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4500
4000
Number of combinations
3500
3000
2500
2000
1500
1000
500
6
Number of storeys
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12

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Bode Diagram
10
20
Uncontrolled
Controlled 1 sensor
Controlled 3 sensors
Controlled all sensors
Magnitude (dB)
30
40
50
60
70
80
90
0
45
Phase (deg)
90
135
180
225
270
315
0
10
10
Frequency (Hz)
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Bode Diagram
10
Magnitude (dB)
0
2 pairs complex overshoot
2 pairs complex
2 pairs poles reals
2 poles reals
10
20
30
40
180
Phase (deg)
90
90
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1
10
10
10
10
10
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1500
1000
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1500
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Tests STMD11, STMD12 and STMD13
3000
2000
1000
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10 Volt
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4000
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WITH CONTROL
WITHOUT CONTROL
50
50
40
vertical displacement (mm)
vertical displacement (mm)
40
30
20
10
10
20
30
20
10
10
20
30
40
40
50
20
30
15
10
10
15
20
50
20
15
10
10
15
20
horizontal displacement (mm)
horizontal displacement (mm)
') *
') *
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>/ -
>/
A
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@'
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1 5' () (
WITH CONTROL
40
30
30
displacement P10 (mm)
displacement P10 (mm)
WITHOUT CONTROL
40
20
10
10
20
10
10
20
30
30
40
0
20
50
100
150
200
250
300
40
0
50
100
150
200
250
300
time (s)
time (s)
') *
') *
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Project CaSCo1
1
without control
0.8
0.6
Displacement P10 (m)
0.4
with control
0.2
0
0.2
0.4
0.6
0.8
1
0
10
20
30
40
50
60
70
80
90
100
Time (s)
%(: H
>/
&E(0!( @'
1
!E >/

>/

- /
- 1

?
/ / A

= /
( ;/
/ - 1/

1 ( ,
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1 / -

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1 .
=
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0E(ECM! E(E"E:
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Project CaSCo1
0.015
(actuator off)
without control
acctuator I stroke (m)
0.01
with control
0.005
(actuator on)
without control
0.005
0.01
0
10
20
30
40
50
60
70
80
90
100
Time (s)
%( H
>/
&E(0!( @' ? 1 >/

) >/

>/
9
0(0(%(
*' @

9

1 >)
- / /
/ A
/
/ , +
(

=

1 >) / - / / , +
) - )
/
) / +7,
=

( ;/
A
1 /

-
/

-
(
!E
1 5' () (
Project CaSCo1
4
1.5
x 10
without control
1
Force P10 (N)
0.5
with control
0
0.5
1.5
0
10
20
30
40
50
60
70
80
90
100
Time (s)
%(# H
>/
&E(0!( @' 1
!E >/

>/
9
Project CaSCo1
2500
2000
Actuator force actuator I P10 (N)
1500
1000
500
0
500
1000
1500
2000
0.01
0.005
0.005
0.01
0.015
Actuator stroke actuator I P10 (m)
%(% H
>/
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=
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!!
(

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1 / 0

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(
;/
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9

(
H 1

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