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Transcript of Class #1: Introduction to Dynamical Infrastructure Systemsjerlynch/cee572/Class01.pdf ·...
Class#1:IntroductiontoDynamicalInfrastructureSystems
JeromeP.Lynch,Ph.D.DepartmentofCivilandEnvironmentalEngineering
DepartmentofElectricalEngineeringandComputerScienceUniversityofMichigan
CEE572– DynamicalInfrastructureSystemsUniversityofMichigan
©2017
CharacterofInfrastructureSystems• Largephysicalsystemsofextremeeconomicimportance:
– Massivesystemsspanningoverlargegeographicalareas– Criticaltopublicsafetyandqualityoflife
• Oftendynamicwithatimebasistotheirbehavior:– Extremeloadsinducingmechanicalresponse– Injectionofcontaminationinsystem(e.g.,potabledrinkingwater)
• Havecomplexinteractions:– Infrastructure-to-infrastructureinteraction– Human-infrastructureinteraction– Builtenvironment-natureinteractions– Cyber-physicalinteractions
9/4/17 Slide2©JeromeP.Lynch,2017
ChangeinPerspectivesHistoricalApproachtoCivilEngineeringEducation:
Component-basedDesign
Today’sApproachtoCivilEngineeringEducation:System-basedDesign
9/4/17 Slide2©JeromeP.Lynch,2017
EmergenceofSystemicFailureThereisanurgentneedtostudythe
interconnectednessofcivilianinfrastructuretopreventsystemicfailureofkeysocietalsystems.
9/4/17 Slide2©JeromeP.Lynch,2017
Mega-scaleDisastersFailureofleveesduringHurricaneKatrina(2005)
TsunamiinducedfailureofchilledwatercoolingsysteminFukushimareactors(2011)
9/4/17 Slide2©JeromeP.Lynch,2017
TechnologyTrendsDriving“Systems”
Microelectromechanical Systems(MEMS)(Source:AnalogDevices)
Internet(Source:Wikipedia)
Moore’sLawforProcessorsandMemory(Source:Intel)
Edholm’s LawforWirelessCommunications(Source:Chema etal.2010)
9/4/17 Slide2©JeromeP.Lynch,2017
Cyber-PhysicalSystems• Cyber-physicalsystems(CPS):
– Coordinatedcombinationofsensing,computingandactuation– Integrationofembeddedcomputing,wirelesscommunicationand
low-costsensingallowstheworldtobedenselysensedandcontrolled– AvailabilityofwirelessInternetgivesfield-basedsensors/actuators
increasingaccesstocomputingresources
Cyber-physicalSystem(CPS)Framework
PhysicalSystem(Infrastructure)
ComputingSystems(Cyberinfrastructure +Computing)
Sensors/MonitoringSystems
Actuators/ControlSystems
EarlyEarthquakeWarningSystems(Source:NIPPONIA)
IntelligentTransportationSystems(Source:UniversityofMichigan)
9/4/17 Slide2©JeromeP.Lynch,2017
SystemsEducationinCEE• EmergenceofsystemsinUM’scivilengineeringcurriculum:
– CEE571:LinearSystemTheory:• Cross-listedCollegewide• Foundationalcourseteachingwellestablishedlinearsystemtheory.Canbeviewedasan“applied”linearalgebracoursegiventheheavyconcentrationonvectorandmatrixmathematicaltools.
– CEE572:DynamicalInfrastructureSystems:• Introductorycourseprovidingacoresetoftoolsandtechniquesrequiredforstudentsstudyingthedynamicsofinfrastructuresystems
• Notspecifictoanyonedomain– rather,examplesdrawnfrommanyapplicationareas(structures,hydraulics,transportation,etc.)
• Surveycourseofmanysystemmodelingconcepts• IntendedtomakeupforpotentialdeficienciesinUGpreparations• Afterthecoursecompletion,studentsarebetterpositionedtotakeadvancedsystemcoursesacrosstheCollegeofEngineering
9/4/17 Slide2©JeromeP.Lynch,2017
WhatisaSystem?Asystemisanythingthatischaracterizedbyinputsandoutputs:
SYSTEMu y(inputquantity)
(outputquantity)
Mostoften,relationshipsbetweeninputs&outputsisdynamic:
tt
u(t) y(t)
Mostsystemshavememory:Presentoutputsdependonpreviousinputs:u(t) y(t)
ttT T
9/4/17 Slide2©JeromeP.Lynch,2017
DimensionalityofSystemsSomesimplesystemsarecharacterizedbyasingleinput-singleoutput(SISO):
systemu y(inputquantity)
(outputquantity)
systemu1 y1
y2y3u2
Mostsystemsarecharacterizedbymultipleinputs-multipleoutputs(MIMO):
9/4/17 Slide2©JeromeP.Lynch,2017
Example:Building(Structure)
buildingsystemu
(groundaccel.)
y1 =1ststorydisp
y2 =2ndstorydisp
y3 =3rdstorydisp
9/4/17 Slide2©JeromeP.Lynch,2017
Example:Bridges(Structure)
!
bridge/sensorsystem
u1 y1
un yptrafficloads,wind,earthquakes
sensoroutputs
9/4/17 Slide2©JeromeP.Lynch,2017
Example:WaveEnergy(Power)
waveenergybuoyarray
u1 y1
un ypwaveheightsgeneratorcurrents
buoydispsgeneratorvoltagespoweroutput
9/4/17 Slide2©JeromeP.Lynch,2017
Example:ElectricalGrid(Power)
powergrid
u1 y1
un yp
powerconsumedbythe37substations
velocitiesofthe10generators
9/4/17 Slide2©JeromeP.Lynch,2017
Example:WaterDistribution(Hydro)
waterdist.network
u1 y1
un yp
pumpstationsflow
pressuresatnetworkjunctions
9/4/17 Slide2©JeromeP.Lynch,2017
CascadingSystems• Compositesystemofsimplersystems:
– “Systemofsystems”isacommonphraseforcompositesystems– Strongrelationshipsbetweensubsystemsthatdefinetheproperties
andbehaviorofthecompositesystem– Canweobserveandcontroleachsubsystem?Ifnot,howdoesthat
effectouranalysis,modelingandcontrolofthecompositesystem?
sub-system
1
u1
u2 sub-system
2
sub-system
3
u3
y1
y2compositesystem
9/4/17 Slide2©JeromeP.Lynch,2017
FeedbackSystems• Feedbackisacommonmethodofconnectingsubsystems:
– Canbeexploitedto“control”thecompositesystem– Evenifallsubsystemsarestable,compositesystemmaybeunstable– Feedbackrequiresallsubsystemstobeconsideredatonce:
• Wecannotanalyzeordesigneachsubsysteminisolationbecausetheyallinteractwitheachother
sub-system
1
u1
u2 sub-system
2
sub-system
3
u3
y1
y2compositesystem
9/4/17 Slide2©JeromeP.Lynch,2017
NewCarquinezBridge• NewCarquinezBridge(Vallejo,CA):
– LocatedintheSanFranciscoBayArea– seismicallyactivearea– Totalbridgelengthis1056m(mainspanof728m)– Maindeckconsistsofsteelorthotropicboxgirders– Hollowconcretetowerlegsandpre-stressedlinkbeam
!
9/4/17 Slide2©JeromeP.Lynch,2017
SystemMonitoring
dynamicbridgemodel
sensordynamicmodels
groundaccel
windloads
trafficloads
criticalstructuralresponses
y1
yp
sensorstrains
sensorvoltages
estimatesfor y1....yp
v1
vq
z1
zp
computeralgorithm
Known: Modelsforbridge,sensorsubsystems,sensorvoltagesv1 ...vq
Find: Valuesofz1 ...zp whichareascloseaspossibletoy1 ...yp
...Thisiscalledsystemmonitoring
9/4/17 Slide2©JeromeP.Lynch,2017
SystemIdentification
dynamicbridgemodel
sensordynamicmodels
groundaccel
windloads
trafficloads
criticalstructuralresponses
y1
yp
sensorstrains
sensorvoltages
estimatesfor y1....yp
v1
vq
z1
zp
computeralgorithm
Known: sensoroutputsv1 ...vqloaddata
Find: Approximatemodelforbridgesystem...Thisiscalled
systemidentification
9/4/17 Slide2©JeromeP.Lynch,2017
HealthMonitoring
dynamicbridgemodel
sensordynamicmodels
groundaccel
windloads
trafficloads
criticalstructuralresponses
y1
yp
sensorstrains
sensorvoltages
estimatesfor y1....yp
v1
vq
z1
zp
computeralgorithm
Known: Modelsforbridge,sensorsubsystems,sensorvoltagesv1 ...vq
Find: Likelihood&locationofstructuraldamage
...Thisiscalleddamagedetection orhealthassessment
9/4/17 Slide2©JeromeP.Lynch,2017
SystemControl
dynamicbridgemodel
sensordynamicmodels
groundaccel
windloads
trafficloads
sensorstrains
sensorvoltages
estimatesfor y1....yp
v1
vq
z1
zp
computeralgorithm(controller)
Known: Modelsforbridge,sensorsubsystems,actuationsubsystem
Find: Mosteffectivecontrolforcetoapplyforreductionofundesiredresponse
...Thisiscalledfeedbackcontrol
actuationload
criticalstructuralresponses
y1
ypactuatordynamicmodels
9/4/17 Slide2©JeromeP.Lynch,2017
CourseContentofCEE572• Systemssciencewhichemphasizesmathematicalanalysis:
– Modelingofdynamicsystemsascontinuousanddiscrete-timesystems:• Linearandnonlinearmodels• Differentialequationsandstate-spacemodels• Stabilityandtypicalresponses
– Transformationmethodsfromtimetofrequencydomains:• Laplacetransform(Fourier)andZ-transform(discreteFourier)
• Systemsengineeringwhichemphasizesdesignandcontrol:– Systemidentificationofoperationaldynamicsystems– Feedbackcontrolofdynamicsystems
• Applications:– Structuraldynamics– Transportationnetworks– Hydraulicnetworks
9/4/17 Slide2©JeromeP.Lynch,2017