Journal of Vibration Engineering & Technologies

https://doi.org/10.1007/s42417-022-00644-3

ORIGINAL PAPER

Optimal Design of a Passive SMA Damper to Control Multi‑modal Stay

Cable Vibrations
Selsebil Soltane1 · Othman Ben Mekki1 · Sami Montassar1

Received: 5 March 2022 / Revised: 11 July 2022 / Accepted: 12 July 2022

© Krishtel eMaging Solutions Private Limited 2022

Abstract
Purpose This paper investigates the vibration control of a stay cable using passive superelastic shape memory alloys (SMA)
damper.
Methods The control of one vibration mode of a stay cable by optimized SMA damper parameters attached transversely to
the cable is considered. A parametric study on two parameters, specifically, cross-sectional area and length of the damper,
is conducted numerically.
Results Results show that optimized SMA damper can achieve significant damping improvement. The considered damper
exhibits superior control performance over Magnetorheological damper for the target mode. However, designing the damper
for a specific mode leads to vibrating other modes, revealing that optimized SMA damper is unable to provide sufficient sup-
plemental modal damping to the stay cable. To achieve coupled multi-modal control an optimization criterion was developed
through an analytical and numerical approaches.
Conclusion The optimization results indicate that the SMA damper is potential to reach a significant control performance,
mitigating simultaneously the vibration of three coupled modes which looks promising for practical applications.

Keywords Shape memory alloys · Passive damper · Stayed cable vibrations · multi-modal control

Introduction stay cable and improved safety and serviceability of bridges

[3, 8, 19–21, 35]. Since they provide a significant damping
The rapid progress of the span of cable stayed bridges force and present an easy replacement, mechanical dampers
increases the susceptibility to exhibit large amplitudes are applied in full-scale to medium and long span bridges
vibration under environmental excitations, such as wind [7, 54]. The frequency of vibrations induced by the rain
[4, 15], rain wind [4, 15, 33, 37] and parametric excitation wind is mainly between 1 Hz and 3 Hz according to a full
[8, 46, 52], given that this structures are flexible and have scale measurements [31]. This range of frequency covers a
low inherent damping [53]. Vibration can lead to break- number of modes for long stay cables which it is not so far
down stay cable connections, damage corrosion protection perspicuous how to identify the target mode for damping.
systems resulting on the fatigue failure of the integrity of Hence, if the damper is designed for optimal performance in
bridge. The mitigation of the dynamic response of stay cable a specific mode can lead cable vibration of other modes [23,
using mechanical active, semi active and passive dampers 29, 47]. Therefore, multi-mode cable vibration control is an
was widely investigated to prevent premature damage in important issue for development of cable stayed bridges.
Many investigations have been conducted to develop the
* Selsebil Soltane control of multi-mode cable vibration. Susumpow and
[email protected] Fujino [12] proposed an active control of multi-modal cable
Othman Ben Mekki vibrations by axial support motion. Wang et al. [50] devel-
[email protected] oped a new active control algorithm for optimal design of
Sami Montassar viscous dampers to reach multi-modal cable vibration con-
[email protected] trol. The used method provides a high level damping to all
concerned modes. Semi-active cable multi-modal vibration
1
Ecole Nationale d’Ingénieurs de Tunis, Université de Tunis control using magnetorheological (MR) damper has been
El Manar, LGC, BP 37, Le Belvédère, 1002 Tunis, Tunisia

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 Journal of Vibration Engineering & Technologies

investigated by studies [9, 16, 32]. MR damper showed an of a hybrid control strategy by combining an open loop
effectiveness to provide damping for multi-mode vibration. actuation and wrapped SMA for cable vibration mitiga-
Nevertheless, this strategy require a power alimentation and tion. Experimental results shown on [11] confirm that the
real-time detection of vibrations which making it less rec- hybrid strategy promising vibration mitigation capabilities
ommended in practice. In recent studies, the focus is placed when the motion was essentially dominated by the first in-
on performance of using passive mechanism to enhance the plane mode. Taking 1:60 model of the Runyang cable-stayed
control several modes. The effectiveness of inerter dampers bridge (in Jiangsu, China) as a test platform, [13] carried out
was further evaluated through the comparison with the vis- experimentations on vibration control of a stay cable with
cous dampers in [42]. Inerter dampers was better performing SMA damper. Results show that the SMA damper installed
than conventional viscous dampers for one mode, providing in plane of the cable can mitigate 50% of the free vibration.
relatively limited additional damping ratios for other vibra- Through two sets of laboratory scale experiments realized
tion modes. A full scale cable experiments have been car- on stayed cable, [48] report that SMA damper reduces dras-
ried out in [26, 27] to validate the effect of inertial dampers. tically the oscillation amplitude (between 25% and 50%).
Chen et al [6], studied through a parallel arrangement of a The experimental results presented by [24] show that the
Negative stiffness mechanism and a viscous damper the con- Nickel–Titanium SMA wires permit an effective reduction
trol of a multi-mode cable vibration. The numerical study of the oscillations time and theirs amplitudes by increasing
considering a real cable of Sutong Bridge revealed that the the damping ratio.
negative stiffness mechanism improves damping effects of In addition to experimental studies, many analytical
all cable modes equally. Following experimental studies, approaches have been proposed. The study developed by
[43, 55] demonstrated the performance of negative stiffness [25] stated that the superelastic SMA damper can mitigate
devices. Damping performance dependence of modes fre- the cable’s vibration in both cases; at its first mode or at its
quency was investigated through field tests using viscous and first few modes. The responses of a stay cable model on a
viscoelastic dampers [5]. Observations showed that, for a cable-stayed bridge model with/without one SMA damper
precisely range of frequency, the two aforementioned damp- are numerically investigated by [28]. The study evaluates
ers provide comparable modal damping for all the tested the additional equivalent modal damping ratio when the
cable modes. However, in higher modes the damping pro- combined stay cable/SMA damper system vibrates with a
vided by the viscous damper decreases considerably. In addi- single mode. [39] focused on the effect of temperature under
tion, when cables vibrate in modes with frequency higher the influence of loading. Showing that the ambient tempera-
than 3.0 Hz the performance of the viscous damper has been ture has its marked effect on the superelasticity and shape
greatly reduced. The material SMA (shape memory alloys) memory behaviors, SMA damper made of the Ni–Ti wire
is smart and functional which provide interesting proprieties can effectively quashes the stay cable vibration. A compari-
not present in traditionally material including large damping son between linear quadratic regulator LQR active control
capacity, self-centering ability, high fatigue and corrosion and passive SMA damper for controlling the cable in-plane
strength [2, 17, 40, 45]. The smart material has the capability vibration under excitations has been developed in [56]. The
of undergoing large inelastic deformations and of recovering study reveals that the optimal control effect of the SMA
their shape by releasing applied loads without residual strain damper is approached to the LQR active control effect. Other
[22]. This unique propriety, known as superelasticity, results researchers have paid attention to control seismic response
from the phase transformation separating the two crystal- of cable-stayed bridges using SMA devices [14, 41].
lographic structures of the SMA: austenite and martensite. This study highlights the performance of superelastic
Once the critical stress is reached, a phase transformation SMA damping device to mitigate multi-modal stay cable
of the austenite towards the martensite is caused, the strain vibration, since large amplitude vibrations tend to be domi-
of this transformation is added to the elastic strain; once nated by a single mode or the first modes as reported by
the critical stress of the inverse transformation is reached, [4, 30, 33].The damper used is passive and must not need
the austenitic transformation begins to take place without supervision. The paper is divided into four parts. The first
residual strain [49]. Consequently, the curve stress–strain is part presents vibration equations of a stayed cable-SMA
a hysteresis through the whole loading–unloading process. system specifying different hypothesis adopted in problem
It presents the energy dissipation capacity and reflects the linearization. The second part contains an outline of the opti-
conspicuous damping property of the SMA [36, 38]. mization method based on an energy balance used to achieve
The number of studies focusing on the feasibility of using optimal damping for the first mode of vibration. The poten-
SMA as passive energy dissipation system with special tial of SMA damper to mitigate transverse vibration stay
emphasis on dynamic control of cable-stayed bridges has cable belongs Rades-La Goulette cable stayed bridge is then
grown in the past decade and is still growing. [10] investi- evaluated. The case study showed that the optimal size of
gated through a campaign of laboratory tests the feasibility the SMA damper for the first mode is insufficient for control

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Journal of Vibration Engineering & Technologies

other modes. Taking into consideration coupled modes, the T denotes the static stay cable tension’s, 𝜏 is the additional
third part focuses on development of an optimization method dynamic cable tension, mc is the mass of the cable per unit
based on Irvine criterion. The last part centers on the dem- length, g is the acceleration of gravity, 𝛿 is the Dirac’s delta
onstration of the effectiveness of the optimal multi-mode function, while u, v and w are the cable dynamic displace-
design of the SMA damper to control all concerned modes. ment components in the x, y and z directions, respectively;
Fe,x , Fe,y and Fe,z are distributed external dynamic loading
per unit length in the x, y and z directions, respectively.
The cable is subjected to a transverse concentrated force
Governing Equations for a Small Sag Cable Fd generated by the SMA device attached at the location
xd from the support A in the x direction. Then, using the
Consider a cable suspended between two supports A and B non-linear relationship between the dynamic cable tension
of different heights subjected to its self-weight (cable with and dynamic deformation:
a sag profile). The cable is assumed to have a uniform cross-
sectional area Ac along its length L and constituted by an 𝜏 D = Ec Ac 𝜖 D (4)
isotropic linearly elastic material with young’s modulus Ec . The Green–Lagrange deformation is as follows:
The A–B line is inclined of an angle 𝜃 with respect to the
horizontal. The strained static profile of the cable is spanned 𝜕(u) dy 𝜕v 1
[(
𝜕u
)2 (
𝜕v
)2 (
𝜕w
)2 ]
by the curvilinear co-ordinate s with s = 0 at A. The cable
D
𝜖 = + + + + (5)
𝜕x dx 𝜕x 2 𝜕x 𝜕x 𝜕x
configuration is described in Fig. 1.
By setting the Cartesian co-ordinate system (A, x, y), The aforementioned non-linear equations are simplified
where the y axis is perpendicular to the x axis taken along enforcing the following assumptions:(i) the transversal fun-
the cable’s chord, the partial differential equations governing damental frequency of the cable is smaller than its longitu-
dynamic equilibrium of sagged stay cable can be written as dinal fundamental frequency; (ii) the cable vibrates only in
(including the effect of SMA damper): the xy-plane and its motion in the x-direction is negligibly
[ ( )] [ 2 ] small; (iii) the static profile of the cable can be approximated
𝜕 dx 𝜕u 𝜕 u to a parabola; (iv) sag length ratio is sufficiently small with
(T + 𝜏) + + Fe,x (x, t) = mc + g sin(𝜃)
𝜕s ds 𝜕s 𝜕t2 respect to unit. These assumptions have been adopted in sev-
(1) eral studies (See [28, 32, 34, 44, 51] for more details). The
[ ( )] m free response of the stay cable is considered in this study,
𝜕 dy 𝜕v ∑
(T + 𝜏) + + Fe,y (x, t) − Fd,i (t)𝛿(x − xd ) because excitations induced by wind lead to initial impulses;
𝜕s ds 𝜕s i=1
[ 2 ] then the structure vibrates freely according to its natural
𝜕 v
= mc − g cos(𝜃) vibration modes. The internal damping of the cable is not
𝜕t2 considered, since stay cables have very extremely low levels
(2) of inherent structural damping, typically on the order of a
𝜕
[
dw
] 2
𝜕 w fraction of one per cent as indicated by several bibliographi-
(T + 𝜏) + Fe,w (x, t) = mc 2 (3) cal references and full-scale tests [24].
𝜕s 𝜕s 𝜕t
Cable transverse free vibration, taking into account the
control action with the use of a SMA damper, is governed
by the following partial differential equation:
( )2 L
𝜕2v 𝜕 2 v Ec Ac mc g cos 𝜃
∫0
x mc 2 − T 2 + v(x, t)dx
B
𝜕t 𝜕x L T
m
∑ (6)

L =− Fd,i (t)𝛿(x − xd )
i=1
u
The transverse deflection can be approximated using a finite
A v modal superposition of the form:
Fd
n
∑
xd v(x, t) = 𝛼i (t)𝜙i (x) (7)
i=1
y

Fig. 1  Inclined cable with an attached damper

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 Journal of Vibration Engineering & Technologies

where 𝛼i (t) are non-dimensional modal participation factors Table 1  Material parameters of the element SMA
and 𝜙i (x) are a set of modal shape functions, satisfying the E [MPa] 𝜎sAS [MPa] 𝜎fAS [MPa] 𝜎sSA [MPa] 𝜎fSA [MPa]
geometric boundary conditions at the cable’s ends A and B:
50000 500 600 250 200
𝜙i (0) = 𝜙i (L) = 0 (8)
To compute the damping and responses of the cable with
the SMA damper, we assume sinusoidal shape functions:
i𝜋x The numerical simulations of the constitutive equations
( )
𝜙i (x) = sin (9)
L of the model led to the curve stress strain reported in Fig. 2
considering the following properties of the element SMA
Substituting (7) into the equation of motion (6), and using a
presented in Table 1.
standard Galerkin approach under the assumptions of small
The observed curve is formed by two parts. The first
deflections and of linear elastic constitutive behavior results
consists of loading. It contains an elastic deformation from
in (without external load) :
zero to 𝜎sAS , where the elastic strain is assumed to be lin-
n L L
early related to the stress: 𝜎 = E𝜖 e with E is the elastic
[

∫0 ∫0 i
∑
mc 𝛼̈ i (t) 𝜙i (x)𝜙j (x)dx − T𝛼i (t) 𝜙�� (x)𝜙j (x)dx
i=1
modulus’s austenite and 𝜖 e is the elastic strain. Then, there
L( L ) ] L∑ n is conversion of the austenite into martensite oriented from
∫0 ∫0 ∫0 m d,i
+ 𝜆2 𝛼i (t) 𝜙j (x) 𝜙i (x)dx dx = − F (t)𝛿(x − xd )dx 𝜎sAS to 𝜎fAS . When the transformation is complete, there is
(10) again an elastic transformation but the Young modulus
where used is of the martensite. For the unloading case, the steps
are the same but in reverse and the stresses used are those
of martensite. As a result one hysteresis loop is formed by
( )2
EA mc g cos𝜃
𝜆 = c c
2
(11) a closed stress strain curve in the whole loading unloading
L T
process. This hysteresis loop describes the energy dissipa-
Considering only the first mode of vibration, Eq. 10 reduces tion ability of the SMA damper and indicates the con-
to spicuous damper property of the SMA materials.
To investigate the performance of the SMA damper,
m1 𝛼̈1 (t) + k1 + 𝜆2 m1 𝛼1 (t) = −Fd (t)𝜙1 (xd ) (12)
( )
using the model described above, on the mitigation of a
stay cable first mode vibration, we proceed with solving
where
the equation of motion (12) of the combined stay cable/
L SMA damper system. The device was installed on the
∫0 1
L
cable at location xd = 0.1L from the left end. Since the
⎧m = m 𝜑 (x)𝜑1 (x)dx = mc
⎪ 1 c
2
L
d𝜑1 d𝜑1 2 SMA damper force cannot be decoupled due to its hyster-
∫0 dx
T𝜋
⎪
⎨ k1 = T dx =
2L etic performance, a nonlinear property occurs in the com-
� 𝜋xdx�
bined stay cable/SMA damper system. Thus, a Newmark
⎪
⎪ 𝜙 (x ) = sin d
⎩ 1 d L numerical method programmed in MATLAB is developed
to compute the dynamic response of the cable. The con-
sidered stay cable used to carry out this investigation is
the longest cable (S16) in Rades-La Goulette cable-stayed
Control of the First Vibration Mode bridge in Tunisia. The geometrical and material properties
with an Attached SMA Damper of the cable (S16) are summarized in Table 2.
It is seen from Fig. 3 that the SMA damper accom-
To describe the superelastic behavior of the SMA damper, plishes a significant reduction of the first mode response,
we consider a one dimensional model proposed by [1]. This thanks to hysteretic performance, as compared to the case
model presents a shape memory alloy based damper, which without the damper. Dissipating the energy coming from
exploits the superelasticity of nickel–titanium alloys (Ni–Ti) the motion of the stay cable, the SMA damper can effec-
wires for energy dissipation. It takes into account one sca- tively enhance the damping capacity of the cable. It can
lar internal variable 𝜁s designating the martensite fraction be also observed that when the SMA is installed the vibra-
and consider the different elastic proprieties between the tion amplitude is reduced very quickly. However, it can
two crystallographic phases of the SMA (austenite and be noted from this simulation that the SMA damper is
martensite). not able to control the small vibration, because the SMA
deformation is smaller than 1% . In this zone, the SMA

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Journal of Vibration Engineering & Technologies

1500

1000

AS
AS f
s
500
SMA Stress [MPa]

SA SA
0 f s

-500

-1000

-1500
-0.1 -0.08 -0.06 -0.04 -0.02 0 0.02 0.04 0.06 0.08 0.1
Strain [%]

Fig. 2  Behavior and hysteresis of the one-dimensional model

0.1
without SMA damper
0.08 with SMA damper

0.06

0.04

0.02
(t)

0
1

-0.02

-0.04

-0.06

-0.08

-0.1
0 1 2 3 4 5 6 7 8 9 10
Time (s)

Fig. 3  First mode control with the SMA damper

Table 2  Geometrical and mechanical design properties of the stay Optimal SMA Damper Size for Control
cable (S16) of the Rades-La Goulette cable-stayed bridge the First Vibration Mode
L [m] 𝜃 [◦] T [kN] Ec [GPa] Ac [cm2] mc [kg/m]
In this study, we address high energy dissipation and com-
55.4 16.5 4313.5 190 55.5 44
plete deformation recovery ability as well provided by the
SMA damper model. To determine the parameters leading
to a maximum damping capacity, reference is made to a
has purely an elastic behavior and the hysteresis is not criterion developed in [34], which is based on the energy
yet built. Nevertheless, in practice, this is not a real dis- balance. The optimal parameters of the device in free
advantage, since one focuses on the large vibrations for vibration are selected in a way to maximize the force gen-
cable-stayed bridges [34]. erated by the SMA damper which is expressed as follows:

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 Journal of Vibration Engineering & Technologies

increases when the damper diameter increases; Decreasing

( )
v(xd , t)
Fd (t) = E𝜋R2SMA − 𝜁s 𝜖L sign(𝜖) (13) the length of the SMA damper, the amplitude of the cable
LSMA
transverse vibration decreases accompanied by an increase
In witch v(xd , t) denotes the cable transverse displacement in the surface of the hysteresis loop, as shown in Fig. 6. This
at the attached point xd , RSMA is the damper wire radius, numerical results confirm the analytical deduction drawn
LSMA represents the length the of the SMA device, 𝜁s is a from Eq. (13). Hence, for a damper located at 10% of cable
scalar internal variable representing the martensite fraction length from the left anchorage, the optimum SMA damper
and 𝜖L is the maximum residual strain, issue from additive parameters set for control the first mode vibration are P1:
decomposition of the total strain 𝜖: LSMA = 300 mm and RSMA = 10 mm.
Then, a numerical investigation which seeks to compare
𝜖 = 𝜖 e + 𝜖L 𝜁s sgn(𝜎) (14) the performance of the optimal SMA damper size with a
where 𝜖 e is the elastic strain. magnetorheological (MR) damper on the vibration miti-
According to (13), the damper capacity is strongly related gation of the considered cable is carried out. The idea of
to the SMA parameters (length and wire diameter) as well as comparing the two devices amounts to the fact that the MR
its attached point. The position leading to a maximum force damper is filled with smart materiel (MR fluid) and also is
generated by the actuator is 0.5 L as shown in Fig. 4. How- able to reproduce hysterical behavior. An hysteretic regular-
ever, it is wise to choose for practical reasons a location as ized Bingham model (HRB) proposed and developed in [44]
close as possible to the deck side anchorage. The considered is used to describe the force velocity response of the MR
location is xd = 0.1 L from the support A in the x direction. device. The damping force defined for every piston velocity
It’s clear that the maximum damper force increases with vd ∈ [−vm , vm ] by
the increase of the wire diameter and the decrease of the
FdHRB (t) − F0 =
length of the device. To approve this numerically, we pro- ⎧ [ ( )]
ceed first by fixing the length at LSMA = 300 mm and vary- ⎪ C (v − v ) + F 1 − exp − sgn(v − v ) vd − vh sgn(vd − vh ) for v̇d < 0
⎪ v d h y d h
v0
[ ( )]
ing the damper radius RSMA as 2 mm, 4 mm and 10 mm, ⎨
⎪ Cv (vd + vh ) + Fy 1 − exp − sgn(vd + vh )
v d + vh
sgn(vd + vh ) for v̇d > 0
then the radius is fixed at 2 mm and the length was ranged. ⎪
⎩
v0

The choice takes into account the objectives cited above, (15)
searching for a high energy dissipation and complete defor- where v0 denotes the regularization parameter, which has
mation recovery ability and avoiding the displacement to a velocity dimension and controls the exponential growth
be limited by passing solely through the original point. The of the damping force, vh is a scale factor having the dimen-
decay responses of the first mode in the followed 15 s for dif- sion of a velocity which defines the width of the hysteresis
ferent sectional areas are plotted for comparison in Fig. 5. It loop and vm denotes the maximum reached velocity of the
shows that the damping of the stay cable transverse vibration damper piston, vd is the piston velocity, F0 is the offset in

0.08

xd/L=0.1
0.06 xd/L=0.3
xd/L=0.5
0.04

0.02
(t)
1

-0.02

-0.04

-0.06
0 1 2 3 4 5 6
Time (s)

Fig. 4  Position effect of the attached SMA damper on the cable dynamic response

13
Journal of Vibration Engineering & Technologies

105
0.08 2
RSMA=2 mm RSMA=2 mm
0.06 RSMA=4 mm 1.5 RSMA= 4 mm
RSMA=10 mm RSMA=10 mm
0.04 1

0.02 0.5

F d(t) (N)
(t)

0 0
1

-0.02 -0.5

-0.04 -1

-0.06 -1.5

-0.08 -2
0 5 10 15 -0.025 -0.02 -0.015 -0.01 -0.005 0 0.005 0.01 0.015 0.02 0.025
Time (s) v(xd,t) (m)

Fig. 5  Diameter effect of the attached SMA damper on the cable dynamic response—LSMA = 300 mm

0.08 8000
LSMA=0.7 m LSMA=0.7 m
0.06 LSMA=0.5 m 6000 LSMA=0.5 m
LSMA=0.3 m LSMA=0.3 m
0.04 4000

0.02 2000
F d(t) (N)
(t)

0 0
1

-0.02 -2000

-0.04 -4000

-0.06 -6000

-0.08 -8000
0 5 10 15 -0.025 -0.02 -0.015 -0.01 -0.005 0 0.005 0.01 0.015 0.02 0.025
Time (s) v(xd,t) (m)

Fig. 6  Length effect of the attached SMA damper on the cable dynamic response—RSMA = 2 mm

the damping force due to the presence of the accumulator, The obtained hysteresis loop depicted in Fig. 7 is com-
Fy denotes the frictional force related to the yield stress of posed of an upper curve relating to the force variation
the MR fluid (generally depending on the applied magnetic with respect to the decreasing velocities, and a lower curve
field) and Cv the damping coefficient. The latter is defined as
the slope of the damping force versus the piston velocity and
is related to the plastic viscosity of the MR fluid.

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 Journal of Vibration Engineering & Technologies

Figure 9 left outlines the vibratory response of cable con-

trolled by MR damper described by HRB model as well as
the standard Bingham model. It can be observed from Fig. 9
right the force evolutions computed by considering the HRB
model and the Bingham model. It is worth noting that the
cable vibration is damped more effectively when using the
HRB model.
Figure 10 compares the modal contributions of the first
vibration mode 𝛼1 (t) controlled with MR damper considering
Bingham model and HRB model as well as the optimized
SMA damper. Modal contributions have been obtained by
solving Eq. 12. According to Fig. 10, it can be observed
Fig. 7  Hysteretic regularized Bingham model (HRB) that the largest vibration response using the optimized SMA
damper model decay speed than the one obtained using
MR damper for both cases. Thus, through these results, we
corresponding to the force variation with increasing veloc- highlight a better performance of a passive designed SMA
ities.The six parameters F0 , Fy , Cv , v0 , vh and vm of the absorber compared to the MR absorber. These findings are
HRB model are identified by fitting the model predictions important given that MR damper needs an external power
with reported experimental data (see [44]). supply which making it less recommended in practice.
The MR damper used operates with step by step power
supply. To switch from one input current to another, the Optimal SMA Damper Size for Control
device requires a control law, as shown in Fig. 8. We point Coupled Modes
out that the value of Fy is sensitive to the change of the elec-
trical current supplied to the damper. However, we use the Governing Equations for Coupled System
MR damper for a single step current, that of the maximum
input current (2A) which leads to a passive consideration of Considering the equation of motion (10) and the sinusoidal
the damper configuration. modal shape given in (9), the elements in the Eq. (10) are
calculated as follows:

Fig. 8  MR damper at various 2500

input currents
2000 2.0 A
1.2 A
0A
1500

1000

500
MR force (N)

-500

-1000

-1500

-2000

-2500
-0.2 -0.15 -0.1 -0.05 0 0.05 0.1 0.15 0.2
Velocity (m/s)

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Journal of Vibration Engineering & Technologies

0.08 2500
HRB model HRB model
Bingham model 2000 Bingham model
0.06

1500

0.04
1000

MR damper Force (N)

500
0.02
(t)

0
1

0
-500

-1000
-0.02

-1500

-0.04
-2000

-0.06 -2500
0 5 10 15 -0.2 -0.15 -0.1 -0.05 0 0.05 0.1 0.15
Time (s) velocity (m/s)

Fig. 9  Control of the first stay cable free vibration: comparison between the HRB model and the Bingham model (current 2A)

0.08
with MR damper - Bingham model
with MR damper - HRB model
0.06 with SMA damper

0.04

0.02
(t) 1

-0.02

-0.04

-0.06
0 5 10 15
Time (s)

Fig. 10  Control of the first stay cable free vibration: comparison between the optimal SMA damper size P1 and the MR damper described with
both models HRB and Bingham (current 2A)

13
 Journal of Vibration Engineering & Technologies

L { Considering the first three mode of vibration and substitut-

�0 if i ≠ j
L∕2 if i = j
𝜙i (x)𝜙j (x)dx = (16) ing Eqs. (16)–(18) into Eq. (10), the non-dimensional modal
0
participation factors projected, respectively, on the first, sec-
{ ond and third mode are found to be
L 2
− (i𝜋)
�0
if i = j
if i ≠ j
𝜙��i (x)𝜙j (x)dx = 2L (17) ⎧ L
� 2
𝜋 T 4𝜆2 L2
�
4𝜆2 L2
0 m
⎪ c2 1 𝛼
̈ (t) +
2L
+
𝜋 2
𝛼1 (t) +
3𝜋 2 3
𝛼 (t) = −Fd (t)𝜙1 (xd )
⎪
L 4𝜋 2 T
(21)
⎪
mc 𝛼̈ 2 (t) + 𝛼 (t) = −Fd (t)𝜙2 (xd )
2 2L 2
⎨
L ( L )

�0 �0
⎪ � 2 �
⎪ L 2 2 2 2
𝜙j (x) 𝜙i (x)dx dx = 9𝜋 T 4𝜆 L 4𝜆 L
⎪ mc 𝛼̈ 1 (t) + + 𝛼3 (t) + 𝛼 (t) = −Fd (t)𝜙3 (xd )
⎩ 2 2L 9𝜋 2 3𝜋 2 1
L2
{
(cos(i𝜋) − 1)2 if i = j Written the previous equations in matrix form:
if i ≠ j
(i𝜋)2
(L) 2
[cos(j𝜋) cos(i𝜋) − cos(j𝜋) − cos(i𝜋) + 1]
ij(𝜋)2 ̃ 𝛂] + [𝐊][𝛂]
[𝐌][̈ ̃ ̃𝐝 ]
= −[𝐅 (22)
(18)
The equations of the system (18) take the form: where
⎛mc L 0 0 ⎞
2
(L)2 ̃ = ⎜ 0 mc
⎜ L ⎟
[cos(j𝜋) cos(i𝜋) − cos(j𝜋) − cos(i𝜋) + 1] = 𝐌 2
0 ⎟
ij(𝜋)2 ⎜ 0 0 mc L2 ⎟⎠
(19)
⎧ 0 if i pair and j pair ⎝
⎪ 0 if i pair and j impair is the mass matrix,
2 2 2 4𝜆2 L2
⎨ 2
⎛T 𝜋 + 4𝜆 2L 0 ⎞
⎪ 4(L)2 if i impair and j impair 2L 𝜋
𝜋2
3𝜋 2
̃ ⎟ is the stiffness
⎜ ⎟
⎩ ij(𝜋) 𝐊=⎜ 0 4T 2L 0
⎜ 4𝜆2 L2 𝜋2
0 9T 2L + 𝜋 2 ⎠ 4𝜆2 L2 ⎟
⎝ 3𝜋 2
L2 matrix and
(cos(i𝜋) − 1)2 =
(i𝜋)2
(20) 3𝜋xd t
[ ( ) ( ) ( )]
{
̃ 𝜋xd 2𝜋xd
0 if i pair 𝐅𝐝 = Fd sin Fd sin Fd sin
4(L)2 L L L
if i impair
i𝜋)2 (23)

First mode Second mode Third mode

0.15 0.15 0.2
without SMA damper without SMA damper without SMA damper
with SMA damper with SMA damper with SMA damper
0.1 0.15
0.1

0.05 0.1
0.05

0 0.05
0
(t)

(t)

(t)

-0.05 0
1

-0.05
-0.1 -0.05

-0.1
-0.15 -0.1

-0.15
-0.2 -0.15

-0.25 -0.2 -0.2

0 10 20 30 40 0 10 20 30 40 0 10 20 30 40
Time (s) Time (s) Time (s)

Fig. 11  Comparison between non-controlled modes and controlled modes with SMA damper using parameters set P1

13
Journal of Vibration Engineering & Technologies

is the force vector. It is useful to observe that the antisym- mc 𝜉

metric modes of vibration of the transversal dynamical equa- Sc = (24)
𝜌D2
tions (22) are coupled.
where 𝜌 is the air density, D is the cable diameter and 𝜉 is
Control of the First Three Coupled Modes the equivalent damping coefficient that depends on the geo-
with the SMA Damper Optimized for a Single Mode metrical parameters of the actuator. Thus, an optimization
criterion is formulated as follows:
To analyze the effect of optimized SMA damper parameters
max 𝜉(RSMA , LSMA ) (25)
P1 used to control the first mode of the transverse cable Sc >S0
dynamic response, the non-dimensional modal participation
The calculation of equivalent damping coefficient requires
factors for the three modes of the stay cable are obtained by
the determination of the force provided by the SMA damper.
solving (22) and considering that the SMA damper is incor-
It is described by a non-linear hysteresis loop, as shown in
porated as previously considered at xd = 0.1 L.
Fig. 12. The damping force is expressed on different parts
Figure 11 illustrates the evolution of the first three
of the hysteresis.
modes coupled transverse free vibration, where the cable
is equipped with the SMA actuator superimposed with the Fd (t) =
non-controlled modes. It’s observed that the SMA damper ⎧ k1 v(xd , t) on the parts (oab, oa′ b′ )
is unable to control the three modes as well as the case of ⎪
(k
⎪ 1 − k )v
2 db sgn(v(x d , t)) + k 2 v(x d , t) on the parts (bc, b′ c′ )
decoupling modes, even worse the presence of the SMA ⎨
⎪ (k1 − k2 )(vdb − vdc sgn(v(xd , t)) + k1 v(xd , t) on the parts (cd, c′ d′ )
damper leads to an enormous increase in the vibration ampli- ⎪
⎩ (k1 − k2 )vda sgn(v(xd , t)) + k2 v(xd , t) on the parts (da, d′ a′ )
tude for the three modes considered. This result imposes the (26)
use of other optimization settings for a multi-modal control.
where sgn is the sign function; k1 et k2 are the respective
slopes of the segments ab and bc; vda and Fda are the dis-
Optimization Criterion to Control Multiple Modes
placement and the damper force developed at point a; vdb et
Fdy are the displacement and the damper force developed
The optimization criterion considered here is based on the
at point b; vdc et Fdc are the maximal displacement and the
calculation of an aerodynamic instability coefficient known
damper force developed at pointc. The damping coefficient
in the literature by the Scruton number Sc that quantifies the
𝜉 is given by [25]
additional damping to the cable. According to Irvine [18],
a cable is aerodynamically stable, especially if he is excited ΔEdi
by the wind or spouse wind / rain phenomenon, though its 𝜉= (27)
4𝜋(Essi + Esci )
Scruton number is above a given threshold value S0 =10 [18,
50]. This number is expressed as where ΔEdi is twice the area of the parallelogram abcd
shown in Fig. 12, Essi is the deformation energy of the sys-
tem cable/ SMA damper associated with the appropriate
vibration mode and Esci means the double surface of the
trapezium oabcvdc shown in Fig. 12. ΔEdi , Essi et Esci are
formed as follows:

Essi = k1 v2db + k1 [𝛼vdc + (2 − 𝛼)vdb ](vdc − vdb ) (28)

ΔEdi = k1 vdb (1 − 𝛽)(1 − 𝛼)(vdc − vdb ) (29)

T𝜋 2 i2 v2dc
Esci = (30)
kL sin2 (i𝜋xd ∕L)

where 𝛽 = Fda ∕Fdy , 𝛼 = k1 ∕k2 , k = k1 ∕T .

The criterion (25) allows to take into account the multi-
modal effect given that the force Fd depends on SMA geo-
metric parameters and also on the displacement v(xd , t)
of the cable at the point xd as indicated in Eq. 13. Since

Fig. 12  Hysteresis loop produced by a SMA damper

13
 Journal of Vibration Engineering & Technologies

105
8

SMA damper designed with P1

6
SMA damper designed with P2

2
F d(t)

-2

-4

-6

-8
-0.02 -0.01 0 0.01 0.02 0.03 0.04
v(xd,t)

Fig. 13  Damping force for both parameter sets P1 and P2

displacement depends on all evoked modes (according to for multi-modal control ( RSMA and LSMA ). Simulations are
7), the area of the hysteresis is indirectly dependent on the based on the mathematical bisection method (Dichotomy).
three modes. The optimization constraints satisfy: The considered RSMA
and LSMA should be positive values and the length of the
damper must be greater than the practical length (20 cm).
Multi‑modal Control Using Optimally Designed SMA The non-construction of hysteresis was the stop test. The
Damper optimized parameters obtained are : RSMA = 20 mm and
LSMA = 850 mm, which will be noted in the following by
The numerical resolution of the optimization criterion P2.
shown in (25) was developed to determine the optimal size

Fig. 14  Dynamic response of coupled three modes using the parameter sets P2

13
Journal of Vibration Engineering & Technologies

First mode Second mode Third mode

0.15 0.15 0.2
Parameters P1 Parameters P1 Parameters P1
Parameters P2 Parameters P2 Parameters P2
0.1 0.15
0.1

0.05 0.1
0.05

0 0.05
0

(t)

(t)
(t)

2
-0.05 0

3
1

-0.05
-0.1 -0.05

-0.1
-0.15 -0.1

-0.15
-0.2 -0.15

-0.25 -0.2 -0.2

0 5 10 15 20 25 30 0 5 10 15 20 25 30 0 5 10 15 20 25 30
Time (s) Time (s) Time (s)

Fig. 15  Comparison between the performances of the SMA damper using the two parameter sets P1 and P2

The hysteresis curve of the total force provided by the 𝜉3 = 2.4% . Those associated with parameter sets P1 are:
SMA damper for both parameter sets P1 and P2 is shown 𝜉1 = 0.0042%, 𝜉2 = 0.015%, 𝜉3 = 0.034%.
in Fig. 13. Figure 14 presents the dynamic responses of Figure 15 shows the evolution of the first three modal par-
the first three modes and the damping force produced ticipation of the stay cable (S16) using specific parameter P2
for each mode considering parameter sets P2. The cor- to control coupled modes. These curves are compared with
responding damping ratios are 𝜉1 = 0.458% , 𝜉2 = 1.7% ,

First mode Second mode Third mode

0.08 0.04 0.04
without SMA damper without SMA damper without SMA damper
with SMA damper - P2 with SMA damper - P2 with SMA damper - P2
0.06 0.03 0.03

0.02
0.04 0.02

0.01
0.02 0.01

0
(t)

(t)

(t)

0 0
1

-0.01

-0.02 -0.01
-0.02

-0.04 -0.02
-0.03

-0.06 -0.03 -0.04

-0.08 -0.04 -0.05

0 10 20 30 40 0 10 20 30 40 0 10 20 30 40
Time (s) Time (s) Time (s)

Fig. 16  Comparison between non-controlled and controlled three modes with SMA damper using parameter sets P2

13
 Journal of Vibration Engineering & Technologies

those corresponding to parameter P1 optimized for the first • An optimization criterion is analytically formulated aim-
mode. It follows from the comparison that the implementa- ing at a multi-modal control. The parameters optimized
tion of parameter sets P2 results in a much better damping result in a high level damping to the concerned modes.
than parameter sets P1 optimized for a single mode. The numerical simulations demonstrate that the passive
In addition, it mounted in Fig. 16 that optimized set- SMA damper shows an efficiency to control coupled
tings for multi-modal control P2 lead to a simultaneous multi-modal vibrations of the stay cable by its super-
control of the first three modes. These results are explained elastic property. This result is important, since the fun-
by the fact that the formulated optimization criterion (25) damental operation of the passive dampers is generally
is not satisfied by considering the parameter sets P1, designed to reduce only one mode of vibration.
since the Scruton numbers obtained for each mode are:
Sc1 = 0.21, Sc2 = 0.76 , Sc3 = 1.74 . It turns out that when
the damper size is optimized only for the first mode, the
Scruton numbers are not enough for suppressing multi-
mode vibration which much be greater than 10 . However, Declaration
the corresponding Scruton numbers using parameter sets
P2 are: Sc1 = 23.31, Sc2 = 86.53, Sc3 = 122.17. Thus lead- Conflict of interest On behalf of all authors, the corresponding author
states that there is no conflict of interest.
ing to a spectacular reduction in the amplitudes of all con-
cerned modes .

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