08. of JSCE No.451/V-17, pp. 255-263, August 1992 | A STUDY ON THE APPLICATION OF MODAL PARAMETER IDENTIFICATION USING KALMAN FILTER TO A REINFORCED CONCRETE BRIDGE Andres W.C. ORETA* and Tada-aki TANABE** System identification using Kalman filter was applied to an in-situ reinforced concrete bridge to identity its modal properties. field vibration test was conducted to obtain vibration response data for the purpose of the identification. Using a step-by-step para- meter identification technique based on modal analysis of a linear multi-degree of free- dom system, the estimation of the modal parameters, wh are the dominant natural frequencies and the corresponding damping ratios, was examined. The results from the system identification are presented and compared with those obtained from spectra analysis. Keywords : structural dynamics, structure, vibration test system identification, Kalmon filter, bridge 1. INTRODUCTION ‘The increasing importance of system identifica tion in the area of structural engineering has led to the development and application of various system identification techniques. The growing interest on system identification is motivated by the desire to have a more accurate description of the structure in order to predict its response to external forces, to estimate its existing condition and to assess its degree of damage and deterioration due to severe environmental conditions. One of the system identification techniques that has become in- creasingly popular in recent years is the Kalman filter: ‘System identification by Kalman filter has been successfully implemented by many researchers. Hoshiya and Saito” solved the identification problems of seismic structural systems using a weighted global iteration technique for stable and convergent solutions. Tanabe and Mizuno” identi- fied the structural parameters of a reinforced ‘concrete space frame using the vibration response of laboratory specimens. Hoshiya and Maruyama” investigated the identification of the dynamic parameters of a running load and beam system. Maruyama et al? developed techniques for the identification of the modal properties of linear multidegree of freedom (MDOF) systems and estimation of the structural parameters of non- linear single degree of freedom systems. These applications of system identification by Kalman filter, however, involved either numerically simu- Nagoya Univrsity (Nagoya 464, Japan) ** Member of SCE, Dr. Eng., Professor, Dept. of Civil Engineering, Nagoya University lated data or experimental data obtained using laboratory models. Since testing of in-situ struc- tures remains the most realistic and reliable way of verifying the validity of the identification techni- ques to real structures, a research on the applica- tion to in-situ structures seems imperative. In this study, system identification using Kalman filter was applied to an in-situ reinforced concrete bridge deck to identify its modal properties. A step-by-step parameter estimation based on modal analysis of a linear MDOF system was adopted (o estimate the dominant natural frequencies and the corresponding damping ratios. For the purpose of the identification, a field vibration test using impact-induced excitation was carried out to obtain field vibration response data. The behavior of the step-by-step parameter estimation technique as applied to the bridge is examined and the results are presented and compared with those obtained from spectra analysis. 2. MODAL PARAMETER IDENTIFICA- TION (1) MODAL ANALYSIS ‘A very powerful method that can be used to determine the response of a linear MDOF system is the modal analysis. In modal analysis, the response of the system is computed individually for each normal mode and the total response is obtained by the summation of the contribution of the individual modes. The modal equations permit each mode to be represented by an equivalent single DOF system whose dynamic response is obtained independent- ly, For a linear MDOF system with » DOF under free vibration, the governing equation of motion is ] 255A STUDY ON THE. APPLIC! USING KALMAN FILTER T0 A REINFORCED CONCRE generally given by MZ+CZ+KZ=0, qa) in which M,C,K=n x m mass, viscous damping and stiffness matrices, respectively. Let ¥ and y be the modal matrix and the generalized response vector of the system, respec- tively. Invoking the orthogonality conditions” on the modal matrix ¥ for the mass and stiffness matrices and assuming proportional damping, Eq.(1) can be transformed into a set of uncoupled modal equations in terms of the generalized coordinates with the substitution of Z=¥y as follows Ws 2hyw, 9st ey=0,~ (2) in which h, and «, are the modal damping ratio and natural circular frequency of the jth mode shape. From Eq.(2), we can derive the modal response of the ith displacement as ity} 2hyenj ty why where wij=uyy and gy is the clement of ¥ associated with the jth mode and the ith displacement. Hence, w, is the jth mode contribu- tion to the ith displacement ; and for every ith displacement, we have n-set of equations of the form Eq.(3), The total ith displacement, when the effects of all the modes are taken into account is obtained by superposition as Baty that tin (4) (@) THE DISCRETE KALMAN FILTER ‘Asa background the Kalman filter will be briefly described. Consider a discrete linear system described by Xk+V=OK+ VOX) +P (Hw) (5) YR) = Mk) X(k) + 0) (6) where X(k) is an m-dimensional state vector at time t= kAt, ¥(k) is an dimensional observation vector, ®(k+1/k) is the non-singular state tra tion matrix, w(k) is an m-dimensional system noise vector assumed to be a white Gaussian noise with covariance matrix Q(k), Ik) is the system noise coefficient matrix, M(k) is an rm observational matrix and o(k) is the observational noise vector which is assumed white Gaussian noise, indepen- dent of X(K), with zero mean and non-zero covariance matrix R(k). ‘The Kalman filter algorithm is a recursive procedure which starts from an assumption of the initial state vector X(0/0) and its error covariance matrix P(0/0). As the observation data ¥(k) are processed, the state vector X(k/k) and the error covariance matrix P(k/K) are.estimated using the following algorithm®: . (1) Store the filter state : X(k/k) and P(k/k) (2) Compute the predicted state : X(k+1/k) 77 — 356 (3) PION OF MODAL PARAMETER IDENTIFICATION sRIDGE / Andres c, ORETA+ TANABE = Ok +1/K)X(k/k) (3) Compute the predicted error covariance matrix PU+1/E) = OF V/) P/O" E+ 1/K) +P) QH+ DIT (KD Compute the Kalman gain matrix : KR+1) =P(K+1/K) M7 (k+D(MK+D PUFUOM™EADERG+DI Compute the filtered state by processing the observation Y(k+1) : XCAR = XCF VO AKK+D +) —Mk+1) RK+1/0) Compute the new (filtered) error covar- iance matrix : Pet Wk) =U-KE+DME+DI Pk+1/k)U- Kk +1) MADIT+RGAD RUEFDEE+D set k=k+1 and return to step (1). STATE AND MEASUREMENT EQUA- TIONS To carry out the system identification, the state vector and measurement equations must be properly formulated. Selecting wy, ay and ify as the state variables and regarding the modal parameters hy and «w, as augmented state variables, the state vector for the j th mode can be defined as A= Aaistaytaytayttyy)? laey thy yhyon? s(7) Using the linear acceleration method, Eq.(3) can be transformed into a nonlinear discrete state vector equation @ 6) © @ @) ny (k+1) tu(k+1) AKAN) =) as (e+ 1) zueFD) Bos (K+1) Dyaxy(k) + Dita (hk) + Dist (0) Dasty(k) + Deate(k) + Dastay() =] Dury (k) + Deaty(k) + Dastys() ry) tu (k) =ah)~ (8) where, Dy=1+ (AD *D2/6,Di= (4) +49 Ds/8), Ds= (40° +D,/2)/3, Dn= (AO D;/2,Dz2=1+ (AD Ds/2,Proc. of JSCE No.451/V-17,_pp.255~263, August 1992 D= (4) A +D)/2, Du=Di,Da=Ds,Du=De, with, Di=— (14 (Alay WO res(k) + (A025 (1/6) Di=Dix5(k) Ds= Di 204 (kta (k) + (A280) and, De=Dy((AD 2k) (k) + (AD 225 (K)/3) Considering the first several predominant modes (1 te BOTS 4. WWE MDOF 727 ADe— KMMTIC ED, BURKS CR oh eREOREt D, ERED TRONS LONGT SMROMEL Toh. TORI, AA7 WY me BRO. BOOEHMULTS, BE, EWI UNG 7 — OTE!