Real-time Hybrid Simulation based on Inner-Loop H∞ Control
NING Xi-zhan1,2, ZHOU Hui-meng3, WU Bin1,2, WANG Zhen1,2
1. Key Lab of Structures Dynamic Behavior and Control (Harbin Institute of Technology), Ministry of Education, Harbin, 150090, China
2. School of Civil Engineering, Harbin Institute of Technology, Ministry of Education, Harbin, 150090, China
3. Key Laboratory of Earthquake Engineering and Engineering Vibration, Institute of Engineering Mechanics, China Earthquake Administration, Harbin, 150080, China
Abstract：Real-time hybrid simulation (RTHS) takes the critical parts of the structure as experimental substructure, and simulates the remainder of the structure in the computer. A transfer system (actuator or shaking table) is used to guarantee the boundary compatible between these two parts. Owing to the inherent complexity nonlinear dynamic characteristic of the actuator-specimen system, the performance of the traditional PID controller is easy to be effected, the time delay compensation or the outer-loop control strategy must be used to eliminate the influence of the nonlinear dynamic characteristic, to insure the success of RTHS. In this paper, the H∞ control theory based on the mixed sensitivity is employed to design the inner-loop controller of RTHS. Numerical simulations indicate that the H∞ controller has an excellent tracking performance and robustness. And RTHS of a linear elastic single-degree-of-freedom structure demonstrates that the H∞ control strategy is feasible to be used as the inner-loop controller.
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