Abstract
Real-time hybrid simulation (RTHS), dividing the emulated structure into numerical substructures (NS) and physical substructures (PS), is a powerful technique to obtain responses and then to assess the seismic performance of civil engineering structures. A transfer system, a servo-hydraulic actuator or shaking table, is used to apply boundary conditions between the two substructures. However, the servo-hydraulic actuator is inherently a complex system with nonlinearities and may introduce time delays into the RTHS, which will decrease the accuracy and stability of the RTHS. Moreover, there are various uncertainties in RTHS. An accurate and robust actuator control strategy is necessary to guarantee reliable simulation results. Therefore, a mixed sensitivity-based H∞ control method was proposed for RTHS. In H∞ control, the dynamics and robustness of the closed-loop transfer system are realized by performance weighting functions. A form of weighting function was given considering the requirement in RTHS. The influence of the weighting functions on the dynamics was investigated. Numerical simulations and actual RTHSs were carried out under symmetric and asymmetric dynamic loads, namely sinusoidal and earthquake excitation, respectively. Results indicated that the H∞ control method used for RTHS is feasible, and it exhibits an excellent tracking performance and robustness.
Highlights
Real-time hybrid simulation (RTHS) [1], or the real-time substructure pseudo-dynamic test, is a cost-effective and versatile experimental technique to evaluate structural performance under dynamic excitations. It originated from the pseudo-dynamic test [2] first proposed by a Japanese researcher in the 1970s, which is known as hybrid simulation (HS)
HS takes advantage of numerical analysis and physical experiments, in which the emulated structure is divided into several substructures: the part that cannot be simulated exactly is experimentally tested in the laboratory, which is denoted as the physical substructure (PS), and the rest is simulated by a computer program, which is denoted as the numerical substructure (NS) [3,4]
Ning et al [20] proposed an adaptive feedforward and feedback control method based on controller that was proposed by Zhou et al [19] to deal with the adverse effects of time a discrete control plant, of which the model order is not restrained
Summary
Real-time hybrid simulation (RTHS) [1], or the real-time substructure pseudo-dynamic test, is a cost-effective and versatile experimental technique to evaluate structural performance under dynamic excitations. Carrion and Spencer [15] proposed a model-based control was apintroduced by aChen and Ricles [14], where the servo-hydraulic actuatorsystem is modeled proach, where low-pass filter is combined with the inverted actuator plant.byIna first-order transfer function. Xu et al proposed a frequency evaluation index-based compensation for adaptive feedforward control method, where the Kalman filter is used to estimate the RTHS [17]. A two-stage delay compensation method, combining the feedforward ward prediction algorithm was combined with a robust linear-quadratic-gaussian conand polynomial extrapolation, was proposed by Wang et al [18]. Ning et al [20] proposed an adaptive feedforward and feedback control method based on controller that was proposed by Zhou et al [19] to deal with the adverse effects of time a discrete control plant, of which the model order is not restrained.
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