Experimental Study on Seismic Response Mitigation of Complex Structure using Passive Friction Damper
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1 Experimental Study on Seismic Response Mitigation of Complex Structure using Passive Friction Damper C.L. Ng and Y.L. Xu ABSTRACT The application of control devices in coupled building system has been recently recognized as an effective alternative for seismic protection. In consideration of passive control approach, most of previous studies focused on application of fluid dampers, and the buildings in the coupled systems were in similar structural configuration. By recognizing the potential merits, such as simple in design, relatively effective in cost and performance reliability, of passive friction damper, this paper reports an experimental investigation to demonstrate the control effectiveness of passive friction damper as a coupling device implemented in a scaled -story building structure with -story podium structure tested on a shake table at The Hong Kong Polytechnic University. The passive friction damper was designed in such a way that the friction force could be changed independently of frequency and amplitude. Dynamic characteristics of the test models for uncoupled and rigidly connected cases were first identified, which were followed by seismic simulation tests. The effects of coupling configurations including the uncoupled, rigid coupled and passive controlled cases were evaluated. Passive control force level and ground motion on control performance were also examined. Installation of friction damper showed positive results in reduction of absolute acceleration and interstory drift responses of both buildings. Rigidly connecting -story and podium structures, in contrast, revealed its inherent tendency in amplifying the response of -story building in particular. C.L. Ng, Research Center for Urban Hazards Mitigation (RCUHM), The Hong Kong Polytechnic University, Hung Hom, Kowloon, Hong Kong Y.L. Xu, Research Center for Urban Hazards Mitigation (RCUHM), The Hong Kong Polytechnic University, Hung Hom, Kowloon, Hong Kong
2 INTRODUCTION Increasing population together with growing social and commercial activities but limited land available is one of the common problems encountered in most modern countries, which consequently leads to more and more medium- and high-rise buildings either built closely to each other or in complex form. Among various construction forms, medium/high-rise building constructed with podium structure is a popular engineering scenario, by which a large open space for commercial uses, for instance, car parking, shopping arcade, restaurants or hotel lobbies, at ground level can be achieved. Presence of the podium structure, whose lateral stiffness may be much larger than that of the coupled medium- or high-rise buildings, leads to an abrupt change in the lateral stiffness of the medium-rise building at the top level of the podium structure. Qu and Xu () studied the case of connecting podium structure to medium-rise building with elastic link and smart damper, from which seismic responses of the medium-rise building at the upper level above connections were shown to be significantly amplified for the case of rigid connection, and regarded as whipping effect. Such a problem cannot be easily solved through modifying the structure form by a conventional way. Though numerous studies in recent decades demonstrate that various control technologies, such as passive, active and semi-active have high effectiveness on the protection of structures from large seismic events through employment of dissipative devices along stories of building, coupling buildings has recently been shown to be a viable alternative for protection of adjacent structures. Interaction control by coupling buildings may be considered to be superior to conventional control of individual building in a sense that vibration of the two buildings can both be suppressed, and better reservation of internal spaces for architectural use can also be provided. Researches on coupled building control have evaluated the effectiveness of different control strategies for the coupled low-, medium- and high-rise structures since 99 s. With regard to the passive control approach (Luco et al. (99 and 999); Zhang et al. (999); Yang et al. () and Xu et al. (999a,b)), series of studies conducted either on numerical or experimental basis have reported positive results in response mitigation due to seismic excitations. Considering that passive friction damper is a well-recognized effective and stable device to suppress dynamic response of structures in many engineering practice, this paper presents an experimental investigation to explore the possibility of using friction dampers to link a podium structure to a multi-story building so as to alleviate structural vibration of both buildings. Passive friction damper in new configuration was designed and manufactured. Shake table tests on a scaled -story building and a -story podium structure for three cases were performed in the study: () both structures were uncoupled; () both structures were rigidly coupled with rigid links; and () a single coupling link, using frictional damped device, interconnects the structures at the top floor of -story structure. Effectiveness of the passive friction damping system was evaluated through the comparison of seismic response between the conventional building, the rigid connected building, and the passive friction damped building. EXPERIMENTAL SETUP Experimental arrangement for system identification and seismic simulation tests of passive control included components of coupled building model, passive friction damper, shaking table, and data acquisition unit.
3 Coupled Building Model The coupled building system was developed and constructed in the Structural Dynamics Laboratory of The Hong Kong Polytechnic University, which is comprised of a slender -story frame and a relatively stiff -story frame as shown in Figure. These two dissimilar shear building models represent a coupled building system with medium-rise building and podium structure, and denoted as building and building, respectively. -Story Frame -Story Frame z x (a) Front view Foundation Steel Plate z y (b) Side view Odd Floors Even Floors (c) Floor dimension of -story building (d) Floor dimension of -story building Figure. Configuration of coupled building model
4 The -story steel frame was constructed from rigid floor plates in mm mm mm and equal sized rectangular strips with the cross section of mm 5 mm for columns. The -story building model is mm tall and the interstory height is mm. The rigid floor of -story steel frame is 5 mm 7 mm in plan and mm thick. A rectangular opening with 7 mm 5 mm was made at the center of each floor plate, so that the -story building could be arranged inside the middle of the -story building and separated by a distance of 5 mm for all sides. Same sized rectangular strips as -story building were used for columns of -story building with columns in total and equally spaced on each side. The podium structure is mm tall and the interstory height is mm. The columns and steel floor plates of both buildings were connected with full butt weld and each building was respectively supported on a 5 mm thick steel base plate, and thus - and -story frame were fixed firmly on seismic simulator with and high tensile strength bolts, respectively. The story mass of -story and -story buildings, including the mass of columns, is approximately m =.7 kg and m =. kg, respectively. All columns are 5 MPa high strength steel with GPa modulus of elasticity. The mm 5 mm rectangular column strips were arranged in a manner that the first natural frequency of each building was appeared in x-direction, and building motion was also restricted in the x-direction, and therefore the coupled building system was effectively reduced to planar frames in the x-z plane. It is worth to point out that each steel floor plate was, without doubt, highly rigid in horizontal direction compared with columns, and therefore both frames are deemed to be a shear type model. To achieve a rigid coupling between -story and podium structures, high strength steel box-section tubes were used to link the first three floors of two buildings along the middle line of the buildings in the x-direction. Each coupling link was fixed on each sides of building by high strength bolts. The assumption rigid connection was verified by examining the measured relative displacement between buildings on each floor. Frictional Dissipative Device A passive friction damper (PFD), which was deigned and manufactured in the Structural Dynamics Laboratory of The Hong Kong Polytechnic University, was placed on the third floor of podium structure interconnecting the -story building (see Figures a and b).. Clamping Unit. Load Cell. Friction Material. Slide Plate PFD s Main Body Force Sensor PFD s Support (a) Diagrammatic view of PFD (b) Installation of PFD on test buildings Figure. Component details and arrangement of passive friction damper
5 The PFD is comprised of a clamping unit with a spring being compressed by an adjustable screw to provide specified normal load on friction material. A ring-shaped load cell is attached between the spring and the friction material to quantify normal clamping force applied. Only stains are measured and clamping force is indirectly obtained. Brake lining pad is utilized as friction material because its friction coefficient is rather inherently independent of displacement and velocity. A steel plate is placed between a pair of friction pad material, and thus frictional sliding force is induced when the plate is moving due to the relative motion of coupled building. The friction force of PFD was measured by a force sensor, and the slippage displacement of PFD was obtained with a linear variable differential transformer (LVDT) rigidly mounted between two structures on the third floor. In order to appraise the performance on stability and reliability of the passive friction damper, the PFD was first tested under displacement and forcing frequency control using a MTS hydraulic testing machine of type 5 before implemented into the coupled building system. Influence on damper performance was assessed by a series of dynamic cyclic tests in which the parameters considered are as follows: excitation frequency (,, 5 Hz), displacement amplitude (,, 5 mm) and frictional sliding force (, 5, 7, 9 N). The data were all measured at sampling rate of Hz over sampling period of minutes, and each parameter was varied while keeping the values of all the other parameters constant. One of the key objectives of the dynamic testing of frictional device is to examine its frequency dependency. The hysteretic behaviour over a range of excitation frequency and displacement amplitude of damper was tested and the test results with the displacement amplitude at 5 mm are shown in Figure a. Having sliding force at the level of 5 N, the hysteretic behaviour clearly demonstrates a high independency of excitation frequency for all displacement amplitudes. The same phenomenon was also observed for other sliding force levels. The effect of the displacement amplitudes was studied, in which excitation frequency was set at, and 5 Hz, and sliding force level was varied from to 9 N by step increment of N. The measured force-displacement loops at 5 Hz are shown in Figure b. Again, stability of hysteretic loop is remained over the range of displacement amplitudes. As a whole, the hysteretic behaviour of PFD is both displacement and frequency independent. Hz Hz 5 Hz mm mm 5 mm Friction Force (N) - Friction Force (N) Displacement (mm) Displacement (mm) (a) Excitation frequency at, and 5 Hz (b) Excitation displacement at, and 5 mm Figure. Force-displacement hysteresis loops of PFD
6 Earthquake Simulator A uniaxial earthquake simulator, that was designed and built by MTS Corporation, is housed in the Structural Dynamics Laboratory of The Hong Kong Polytechnic University. The m m table is driven by a hydraulic actuator-servovalve assembly, by which the table is capable to reach a maximum displacement of ± mm and a maximum acceleration of ± g with a -ton of proof specimen mass. The nominal operational frequency range of the simulator is -5 Hz. Close-loop feedback either on control of displacement or acceleration can be employed to enhance the stability of table and the repetition of motion simulation. Data Acquisition System To develop a high quality data acquisition, a twenty-four-channel data-acquisition system was employed. The data acquisition system consisted of sixteen accelerometers and a force sensor, seventeen charge amplifiers, a LVDT connected with a signal conditioner, a NI PCI- 5E data acquisition board, a LabVIEW Full Development System software package, and a PC computer working in the Win- operating system. High sensitive accelerometers of model 7, produced by Brüel & Kjær North America Inc., were used for response measurements of the building floors and the ground motion. The accelerometers have sensitivity of pc/g. The LVDT and signal conditioner were manufactured by Tokyo Sokki Kenkyujo Co. Ltd. and KYOWA Electronic Instrument Co. Ltd., respectively, and the corresponding model nos. are SDP-5C and CDA-A. LVDT Force Sensor Accelerometer Instrumental Hammer Signal Conditioner z x Amplifiers A/D Converter PC Computer Shaking Table Figure. Schematic diagram of experimental instrumentation
7 Charge amplifiers of model type 5 produced by Brüel & Kjær were incorporated in the measurement system before the A/D converter. The A/D converter changes the continuous signal to a digital representation in terms of finite number of bits, by which the effect of signal noise was minimized. Lower and upper cut-off frequencies adopted for each channel were. Hz and Hz, respectively. The NI PCI-5E data acquisition board is a high-performance, highprecision multifunction board featuring ks/s sampling rate, -bit of A/D resolution, and ±.5 to ± V input range. Layout of sensors and arrangement of acquisition unit are shown in Figure. SYSTEM IDENTIFICATION OF TEST MODELS The natural frequencies, mode shapes and modal damping ratios of the building models were identified experimentally for two cases: () the tower and podium structures are uncoupled; and () both building models are rigidly connected. The approach for obtaining parameters of dynamic characteristics was first by exciting the system over a wide frequency range of interest which was done by using an instrumental hammer randomly impact the test structure. Note that impulsive force was applied at top floor of buildings in either test case. Transfer functions were determined consequently by performing Fourier transform based on the recorded acceleration responses building floors as well as the impact force time series. All parameters including natural frequencies, mode shapes and modal damping ratios could be identified from the measured transfer functions, and the bandwidth method was adopted to determine the modal damping ratios. It is noted that discrete time signals were sampled at 5 Hz which is more than twice the highest frequency of the buildings, and thus fulfills Nyquist sampling theory to reduce the effect of aliasing. To minimize the amount of distortion of the discrete spectral density functions due to spectral leakage, the sampled finite duration signals can be multiplied by a window function of hanning before the FFT is performed. The effects of noise and nonlinearities in the results are also reduced by 75% overlapping of each collection of signal to increase the number of average to 5 and attain a high frequency resolution at. Hz. MODE NO. Table. Identified dynamic characteristics of building models UNCOUPLED -STORY BUILDING BUILDING SYSTEM CONFIGURATION UNCOUPLED -STORY BUILDING (A) NATURAL FREQUENCY (HZ) RIGIDLY CONNECTED BUILDING ST ND 7... RD.. 5. (B) MODAL DAMPING RATIO (%) ST... ND...5 RD...5
8 The identified natural frequencies and modal damping ratios of the uncoupled -story building, the uncoupled -story building, and the rigidly connected two buildings are listed in Table, and the corresponding mode shapes are displayed in Figure 5. It is seen that for the uncoupled -story building, the first three natural frequencies are 9.9, 7., and. Hz, respectively. The first three natural frequencies of the uncoupled -story building are.,., and. Hz, respectively. Relatively large differences in the first three natural frequencies between the two buildings indicate relatively large motions between the two buildings at the first three stories when they are subjected to ground motion. Consequently, the motion of the friction damper linking the two buildings is predicted to be larger, and it is thus expected that the friction damper can function well. Additionally, a vibratory mode cannot be controlled by a coupling link which is placed at a node of that mode as reported by Fukuda et al. (99). It can be observed from the first three vibratory modes shown in Figure 5b that the third floor is not located as a nodal position among all three modes. Therefore, linking the structures with PFD on third floor is an appropriate decision. st Mode nd Mode rd Mode (a) -story building model st Mode nd Mode (b) -story building model rd Mode st Mode nd Mode rd Mode (c) Rigidly connected building model Figure 5. First three mode shapes of building models
9 EVALUATION OF CONTROL PERFORMANCE Ground Motion The coupled building system was subjected to simulated earthquakes, the intensities of which were scaled to.5g and the durations of which were scaled by a factor of / and /. The time histories of historical earthquakes were derived from the following sources: () El Centro. The N-S component recorded at the Imperial Valley Irrigation District substation in El Centro, California, earthquake of May, 9; () Hachinohe. The N-S component recorded at Hachinohe City during the Tokachi-oki earthquake of May, 9; () Northridge. The N-S component recorded at Sylmar Country Hospital parking lot in Sylmar, California, during the Northridge, California, earthquake of January 7, 99; and () Kobe. The N-S component recorded at the Kobe Japanese Meteorological Agency (JMA) station during Hyogo-ken Nanbu earthquake of January 7, 995. Response Time Histories It is worth to notice that only acceleration responses were measured, and floor displacements were obtained through twice integrations of the acceleration time series. To avoid significant long-period signal distortions which may be produced in velocities and displacements derived by integrating acceleration time series, a scheme developed by National Strong-Motion Program (NSMP) for semi-automated processing of digital data was employed to address this problem. Evaluation of Control Performance Response evaluation of the coupled building system is considered for the uncoupled, rigidly connected and passively controlled cases. Two indices were used to evaluate the control performance of various responses among three different cases. The two indices are based on rms interstory dirft ratio (J ), and rms acceleration ratio (J ): J rms rms [ d ] max[ && x ] max = d, J = && x () i i rms, uncoupled i i rms n, uncoupled d i () () over the range of floor number i for the - and -story buildings, where t and && x i t are the interstory drift and absolute acceleration time histories respectively of th e ith floor, and rms rms d, uncoupled and & x n, uncoupled denote the rms interstory drift at the st floor and the rms absolute acceleration at the top floor of the either uncoupled building, respectively. The two indices in accordance to three different coupled building configurations subject to the four simulated seismic ground motions are presented in Tables and.
10 Table. Response ratios for coupled building system under / time-scaled earthquakes EVALUATION INDICES J MAXIMUM RMS DRIFT J MAXIMUM RMS ACC. EARTHQUAKE EL CENTRO HACHINOHE NORTHRIDGE KOBE EL CENTRO HACHINOHE NORTHRIDGE KOBE RIGID.7 (.777).757 (.79).77 (.5).9 (.).7 (.5).7 (.7).7 (.9). (.) COUPLED BUILDING CONFIGURATION (5 N).5 (.).59 (.75).9 (.5).799 (.9).77 (.7).7 (.77). (.).55 (.99). Value in parenthesis represents the response ratio of -story building.. Bolded value represents the maximum value among four seismic motions. (5 N).57 (.79).9 (.7).77 (.755).7 (.97).5 (.79).579 (.75).77 (.7).7 (.9) (5 N).557 (.7).7 (.7). (.77).57 (.9995).5 (.7).5 (.95).7 (.79).7 (.) (5 N).5 (.).57 (.77).59 (.79).55 (.7).79 (.75).9 (.9).75 (.7).59 (.99) Table. Response ratios for coupled building system under / time-scaled earthquakes EVALUATION INDICES J MAXIMUM RMS DRIFT J MAXIMUM RMS ACC. EARTHQUAKE EL CENTRO HACHINOHE NORTHRIDGE KOBE EL CENTRO HACHINOHE NORTHRIDGE KOBE RIGID.7 (.).5977 (.9).57 (.77).7 (.).57 (.). (.77).975 (.55).7 (.977) COUPLED BUILDING CONFIGURATION (5 N).7 (.5).75 (.79).55 (.79).79 (.99).7 (.5).7555 (.9).599 (.775).75 (.99). Value in parenthesis represents the response ratio of -story building.. Bolded value represents the maximum value among four seismic motions. (5 N).57 (.777). (.7).5 (.9).59 (.997). (.7).77 (.75).57 (.7). (.9) (5 N).57 (.).5 (.75).5 (.).5 (.9).59 (.7).59 (.7). (.57).55 (.9) (5 N).5 (.7). (.759).7 (.7). (.59).59 (.7).57 (.9).5 (.599).5 (.)
11 In the case of rigidly coupled building, it is clearly indicated that the rms accelerations of short building are slightly reduced, whereas this configuration results in a significant trade-off of acceleration response of tall building. Considering the rms story acceleration of the -story building, the average increase under / (/) time-scaled earthquakes is % (9%), and over 7% and 5% amplification are even observed under / time-scaled Northridge and / timescaled El Centro earthquake, respectively. Additionally, rigid coupling is especially unfavorable to the podium structure with respect to the interstory drift, considerable amplification of the maximum rms drifts are almost always seen, except under the / time-scaled Northridge earthquake. Most worst, there is even an inherent risk of provoking the interstory drift of - story building based on the fact that 7% and % increase are observed under / time-scaled Northridge and / El Centro earthquakes, respectively. Therefore, rigidly connecting the buildings is undoubtedly not a beneficial configuration for the coupled building system as a whole. On the other side, passive control with friction damper, considered force level at 5 N, is clearly able to reduce the maximum rms acceleration responses by 5-% and the maximum rms interstory drifts by 7-5% for the -stroy building among the four earthquakes with either / or / time scale factor. Response reduction of the short building is less considerable, and there are not more than % and % drop in maximum rms accelerations and maximum rms interstory drifts, respectively. The relatively smaller responses attenuation is because of the comparatively heavy floor mass and high floor stiffness. It is worthy to point out that under some seismic ground motions, a drop in responses reduction for the -story building is noted for large passive control force even though further responses reduction for tower structure can be achieved. Thus the level of control force should be designed with awareness to balance the control performance of both buildings. Uncoupled Rigid Passive RMS Acceleration (m/s ).... RMS Interstory Drift (mm) RMS Acceleration (m/s ) (a) Responses of / time-scaled case RMS Interstory Drift (mm)
12 Uncoupled Rigid Passive RMS Acceleration (m/s ).... RMS Interstory Drift (mm) RMS Acceleration (m/s ) RMS Interstory Drift (mm) (b) Responses of / time-scaled case Figure. rms responses profiles of coupled building system under.5g El Centro earthquake Acceleration and interstory drift response profiles of each building in rms magnitude, inclusion of uncoupled, rigidly coupled and passively controlled (5 N) cases, are shown in Figure. Increasing proportion of higher mode participation is observed in acceleration response under earthquakes with time scale factor of /, while first mode is dominant for / time-scaled earthquake excited acceleration response. It is clear the passive control strategy is capable of reducing either low or high mode of acceleration response of the coupled building system in particular to the -story building. Similar ability in interstory drift reduction also indicates for all time-scaled historical record earthquakes, alleviation of the interstory drift at the base of the -story building is also shown to be very promising. Most important, by connecting both structures with passive friction damper, not only whipping effect, which denoted from the serious responses magnification of upper part of the -story building, is also erased, further reduction can be both shared by the structures. Note that performance of passive control strategy in controlling interstory drift of podium structure is less obvious. The possible reason as mentioned before is due to the high floor stiffness, and the ratio of maximum control force to floor weight is 5% only. CONCLUSIONS Coupled building systems employed with friction dampers in passive control approach were investigated experimentally. The frictional damping device connected - and -story building model on top floor of the -story building, and four sets of friction force, which are ranged from -% of the -story building s floor weight, were employed. The buildings were subject to four simulated historical earthquakes which were magnitude- and time-scaled,
13 whereby the rms responses for the passive control case were compared to those of uncoupled and rigidly connected building systems. The results showed that seismic resistance performance of the two buildings was enhanced by implementation of passive friction damper, whereas an adverse effect on structural responses of rigidly coupled building was observed. Therefore, rigid connection is not necessarily a good seismic design scenario. The types of ground motion did affect the control performance of the passive controlled buildings but is in slight degree. Selecting control force level at 5% of the tall building s floor weight, the passive control approach reduced the rms magnitude of interstory drift and acceleration by 7-5% and 5-%, respectively, for the -story building subject to the four simulated earthquakes with either time scale factor. Considering -story building, -% reduction in rms interstory drift and -% reduction in rms acceleration were obtained. Proper design in the magnitude of passive control force is advised because there will be a trade-off in vibration reduction of the -story building for further interstory drift suppression of the -story building. ACKNOWLEDGEMENT The first author gratefully acknowledges the support of this research by The Hong Kong Polytechnic University through a postgraduate scholarship. The financial support from The Hong Kong Polytechnic University through its Area Strategic Development Program in Structural Control and Intelligent Buildings is also appreciated. REFERENCES Fukuda, Y., Y. Matsumoto, K. Seto, 99, Bending and Torsional Vibration Control of Flexible Structures Arranged in Parallel, Proc. Third International Conference on Motion and Vibration Control, Chiba, Vol. : -7. Luco, J. E., and H. L. Wong, 99, Control of the Seismic Response of Adjacent Structures, Proceedings of First World Conference on Structural Control, Los Angeles, CA, TA- -. Luco, J. E., and C. P. De Barros, 99, Optimal Damping between Two Adjacent Elastic Structures, Earthquake Engineering and Structural Dynamics, 7(7): Qu, W. L., and Y.L. Xu,, Semi-Active Control of Seismic Response of Tall Buildings with Podium Structure using ER/MR Dampers, The Structural Design of Tall Building, (): Xu, Y. L., Q. He, and J. M. Ko, 999a, Dynamic Response of Dynamic-Connected Adjacent Buildings under Earthquake Excitation, Engineering Structures, (): 5-. Xu, Y. L., S. Zhan, J. M. Ko, and W. S. Zhang, 999b, Experimental Investigation of Adjacent Buildings connected by Fluid Damper, Earthquake Engineering and Structural Dynamics, (): 9-. Yang, Z., Y. L. Xu, and X. L. Lu,, Experimental Seismic Study of Adjacent Buildings with Fluid Dampers, Journal of Structural Engineering, ASCE, 9(): Zhang, W. S., and Y. L. Xu, 999, Dynamic Characteristics and Seismic Response of Adjacent Buildings linked by Discrete Dampers, Earthquake Engineering and Structural Dynamics, (): -5.
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