1. Model reduction of large-scale dynamical (mechanical) systems A. Antoulas, D. Sorensen, K. Gallivan, P. Van Dooren, A. Grama, C. Hoffmann, A. Sameh Purdue University, Rice University, Florida State University, Université catholique de Louvain NSF ITR: Model Reduction of Dynamical Systems for Real Time Control June 7, 2004 ICCS’2004, Krakow, Poland

2. Research goals or wishful thinking ? Modeling of mechanical structures Identification/calibration (cheap sensors) Simulation/validation (prognosis) Model reduction Control (earthquakes, car industry, large flexible structures)

3. Passive / Semi-Active Fluid Dampers Passive fluid dampers contain bearings and oil absorbing seismic energy. Semi-active dampers work with variable orifice damping. (Picture courtesy Steven Williams)

4. Active Mass Damper Active Mass Damping via control of displacement, velocity or acceleration of a mass (here by a turn-screw actuator). Eigenvalue analysis showed dominant transversal mode (0.97 Hz) and torsional mode (1.13Hz). A two-mass active damper damps these modes. (Picture courtesy Bologna Fiere)

5. The Future: Fine-Grained Semi-Active Control. Dampers are based on Magneto-Rheological fluids with viscosity that changes in milliseconds, when exposed to a magnetic field. New sensing and networking technology allows to do fine-grained real- time control of structures subjected to winds, earthquakes or hazards. (Pictures courtesy Lord Corp.)

6. This technology starts to be applied… Dongting Lake Bridge has now MR dampers to control wind-induced vibration (Pictures courtesy of Prof. Y. L. Xu, Hong Kong Poly.)

7. Second order system models

8. Reduced order model

9. Start by simplifying the model … Simplify by keeping only concrete substructure

10. and then reduce the state dimension … i.e. reduce the number of equations describing the “state” of the system 26400 2 nd order eqs 20 2 nd order eqs

11. State space model reduction

12. Gramians yield good approximation

13. Interpolate with rational Krylov spaces

14. Apply this to 2 nd order

15. Single clamped beam example

16. Interpolation of large scale systems

17. Error depends on neglected eigenvalues Hankel singular values drop quickly by a factor >1000 : Frequency response error shows same error order

18. Structural simulation: case study  Simulate the effects of crashing fluid into reinforced concrete  Model the columns to reproduce the behavior of spirally reinforced columns including the difference in material response of the concrete within and outside the spiral reinforcement.  Fluid modeled by filling of elements in a (moving) grid  IBM Regatta Power4 platform with 8 processors  Model size: 1.2M elements  Run time: 20 hours

19. Column Model

22. Control = interconnected systems

24. Interconnected systems ~ 2 nd order systems

25. Conclusions Work progress on several fronts Acquisition of high-rise structural models (Purdue) Developing novel model reduction techniques and application on the above acquired full models (RICE, FSU, UCL) Development of sparse matrix parallel algorithms needed for model reduction and simulation (Purdue) Control via interconnected systems (RICE, FSU, UCL) Time-varying MOR for calibration/adaptation (RICE, FSU, UCL)