MR 댐퍼를 기반으로 하는 스마트 수동제어 시스템
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Transcript of MR 댐퍼를 기반으로 하는 스마트 수동제어 시스템
MRMR 댐퍼를 기반으로 하는 댐퍼를 기반으로 하는 스마트 수동제어 시스템스마트 수동제어 시스템
대한토목학회 정기 학술대회 대한토목학회 정기 학술대회 20042004년 년 1010 월 월 2121 일일
조상원 : KAIST 건설환경공학과 , 박사이헌재 : KAIST 건설환경공학과 , 박사과정오주원 : 한남대학교 토목환경공학과 , 교수이인원 : KAIST 건설환경공학과 , 교수
조상원 : KAIST 건설환경공학과 , 박사이헌재 : KAIST 건설환경공학과 , 박사과정오주원 : 한남대학교 토목환경공학과 , 교수이인원 : KAIST 건설환경공학과 , 교수
2 2 Structural Dynamics & Vibration Control Lab., KAIST, KoreaStructural Dynamics & Vibration Control Lab., KAIST, Korea
CONTENTSCONTENTS
IntroductionIntroduction
Electromagnetic Induction System for Electromagnetic Induction System for MR DamperMR Damper
Numerical ExamplesNumerical Examples
ConclusionsConclusions
Further StudyFurther Study
3 3 Structural Dynamics & Vibration Control Lab., KAIST, KoreaStructural Dynamics & Vibration Control Lab., KAIST, Korea
BackgroundsBackgrounds
Introduction Introduction
• Semi-active control device has Semi-active control device has
reliability of passivereliability of passive and and adaptability of activeadaptability of active system. system.
• MR dampers are quite promising semi-active device forMR dampers are quite promising semi-active device for
small power requirementsmall power requirement, , reliabilityreliability, and , and inexpensiveinexpensive to to manufacture. manufacture.
4 4 Structural Dynamics & Vibration Control Lab., KAIST, KoreaStructural Dynamics & Vibration Control Lab., KAIST, Korea
Without Magnetic Fields With Magnetic Fields
Bearing &
Seal
CoilAccumulator
MR FluidDiaphragm
Wires to
Electromgnet
Characteristics of MR damperCharacteristics of MR damper
5 5 Structural Dynamics & Vibration Control Lab., KAIST, KoreaStructural Dynamics & Vibration Control Lab., KAIST, Korea
Installation of Conventional MR DamperInstallation of Conventional MR Damper
MR damper
• External power source, controller, sensorsExternal power source, controller, sensors
• Complicated network using many MR dampersComplicated network using many MR dampers
• Difficulties to set up and maintainDifficulties to set up and maintain
6 6 Structural Dynamics & Vibration Control Lab., KAIST, KoreaStructural Dynamics & Vibration Control Lab., KAIST, Korea
Objective and ScopeObjective and ScopeDevelopment of simple and effective control deviceDevelopment of simple and effective control device
• Consists of permanent magnets and solenoid Consists of permanent magnets and solenoid
• Changes kinetic energy of MR damper to electric energyChanges kinetic energy of MR damper to electric energy
7 7 Structural Dynamics & Vibration Control Lab., KAIST, KoreaStructural Dynamics & Vibration Control Lab., KAIST, Korea
Schematic diagram
Electromagnetic Induction (EMI) System
EMI system
Line for external power source
MR fluidSolenoid
MR fluid Solenoid Permanent magnet
Conventional MR Damper
MR Damper with EMI System
8 8 Structural Dynamics & Vibration Control Lab., KAIST, KoreaStructural Dynamics & Vibration Control Lab., KAIST, Korea
Mechanism
MR Damper
MR Damper
MR Damper
Permanent magnet
Solenoid
External power
Conventional MR Damper
MR Damper with EMI System
9 9 Structural Dynamics & Vibration Control Lab., KAIST, KoreaStructural Dynamics & Vibration Control Lab., KAIST, Korea
• Faraday’s law of induction
n : turns/m
B : magnetic flux
B : magnetic field
A : cross area
dt
dBAn
dt
dΦnε B (1)
Estimation of induced voltages by EMI system
10 10 Structural Dynamics & Vibration Control Lab., KAIST, KoreaStructural Dynamics & Vibration Control Lab., KAIST, Korea
• If we assume as below
- Magnetic field : 1.2 T (Tesla)
- Turns of solenoid : 900 turns/m
- Area of cross section : 13.2 (cm2)
- Velocity of stroke : 9 cm/s (max. value of uncontrolled)
• This EMI system will be applied to numerical example for examination of applicability
560
21001320900
.
..
dt
dBAn
Length : 5cm
Area : 13.2cm2
2.55(V)
11 11 Structural Dynamics & Vibration Control Lab., KAIST, KoreaStructural Dynamics & Vibration Control Lab., KAIST, Korea
MR Damper
Numerical Example Three-story building (Dyke et al. 1996)
12 12 Structural Dynamics & Vibration Control Lab., KAIST, KoreaStructural Dynamics & Vibration Control Lab., KAIST, Korea
,
3.9800
03.980
003.98
kgM s
m
NC s
sec
50500
5010050
050175
m
NK s
84.684.60
84.67.1384.6
084.60.12
System data
13 13 Structural Dynamics & Vibration Control Lab., KAIST, KoreaStructural Dynamics & Vibration Control Lab., KAIST, Korea
• Determination of coil turns for solenoid
• By varying two parameters, Sa and Si
Sa : summation of peak acceleration at each floor
Si : summation of peak interstory drift at each floor
which are normalized by uncontrolled responses
• Using envelope of maximum value of Sa and Si
for El Centro, Hachinohe, Kobe earthquakes
• Two EMI systems are designed:
EMI-A from Sa and EMI-D from Si
Design of EMI system
14 14 Structural Dynamics & Vibration Control Lab., KAIST, KoreaStructural Dynamics & Vibration Control Lab., KAIST, Korea
1 2 3 4 5 6 7 8 9 10
x 104
0
0.2
0.4
0.6
0.8
1
1.2
1.4
1.6
1.8
2
1 2 3 4 5 6 7 8 9 10
x 104
0
0.2
0.4
0.6
0.8
1
1.2
1.4
1.6
1.8
2
Variations of Sa Envelope of max. responses
Coil turns/m Coil turns/m
Sa
Hachinohe
Kobe
El Centro
1 2 3 4 5 6 7 8 9 10
x 104
0
0.2
0.4
0.6
0.8
1
1.2
1.4
1.6
1.8
2
1 2 3 4 5 6 7 8 9 10
x 104
0
0.2
0.4
0.6
0.8
1
1.2
1.4
1.6
1.8
2
Coil turns/m Coil turns/m
Si
Hachinohe
Kobe
El Centro
EMI-A : 2.6104
EMI-D : 2.2104
Max
. en
velo
pe o
f S
aM
ax. e
nve
lope
of
Si
15 15 Structural Dynamics & Vibration Control Lab., KAIST, KoreaStructural Dynamics & Vibration Control Lab., KAIST, Korea
• Comparisons– Proposed EMI systems : EMI-A, EMI-D– Previous clipped optimal controllers :
Clipped-A, Clipped-D
• Performances– Normalized acceleration and drift at each floor– El Centro, Hachinhe, Kobe, Northridge earthquakes
Analysis
16 16 Structural Dynamics & Vibration Control Lab., KAIST, KoreaStructural Dynamics & Vibration Control Lab., KAIST, Korea
• Induced voltages for various earthquakes by EMI system
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5-1
-0.5
0
0.5
1
1.5
2
2.5
3
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5-1
-0.5
0
0.5
1
1.5
2
2.5
3
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5-1
-0.5
0
0.5
1
1.5
2
2.5
3
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5-1
-0.5
0
0.5
1
1.5
2
2.5
3
Time (sec)
Vol
tage
(V
)V
olta
ge (
V)
Time (sec)
EL Centro
Kobe
Hachinohe
Northridge
ResultsAnalysis
17 17 Structural Dynamics & Vibration Control Lab., KAIST, KoreaStructural Dynamics & Vibration Control Lab., KAIST, Korea
• Normalized accelerations at each floor
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
1 2 30
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
1 2 3
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
1 2 30
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
1 2 3
EL Centro
Kobe
Hachinohe
Northridge
Floor level
Nor
mal
ized
acc
el.
Nor
mal
ized
acc
el.
Floor level
Clipped-DClipped-AEMI-DEMI-A
18 18 Structural Dynamics & Vibration Control Lab., KAIST, KoreaStructural Dynamics & Vibration Control Lab., KAIST, Korea
Nor
mal
ized
acc
el.
Nor
mal
ized
acc
el.
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
1 2 30
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
1 2 3
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
1 2 30
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
1 2 3
EL Centro
Kobe
Hachinohe
Northridge
Floor level Floor level
Clipped-DClipped-AEMI-DEMI-A
• Normalized interstory drifts at each floor
19 19 Structural Dynamics & Vibration Control Lab., KAIST, KoreaStructural Dynamics & Vibration Control Lab., KAIST, Korea
• Normalized peak responses for various earthquakes
0 0.5 1 0 0.5 1
El Centro
Hachinohe
Kobe
Northridge
Peak Accel. Peak Drift
Clipped-D
Clipped-A
EMI-D
EMI-A
20 20 Structural Dynamics & Vibration Control Lab., KAIST, KoreaStructural Dynamics & Vibration Control Lab., KAIST, Korea
EMI system
• Developed for MR damper-based control system
• Consists of permanent magnet and solenoid
• Simple structure without power, controller, sensors
• Shows comparable performances to clipped optimal controller
ConclusionsConclusions
21 21 Structural Dynamics & Vibration Control Lab., KAIST, KoreaStructural Dynamics & Vibration Control Lab., KAIST, Korea
• 특허등록 : 등록번호 0416398 • Experimental tests
• Numerical modeling of EMI system using neural network
Further StudyFurther Study