A Practical Application of the Nonlinear Substructuring Control Method To Base-Isolated Structures

Abstract eng:
A dynamical substructuring system (DSS) is a substructuring methodology where a dynamical experiment is implemented on a physical substructure, plus real-time interaction with a simulated numerical substructure. The linear substructuring control (LSC) method is a control law specifically designed for DSS, requiring knowledge of the nominal dynamics of the substructures as well as actuation (i.e. transfer) system. Therefore, application of the LSC method alone is limited to relatively well-known systems. In this study, we propose a nonlinear substructuring control (NLSC) as a more general form of LSC by incorporating a nonlinear signal-based control (NSBC) method into DSS. Although the LSC controller requires properties of substructured systems, the newly developed NLSC controller does not relies on such accurate properties, because of the implementation of NSBC. NLSC here is numerically and experimentally examined in a comparison with LSC, via a substructuring test on a rubber bearing, commonly used in base-isolated structures. In the examinations, stiffness of the rubber bearing used in the LSC and NLSC controllers is deliberately assumed to be five times as large as the real value. In substructuring experiments conducted with a rubber bearing and a hydraulic actuator, NLSC achieved accurate control with very small error even with the inaccurate assumption, while LSC showed 15 times larger error. NLSC is found to be effective in executing substructured experiments containing poorly known parameters in the substructures.

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