SUMMARYSample controllers for a three-dimensional smart base-isolated building benchmark problem with linear and frictional isolation system are presented in this paper. A Kalman filter is used to estimate the states based on absolute acceleration measurements. Input filters are used to better inform the controller of the spectral content of the earthquake excitations. A reduced order control-oriented model of the benchmark structure with a linear isolation system is developed. A H 2 /linear quadratic Gaussian controller is presented for the active case; additionally, a clipped optimal controller is presented for the semiactive case. A preliminary 'skyhook' semiactive controller is also presented for the benchmark problem. Magnetorheological fluid dampers are used for control in the semiactive case and ideal actuators are used for control in the active case. The focus of this phase I study is on the linear isolation system only. Computed results for the passive, semiactive, and active cases are presented. Detailed comparisons of benchmark performance indices for base-isolated structures with a nominal linear isolation system, with and without control, for a set of strong near-field earthquakes are presented. The modeling and sample control designs demonstrated in this paper can be used to form the basis for studying a wide variety of active and semiactive control strategies}to be developed by the participants in the benchmark study}for linear base-isolated buildings.

Electrorheological (ER) materials are suspensions of specialized, micron-sized particles in nonconducting oils. When electric fields are applied to ER materials, they exhibit dramatic changes (within milli-seconds) in material properties. Pre-yield, yielding, and post-yield mechanisms are all influenced by the electric field. Namely, an applied electric field dramatically increases the stiffness and energy dissipation properties of these materials. A previously known cubic equation which describes the flow of fluids with a yield stress through a rectangular duct can be applied to annular flow, provided that certain conditions on the material properties are satisfied. An analytic solution and a uniform approximation to the solution, for the rectangular duct Poiseuille flow case is presented. A numerical method is required to solve the flow in annular geometries. The approximation for rectangular ducts is extended to deal with the annular duct case.

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This article reports on the design and experimental characterization of an electromagnetic transducer for energy harvesting from large structures (e.g., multistory buildings and bridges), for which the power levels can be above 100 W and disturbance frequencies below 1 Hz. The transducer consists of a back-driven ballscrew coupled to a permanent-magnet synchronous machine with power harvesting regulated via control of a four-quadrant power electronic drive. Design considerations between various subsystems are illustrated and recommendations in terms of minimal values are made for each design metric. Developing control algorithms to take full advantage of the unique features of this type of transducer requires a mechanical model that can adequately characterize the device’s intrinsic nonlinear behavior. A new model is proposed that can effectively capture this behavior. Comparison with experimental results verifies that the model is accurate over a wide range of operating conditions. As such, the model can be used to assess the viability of the technology and to correctly design controllers to maximize power generation. To demonstrate the device’s energy harvesting capability, impedance matching theory is used to optimize the power generated from a base-excited tuned mass damper. Both theoretical and experimental investigations are compared and the results are shown to match closely.

Electrorheological (ER) materials develop yield stresses on the order of 5–10 kPa in the presence of strong electric fields. Viscoelastic and yielding material properties can be modulated within milli-seconds. An analysis of flowing ER materials in the limiting case of fully developed steady flow results in simple approximations for use in design. Small-scale experiments show that these design equations can be applied to designing devices in which the flow is unsteady. More exact models of ER device behavior can be determined using curve-fitting techniques in multiple dimensions. A previously known curve-fitting technique is extended to deal with variable electric fields. Experiments are described which illustrate the potential for ER devices in large-scale damping applications and the accuracy of the modeling technique.