结构拟动力试验力控制实现技术

本文研究了大刚度结构拟动力实验的有关技术问题，基于结构动力分析和电液伺服作动器工作原理，阐述了作动器在力控制方式下实现大刚主结构拟动力实验的可行性，提出了减小实验误差的若干处理技术。通过作者所完成的四个自由度１：３钢筋混凝土结构模型拟动力实验，说明所述方法的有效性。     

抗震拟动力试验技术研究

在全面论述拟动力试验技术的基础上，提出了大刚度多自由度钢筋混凝土结构和砌体结构的拟动力试验技术新方法，即以力控制方式为基础的力－位移混合控制方法，这种方法能实现大刚度多自由度钢筋混凝土结构和砌体结构的拟动力试验。     

位移保护下力-控制拟动力试验方法的原理

本文提出了大刚度多自由度钢筋混凝土结构和砌体结构的拟动力试验技术新方法，即以力控制方式为基础的力－位移混合控制方法。这种新方法能实现大刚度多自由度钢筋混凝土结构和砌体结构的拟动力试验。     

采用微机开发的拟动力实验

本文介绍了在哈尔滨建筑大学力学与结构实验中心采用微机开发的拟动力实验。将力学与结构实验中心原有的大型电液伺服结构实验系统与微机进行联机，从而实现了多自由度结构的拟动力实验。文中介绍的拟动力实验的试件为某电厂４０米高的筛碎贮仓１：６模型，只取出结构底层的榀，具有两具自由度，所以实难同应用了子结构方法，数值积分方法采用了ＰＣＭ－Ｎｅｗｍａｒｋ法。实验结果与分析结果吻合良好，说明拟动力实验系统的开发是成     

高阶单步力控制拟动力试验方法研究

本文采用高阶单步力控制试验方法,提出了减少试验误差的若干处理技术,进行了三层底部框支配筋砌块短肢砌体剪力墙足尺结构的拟动力试验,实现了大刚度多自由度复杂结构拟动力试验。试验结果表明,足尺拟动力试验可以很好地反映结构在真实地震作用下的反应,而采用力控制试验方法在结构恢复力特性进入下降段之前是可行的。     

隐式时间积分方法的拟动力实验

本文介绍了采用隐式时间积分方法实现的拟动力实验。目前拟动力实验中所用的时间积分方法是显式条件稳定的，所以时间步Δｔ的选择受到试件刚度和自由度的限制，对于刚度大自由度很多的试件需采用很小的Δｔ，而Δｔ太小将造成实验累积误差增大，实验结果失真。隐式时间积分方法是无条条件稳定的Δｔ的选择不受试件特性的限制，可以比显式算法的稳定极限大很多，从而拓宽了拟动力的应用范围。     

采用位移外环控制的拟动力试验方法及验证

拟动力试验是一种重要的结构抗震试验方法。在该类试验中,试件出力大,连接件和支座往往产生滑移与弹性变形,导致试件实际位移与期望位移存在较大偏差,降低试验数据的精度和可靠性。位移外环控制,是在作动器控制回路之外直接以试件位移为控制变量的控制回路,是解决该问题的有效方法。本文阐述了PI(即比例-积分)位移外环控制的原理,分析了在非实时平台实现该控制的延迟不确定问题,详细介绍了在混合试验平台软件Hy Test中的实现架构。采用混合试验平台软件Hy Test及该外环控制方法,完成了阶跃命令试验、单自由度结构拟动力试验和6自由度结构拟动力试验模拟,研究表明该方法稳定可靠,能大幅提高位移控制精度。     

多点地震动输入下的拟动力实验方法

本文将拟动力实验方法应用于多点地震输入下的结构响应研究中,采用子结构技术解决了结构在多点地震输入下的实验问题。针对不同类型结构和不同方向的地震动输入,文中给出了相应的似动力实验的数值积分方法。最后采用两点地震动输入对所提出的方法进行了实验验证,证明该方法的有效性。     

拟负刚度阻尼减振结构的动力特性与减振效果分析

对拟负刚度阻尼减振结构的动力特性与减振效果进行了研究。首先,证明了采用拟负刚度控制方法时,结构响应与外荷载之间满足齐次性;其次,对拟负刚度阻尼减振结构的加速度放大系数和位移放大系数进行了研究,并与粘滞阻尼减振结构的加速度放大系数和位移放大系数进行了比较;最后,对地震荷栽作用下拟负刚度阻尼减振结构的减振效果进行了分析。研究结果表明：当外荷载与结构的频率比大于1或结构的周期较长时,拟负刚度控制对结构绝对加速度的控制效果要好于粘滞阻尼减振结构的控制效果,对结构位移的控制效果要差于粘滞阻尼减振结构的控制效果。     

子结构技术在结构抗震试验研究中的应用

根据结构试验理论和实验设备的特征,阐述了结构抗震试验的特点及发展,重点分析了子结构拟动力试验方法的原理、数值积分算法、加载方式和误差控制;振动台子结构试验的原理、研究成果;实时子结构的原理和时滞等混合试验方法的基本理论,以及大型通用有限元软件及远程协同试验方法在混合试验中的应用。基于各种试验方法的优势与发展,总结出混合试验技术未来的发展方向。     

Non-planar pseudodynamic testing

The pseudodynamic test method provides a means of inexpensive seismic performance testing for laboratories that do not have a shaking table. However, most pseudodynamic tests to date have used planar portions of structures subjected to a single lateral component of base excitation, mimicking the type of testing that would occur on a shaking table. There has been little work on the extension of the pseudodynamic test method to three-dimensional testing of structures under multiple components of base excitation. In this paper a three-dimensional specimen is tested under a multicomponent fixed base excitation and the response is compared to shaking table tests. The paper presents an overview of the pseudodynamic test method, including non-planar extensions, and highlights many physical problems that occurred during the testing process. Many of these problems apply to any pseudodynamic test, not just non-planar tests, but the results show that very accurate non-planar tests can be achieved with careful error control.     

Assessment of a capacity spectrum seismic design approach against cyclic and seismic experiments on full‐scale precast RC structures

Within the last decades, simplified methods alternative to dynamic nonlinear analysis have been developed to estimate the seismic performance of structures toward a performance‐oriented design. Considering drift as the main parameter correlated with structural damage, its estimation is of main importance to assess the structural performance. While traditional force‐based design deals with calibrated force reduction factors based on the expected structural ductility, other methods are based on the definition of a viscous damping factor defined as a function of the expected energy dissipated by the structure. An example is the capacity spectrum method. This method can be applied even without any a priori calibration or designer arbitrariness. This allows considering several peculiarities of the seismic behavior of precast structures, which may be influenced by nontraditional hysteresis of connections and members, interaction with the cladding panels, P‐δ effects, etc. The paper aims at verifying the soundness and accuracy of this method through the comparison of its predictions against the results of cyclic and pseudodynamic tests on precast structures, including single‐ and multistory buildings either stiff or flexible, obtained on full‐scale building prototypes tested within the framework of recent research projects (namely, “Precast Structures EC8,” “Safecast,” and “Safecladding”). Two simple methodologies of determination of the equivalent viscous damping from a force‐displacement cycle, based on the dissipated energy in relation to 2 different estimates of the elastic strain energy, are addressed and compared. Comments on the possible use of this procedure for the estimation of the seismic performance of precast structures are provided.     

A family of explicit algorithms for general pseudodynamic testing

A new family of explicit pseudodynamic algorithms is proposed for general pseudodynamic testing. One particular subfamily seems very promising for use in general pseudodynamic testing since the stability problem for a structure does not need to be considered. This is because this subfamily is unconditionally stable for any instantaneous stiffness softening system, linear elastic system and instantaneous stiffness hardening system that might occur in the pseudodynamic testing of a real structure. In addition, it also offers good accuracy when compared to a general second-order accurate method for both linear elastic and nonlinear systems.     

Implicit time integration for pseudodynamic tests

The use of unconditionally stable implicit time integration techniques for pseudodynamic tests has been recently proposed and advanced by several researchers. Inspired by such developments, a pseudodynamic test scheme based on an unconditionally stable implicit time integration algorithm and dual displacement control is presented in this paper. The accuracy of the proposed scheme is proved with error-propagation analysis. It is shown by numerical examples and verification tests that the error-correction method incorporated can eliminate the spurious higher-mode response, which can often be excited by experimental errors. The practicality of the proposed scheme lies in the fact that the implementation is as easy as that of explicit schemes and that the convergence criteria required are compatible with the accuracy limits of ordinary test apparatus.     

An improved response spectrum method for calculating seismic design response. Part 2: Non-classically damped structures

A response spectrum method which combines the analytical advantage of the mode acceleration formulation and the practical advantage of the mode displacement formulation is developed for seismic response calculation of non-classically damped structures. It reduces the error associated with the truncation of the high frequency modes without explicitly using them in the analysis. The method is especially effective for calculating the response of stiff structural systems and also for calculating the response quantities which are strongly affected by high frequency modes. Even with flexible structures, it is shown to provide more accurate response results than the results obtained with the mode displacement approach.     

Damaging properties of ground motions and prediction of maximum response of structures based on momentary energy response

Dynamic damaging potential of ground motions must be evaluated by the response behaviour of structures, and it is necessary to indicate what properties of ground motions are most appropriate for evaluation. For that purpose, the behaviour of energy input process and hysteretic energy dissipation are investigated in this study. It is found that the momentary input energy that is an index for the intensity of input energy is related to the characteristics of earthquakes such as cyclic or impulsive, and to the response displacement of structures immediately. On the basis of these results, a procedure is proposed to predict inelastic response displacement of structures by corresponding earthquake input energy to structural dissipated damping and hysteretic energy. In this procedure the earthquake response of structures is recognized as an input and dissipation process of energy, and therefore structural properties and damaging properties of ground motions can be taken into account more generally. Lastly, the studies of the pseudodynamic loading test of reinforced concrete structure specimens subjected to ground motions with different time duration are shown. The purpose of this test is to estimate the damaging properties of ground motions and the accuracy of the proposed prediction procedure. Copyright © 2002 John Wiley & Sons, Ltd.     

Real‐time force control for servo‐hydraulic actuator systems using adaptive time series compensator and compliance springs

Servo‐hydraulic actuators have been widely used for experimental studies in engineering. They can be controlled in either displacement or force control mode depending on the purpose of a test. It is necessary to control the actuators in real time when the rate‐dependency effect of a test specimen needs to be accounted for under dynamic loads. Real‐time hybrid simulation (RTHS) and effective force testing (EFT) method, which can consider the rate‐dependency effect, have been known as viable alternatives to the shake table testing method. Due to the lack of knowledge in real‐time force control, however, the structures that can be tested with RTHS and EFT are fairly limited. For instance, satisfying the force boundary condition for axially stiff members is a challenging task in RTHS, while EFT has a difficulty to be implemented for nonlinear structures. In order to resolve these issues, this paper introduces new real‐time force control methods utilizing the adaptive time series (ATS) compensator and compliance springs. Unlike existing methods, the proposed force control methods do not require the structural modeling of a test structure, making it easy to be implemented especially for nonlinear structures. The force tracking performance of the proposed methods is evaluated for a small‐scale steel mass block system with a magneto‐rheological damper subjected to various target forces. Accuracy, time delay, and resonance response of these methods are discussed along with their force control performance for an axially stiff member. Overall, a satisfactory force tracking performance was observed by using the proposed force control methods.     

Diagonal brace with ductile knee anchor for aseismic steel frame

A new structural system for earthquake resistant steel structures is investigated in this paper. This new framing system, called the knee-brace-frame (KBF), is a braced frame with diagonal braces connected to ductile knee members. The diagonal braces provide the lateral stiffness, whereas the knee anchors yield in flexure to dissipate energy during severe seismic excitation. To assess the inelastic characteristics of the KBF, a large scale model of a KBF was tested using the pseudodynamic test procedure. The experimental results are compared with analytical results obtained from a DRAIN-2D model. It is found that, with an appropriate design of knee anchors, the KBF can be made to be ductile to dissipate energy during severe seismic excitation.     

Improved time integration for pseudodynamic tests

Converting the second-order differential equation to a first-order equation by integrating it with respect to time once as the governing equation of motion for a structural system can be very promising in the pseudodynamic testing. This was originally found and developed by Chang. The application of this time-integration technique to the Newmark explicit method is implimented and investigated in this paper. The main advantages of using the integral form of Newmark explicit method instead of the commonly used Newmark explicit method in a pseudodynamic test are: a less-error propagation effect, a better capability in capturing the rapid changes of dynamic loading and in eliminating the adverse linearization errors. All these improvements have been verified by theoretical studies and experimental tests. Consequently, for a same time step this time-integration technique may result in less-error propagation and achieve more accurate test results than applying the original form of Newmark explicit method in a pseudodynamic test due to these significant improvements. Thus, the incorporation of this proposed time-integration technique into the direct integration method for pseudodynamic testings is strongly recommended. © 1998 John Wiley & Sons, Ltd.     

Kinematic transformations for planar multi‐directional pseudodynamic testing

The pseudodynamic (PSD) test method imposes command displacements to a test structure for a given time step. The measured restoring forces and displaced position achieved in the test structure are then used to integrate the equations of motion to determine the command displacements for the next time step. Multi‐directional displacements of the test structure can introduce error in the measured restoring forces and displaced position. The subsequently determined command displacements will not be correct unless the effects of the multi‐directional displacements are considered. This paper presents two approaches for correcting kinematic errors in planar multi‐directional PSD testing, where the test structure is loaded through a rigid loading block. The first approach, referred to as the incremental kinematic transformation method, employs linear displacement transformations within each time step. The second method, referred to as the total kinematic transformation method, is based on accurate nonlinear displacement transformations. Using three displacement sensors and the trigonometric law of cosines, this second method enables the simultaneous nonlinear equations that express the motion of the loading block to be solved without using iteration. The formulation and example applications for each method are given. Results from numerical simulations and laboratory experiments show that the total transformation method maintains accuracy, while the incremental transformation method may accumulate error if the incremental rotation of the loading block is not small over the time step. A procedure for estimating the incremental error in the incremental kinematic transformation method is presented as a means to predict and possibly control the error. Copyright © 2009 John Wiley & Sons, Ltd.