.
MR
MR
MR
MR
MR
SDOF
MR
SDOF Simulink
PID SDOF
SDOF
)
( ) ( )
( t kx t f t x
m
m k
) (t x
) (t t f
dt d/
: )
( ) ( ) ( )
( t kx t f t f t
x
m
c) (t fc
PID
PID
PID PID
] [
PID PID
PID
] [
PID
][
dt t K de dt t e K t e K t
u p i d
( )
) ( )
( )
(
) (t e )
(t u
Kp
Ki
Kd
PID
] [
PID
] [
PID
] [
PID
Kp
Ki
Kd
SDOF
EMPA
mm 280 235 80 350 mm mm
2200 44.24 kg
42.6 kg
0.82 kg
SDOF
43.22 kg MR
/ 3
12EI h E
I h
] [
3
24
h k EIMR
EMPA
MR
0-4 amp
MR
SDOF
Matlab
Simulink SDOF
SDOF
PID
PID PID PID
0.005 s
PID
105
3
p
5 K 610
i
5 K 110
d K
a G j
) (
a
a
a 5000
PID MR
MR PID
.
PID
MR
MR MR
"anti reset windup"
MR
MR
0 5 10 15 20 25 30 -0.04
-0.03 -0.02 -0.01 0 0.01 0.02 0.03 0.04
time [s]
displacement [m]
sytem without any control system with ideal actuator
0 5 10 15 20 25 30
-1.5 -1 -0.5 0 0.5 1 1.5x 10-4
time [s]
displacement [m]
relative displacement of the system with ideal damper relative displacement of the system with real damper
SDOF
MR
1. Soong, T.T. (1990). Active Structural Control: Theory and Practice. John Wiley and Sons, New York.
2. Soong, T.T., and Dargush G.F. (1997). Passive Energy Dissipation Systems in Structural Engineering. John Wiley and Sons, London.
3. Housner, G.W., Bergman, L.A., Caughey, T.K., Chassiakos, A.G., Claus, R.O., Masri, S.F., Skelton, R.E., Soong, T.T., Spencer, B.F., Jr., and Yao, J.T.P. (1997). “Structural control: past, present and future.” ASCE, J.
Eng. Mech., Vol. 123, No. 9, PP. 897-971.
4. Spencer, B.F., Jr., and Sain, M.K. (1997). “Controlling buildings: a new frontier in feedback.” IEEE Contr. Sys.
Mag., Vol. 17, No. 6, PP. 19-35.
0 5 10 15 20 25 30
-150 -100 -50 0 50 100 150
time (s)
force (N)
disturbance force (El-Centro earthquake) the force of ideal damper
5. Symans, M.D., and Constantinou, M.C. (1999). “Semi-active control systems for seismic protection of structures:
a state-of-the-art review.” Eng. Struct., Vol. 21, No. 6, PP. 469-487.
6. Soong, T.T., and Spencer, B.F., Jr. (2002). “Supplemental energy dissipation: state-of-the-art and state-of-the- practice.” Eng. Struct., Vol. 24, No. 3, PP. 243-259.
7. Spencer, B.F., Jr., and Nagarajaiah, S. (2003). “State of the art of structural control.” ASCE, J. Struct. Mech., Vol.
129, No. 7, PP. 845-856.
8. Chu, S.Y., Soong, T.T., and Reinhorn, A.M. (2005). Active, Hybrid, and Semi-active Structural Control: A Design and Implementation Handbook. John Wiley and Sons, Chichester.
9. Casciati, F., Magonette, G., and Marazzi, F. (2006). Technology of Semiactive Devices and Applications in Vibration Mitigation. John Wiley and Sons, Chichester.
10. Zuk, W. (1968). “Kinetic structures.” Civil Eng., Vol. 39, No. 12, PP. 62-64.
11. Yao, J.T.P. (1972). “Concept of structural control.” ASCE, J. Struct. Div., Vol. 98, No. ST7, PP. 1567-1574.
12. Hrovat, D., Barak, P., and Rabins, M. (1983). “Semi-active versus passive or active tuned mass dampers for structural control.” ASCE, J. Eng. Mech., Vol. 109, No. 3, PP. 691-705.
13. Yang, G. (2001). “Large-scale magnetorheological fluid damper for vibration mitigation: modeling, testing and control.” PhD dissertation, University of Notre Dame.
14. Spencer, B.F., Jr., Dyke, S.J., Sain, M.K., and Carlson, J.D. (1997). “Phenomenological model for magnetorheological dampers.” ASCE, J. Eng. Mech., Vol. 123, No. 3, PP. 230-238.
15. Dyke, S.J., Spencer, B.F., Jr., Sain, M.K., and Carlson, J.D. (1998). “An experimental study of MR dampers for seismic protection.” Smart Mater. Struct., Vol. 7, No. 5, PP. 693-703.
16. Xu, Y.L., Qu, W.L., and Ko, J.M. (2000). “Seismic response control of frame structures using
magnetorheological/electrorheological dampers.” Earthq. Eng. Struct. Dyn., Vol. 29, No.5, PP. 557-575.
17. Huang, H., Sun, L. and Jiang, X. (2012). “Vibration mitigation of stay cable using optimally tuned MR damper”
Smart Struct. Syst., Vol. 9, No. 1, PP. 35-53.
18. Bharti, S.D., Dumne, S.M. and Shrimali, M.K. (2010). “Seismic response analysis of adjacent buildings connected with MR dampers” Eng. Struct., Vol. 32, No. 8, PP. 2122-2133.
19. Ali, S.F. and Ramaswamy, A. (2009). “Optimal dynamic inversion-based semi-active control of benchmark bridge using MR dampers” Struct. Control Health Monit. Vol. 16, No. 5, PP. 564-585.
20. Clough, R.W., and Penzien, J. (2003). Dynamics of Structures. 3rd Edition, Computers and Structures Inc., Berkeley, CA.
21. Ghorbani-Tanha, A.K., Weber, F., and Motavalli, M. (2003). Control of horizontal bridge deck displacements due to earthquake excitation, Report No. 840844, Swiss Federal Laboratories for Materials Testing and Reseach (EMPA), Dübendorf, Switzerland.
22. Aström, K.J., and Hägglund, T. (1988). Automatic Tuning of PID Controllers. Instrument Society of America.
23. Ogata, K. (2003). Modern Control Engineering. Prentice Hall Inc., Englewood Cliffs, NJ.
24. Aström, K.J., and Hägglund, T. (1995) PID Controllers: Theory, Design, and Tuning”, 2nd edition, Instrument Society of America.
25. Rahimian M., and Ghorbani-Tanha A.K. (2003). Structural Analysis, Sanjesh Publications, Tehran. (In Persian)
1. John Milne 2. Zuk 3. Freyssinet 4. Zetlin 5. Yao
6. Kyobashi Seiwa 7. Kajima
8. Magnetorheological
9. Proportional-plus- integrator-plus-derivative 10. Proportional gain
11. Integral gain 12. Derivative gain 13. Rise time 14. Prototype 15. Maurer Söhne 16. Edge frequency