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Adaptive model-based tracking control for real-time hybrid simulation

机译：基于自适应模型的实时混合仿真跟踪控制

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摘要

Model-based feedforward-feedback tracking control has been shown as one of the most effective methods for real-time hybrid simulation (RTHS). This approach assumes that the servo-hydraulic system is a linear time-invariant model. However, the servo-control closed-loop is intrinsically nonlinear and time-variant, particularly when one considers the nonlinear nature of typical experimental components (e.g., magnetorheological dampers). In this paper, an adaptive control scheme applying on a model-based feedforward-feedback controller is proposed to accommodate specimen nonlinearity and improve the tracking performance of the actuator, and thus, the accuracy of RTHS. This adaptive strategy is used to estimate the system parameters for the feedforward controller online during a test. The robust stability of this adaptive controller is provided by introducing Routh's stability criteria and applying a parameter projection algorithm. The tracking performance of the proposed control scheme is analytically evaluated and experimentally investigated using a broadband displacement command, and the results indicates better tracking performance for the servo-hydraulic system can be attained. Subsequently, RTHS of a nine-story shear building controlled by a full-scale magnetorheological damper is conducted to verify the efficacy of the proposed control method. Experimental results are presented for the semi-actively controlled building subjected to two historical earthquakes. RTHS using the adaptive feedforward-feedback control scheme is demonstrated to be effective for structural performance assessment.
机译：基于模型的前馈-反馈跟踪控制已显示为实时混合仿真（RTHS）的最有效方法之一。该方法假定伺服液压系统是线性时不变模型。然而，伺服控制闭环本质上是非线性的并且是时变的，特别是当考虑到典型实验部件（例如磁流变阻尼器）的非线性特性时。本文提出了一种基于模型的前馈-反馈控制器的自适应控制方案，以适应标本非线性和提高执行器的跟踪性能，从而提高RTHS的精度。该自适应策略用于在测试过程中在线估计前馈控制器的系统参数。通过引入劳斯的稳定性标准并应用参数投影算法，可以提供此自适应控制器的鲁棒稳定性。利用宽带位移指令对所提出的控制方案的跟踪性能进行了分析评估和实验研究，结果表明该伺服液压系统具有较好的跟踪性能。随后，进行了由全尺寸磁流变阻尼器控制的9层剪切建筑的RTHS，以验证所提出的控制方法的有效性。给出了遭受两次历史地震的半主动控制建筑物的实验结果。使用自适应前馈-反馈控制方案的RTHS被证明对结构性能评估有效。

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