Shaking table control via real-time inversion of hydraulic servoactuator linear state-space model

Ramírez-Senent, José; García‐Palacios, Jaime H.; Díaz, Iván M.

doi:10.1177/09596518211007294

Cited by 3 publications

(6 citation statements)

References 23 publications

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“…The procedure followed to perform the DI is a particularization of the Structure Algorithm to linear systems in which some of the system inputs are known (Kwatny and Blankenship, 2000; Ramírez-Senent et al, 2021). Therefore, the output equation is differentiated with respect to time successively, until the inputs (uc,DI) required for the system to achieve the desired output (Fta,r) can be factored out.…”

Section: Control Methodologymentioning

confidence: 99%

“…In this work, the application of dynamics inversion (DI) techniques to the force control of a Commercial-Off-The-Shelf (COTS) electrodynamic PMA is presented. The DI constitutes a model-based, structured procedure whose aim is to find a PMA system inverse which, upon implementation in the controller, allows for an approximate cancellation of the PMA dynamics (Kwatny and Blankenship, 2000; Ramírez-Senent, et al, 2021). Consequently, a very accurate tracking of the target force output by any VCA is achieved.…”

Section: Introductionmentioning

confidence: 99%

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Active control of human-induced vibrations on lightweight structures via electrodynamic actuator dynamics inversion

Ramírez-Senent

Gallegos-Calderón

García‐Palacios

et al. 2022

Journal of Vibration and Control

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The active vibration absorber represents an effective means to mitigate excessive vibrations in low-damping structures. Nevertheless, the dynamics of the actuators employed in such systems may negatively affect their performance and stability restricting their operational frequency range. This article presents an application of dynamics inversion techniques to the force control of electrodynamic proof-mass actuators employed as active vibration absorbers in lightweight pedestrian structures. The dynamics inversion approach is applied to enhance the classical direct velocity feedback scheme. Additionally, a novel method relying on dynamics inversion is presented: the Broadband Force Cancellation Algorithm. This procedure consists in estimating, in real-time, the equivalent force acting on the system to later apply it back to the structure with the opposed sign. The effectiveness of the proposed methods is assessed via numerical simulations carried over a realistic model of an existing lightweight footbridge and an electrodynamic proof-mass actuator. Two load cases are analyzed: a fixed swept-sine force and a walking load. Both cases account for the actuator-structure interaction. The human-structure interaction is considered in the latter scenario due to its importance when dealing with lightweight pedestrian structures. Simulation results demonstrate that the dynamics inversion techniques effectively cancel out actuator dynamics leading to an excellent tracking of the reference force output by the suggested or other vibration control algorithm. The proposed schemes are proved promising since they substantially outperform the widespread direct velocity feedback approach. In particular, the Broadband Force Cancellation Algorithm minimizes the action of the external forces within their estimation frequency range, thus being especially suited to tackle broadband excitations, important in lively pedestrian structures, whereas the velocity feedback methodology performs best at the structural resonant frequencies.

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Section: Control Methodologymentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Active control of human-induced vibrations on lightweight structures via electrodynamic actuator dynamics inversion

Ramírez-Senent

Gallegos-Calderón

García‐Palacios

et al. 2022

Journal of Vibration and Control

Self Cite

View full text Add to dashboard Cite

show abstract

“…Shake tables driven by hydraulic actuators directly succeed the intrinsic nonlinear characteristic of the actuators, which are derived from the hydraulic fluid, servo-valves, and friction of cylinders. [7][8][9][10][11][12] Many shake table experiments are performed to observe the damage and failures of structures during earthquake events. 2 The structures on the tables generally show nonlinear characteristics that are equal to or greater than those from the actuation systems.…”

Section: Introductionmentioning

confidence: 99%

“…Although the shake table is designed to minimise nonlinear characteristics, some of them remain within the system. Shake tables driven by hydraulic actuators directly succeed the intrinsic nonlinear characteristic of the actuators, which are derived from the hydraulic fluid, servo‐valves, and friction of cylinders 7–12 . Many shake table experiments are performed to observe the damage and failures of structures during earthquake events 2 .…”

Section: Introductionmentioning

confidence: 99%

Nonlinear signal‐based control for shake table experiments with sliding masses

Enokida

Ikago

Guo

et al. 2023

Earthq Engng Struct Dyn

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This study introduces the first application of nonlinear signal‐based control (NSBC) to shake table experiments with sliding masses. NSBC utilising a nonlinear signal was specifically developed for nonlinear system control. In shake table experiments with a steel structure, it realised a seismic acceleration record on the table with near 100% accuracy even when the structure displayed nonlinear characteristics due to yielding of its components. Regarding the severity, sliding is stronger than yielding because of the rapid shifts of stick and slip states. Sliding is utilised for structural damage mitigation in seismic isolation systems, which are prominent devices in earthquake engineering. However, when sliding occurs on a shake table, it significantly jeopardises the table control. Thus, this study investigates the performance of NSBC to shake table experiments involving the phenomenon. First, this study examines the effectiveness of NSBC via numerical simulations on a shake table with a sliding interface, demonstrated by the Karnopp model, with a friction coefficient of 0.2. Subsequently, a linear model is designed based on the stability analysis of NSBC to assess stability margins obtained from different models. Experiments are performed by placing masses weighing approximately twice the table weight on sliding interfaces with friction coefficients of 0.2–0.4. In these experiments, NSBC with a reasonable linear model design realised expected acceleration records with sufficiently high accuracies, whereas inversion‐based control failed. This study verifies the effectiveness of NSBC for shake table experiments with sliding masses.

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“…In shake table experiments, nonlinear characteristics within an actuation system and the structure to be examined degrade its control. Shake tables driven by hydraulic actuators exhibit nonlinearity derived from the hydraulic fuid, servo-valves, and friction of cylinders within the actuation system [8][9][10][11][12][13]. Shake table experiments are mainly conducted to observe seismic damage or failures in structures or nonlinear characteristics in earthquake protection devices [2].…”

Section: Introductionmentioning

confidence: 99%

Performance Examination of Nonlinear Signal-Based Control in Shake Table Experiments with Sliding Structures

Enokida

Ikago

Guo

et al. 2023

Structural Control and Health Monitoring

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This study examines nonlinear signal-based control (NSBC) in shake table experiments with sliding structures, which have an isolation effect during an earthquake. NSBC uses a nonlinear signal obtained from the outputs of a controlled system and its linear model under the same input. Owing to the presence of the linear model, NSBC controllers are described by transfer functions, even for controlling nonlinear systems. NSBC achieved excellent control of the shake table in experiments with a specimen having nonlinear characteristics such as yielding of structural components. A sliding structure placed on a shake table significantly jeopardises its control because the nonlinear severity of sliding is greater than yielding, and its compensation has not yet been fully developed. Therefore, this study introduces NSBC into shake table experiments with sliding structures along with its linear model design to enhance their robustness, utilising the analysis stability to evaluate the design. Numerical simulations with a shake table with a sliding structure with a friction coefficient of 0.22 demonstrate the excellent performance of NSBC in table acceleration control. However, inversion-based control (IBC), a basic compensation approach, shows its ineffectiveness. In actual shake table experiments with a sliding structure with a friction coefficient of 0.2, NSBC with a reasonable linear model achieved excellent table acceleration control with almost 100% accuracy, whereas IBC was ineffective. This study clarifies that NSBC can solve the problem of control degradation caused by a sliding structure placed on the table.

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Shaking table control via real-time inversion of hydraulic servoactuator linear state-space model

Cited by 3 publications

References 23 publications

Active control of human-induced vibrations on lightweight structures via electrodynamic actuator dynamics inversion

Active control of human-induced vibrations on lightweight structures via electrodynamic actuator dynamics inversion

Nonlinear signal‐based control for shake table experiments with sliding masses

Performance Examination of Nonlinear Signal-Based Control in Shake Table Experiments with Sliding Structures

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