Abstract
Hybrid simulation is an efficient method to obtain the response of an emulated system subjected to dynamic excitation by combining loading-rate-sensitive numerical and physical substructures. In such simulations, the interfaces between physical and numerical substructures are usually implemented using transfer systems, i.e., an arrangement of actuators. To guarantee high fidelity of the simulation outcome, conducting hybrid simulation in hard real-time is required. Albeit attractive, real-time hybrid simulation comes with numerous challenges, such as the inherent dynamics of the transfer system used, along with communication interrupts between numerical and physical substructures, that introduce time delays to the overall hybrid model altering the dynamic response of the system under consideration. Hence, implementation of adequate control techniques to compensate for such delays is necessary. In this study, a novel control strategy is proposed for time delay compensation of actuator dynamics in hard real-time hybrid simulation applications. The method is based on designing a transfer system controller consisting of a robust model predictive controller along with a polynomial extrapolation algorithm and a Kalman filter. This paper presents a proposed tracking controller first, followed by two virtual real-time hybrid simulation parametric case studies, which serve to validate the performance and robustness of the novel control strategy. Real-time hybrid simulation using the proposed control scheme is demonstrated to be effective for structural performance assessment.
Highlights
Hybrid simulation (HS), known as hardware-in-the-loop (HIL), online computer-controlled testing technique or model-based simulation, is a dynamic response simulation method
model predictive controller (MPC) constantly receives reference trajectories, rj(k + i|k), for the whole prediction horizon P, which in real-time hybrid simulation (RTHS) corresponds to the outputs of the numerical substructure and uses the prediction model along with the Kalman filter to predict the control plant outputs, yj(k + i|k), which depend on the control sequence zk, the disturbance w(k) and the Kalman filter’s estimates
The displacement and force sensor noise is modeled with two correlated standard Gaussian distributions, generated at the same frequency as the sampling of RTHS and amplified each by 1.5e-7 m and 6e-5 N, respectively, which approximately equals to 0.01% of the respective full spans
Summary
Hybrid simulation (HS), known as hardware-in-the-loop (HIL), online computer-controlled testing technique or model-based simulation, is a dynamic response simulation method. The dynamic response of the physical substructure is measured and fed back to the numerical substructure, completing the unknown terms of the governing equations of motion of the hybrid model needed to compute the following command for the time step of the simulation. This feedback loop continues until the end of the HS process. RTHS using the proposed control scheme is demonstrated to be effective for structural seismic performance assessment
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