Stability of real-time hybrid simulation involving time-varying delay and direct integration algorithms

Huang, Liang; Chen, Cheng; Huang, Shenjiang; Wang, Jingfeng

doi:10.1177/10775463211001618

Cited by 5 publications

(5 citation statements)

References 35 publications

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“…where and . Based on Equation (20), the output of the top storey in the numerical linear model becomes…”

Section: Linear Models and Controller Designmentioning

confidence: 99%

“…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%

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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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“…where and . Based on Equation (20), the output of the top storey in the numerical linear model becomes…”

Section: Linear Models and Controller Designmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

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

Enokida

2021

Structural Contr & Hlth

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“…Additionally, (1) with the increase of μ , the stability domain of the system gradually decreases; (2) the stability domain of the time-varying delay system is smaller than that of the constant delay system. Huang et al (2022) further explored the convoluted effect of integration algorithms and actuator delay on the stability of RTHS, analysis results demonstrate that the actuator model that accounts for time-varying characteristic will lead to more conservative stability. These studies all show that time-varying delay have a considerable detrimental influence on system stability.…”

Section: Introductionmentioning

confidence: 99%

Quantitative analysis of time-varying delay for real-time hybrid simulation

Xue

Zhou

2023

Journal of Vibration and Control

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Real-time hybrid simulation is an effective method to study the seismic performance of large or complex structures. Time delay of the hydraulic servo system is unavoidable, which affects test accuracy and may cause instability. Previous studies shown that the reality of time-varying delay has a substantial negative effect on system stability than the assumption of constant delay. However, there is currently a lack of research for the actuating system with time-varying delay in the reality time domain. Therefore, a quantitative analysis method of time-varying delay is proposed in this study. The advantage is that only the command and the measured displacement signals are needed to obtain the time-varying delay in the time domain without any prior knowledge of the system. To overcome the influence of the amplitude error on the solution results, a processing method for the amplitude modulation of the measured displacement is proposed. To accurately search for the command corresponding to the measured signal, it is proposed to solve the time-varying delay by taking segment operation on the signal according to the maximum and minimum points. The efficiency of the proposed method is verified by numerical simulation, actuator displacement tracking test, and RTHS.

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“…Igarashi et al 19 and Zhu et al 20 studied the delay-dependent stability of shaking table RTHS by using the discrete-time root locus technique. Huang et al 21 explored the coupled effect of integration algorithms and actuator delay on the stability by using the L-K theory.…”

mentioning

confidence: 99%

Stability analysis of real time hybrid simulation under coupled actuator delay and nonlinear behavior

Huang

Chen

et al. 2022

Earthq Engng Struct Dyn

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Stability of real time hybrid simulation (RTHS) has attracted considerable attention since actuator delay would deviate experiment results or even destabilize the real-time test. Previous studies have extensively investigated stability of RTHS for linear systems, while stability of RTHS for nonlinear system remains unclear. This study introduces the Takagi-Sugeno (T-S) method to describe the nonlinear behavior in a piecewise linear way, then investigates the stability of nonlinear system with time delay through the Lyapunov-Krasovskii (L-K) theory.Such approach successfully solves the stability problem of RTHS with coupled bilinear-hysteresis substructure and actuator delay, and proposes a stability criterion in the form of linear matrix inequality (LMI). It proves that the stability of RTHS is determined by the most unfavorable state of nonlinear system. In the SDOF case with stiffness softening, the initial elastic state is the most unfavorable; while for the MDOF case with multiple delays, the stability is determined by the overlap part of stable region of each nonlinear state. The computational simulation and experimental results show that the difference between linear-and nonlinear hysteretic system with time delay is that when instability occurs, latter could remain energy balanced since the time-delay energy is dissipated by hysteresis behavior, while energy accumulates in the former leading to unbounded responses. The proposed approach provides a potential tool for experimental design of RTHS before the test, the time-delay control during the test and error evaluation after the test.

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Stability of real-time hybrid simulation involving time-varying delay and direct integration algorithms

Cited by 5 publications

References 35 publications

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

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

Quantitative analysis of time-varying delay for real-time hybrid simulation

Stability analysis of real time hybrid simulation under coupled actuator delay and nonlinear behavior

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