Abstract

Real-time hybrid simulation provides an economical and effective experimental technique for seismic performance evaluation of civil engineering structures in size limited laboratories. Servo-hydraulic dynamics pose challenges for synchronizing restoring forces between substructures. Actuator tracking therefore contributes most detrimental error to real-time hybrid simulation. Post-experiment reliability assessment through actuator tracking assessment is critical to appropriately interpret real-time hybrid simulation results for the performance of structures under investigation. This study analyzes the effect of actuator delays on the accuracy of real-time hybrid simulations involving multiple experimental substructures. Unlike previous studies focusing on the stability of real-time hybrid simulation, this study acknowledges the fact that delay compensation methods are capable of reducing the tracking errors. The modal analysis technique is evaluated for real-time hybrid simulation involving both time delay and nonlinear structural behavior.

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