Smart Structures and Systems

Techno-Press (테크노프레스)
권호 표지
DOI QR코드

DOI QR Code

Real-time hybrid substructuring of a base isolated building considering robust stability and performance analysis

  • Avci, Muammer (Department of Civil and Environmental Engineering, University of Connecticut) ;
  • Botelho, Rui M. (Department of Civil and Environmental Engineering, University of Connecticut) ;
  • Christenson, Richard (Department of Civil and Environmental Engineering, University of Connecticut)
  • Received : 2019.02.22
  • Accepted : 2020.01.10
  • Published : 2020.02.25
⟨ Previous Next ⟩

Abstract

This paper demonstrates a real-time hybrid substructuring (RTHS) shake table test to evaluate the seismic performance of a base isolated building. Since RTHS involves a feedback loop in the test implementation, the frequency dependent magnitude and inherent time delay of the actuator dynamics can introduce inaccuracy and instability. The paper presents a robust stability and performance analysis method for the RTHS test. The robust stability method involves casting the actuator dynamics as a multiplicative uncertainty and applying the small gain theorem to derive the sufficient conditions for robust stability and performance. The attractive feature of this robust stability and performance analysis method is that it accommodates linearized modeled or measured frequency response functions for both the physical substructure and actuator dynamics. Significant experimental research has been conducted on base isolators and dampers toward developing high fidelity numerical models. Shake table testing, where the building superstructure is tested while the isolation layer is numerically modeled, can allow for a range of isolation strategies to be examined for a single shake table experiment. Further, recent concerns in base isolation for long period, long duration earthquakes necessitate adding damping at the isolation layer, which can allow higher frequency energy to be transmitted into the superstructure and can result in damage to structural and nonstructural components that can be difficult to numerically model and accurately predict. As such, physical testing of the superstructure while numerically modeling the isolation layer may be desired. The RTHS approach has been previously proposed for base isolated buildings, however, to date it has not been conducted on a base isolated structure isolated at the ground level and where the isolation layer itself is numerically simulated. This configuration provides multiple challenges in the RTHS stability associated with higher physical substructure frequencies and a low numerical to physical mass ratio. This paper demonstrates a base isolated RTHS test and the robust stability and performance analysis necessary to ensure the stability and accuracy. The tests consist of a scaled idealized 4-story superstructure building model placed directly onto a shake table and the isolation layer simulated in MATLAB/Simulink using a dSpace real-time controller.

Keywords

References

  1. Ashasi-Sorkhabi, A., Malekghasemi, H. and Mercan, O. (2015), "Implementation and verification of real-time hybrid simulation (RTHS) using a shake table for research and education", J. Vib. Control, 21(8), 1459-1472. https://doi.org/10.1177/1077546313498616
  2. Botelho, R.B., Christenson, R. and Franco, J. (2013), "Exact Stability Analysis for Uniaxial Real-Time Hybrid Simulation of 1-DOF and 2-DOF Structural Systems", Engineering Mechanics Institute Conference.
  3. Carrion, J.E. and Spencer, B. (2007), "Model-based strategies for real-time hybrid testing", Report No. NSEL-006; Newmark Structural Engineering Laboratory, Department of Civil and Environmental Engineering, University of Illinois at Urbana-Champaign, Champaign, IL, USA.
  4. Chae, Y., Kazemibidokhti, K. and Ricles, J.M. (2013), "Adaptive time series compensator for delay compensation of servohydraulic actuator systems for real-time hybrid simulation", Earthq. Eng. Struct. Dyn., 42(11), 1697-1715. https://doi.org/10.1002/eqe.2294
  5. Chen, C. and Ricles, J. (2009), "Analysis of actuator delay compensation methods for real-time testing", Eng. Struct., 31, 2643-2655. https://doi.org/10.1016/j.engstruct.2009.06.012
  6. Chen, C. and Ricles, J. (2010), "Tracking error-based servohydraulic actuator adaptive compensation for real-time hybrid simulation", J. Struct. Eng., 136(4), 432-440. https://doi.org/10.1061/(ASCE)ST.1943-541X.0000124
  7. Christenson, R. and Lin, Y.Z. (2008), "Real-time hybrid simulation of a seismically excited structure with large-scale magnetorheological fluid dampers", Hybrid Simulation Theory, Implementations and Applications, (Ed. by V.E. Saouma and M.V. Sivaselvan), Taylor and Francis NL, ISBN: 978-0-415-46568-7.
  8. Darby, A.P., Blakeborough, A. and Williams, M.S. (1999), "Real time substructure test using hydraulic actuator", J. Eng. Mech., 125(10), 1133-1139. https://doi.org/10.1061/(ASCE)0733-9399(1999)125:10(1133)
  9. Dimig, J., Shield, C., French, C., Bailey, F. and Clark, A. (1999), "Effective force testing: a method of siesmic simulation for structural testing", J. Struct. Eng., 125(9), 1028-1037. https://doi.org/10.1061/(ASCE)0733-9445(1999)125:9(1028)
  10. Gao, X., Castaneda, N. and Dyke, S.J. (2013), "Real time hybrid simulation: from dynamic system, motion control to experimental error", Earthq. Eng. Struct. Dyn., 42(6), 815-832. https://doi.org/10.1002/eqe.2246
  11. Gawthrop, P.J., Wallace, M.I., Neild, S.A. and Wagg, D.J. (2007), "Robust real-time substructuring techniques for under-damped systems", Struct. Control Health Monitor., 14, 591-608. https://doi.org/10.1002/stc.174
  12. Goodwin, G.C., Graebe, S.F. and Salgado, M.E. (2001), Control System Design, (2nd Edition), Prentice Hall Inc.
  13. Franklin, G.F., Powell, J.D., Emami-Naeini, A. and Powell, J.D. (2006), Feedback Control of Dynamic Systems, (5th Edition), Pearson Prentice Hall, NJ, USA.
  14. Horiuchi, T., Nakagawa, M., Sugano, M. and Konno, T. (1996), "Development of a real-time hybrid experimental system with actuator delay compensation", Proceedgins of the 11th World Conference on Earthquake Engineering, Paper No. 660.
  15. Horiuchi, T., Inoue, M., Konno, T. and Namita, Y. (1999), "Real time hybrid experimental system with actuator delay compensation and it's applications to a piping system with energy absorber", Earthq. Eng. Struct. Dyn., 28(10), 1121-1141. https://doi.org/10.1002/(SICI)1096-9845(199910)28:10<1121::AID-EQE858>3.0.CO;2-O
  16. Kyrychko, Y.N., Blyuss, K.B., Gonzalez-Buelga, A., Hogan, S.J. and Wagg, D.J. (2006), "Real-time dynamic substructuring in a coupled oscillator-pendulum system", Proceeding of the Royal Society A, 462, 1271-1294. https://doi.org/10.1098/rspa.2005.1624
  17. Lin, F., Maghareh, A., Dyke, S.J. and Lu, X. (2015), "Experimental implementation of predictive indicators for configuring a real-time hybrid simulation", Eng. Struct., 101, 427-438. https://doi.org/10.1016/j.engstruct.2015.07.040
  18. Maghareh, A., Dyke, S.J., Prakash, A. and Bunting, G.B. (2014), "Establishing a predictive performance indicator for real-time hybrid simulation", Earthq. Eng. Struct. Dyn., 43(15), 2299-2318. https://doi.org/10.1002/eqe.2448
  19. Maghareh, A., Waldbjorn, J.P., Dyke, S.J., Prakash, A. and Ozdagli, A.I. (2016), "Adaptive multi-rate interface: development and experimental verification for real-time hybrid simulation", Earthq. Eng. Struct.ral Dyn., 45(9), 1411-1425. https://doi.org/10.1002/eqe.2713
  20. Naeim, F. and Kelly, J.M. (1999), Design of seismic isolated structures: from theory to practice, Wiley, Chichester, England.
  21. Nakashima, M. and Masaoka, N. (1999), "Real time on-line test for MDOF systems", Earthq. Eng. Struct. Dyn., 28, 393-420. https://doi.org/10.1002/(SICI)1096-9845(199904)28:4<393::AID-EQE823>3.0.CO;2-C
  22. Nakashima, M., Kato, H. and Takaoka, E. (1992), "Development of real-time pseudo dynamic testing", Earthq. Eng. Struct. Dyn., 21(1), 79-92. https://doi.org/10.1002/eqe.4290210106
  23. Nakata, N. and Stehman, M. (2014), "Compensation techniques for experimental errors in real-time hybrid simulation using shake tables", Smart Struct. Syst., Int. J., 14(6), 1055-1079. https://doi.org/10.12989/sss.2014.14.6.1055
  24. Ou, G., Ozdagli, A.I., Dyke, S.J. and Wu, B. (2015), "Robust integrated actuator control: experimental verification and realtime hybrid-simulation implementation", Earthq. Eng. Struct. Dyn., 44(3), 441-460. https://doi.org/10.1002/eqe.2479
  25. Phillips, B.M. and Spencer, B. (2012), "Model-based framework for real-time dynamic structural performance evaluation", NSEL Report No NSEL-031.
  26. Roth, S. and Cheney, D. (2001), Directory of International Earth-Quake Engineering Research Facilities. SRI International Center for Science, Technology and Educational Development Policy Division.
  27. Shi, P., Wu, B., Spencer Jr, B.F., Phillips, B.M. and Chang, C.M. (2015), "Real-time hybrid testing with equivalent force control method incorporating Kalman filter", Struct. Control Health Monit., 23(4), 735-748. https://doi.org/10.1002/stc.1808
  28. Skinner, R.I., Robinson, W.H. and McVerry, G.H. (1993), An Introduction to Seismic Isolation, Wiley, Chichester, England.
  29. Skogestad, S. and Postlethwaite, I. (2005), Multivariable Feedback Control Analysis and Design, (2nd Edition), John Wiley and Sons Ltd.
  30. Wallace, M.I., Sieber, J., Neild, S.A., Wagg, D.J. and Krauskopf, B. (2005), "Stability analysis of real-time dynamic substructuring using delay differential equation models", Earthq. Eng. Struct. Dyn., 34, 1817-1832. https://doi.org/10.1002/eqe.513
  31. Zhang, R., Phillips, B.M., Taniguchi, S., Ikenaga, M. and Ikago, K. (2017), "Shake table real-time hybrid simulation techniques for the performance evaluation of buildings with inter-story isolation", Struct. Control Health Monitor., 24(10), e1971. https://doi.org/10.1002/stc.1971