Mahato Et Al-2015-Structural Control and Health Monitoring

STRUCTURAL CONTROL AND HEALTH MONITORING
Struct. Control Health Monit. 2015; 22:9841001

Published online 12 January 2015 in Wiley Online Library (wileyonlinelibrary.com). DOI: 10.1002/stc.1727
Adaptive HHT (AHHT) based modal parameter estimation from

limited measurements of an RC-framed building under multi-
component earthquake excitations
Swarup Mahato, Meda Vinay Teja and Arunasis Chakraborty*,

Department of Civil Engineering, Indian Institute of Technology Guwahati, India
SUMMARY
Present study aims to develop HilbertHuang transformation based signal processing scheme to identify the modal
parameters of a reinforced concrete framed building subjected to multi-component earthquake excitations. An
adaptive band-pass ltering strategy is developed to identify modal parameters (i.e. natural frequencies, damping
and mode shapes). The proposed method is unique as it identies the system parameters from the limited measure-
ments due to arbitrary non-stationary excitations. The advantage of this technique is its ability to extract a complete
set of modal frequencies from each measurement. The mode shapes are identied by updating the nite element
model using the estimated modal parameters. In this context, the proposed method is effective as the large number
of modal parameters identied from each measurement help to optimize the nite element model. The accuracy of
the proposed method is demonstrated using both synthetic and actual measurements during an earthquake.
Copyright 2015 John Wiley & Sons, Ltd.
Received 27 April 2014; Revised 17 October 2014; Accepted 20 November 2014
KEY WORDS: Hilbert transform; empirical mode decomposition; intrinsic mode function; multi-component earth-
quake excitation; system identication; nite element model updating
1. INTRODUCTION
Structural systems are large and often spatially distributed whose performance gradually deteriorates
with time and hence need continuous maintenance. Considering their invaluable societal functionality,
long-term health management of civil infrastructure systems is as important as their design and con-
struction. For this reason, structural health monitoring (SHM) is of great concern to the engineers
and the scientists for uninterrupted and efcient performance during the entire service life. SHM also
helps to ensure reliability and safety of the structure besides minimizing the operational and life-cycle
cost. Early detection of structural parameters is critical for the decision making on repair and mainte-
nance in order to guarantee specied structural and operational reliability. Because of this reason, sys-
tem identication from measured vibration signals has received considerable attention in the recent
past. In this context, challenges in system identication are plentylimited knowledge of geometric
and material properties, noise in measurements, and incomplete description of structural behavior in
their numerical models among many others. Vibration based identication is classied into three major
paradigmsfrequency domain analysis, time domain analysis and time-frequency domain analysis. Of
all these techniques, time-frequency based approach is popular for its efcient implementation to iden-
tify system parameters without any prior knowledge of the input force. Several time-frequency domain
techniques are reported in the literatures of SHM. Some of these methods are short-time Fourier
*Correspondence to: Arunasis Chakraborty, Department of Civil Engineering, Indian Institute of Technology, Guwahati, India
781039.
E-mail: arunasis@iitg.ernet.in
Copyright 2015 John Wiley & Sons, Ltd.

AHHT BASED MODAL PARAMETER ESTIMATION FROM LIMITED MEASUREMENTS 985
transform [1,2], wavelet transform [36] and HilbertHuang transform (HHT) [79]. Each method has
its own merits and demerits depending on their applications. Among these methods, HHT has a good
frequency resolution with very low energy leakage. Because of this reason, HHT has drawn the atten-
tion of the researchers working on system identication problems. It is observed that in comparison to
other methods, HHT is less susceptible by internal noise present in the signal [10]. Hilbert transform
(HT) was rst used by Feldman [11,12] to evaluate the parameter of a non-linear system from
mono-component free and forced vibration responses. However, HT is limited to extract instantaneous
frequency and phase of mono-component signals only. This in turn imposed severe restriction to its
application on vibration based system identication as vibration responses are often inherently
multi-component in nature. To circumvent this problem, Huang et al. [7] introduced empirical mode
decomposition (EMD) of a multi-component signal prior to HT. The idea behind this approach is to
decompose the signal into its intrinsic mode functions (IMF). Each IMF corresponds to a mono-
component signal, which paves the way to apply HT to extract the time localized information of fre-
quency content and phase. One can trace back the original signal by adding the IMFs and the residue
left after the empirical mode decomposition [7,13]. These two together (i.e. EMD and subsequent HT
of each IMF to extract frequency and phase information of a signal) is commonly called HHT in signal
processing. Yang et al. [9] and Min and Fan [14] used HHT to identify the modal parameters of linear
time invariant systems. In these studies, simulated free vibration response of the structures is used for
numerical analysis. The results presented in these research works show that HHT can identify modal
parameters (i.e. natural frequency, modal damping) with considerable accuracy. In another work, Yang
et al. [15] simulate ambient response of a 20-story building and convert it to free vibration response
using the random decrement technique. Once the free vibration is obtained, HT is used to extract the
modal parameters. The HHT based method is further extended to identify modal parameters from
the response due to known sinusoid and sine sweep excitations [1619]. HHT has excellent frequency
resolution to evaluate the natural frequencies. Therefore, as a natural consequence, it is also able to de-
tect the changes in them (i.e. damage). Hence, HHT is used to locate and quantify damage using the
measured vibration responses [2023]. In these studies, American Society of Civil Engineers (ASCE)
benchmark structure for both undamaged and damaged cases are modeled in nite element (FE) frame-
work, whose damage is assumed to affect the element stiffness only. Therefore, different failure pat-
terns are studied by reducing appropriate element stiffness, and the effectiveness of HHT-based
identication strategies from ambient vibration responses are presented.
Besides application in civil infrastructures, HHT based signal processing has gained popularity
among the researchers and engineers in other elds like electrical [17,24], machine operation
[25,26], oceanography [27] and so on. Wu et al. [28] and Yan and Gao [26] use HHT to identify
the performance of a rotary machine during its operations. Peng et al. [29,30] used pre-ltering of
the signal to identify frequency localization prior to HHT. It helps to avoid mode-mixing in case of
multi-degrees of freedom (MDOF) systems.
1.1. Motivation for present work

Based on the literature review presented above, one can conclude that HHT based modal parameter es-
timation is limited to either impulse response or ambient vibration of the structure. Besides this, most
of the studies reported in the literature use synthetically generated responses. Only a few studies are
based on experimental results in laboratory conditions. The mathematical formulation for HHT based
parameter estimation from arbitrary zero mean multi-component non-stationary excitations (i.e. earth-
quake) is not properly established. Moreover, eld implementation of HHT based modal parameter es-
timation of a real life structure during an earthquake is not studied and hence demands further
investigation. In this context, it may be noticed that eld implementation often faces practical difcul-
ties like limited measurements, unknown noise contamination among many others. With these in view,
the following are the objectives set for the present research works:
Develop an output-only HHT based algorithm that can evaluate the modal parameters from the
response of a structure subjected to a multi-component non-stationary earthquake. This has a
practical implication as applying known force like impulse or sinusoid to access structural
health immediately after any seismic event is not recommended. Therefore, developing an
Copyright 2015 John Wiley & Sons, Ltd. Struct. Control Health Monit. 2015; 22: 9841001
DOI: 10.1002/stc
986 S. MAHATO, M. V. TEJA AND A. CHAKRABORTY
identication scheme based on earthquake response helps in decision making immediately after
the seismic event.
Implement the proposed HHT based identication strategy to identify the modal parameters of an
RC framed building subjected to multi-component earthquake ground motions. In this context,
limited measurements used as measuring responses at all degrees of freedom (DOF) has practical
difculties because of inaccessibility and limited availability of sensors.
2. ADAPTIVE HHT-BASED PARAMETER ESTIMATION

In this section, the identication strategy of a linear MDOF dynamic system subjected to multi-
component earthquake excitation is discussed, whose governing equation of motion is expressed as
t CU_ t KUt MU
MU g (1)
where, M, C and K are n n mass, damping and stiffness matrices, respectively. In Eq. (1), U = [U1,
U2, U3, , Un]T (n is DOF) represents the relative displacement with respect to support, and () is dif-
ferentiation with respect to time. The system is excited by the multi-component support motions g,
while represents the inuence vector that correlates forces in each DOF with multi-component sup-
port motions. The governing equation of motion in Eq. (1) can be decoupled using an orthogonal trans-
formation into its modal coordinates, which is given by
X
n
U t j Z j t (2)
j1
Using the above orthogonal transformation in Eq. (1), response in the modal coordinate is
expressed as
t 2n n Z_ t 2 Zt T MU
Z g Ft (3)
n
where n and n are the modal damping ratio and the natural frequencies respectively. The matrix
represents the mode shapes. The force vector F on the right-hand side of Eq. (3) represents the
excitation in each DOF in the modal coordinate. The response in modal coordinate can be obtained
using Duhamels integral which is given by [31]
t
Zj t 0 Fj hj t d (4)
In the above equation, hj() represents impulse response function in the jth mode
hj t ej nj t sin d j t (5)
Using Eq. (5) in Eq. (4) and differentiating with respect to time, one can evaluate the modal ac-
celeration in each DOF. However, in numerical evaluation of Eq. (4), the continuous time is di-
vided into a set of discrete time points ti; i = 1, 2, , N. In this context, it may be noted that n
represents the number of DOFs while N represents the number of time points. Using these
discretized time steps, one can represents the arbitrary forcing function F obtained from non-
stationary multi-component excitations as a train of impulse dened over the entire time span as
X
Fj f ij t i (6)
i
here, f ij is the magnitude of modal force at time ti, and () represents the Dirac delta function.
Using the above expression of the discretized force in Eq. (4) and applying the theory of superpo-
sition to evaluate the response as a summation due to force at every ti, one can show
n o
j t Aj Fj ej nj t sin dj t j d
t
Z (7)
m j d j 0
r
2 2
1
2j n j d j
where Aj j n j 2j nj d j and j tan
2 2
2 2 2
. On further simplication of
j nj dj
Eq. (7), it can be shown that
DOI: 10.1002/stc
X Aj f ij n o
j t
Z ej n j tti sin d j t t i j (8)
i
mj dj
Using Eqs. (8) and (2), the acceleration response in each DOF in its original coordinate can be
expressed as
X
n X
n X
t
U j t
j Z Rj f ij ej n j tti cos dj t t i j (9)
j1 j1 i
Aj jj j
where Rj m and j 2 j are phase difference. In the inverse problem of parameter estima-
j dj
tion, the response is measured at a few selected DOFs, and the parameters (i.e. nj, j, and ) are
estimated. In this work, HT-based time-frequency analysis of the recorded signal (i.e. j) is proposed
for parameter estimation.
2.1. Brief overview of Hilbert transformation

Here, a brief overview of Hilbert transform is provided for completeness. The HT of signal q(t) having
nite energy in Lp space is dened as [32]

e
qt qt q Lt d (10)
In the above equation, represents Hilbert transform, which convolutes the given signal q(t) with
1
a kernel t t. Signals q(t) and e
qt are orthogonal to each other. Using these two signals, one can
construct the analytic signal, which is given by
qt Qa t ejQ t
Qt qt je (11)
p
in which j is 1, Q a is the instantaneous amplitude and Q is the instantaneous phase angle of the
analytic signal, which are given by

1=2
Q a q 2 t e
q2 t (12)
and

eqt 1
Q tan t (13)
qt
On differentiating both sides of the above equation, it can be shown that the instantaneous angular
frequency of the original signal q(t) is
dQ
(14)
dt
2.2. Adaptive HHT for modal identication
Although, the analytic signal obtained using HT, as explained in the previous section, is suitable for
mono-component signals, its efciency to estimate the instantaneous frequency and the phase of a
non-stationary signal is poor. The reason behind this inefciency is the variation of frequency content
in a non-stationary signal with time as observed in earthquake ground motion. For this purpose, a mod-
ied form of HT, commonly called HilbertHuang transform (HHT), [7] is often used. In this tech-
nique, the signal is rst decomposed into its IMFs using EMD. It is decomposed in such a way that
each IMF has exactly same number of extrema and zero crossing or at most they differ by one. There-
fore, each IMF represents an oscillatory motion corresponding to a particular frequency, which is pres-
ent in the original signal. For brevity, only the key steps to generate IMF lter banks of a signal are
outlined here:
identify maxima and minima in the original signal and t cubic splines at these maxima and min-
ima to model the envelope;
evaluate the mean from two cubic splines corresponding to maxima and minima;
subtract the mean from the original signal; and
the above iteration will continue until (a) the number of extrema and that of zeros differ at most
by one in the obtained signal or (b) goes below tolerance, where is given by
DOI: 10.1002/stc
2
h j1 h j
j 2 (15)
h
In the above equation, h j is the signal after subtraction of mean of extrema in the jth iteration.
Using the previously mentioned steps, one can decompose the non-stationary signal q(t) in to its l-
ter banks of IMF, which is represented by
X
n
q t IMFj Rn t (16)
j1
From the above equation, one can notice that a linear summation of all IMF in the lter bank and the
residue Rn(t) gives back the original signal. Once the complete set of IMFs are generated, one can em-
ploy HT as outlined in Eqs. (10)(14) to estimate the instantaneous frequency content and the phase of
the non-stationary signal q(t).
However, in case of seismic events, the structural response in the original coordinate is essentially
the linear combination of the non-stationary responses in its modal coordinates (i.e. as modeled in Eq.
(2)). Therefore, the EMD performed on the measured response often suffers mode-mixing, ultimately
leading to a poor estimation of modal parameters [33]. To avoid this, a pre-ltering of the recorded mo-
tion is recommended in this study before using HHT. For this purpose, different ltering options are
available in computational software like MATLAB. The example of these lters are inverse fast Fou-
rier transform lter (fft/ifft), Butterworth lter (butter), Chebyshev lter (cheby1), and
wavelet lter (wlters) among many others [34]. The band-pass ltering helps to isolate the re-
sponse so that mode-mixing does not affect the evaluation of instantaneous frequency and phase while
using HHT. However, a major hurdle to implement this pre-ltering is that it requires a prior
knowledge of the natural frequencies, which may not be available. To avoid this problem, an adap-
tive band-pass ltering coupled with HHT in an iterative manner is proposed in this study. At the
beginning, the measured response in different DOFs is ltered using predened frequency bands.
The signal corresponding to each frequency band is then analyzed by EMD as proposed in the pre-
vious text to identify the instantaneous frequency and the phase of the IMFs. In this context, it may
be noted that a coarser frequency band may contain more than one natural frequency. To identify
them, each frequency band is further subdivided into smaller segments in the next iteration. If the
frequency identied in the ner bands converge (i.e. insignicant changes in identied frequencies
in the two successive iterations), the iteration for that particular frequency band is terminated. How-
ever, it may be noted that a linear time invariant (LTI) system driven by harmonic input also pro-
duces harmonic output with a nite phase lag. Therefore, frequency localization in output
corresponding to input excitation needs to be identied. With this in view, a blind source separation
is adopted using the identied instantaneous phase from different measurements. As the different
DOFs attain the same phase during modal vibration (i.e. no phase difference), the same will be
reected in their respective IMF. In case of identied frequency corresponding to input excitation,
instantaneous frequencies obtained at different DOFs from the respective IMF will not be in phase
and hence can separate the frequencies corresponding to excitation at source from the modal
frequencies.
Therefore, using band-pass ltering, one can separate out the response in the jth mode by the pre-
viously mentioned procedure as
X
j t Rj
U f ij ej n j tti cos dj t t i j (17)
i
Now, using Hilbert transformation of Eq. (17), one gets
e X
j t R j
U f ij ej n j tti sin dj t t i j (18)
i
Using Eqs. (17) and (18), one can construct the analytic signal that takes the form
j
t Sj t ejj t
e
t jU
Y t U j j
(19)
DOI: 10.1002/stc
From the preceding equation, one can evaluate the instantaneous amplitude and phase of the jth
modal response, which are given by
X
Sj t Rj f ij ej nj tti (20)
i
and
j t d j t t i j (21)
Taking logarithm of both sides of Eq. (20), one gets

!
X
ln Sj t j nj t ln Rj f ij ej n j ti (22)
i
From Eq. (22), one can conclude that the rst term on the right-hand side represents the monotonic
(i.e. linear) variation while the second term on the right-hand side represents the uctuation due to ar-
bitrary forcing function modeled as a pulse train in Eq. (6). It may be noticed that the mean of the sec-
ond term on right-hand side of Eq. (22) is zero as the forcing function F(t) due to multi-component
earthquake ground motions has zero mean. In this context, the exponential function in the second term
acts as a deterministic slowly varying modulation to the random pulse train f ij. Hence, the mean of the
product of these two functions is governed by the stochastic nature of the forcing function f ij [35].
Therefore, one can conclude that the mean slope of the term ln(Sj(t)) in Eq. (22) obtained by tting
a straight line represents the rst term jnj. Furthermore, the instantaneous frequency can be evaluated
form Eq. (21) by differentiating the phase j (t)
dj t
dj (23)
dt
The term j in Eq. (21) is a function of nj and j, which are constant over time. Finally, the natural
frequency corresponding to jth mode may be obtained from
r
2
2
nj d j j nj (24)
Once the modal frequency and damping are estimated, the remaining task is to evaluate the mode
shape of the structure. Using adaptive HHT on both side of Eq. (2), one gets
X
n
AH HT Ut j AH HT Zj t (25)
j1
Considering the response from two different DOFs, one can take the ratio to extract the mode shape
as follows:
rj IMFrj
rj 1 (26)
j IMF1j
where superscript r represents the DOF number. Without loss of generality, one can assume 1j 1 and rep-
resent the values of the mode shape in other DOF as the ratios in Eq. (26). The complete mode shape is given by
n o n o
rj rj ; r 1; 2; ; n (27)
2.3. Evaluation of mode shape from limited measurements

In the previous subsection, an adaptive HHT based signal processing scheme using band-pass ltering
is outlined for modal parameters estimation of LTI system. From this discussion, it may be noticed that
frequencies and the damping ratio in different modes may be estimated from the measured response at
an arbitrary location using Eqs. (21)(24). However, mode shape evaluation using Eq. (26) demands
the response at each DOF as the ratio of IMF needs to be evaluated for the entire structure. In this
context, measuring response at each DOF is practically impossible. The problem is more complex
for an actual structure because of inaccessibility and/or limited availability of sensors. Because of this
DOI: 10.1002/stc
reason, response measurement is often limited to a few key locations on the structure. Therefore,
the mode shape evaluation as per Eq. (26) from limited measurements demands further investiga-
tion. With this in view, a nite element model updating scheme using optimization is proposed
here. The identied modal frequencies are used to minimize the error between them and those ob-
tained from the eigensolution of the FE model. The eigensolutions are dependent on the basic struc-
tural parameters like material density ( ), concrete strength ( fck), and boundary condition among
others. In present study, boundary conditions are assumed to be xed and time invariant. Hence,
the objective function is dened as [36]
1=2
2
J ; f ck nj diag j subject to Kopt 2 M (28)
where nj are the identied natural frequencies from adaptive HHT scheme and j represents the
optimized jth natural frequency. Once the optimization is converged, the mode shape may be ob-
tained using eigenanalysis of the updated FE model. In this context, the optimization problem may
be solved using either conventional techniques or population search approaches, whichever suits to
the user.
AHHT based algorithm

1. Measure (i.e. acceleration response) at some preselected DOF.
2. Select frequency range covering all dominant modes in the structure. Design a set of band-pass
lter by equally dividing the frequency range using inverse fast Fourier transform or Butterworth
lter in MATLAB.
3. Generate band-passed signal for all the measurements.
4. Apply HHT on each band-passed signal from the measured DOF and develop the IMF lter banks
to identify instantaneous frequency content and phase.
5. Identify natural frequency and damping as described in Eqs. (22)(24). Also check for frequency
corresponding to excitation at source.
6. Repeat steps (1)(5) after subdividing each frequency band.
7. Check convergence of estimated parameters in two successive iterations. If satised, stop the iter-
ation for that particular frequency, otherwise continue the iteration.
3. NUMERICAL RESULTS AND DISCUSSIONS

Numerical implementations of the AHHT based identication strategy suggested in the previous sec-
tion are presented here. To study the efciency of the adaptive ltered HHT based identication strat-
egy, an Reinforced concrete (RC) framed building is considered. Figure 1 shows the details of the
building constructed in the Indian Institute of Technology Guwahati, for research purposes. Two build-
ings on the either side of the staircase are identical and separate. However, one of them is rmly held at
ground using conventional design and is used as the test bed for the present study. The project is sponsored
by the Board of Research in Nuclear Sciences (BRNS) and hence the building is referred as BRNS Build-
ing in this study. The other building on the right of the staircase has base isolators. Both the buildings are
separated from the staircase and are free to move during any seismic event. The xed-base building has
sensors at the rst and fourth (roof) oor to measure the bi-axial accelerations while the ground acceler-
ations are measured at the base as mentioned in Figure 1. The geometric details (i.e. dimensions, section
property etc.) and material details (i.e. concrete and rebar strengths) are also provided in Figure 1. A
lumped mass model is considered here, which has two DOFs (i.e. X and Y as shown in Figure 1) at each
oor level. The structure is made of M25 grade concrete and Fe415 grade steel. Using these parameters, an
FE model is developed, and eigenanalysis is carried out to nd the natural frequencies. Table I shows the
values of expected natural frequencies of the structure as per design. It may be noticed that fundamental
frequency is 4.75 Hz. Two different cases are studied (i.e. synthetic measurement and eld experiment
during actual earthquake) here to establish the efciency of the proposed identication strategy. The rea-
son behind the use of synthetic measurement is that the identied modal damping ratio from the response
due to earthquake cannot be compared.
DOI: 10.1002/stc
Figure 1. Details of BRNS building in the IIT Guwahati, (all dimensions are in mm); Building on left side of the
staircase is used in this study.
Table I. Estimated parameters from synthetic measurements.

From forced response From impulse response
Theoretical
values f (Hz) (%) (%)
Mode f (Hz) (%) X3 Y3 X4 Y4 X3 Y3 X4 Y4 X3 Y3 X4 Y4

1 4.75 2 4.69 4.57 4.69 4.57 1.52 1.14 1.53 1.14 2.07 2.02 2.07 2.02
2 5.84 2 5.91 5.65 5.91 5.65 1.02 1.24 1.02 1.24 2.07 2.08 2.08 2.08
3 13.20 1 13.07 12.97 12.86 12.97 0.72 0.77 0.82 0.77 1.04 1.03 1.10 0.84
4 16.25 1 15.84 15.81 15.90 15.66 0.65 0.55 0.65 0.53 1.06 1.04 1.11 1.13
5 19.98 1 18.92 18.70 19.13 19.17 0.31 0.50 0.33 0.47 1.01 1.07 1.15 0.87
6 24.57 1 23.05 23.46 23.04 23.50 0.37 0.39 0.36 0.39 0.96 0.96 0.95 0.98
7 27.05 1 26.25 25.95 26.25 25.83 0.40 0.27 0.40 0.28 1.04 1.06 1.03 1.04
8 33.10 1 31.19 31.48 31.08 31.48 0.20 0.17 0.20 0.17 0.96 0.96 0.96 0.94
3.1. Synthetic measurement

Using a lumped mass model of the BRNS building, forward problem is solved by direct time integra-
tion scheme using Newmark- method. For this purpose, the E-W and N-S components of measured
acceleration during the El Centro (1940) earthquake are applied along X and Y directions. Figure 2
shows these ground motion records. The modal damping ratio considered for this analysis are 2 % in
the rst two modes and 1 % in the rest of the modes. As the proposed identication scheme is based
on limited measurements, only the third-oor and fourth-oor responses in X and Y directions are used
for this numerical study. Figure 3 shows these synthetic records, which are used for further numerical
analysis. First, the frequency ranging from 0 to 40 Hz is subdivided into ve equally spaced frequency
bands. Then, a fth-order Butterworth lter [34] is used to get the signal in each frequency band. Using
these band-pass signals, HHT based identication strategy is applied to evaluate the modal frequencies.
The phase angles are compared to separate out the modal frequencies from the excitation frequencies.
DOI: 10.1002/stc
0.4
(a)
0.2
0.2
0.4
0 5 10 15 20 25 30 35 40
0.2 (b)
0.1
0
0.1
0.2
0 5 10 15 20 25 30 35 40
t (s)
Figure 2. Recorded El Centro ground motions: (a) East-West (E-W) component (b) North-South (N-S) component.
0.5 0.5
0 0
0.5 0.5
0 5 10 15 20 25 30 35 40 0 5 10 15 20 25 30 35 40
0.2 0.2
0 0
0.2 0.2
0 5 10 15 20 25 30 35 40 0 5 10 15 20 25 30 35 40
t (s) t (s)
(a) (b)
Figure 3. Simulate acceleration response of the BRNS building: (a) third oor and (b) fourth oor.
Once the frequencies are identied, each band is further subdivided into smaller divisions, and HHT
based scheme is adopted again on each band-passed signals until the convergence in frequency estima-
tion is achieved. Figure 4 shows the IMFs in rst and second mode, respective instantaneous phase and
instantaneous amplitude in logarithmic scale obtained from 4. To avoid repetition of similar plots,
only the rst two modes from 4 are shown here. Using these plots, modal frequency and damping ra-
tio are identied by tting a straight line as described in Eqs. (22)(24). The natural frequencies iden-
tied from all four measurements are shown in Table I. The identied natural frequencies match with
the theoretical values closely. The maximum error is found to be well within 5 %. Furthermore, it may
be noticed that all eight frequencies are identied from each measurements, which is clearly an advan-
tage of the proposed method. From Table I, it can be noticed that the modal damping estimated from
the forced vibration has poor accuracy compared to its original values. This behavior is expected as the
forced vibration does not contain any free decay because of the damping characteristic of the structure
and hence their estimation is inaccurate. To study the accuracy of damping estimation, proposed
AHHT scheme is applied on impulse responses of the structure. For brevity, only the identied
damping values are tabulated here. While the band-pass ltering scheme is kept the same. Table I
shows the identied modal damping from acceleration responses at (X3,Y3) and (X4,Y4) due to impulse.
It may be noticed that the estimated damping values closely match with their theoretical values. More-
over, all the eight modal damping ratios are obtained from each measurement as it is done in case of the
natural frequencies. Further, the numerical investigation for inverse parameter estimation is extended
for noisy measurements. As pre-ltering is used prior to HHT, it is expected that the measurement
noise would not have any impact on the convergence. With this in view, different levels of simulated
zero mean Gaussian white noise is added to the synthetic response. Using this noise-contaminated
DOI: 10.1002/stc
Figure 4. Intrinsic mode functions (IMFs) extracted from synthetic responses (a) rst mode and (b) second mode;
instantaneous phase angles of response 4 (c) rst mode and (d) second mode; instantaneous amplitudes of re-
sponse 4 (e) rst mode and (f) second mode.
Table II. Estimation of natural frequency from noise-contaminated data.

Natural frequencies from forced response (Y4) with different SNR
Theoretical 0% 1% 2% 5% 10%
values
Mode f (Hz) f (Hz) (%) f (Hz) (%) f (Hz) (%) f (Hz) (%) f (Hz) (%)
1 4.75 4.57 3.87 4.57 3.87 4.57 3.87 4.57 3.86 4.57 3.87
2 5.84 5.65 3.25 5.65 3.25 5.65 3.25 5.65 3.26 5.65 3.18
3 13.20 12.97 1.76 12.97 1.77 12.97 1.77 13.01 1.40 12.88 2.39
4 16.25 15.66 3.65 15.81 2.71 15.80 2.76 15.59 4.04 15.96 1.81
5 19.98 19.17 4.08 19.24 3.72 19.29 3.45 19.34 3.19 19.53 2.24
6 24.57 23.50 4.35 23.39 4.79 23.54 4.21 23.41 4.74 23.51 4.32
7 27.05 25.83 4.51 26.19 3.20 26.08 3.59 26.31 2.72 26.33 2.65
8 33.10 31.48 4.89 31.35 5.27 32.55 1.66 30.73 7.15 31.22 5.67
SNR, signal to noise ratio.
synthetic measurement, modal parameters are identied by the previously mentioned procedure.
Table II shows the identied modal parameters for different noise intensities. From these results, one
can conclude that the accuracy of the proposed method is not affected by the measurement noise.
DOI: 10.1002/stc
Therefore, it may be concluded that the proposed AHHT based identication strategy can be used for
modal identication of structures subjected to multi-component earthquake excitations. However, the
damping of the structure may be identied from impulse response separately as the estimation of
damping is not accurate from the forced response.
3.2. Field experiment

With the successful implementation of AHHT on synthetic data, attempt has been made to identify the
system parameters from the response due to actual earthquake ground motions. The BRNS building
shown in Figure 1 has two force-balance accelerometers at the rst and fourth oors to record the ac-
celeration responses in two orthogonal horizontal directions (i.e. X and Y). Also, there is a ground mo-
tion recorder at base. Using this setup, the response of the building was recorded on 3 September 2009
because of the tectonic movements of the Indo-Tibetan plate. Figure 5 shows the recorded ground mo-
tions in X and Y directions, and Figure 6 shows the acceleration responses of the structure. To identify
the modes, a similar band-pass ltering scheme as in case of the synthetic experiment is adopted here.
Once the recorded signals are ltered, HHT is adopted to extract the IMFs, which are further analyzed
to identify the instantaneous frequencies and the phases. Each band is then further subdivided and the
instantaneous frequencies are identied until the error between the two successive iteration falls below
the tolerance. Figure 7 shows the IMFs corresponding to all eight modes obtained from the 4 measure-
ment. In this context, similar IMFs are obtained from the response in other directions. However, only
0.012
(a)
0.004
0.004
0.0105g
0.012
0 10 20 30 40 50
0.015
(b)
0.005
0
0.005
0.0138g
0.015
0 10 20 30 40 50
t (s)
Figure 5. Recorded ground motions at the base of the BRNS building on 3 September 2009: (a) E-W com-
ponent (b) N-S component.
0.016 0.035
0.008 0.015
0 0
0.008 0.015
0.016 0.035
0 5 10 15 20 25 30 35 40 45 50 0 5 10 15 20 25 30 35 40 45 50
0.015 0.02
0.01
0.005
0 0
0.005
0.01
0.015 0.02
0 5 10 15 20 25 30 35 40 45 50 0 5 10 15 20 25 30 35 40 45 50
t (s) t (s)
(a) (b)
Figure 6. Recorded responses of the BRNS building on 3 September 2009: (a) rst oor and (b) fourth oor.
DOI: 10.1002/stc
Figure 7. Intrinsic mode functions (IMFs) obtained from the responses in Y direction (rst and fourth oor): (a)
rst mode, (b) second mode, (c) third mode, (d) fourth mode, (e) fth mode, (f) sixth mode, (g) seventh mode
and (h) eighth mode.
the result obtained from 4 is plotted here to avoid repetition. Figure 8 shows the instantaneous phase
angle obtained from 4. The rm line indicates the instantaneous phase obtained from raw data, while
the dotted line shows the straight line regressed through this phase angle as describe in Eq. (21). In this
context, one may notice that the two lines match closely and passes through origin indicating zero-
phase initially. Figure 9 shows the plot of the instantaneous amplitude in logarithmic scale in all eight
modes as mentioned in Eq 22. Here also, the rm line indicates the instantaneous amplitude obtained
from the raw data while the chain line represents the linear t using regression. The uctuation in the
DOI: 10.1002/stc
1400 1800
Instantaneous phase Instantaneous phase
1200 Linear regression fit 1600 Linear regression fit
1400
1000
1200
800 1000
600 800
600
400
400
200 200
0 0
0 10 20 30 40 50 0 10 20 30 40 50
t (s) t (s)
(a) (b)
4500 5000
4000 Linear regression fot Linear regression fit
3500 4000
3000
3000
2500
2000
2000
1500
1000 1000
500
0 0
0 10 20 30 40 50 0 10 20 30 40 50
t (s) t (s)
(c) (d)
7000 8000
Linear regression fit 7000 Linear regression fit
6000
6000
5000
5000
4000
4000
3000
3000
2000
2000
1000 1000
0 0
0 10 20 30 40 50 0 10 20 30 40 50
t (s) t (s)
(e) (f)
9000 12000
8000 Linear regression fit Linear regression fit
10000
7000
6000 8000
5000
6000
4000
3000 4000
2000
2000
1000
0 0
0 10 20 30 40 50 0 10 20 30 40 50
t (s) t (s)
(g) (h)
Figure 8. Instantaneous phase angle obtained from the response 4: (a) rst mode, (b) second mode, (c) third
mode, (d) fourth mode, (e) fth mode, (f) sixth mode, (g) seventh mode and (h) eighth mode.
rm line indicates the transients due to arbitrary pulse train arriving at each time instant. However,
as the ground motion has zero mean, the tted straight line provides the mean slope as described in
Eq. (22). Using these mean slopes obtained from linear t, one can evaluate the term j n j . Together,
using linear t in Figures 8 and 9, one can estimate the natural frequency and damping in all eight
modes from each measurements. Table III shows the identied natural frequencies and modal damping
ratio obtained from all measurements in X and Y direction at rst and fourth oors. It may be noticed
that the natural frequency obtained from each measurement in all eight modes closely matches with
DOI: 10.1002/stc
10 5 10 5
Instantaneous amplitude Instantaneous amplitude
Linear regression fit Linear regression fit
6
10
10 6
10 7
ln(S(t))
ln(S(t))
10 8
10 7
10 9
10 8 10 10
0 10 20 30 40 50 0 10 20 30 40 50
t (s)
t (s)
(a) (b)
10 5 10 5
10 6
10 6
10 7
ln(S(t))
ln(S(t))
10 7
10 8
10 8
10 9
10 9 10 10
0 10 20 30 40 50 0 10 20 30 40 50
t (s) t (s)
(c) (d)
10 6 10 6
10 7 10 7
ln(S(t))
ln(S(t))
10 8 10 8
10 9 10 9
10 10 10 10
0 10 20 30 40 50 0 10 20 30 40 50
t (s) t (s)
(e) (f)
10 6 10 7
10 7
10 8
8
10
ln(S(t))
ln(S(t))
10 9
10 9
10 10
10 10
10 11 10 11
0 10 20 30 40 50 0 10 20 30 40 50
t (s) t (s)
(g) (h)
Figure 9. Instantaneous amplitude obtained from the response 4: (a) rst mode, (b) second mode, (c) third mode,
(d) fourth mode, (e) fth mode, (f) sixth mode, (g) seventh mode and (h) eighth mode.
their designed values. In this context, Figure 10 shows the spectrogram obtained by applying HHT on
the measured acceleration response 4 without pre-ltering and with pre-ltering. The effect of pre-
ltering is clearly visible as the HHT on the raw data fails to localize energies at the modal frequencies.
However, pre-ltering as discussed in the proposed AHHT clearly identies the eight frequencies as
shown in Figure 10(b). Once the natural frequencies are estimated, modal damping ratio (Table III)
can also be estimated as discussed in the previous section. However, the estimated modal damping ra-
tio may not be reliable as discussed in the case of synthetic experiment. The damping values in all eight
DOI: 10.1002/stc
Table III. Estimated parameters from actual measurements during the earthquake on 3 September 2009.
f (Hz) (%)
Adaptive HilbertHuang transform
Mode SSI NExT-ERA X1 Y1 X4 Y4 X1 Y1 X4 Y4

1 4.06 4.05 4.62 4.12 4.72 4.14 1.28 1.54 1.23 1.52
2 5.04 5.05 5.07 5.27 5.07 5.32 1.11 0.80 1.09 0.98
3 13.68 13.55 13.19 13.27 12.94 13.21 0.27 0.31 0.29 0.32
4 16.68 16.71 16.27 14.89 16.32 14.79 0.27 0.28 0.27 0.28
5 18.84 19.08 18.87 19.19 0.24 0.21 0.24 0.21
6 23.24 23.39 23.51 23.36 0.19 0.17 0.19 0.18
7 26.26 25.94 26.39 26.53 0.16 0.15 0.16 0.16
8 33.25 33.66 33.33 33.32 0.11 0.12 0.12 0.14
40 40
35 35
30 30
25 25
20 20
15 15
10 10
5 5
0 0
0 5 10 15 20 25 30 35 40 45 50 0 5 10 15 20 25 30 35 40 45 50
t (s) t (s)
(a) (b)
Figure 10. Hilbert spectrum of 4: (a) conventional HilbertHuang transform (HHT) and (b) adaptive HHT.
modes shown in Table III cannot be compared as the original values are unknown. After identifying the
modal frequencies and damping ratio, the remaining task is to estimate the mode shapes. In this case,
Eq. (26) fails to provide complete mode shape due to limited measurements only at rst and fourth
oors. For this purpose, the objective function in Eq. (28) is optimized so that the error between the
modeled frequencies and identied frequencies is minimized. Finally, the mode shapes are obtained
by updating the FE model of the building as shown in Figure 11 in the rst four modes. A close match
between the designed and the identied values are observed in each mode. In this context, it may be
noted that individual entries in element of mass and stiffness matrices may converge to different values
during optimization with different initial guesses. However, as the objective function is based on the
difference in eigenvalues, the overall convergence of the natural frequencies and subsequent mode
shapes are ensured even though there is any uctuation of individual entries in different optimization
[36]. Further, the efciency of the proposed AHHT based identication scheme is compared with other
SHM tools. Figure 12 shows the stabilization diagram produced by SSI method and Table III shows the
results obtained from NExT-ERA [3739], SSI [40,39] and AHHT based modal identication.
Results clearly show that only the rst four natural frequencies are identied from the rst two
methods (i.e. NExT-ERA and SSI) while the AHHT based identication strategy can accurately identify
higher modes. This is a signicant advantage of using the AHHT scheme proposed in this paper.
Numerical results presented in the preceding text indicate that the proposed output-only AHHT
based signal processing helps to identify the model parameters from the non-stationary earthquake
responses of the structure. AHHT based method is capable to extract higher modes from each measure-
ment. It is helpful in case of limited measurements as the higher modes obtained from single measurement
helps to accurately update the FE model.
DOI: 10.1002/stc
Identified Identified
Actual Actual
4 4
Floors 3 3
Floors
2 2
1 1
2 2
0 0
0 0
2 1 2 1.5 1
0 1 2 0.5 0 0.5 1 1.5 2 2
2 xdirection xdirection
ydirection ydirection
(a) (b)
Identified Identifeid
Actual Actual
4 4
3 3
Floors
Floors
2 2
1 1
2 2
0 0
0 0
2 1.5 1 0.5 2 2 1.5 1 0.5 0 0.5 1 1.5 2 2
0 0.5 1 1.5 2
xdirection xdirection
ydirection ydirection
(c) (d)
Figure 11. Mode shapes of the BRNS building: (a) rst mode, (b) second mode, (c) third mode and (d)
fourth mode.
x 104 x 104
200 200
Frequency & MAC value Frequency & MAC value
180 All converged 180 All converged
160 1 160 1
PSD of Output (g2/Hz)

PSD of Output (g2/Hz)
140 0.9 140 0.9

Model Order
Model Order
0.8 0.8
120 120
0.7 0.7
100 0.6 100 0.6
80 0.5 80 0.5
60 0.4 60 0.4
0.3 0.3
40 40
0.2 0.2
20 0.1 20 0.1
0 0 0 0
0 5 10 15 20 25 30 35 40 45 50 0 5 10 15 20 25 30 35 40 45 50
(a) (b)
4 and
Figure 12. Stabilization diagram by Stochastic Subspace Identication (SSI) method from response of (a) X
(b) 4.
4. CONCLUSION
This paper presents an adaptive ltering based HHT scheme to identify the modal parameters using
measured acceleration response due to multi-component earthquake excitations. For this purpose, an
RC-framed building is used as testbed, and the acceleration responses are measured at limited loca-
tions. From this analysis, one can conclude the following.
DOI: 10.1002/stc
The proposed AHHT based time-frequency analysis can efciently identify the modal parameters
of an LTI system. The band width of the pre-ltering is adjusted in every iteration, and the modal
frequency is obtained by applying HHT on the ltered signal. The iteration is stopped for a par-
ticular modal frequency if the difference between the original and the identied frequency is well
within tolerance. In this context, a blind source separation is developed based on the instanta-
neous phase of the IMFs of signals from different sensors. The signicance of the proposed
AHHT is that it not only helps to avoid mode-mixing but also helps to identify the modal param-
eters without any prior knowledge of the input forces and the system parameters.
The identication strategy developed in Eq. (22) clearly shows that mean slope represents the
term j n j while the zero mean uctuation at every time instant is due to the pulse train of an
arbitrary input force. Thus, the proposed HHT based model helps to extract modal parameters
from the response due to any arbitrary non-stationary multi-component earthquake ground mo-
tions as opposed other methods developed in the literature using impulse or ambient vibrations.
Therefore, it is primarily effective for structural health monitoring immediately after any seismic
event where further application of impulse or other excitations may not be permitted without
knowing the status of the structure. With simple modication, the method is also applicable to
check the tuning of the vibration controller, if any, during and after any seismic event.
From the numerical analysis, one can reveal that the damping estimation from an arbitrary excita-
tion is not very accurate. However, synthetic experiments show that damping can be accurately
evaluated from the impulse response of the same structure. Therefore, once the other parameters
are identied from the limited measurements and the status of the structural health is established,
one can evaluate damping using known impulse load applied on the structure or ambient vibration.
Although limited measurements are used in this case, the proposed AHHT based algorithm could
identify all eight modal frequencies accurately from each measurement. However, the mode
shape identication using the ratio of IMFs suffers a setback due to limited measurements. To
bypass this problem, an FE model updating scheme is discussed. Here, the objective function
is formulated in terms of the error between the eigenvalues obtained from AHHT algorithm
and FE analysis. Once the FE model is updated, complete mode shape can be obtained from
the updated model.
As the proposed method is tested using a full-scale building response due to multi-component
excitations, it can be easily executed for other lifeline structures. This will help in disaster manage-
ment as the status of the structure can be easily established immediately after any seismic event if
measurements are available. It is particularly useful to decide whether immediate occupancy of
structure is possible after earthquake as further testing on structure with known excitation involves
time and cost. Hence, the proposed method is also effective from disaster management point of view
when urgent decision-making on the status of the structure receives paramount importance.
ACKNOWLEDGEMENTS
Financial support from the Board of Research in Nuclear Sciences (BRNS), India, through grant no. 2012/36/03-
BRNS dated 25 July 2012 for this research is acknowledged herewith. Authors also acknowledge valuable sugges-
tions, details of BRNS building and data shared by of Prof. A. Dutta and Prof. S. K. Deb during this research.
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DOI: 10.1002/stc

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STRUCTURAL CONTROL AND HEALTH MONITORING

Struct. Control Health Monit. 2015; 22:9841001

Adaptive HHT (AHHT) based modal parameter estimation from

Swarup Mahato, Meda Vinay Teja and Arunasis Chakraborty*,

Received 27 April 2014; Revised 17 October 2014; Accepted 20 November 2014

Copyright 2015 John Wiley & Sons, Ltd.

1.1. Motivation for present work

2. ADAPTIVE HHT-BASED PARAMETER ESTIMATION

2.1. Brief overview of Hilbert transformation

Now, using Hilbert transformation of Eq. (17), one gets

Taking logarithm of both sides of Eq. (20), one gets

2.3. Evaluation of mode shape from limited measurements

AHHT based algorithm

3. NUMERICAL RESULTS AND DISCUSSIONS

Table I. Estimated parameters from synthetic measurements.

Mode f (Hz) (%) X3 Y3 X4 Y4 X3 Y3 X4 Y4 X3 Y3 X4 Y4

3.1. Synthetic measurement

Table II. Estimation of natural frequency from noise-contaminated data.

3.2. Field experiment

Adaptive HilbertHuang transform

Mode SSI NExT-ERA X1 Y1 X4 Y4 X1 Y1 X4 Y4

PSD of Output (g2/Hz)

140 0.9 140 0.9

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