Storey damage identification using system dynamic properties

1.

Introduction

Over the past two decades, the health monitoring of old structures have been the subject of many research studies. This
is owing to the realization that an early condition assessment of a structure can enhance the overall safety and reliability
of a structure, thus extending its service life.
Damage is defined as any change in the physical and geometric properties of a structure from its original characteristics.
To this respect, the detection of damage requires a comparison between the healthy undamaged state of a system to its
damaged condition. This case study addresses the use of a structures dynamic properties to identify, locate, and
quantify damage.To locate the damage, theoretical frequency change ratios of two dierent modes were calculated by
introducing damage at selected positions on a nite element model.
There are many existing methods on damage detection that utilize the systems dynamic properties to come up with
damage information. However, these methodologies require extensive computations that lead to longer processing time.
The study reduces the amount of computation needed by analyzing the study as a lumped mass model. The method is
tested by applying the procedure to detect damage in a 2d steel frame.
2.

Damage Detection

In locating where damage is present in the structure, an equation of motion for an undamped case given n Degree of
Freedom (DOF) is given by

M u + Ku=F (t )
where M and K are the n x n mass and stiffness matrices, and

(1)

u and u are the n x 1 acceleration and displacement

vectors, respectively, F(t) is the n x 1 excitation force vector. Under free vibration (i.e., F(t) = 0), a characteristic
equation can be derived from Eq. (1) and written as

( K i M ) i=0
Where

(2)

i is the ith mode eigenvalue or square of the natural frequency

natural mode shape with respect to the

i and i is the eigenvector or the

i .

Eq. (2) can be used to determine the natural frequencies and mode shapes of the structure and it forms the basis for
many damage detection methods that make use of modal properties in damage detection and identification. A residual
force method used by Ge and Lui [6] is applied to locate damage. The method is based on identifying the difference in
modal properties between the original (undamaged) and damaged structures. A subscript d is used to denote the
damaged structure and Eq. (2) becomes

( K d di M d ) di =0

(3)

A local damage applied will cause a change in stiffness and mass matrices which will result into an equation of motion
described by a change in the structural parameters. The obtained form can be written as:

K di di M di =(K u + di M u ) di

(4)

The residual force vector or Ri can be taken as any side of Eq. (4). A close inspection of Rireveals that if the measured
frequencies and mode shapes are uncorrupted by noise, the value of Ri will be zero if none of the elements associated
with the floor is damaged, but it will assume a non-zero value if any element is associated with this degree-of-freedom
is damaged. This observation can be readily deduced from the right hand side of Eq. (4).Thus any residual force value
that return a non-zero value is said to be damaged. This determines the part of the matrix where damage is located.

3.

Numerical Study

There were two sets of calculations done in the case study in determining the location of damage in the structure. The
first part is a confirmation of the damage location model with the residual force vector. As an example, a steel shear
building as shown in figure 1 was analyzed with a lump massed model having 3 degrees of freedom (DOF) shown in
figure 2. The lumped masses at the first, second, and third level are taken as 2.2 x 10 6, 2.0 x 106, and 1.8 x 106 in
kilograms.
Three different variations of local damage are applied to the undamaged structure. The simulated damage scenarios
were 10%, 40%, and 90% stiffness reduction in member 1. Eq. (2) is used to compute for the three eigenvalues and
eigenvectors corresponding to the 3 dofs per model.Afterwards the residual force vector was then calculated using the
left hand side of equation 4. The summary of results is shown in table 1. All of the cases showed that there are no values
in modes 2 and 3 reflecting that there are no damage present in storey 2 and storey 3. R values in mode 1 shows that the
damage is present in storey 1, however localization of the damage or knowing which specific member is subjected to
damage cannot be determined through the model since a lumped mass approach was used.
The second set of calculations is done with an objective of determining the location of damage using the same residual
force vector given only the eigenvalue and eigenvector parameters of the damaged state and the stiffness and mass
matrices of the undamaged state.
The same dynamic properties of the damaged structure from methodology 1 were used as an input for calculating the
residual force vector using the right hand side of equation 4. In this case, it is assumed that the input values are obtained
from a measured response and not from a local damage application. The summary of results is shown in table 2. The
results are exactly the same showing that either forms of equation 4 can be used in locating the damage in a structure.
Conclusions
It was presented in this paper that knowing the eigenvalues and eigenvectors of the damaged structure through
a measured response along with the structural properties of the undamaged state such as stiffness and mass parameters
can easily determine the location of damage in a structure by its storey using the residual force vector equation.
The researchers found out that the mode in which R-valuesare present is the location of the damage in the
structure. In a case that there would be two R-values present, the negative values should be neglected, as it is just a
result of the formation of the stiffness matrix of a lumped mass model.
It was identified through the calculations that residual force equation alone will not be enough to locate the
damage in a localized aspectbecausethe matrices formed was in a lump mass approach.
References
[1]
[2]
[3]
[4]
[5]
[6]

SALAWU O.S., Detection of Structural Damage Through Changes in Frequency: A Review, Engineering
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BARUCH M., Optimal correction of mass and stiffness matrices using measured modes, Am Inst
AeronautAstronaut J, Vol. 20, No.11, 1982, pp. 16231636.
BERMAN A, NAGY E.J., Improvement of a large analyticalmodel using test data, Am Inst Aeronaut
Astronaut J, Vol. 21, No.8, 1983, pp. 11681173.
CAWLEY P, ADAMS R.D. The predicted and experimental natural modes of free-free CFRP plates, J
Compos Mater, Vol. 12, 1978, pp. 336347.
SU W.C., et. al. Locating damaged storeys in a shear building based on its sub-structural natural frequencies,
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Structures Vol. 83, 2005, pp. 2185-2196.

Appendix

Fig 1: Shear Building Model

Damaged Case
1

Fig 2: Lumped Mass Model

Table 1 Residual force vector results from equation 6

Mode
1
2
3
1
2
3
1
2
3

Table 2 residual force vector results from equation 7

Case
Mode
R in kN
1
2942
1
2
0
3
0
1
11769
2
2
0
3
0
1
26480
3
2
0
3
0

R in kN
2942
0
0
11769
0
0
26480
0
0