THE STRUCTURAL DESIGN OF TALL AND SPECIAL BUILDINGS

Struct. Design Tall Spec. Build. 14, 353368 (2005)

Published online in Wiley Interscience (www.interscience.wiley.com). DOI:10.1002/tal.273

OPTIMUM DESIGN OF PENDULUM-TYPE TUNED

MASS DAMPERS

RAFIK R. GERGES1* AND BARRY J. VICKERY2

1
Nabih Youssef & Associates, Los Angeles, California, USA
2
Department of Civil and Environmental Engineering, The University of Western Ontario, London, Ontario, Canada

SUMMARY
The equations of motion are derived for a translational single degree of freedom system equipped with a
pendulum-type tuned mass damper (TMD) under dynamic force and base acceleration excitations. The complex
frequency response functions are obtained. Following response minimization procedures, the optimum parame-
ters of the TMD under random white noise excitations are determined. The effect of the TMD in reducing the
response is expressed in terms of an equivalent viscous damping. The optimum design parameters and the cor-
responding efficiency of the TMD under both wind and earthquake dynamic loads are presented in design charts.
The effect of the structure inherent and aerodynamic damping on the optimum parameters is studied and simpli-
fied charts to account for such effect are provided. Moreover, a design chart for the over-optimum-damped TMDs
is presented. The translational-type TMD is treated as a special case of the pendulum-type. Copyright 2005
John Wiley & Sons, Ltd.

1. INTRODUCTION
The natural frequencies of a structure are often difficult to predict accurately. The actual values are
usually determined by full-scale measurements after the structure is constructed and they may vary
with time. For this reason, it is desirable that the natural frequency of the tuned mass damper (TMD)
be tunable on site. The Citicorp TMD system is equipped with pneumatic springs, which allow for
frequency adjustment (Wiesner, 1979). A simpler alternative is the pendulum-type TMD. For high-
rise buildings, with large mass and low frequencies, a cable-supported pendulum system is suggested
(Sacks and Swallow, 1993), in which the natural frequency is tunable by changing the pendulum
length. The Chifley Tower in Sydney has a tuning frame below the upper support in order to move
the location of the pendulum pivot, thereby changing the pendulum length (Kwok and Samali, 1995).
More recent examples are described by Irwin and Breukelman (2001). For towers with light mass and
low frequency, the inverted pendulum design is capable of lower frequencies without requiring a con-
siderably long pendulum length (Sacks and Swallow, 1993). Tuning is achieved by adjusting the spring
location. For a normal hanging pendulum with a rigid hanger rigidly connected to the mass, the fre-
quency can be adjusted similarly (Shinohara et al., 1993). Both the inverted and the hanging pendu-
lums are modeled as a rotational degree of freedom with a given mass and a mass moment of inertia
about the pivot point. If the pendulum rotation is small the linear formulation becomes an acceptable
approximation and is adopted here.

* Correspondence to: Rafik R. Gerges, Nabih Youssef & Associates, 800 Wilshire Boulevard, Suite 510, CA 90017, USA.
E-mail: rgerges@nyase.com

Copyright 2005 John Wiley & Sons, Ltd. Received June 2004
Accepted June 2004
354 R. R. GERGES AND B. J. VICKERY

In this paper, the equations of motion and the complex frequency response functions for a mixed,
translational (primary) and rotational (auxiliary), two-degree of freedom dynamic system under force
and base acceleration excitations were derived. Considering a white noise random excitation, expres-
sions for the effective damping and primary system to auxiliary system root-mean-square (RMS) dis-
placement ratio were obtained. Optimization procedures were followed to determine auxiliary system
parameters that minimize the primary system displacement. The efficiency of the pendulum-type TMD
under both wind and earthquake excitations were compared. The effect of the primary system damping
on the optimum TMD parameters and efficiency was studied numerically and charts are provided to
account for such an effect. Limiting the motion of the auxiliary system by increasing the auxiliary
system damping was studied and is also presented in a design chart.

2. FORMULATION

2.1 Force excitation

A mixed, translational and rotational, two-degree of freedom dynamic system with a force applied to
the translational degree of freedom is shown in Figure 1(a). The governing equations of motion, for
small rotation, are given by

Mx + Cx + Kx + ma x + maqz = F (1)

and

Iaq + caqh 2 + kaqh 2 + ma xz

= 0 (2)

where x is the displacement of the primary system and q is the rotation of the auxiliary system (see
Figure 1(a)). The primary structure is modeled as a single-degree of freedom system with M, C, K
and F being the generalized mass, damping, stiffness and force, respectively, for the vibration mode
to be controlled. It is assumed that the mode shape of the structure is not changed by the addition of
the auxiliary system. This is a reasonable approximation for the usual light auxiliary systems. Ia, ma,
ca and ka are the auxiliary system mass moment of inertia about the pivot, mass, equivalent transla-
tional damping and equivalent translational stiffness, respectively. h is the distance between the
spring/damper attachment point and the pivot point, while z is the distance between the center of mass
and the pivot point (see Figure 1(a)).
The equivalent translational damping, ca, and stiffness, ka, are calculated as

cpq
ca = + cd (3)
h2

and similary

kpq
ka = + ks (4)
h2

where cqp and kqp are the rotational pendulum inherent damping and the gravitational stiffness, respec-
tively. Note that kqp = maagz, where ag is the gravitational acceleration and kqp is negative in the case of

Copyright 2005 John Wiley & Sons, Ltd. Struct. Design Tall Spec. Build. 14, 353368 (2005)
 DESIGN OF PENDULUM-TYPE TUNED MASS DAMPERS 355

x(t)
b

ba h
F(t) q z
M
ka +
K ma, Ia

(a) Mixed two-degree of freedom system subjected to force

x(t)
be

F(t)
M

(b) Equivalent single degree of freedom system subject to force

x(t)
b

ba
h
q z
M
ka +
K ma, Ia

x g (t)
(c) Mixed two-degree of freedom system subjected to base acceleration

x(t)
be

x g (t)
(d) Equivalent single degree of freedom system subject to base acceleration

Figure 1. Modeling of structure with a pendulum-type TMD

an inverted pendulum. cd and ks are the damping of the damper and the stiffness of the spring,
respectively.
An input in the form of F(t) = exp(iwt) is assumed to calculate the non-dimensional complex
frequency response functions Hx(iw) and Hq(iw), where

F(t )
x (t ) = H x (iw ) (5)
K

Copyright 2005 John Wiley & Sons, Ltd. Struct. Design Tall Spec. Build. 14, 353368 (2005)
356 R. R. GERGES AND B. J. VICKERY

and

F(t )
q (t ) = Hq (iw ) . (6)
Kz

Substituting with Equations (5) and (6) into Equations (1) and (2) and rewriting in a matrix
form:

2
-w ( M + ma ) + iw C + K -w 2 ma z H x K 1
2
= (7)
-w 2 ma z -w Ia + iw ca h + ka h Hq Kz 0
2 2

Solving the two linear equations results in expressions for the frequency response complex
functions Hx(iw) and Hq(iw).
To express Hx(iw) and Hq(iw) in terms of non-dimensional parameters, some substitutions are to be
made as follows:

Ia
ra = (8)
ma z 2

where ra = 1 for a point mass case and represents the case of a translational two-degree of freedom
system with relative displacement of the auxiliary system equal to qz. The circular natural frequen-
cies of the primary system, wn, the auxiliary system, wa, and the frequency ratio, fr, are

K
wn = , (9)
M

ka h 2
wa = (10)
Ia

and

wa
fr = . (11)
wn

The damping ratios, as ratios of critical damping, are defined as

C
b= (12)
2 Mw n

for the primary system and

ca h 2
ba = (13)
2 Ia w a

Copyright 2005 John Wiley & Sons, Ltd. Struct. Design Tall Spec. Build. 14, 353368 (2005)
 DESIGN OF PENDULUM-TYPE TUNED MASS DAMPERS 357

for the auxiliary system. The mass ratio, m, is defined as

ma
m= . (14)
M

A normalized dimensionless frequency variable called the forcing ratio, g, is introduced and is given
by

w
g= . (15)
wn

Expressions for Hx(ig) and Hq(ig) are given in Table 1 in terms of the non-dimensional parameters ra,
fr, b, ba, m and g.
The response under a white noise random force, F(t), of a spectral density value SF can be
determined as

2 w n SF 2
x =
K2 H (ig)
0
x dg (16)

and

w n SF 2
q 2 = 2 H q (ig) dg (17)
( Kz) 0

where x and q are the RMS displacement of the primary system and the RMS rotation of the
auxiliary system, respectively, for an excitation with a zero mean.
The effect of the TMD can be represented by an equivalent viscous damping acting on the primary
system, as shown in Figure 1(b), and producing the same x (Vickery and Davenport, 1970). The equiv-
alent viscous damping is defined as

P
be =
(18)
2
4 H x (ig) dg
0

and the ratio of primary system displacement to the auxiliary system displacement at z is given by

2
H q (ig) dg
qz 0
R= =
. (19)
x 2
H (ig)
x dg
0

The integrals are carried out according to the table given by Crandall and Mark (1963). Closed form
expressions for both be and R are given in Table 1 as functions of the non-dimensional parameters r,
fr, b, ba and m.

Copyright 2005 John Wiley & Sons, Ltd. Struct. Design Tall Spec. Build. 14, 353368 (2005)
 358

Copyright 2005 John Wiley & Sons, Ltd.

Table 1. Response parameters under dynamic force

- g 2 (ra ) + ig(2 f r ra b a ) + ( f r2 ra )
H x (ig) = 4 3
g (ra - m + ra m ) - ig (2 ra b + 2 f r ra b a + 2 f r ra b a m ) - g 2 (ra + f r2 ra + f r2 ra m + 4 f r ra bb a ) + ig(2 f r2 ra b + 2 f r ra b a ) + ( f r2 ra )

- g 2 (-1)
Hq (ig) = 4 3 2
g (ra - m + ra m ) - ig (2 ra b + 2 f r ra b a + 2 f r ra b a m ) - g (ra + f r2 ra + f r2 ra m + 4 f r ra bb a ) + ig(2 f r2 ra b + 2 f r ra b a ) + ( f r2 ra )

(1 + m )2 ( fr4 ra bba ) + (1 + m )(2 fr bba + 2ba2 - 1)(2 fr2 ra bba ) + ( fr m )( fr2 b 2 + 2 fr bba + ba2 ) + (ra bba )( 4 fr2 b 2 + 4 fr bba + 1)
be =
(1 + m )2 ( fr4 ra ba ) + (1 + m )(2 fr2 ra ba )(2 fr bba + 2ba2 - 1) + ( fr2 m )( fr b + ba ) + (ra ba )( 4 fr2 b 2 + 4 fr bba + 1)
( fr b + b a )
R= 2 4 2
R. R. GERGES AND B. J. VICKERY

r a
(1 + m ) ( fr ra ba ) + (1 + m )(2 f r ba )(2 fr bba + 2ba2 - 1) + ( fr2 m )( fr b + ba ) + (ra ba )( 4 fr2 b 2 + 4 fr bba + 1)

Struct. Design Tall Spec. Build. 14, 353368 (2005)

 DESIGN OF PENDULUM-TYPE TUNED MASS DAMPERS 359

2.2 Base acceleration excitation

Let us consider the same system described in section 2.1 excited by a base acceleration x g(t) as shown
in Figure 1(c). The equations of motion would differ from those in section 2.1 by the inertia term of
the auxiliary system and are, for small rotation, given by

( M + ma ) x + Cx + Kx + ma x + maqz = -( M + ma ) xg (20)

and

Iaq + caqh 2 + kaqh 2 + ma xz

= - ma xg z. (21)

Following the same procedures described for the force excitation case, expressions for the complex
frequency response functions, the viscous damping ratio equivalent to the TMD and the RMS
displacement ratio were obtained and are given in Table 2.

3. OPTIMIZATION
Values for the frequency ratio, fr, and the auxiliary system damping ratio, ba, which minimize the RMS
displacement of the primary system, x, need to be determined. The two optimum conditions under a
random excitation were given by Warburton (1982) as

x
=0 (22)
fr

and

x
=0 (23)
b a

The solution of Equations (22) and (23) simultaneously for the optimum frequency ratio, f opt r , and
the optimum auxiliary system damping ratio, b opt a , is only possible for the special case, b = 0. For an
undamped primary system, expressions for f opt opt
r and b a for the force and the base acceleration cases
opt opt
are given in Table 3. Substituting for f r and b a in the expressions for be and R given in Tables 1 and
2 and putting b = 0 results in expressions for the maximum equivalent damping, b opt e , and the corre-
sponding RMS displacement ratio, Ropt, for an undamped primary system, and are listed in Table 3.
By setting ra = 1, similar expressions for the translational TMD are obtained and are listed in Table
4. f opt opt
r and b a expressions listed in Table 4 agree with those obtained by Warburton (1982).

4. EFFICIENCY UNDER WIND AND EARTHQUAKE EXCITATIONS

In tall structures, an example for the dynamic force excitation case is the fluctuating wind load, while
the earthquake effect is presentable by the base acceleration excitation. The formulations presented in
sections 2 and 3 are valid for any ra, fr, b, ba and m values, provided that q values are small. However,
for further comparisons and development of design charts, only practical ranges for ra and m are con-
sidered. The values for ra are 10, representing a point mass, and 20, representing a mass possessing
a mass moment of inertia about its own center equal to half of that about the pivot. The mass ratio,
m, is typically in the range of 001 to 005 for high-rise buildings and is larger for towers and chim-

Copyright 2005 John Wiley & Sons, Ltd. Struct. Design Tall Spec. Build. 14, 353368 (2005)
 360

Table 2. Response parameters under base acceleration

- g 2 (- ra + m - ra m ) + ig(-2 f r ra b a - 2 f r ra b a m ) + (- f r2 ra - f r2 ra m )
H x (ig) = 4 3
g (ra - m + ra m ) - ig (2 ra b + 2 f r ra b a + 2 f r ra b a m ) - g 2 (ra + f r2 ra + f r2 ra m + 4 f r ra bb a ) + ig(2 f r2 ra b + 2 f r ra b a ) + ( f r2 ra )

ig(-2 b ) + (-1)
Hq (ig) =
g 4 (ra - m + ra m ) - ig 3 (2 ra b + 2 f r ra b a + 2 f r ra b a m ) - g 2 (ra + f r2 ra + f r2 ra m + 4 f r ra bb a ) + ig(2 f r2 ra b + 2 f r ra b a ) + ( f r2 ra )

Copyright 2005 John Wiley & Sons, Ltd.

2
ra (1 + m ) ( fr4 ra bba ) + (1 + m )(2 fr2 ra bba )(2 fr bba + 2ba2 - 1) + ( fr m )( fr2 b 2 + 2 fr bba + ba2 ) + ( ra bba )( 4 fr2 b 2 + 4 fr bba + 1)
{ }
be =
(1 + m )4 ( fr4 ra2 ba ) + (1 + m )3 (2 fr2 ra2 ba )(2 fr bba + 2ba2 - 1) + m(1 + m )2 ( fr2 ra )( fr b + 3ba ) + (1 + m )2 (ra2 ba )( 4 fr2 b 2 + 4 fr bba + 1) - m(1 + m )(2ra ba ) + m 2 ( fr b + ba )

R=
(1 + m )2( fr3ra ba ) + (1 + m )( 4 fr2 ra bba )( fr b + ba ) + ( fr m )( fr b + ba ) + (ra b )( 4 fr2b 2 + 4 fr bba + 1)
4 3 2 2
fr3ra{(1 + m ) ( fr4 ra ba ) + (1 + m ) (2 fr2 ra2 ba )(2 fr bba + 2ba2 - 1) + m (1 + m ) ( fr2 ra )( fr b + 3ba ) + (1 + m ) ( ra2 ba )( 4 fr2 b 2 + 4 fr bba + 1) - m (1 + m )(2 ra ba ) + m 2( fr b + ba )}

Table 3. Optimum parameters for pendulum-type TMD considering undamped primary system

Excitation f opt
r b aopt b opt
e Ropt
R. R. GERGES AND B. J. VICKERY

1 1
1+ m 1 - m + m2 1 - 2
2 ra 4ra 1 m + m2 ra (1 + m )
Force
1+ m 4ra + 2 m ( 4ra - 1) + 2 m 2 (2 ra - 1) 4 1 1
ra + m ra - 2 mra + m 2 2 ra -
4 2

3 5 1 m
1+ m 1 - m + m2 1 - 2
2 ra 4ra 4 2[2 ra + m (2 ra - 1)](1 + m )
Base accel.
+ - 5 ( + ) 3
1+ m 4ra + 2 m ( 4ra - 3) + 2 m 2 (2 ra - 3) ra m ra 4 1 m m[ 4ra + m ( 4ra - 5)][2 ra + m (2 ra - 3)]

Struct. Design Tall Spec. Build. 14, 353368 (2005)

 DESIGN OF PENDULUM-TYPE TUNED MASS DAMPERS 361

Table 4. Optimum parameters for translational-type TMD considering undamped primary system

Excitation f opt
r b aopt b opt
e Ropt
m 3m 2
1+ m+ 1+ m
Force 2 4 1 m + m2
1+ m 4 + 6m + 2m 2 4 1 + 3m 3m 2
2m +
4 2

m m2 1 m
1- m- 2
Base accel. 2 4 4 1 - m (1 + m )3 2(2 + m )(1 + m )
1+ m 4 + 2m - 2m 2 4 m ( 4 - m )(2 - m )

1.00 25

fropt
0.95 20

0.90 opt
15
fropt (ratio)

ba

baopt (%)
0.85 10

force, ra = 1
0.80 5
force, ra = 2
base accel., ra = 1
base accel., ra = 2
0.75 0
0.00 0.04 0.08 0.12 0.16 0.20
m (ratio)

Figure 2. Optimum frequency ratio and optimum auxiliary damping versus mass ratio

neys. A range for m from 0001 to 0200 is deemed appropriate. Consideration is given only to a single
vibration mode; other modes may be important in the case of earthquake excitation.

4.1 Optimum frequency ratio, f opt

r

f opt opt
r is plotted against the mass ratio, m, as shown in Figure 2. It decreases with the increase of m. f r
for the wind case is always larger than that for the earthquake case. For the same type of excitation,
f opt
r increases with the increase of ra.

4.2 Optimum auxiliary system damping ratio, b aopt

b opt opt
a is plotted against m (see Figure 2) and it increases with the increase of m. b a is almost independent
of the excitation type and decreases with the increase of ra.

Copyright 2005 John Wiley & Sons, Ltd. Struct. Design Tall Spec. Build. 14, 353368 (2005)
362 R. R. GERGES AND B. J. VICKERY

10 12
force, ra = 1
opt
force, ra = 2 be
base accel., ra = 1 10
8 base accel., ra = 2

8
Ropt
6
Ropt (rat io)

b eopt (% )
6

4
4

2
2

0 0
0.00 0.04 0.08 0.12 0.16 0.20
m (ratio)

Figure 3. RMS displacement ratio and maximum effective damping versus mass ratio

4.3 Maximum equivalent viscous damping ratio, b opt

e

b opt opt
e is plotted against m as shown in Figure 3. It increases with the increase of m. b e for wind and
earthquake excitations is about the same for small m ratios up to about 003, however, as m increases
larger b opt opt
e is observed for the wind excitation. For the same type of excitation, b e decreases with the
increase of ra.

4.4 Auxiliary to primary RMS displacement ratio, Ropt

Ropt corresponding to b opt
e is plotted against m (see Figure 3). It decreases with the increase of m, which
is a reason to increase m even if the b opt
e required can be obtained at smaller m values. R
opt
for the wind
excitation is almost independent of ra and slightly larger than that for the base acceleration case with
ra = 1. For the base acceleration case, Ropt decreases with the increase of ra.

4.5 Efficiency under earthquake excitation when tuned for wind excitation
Having two sets of optimum parameters, f opt opt
r and b a , for wind and earthquake excitations (see Tables
3 and 4), the designer has to choose only one set of parameters to maximize the efficiency of the
auxiliary system under this particular excitation. In most of the situations, TMDs are added to reduce
the structure dynamic response to wind and hence the optimum parameters for wind excitation are
selected. Figure 4 shows ratios for be under base acceleration and optimum force parameters to b opt e
under base excitation and optimum base acceleration parameters. One can see that be is slightly smaller
than b opt
e . Also RMS displacement ratio, R, with optimum force parameters is smaller than that with
optimum base acceleration parameters, Ropt. The reduction in both b opte and R
opt
is sensitive to ra value
where smaller reductions are observed for larger ra value.

Copyright 2005 John Wiley & Sons, Ltd. Struct. Design Tall Spec. Build. 14, 353368 (2005)
 DESIGN OF PENDULUM-TYPE TUNED MASS DAMPERS 363

1.00
ra = 2

0.98 ra = 1

be

0.96
Ratio

0.94
be

0.92

0.90
0.00 0.04 0.08 0.12 0.16 0.20
m (ratio)

Figure 4. Effect of using force optimum tuning parameters on efficiency/response under base acceleration

5. DAMPED PRIMARY SYSTEMS

5.1 Effect on optimum parameters
Since the optimization process was based on the assumption that b = 0, different optimum parame-
ters may be obtained for a damped primary system. Those optimum parameters were calculated numer-
ically so that the errors associated with the undamped primary system assumption could be evaluated.
Table 5 lists values for f opt opt opt
r , ba , b e and Ropt for m = 001, 003, 010 and 020, b = 0, 3% and
-3% and ra = 10 and 20. A negative value was assigned to b to represent motion-induced forces asso-
ciated with vortex shedding when considering across-wind response of towers (Vickery and Basu,
1983).
Positive b values required smaller f opt opt
r , while negative b values required larger f r compared to the
opt
undamped primary system value as shown in Table 5. b a remained unchanged from the undamped
value for all the cases considered. These findings agree with others reported in the literature for the
translational auxiliary system under dynamic force (Warburton, 1982) and under base acceleration
(Wirsching and Campbell, 1974).
The error in calculating f opt
r is almost the same, with different sign, when both positive and nega-
tive b, having the same absolute value, are considered. The error increased with increasing m and
decreased with increasing ra. For all the cases considered in Table 5, the error had a maximum value
of 05%.
b opt
e values are always, as expected, larger than those based on undamped primary system optimum
parameters. The reduction in b opte is larger for negative b values. There is no reduction trend with m or
ra values. However, the maximum reduction was about 10% with the exception of one case, m = 001,
b = -30% and ra = 20, which is not a practical case since the two-degree of freedom system borders
on instability.

Copyright 2005 John Wiley & Sons, Ltd. Struct. Design Tall Spec. Build. 14, 353368 (2005)
364 R. R. GERGES AND B. J. VICKERY

Table 5. Optimum parameters for undamped and damped primary systems

f opt
r b opt
a b opt
e Ropt
ra ratio m ratio b% Ratio % error % % error % % error Ratio % error
1 001 0 09926 4981 2503 7115
3 09911 -01 4981 00 4926 00 6246 01
-3 09941 01 4981 00 05740 10 8496 00
003 0 09781 8565 4346 4158
3 09757 -03 8565 00 6706 00 3845 01
-3 09806 03 8565 00 2252 02 4566 -01
010 0 09315 1525 7997 2372
3 09276 -04 1525 00 1031 00 2273 02
-3 09355 04 1525 00 5825 01 2487 -02
020 0 08740 2087 1142 1769
3 08693 -05 2087 00 1372 00 1719 03
-3 08788 05 2087 00 9225 01 1826 -03
2 001 0 09938 3520 1769 7111
3 09928 -01 3520 00 4242 00 5962 01
-3 09949 01 3520 00 007095 217 9364 02
003 0 09817 6045 3068 4151
3 09800 -02 6045 00 5465 00 3724 01
-3 09835 02 6045 00 1060 04 4771 00
010 0 09426 1072 5622 2359
3 09397 -03 1072 00 7960 00 2219 02
-3 09454 03 1072 00 3488 01 2530 -01
020 0 08937 1459 7989 1750
3 08902 -04 1459 00 1030 00 1677 02
-3 08972 04 1459 00 5817 01 1835 -02

Ropt values are smaller for positive b and larger for negative b than those based on the undamped
primary system optimum parameters. The error in Ropt increased with increasing m value and decreased
with increasing ra value. The maximum error is about 03%.
The above discussion showed that optimum parameters determined based on the undamped primary
system assumption contain negligible errors and can be accurately applied in the damped case.

5.2 Simplified design expressions

As an alternative for the lengthy expressions describing b opt
e and R
opt
of a primary damped system (see
opt
Table 1), a simplified expression for b e is given by

b eopt = b eopt b =0 +a b b (24)

and Ropt is given by

R opt = a R R opt b =0 (25)

where ab and aR are non-dimensional multipliers dependent on ra, m and b and are plotted in Figures
5 and 6, respectively.

Copyright 2005 John Wiley & Sons, Ltd. Struct. Design Tall Spec. Build. 14, 353368 (2005)
 DESIGN OF PENDULUM-TYPE TUNED MASS DAMPERS 365

ra = 1
0.2

0.18

0.75
0.16

0. 74

0.76
0.14
0.7
0.12 3
m

0.1

0.08

0.06

0.75
0.7
0.
0.04 77

6
72
4 0.

0.7
0.
0. 73
8
0.02 0.7 71 0.7 0.79
-3 -2 -1 0 1 2 3
b (%)
ra = 2
0.2

0.18
0.74
0.73

0.16
0.75

0.76

0.14

7
0.7
0.12
0.7
2
m

0.1

0.08
0.
71

0.7

0.74

0.06 0
.7
3

0.75

0.04
6

9
0.7

77

0.
72 0.
78 0.7
0.

0.02 0.8
-3 -2 -1 0 1 2 3
b (%)

Figure 5. Values of ab for 001 < m < 02 and -3% < b < 3%

A conservative estimate for ab is 075, which is the minimum added damping for positive b and is
the maximum subtracted damping for negative b (see Figure 5). Also for aR, conservative estimates
are 10 and 11 for positive and negative b, respectively (see Figure 6).

6. OVER-OPTIMUM-DAMPED AUXILIARY SYSTEMS

In some design situations, the relative motion corresponding to the ultimate TMD efficiency cannot
be accommodated due to either space restriction (Wiesner, 1979) or allowable dampers/springs stroke.

Copyright 2005 John Wiley & Sons, Ltd. Struct. Design Tall Spec. Build. 14, 353368 (2005)
366 R. R. GERGES AND B. J. VICKERY

ra = 1
0.2

0.18

0.98
0.16

1.02

1
0.14

1.0
4
0.12

6
0.9
m

0.1

0.08

0.98
1
0.06
1.
0.04 06
1.

1.0
04

1.0

2
8 4
0.02 1.1 6 0.9 92
0.9 0. 0.9
-3 -2 -1 0 1 2 3
b (%)
ra = 2
0.2

0.18

0.16
1.02

0.14
1.04

0.98

6
1.0

0.12 0.9
6
m

0.1

0.08
1

0.06

0.04 1.
08
1.02
1.0

1.1 1.
8

06
0.9
4

0.9

96

0.02 4
0.9 0.92
0.

-3 -2 -1 0 1 2 3
b (%)

Figure 6. Values of aR for 001 < m < 02 and -3% < b < 3

Increasing the mass ratio reduces the relative motion and increases the effective damping. However,
due to other constraints, the mass ratio must not exceed a certain value. A remedy for this problem is
to increase the auxiliary system damping to exceed b opt
a , which would decrease be.
ba
If aba = opt , and for an undamped primary system with an optimum frequency ratio, f optr , one can
ba
show that

Copyright 2005 John Wiley & Sons, Ltd. Struct. Design Tall Spec. Build. 14, 353368 (2005)
 DESIGN OF PENDULUM-TYPE TUNED MASS DAMPERS 367

1.25
~
q
~ opt
q
1.00
be
b opt
e

0.75
Ratio

0.50

0.25

0.00
0 2 4 6 8 10
aba (ratio)

Figure 7. Effect of auxiliary system damping on efficiency/response parameters

be 2a b
opt
= 2 a (26)
be a ba + 1

and

q 1
opt
= . (27)
q a ba

Equations (26) and (27) are plotted in Figure 7. The rotation can be roughly half of that correspon-
ding to the optimum with a similar reduction in the effective damping if the auxiliary system damping
is increased to about 4b opt
a . The displacement of the primary system, however, is increased by a factor
of about 2 .

7. CONCLUSIONS
Tuned mass dampers are found to be more effective under wind than under earthquake dynamic loads.
Under wind excitation, they require larger frequency ratios and have larger relative motion in com-
parison to the earthquake excitation case. However, the optimum auxiliary system damping remains
almost the same for both excitations.
For a TMD optimized for wind excitation, the effective damping and the RMS displacement ratio
under earthquake are, as expected, less than those of a system optimized for earthquake excitation.
These reductions increase with the increase of the mass ratio, decrease with the increase of ra ratio
and have a maximum of about 10% for the range examined.
A numerical study was carried out to evaluate the optimum tuning parameters for the damped
primary system case. The optimum frequency ratio for a damped primary system is slightly different

Copyright 2005 John Wiley & Sons, Ltd. Struct. Design Tall Spec. Build. 14, 353368 (2005)
368 R. R. GERGES AND B. J. VICKERY

from that of an undamped primary system, while the optimum auxiliary system damping remains the
same. Applying the undamped optimum parameters results in a negligible reduction in the damping
provided by the TMD compared to the actual optimum parameters. The effective damping for a
damped primary system can be conservatively calculated by adding the effective damping of a similar
but undamped primary system to 75% of primary system damping. Similarly, RMS displacement ratio
can be calculated by multiplying its value based on an undamped primary system by 10 for a
positive damped primary system and 11 for a negative damped primary system.
Increasing the auxiliary system damping above its optimum value, if larger mass ratio is not pos-
sible due to design constraints, reduces the auxiliary system motion. However, this is accompanied by
a reduction in the effective damping provided by the TMD.

ACKNOWLEDGEMENTS

The Natural Sciences and Engineering Research Council of Canada and Rowan, Williams, Davies, &
Irwin Inc. supported the initial stage of this work through the Industrial Postgraduate Scholarships
program. The Ontario Ministry of Education continued the support through the Ontario Graduate
Scholarships program.

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Copyright 2005 John Wiley & Sons, Ltd. Struct. Design Tall Spec. Build. 14, 353368 (2005)