verification of hybrid simulation
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Purdue University, West Lafayette, IN 47907 •Phone: (765) 494-7434 •Fax: (765) 494-0539 •E-mail: iisl@ecn.purdue.edu
Verification of Hybrid Simulation
by Ali. Ozdagli, Wang Xi, Ge Ou, Bo Li, Guoshan Xu
Shirley Dyke, Jian Zhang and Bin Wu
Project funded by National Science Foundation - CMMI Grant #1011534
National Science Foundation of China – Project #90715036
Purdue University, West Lafayette, IN 47907 •Phone: (765) 494-7434 •Fax: (765) 494-0539 •E-mail: iisl@ecn.purdue.edu
2
Presentation Outline
Introduction Background and Motivation Experimental Setup Modeling of the System RTHS Comparison HS Efforts Conclusion
Purdue University, West Lafayette, IN 47907 •Phone: (765) 494-7434 •Fax: (765) 494-0539 •E-mail: iisl@ecn.purdue.edu
3
Introduction
Global performance of new systems
Nonlinear response
Options
Shake-table: Scaled Structural Testing
Hybrid Simulation (HS)
Need for Testing
Purdue University, West Lafayette, IN 47907 •Phone: (765) 494-7434 •Fax: (765) 494-0539 •E-mail: iisl@ecn.purdue.edu
4
Background
“Comparison of Real-Time Hybrid Testing with Shake Table Tests for an MR Damper Controlled Structure” by Lin et al. (2009)
“The results show a close correlation between the shake table tests and the real-time hybrid simulation.”“There is clearly a difference between the hybrid tests and shake table tests.”
Purdue University, West Lafayette, IN 47907 •Phone: (765) 494-7434 •Fax: (765) 494-0539 •E-mail: iisl@ecn.purdue.edu
5
Background
“Development of a Versatile Hybrid Testing System for Seismic Experimentation” by Shao et al. (2012)
Purdue University, West Lafayette, IN 47907 •Phone: (765) 494-7434 •Fax: (765) 494-0539 •E-mail: iisl@ecn.purdue.edu
Motivation
How do we know? RTHS and Numerical Simulations represent the real structural
behavior?
Gain acceptance in community Compare the RTHS to the real structure responses
Numerical Simulation
Shake TableRTHS ?6
Purdue University, West Lafayette, IN 47907 •Phone: (765) 494-7434 •Fax: (765) 494-0539 •E-mail: iisl@ecn.purdue.edu
7
Challenges
Accurate modeling of the target structure System Identification
Semi-active controllable nonlinear damper Hard to model rate dependent dynamics Damper-structure interaction
Purdue University, West Lafayette, IN 47907 •Phone: (765) 494-7434 •Fax: (765) 494-0539 •E-mail: iisl@ecn.purdue.edu
8
Objective
Verification of RTHS methodology using shake table tests on
mid-scale structure
Research Program
Phase 1: Numerical Modeling and Simulation
Phase 2: Shake Table Tests
Phase 3: RTHS Testing
Purdue University, West Lafayette, IN 47907 •Phone: (765) 494-7434 •Fax: (765) 494-0539 •E-mail: iisl@ecn.purdue.edu
9
Phase 1: Numerical Simulation
Test Structure
Base Dimension: 1.84 m by 2.04 m
Story height: 1.2 m
Material: Structural Steel
Purdue University, West Lafayette, IN 47907 •Phone: (765) 494-7434 •Fax: (765) 494-0539 •E-mail: iisl@ecn.purdue.edu
10
MCK Update Method
0 5 10 15-100
-50
0
Floor 1
Ma
gn
itud
e -
dB
0 5 10 15-100
-50
0
Floor 2
Ma
gn
itud
e -
dB
0 5 10 15-100
-50
0
Floor 3
Ma
gn
itud
e -
dB
Frequency - Hz
Experimental Data MCK Update Method
0 20 40 60 80 100 120-20
-10
0
10
20
1s
t Flo
or
- m
m
0 20 40 60 80 100 120-40
-20
0
20
2n
d F
loo
r -
mm
0 20 40 60 80 100 120-40
-20
0
20
40
Time - s
3rd
Flo
or
- m
m
ExperimentSimulation
More details were given in ‘Modeling of Distributed Real-time Hybrid Simulation’ accessible from http://nees.org/resources/6641/Model is awarded by NEES as the best simulation model.
Purdue University, West Lafayette, IN 47907 •Phone: (765) 494-7434 •Fax: (765) 494-0539 •E-mail: iisl@ecn.purdue.edu
11
MR damper numerical model
alpha_a alpha_b c0_a c0_b k0 gamma A x0 k1 c1_a c1_b
15.65 57.16 1.00 9.76 11.08 23.44 155.32 0.0 0.009 19.15 139.96
Lord MR damper RD-1005-03
-0.2 -0.15 -0.1 -0.05 0 0.05 0.1 0.15 0.2-300
-200
-100
0
100
200
300
Damper disp (inch)
Dam
per
forc
e (
lbf)
Numerical model for volt = 1.7 V, freq = 2.9Hz
Test data
Simulink model
ODE model
-4 -3 -2 -1 0 1 2 3 4 5-300
-200
-100
0
100
200
300
Damper vel (inch/s)
Dam
per
forc
e (
lbf)
Numerical model for volt = 1.7 V, freq = 2.9Hz
Test data
Simulink model
ODE model
Purdue University, West Lafayette, IN 47907 •Phone: (765) 494-7434 •Fax: (765) 494-0539 •E-mail: iisl@ecn.purdue.edu
12
Phase 2: Shake Table Tests
Location: Harbin Institute of TechnologySize: 3m×4m (shaking direction)Peak acceleration: ±1.33gPeak velocity: ±600 mm/sStroke: ±125 mmMaximum payload: 12tForce capacity: 200kNMaximum overturning moment: 30 t-mFrequency bandwidth: 0 - 30 Hz
Conducted uncontrolled, passive off, passive on and semi-active control cases
Purdue University, West Lafayette, IN 47907 •Phone: (765) 494-7434 •Fax: (765) 494-0539 •E-mail: iisl@ecn.purdue.edu
13
Comparison – Shake Table vs Simulation
64 66 68 70 72 74 76 78 80 82-10
-5
0
5
10
Time-s
Dis
p 3
rd fl
oo
r-m
m
Pure SimulationExperimental Data
69 70 71 72 73 74-10
-5
0
5
10
Time-s
Dis
p 3
rd fl
oo
r-m
m
64 66 68 70 72 74 76 78 80 82-5000
0
5000
Time-s
Acc
3rd
flo
or-
mm
/s2
Pure SimulationExperimental Data
69 70 71 72 73 74-5000
0
5000
Time-s
Acc
3rd
flo
or-
mm
/s2
Purdue University, West Lafayette, IN 47907 •Phone: (765) 494-7434 •Fax: (765) 494-0539 •E-mail: iisl@ecn.purdue.edu
Phase 3: RTHS
MTS loading Frame @ HIT
Clamp for vertical loading
MTS Loading Frame, 2500kN,
Internal LVDT
Load cell, 15kN
Lord MR damper,
2kN
MTS Flex GT ControllerInner Loop Control
Purdue University, West Lafayette, IN 47907 •Phone: (765) 494-7434 •Fax: (765) 494-0539 •E-mail: iisl@ecn.purdue.edu
RTHS Setup
Force
Numerical substruc. Physical substruc.Complete Structure
Damper
Desired Displacement
4
Purdue University, West Lafayette, IN 47907 •Phone: (765) 494-7434 •Fax: (765) 494-0539 •E-mail: iisl@ecn.purdue.edu
RTHS Result: Kobe
0 10 20 30 40 50 60 70 80-15
-10
-5
0
5
10
time (sec)
disp
lace
men
t (m
m)
6 8 10 12 14 16 18-15
-10
-5
0
5
10
time (sec)
disp
lace
men
t (m
m)
Reference
Measured
Due to the limitation of Pump Velocity Limitation, Piston maximum moving speed
50mm/s0 10 20 30 40 50 60 70 80-5
0
5
time (sec)
disp
lace
men
t (m
m)
6 8 10 12 14 16 18-5
0
5
time (sec)
disp
lace
men
t (m
m)
Reference
Measured
Purdue University, West Lafayette, IN 47907 •Phone: (765) 494-7434 •Fax: (765) 494-0539 •E-mail: iisl@ecn.purdue.edu
RTHS Result: Morgan
0 10 20 30 40 50 60 70 80-10
-5
0
5
10
time (sec)
disp
lace
men
t (m
m)
6 8 10 12 14 16 18-10
-5
0
5
10
time (sec)
disp
lace
men
t (m
m)
Reference
Measured
10 20 30 40 50 60 70 80
-5
0
5
time (sec)
disp
lace
men
t (m
m)
8 10 12 14 16 18
-5
0
5
time (sec)
disp
lace
men
t (m
m)
Reference
Measured
Purdue University, West Lafayette, IN 47907 •Phone: (765) 494-7434 •Fax: (765) 494-0539 •E-mail: iisl@ecn.purdue.edu
Phase 3: RTHS (Replace pics with IISL Actuator)
Shore Western loading Frame @ IISL
Servo Valve
High performance programmable DSP system plus high precision servo-hydraulic motion control system.
LordMR Damper
2 kip Actuator Loading Frame
Purdue University, West Lafayette, IN 47907 •Phone: (765) 494-7434 •Fax: (765) 494-0539 •E-mail: iisl@ecn.purdue.edu
19
Compensation Performance
66 68 70 72 74 76 78-0.8
-0.6
-0.4
-0.2
0
0.2
0.4
0.6
0.8
Time - s
1st
Flo
or
Dis
pla
cem
en
t - c
m
Desired DisplacementMeasured Displacement
0 5 10 15 20 25 30 35 40-2
-1
0
1
2
Frequency (Hz)
Ga
in (
ab
s)
0 5 10 15 20 25 30 35 40
-50
0
50
Frequency (Hz)
Ph
ase
(d
eg
)
NRMS: 3.62%
Purdue University, West Lafayette, IN 47907 •Phone: (765) 494-7434 •Fax: (765) 494-0539 •E-mail: iisl@ecn.purdue.edu
20
Comparison – ST vs RTHS
64 66 68 70 72 74 76 78 80 82-10
-5
0
5
10
Time-s
Dis
p 3
rd fl
oo
r-m
m
Experimental DataRTHS
69 70 71 72 73 74-10
-5
0
5
10
Time-s
Dis
p 3
rd fl
oo
r-m
m
64 66 68 70 72 74 76 78 80 82-5000
0
5000
Time-s
Acc
3rd
flo
or-
mm
/s2
Experimental DataRTHS
69 70 71 72 73 74-5000
0
5000
Time-s
Acc
3rd
flo
or-
mm
/s2
Purdue University, West Lafayette, IN 47907 •Phone: (765) 494-7434 •Fax: (765) 494-0539 •E-mail: iisl@ecn.purdue.edu
Remarks on RTHS
To verify the RTHS methodology, shake table responses at HIT are compared to RTHS results at IISL.
A new control oriented model updating method is implemented using mode shapes to derive MCK. MCK model based on fully identified results Accurate zero tracking
A new compensation scheme, RIAC is implemented. High performance even in large noise/signal ratio condition Flexible to choose loop shaping function Experimental tuning is easy to perform
21
Purdue University, West Lafayette, IN 47907 •Phone: (765) 494-7434 •Fax: (765) 494-0539 •E-mail: iisl@ecn.purdue.edu
2fk2c2m
1m
1c
1fk
Numerical BRB
Physical BRB
1
(1 )
-n n
r kd kz
z d d z z d z
, , , ,k n
,r d
Constrained Kalman filter
－ 22－
Model updating with UKF
Purdue University, West Lafayette, IN 47907 •Phone: (765) 494-7434 •Fax: (765) 494-0539 •E-mail: iisl@ecn.purdue.edu
-3 -2 -1 0 1 2
-200
-100
0
100
200
Res
tori
ng fo
rce
(kN
)
Displacement (mm)
Exact UKF CUKF Initial
Physical BRB
－ 23－
-2 -1 0 1 2 3
-200
-100
0
100
200
Res
tori
ng fo
rce
(kN
)Displacement (mm)
Exact UKF CUKF
Initial
Numerical BRB
Purdue University, West Lafayette, IN 47907 •Phone: (765) 494-7434 •Fax: (765) 494-0539 •E-mail: iisl@ecn.purdue.edu
Real-time hybrid test validations
Numerical BRBPhysical BRB
=30 =30
Purdue University, West Lafayette, IN 47907 •Phone: (765) 494-7434 •Fax: (765) 494-0539 •E-mail: iisl@ecn.purdue.edu
-4 -3 -2 -1 0 1 2 3 4-300
-200
-100
0
100
200
300
Res
tori
ng f
orce
(kN
)
Displacement (mm)
Physical BRB Numerical BRB
-4 -3 -2 -1 0 1 2 3 4-300
-200
-100
0
100
200
300
Res
tori
ng fo
rce
(kN
)
Displacement (mm)
Physical BRB Numerical BRB
-4 -3 -2 -1 0 1 2 3 4-300
-200
-100
0
100
200
300
Res
tori
ng fo
rce
(kN
)
Displacement (mm)
Physical BRB Numerical BRB
CUKF Initial
－ 25－
UKF
Purdue University, West Lafayette, IN 47907 •Phone: (765) 494-7434 •Fax: (765) 494-0539 •E-mail: iisl@ecn.purdue.edu
•Section Restoring Force Model (RFM)
Finite element based sectional constitutive model
yf
yf
M N
h hw
fA b t
ww
wA
ht
(12
)h
h
h 22
2
( )2 1 1( , ) ,
4 1 2 1
1 1( , ) ,
2(2 1) 2 1
aMaNa
y P y
aN aMa
y p y
M FN F N
N M N
N F M F N
N M N
s F
s F
（ ）
（4 ）
When , Section- elastic When , Section- plastic
se s k e( , ) 1a s F
( , ) 1a s F ( )pse s k e e1
( )p TseH
e k e
s swhere
• Section Yield Function
Purdue University, West Lafayette, IN 47907 •Phone: (765) 494-7434 •Fax: (765) 494-0539 •E-mail: iisl@ecn.purdue.edu
Numerical example
0 5 10 15 20 25 30 351700
1750
1800
1850
1900
1950
2000
2050
Yie
ld A
xial
For
ce [
kN]
Time [sec]
True ValueIndtified Value
0 5 10 15 20 25 30 35185
190
195
200
205
210
215
220
Pla
stic
Ben
ding
Mom
ent [
kN.m
]
Time [sec]
True ValueIndentified Value
0 5 10 15 20 25 300.024
0.025
0.026
0.027
0.028
0.029
0.03
0.031
Kin
emat
ic h
arde
ning
coe
ffic
ient
[1]
Time [sec]
True ValueIndentified Value
0 1 2 3 4 5 6-40
-30
-20
-10
0
10
20
30
40
Time(s)
Hor
izon
tal D
isp(
mm
)
TR-ResponseWO-UpdateWI-Update
-0.03 -0.02 -0.01 0 0.01 0.02 0.03-200
-150
-100
-50
0
50
100
150
200
Section Curvature(1/m)
Ben
ding
Mom
ent(
kN.m
)
TR-RespWO-UpdateWI-Update
-300 -200 -100 0 100 200 300-3000
-2000
-1000
0
1000
2000
3000
Axi
al F
orce
[kN
]Bending Moment[kN.m]
Back internal forceInternal force pathCorrelation curve
After Updating and Kinematic
After updating
Before updating
• Identification results
• Model updating results
Purdue University, West Lafayette, IN 47907 •Phone: (765) 494-7434 •Fax: (765) 494-0539 •E-mail: iisl@ecn.purdue.edu
• Test setup and three cases of HS
Experiment plan
Traditional HS (Linear/Nonlinear)
FE Model updating by HS
Distributed Hybrid Simulation
• Test scheme
Purdue University, West Lafayette, IN 47907 •Phone: (765) 494-7434 •Fax: (765) 494-0539 •E-mail: iisl@ecn.purdue.edu
Delay Compensation:
Compensated Delay > System Delay
①Calculate di+1
②Predict with c
③Load with prediction
④Find force measure-ment
Delay compensation based on over-prediction
Delay over-prediction
Purdue University, West Lafayette, IN 47907 •Phone: (765) 494-7434 •Fax: (765) 494-0539 •E-mail: iisl@ecn.purdue.edu
Implicit algorithms for RTHS
Fixed Number of Iterations with Interpolation (Shing et al)
Equivalent Force Control Method (Wu et al)
Limitations:
1. Iteration2. Intensive computation3. Time delay
Purdue University, West Lafayette, IN 47907 •Phone: (765) 494-7434 •Fax: (765) 494-0539 •E-mail: iisl@ecn.purdue.edu
－ 31－
New implicit algorithm based on over-prediction
1、Modified Newton’s Method applied results in good iteration performance.
2、 System delay is compensated for based on over-prediction method.
Process 2
Process 1 Over-prediction Interpolation
Iterative calculation
Actuator
Optim
al force
( , , )i i i iu a v d
(1)pd
d
cd(2)
Measured Disp
Measured Force
r+
(4)
1 1 1 1( , , )i i i iu a v d
, 1EQ iF
NK1( )k
N iR d
1kid
PDK 1k
PD iK d , 1kE iR
++ +
(3)
Purdue University, West Lafayette, IN 47907 •Phone: (765) 494-7434 •Fax: (765) 494-0539 •E-mail: iisl@ecn.purdue.edu
－ 32－
5
m4
m3
m2
m1
k5/2
k4/2
k3/2
k2/2
kek1/2
k5/2
k4/2
k3/2
k2/2
2 4 6 8 100
0.5
1
1.5
x 10-5
迭代步
(s)
耗时
Shing方法
2 4 6 8 100
0.5
1
1.5
2
2.5
3x 10
-5
计算步
(s)
耗时
EFCM
2 4 6 8 100
0.5
1
1.5x 10
-5
迭代步
(s)
耗时
新方法
Single time step
0 500 10000
0.5
1
x 10-3
积分步
(s)
耗时
X: 426Y: 0.001369
Shing方法
0 500 10000
0.5
1
1.5
2
2.5x 10
-3
X: 465Y: 0.002562
积分步(s
)耗
时
EFCM
0 500 10000
0.5
1
x 10-4
X: 105Y: 0.0001493
积分步
(s)
耗时
新方法10 seconds
0 5 10 15 20 25 30-0.015
-0.01
-0.005
0
0.005
0.01
0.015
(s)时间
(m
)位
移
Shing EFCM 新方法 参考解
27.4 27.5 27.66
7
8
9
10
11
x 10-3
(s)时间
(m
)位
移
ShingEFCM新方法参考解
Delay comptn error
Test validation
Purdue University, West Lafayette, IN 47907 •Phone: (765) 494-7434 •Fax: (765) 494-0539 •E-mail: iisl@ecn.purdue.edu
33
Trans-pacific test between UCB and HIT
U g
1.0m
1X
Y
M 0.04
K 1.8
C = K
=0.02
K
M ( ) g RMX C XX MBX 2
LEGEND
Analytical model of structural energy dissipation and inertia
Conducted in HIT, CHINA
Physical model of structural resistance
Performed in UCB, USA
PLATEFORM: OpenFresco Express
C
Purdue University, West Lafayette, IN 47907 •Phone: (765) 494-7434 •Fax: (765) 494-0539 •E-mail: iisl@ecn.purdue.edu
UCB, USA
HIT,CHINA
Data available @ http://peer.berkeley.edu/~aschell/DHS%20with%20HIT/
Purdue University, West Lafayette, IN 47907 •Phone: (765) 494-7434 •Fax: (765) 494-0539 •E-mail: iisl@ecn.purdue.edu
35
Acknowledgements
National Science Foundation - CMMI Grant #1011534
National Science Foundation of China – Project #90715036
HIT Lab Steve Mahin & Andreas Schellenberg @ UCB Tao Wang @ IEM
Project data will be available @ NEES.org #1076
Purdue University, West Lafayette, IN 47907 •Phone: (765) 494-7434 •Fax: (765) 494-0539 •E-mail: iisl@ecn.purdue.edu
Bin Wu, ProfessorHarbin Institute of Technology
Shirley Dyke, ProfessorPurdue University
Jian Zhang , Associate ProfessorUCLA
Yurong Guo, ProfessorHunan University
Tao Wang , Assoc ProfessorInstitute of Eng. Mechanics
China-US collaborative project on hybrid simulation
Purdue University, West Lafayette, IN 47907 •Phone: (765) 494-7434 •Fax: (765) 494-0539 •E-mail: iisl@ecn.purdue.edu
37
THANK YOU!
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