Real Time Hybrid Simulation for Validation of Advanced Damping Systems at Large-Scale. Shirley J. Dyke

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1 Real Time Hybrid Simulation for Validation of Advanced Damping Systems at Large-Scale Shirley J. Dyke

2 Acknowledgments National Science Foundation Dr. Joy Pauschke, Program Manager George E. Brown Network for Earthquake Engineering Simulation (NEES Operations Center) NSF CMMI

3 3 NEESR Team Shirley Dyke James Ricles Rich Christenson Anil Agrawal Bill Spencer Richard Sause Tony Friedman Ryan Ahn Yunbyeong Chae Brian Phillips Zhaoshuo Jiang Ali Ozdagli Nestor Castaneda Youngjin Cha Jianqui Zhang Baiping Dong

4 State-of-art capabilities to support innovative physical simulation Cyberinfrastructure resources for data access, collaboration and computational simulation

5 What is real time hybrid testing? Example: Hybrid Testing of a Smart Base Isolation System

6 6 Performance Based Design MR Damper Control Control Performance Validation Real-Time Hybrid Simulation Actuator Motion Control

7 7 Performance Based Design MR Damper Control Control Performance Validation Real-Time Hybrid Simulation Actuator Motion Control

8 W8x76 Elevation view of test frame W8x76 8 Performance-Based Design A Simplified Design Procedure (SDP) (Chae 2011) is used to perform an integrated design of the perimeter moment resisting frames (MRFs), the damped braced frames (DBFs), gravity frames, and dampers. 3rd floor W10x17 Diaphragm W12x40 HSS8x6X3/8 2nd floor RBS W14x38 RBS W12x40 RBS Beam-column P G3 connection HSS8x6X3/8 W18x46 1st floor Ground floor W18x46 W12x40 MRF HSS8x6X3/8 CBF Basement Damper Frame MRF MRF DBF

9 W8x76 W8x76 9 Performance-Based Design 3rd floor W10x17 Diaphragm W12x40 HSS8x6X3/8 2nd floor RBS W14x38 RBS W12x40 RBS Beam-column P G3 connection HSS8x6X3/8 W18x46 1st floor Ground floor W18x46 W12x40 MRF HSS8x6X3/8 CBF Basement Damper Frame MRF MRF DBF Elevation view of test frame

10 10 Performance Based Design MR Damper Control Control Performance Validation Real-Time Hybrid Simulation Actuator Motion Control

11 11 MR Damper Manufactured by Lord Corporation 200 kn force capacity 1.47 m (58 inches) in length Stroke of 584 mm (23 inches) Controlled with an Advanced Motion Controls PWM amplifier and an 80 V DC power supply

12 Force (kn) Force (kn) 12 Over-Driven Back-Driven Control At large-scale the dynamics of the device must be considered for control effectiveness A 0 7 A A Time (sec) Force Rise Time at constant 50 mm/sec 1 A 2.5 A 3 A 4 A 5 A A -1A -2.5A -3A -4A -5A 0-6A A Time (sec) Force Decay Time at constant 50 mm/sec

13 MR Damper Control 13

14 14 Performance Based Design MR Damper Control Control Performance Validation Real-Time Hybrid Simulation Actuator Motion Control

15 15 Actuator Motion Control Actuator dynamics Actuator-structure interaction Dynamics are coupled through the frame

16 16 Model-Based Multi- Actuator Control Model-based multi-actuator control is designed to eliminate the modeled dynamics of the servo-hydraulic system (Phillips 2012) Total control law is a combination of feedforward and feedback: G FF (s) u FF r + Feedforward Controller e LQG u FB - Feedback Controller + + u G xu (s) Servo-Hydraulic Dynamics x

17 17 Performance Based Design MR Damper Control Control Performance Validation Real-Time Hybrid Simulation Actuator Motion Control

18 18 Real-Time Hybrid Simulation Substructure Sensor Measurements Target PC Analytical Substructure DAQ Actuator Sensor Signals Experiment Experimental Substructure MRD Command Sensors Actuator Actuator Sensor Signals Valve Command Actuator Command Servo-hydraulic Controller

19 19 Identification Conducted quasi-static testing to determine the inter-story stiffness values (Ahn 2012) Used dynamic test data and determined bracing stiffnesses Constant/Step current testing of the MR damper

20 20 Real-Time Hybrid Simulation Perform RTHS with two structures 3-Story Prototype Structure 9-Story Benchmark Structure Examine global response characteristics under various seismic inputs Examine controller robustness in various scenarios

21 21 Real-Time Hybrid Simulation Gravity frames x g Structure with MR dampers W 3 P G3 W 2 P G2 W 1 P G1 Analytical substructure Gravity System + MRF Experimental substructure DBF + MR damper

22 22 Real-Time Hybrid Simulation Structure with MR dampers Analytical substructure Gravity System + MRF Experimental substructure DBF + MR damper

23 Displacement (m) 23 RTHS Validation Floor 9 Disp - ODCOC SIM RTHS Time (sec)

24 24 Performance Based Design MR Damper Control Control Performance Validation Real-Time Hybrid Simulation Actuator Motion Control

25 MR Control Validation 25

26 26 Control Performance Validation Three separate cases were considered for MR damper controller evaluation 3 Story Structure 1 MR Damper (1 st Floor) 9 Story Structure 1 MR Damper (1 st Floor) 9 Story Structure 2 MR Dampers (1 st and 2 nd Floors) Results in this presentation represent the 9-Story Structure 1 MR Damper (1 st Floor) case

27 27 Control Performance Validation ELC Disp. Reduction Drift Reduction Acc. Reduction Force (kn) PON 26.2% 58.3% 12.1% 145 COC 23.7% (- 3%) 21.8% (-90%) 17.1% (+6%) 99 (+32%) ODCOC 22.9% (- 4%) 28.7% (-70%) 28.0% (+20%) 93 (+35%)

28 28 Control Performance Validation ELC Disp. Reduction Drift Reduction Acc. Reduction Force (kn) PON 26.2% 58.3% 12.1% 145 COC 23.7% (- 3%) 21.8% (-90%) 17.1% (+6%) 99 (+32%) ODCOC 22.9% (- 4%) 28.7% (-70%) 28.0% (+20%) 93 (+35%)

29 Story Story 29 Performance SAC (Large) UNCTRL PON COC ODCOC UNCTRL PON COC ODCOC Peak Drift (m) Peak Acceleration (m/sec 2 )

30 30 Accomplishments Developed and successfully employed a real-time actuator tracking controller on multiple actuators attached to a large-scale steel frame Successfully validated large-scale real-time hybrid simulation 3-Story Prototype Structure 9-Story Benchmark Structure Developed a computational tool specifically for RTHS implementation (RT Frame 2D, open-source at nees.org) Validated ODCOC controller performance and demonstrated improved response reductions

31 31 Data Sets Project 648 (nees.org) MR Damper Characterization Tests Phillips, B., et al., MR Damper Characterization - UIUC - Damper 3 DOI TBD Chae, Y., et al. MR Damper Characterization Lehigh Damper 1 DOI TBD Chae, Y., et al. MR Damper Characterization Lehigh Damper 2 DOI - TBD System Identification Tests Ozdagli, A., et al. Dynamic Identification of the DBF Lehigh DOI - TBD Real Time Hybrid Tests Friedman, A., et al., UIUC - RTHS (Damper) - 3StoryPS - Single MR Damper (Floor 1) DOI TBD Friedman, A., et al., Lehigh - RTHS (Damper) - 3StoryPS - Single MR Damper (Floor 1) - DOI - TBD Friedman, A., et al., RTHS (Frame + Damper) - 3StoryPS - Single MR Damper (Floor 1) - DOI TBD Friedman, A., et al., RTHS (Frame + Damper) - 9StoryBM - Single MR Damper (Floor 1) - DOI - TBD Friedman, A., et al., RTHS (Frame + Damper) - 9StoryBM - Two MR Dampers (Floor 1 + 2) - DOI TBD

32 32 Dissertations Chae, Y., (2011) "Seismic Hazard Mitigation of Building Structures using Magneto-rheological Dampers," Ph.D. Dissertation, Lehigh University Jiang, Z., (2011) Increasing Resilience in Civil Structures Using Smart Damping Technology Ph.D. Dissertation, University of Connecticut Phillips, B.. (2012) Model-based Feedforward-Feedback Control for Real-Time Hybrid Simulation of Large-Scale Structures Ph.D. Dissertation, University of Illinois Urbana/Champaign Castaneda, N., (2012) Development / Validation of a Real-time Computational Framework for Hybrid Simulation of Dynamically-excited Steel Frame Structures Ph.D. Diss., Purdue University Zhang, J., (2012) A Novel MR Damper-based Semi-Active Control System for Seismic Hazard Mitigation of Structures Ph.D. Dissertation, City University of New York Friedman, A., (2012) Development and Experimental Validation of Control Strategies for Advanced Damping Systems using Real-Time Hybrid Simulation Ph.D. Dissertation, Purdue University Dong, B., (2012) TBD, Ph.D. Dissertation, Lehigh University Ahn, R., (2012) Design, construction and characterization of a largest scale steel structural system for real time hybrid testing, M.S. Thesis, Lehigh University