Performance validations of semiactive controllers on large-scale moment-resisting frame equipped with 200-kN MR damper using real-time hybrid simulations

Magnetorheological dampers (MR) have the promising ability to mitigate seismic hazard for structures because of their adaptive energy dissipation characteristics and low power requirements that can be met using standby batteries. These attractive characterstics of advanced damping devices, such as MR dampers, are important for achieving the goals of performance-based infrastucture designs. This paper validates the performances of four semiactive control algorithms for the control of a large-scale realistic moment-resisting frame using a large-scale 200-kN MR damper. To conduct this test, a large-scale damper-braced steel frame was designed and fabricated. Four semiactive controllers, namely (1) passive on, (2) clipped optimal controller, (3) decentralized output feedback polynomial controller, and (4) Lyapunov stability based controller, were designed for this frame. Real-time hybrid simulations (RTHS) were carried out for these controllers using three recorded earthquakes. The comparative performance of these controllers was investigated using both RTHS and numerical simulations in terms of reductions in the maximum interstory drifts, displacements, absolute accelerations, and control forces, and comparisons between test and numerical results.