Real-Time Hybrid Simulation with Online Model Updating: Methodology and Implementation
Publication: Journal of Engineering Mechanics
Volume 142, Issue 2
Abstract
Hybrid simulations have shown great potential for economic and reliable assessment of structural seismic performance by combining physical experimentation on part of the structural system and numerical simulation of the remaining structural components. Current hybrid simulation practices often use a fixed numerical model without considering the possible availability of a more-accurate model obtained during hybrid simulation through an online model updating technique. To address this limitation and improve the reliability of numerical models in hybrid simulations, this paper presents a method and an implementation procedure of conducting real-time hybrid simulation (RTHS) with online model updating. The Unscented Kalman Filter (UKF) was adopted as the parameter identification algorithm applied to the Bouc-Wen model that defines the hysteresis of the experimental substructure. The identified parameters are then used to update the models of the numerical substructures during RTHS. A parametric study of the UKF system model parameters is carried out first to determine the optimum values to be used in the verification experiments. Then RTHS of a three-story steel shear building model is conducted and the effectiveness of online model updating in RTHS and the proposed implementation procedure is demonstrated. Guidelines for implementing the UKF for online model updating in RTHS and research needs for further development are discussed.
Get full access to this article
View all available purchase options and get full access to this article.
Acknowledgments
This work was made possible by the National Science Foundation (NSF) grant CMMI 1135005. The authors acknowledge the financial support.
References
Ahmadizadeh, M., Mosqueda, G., and Reinhorn, A. (2008). “Compensation of actuator delay and dynamics for real-time hybrid structural simulation.” Earthquake Eng. Struct. Dyn., 37(1), 21–42.
Bouc, R. (1967). “Forced vibration of a mechanical system with hysteresis.” Proc., 4th Conf. on Nonlinear Oscillation, Czechoslovak Academy of Sciences, Prague, Czechoslovakia, 315.
Chatzi, E., and Smyth, A. (2008). “The unscented Kalman Filter and particle filter methods for nonlinear structural system identification with non-collocated heterogeneous sensing.” J. Struct. Control Health Monitor., 16(1), 99–123.
Chen, C., and Ricles, J. (2009). “Improving the inverse compensation method for real-time hybrid simulation through a dual compensation scheme.” Earthquake Eng. Struct. Dyn., 38(10), 1237–1255.
Dorka, U., and Heiland, D. (1991). “Fast online earthquake simulation using a novel PC supported measurement and control concept.” Proc., 4th Int. Conf. on Structural Dynamics, Institute of Radio Engineering and Electronics, Czechoslovak Academy of Sciences, Southampton, U.K., 636–645.
Elanwar, H., and Elnashai, A. (2014). “On-line model updating in hybrid simulation tests.” J. Earthquake Eng., 18(3), 350–363.
Hashemi, J., Masroor, A., and Mosqueda, G. (2013). “Implementation of online model updating in hybrid simulation.” Earthquake Eng. Struct. Dyn., 43(3), 395–412.
Ismail, M., Ikhouane, F., and Rodellar, J. (2009). “The hysteresis Bouc-Wen model, a survey.” Arch. Comput. Methods Eng., 16(2), 161–188.
Kolas, S., Foss, B., and Schei, T. (2009). “Constrained nonlinear state estimation based on the UKF approach.” Comput. Chem. Eng., 33(8), 1386–1401.
Kwon, O., and Kammula, V. (2013). “Model updating method for substructure pseudo-dynamic hybrid simulation.” Earthquake Eng. Struct. Dyn., 42(13), 1971–1984.
Ma, F., Bockstedte, A., Foliente, G., Paevere, P., and Zhang, H. (2004). “Parameter analysis of the differential model of hysteresis.” J. Appl. Mech., 71(3), 342–349.
Mandela, R., Kuppuraj, V., Rengaswamy, R., and Narasimhan, S. (2012). “Constrained unscented recursive estimator for nonlinear dynamic systems.” J. Process Control, 22(4), 718–728.
MATLAB [Computer software]. Natick, MA, MathWorks.
Mercan, O., and Ricles, J. (2007). “Stability and accuracy analysis of outer loop dynamics in real-time pseudodynamic testing of SDOF systems.” Earthquake Eng. Struct. Dyn., 36(11), 1523–1543.
National Instruments. (2014). “Getting started with NI Veristand.” 〈http://www.ni.com/white-paper/14126/en/〉 (Sep. 24, 2014).
Shao, X., et al. (2014). “Real-time hybrid simulation of a multi-story wood shear wall with first-story experimental substructure incorporating a rate-dependent seismic energy dissipation device.” Smart Struct. Syst., 14(6), 1031–1054.
Shao, X., and Enyart, G. (2012). “Development of a versatile hybrid testing system for seismic experimentation.” Exp. Tech., 38(6), 44–60.
Shao, X., and Griffith, C. (2013). “An overview of hybrid simulation applications in NEESR projects.” Eng. Struct., 56, 1439–1451.
Shao, X., Reinhorn, A., and Sivaselvan, M. (2011). “Real-time hybrid simulation using shake tables and dynamic actuators.” J. Struct. Eng., 748–760.
Shing, P., and Vannan, M. (1991). “Implicit time integration for pseudodynamic tests: Convergence and energy dissipation.” Earthquake Eng. Struct. Dyn., 20(9), 809–819.
Shing, P., Vannan, M., and Cater, E. (1991). “Implicit time integration for pseudodynamic tests.” Earthquake Eng. Struct. Dyn., 20(6), 551–576.
Song, W., and Dyke, S. (2014). “Real-time dynamic model updating of a hysteretic structural system.” J. Struct. Eng., 04013082.
Wallace, M., Sieber, J., Neild, S., Wagg, D., and Krauskopf, B. (2005). “Stability analysis of real-time dynamic substructuring using delay differential equation models.” Earthquake Eng. Struct. Dyn., 34(15), 1817–1832.
Wang, T., and Wu, B. (2013). “Real-time hybrid testing with constrained unscented Kalman filter.” 5th Int. Conf. on Advances in Experimental Structural Engineering, International Association for Experimental Structural Engineering, Taipei, Taiwan.
Wen, Y. (1976). “Method for random vibration of hysteretic systems.” J. Eng. Mech., 102(2), 249–263.
Wu, B., Bao, H., Ou, J., and Tian, S. (2005). “Stability and accuracy analysis of the central difference method for real-time substructure testing.” Earthquake Eng. Struct. Dyn., 34(7), 705–718.
Yang, Y., Tsai, K., Elnashai, A., and Hsieh, T. (2012). “An online optimization method for bridge dynamic hybrid simulations.” Simul. Modell. Pract. Theory, 28, 42–54.
Information & Authors
Information
Published In
Copyright
© 2015 American Society of Civil Engineers.
History
Received: Nov 12, 2014
Accepted: Jun 11, 2015
Published online: Jul 20, 2015
Discussion open until: Dec 20, 2015
Published in print: Feb 1, 2016
Authors
Metrics & Citations
Metrics
Citations
Download citation
If you have the appropriate software installed, you can download article citation data to the citation manager of your choice. Simply select your manager software from the list below and click Download.