基于虚拟振动台的实时耦联动力仿真试验

实时耦联动力试验(RTDHT)是一种将物理模型试验与数值求解计算实时耦联在一起的新型结构动力试验方法.本文采用SIMULINK对液压伺服振动台系统进行了仿真,建立虚拟振动台模型对真实振动台进行离线调试.并提出基于虚拟振动台进行实时耦联动力仿真试验,从而对真实实时耦联动力试验进行指导的思想.仿真结果表明,虚拟振动台可以很好地仿真真实振动台的动力特性,离线调试结果应用于真实振动台能够得到优良的控制性能;基于虚拟振动台的实时耦联动力仿真试验能够反映真实实时耦联动力试验中存在的时滞以及由此而可能导致的系统失稳问题.采用预测补偿算法对时滞进行了补偿,结果表明补偿算法消除了时滞的影响,试验系统稳定且试验结果与数值计算结果吻合得较好.基于虚拟振动台对实时耦联动力试验进行研究,既能对真实试验提出指导又可避免试验系统失稳对设备的损害,是一种实用且必要的研究手段.     

Large‐scale real‐time hybrid simulation involving multiple experimental substructures and adaptive actuator delay compensation

Real‐time hybrid simulation provides a viable method to experimentally evaluate the performance of structural systems subjected to earthquakes. The structural system is divided into substructures, where part of the system is modeled by experimental substructures, whereas the remaining part is modeled analytically. The displacements in a real‐time hybrid simulation are imposed by servo‐hydraulic actuators to the experimental substructures. Actuator delay compensation has been shown by numerous researchers to vitally achieve reliable real‐time hybrid simulation results. Several studies have been performed on servo‐hydraulic actuator delay compensation involving single experimental substructure with single actuator. Research on real‐time hybrid simulation involving multiple experimental substructures, however, is limited. The effect of actuator delay during a real‐time hybrid simulation with multiple experimental substructures presents challenges. The restoring forces from experimental substructures may be coupled to two or more degrees of freedom (DOF) of the structural system, and the delay in each actuator must be adequately compensated. This paper first presents a stability analysis of actuator delay for real‐time hybrid simulation of a multiple‐DOF linear elastic structure to illustrate the effect of coupled DOFs on the stability of the simulation. An adaptive compensation method then proposed for the stable and accurate control of multiple actuators for a real‐time hybrid simulation. Real‐time hybrid simulation of a two‐story four‐bay steel moment‐resisting frame with large‐scale magneto‐rheological dampers in passive‐on mode subjected to the design basis earthquake is used to experimentally demonstrate the effectiveness of the compensation method in minimizing actuator delay in multiple experimental substructures. Copyright © 2011 John Wiley & Sons, Ltd.     

Hybrid simulation of a zipper‐braced steel frame under earthquake excitation

Hybrid simulation is a testing methodology that combines laboratory and analytical simulation to evaluate seismic response of complex structural framing systems. One or more portions of the structure, which may be difficult to model numerically or have properties that have not been examined before, are tested in one or more laboratories, whereas the remainder of the structure is modeled in software using one or more computers. These separate portions are assembled such that combined dynamic response of the hybrid model to excitation is computed using a time‐stepping procedure. A hybrid simulation conducted to examine the seismic response of a type of steel concentrically braced frame, the suspended‐zipper‐braced frame, is presented. The hybrid simulation testing architecture, hybrid model, test setup, solution algorithm, and the seismic response of the suspended‐zipper‐braced frame hybrid model are discussed. Accuracy of this hybrid simulation is examined by comparing hybrid and computer‐only simulations and the errors are quantified using an energy‐based approach. This comparison indicates that the deployed hybrid simulation method can be used to accurately model the seismic response of a complex structural system such as the zipper‐braced frame. Copyright © 2008 John Wiley & Sons, Ltd.     

Model updating method for substructure pseudo‐dynamic hybrid simulation

Substructure hybrid simulation has been actively investigated and applied to evaluate the seismic performance of structural systems in recent years. The method allows simulation of structures by representing critical components with physically tested specimens and the rest of the structure with numerical models. However, the number of physical specimens is limited by available experimental equipment. Hence, the benefit of the hybrid simulation diminishes when only a few components in a large system can be realistically represented. The objective of the paper is to overcome the limitation through a novel model updating method. The model updating is carried out by applying calibrated weighting factors at each time step to the alternative numerical models, which encompasses the possible variation in the experimental specimen properties. The concept is proposed and implemented in the hybrid simulation framework, UI‐SimCor. Numerical verification is carried out using two‐DOF systems. The method is also applied to an experimental testing, which proves the concept of the proposed model updating method. Copyright © 2013 John Wiley & Sons, Ltd.     

Improving the inverse compensation method for real‐time hybrid simulation through a dual compensation scheme

Real‐time hybrid simulation combines experimental testing of physical substructure(s) and numerical simulation of analytical substructure(s), and thus enables the complete structural system to be considered during an experiment. Servo‐hydraulic actuators are typically used to apply the command displacements to the physical substructure(s). Inaccuracy and instability can occur during a real‐time hybrid simulation if the actuator delay due to servo‐hydraulic dynamics is not properly compensated. Inverse compensation is a means to negate actuator delay due to inherent servo‐hydraulic actuator dynamics during a real‐time hybrid simulation. The success of inverse compensation requires the use of a known accurate value for the actuator delay. The actual actuator delay however may not be known before the simulation. An estimation based on previous experience has to be used, possibly leading to inaccurate experimental results. This paper presents a dual compensation scheme to improve the performance of the inverse compensation method when an inaccurately estimated actuator delay is used in the method. The dual compensation scheme modifies the predicted displacement from the inverse compensation procedure using the actuator tracking error. Frequency response analysis shows that the dual compensation scheme enables the inverse compensation method to compensate for actuator delay over a range of frequencies when an inaccurately estimated actuator delay is utilized. Real‐time hybrid simulations of a single‐degree‐of‐freedom system with an elastomeric damper are conducted to experimentally demonstrate the effectiveness of the dual compensation scheme. Exceptional experimental results are shown to be achieved using the dual compensation scheme without the knowledge of the actual actuator delay a priori. Copyright © 2009 John Wiley & Sons, Ltd.     

A new integration scheme for application to seismic hybrid simulation

Hybrid simulation is a powerful test method for evaluating the seismic performance of structural systems. This method makes it feasible that only critical components of a structure be experimentally tested. This paper presents a newly proposed integration algorithm for seismic hybrid simulation which is aimed to extend its capabilities to a wide range of systems where existing methods encounter some limitations. In the proposed method, which is termed the variable time step (VTS) integration method, an implicit scheme is employed for hybrid simulation by eliminating the iterative phase on experimental element, the phase which is necessary in regular implicit applications. In order to study the effectiveness of the VTS method, a series of numerical investigations are conducted which show the successfulness of the VTS method in obtaining accurate, stable and converged responses. Then, in a comparative approach, the improved accuracy of the VTS method over commonly used integration methods is demonstrated. The stability of the VTS method is also studied and the results show that it provides conditional stability; however, its stability limit is well beyond the accuracy limit. The effect of time delay on the VTS method results is also investigated and it is shown that the VTS method is quite successful in handling this experimental error.     

A hybrid analysis method for linear dynamic soil-structure interaction in time and frequency domain

IntroductionThe analysis of dynamic soil-structure interaction for important engineering project is still based on linear model (including equivalent linear model) with complex damping, and traditional frequency domain method (Lysmer, et al, 1975, 1981; DING, et al, 1999). Namely, first calculating frequency domain solution by Fourier transform, and then calculating time domain solution by Fourier inverse transform. The motion equation of a system in frequency domain is usually written as (…     

线性土-结构动力相互作用时域-频域联合解法

提出一种线性土-结构动力相互作用时域-频域联合解法．首先，用近场波动数值模拟解耦技术求得在短时脉冲作用下采用Rayleigh阻尼系统的时域解；再对时域解进行富立叶变换得到相应频域解；然后根据阻尼与系统动力反应结果的关系，利用泰勒级数展开技术得到具有复阻尼系统的频域解．这一方法充分利用了时域解耦显式算法的优点，提高了线性土 结构动力相互作用分析的计算效率．      

利用混合法构建三维数字岩心(英文)

在弹性波有三维数字岩心描述了岩石的微观孔隙结构。X射线CT扫描是获取三维数字岩心最准确和直接的方法,但实验成本高。本文结合沉积过程模拟和模拟退火算法,提出了重建三维数字岩心的混合法,基于岩石二维图像重建三维数字岩心。利用岩石颗粒沉积算法构建初始数字岩心,作为模拟退火算法的初始状态。运用模拟退火算法调整岩石颗粒和孔隙的相对位置,使三维数字岩心与岩心二维图像具有相似的自相关函数,从而建立三维数字岩心。与传统模拟退火算法相比,该方法计算时间明显减小。运用局部孔隙度理论定量比较了重建数字岩心和岩心X射线微CT图像,两种数字岩心具有相似的均质性和孔隙连通性。利用有限元方法和格子玻尔兹曼方法分别模拟了重建三维数字岩心的地层因素和渗透率,数值模拟结果与实验结果相符。相比传统模拟退火算法,混合法重建数字岩心的传导特性更接近真实岩心的传导特性。     

Model-based framework for multi-axial real-time hybrid simulation testing

Real-time hybrid simulation is an efficient and cost-effective dynamic testing technique for performance evaluation of structural systems subjected to earthquake loading with rate-dependent behavior. A loading assembly with multiple actuators is required to impose realistic boundary conditions on physical specimens. However, such a testing system is expected to exhibit significant dynamic coupling of the actuators and suffer from time lags that are associated with the dynamics of the servo-hydraulic system, as well as control-structure interaction (CSI). One approach to reducing experimental errors considers a multi-input, multi-output (MIMO) controller design, yielding accurate reference tracking and noise rejection. In this paper, a framework for multi-axial real-time hybrid simulation (maRTHS) testing is presented. The methodology employs a real-time feedback-feedforward controller for multiple actuators commanded in Cartesian coordinates. Kinematic transformations between actuator space and Cartesian space are derived for all six-degrees-offreedom of the moving platform. Then, a frequency domain identification technique is used to develop an accurate MIMO transfer function of the system. Further, a Cartesian-domain model-based feedforward-feedback controller is implemented for time lag compensation and to increase the robustness of the reference tracking for given model uncertainty. The framework is implemented using the 1/5th-scale Load and Boundary Condition Box (LBCB) located at the University of Illinois at Urbana- Champaign. To demonstrate the efficacy of the proposed methodology, a single-story frame subjected to earthquake loading is tested. One of the columns in the frame is represented physically in the laboratory as a cantilevered steel column. For realtime execution, the numerical substructure, kinematic transformations, and controllers are implemented on a digital signal processor. Results show excellent performance of the maRTHS framework when six-degrees-of-freedom are controlled at the interface between substructures.     

A computational finite‐element program for hybrid simulation

The essence of real time hybrid simulation (RTHS) is the reliance on a physical test (virtual finite element) in support of a numerical simulation, which is unable to properly simulate it numerically. Hence, the computational support for a hybrid simulation is of paramount importance, and one with anything less than a state of the art computational support may defeat the purpose of such an endeavor. A critical, yet often ignored, component of RTHS is precisely the computational engine, which unfortunately has been a bottleneck for realistic studies. Most researches have focused on either the control or on the communication (mostly in distributed, non‐real time hybrid simulation) leaving the third leg of RTHS (computation) ignored and limited to the simulation of simple models (small number of degrees of freedom and limited nonlinearities). This paper details the development of a specialized software written explicitly to perform, single site, hybrid simulation ranging from pseudo‐dynamic to hard real time ones. Solution strategy, implementation details, and actual applications are reported. Copyright © 2011 John Wiley & Sons, Ltd.     

Restoring force correction based on online discrete tangent stiffness estimation method for real-time hybrid simulation

In real-time hybrid simulation (RTHS), it is difficult if not impossible to completely erase the error in restoring force due to actuator response delay using existing displacement-based compensation methods. This paper proposes a new force correction method based on online discrete tangent stiffness estimation (online DTSE) to provide accurate online estimation of the instantaneous stiffness of the physical substructure. Following the discrete curve parameter recognition theory, the online DTSE method estimates the instantaneous stiffness mainly through adaptively building a fuzzy segment with the latest measurements, constructing several strict bounding lines of the segment and calculating the slope of the strict bounding lines, which significantly improves the calculation efficiency and accuracy for the instantaneous stiffness estimation. The results of both computational simulation and real-time hybrid simulation show that: (1) the online DTSE method has high calculation efficiency, of which the relatively short computation time will not interrupt RTHS; and (2) the online DTSE method provides better estimation for the instantaneous stiffness, compared with other existing estimation methods. Due to the quick and accurate estimation of instantaneous stiffness, the online DTSE method therefore provides a promising technique to correct restoring forces in RTHS.     

混合ADI-FDTD亚网格技术在探地雷达频散媒质中的高效正演

提出混合ADI-FDTD亚网格技术开展频散介质GPR正演,即在物性参数变化剧烈局部区域采用细网格剖分ADI-FDTD计算,其他的区域采用粗网格剖分常规FDTD计算,ADI-FDTD突破了CFL条件的限制,可选取与粗网格一致的大时间步长,有效地提高了计算效率.本文首先基于Debye方程,推导了粗网格FDTD及细网格ADI-FDTD频散介质差分格式,着重对粗细两种网格结合的场值交换方式进行了深入探讨,给出了该算法的计算流程.然后以一个薄层模型为例,分别应用粗网格、细网格、混合ADI-FDTD亚网格算法对该模型进行正演,计算资源的占用及模拟精度说明了混合ADI-FDTD亚网格算法的优势.最后,建立频散介质与非频散介质的组合模型,应用3种方法对该模型进行正演,对比3种方法优劣,分析雷达剖面中非频散介质及频散介质中波形特征,有效地指导雷达资料的精确解释.     

Adaptive time series compensator for delay compensation of servo‐hydraulic actuator systems for real‐time hybrid simulation

Hydraulic actuators are typically used in a real‐time hybrid simulation to impose displacements to a test structure (also known as the experimental substructure). It is imperative that good actuator control is achieved in the real‐time hybrid simulation to minimize actuator delay that leads to incorrect simulation results. The inherent nonlinearity of an actuator as well as any nonlinear response of the experimental substructure can result in an amplitude‐dependent behavior of the servo‐hydraulic system, making it challenging to accurately control the actuator. To achieve improved control of a servo‐hydraulic system with nonlinearities, an adaptive actuator compensation scheme called the adaptive time series (ATS) compensator is developed. The ATS compensator continuously updates the coefficients of the system transfer function during a real‐time hybrid simulation using online real‐time linear regression analysis. Unlike most existing adaptive methods, the system identification procedure of the ATS compensator does not involve user‐defined adaptive gains. Through the online updating of the coefficients of the system transfer function, the ATS compensator can effectively account for the nonlinearity of the combined system, resulting in improved accuracy in actuator control. A comparison of the performance of the ATS compensator with existing linearized compensation methods shows superior results for the ATS compensator for cases involving actuator motions with predefined actuator displacement histories as well as real‐time hybrid simulations. Copyright © 2013 John Wiley & Sons, Ltd.     

Hybrid simulation: An early history

This historical note reports on the early days of the development of an experimental method called “hybrid simulation.” As background, the seeds of this concept, initiated in the early 1970s by Japanese researchers, are presented first, followed by initial efforts (regarded as Stage I) to realize the concept of hybrid simulation and its first applications to explore the seismic performance of structures. The initial research in this now-seminal field of earthquake engineering began in the early 1970s by Koichi Takanashi and his coworkers at the Institute of Industrial Science, the University of Tokyo. Their highly notable efforts in laying the groundwork for hybrid simulation occurred in the mid-1970s through the early 1980s by Takanashi (for steel structures) and Tsuneo Okada (for RC structures). These two men and their coworkers first applied hybrid simulation to explore the seismic behavior, performance, and design of various types of building structures. In Stage I, this method was called “the on-line computer-controlled test” or “pseudo dynamic test” because the unique feature of the method was the combined test and simulation and the intentional slow loading in the test. Extension of the scope and application of hybrid simulation occurred largely between the early 1980s and the early 1990s (regarded as Stage II) in conjunction with the United States–Japan joint research project. A few notable efforts made around that period are touched upon briefly, including error propagation and suppression in multi-degree-of-freedom hybrid simulation, application of the substructure methodology to hybrid simulation, and real-time hybrid simulation.     

Application of hybrid‐simulation to fragility assessment of the telescoping self‐centering energy dissipative bracing system

Substructure hybrid simulation has been the subject of numerous investigations in recent years. The simulation method allows for the assessment of the seismic performance of structures by representing critical components with physical specimens and the rest of the structure with numerical models. In this study the system level performance of a six‐storey structure with telescoping self‐centering energy dissipative (T‐SCED) braces is validated through pseudo‐dynamic (PsD) hybrid simulation. Fragility curves are derived for the T‐SCED system. This paper presents the configuration of the hybrid simulation, the newly developed control software for PsD hybrid simulation, which can integrate generic hydraulic actuators into PsD hybrid simulation, and the seismic performance of a structure equipped with T‐SCED braces. The experimental results show that the six‐storey structure with T‐SCED braces satisfies performance limits specified in ASCE 41. Copyright © 2013 John Wiley & Sons, Ltd.     

Actuator dynamics compensation based on upper bound delay for real‐time hybrid simulation

Real‐time hybrid simulation represents a powerful technique capable of evaluating the structural dynamic performance by combining the physical simulation of a complex and rate‐dependent portion of a structure with the numerical simulation of the remaining portion of the same structure. Initially, this paper shows how the stability of real‐time hybrid simulation with time delay depends both on compensation techniques and on time integration methods. In particular, even when time delay is exactly known, some combinations of numerical integration and displacement prediction schemes may reduce the response stability with conventional compensation methods and lead to unconditional instability in the worst cases. Therefore, to deal with the inaccuracy of prediction and the uncertainty of delay estimation, a nearly exact compensation scheme is proposed, in which the displacement is compensated by means of an upper bound delay and the desired displacement is picked out by an optimal process. Finally, the advantages of the proposed scheme over conventional delay compensation techniques are shown through numerical simulation and actual tests. Copyright © 2013 John Wiley & Sons, Ltd.     

Analysis of implicit HHT‐α integration algorithm for real‐time hybrid simulation

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.     

(T2,D)二维核磁共振测井混合反演方法与参数影响分析

一维核磁共振(1D NMR)测井技术在流体识别中具有一定的局限性.二维核磁共振(2D NMR)测井能同时测量到多孔介质中横向弛豫时间(T₂)和扩散系数(D)等信息,利用这两个参数区分流体性质,较一维核磁共振测井技术具有明显的优越性.针对梯度场下的2D NMR测井弛豫机理和数学模型,提出了适用于求解大型稀疏矩阵方程的反演方法-基于非负最小二乘法(LSQR)和截断奇异值分解(TSVD)法的混合算法.为验证方法的有效性,先根据多回波观测模式合成回波串数据,然后再用混合反演算法进行反演,反演得到横向弛豫时间(T₂)和扩散系数(D),并构建T₂-D二维谱图.结果对比表明,该混合反演算法得到的T₂-D二维谱与流体模型一致性好,计算精度均比单一反演方法有较大改善,表明该混合反演方法可用于油气储集层2D NMR测井的反演和流体识别.此外,分别对油水同层和气水同层模型进行了正演模拟和反演实验, 系统考察了不同磁场梯度、不同回波间隔组合对反演效果的影响,为2D NMR参数设计提供依据.     

振动台实时耦联动力试验系统构建解决方案

实时耦联动力试验(RTDHT)是一种将物理模型试验和数值求解计算实时耦联在一起进行整体结构动力反应分析的新型结构动力试验方法。构建实时耦联动力试验系统将面临数值子结构实时计算、数据实时传输、加载器精确加载等问题。本文首先以清华大学新近建成的一套基于振动台的实时耦联动力试验系统为例,对试验系统构建中面临的问题以及相应的解决方案进行了阐述,对构建实时耦联动力试验系统提出了一些指导性的建议。随后简要介绍了利用该系统已经进行的一些实时耦联动力试验,并对实时耦联动力试验可能的应用前景进行了探讨。