EFFECT OF PASSIVE TUNED MASS DAMPER AND VISCOUS DAMPER IN A

SLENDER TWO DIMENSIONAL FRAME

AHMAD HADDADIASL

A project report submitted in partial fulfillment of the

requirements for the award of the degree of

Master of Engineering (Civil – Structure)

Faculty of Civil Engineering

Universiti Teknologi Malaysia

January 2014

iii

DEDICATION

Specially dedicated to my family and faithful friends

iv

ACKNOWLEDGEMENT

First and foremost, I would like to express my sincerest gratitude and

appreciation to my supervisor, Assoc. Prof. Dr. Abdul Kadir Bin Marsono for his

worthwhile guidance throughout this project. His wide knowledge and his expert

advice during the period I have been carrying out this research, has been of great value

for me. His invaluable comments, kind consideration, encouragement and support

have provided a good basis for the thesis.

And then I would like to thanks who support me morally to finish my

report. Their precious opinion is useful for me to have an idea in completing this report.

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ABSTRACT

Vibration induced dynamic loads such as earthquake load and wind excitation

is one of the most critical issues of a slender structures. Hence structural damage due

to motion induced dynamic loads in high-rise structures and other slander structures

is a serious concern. One of the best solutions to decrease the sensitivity of the

structures without disturbing the building to vibration is by utilizing a damping devices

like Tuned Mass Damper and Viscous Damper. The goals of this project are to study

the possibility of using a simple Passive Tuned Mass Dampers (PTMD) system in a

2D steel frame. It is to reduce its vibration in lateral direction. Investigations of the

theoretical modeling for a 4-storey 2D frame are made in SAP2000 (version 16) and

Autodesk Simulation Mechanical (version 2014). Comparing the outcomes with the

results from experimental model in the laboratory by the companion author illustrate

that damping devices especially passive tuned mass damper (PTMD) decreases the

response displacement of the structure effectively. Even though the deviation between

the test and analysis exist, various improvement can farther be made in the modeling.

It also found out that the effectiveness of the PTMD was more than Viscous Damper

(VD) in two dimensional frame system.

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ABSTRAK

Getaran disebabkan beban dinamik seperti beban gempa bumi dan angin adalah

salah satu isu yang paling kritikal untuk struktur langsing. Kerosakan struktur kerana

gerakan beban dinamik dalam struktur bertingkat dan adalah satu kebimbangan yang

serius. Salah satu penyelesaian yang terbaik untuk mengurangkan sensitiviti struktur

tanpa mengganggu bangunan adalah dengan menggunakan satu peranti redaman

seperti peredam massa ditala dan peredam likat. Matlamat projek ini adalah untuk

mengkaji kemungkinan menggunakan mudah Passive Tuned Mass Damper (PTMD)

pada rangka keluli 2D. Ia adalah untuk mengurangkan getaran pada arah sisi. Siasatan

model teori untuk bingkai 2D 4 tingkat dibuat pada SAP2000 (versi 16) dan Autodesk

Simulasi Mekanikal (versi 2014). Membandingkan hasil dengan keputusan daripada

model eksperimen di dalam makmal oleh rakan penulis menggambarkan bahawa

peranti redaman terutamanya Passive Tuned Mass Damper (PTMD) mengurangkan

anjakan tindak balas struktur gecara berkesan. Walaupun perbezaan antara ujian dan

analisis wujud, pelbagai penambahbaikan boleh dibuat dalam pemodelan. Ia juga

mendapati bahawa keberkesanan PTMD adalah lebih baik daripada Viscous Damper

(VD ) dalam kerangka dua dimensi.

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TABLE OF CONTENTS

CHAPTER TITLE PAGE

DECLARATION ii

DEDICATION iii

ACKNOWLEDGEMENT iv

ABSTRACT v

ABSTRAK vi

TABLE OF CONTENTS vii

LIST OF TABLES ix

LIST OF FIGURES x

LIST OF SYMBOLS xii

LIST OF ABBREVIATIONS xiv

INTRODUCTION 1

1.1 Background of Research 1

1.1.1 Sources of Dynamic Excitation 1

1.1.2 Dynamic Load 2

1.1.3 Consequences of Vibration 3

1.1.4 Vibration Control 3

1.2 Problem Statements 7

1.3 Objectives 8

1.4 Scope of work 8

LITERATURE REVIEW 10

2.1 Introduction 10

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2.2 Passive Vibration Mitigation Techniques 12

2.2.1 Viscous Dampers 13

2.2.2 Friction Dampers 18

2.2.3 Tuned Liquid Dampers 20

2.2.4 Tuned Mass Dampers (TMDs) 22

2.3 Analytical Software for Dynamics Analysis 33

2.3.1 SAP2000 33

2.3.2 Autodesk Simulation Mechanical 35

2.4 Summary 37

39

3.1 Introduction 39

3.2 Finite Element Modeling 40

3.3 Modeling Damper 45

3.4 Summary 51

RESULTS AND DISCUSSION 52

4.1 General 52

4.2 Dynamic Loading 53

4.3 Tests Procedures 53

4.3.1 Frame without Damper with Semi-Rigid Connection 54

4.3.2 Frame without Damper with Fully-rigid Connection

and Sliding in One Direction (X direction) 55

4.3.3 Frame with Damper 57

4.4 Summary 61

CONCLUSIONS AND RECOMMENDATION 62

5.1 Conclusions 62

5.2 Recommendations 64

REFRENCES 65

APPENDIX A 69

APPENDIX B 74

ix

LIST OF TABLES

TABLE NO. TITLE PAGE

1.1 Type of Seismic Protection Systems: 5

2.1 Worldwide applications of Tuned Mass Dampers (Kwok &

Samali, 1995) 24

3.1 Dimension of the frame elements and type of the materials 41

3.2 Material characteristics properties 41

4.1 Natural frequency of structure with semi-rigid connection 54

4.2 Comparison of natural frequency 56

4.3 Mass of the TMD 57

4.4 Parameters of the damping devices 57

4.5 Displacement responses for the frame 60

A.1 Response displacement of the structure without damping device

in the experimental modeling 69

A.2 Response displacement of the structure with viscous damper

(VD) in the experimental modeling 70

A.3 Response displacement of the structure with passive tuned

mass damper (PTMD) in the experimental modeling 70

x

LIST OF FIGURES

FIGURE NO. TITLE PAGE

1.1 Types of Dynamic Loadings (Murray, Allen, & Ungar, 1997) 2

1.2 framework of active system (Symans & Constantinou , 1999) 5

1.3 Framework of semi-active structural control systems

(Symans & Constantinou , 1999) 6

1.4 Framework of passive structural control systems

(Symans & Constantinou , 1999) 7

2.1 Viscous damper fitted between chevron braces beneath the

deck of the London Millennium Bridge

(Nyawako & Reynolds, 2007) 14

2.2 Viscous Damper (Haskell & Lee, 2004) 15

2.3 Building with Viscous Dampers installation 17

2.4 Free-layer damping and constrained-layer damping systems

(Nyawako & Reynolds, 2007). 18

2.5 Friction damper device components and principle of action

(Nyawako & Reynolds, 2007) 19

2.6 Illustration of a tuned sloshing damper

(Nyawako & Reynolds, 2007) 21

2.7 Un-damped and damped vibration absorbers

(Nyawako & Reynolds, 2007) 27

2.8 Example of the effect of damping ratio ξ_d of the vibration

absorber on the frequency response of a primary system

(Bachmann, et al., 1995) 30

2.9 SDOF-TMD system (Connor, 2003) 30

xi

2.10 Times history function definition in SAP2000 (SAP2000, 2013) 34

3.1 Process of modeling for SAP2000 and ASM 2014 40

3.2 2D frame Models in the SAP2000 42

3.4 Scheme of the modeling 45

3.5 Modeling TMD & VD procedure 46

3.6 Modeling and location of TMD in SAP2000 and Autodesk

Simulation Mechanical 48

3.7 Modeling VD at tow first level 49

4.1 Acceleration (g) time history graph 53

4.2 First mode shape 55

4.3 Displacement at each level 56

4.4 Modeling TMD and VD 58

4.5 Responses of the frame with Viscous Damper (VD) 59

4.6 Responses of the frame with Tuned Mass Damper (TMD) 59

4.7 Responses of the frame with and without using damper 60

A.1 Response displacement of the unequipped structure in

the experimental modeling 69

A.2 Response displacement of the structure with viscous

damper in the experimental modeling 70

A.3 Response displacement of the structure with Passive Tuned

Mass Damper in the experimental modeling 71

A.4 Comparison the displacement of the structure with and

without viscous damper in the experimental modeling 71

A.5 Comparison the response displacement of the structure

without damper and with tuned mass damper in the

experimental modeling 72

A.6 Comparison the effectiveness of tuned mass damper and

viscous damper in the experimental modeling 72

A.7 Response displacement of the structure with and without

damping devices in the experimental modeling 73

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LIST OF SYMBOLS

fopt - Optimum natural frequency

fd - Natural Frequency of Damper

fn - Natural Frequency of Structure

ξ, ξe - Damping Ratio

ξdopt - Optimum Damping Ratio of damper

m, mT - Mass of structure

md - Mass of damper

K - Stiffness of structure

kd - Stiffness of damper

C - Damping coefficient

cd - Damping coefficient of damper

Ω - Frequency

ωd - Frequency of damper

U - Displacement responses

ud - Displacement responses of damper

u - Displacement amplitude

ud - Displacement amplitude of damper

u - Velocity

ud - Velocity of damper

u - Acceleration

ud - Acceleration of damper

P - Excitation

δ - Phase shift

F - Output force

xiii

V - Relative velocity across the damper

C - A constant determined

n - A constant of exponent

μ - Mass ratio

xiv

LIST OF ABBREVIATIONS

TMD - Tuned Mass Damper

PTMD - Passive Tuned Mass Damper

MTMD - Multiple Tuned Mass Damper

PVMT - Passive Vibration Mitigation Techniques

TLD - Tuned Liquid Dampers

TSD - Tuned Sloshing Damper

TLCD - Tuned Liquid Column Damper

VD - Viscous Damper

SDOF - Single Degree Of Freedom

ASM - Autodesk Simulation Mechanical

CHAPTER 1

INTRODUCTION

1.1 Background of Research

The lack of spaces and high price of lands in metropolis, that has a big

population, structures need to be higher. When structures getting taller, it is slender

and the effect of lateral loads due to wind and earthquake will be becoming a major

issues. Besides, the uncontrolled movement, excessive deflection will cause a

discomfort to the occupant.

1.1.1 Sources of Dynamic Excitation

One of the important necessities in applied engineering is design based on the

determine the causes of dynamic excitation. Their effect is not completed to statistical

loads. It is fairly simple to calculate the static loads rather than in dynamic loads. Some

of the structures may show resonance against dynamic loads, especially the flexible

and those ones are lightly damped. Therefore, the relation between the sources of

2

dynamic excitation, the structural form and the purpose of the structure should be

considered seriously at the design stage.

1.1.2 Dynamic Load

Dynamic loads can be categorized as periodic, harmonic, transient and

impulsive as shown in Figure 1.1. Shaking table or rotating machinery can be

recognized as sinusoidal or harmonic loads. Periodic loads are like rhythmic human

activities. Transient loads are general loading that is like a movement of people such

as running and walking. Single motion similar jumping or dropping can be given

examples of impulsive or shock loads.

Figure 1.1 Types of Dynamic Loadings (Murray, Allen & Ungar, 1997)

Harmonic loading Periodic loading

Impulsive loading

(Shock loading)

Transient loading

(General loading)

3

1.1.3 Consequences of Vibration

Vibration of structures is unwelcome for a number of reasons. For example,

overloading, cracking or other damages requiring repair. Sometimes it causes a

collapse to structures. Extreme structural vibrations in building of houses, office, and

hospitals need to be eliminated for their occupant comfort.

Human are highly sensitive to vibration (Drugă C, 2007). Therefore, an

incompatible human response to buildings should be considered at the design stage.

Although vibrations that causing discomfort for occupants are usually creating small

stresses, but it may lead to fatigue.

Fatigue causes fracture are subjected to cyclic, periodical movement and

fluctuating loads (Crane, Charles, & Furness, 1997). Fracture of fatigue usually occurs

in metal specifically in welded part of steel by a small cracks that invisible to naked

eyes. For example, high-mast lighting or billboard are subjected to a continuous wind

load, that causing a milliard of cycles of significant stress to the structures and could

effect in structural fatigue that lead to failure.

1.1.4 Vibration Control

The first step to design the structure that subjected to the vibrations is to

classify the dynamic loads in terms of frequency, intensity and its variation in terms of

time. Analyzing the response of the structure to get dynamic displacement, shear force,

stresses and frequencies come next. Finally, it is essential to check the result that

calculated or measured performance by using specified standards to guarantee that

there are no contradictory consequences of vibration that really applied. It is important

4

to think forward during the initial stage of theoretical design and make necessary

design changes in order to get an optimum result in the vibration susceptibility.

Active control over the natural frequency of buildings may be provided by

increasing the stiffness or reducing the mass. Increasing stiffness method is usually

difficult or uneconomic to reach the optimum value of dynamic acceptable state. It

may be more efficient to design and use specific vibration-absorbing devices such as

passive tuned mass dampers (TMDs), as part of the structural systems to reduce the

effects of dynamic loads. Some of the construction techniques, such as welded steel-

works, may be more delicate to vibration because of their lack of inherent damping

capacity. Therefore, it may sometimes be more effective to choose materials with high

damping or to install an artificial damping devices to reduce the vibration effect.

There are various types of system that can increase the resistance of structure

under earthquake or wind loads. Following is a small description of common seismic

protection systems.

Seismic protection systems can be categories as conventional, isolation and

supplemental damping systems. The supplemental damping systems is divided into

passive, semi active and active as shown in Table 1.1 (Christopoulos, Filiatrault, &

Bertero, 2006). These 3 types of dampers are motivated by the movement of structure

and reduce displacements of structure by dissipating energy by the use of different

mechanisms.

5

a) Active systems

Generally these systems monitor the behavior of the structure during seismic

situation and then processing the information to produce a set of instruction to force

change the current situation of the structure to reduce the effect of seismic vibration.

This system needs a nonstop external power source; therefore the loss of power could

create damage to the structure (Symans & Constantinou , 1999).

Figure 1.2 Framework of active system (Symans & Constantinou , 1999)

Table 1.1 Type of Seismic Protection Systems (Christopoulos, Filiatrault, &

Bertero, 2006):

6

b) Semi-Active systems

These systems are similar to active systems, but they needs less amount of

external power and excite the structure to be in adverse motion as a control forces. The

amount of forces can be adjusted by using the external power source (Symans &

Constantinou , 1999).

Figure 1.3 Framework of semi-active structural control systems (Symans &

Constantinou , 1999)

c) Passive Systems

These systems dissipate seismic energy without any need for external power

source in the structure. Their properties during the seismic vibration are constant and

cannot be changed. Mainly Passive Control Systems are divided into Metallic Yield

Dampers, Friction Dampers, Viscoelastic Dampers, Viscous Fluid Dampers, Tuned

Mass Dampers, Tuned Liquid Dampers and Ring Spring Dampers (Girges & William,

2004).

7

1.2 Problem Statements

The design of tall buildings fundamentally involves a perceptual design,

estimated analysis, initial design and optimization, to safely carry lateral and gravity

loads. The important criteria for design tall structures are strength, stability,

serviceability and human comfort. All criteria have limitation ranges as sufficient ,

safety to a standard limits; for the structural engineer to reach at suitable structural

systems as well as satisfying the standards.

In a tall building one of the biggest problems is the lateral forces. These forces

usually created by earthquake and wind. According to the standards and researches,

with increasing the height, the effect of these loads are going to be more, therefore a

new way of designing for the structure must be satisfying the limitation state. One of

the ways is embedding a damper in to the structure. This will reduce the effect of lateral

load and to keep the structure in the safety limits, reduce displacement and human

discomfort at the highest levels of building. Another issue is to reduce the effect of

cycling that makes earlier failure in the structure because of fatigue and creep

phenomenon.

Figure 1.4 Framework of passive structural control systems (Symans & Constantinou

, 1999)

8

1.3 Objectives

The objectives of the research are:

Investigations of model of Tuned Mass Damper (TMD) for a four-story

steel frame that representing a slender structure.

To analyses the concept of Tuned Mass Damper (TMD) for a four-story

slender frame in the form of line system and 3D model system using

SAP2000 and Autodesk Simulation Mechanical (ASM) 2014.

To compare the responses of the frame with and without dampers

(either TMD or Viscous Damper) in cyclic load.

1.4 Scope of work

The scope of works of the research are:

1. Performance of a concerted a 4-storey 2D steel frame is considered in

earthquake loading through simulation model in Autodesk Simulation

Mechanical and SAP2000.

2. This study focuses on effectiveness of tuned mass damper as well as

fluid viscous damper on slender structure.

3. Tuned Mass Damper was considered as Passive Tuned Mass Dampers

(PTMD).

9

4. Non-linear analysis was performed to determine the response of the

structure.

5. In order to design an effective PTMD, its influential parameters such

as frequency (to calculate the stiffness of the spring) and damper mass

must be tuned in a way to significantly reduce the structural response.

6. This structure is assumed not to have a soil-structure interaction.

85

REFERENCES

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A.C. Webster , & R. Vaicaitis. (1992). Application of tuned mass dampers to control

vibrations of composite floor systems. Engineering Journal/American Institute

of Steel Construction Third Quarter, 16-124.

Aldawod, M., Samali, B., Naghdy, F., & C.S Kwok, K. (2011). Active control of along

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Al-Hulwah, K. I. (2005). Floor vibration control using three degree of freedom tuned

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Filiatrault, A. (2002). Elements of earthquake engineering and structural dynamics .

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Handayani, N., Kusumastuti, D., & Rildova. (2008). AN EXPERIMENTAL STUDY

ON MTMD TO IMPROVE STRUCTURAL PERFORMANCE UNDER

DYNAMIC LOADING. World Conference on Earthquake Engineering.

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J. P. Den Hartog. (1956). Mechanical Vibrations (4th edition ed.). New York,NY,

USA,: McGraw-Hill.

John Wiley & Sons, L. (2009). VERTICALLY DISTRIBUTED MULTIPLE TUNED

MASS DAMPERS IN TALL BUILDINGS: PERFORMANCE ANALYSIS AND

PRELIMINARY DESIGN.

Pashaei, M. H. (2004). Damping Characteristics of Mero-Type Doub;e Layer Grids.

University of Surrey.

Smith, J. W. (1988). Vibration of Structures Application in Civil Engineering Design.

Chapman and Hall.