2024 Volume 80 Issue 13 Article ID: 23-13152
Commands to controller may exceed the speed capability of the dynamic testing machine in Real-Time Hybrid Simulation (RTHS) because commanded displacements are calculated sequentially during the test, unlike the commands of conventional dynamic testing are specified in advance. If the controller limits the velocity in the case of velocity limitation exists, the delay between the command displacement and the measured displacement increases. As a result, excessive delay compensation may cause higher-order vibration to be included in the command displacement, which may degrade test accuracy. Therefore, this study proposes the delay compensation algorithm for RTHS that takes into account the speed constraint of the dynamic testing machine. We propose an algorithm for generating a command signal that reduces the speed according to the speed constraint, and verify this algorithm conducting virtual RTHS and RTHS using dynamic actuator. The results show that the proposed algorithm works well and the proposed method can suppress higher-order vibration of the command displacement by the delay compensation method compared to conventional speed control by a controller.
