Experimental benchmark control problem for multi-axial real-time hybrid simulation
Experimental benchmark control problem for multi-axial real-time hybrid simulation
复制标题
多轴实时混合仿真实验基准控制问题
DOI：
10.3389/fbuil.2023.1270996
复制
发表时间：
2023-11
影响因子：
3
通讯作者：
Johnny W. Condori Uribe;Manuel Salmeron;Edwin Patino;Herta Montoya;S. Dyke;Christian E. Silva;A. Maghareh;Mehdi Najarian;Arturo Montoya
中科院分区：
文献类型：
--
作者：
Johnny W. Condori Uribe;Manuel Salmeron;Edwin Patino;Herta Montoya;S. Dyke;Christian E. Silva;A. Maghareh;Mehdi Najarian;Arturo Montoya
推进RTHS方法，以方便地处理多维问题有很大的潜力，使更先进的测试和协同使用现有的实验室设施，有能力进行这样的实验。然而，液压作动器和非线性运动学之间的高度内部耦合增加了作动器控制和边界条件跟踪的复杂性。为了使RTHS社区的研究人员能够开发和比较先进的控制算法，本文提出了一个基准控制问题的多轴实时混合仿真（maRTHS），并提出了其定义和实施的钢框架地震荷载激励的基础。的基准问题，使控制技术的开发和验证，用于跟踪平移和旋转自由度的植物，包括一个钢框架，两个液压致动器，和一个钢耦合器具有高刚度，耦合的液压致动器的轴向位移，导致在所需的运动的框架节点。在这项调查中，这个基准的不同组成部分进行了开发，测试，并进行了一组maRTHS，以证明其可行性，以提供一个现实的虚拟平台。为了在控制设计过程中提供灵活性，提供了用于识别目的的实验数据、参考结构的有限元模型、数值和物理子结构以及具有模型不确定性的设备模型。此外，RTHS设计的线性二次高斯控制器的基础上的一个样本的例子包括作为计算代码包的一部分，这有利于探索跟踪控制设计的鲁棒性和性能之间的权衡。这个基准的目标是：扩展现有的控制或开发新的控制技术;提供一个计算工具，调查的挑战性方面的maRTHS;鼓励过渡到多个致动器RTHS的情况下;并提供一个具有挑战性的问题，为新的研究人员调查maRTHS的方法。我们相信，这个基准问题将鼓励下一代的控制器更现实的RTHS方法的推进。
Advancing RTHS methods to readily handle multi-dimensional problems has great potential for enabling more advanced testing and synergistically using existing laboratory facilities that have the capacity for such experimentation. However, the high internal coupling between hydraulics actuators and the nonlinear kinematics escalates the complexity of actuator control and boundary condition tracking. To enable researchers in the RTHS community to develop and compare advanced control algorithms, this paper proposes a benchmark control problem for a multi-axial real-time hybrid simulation (maRTHS) and presents its definition and implementation on a steel frame excited by seismic loads at the base. The benchmark problem enables the development and validation of control techniques for tracking both translation and rotation degrees of freedom of a plant that consists of a steel frame, two hydraulic actuators, and a steel coupler with high stiffness that couples the axial displacements of the hydraulic actuators resulting in the required motion of the frame node. In this investigation, the different components of this benchmark were developed, tested, and a set of maRTHS were conducted to demonstrate its feasibility in order to provide a realistic virtual platform. To offer flexibility in the control design process, experimental data for identification purposes, finite element models for the reference structure, numerical, and physical substructure, and plant models with model uncertainties are provided. Also, a sample example of an RTHS design based on a linear quadratic Gaussian controller is included as part of a computational code package, which facilitates the exploration of the tradeoff between robustness and performance of tracking control designs. The goals of this benchmark are to: extend existing control or develop new control techniques; provide a computational tool for investigation of the challenging aspects of maRTHS; encourage a transition to multiple actuator RTHS scenarios; and make available a challenging problem for new researchers to investigate maRTHS approaches. We believe that this benchmark problem will encourage the advancing of the next-generation of controllers for more realistic RTHS methods.