‫*‬

‫سيد امير کيوان قرباني تنها‬ ‫علي مينائي‬

‫استاديار دانشکدة مهندسي عمران‬ ‫دانشجوي کارشناسي ارشد مهندسي سازه‬
‫پرديس دانشکدههاي فني دانشگاه تهران‬ ‫دانشکدة مهندسي عمران‪ ،‬پرديس دانشکدههاي فني دانشگاه تهران‬
‫‪[email protected]‬‬ ‫‪[email protected]‬‬
‫نشرية علمي ترويجي صوت و ارتعاش ‪ /‬سال سوم ‪ /‬شمارة پنجم ‪3 ................................ 3131 /‬‬

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 k1
m2

x2
x1
c1 m1
Mass


f(t)
k*

tacc
ωmax
Rigid Link

α r m
k2
 (t)
y
4k * cos2 

c2
k*

3 ................................ 3131 / ‫ شمارة پنجم‬/ ‫ سال سوم‬/ ‫نشرية علمي ترويجي صوت و ارتعاش‬

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 m1x1 (t )  (c1  c2 ) x1 (t )  c2 x2 (t )  (k1  k2 ) x1 (t )  k2 x2 (t )  f (t )


 m2 x2 (t )  c2 x1 (t )  c2 x2 (t )  k2 x1 (t )  k2 x2 (t )  0


   t2    t 2 
  mr   t 2
sin 
 2     cos    t  t acc
     2 
f (t )  
   max
2

 mr max sin   max t  t acc  
  t  t acc
2

  2 

x 2(t)
m2
Variable stiffness
device k 2(t) SATMD
c2

x1 (t)
m1 f (t)
Primary system
(to be controled)
k1 c1
3 ................................ 3131 / ‫ شمارة پنجم‬/ ‫ سال سوم‬/ ‫نشرية علمي ترويجي صوت و ارتعاش‬

N+1

A z j 1
kmax kmin
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j+1 fj B t

M j
n C K 
k 2 (t )  maxk min , min k max , m2 (t ) 2 
e At

tacc

 t t  t acc
 (t )  
A max   t acc t  t acc
.
z j 1  e At z j  A 1 (e At  I)Bf j , j  0: N

 0 I 
A
 M K
1
 M 1C 

 0 
B   1 
M 
1 1
e At  I  ( At )  ( At ) 2  ...  ( At ) n
2! n!
A j t A j t
z j 1  e z j  A j 1 (e  I)Bf j , j  0: N

 0 I 
Aj  
 M K j
1
 M C 
1

A j t 1 1
e  I  ( A j t )  ( A j t ) 2  ...  ( A j t ) n
2! n!

k1  k2j  k2j 

Kj  
  k2
j
k2j 
k 2j
j

3 ................................ 3131 / ‫ شمارة پنجم‬/ ‫ سال سوم‬/ ‫نشرية علمي ترويجي صوت و ارتعاش‬
Aj

k k 2j

kmax kmin

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J j 1  x1j 1 k 2j

k 2j  min J j1

maxk2j 1 , kmin   k2j  z j 1  gi (k2j ) , i  1: 4 , j  0 : N

mink 2j 1  k , k max , m2 max

2
(t )

x1j 1 Jj+1
j+1
 tf
1
t f 0
RMS(  )  []2

tf

kmax kmin
 min  20.4  max  82.3

RMS

k  123 N/m t  0.001 s

3 ................................ 3131 / ‫ شمارة پنجم‬/ ‫ سال سوم‬/ ‫نشرية علمي ترويجي صوت و ارتعاش‬

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SATMD

m  5 kg
2
m  1 kg
m  100 kg
1
k  2867.2 N/m
min
r  0 .1 m
k  2.5  10  N/m
1
5 2
k  140493 N/m
max
  25 rad/s 2

c  500 N.s/m
1
k  40 kN/m
*
  50
max

c  0.5 N.s/m
2
t  2 .0 s
a cc
 0.002

(m)
Frequency Equality
0.001 Step by Step Method
Displacement
0.000
0.002
(m)

-0.001 Frequency Equality

0.001 Step by Step Method
(m)Displacement

-0.002
0.0000 0.5 1 1.5 2 2.5 3 3.5 4
(a) Time (s)
-0.001
0.030
-0.002 Frequency Equality
0.0150 Step by0.5
Step Method 1 1.5 2 2.5 3 3.5 4
Displacement

(a) Time (s)

0
0.030
(m)

-0.015 Frequency Equality

0.015 Step by Step Method
Displacement

-0.030
00 0.5 1 1.5 2 2.5 3 3.5 4
(b) Time (s)
-0.015

-0.030
0 0.5 1 1.5 2 2.5 3 3.5 4
(b) Time (s)

0.2
Frequency Equality
Velocity (m/s)

0.1 Step by Step Method

3 ................................ 3131 / ‫ شمارة پنجم‬/ ‫ سال سوم‬/ ‫نشرية علمي ترويجي صوت و ارتعاش‬
0.0
0.2
Frequency Equality
Velocity (m/s)

-0.1
0.1 Step by Step Method
-0.2
0.00 0.5 1 1.5 2 2.5 3 3.5 4
(a) Time (s)
-0.1

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5.0
-0.2 Frequency Equality
Velocity (m/s)

(a) 2.50 Step by0.5

Step Method 1 1.5 2 2.5 3 3.5 4
Time (s)
0.0
5.0
Frequency Equality
Velocity (m/s)

-2.5
2.5 Step by Step Method
-5.0
0.00 0.5 1 1.5 2 2.5 3 3.5 4
(b) Time (s)
-2.5

-5.0
0 0.5 1 1.5 2 2.5 3 3.5 4
(b) Time (s)
 30

Acceleration (m/s )
2
Frequency Equality
15 Step by Step Method

30 0
(m/s )
2

Frequency Equality
15
-15 Step by Step Method
Acceleration (m/sAcceleration

-30
0
0 0.5 1 1.5 2 2.5 3 3.5 4
(a) Time (s)
-15
800
)

-30
2

Frequency Equality
0 0.5 1 1.5 2 2.5 3 3.5 4
(a) 400 Step by Step Method Time (s)
800 0
Acceleration (m/s )
2

Frequency Equality
-400
400 Step by Step Method
-800
0 0 0.5 1 1.5 2 2.5 3 3.5 4
(b) Time (s)
-400

-800
0 0.5 1 1.5 2 2.5 3 3.5 4
(b) Time (s)

RMS
3 ................................ 3131 / ‫ شمارة پنجم‬/ ‫ سال سوم‬/ ‫نشرية علمي ترويجي صوت و ارتعاش‬

RMS

max x  1
max x  1
max x  1
RMSx  1
RMSx  1
RMSx  1

( m) ( m s) (m s )2
( m) ( m s) (m s )2

0.00138 0.1834 24.161 0.00037 0.0472 6.024

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0.00071 0.0934 14.114 0.00023 0.0281 3.677

RMS

RMS

max x 2
 max x 2
 max x  2
RMSx 2
 RMSx 2
 RMSx  2

( m) ( m s) (m s ) 2
( m) ( m s) (m s )
2

0.0289 4.087 588.77 0.0118 1.783 272.04

0.0208 3.312 526.31 0.0109 1.678 259.71

 RMS

4
x 10
90 16
80 14
70 12
min
60 kmax
10
k2(t) (N/m)

50
 ( )

8 Frequency Equality
40 max

3 ................................ 3131 / ‫ شمارة پنجم‬/ ‫ سال سوم‬/ ‫نشرية علمي ترويجي صوت و ارتعاش‬
Step by Step Method
6
30
20 4 kmin

10 Frequency Equality 2
Step by Step Method
0 0
0 1 2 3 4

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0 1 2 3 4
Time (s) Time (s)

SATMD

[1] Frahm, H. “Device for damping vibrations of bodies.” US patent No. 989958, October 30, 1909.
[2] Den Hartog, J.P. Mechanical Vibrations, New York: McGraw Hill Inc., 1956.
[3] Nagarajaiah, S. “Adaptive passive, semiactive, smart tuned mass dampers: Identification and
control using empirical mode decomposition, Hilbert transform, and short-term Fourier transform.”
Structural Control and Health Monitoring 16, (2009):800-841.
 [4] Chang, J.C. H., T.T. Soong. “Structural control using active tuned mass dampers.” Journal of the
Engineering Mechanics Division 106, (1980):1091-1098.
[5] Hrovat, D., M. Rabins. “Semi-active versus passive or active tuned mass dampers for structural
control.” Journal of Engineering Mechanics 109, (1983):691-705.
[6] Pinkaew, T., Y. Fujino. “Effectiveness of semi-active tuned mass dampers under harmonic
excitation.” Engineering Structures 23, (2001):850-856.
[7] Walsh, P. L., J.S. Lamancusa. “A variable stiffness vibration absorber for minimization of transient
vibrations.” Journal of Sound and Vibration 158, (1992):195-211.
[8] Nagarajaiah, S. “Structural vibration damper with continuously variable stiffness.” US patent No.
6,098,969, August 8, 2000.
[9] Ghorbani-Tanha, A.K. “Development of a novel semi-active tuned mass damper for vibration
control of structures.” 5th World Conference on Structural Control and Monitoring, Tokyo, Japan,
July 12-14 (2010).
[10] Ghorbani-Tanha, A.K., M. Rahimian, A. Noorzad. “A novel semiactive variable stiffness device
and its application in a new semiactive tuned vibration absorber.” Journal of Engineering
Mechanics 137, (2011):390-399.
[11] Ogata, K. Modern control engineering, New Jersey: Academic Press, Prentice Hall, 2010.
[12] Connor, J.J. Introduction to Structural Motion Control, Prentice Hall, 2002.

1. tuned mass damper (TMD)

2. Herman Frahm
3 ................................ 3131 / ‫ شمارة پنجم‬/ ‫ سال سوم‬/ ‫نشرية علمي ترويجي صوت و ارتعاش‬

3. Jacob Pieter Den Hartog (1901 – 1989)

4. active tuned mass damper
5. semi-active tuned mass damper
6. open loop control
7. SIMULINK ®
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8. MATLAB ®
9. step by step tuning method
10. state space
11. state vector
12. system matrix
13. control matrix
14. input vector
15. root- mean- Square