Smart Structures and Systems

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Validation of model-based adaptive control method for real-time hybrid simulation

  • Xizhan Ning (College of Civil Engineering, Huaqiao University) ;
  • Wei Huang (College of Civil Engineering, Huaqiao University) ;
  • Guoshan Xu (School of Civil Engineering, Harbin Institute of Technology) ;
  • Zhen Wang (School of Civil Engineering and Architecture, Wuhan University of Technology) ;
  • Lichang Zheng (School of Civil Engineering, Harbin Institute of Technology)
  • Received : 2022.07.23
  • Accepted : 2023.03.21
  • Published : 2023.03.25
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Abstract

Real-time hybrid simulation (RTHS) is an effective experimental technique for structural dynamic assessment. However, time delay causes displacement de-synchronization at the interface between the numerical and physical substructures, negatively affecting the accuracy and stability of RTHS. To this end, the authors have proposed a model-based adaptive control strategy with a Kalman filter (MAC-KF). In the proposed method, the time delay is mainly mitigated by a parameterized feedforward controller, which is designed using the discrete inverse model of the control plant and adjusted using the KF based on the displacement command and measurement. A feedback controller is employed to improve the robustness of the controller. The objective of this study is to further validate the power of dealing with a nonlinear control plant and to investigate the potential challenges of the proposed method through actual experiments. In particular, the effect of the order of the feedforward controller on tracking performance was numerically investigated using a nonlinear control plant; a series of actual RTHS of a frame structure equipped with a magnetorheological damper was performed using the proposed method. The findings reveal significant improvement in tracking accuracy, demonstrating that the proposed method effectively suppresses the time delay in RTHS. In addition, the parameters of the control plant are timely updated, indicating that it is feasible to estimate the control plant parameter by KF. The order of the feedforward controller has a limited effect on the control performance of the MAC-KF method, and the feedback controller is beneficial to promote the accuracy of RTHS.

Keywords

Acknowledgement

The authors gratefully acknowledge the financial support provided by the National Natural Science Foundation of China [grant numbers 51908231 and 51978213], the Fundamental Research Funds for the Central Universities of Huaqiao University [grant number ZQN-912], Natural Science Foundation of Fujian Province [grant number 2020J01058], and the scientific research fund of Huaqiao University [grant number 18BS306].

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