Real Time Hybrid Simulation using Shaking Tabels

Transcription

1 Real Tme Hybrd Smlaon sng Shakng Tabels Deparmen o Cvl and Envronmenal Engneerng Unversy o Kassel, Germany

2 Olne Inrodcon A ndamenal sbsrcre algorhm wh sb seppng Applcaons o he algorhm Conclsons

3 Inrodcon Sbsrcres are common n echncal sysems Aomaed Transer Vehcle on HYDRA able a ESA (phoo: ESA) Arane IV carrer rocke (phoo: Aranespace) 3

4 Inrodcon In bldngs, we have componens lke colmns, cables and connecons. Or specal devces lke TMDs Sem acve Tned Mass Devce (Msbsh Heavy Indsres Ld ) The Yokohama Landmark Tower (phoo: Japan Iron & Seel Federaon ) 4

5 Inrodcon and sem acve earhqake proecon sysems, lke he Hyde sysem concep: UHYDE br conrollable rcon devce (Dorka, 995, US paen o ) A B 5

6 Inrodcon In many cases, he hos srcre can be modelled well. Complex local sbsrcres are oen he sse: local srcral componens acve, passve or sem acve conrol devces payloads vehcles ec. Where complex behavor s dcl o model or qalcaon o acal componens s reqred. Ths s he realm o dynamc sbsrcre esng (also called hybrd smlaon) where a nmercal model o a hos srcre s lnked o a specmen. 6

7 7 A ndamenal sbsrcre algorhm wh sb seppng Dynamc eqlbrm: Wh r: vecor o nmercal nonlnear resorng orces c : vecor o resorng orces measred a he nerace beween nmercal model and esed sbsrcre Shape ncons are sed o dscrese he dsplacemens n me (here over 3 pons): In a sbsrcre es, a nmercal me negraon scheme conrols he process. Any sch scheme can be derved rom me dscresaon (Zenkewcz 977): ) ( ) ( ) ( ) ( ) ( ) ( K C M c r l d d d d / / wh: /

8 8 A ndamenal sbsrcre algorhm wh sb seppng Usng a weghed resdal approach ; ; Wd d W Wd d W weghng ncon W: c r l * d K C M W n d d d d d d d d d d d d * * *

9 9 A ndamenal sbsrcre algorhm wh sb seppng K C M G wh: Every me negraon algorhm s a lnear conrol eqaon whn each me sep. I has an nal vale 0 and a consan gan G (Dorka 99): leads o a general recrrence scheme. For 3 pons n me, reads: * * * K C M K C M K C M * * 0 l K C M K C M K C M 0 c r G

10 A ndamenal sbsrcre algorhm wh sb seppng Perormance o varos me negraon schemes (varaon o negraon consans): Perod elongaon mercaldampng T/T /T Any o hese can be sed n he algorhm b he ncondonally sable ewmark scheme who nmercal dampng gves he bes resls! 0

11 A ndamenal sbsrcre algorhm wh sb seppng Sb seppng (sed n ess by he ahor snce 985) avods eraon whn he me sep and allows he acaors o rn connosly. A small eqlbrm error may have be compensaed a he end o each me sep. 0 G r c = + new load and error compensaon: * nalzaon wh new j apply dsplacemen a each sb-sep: 0 calclae l e j ( ) k 0 r 0 r measre s c j ( ) Gr c k j < k yes: j j error orce compensaon no me dervaves o shape ncons gve: d d ; d d error orce: ( M l C r c d d d d K )

12 Applcaons o he algorhm Mlesone applcaons: 986, a Rhr Unversä Bochm (Germany), Frs connos psedo dynamc ess n Erope: S dcle specmen, me scale acor 0 998, a Unversä Rosock wh DLR Göngen (Germany) Frs real me sbsrcre ess n aerospace engneerng: Freqency p o 50 Hz, me sep ms, Arane IV nmercal model 006, a Unversä Kassel wh CEA Saclay (France), Frs dsrbed real me sbsrcre ess sng hydralc shakng ables: lnear TMDs on wo parallel shakng ables 009, a Unversä Kassel wh IZIIS Skopje (Macedona), Frs real me sesmc sbsrcre ess sng a hydralc shakng able and non lnear coplng by UHYDE br, realsc nmercal model wh 33 DOFs 0, a Unversä Kassel, Real me sbsrcre ess o nonlnear TMD on shakng able: on lnear coplng by UHYDE br, adapve compensaons are esed

13 Applcaons o he algorhm Frs connos PsD ess n Erope (me scale acor 0) on SDOF s dcle sbsrcres a Rhr Unversä Bochm (986) (Rok, Dorka, 989). Dcly provded by specal rcon connecons wh hgh accracy 3

14 Applcaons o he algorhm Proo o concep o real me sbsrcre es or aerospace applcaons: Dorka and Füllekrg (998); Bayer, Dorka, Füllekrg and Gschwlm (005) = 7.4 Hz = 5.7 Hz 3 = 34.9 Hz 4 = Hz Arane IV carrer rocke (phoo: Aranespace) model o Arane IV wh DOF payload and 4 DOF reerence specmen a DLR Göngen Comparson beween sbsrcre and reerence es, Dorka and Füllekrg (998) 4

15 Applcaons o he algorhm Real me sbsrcre es wh lnear TMDs on shakng ables. Dorka, Qéval, gyen and Le Maol (006): X 0Y dsplacmen (m) me (s) RTST -30 Reerence Tes : AZALEE shakng able, : rame, 3: Added mass a rs loor, 4: rgd colmns, 5: TMD, 6: TMD -40 5

16 ex generaon applcaons o he algorhm Applcaon n SERIES projec (FP7 Eropean projec, EC Gran o. 7887) Recen benchmarks: me seps o ms cold be seleced sng a model wh 504 dynamc DOFs on a common deskop comper. Large nmercal models or sbsrcre esng a UIKA. 6

17 ex generaon applcaons o he algorhm B dreconal shakng able wh non lnear TMD: Deren non lnear acons repeaable wh hgh accracy Recen benchmarks: me seps o ms cold be seleced sng a model wh 504 dynamc DOFs on a common deskop comper. Tes bed developed n SUBSHAKE (DFG) and sed n FP7 projecs EFAST and SERIES 7

18 Conclsons Ths sbsrcre algorhm has been sed sccesslly n a nmber o ron lne applcaons and rss. I needs no assmpons abo he specmen or nmercal par: Connos PSD ess on s dcle wall sysems (me scale acor 0, 986) Real me ess wh payload and Arane IV model (negraon sep ms, elecrodynamc acaon, 005) Real me ess wh mlple TMDs on dsrbed hydralc shakng ables (negraon sep 0 ms, 006) Real me ess wh nonlnear coplng o sbsrcre on hydralc shakng able(negraon sep 0 ms, 008). The algorhm can accommodae all me negraon schemes. Uncondonal sably s acheved by nrodcng eqally spaced sb seps drng he me sep. Eqlbrm errors and phase lag n hydralc sysems can be compensaed by PID or adapve compensaors The algorhm lends sel easly o parallelzaon. Ths enables real me ess wh more realsc large nmercal models (several 000 DOFs) 8

19 Acknowledgemens The research was sppored n par hrogh he ollowng projecs:. Compose Srcres nder cyclc loadng A projec o specal research grop SFB 5, Rhr Unversä Bochm, sppored by he German Research Fondaon (DFG);. SbPSD Algorhmen (Algorhmen ür real me psedo dynamsche Sbsrkress), sppored by he German Research Fondaon (DFG) nder projec nmber DO 360/7,; 3. Common acon beween Unversy o Kassel and he Commssara à lènerge Aomqe (CEA),sppored by CEA, France; 4. SUBSHAKE (Developmen o sbsrcre es n real me or hydralc shakng ables), sppored by he German Research Fondaon (DFG) nder projec nmber Do 360/,; 5. E FAST (Desgn sdy o a Eropean Facly or Advanced Sesmc Tesng), sppored by he Eropean Unon nder Gran o. 09; 6. SERIES (Sesmc Engneerng Research Inrasrcres or Eropean Synerges), sppored by he Eropean Unon nder Gran o

20 Thank yo or yor knd aenon! 0