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SUMMARY
A semi-active fuzzy control strategy for seismic response reduction using a magnetorheological (MR)
damper is presented. When a control method based on fuzzy set theory for a structure with a MR
damper is used for vibration reduction of a structure, it has an inherent robustness, and easiness to treat
the uncertainties of input data from the ground motion and structural vibration sensors, and the ability
to handle the non-linear behavior of the structure because there is no longer the need for an exact
mathematical model of the structure. For a clipped-optimal control algorithm, the command voltage of
a MR damper is set at either zero or the maximum level. However, a semi-active fuzzy control system
has benet to produce the required voltage to be input to the damper so that a desirable damper force
can be produced and thus decrease the control force to reduce the structural response. Moreover, the
proposed control strategy is fail-safe in that the bounded-input, bounded-output stability of the controlled
structure is guaranteed. The results of the numerical simulations show that the proposed semi-active
control system consisting of a fuzzy controller and a MR damper can be benecial in reducing seismic
responses of structures. Copyright ? 2004 John Wiley & Sons, Ltd.
KEY WORDS: fuzzy control; semi-active control; MR damper; response reduction; vibration control
1. INTRODUCTION
In the eld of civil engineering, many control algorithms and devices have been proposed
over the last few decades for the purpose of protecting structures and their contents from the
damaging eects of environmental hazards such as earthquakes and wind loadings. Depending
on the control methods, vibration control in the structure can be divided into three categories;
∗ Correspondence to: Kang-Min Choi, Department of Civil and Environmental Engineering, Korea Advanced Institute
of Science and Technology, 373-1 Guseong-dong, Yuseong-gu, Daejeon 305-701, Korea.
† E-mail:vision222@kaist.ac.kr
Contract=sponsor: National Research Laboratory (NRL) program, Ministry of Science and Technology, Korea;
contract=grant number: 2000-N-NL-01-C-251
Received 25 September 2002
Revised 29 August 2003
Copyright ? 2004 John Wiley & Sons, Ltd. Accepted 7 October 2003
724 K.-M. CHOI ET AL.
namely, passive control, active control and semi-active control or hybrid control (a combina-
tion of the previous types). The idea of passive control is to dissipate the vibratory energy in
the structural system. However, this kind of control system provides no extra assistance, so
it cannot adapt to varying loading conditions. Consequently its eect is limited. On the other
hand, the active control system reduces the structural response by using external energy sup-
plied by actuators to impart forces on the structures, generally depending on a sizeable power
supply. It is considerably more exible to reduce the structural responses for a wide variety
of loading conditions. However, there are some problems such as stability, cost eectiveness,
reliability, power requirements etc. Semi-active control has received a lot of attention recently
because it oers great adaptability without a large power requirement. Previous research has
demonstrated the eectiveness of semi-active systems in structural vibration control using vis-
cous uid dampers. The magnetorheological (MR) damper is one of the semi-active devices
that can provide reliable vibration control. Besides its minute power requirement, the MR
damper is reliable, fail safe, and is expected to be relatively inexpensive.
Classical control algorithms need an exact mathematical model for an actual structure and,
especially, an active control algorithm uses complicated mathematical equations to reduce
structure responses. Since buildings in civil engineering are getting much higher and bridges
are getting much longer than those structures are very complex multi-degree of freedom
systems, and it is very dicult to nd an exact mathematical model to describe the behavior
of the structures. Active vibration control of structural systems using fuzzy set theory has
been widely investigated in past years [1–7]. The fuzzy set theory was introduced by Zadeh
[1] in 1965. In 1974 Mamdani [2], by applying Zadeh’s theories of linguistic approach and
fuzzy inference, successfully used the ‘IF–THEN’ rule on the automatic operating control of
a steam generator. In civil engineering, the fuzzy set theory was applied by Brown and Yao
[3], Juang and Elton [4], Faravelli et al. [5], Teng et al. [6] and Wang and Lee [7]. The
most advantageous and controversial property is that the fuzzy controller does not rely on the
analysis and synthesis of the mathematical model of the process. Therefore, the uncertainties of
input data from the external loads and structural response sensors are treated in a much easier
way by the fuzzy controller than by classical control theory. Moreover, for a more realistic
implementation, non-linearities incorporated can be overcome easily, and by incorporating
human expertise into the fuzzy IF–THEN rules they can be constructed to control complex
structural systems.
Dyke et al. [8] proposed a semi-active clipped-optimal control algorithm to reduce the
structural response with a MR damper. In their approach, the command voltage of the MR
damper was adjusted by a linear optimal controller combined with a force feedback loop.
The command signal was set at either zero or the maximum level, depending on how the
damper’s force compared with the target optimal control force. However, it is important
that command signals are calculated based on the desirable control forces and input into an
actuator so that the actuator can produce forces as close as possible to the desired ones (i.e.
inverse dynamics). This means that, as time passes, the command signal is varied to reduce
eectively the structural response. To do so, owing to the damper’s non-linear characteristics,
it is dicult to obtain directly the command signal.
The objective of this paper is to propose a new semi-active control method for seismic
reduction of structures with a MR damper. To do this, a fuzzy set theory based structural
control algorithm is employed as a control algorithm and a MR damper is introduced as a
supplemental damping device. A fuzzy algorithm is used to calculate the command signal that
Copyright ? 2004 John Wiley & Sons, Ltd. Earthquake Engng Struct. Dyn. 2004; 33:723–736
SEMI-ACTIVE FUZZY CONTROL 725
varied as time passed, into the MR damper based on structural responses. Since a MR damper
is an energy-dissipation device that cannot add mechanical energy to the structural system, the
proposed control strategy is fail-safe, in that it guarantees the bounded-input, bounded-output
stability of the controlled structure. To demonstrate the eectiveness of the proposed method,
a three-story building structure is presented.
where Rj denotes the j-th rule of the fuzzy inference rule, j = 1; 2; : : : ; q, x1 ; x2 ; : : : ; xp are the
inputs of the fuzzy controller, Aij is the linguistic value with respect to xi of rule j; y1 ; y2 ; : : : ; ym
are the outputs of the fuzzy controller and Bij is a fuzzy singleton function dened by experts.
Fuzzification
Defuzzification
Copyright ? 2004 John Wiley & Sons, Ltd. Earthquake Engng Struct. Dyn. 2004; 33:723–736
726 K.-M. CHOI ET AL.
Then, the inference conclusion obtained via fuzzication is defuzzied into a crisp output.
This paper adopts the center-of-gravity (COG) method among the defuzzication methods.
The COG method is dened as follows:
N
j p
B
l=1 l
i=1 Ai j (xi )
yj = (2)
N p
l=1 i=1 Aj (xi )
i
Here, the accumulator stiness is represented by k1 , the viscous damping observed at large
and low velocities is represented by c0 and c1 , respectively; k0 is present to control the
stiness at large velocities; and x0 is the initial displacement of spring k1 associated with
the nominal damper force due to the accumulator; ; and A are hysteresis parameters for the
Copyright ? 2004 John Wiley & Sons, Ltd. Earthquake Engng Struct. Dyn. 2004; 33:723–736
SEMI-ACTIVE FUZZY CONTROL 727
..
xg
v fMR y
MR
Structure
Damper
.
x, x
fMR
Clipped Optimal
algorithm algorithm
fd
Control Law
Figure 3. Control diagram for the semi-active clipped-optimal control system (Dyke et al. [8]).
yield element; is the evolutionary coecient. A total of 14 model parameters are obtained
to characterize the prototype MR damper using experimental data and a constrained non-linear
optimization algorithm. The resulting parameters are given in Table I.
Copyright ? 2004 John Wiley & Sons, Ltd. Earthquake Engng Struct. Dyn. 2004; 33:723–736
728 K.-M. CHOI ET AL.
fd
v = Vmax
v=0
v=0
f
v=0 v=0
v = Vmax
..
xg
v .
MR fMR x, x
Structure
Damper
.
x, x
Fuzzy Controller
Figure 5. Control diagram for the semi-active fuzzy control using a MR damper.
where fMR is the control force of the MR damper, and ẋdev is the velocity across the damper.
This equation means that the control forces that cannot be achieved by a MR damper are
clipped in the secondary bang–bang-type controller. Therefore, the command signal is set
at either zero or the maximum level, depending on how the damper’s force compared with
the target optimal control force. However, it is important that command signals are calcu-
lated based on the desired control forces and inputs put into an actuator so that the actuator
can produce forces as close as possible to the desired ones. This means that as time passes
the command signal is varied to eectively reduce the structural response. To do so, ow-
ing to the damper’s non-linear characteristics, it is dicult to obtain directly a command
signal.
Copyright ? 2004 John Wiley & Sons, Ltd. Earthquake Engng Struct. Dyn. 2004; 33:723–736
SEMI-ACTIVE FUZZY CONTROL 729
MR damper
..
xg
This type of controller has two merits. One is to have all the advantages of the fuzzy
controller, and the other is to give directly the desired command voltage. This means that
it is possible to eectively control the dynamic responses of a real civil structure caused by
earthquakes and strong winds.
3. NUMERICAL EXAMPLES
To evaluate the performance of the proposed semi-active fuzzy control system using a MR
damper, a three-story shear building structure is studied. Simulated results of the proposed
control system are compared to those of an uncontrolled system, two passive systems (i.e.
passive-o and passive-on; for passive-o, the command voltage to the MR damper is held
at 0 V and for passive-on, the command voltage to the MR damper is held at the maximum
voltage level (2:25 V)); a semi-active clipped-optimal control system; and a semi-active fuzzy
control system.
M x + C ẋ + K x = f − M xg (11)
where f is the measured control force, and x = [x1 x2 x3 ]T is a vector of the displacements
of the three oors of the structure relative to the ground. The system matrices are listed in
Table II. This system is a simple model of the scaled, three-story, test structure, described
in Reference [8], which has been used in previous active control studies at the Structural
Dynamics and Control=Earthquake Engineering Laboratory (SDC=EEL) at the University of
Notre Dame. Because the MR damper is attached between the rst oor and the ground, its
Copyright ? 2004 John Wiley & Sons, Ltd. Earthquake Engng Struct. Dyn. 2004; 33:723–736
730 K.-M. CHOI ET AL.
displacement is equal to the displacement of the rst oor of the structure relative to the
ground.
The structural measurements used for calculating the desired control force include the ab-
solute accelerations of the three oors of the structures, and the displacement and the velocity
of the MR damper (i.e. y = [xa1 xa2 xa3 x1 ẋ1 ]T ). Thus, Equation (11) can be written as
ż = Az + Bf + E xg (12)
y = C z + Df + v (13)
where
0 I 0 0
A= ; B= ; E=
−M −1 K −M −1 C M −1
−M −1 K −M −1 C M −1
C = 1 0 0 0 0 0 ; D= 0
000 100 0
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SEMI-ACTIVE FUZZY CONTROL 731
A wide variety of controllers were evaluated by Dyke et al. [8]. The best results were
obtained using r = 10−17 and choosing all of the elements of the weighting matrix Q to be
zero, except for Q33 = 1. Furthermore, the measurement noise is assumed to be identically
distributed, statistically independent Gaussian white noise processes, and Sxg xg =Svi vi = = 50.
NL NS ZE PS PL
-X 0 X
(a)
ZE M L
(b) 0 Y
Copyright ? 2004 John Wiley & Sons, Ltd. Earthquake Engng Struct. Dyn. 2004; 33:723–736
732 K.-M. CHOI ET AL.
NL L L M L M
NS L M ZE M ZE
ZE M ZE M ZE M
PS ZE M ZE M L
PL M L M L L
rst-oor velocity and the third-oor velocity are very large, then the output variable (voltage)
is large. The fuzzy inference rule and control surface are shown in Table III.
Copyright ? 2004 John Wiley & Sons, Ltd. Earthquake Engng Struct. Dyn. 2004; 33:723–736
SEMI-ACTIVE FUZZY CONTROL 733
1
Uncontrolled
Controlled
Displacement (cm)
0.5
-0.5
-1
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
(a) Time (sec)
1500
Uncontrolled
Acceleration (cm/s2)
1000 Controlled
500
0
-500
-1000
-1500
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
(b) Time (sec)
Figure 8. Time histories of responses in the third oor under the normal (100%) El Centro
earthquake: (a) displacement; and (b) acceleration.
1.5
Uncontrolled
1 Controlled
Displacement (cm)
0.5
0
-0.5
-1
-1.5
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
(a) Time (sec)
2000 Uncontrolled
Acceleration (cm/s2)
Controlled
1000
-1000
-2000
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
(b) Time (sec)
Figure 9. Time histories of responses in the third oor under the high (150%) El Centro
earthquake: (a) displacement; and (b) acceleration.
Copyright ? 2004 John Wiley & Sons, Ltd. Earthquake Engng Struct. Dyn. 2004; 33:723–736
734 K.-M. CHOI ET AL.
0.5
Uncontrolled
Controlled
Displacement (cm)
0.25
-0.25
-0.5
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
(a) Time (sec)
750
Uncontrolled
Controlled
Acceleration (cm/s2)
500
250
0
-250
-500
-750
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
(b) Time (sec)
Figure 10. Time histories of responses in the third oor under the low (50%) El Centro
earthquake: (a) displacement; and (b) acceleration.
1.5
Voltage (V)
0.5
0
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
Time (sec)
Figure 11. Applied voltage in the semi-active fuzzy case due to the normal (100%) El Centro earthquake.
At high excitation, the performance results of the semi-active fuzzy controller are still
better than those of the passive controllers. The maximum ratios of the peak responses in
the passive-o system, the passive-on system, and the semi-active fuzzy control system are
0.51, 0.32 and 0.29 for the displacement, 0.54, 0.51 and 0.42 for the interstory displacement,
and 0.54, 0.51 and 0.42 for the acceleration, respectively. Also, notice that these performance
gains are achieved by the semi-active fuzzy controller while requiring smaller control forces
than are required in the passive-on case.
In the low excitation simulation, the ratios of the third-oor displacement of the passive-
o and passive-on system are 25.0% larger and 25.0% smaller than those of the semi-active
Copyright ? 2004 John Wiley & Sons, Ltd. Earthquake Engng Struct. Dyn. 2004; 33:723–736
SEMI-ACTIVE FUZZY CONTROL 735
Table IV. Peak responses under the normal (100%) El Centro earthquake (ratio).
Control Semi-active Semi-active
strategy Uncontrolled Passive-o Passive-on clipped-optimal fuzzy
0:549 (1:00) 0:211 (0:33) 0:080 (0:15) 0:114 (0:21) 0:101 (0:18)
xi
0:836 (1:00) 0:357 (0:38) 0:197 (0:24) 0:185 (0:22) 0:184 (0:22)
(cm)
0:973 (1:00) 0:452 (0:46) 0:307 (0:32) 0:219 (0:23) 0:282 (0:29)
0:549 (1:00) 0:211 (0:38) 0:080 (0:15) 0:114 (0:21) 0:101 (0:18)
di
0:317 (1:00) 0:153 (0:48) 0:158 (0:50) 0:90 (0:28) 0:137 (0:43)
(cm)
0:202 (1:00) 0:104 (0:51) 0:111 (0:55) 0:101 (0:50) 0:101 (0:50)
xai 879 (1:00) 421 (0:48) 281 (0:32) 721 (0:82) 400 (0:46)
1071 (1:00) 488 (0:46) 499 (0:47) 746 (0:70) 438 (0:41)
(cm=s2 ) 1404 (1:00) 721 (0:51) 772 (0:55) 706 (0:50) 704 (0:50)
f(N) – 259 981 953 843
Table V. Peak responses under the high (150%) El Centro earthquake (ratio).
Control Semi-active Semi-active
strategy Uncontrolled Passive-o Passive-on clipped-optimal fuzzy
0:823 (1:00) 0:349 (0:42) 0:137 (0:17) 0:178 (0:22) 0:164 (0:20)
xi
1:255 (1:00) 0:587 (0:47) 0:313 (0:25) 0:294 (0:23) 0:300 (0:24)
(cm)
1:460 (1:00) 0:751 (0:51) 0:465 (0:32) 0:371 (0:25) 0:425 (0:29)
0:823 (1:00) 0:349 (0:42) 0:137 (0:17) 0:178 (0:22) 0:164 (0:20)
di
0:475 (1:00) 0:250 (0:53) 0:221 (0:47) 0:126 (0:27) 0:185 (0:39)
(cm)
0:303 (1:00) 0:165 (0:54) 0:156 (0:51) 0:142 (0:47) 0:127 (0:42)
xai 1318 (1:00) 615 (0:47) 509 (0:39) 959 (0:73) 547 (0:42)
1606 (1:00) 755 (0:47) 616 (0:38) 1054 (0:66) 552 (0:34)
(cm=s2 ) 2106 (1:00) 1146 (0:54) 1083 (0:51) 985 (0:48) 885 (0:42)
f(N) – 363 1180 1163 969
Table VI. Peak responses under the low (50%) El Centro earthquake (ratio).
Control Semi-active Semi-active
strategy Uncontrolled Passive-o Passive-on clipped-optimal fuzzy
0:274 (1:00) 0:091 (0:33) 0:040 (0:15) 0:053 (0:19) 0:051 (0:19)
xi
0:418 (1:00) 0:157 (0:38) 0:087 (0:21) 0:087 (0:21) 0:105 (0:25)
(cm)
0:487 (1:00) 0:194 (0:40) 0:119 (0:24) 0:119 (0:24) 0:155 (0:32)
0:274 (1:00) 0:091 (0:33) 0:040 (0:15) 0:053 (0:19) 0:051 (0:19)
di
0:157 (1:00) 0:066 (0:42) 0:079 (0:50) 0:053 (0:34) 0:072 (0:46)
(cm)
0:194 (1:00) 0:038 (0:20) 0:056 (0:29) 0:051 (0:26) 0:051 (0:26)
xai 439 (1:00) 195 (0:44) 141 (0:32) 447 (1:02) 188 (0:43)
535 (1:00) 220 (0:41) 251 (0:47) 354 (0:66) 192 (0:36)
(cm=s2 ) 702 (1:00) 264 (0:38) 387 (0:55) 356 (0:51) 355 (0:51)
f(N) – 159 492 421 393
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736 K.-M. CHOI ET AL.
fuzzy control system, respectively. However, the ratios of the maximum oor acceleration of
the passive-o and passive-on system are 13.7% smaller and 7.8% larger than those of the
semi-active fuzzy control system, respectively; and the ratio of the third-oor displacement and
maximum interstory displacement of the semi-active clipped-optimal control system are 25.0%
and 26.1% smaller than those of the semi-active fuzzy control system, respectively. However,
the ratio of the maximum oor acceleration of the semi-active clipped-optimal control system
is larger than that of the uncontrolled system and 92.5% larger than that of the semi-active
fuzzy control system. At low excitation, it is needed to select the proper controller to suit the
designer’s purpose.
It is demonstrated that the semi-active fuzzy control system is very eective in reducing
the building structural responses due to the wide range of earthquake loading conditions.
4. CONCLUSIONS
A semi-active fuzzy control method using a MR damper is presented for seismic response
reduction. Only one presented controller produces directly the desired command voltage using
fuzzy rule inference as the desired force demanded is varied so that the actuator can produce
forces as close as possible to the desired forces. This type of controller has all the advantages
of the fuzzy control algorithm in previous studies. The eectiveness of the MR damper in
reducing the structural responses for a wide range of loading conditions has been demon-
strated via two types of numerical simulations. In addition, the semi-active control system
has many attractive features, such as the bounded-input, bounded-output stability and small
energy requirements. The results of this investigation, therefore, indicate that the semi-active
fuzzy control strategy using a MR damper could be used for control of seismically excited
structures.
ACKNOWLEDGEMENTS
This research was supported by the National Research Laboratory (NRL) program (Grant No. 2000-
N-NL-01-C-251) from the Ministry of Science and Technology in Korea. This nancial support is
gratefully acknowledged.
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