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National Workshop in Recent Advances in Civil Engineering (RACE -2014)

A Review on Applications of Tuned Liquid Dampers in Vibration


Control

Bharadwaj Nanda1, Kishor Chandra Biswal2

1
Lecturer, Dept. of Civil Engg., Veer Surendra Sai University of Technology, Burla
2
Professor, Dept. of Civil Engg., National Institute of Technology, Rourkela, Odisha

ABSTRACT: Increasing Space problems in urban areas are resulting construction of


tall structures, which are often made relatively light and comparatively flexible,
possessing quite low damping, thus making the structure more vibration prone.
Several techniques are available today to minimize the vibration of structure. Use of
liquid dampers is one among them. This paper presents a state-of-the-art review of
recent developments occurring in the application of tuned liquid damper technology.
In addition, discussions on application of this technique in few full scale structures are
also presented.

Keywords: Review, Tuned Liquid Damper, Structural Vibration Control, Tuned


Sloshing Damper, Tuned Liquid Column Damper, Active Control

Introduction

The increasing population and shortage of space in urban areas also increasing the
demand for the construction of high rise buildings so as to provide housing facility to
comparatively large number of occupants out of a small piece of land. Due to
advancement of construction technology and use of advance material, it is possible
now-a-days to construct such structure with comparatively less dead weight. But this
increases the flexibility of the structure and decreases the damping thus making the
structure more vibration prone. Various possibilities (Kareem and Kijewski, 1999;
Spencer et al., 1997; Soong and Dargush, 1997; Fisco and Adeli, 2011a; 2011b) are
available to increase the stiffness and damping in order to make the structure more
vibration resistant. These techniques may be grouped into three categories such as,
aerodynamic design of the structure, increase in stiffness in the direction of vibration

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by making the structural sections thicker in that direction or by properly bracing them
and lastly increasing the damping by using of auxiliary damping devices.

Aerodynamic design of the structure reduces the wind load on it by optimizing its
shape and without increase in material cost. However, it should be done at design
phase of the building and hence not applicable for an existing structure. Increasing
stiffness of the structure by construction of thicker sections or by bracing increases
the material cost and it is also difficult to implement in an existing structure. As the
third option, several alternatives are available to increase the damping. These include
use of Friction Damper, Viscoelastic Damper, Tuned Mass Damper, Tuned Liquid
Damper, Active Tendon System, Piezoelectric Dampers and many more. All these
methods have some unique advantage and some restrictions. However, due to
simplicity and cost advantages associated with its construction, Tuned Liquid
Dampers (TLD) are gaining wide acceptance as a suitable method for structural
control.

Tuned Liquid Damper is a passive damping device which utilizes the motion of liquid
in a container for dissipating the vibration energy. Since 1950, dampers that use
motion of a liquid in a container have been in use for controlling rocking and rolling
motion of marine vessels or wobbling motion of a satellite. However, the credit of
applying tuned liquid damper for controlling structural vibration goes to Bauer during
year 1984 (Bauer, 1984). Modi et al. (Modi and Welt, 1988; Modi et al., 1990),
Kareem (1990), Fujii et al. (Fujii et al., 1990; Wakahara et al., 1992), Sun et al. (Sun
et al., 1992; Sun and Fujino, 1994), were among the pioneers on the research for the
application of liquid damper for structural vibration control. An early review of
literature for TLD is available with Modi et al. (1995).

In recent years, the idea of controlling and automating the damping effect of TLDs
gave rise to another class of damper named as “Controllable Tuned Liquid Damper”.
Controllable TLD can also be divided into three subclasses namely, Active, Semi-
active and Hybrid TLD. The active class of dampers can directly inject mechanical
energy to the controlled structural system where as semi-active class of dampers can’t
inject mechanical energy into the controlled structural system (i.e., including the
structure and the control device), but has properties which can be controlled in real
time to optimally reduce the responses of the system (Spencer et al., 1997). The

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hybrid category employs a combination of both active and passive control systems in
order to alleviate some of the restrictions and limitations that exist when each system
is acting alone. These classes of dampers will be discussed in detail in respective
section.

Tuned Sloshing Damper

A tuned sloshing damper is a liquid containing structure; rectangular or cylindrical in


shape. These are generally attached to the top most floor of the building. The height of
liquid in the container is so adjusted that its fundamental natural frequency in sloshing
motion is tuned to one of the natural frequency of the structure. During strong wind or
earthquake, the movement building causes the liquid in the container to slosh. As the
sloshing frequency of water is tuned to the natural frequency of the structure,
resonance will occur and this will cause large amount of sloshing and wave braking
hence dissipate a significant amount of energy (Shang and Zhao, 2008). A TSD can be
a large tank or a combination of many small tanks depending upon the size of the
building and space constraint. It is also possible to tune the TSD to two different
frequencies in two orthogonal directions of motion, by adjusting tank length in those
directions. Further, based on concepts of shallow water wave theory (Horikawa,
1978); TSD can be classified as, shallow water type or deep water type. If the height
of water ‘h’ against the length of the water tank in the direction of excitation ‘L’ (or
diameter ‘D’ in case of circular tank) is less than 0.15 then the TSD classified as
shallow water type. Reversely, if the ratio of liquid height against length is more than
0.15 then the TSD is classified as a deep water type TSD. Fig. 1 shows the schematic
dimensions of a TSD.

Fig. 1 Tuned Sloshing Damper Dimensions

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The shallow water type has a large damping effect due to occurrence of large amount
of sloshing and wave braking even for a small excitation, and dissipates vibration
energy through fluid’s viscosity. However its modeling is quite difficult as the
sloshing of water in a tank exhibits nonlinear behavior. On contrary, modeling of deep
water type TSD is easier as, the sloshing exhibits linear behavior (Kim et al., 2006).
But its damping effect is limited. A design chart (Fig. 2) indicating depth of water
required for designing a TSD for various tank dimensions and tuning frequency is
provided by Robinson et al (Robinson et al., 2007). The line indicating minimal water
depth represents the minimum water depth for range of tank depth and sloshing
frequencies bellow which behavior of water becomes highly nonlinear.

Fig. 2 TSD Design Charts (Robinson et al., 2007)

As a passive energy dissipation device TSD presents several advantages over other
damping systems, such as (i) Low installation and RMO (Running, Maintenance and
Operation) cost, (ii) Fewer mechanical problem as no moving part is present, (iii)
Easy to install in new as well as in existing buildings as it does not depends on
installed place and location, (iv) It can be applied to control a different vibration type
of multi-degree of freedom system which has a different frequency for each other (v)
Applicable to temporary use (vi) Non restriction to unidirectional vibration (vii)
Natural frequency of TSD can be controlled by adjusting the depth of liquid and
container dimensions, and (vii) Water present in the damper can be used for fire-
fighting purpose. Along with the above mentioned advantages, there are some

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drawbacks too. The major drawback of a TSD system is that, all the water mass does
not participate in counteracting the structural motion (Kareem and Sun, 1987). This
results the addition of extra weight without getting the any benefit. Again low density
of water makes the damper bulky, and hence increase the space required to housing it.
As is the case for Tuned Mass Damper, there exists an optimal damping factor for
TSDs. Since usually plain water is used as working fluid, it gives a lower damping
ratio compared to the optimal value.

In order to overcome above mentioned drawbacks and to achieve the optimal damping
ratio, several methods are proposed. They includes, (i) Use of multiple damper tuned
to several vibration modes of the structure (Koh et al., 1995) (ii) Using shallow depth
TSD (Sun et al., 1992; Modi and Seto, 1997; Li et al., 2002; Marsh et al. 2010) (ii)
Addition of floating beads as surface contaminants (Tamura et al., 1995; Tamura et
al., 1996) (iii) Using submerged nets and screens (Fediw et al., 1995; Kaneko and
Mizota, 2000; Tait et al., 2005; Pirner and Urushadze, 2007; Tait et al., 2007; Tait,
2008; Faltinsen and Timokha, 2011; Faltinsen et al., 2011; Warnitchai and Pinkaew,
1998; Love and Tait, 2010), (iv) Using Slopped bottoms for TSD (Gardarsson et al.,
2001; Reed and Olson, 2001), (v) Enhancement of bottom roughness by using wedge
shaped bottom with steps and with holes (Modi and Akinturk, 2002), (vi) Use of two-
dimensional semi-circular obstacle at bottom surface (Modi and Munshi, 1998) (vi)
Using a conical TSD (Casciati et al., 2003), and (vii) Inserting cross poles (Ueda et
al., 1992).

Apart from above, Samanta and Banarjee (2010) proposed a modified version of TSD
by resting the liquid tank on an elevated platform that is connected to the top of the
building through a rigid rod with a flexible rotational spring at its bottom. In another
study, Banarjee and Samanta (2011) presented an alternate configuration by placing
the TSD over a secondary mass which is attached to the primary structure through an
appropriately designed spring system. These configurations increase the base
acceleration at the TSD and hence increase the sloshing of water, and make the TSD
more effective. Ikeda (2010) studied the damping effect of multiple TSD installed at
various floors in a two story building model. The results revealed that, TSD is more
effective when it is installed at the top floor. He also concluded that multiple tanks
yield less effectiveness in suppressing the vibrations of the structure.

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Reed et al. (1998a; 1998b) evaluated efficiency of TSD for controlling large
amplitude vibration of structure both experimentally and numerically. Banerji et al.
(2000) applied TSD for controlling earthquake excitation of a SDOF structural
system. Nanda and Biswal (2011) in another study applied the TSD for controlling
vibration of a multi-story building under earthquake loading. Furthermore, in a study
for reducing vibration of a tall building due to vertex excitation Chang and Gu (1999)
found a reduction to one sixth of that of original building model without using TSD
for a mass ratio equals to 2.3%. Love et al. (2011) studied the effectiveness of TLD
for controlling wind induced vibration in a base isolated structure. It may be possible
due to space restrictions we may have to propose TSD with complex geometry. Love
and Tait (2011; 2012) numerically studied the effectiveness of TSD with such
irregular tank geometry. Further, they extended their study to propose a design guide
lines for a damper with such complex geometry.

Till date, Tuned sloshing dampers have been installed in number of the structures
around the globe. Some of the reported applications includes, a 42m high Nagasaki
Airport Tower (Tamura et al., 1995), Yokohama Marine Tower (Tamura et al., 1995),
Tokyo Airport tower (Tamura et al., 1995; Tamura et al., 1996), Haneda Airport
Tower (Tamura et al., 1992). Few other buildings and towers where TLD is installed
for vibration control includes Gold Tower in Kagawa, Japan, TYG Building, Atsugi,
Japan, and Hobart Tower, Tasmania, Australia, some bridge structures like Ikuchi
Bridge, Japan, Bai Chay Bridge, Vietnam and Sakitama Bridge. Apart from above
these dampers are also used for controlling vibration of chimneys, offshore oil
platforms (Jin et al., 2007).

Tuned Liquid Column Damper

Tuned Liquid Column Damper (TLCD) constitutes the second class of TLD family
who counteracts the forces acting on the structure by virtue of the motion of liquid in
a tube like container. The early works on this field includes Sakai et al. (1989), Xu et
al. (1992), Zhang et al. (1993) and Balendra et al. (1995; 1998; 1999a; 1999b). TLCD
dissipates structural vibration by combined action involving the motion of the liquid
mass in the tube, where the restoring force is due to the gravity acting upon the liquid
and the damping effect as a result of loss of hydraulic pressure due to the orifice(s)
installed inside the container (Sakai et al., 1989). For the optimal performance the

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opening ratio at the orifice needs to be within 1.0 to 0.5 (Balendra et al., 1995). Fig. 3
shows the schematic of a TLCD.

Orifice

Liquid

Fig. 3 Schematic of Tuned Liquid Column Damper

As a damper TLCD system offers few advantages over other damping devices
including TSD, such as: (i) TLCD can take any arbitrary shape, for which it can be
fitted to an existing structure easily (ii) unlike to TSD, the mechanism of TLCD is
well understood and hence an accurate mathematical model can be formulated easily
to quantitatively define the dynamics of TLCD (iii) the damping capacity of TLCD
can be controlled through controlling orifice opening. This allows us to actively
control the damping in TLCD system and (iv) it allows damping even in low
frequency range (v) tuning the frequency of a TLCD is easier as it can be adjusted by
changing the liquid column in the tube.

A lot of modifications are also proposed in order to improve the efficiency of TLCD
during last two decades. In its basic form the cross section area of TLCD was kept
constant throughout the length. But in order to tune TLCD trough a wide range of
natural frequencies, variations of geometric configurations ware proposed. These are
commonly known as Liquid Column Vibration Absorber (LCVA) (Hitchcock et al.,
1997a; 1997b; 1999, Chang, 1999; Chang and Hsu, 1998; Watkins, 1991). Gao et al.
(1997; 1999) proposed a V-shaped TLCD and compared with a LCVA. This study
revealed that V-shaped TLCD has higher capacity for suppressing stronger dynamic
loading. Another approach is proposed to tune TLCD is by introducing static pressure
inside two sealed static chambers at two ends (Shum et al., 2008; Wu and Hsieh,
2002). The change in frequency for TLCD can be achieved by adjusting both the
length of its liquid column and pressure inside its two air chambers. Further, in order
to improve the vibration suppression capability of TLCD Al-Saif et al. (2011)
proposed to replace the orifice by a coated steel ball, immersed inside the horizontal

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column of the damper. Experiments revealed about 66% improvement in


performance.

One of the major disadvantages of above configurations is their unidirectional nature


of action, and hence they can be applied effectively to the structure, which oscillates
in only one predominant plane, but not to the structure that oscillates in bidirectional
plane. To overcome this difficulty few alternatives are propose. Zhang et al. (1993)
proposed an idea to equip the structure with multiple TLCDs consisting of crossed
tube like container. Another configuration is proposed by Sakai et al. (1991) by using
two TLCD oriented in orthogonal directions and connected at the center. Lee et al.
(2011) proposed another variant which behaves as TLCD in longitudinal direction
while as TSD in the transverse direction. This effect is achieved by keeping the length
of TLCD longer in transverse direction due to which sloshing occurs when structure
vibrates in that direction.

In another study for application of TLCD in bridge like structures, Shum and Xu
(2004) proposed a TLCD combination (denoted as MTLCD) using two set of TLCD
with one tuned to the lateral frequency of the bridge while the other tuned to torsional
frequency. This study revealed that, the performance of MTLCD in reducing the
lateral and torsional displacements of the bridge depends significantly on the head-
loss coefficient and the frequency-tuning ratio. Also, the performance of MCLD in
reducing buffeting responses of the bridge is greatly affected by the aeroelastic effects
due to the interaction between turbulent wind and bridge motion.

Xue et al. (2000a) studied the applicability of TLCD in reducing pitching motion of
the structures, which they further extended to determine the optimum TLCD
parameters for the purpose of controlling pitching motion (Xue et al., 2000b). Wu et
al. (2008) extended the above study for investigating wind-induced interaction
between TLCD and a bridge deck in pitching motion. Taflanidis et al. (2005) applied
TLCD for controlling rotational vibration of a structure in random excitation.
However, effectiveness of TLCD in controlling rotational vibration depends on the
position of the damper with respect to rotational axis and ratio of cross sectional area
of vertical to horizontal tube sections. Min et al. (2005) evaluated the performance of
TLCD in controlling wind induced responses of a 76-story benchmark building.
Ghosh and Basu (2004), Debbarma et al. (2010), Chakrabarty and Debbarma (2011),

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Chakrabarty et al. (2012) extensively studied the applicability of TLCD for


controlling earthquake induced vibration of structure. Lee et al. (2006) used TLCD
for controlling vibration of an offshore floating platform, while Colwell and Basu
(2009) studied the applicability of TLCD for vibration control in an offshore wind
turbine.

Till date TLCDs has been installed in number of practical structures, among whom
some of the notable are Cosima Hotel, Tokyo, Japan, Hyatt Hotel, Osaka, Japan,
Ichida Building, Osaka, Japan, One wall Center, Vancouver, BC, Canada, Random
House, New York, USA, Comcast Center, Philadelphia, USA, One Rincon Hill
building, San Francisco, USA and Millenium Tower, Tokyo, Japan. It has been
observed that the installation of the TLCD in Cosima Hotel resulted in reduction of
maximum acceleration to 50-70% and rms acceleration to 50% of uncontrolled value
(Kareem and Kijewski, 1999). Another notable application of the TLCD system is in
the 57 floored and 297m Comcast Center building of Philadelphia, which contains the
largest TLCD system with a water mass of 1300 Tons (Fig. 4). The natural time period
of the twin U-shaped TLCD attached to this building is 7 second. In the water tank the
energy is dissipated by two rows of vertical steel vanes or louvers, which impede the
back-and-forth flow of the water.

Controllable Tuned Liquid Damper

Being a passive control device, TLDs are generally tuned to a particular frequency
(1st natural frequency of structure), and therefore it is effective only if the frequency
of forcing function is close to that tuned frequency. But in reality, the forces that act
on the structure are often spread over a band of frequencies. This reduces the
effectiveness of the damper. In order to improve the effectiveness of damping, against
a multi-frequency excitation force, some active or semi-active control devices are
proposed by various researchers.

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(a) (b)
Fig. 4 (a) Comcast Center of Philadelphia and (b) Schematics of Installed TLCD
System (www.archrecord.construction.com)

(a) Active Control System

(b) Semi-Active Control System

(c) Hybrid Control System

Fig. 5 Schematic Diagrams for Various Structural Control Problems

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Fig. 5 provides schematic diagram for various structural control systems (Soong and
Spencer, 2002). The excitation force and the response of the structure to the excitation
force are measured by the sensors, installed at key locations of the structure. Then the
measured force and response are sent to a control computer, which processes them
according to a control algorithm, and sends an appropriate signal to the actuators.
Finally, depending on type of control system, the actuator may directly apply desired
mechanical force directly to the structure or may modify the dynamic characteristics
of the damper which applies the mechanical forces to the structure. As per these
classifications controllable liquid dampers mostly falls under semi-active or hybrid
class.

Several means are proposed for controlled liquid dampers. Balendra et al. (2001)
applied control strategy by fixing TLCD over a movable platform whose movement is
controlled by a controlled force generated by a servo actuator, based on feedback
from sensor. Yalla et al. (2001), Yalla and Kareem (2003), Li and Huo (2003)
proposed another strategy to control the damping effect of TLCD, by using a valve in
place of orifice, whose opening can be controlled actively. Shang and Zhao (2008),
Chang et al. (1998) and Zahrai et al. (2012) used rotatable baffles in TSD whose
angle can be adjusted, thereby adjusting the damping effect of TSD. Batista et al.
(2008) fixed TLCD over a rotating platform whose movement is controlled by
electrical mechanism.

Other methods to impart control strategy to TLDs are explored by using smart
rheological fluids. Two types of fluids are mostly used for this purpose (i)
Electrorheological (ER) fluids (ii) Magnetorheological (MR) fluids. One of essential
property of these fluids are their ability to change their state from a free-flowing,
linear viscous fluid to a semi-solid state with controllable yield strength in
milliseconds on exposal to an electric field (for ER fluids) or a magnetic field (for MR
fluids). The sharply alterable fluid viscosity results in adjustable and controllable
damping forces for structural vibration control under a wide range of loading
conditions. Sakamoto et al. (2001) used ER fluids to apply control strategy in a TSD.
Ni et al. (2004) and Wang et al. (2005) studied the use of MR fluids in a TLCD while
Ohnl et al. (2010) used MR fluids in a coaxial cylindrical TSD.

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Summary

A review of recent works occurring in the application of tuned liquid damper


technology is presented. Now-a-days TLD systems widely used due to their unique
advantages such as cost effectiveness, fewer mechanical problem, easy handling and
easy tuning. Besides water present in the damper can be used for fire-fighting
purpose. Examples of practical application of these technologies to real world
structures were also provided.

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