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Compensation of actuator delay and dynamics for real-time hybrid structural simulation

机译：实时混合结构仿真的执行器延迟和动力学补偿

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摘要

Compensation of delay and dynamic response of servo-hydraulic actuators is critical for stability and accuracy of hybrid experimental and numerical simulations of seismic response of structures. In this study, current procedures for compensation of actuator delay are examined and improved procedures are proposed to minimize experimental errors. The new procedures require little or no a priori information about the behavior of the test specimen or the input excitation. First, a simple approach is introduced for rapid online estimation of system delay and actuator command gain, thus capturing the variability of system response through a simulation. Second, an extrapolation procedure for delay compensation, based on the same kinematics equations used in numerical integration procedures is examined. Simulations using the proposed procedures indicate a reduction in high-frequency noise in force measurements that can minimize the excitation of high-frequency modes. To further verify the effectiveness of the compensation procedures, the artificial energy added to a hybrid simulation as a result of actuator tracking errors is measured and used for demonstrating the improved accuracy in the simulations.
机译：伺服液压执行器的延迟和动态响应的补偿对于混合实验和结构地震响应的数值模拟的稳定性和准确性至关重要。在这项研究中，检查了当前的执行器延迟补偿程序，并提出了改进的程序以最大程度地减少实验误差。新程序几乎不需要或不需要有关试样或输入激励的行为的先验信息。首先，引入一种简单的方法来快速在线估计系统延迟和执行器命令增益，从而通过仿真捕获系统响应的可变性。其次，基于数值积分程序中使用的相同运动学方程，研究了用于延迟补偿的外推程序。使用建议程序进行的仿真表明，在力测量中减少了高频噪声，可以减少高频模式的激励。为了进一步验证补偿程序的有效性，测量了由于执行器跟踪误差而添加到混合仿真中的人造能量，并将其用于演示仿真中提高的准确性。

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