Model-Based Feedforward-Feedback Tracking Control for Real-Time Hybrid Simulation

摘要

Substructure hybrid simulation is a powerful, cost-effective alternative for testingstructural systems, closely coupling numerical simulation and experimental testing toobtain the complete response of a structure. In this approach, well-understoodcomponents of the structure are modeled numerically, while the components of interestare tested physically. Generally, an arbitrary amount of time may be used to calculate andapply displacements at each step of the hybrid simulation. However, when the ratedependentbehavior of the physical specimen is important, real-time hybrid simulation(RTHS) must be employed. Computation, communication, and servo-hydraulic actuatorlimitations cause delays and lags which lead to inaccuracies and potential instabilities inRTHS. This report proposes a new model-based servo-hydraulic tracking control methodincluding feedforward-feedback links to achieve accurate tracking of the desireddisplacement in real-time. The efficacy of the proposed approach is demonstrated throughRTHS of a nine-story steel building employing a 200 kN large-scale magnetorheological(MR) damper as the rate-dependent physical specimen.