Model-Based Feedforward-Feedback Tracking Control for Real-Time Hybrid Simulation

Substructure hybrid simulation is a powerful, cost-effective alternative for testing structural systems, closely coupling numerical simulation and experimental testing to obtain the complete response of a structure. In this approach, well-understood components of the structure are modeled numerically, while the components of interest are tested physically. Generally, an arbitrary amount of time may be used to calculate and apply displacements at each step of the hybrid simulation. However, when the ratedependent behavior of the physical specimen is important, real-time hybrid simulation (RTHS) must be employed. Computation, communication, and servo-hydraulic actuator limitations cause delays and lags which lead to inaccuracies and potential instabilities in RTHS. This report proposes a new model-based servo-hydraulic tracking control method including feedforward-feedback links to achieve accurate tracking of the desired displacement in real-time. The efficacy of the proposed approach is demonstrated through RTHS of a nine-story steel building employing a 200 kN large-scale magnetorheological (MR) damper as the rate-dependent physical specimen