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1.
This study examines the performance of integration methods for hybrid simulation of large and complex structural systems in the context of structural collapse due to seismic excitations. The target application is not necessarily for real-time testing, but rather for models that involve large-scale physical sub-structures and highly nonlinear numerical models. Four case studies are presented and discussed. In the first case study, the accuracy of integration schemes including two widely used methods, namely, modified version of the implicit Newmark with fixed-number of iteration (iterative) and the operator-splitting (non-iterative) is examined through pure numerical simulations. The second case study presents the results of 10 hybrid simulations repeated with the two aforementioned integration methods considering various time steps and fixed-number of iterations for the iterative integration method. The physical sub-structure in these tests consists of a single-degree-of-freedom (SDOF) cantilever column with replaceable steel coupons that provides repeatable highlynonlinear behavior including fracture-type strength and stiffness degradations. In case study three, the implicit Newmark with fixed-number of iterations is applied for hybrid simulations of a 1:2 scale steel moment frame that includes a relatively complex nonlinear numerical substructure. Lastly, a more complex numerical substructure is considered by constructing a nonlinear computational model of a moment frame coupled to a hybrid model of a 1:2 scale steel gravity frame. The last two case studies are conducted on the same porotype structure and the selection of time steps and fixed number of iterations are closely examined in pre-test simulations. The generated unbalance forces is used as an index to track the equilibrium error and predict the accuracy and stability of the simulations. 相似文献
2.
Explicit integration procedures have been widely adapted and applied to hybrid simulations of the seismic response of structures due to their simplicity. However, these procedures are only conditionally stable and have limited recent applications of hybrid simulations to simple structural models with few degrees of freedom. A novel integration procedure is proposed herein, in which a fully implicit formulation is applied to solve the equation of motion for the hybrid model, but defaults to an explicit or noniterative formulation in steps that fail to converge. The advantages to this approach are the ensured continuity of the simulation and the reduced accumulation of errors that occur during consecutive explicit steps that may lead to instability. The implicit procedure is applied by loading the experimental substructures beyond the expected displacement for the current step, then using the displacements and forces measured through the load path in the iterative implicit scheme. This approach captures the instantaneous behaviour of experimental substructures without physically imposing iterations. Numerical and experimental simulations demonstrate the effectiveness of the proposed integration scheme for multi‐degree‐of‐freedom models, especially in utilization of longer time steps that exceed stability limits of explicit methods, prevention of excitation of higher modes, and testing of stiff systems. Copyright © 2007 John Wiley & Sons, Ltd. 相似文献
3.
Researchers have long recognized the importance and potential benefits of utilizing the tangent stiffness matrix of a test specimen in hybrid simulations employing implicit and mixed‐integration schemes. However, the computation of the tangent stiffness matrix during testing has proved to be challenging, particularly for test specimens with more than one degree of freedom (dof). This paper presents a new methodology that is more straightforward and simpler than existing techniques for computing the tangent stiffness matrix of a multi‐dof test specimen. The proposed method is combined with the operator‐splitting method (OSM), and the capabilities, advantages and limitations of the new formulation are demonstrated through several examples. The accuracy, stability, and error propagation characteristics of the modified OSM are also studied theoretically as well as numerically. The research results show that the proposed algorithm provides results that are better than those produced via the regular OSM alone, especially for damped structures undergoing highly inelastic behavior during testing. Copyright © 2008 John Wiley & Sons, Ltd. 相似文献
4.
Real‐time hybrid testing combines experimental testing and numerical simulation, and provides a viable alternative for the dynamic testing of structural systems. An integration algorithm is used in real‐time hybrid testing to compute the structural response based on feedback restoring forces from experimental and analytical substructures. Explicit integration algorithms are usually preferred over implicit algorithms as they do not require iteration and are therefore computationally efficient. The time step size for explicit integration algorithms, which are typically conditionally stable, can be extremely small in order to avoid numerical stability when the number of degree‐of‐freedom of the structure becomes large. This paper presents the implementation and application of a newly developed unconditionally stable explicit integration algorithm for real‐time hybrid testing. The development of the integration algorithm is briefly reviewed. An extrapolation procedure is introduced in the implementation of the algorithm for real‐time testing to ensure the continuous movement of the servo‐hydraulic actuator. The stability of the implemented integration algorithm is investigated using control theory. Real‐time hybrid test results of single‐degree‐of‐freedom and multi‐degree‐of‐freedom structures with a passive elastomeric damper subjected to earthquake ground motion are presented. The explicit integration algorithm is shown to enable the exceptional real‐time hybrid test results to be achieved. Copyright © 2008 John Wiley & Sons, Ltd. 相似文献
5.
Online hybrid tests (called the online tests), particularly when combined with substructuring techniques, are able to conduct large‐scale tests. An extension of this technique is to combine multiple loading tests conducted in remote locations and to integrate the tests with large numerical analysis codes. In this study, a new Internet online test system is developed in which a physical test is conducted in one place, the associated numerical analysis is performed in a remote location, and the two locations communicate over the Internet. To implement the system, a technique that links test and analysis domains located at different places is proposed, and an Internet data exchange interface is devised to allow data communication across Internet. A practical method that utilizes standard protocols implemented by operating systems for sharing files and folders is adopted to ensure stable and robust communication between remotely located servers that commonly protect themselves by strict firewalls. To combine the online test with a finite element program formulated in an incremental form and adopting an implicit integration scheme, a tangent stiffness prediction procedure is proposed. In this procedure, a tangent stiffness is estimated based on a few previous steps of experimental data. Using the system devised, tests on a base‐isolated structure were carried out. Here, the base‐isolation layer was taken as the tested part and tested in Kyoto University, Japan, and the superstructure was modelled by means of a finite element program and analysed in a computer located in Osaka University. A series of physical Internet online tests were carried out, with the integration time interval and the method of tangent stiffness prediction as the major parameters. The tests demonstrated that the Internet communication was very stable and robust, without malfunctions. The proposed method of stiffness prediction was effective even when the experimental hysteresis curves exhibited complex behaviour, thereby ensuring accurate simulation for the earthquake response of the entire structure. Copyright © 2005 John Wiley & Sons, Ltd. 相似文献
6.
This study presents a fast algorithm for collapse behavior simulation of space truss structures under extreme earthquake excitation by introducing the Woodbury formula to efficiently solve the structural response caused by material and geometric nonlinearity (hybrid nonlinearity). The Woodbury formula, which is an efficient tool in mathematics for solving low-rank perturbation problems, has successfully been used to improve the efficiency of local material nonlinear analysis but still has difficulties with seismic collapse analysis in which geometric nonlinearity should be considered. In this study, by implementing stiffness matrix decomposition according to the unchanged reference configuration, the effects of hybrid nonlinearity on the change in tangent stiffness of truss structures are uniformly formulated in the form of hybrid nonlinear perturbation to the reference elastic stiffness. Thus, a hybrid nonlinearity separated governing equation can be established, in which the hybrid nonlinear behaviors are depicted by the additional nonlinear degrees of freedom (NLDOFs) separated from the reference system. This allows for employing the Woodbury formula to perform seismic collapse analysis of space truss structures for avoiding the repeated updating of the global stiffness. To overcome the adverse effect of the large NLDOF number caused by the global characteristics of geometric nonlinearity on the efficiency advantages of the Woodbury formula during seismic collapse analysis, an element state judgment strategy and an adaptive restart mechanism are presented to activate only a small number of NLDOFs within critical local regions. The accuracy and efficiency of the proposed method are verified by two numerical examples. 相似文献
7.
The problem of assessing errors in implementing time-marching algorithms in the context of pseudo-dynamic seismic testing of structures is considered. These errors occur in implementing the numerical and experimental steps of the test procedure. The study investigates how a linearized variational equation can be augmented with the governing equation of motion to track the effect of the errors, and, accordingly, adjust the step size of integration adaptively to keep a global error norm within specified limits. The governing augmented equations are integrated using an explicit operator splitting scheme. Additional efforts, in terms of evaluation of the tangent stiffness matrix, are shown to become necessary while modelling the errors. Illustrative examples include numerical studies on a set of nonlinear systems and an experimental study on a geometrically nonlinear two-storied building frame. The experimental results from pseudo-dynamic test are shown to compare reasonably well with pertinent results from an effective force test. 相似文献
8.
A set of algorithms combined with a substructure technique is proposed for an online hybrid test framework, in which the substructures are encapsulated by a standard interface that implements displacements and forces at the common substructure boundaries. A coordinator equipped with the proposed algorithms is designed to achieve boundary compatibility and equilibrium, thereby endowing the substructures the ability to behave as one piece. A model‐based predictor and corrector, and a noniterative procedure, characterize the set of algorithms. The coordinator solves the dynamics of the entire structure and updates the static boundary state simultaneously by a quasi‐Newton procedure, which gradually formulates the condensed stiffness matrix associated with corresponding degrees of freedom. With the condensed stiffness matrix and dynamic information, a condensed equation of motion is derived and then solved by a typical time integration algorithm. Three strategies for updating the condensed stiffness matrix are incorporated into the proposed algorithms. Each adopts different stiffness matrix during the predicting and correcting stage. These algorithms are validated by two numerical substructure simulations and a hybrid test. The effectiveness and feasibility are fully demonstrated. Copyright © 2012 John Wiley & Sons, Ltd. 相似文献
9.
Real‐time hybrid simulation is a viable experiment technique to evaluate the performance of structures equipped with rate‐dependent seismic devices when subject to dynamic loading. The integration algorithm used to solve the equations of motion has to be stable and accurate to achieve a successful real‐time hybrid simulation. The implicit HHT α‐algorithm is a popular integration algorithm for conducting structural dynamic time history analysis because of its desirable properties of unconditional stability for linear elastic structures and controllable numerical damping for high frequencies. The implicit form of the algorithm, however, requires iterations for nonlinear structures, which is undesirable for real‐time hybrid simulation. Consequently, the HHT α‐algorithm has been implemented for real‐time hybrid simulation using a fixed number of substep iterations. The resulting HHT α‐algorithm with a fixed number of substep iterations is believed to be unconditionally stable for linear elastic structures, but research on its stability and accuracy for nonlinear structures is quite limited. In this paper, a discrete transfer function approach is utilized to analyze the HHT α‐algorithm with a fixed number of substep iterations. The algorithm is shown to be unconditionally stable for linear elastic structures, but only conditionally stable for nonlinear softening or hardening structures. The equivalent damping of the algorithm is shown to be almost the same as that of the original HHT α‐algorithm, while the period elongation varies depending on the structural nonlinearity and the size of the integration time‐step. A modified form of the algorithm is proposed to improve its stability for use in nonlinear structures. The stability of the modified algorithm is demonstrated to be enhanced and have an accuracy that is comparable to that of the existing HHT α‐algorithm with a fixed number of substep iterations. Both numerical and real‐time hybrid simulations are conducted to verify the modified algorithm. The experimental results demonstrate the effectiveness of the modified algorithm for real‐time testing. Copyright © 2011 John Wiley & Sons, Ltd. 相似文献
10.
11.
Hybrid simulation combines numerical and experimental methods for cost‐effective, large‐scale testing of structures under simulated earthquake loading. Structural system level response can be obtained by expressing the equation of motion for the combined experimental and numerical substructures, and solved using time‐stepping integration similar to pure numerical simulations. It is often assumed that a reliable model exists for the numerical substructures while the experimental substructures correspond to parts of the structure that are difficult to model. A wealth of data becomes available during the simulation from the measured experiment response that can be used to improve upon the numerical models, particularly if a component with similar structural configuration and material properties is being tested and subjected to a comparable load pattern. To take advantage of experimental measurements, a new hybrid test framework is proposed with an updating scheme to update the initial modeling parameters of the numerical model based on the instantaneously‐measured response of the experimental substructures as the test progresses. Numerical simulations are first conducted to evaluate key algorithms for the selection and calibration of modeling parameters that can be updated. The framework is then expanded to conduct actual hybrid simulations of a structural frame model including a physical substructure in the laboratory and a numerical substructure that is updated during the tests. The effectiveness of the proposed framework is demonstrated for a simple frame structure but is extendable to more complex structural behavior and models. Copyright © 2013 John Wiley & Sons, Ltd. 相似文献
12.
Compensation of delay and dynamic response of servo‐hydraulic actuators is critical for stability and accuracy of hybrid experimental and numerical simulations of seismic response of structures. In this study, current procedures for compensation of actuator delay are examined and improved procedures are proposed to minimize experimental errors. The new procedures require little or no a priori information about the behavior of the test specimen or the input excitation. First, a simple approach is introduced for rapid online estimation of system delay and actuator command gain, thus capturing the variability of system response through a simulation. Second, an extrapolation procedure for delay compensation, based on the same kinematics equations used in numerical integration procedures is examined. Simulations using the proposed procedures indicate a reduction in high‐frequency noise in force measurements that can minimize the excitation of high‐frequency modes. To further verify the effectiveness of the compensation procedures, the artificial energy added to a hybrid simulation as a result of actuator tracking errors is measured and used for demonstrating the improved accuracy in the simulations. Copyright © 2007 John Wiley & Sons, Ltd. 相似文献
13.
This paper presents a new method, called the equivalent force control method, for solving the nonlinear equations of motion in a real‐time substructure test using an implicit time integration algorithm. The method replaces the numerical iteration in implicit integration with a force‐feedback control loop, while displacement control is retained to control the motion of an actuator. The method is formulated in such a way that it represents a unified approach that also encompasses the effective force test method. The accuracy and effectiveness of the method have been demonstrated with numerical simulations of real‐time substructure tests with physical substructures represented by spring and damper elements, respectively. The method has also been validated with actual tests in which a Magnetorheological damper was used as the physical substructure. Copyright © 2007 John Wiley & Sons, Ltd. 相似文献
14.
Implementation and application of the unconditionally stable explicit parametrically dissipative KR‐α method for real‐time hybrid simulation 
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下载免费PDF全文 Chinmoy Kolay James M. Ricles Thomas M. Marullo Akbar Mahvashmohammadi Richard Sause 《地震工程与结构动力学》2015,44(5):735-755
In real‐time hybrid simulations (RTHS) that utilize explicit integration algorithms, the inherent damping in the analytical substructure is generally defined using mass and initial stiffness proportional damping. This type of damping model is known to produce inaccurate results when the structure undergoes significant inelastic deformations. To alleviate the problem, a form of a nonproportional damping model often used in numerical simulations involving implicit integration algorithms can be considered. This type of damping model, however, when used with explicit integration algorithms can require a small time step to achieve the desired accuracy in an RTHS involving a structure with a large number of degrees of freedom. Restrictions on the minimum time step exist in an RTHS that are associated with the computational demand. Integrating the equations of motion for an RTHS with too large of a time step can result in spurious high‐frequency oscillations in the member forces for elements of the structural model that undergo inelastic deformations. The problem is circumvented by introducing the parametrically controllable numerical energy dissipation available in the recently developed unconditionally stable explicit KR‐α method. This paper reviews the formulation of the KR‐α method and presents an efficient implementation for RTHS. Using the method, RTHS of a three‐story 0.6‐scale prototype steel building with nonlinear elastomeric dampers are conducted with a ground motion scaled to the design basis and maximum considered earthquake hazard levels. The results show that controllable numerical energy dissipation can significantly eliminate spurious participation of higher modes and produce exceptional RTHS results. Copyright © 2014 John Wiley & Sons, Ltd. 相似文献
15.
Haitjema HM 《Ground water》2006,44(1):102-105
The analytic element method, like the boundary integral equation method, gives rise to a system of equations with a fully populated coefficient matrix. For simple problems, these systems of equations are linear, and a direct solution method, such as Gauss elimination, offers the most efficient solution strategy. However, more realistic models of regional ground water flow involve nonlinear equations, particularly when including surface water and ground water interactions. The problem may still be solved by use of Gauss elimination, but it requires an iterative procedure with a reconstruction and decomposition of the coefficient matrix at every iteration step. The nonlinearities manifest themselves as changes in individual matrix coefficients and the elimination (or reintroduction) of several equations between one iteration and the other. The repeated matrix reconstruction and decomposition is computationally intense and may be avoided by use of the Sherman-Morrison formula, which can be used to modify the original solution in accordance with (small) changes in the coefficient matrix. The computational efficiency of the Sherman-Morrison formula decreases with increasing numbers of equations to be modified. In view of this, the Sherman-Morrison formula is only used to remove equations from the original set of equations, while treating all other nonlinearities by use of an iterative refinement procedure. 相似文献
16.
复杂加载路径下堆石料动力本构模型及数值模拟 总被引：6，自引：0，他引：6
采用所发展的亚塑性边界面模型，对堆石料在不同固结应力状态、排水条件和加载方式下的典型试验进行了数值模拟分析。在本构模型的数值实施中，联合应用自适应多步回退欧拉积分规律和局部迭代加快了迭代收敛的速度，提高了积分精度，进而编制了计算程序TESTROCK。数值模拟结果与已有试验成果的对比分析表明，该模型能够合理、有效地反映堆石料在复杂加载路径下的变形和强度特性，为深入揭示堆石料变形和孔隙水压力的发展特性和进行高混凝土面板堆石坝的非线性耦合静动力分析提供了理论基础。 相似文献
17.
基于非线性积分方程,利用井轴上阵列感应成像测井仪（AIT）的单频测量信号,将变形玻恩（Bom）迭代方法用于地球物理测井反演,用正则化方法求出地层电导率分布。文中首先给出对于未知电导率分布的非线性积分方程,然后用玻恩近似使非线性积分方程线性化,求出电导率分布。在迭代过程中,数值模式匹配法用于求解阵列感应的正演问题。数值计算表明,用井轴上 AIT 的单频测量信号得到的成像结果与真电导率剖面分布吻合较好。 相似文献
18.
Hybrid simulation is a powerful test method for evaluating the seismic performance of structural systems. This method makes it feasible that only critical components of a structure be experimentally tested. This paper presents a newly proposed integration algorithm for seismic hybrid simulation which is aimed to extend its capabilities to a wide range of systems where existing methods encounter some limitations. In the proposed method, which is termed the variable time step (VTS) integration method, an implicit scheme is employed for hybrid simulation by eliminating the iterative phase on experimental element, the phase which is necessary in regular implicit applications. In order to study the effectiveness of the VTS method, a series of numerical investigations are conducted which show the successfulness of the VTS method in obtaining accurate, stable and converged responses. Then, in a comparative approach, the improved accuracy of the VTS method over commonly used integration methods is demonstrated. The stability of the VTS method is also studied and the results show that it provides conditional stability; however, its stability limit is well beyond the accuracy limit. The effect of time delay on the VTS method results is also investigated and it is shown that the VTS method is quite successful in handling this experimental error. 相似文献
19.
A hybrid numerical and experimental simulation to collapse was conducted on a one‐half scale moment‐resisting frame building with two experimental substructures at different locations. An extensible hybrid test framework was used that adopts a generalized interface to encapsulate each numerical or tested substructure, through which only boundary displacements and forces are exchanged. Equilibrium and compatibility between substructures are enforced by an iterative quasi‐Newton procedure, while adopting a predictor‐and‐corrector method to avoid loading reversals on physically tested substructures. To overcome difficulties in controlling stiff axial and rotational deformations at the boundaries, the flexible test scheme employs either open‐loop or closed‐loop control at the boundaries: enforcing either compatibility or equilibrium, or both requirements at critical boundaries. The effectiveness of the extensible framework and its capability to simulate structural behavior through collapse is demonstrated by a geographically distributed test that reproduced the collapse behavior of a four‐story, two‐bay, steel moment frame previously tested on an earthquake simulator. A comparison of both experiments highlights the viability of the hybrid test as an effective tool for the performance evaluation of structural systems from the onset of damage through collapse. Copyright © 2011 John Wiley & Sons, Ltd. 相似文献
20.
One of the weaknesses of the operator splitting method (OSM) is that its corrector step employs the approximation that incremental forces are linearly related to the tested structure's initial stiffness matrix. This paper presents a new predictor–corrector technique in which the assumptions about the tested structure's response are shifted to the predictor step, which results in an enhancement in overall simulation accuracy, especially for nonlinear structures. Unlike OSM, which splits the displacement and velocity operators into explicit and implicit terms, the new method uses predicted accelerations to compute fully explicit displacement and velocity values in the predictor step. Another advantage of the proposed technique, termed the full operator method (FOM) is that its formulation makes it suitable for both quasi‐static and real‐time hybrid simulation. The effectiveness of FOM is first evaluated by investigating error propagation in an undamped single degree‐of‐freedom model. It is shown that the corrector step in FOM is able to significantly suppress aberrant simulation results caused by incorrect estimation of the structure's stiffness matrix. The performance of FOM is demonstrated by exercising two additional models, which exhibit significant inelastic behavior under the prescribed excitation. The simulation results show that the proposed FOM algorithm is capable of producing accurate solutions and that the corrector step is influential in effectively reducing simulation errors. It is also shown that FOM suppresses actuator displacement control errors because of its reliance on measured quantities in the corrector step. Copyright © 2009 John Wiley & Sons, Ltd. 相似文献