Search results for: friction damper

Authors: Aref M. A. Soliman, Mahmoud A. Hassan

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In all vehicle suspension, there is a dry friction. One of the various active suspensions, which have been shown to have considerable practical potential, is a switchable damper suspension system. In this paper, vehicle ride comfort for the passive and switchable damper suspension systems as affected by the value of frictional force generated in springs is discussed. A mathematical model of a quarter vehicle model for two setting switchable damper suspension system with dry friction force is developed to evaluate vehicle ride comfort in terms of suspension performance criteria. The vehicle itself is treated as a rigid body undergoing vertical motions. Comparisons between passive and switchable damper suspensions systems with dry friction force in terms of ride performance are also discussed. The results showed that the ride comfort for the passive and switchable damper suspension systems was deteriorated due to dry friction occurring in the suspensions. The two setting switchable damper with and without dry friction force gives better ride improvements compared with the passive suspension system. Also, the obtained results show an optimum value of damping ratio of the passive suspension system.

Keywords: ride comfort, dry friction, switchable damper, passive suspension

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Authors: Apetsi K. Ampiah, Zhao Xin

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Earthquakes over the years have been known to cause devastating damage on buildings and induced huge loss on human life and properties. It is for this reason that engineers have devised means of protecting buildings and thus protecting human life. Since the invention of devices such as the viscous and friction dampers, scientists/researchers have been able to incorporate these devices into buildings and other engineering structures. The viscous damper is a hydraulic device which dissipates the seismic forces by pushing fluid through an orifice, producing a damping pressure which creates a force. In the friction damper, the force is mainly resisted by converting the kinetic energy into heat by friction. Devices such as viscous and friction dampers are able to absorb almost all the earthquake energy, allowing the structure to remain undamaged (or with some amount of damage) and ready for immediate reuse (with some repair works). Comparing these two devices presents the engineer with adequate information on the merits and demerits of these devices and in which circumstances their use would be highly favorable. This paper examines the performance of both viscous and friction dampers under different ground motions. A two-storey frame installed with both devices under investigation are modeled in commercial computer software and analyzed under different ground motions. The results of the performance of the structure are then tabulated and compared. Also included in this study is the ease of installation and maintenance of these devices.

Keywords: friction damper, seismic, slip load, viscous damper

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Authors: S. Kopylov, C. Z. Bo

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This study is aimed at exploring the possibility of energy recovery through the suppression of vibrations. The article describes design of electromagnetic dynamic damper. The magnetic part of the device performs the function of a tuned mass damper, thereby providing both energy regeneration and damping properties to the protected mass. According to the theory of tuned mass damper, equations of mathematical models were obtained. Then, under given properties of current system, amplitude frequency response was investigated. Therefore, main ideas and methods for further research were defined.

Keywords: electromagnetic damper, oscillations with two degrees of freedom, regeneration systems, tuned mass damper

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Authors: Juan S. Mantilla, Peter Thomson

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Seismic events may result in discomfort on occupants of the buildings, structural damage or even buildings collapse. Traditional design aims to reduce dynamic response of structures by increasing stiffness, thus increasing the construction costs and the design forces. Structural control systems arise as an alternative to reduce these dynamic responses. A commonly used control systems in buildings are the passive friction dampers, which adds energy dissipation through damping mechanisms induced by sliding friction between their surfaces. Passive friction dampers are usually implemented on the diagonal of braced buildings, but such devices have the disadvantage that are optimal for a range of sliding force and out of that range its efficiency decreases. The above implies that each passive friction damper is designed, built and commercialized for a specific sliding/clamping force, in which the damper shift from a locked state to a slip state, where dissipates energy through friction. The risk of having a variation in the efficiency of the device according to the sliding force is that the dynamic properties of the building can change as result of many factor, even damage caused by a seismic event. In this case the expected forces in the building can change and thus considerably reduce the efficiency of the damper (that is designed for a specific sliding force). It is also evident than when a seismic event occurs the forces in each floor varies in the time what means that the damper's efficiency is not the best at all times. Semi-Active Friction devices adapt its sliding force trying to maintain its motion in the slipping phase as much as possible, because of this, the effectiveness of the device depends on the control strategy used. This paper deals with the development and performance evaluation of a low cost Semiactive Variable Friction Damper (SAVFD) in reduced scale to reduce vibrations of structures subject to earthquakes. The SAVFD consist in a (1) hydraulic brake adapted to (2) a servomotor which is controlled with an (3) Arduino board and acquires accelerations or displacement from (4) sensors in the immediately upper and lower floors and a (5) power supply that can be a pair of common batteries. A test structure, based on a Benchmark structure for structural control, was design and constructed. The SAVFD and the structure are experimentally characterized. A numerical model of the structure and the SAVFD is developed based on the dynamic characterization. Decentralized control algorithms were modeled and later tested experimentally using shaking table test using earthquake and frequency chirp signals. The controlled structure with the SAVFD achieved reductions greater than 80% in relative displacements and accelerations in comparison to the uncontrolled structure.

Keywords: earthquake response, friction damper, semiactive control, shaking table

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Authors: Galih Permana, Yuskar Lase

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In recent years, damping device has been experimentally studied to replace diagonally reinforced coupling beams, to mitigate rebar congestion problem. This study focuses on evaluating the effectiveness of various damping devices in a high-rise building. The type of damping devices evaluated is Viscoelastic Damper (VCD) and Rotational Friction Damper (RFD), with study case of a 15-story reinforced concrete apartment building with a dual system (column-beam and shear walls). The analysis used is a nonlinear time history analysis with 11 pairs of ground motions matched to the Indonesian response spectrum based on ASCE 41-17 and ASCE 7-16. In this analysis, each damper will be varied with a different position, namely the first model, the damper will be installed on the entire floor and in the second model, the damper will be installed on the 5th floor to the 9th floor, which is the floor with the largest drift. The results show that the model using both dampers increases the level of structural performance both globally and locally in the building, which will reduce the level of damage to the structural elements. But between the two dampers, the coupling beam that uses RFD is more effective than using VCD in improving building performance. The damper on the coupling beam has a good role in dissipating earthquakes and also in terms of ease of installation.

Keywords: building, coupling beam, damper, nonlinear time history analysis

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Authors: Jinkoo Kim, Minsung Kim

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This study develops a hybrid seismic energy dissipation device composed of a viscoelastic damper and a steel slit damper connected in parallel. A cyclic loading test is conducted on a test specimen to validate the seismic performance of the hybrid damper. Then a moment-framed model structure is designed without seismic load so that it is retrofitted with the hybrid dampers. The model structure is transformed into an equivalent simplified system to find out optimum story-wise damper distribution pattern using genetic algorithm. The effectiveness of the hybrid damper is investigated by fragility analysis and the life cycle cost evaluation of the structure with and without the dampers. The analysis results show that the model structure has reduced probability of reaching damage states, especially the complete damage state, after seismic retrofit. The expected damage cost and consequently the life cycle cost of the retrofitted structure turn out to be significantly small compared with those of the original structure. Acknowledgement: This research was supported by the Ministry of Trade, Industry and Energy (MOTIE) and Korea Institute for Advancement of Technology (KIAT) through the International Cooperative R & D program (N043100016).

Keywords: seismic retrofit, slit dampers, friction dampers, hybrid dampers

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Authors: Kuangyou B. Cheng

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Tennis is among the most popular sports worldwide. During ball-racket impact, substantial vibration transmitted to the hand/arm may be the cause of “tennis elbow”. Although it is common for athletes to attach a “vibration damper” to the spring-bed, the effect remains unclear. To avoid subjective factors and errors in data recording, the effect of damper attachment on racket handle end vibration was investigated with computer simulation. The tennis racket was modeled as a beam with free-free ends (similar to loosely holding the racket). Finite difference method with 40 segments was used to simulate ball-racket impact response. The effect of attaching a damper was modeled as having a segment with increased mass. It was found that the damper has the largest effect when installed at the spring-bed center. However, this is not a practical location due to interference with ball-racket impact. Vibration amplitude changed very slightly when the damper was near the top or bottom of the spring-bed. The damper works only slightly better at the bottom than at the top of the spring-bed. In addition, heavier dampers work better than lighter ones. These simulation results were comparable with experimental recordings in which the selection of damper locations was restricted by ball impact locations. It was concluded that mathematical model simulations were able to objectively investigate the effect of damper attachment on racket vibration. In addition, with very slight difference in grip end vibration amplitude when the damper was attached at the top or bottom of the spring-bed, whether the effect can really be felt by athletes is questionable.

Keywords: finite difference, impact, modeling, vibration amplitude

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Authors: Reginaldo Cardoso, Magno Enrique Mendoza Meza

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This work focuses on simulation and comparison of two control skyhook techniques applied to a quarter-car of the active suspension. The objective is to provide comfort to the driver. The main idea of skyhook control is to imagine a damper connected to an imaginary sky; thus, the feedback is performed with the resultant force between the imaginary and the suspension damper. The first control technique is the Mandani fuzzy skyhook and the second control technique is a Takagi-Sugeno fuzzy skyhook controller, in the both controllers the inputs are the relative velocity between the two masses and the vehicle body velocity, the output of the Mandani fuzzy skyhook is the coefficient of imaginary damper viscous-friction and the Takagi-Sugeno fuzzy skyhook is the force. Finally, we compared the techniques. The Mandani fuzzy skyhook showed a more comfortable response to the driver, followed closely by the Takagi- Sugeno fuzzy skyhook.

Keywords: active suspention, Mandani, quarter-car, skyhook, Sugeno

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Authors: Zhiguo Shi, Cheng Ning Loong, Jiazeng Shan, Weichao Wu

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This study proposes an equivalent circuit model to simulate the eddy current damping force with shaking table tests and finite element modeling. The model is firstly proposed and applied to a simple eddy current damper, which is modelled in ANSYS, indicating that the proposed model can simulate the eddy current damping force under different types of excitations. Then, a non-contact and friction-free eddy current damper is designed and tested, and the proposed model can reproduce the experimental observations. The excellent agreement between the simulated results and the experimental data validates the accuracy and reliability of the equivalent circuit model. Furthermore, a more complicated model is performed in ANSYS to verify the feasibility of the equivalent circuit model in complex eddy current damper, and the higher-order fractional model and viscous model are adopted for comparison.

Keywords: equivalent circuit model, eddy current damping, finite element model, shake table test

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Authors: Daniel Y. Abebe, Jeonghyun Jang, Jaehyouk Choi

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This study aims to evaluate the effective size, section and structural characteristics of circular hollow steel (CHS) damper. CHS damper is among steel dampers which are used widely for seismic energy dissipation because they are easy to install, maintain and are inexpensive. CHS damper dissipates seismic energy through metallic deformation due to the geometrical elasticity of circular shape and fatigue resistance around connection part. After calculating the effective size, which is found to be height to diameter ratio of √("3"), nonlinear FE analyses were carried out to evaluate the structural characteristics and effective section (diameter-to-ratio).

Keywords: circular hollow steel damper, structural characteristics, effective size, effective section, large deformation, FE analysis

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Authors: Daniel Y. Abebe, Jaehyouk Choi

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This study aims to evaluate the effective size and hysteresis characteristics of Circular Hollow Steel (CHS) damper. CHS damper is among steel dampers which are used widely for seismic energy dissipation because they are easy to install, maintain and are low cost. CHS damper dissipates seismic energy through metallic deformation due to the geometrical elasticity of circular shape and fatigue resistance around connection part. After calculating the effective size, which is found to be height to diameter ratio of √ ("3”), nonlinear FE analyses were conducted to evaluate the hysteresis characteristics. To verify the analysis simulation quasi static loading was carried out and the result was compared and satisfactory result was obtained.

Keywords: SS400 steel, circular hollow steel damper, effective size, quasi static loading, FE analysis

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Authors: S. S. Ghodsi, M. H. Mehrabi, Zainah Ibrahim, Meldi Suhatril

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This research examines the performance of a hybrid passive control device for enhancing the seismic response of steel frame structures. The device design comprises a damper which employs a viscoelastic material to control both shear and axial strain. In the design, energy is dissipated through the shear strain of a two-layer system of viscoelastic pads which are located between steel plates. In addition, viscoelastic blocks have been included on either side of the main shear damper which obtains compressive strains in the viscoelastic blocks. These dampers not only dissipate energy but also increase the stiffness of the steel frame structure, and the degree to which they increase the stiffness may be controlled by the size and shape. In this research, the cyclical behavior of the damper was examined both experimentally and numerically with finite element modeling. Cyclic loading results of the finite element modeling reveal fundamental characteristics of this hybrid viscoelastic damper. The results indicate that incorporating a damper of the design can significantly improve the seismic performance of steel frame structures.

Keywords: cyclic loading, energy dissipation, hybrid damper, passive control system, viscoelastic damper

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Authors: Azin Shakibabarough, Mojtaba Valinejadshoubi, Ashutosh Bagchi

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Structural vibration means repetitive motion that causes fatigue and reduction of the performance of a structure. An earthquake may release high amount of energy that can have adverse effect on all components of a structure. Therefore, decreasing of vibration or maintaining performance of structures such as bridges, dams, roads and buildings is important for life safety and reducing economic loss. When earthquake or any vibration happens, investigation on parts of a structure which sustain the seismic loads is mandatory to provide a safe condition for the occupants. One of the solutions for reducing the earthquake vibration in a structure is using of vibration control devices such as dampers and base isolators. The objective of this study is to investigate the optimal positions of friction dampers and base isolators for better seismic response of 2D frame. For this purpose, a two bay and six story frame with different distribution formats was modeled and some of their responses to earthquake such as inter-story drift, max joint displacement, max axial force and max bending moment were determined and compared using non-linear dynamic analysis.

Keywords: fast nonlinear analysis, friction damper, base isolator, seismic vibration control, seismic response

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Authors: Gurubasavaraju T. M.

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The magnetorheological (MR) damper could provide variable damping force with respect to the different input magnetic field. The damping force could be estimated through computational analysis using finite element and computational fluid dynamics analysis. The double-ended damper operates without changing the total volume of fluid. In this paper, damping force of double ended damper under different magnetic field is computed. Initially, the magneto-statics analysis carried out to evaluate the magnetic flux density across the fluid flow gap. The respective change in the rheology of the MR fluid is computed by using the experimentally fitted polynomial equation of shear stress versus magnetic field plot of MR fluid. The obtained values are substituted in the Herschel Buckley model to express the non-Newtonian behavior of MR fluid. Later, using computational fluid dynamic (CFD) analysis damping characteristics in terms of force versus velocity and force versus displacement for the respective magnetic field is estimated. The purpose of the present approach is to characterize the preliminary designed MR damper before fabricating.

Keywords: MR fluid, double ended MR damper, CFD, FEA

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Authors: Rukiye Ertan

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In this study, a brake friction material composition was investigated experimentally related to the effects of the friction modifiers and abrasive proportions on the tribological properties. The investigation was based on a simple experimental formulation, consisting of seven friction materials with different proportions of abrasives (ZrSiO4 and Fe2O3) and friction modifiers (cashew dust). The friction materials were evaluated using a Chase friction tester. The tribological properties, such as the wear resistance and friction stability, depending on the test temperature and the number of braking were obtained related to the friction material ingredient proportions. The results showed that the tribological properties of the brake pad were greatly affected by the abrasive and then cashew dust proportion.

Keywords: brake pad, friction, wear, abrasives

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Authors: Asad Naeem, Jinkoo Kim

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This research proposes a self-centering passive damping system consisting of a spring viscous damper linked with a preloaded tendon. The seismic performance of the spring viscous damper is evaluated by pseudo-dynamic tests, and the results are used for the formulation of an analytical model of the damper in the structural analysis program. The shaking table tests of a two-story steel frame installed with the proposed damping system are carried out using five different earthquake records. The results from the shaking table tests are verified by numerical simulation of the retrofitted structure. The results obtained from experiments and numerical simulations demonstrate that the proposed damping system with self-centering capability is effective in reducing earthquake-induced displacement and member forces.

Keywords: seismic retrofit, spring viscous damper, shaking table test, earthquake resistant structures

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Authors: Nitish Kumar Vaja, Oumar Barry, Brian DeJong

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Aeolian vibrations are the major cause for the failure of conductor cables. Using a Stockbridge damper reduces these vibrations and increases the life span of the conductor cable. Designing an efficient Stockbridge damper that suits the conductor cable requires a robust mathematical model with minimum assumptions. However it is not easy to analytically model the complex geometry of the messenger. Therefore an equivalent stiffness must be determined so that it can be used in the analytical model. This paper examines the bending stiffness of the cable and discusses the effect of this stiffness on the natural frequencies. The obtained equivalent stiffness compensates for the assumption of modeling the messenger as a rod. The results from the free vibration analysis of the analytical model with the equivalent stiffness is validated using the full scale finite element model of the Stockbridge damper.

Keywords: equivalent stiffness, finite element model, free vibration response, Stockbridge damper

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Authors: Ehsan Sadie

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Developments in the field of damping technology and advances in the area of dampers in equipping many structures have been the result of efforts and testing by researchers in this field. In this paper, a sample of a two-story building is simulated with the help of SAP2000 software, and the effect of a viscous damper on the performance of the structure is explained. The effect of dampers on the response of the structure is investigated. This response involves the horizontal displacement of floors. In this case, the structure is modeled once without a damper and again with a damper. In this regard, the results are presented in the form of tables and graphs. Since the seismic behavior of the structure is studied, the responses show the appropriate effect of viscous dampers in reducing the displacement of floors, and also the energy dissipation in the structure with dampers compared to structures without dampers is significant. Therefore, it is economical to use viscous dampers in areas that have a higher relative earthquake risk.

Keywords: bending frame, displacement criterion, dynamic response spectra, earthquake, non-linear history spectrum, SAP2000 software, structural response, viscous damper

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Authors: Tauhidur Rahman, Dhrubajyoti Thakuria

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In this article, vibration caused by earthquake excitation, wind load and the high-speed vehicle in the superstructure has been studied. An attempt has been made to control these vibrations using passive Tuned Mass Dampers (TMD). Tuned mass damper consists of a mass, spring, and viscous damper which dissipates the vibration energy of the primary structure at the damper of the TMD. In the present paper, the concrete box girder bridge superstructure is considered and is modeled using MIDAS software. The bridge is modeled as Euler-Bernoulli beam to study the responses imposed by high-speed vehicle, earthquake excitation and wind load. In the present study, comparative study for the responses has been done considering different velocities of the train. The results obtained in this study are based on Indian standard loadings specified in Indian Railways Board (Bridge Rules). A comparative study has been done for the responses of the high-speed vehicle with and without Tuned Mass Dampers. The results indicate that there is a significant reduction in displacement and acceleration in the bridge superstructure when Tuned Mass Damper is used.

Keywords: bridge superstructure, high speed vehicle, tuned mass damper, TMD, vibration control

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Authors: Chaozhi Yang, Xinzhong Chen, Guoqing Huang

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Inerter is a two-terminal inertial element that can produce apparent mass far larger than its physical mass. A double tuned inertial mass damper (DTIMD) is developed by combining a spring with an inerter and a dashpot in series to replace the viscous damper of a tuned mass damper (TMD), and its performance is investigated. Firstly, the DTIMD is optimized numerically with H∞ and H2 methods considering the system’s damping based on the single-degree-of-freedom (SDOF)-DTIMD system, and the optimal structural parameters are obtained. Then, compared with a TMD, the control effect of the DTIMD with the optimal structural parameters on wind-induced vibration of a wind turbine in downwind direction under the shutdown condition is studied. The results demonstrate that the vibration suppression of the DTIMD is superior than that of a TMD at the same mass ratio. And at the identical vibration suppression, the tuned mass of the DTIMD can be reduced by up to 40% compared with a TMD.

Keywords: wind-induced vibration, vibration control, inerter, tuned mass damper, damped system

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Authors: Zizouni Khaled, Fali Leyla, Sadek Younes, Bousserhane Ismail Khalil

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In structural vibration caused principally by an earthquake excitation, the most vibration’s attenuation system used recently is the semi active control with a Magneto Rheological Damper device. This control was a subject of many researches and works in the last years. The big challenges of searchers in this case is to propose an adequate controller with a robust algorithm of current or tension adjustment. In this present paper, a linear controller is proposed to control the MR damper using to reduce a vibrations of three story structure exposed to El Centro’s 1940 and Boumerdès 2003 earthquakes. In this example, the MR damper is installed in the first floor of the structure. The numerical simulations results of the proposed linear control with a feedback law based on clipped optimal algorithm showed the feasibility of the semi active control to protecting civil structures. The comparison of the controlled structure and uncontrolled structures responses illustrate clearly the performance and the effectiveness of the simple proposed approach.

Keywords: MR damper, seismic vibration, semi-active control

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Authors: Neda Nabid

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Friction-based supplemental devices have been extensively used for seismic protection and strengthening of structures, however, the conventional use of these dampers may not necessarily lead to an efficient structural performance. Conventionally designed friction dampers follow a uniform height-wise distribution pattern of slip load values for more practical simplicity. This can lead to localizing structural damage in certain story levels, while the other stories accommodate a negligible amount of relative displacement demand. A practical performance-based optimization methodology is developed to tackle with structural damage localization of RC frame buildings with friction energy dissipation devices under severe earthquakes. The proposed methodology is based on the concept of uniform damage distribution theory. According to this theory, the slip load values of the friction dampers redistribute and shift from stories with lower relative displacement demand to the stories with higher inter-story drifts to narrow down the discrepancy between the structural damage levels in different stories. In this study, the efficacy of the proposed design methodology is evaluated through the seismic performance of five different low to high-rise RC frames equipped with friction wall dampers under six real spectrum-compatible design earthquakes. The results indicate that compared to the conventional design, using the suggested methodology to design friction wall systems can lead to, by average, up to 40% reduction of maximum inter-story drift; and incredibly more uniform height-wise distribution of relative displacement demands under the design earthquakes.

Keywords: friction damper, nonlinear dynamic analysis, RC structures, seismic performance, structural damage

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Authors: Yoonsoo Kim

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This paper introduces an open-source software package SCILAB, an alternative of MATLAB, which can be used for robust control design and analysis of a typical mass-spring-damper (MSD) system. Using the previously published ideas in this popular mechanical system is considered to provide another example of usefulness of SCILAB for advanced control design.

Keywords: robust control, SCILAB, mass-spring-damper (MSD), popular mechanical systems

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Authors: Jay Gohel, Anant Parghi

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A tuned liquid column damper (TLCD) is a modified passive system of tuned mass damper, where a liquid is used in place of mass in the structure. A TLCD consists of U-shaped tube with an orifice that produces damping against the liquid motion in the tube. This paper provides a state-of-the-art review on the vibration control of wind and earthquake excited structures using liquid dampers. Further, the paper will also discuss the theoretical background of TCLD, history of liquid dampers and existing literature on experimental, numerical, and analytical study. The review will also include different configuration of TLCD viz single TLCD, multi tuned liquid column damper (MTLCD), TLCD-Interior (TLCDI), tuned liquid column ball damper (TLCBD), tuned liquid column ball gas damper (TLCBGD), and pendulum liquid column damper (PLCD). The dynamic characteristics of the different configurate TLCD system and their effectiveness in reducing the vibration of structure will be discussed. The effectiveness of semi-active TLCD will be also discussed with reference to experimental and analytical results. In addition, the review will also provide the numerous examples of implemented TLCD to control the vibration in real structures. Based on the comprehensive review of literature, some important conclusions will be made and the need for future research will be identified for vibration control of structures using TLCD.

Keywords: earthquake, wind, tuned liquid column damper, passive response control, structures

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Authors: Mohammad Bukhari, Oumar Barry

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In order to reduce the Aeolian vibration of overhead transmission lines, the Stockbridge damper is usually attached. The efficiency of Stockbridge damper depends on its location on the conductor and its resonant frequencies. When the Stockbridge damper is located on a vibration node, it becomes inefficient. Hence, the static damper should be subrogated by a dynamic one. In the present study, a proposed dynamic absorber for transmission lines is studied. Hamilton’s principle is used to derive the governing equations, then the system of ordinary differential equations is solved numerically. Parametric studies are conducted to determine how certain parameters affect the performance of the absorber. The results demonstrate that replacing the static absorber by a dynamic one enhance the absorber performance for wider range of frequencies. The results also indicate that the maximum displacement decreases as the absorber speed and the forcing frequency increase. However, this reduction in maximum displacement is accompanying with increasing in the steady state vibration displacement. It is also indicated that the energy dissipation in moving absorber covers higher range of frequencies.

Keywords: absorber performance, Aeolian vibration, Hamilton’s principle, stockbridge damper

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Authors: H. Karakoc, A. Uzun, G. Kırmızı, H. Çinici, R. Çitak

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The main objective of this investigation was to apply friction welding for joining of AA7039 rods produced by powder metallurgy. Friction welding joints were carried out using a rotational friction welding machine. Friction welds were obtained under different rotational speeds between (2700 and 2900 rpm). The friction pressure of 10 MPa and friction time of 30 s was kept constant. The cross sections of joints were observed by optical microscopy. The microstructures were analyzed using scanning electron microscope/energy dispersive X-ray spectroscopy. The Vickers micro hardness measurement of the interface was evaluated using a micro hardness testing machine. Finally the results obtained were compared and discussed.

Keywords: Aluminum alloy, powder metallurgy, friction welding, microstructure

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Authors: B. R. Raut

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The seismic performance of 20-storey benchmark building with semi-active dampers is investigated under various earthquake ground motions. The Semi-Active Variable Friction Dampers (SAVFD) and Magnetorheological Dampers (MR) are used in this study. A recently proposed predictive control algorithm is employed for SAVFD and a simple mechanical model based on a Bouc–Wen element with clipped optimal control algorithm is employed for MR damper. A parametric study is carried out to ascertain the optimum parameters of the semi-active controllers, which yields the minimum performance indices of controlled benchmark building. The effectiveness of dampers is studied in terms of the reduction in structural responses and performance criteria. To minimize the cost of the dampers, the optimal location of the damper, rather than providing the dampers at all floors, is also investigated. The semi-active dampers installed in benchmark building effectively reduces the earthquake-induced responses. Lesser number of dampers at appropriate locations also provides comparable response of benchmark building, thereby reducing cost of dampers significantly. The effectiveness of two semi-active devices in mitigating seismic responses is cross compared. Among two semi-active devices majority of the performance criteria of MR dampers are lower than SAVFD installed with benchmark building. Thus the performance of the MR dampers is far better than SAVFD in reducing displacement, drift, acceleration and base shear of mid to high-rise building against seismic forces.

Keywords: benchmark building, control strategy, input excitation, MR dampers, peak response, semi-active variable friction dampers

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Authors: Marcus Walter, Norbert Nitzsche, Dirk Odenthal, Steffen Müller

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This contribution presents a friction estimator for industrial purposes which identifies Coulomb friction in a steering system. The estimator only needs a few, usually known, steering system parameters. Friction occurs on almost every mechanical system and has a negative influence on high-precision position control. This is demonstrated on a steering angle controller for highly automated driving. In this steering system the friction induces limit cycles which cause oscillating vehicle movement when the vehicle follows a given reference trajectory. When compensating the friction with the introduced estimator, limit cycles can be suppressed. This is demonstrated by measurements in a series vehicle.

Keywords: friction estimation, friction compensation, steering system, lateral vehicle guidance

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Authors: Seyed Hamid Mirmohammad Sadeghi, Raffaella Sesana, Daniela Maffiodo

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This study presents a procedure for friction calculation of column electric power steering (C-EPS) system which affects handling and comfort in driving. The friction losses estimation is obtained from experimental tests and mathematical calculation. Parts in C-EPS mainly involved in friction losses are bearings and worm gear. In the theoretical approach, the gear geometry and Hertz law were employed to measure the normal load and the sliding velocity and contact areas from the worm gears driving conditions. The viscous friction generated in the worm gear was obtained with a theoretical approach and the result was applied to model the friction in the steering system. Finally, by viscous friction coefficient and Coulomb friction coefficient, values of friction in worm gear were calculated. According to the Bearing Company and the characteristics of each bearing, the friction torques due to load and due to speed were calculated. A MATLAB Simulink model for calculating the friction in bearings and worm gear in C-EPS were done and the total friction value was estimated.

Keywords: friction, worm gear, column electric power steering system, simulink, bearing, EPS

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Authors: Martin Goubej, Tomas Popule, Alois Krejci

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This paper deals with experimental identification of mechanical systems with nonlinear friction characteristics. Dynamic LuGre friction model is adopted and a systematic approach to parameter identification of both linear and nonlinear subsystems is given. The identification procedure consists of three subsequent experiments which deal with the individual parts of plant dynamics. The proposed method is experimentally verified on an industrial-grade robotic manipulator. Model fidelity is compared with the results achieved with a static friction model.

Keywords: mechanical friction, LuGre model, friction identification, motion control

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