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

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Abstract

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.

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Acknowledgments

The research of this study was supported in part by the Graduate Students Study Abroad Program NSC-101-2917-I-002-005 and NSC-095-SAF-I-564-036-TMS sponsored by National Science Council in Taiwan. The authors would like to acknowledge the National Science Foundation’s support under grant CMMI-1011534, as well as Dr. Richard E. Christenson for the use of the 200 kN MR damper.

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Authors and Affiliations

  1. National Center for Research on Earthquake Engineering, Taipei, Taiwan

    Pei-Ching Chen

  2. Earthquake Engineering Research and Test Center, Guangzhou University, Guangzhou, China

    Chia-Ming Chang

  3. Department of Civil and Environmental Engineering, University of Illinois at Urbana-Champaign, Urbana, IL, USA

    Billie F. Spencer Jr.

  4. Department of Civil Engineering, National Taiwan University, Taipei, Taiwan

    Keh-Chyuan Tsai

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  1. Pei-Ching Chen
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  2. Chia-Ming Chang
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  3. Billie F. Spencer Jr.
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  4. Keh-Chyuan Tsai
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Correspondence to Pei-Ching Chen.

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Chen, PC., Chang, CM., Spencer, B.F. et al. Adaptive model-based tracking control for real-time hybrid simulation. Bull Earthquake Eng 13, 1633–1653 (2015). https://doi.org/10.1007/s10518-014-9681-2

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  • DOI: https://doi.org/10.1007/s10518-014-9681-2

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