Tracking Error-Based Servohydraulic Actuator Adaptive Compensation for Real-Time Hybrid Simulation
Publication: Journal of Structural Engineering
Volume 136, Issue 4
Abstract
Real-time hybrid simulation combines experimental testing and numerical simulation by dividing a structural system into experimental and analytical substructures. Servohydraulic actuators are typically used in a real-time hybrid simulation to apply command displacements to the experimental substructure(s). Servohydraulic actuators may develop a time delay due to inherent actuator dynamics that results in a desynchronization between the measured restoring force(s) and the integration algorithm in a real-time hybrid simulation. Inaccuracy or even instability will occur in a hybrid simulation if actuator delay is not compensated properly. This paper presents an adaptive compensation method for actuator delay. An adaptive control law is developed using an error tracking indicator to adapt a compensation parameter used in the proposed compensation method. Laboratory tests involving large-scale real-time hybrid simulations of a single degree of freedom moment resisting frame with an elastomeric damper are conducted to experimentally demonstrate the effectiveness of the proposed adaptive compensation method. The actuator tracking capability is shown to be greatly improved and exceptional experimental results are still achieved when a good estimate of actuator delay is not available.
Get full access to this article
View all available purchase options and get full access to this article.
Acknowledgments
This paper is based upon work supported by grants from the Pennsylvania Department of Community and Economic Development through the Pennsylvania Infrastructure Technology Alliance, and by the National Science Foundation (NSF) under Grant No. UNSPECIFIEDCMS-0402490 within the George E. Brown, Jr. Network for Earthquake Engineering Testing Consortium Operation. Any opinions, findings, and conclusions expressed in this paper are those of the writers and do not necessarily reflect the views of the sponsors.
References
Ahmadizadeh, M., Mosqueda, G., and Reihorn, A. M. (2008). “Compensation of actuator delay and dynamics for real-time hybrid structural simulation.” Earthquake Eng. Struct. Dynam., 37(1), 21–42.
Bonnet, P. A., et al. (2007). “Real-time hybrid experiments with Newmark integration, MCSmd outer-loop control and multi-tasking strategies.” Earthquake Eng. Struct. Dynam., 36(1), 119–141.
Blakeborough, A., Williams, M. S., Darby, A. P., and Williams, D. M. (2001). “The development of real-time substructure testing.” Philos. Trans. R. Soc. London, Ser. A, 359, 1869–1891.
Carrion, J. E., and Spencer, B. F. (2006). “Real-time hybrid testing using model-based delay compensation.” Proc., 4th Int. Conf. on Earthquake Engineering, Taipei, Taiwan.
Chen, C. (2007). “Development and numerical simulation of hybrid effective force testing method.” Ph.D. dissertation, Dept. of Civil and Environmental Engineering, Lehigh Univ., Bethlehem, Pa.
Chen, C., and Ricles, J. M. (2008a). “Development of direct integration algorithms for structural dynamics using discrete control theory.” J. Eng. Mech., 134(8), 676–683.
Chen, C., and Ricles, J. M. (2008b). “Stability analysis of direct integration algorithms applied to nonlinear structural dynamics.” J. Eng. Mech., 134(9), 703–711.
Chen, C., and Ricles, J. M. (2008c). “Stability analysis of SDOF real-time hybrid testing systems with explicit integration algorithms and actuator delay.” Earthquake Eng. Struct. Dynam., 37(4), 597–613.
Chen, C., Ricles, J. M., Marullo, T. and Mercan, O. (2009). “Real-time hybrid testing using the unconditionally stable explicit CR integration algorithm.” Earthquake Eng. Struct. Dynam., 38, 23–44.
Christenson, R., Lin, Y. Z., Emmons, A., and Bass, B. (2008). “Large-scale experimental verification of semi-active control through real-time hybrid simulation.” J. Struct. Eng., 134(4), 522–534.
Darby, A. P., Blakeborough, A., and Williams, M. S. (1999). “Real-time substructure tests using hydraulic actuators.” J. Eng. Mech., 125(10), 1133–1139.
Dermitzakis, S. N., and Mahin, S. A. (1985). “Development of substructuring techniques for on-line computer controlled seismic performance testing.” Rep. No. UBC/EERC-85/04, Earthquake Engineering Research Center, Univ. of California, Berkeley, Berkeley, Calif.
Franklin, G. F., Powell, J. D., and Naeini, A. E. (2002). Feedback control of dynamic systems, 4th Ed., Prentice-Hall, Upper Saddle River, N.J.
Horiuchi, T., Inoue, M., Konno, T., and Namita, Y. (1999). “Real-time hybrid experimental system with actuator delay compensation and its application to a piping system with energy absorber.” Earthquake Eng. Struct. Dynam., 28(10), 1121–1141.
Horiuchi, T., and Konno, T. (2001). “A new method for compensating actuator delay in real-time hybrid experiment.” Philos. Trans. R. Soc. London, Ser. A, 359, 1893–1909.
Jung, R. Y., and Shing, P. B. (2006). “Performance evaluation of a real-time pseudodynamic test system.” Earthquake Eng. Struct. Dynam., 35(7), 789–810.
Jung, R. Y., Shing, P. B., Stauffer, E., and Bradford, T. (2007). “Performance of a real-time pseudodynamic test system considering nonlinear structural response.” Earthquake Eng. Struct. Dynam., 36(12), 1785–1809.
Kontopanos, A. (2006). “Experimental investigation of a prototype elastomeric structural damper.” MS thesis, Dept. of Civil and Environmental Engineering, Lehigh Univ., Bethlehem, Pa.
Lee, K. S., Fan, C. P., Sause, R., and Ricles, J. M. (2005). “Simplified design procedure for frame buildings with viscoelastic or elastomeric dampers.” Earthquake Eng. Struct. Dynam., 34(10), 1271–1284.
MATLAB. (2007). The MathWorks, Inc., Natick, Mass.
Mercan, O. (2007). “Analytical and experimental studies on large scale, real-time pseudodynamic testing.” Ph.D. dissertation, Dept. of Civil and Environmental Engineering, Lehigh Univ., Bethlehem, Pa.
Mercan, O., and Ricles, J. M. (2007). “Stability and accuracy analysis of outer loop dynamics in real-time pseudodynamic testing of SDOF systems.” Earthquake Eng. Struct. Dynam., 36(11), 1523–1543.
Mercan, O., and Ricles, J. M. (2008). “NEES@Lehigh: Real-time hybrid pseudodynamic testing of large-scale structures.” Hybrid simulation: Theory, implementation and applications, Chapter 10, V. Saouma and S. Mettupalayam, eds., Francis and Taylor, London.
Mosqueda, G., Stojadinovic, B., and Mahin, S. A. (2007a). “Real-time error monitoring for hybrid simulation. Part I: Methodology and experimental verification.” J. Struct. Eng., 133(8), 1100–1108.
Mosqueda, G., Stojadinovic, B., and Mahin, S. A. (2007b). “Real-time error monitoring for hybrid simulation. Part II: Structural response modification due to errors.” J. Struct. Eng., 133(8), 1109–1117.
Nakashima, M., Kato, H., and Takaoka, E. (1992). “Development of real-time pseudodynamic testing.” Earthquake Eng. Struct. Dynam., 21(1), 79–92.
Ogata, K. (1995). Discrete-time control systems, 2nd Ed., Prentice-Hall, Upper Saddle River, N.J.
Shao, X., Reinhorn, A. M., and Sivaselvan, M. (2006). “Real-time dynamic hybrid testing using force-based substructuring.” Proc., 2006 ASCE Structures Congress, ASCE, Reston, Va.
Shing, P. B. (2002). “Development of high-speed on-line substructuring testing system at the University of Colorado.” Proc., CASCADE Technical Workshop, Oxford, U.K.
Soong, T. T., and Spencer, B. F., Jr. (2002). “Supplemental energy dissipation: State-of-the-art and state-of-the-practice.” Eng. Struct., 24, 243–259.
Wallace, M. I., Sieber, J., Neild, S. A., Wagg, D. J., and Krauskopf, B. (2005a). “Stability analysis of real-time dynamic substructuring using delay differential equation models.” Earthquake Eng. Struct. Dynam., 34(15), 1817–1832.
Wallace, M. I., Wagg, D. J., and Neild, S. A. (2005b). “An adaptive polynomial based forward prediction algorithm for multi-actuator real-time dynamic substructuring.” Proc. R. Soc. London, Ser. A, 461, 3807–3826.
Wen, Y. K. (1980). “Equivalent linearization for hysteretic systems under random excitation.” Trans. ASME, J. Appl. Mech., 47, 150–154.
Zhang, X. P., Ricles, J. M., Mercan, O., and Chen, C. (2005). “Servo-hydraulic system identification for the NEES real-time multi-directional earthquake simulation facility.” ATLSS Rep. No. 05-14, Center for Advanced Technology for Large Structural Systems, Lehigh Univ., Bethlehem, Pa.
Zhao, J., French, C., Shield, C., and Posbergh, T. (2003). “Considerations for the development of real-time dynamic testing using servo-hydraulic actuation.” Earthquake Eng. Struct. Dynam., 32(11), 1773–1794.
Information & Authors
Information
Published In
Journal of Structural Engineering
Volume 136 • Issue 4 • April 2010
Pages: 432 - 440
Copyright
© 2010 ASCE.
History
Received: Oct 7, 2008
Accepted: Sep 7, 2009
Published online: Mar 15, 2010
Published in print: Apr 2010
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.