实时子结构实验的研究进展
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摘要
如果结构的非线性或不确定性仅集中于结构的某一部分,则可仅把这一部分取出来进行实验,其余部分采用数值模型予以模拟,这就是所谓的子结构实验技术。如果实验子结构的反力与加载速率有关,就必须采用实时加载的方式才能获得可靠的实验结果。由于试件性能的速度相关性和实验加载的实时性,使得实时子结构实验在逐步积分算法、实验系统的加载控制和实验系统累积误差等方面比拟动力实验更加复杂。本文介绍实时子结构实验的研究进展,并指出有待进一步研究的问题。
In many structures,the unpredictable nonlinear behavior that provides the motivation for laboratory testing is localized.In these circumstances a far more economical test can be performed using the substructure approach.If the reaction force of the experimented substructure depends on loading rate,then the test should be carried out in real-time.The rate dependent behavior of a specimen and real-time loading make real-time substructure testing(RST) much more complicated than pseudo-dynamic testing.This paper reviews recent development of RST and points out the related issues worthy of further research.
In many structures,the unpredictable nonlinear behavior that provides the motivation for laboratory testing is localized.In these circumstances a far more economical test can be performed using the substructure approach.If the reaction force of the experimented substructure depends on loading rate,then the test should be carried out in real-time.The rate dependent behavior of a specimen and real-time loading make real-time substructure testing(RST) much more complicated than pseudo-dynamic testing.This paper reviews recent development of RST and points out the related issues worthy of further research.
引文
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[33]Zhao J,Shield C,French C,Posbergh T.Nonlinear System Modeling and Velocity Feedback Compensation forEffective Force Testing[J].Journal of Engineering Mechanics,2005,131(3):244~253.
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[35]Horiuchi T,Inoue M,Konno T,Namita Y.Real-time hybrid experimental system with actuator delaycompensation and its application to a piping system with energy absorber[J].Earthquake Engng Struct.Dynam,1999,28:1121~1141.
[36]Wallace M I,Sieber J,Neild S A,Wagg D J,Krauskopf B.Stability analysis of real-time dynamic substructuringusing delay differential equation models[J].Earthquake Engineering and Structural Dynamics,2005,34:1817~1832.
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[38]Bonnet P A,Williams M S,Blakeborough A.Actuator Performance in Real Time Hybrid Tests[C].Proceedingsof the First International Conference on Advances in Experimental Structural Engineering,Nagoya,Japan,July,2005:465~472.
[39]Horiuchi T,Konno T.A new method for compensating actuator delay in real-time hybrid experiments[J].Phil.Trans.R.Soc.Lond.A,2001,359:1893~1909.
[40]王倩颖,吴斌,欧进萍.考虑作动器时滞及其补偿的实时子结构实验稳定性分析[J].工程力学,2007,24(2):9~14(WANG Qianying,WU Bin,OU Jinping.Stability Analysis of Real-time Substructure Testing withActuator Delay and Compensation.Engineering Mechanics,2007,24(2):9~14(in Chinese))
[41]Wu B,Wang Q,Ou J.Numerical Study of Operator-Splitting Method for Real-time Substructure Testing withActuator Delay and Compensation[C].2005 Annual Meeting of Asia-Pacific Network of Centers on EarthquakeEngineering Research,Jeju,Korea,10~13 November,2005.
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[45]Igarashi A,Iemura H,Tanaka H.Development of Substructure Hybrid Shake Table Test Method and Applicationto Verification Tests of Vibration Control Devices[C].China-Japan Workshop on Vibration Control and HealthMonitoring of Structures and Third Chinese Symposium on Structural Vibration Control,Shanghai,China,Dec,2002.
[46]Gonzalez-Buelga A,Wagg D J,Wallace M I,Neild S A,Macdonald J H G.Testing an Autoparametric PendulumUsing a Hybrid Numerical Experimental Method[C].Proceedings of the First International Conference onAdvances in Experimental Structural Engineering,Nagoya,Japan,July,2005:417~424.
[47]Wu Bin,Wang Qianying,Shi Pengfei,Ou Jinping,Guan Xinchun.Real-time Substructure Test of JZ20-2NWOffshore Platform with Semi-sctive MR Dampers[C].The 4th World Conference on Structure Control andMonitoring.July 2006,San Diego,California.
[48]茹继平,肖岩.美国地震工程模拟网系统NEES计划及在我国实现远程协同结构试验的设想[J].建筑结构学报,2002,23(6):91~94(RU Jiping,Xiao Yan.Network for Earthquake Engineering Simulation in US andProposal of Remote Collaborative Testing in China.Journal of Building Structures,2002,23(6):91~94(inChinese))
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[2]张敏政,孟庆利,刘小明.建筑结构的地震模拟试验研究[J].工程抗震,2003,4:31~35(ZHANG Minzheng,MENG Qingli,LIU Xiaoming.A study on the earthquake simulation test of building structures.EarthquakeResistant Engineering,2003,4:31~35(in Chinese))
[3]武敏刚,吕西林.混合结构振动台模拟试验研究与计算分析[J].地震工程与工程振动,2004,24(6):103~108(WU Mingang,LV Xilin.Shaking table model test and theoretical analysis for seismic resistance of hybridstructures.Earthquake Engineering and Engineering Vibration,2004,24(6):103~108(in Chinese))
[4]方重.大型模拟地震振动台主要参数的确定及技术经济分析[J].世界地震工程,2001,17(4):135~138(FANGZhong.Determination of main parameters and technico-economic analysis for large scale earthquake simulator.World Information on Earthquake Engineering,2001,17(4):135~138(in Chinese))
[5]韩俊伟,李玉亭等.大型三向六自由度地震模拟振动台[J].地震学报,1998,20(3):327~331(HAN junwei,LI Yuting et al.Large scale six degree of freedom shaking table.Acta Seismological Sinica,1998,20(3):327~331(in Chinese))
[6]刘永昌,关淑贤等.地震模拟振动台波形再现定量判别法[J].地震工程与工程振动,1998,18(1):109~112(LIU Yongchang,GUAN Shuxian et al.A quantitative method for wave reappearance on earthquake simulationshaking table.Earthquake Engineering and Engineering Vibration,1998,18(1):109~112(in Chinese))
[7]黄浩华.电液伺服系统在地震工程研究中的应用[J].测控技术,1995,15(4)4:32~36(HUANG Haohua.TheApplication of electro-hydraulic servo system in earthquake engineering research.Measurement&ControlTechnology,1995,15(4)4:32~36(in Chinese))
[8]Housner G W,Bergman L A,Caughey T K,Chassiakos A G,Claus R O,Masri S F,Skelton R E,Soong T T,Spencer B F Jr,Yao T P.Structural control:past,present,and future[J].J.Engng.Mech.,ASCE,1997,123(9):897~971.
[9]Nakashima M,Kato H,Takaoka E.Development of real-time pseudo dynamic testing[J].Earthquake EngngStruct.Dynam,1992,21:79~92
[10]邱法维,钱稼茹,陈志鹏.结构抗震试验方法[M].北京:科学出版社,2000(QIU Fawei,QIAN Jiaru,CHENZhipeng.Seismic testing methods for structures.Beijing:Science Press,2000(in Chinese))
[11]Batterbee D C,Sims N D.Hardware-in-the-loop simulation of magnetorheological dampers for vehicle suspensionsystems[J].Proc.IMechE Part I:J.Systems and Control Engineering,2007,221:265~278.
[12]Wu B,Bao H,Ou J,Tian S.Stability and Accuracy Analysis of Central Difference Method for Real-timeSubstructure Testing[J].Earthquake Engineering and Structural Dynamics,2005,34:705~718.
[13]Chang S Y.Explicit pseudodynamic algorithm with unconditional stability[J].Journal of Engineering Mechanics,2002,128(9):935~947.
[14]吴斌,保海娥.实时子结构实验Chang算法的稳定性和精度[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.EarthquakeEngineering and Engineering Vibration,2006,26(2):41~48(in Chinese))
[15]Zhang Y,Sause R,Ricles J,Naito C.Modiffed predictor-corrector numerical scheme for real-time pseudo dynamictests using state-space formulation[J].Earthquake Engineering and Structural Dynamics,2005,34(3):271~288.
[16]Wu B,Xu G,Wang Q,Williams M S.Operator-splitting Method for Real-time Substructure Testing[J].Earthquake Engineering and Structural Dynamics,2006,35(3):293~314.
[17]Jung R,Shing P B.Performance Evaluation of a Real-time Pseudodynamic Test System[J].EarthquakeEngineering and Structure Dynamics,2006,789~810.
[18]Bayer V,Dorka U,Füllekrug U,Gschwilm J.On real-time pseudo-dynamic sub-structure testing:algorithm,numerical and experimental results[J].Aerospace Science and Technology,2005,9:223~232.
[19]奚彩亚,吴斌.实时子结构实验的混合控制方法[C].第11届全国实验力学会议,2005年7月,中国大连(XICaiya,WU Bin.Hybrid control method for real-time substructure testing,The 11th Experimental MechanicsScience Conference of China,Dalian,China,July,2005(in Chinese))
[20]Wu B,Wang Q,Shing P B,Ou J.Equivalent Force Control Method for Generalized Real-time SubstructureTesting with Implicite Integration[J].Earthquake Engineering and Structural Dynamics,2007,36:1127~1149.
[21]Blakeborough A,Williams M S,Darby A P,Williams D M.The development of real-time substructure testing[J].Phil.Trans.R.Soc.Lond.A,2001,359:1869~1891.
[22]Nakashima M,Masaoka N.Real-time on-line test for mdof systems[J].Earthquake Engng.Struct.Dyn,1999,28:393~420.
[23]Nakashima M.Development,potential,and limitations of real-time online(pseudo-dynamic)testing[J].Phil.Trans.R.Soc.Lond.A,2001,359:1851~1867.
[24]Bonnet P A,Lim C N,Williams M S,Blakeborough A,Neild S A,Stoten D P,Taylor C A.Real-time HybridExperiments with Newmark Integration,MCSmd Outer-loop Control and Multi-tasking Strategies[J].EarthquakeEngineering and Structural Dynamics,2007,36:119~141.
[25]Wu B,Wang Q,Bao H,Ou J.Analysis and Preliminary Experimental Study on Central Difference Method forReal-time Substructure Testing[C].The Annual conference of Asia-Pacific Network of Centers for EarthquakeEngineering Research,Hawaii,USA,July 28-30,2004.Also:Proceedings of the Third International Conferenceon Earthquake Engineering,Nanjing,China,19~20,October,2004.
[26]王倩颖,吴斌,欧进萍.应用MTS-Schenk系统的实时子结构试验[C].全国博士生学术论坛(土木建筑学科),南京,2005年8月(WANG Qianying,WU Bin,OU Jinping.Real-time substructure test with MTS-SCHENCKsystem.2005 Doctoral Forum of China,2005(in Chinese))
[27]Wagg D J,Stoten D P.Substructuring of dynamical systems via the adaptive minimal control synthesis algorithm[J].Earthquake Engng Struct.Dyn.,2001,30:865~877.
[28]Drury D,Stoten D P,Wagg D J,Gomez E G,Crewe A.Advances in numerical experimental substructuringtechniques using MCS control[C].12 European Conference on Earthquake Engineering,Paper Reference 277,2002.
[29]Lim C N,Neild S A,Stoten D P,Drury D.Real-Time Dynamic Substructure Testing Via an Adaptive ControlStrategy[C].Proceedings of the First International Conference on Advances in Experimental StructuralEngineering,Nagoya,Japan,July,2005:393~400.
[30]吴斌,王向英,王倩颖.电液伺服加载系统的滑动模态控制及其在实时子结构试验中的应用[C].2004中日美结构控制与监测会议暨第四届中国结构控制年会,2004年10月13~16日,中国大连(WU Bin,WANG Xiangying,WANG Qianying.Sliding mode control of electrohydraulic testing system for real-time substructure test[C].the4th China-Japan-US Symposium on Structural Control and Monitoring,Dalian,China,2004(in Chinese))
[31]Clarke D W,Hinton C J.Adaptive Control of Materials-testing[J].Machines Automatica,1997,33(6):1119~1131.
[32]Mercan O,Zhang X,Ricles J M.State Space Control design for Real-time Pesudodynamic Testing Application[C].The Eighth US National Conference on Earthquake Engineering,San Francisco,California,2006.
[33]Zhao J,Shield C,French C,Posbergh T.Nonlinear System Modeling and Velocity Feedback Compensation forEffective Force Testing[J].Journal of Engineering Mechanics,2005,131(3):244~253.
[34]许国山,吴斌.实时子结构实验OS法的累积误差分析[C].第11届全国实验力学会议,2005年7月,中国大连(XU Guoshan,WU Bin.OS method for real-time substructure testing error propagation analysis.The 11thExperimental Mechanics Science Conference of China,Dalian,China,July,2005(in Chinese))
[35]Horiuchi T,Inoue M,Konno T,Namita Y.Real-time hybrid experimental system with actuator delaycompensation and its application to a piping system with energy absorber[J].Earthquake Engng Struct.Dynam,1999,28:1121~1141.
[36]Wallace M I,Sieber J,Neild S A,Wagg D J,Krauskopf B.Stability analysis of real-time dynamic substructuringusing delay differential equation models[J].Earthquake Engineering and Structural Dynamics,2005,34:1817~1832.
[37]Darby A P,Williams M S,Blakeborough A.Stability and Delay Compensation for Real-Time SubstructureTesting[J].Journal of Engineering Mechanics,2002,128(12).
[38]Bonnet P A,Williams M S,Blakeborough A.Actuator Performance in Real Time Hybrid Tests[C].Proceedingsof the First International Conference on Advances in Experimental Structural Engineering,Nagoya,Japan,July,2005:465~472.
[39]Horiuchi T,Konno T.A new method for compensating actuator delay in real-time hybrid experiments[J].Phil.Trans.R.Soc.Lond.A,2001,359:1893~1909.
[40]王倩颖,吴斌,欧进萍.考虑作动器时滞及其补偿的实时子结构实验稳定性分析[J].工程力学,2007,24(2):9~14(WANG Qianying,WU Bin,OU Jinping.Stability Analysis of Real-time Substructure Testing withActuator Delay and Compensation.Engineering Mechanics,2007,24(2):9~14(in Chinese))
[41]Wu B,Wang Q,Ou J.Numerical Study of Operator-Splitting Method for Real-time Substructure Testing withActuator Delay and Compensation[C].2005 Annual Meeting of Asia-Pacific Network of Centers on EarthquakeEngineering Research,Jeju,Korea,10~13 November,2005.
[42]Darby A P,Blakeborough A,Williams M S.Improved control algorithm for real-time substructure testing[J].Earthquake Engng Struct.Dyn,2001,30:431~448.
[43]Horiuchi T,Inoue M,Konno T.Development of a real-time hybrid experimental system using a shaking table[C].Proc.12th World Conf.Earthquake Engineering,Auckland,New Zealand,2000,paper no.0843.
[44]Iemura H,Igarashi A,Aoki T,Yamamoto Y.Real-Time Substructure Hybrid Earthquake Loading System forSuper-High-Damping Rubber Bearings[C].Proceedings of the First International Conference on Advances inExperimental Structural Engineering,Nagoya,Japan,July,2005:401~408.
[45]Igarashi A,Iemura H,Tanaka H.Development of Substructure Hybrid Shake Table Test Method and Applicationto Verification Tests of Vibration Control Devices[C].China-Japan Workshop on Vibration Control and HealthMonitoring of Structures and Third Chinese Symposium on Structural Vibration Control,Shanghai,China,Dec,2002.
[46]Gonzalez-Buelga A,Wagg D J,Wallace M I,Neild S A,Macdonald J H G.Testing an Autoparametric PendulumUsing a Hybrid Numerical Experimental Method[C].Proceedings of the First International Conference onAdvances in Experimental Structural Engineering,Nagoya,Japan,July,2005:417~424.
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