实时子结构试验在数值积分和控制方面的研究进展
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摘要
实时子结构试验方法将数值模拟和实时加载有机结合,能够较准确地研究结构系统的抗震性能,是现阶段结构抗震研究的重要发展方向。目前,实时子结构试验方法处于起步发展阶段,围绕积分方法和试验加载控制两个难题,一些学者相继开展了研究工作。详细介绍这些研究工作的进展,指出其中亟待解决的突出问题,并依此提出合理的研究方向和目标。
As a hybrid computational-experimental technique,the real-time substructuring testing is an accurate method to investigate seismic performances of structural systems,which makes it an important trend in seismic research nowadays.Currently,the method is at the initial stage of development.To improve the method,some research has been conducted on integration methods and control methods.This paper provides a detail review of these studies and lists some urgent problems which are required to be solved.It finally proposes some future perspective.
As a hybrid computational-experimental technique,the real-time substructuring testing is an accurate method to investigate seismic performances of structural systems,which makes it an important trend in seismic research nowadays.Currently,the method is at the initial stage of development.To improve the method,some research has been conducted on integration methods and control methods.This paper provides a detail review of these studies and lists some urgent problems which are required to be solved.It finally proposes some future perspective.
引文
[1]Nakashima M,Kato H,Takaoka E.Development of real-time pseudo dynamic testing[J].Earthquake Engineering and Structural Dynamics,1992,21:79-92.
[2]Horiuchi T,Inoue M,Konno T,et al.Real-time hybrid experimental system with actuator delay compensation and its application to a piping system with energy absorber[J].Earthquake Engineering and Structure Dynamics,1999,28(10):1121-1141.
[3]Darby A P,Blakeborough A,Williams D M.Realtime substructure tests using hydraulic actuator[J].Journal of Structural Engineering,1999,125(10):1133-1139.
[4]Wagg D J,Stoten D P.Substructuring of dynamical systems via the adaptive minimal control synthesis algorithm[J].Earthquake Engineering and Structural Dynamics,2001,30(6):865-877.
[5]Darby A P,Blakeborough A,Williams A M S.Improved control algorithm for real time substructure testing[J].Earthquake Engineering and Structural Dynamics,2001,30(3):431-448.
[6]Gawthrop P J,Wallace P J,Wagg M I.Bond-graph based substructuring of dynamical systems[J].Earthquake Engineering and Structural Dynamics,2005,34(6):687-703.
[7]Wallace M I,Sieber J,Neild S A,et al.Stability analysis of real-time dynamic substructuring using delay differential equation of models[J].Earthquake Engineering and Structural Dynamics,2005,34(15):1817-1832.
[8]Bayer V,Dorka U,Füllekrug U,et al.On real-time pseudodynamic substructure testing:algorithm,numerical and experimental results[J].Aerospace Science and Technology,2005,9:223-232.
[9]Wu B,Wang Q,Shing P B,et al.Equivalent force control method for generalized real-time substructure testing with implicit integration[J].Earthquake Engineering and Structural Dynamics,2007,36:11271149.
[10]Bonnet P A,Williams M S,Blakeborough A,et al.Real-time hybrid experiments with Newmark integration,MCSmd outer-loop control and multi-tasking strategies[J].Earthquake Engineering and Structural Dynamics,2001,36(1):119-141.
[11]Wagg D,Neild S,Gawthrop P J.Real-time testing with dynamic substructuring[M].Chapter Real-time Hybrid Testing Techniques.CISM,2008.
[12]Horiuchi T,Konno T.A new method for compensating actuator delay in real-time hybrid experiments.Philosophical Transactions of the Royal Society of London[J].Series A:Mathematical,Physical and Engineering Sciences,2001,359(1786):1893-1909.
[13]Darby A P,Williams D M,Blakeborough A.Stability and delay compensationfor real-time substructure testing[J].Journal of Engineering Mechanics,2002,128(12):1276-1284,2002.
[14]Neild S A,Stoten D P,Drury D,et al.Control issues relating to real-time substructuring experiments using a shaking table[J].Earthquake Engineering and Structural Dynamics,2005,34(9):1171-11192.
[15]Gawthrop P J,Neild S A,Gonzalez-Buelga A,et al.Causality in real time dynamic substructure testing[J].Mechatronics,2009,19(7):1105-1115.
[16]Wu B,Deng L,Yang X.Stability of central difference method for dynamic real-time substructure testing[J].Earthquake Engineering and Structural Dynamics,2009,38(14):1649-1663.
[17]Wu B,Xu G,Wang Q,et al.Operator-splitting method for real-time substructure testing[J].Earthquake Engineering and Structural Dynamics,2006,35(3):293-314.
[18]Wu B,Bao H,Ou J,et al.Stability and accuracy analysis of central difference method for real-time substructure testing[J].Earthquake Engineering and Structural Dynamics,2005,34:705-718.
[19]Bursi O S.Analysis of control techniques and development of numerical methods for heterogeneous simulations with dynamic substructuring[D].Department of Mechanical Engineering,University of Bristol,2007.
[20]Sajeeb R,Roy D,Manohar C S.Numerical aspects of a real-time substructuring technique in structural dynamics[J].International Journal for Numerical Methods in Engineering,2007,72(11):1261-1313.
[21]Shing P B.New approaches to analysis and testing of mechanical and structural systems[M].Chapter Real-time Hybrid Testing Techniques.CISM,2008.
[22]Bonnet P A,Williams M S,Blakeborough A.Evaluation of numerical time integration schemes for realtime hybrid testing[J].Earthquake Engineering and Structural Dynamics,2008,37(13):1467-1490.
[23]Bursi O S,Jia C,Vulcan L,et al.Rosenbrock-based algorithms and subcycling strategies for real-time nonlinear substructure testing[J].Earthquake Engineering and Structural Dynamics,2011,40(1):1-19.
[24]保海娥.实时子结构试验逐步积分方法的稳定性和精度[D].哈尔滨:哈尔滨工业大学,2005.Bao Haie.Stability and accuracy of time stepping integration methods for real-time substructure testing[D].Harbin:Harbin Institute of Technology,2005.
[25]吴斌.保海娥.实时子结构试验Chang方法的稳定性和精度[J].地震工程与工程振动,2006,26(2):41-48.Wu Bin,Bao Haie.Stability and accuracy of chang algorithm for real-time substructure testing[J].Earthquake Engineering and Engineering Vibration,2006,26(2):41-48.(in Chinese)
[26]Chang S Y.Explicit pseudodynamic algorithm with unconditional stability[J].Journal of Engineering Mechanics,2002,128(9):935-947.
[27]Chen C,Ricles J M.Development of direct integration algorithms for structural dynamics using discrete control theory[J].Journal of Engineering Mechanics,2008,134(8):676-683.
[28]Jung R Y,Shing P B,Stauffer E,et al.Performance of a real-time pseudodynamic test system considering nonlinear structural response[J].Earthquake Engineering and Structural Dynamics,2007,36(12):1785-1809.
[29]Nakashima M,Mesaoka N.Real-time On-line test for Mdof systems[J].Earthquake Engineering and Structural Dynamics,1999,28(4):393-420.
[30]Bursi O S,Gonzalez-Buelga A,Vulcan L,et al.Novel coupling Rosenbrock-based algorithms for realtime dynamic substructure testing[J].Earthquake Engineering and Structural Dynamics,2008,37:271288.
[31]Blakeborough A,Williams M S,Darby A P,et al.The development of real-time substructure testing[J].Philosophical Transactions:Mathematical,Physical and Engineering Sciences,2001,359(1786):18691891.
[32]Jia C,Bursi O S,Bonelli A,et al.Novel partitioned time integration methods for DAE systems based on Lstable linearly implicit algorithms[J].International Journal for Numerical Methods in Engineering,2011,87(12):1148-1182.
[33]Pegon P,Pinto A V.Pseudo-dynamic testing with substructuring applications at the ELSA laboratory[J].Earthquake Engineering and Structural Dynamics,2000,29(7):905-925.
[34]Pegon P,Magonette G.Continuous PSD testing with non-linear substructuring:Presentation of a stable parallel inter-field procedure[R].Technical Report I.02.167,E.C.,JRC,ELSA,Ispra,Italy,2002.
[35]Pegon P,Magonette G.Continuous PsD testing with non-linear substructuring:using the operator splitting technique to avoid iterative procedures[R].Technical Report SPI.05.30,E.C.,JRC,ELSA,Ispra,Italy,2005.
[36]Bursi O S,He L,Bonelli A,et al.Novel generalized-αmethods for interfield parallel integration of heterogeneous structural dynamic systems[J].Journal of Computational and Applied Mathematics,2010,234(7):2250-2258.
[37]迟福东.王进廷.金峰.实时耦联动力试验的时滞稳定性分析[J].工程力学,2009,27(9):12-16.Chi Fudong,Wang Jinting,Jin Feng.Delay-dependent stability analysis of real-time dynamic hybrid texting[J].Engineering Mechanics,2009,27(9):1216.(in Chinese)
[38]Nakashima M.Development,potential,and limitations of real-time online(pseudodynamic)test[J].Philosophical Transactions of the Royal Society,2001,359:1851-1867.
[39]Jia C.Monolithic and partitioned Rosenbrock-based time integration methods for dynamic substructure tests[D].Italy:University of Trento,2010.
[40]王进廷,汪强,迟福东,等.振动台实时耦联动力试验系统构建解决方案[J].地震工程与工程振动,2010,30(2):37-43.
[41]Williams M S,Blakeborough A.Laboratory testing of structures under dynamic loads:An introductory review[J].Philosophical Transactions:Mathematical,Physical and Engineering Sciences,2001,359(1786):1651-1669.
[42]Wallace M I,Wagg D J,Neild S A.An adaptive polynomial based forward prediction algorithm for multiactuator real-time dynamic substructuring[C].Proc.Royal Soc.A,2005,461:3807-3826.
[43]Morari M,Zariou E.Robust process control[M].Prentice Hall,1989.
[44]Jung R Y.Development of real-time hybrid system[D].University of Colorado,2005.
[45]Juang J,Minh Q.Identification and control of mechanical system[M].The Press Syndicate of The University of Cambridge,2001.
[46]Sivaselvan M V.A unified view of hybrid seismic simulation algorithms[C].Proceeding.8thU.S.National Conference on Earthquake Engineering,San Francisco,California,2006.
[47]Verma M,Rajasankar J.Improved model for realtime substructuring testing system[J].Engineering Structures,2012,41:258-269.
[48]Chen P,Tsai K.Dual compensation strategy for realtime hybrid testing[J].Earthquake Engineering and Structural Dynamics,2013,42(1):1-23.
[49]Gao X,Castaneda N,Dyke S J.Real time hybrid simulation:from dynamic system,motion control to experimental error[J].Earthquake Engineering and Structural Dynamics,2013,42(6):815-832.
[2]Horiuchi T,Inoue M,Konno T,et al.Real-time hybrid experimental system with actuator delay compensation and its application to a piping system with energy absorber[J].Earthquake Engineering and Structure Dynamics,1999,28(10):1121-1141.
[3]Darby A P,Blakeborough A,Williams D M.Realtime substructure tests using hydraulic actuator[J].Journal of Structural Engineering,1999,125(10):1133-1139.
[4]Wagg D J,Stoten D P.Substructuring of dynamical systems via the adaptive minimal control synthesis algorithm[J].Earthquake Engineering and Structural Dynamics,2001,30(6):865-877.
[5]Darby A P,Blakeborough A,Williams A M S.Improved control algorithm for real time substructure testing[J].Earthquake Engineering and Structural Dynamics,2001,30(3):431-448.
[6]Gawthrop P J,Wallace P J,Wagg M I.Bond-graph based substructuring of dynamical systems[J].Earthquake Engineering and Structural Dynamics,2005,34(6):687-703.
[7]Wallace M I,Sieber J,Neild S A,et al.Stability analysis of real-time dynamic substructuring using delay differential equation of models[J].Earthquake Engineering and Structural Dynamics,2005,34(15):1817-1832.
[8]Bayer V,Dorka U,Füllekrug U,et al.On real-time pseudodynamic substructure testing:algorithm,numerical and experimental results[J].Aerospace Science and Technology,2005,9:223-232.
[9]Wu B,Wang Q,Shing P B,et al.Equivalent force control method for generalized real-time substructure testing with implicit integration[J].Earthquake Engineering and Structural Dynamics,2007,36:11271149.
[10]Bonnet P A,Williams M S,Blakeborough A,et al.Real-time hybrid experiments with Newmark integration,MCSmd outer-loop control and multi-tasking strategies[J].Earthquake Engineering and Structural Dynamics,2001,36(1):119-141.
[11]Wagg D,Neild S,Gawthrop P J.Real-time testing with dynamic substructuring[M].Chapter Real-time Hybrid Testing Techniques.CISM,2008.
[12]Horiuchi T,Konno T.A new method for compensating actuator delay in real-time hybrid experiments.Philosophical Transactions of the Royal Society of London[J].Series A:Mathematical,Physical and Engineering Sciences,2001,359(1786):1893-1909.
[13]Darby A P,Williams D M,Blakeborough A.Stability and delay compensationfor real-time substructure testing[J].Journal of Engineering Mechanics,2002,128(12):1276-1284,2002.
[14]Neild S A,Stoten D P,Drury D,et al.Control issues relating to real-time substructuring experiments using a shaking table[J].Earthquake Engineering and Structural Dynamics,2005,34(9):1171-11192.
[15]Gawthrop P J,Neild S A,Gonzalez-Buelga A,et al.Causality in real time dynamic substructure testing[J].Mechatronics,2009,19(7):1105-1115.
[16]Wu B,Deng L,Yang X.Stability of central difference method for dynamic real-time substructure testing[J].Earthquake Engineering and Structural Dynamics,2009,38(14):1649-1663.
[17]Wu B,Xu G,Wang Q,et al.Operator-splitting method for real-time substructure testing[J].Earthquake Engineering and Structural Dynamics,2006,35(3):293-314.
[18]Wu B,Bao H,Ou J,et al.Stability and accuracy analysis of central difference method for real-time substructure testing[J].Earthquake Engineering and Structural Dynamics,2005,34:705-718.
[19]Bursi O S.Analysis of control techniques and development of numerical methods for heterogeneous simulations with dynamic substructuring[D].Department of Mechanical Engineering,University of Bristol,2007.
[20]Sajeeb R,Roy D,Manohar C S.Numerical aspects of a real-time substructuring technique in structural dynamics[J].International Journal for Numerical Methods in Engineering,2007,72(11):1261-1313.
[21]Shing P B.New approaches to analysis and testing of mechanical and structural systems[M].Chapter Real-time Hybrid Testing Techniques.CISM,2008.
[22]Bonnet P A,Williams M S,Blakeborough A.Evaluation of numerical time integration schemes for realtime hybrid testing[J].Earthquake Engineering and Structural Dynamics,2008,37(13):1467-1490.
[23]Bursi O S,Jia C,Vulcan L,et al.Rosenbrock-based algorithms and subcycling strategies for real-time nonlinear substructure testing[J].Earthquake Engineering and Structural Dynamics,2011,40(1):1-19.
[24]保海娥.实时子结构试验逐步积分方法的稳定性和精度[D].哈尔滨:哈尔滨工业大学,2005.Bao Haie.Stability and accuracy of time stepping integration methods for real-time substructure testing[D].Harbin:Harbin Institute of Technology,2005.
[25]吴斌.保海娥.实时子结构试验Chang方法的稳定性和精度[J].地震工程与工程振动,2006,26(2):41-48.Wu Bin,Bao Haie.Stability and accuracy of chang algorithm for real-time substructure testing[J].Earthquake Engineering and Engineering Vibration,2006,26(2):41-48.(in Chinese)
[26]Chang S Y.Explicit pseudodynamic algorithm with unconditional stability[J].Journal of Engineering Mechanics,2002,128(9):935-947.
[27]Chen C,Ricles J M.Development of direct integration algorithms for structural dynamics using discrete control theory[J].Journal of Engineering Mechanics,2008,134(8):676-683.
[28]Jung R Y,Shing P B,Stauffer E,et al.Performance of a real-time pseudodynamic test system considering nonlinear structural response[J].Earthquake Engineering and Structural Dynamics,2007,36(12):1785-1809.
[29]Nakashima M,Mesaoka N.Real-time On-line test for Mdof systems[J].Earthquake Engineering and Structural Dynamics,1999,28(4):393-420.
[30]Bursi O S,Gonzalez-Buelga A,Vulcan L,et al.Novel coupling Rosenbrock-based algorithms for realtime dynamic substructure testing[J].Earthquake Engineering and Structural Dynamics,2008,37:271288.
[31]Blakeborough A,Williams M S,Darby A P,et al.The development of real-time substructure testing[J].Philosophical Transactions:Mathematical,Physical and Engineering Sciences,2001,359(1786):18691891.
[32]Jia C,Bursi O S,Bonelli A,et al.Novel partitioned time integration methods for DAE systems based on Lstable linearly implicit algorithms[J].International Journal for Numerical Methods in Engineering,2011,87(12):1148-1182.
[33]Pegon P,Pinto A V.Pseudo-dynamic testing with substructuring applications at the ELSA laboratory[J].Earthquake Engineering and Structural Dynamics,2000,29(7):905-925.
[34]Pegon P,Magonette G.Continuous PSD testing with non-linear substructuring:Presentation of a stable parallel inter-field procedure[R].Technical Report I.02.167,E.C.,JRC,ELSA,Ispra,Italy,2002.
[35]Pegon P,Magonette G.Continuous PsD testing with non-linear substructuring:using the operator splitting technique to avoid iterative procedures[R].Technical Report SPI.05.30,E.C.,JRC,ELSA,Ispra,Italy,2005.
[36]Bursi O S,He L,Bonelli A,et al.Novel generalized-αmethods for interfield parallel integration of heterogeneous structural dynamic systems[J].Journal of Computational and Applied Mathematics,2010,234(7):2250-2258.
[37]迟福东.王进廷.金峰.实时耦联动力试验的时滞稳定性分析[J].工程力学,2009,27(9):12-16.Chi Fudong,Wang Jinting,Jin Feng.Delay-dependent stability analysis of real-time dynamic hybrid texting[J].Engineering Mechanics,2009,27(9):1216.(in Chinese)
[38]Nakashima M.Development,potential,and limitations of real-time online(pseudodynamic)test[J].Philosophical Transactions of the Royal Society,2001,359:1851-1867.
[39]Jia C.Monolithic and partitioned Rosenbrock-based time integration methods for dynamic substructure tests[D].Italy:University of Trento,2010.
[40]王进廷,汪强,迟福东,等.振动台实时耦联动力试验系统构建解决方案[J].地震工程与工程振动,2010,30(2):37-43.
[41]Williams M S,Blakeborough A.Laboratory testing of structures under dynamic loads:An introductory review[J].Philosophical Transactions:Mathematical,Physical and Engineering Sciences,2001,359(1786):1651-1669.
[42]Wallace M I,Wagg D J,Neild S A.An adaptive polynomial based forward prediction algorithm for multiactuator real-time dynamic substructuring[C].Proc.Royal Soc.A,2005,461:3807-3826.
[43]Morari M,Zariou E.Robust process control[M].Prentice Hall,1989.
[44]Jung R Y.Development of real-time hybrid system[D].University of Colorado,2005.
[45]Juang J,Minh Q.Identification and control of mechanical system[M].The Press Syndicate of The University of Cambridge,2001.
[46]Sivaselvan M V.A unified view of hybrid seismic simulation algorithms[C].Proceeding.8thU.S.National Conference on Earthquake Engineering,San Francisco,California,2006.
[47]Verma M,Rajasankar J.Improved model for realtime substructuring testing system[J].Engineering Structures,2012,41:258-269.
[48]Chen P,Tsai K.Dual compensation strategy for realtime hybrid testing[J].Earthquake Engineering and Structural Dynamics,2013,42(1):1-23.
[49]Gao X,Castaneda N,Dyke S J.Real time hybrid simulation:from dynamic system,motion control to experimental error[J].Earthquake Engineering and Structural Dynamics,2013,42(6):815-832.
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