PID

MR

(EMPA)

EMPA

MR
I D
PID

f S
MR PID

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Email: [email protected] *
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 .

I D
f S
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Ar
MR

MR

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 SDOF

SDOF
MR

mx(t )  kx (t )  f (t )
MR

I D
x(t )
t
k
f (t )
m

f S
o
  d / dt

v e
h i
r
mx(t )  kx (t )  f (t )  f c (t )
c :

SDOF

A f c (t )
MR

SDOF
Simulink
PID

PID
PID

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 PID

[ ]

I D PID
PID
[ ]

PID
f S PID
PID
PID

[ ]
e o [ ]

i v [ ] PID

c h u(t )  K p  e(t )  Ki  e(t )dt  K d 

de(t )
dt

A r u (t )
e(t )

Kd Ki K p
PID

[ ]
PID

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 Kd Ki K p

SDOF

I D
f S
e o EMPA

80  235 280 mm

iv
2 200 mm 350 mm
44.24 kg
42.6 kg
MR

c h 0.82 kg

[ ]
E

A
h r
12EI / h3
I

43.22 kg
SDOF

24 EI
k
h3

MR

EMPA

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Matlab SDOF
SDOF Simulink MR

0-4 amp

I D
f S
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h iv MR

r c
A

SDOF

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 I D
f S
e o
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c h
A r PID

0.005 s

PID
PID
K d  1105 Ki  6105 K p  3105
PID
PID

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PID

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PID

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 MR

PID

"anti reset windup"

I D
f S
MR

e o
MR

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c h
A r MR

MR

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 I D
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 0.04
sytem without any control
system with ideal actuator
0.03

0.02

0.01
displacement [m]

-0.01

-0.02

I D
S
-0.03

f
-0.04
0 5 10 15 20 25 30
time [s]

x 10
-4

e o
v
1.5

i
relative displacement of the system with ideal damper
relative displacement of the system with real damper

h
1

0.5

r c
displacement [m]

-0.5
A
-1

-1.5
0 5 10 15 20 25 30
time [s]

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 I D
f S
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 150
disturbance force (El-Centro earthquake)
the force of ideal damper

100

50
force (N)

D
-50

-100

S I
f
-150
0 5 10 15 20 25 30
time (s)

e o
i v SDOF
MR

c h
Ar
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.

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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.

I D
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.

S
13. Yang, G. (2001). “Large-scale magnetorheological fluid damper for vibration mitigation: modeling, testing and
control.” PhD dissertation, University of Notre Dame.

f
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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.

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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.

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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.

c h
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.

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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.

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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)

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1. John Milne
2. Zuk
3. Freyssinet
4. Zetlin
5. Yao
6. Kyobashi Seiwa
7. Kajima
8. Magnetorheological
9. Proportional-plus- integrator-plus-derivative

D
10. Proportional gain

I
11. Integral gain
12. Derivative gain
13. Rise time
14. Prototype
15. Maurer Söhne

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16. Edge frequency

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A r

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