Real-time hybrid simulation (RTHS) is increasingly being recognized as a powerful cyber-physical technique that offers the opportunity for system evaluation of civil structures subject to extreme dynamic loading. Advances in this field are enabling researchers to evaluate new structural components/systems in cost-effective and efficient ways, under more realistic conditions. For RTHS, performance metric clearly needs to be developed to predict and evaluate the accuracy of various partitioning choices while incorporating the dynamics of the transfer system, and computational/communication delays. In addition, because of the dynamics of the transfer system, communication delays, and computation delays, the RTHS equilibrium force at the interface between numerical and physical substructures is subject to phase discrepancy. Thus, the transfer system dynamics must be accommodated by appropriate actuator controllers. In this paper, a new performance indicator, predictive performance indicator (PPI), is proposed to assess the sensitivity of an RTHS configuration to any phase discrepancy resulting from transfer system dynamics and computational/communication delays. The predictive performance indicator provides a structural engineer with two sets of information as follows: (i) in the absence of a reference response, what is the level of fidelity of the RTHS response? and (ii) if needed, what partitioning adjustments can be made to effectively enhance the fidelity of the response? Moreover, along with the RTHS stability switch criterion, this performance metric may be used as an acceptance criteria for conducting single-degree-of-freedom RTHS.
We expand the second-order fluid–structure coupling scheme of Farhat et al. (1998, “Load and Motion Transfer Algorithms for 19 Fluid/Structure Interaction Problems With Non-Matching Discrete Interfaces: Momentum and Energy Conservation, Optimal Discretization and Application to Aeroelasticity,” Comput. Methods Appl. Mech. Eng., 157(1–2), pp. 95–114; 2006, “Provably Second-Order Time-Accurate Loosely-Coupled Solution Algorithms for Transient Nonlinear Computational Aeroelasticity,” Comput. Methods Appl. Mech. Eng., 195(17), pp. 1973–2001) to structural acoustics. The staggered structural acoustics solution method is demonstrated to be second-order accurate in time, and numerical results are compared to a monolithically coupled system. The partitioned coupling method is implemented in the Sierra Mechanics software suite, allowing for the loose coupling of time domain acoustics in sierra/sd to structural dynamics (sierra/sd) or solid mechanics (sierra/sm). The coupling is demonstrated to work for nonconforming meshes. Results are verified for a one-dimensional piston, and the staggered and monolithic results are compared to an exact solution. Huang, H. (1969, “Transient Interaction of Plane Acoustic Waves With a Spherical Elastic Shell,” J. Acoust. Soc. Am., 45(3), pp. 661–670) sphere scattering problem with a spherically spreading acoustic load demonstrates parallel capability on a complex problem. Our numerical results compare well for a bronze plate submerged in water and sinusoidally excited (Fahnline and Shepherd, 2017, “Transient Finite Element/Equivalent Sources Using Direct Coupling and Treating the Acoustic Coupling Matrix as Sparse,” J. Acoust. Soc. Am., 142(2), pp. 1011–1024).
Real-time hybrid simulation (RTHS) is an important tool in the design and testing of civil and mechanical structures when engineers and scientists wish to understand the performance of an isolated component within the context of a larger structure. Performing full-scale physical experimentation with a large structure can be prohibitively expensive. Instead, a hybrid testing framework connects part of a physical structure within a closed loop (through sensors and actuators) to a numerical simulation of the rest of the structure. If we wish to understand the dynamic response of the combined structure, this testing must be done in real-time, which significantly restricts both the size of the simulation and the rate at which it can be conducted.Adding parallelism to the numerical simulation can enable both larger and higher frequency real-time simulations, potentially increasing both the accuracy and the control stability of the test. We present a proof-of-concept exploration of the execution of real-time hybrid simulations (an exemplar of a more general class of cyber-mechanical systems) with parallel computations. We execute large numerical simulations within tight timing constraints and provide a reasonable assurance of timeliness and usability. We detail the operation of our system, its design features, and show how parallel execution could enable qualitatively better experimentation within the discipline of structural engineering.
Exterior acoustic problems occur in a wide range of applications, making the finite element analysis of such problems a common practice in the engineering community. Various methods for truncating infinite exterior domains have been developed, including absorbing boundary conditions, infinite elements, and more recently, perfectly matched layers (PML). PML are gaining popularity due to their generality, ease of implementation, and effectiveness as an absorbing boundary condition. PML formulations have been developed in Cartesian, cylindrical, and spherical geometries, but not ellipsoidal. In addition, the parallel solution of PML formulations with iterative solvers for the solution of the Helmholtz equation, and how this compares with more traditional strategies such as infinite elements, has not been adequately investigated. In this paper, we present a parallel, ellipsoidal PML formulation for acoustic Helmholtz problems. To faciliate the meshing process, the ellipsoidal PML layer is generated with an on-the-fly mesh extrusion. Though the complex stretching is defined along ellipsoidal contours, we modify the Jacobian to include an additional mapping back to Cartesian coordinates in the weak formulation of the finite element equations. This allows the equations to be solved in Cartesian coordinates, which is more compatible with existing finite element software, but without the necessity of dealing with corners in the PML formulation. Herein we also compare the conditioning and performance of the PML Helmholtz problem with infinite element approach that is based on high order basis functions. On a set of representative exterior acoustic examples, we show that high order infinite element basis functions lead to an increasing number of Helmholtz solver iterations, whereas for PML the number of iterations remains constant for the same level of accuracy. This provides an additional advantage of PML over the infinite element approach.
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