Stability Analysis of Real-Time Hybrid Simulation for Time-Varying Actuator Delay Using the Lyapunov-Krasovskii Functional Approach
Publication: Journal of Engineering Mechanics
Volume 145, Issue 1
Abstract
In a real-time hybrid simulation (RTHS), the actuator delay in experimental results might deviate from actual structural responses and even destabilize the real-time test. Although the assumption of a constant actuator delay helps simplify the stability analysis of RTHS, experimental results often show that the actuator delay varies throughout the test. However, research on the effect of time-varying delay on RTHS system stability is very limited. In this study, the Lyapunov-Krasovskii functional is introduced for the stability analysis of RTHS system. Two stability criteria are proposed for a linear system with a single constant delay and a time-varying delay. It is demonstrated that (1) the stable region of a time-varying delay system shrinks with the increase of the first derivative of time-varying delay; and (2) the stable region of the time-varying delay system is smaller than that of constant-time-delay system. Computational simulations were conducted for RTHS systems with a single degree of freedom to evaluate the proposed criteria. When the experimental specimen is an ideal elastic spring, the stability region of RTHS system with time-varying delay is shown to depend on the stiffness partition, structural natural period, and damping ratio. Significant differences in stability regions indicate that the time-varying characteristics of actuator delay should be considered for stability analysis of RTHS systems.
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Acknowledgments
The research described in this paper was financially supported by the Priority Academic Program Development of Jiangsu Higher Education Institutions, No. 1105007002.
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Published In
Journal of Engineering Mechanics
Volume 145 • Issue 1 • January 2019
Copyright
©2018 American Society of Civil Engineers.
History
Received: Jan 23, 2018
Accepted: Jun 28, 2018
Published online: Oct 30, 2018
Published in print: Jan 1, 2019
Discussion open until: Mar 30, 2019
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