Nonlinear backstepping hierarchical control of shake table using high‐gain observer

Xiao, Yifei; Pan, Xiao; Yang, Tony T.

doi:10.1002/eqe.3726

Cited by 3 publications

(3 citation statements)

References 37 publications

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“…Compared to a similar experimental shaking table in [33], which was tested on three reference earthquakes through four hierarchical control methods (acceleration-based backstepping hierarchical control ABHC, acceleration-based backstepping hierarchical control with gain observer ABHCO, displacement-based backstepping hierarchical control DBHC, and displacement-based backstepping hierarchical control with gain observer DBHCO), the proposed shaking table with PID control provided similar results in terms of NRMSE on displacement. Table 3 displays the tracking performance comparison between the two shaking table models, following three events from Table 1, close to those three tested in [33]. Being designed to test the response of EEWS seismic sensors (nonstructural elements), the proposed shaking table is 2 to 10 times smaller than regular ones and is mainly intended for structural element testing (scaled buildings or their components and cladding in part).…”

Section: Discussionmentioning

confidence: 97%

Shaking Table Design for Testing Earthquake Early Warning Systems

Serea

Donciu

2023

Designs

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The unpredictability in time of seismic activities and the dependence of tectonic movements on a multitude of factors challenges specialists to identify the most accurate related methods to avoid catastrophes associated with hazards. Early warning systems are critical in reducing negative effects in the case of an earthquake with a magnitude above 5 MW. Their precision is all the better as they corroborate and transmit more information collected from the regional or on-site sensory nodes to a central unit that discloses events and estimates the epicentral location, earthquake magnitude, or ground shaking amplitude. The shaking table is the proper instrument for evaluating an early warning systems’ dynamic response and performance under specific vibration conditions. To this issue, the paper presents a laboratory single-axis shaking table with a small-scale, low-cost design and an accurate displacement control. Experiments based on a suite of 12 real earthquakes provided results with very small errors related to similar models, bearing out the designed shaking table is suitable for early earthquake warning system response testing for high magnitude earthquakes.

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Section: Discussionmentioning

confidence: 97%

Shaking Table Design for Testing Earthquake Early Warning Systems

Serea

Donciu

2023

Designs

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“…The state-of-the-art has evolved from simple displacement-tracking control 4 to inverse model-based feedforward control, [5][6][7][8][9][10][11][12][13][14][15][16][17][18] to direct acceleration control, 19,20 to adaptive-based control, [21][22][23][24] and more recently to methods based on loop shaping, 25 neural schemes, 26 acceleration-decoupling, 27 and multi-step hierarchical control. [28][29][30] This paper presents an alternate strategy for designing a shake-table controller that not only enables accurate tracking of acceleration histories but greatly simplifies the process of control design by (i) appealing to the physics of shaketable dynamics, (ii) making control implementation laboratory independent through the use of commercial-off-the-shelf hardware, and (iii) minimizing the need for offline/online iterative tuning, which is often ground motion-and test article-specific, and requires operator intervention. The concepts described herein are inspired by a control strategy called impedance matching.…”

Section: Noveltymentioning

confidence: 99%

“…Over the last five decades, different tools and techniques of progressively increasing complexity have been developed for shake‐table control to address the above challenges. The state‐of‐the‐art has evolved from simple displacement‐tracking control 4 to inverse model‐based feedforward control , 5–18 to direct acceleration control , 19,20 to adaptive‐based control , 21–24 and more recently to methods based on loop shaping , 25 neural schemes , 26 acceleration‐decoupling , 27 and multi‐step hierarchical control 28–30 …”

Section: Introductionmentioning

confidence: 99%

Nuances in modeling and impedance‐inspired control of shake tables for tracking ground‐motion trajectories

Parsi

Sivaselvan

Whittaker

2023

Earthq Engng Struct Dyn

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Servo‐hydraulic shake tables are widely used for simulating earthquake shaking in a laboratory environment. Control procedures for shake‐table testing and the associated mathematical models are well documented. An evaluation of such models revealed nuances regarding actuator control, which led to the development of the simple, easy to implement, robust shake‐table controller described in this paper. This controller design recognizes that (i) differential pressure feedback in actuator control is highly beneficial in reducing the consequences of hydraulic‐related nonlinearities and other modeling uncertainties, (ii) the bandwidth over which differential pressure feedback is useful is limited by the sampling frequency of the chosen digital controller, (iii) a linear model predicts shake‐table response with high fidelity across a broad frequency range for a carefully chosen differential pressure gain and a sufficiently large controller sampling frequency, and (iv) shake‐table transfer functions derived from such a linear model are highly effective in designing a feedforward controller. Further, and perhaps most importantly, the controller utilizes real‐time feedback of the reaction force from the test article to account for table‐test article interaction. The three clear advantages of the proposed shake‐table controller are (i) the test‐article dynamics are decoupled from the control design, (ii) the need for offline/online iterative tuning, which is often ground motion‐ and test article‐specific, is minimized, and (iii) control procedures for shake tables can be standardized, all of which are validated in this paper through a series of experiments performed on a uniaxial hydraulic shake table.

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Model reference adaptive hierarchical control framework for shake table tests

Chen,

Yang,

Xiao

et al. 2024

Earthq Engng Struct Dyn

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The structural response under earthquake excitation can be simulated by shake table tests. However, the performance of the shake table is affected by the Control‐Structure Interaction (CSI) effect. In recent years, nonlinear control algorithms were developed to compensate for the CSI effect. In this study, a model reference adaptive control algorithm, named model reference adaptive hierarchical control (MRAHC) framework, is presented. MRAHC consists of a high (adaptive) and low (loop‐shaping) level controller. The high‐level (adaptive) controller develops the control algorithm on the system level, which directedly considers the inherent nonlinearity of the test specimen and the CSI effect. While the low‐level (loop‐shaping) controller develops the control algorithm to regulate the hydraulic system and make sure it can follow the reference signal generated by the high‐level (adaptive) controller. MRAHC offers many advantages including direct compensation to the structural nonlinearity and the ability to handle the CSI effect. In addition, it allows users to quantify the mass of the test specimens without measurement. To evaluate the performance of the MRAHC method, shake table tests with different upper structure masses were carried out. The performance of the MRAHC was compared with the direct loop‐shaping control method (LC) and the Proportional‐Integral‐Differentiation control method (PID). The results show that the MRAHC can achieve better acceleration tracking compared to the LC and PID control methods. Hence, the MRAHC can be used as an effective nonlinear controller for shake table tests.

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Nonlinear backstepping hierarchical control of shake table using high‐gain observer

Cited by 3 publications

References 37 publications

Shaking Table Design for Testing Earthquake Early Warning Systems

Shaking Table Design for Testing Earthquake Early Warning Systems

Nuances in modeling and impedance‐inspired control of shake tables for tracking ground‐motion trajectories

Model reference adaptive hierarchical control framework for shake table tests

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