CN111473935A - Bidirectional loading soft real-time hybrid simulation test method and device - Google Patents
Bidirectional loading soft real-time hybrid simulation test method and device Download PDFInfo
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- CN111473935A CN111473935A CN202010182625.XA CN202010182625A CN111473935A CN 111473935 A CN111473935 A CN 111473935A CN 202010182625 A CN202010182625 A CN 202010182625A CN 111473935 A CN111473935 A CN 111473935A
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- G—PHYSICS
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- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M7/00—Vibration-testing of structures; Shock-testing of structures
- G01M7/02—Vibration-testing by means of a shake table
- G01M7/06—Multidirectional test stands
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- G—PHYSICS
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- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M7/00—Vibration-testing of structures; Shock-testing of structures
- G01M7/02—Vibration-testing by means of a shake table
- G01M7/022—Vibration control arrangements, e.g. for generating random vibrations
Abstract
The invention discloses a bidirectional loading soft real-time hybrid simulation test method, which uses two MTS dynamic electro-hydraulic servo actuators which are horizontally arranged and have a loading direction included angle of 90 degrees to realize dynamic response simulation of a test substructure specimen under the action of bidirectional seismic waves through geometric relationship conversion. The target machine of the invention uses a soft real-time loading method, and provides more time for solving a numerical model and transmitting an actuator signal. If the solution is not completed within the given integration time step or the communication delay between programs is delayed, the hybrid simulation system can avoid the oscillation or deadlock of the system by increasing the simulation time step.
Description
Technical Field
The invention belongs to the field of civil engineering structure tests, and particularly relates to a bidirectional loading soft real-time hybrid simulation test method and device.
Background
The structural seismic test is an indispensable part for evaluating the seismic performance of the structure. As a novel structure test method developed based on a substructure simulation dynamic test, real-time hybrid simulation provides new possibility for structural seismic analysis of researchers. The real-time hybrid simulation combines two analysis means of laboratory physical test and finite element numerical simulation, a complex seismic reaction part of the whole structure is used as a test substructure to carry out real-time dynamic loading test, and the rest part is used as a numerical substructure to carry out numerical simulation in a finite element program.
The real-time hybrid simulation test can be divided into a hard real-time test and a soft real-time test according to a real-time effect, for the hard real-time test, the integral step length and the simulation step length are often less than 5ms, and are easy to destabilize when the time lag of a system is large, so that the real popularization is not realized at present, for the soft real-time test, the integral step length and the simulation step length are often greater than 10ms, and the loading control step length of the system is only 1ms, so that more time is provided for solving a numerical model and transmitting an actuator signal, and the stability of a test system is easier to ensure. On the other hand, most of the current real-time hybrid simulation tests mainly adopt the one-way loading of a planar test piece, and research on a real-time loading method of the test piece under the action of the two-way seismic waves is still less.
Disclosure of Invention
The invention aims to overcome the defects and provides a bidirectional loading soft real-time hybrid simulation test method and device capable of carrying out bidirectional real-time loading on a test piece.
In order to achieve the purpose, the bidirectional loading soft real-time hybrid simulation test method capable of carrying out bidirectional real-time loading on the test piece comprises the following steps:
dividing an overall structure model into a test substructure and a numerical substructure;
establishing a numerical value substructure model, and defining a bidirectional seismic wave loading record;
step three, installing loading devices of the bidirectional actuators of the test substructure, wherein the loading devices are two electro-hydraulic servo actuators which are horizontally arranged and have an included angle of 90 degrees in the loading direction;
step four, carrying out test control setting and test unit establishment, carrying out small-displacement static loading on the test substructure by using an actuator to obtain initial rigidity of the test piece of the test substructure in two loading directions, and endowing the rigidity value and the quality of the test substructure part to the test unit;
step five, setting a time lag compensation algorithm of the displacement signal in the target machine, and estimating the initial time lag of the test loading system;
step six, starting a bidirectional loading soft real-time hybrid simulation test, and at tiAt any moment, the target computer displaces the test substructure target obtained under the action of the bidirectional seismic waves
And
conversion to predicted displacements x 'and y', the test load control system then converts the predicted displacements to commanded displacements Δ l 'based on the geometric relationships'1And Δ l'2Sending the data to an actuator;
step seven, after the actuator is loaded to the specified displacement, the feedback force f measured by the actuator is used1And f2Recovery F in both directions of the test substructure1And F2Sending the restoring force back to the numerical simulation computer for the step-by-step analysis of the next product;
and step eight, enabling i to be i +1, and repeating the step six and the step seven until the seismic wave loading is finished.
And step two, establishing a numerical substructure model by adopting OpenSees finite element software.
In the fourth step, the test control setting and the test unit are established on the OpenFresco subjunction communication platform.
The setting of the displacement signal skew compensation algorithm is carried out in the main program MAT L AB of the target machine.
When estimating the initial skew size, the integration time step is allowed to be different from the control time step.
The OpenSees finite element software cannot complete solving within a given integral time step, or communication delay between programs occurs, and oscillation or deadlock of a system is avoided by increasing a simulation time step during hybrid simulation.
A bidirectional loading soft real-time hybrid simulation test device comprises two loading conversion heads fixed at the top of a test substructure, wherein the two loading conversion heads are arranged at 90 degrees and are hinged with a dynamic electro-hydraulic servo actuator, the bottom of the test substructure is fixed on a ground beam, the dynamic electro-hydraulic servo actuator is controlled by a servo controller, the servo controller is connected with a test computer and a target computer, and the target computer is connected with a simulation computer;
the simulation computer is used for sending an action instruction of the electro-hydraulic servo actuator and analyzing according to feedback data of the electro-hydraulic servo actuator;
the target computer is used for converting the control instruction of the analog computer and sending the control instruction to the servo controller to control the action of the servo actuator;
the servo controller is used for controlling the action of the servo actuator according to the instruction sent by the servo controller, collecting the data of the servo actuator and sending the data to the test computer and the target computer;
the test computer monitors the operating state of the servo actuator.
The other end of the dynamic electro-hydraulic servo actuator is fixed on the concrete counter-force wall.
The test substructure is fixed on a ground beam through foundation bolts, and the ground beam is fixed on a concrete foundation.
The dynamic electro-hydraulic servo actuator adopts a 50t MTS dynamic electro-hydraulic servo actuator.
Compared with the prior art, the method provided by the invention uses two dynamic electro-hydraulic servo actuators which are horizontally arranged and have 90-degree loading direction included angles, and realizes dynamic response simulation of the test substructure specimen under the action of bidirectional seismic waves through geometric relationship conversion. The target machine of the invention uses a soft real-time loading method, and provides more time for solving a numerical model and transmitting an actuator signal. If the solution is not completed within the given integration time step or the communication delay between programs is delayed, the hybrid simulation system can avoid the oscillation or deadlock of the system by increasing the simulation time step.
The device provided by the invention uses two dynamic electro-hydraulic servo actuators which are horizontally arranged and have 90-degree loading direction included angles, realizes dynamic response simulation of the test substructure specimen under the action of the bidirectional seismic waves through geometric relationship conversion, can realize real-time mixed simulation test simulation under the action of the bidirectional seismic waves, and is beneficial to further popularization of a mixed simulation test method.
Drawings
FIG. 1 is a schematic diagram of a soft real-time hybrid simulation test system of the present invention;
FIG. 2 is a schematic diagram of a single-layer space frame overall structure study object;
FIG. 3 is a schematic diagram of the input direction of the bi-directional seismic waves of the overall structural model;
FIG. 4 is a schematic diagram of a numerical substructure model established using OpenSees;
FIG. 5 is a schematic illustration of the geometric transformation between the test substructure and the loading of the bi-directional actuator;
FIG. 6 is a two-way actuator loading device of the present invention with a test substructure installed;
in the figure, 1, a concrete reaction wall, 2, 50t MTS dynamic electro-hydraulic servo actuators, 3, a loading conversion head, 4, a test substructure, 5, foundation bolts, 6, a ground beam, 7 and a concrete foundation.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
Referring to fig. 1, the present invention comprises the steps of:
dividing an overall structure model into a test substructure and a numerical substructure;
establishing a numerical substructure model by adopting OpenSees finite element software, and defining bidirectional seismic wave loading records;
step three, installing loading devices of the bidirectional actuators of the test substructure, wherein the loading devices are two electro-hydraulic servo actuators which are horizontally arranged and have an included angle of 90 degrees in the loading direction;
step four, carrying out test control setting and test unit establishment on the OpenFresco substructure communication platform, carrying out small-displacement static loading on the test substructure by using an actuator to obtain the initial rigidity of the test piece of the test substructure in two loading directions, and endowing the rigidity value and the quality of the test substructure part to the test unit;
step five, setting a displacement signal time lag compensation algorithm in an MAT L AB main program in the target machine, and estimating the initial time lag of the test loading system;
step six, starting a bidirectional loading soft real-time hybrid simulation test, and at tiAt any moment, the target computer displaces the test substructure target obtained under the action of the bidirectional seismic waves
And
conversion to predicted displacements x 'and y', the test load control system then converts the predicted displacements to commanded displacements Δ l 'based on the geometric relationships'1And Δ l'2Sending the data to an actuator;
step seven, after the actuator is loaded to the specified displacement, the feedback force f measured by the actuator is used1And f2Recovery F in both directions of the test substructure1And F2Sending the restoring force back to the numerical simulation computer for the step-by-step analysis of the next product;
and step eight, enabling i to be i +1, and repeating the step six and the step seven until the seismic wave loading is finished.
Soft real-time loading allows the integration time step to be different from the control time step. Typically, the integration time step of the model is 10 or 20ms, while the loading control time step is 1ms, which provides more time for the solution of the numerical model and the transmission of the actuator signal. In real-time loading experiments, the simulation time step of the system is usually equal to the integration time step. If openses fails to complete the solution within a given integration time step, or if communication delay between programs occurs, the hybrid simulation system can avoid oscillation or deadlock of the system by increasing the simulation time step.
A bidirectional loading soft real-time hybrid simulation test device comprises two loading conversion heads 3 fixed at the top of a test substructure 4, wherein the two loading conversion heads 3 are arranged at 90 degrees, the loading conversion heads 3 are hinged with a dynamic electro-hydraulic servo actuator 2, the other end of the dynamic electro-hydraulic servo actuator 2 is fixed on a concrete counterforce wall 1, the bottom of the test substructure 4 is fixed on a ground beam 6, the test substructure 4 is fixed on the ground beam 6 through foundation bolts 5, the dynamic electro-hydraulic servo actuator 2 is controlled by a servo controller, the ground beam 6 is fixed on a concrete foundation 7, the servo controller is connected with a test computer and a target computer, and the target computer is connected with a simulation computer;
the simulation computer is used for sending an action instruction of the electro-hydraulic servo actuator 2 and analyzing according to feedback data of the electro-hydraulic servo actuator 2;
the target computer is used for converting the control instruction of the analog computer and sending the control instruction to the servo controller to control the action of the servo actuator 2;
the servo controller is used for controlling the action of the servo actuator 2 according to the instruction sent by the servo controller, collecting the data of the servo actuator 2 and sending the data to the test computer and the target computer;
the test computer monitors the operating state of the servo actuator 2.
The dynamic electro-hydraulic servo actuator 2 adopts a 50t MTS dynamic electro-hydraulic servo actuator.
Example (b):
in an earthquake, the forces acting on the column are relatively complex, so the framed column is taken as the test substructure, and the rest of the structure is taken as the numerical substructure. All columns of the structural model are rigidly connected with the foundation, the frame beam is hinged with two ends connected with the test substructure, and other beam-column joints are rigidly connected. The specific process is as follows:
step one, referring to fig. 2, a single-layer space frame overall structure is divided into a test substructure and a numerical substructure, wherein the test substructure is a frame column with complex stress under the action of bidirectional seismic waves, only the in-plane deformation of the test substructure is considered, and the coupling effect between torsion and translation is difficult to realize in a real-time loading test, so that the test substructure and a frame beam are hinged under the condition of not considering the torsion effect, namely the test substructure is placed in a rotational degree of freedom, a horizontal load is applied in the direction of a column end X, Y by using a double actuator, and two translational degrees of freedom of a substructure boundary are directly simulated. The dynamic equation of the whole model is shown as formula (1):
in the formula (I), the compound is shown in the specification,
x is the acceleration, speed and displacement of the structure in the X direction respectively,
y is the acceleration, speed and displacement of the structure in the Y direction respectively,
Θnrotational acceleration, rotational speed and rotational displacement angle, M, of the numerical substructure, respectivelyn，Cn，Kn，InMass, damping, stiffness and moment of inertia, M, of the numerical substructure, respectivelye，Ce，KeRespectively the mass, damping and stiffness of the test substructure,
and
external seismic excitations input along the structure X and Y directions, respectively;
step two, referring to fig. 4, establishing a numerical substructure model by using openses, and defining a bidirectional seismic wave loading record, wherein two frame beams connected with a test substructure are simulated by using Truss units with hinged ends, and other frame beams and columns are simulated by using beam-column units based on force;
and step three, referring to fig. 6, installing the bidirectional actuator loading device of the test substructure. The test substructure 4 is fixed on the grade beam 6 through foundation bolt 5, the grade beam 6 is fixed on concrete foundation 7, be fixed with two 50t MTS dynamic electricity liquid servo actuator 2 on the test substructure 4, 50t MTS dynamic electricity liquid servo actuator 2 is articulated with test substructure 4 through loading adapter 3, 50t MTS dynamic electricity liquid servo actuator 2 is fixed on concrete counterforce wall 1, two 0t MTS dynamic electricity liquid servo actuator 2 are 90 degrees horizontal arrangements along the X and the Y direction of test substructure respectively, the one end of actuator is fixed on the counterforce wall, the other end links to each other with test substructure capital. The column base is rigidly connected with the foundation and is fixed with the foundation by a foundation bolt and a ground beam;
and fourthly, carrying out test control setting and test unit establishment in OpenFresco. The horizontal rigidity change of the test substructure is represented by a beam-column test unit, and as shown in formula (2), a standard initial rigidity matrix of the three-dimensional beam-column test unit has six degrees of freedom. Since the top of the test sub-column is hinged, the axial forces are ignored, thus defining mainly the horizontal stiffness in the X and Y directions. And (3) carrying out small-displacement static force loading on the test substructure by using an actuator to obtain the initial horizontal rigidity of the test piece of the test substructure in two loading directions, and inputting the rigidity value into a test unit to carry out the first-step analysis of the structural dynamic response. During the test, the horizontal stiffness matrix of the test substructure is updated based on the measured data for the actuator.
Step five, setting a displacement signal time-lag compensation algorithm in an MAT L AB main program of the target machine, selecting an extrapolation algorithm in the test, setting an integration time step length and a simulation time step length to be 20ms, setting a loading control time step length to be 1ms, and estimating the initial time-lag size of a loading system of the test;
step six, referring to fig. 5, a bidirectional loading soft real-time hybrid simulation test is started. Assume an original length of the horizontal X-direction actuator as l1The original length of the horizontal Y-direction actuator is l2At tiMotion vector at the moment when the test substructure moves from point O to point AIs composed of
And
that is, the target displacement of the test substructure calculated by the numerical simulation computer, the length of the actuator becomes l'1And l'2Of (d), corresponding elongation Δ l'1，Δl′2And a rotation angle theta1，θ2The calculation can be performed as in equation (3). The target computer then displaces the target
And
conversion to predicted displacements x 'and y', the test load control system then converts the predicted displacements to commanded displacements Δ l 'according to the geometric relationship of equation (3)'1And Δ l'2Sending the data to an actuator;
step seven, referring to fig. 5, after the actuator is loaded to the specified displacement, according to the feedback force f measured by the actuator1And f2Recovery F in both directions of the test substructure1And F2The conversion relationship is shown in formula (4). The restoring force is sent back to a numerical simulation computer to carry out the step-by-step analysis of the next product;
and (5) repeating the steps (6) and (7) until the seismic wave loading is finished by changing i to i + 1.
Claims (10)
1. A bidirectional loading soft real-time hybrid simulation test method is characterized by comprising the following steps:
dividing an overall structure model into a test substructure and a numerical substructure;
establishing a numerical value substructure model, and defining a bidirectional seismic wave loading record;
step three, installing loading devices of the bidirectional actuators of the test substructure, wherein the loading devices are two electro-hydraulic servo actuators which are horizontally arranged and have an included angle of 90 degrees in the loading direction;
step four, carrying out test control setting and test unit establishment, carrying out small-displacement static loading on the test substructure by using an actuator to obtain initial rigidity of the test piece of the test substructure in two loading directions, and endowing the rigidity value and the quality of the test substructure part to the test unit;
step five, setting a time lag compensation algorithm of the displacement signal in the target machine, and estimating the initial time lag of the test loading system;
step six, starting a bidirectional loading soft real-time hybrid simulation test, and at tiAt any moment, the target computer displaces the test substructure target obtained under the action of the bidirectional seismic waves
And
conversion to predicted displacements x 'and y', the test load control system then converts the predicted displacements to commanded displacements Δ l 'based on the geometric relationships'1And Δ l'2Sending the data to an actuator;
step seven, after the actuator is loaded to the specified displacement, the feedback force f measured by the actuator is used1And f2Recovery F in both directions of the test substructure1And F2Sending the restoring force back to the numerical simulation computer for the step-by-step analysis of the next product;
and step eight, enabling i to be i +1, and repeating the step six and the step seven until the seismic wave loading is finished.
2. The bi-directional loading soft real-time hybrid simulation test method according to claim 1, wherein in the second step, openses finite element software is adopted for establishing the numerical substructure model.
3. The bidirectional loading soft real-time hybrid simulation test method of claim 1, wherein in the fourth step, the test control setting and the test unit are established on an OpenFresco subjunction communication platform.
4. The bi-directional loading soft real-time hybrid simulation test method of claim 1, wherein the setting of the displacement signal skew compensation algorithm is performed in the MAT L AB main program of the target machine.
5. The bi-directional loading soft real-time hybrid simulation test method of claim 1, wherein the integration time step is allowed to be different from the control time step when estimating the initial skew size.
6. The bi-directional loading soft real-time hybrid simulation test method of claim 5, wherein the OpenSees finite element software fails to complete the solution within a given integration time step, or communication delay between programs occurs, and oscillation or deadlock of the system is avoided by increasing the simulation time step during hybrid simulation.
7. The device adopted by the bidirectional loading soft real-time hybrid simulation test method of claim 1 is characterized by comprising two loading conversion heads (3) fixed at the top of a test substructure (4), wherein the two loading conversion heads (3) are arranged at 90 degrees, the loading conversion heads (3) are hinged with a dynamic electro-hydraulic servo actuator (2), the bottom of the test substructure (4) is fixed on a ground beam (6), the dynamic electro-hydraulic servo actuator (2) is controlled by a servo controller, the servo controller is connected with a test computer and a target computer, and the target computer is connected with a simulation computer;
the simulation computer is used for sending an action instruction of the electro-hydraulic servo actuator (2) and analyzing according to feedback data of the electro-hydraulic servo actuator (2);
the target computer is used for converting the control instruction of the analog computer and sending the control instruction to the servo controller to control the action of the servo actuator (2);
the servo controller is used for controlling the action of the servo actuator (2) according to the instruction sent by the servo controller, acquiring the data of the servo actuator (2) and sending the data to the test computer and the target computer;
the test computer monitors the operating state of the servo actuator (2).
8. The device for the bi-directional loading soft real-time hybrid simulation test according to claim 7, wherein the other end of the dynamic electro-hydraulic servo actuator (2) is fixed on the concrete counterforce wall (1).
9. A bi-directional loading soft real-time hybrid simulation test device according to claim 7, wherein the test substructure (4) is fixed on a ground beam (6) by anchor bolts (5), and the ground beam (6) is fixed on a concrete foundation (7).
10. The bidirectional loading soft real-time hybrid simulation test device of claim 7, wherein the dynamic electro-hydraulic servo actuator (2) is a 50t MTS dynamic electro-hydraulic servo actuator.
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