Numerical characteristics of the full operator hybrid simulation method

The full operator method (FOM) has been proposed to overcome some of the shortcomings of the commonly used operator splitting method (OSM). In particular, the FOM is improved by increasing the accuracy of both the predictor and corrector using the estimated tangent stiffness of the tested structure. The numerical characteristics of the FOM, including stability and accuracy, are investigated in this study. It is shown that FOM is conditionally stable. The stability and accuracy characteristics are dependent on the accuracy of the estimated tangent stiffness and the parameters associated with the acceleration variation in the time-stepping integration method. Mass-spring systems with different types of nonlinearity, including hardening, stiffening, and softening behavior, are used to evaluate the performance of the FOM. It is found that the FOM can capture these types of nonlinearity with satisfactory accuracy. Using a prototype 12-story composite coupled wall system, the influences of the strong nonlinearity of the system as well as the displacement control errors from hydraulic actuators on the performance of the FOM are explored. The results show that the FOM is capable of generating reasonably accurate results despite the presence of strong structural nonlinearity and displacement control errors.     

Operator‐splitting method for real‐time substructure testing

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.     

Generalized‐α methods for seismic structural testing

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.     

A novel predictor–corrector algorithm for sub‐structure pseudo‐dynamic testing

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.     

Cyclic‐demand spectrum

The seismic response spectrum defines the amplitude of the load, but it does not specify the number of cycles for which the load must be resisted by the structure. The amplitude by itself is not sufficient to evaluate the seismic resistance of a structure, because the structure's strength, stiffness and energy‐dissipation capacity reduce with an increase in the number of load cycles. This paper presents a cyclic‐demand spectrum, which, in conjunction with the amplitude spectrum, provides a more complete definition of the seismic load, hence a way to consider the degradation in strength, stiffness and energy‐dissipation capacity in a rational manner. Similarly to three amplitude parameters (peak ground acceleration, peak ground velocity, and peak ground displacement), three cyclic‐demand parameters are introduced for stiff, moderately stiff, and flexible systems. A design example is presented to illustrate the use of the cyclic‐demand spectrum. Copyright © 2002 John Wiley & Sons, Ltd.     

Dynamic force control with hydraulic actuators using added compliance and displacement compensation

A new approach to dynamic force control of mechanical systems, applicable in particular to frame structures, over frequency ranges spanning their resonant frequencies is presented. This approach is implemented using added compliance and displacement compensation. Hydraulic actuators are inherently velocity sources, that is, an electrical signal regulates their velocity response. Such systems are therefore by nature high‐impedance (mechanically stiff) systems. In contrast, for force control, a force source is required. Such a system logically would have to be a low‐impedance (mechanically compliant) system. This is achieved by intentionally introducing a flexible mechanism between the actuator and the structure to be excited. In addition, in order to obtain force control over frequencies spanning the structure's resonant frequency, a displacement compensation feedback loop is needed. The actuator itself operates in closed‐loop displacement control. The theoretical motivation, as well as the laboratory implementation of the above approach is discussed along with experimental results. Having achieved a means of dynamic force control, it can be applied to various experimental seismic simulation techniques such as the effective force method and the real‐time dynamic hybrid testing method. Copyright © 2008 John Wiley & Sons, Ltd.     

A Rosenbrock‐W method for real‐time dynamic substructuring and pseudo‐dynamic testing

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.     

Calculating actual crop evapotranspiration under soil water stress conditions with appropriate numerical methods and time step

Calculation of actual crop evapotranspiration under soil water stress conditions is crucial for hydrological modeling and irrigation water management. Results of actual evapotranspiration depend on the estimation of water stress coefficient from soil water storage in the root zone, which varies with numerical methods and time step used. During soil water depletion periods without irrigation or precipitation, the actual crop evapotranspiration can be calculated by an analytical method and various numerical methods. We compared the results from several commonly used numerical methods, including the explicit, implicit and modified Euler methods, the midpoint method, and the Heun's third‐order method, with results of the analytical method as the bench mark. Results indicate that relative errors of actual crop evapotranspiration calculated with numerical methods in one time step are independent of the initial soil water storage in the range of soil water stress. Absolute values of relative error decrease with the order of numerical methods. They also decrease with the number of time step, which can ensure the numerical stability of successive simulation of soil water balance. Considering the calculation complexity and calculation errors caused by numerical approximation for different time step and maximum crop evapotranspiration, the explicit Euler method is recommended for the time step of 1 day (d) or 2 d for maximum crop evapotranspiration less than 5 mm/d, the midpoint method or the modified Euler method for the time step of up to one week or 10 d for maximum crop evapotranspiration less than 5 mm/d, and the Heun's third‐order method for the time step of up to 15 d. Copyright © 2011 John Wiley & Sons, Ltd.     

A method for estimating specimen tangent stiffness for hybrid simulation

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.     

Predictive active control of MDOF structures

This paper presents a theoretical study of a predictive active control system used to improve the response of multi‐degree‐of‐freedom (MDOF) structures to earthquakes. As an example a building frame equipped with electrorheological (ER) dampers is considered. The aim of the design is to find a combination of forces that are produced by the ER dampers in order to obtain an optimal structural response. The mechanical response of ER fluid dampers is regulated by an electric field. Linear auto‐regressive model with exogenous input (ARX) is used to predict the displacements and the velocities of the frame in order to overcome the time‐delay problem in the control system. The control forces in the ER devices are calculated at every time step by the optimal control theory (OCT) according to the values of the displacements and of the velocities that are predicted at the next time step at each storey of the structure. A numerical analysis of a seven‐storey ER damped structure is presented as an example. It shows a significant improvement of the structural response when the predictive active control system is applied compared to that of an uncontrolled structure or that of a structure with controlled damping forces with time delay. The structure's displacements and velocities that were used to obtain the optimal control forces were predicted according to an ‘occurring’ earthquake by the ARX model (predictive control). The response was similar to that of the structure with control forces that were calculated from a ‘known’ complete history of the earthquake's displacement and velocity values, and were applied without delay (instantaneous control). Copyright © 2000 John Wiley & Sons, Ltd.     

Evaluation of numerical time‐integration schemes for real‐time hybrid testing

We present a comparison of methods for the analysis of the numerical substructure in a real‐time hybrid test. A multi‐tasking strategy is described, which satisfies the various control and numerical requirements. Within this strategy a variety of explicit and implicit time‐integration algorithms have been evaluated. Fully implicit schemes can be used in fast hybrid testing via a digital sub‐step feedback technique, but it is shown that this approach requires a large amount of computation at each sub‐step, making real‐time execution difficult for all but the simplest models. In cases where the numerical substructure poses no harsh stability condition, it is shown that the Newmark explicit method offers advantages of speed and accuracy. Where the stability limit of an explicit method cannot be met, one of the several alternatives may be used, such as Chang's modified Newmark scheme or the α‐operator splitting method. Appropriate methods of actuator delay compensation are also discussed. Copyright © 2008 John Wiley & Sons, Ltd.     

Development of fragility curves using high‐dimensional model representation

Fragility curves represent the conditional probability that a structure's response may exceed the performance limit for a given ground motion intensity. Conventional methods for computing building fragilities are either based on statistical extrapolation of detailed analyses on one or two specific buildings or make use of Monte Carlo simulation with these models. However, the Monte Carlo technique usually requires a relatively large number of simulations to obtain a sufficiently reliable estimate of the fragilities, and it is computationally expensive and time consuming to simulate the required thousands of time history analyses. In this paper, high‐dimensional model representation based response surface method together with the Monte Carlo simulation is used to develop the fragility curve, which is then compared with that obtained by using Latin hypercube sampling. It is used to replace the algorithmic performance‐function with an explicit functional relationship, fitting a functional approximation, thereby reducing the number of expensive numerical analyses. After the functional approximation has been made, Monte Carlo simulation is used to obtain the fragility curve of the system. Copyright © 2012 John Wiley & Sons, Ltd.     

Wavefield extrapolation and prestack depth migration in anelastic inhomogeneous media

Wavefield depth extrapolation and prestack depth migration in complex anelastic media are studied. Kjartansson's frequency‐independent Q law is used to describe the absorption of seismic energy. The macromodel used is analogous to the macromodel used for current migration schemes except that an additional frequency‐independent Q macromodel needs to be provided. Absorption in the forward one‐way propagator is introduced by assuming a complex phase velocity, and the inverse one‐way propagator is obtained using the reciprocity theorem for one‐way wavefields in dissipative media. The stability of the inverse propagator is achieved by limiting the angle of propagation of wavefields. A table‐driven explicit operator scheme for imaging complex 2D anelastic media is presented. High‐accuracy, short convolution operators are designed by the weighted least‐squares method, and two kinds of imaging conditions are proposed. Numerical examples of depth extrapolation in laterally varying media, the migration of a spatial impulse with dispersion as well as shot record depth migration demonstrate the potential of the proposed explicit forward operator, the explicit inverse operator and the prestack depth migration scheme, respectively.     

地震动速度脉冲对巨型结构体系地震响应影响研究

以巨-子结构抗震体系、隔震体系以及智能隔震体系为研究对象,选择4组具有速度脉冲特性的实际地震动加速度记录及人工模拟的具有相同加速度反应谱而无速度脉冲的地震动时程分别作为地震动输入,采用数值分析方法分别计算在有、无速度脉冲的地震动激励下三种结构体系的地震响应,探讨地震动的速度脉冲对巨型结构体系在不同控制策略下地震响应的影响。研究结果表明:三种结构体系在速度脉冲型地震动作用下的地震响应大部分要大于无速度脉冲型的地震响应,近断层地震动的速度脉冲对巨-子结构抗震体系、隔震体系以及智能隔震体系的地震响应均有一定的不利影响。智能隔震体系对速度脉冲地震动较为敏感,但能有效地减小隔震层位移。     

Broadband constant-coefficient propagators

The phase error between the real phase shift and the Gazdag background phase shift, due to lateral velocity variations about a reference velocity, can be decomposed into axial and paraxial phase errors. The axial phase error depends only on velocity perturbations and hence can be completely removed by the split‐step Fourier method. The paraxial phase error is a cross function of velocity perturbations and propagation angles. The cross function can be approximated with various differential operators by allowing the coefficients to vary with velocity perturbations and propagation angles. These variable‐coefficient operators require finite‐difference numerical implementation. Broadband constant‐coefficient operators may provide an efficient alternative that approximates the cross function within the split‐step framework and allows implementation using Fourier transforms alone. The resulting migration accuracy depends on the localization of the constant‐coefficient operators. A simple broadband constant‐coefficient operator has been designed and is tested with the SEG/EAEG salt model. Compared with the split‐step Fourier method that applies to either weak‐contrast media or at small propagation angles, this operator improves wavefield extrapolation for large to strong lateral heterogeneities, except within the weak‐contrast region. Incorporating the split‐step Fourier operator into a hybrid implementation can eliminate the poor performance of the broadband constant‐coefficient operator in the weak‐contrast region. This study may indicate a direction of improving the split‐step Fourier method, with little loss of efficiency, while allowing it to remain faster than more precise methods such as the Fourier finite‐difference method.     

The form of the reflection operator and extended image gathers for a dipping plane reflector in two space dimensions

The reflection operator for a simple flat‐lying interface can be thought of as the set of all its plane‐wave reflection coefficients or as the set of virtual surveys with sources and receivers along the interface. When there is dip, however, it is necessary to include the varying effects of propagation between the virtual‐survey level and the interface. Hence, step one in this paper is to derive the reflection operator for a dipping plane interface as observed at a datum level some distance away. The key assumption is that the aperture at the datum level is sufficient to characterize the reflector properties around a particular point. This translates into an assumption that the dip is moderate, though no explicit small‐angle approximation is required. The second step is to find the apparent reflection operator that would relate data that have been extrapolated from the datum towards and possibly beyond the reflector using an assumed migration velocity. This apparent reflection operator is closely related to extended common‐image gathers. The apparent reflection operator may be analysed asymptotically in terms of rays and other signals, shedding light on the structure of extended image gathers. In keeping with the virtual‐survey idea, the results are considered in a subsurface space‐time or slowness‐time domain at various extrapolation levels around the interface. An important distinction is drawn between using subsurface midpoint‐offset coordinates and the wavefield coordinates of the incident and reflected waves. The latter reveal more clearly the effects of dip, because they lead to a more asymmetric apparent reflection operator. Properties such as an up‐dip shift of a traveltime minimum and its associated curvature theoretically provide information about the reflector location and dip and the migration‐velocity error. The space‐time form of the reflection operator can be highly intricate around the offset‐time origin and it was described for a simple flat interface in a background paper. To avoid a layer of mathematics, the reflection‐operator formulas presented here are in the intermediate space‐frequency domain. They are analysed by considering their stationary‐phase and branch‐point high‐frequency contributions. There is no Born‐like assumption of weak reflector contrast and so wide‐angle, total reflection and head‐wave effects are included. Snell’s law is an explicit part of the theory. It is hoped that the work will therefore be a step towards the goal of unifying amplitude‐versus‐offset, imaging and waveform inversion.     

Adaptive time stepping in pseudo-dynamic testing of earthquake driven structures

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.     

Tuned liquid dampers for controlling earthquake response of structures

Numerical simulations of a single‐degree‐of‐freedom (SDOF) structure, rigidly supporting a tuned liquid damper (TLD) and subjected to both real and artificially generated earthquake ground motions, show that a properly designed TLD can significantly reduce the structure's response to these motions. The TLD is a rigid, rectangular tank with shallow water in it. Its fundamental linear sloshing frequency is tuned to the structure's natural frequency. The TLD is more effective in reducing structural response as the ground excitation level increases. This is because it then dissipates more energy due to sloshing and wave breaking. A larger water‐depth to tank‐length ratio than previous studies suggested, which still falls within the constraint of shallow water theory, is shown to be more suitable for excitation levels expected in strong earthquake motions. A larger water‐mass to structure‐mass ratio is shown to be required for a TLD to remain equally effective as structural damping increases. Furthermore, the reduction in response is seen to be fairly insensitive to the bandwidth of the ground motion but is dependent on the structure's natural frequency relative to the significant ground frequencies. Finally, a practical approach is suggested for the design of a TLD to control earthquake response. Copyright © 2000 John Wiley & Sons, Ltd.     

A static predictor of seismic demand on frames based on a post‐elastic deflected shape

Predictors of seismic structural demands (such as inter‐storey drift angles) that are less time‐consuming than nonlinear dynamic analysis have proven useful for structural performance assessment and for design. Luco and Cornell previously proposed a simple predictor that extends the idea of modal superposition (of the first two modes) with the square‐root‐of‐sum‐of‐squares (SRSS) rule by taking a first‐mode inelastic spectral displacement into account. This predictor achieved a significant improvement over simply using the response of an elastic oscillator; however, it cannot capture well large displacements caused by local yielding. A possible improvement of Luco's predictor is discussed in this paper, where it is proposed to consider three enhancements: (i) a post‐elastic first‐mode shape approximated by the deflected shape from a nonlinear static pushover analysis (NSPA) at the step corresponding to the maximum drift of an equivalent inelastic single‐degree‐of‐freedom (SDOF) system, (ii) a trilinear backbone curve for the SDOF system, and (iii) the elastic third‐mode response for long‐period buildings. Numerical examples demonstrate that the proposed predictor is less biased and results in less dispersion than Luco's original predictor. Copyright © 2006 John Wiley & Sons, Ltd.     

Development of a tunable friction pendulum system for semi‐active control of building structures under earthquake ground motions

The Friction Pendulum System (FPS) isolator is commonly used as a base isolation system in buildings. In this paper, a new tunable FPS (TFPS) isolator is proposed and developed to act as a semi‐active control system by combining the traditional FPS and semi‐active control concept. Theoretical analysis and physical tests were carried out to investigate the behavior of the proposed TFPS isolator. The experimental and theoretical results were in good agreement, both suggesting that the friction force of the TFPS isolator can be tuned to achieve seismic isolation of the structure. A series of numerical simulations of a base‐isolated structure equipped with the proposed TFPS isolator and subjected to earthquake ground motions were also conducted. In the analyses, the linear quadratic regulator (LQR) method was adopted to control the friction force of the proposed TFPS, and the applicability and effectiveness of the TFPS in controlling the structure's seismic responses were investigated. The simulation results showed that the TFPS can reduce the displacement of the isolation layer without significantly increasing the floor acceleration and inter‐story displacement of the superstructure, confirming that the TFPS can effectively control a base‐isolated structure under earthquake ground motions.