Semi active control of magnetorheological materials, data collected and presented by umair n. mughal
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Semi active control of magnetorheological materials, data collected and presented by umair n. mughal

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    Semi active control of magnetorheological materials, data collected and presented by umair n. mughal Semi active control of magnetorheological materials, data collected and presented by umair n. mughal Presentation Transcript

    • Semi Active Control ofMagnetorheological Damper for Structures Umair Najeeb Mughal Supervisors: Prof. Robert Gri˜o n´ Prof. Fay¸al Ikhouane c Institute of Industrial and Control Engineering Universitat Politecnica De Catalunya, BarcelonaTECH, Barcelona, Spain 08034 umair.mughal@upc.edu July 15, 2011
    • Outline Introduction State of the Art My Present Status Future Goals/Milestones 1 Introduction 2 State of the Art 3 My Present Status 4 Future Goals/Milestones Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 2 / 40
    • Outline Introduction State of the Art My Present Status Future Goals/MilestonesOutline 1 Introduction Motivation and Objective 2 State of the Art 3 My Present Status 4 Future Goals/Milestones Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 3 / 40
    • Outline Introduction State of the Art My Present Status Future Goals/MilestonesMotivation and ObjectiveIntroduction Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 4 / 40
    • Outline Introduction State of the Art My Present Status Future Goals/MilestonesMotivation and ObjectiveIntroduction Motivation Earthquake Resilient Structures Life Safety Inventory Safety Open Problems Actuator Dynamics Closed Loop Stability Objective Nonlinear Control Law Mathematical Proof Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 4 / 40
    • Outline Introduction State of the Art My Present Status Future Goals/MilestonesOutline 1 Introduction 2 State of the Art Smart Materials Smart Materials Magnetorheological Materials Non Newtonian Classifications of Fluids Mathematical Models Structural Control MR Damper Models and Control Techniques MR Damper Models MR Damper Semi Active Control Techniques 3 My Present Status 4 Future Goals/Milestones Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 5 / 40
    • Outline Introduction State of the Art My Present Status Future Goals/MilestonesSmart MaterialsSmart Materials Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 6 / 40
    • Outline Introduction State of the Art My Present Status Future Goals/MilestonesSmart MaterialsSmart Materials Shape Memory Alloys Piezoelectric Materials Magnetostrictive Materials Magnetorheological Materials Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 6 / 40
    • Outline Introduction State of the Art My Present Status Future Goals/MilestonesSmart MaterialsMagnetorheological Materials What is it and how does it work? Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 7 / 40
    • Outline Introduction State of the Art My Present Status Future Goals/MilestonesSmart MaterialsMagnetorheological Materials What is it and how does it work? Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 7 / 40
    • Outline Introduction State of the Art My Present Status Future Goals/MilestonesSmart MaterialsMagnetorheological Materials Various Modes Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 8 / 40
    • Outline Introduction State of the Art My Present Status Future Goals/MilestonesSmart MaterialsMagnetorheological Materials Various Modes Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 8 / 40
    • Outline Introduction State of the Art My Present Status Future Goals/MilestonesNon NewtonianClassifications of Fluids Response to normal stress Compressible (typically gases) Incompressible (typically liquids) Response to shear stress · Newtonion τyx = µγ yx Non Newtonian · γ yx = f (τyx ) Time Independent Fluids Time Dependent Fluids or Viscoelastic Fluids · τyx = f1 (γ yx ) Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 9 / 40
    • Outline Introduction State of the Art My Present Status Future Goals/MilestonesNon NewtonianTime Independent Fluids Behavior Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 10 / 40
    • Outline Introduction State of the Art My Present Status Future Goals/MilestonesNon NewtonianTime Independent Fluids Behavior Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 10 / 40
    • Outline Introduction State of the Art My Present Status Future Goals/MilestonesNon NewtonianTime Independent Fluids Shear Thinning Fluids Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 11 / 40
    • Outline Introduction State of the Art My Present Status Future Goals/MilestonesNon NewtonianTime Independent Fluids Shear Thinning Fluids Power Law Cross Viscosity Model τyx · µ − µ∞ 1 µ= = m(γ yx )n−1 = · γ yx · n. µ0 − µ∞ 1 + k(γ yx ) Carreau Viscosity Model Ellis Fluid Model n−1 µ − µ∞ · 2 µ0 = 1 + (λγ yx )2 µ= α−1 µ0 − µ∞ τyx 1+ τ1 2 Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 11 / 40
    • Outline Introduction State of the Art My Present Status Future Goals/MilestonesNon NewtonianTime Independent Fluids Viscoplastic Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 12 / 40
    • Outline Introduction State of the Art My Present Status Future Goals/MilestonesNon NewtonianTime Independent Fluids Viscoplastic Bingham Plastic · B τyx = τ0 + µB (γ yx ) for B |τyx | > τ0 , · γ yx = 0 for B |τyx | < τ0 . Hurshchel Bulkley Fluid · τyx = τ0 + m(γ yx )n H for B |τyx | > τ0 , · γ yx = 0 for B |τyx | < τ0 . Casson Fluid Model 1 1 1 · 2 (|τyx |) 2 = C τ0 2 + µC γ yx for C |τyx | > τ0 , · γ yx = 0 for C |τyx | < τ0 . Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 12 / 40
    • Outline Introduction State of the Art My Present Status Future Goals/MilestonesNon NewtonianTime Independent Fluids Shear Thickening Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 13 / 40
    • Outline Introduction State of the Art My Present Status Future Goals/MilestonesNon NewtonianTime Independent Fluids Shear Thickening Power Law τyx · µ= · = m(γ yx )n−1 γ yx Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 13 / 40
    • Outline Introduction State of the Art My Present Status Future Goals/MilestonesNon NewtonianTime Dependent Fluids Behavior Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 14 / 40
    • Outline Introduction State of the Art My Present Status Future Goals/MilestonesNon NewtonianTime Dependent Fluids Behavior Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 14 / 40
    • Outline Introduction State of the Art My Present Status Future Goals/MilestonesNon NewtonianTime Dependent Fluids Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 15 / 40
    • Outline Introduction State of the Art My Present Status Future Goals/MilestonesNon NewtonianTime Dependent Fluids Thixotropy Houska Model · n τyx = (τy 0 + τy 1 ) + (m0 + ξm1 ) γ yx , · ε dξ dt = a(1 − ξ) − bξ γ yx . Rheopexy or Negative Thixotropy Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 15 / 40
    • Outline Introduction State of the Art My Present Status Future Goals/MilestonesNon NewtonianNon Newtonian Fluid Models Viscoelastic Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 16 / 40
    • Outline Introduction State of the Art My Present Status Future Goals/MilestonesNon NewtonianNon Newtonian Fluid Models Viscoelastic Maxwell Model · · τ + λτ = µγ Voigt Model · τ = Gγ + µ γ Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 16 / 40
    • Outline Introduction State of the Art My Present Status Future Goals/MilestonesStructural ControlStructural Control Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 17 / 40
    • Outline Introduction State of the Art My Present Status Future Goals/MilestonesStructural ControlStructural Control I Base Isolation Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 17 / 40
    • Outline Introduction State of the Art My Present Status Future Goals/MilestonesStructural ControlStructural Control I Base Isolation II Structural Control (i) Passive Control, (ii) Active Control, (iii) Hybrid Control, (iv) Semi Active Control. Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 17 / 40
    • Outline Introduction State of the Art My Present Status Future Goals/MilestonesStructural ControlPassive Control Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 18 / 40
    • Outline Introduction State of the Art My Present Status Future Goals/MilestonesStructural ControlPassive Controla Metallic yield Damping Control,b Friction Damping Control,c Viscoelastic Damping Control,d Viscous Fluid Damping Control,e Tuned mass dampers (TMD) Control. Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 18 / 40
    • Outline Introduction State of the Art My Present Status Future Goals/MilestonesStructural ControlActive Control Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 19 / 40
    • Outline Introduction State of the Art My Present Status Future Goals/MilestonesStructural ControlActive Control Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 19 / 40
    • Outline Introduction State of the Art My Present Status Future Goals/MilestonesStructural ControlHybrid Control Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 20 / 40
    • Outline Introduction State of the Art My Present Status Future Goals/MilestonesStructural ControlHybrid Control Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 20 / 40
    • Outline Introduction State of the Art My Present Status Future Goals/MilestonesStructural ControlSemi Active Control Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 21 / 40
    • Outline Introduction State of the Art My Present Status Future Goals/MilestonesStructural ControlSemi Active Control Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 21 / 40
    • Outline Introduction State of the Art My Present Status Future Goals/MilestonesStructural ControlSemi Active Controla Variable orifice viscous damper,b Variable friction damper,c Variable stiffness damper,d Controllable fluid damper. Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 21 / 40
    • Outline Introduction State of the Art My Present Status Future Goals/MilestonesMR Damper Models and Control TechniquesMR Damper Models Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 22 / 40
    • Outline Introduction State of the Art My Present Status Future Goals/MilestonesMR Damper Models and Control TechniquesMR Damper Models Parametric Models Bingham Model Bouc Wen Model Hyperbolic Tangent Model Dahl Friction Model Others Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 22 / 40
    • Outline Introduction State of the Art My Present Status Future Goals/MilestonesMR Damper Models and Control TechniquesMR Damper Models Parametric Models Non Parametric Models Bingham Model Neural Network Bouc Wen Model Fuzzy Logic Hyperbolic Tangent Model Others Dahl Friction Model Others Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 22 / 40
    • Outline Introduction State of the Art My Present Status Future Goals/MilestonesMR Damper Models and Control TechniquesMR Damper Models Parametric Models Bingham Model Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 23 / 40
    • Outline Introduction State of the Art My Present Status Future Goals/MilestonesMR Damper Models and Control TechniquesMR Damper Models Parametric Models Bingham Model Basic Bingham Model · · fmr = fc sgn x + c0 x + f0 Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 23 / 40
    • Outline Introduction State of the Art My Present Status Future Goals/MilestonesMR Damper Models and Control TechniquesMR Damper Models Parametric Models Bingham Model Basic Bingham Model · · fmr = fc sgn x + c0 x + f0 Extended Bingham Model · · c0 x 1 + fc sgn x1 + f0 = k2 (x3 − x2 ) + f0 |F | > fc , fmr = · k1 (x2 − x1 ) + c1 x 2 + f0 = k2 (x3 − x2 ) + f0 |F | ≤ fc . Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 23 / 40
    • Outline Introduction State of the Art My Present Status Future Goals/MilestonesMR Damper Models and Control TechniquesMR Damper Models Parametric Models Bouc-Wen Model Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 24 / 40
    • Outline Introduction State of the Art My Present Status Future Goals/MilestonesMR Damper Models and Control TechniquesMR Damper Models Parametric Models Bouc-Wen Model Basic Bouc-Wen Model · fmr = c0 x +k0 (x − x0 ) + αz, · · · · z = −ϕ x z|z|n−1 − β x |z|n + κ x . Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 24 / 40
    • Outline Introduction State of the Art My Present Status Future Goals/MilestonesMR Damper Models and Control TechniquesMR Damper Models Parametric Models Bouc-Wen Model Basic Bouc-Wen Model · fmr = c0 x +k0 (x − x0 ) + αz, · · · · z = −ϕ x z|z|n−1 − β x |z|n + κ x . Modified Bouc-Wen Model · fmr = c1 y +k1 (x − x0 ) · · 1 y = c +c αz + c0 x +k0 (x − y ) 0 1 · · · · · z = −ϕ x − y z|z|n−1 − β|z|n + κ x − y Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 24 / 40
    • Outline Introduction State of the Art My Present Status Future Goals/MilestonesMR Damper Models and Control TechniquesMR Damper Models Parametric Models Hyperbolic Tangent Model Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 25 / 40
    • Outline Introduction State of the Art My Present Status Future Goals/MilestonesMR Damper Models and Control TechniquesMR Damper Models Parametric Models Hyperbolic Tangent Model Hyperbolic Tangent Model by Ghao · · x x 0 = Ξ1 x0 + Ξ2 x + Ξ3 f0 tanh V0r T T ∧ −k1 k1 f mr = x0 + x, −c1 c1 0 1 Ξ1 = , − k0m0 1 − c0m0 1 +k +c 0 0 Ξ2 = k c , − m10 − m10 0 Ξ3 = 1 . − m0 Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 25 / 40
    • Outline Introduction State of the Art My Present Status Future Goals/MilestonesMR Damper Models and Control TechniquesMR Damper Models Parametric Models Hyperbolic Tangent Model Hyperbolic Tangent Model by Ghao · · x x 0 = Ξ1 x0 + Ξ2 x + Ξ3 f0 tanh V0r T T ∧ −k1 k1 f mr = x0 + x, −c1 c1 0 1 Ξ1 = , − k0m0 1 − c0m0 1 +k +c 0 0 Ξ2 = k c , − m10 − m10 0 Ξ3 = 1 . − m0 Hyperbolic Tangent Model by Ghao · V0 · V0 fmr = A1 tanh A3 x + x + A2 x + x X0 X0 Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 25 / 40
    • Outline Introduction State of the Art My Present Status Future Goals/MilestonesMR Damper Models and Control TechniquesMR Damper Models Parametric Models Dahl Friction Model Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 26 / 40
    • Outline Introduction State of the Art My Present Status Future Goals/MilestonesMR Damper Models and Control TechniquesMR Damper Models Parametric Models Dahl Friction Model Dahl Friction Model · F = kx (v ) x(t) + kw (v )z(t) · · · z =ρ x− x z . Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 26 / 40
    • Outline Introduction State of the Art My Present Status Future Goals/MilestonesMR Damper Models and Control TechniquesMR Damper Models Parametric Models Dahl Friction Model Dahl Friction Model · F = kx (v ) x(t) + kw (v )z(t) · · · z =ρ x− x z . Others Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 26 / 40
    • Outline Introduction State of the Art My Present Status Future Goals/MilestonesMR Damper Models and Control TechniquesSemi Active Control Techniques for MR Dampers Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 27 / 40
    • Outline Introduction State of the Art My Present Status Future Goals/MilestonesMR Damper Models and Control TechniquesSemi Active Control Techniques for MR Dampers Model Based Control Clipped Optimal Control Control Based on Lyapunov’s Stability Theory Bang Bang Control Sliding Mode Control Backstepping Control Quantitative Feedback Theory H2 and H∞ Control Bilinear Control Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 27 / 40
    • Outline Introduction State of the Art My Present Status Future Goals/MilestonesMR Damper Models and Control TechniquesSemi Active Control Techniques for MR Dampers Model Based Control Soft Computing Based Control Clipped Optimal Control Neural Networks Control Based on Lyapunov’s Stability Theory Fuzzy Logic Bang Bang Control Genetic Algorithms Sliding Mode Control Backstepping Control Quantitative Feedback Theory H2 and H∞ Control Bilinear Control Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 27 / 40
    • Outline Introduction State of the Art My Present Status Future Goals/MilestonesOutline 1 Introduction 2 State of the Art 3 My Present Status Bilinear System Damped Linear Oscillator Biliear Control L2 Gain and Passivity Basic System Modified to Control Earthquake Excitation H∞ Control 4 Future Goals/Milestones Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 28 / 40
    • Outline Introduction State of the Art My Present Status Future Goals/MilestonesOutline 1 Introduction 2 State of the Art 3 My Present Status 4 Future Goals/Milestones Goals Timeline Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 37 / 40
    • Outline Introduction State of the Art My Present Status Future Goals/MilestonesGoalsMilestones/Goals Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 38 / 40
    • Outline Introduction State of the Art My Present Status Future Goals/MilestonesGoalsMilestones/Goals Detailed Modelling Simulations More Accurate Models More Complex Models of System Evaluation More Complex Models of Damper Publications Controller Design L2 Gain and Passivity Other Nonlinear Documentation Techniques Stability Proofs Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 38 / 40
    • Outline Introduction State of the Art My Present Status Future Goals/MilestonesGoalsMilestones/Goals Detailed Modelling Simulations More Accurate Models More Complex Models of System Evaluation More Complex Models of Damper Publications Controller Design L2 Gain and Passivity Other Nonlinear Documentation Techniques Stability Proofs Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 38 / 40
    • Outline Introduction State of the Art My Present Status Future Goals/MilestonesTimelineTime Line Mughal, U.N. (IOC, UPC) S.A.C. of MRD for Structures July 2011 39 / 40
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