Tuned liquid Damper (TLD) for suppressing the Dynamic Response of the Structure

Master of Technology In Structural Engineering

Submitted By k.venateswara rao Under the Guidance of DR. K.C BISWAL

DEPARTMENT OF CIVIL ENGINEERING NATIONAL INSTITUTE TECHNOLOGY ROURKELA

Introduction:
Structures are vulnerable to the vibrations caused due to earthquake and wind. Structural control method will be able to make significant contribution to the problem area which is of great economic and social importance. The evolution of civil engineering field of structural control has been rapid, attracting the interest and attention of scores of researchers over the past several decades. The objective of many of these research works is to devise a system which can absorb significant amount of input energy thus reducing the demand on the structural system. The systems may also increase the stiffness and strength of the structure to which they are attached. One type of passive damping system, called the tuned liquid damper has been successfully employed in practice. A study is carried on to identify the underlying physical phenomenon of liquid sloshing behaviour that contributes to the damping capability of the device. The damping mechanism in the water is developed primarily by the viscous action in the boundary layer near the bottom surface and the side walls of the tank and the sloshing motion of the free surface of the water. The growing interest in liquid dampers is due to their low capital and maintenance cost and their ease of installation into existing and new structures.

Tuned liquid Damper (TLD)

History
Since 1950s liquid dampers have been used to stabilize marine vessels or to control wobbling motion of satellites. In the late 1970s TLD has started to be used in civil engineering to reduce Structural motion; Vandiver and Mitome (1979) used TLD to reduce the wind vibration of a platform. Also, Mei (1978) and Yamamoto et al. (1982) looked into structure-wave interactions using numerical methods. In the early 1980s important parameters such as liquid height, mass, frequency, and damping for a TLD attached to offshore platforms were studied by Lee and Reddy(1982). Bauer (1984) introduced a rectangular tank full of two immiscible liquids to a buildingstructure. Kareem and Sun (1987), Sato (1987), Toshiyuki and Tanaka, and Modi and Welt(1987) were among the first researchers who suggested using TLD in civil structures. Tuned liquid dampers (TLDs) can be implemented as an active or passive device and are divided into two main categories: tuned sloshing dampers (TSD) and tuned liquid column dampers (TLCDs).

Classification

TSD: Tuned Sloshing Damper, TLCD: Tuned Liquid Column Damper, LCVA: Liquid Column Vibration Absorbers, DTLCD: Double Tuned Liquid Column Damper, HTLCD:Hybrid Tuned Liquid Column Damper, PTLCD: Pressurized Tuned Liquid Column Damper, Fig-1 schematic sketch of Tuned liquid family

Tuned Liquid Column Dampers

Tuned liquid column dampers (TLCD) combine the effect of liquid motion in a tube, which results in a restoring force using the gravity effect of the liquid, and the damping effect caused by loss of hydraulic pressure (Sakai et al. 1989).Some advantages of TLCD are: (i) it can have any arbitrary shape which helps it to be fitted in an existing structure; (ii) its behaviour is quite well understood; (iii) the TLCD damping can be controlled by adjusting the orifice opening; (iv) the TLCD frequency can be modified by adjusting the liquid column in the tube. A Double Tuned Liquid Column Damper (DTLCD) is made of two TLCDs in two directions of motion (Kim et al. 2006).Thereby DTLCD acts in more than one direction eliminating the limitation of regular unidirectional TLDC.

Tuned Sloshing Damper

A tuned sloshing damper (TSD) dissipates energy through the liquid boundary layer friction, the free surface contamination, and wave breaking (due to the horizontal component of the liquid velocity related to the wave motion, wave crests descend as the amplitude increases; at this point simple linear models are not able to describe the liquid behaviour). A TSD can act as a

shallow or deep water damper. It is considered that waves in the range of >h/L>1/20 to 1/25 are shallow water waves, where h is water depth and L is wave length (Sun et al. 1992). Recent studies (Banerji et al. 2000; Seto 1996) show that a ratio equal to or less than 0.15 introduces more amount of damping corresponding to more energy dissipation. Under high amplitude excitations, shallow water TSDs dissipates a large amount of energy due to its nonlinear behaviour corresponding to wave breaking (Sun et al. 1992). On another hand, a linear behaviour can be observed for the deep water case even under high excitations (Kim et al. 2006).

Fig-2 One Rincon Hill Tower, Francisco U S The liquid frequency plays an important role in the TLD behaviour. Earlier experimental studies (Sun et al. 1992) have shown that the optimum value of the liquid frequency is a value near the excitation frequency where the liquid is in resonance with the tank motion. Therefore, tuning the TLD frequency to the natural frequency of the structure will provide significant amount of energy dissipation. Mass ratio (the ratio of the mass of water to that of the whole structural levels) is another significant parameter that affects the behavior of TLD-structure system.

Advantages
(i) Easy and cost-effective installation; (ii) Ease of tuning by changing the liquid level or the tank dimensions; (iii) Ability to act as a bidirectional damper; (iv) Effective even under small-amplitude vibrations(Sun et al. 1992); (v) Can be used as the building water storage for fire emergencies etc

Disadvantages i) Complex behavior due to the highly nonlinear sloshing motion of the liquid (ii) Damping introduced by the liquid itself may not be enough for some applications. To remedy this, screens (Tait 2008; Tait et al. 2007; Kaneko and Ishikawa 1999), effective tank shapes ( Deng and Tait 2009; Xin et al. 2009; Ueda et al. 1992), and triangular sticks at the bottom of the tank (You et al. 2007) have been introduced to increase the damping. (iii) Inefficiency during pulse-type ground motions (Xin et. Al 2009; Banerji et al. 2000), when the water motion does not get a chance to dissipate enough energy. (iv) The phenomenon of beating (Ikeda and Ibrahim 2005) where a fraction of the energy absorbed by TLD returns back to the structure after the excitation stops. A sloped bottom shape using density variable liquid has been proposed to help solve the last two problems (Xin et al. 2009).

Active TLDs
TLDs have also been investigated as active/semiactive devices by employing magnetic fluid (Abe et al. 1998; Wakahara et al. 1992), or through use of propellers (Chen and Ko 2003)

TLDs in Practice
TLD has been employed in several civil engineering structures. The Nagasaki Airport Tower (NAT) was the first TLD installation on an actual ground structure in 1987 (Tamura et l 1995). In the other case, which is quite similar to that of the NAT, a TLD was installed in June 1987 on Yokohama Marine Tower (YMT) where the TLD is made of 39 cylindrical multilayered vessels of acryl, with a height of 0.50 m and a diameter of 0.49 m (Tamura et l 1995). Another application of the TLD to a high-rise hotel was the Shin Yokohama Prince (SYP) Hotel in Yokohama, where the design parameters which affect the TLD behaviour were investigated (Tamura et l 1995; Wakahara et al. 1992). Tuned Liquid Dampers have also been implemented on bridges such as: Ikuchi Bridge and Sakitama Bridges in Japan (Kaneko and Ishikawa 1999)

Literature Review
Since the early 1980s TLD has been investigated by many researchers. Lee et al. (1982) studied effective TLD parameters including liquid height, mass, frequency, and damping for a TLD attached to offshore platforms. Bauer (1984) was among the first researchers who applied TLDs to ground civil engineering structures by introducing a rectangular tank full of two immiscible liquids to decrease structural vibration. Wakahara et al. (1992) and Tamamura et al. (1995) showed the effectiveness of TLDs installed in real structures such as Nagasaki airport tower, Yokohama Marine tower, and Shin Yokohama Prince (SYP) hotel to reduce the structural vibration. Shimizu and Hayama (1986) presented a numerical model to solve for Navier-Stokes and continuity equation based on shallow water wave theory. They descritized the main equations and solved them numerically.

Sun et al. (1992) suggested a nonlinear model that utilizes the shallow water wave theory and solves Navier-Stokes and continuity equations together. Furthermore, they introduced two empirical coefficients to account for the effect of wave breaking which is a significant deficiency in many other models. Modi and Seto (1997) also proposed a numerical study considering nonlinear behaviour of the TLD. It includes the effects of wave dispersion as well as boundarylayers at the walls, floating particle interactions at the free surface, and wave-breaking. However, the analysis does not account for the impact dynamics of the wave striking the tank wall. Furthermore, at lower liquid heights, corresponding to wave breaking occurrence, the numerical analysis is not very accurate and a large discrepancy exists between numerical and experimental results. Sun et al. (1995) calibrated equivalent mass, stiffness, and damping of TLD using a tuned mass damper (TMD) analogy from experimental data of rectangular, circular, and annular tanks subjected to harmonic base excitation.

Reed et al. (1998) investigated the TLD behaviour under large amplitude excitations through experiments and compared the results with a numerical model based on non-linear shallow water

wave equations. It was observed that the TLD frequency response increases as the amplitude of excitation increases and TLD behaves as a hardening spring. Also, it was captured that to achieve the most robust system, TLD frequency should be tuned to a value less than structural response frequency; so, the actual non-linear TLD frequency matches the structural response.

Yu (1999) introduced a model based on an equivalent tuned mass damper with non-linear stiffness and damping calculated from an energy matching procedure. It is shown that the model is able to capture the TLD behaviour under large amplitude excitations and during wave breaking.

Banerji et al. (2000) studied the effectiveness of the important TLD parameters based on the model introduced by Sun et al. (1992). The optimum value of depth, mass and frequency ratios standing for the depth of water to the length of tank, the mass of water to the mass of the structure and the frequency of tank to the structural frequency were found via experiments. Subsequently, a practical TLD design procedure is suggested to control the seismic response of structures. Chang and Gu (1999) conducted a theoretical and experimental study to achieve optimal TLD properties installed on the top of a tall building and subjected to vortex excitations (that is a special case of wind excitation). A series of wind tunnel experiments corresponds to different TLD geometries were performed. They proposed a TLD frequency ranges between 0.9 and 1.0 of that of the building model and a mass ratio of 2.3%. Li et al. (2002) solved continuity and momentum fluid equations for shallow liquid using finite element method. They simplified the three-dimensional problem into a one-dimensional problem that simplifies the computation procedure. However the model was not verified with experiments. Tait et al. (2005, 2007) conducted a study on 2D TLDs behaviour. They subjected the TLD to both 1D and 2D horizontal excitations. The sloshing response of the water in the tank was characterized by the free surface motion, the resulting base shear force, and evaluation of the energy dissipated by the sloshing water. Results showed a decoupled behaviour for the 2D TLD which allows rectangular tanks to be used as 2D TLDs and simultaneously reduce the dynamic response of a structure in two perpendicular modes of vibration.

Lieping et al. (2008) suggested using Distributed tuned liquid dampers (DTLDs) to fill the empty space inside the pipes or boxes of cast-in-situ hollow reinforced concrete (RC) floor slabs to increase structural damping ratio. Kareem et al. (2009) presented a model for TLD using sloshing-slamming (S2) analogy, which consist of a combination of the dynamic features of liquid sloshing and slamming impact and is able to capture the behaviour for both low and high amplitudes of excitations. However, experimental results do not have a good agreement with the proposed model. Samanta and Banerjy (2010) theoretically modified TLD configuration for SDOFwhere the TLD rests on an elevated platform that is connected to the top of the building through a rigid rod with a flexible rotational spring at its bottom. Since for particular values of rotational spring flexibility the rotational acceleration of the rod is in phase with the top structural acceleration, the TLD was subjected to larger amplitude acceleration than the traditional fixed bottom one and its efficiency was increased. Seyed Mehdi Zahrai, Saeed Abbasi and Bijan Samali(2012) TLD with some installed rotatable baffles is studied experimentally. Response of a five story benchmark building was utilized to investigate the contributions of baffles on efficiency of tuned liquid damper under dynamic and earthquake excitations. baffles angles, frequency ratio, mass ratio and especially the effects of probable mistuning with changing the depth of water and orientation of baffles. TLD with some installed rotatable baffles is studied experimentally. The main idea behind installing such baffles is to compensate the effects of probable mistuning of the TLD.

Objective and scope of the present work

The objective of this work is to study application of TLD to control the vibration of multistoried buildings under various earthquake excitation. The study is focused on the sloshing type of liquid dampers. Water is considered as liquid inside the TLD. Liquid sloshing is modeled using shallow water wave theory. Wave breaking is considered Structure behavior is linear

Mathematical formulation
There are two common approaches that have been used to model the liquid-tank behavior. In the first one the dynamic equations of motion are solved, whereas in the second approach the Properties of the liquid damper are presented by equivalent mass, stiffness and damping ratio essentially modeling the TLD as an equivalent TMD (Tuned Mass Damper).

Solving Equations of Motion

Sun et al. (1992) introduced a model to solve nonlinear Navier-strokes and continuity equations. A combination of boundary layer theory and shallow water wave theory is employed and resulting equations are solved using numerical methods. This model is considers the wave breaking under large excitations by means of two empirical constants. The rigid Rectangular tank shown in fig-3 with the length 2a, width b and the undisturbed water level h is subjected to a lateral displacement xs. The liquid motion is assumed to develop only in x-z plane. It is also assumed that the liquid is incompressible, irrigational fluid and the pressure is constant on the liquid free surface.

Fig-3 Dimensions of the Rectangular tank

Governing Equations:
Continuity Equation:
(1)

Equation of motion
Two Dimensional Naviers strokes Equations ( ) (2)

(3)

Where u(x,z,t) and w(x,z,t) are the liquid velocities relative to the tank in the x and z direction, respectively, g is the gravity acceleration, p is the pressure, denotes the density and represents the kinematic viscosity of the liquid. The liquid outside the Boundary layer is considered as potential flow and velocity potential is given by Sun (1991) ( K is the wave number H is defined by sun(1991) ( ) )
( ( ))

(4)

Based on shallow water wave theory potential function is assumed as (Shimisu and Hayama1986) ( ) ( ) ( ( )) (5)

Boundary conditions:
u=0 w=o Free surface Boundary conditions Kinematic Boundary condition on the free surface ( ) is the free surface elevation. on the end wall x=a on the bottom z=-h

Dynamic Boundary condition P=p0= constant on the free surface

Neglecting thickness of the Boundary layer and integrating the continuity equation w r t x

Basic Equations:
Neglecting thickness of the Boundary layer and integrating the continuity equation w r t z the continuity equation can be approximately expressed as Integral of continuity equation
( ( ))

(6)
( )

Where

( ( ( The equation of motion in integral form

)) )

The velocity w and differentials can be expressed in terms of the horizontal velocity u and the equations are integrated with respect to z from bottom to free surface

( )

) ( )

( )

( ) ( ( ))

(7)

( ) u and

) Horizontal velocity of surface liquid particle

( ) are the independent variables of the Basic equations

in equation 7 is a damping coefficient Damping co efficient accounting for the effect of side wall and free surface by Sun et al.1989) ( ( ) )

S is the surface contamination factor and a value of 1 corresponding to fully contaminated surface is used in this model. is the fundamental linear sloshing frequency of the liquid is the kinematic viscosity b is the width of the tank Linear Natural frequency of liquid in a rectangular tank given by sun (1991)

n=1, 2,

n=various modes of the liquid sloshing

The fundamental frequency (n=1) is ( )

The coefficients and are the incorporated to modify the water wave phase velocity and damping respectively, when wave are unstable ( ) and Break. is found empirically Sun et al (1992) having a constant value 1.05

Xs max is the maximum displacement experienced by the structure at the location of the TLD when there is in no TLD attached.

Equations 6 and 7 are discredited in space by finite difference method and solved simultaneously using Runge-kutta method to find u and. knowing the force introduced at the walls of the TLD can be described.

Force introduced at the wall of the TLD

Fig -2 Base shear force due to liquid motion [( ) ( ) ]

Structure Idealization

Fig-3 SDOF system with a TLD attached to it

The equation of motion of the TLD structure interaction system subjected to a ground acceleration ag is

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