AppliedSystemIdentification forConstructedCivilStructures f C t t d Ci il St t

DionysiusSiringoringo,Ph.D Bridge&StructureLab,Univ.ofTokyo Bridge & Structure Lab Univ of Tokyo July22,2010

SeriesoflectureonAsiaPacificSummerSchoolonSmartStructuresandControl

Outline
I t d ti Introduction
Definition Objectives Scope

ExperimentalMethods Classification
TypeofExcitation TypeofResponse

Analysis Methods AnalysisMethods

Classification:Parametricvs Nonparametric TypeofModel:Structuralvs Modalvs NonPhysicalNumericalModel Domain:Timevs Frequencyvs CrossTimeFrequency

Uncertainties p pp ExamplesofApplication DiscussionsandClosure

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1.Introduction:Definition
Aprocesstodeveloporimprovemathematicalrepresentation ofastructuralsystemusingexperimentallyobtainedstructural response(s). Mathematicalrepresentationofastructuralsystem:Mass, p y Stiffness,Damping,Flexibility,Connectivity Experimentally obtained structural response : vibrations, static Experimentallyobtainedstructuralresponse:vibrations,static response/deflection,strainresponseetc. System identification is a broad term when systemrefersto Systemidentificationisabroadterm,when system refers to structuralsystem,thetermstructuralidentificationis commonlyused.

1.Introduction:Objectives
WhySystemIdentificationforconstructedstructures?
1. ModelValidationofnewlyconstructedstructures d l lid i f l d
verifyassumptionsindesignmodel(e.g.boundarycondition,nonlinear
behavior,energydissipationmechanism/damping) verifyperformanceofcontrolsystem(e.g.baseisolation,TunedMass Damper,etc)

2. ModelUpdating
obtainFEMcalibratedstructuralmodel
adjuststructuralparametersafterretrofitormodification d l f f df

3. Structural/Condition Assessment and Health Monitoring Structural/ConditionAssessmentandHealthMonitoring

detectstructuralchangespossiblyduetodefectordamage recognizeenvironment/loadinginfluenceorpatternonthestructure

1.Introduction:Objectives
WhySystemIdentificationforconstructedstructures?
4.EarthquakeEngineering q g g
performanceofstructureduringearthquake postearthquakestructuralassessment

5.WindEngineering
verification/comparisonwithwindtunnelresults aerodynamicperformance(e.g.aerodynamicdampingoflongspanbridges)

6. SoilStructureInteraction characterizeandquantifyparameterofsurroundingsoilmedium 7.TrafficstructureInteraction characterizestructuralresponseduetocertaintypeofvehicle/train detectchangesinstructurevehicleinteractionmedium(e.g.pavementeffecton

bridgeresponse,railwaytrackeffectontraincomfortmeasure)

1.Introduction:Scopes GlobalandLocal
ExampleofGlobalStructuralIdentification:Modalidentification Example of Global Structural Identification : Modal identification ofinstrumentedbridgesforglobalassessmentofthe structure

YokohamaBayBridge

1.Introduction:Scopes GlobalandLocal
ExampleofLocalStructuralIdentification:Evaluationofdamping E l fL lS l Id ifi i E l i fd i onstaycableofcablestayedbridgetoassestheeffectivenessof cabledampersystem.

StonecuttersBridge

CableHydraulicdamper

Singlemodedecayresponse ofthecable:f=0.49Hz

-1.5 peak valley average

=0.055487
-2

-2.5

Log (Peak Acc log(m/s2/s) c)

-3

-3.5

Freevibrationtestofstaycablebypulland releasetest.

-4

-4.5

Cabledamping (logarithmicdecrement: d=0.055)

100 120 140 160 180 200 220

-5 80

Time (s)

2.ExpMethods:ClassificationofRequiredData
Therequireddataisdatacollectedduringexperimentandcanbe classifiedinto: Excitation:measurementsmadeofdisturbanceforces, p pressure,impact,stressappliedtothestructure. , p , pp Response:measurementsmadeofthereactionsofthe structurestotheapplieddisturbance,suchas,deflection, displacement,velocity,acceleration,strainetc.

2.ExpMethods:TypeofExcitation
Theexcitationcanbeclassifiedas: 1. Dynamicorstatic(i.e.accordingtowhetherornottheyengage inertialeffects) i ti l ff t ) 2. Accordingtocontrollability,and 3. Accordingtomeasurability 3 According to measurability

1. 2. 3. 4. 5.

Controllable(measurableandunmeasurable)staticloads Uncontrollable(measurableandunmeasurable)staticloads Controllable(measurableandunmeasurable)dynamicloads Uncontrollablemeasurabledynamicloads Uncontrollableunmeasurabledynamicinput(ambient ll bl bl d ( b dynamicexcitation)

2.ExpMethods:StaticLoads
Controllable(measurableandunmeasurable)staticloads
Relativelyrareforfullscaleexperimentsonrealstructuresbecauseofthe y p scaleoftheloadrequiredtogenerateameasurableeffect. Commonexampleisprooftestingofbridgesofteninvolvinguseofheavy Common example is proof testing of bridges often involving use of heavy vehicles,eitherstationaryormoving

Uncontrollable(measurableandunmeasurable)staticloads
Generallyincludeelementsofdynamicloadandresponsemonitoring, ll l d l fd l d d particularlyinthecaseoftraffic andwind whichgeneratequasistatic and dynamicresponse.

2.ExpMethods:DynamicLoads ControllableMeasurable

Forcedvibrationtest(FVT)
Transferfunctionsorfrequencyresponsefunctions(FRFs)scale input(forcing)tooutput(response)viaeithermassorstiffness socanbothbeidentified,alongwithhighqualityinformation so can both be identified along with high quality information aboutdissipativeeffects(mathematicallyrealisedasviscous damping) Examples:massexciters,Electrodynamicshakers, instrumentedhammer instrumented hammer

2.ExpMethods:DynamicLoads ControllableUnMeasurable

Manualexcitation
Impulseresponsefunctions(IRF)orfreevibrationresponse. Neithermassnorstiffnesscanbeidentified.Modalfrequency anddampingcanbeestimatedquiteaccurately. Examples:Impacthammer,peoplejump,dropweighttest, Snap backororsteprelaxationtest Snapback or or step relaxation test

2.ExpMethods:DynamicLoads ControllableUnMeasurableExcitation

Controllablebutunmeasurabledynamicloads ll bl b bl d l d Manualexcitation:ImpactHammerTest

Givingexcitationtoashort Giving excitation to a short spanbridgebyimpacthammer

Freevibrationresponseofthebridgesubjected toimpacthammer

2.ExpMethods:DynamicLoads ControllableUnMeasurableExcitation

Manualexcitation:DropWeightTest l h

Givingexcitationtoashortspan Giving excitation to a short span bridgebydroppingsandbagweight Note:whiledropweighttestiseffective inexcitingthefreevibrationresponse ofthestructure,additionaldampingis expectedasthedroppedweighttends toincreasethedamping. to increase the damping

ExampleofFreevibrationresponseofthebridge excitedbydroppedweight

2.ExpMethods:DynamicLoads ControllableUnMeasurableExcitation

Manualexcitation:Pullandreleasedtestofstaycable Manual excitation Pull and released test of stay cable

1.5 1 0.5

Exampleoffreevibration responseofastaycable response of a stay cable

A cceleration (m ) /s

-0.5

-1

-1.5 80

100

120

140

160

180

200

220

Time (s)

Flowcharttoobtaindampingvalueofastaycable
FreeVibrationResponse ib i RawData FrequencyResponse

Filteringmodeofinterest Singlemodefreevibration response LogarithmicDecrement Logarithmic Decrement usingenvelopeofdecayresponse Singlemodedampingvalue

Givingexcitationtoastaycablebypulland releasedtest

2.ExpMethods:DynamicLoads ControllableUnMeasurableExcitation

Vehicleexcitation/ControlledTraffic Vehicle excitation/ Controlled Traffic

Exampleofstrainresponse whenatruckpassingabridge when a truck passing a bridge

Vehicleexcitation: 1. Responselargerthanambient vibrationresponse. 2. Stressandaccelerationresponsescan beconductedsimultaneously 3. Effectofvehiclebridgeinteraction shouldbeconsideredinanalysis. should be considered in analysis
Exampleofaccelerationresponsewhenatruck passingabridge

2.ExpMethods:DynamicLoads UncontrollableMeasurableExcitation

Seismicexcitation Seismic excitation

Transferfunctionsorfrequencyresponsefunctions(FRFs)betweenseismic input(baseexcitation)tooutput(structureresponse).Structuralproperties, modalpropertiesandmodalparticipationfactorcanbeestimated. p p p p Example:instrumentedbridgesandbuildingsinJapanandCaliforniaUS.

Example:YokohamaBayBridge,instrumentedcablestayedbridgenearTokyo

2.ExpMethods:DynamicLoads UncontrollableunmeasurableExcitation

Ambientexcitation:wind,traffic,andunmeasured microtremor.
Correlationsbetweenresponseareusedtoestimatemodal p p properties.Modeshapesunscaled.Treatedasstochastic p systemidentification. Example:periodicambientvibrationmeasurementand instrumentedbridgesandbuildings.

2.ExpMethods:DynamicLoads UncontrollableunmeasurableExcitation

Exampleofambientexcitation:windinducedvibrationof Example of ambient excitation wind induced vibration of suspensionbridge.

Toweraccelerationresponse

Treatedasstationaryrandomprocess.

2.ExpMethods:DynamicLoads UncontrollableunmeasurableExcitation

Exampleofambientexcitation:trafficinducedvibrationofbridge. Example of ambient excitation : traffic induced vibration of bridge

Exampleofverticalaccandthespectrumofamediumspanhighwaybridgetotraffic.

Bridgeresponsesubjectedtoopentrafficusuallytreatedasstationaryrandomprocess, sincetheinputisunknown.Effectofvehiclemassisusuallyneglected.However,incase i h i i k ff f hi l i ll l d i ofshortspanbridge,theeffectofvehiclemassmaynotbenegligibleandinfluencethe identifiedbridgefrequency.

2.ExpMethods:TypeofResponseExcitation

Static:Strain,Deflection Static : Strain Deflection Dynamic: Acceleration Relativeofabsolutedisplacement Velocity Inclination Strain Stress W t P WaterPressure Structuralandenvironmentaltemperature Wind Velocity WindVelocity WindDirection

3.AnalysisMethods:Classification
ParametricandNonparametricModels d d l
ParametricModel Parametric Model Structuralmodelandinitialestimateofmodelparametersare knownapriori.Measuredresponsesarefittedtoobtainthe bestestimateofmodelparameters. NonParametricModel Modelstructureisnotspecifiedapriori.Structuralresponses areusedtoobtainmodelparametersbymeansofdynamical are used to obtain model parameters by means of dynamical systemandquantitiessuchascross/autocorrelations,transfer function/frequencyresponsefunction.

3.AnalysisMethods:Classification
ExampleofParametricModel p OutputErrorMinimizationforsystemidentificationusingseismic response.
Theoreticalmodelorstructural Theoretical model or structural modelisrequired

F=objectivefunction

Example:comparisonbetweenrecorded responseandcomputedresponseofabridge response and computed response of a bridge decksubjectedtoseismicexcitation

Minimizethedifferencebetweenthe measuredmodalparametersandmodel generatedmodalparametersbyupdating parametersofthemodeliteratively

3.AnalysisMethods:Classification
ExampleofNon ParametricModel Example of NonParametric Model StateSpaceSystemidentificationusingseismicresponse.

Bymodelingtheinput outputrelationshipofseismic inducedvibrationusingstate space By modeling the inputoutput relationship of seismicinduced vibration using statespace modelandrealizationofobservability matrix,systemmatricesA,B,RandDcanbe obtainedandmodalparametersarerealized.

3.AnalysisMethods:TypesofModel
1. StructuralModel 1 Structural Model Systemismodeledintermsofmass,stiffness,orflexibility,and dampingmatrices. Geometricdistributionofmass,stiffnessanddampingareknown Structuralconnectivitybetweendegreeoffreedomispreserved
Equationofmotion:

&& & Mu (t ) + Cu (t ) + Ku (t ) = Bz (t )
0 A = exp 1 M K I t 1 M C

SystemmatrixAinstatespaceformfor discretedata: Equationofmotionindiscrete dynamicsystem,wheresystem matrixAistobeindentified

x ( k + 1) = [ A ] x ( k ) + [ B ] z ( k )

y (k ) = [R ] x(k ) + [ D ]z (k )

Goal:ToIndentifysystemmatrixAinitsoriginalform,fromwhichthemass,stiffness anddampingmatricescanberetrieved.

3.AnalysisMethods:TypesofModel
2. Modal Model ModalModel Systemisdefinedinmodalcoordinatesdescribingthevibratory motionofstructuresintermsofmodalfrequency,modaldamping andmodeshapes(alsomodephaseangleforcomplexmodes) Geometricdistributionofmass,stiffnessanddampingand informationonstructuralconnectivityarenotpreserved. Describestheresonantspatial(modeshapes)andtemporalofthe structure. t t Modalparametersareanalogoustoeigensolutionofstucturalmass andstiffness.
Equationofmotionindiscretedynamicsystem, wheresystemmatrixAistobeindentified

x ( k + 1) = [ A ] x ( k ) + [ B ] z ( k )

y (k ) = [R ] x(k ) + [ D ]z (k )
Goal:ToIndentifysystemmatrixAbysolvingthe Eigenvalue problemanddeterminethemodes.

3.AnalysisMethods:TypesofModel
3.Non PhysicalNumericalModel 3. NonPhysical Numerical Model Doesnothavephysicalrelationshipwiththestructure(i.e.nospatial information,nogeometrydistributionofmass,stiffness,anddamping) , g y , , p g) Simplyaparametercurvefitofthegivenmathematicalmodeltothe measureddata. Examples:AutoRegressiveMovingAverage(ARMA)anditsvariants, RationalPolynomialModeletc. Somecanbeconvertedtomodalmodelform.

Example:AutoRegressiveMovingAverage(ARMA)Modelwheretheautoregressive coefficientscanberelatedtomodalparameters

dy (t ) d n 1 y (t ) d n y (t ) + a n 1 + L a1 a 0 y (t ) n 1 n dt dt dt d m u (t ) d m 1u (t ) du d (t ) = bm + bm 1 + L b1 b0 u (t ) m 1 m du dt du

3.AnalysisMethods:Domain 1. FrequencyDomain PeakPickingMethod Peak Picking Method TransferFunction/FrequencyResponseFunction/Impulse ResponseFunction. AverageNormalizedPowerSpectrumDensity(ANPSD) ComplexExponentialFrequencyDomainMethod(Schmerr 1982) Eigensystem RealizationAlgorithminFrequencyDomain(ERA FD)(Juang &Suzuki1988) FrequencyDomainDecomposition(Brincker etal.2001) i ii ( i k l 2001)

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3.AnalysisMethods:Domain 2. TimeDomain IbrahimTimeDomain(ITD)(Ibrahim&Mikulcik 1973) LeastSquaredComplexExponentialMethod(LSCE)(Brown 1979) Polyreference ComplexExponentialMethod(PRCE)(Vold etal. 1982) Eigensystem RealizationAlgorithm(ERA)(Juang &Pappa 1985) StochasticSubspaceIdentification(Overschee &DeMoor 1991)

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3.AnalysisMethods:Domain

3. Cross TimeFrequency Domain CrossTime FrequencyDomain Representsfrequencyevolutionastimeprogresses. Candetectnon linearityandnon stationarysignals Can detect nonlinearity and nonstationary signals
ShortTimeFourierTransform(STFT) Waveletbasedsystemidentification EmpiricalModeDecomposition HilbertHuangTransform (shouldbecarefullyappliedsinceEMDlacksphysicalmeaningof (should be carefully applied since EMD lacks physical meaning of signals)

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3.AnalysisMethods:DirectandIndirectMethodTimeDomain

DirectMethod Direct Method

WhentheIRF/FRFisavailable,theycanbeuseasinputdirectlyto sys e de systemidentificationmethod. ca o e od

IndirectMethod WhentheIRF/FRFisunavailablesuchasincaseofambient vibrationmeasurement,anadditionalmethodisneededto ib ti t dditi l th d i d dt constructsyntheticIRF,ex.throughcrosscorrelation(Natural ExcitationTechnique(NEXT)orthroughRandomDecrement.

RawData NEXT Randec ERA ITD
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3.AnalysisMethods:Checklist
TypesofInputsandOutputs f d Controllabledynamicloads MeasuredInput(s) MassexciterandShaker M i d Sh k InstrumentedImpactHammer UnmeasuredInput(s) Unmeasured Input (s) Manualexcitation(peoplejumping) Snapback, or step relaxation Swingingbelltoexciteacathedraltower Uncontrollabledynamicloads MeasuredInput(s) seismicexcitation(SingleInput) seismicmultipleexcitation(MultipleInput) Uncontrollabledynamicloads UnmeasuredInput(s) ambientvibrationtest(operationalmodal analysis) windexcitation trafficexcitation microtremorwithunmeasuredinput SystemIdentificationMethod d f h d

TransferFunctions(InputOutputSysID) T f F i (I O S ID) SingleInput SingleOutput(SISO)orSingleInputMulti Output(SIMO)system

ImpulseResponseFunction/FreevibrationResponse ImpulseResponseFunction/FreevibrationResponse ImpulseResponseFunction/FreevibrationResponse

Transferfunction,SISOorSIMO Transferfunctionmatrix,MIMO

Stationarybroadbandassumption OutputCrosscorrelation CovarianceDrivenSystemIdentification DataDrivenStochasticSubspaceIdentification

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4.Uncertainties Uncertaintyisunavoidableinunderstandingtheresultsof systemidentification.Modalpropertiesaresusceptibleto variationevenwhenstructuralconditionremainsthesame. variation even when structural condition remains the same Howtoquantifytheconfidenceoftheidentifiedmodal properties? 1. Errorpropagationanalysisusingperturbationmethod 1 Error propagation analysis using perturbation method 2. MonteCarloSimulation 3. BootstrapMethod

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4.Uncertainties:Errorpropagationanalysisusingperturbation
ExampleoferrorpropagationinSystemRealizationusingInformationMatrix Example of error propagation in System Realization using Information Matrix Input[Up] CorrelationMatrix: CorrelationMatrix Ryy()=Ryy(0)+Ryy Up()=Up(0)+Up Up() = Up(0) + Up OfInputOutput Of Input Output [Ryy],[Ryu],[Ruu] Ryu()=Ryu(0)+Ryu
Yp()=Yp(0)+Yp Output[Yp] Ruu() Ruu(0) + Ruu Ruu() =Ruu(0)+Ruu

InformationMatrix InformationMatrix [Rhh] Rhh()=Rhh(0)+Rhh SingularValue SingularValue Decomposition p Decomposition D iti RealizationofSystem RealizationofSystem Matrix Matrix[A] [ ] A()=A(0)+A

Objectives: Todefine andquantify theerroron themodalparametersastheeffect ofinputandoutputnoise

RealizationofModal RealizationofModal Parameters Parameters () = (0) + , , () = (0) + () = (0) +
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4.Uncertainties:Bootstrap Analysis
Exampleofinvestigationoftheeffectofvariabilityandtoestimatetheconfidence Example of investigation of the effect of variability and to estimate the confidence boundsofidentifiedmodalparametersbyNEXTERA
Randomlyselected CCF1,CCF2,CCF3,CCFN Ensemble1 (Mcomponent) (M t) CCF1,CCF5,CCF3,CCFM ComputeCCFaverage ERA

1,1,1

Randomlyselected

Ensemble2 (Mcomponent) (M ) CCF7,CCF2,CCF1,CCFM ComputeCCFaverage

ERA

2,2,2

. . .
Randomlyselected EnsembleP (Mcomponent) CCF4,CCF6,CCF2,CCFM ComputeCCFaverage ERA

. . .
p,p,p

CCF:Crosscorrelationfunction

Estimatemeanvalueand 95%Confidencebound

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4.Uncertainties:Bootstrap Analysis Distributionofmodalparametersandtheirmeanvaluesand Distribution of modal parameters and their mean values and confidencelevelcanbeobtained

t frequencystatisticaldistributionondifferentstructuralconditions Examplesofbridge1st f l fb d ld b d ff l d usingBootstrapMethod

Modalparametersareconsideredasstochasticvariablethathavedistribution Modal parameters are considered as stochastic variable that have distribution withcertainstatisticalcharacteristics.Thereforedecisionmadeonstructural conditioninvolvedstatisticalconfidence.

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5.Examples:AmbientVibrationMeasurementofSuspensionBridge

3SpanSuspensionBridge BridgeType: Simplysupportedatthe tower Length: 1,380m Span: 330720330m TotalDeckWidth: 20m

Tower Height : Towerwidth: Tower width : Girdermaterial: Towermaterial: Completed:

130m 21matbase 18montop 18 Streamlinedsteelbox Steelbox(welded) 1998

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5.Examples:AmbientVibrationMeasurementofSuspensionBridge
UsingNEXTERA U i NEXT ERA ModalParameters M d lP t

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5.Examples:AmbientVibrationMeasurementofSuspensionBridge
Structuralidentification:effectoffrictionforceandaerodynamicforcesonidentified frequencyanddamping(Nagayama et.al2005)

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5.Examples:SeismicInducedSystemIdentificationofCableStayedBridge

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5.Examples:SeismicInducedSystemIdentificationofCableStayedBridge
Adatadrivenidentificationmethodwasappliedconsideringmultipleinputexcitation pp g p p andmultipleresponses(MIMOSystem)

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5.Examples:SeismicInducedSystemIdentificationofCableStayedBridge
Withdenseinstrumentationandgoodqualityofseismicrecordsweidentifybridge g q y y g modalparametersuntilhighorder

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5.Examples:SeismicInducedSystemIdentificationofCableStayedBridge
Observationoftheperformanceofseismicisolationdevicesusing1st longitudinal p g g mode(Siringoringo &Fujino 2008)

(a)TypicalslipslipMode (Earthquake19900220)

(b)TypicalMixedSlipStickMode(Earthquake19950703)

FromthefirstlongitudinalmodewecanobservebehaviorofLinkBearingConnection g g duringearthquake. Differentbehaviour ofLinkBearingConnectionattheendpierswasobservedduring differentlevelofearthquakeexcitation. different level of earthquake excitation Itwasfoundthattheexpectedslipslipmodeonlyoccurredduringlargeearthquake.
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SuggestedReadingsMaterials: TheoreticalandExperimentalModalAnalysisbyMaia,Silva,He,Lieven etal. Theoretical and Experimental Modal Analysis by Maia Silva He Lieven et al AppliedSystemIdentificationbyJer NanJuang MonitoringandAssessmentofStructuresbyGSTArmer TheStateoftheArtinStructuralIdentificationofConstructedFacilities(ASCEReport1999)

Q&S
Questions andSharing?

DionysiusSiringoringo dion@bridge.t.utokyo.ac.jp dion@bridge t u tokyo ac jp

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