Engineering Structures 24 (2002) 14411450

www.elsevier.com/locate/engstruct

Identification of dynamic systems from data composed by

combination of their response compoments
C.F. Hung , W.J. Ko, C.H. Tai
Department of Naval Architecture and Ocean Engineering, National Taiwan University, Taipei 10617, Taiwan

Abstract

A time domain method for identification of the equivalent system matrices M1K and M1 of structures from data composed
of measured displacement, velocity and acceleration is proposed in this paper; where the matrices M, and K are the mass, damping
and stiffness matrices, respectively. The stochastic subspace algorithm is used to identify the system and output matrices of a
continuous-time state-space system from the combined response measurements. A generalized transformation method has been
derived to transform the identified system matrix into an equivalent system matrix, Ac, which has similar contents as the system
matrix in the state equation of motion for structures. Then the natural frequencies and mode shapes in the damping free case can
be calculated from the equivalent M1K matrix that is the negative sub-matrix in the left lower part of Ac. The damping ratios
and damped natural frequencies can be calculated from Ac. The procedure is also available for only one type of measurement for
displacement, velocity or acceleration.
The Kabes mass-spring model [AIAA Journal 23(9) 1985, p. 1431] with eight degrees of freedom is employed as a numerical
example to validate the feasibility of this procedure. The algorithms are also applied to the NTU 5 floors frame structure model
[J. Eng. Mech. 2000, p. 693] as an experimental study case. 2002 Elsevier Science Ltd. All rights reserved.

Keywords: Combined measurement; Stochastic subspace identification (SSI); Equivalent system matrix

1. Introduction damped structures [4]. The frequency response function

System identification for extracting modal parameters
is very important to recognize the dynamic character-
istics of structures. The most significant modal para-
meters are natural frequencies, damping ratios, and mode
shapes. The identified results can be applied to verify
the accuracy of the analysis results and furthermore to
update the analysis model in order to reduce the model
uncertainties [1]. It can also be put in use for detecting
and monitoring structural failures [2,3]. During the past
three decades, a lot of methods for modal identification
have been developed. According to the processing
domain, they can be categorized into frequency and time
domain methods.
In the frequency domain methods, Ewins and Gleeson
proposed a special curve-fitting algorithm for multi-
degrees-of-freedom modal identification of lightly
Corresponding author. Tel.: +886-2-23625470 ext. 280; fax:
+886-2-23929885.
E-mail address: hunge@ccms.ntu.edu.tw (C.F. Hung).
(FRF) of the theoretical model is further expressed in a
rational fraction form [5]. Liou, et al. determined the
mode shapes from modern cross-spectral estimates [6].
Lembregts, et al. developed a direct parameter identifi-
cation using a state space formulation [7]. The state tran-
sition matrix is identified from measured multiple
input/output data. The time domain response and input
force are transferred into frequency domain for calculat-
ing the FRF. To obtain accuracy FRF, the input force
also need to be correctly measured. In many practical
cases, measurement of the input force is not available
and only the response can be recorded.
In the time domain methods, the Ibrahim time domain
method obtained the modal parameters from a set of
free-decayed response [8]. Li, et al. used vector autore-
gressive model to identify the modal parameters of ship
structures [9]. Cremona, et al. [10] derived the recursive
forms for complex exponential methods. The Eigensys-
tem Realization Algorithm (ERA) was developed to
identify modal parameters from noisy measurement data
[11]. The ERA algorithm needs the input data to form
the block Hankel matrix composed of the Markov para-

0141-0296/02/$ - see front matter 2002 Elsevier Science Ltd. All rights reserved.
PII: S 0 1 4 1 - 0 2 9 6 ( 0 2 ) 0 0 0 9 2 - 5
1442 C.F. Hung et al. / Engineering Structures 24 (2002) 14411450

meters. In recent years, Overschee et al. [12] developed are the output matrix and direct transmission matrix,
the subspace algorithm for system identification. Dif- respectively. The matrices Ac, Bc, C and D are
ferent types of subspace-based methods have been expressed as:

shown in the works of Viberg [13] and Overschee and 0 In 2 0
Moor [14]. Chui and Maciejowski [15] provided an Ac ; Bc (5a), (5b)
algorithm to find stable approximation to a least-squares M-1K M-1 M-1B0
problem, which can be applied to ensure the stability of C [CdCaM-1K Cv CaM-1]; D (6a), (6b)
subspace methods. A reference-based stochastic sub-
space identification for output-only modal analysis was CaM B0 -1

presented by Peeters and Roeck [16] to perform the

vibration test on civil engineering structures.
In this paper, the input forces are assumed to be
unknown. The stochastic subspace algorithm proposed
by Overschee, et al. [12] is used to determine the system
matrices of the equivalent state equation of motion from
the data composed of measured displacement, velocity
and acceleration. A transformation method has been
derived to obtain the state system with equivalent sub-
matrices M1K and M1 from identified system matr-
ices, where K, and M are the stiffness, damping and
mass matrices, respectively. The natural frequencies and
normal mode shapes can be calculated from the equival-
ent M1K. Lee, et al. [17] and Quek, et al. [18] proposed
a similar transformation matrix for measured displace-
ment only.
2. Continuous-time state-space system
The equations of motion and output equations for a
structure system with n2 degrees of freedom can be
expressed as:
Mx(t) x(t) Kx(t) B0u(t) (1)
y(t) Cax(t) Cvx(t) Cdx(t) (2)
3. Stochastic subspace identification
The continuous time domain can be discretized into a
finite number of time steps. Let tk=kt, k=1 to N. Where
t is the sampling interval. The response at step k is
described with lower subscript; for example, z(tk) is
denoted by zk. If the frequency range of the unknown
exciting force is adequate wide, the input force can be
handled as noise terms in Eqs. (3) and (4).
Let wk=processor noise, and vk=measurement noise,
then the stochastic discrete state-space system can be
derived from Eqs. (3) and (4) as follows.
Zk+1 Azk wk (7)
yk Czk vk (8)
where A=exp(Act) is the discrete-time system matrix.
Here we assume that the noise vectors wk and vk, have
zero mean, and there is no correlation between the
two vectors.
Once the equivalent system matrix and output matrix
of discrete-time model, A and C, have been identified
from the measured data, the equivalent system matrix of
continuous-time model can be obtained as follows.
Ac ln(A) / t (9a)

where x, x, and x are the acceleration, velocity, and dis- C C (9b)

placement vector, respectively. M, , K Rn2n2 are the
mass, damping and stiffness matrices, respectively.
B0Rn2 r is the input matrix specifying the locations
and type of inputs. The input vector u(t)Rr 1 describes
the r inputs at time t. y(t)Rm 1 is the output vector,
which can be the combination of different types of
responses such as acceleration, velocity and displace-
ment. m is the number of output channels.
Ca,Cv,CdRm n2 are the output matrices for the
measurement of acceleration, velocity and displacement,
In this paper, the stochastic subspace algorithm pro-
posed by Overschee et al. [12] is adopted to calculate the
stochastic discrete-time state-space system. The output
block Hankel matrix with 2i block rows and j columns
is constituted by the output measurements, and the out-
put block Hankel matrix can be divided into a past and
a future part as follows.
Y0|2i1 (10)
y0 y1 % yj1

respectively. A state vector consisted of displacement % % % %
and velocity vector is defined as z(t)[x x]T, then Eqs.
(1) and (2) can be transformed into the state equation of yi2 yi1 % yi+j3
past
motion and output Eq. [19] as follows.
z(t) Acz(t) Bcu(t) (3)

i yi1 yi % yi+j2
i i
y y i+1 % yi+j1

future
Y0|i1
Yi|2i1

Yp
Yf
y(t) Cz(t) Du(t) (4) yi+1 yi+2 % yi+j1
where AcRn n is the system matrix, n=2n2, % % % %
BcRn r is the input matrix. CRm n and DRm r y2i1 y2i % y2i+k2
 C.F. Hung et al. / Engineering Structures 24 (2002) 14411450
If the k-th block row matrix in the block Hankel
matrix is defined as Yk|k [ykyk 1%yk j 1], which is
consisted of j-steps of output vectors. The subscript k|l
of Yk|l denotes the sub-matrix that contains the k-th to
l-th block row matrices. The subscript p stands for
past, and j for future. The number of block rows,
i, is a user-defined parameter, which should be large
enough, at least it should be larger than the maximum
order of the identified system. If the number of data
points in each measured channel is N, the number of
columns, j, is typically selected as N-2i+l, so that the
measured data points of all time steps can be used. For
statistical reasons, it is assumed the j is a big number.
The matrices Yp and Y f are defined by shifting the
border between past and future one block row down, i.e.
Yp Y0|i, Y f Yi 1|2i1. The stochastic subspace
identification, termed as SSI for short, employs the geo-
metric concept of orthogonal projection between two
matrices. The orthogonal projection from the row space
of matrix a to row space of matrix b is defined as:
a / b abT(bbT)1b (11)
The system and output matrices of the discrete state-
space system in Eqs. (7) and (8) can be determined by
SSI from the following steps.
1. Two orthogonal projections are calculated as follows.
Oi Yf / Yp (12a)
Oi1 Y +
f / Yp (12b)
2. The singular value decomposition for the projection
matrix Oi is carried out:
Oi USVT U1S1VT1 U2S2VT2 (13)
where the subscript 1 indicates the dominant part
of the projection matrix, and the subscript 2 indi-
cates the minor part, which will be neglected.
3. The order of the stochastic system is determined by
inspecting the dominant singular values in S, i.e. the
number of singular values in S1.
4. The extended observability matrix i can also be
determined from the dominant part as follows.
i U S 1/2
1 1 (14)
5. A matrix i is defined, which is obtained from i
without its last m rows, where m is the number of
measured output channels.
6. The estimated state sequences Xi and Xi 1 can be
determined as follows:
Xi
i Oi (15)
Xi+1 Oi1
i (16)
where the superscript represents pseudo
inverse operator.
1443
7. The identified discrete-time system matrix A and
output matrix C can then be solved as follows.
A Xi+1
X (17)
C Yi|i i
4. Equivalent system matrix by generalized
transformation method
The number of modes for a continuous structure is
infinite theoretically. In practical cases the sampling rate
of measurement system and the frequency range of
expected modes are limited, and therefore the available
modes for a set of measured data series is also limited.
Generally, the number of measured DOFs may be much
smaller than the available modes. If our attention is cent-
ered on the relative motion of measured DOFs, an equiv-
alent dynamical system for measure output DOFs can be
established. In this case, the order of identified discrete-
time matrix pair A, C is 2m, and it is a reduced
model of matrix pair A, C in Eqs. (7) and (8). The
matrix pair A, C can be transformed into continu-
ous-time system, Ac,C , using Eqs. (9a) and (9b).
For noise free system, the identified matrices pair
Ac,C has the same complex modal characteristics as
Ac, C in Eqs. (5a), (5b) and (6a), (6b) for the modes,
whose mode shapes can be represented by the measured
DOFs. However the matrix form of Acmay be different
from Ac. For Ac
Ac11 Ac12
Ac21 Ac22
, compared with Ac in
Eq. (5a), (5b), the left-upper sub-matrix Ac11 is not a
zero matrix, the right-upper block Ac12is not a unit
matrix, and hence the sub-matrices Ac21 and Ac22are not
the equivalent M1K and M1 matrices, respect-
ively. Hence the matrix Ac21 can not be used to calculate
the normal modes directly. To obtain the equivalent
M1K and M1, a non-singular transformation
matrix is introduced.
T1
T (18)
T2
where T1Rm 2m and T2Rm 2m.
Here we introduce an equivalent matrices pair
Ac ,C that has the same dynamic characteristics as
Ac,C , and the equivalent system matrix Ac has
the same form as Ac i.e.
0 Im
Ac (19)
(M1K) (M1)
The relationships between Ac,C and
Ac,C are specified as follows:
Ac TAcT1 (20a)
C CT
1
(20b)
1444 C.F. Hung et al. / Engineering Structures 24 (2002) 14411450

From Eq. (20a), we get:

A T TAc

c (21a)
or

0
(M K) 1
Im
(M )
1
T1
T2

T1
T2
Ac (21b)

From Eq. (21b) we can obtain

T2 T1Ac (22a)
(M1K)T1(M1)T2 T2Ac (22b)
Fig. 1. Kabes eight DOF system.
From Eq. (20b) we get CT C, substituting (6a),
(6b) into C then
When only one type of sensor is used, the transform-
(CdCa(M1K))T1 (CvCa(M1))T2 C (23a)
ation matrix is reduced to following forms.

or
C
T (33a)
CdT1 CvT2 Ca((M1K)T1(M1)T2) (23b) CAc
C , for displacement only
Substituting Eqs. (22a) and (22b) into (23b), we get:
CdT1 CvT1Ac CaT1A C 2
c (24)
T
C
CAc
A1
c (33b)

Both sides of Eq. (24) multiplied by Cd, Cv, Ca, , for velocity only

respectively, we obtain follows.
C
T A2 (33c)
C T1 CdCvT1Ac CdCaT1A CdC
2
d
2
c (25a) CAc c
CvCdT1 C2v T1Ac CvCaT1A2c CvC (25b) , for acceleration only
CaCdT1 CaCvT1Ac C2aT1A2c CaC (25c)
We assume that each measured DOF on structure can 5. Numerical simulation example
be placed only one type of sensor, then the output matr-
ices Cd, Cv and Ca are diagonal matrices, and the diag- To verify the proposed method, the simulation of
onal element of these matrices is either 0 or 1. The modal identification for Kabes mass-spring system with
relationship between Cd, Cv and Ca are follows. eight DOFs [20] is conducted. This system includes 8
masses and 14 springs, which is shown in Fig. 1. The
Cd Cv Ca Im (26) system is characterized by large relative differences in
CdCv 0, CdCa 0, CvCa 0, C2d Cd, C2v (27) mass and stiffness, which leads to poor numerical con-
ditioning and closely distributed modes. The parameters
Cv, C Ca
2
a of mass, spring and the type of measured response are
Then the Eqs. (25a) to (25c) become: listed in Table 1. The damping matrix is assumed to be:

CdT1 CdC (28)

Table 1
CvT1 CvCA1
c (29) Parameters of Kabes 8 DOF mass-spring system
CaT1 CaCA2
c (30)
Mass Stiffness Types of responses
Assembling Eqs. (28) to (30) we obtain
m1=0.001 k1, k8=1.5 DOF 1:D
T1 CdC CvCAc1 CcCA2
c (31) m2,,m7=1.0 k2, k6=10 DOF 2: D
m8=0.002 k3, k4, k5=100 DOF 3: D
Finally, the transformation matrix can be derived as k7=2.0 DOF 4: V
follows. k9, k11, k12, k14=1000 DOF 5: V
k10, k13=900

DOF 6: A
T1 CdC CvCA1
c CaCA2
c DOF 7: A
T (32) DOF 8: A
T2 CdCAc CvC CaCAc1
 C.F. Hung et al. / Engineering Structures 24 (2002) 14411450 1445

0.001K 0.01M (34) be calculated by eigen-analysis of Ac or Ac. The exact

and the identified modal parameters are listed in Tables
2 and 3. A modal assurance criteria (MAC) proposed by
5.1. Case 1: Free vibration
Allemang, et al. [21] is used to show the consistence
between the exact and identified mode shapes. MAC
An impulse force is defined as:f (t)=40t, for
close to 1 means that two mode shapes are very consist-
0t3t=120t40(t3t), for 3tt6t; f(t)=0,
ent.
for t6t.
Tables 2 and 3 show that the identified natural fre-
The impulse force is exerted on m1. The sampling time
quencies and damping ratios are almost the same as the
interval t is 0.025 sec, and 512 measured data points
exact solution, and the MAC values between the exact
are picked at each DOF. The response curve of each
and the identified mode shapes are close to 1. If we apply
DOF is plotted in Fig. 2. It shows the magnitude of
the impulse force on m8, we obtain the same results.
acceleration is higher than others.
The matrices A and C of discrete-time model can
5.2. Case 2: Vibration under random load
be determined from Eq. (17) with block row number
i=16, and then the matrix pair A,C are transformed
In many practical cases, the number of measured out-
into continuous-time matrix pair Ac,C . Using the
put channels is smaller than the number of DOFs of
transformation matrix shown in Eq. (32), Acand C are
structure system, and the structure may vibrate under
transformed into Ac and C by Eqs. (20a) and (20b).
unknown forces. To simulate this case, a random input
The natural frequencies and mode shapes in damping
force with zero mean and standard deviation of 1.0 is
free case can be obtained by eigen-analysis of the matrix
exerted on m3, and only m2, m5 and m7 have sensors
(M1K) in Ac. The parameters of complex modes can
to measure the displacement, velocity and acceleration,
respectively. The sampling frequency is the same as the
previous case. The time history and the PSD of the input
force are plotted in Figs. 3 and 4. In this case, we col-
lected 1024 points of response data at m2, m5 and m7 for
the stochastic subspace identification. Fig. 5 shows the
PSD of measured response at m2, m5 and m7. We can
find that the modes distribute between 4.56.2 Hz. In
this case we consider three dominant modes represented
by m2, m5 and m7, and therefore the block row number
is selected as 6. The identified natural frequencies and
mode shapes compared with free vibration case are listed
in Table 4. Comparing the identified natural frequencies
and relative mode shapes with the exact solutions, modes
13 in this case represent the modes 1,4 and 6 of pre-
vious case.
From the PSD of random input force in Fig. 4, we
can see the input force is not a white noise signal; the
frequency range of input force is much wider than that
of the response on each DOF. The PSD of different types

Table 2
The exact and identified modal parameters (free vibration case)

Mode No. Natural frequency Damping ratio MAC

(Hz) (%)
Exact Identified Exact Identified

1 4.8807 4.8808 1.5496 1.5497 0.9999

2 5.0476 5.0631 1.6015 1.6020 0.9999
3 5.0632 5.0631 1.6064 1.6060 0.9951
4 5.1496 5.1496 1.6333 1.6331 0.9999
5 5.4417 5.4417 1.7242 1.7242 0.9999
6 5.6594 5.6594 1.7920 1.7920 0.9999
7 6.1734 6.1734 1.9523 1.9521 0.9999
8 6.6611 6.6611 2.1046 2.1045 0.9976
Fig. 2. The response curves of eight DOFs.
1446 C.F. Hung et al. / Engineering Structures 24 (2002) 14411450

Table 3
The exact and identified normal mode shapes (free vibration case)

Mode 1 Mode 2 Mode 3 Mode 4

Exact Identified Exact Identified Exact Identified Exact Identified

0.1287 0.1272 0.9444 0.9444 0.3690 0.3264 0.3656 0.3666

0.0480 0.0477 0.3111 0.3112 0.1200 0.1054 0.1104 0.1104
0.3218 0.3219 0.0347 0.0347 0.0621 0.0651 0.4459 0.4457
0.5412 0.5413 0.0300 0.0300 0.0019 0.0003 0.2907 0.2905
-0.5409 0.5410 0.0050 0.0051 0.0729 0.0743 0.2924 0.2922
-0.3226 0.3227 0.0332 0.0333 0.0712 0.0741 0.4467 0.4465
-0.0363 0.0363 0.0370 0.0371 0.5910 0.6010 0.1039 0.1039
-0.4321 0.4322 0.0819 0.0821 0.6971 0.7112 0.5244 0.5242
Mode 1 Mode 2 Mode 3 Mode 4
Exact Identified Exact Identified Exact Identified Exact Identified
0.1175 0.1175 0.0743 0.0771 1.0000 1.0000 0.102e-5 0.0615
0.0259 0.0257 0.0117 0.0115 0.0030 0.0030 0.171e-6 0.0337
0.4262 0.4262 0.3061 0.3060 0.0001 0.0001 0.125e-4 0.0002
0.2542 0.2542 0.4695 0.4694 0.576e-5 0.576e-5 0.0005 0.0005
0.2490 0.2490 0.4716 0.4715 0.219e-4 0.219e-4 0.0001 0.0001
0.4246 0.4246 0.3005 0.3005 0.144e-5 0.144e-5 0.0032 0.0032
0.0202 0.0202 0.0083 0.0083 0.114e-7 0.115e-7 0.0021 0.0021
0.7047 0.7047 0.6062 0.6061 0.582e-5 0.582e-5 1.0000 0.9975

Fig. 3. Time history diagram of random input force. Fig. 4. The PSD of random input force.

of responses on m3 are plotted in Fig. 6. It shows that

the significant frequencies of responses on m3 have some
different from the natural frequencies of system, and the
magnitudes of the responses of m3 are much higher than
the other DOFs. When the response of m3 is also selected
as an output channel for modal identification, it will
cause error, especially when acceleration is used.
5.3. Case 3: Free vibration with noise
The impulse force defined as cases 1 is applied on m3,
and only m2, m5 and m7 have sensors as case 2. The
sampling frequency and data point for each channel are
selected as 40Hz and 512 points, respectively. To show
the effect of noise on the modal identification by the
proposed method, a white noise with zero mean and dif-
ferent noise level is added on each DOF. The RMS of
noise is selected as 1, 3, 10, 15, and 20% of the RMS
of response signal for each DOF. The identified natural
frequencies and relative mode shapes under different
noise level are listed in Tables 5 and 6. The results show
the accuracy of identified modal parameters for noise
level below 10% is very well. When the noise level is
20%, the identified equivalent matrix (M1K) is singu-
lar, and the parameters of normal modes can not be cal-
culated.
 C.F. Hung et al. / Engineering Structures 24 (2002) 14411450 1447

Table 5
The identified natural frequencies under different noise level conditions

Natural frequency (Hz)

Mode Noise level
No.
0% 1% 3% 5% 10% 15%

1 4.9176 4.9203 4.9301 4.9435 4.9956 5.0783

2 5.1659 5.1658 5.1649 5.1639 5.1577 5.1318
3 5.4444 5.4443 5.4444 5.4452 5.4538 5.4887

are shown in Figs. 7 and 8. The orientation and location

Fig. 5. The PSD of response at DOF 2(D), 5(V) and 7(A).
Fig. 6. The PSD of different type of response at DOF 3.
6. Experiment example: NTU 5 floors steel frame
structure
The NTU 5 floors steel frame structure subjected to
seismic excitation (Loh, et al. [22]) is selected as an
experimental study case. The dimensions of the structure
of accelerometers are indicated in Fig. 9. The section
data of each member is listed in Table 7. The 3-D modal
analysis by ANSYS is conducted for reference basis.
The material properties of each member are shown in
Table 8. The mass on each floor is 3664 kg.
The E1 Centro earthquake load was used as the input
force. Two different levels of ground acceleration were
taken as two loading cases: 20% of seismic loading in X-
direction and 30% in Y-direction, respectively. The time
history and PSD of input loading in X-direction are plot-
ted in Figs. 10 and 11, respectively. Case 1: Motion in
x-direction, the signals of the accelerometers A3, A5,
A7, A9 and A11 in Fig. 9 are collected to carry out the
stochastic subspace identification. Case 2: Motion in y-
direction, the accelerometers A15, A17, A19, A21 and
A23 are adopted to measure the acceleration in y-direc-
tion. The sampling frequency in both cases is 200 Hz.
For each DOF, we picked 2048 measured data points in
the period from 5 to 15.24 sec showed in Fig. 10. Fig.
11 shows the significant frequencies of input loading are
distributed between 020 Hz.
The block row number is selected as 10. The identified
modal parameters by stochastic subspace algorithm are
summarized in Table 9. The relative mode shapes are
shown in Table 10. The identified first five modes in X
and Y directions are below 25 Hz. Although the natural
frequencies and the relative mode shapes calculated by
ANSYS have little difference to the identified results,
the results calculated by FEM and identified by SSI are
very consistent.

Table 4
The identified natural frequency and mode shapes (random vibration case)

Natural frequencies (Hz) Mode shapes

Mode 1 Mode 2 Mode 3
mode no. Free Forced Free Forced Free Forced Free Forced

1 4.9176 4.5219 0.1296 0.1573 0.0780 0.1343 0.0982 0.0970

2 5.1659 5.1775 0.9909 0.9868 0.9814 0.9697 0.9919 0.9950
3 5.4444 5.5272 0.0352 0.0380 0.1752 0.2041 0.0800 0.0221
1448 C.F. Hung et al. / Engineering Structures 24 (2002) 14411450

Table 6
The identified relative mode shape under different noise level conditions

Mode shape 1
DOF Noise level
0% 1% 3% 5% 10% 15%

2(D) 0.1296 0.1291 0.1269 0.1235 0.1062 0.0607

5(V) 0,9909 0.9910 0.9913 0.9916 0.9933 0.9958
7 (A) 0.0352 0.0354 0.0363 0.0376 0.0445 0.0682
Mode shape 2
DOF Noise level
0% 1% 3% 5% 10% 15%
2(D) 0.0780 0.0780 0.0773 0.0751 0.0581 0.0002
5(V) 0.9814 0.9815 0.9817 0.9822 0.9857 0.9938
7 (A) 0.1752 0.1750 0.1743 0.1723 0.1581 0.1112
Mode shape 3
DOF Noise level
0% 1% 3% 5% 10% 15%
2(D) 0.0982 0.0975 0.0959 0.0938 0.0841 0.0616
5(V) 0.9919 0.9921 0.9923 0.9927 0.9938 0.9958
7 (A) 0.0800 0.0792 0.0778 0.0765 0.0725 0.0674

Fig. 7. Top view of frame structure.

Fig. 8. Side view of frame structure.

7. Conclusion

A generalized transformation method to obtain the

equivalent system matrix Ac and (M1K) for the state Fig. 9. Orientation and position of accelerometers on frame model
equation of motion has been derived in this paper. The [22].
transformation matrix includes different types of
measurements (displacement, velocity, and acceleration).
The natural frequencies, damping ratios and mode
 C.F. Hung et al. / Engineering Structures 24 (2002) 14411450 1449

Table 7
Member section of NTU 5 floors frame model [22]

Dir-X (2 m) Dir-Y (3 m)
Column (1F~5F) H1251256.59 H1251256.59
Beam(1F~5F) H1507557 H10010068
Girder (1F~5F) H1005057 H1005057

Table 8
Material properties of members [22]

Direction 1F~5F E P kg/m3 Area I (mm4)

(KN/mm2) (mm2)

2m Column 204 7850 2945 8.2477E6

Beam 204 7850 1730 6.4203E6
3m Column 204 7850 2945 2.9321E6
Beam 204 7850 2104 3.6905E6

Fig. 11. Power spectrum density of input earthquake load in x-direc-

tion.

Table 9
Comparison of mode parameters by FEM and SSI

Motion in X-direction
Mode No. Natural frequency (Hz) Damping ratio MAC
(%)
ANSYS SSI SSI

1 1.3807 1. 4332 0.4092 0.9998

(a1.43)
2 4.4355 4.2979 3.3081 0.9818
(a4.63)
3 8.1777 8.2185 0.7857 0.9976
4 12.3165 12.3872 0.5452 0.9969
5 16.1849 15.8425 0.9368 0.9948
Motion in Y Direction
Mode Natural frequency (Hz) Damping ratio MAC
(%)
Fig. 10. Time history diagram of input earthquake load in x-direction. ANSYS SSI SSI
1 2.2249 2.0705 2.6660 0.9992
(a2.14)
shapes of complex modes can be calculated from eigen- 2 7.1756 6.8500 0.3363 0.9986
analysis of the identified system matrix Ac . The natural (a6.99)
frequencies and normal mode shapes can be calculated 3 13.1769 12.6220 0.2981 0.9927
from the equivalent matrix (M1K), which is the sub- 4 19.4394 17.2232 7.8713 0.9020
matrix of Ac . For free vibration case, the equivalent 5 24.0188 23.9180 2.3788 0.9329
matrix (M1K) provides highly accurate mode para- a
indicates the natural frequencies identified by Loh et al [22].
meters of normal modes. With the transformation matrix,
various measurements can be chosen at each DOF. The
procedure is also available for the case when the dis- complex structures is not easy in many practical cases.
placement, velocity or acceleration is measured only. In Development of a method for inverse deduction of the
many practical cases, the input force is hard to be meas- equivalent mass, damping and stiffness matrices from
ured; the proposed algorithms have the ability to provide multiple I/O measured data is in progress.
accurate modal parameters for linear systems directly In case the input forces have narrow frequency band-
from measured output data. width, the modal identification from the output data only
The equivalent stiffness and damping matrices can be may contain some spurious modes induced by the sig-
deducted from identified modal parameters, if the equiv- nificant frequencies of input force. A further study for
alent mass matrix has been estimated; unfortunately, removing the spurious modes induced by significant
accurate estimation of the equivalent mass matrix for input frequencies is also under development.
1450 C.F. Hung et al. / Engineering Structures 24 (2002) 14411450

Table 10
Relative mode shapes in x and y directions

The relative mode shapes in X Direction

Mode 1 Mode 2 Mode 3 Mode 4 Mode 5
ANSYS SSI ANSYS SSI ANSYS SSI ANSYS SSI ANSYS SSI

1.0000 1.0000 1.0000 1.0000 1.0000 1.0000 1.0000 1.0000 1.0000 1.0000
2.6066 2.7027 1.8506 1.4283 0.7159 0.6110 -0.4379 -0.4986 -1.2539 -1.2210
4.0931 4.0330 1.3361 0.8386 -0.8267 -0.7797 -0.5440 -0.4817 1.3999 1.0776
5.2093 5.3103 0.2381 -0.2999 -0.8154 -0.7539 0.9486 0.9510 -0.8153 -0.8965
5.8669 5.9734 1.7428 -1.3476 0.8280 0.7945 -0.4485 -0.4284 0.2806 0.3386
The relative mode shapes in Y Direction
Mode 1 Mode 2 Mode 3 Mode 4 Mode 5
ANSYS SSI ANSYS SSI ANSYS SSI ANSYS SSI ANSYS SSI
1.0000 1.0000 1.0000 1.0000 1.0000 1.0000 1.0000 1.0000 1.0000 1.0000
2.6480 2.2789 1.8742 1.6957 0.7356 0.5776 0.4272 0.8818 1.2449 2.3968
4.2075 3.4724 1.3824 1.2061 0.8140 0.8502 0.5544 0.2992 1.1870 2.7860
5.4132 4.3778 0.2011 0.2001 0.8302 0.7760 0.9450 0.8922 0.8009 1.8776
6.1666 5.0031 1.7641 1.5975 0.8220 0.8222 0.4397 0.3965 0.2725 0.4541

Acknowledgements analysis with application to ship structures. Journal of Sound and

The authors gratefully acknowledge the financial sup-
port of the National Science Council, R.O.C., under pro-
ject numbers NSC 88-2611-E-002-008 and NSC 89-
2611-E-002-007.
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