Model-Based Mdof Real-Time Hybrid Simulation Procedure Considering Time-Delay Effects

Abstract eng:
A model-based real-time hybrid simulation (RTHS) method with a robust control algorithm which compensates the timedelay effect for the multi-actuator systems (1/5 scaled loading boundary condition box at UIUC with 6 degrees-of-freedom) is developed in this study. Unlike the conventional testing method, in RTHS the desired responses of the critical element, which are loaded using servo-hydraulic actuator system with a large or full scale model in a laboratory, are obtained by the experimental part. The behaviors of other elements under external excites are calculated by solving the dynamic equations of motion using a numerical model in the computational part. The control scheme proposed herein needs to directly address the servo-hydraulic and actuator dynamics through model-based robust control algorithm and considers the time-delay effect. The transfer functions are identified through the MIMO calibration procedure with the local linearization of the coordinate transformation between actuator coordinate system and Cartesian coordinate system. Based on the uncertainty characteristic, the robust controller for LBCB is implemented and compiled into the NI/LabView CompactRIO system. Furthermore, IIR filter is adopted and mitigated into the RTHS process based on NI/Labview platform for time-delay compensation in the control loop. The finite element simulation of a one-bay frame structure with a scaled column testing during RTHS is simulated on 2 NI cRIO system. At the same time, the sources of the time-delay effect in the dynamics of the RTHS system and the noise in the DSP system are directly incorporated. The proposed test procedure needs to be verified and validated by additional tests. Some conclusions can be drawn from the model-based RTHS test procedure. It is indicated that the modelbased robust control design method is suitable for different complicated actuation models. The proposed test scheme allows for the testing of a broader class of structures in the RTHS.

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