Development of Combined Loading Type Real-Time Hybrid Loading Test System

在已有的实时混杂试验技术的基础上，开发了一套包括附加平移和转动自由度的实时混杂试验系统，其中结构部件的振动台试验和结构系统的数值计算实时同步进行。以动态作动器、力矩-力矩加载装置和振动台为加载装置，分析研究了试验方案的可行性。基于对测试系统动力学的状态空间表示进行稳定性分析，讨论了测试系统的基本特性，包括加载中的相位延迟、模型质量、自然周期和阻尼假设。此外，还对包括平移和转动自由度的振动台进行了实时混合试验的数值模拟，以阐明试验结果的准确性和可靠性取决于结构和系统的动力特性。利用基于数字信号处理器的控制器开发了实际测试系统，虚拟测试结果表明了测试的可行性，采用自适应控制策略是一种很有前途的方法。最后，利用力矩反馈信号对倒立摆模型进行了一系列实时混合加载试验。

A real-time hybrid testing system including additional translational and rotational degrees of freedom was developed based on the existing real-time hybrid experimental technique in which shake table testing of structural components and numerical computation of structural systems are performed synchronously in real time. Dynamic actuators, moment-torque loading devices and shake tables are considered as the loading equipments, feasibility of the proposed type of the test is analytically investigated. Fundamental properties of the test system is discussed based on the stability analysis using state space representation of the dynamics of the test system including the phase delay in the loading, model mass, natural periods, and damping assumptions. Moreover, numerical simulation of the real-time hybrid test using a shake table including translational and rotational degrees of freedom is conducted in order to clarify the accuracy and reliability of the test result depending on the structural and system dynamic properties. Actual test system was developed using DSP-based controller, and hypothetical test result indicated the feasibility of the test, and application of adoptive control strategy is shown to be a promising approach. Finally, a series of real-time hybrid loading tests using moment feedback signal with a model of an inverted pendulum was successfully conducted.