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Velocity plus displacement equivalent force control for real-time substructure testing

  • Special Section: State-of-the-Art of Hybrid Testing Method
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Abstract

This paper employs a velocity plus displacement (V+D)-based equivalent force control (EFC) method to solve the velocity/displacement difference equation in a real-time substructure test. This method uses type 2 feedback control loops to replace mathematical iteration to solve the nonlinear dynamic equation. A spectral radius analysis of the amplification matrix shows that the type 2 EFC-explicit, Newmark-β method has beneficial numerical characteristics for this method. Its stability limit of Ω = 2 remains unchanged regardless of the system damping because the velocity is achieved with very high accuracy during simulation. In contrast, the stability limits of the central difference method using direct velocity prediction and the EFC-average acceleration method with linear interpolation are shown to decrease with an increase in system damping. In fact, the EFC-average acceleration method is shown to change from unconditionally stable to conditionally stable. We also show that if an over-damped system with a damping ratio of 1.05 is considered, the stability limit is reduced to Ω =1.45. Finally, the results from an experiment with a single-degree-of-freedom structure installed with a magneto-rheological (MR) damper are presented. The results demonstrate that the proposed method is able to follow both displacement and velocity commands with moderate accuracy, resulting in improved test performance and accuracy for structures that are sensitive to both velocity and displacement inputs. Although the findings of the study are promising, additional test data and several further improvements will be required to draw general conclusions.

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Acknowledgement

First, the authors are grateful to Prof. Wu of Harbin Institute of Technology; the amendments of an editorial nature and topic structure revision were finished under his guidance. The authors are grateful to Mr. Rendall and Mr. Griffith of the Bristol Laboratory for Advanced Dynamics Engineering, University of Bristol, for their assistance with the operation of the dSPACE testing system and Jack Potter’s suggestions for the tests. This research was funded by the Scientific Research Fund of the Institute of Engineering Mechanics, CEA (2016B09, 2017A02, 2016A06), the National Natural Science Foundation of China (51378478, 51408565, 51678538, 51161120360), the Program for Innovative Research Team in China Earthquake Administration, and the National Science-Technology Support Plan Projects (2016YFC0701106). Any opinions, findings, and conclusion or recommendation expressed in this paper are those of the authors and do not necessarily reflect the views of the sponsors.

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Authors and Affiliations

  1. Key Laboratory of Earthquake Engineering and Engineering Vibration of China Earthquake Administration, Harbin, 150080, China

    Huimeng Zhou & Tao Wang

  2. Institute of Engineering Mechanics, China Earthquake Administration, Beijing, PR China

    Huimeng Zhou & Tao Wang

  3. Dept. of Mechanical Engineering, University of Sheffield, Sheffield, UK

    D. Wagg

Authors
  1. Huimeng Zhou
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  2. D. Wagg
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  3. Tao Wang
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Corresponding author

Correspondence to Tao Wang.

Additional information

Supported by: Scientific Research Fund of the Institute of Engineering Mechanics, CEA under Grant No. 2016B09, 2017A02 and 2016A06, the National Natural Science Foundation of China under Grant No, 51378478, 51408565, 51678538 and 51161120360, and the National Science-Technology Support Plan Projects (2016YFC0701106)

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Zhou, H., Wagg, D. & Wang, T. Velocity plus displacement equivalent force control for real-time substructure testing. Earthq. Eng. Eng. Vib. 17, 87–102 (2018). https://doi.org/10.1007/s11803-018-0427-z

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  • DOI: https://doi.org/10.1007/s11803-018-0427-z

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