Stability and accuracy analysis of outer loop dynamics in real‐time pseudodynamic testing of SDOF systems

Real‐time pseudodynamic (PSD) testing is an experimental technique for evaluating the dynamic behaviour of a complex structure. During the test, when the targeted command displacements are not achieved by the test structure, or a delay in the measured restoring forces from the test structure exists, the reliability of the testing method is impaired. The stability and accuracy of real‐time PSD testing in the presence of amplitude error and a time delay in the restoring force is presented. Systems consisting of an elastic single degree of freedom (SDOF) structure with load‐rate independent and dependent restoring forces are considered. Bode plots are used to assess the effects of amplitude error and a time delay on the steady‐state accuracy of the system. A method called the pseudodelay technique is used to derive the exact solution to the delay differential equation for the critical time delay that causes instability of the system. The solution is expressed in terms of the test structure parameters (mass, damping, stiffness). An error in the restoring force amplitude is shown to degrade the accuracy of a real‐time PSD test but not destabilize the system, while a time delay can lead to instability. Example calculations are performed for determining the critical time delay, and numerical simulations with both a constant delay and variable delay in the restoring force are shown to agree well with the stability limit for the system based on the critical time delay solution. The simulation models are also used to investigate the effects of a time delay in the PSD test of an inelastic SDOF system. The effect of energy dissipation in an inelastic structure increases the limit for the critical time delay, due to the energy removed from the system by the energy dissipation. Copyright © 2007 John Wiley & Sons, Ltd.     

Stability analysis for real‐time pseudodynamic and hybrid pseudodynamic testing with multiple sources of delay

Real‐time pseudodynamic (PSD) and hybrid PSD test methods are experimental techniques to obtain the response of structures, where restoring force feedback is used by an integration algorithm to generate command displacements. Time delays in the restoring force feedback from the physical test structure and/or the analytical substructure cause inaccuracies and can potentially destabilize the system. In this paper a method for investigating the stability of structural systems involved in real‐time PSD and hybrid PSD tests with multiple sources of delay is presented. The method involves the use of the pseudodelay technique to perform an exact mapping of fixed delay terms to determine the stability boundary. The approach described here is intended to be a practical one that enables the requirements for a real‐time testing system to be established in terms of system parameters when multiple sources of delay exist. Several real‐time testing scenarios with delay that include single degree of freedom (SDOF) and multi‐degree of freedom (MDOF) real‐time PSD/hybrid PSD tests are analyzed to illustrate the method. From the stability analysis of the real‐time hybrid testing of an SDOF test structure, delay‐independent stability with respect to either experimental or analytical substructure delay is shown to exist. The conditions that the structural properties must satisfy in order for delay‐independent stability to exist are derived. Real‐time hybrid PSD testing of an MDOF structure equipped with a passive damper is also investigated, where observations from six different cases related to the stability plane behavior are summarized. Throughout this study, root locus plots are used to provide insight and explanation of the behavior of the stability boundaries. Copyright © 2008 John Wiley & Sons, Ltd.     

Dual compensation strategy for real‐time hybrid testing

Real‐time hybrid testing is an experimental technique for evaluating the dynamic responses of structural systems under seismic loading. Servo‐hydraulic actuators, by nature, induce inevitable time delay between the command and the achieved displacements. This delay would lead to incorrect test results and even cause instability of the system; therefore, delay compensation is critical for stability and accuracy of hybrid simulations of structural dynamic response. In this paper, a dual delay compensation strategy is proposed by a combination of a phase lead compensator and a restoring force compensator. An outer‐loop feed‐forward phase lead compensator is derived by introducing the inverse model in the z domain. The adaptive law based on the gradient algorithm is used to estimate the system delay in the format of parametric model during the test. It is shown mathematically that the parameter in the delay estimator is guaranteed to converge. The restoring force compensator is adopted to improve the accuracy of experimental results especially when the structure is subjected to high frequency excitations. Finally, analytical simulations of an inelastic SDOF structure are conducted to investigate the feasibility of the proposed strategy. The accuracy of the dual compensation strategy is demonstrated through several shaking table tests. Copyright © 2012 John Wiley & Sons, Ltd.     

Phase and amplitude error indices for error quantification in pseudodynamic testing

Real-time pseudodynamic (PSD) and hybrid PSD testing methods are displacement controlled experimental techniques that are used to investigate the dynamic behaviour of complex and load rate-dependent structures. Because the imposed command displacements are not predefined but generated during the test based on measured feedback, these methods are inherently prone to error propagation, which can affect the accuracy and even the stability of the entire experiment. As a result, to have these experimental methods as reliable tools, the accuracy of the test results needs to be assessed by carefully monitoring, and if possible, quantifying the errors involved. In this paper, phase and amplitude error indices (PAEI) are introduced to identify the experimental errors through uncoupled closed-form equations. Unlike the indicators that have been previously introduced in the literature for error identification purposes, PAEI do not use test setup specific parameters in their formulation, and can quantify the errors independent of the amplitude of the command displacements. As such, PAEI can be used as standard tools for assessing the quality of the experiments performed in different laboratories or under different conditions. Additionally, because they can quantify the error, when implemented online, PAEI have the potential to be incorporated in the control law and thereby improve the actuator control during the tests. The formulation and implementation of PAEI are provided in this paper. The enhanced performance of the proposed indices is demonstrated by processing several different measured and command signals using PAEI and comparing the results with those revealed by the previous indicators. Copyright © 2011 John Wiley & Sons, Ltd.     

Experimental study of the seismic behavior of partially concrete‐filled steel bridge piers under bidirectional dynamic loading

The seismic behavior of steel bridge piers partially filled with concrete under actual earthquake conditions was investigated by using 20 square section specimens subjected to static cyclic loading tests and single‐directional and bidirectional hybrid loading tests. Acceleration records of two horizontal NS and EW directional components for hard (GT1), medium (GT2), and soft grounds (GT3), obtained during the 1995 Kobe earthquake, were adopted in dynamic tests. Experimental results clearly showed that maximum and residual displacements under actual earthquake conditions cannot be accurately estimated by conventional single‐directional loading tests, especially for GT2 and GT3. A modified admissible displacement was proposed on the basis of bidirectional loading test results. The concrete fill can effectively improve the seismic resistance performance if the concrete inside the steel bridge piers is sufficiently high in quantity. Copyright © 2013 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.     

An unconditionally stable hybrid pseudodynamic algorithm

There is a significant motivation to implement an unconditionally stable scheme in the pseudodynamic test method. As more complex experiments with many degrees of freedom are tested, explicit time integration methods limit the size of time step on the basis of the highest natural frequency of the system. This is true even though the response of the structure may be dominated by a few lower frequency modes. The limit on step size is undesirable because it physically increases the duration of a test, but more importantly, because the number of steps to completion increases and error propagation problems increase with the number of steps in a test. In addition, incremental displacements within each step become smaller, introducing the potential for problems associated with stress relaxation. An unconditionally stable algorithm allows the time step to be selected to give accurate response in the modes of interest without regard for higher mode characteristics.     

Comparison of displacement coefficient method and capacity spectrum method with experimental results of RC columns

For the performance‐based seismic design of buildings, both the displacement coefficient method used by FEMA‐273 and the capacity spectrum method adopted by ATC‐40 are non‐linear static procedures. The pushover curves of structures need to be established during processing of these two methods. They are applied to evaluation and rehabilitation of existing structures. This paper is concerned with experimental studies on the accuracy of both methods. Through carrying out the pseudo‐dynamic tests, cyclic loading tests and pushover tests on three reinforced concrete (RC) columns, the maximum inelastic deformation demands (target displacements) determined by the coefficient method of FEMA‐273 and the capacity spectrum method of ATC‐40 are compared. In addition, a modified capacity spectrum method which is based on the use of inelastic design response spectra is also included in this study. It is shown from the test specimens that the coefficient method overestimates the peak test displacements with an average error of +28% while the capacity spectrum method underestimates them with an average error of ‐20%. If the Kowalsky hysteretic damping model is used in the capacity spectrum method instead of the original damping model, the average errors become ‐11% by ignoring the effect of stiffness degrading and ‐1.2% by slightly including the effect of stiffness degrading. Furthermore, if the Newmark–Hall inelastic design spectrum is implemented in the capacity spectrum method instead of the elastic design spectrum, the average error decreases to ‐6.6% which undervalues, but is close to, the experimental results. Copyright © 2003 John Wiley & Sons, Ltd.     

Identification of yield drift deformations and evaluation of the degree of damage through the direct sensing of drift displacements

Inter‐story drift displacement data can provide useful information for story damage assessment. The authors' research group has developed photonic‐based sensors for the direct measurement of inter‐story drift displacements. This paper proposes a scheme for evaluating the degree of damage in a building structure based on drift displacement sensing. The scheme requires only measured inter‐story drift displacements without any additional finite element analysis. A method for estimating yield drift deformation is proposed, and then, the degree of beam end damage is evaluated based on the plastic deformation ratios derived with the yield drift deformation values estimated by the proposed method. The validity and effectiveness of the presented scheme are demonstrated via experimental data from a large‐scale shaking table test of a one‐third‐scale model of an 18‐story steel building structure conducted at E‐Defense. Copyright © 2016 John Wiley & Sons, Ltd.     

Shake table testing on restoring capability of double concave friction pendulum seismic isolation systems

After an earthquake, non‐negligible residual displacements may affect the serviceability of a base isolated structure, if the isolation system does not possess a good restoring capability. The permanent offset does not affect the performance unless the design is problematic for utilities, also considering possible concerns related to the maintenance of the devices. Starting from experimental and analytical results of previous studies, the restoring capability of Double Concave Friction Pendulum bearings is investigated in this paper. A simplified design suggestion for the estimation of maximum expected residual displacements for currently used friction pendulum systems is then validated. The study is based on controlled‐displacement and seismic input experiments, both performed under unidirectional motion. Several shaking table tests have been carried out on a three‐dimensional isolated specimen structure. The same sequence of seismic inputs was applied considering three different conditions of sliding surfaces corresponding to low, medium and high friction. The accumulation of residual displacements is also investigated by means of nonlinear dynamic analysis. Copyright © 2017 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.     

Full operator algorithm for hybrid simulation

One of the weaknesses of the operator splitting method (OSM) is that its corrector step employs the approximation that incremental forces are linearly related to the tested structure's initial stiffness matrix. This paper presents a new predictor–corrector technique in which the assumptions about the tested structure's response are shifted to the predictor step, which results in an enhancement in overall simulation accuracy, especially for nonlinear structures. Unlike OSM, which splits the displacement and velocity operators into explicit and implicit terms, the new method uses predicted accelerations to compute fully explicit displacement and velocity values in the predictor step. Another advantage of the proposed technique, termed the full operator method (FOM) is that its formulation makes it suitable for both quasi‐static and real‐time hybrid simulation. The effectiveness of FOM is first evaluated by investigating error propagation in an undamped single degree‐of‐freedom model. It is shown that the corrector step in FOM is able to significantly suppress aberrant simulation results caused by incorrect estimation of the structure's stiffness matrix. The performance of FOM is demonstrated by exercising two additional models, which exhibit significant inelastic behavior under the prescribed excitation. The simulation results show that the proposed FOM algorithm is capable of producing accurate solutions and that the corrector step is influential in effectively reducing simulation errors. It is also shown that FOM suppresses actuator displacement control errors because of its reliance on measured quantities in the corrector step. Copyright © 2009 John Wiley & Sons, Ltd.     

Control nodes based loading method: A versatile approach for multi-degree-of-freedom loading in quasi-static tests and hybrid simulations

In quasi-static and hybrid tests, accurate reproduction of structural responses often requires multi-degree-of-freedom (multi-DOF) loading methods. A successful loading method should not only be used on specific specimens for research purposes, but also be applicable to all possible types of specimen and testing setups for engineering purposes. However, for different specimens, the concerned nodes and DOFs differ in size, leading to non-uniform kinematic transformation between the Cartesian system and the actuators/transducers coordinate systems. While for different testing setups, the type of loading targets on each DOF varies, they can be displacement or force. These diversities together make it difficult to achieve versatility in applying loading methods. To address this challenge, a control nodes based loading method was proposed. This method was constructed based on the viewpoint that any specimen can be treated as a combination of several control nodes, and the loading loop should be constructed on each control node. In this method, at first, the loading targets, actuators and external transducers were assigned to each control node accordingly. Then, the loading loops were constructed based on each control node instead of the entire specimen DOFs, which is capable of achieving uniform kinematic transformation and also convenient to apply redundant controlling. Finally, all the control nodes were assembled in one closed loop to support mixed force-displacement loading considering the coupling of multiple DOFs. Hybrid tests and quasi-static tests of a full-scale steel frame were carried out to demonstrate the accuracy and feasibility of the proposed loading method.     

Towards error‐free hybrid simulation using mixed variables

Two procedures are developed and implemented in a hybrid simulation system (HSS) with the aim of enhancing the accuracy and reliability of the online, i.e. pseudo‐dynamic, test results. The first procedure aims at correcting the experimental systematic error in executing the displacement command signal. The error is calculated as the difference between command and feedback signals and correlated to the actuator velocity using the least‐squares method. A feed‐forward error compensation scheme is devised leading to a more accurate execution of the test. The second procedure employs mixed variables with mode switching between displacement and force controls. The newly derived force control algorithm is evaluated using a parametric study to assess its stability and accuracy. The implementation of the mixed variables procedure is designed to adopt force control for high stiffness states of the structural response and displacement control otherwise, where the resolution of the involved instruments may favour this type of mixed control. A simple pseudo‐dynamic experiment of steel cantilever members is used to validate the HSS. Moreover, two experiments as application examples for the two developed procedures are presented. The two experiments focus on the seismic response of (a) timber shear walls and (b) reinforced concrete frames with and without unreinforced masonry infill wall. Copyright © 2007 John Wiley & Sons, Ltd.     

Scale invariance and self‐similarity in kinematic wave overland flow in space and time

Fractals are famous for their self‐similar nature at different spatial scales. Similar to fractals, solutions of scale invariant processes are self‐similar at different space–time scales. This unique property of scale‐invariant processes can be utilized to translate the solution of the processes at a much larger or smaller space–time scale (domain) based on the solution calculated on the original space–time scale. This study investigates scale invariance conditions of kinematic wave overland flow process in one‐parameter Lie group of point transformations framework. Scaling (stretching) transformation is one of the one‐parameter Lie group of point transformations and it has a unique importance among the other transformations, as it leads to the scale invariance or scale dependence of a process. Scale invariance of a process yields a self‐similar solution at different space–time scales. However, the conditions for the process to be scale invariant usually dictate various relationships between the scaling coefficients of the dependent and independent variables of the process. Therefore, the scale invariance of a process does not assure a self‐similar solution at any arbitrary space and time scale. The kinematic wave overland flow process is modelled mathematically as initial‐boundary value problem. The conditions to be satisfied by the system of governing equations as well as the initial and boundary conditions of the kinematic wave overland flow process are established in order for the process to be scale invariant. Also, self‐similarity of the solution of the kinematic wave overland flow under the established invariance conditions is demonstrated by various numerical example problems. Copyright © 2011 John Wiley & Sons, Ltd.     

Dynamic response of an elastic-viscoplastic system in modal co-ordinates

A dynamic analysis of elastic–viscoplastic systems, incorporating the modal co-ordinate transformation technique, is presented. The formulation results in uncoupled incremental equations of motion with respect to the modal co-ordinates. The elastic–viscoplastic model adopted allows the analysis not to involve yielding regions and loading/unloading processes. An implicit Runge–Kutta scheme together with the Newton–Raphson method are used to solve the non-linear constitutive equations. Stability and accuracy of the numerical solution are improved by utilizing a local time step sub-incrementing procedure. Applications of the analyses to multi-storey shear buildings show that good results can be obtained for the maximum displacement response by including only a few lower modes in the computation, but the prediction of the ductility factor response tends to underestimate the peak values when too few modes are used. In addition, stable and valid results can be obtained even with a sizable time step increment.     

Nonlinear behavior of high-damping rubber bearings under horizontal bidirectional loading: full-scale tests and analytical modeling

Horizontal bidirectional loading tests are conducted for real-sized high-damping rubber (HDR) bearings with diameters of 700 mm (HDR700) and 1300 mm (HDR1300). The hysteresis loops of these bearings under bidirectional horizontal loadings are compared with those under unidirectional loadings. The results show that the bearing force measurement in the primary direction of loading increases when there is displacement in the orthogonal direction. Unusually, the maximum restoring force in the orthogonal direction to the primary loading direction occurs near zero displacement. On the basis of the observations of the restoring forces, a rate-independent model is proposed. This model simulates well the test results under both bidirectional loading and unidirectional loading. It can reproduce the irregular restoring forces characteristics around zero displacement as described above. Bidirectional loading induced twist deformation in the HDR bearings that increased local shear strains. This phenomenon results in an early failure as observed in HDR700. The additional shear strain is estimated based on the twist deformation measured by video image analysis. The comparison of the nominal total shear stress demonstrates that the increase of shear stress because of bidirectional loading occurs when the average shear strain is larger than about 200%. The larger the shear strain, the greater the bidirectional effect. It is shown that the nominal total shear stress of average strain of 350% under bidirectional circular loading pattern is approximately the same as the average shear strain of 400% under unidirectional loading. This means that the average shear strain of 350% under a bidirectional circular loading corresponds to a local shear strain of 400%. Copyright © 2012 John Wiley & Sons, Ltd.     

On‐line hybrid test combining with general‐purpose finite element software

A new on‐line hybrid test system incorporated with the substructuring technique is developed. In this system, a general‐purpose finite element software is employed to obtain the restoring forces of the numerical substructure accurately. The restart option is repeatedly used to accommodate the software with alternating loading and analysis characteristic of the on‐line test but without touching the source code. An eight‐storey base‐isolated structure is tested to evaluate the feasibility and effectiveness of the proposed test system. The overall structure is divided into two substructures, i.e. a superstructure to be analysed by the software and a base‐isolation layer to be tested physically. Collisions between the base‐isolation layer and the surrounding walls are considered in the test. The responses of the overall structure are reasonable, and smooth operation is achieved without any malfunction. Copyright © 2006 John Wiley & Sons, Ltd.     

A rate‐dependent constitutive model of high damping rubber bearings: modeling and experimental verification

In this study, a constitutive model of high damping rubber bearings (HDRBs) is developed that allows the accurate representation of the force–displacement relationship including rate‐dependence for shear deformation. The proposed constitutive model consists of two hyperelastic springs and a nonlinear dashpot element and expresses the finite deformation viscoelasticity laws based on the classical Zener model. The Fletcher–Gent effect, manifested as high horizontal stiffness at small strains and caused by the carbon fillers in HDRBs, is accurately expressed through an additional stiffness correction factor α in the novel strain energy function. Several material parameters are used to simulate the responses of high damping rubber at various strain levels, and a nonlinear viscosity coefficient η is introduced to characterize the rate‐dependent property. A parameter identification scheme is applied to the results of the multi‐step relaxation tests and the cyclic shear tests, and a three‐dimensional function of the nonlinear viscosity coefficient η with respect to the strain, and strain rate is thus obtained. Finally, to investigate the accuracy and feasibility of the proposed model for application to the seismic response assessment of bridges equipped with HDRBs, an improved real‐time hybrid simulation (RTHS) test system based on the velocity loading method is developed. A single‐column bridge was used as a test bed and HDRBs was physically tested. Comparing the numerical and RTHS results, advantage of the proposed model in the accuracy of the predicted seismic response over comparable hysteretic models is demonstrated. Copyright © 2016 John Wiley & Sons, Ltd.     

Elastk-plastic dynamic analysis of structures using known elastic solutions

A numerical method is shown to analyse the dynamic elastic-plastic responses of those structures with known elastic solutions. The displacement at one point at time t caused by a unit load applied at another point at zero time, called dynamic influence coefficient, is calculated from the known elastic solutions. Incremental plastic strain is accounted for by a set of additional incremental loads, so the stiffness matrix and the eigenvectors do not vary with time. From the incremental load including that caused by the incremental plastic strain, the displacement vs. time of the structure is obtained. This method is applied to simply supported beams with bilinear stress-strain relations with different strain-hardening rates and to a simply supported elastic-ideally plastic rectangular plate. This procedure can be extended to structures with no available known analytical elastic solutions. For these structures, the elastic solutions can be obtained by the finite element method.