A robust linear-quadratic-gaussian controller for the real-time hybrid simulation on a benchmark problem

Zhou, Huimeng; Xu, Dan; Shao, Xiaoyun; Ning, Xizhan; Wang, Tao

doi:10.1016/j.ymssp.2019.106260

Cited by 22 publications

(16 citation statements)

References 31 publications

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“…Based on the principles of ATS, Palacio-Betancur and Gutierrez Soto (2019) proposed a conditional adaptive time series (CATS) compensator for a benchmark problem in which a recursive least square (RLS) algorithm is adopted for the parameter estimation of the controller to reduce computational efforts. Zhou (Zhou et al, 2019) combined a linear-quadratic gaussian controller and a polynomial-based feedforward prediction algorithm to compensate the adverse effects of time delay and uncertainties on the RTHS testing system.…”

Section: Delay Compensation Schemesmentioning

confidence: 99%

Advances in Real-Time Hybrid Testing Technology for Shaking Table Substructure Testing

Tian

Shao

Zhou

et al. 2020

Front. Built Environ.

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Shaking table substructure testing (STST) takes the substructure with complex behavior physically tested, with the behavior of the rest structural system being numerically simulated. This substructure testing allows the payload of a shaking table being fully utilized in testing of the most concerned part, thus significantly increases its loading capacity. The key to achieve a successful STST is to coordinate among the substructures, specifically, to satisfy compatibility, equilibrium, and synchronization at the boundary between numerical and experimental substructures. A number of studies have focused on the essential techniques of STST, and several applications have been carried out. Nonetheless, its progress is still in the preliminary stage, because of the limited applications using multi-directional shaking tables on large-scale specimens. This paper reviews a series of STSTs and their associated implementation aspects including hybrid testing frameworks, time integration algorithms, delay compensation methods, shaking table and actuator control schemes and boundary force measurement methods. The key techniques required for a successful test are also stressed, such as the force control of actuators to coordination among the substructures. Finally, challenges for future studies and applications are identified and presented.

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Section: Delay Compensation Schemesmentioning

confidence: 99%

Advances in Real-Time Hybrid Testing Technology for Shaking Table Substructure Testing

Tian

Shao

Zhou

et al. 2020

Front. Built Environ.

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“…In response to this benchmark problem, various compensation methods were proposed. [29][30][31][32][33][34][35][36][37][38][39] Fermandois 29 applied a feedback regulator to model-based compensation (MBC) approach to improve its robustness for undesired disturbance and sensor noise. Najafi and Spencer 31 introduced an adaptive model reference control method for actuator tracking.…”

Section: Introductionmentioning

confidence: 99%

“…More recently, Silva et al 28 proposed a benchmark problem for RTHS of a three‐story steel frame. In response to this benchmark problem, various compensation methods were proposed 29–39 . Fermandois 29 applied a feedback regulator to model‐based compensation (MBC) approach to improve its robustness for undesired disturbance and sensor noise.…”

Section: Introductionmentioning

confidence: 99%

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Experimental verification of a frequency domain evaluation index‐based compensation for real‐time hybrid simulation

Guo

Chen

et al. 2020

Struct Control Health Monit

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Delay compensation method plays an important role in maintaining the stability and accuracy of the real-time hybrid simulation (RTHS). Inverse compensation (IC) method establishes a first-order discrete transfer function model to represent servo-hydraulic dynamics and provides an easy-to-implement compensation for RTHS. Only one parameter is required for the IC method, and it can be adjusted through different adaptive laws to accommodate error in initial delay estimation or time-varying delay throughout the test. Different techniques have been developed to improve the performance of the IC method such as dual compensation and adaptive IC (AIC). A windowed frequency domain evaluation index-based (WFEI) compensation is experimentally verified in this study through predefined tests and RTHS of a single-degree of freedom (SDOF) system. The frequency domain evaluation index (FEI) is applied through short-time Fourier transform (STFT) to estimate actuator delay in a real-time manner and to adapt the parameter of IC method to minimize possible delay variation and/or inaccurate estimation. The efficacy and robustness of the FEI-based compensation is further compared with the AIC method for various initial estimates, different window lengths, and bounds of estimated delay. Experimental results demonstrated that the WFEI method provides an effective and easy-to-implement method for RTHS.

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“…Based on the constant-delay assumption, polynomial extrapolation [11] and kinematic predictors [12] were proposed and then improved [13], among which the third-order polynomial extrapolation is being widely applied [11,14]. Time delay resulting from the dynamics of control plant can be theoretically viewed as the phase lag divided by the corresponding frequency, and methods from control theory have thus been employed, such as the phase-lead network [15], pole assignment [16], feedforward control [17], inverse control [18], model-based control [19], state-based control [20,21], H ∞ control [14,22], and sliding mode control [23].…”

Section: Introductionmentioning

confidence: 99%

Kalman Filter-Based Adaptive Delay Compensation for Benchmark Problem in Real-Time Hybrid Simulation

Ning

Wang

2020

Applied Sciences

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Real-time hybrid simulation (RTHS) is a versatile, effective, and promising experimental method used to evaluate the structural performance under dynamic loads. In RTHS, the emulated structure is divided into a numerically simulated substructure (NS) and a physically tested substructure (PS), and a transfer system is used to ensure the force equilibrium and deformation compatibility between the substructures. Owing to the inherent dynamics of the PS and transfer system (referred to as a control plant in this study), there is a time-delay between the displacement command and measurement. This causes de-synchronization between the boundary of the PS and NS, and affects the stability and accuracy of the RTHS. In this study, a Kalman filter-based adaptive delay compensation (KF-ADC) method is proposed to address this issue. In this novel method, the control plant is represented by a discrete-time model, whose coefficients are time-varying and are estimated online by the KF using the displacement commands and measurements. Based on this time-varying model, the delay compensator is constructed employing the desired displacements. The KF performance is investigated theoretically and numerically. To assess the performance of the proposed strategy, a series of virtual RTHSs are performed on the Benchmark problem in RTHS, which was based on an actual experimental system. Meanwhile, several promising delay-compensation strategies are employed for comparison. Results reveal that the proposed time-delay compensation method effectively enhances the accuracy, stability, and robustness of RTHS.

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A robust linear-quadratic-gaussian controller for the real-time hybrid simulation on a benchmark problem

Cited by 22 publications

References 31 publications

Advances in Real-Time Hybrid Testing Technology for Shaking Table Substructure Testing

Advances in Real-Time Hybrid Testing Technology for Shaking Table Substructure Testing

Experimental verification of a frequency domain evaluation index‐based compensation for real‐time hybrid simulation

Kalman Filter-Based Adaptive Delay Compensation for Benchmark Problem in Real-Time Hybrid Simulation

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