A comparative study and unification of two methods for controlling dynamically substructured systems

This paper addresses the problem of advanced testing of systems via the principle of dynamic substructuring. Use is made of the hybrid simulation (HS) scheme framework to develop a new method of synthesis for the dynamically substructured system (DSS) scheme of Stoten and Hyde. Principal reasons for doing this are (i) to improve upon the original method of DSS synthesis by adopting the more intuitive framework of HS and (ii) to enable the amalgamation of HS and DSS into a unified substructured system (USS) scheme, so that the significant advantages of DSS can be incorporated into an existing HS scheme as a straightforward retrofit. Having established the common framework for HS/DSS, the paper also illustrates, by way of an example, compensator/controller synthesis for the two schemes, together with their advantages and disadvantages. In doing this, both schemes are retained in their basic forms, that is, there are no additional control embellishments used in this work, such as delay compensation, adaptive control, or other advanced control methods. In order to maintain as much transparency as possible, use is made of well‐known classical control techniques. Common problems associated with the substructure testing technique are also investigated, including the effects of physical parameter uncertainty, pure delays in signals, and a ‘split‐mass’ in the substructure formulation. It is shown that, although the new formulation of controlled DSS requires more design effort than compensated‐HS, the advantages of DSS in terms of stability and robustness significantly outweigh this small disadvantage at the design stage. Copyright © 2016 John Wiley & Sons, Ltd.     

Experimental investigation on a base isolation system incorporating steel–Teflon sliders and pressurized fluid viscous spring dampers

An experimental investigation on a base isolation system incorporating stainless steel–Teflon bearings as sliders, and pressurized fluid viscous spring dampers, is presented in this paper. In the system examined, dampers are connected to the base floor of an isolated building to provide the desired passive control of response in the superstructure, as well as to guarantee that it re‐centres completely after the termination of a seismic action. Two types of experiments were conducted: sinusoidal and random cyclic tests, and a pseudodynamic test in ‘substructured’ configuration. The cyclic tests were aimed at characterizing what follows: the hysteretic and strain‐rate‐dependent response of the considered highly non‐linear spring dampers; the normal pressure‐ and strain‐rate‐dependent frictional behaviour of steel–Teflon bearings, manufactured in compliance with the latest standards for this class of sliders; and the combined response of their assembly. The pseudodynamic test simulated the installation of the protection system at the base of a 2:3‐scale three‐storey steel frame structure, already tested in unprotected conditions by an earlier experimental campaign. Among other findings, the results of the performed tests, as well as of relevant mechanical interpretation and numerical simulation analyses, confirmed the linear additive combination of the dissipative actions of spring dampers and sliders in this mixed installation, and the high protective performance of the considered base isolation/supplemental damping system in a realistic earthquake simulation. Copyright © 2007 John Wiley & Sons, Ltd.     

基于子结构法的地铁车站地震反应分析

对1995年日本阪神地震中地铁车站的破坏情况进行了调查,深入分析了地铁车站的地震破坏机理。采用二维子结构分析方法（SASSI2000）分别对水平向和竖向地震动作用下神户大开地铁车站的地震反应进行了数值模拟分析。在建模时把地铁车站上方的土体作为车站的附属结构,首先采用SHAKE91程序计算自由场土体的动剪切模量和阻尼比,在SASSI2000中不再考虑土体的非线性。将计算结果与1995年阪神地震中该车站的震害进行了详细地对比分析发现所得的地震反应规律与其震害完全吻合,其计算结果能够合理的解释神户大开地铁车站的各种震害现象。因此,对地下车站的抗震设计具有一定的参考价值和指导意义。     

Seismic performance evaluation of high voltage disconnect switches using real‐time hybrid simulation: I. System development and validation

This paper presents the development and validation of a real‐time hybrid simulation (RTHS) system for efficient dynamic testing of high voltage electrical vertical‐break disconnect switches. The RTHS system consists of the computational model of the support structure, the physical model of the insulator post, a small shaking table, a state‐of‐the‐art controller, a data acquisition system and a digital signal processor. Explicit Newmark method is adopted for the numerical integration of the governing equations of motion of the hybrid structure, which consists of an insulator post (experimental substructure) and a spring‐mass‐dashpot system representing the support structure (analytical substructure). Two of the unique features of the developed RTHS system are the application of an efficient feed‐forward error compensation scheme and the ability to use integration time steps as small as 1 ms. After the development stage, proper implementation of the algorithm and robustness of the measurements used in the calculations are verified. The developed RTHS system is further validated by comparing the RTHS test results with those from a conventional shaking table test. A companion paper presents and discusses a parametric study for a variety of geometrical and material configurations of these switches using the developed RTHS system. Copyright © 2013 John Wiley & Sons, Ltd.     

Online hybrid test by internet linkage of distributed test‐analysis domains

Online hybrid tests (called the online tests), particularly when combined with substructuring techniques, are able to conduct large‐scale tests. An extension of this technique is to combine multiple loading tests conducted in remote locations and to integrate the tests with large numerical analysis codes. In this study, a new Internet online test system is developed in which a physical test is conducted in one place, the associated numerical analysis is performed in a remote location, and the two locations communicate over the Internet. To implement the system, a technique that links test and analysis domains located at different places is proposed, and an Internet data exchange interface is devised to allow data communication across Internet. A practical method that utilizes standard protocols implemented by operating systems for sharing files and folders is adopted to ensure stable and robust communication between remotely located servers that commonly protect themselves by strict firewalls. To combine the online test with a finite element program formulated in an incremental form and adopting an implicit integration scheme, a tangent stiffness prediction procedure is proposed. In this procedure, a tangent stiffness is estimated based on a few previous steps of experimental data. Using the system devised, tests on a base‐isolated structure were carried out. Here, the base‐isolation layer was taken as the tested part and tested in Kyoto University, Japan, and the superstructure was modelled by means of a finite element program and analysed in a computer located in Osaka University. A series of physical Internet online tests were carried out, with the integration time interval and the method of tangent stiffness prediction as the major parameters. The tests demonstrated that the Internet communication was very stable and robust, without malfunctions. The proposed method of stiffness prediction was effective even when the experimental hysteresis curves exhibited complex behaviour, thereby ensuring accurate simulation for the earthquake response of the entire structure. Copyright © 2005 John Wiley & Sons, Ltd.     

Real‐time hybrid experiments with Newmark integration,MCSmd outer‐loop control and multi‐tasking strategies

Real‐time hybrid testing is a promising technique for experimental structural dynamics, in which the structure under consideration is split into a physical test of key components and a numerical model of the remainder. The physical test and numerical analysis proceed in parallel, in real time, enabling testing of critical elements at large scale and at the correct loading rate. To date most real‐time hybrid tests have been restricted to simple configurations and have used approximate delay compensation schemes. This paper describes a real‐time hybrid testing approach in which non‐linearity is permitted in both the physical and numerical models, and in which multiple interfaces between physical and numerical substructures can be accommodated, even when this results in very stiff coupling between actuators. This is achieved using a Newmark explicit numerical solver, an advanced adaptive controller known as MCSmd and a multi‐tasking strategy. The approach is evaluated through a series of experiments on discrete mass–spring systems. Copyright © 2006 John Wiley & Sons, Ltd.     

Dynamic response of high-speed rail foundations using linear hysteretic damping and frequency domain substructuring

A proposed method for mitigating ground-borne vibration generated by high-speed trains is the usage of rubber-modified asphalt concrete as a ballast mat material. To gauge this material's influence in vibration control, a dynamic finite element code that models distinct damping properties in a large, nonhomogenous system was created. A linear hysteretic damping model is used to capture the dissipative mechanisms of each material; frequency domain substructuring is used for computational efficiency. Vibratory responses utilizing different ballast mat materials in a high-speed rail foundation are compared. It is shown that rubber-modified asphalt concrete results in a general reduction of motion, particularly in directions horizontally parallel and perpendicular to the train's passage. The described modeling procedure may be used for any dynamic analysis where the preservation of material damping characteristics is desired.     

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.     

Bond‐graph based substructuring of dynamical systems

A bond graph approach to hybrid simulation of dynamical systems using numerical–experimental real‐time substructuring is presented. The bond graph concepts of a virtual junction and a virtual actuator, hitherto used in the context of physical‐model based control, are used to perform the substructuring in an intuitively appealing way. The approach is illustrated by the reworking of a previously‐published example. The approach is verified experimentally using a bench‐top multiple mass–spring system for the physical substructure and automatically generated real‐time code is used to implement the numerical substructure. Copyright © 2005 John Wiley & Sons, Ltd.     

On‐line hybrid test method for evaluating the performance of structural details to failure

A test environment to evaluate the seismic performance of gusset plate connections intended for steel braced frames is proposed. The developed test method combines the substructuring techniques with finite element analysis methods in an on‐line hybrid scheme. Numerical substructure analysis is conducted on bracing members, while bracing connections are treated as experimental substructures. A force‐displacement combined control imposed with the aid of 2 jacks ensures physical continuity between the analysis and test. The rotational behavior of gusset plate connections subjected to large inelasticity and varying axial loading until fracture is investigated. Two gusset plate details were designed and tested to verify the efficiency of the proposed method. The test method is rational, and smooth operation is achieved. The test results revealed the advantage of the developed on‐line hybrid test method in exploring the ultimate capacity of bracing connections.