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1.
A variant of the Rosenbrock‐W integration method is proposed for real‐time dynamic substructuring and pseudo‐dynamic testing. In this variant, an approximation of the Jacobian matrix that accounts for the properties of both the physical and numerical substructures is used throughout the analysis process. Only an initial estimate of the stiffness and damping properties of the physical components is required. It is demonstrated that the method is unconditionally stable provided that specific conditions are fulfilled and that the order accuracy can be maintained in the nonlinear regime without involving any matrix inversion while testing. The method also features controllable numerical energy dissipation characteristics and explicit expression of the target displacement and velocity vectors. The stability and accuracy of the proposed integration scheme are examined in the paper. The method has also been verified through hybrid testing performed of SDOF and MDOF structures with linear and highly nonlinear physical substructures. The results are compared with those obtained from the operator splitting method. An approach based on the modal decomposition principle is presented to predict the potential effect of experimental errors on the overall response during testing. Copyright © 2009 John Wiley & Sons, Ltd. 相似文献
2.
Real‐time substructure testing is a novel method of testing structures under dynamic loading. The complete structure is separated into two substructures, one of which is tested physically at large scale and in real time, so that time‐dependent non‐linear behaviour of the substructure is realistically represented. The second substructure represents the surrounding structure, which is modelled numerically. In the current formulation this numerical substructure is assumed to remain linear. The two substructures interact in real‐time so that the response of the complete structure, incorporating the non‐linear behaviour of the physical substructure, is accurately represented. This paper presents several improvements to the linear numerical modelling of substructures for use in explicit time‐stepping routines for real‐time substructure testing. An extrapolation of a first‐order‐hold discretization is used which increases the accuracy of the numerical model over more direct explicit methods. Additionally, an integral form of the equation of motion is used in order to reduce the effects of noise and to take into account variations of the input over a time‐step. In order to take advantage of this integral form, interpolation of the model output is performed in order to smooth the output. The improvements are demonstrated using a series of substructure tests on a simple portal frame. While the testing approach is suitable for cases in which the physical substructure behaves non‐linearly, the results presented here are for fully linear systems. This enables comparisons to be made with analytical solutions, as well as with the results of tests based on the central difference method. Copyright © 2001 John Wiley & Sons, Ltd. 相似文献
3.
In this paper, Rosenbrock‐based algorithms originally developed for real‐time testing of linear systems with dynamic substructuring are extended for use on nonlinear systems. With this objective in mind and for minimal overhead, both two‐ and three‐stages linearly implicit real‐time compatible algorithms were endowed with the Jacobian matrices requiring only one evaluation at the beginning of each time step. Moreover, these algorithms were improved with subcycling strategies. In detail, the paper briefly introduces Rosenbrock‐based L‐Stable Real‐Time (LSRT) algorithms together with linearly implicit and explicit structural integrators, which are now commonly used to perform real‐time tests. Then, the LSRT algorithms are analysed in terms of linearized stability with reference to an emulated spring pendulum, which was chosen as a nonlinear test problem, because it is able to exhibit a large and relatively slow nonlinear circular motion coupled to an axial motion that can be set to be stiff. The accuracy analysis on this system was performed for all the algorithms described. Following this, a coupled spring‐pendulum example typical of real‐time testing is analysed with respect to both stability and accuracy issues. Finally, the results of representative numerical simulations and real‐time substructure tests, considering nonlinearities both in the numerical and the physical substructure, are explored. These tests were used to demonstrate how the LSRT algorithms can be used for substructuring tests with strongly nonlinear components. Copyright © 2010 John Wiley & Sons, Ltd. 相似文献
4.
Results from real‐time dynamic substructuring (RTDS) tests are compared with results from shake table tests performed on a two‐storey steel building structure model. At each storey, the structural system consists of a cantilevered steel column resisting lateral loads in bending. In two tests, a slender diagonal tension‐only steel bracing member was added at the first floor to obtain an unsymmetrical system with highly variable stiffness. Only the first‐storey structural components were included in the RTDS test program and a Rosenbrock‐W linearly implicit integration scheme was adopted for the numerical solution. The tests were performed under seismic ground motions exhibiting various amplitude levels and frequency contents to develop first and second mode‐dominated responses as well as elastic and inelastic responses. A chirp signal was also used. Coherent results were obtained between the shake table and the RTDS testing techniques, indicating that RTDS testing methods can be used to successfully reproduce both the linear and nonlinear seismic responses of ductile structural steel seismic force resisting systems. The time delay introduced by actuator‐control systems was also studied and a novel adaptive compensation scheme is proposed. Copyright © 2010 John Wiley & Sons, Ltd. 相似文献
5.
A new predictor–corrector (P–C) method for multi‐site sub‐structure pseudo‐dynamic (PSD) test is proposed. This method is a mixed time integration method in which computational components separable from experimental components are solved by implicit time integration method (Newmark β method). The experiments are performed quasi‐statically based on explicit prediction of displacement. The proposed P–C method has an important advantage as it does not require the determination of the initial stiffness values of experimental components and is thus suitable for representing elastic and inelastic systems. A parameter relating to quality of displacement prediction at boundaries nodes is introduced. This parameter is determined such that P–C method can be applicable to many practical problems. Error‐propagation characteristics of P–C method are also presented. A series of examples including linear and non‐linear soil–foundation–structure interaction problem demonstrate the performance of the proposed method. Copyright © 2005 John Wiley & Sons, Ltd. 相似文献
6.
The existing on‐line numerical integration algorithms are derived from the Newmark method, which is based on an approximation of derivatives in the differential equation. The state–space procedure (SSP), based on an interpolation of the discrete excitation signals for piecewise convolution integral, has been confirmed as more reliable than the Newmark method in terms of numerical accuracy and stability. In an attempt to enhance the pseudodynamic test, this study presents an on‐line integration algorithm (referred to as the OS–SSP method) via an integration of the state–space procedure with Nakashima's operator‐splitting concept. Numerical stability and accuracy assessment of the proposed algorithm in addition to the explicit Newmark method and the OS method were investigated via an eigenvalue, frequency‐domain and time‐domain analysis. Of the on‐line integration algorithms investigated, the OS–SSP method is demonstrated as the most accurate method with an acceptable stability (although not unconditionally stable) characteristic. Therefore, the OS–SSP method is the most desirable method for pseudodynamic testing if the numerical stability criterion (Δt/T⩽0.5) is ensured for every vibration mode involved. Copyright © 2001 John Wiley & Sons, Ltd. 相似文献
7.
Real‐time testing with dynamic substructuring is a novel experimental technique capable of assessing the behaviour of structures subjected to dynamic loadings including earthquakes. The technique involves recreating the dynamics of the entire structure by combining an experimental test piece consisting of part of the structure with a numerical model simulating the remainder of the structure. These substructures interact in real time to emulate the behaviour of the entire structure. Time integration is the most versatile method for analysing the general case of linear and non‐linear semi‐discretized equations of motion. In this paper we propose for substructure testing, L‐stable real‐time (LSRT) compatible integrators with two and three stages derived from the Rosenbrock methods. These algorithms are unconditionally stable for uncoupled problems and entail a moderate computational cost for real‐time performance. They can also effectively deal with stiff problems, i.e. complex emulated structures for which solutions can change on a time scale that is very short compared with the interval of time integration, but where the solution of interest changes on a much longer time scale. Stability conditions of the coupled substructures are analysed by means of the zero‐stability approach, and the accuracy of the novel algorithms in the coupled case is assessed in both the unforced and forced conditions. LSRT algorithms are shown to be more competitive than popular Runge–Kutta methods in terms of stability, accuracy and ease of implementation. Numerical simulations and real‐time substructure tests are used to demonstrate the favourable properties of the proposed algorithms. Copyright © 2007 John Wiley & Sons, Ltd. 相似文献
8.
This paper presents a study of the use of servo‐hydraulic systems in the implementation of real‐time large‐scale structural testing methods in force control such as effective force testing (EFT) and in displacement control such as real‐time pseudodynamic testing (RPsD). Mathematical models for both types of control systems are presented and used to investigate the influences of servo‐systems on the overall system performance. Parameters investigated include the overall system dynamics, nonlinearities of servo‐systems, actuator damping, system mass including piston mass, and system response delay. Results of both numerical simulations and experiments showed that many of the influences of the servo‐hydraulic system that significantly affect the real‐time dynamic tests can be properly compensated through control schemes identified in this paper. Copyright © 2003 John Wiley & Sons, Ltd. 相似文献
9.
This paper presents novel predictor–corrector time‐integration algorithms based on the Generalized‐α method to perform pseudo‐dynamic tests with substructuring. The implicit Generalized‐α algorithm was implemented in a predictor–one corrector form giving rise to the implicit IPC–ρ∞ method, able to avoid expensive iterative corrections in view of high‐speed applications. Moreover, the scheme embodies a secant stiffness formula that can closely approximate the actual stiffness of a structure. Also an explicit algorithm endowed with user‐controlled dissipation properties, the EPC–ρb method, was implemented. The resulting schemes were tested experimentally both on a two‐ and on a six‐degrees‐of‐freedom system, using substructuring. The tests indicated that the numerical strategies enhance the fidelity of the pseudo‐dynamic test results even in an environment characterized by considerable experimental errors. Moreover, the schemes were tested numerically on severe non‐linear substructured multiple‐degrees‐of‐freedom systems reproduced with the Bouc–Wen model, showing the reliability of the seismic tests under these conditions. Copyright © 2004 John Wiley & Sons, Ltd. 相似文献
10.
This study presents an effective method for identifying predictive models and the underlying modal parameters of linear structural systems using only measured output and excitation time histories obtained from dynamic testing. The system under examination is modelled as a first‐order multi‐input multi‐output time‐invariant system, and the structural model is realized using the Eigensystem Realization Algorithm together with the Observer/Kalman filter IDentification algorithm. The identified state‐space model is further refined using a non‐linear optimization technique based on sequential quadratic programming. The numerical examples show that the developed methodology performs very well even in the presence of inadequate instrumentation and measurement noise, and that the methodology is highly capable of creating realistic predictive models of structural systems, as well as estimating their underlying modal parameters. Copyright © 2002 John Wiley & Sons, Ltd. 相似文献
11.
It has been shown that the operator‐splitting method (OSM) provides explicit and unconditionally stable solutions for quasi‐static pseudo‐dynamic substructure testing. However, the OSM provides only an explicit target displacement but not an explicit target velocity, so that it is essentially an implicit method for real‐time substructure testing (RST) when the velocity‐dependent restoring force is considered. This paper proposes a target velocity formulation based on the forward difference of the predicted displacements so as to render the OSM explicit for RST. The stability and accuracy of the resulting OSM‐RST algorithm are investigated. It is shown that the OSM‐RST is unconditionally stable so long as the non‐linear stiffness and damping are of the softening type (i.e. the tangent stiffness and damping never exceed the initial values). The stability of the OSM‐RST for structures with infinite tangent damping coefficient or stiffness is also proved, and the stability of the method for MDOF structures with a non‐classical damping matrix is demonstrated by an energy criterion. The effects of actuator delay and compensation are analysed based on the bilinear approximation of the actuator step response. Experiments on damped SDOF and MDOF structures verify that the stability of the OSM‐RST is preserved when the experimental substructure generates velocity‐dependent reaction forces, whereas the stability of real‐time substructure tests based on the central difference method is worsened by the damping of the specimen. Copyright © 2005 John Wiley & Sons, Ltd. 相似文献
12.
Stability analysis of MDOF real‐time dynamic hybrid testing systems using the discrete‐time root locus technique 
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下载免费PDF全文 The time delay resulting from the servo hydraulic systems can potentially destabilize the real‐time dynamic hybrid testing (RTDHT) systems. In this paper, the discrete‐time root locus technique is adopted to investigate the delay‐dependent stability performance of MDOF RTDHT systems. Stability analysis of an idealized two‐story shear frame with two DOFs is first performed to illustrate the proposed method. The delay‐dependent stability condition is presented for various structural properties, time delay, and integration time steps. Effects of delay compensation methods on stability are also investigated. Then, the proposed method is applied to analyze the delay‐dependent stability of a single shaking table RTDHT system with an 18‐DOF finite element numerical substructure, and corresponding RTDHTs are carried out to verify the theoretical results. Furthermore, the stability behavior of a finite element RTDHT system with two physical substructures, loaded by twin shaking tables, is theoretically and experimentally investigated. All experimental results convincingly demonstrate that the delay‐dependent stability analysis on the basis of the discrete‐time root locus technique is feasible. Copyright © 2014 John Wiley & Sons, Ltd. 相似文献
13.
Real‐time hybrid testing is a very effective technique for evaluating the dynamic responses of rate‐dependent structural systems subjected to earthquake excitation. A smart base isolation system has been proposed by others using conventional low‐damping isolators and controllable damping devices such as magnetorheological (MR) dampers to achieve specified control target performance. In this paper, real‐time hybrid tests of a smart base isolation system are conducted. The simulation is for a base‐isolated two‐degrees‐of‐freedom building model where the superstructure and the low‐damping base isolator are numerically simulated, and the MR damper is physically tested. The target displacement obtained from the step‐by‐step integration of the numerical substructure is imposed on the MR damper, which is driven by three different control algorithms in real‐time. To compensate the actuator delay and improve the accuracy of the test, an adaptive phase‐lead compensator is implemented. The accuracy of each test is investigated by using the root mean square error and the tracking indicator. Experimental results demonstrate that the hybrid testing procedure using the proposed actuator compensation techniques is effective for investigating the control performance of the MR damper in a smart base isolation system. Copyright © 2013 John Wiley & Sons, Ltd. 相似文献
14.
P. A. Bonnet C. N. Lim M. S. Williams A. Blakeborough S. A. Neild D. P. Stoten C. A. Taylor 《地震工程与结构动力学》2007,36(1):119-141
Real‐time hybrid testing is a promising technique for experimental structural dynamics, in which the structure under consideration is split into a physical test of key components and a numerical model of the remainder. The physical test and numerical analysis proceed in parallel, in real time, enabling testing of critical elements at large scale and at the correct loading rate. To date most real‐time hybrid tests have been restricted to simple configurations and have used approximate delay compensation schemes. This paper describes a real‐time hybrid testing approach in which non‐linearity is permitted in both the physical and numerical models, and in which multiple interfaces between physical and numerical substructures can be accommodated, even when this results in very stiff coupling between actuators. This is achieved using a Newmark explicit numerical solver, an advanced adaptive controller known as MCSmd and a multi‐tasking strategy. The approach is evaluated through a series of experiments on discrete mass–spring systems. Copyright © 2006 John Wiley & Sons, Ltd. 相似文献
15.
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
16.
Equivalent force control method for substructure pseudo‐dynamic test of a full‐scale masonry structure 下载免费PDF全文
下载免费PDF全文 Zaixian Chen Guoshan Xu Bin Wu Yongtao Sun Huanding Wang Fenglai Wang 《地震工程与结构动力学》2014,43(7):969-983
The effectiveness of equivalent force control (EFC) method has been experimentally validated through hybrid tests with simple specimens. In this paper, the EFC method is applied for the MDOF pseudo‐dynamic substructure tests in which a three‐storey frame‐supported reinforced concrete masonry shear wall with full scale is chosen as physical substructure. The effects of equivalent force controller parameters on the response performance are studied. Analytical expressions for the controller parameter ranges are derived to avoid response overshooting or oscillation and are verified by numerical simulation. The controller parameters are determined based on analytical and numerical studies and used in the actual full‐scale pseudo‐dynamic test. The test results show good tracking performance of EFC, which indicates a successful test. Copyright © 2013 John Wiley & Sons, Ltd. 相似文献
17.
A procedure for the dynamic identification of the physical parameters of coupled base isolation systems is developed in the time domain. The isolation systems considered include high damping rubber bearings (HDRB) and low friction sliding bearings (LFSB). A bi‐linear hysteretic model is used alone or in parallel with a viscous damper to describe the behavior of the HDRB system, while a constant Coulomb friction device is used to model the LFSB system. After deriving the analytical dynamical solution for the coupled system under an imposed initial displacement, this is used in combination with the least‐squares method and an iterative procedure to identify the physical parameters of a given base isolation system belonging to the class described by the models considered. Performance and limitations of the proposed procedure are highlighted by numerical applications. The procedure is then applied to a real base isolation system using data from static and dynamic tests performed on a building at Solarino. The results of the proposed identification procedure have been compared to available laboratory data and the agreement is within ±10%. However, the need for improvement both in models and testing procedures also emerges from the numerical applications and results obtained. Copyright © 2010 John Wiley & Sons, Ltd. 相似文献
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It is important to include the viscous effect in seismic numerical modelling and seismic migration due to the ubiquitous viscosity in an actual subsurface medium. Prestack reverse‐time migration (RTM) is currently one of the most accurate methods for seismic imaging. One of the key steps of RTM is wavefield forward and backward extrapolation and how to solve the wave equation fast and accurately is the essence of this process. In this paper, we apply the time‐space domain dispersion‐relation‐based finite‐difference (FD) method for visco‐acoustic wave numerical modelling. Dispersion analysis and numerical modelling results demonstrate that the time‐space domain FD method has great accuracy and can effectively suppress numerical dispersion. Also, we use the time‐space domain FD method to solve the visco‐acoustic wave equation in wavefield extrapolation of RTM and apply the source‐normalized cross‐correlation imaging condition in migration. Improved imaging has been obtained in both synthetic and real data tests. The migration result of the visco‐acoustic wave RTM is clearer and more accurate than that of acoustic wave RTM. In addition, in the process of wavefield forward and backward extrapolation, we adopt adaptive variable‐length spatial operators to compute spatial derivatives to significantly decrease computing costs without reducing the accuracy of the numerical solution. 相似文献
20.
A damage detection algorithm of structural health monitoring systems for base‐isolated buildings is proposed. The algorithm consists of the multiple‐input multiple‐output subspace identification method and the complex modal analysis. The algorithm is applicable to linear and non‐linear systems. The story stiffness and damping as damage indices of a shear structure are identified by the algorithm. The algorithm is further tuned for base‐isolated buildings considering their unique dynamic characteristics by simplifying the systems to single‐degree‐of‐freedom systems. The isolation layer and the superstructure of a base‐isolated building are treated as separate substructures as they are distinctly different in their dynamic properties. The effectiveness of the algorithm is evaluated through the numerical analysis and experiment. Finally, the algorithm is applied to the existing 7‐story base‐isolated building that is equipped with an Internet‐based monitoring system. Copyright © 2004 John Wiley & Sons, Ltd. 相似文献