Equivalent Force Control Combined with Adaptive Polynomial-based Forward Prediction for Real-time Hybrid Simulation

摘要

The equivalent force control method uses feedback control to replace numerical iteration and solve the\udnonlinear equation in a real-time hybrid simulation via the implicit integration method. During the real-time\udhybrid simulation, a time delay typically reduces the accuracy of the test results and can even make the\udsystem unstable. The outer-loop controller of the equivalent force control method can eliminate the effect\udof a small time delay. However, when the actuator has a large delay, the accuracy of the test results is\udreduced. The adaptive forward prediction method offers a solution to this problem. Thus, in this paper, the\udadaptive polynomial-based forward prediction algorithm is combined with equivalent force control to\udimprove the test accuracy and stability. The new method is shown to give good stability properties for a\udspecimen with nonlinear stiffness by analyzing the location of the poles of the discrete transfer system.\udSimulations with linear and nonlinear specimens are then presented to demonstrate the effectiveness of this\udmethod. Finally, experimental results with a linear stiffness specimen and a magneto-rheological (MR)\uddamper are used to demonstrate that this method has better accuracy than the equivalent force control\udmethod with non-adaptive delay compensation.