Genetic Algorithm for Optimal Damper Distribution within the Nonlinear Seismic Benchmark Building

This paper presents a systematic method for identifying the optimal damper distribution to control the seismic response of a 20-story benchmark building. A genetic algorithm with integer representation was used to determine the damper locations. Both H2- and H∞-norms of the linear system transfer function were utilized as the objective functions. Moreover, frequency weighting was incorporated into the objective functions so that the genetic algorithm emphasized minimization of the response in the second mode of vibration instead of the dominant first mode. The results from numerical simulations of the nonlinear benchmark building show that, depending on the objective function used, the optimal damper locations can vary significantly. However, most of dampers tend to be concentrated in the lowermost and uppermost stories. In general, the damper configurations evaluated herein performed well in terms of reducing the seismic response of the benchmark building in comparison to the uncontrolled building.     

Feasibility Test of Adaptive Passive Control System Using MR Fluid Damper with Electromagnetic Induction Part

This paper experimentally investigates the feasibility of an adaptive passive control system, which consists of a magnetorheological (MR) fluid damper and an electromagnetic induction (EMI) part, for suppressing vibration of building structures subjected to ground accelerations. In the adaptive passive control system, the EMI part composed of a permanent magnet and a coil convert the kinetic energy of the relative motion between a building and a damper into the electric energy, which is used for a change in damping characteristics of the MR fluid damper. Since the EMI part can be used as a controller, which determines the command voltage input according to structural responses as well as a power source, the adaptive passive system can be much more compact, convenient, and economic than a conventional active/semiactive system that needs a power supply, a controller, and sensors. To experimentally verify the feasibility of the adaptive passive control system, a shaking table test of a small-scale building model employing the MR fluid damper with the EMI part is conducted. The performance of the adaptive passive control system is compared with that of passively operated MR fluid damper-based semiactive control systems.     

Review of Methods for Analyzing Constrained‐Layer Damped Structures

This paper reviews and examines different numerical approaches for modeling and analyzing the behavior of structures having constrained‐layer damping. Specific topics that are addressed included: modeling of the material behavior, implementation of structural damping and constrained‐layer damping into two‐ and three‐dimensional finite elements, and assessment of the different analysis methods for calculating the damped response and estimation of the damping level in the structure. Two numerical studies are presented that reveal the accuracy limits of the different finite‐element modeling approaches for additive and integrally damped plate‐type structures. It was observed that an assembly of plate and solid elements will accurately predict both the natural frequencies and loss factors, whereas equivalent solid elements and equivalent plate‐element approaches poorly predict the natural frequency and incorrectly predict the loss factor. The assembled plate/solid elements are accurate up to an aspect ratio of 125 for the solid elements. Above this aspect ratio valve, the frequency predictions are acceptable, but the damping (loss factor) predictions are usually poor.     

Performance of Tuned Liquid Dampers

This paper investigates the performance of unidirectional and bidirectional tuned liquid dampers (TLDs) under random excitation. The performance of the tuned liquid dampers is measured in terms of efficiency and robustness. A series of experimental tests are conducted on model scale structure-tuned liquid damper systems to evaluate their performance, which is then compared to that of the well known tuned mass damper. The effective damping is calculated for each test conducted and the efficiency and robustness are subsequently examined. The performance of a mistuned TLD is experimentally investigated to highlight the robustness of these passive dynamic vibration absorbers. A nonlinear numerical model is used to conduct an extensive parametric study on the performance of a tuned liquid damper. This study has resulted in the development of performance charts for a tuned liquid damper. These charts allow the efficiency of a tuned liquid damper to be examined for a number of varying parameters, which include the excitation amplitude, water depth, and building frequency. These charts are particularly useful for the initial design of a tuned liquid damper when the precise frequency of the structure is not known.