Effective Compensation of Nonlinear Actuator Dynamics Using a Proposed Linear Time-Varying Compensation
Publication: Journal of Engineering Mechanics
Volume 147, Issue 9
Abstract
Actuator tracking and compensation are important in the general field of experimental structural dynamics to effectively conduct vibration testing. Real-time hybrid substructuring (RTHS) is a method of vibration testing utilized to effectively characterize the system-level performance by physically testing a component of interest while numerically simulating the remaining support structure in real-time. The physical and numerical coupling is referred to as a transfer system, and actuators typically act as this system in RTHS. The inherent dynamics of actuator systems is a main cause of RTHS instability and inaccuracy. This work presents the methodology to achieve control of a six-degrees-of-freedom shake table. The corresponding system identification and model-based linear time-varying (LTV) compensation are robust enough to facilitate stable and accurate RTHS testing of mechanical systems at small- and large-amplitude excitations. When compared with a minimum-phase inverse compensation technique, the LTV technique was superior in linearizing actuator dynamics at varying excitation amplitudes. The LTV technique was also able to accurately command the three-dimensional (3D) displacements of the 2020 magnitude 6.4 Puerto Rican earthquake.
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Data Availability Statement
All system identification and compensation data, models, and code that support this study’s findings are available from the corresponding author upon reasonable request. The January 7, 2020, Puerto Rico earthquake data used during the study is available through the Center for Engineering Strong Motion Data (CESMD 2020).
Acknowledgments
The Office of Naval Research supported the work under project DOD/NAVY/ONR, Award No. N00014-16-1-2086, Program Director Gregory Orris and Award No. N00014-20-1-2521, Program Director Paul Hess. The authors acknowledge accessing strong-motion data through the Center for Engineering Strong Motion Data (CESMD), last visited on March 20, 2020. The networks or agencies providing the data used in this report are the California Strong Motion Instrumentation Program (CSMIP) and the USGS National Strong Motion Project (NSMP).
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Published In
Journal of Engineering Mechanics
Volume 147 • Issue 9 • September 2021
Copyright
© 2021 American Society of Civil Engineers.
History
Received: Jun 19, 2020
Accepted: Mar 10, 2021
Published online: Jun 24, 2021
Published in print: Sep 1, 2021
Discussion open until: Nov 24, 2021
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