Robust integrated actuator control: experimental verification and real‐time hybrid‐simulation implementation

Abstract

In this paper, we propose a new actuator control algorithm that achieves the design flexibility, robustness, and tracking accuracy to give real-time hybrid-simulation users the power to achieve highly accurate and robust actuator control. The robust integrated actuator control (RIAC) strategy integrates three key control components: loop shaping feedback control based on H 1 optimization, a linear-quadratic-estimation block for minimizing noise effect, and a feed-forward block that reduces small residual delay/lag. The combination of these components provides flexible controller design to accommodate setup limits while preserving the stability of the H 1 algorithm. The efficacy of the proposed strategy is demonstrated through two illustrative case studies: one using large capacity but relatively slow actuator of 2500 kN and the second using a smallscale fast actuator. Actuator tracking results in both cases demonstrate that the RIAC algorithm is effective and applicable for different setups. Real-time hybrid-simulation validation is implemented using a three-DOF building frame equipped with a magneto-rheological damper on both setups. Results using the two very different physical setups illustrate that RIAC is efficient and accurate.In HS and RTHS, a structure system is divided into numerical and experimental (also known as physical substructure) components. The numerical substructure contains the well-understood components and leaves the hard-to-model components in the physical setup. An illustration of a hybrid simulation

Experimental implementation of predictive indicators for configuring a real-time hybrid simulation

“…Recently, advanced compensation methods have been developed and implemented in RTHS [8,9,[14][15][16]. Here, for purposes of demonstrating the proposed method for designing and configuring the RTHS, a relatively straightforward and commonly used inverse compensation method [11] is used, defined as…”

“…Higher order models have also been adopted and inverted to account for the dynamics over a broader frequency range [12][13][14]. Recently, controllers based on H 1 algorithm have also been developed and successfully implemented for RTHS [15,16].…”

Application of the Hybrid Simulation Method for the Full-Scale Precast Reinforced Concrete Shear Wall Structure

“…The novel technique of the HS method, which mainly includes (1) the robust numerical integration techniques [2][3][4][5][6][7]; (2) the loading control method [8][9][10][11][12][13][14]; (3) the geographically distributed HS [15][16][17][18][19][20]; and (4) the parameter identification of HS [21][22][23][24][25][26] for the implement and improvement of HS method.…”

Substructure Hybrid Simulation Boundary Technique Based on Beam/Column Inflection Points

“…Beginning in the 1990s, development and application of HS in Europe, Asia, and other regions grew significantly [5][6][7]. For structural systems with rate-dependent components, real-time HS testing was proposed and developed [8][9][10][11][12][13][14][15]. Moreover, HS also allows testing to be geographically distributed in multiple testing facilities.…”