Stability Analysis of Real-Time Hybrid Simulation for Time-Varying Actuator Delay Using the Lyapunov-Krasovskii Functional Approach

Huang, Liang; Chen, Cheng; Guo, Tong; Chen, Menghui

doi:10.1061/(asce)em.1943-7889.0001550

Cited by 24 publications

(23 citation statements)

References 33 publications

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“…HS was later further developed into real-time hybrid simulation (RTHS) to accommodate rate-dependent behavior for large-or full-scale tests in size limited structural laboratories. [4][5][6] In its early stage, research on RTHS more focused on adapting/developing suitable integration algorithm for efficient solution of nonlinear structural dynamics within the limited size of time step, [7][8][9][10] understanding the effect of actuator delay due to servo-hydraulic dynamics [11][12][13][14][15][16] and exploring various techniques to minimize the detrimental effect of actuator delay. [17][18][19][20][21][22] More recently, Silva et al 23 proposed a benchmark problem for real-time hybrid simulation of a three-story steel frame.…”

Section: Introductionmentioning

confidence: 99%

Experimental evaluation of CV‐Voronoi based adaptive sampling for Kriging meta‐modeling of multiple responses through real‐time hybrid simulation

Chen

Hou

et al. 2022

Earthq Engng Struct Dyn

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Real-time hybrid simulation (RTHS) integrates numerical modeling of analytical substructures with physical testing of experimental sub-structures thus enabling system global responses to be efficiently evaluated through component testing in size-limited laboratories. Traditional practice of RTHS focuses on responses evaluation of structures without considering their uncertainties. A cross-validation (CV)-Voronoi based adaptive sampling strategy is explored in this study for global meta-modeling of multiple response quantities of interests through RTHS for engineering systems with uncertainties. Based on the Kriging meta-model from initial samples, the CV-Voronoi based adaptive sampling sequentially identifies the sample points for RTHS tests in laboratory and observed responses of interests are used to update the Kriging meta-model. Multiple response distributions under structural uncertainties are thus acquired through limited number of experiments. RTHS tests of a two-degree-of-freedom system with selfcentering viscous dampers (SC-VDs) are conducted in this study to experimentally evaluate the effectiveness of the CV-Voronoi based adaptive sampling for multiple response estimation. The accuracy of multi-response meta-models are further evaluated through comparison with validation tests. A stopping criterion is finally proposed for more efficient implementation of the adaptive sampling strategy. It is demonstrated that the CV-Voronoi based adaptive sampling strategy provides a viable technique to enable accurate global meta-modeling and estimation for multiple responses with limited number of RTHS tests in laboratory.

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Section: Introductionmentioning

confidence: 99%

Experimental evaluation of CV‐Voronoi based adaptive sampling for Kriging meta‐modeling of multiple responses through real‐time hybrid simulation

Chen

Hou

et al. 2022

Earthq Engng Struct Dyn

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“…Some delays in actuation systems were reported to be time-varying, 17 and their influence on HS stability has been actively investigated. [18][19][20] The DSS scheme was proposed in the 2000s based on a control engineering perspective. 4 This scheme employs feedforward action for the external disturbance signal and feedback action for the error signal, which is obtained from the reference signal and control signal.…”

Section: Introductionmentioning

confidence: 99%

“…When the controlled system is slightly damped, the stability and performance of the HS scheme become sensitive to a pure time delay, 11–14 and many compensations 11,12,15,16 have been contrived for this scheme. Some delays in actuation systems were reported to be time‐varying, 17 and their influence on HS stability has been actively investigated 18–20 …”

Section: Introductionmentioning

confidence: 99%

Nonlinear substructuring control for simultaneous control of acceleration and displacement in shake table substructuring experiments

Enokida

2021

Structural Contr & Hlth

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This paper reports the first application of nonlinear substructuring control (NLSC) to shake table experiments in which the table dynamics is significantly affected by the specimen. Substructuring experiments using a shake table require simultaneous control of acceleration and displacement of the table because it functions as both an actuation system and a part of the substructure in the experiments. NLSC was developed as an enhanced version of linear substructuring control (LSC), the basic method for the control of dynamically substructured system. This paper first describes the formulation of substructures for shake table experiments using a multiple-degree-of-freedom structure and NLSC design for the substructures. The stability analysis of NLSC, which has three controllers, becomes much more complicated, more frequently showing conditional stability than is observed in conventional experiments. To assess various conditionally stable systems, this paper proposes an equivalent approach that can systematically count encirclements of the critical point in Nyquist plots. In the stability analysis using the proposed approach, NLSC is more robust against parameter variations in the substructures than LSC. In addition, the error feedback controller in both LSC and NLSC enhances the robustness against the variations. This study numerically and experimentally examined control performances for shake table substructuring experiments involving nonlinear characteristics. In the examinations, NLSC achieved the expected displacement and acceleration control with stability and reasonable accuracy, whereas LSC could not. The error feedback controller design of NLSC was found to be essential for performing shake table substructuring experiments with severe nonlinear characteristics.

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“…Researches indicated that actuator delay introduces equivalent negative damping into RTHS, which leads to inaccurate test results and even destabilize the entire simulation if not compensated properly. [13][14][15][16][17] Considerable efforts have been committed to develop delay compensation methods to improve actuator tracking to acquire reliability experimental results through RTHS. The performance of these actuator delay compensation method can be assessed by evaluating the difference between calculated displacements from the integration algorithm and the measured displacements from the actuators.…”

Section: Introductionmentioning

confidence: 99%

“…Often, servo‐hydraulic dynamics plays the most important role among different sources of time delay in RTHS. Researches indicated that actuator delay introduces equivalent negative damping into RTHS, which leads to inaccurate test results and even destabilize the entire simulation if not compensated properly 13–17 . Considerable efforts have been committed to develop delay compensation methods to improve actuator tracking to acquire reliability experimental results through RTHS.…”

Section: Introductionmentioning

confidence: 99%

Experimental verification of a frequency domain evaluation index‐based compensation for real‐time hybrid simulation

Guo

Chen

et al. 2020

Struct Control Health Monit

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Delay compensation method plays an important role in maintaining the stability and accuracy of the real-time hybrid simulation (RTHS). Inverse compensation (IC) method establishes a first-order discrete transfer function model to represent servo-hydraulic dynamics and provides an easy-to-implement compensation for RTHS. Only one parameter is required for the IC method, and it can be adjusted through different adaptive laws to accommodate error in initial delay estimation or time-varying delay throughout the test. Different techniques have been developed to improve the performance of the IC method such as dual compensation and adaptive IC (AIC). A windowed frequency domain evaluation index-based (WFEI) compensation is experimentally verified in this study through predefined tests and RTHS of a single-degree of freedom (SDOF) system. The frequency domain evaluation index (FEI) is applied through short-time Fourier transform (STFT) to estimate actuator delay in a real-time manner and to adapt the parameter of IC method to minimize possible delay variation and/or inaccurate estimation. The efficacy and robustness of the FEI-based compensation is further compared with the AIC method for various initial estimates, different window lengths, and bounds of estimated delay. Experimental results demonstrated that the WFEI method provides an effective and easy-to-implement method for RTHS.

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Stability Analysis of Real-Time Hybrid Simulation for Time-Varying Actuator Delay Using the Lyapunov-Krasovskii Functional Approach

Cited by 24 publications

References 33 publications

Experimental evaluation of CV‐Voronoi based adaptive sampling for Kriging meta‐modeling of multiple responses through real‐time hybrid simulation

Experimental evaluation of CV‐Voronoi based adaptive sampling for Kriging meta‐modeling of multiple responses through real‐time hybrid simulation

Nonlinear substructuring control for simultaneous control of acceleration and displacement in shake table substructuring experiments

Experimental verification of a frequency domain evaluation index‐based compensation for real‐time hybrid simulation

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