Skip to main content
SpringerLink
Log in

Towards Faster Computations and Accurate Execution of Real-Time Hybrid Simulation

  • Chapter
  • First Online:
Book cover Experimental Research in Earthquake Engineering

Part of the book series: Geotechnical, Geological and Earthquake Engineering ((GGEE,volume 35))

Abstract

This chapter reports three recent developments aimed towards faster computations and more accurate execution of real-time hybrid simulations (RTHS). The first of these developments is a standalone RTHS system which can accommodate integration time steps as small as 1 ms. The fast execution feature eliminates the approximations that would be introduced by the application of a predictor-corrector smoothing technique and increases the applicability range of explicit integration methods. The second development is the use of an efficient equation solver in RTHS which reduces computation time. This efficient solver, which decreases the computation time by factorizing the Jacobian of the system of linear algebraic equations only once at the beginning of the simulation, is especially beneficial in RTHS which involves analytical substructures with large number of degrees of freedom (DOF). The third development is a novel use of a three-variable control (TVC) for RTHS on a shaking table configuration. Although the TVC, which employs velocity and acceleration control in addition to the typical displacement control, is commonly used in conventional shaking table tests, this development is the first application of TVC in RTHS.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution
Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 89.00
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Hardcover Book
USD 169.99
Price excludes VAT (USA)
  • Durable hardcover edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

References

  • Bonnet PA, Williams MS, Blakeborough A (2008) Evaluation of numerical time-integration schemes for real time hybrid testing. Earthq Eng Struct Dyn 37(13):1467–1490

    Article  Google Scholar 

  • Bursi OS, Gonzalez-Buelga A, Vulcan L, Neild SA, Wagg DJ (2008) Novel coupling Rosenbrock-based algorithms for real-time dynamic substructure testing. Earthq Eng Struct Dyn 37(3):339–360

    Article  Google Scholar 

  • Combescure D, Pegon P (1997) α-Operator splitting time integration technique for pseudodynamic testing error propagation analysis. Soil Dyn Earthq Eng 16:427–443

    Article  Google Scholar 

  • Conte JP, Trombetti TL (2000) Linear dynamic modeling of a uni-axial shaking table system. Earthq Eng Struct Dyn 29(9):1375–1404

    Article  Google Scholar 

  • Elkhoraibi T, Mosalam KM (2007) Towards error-free hybrid simulation using mixed variables. Earthq Eng Struct Dyn 36(11):1497–1522

    Article  Google Scholar 

  • Günay S, Mosalam KM (2013) Seismic performance evaluation of high voltage disconnect switches using real-time hybrid simulation: II. Parametric Study. Earthq Eng Struct Dyn 43(8):1223–1237

    Article  Google Scholar 

  • Horiuchi T, Inoue M, Konno T, Namita Y (1999) Real-time hybrid experimental system with actuator delay compensation and its application to a piping system with energy absorber. Earthq Eng Struct Dyn 28(10):1121–1141

    Article  Google Scholar 

  • Igarashi A, Iemura H, Suwa T (2000) Development of substructured shaking table test method. 12th world conference on earthquake engineering. Auckland, New Zealand

    Google Scholar 

  • Ji X, Kajiwara K, Nagae T, Enokida R, Nakashima M (2009) A substructure shaking table test for reproduction of earthquake responses of high-rise buildings. Earthq Eng Struct Dyn 38(12):1381–1399

    Article  Google Scholar 

  • Lee S, Parka E, Mina K, Park J (2007) Real-time substructuring technique for the shaking table test of upper substructures. Eng Struct 29(9):2219–2232

    Article  Google Scholar 

  • Luco J, Ozcelik O, Conte J (2010) Acceleration tracking performance of the UCSD-NEES shake table. J Struct Eng 136(5):481–490

    Article  Google Scholar 

  • Mahin SA, Shing PSB (1985) Pseudodynamic method for seismic testing. J Struct Eng ASCE 111(7):1482–1503

    Article  Google Scholar 

  • McKenna F, Fenves GL, Filippou FC (2010) OpenSees. http://opensees.berkeley.edu

  • Mercan O, Ricles JM (2007) Stability and accuracy analysis of outer loop dynamics in real-time pseudodynamic testing of SDOF systems. Earthq Eng Struct Dyn 36(11):1523–1543

    Article  Google Scholar 

  • Mosalam KM, Günay MS (2013a) Hybrid simulations: theory, applications, and future directions. Adv Mater Res 639–640:67–95

    Google Scholar 

  • Mosalam KM, Günay S (2013b) Seismic performance evaluation of high voltage disconnect switches using real-time hybrid simulation: I. System development and validation. Earthq Eng Struct Dyn 43(8):1205–1222

    Google Scholar 

  • Mosqueda G, Stojadinovic B, Mahin S (2005) Implementation and accuracy of continuous hybrid simulation with geographically distributed substructures, Report No: UBC/EERC 2005–02, Earthquake Engineering Research Center, University of California, Berkeley

    Google Scholar 

  • Nakashima M, Ishii K, Kamagata S, Tsutsumi H, Ando K (1988) Feasibility of pseudo-dynamic test using substructuring techniques. In: Proceedings of the Ninth World Conference on Earthquake Engineering. Tokyo, Japan

    Google Scholar 

  • Nakashima M, Kato M, Takaoka E (1992) Development of real-time pseudo-dynamic testing. Earthq Eng Struct Dyn 21(1):79–92

    Article  Google Scholar 

  • Nakata N, Stehman M (2012) Substructure shake table test method using a controlled mass: formulation and numerical simulation. Earthq Eng Struct Dyn 41(14):1977–1988

    Article  Google Scholar 

  • Neild S, Stoten D, Drury D, Wagg D (2005) Control issues relating to real-time substructuring experiments using a shaking table. Earthq Eng Struct Dyn 34(9):1171–1192

    Article  Google Scholar 

  • Newmark NM (1959) A method of computation for structural dynamics. ASCE J Eng Mech Div 85(EM3):67–94

    Google Scholar 

  • Nguyen NV, Dorka U (2009) Adaptive error compensation based on online system identification for real-time substructure testing. In: Proceedings of the 3rd international conference on advances in experimental structural engineering. San Francisco, CA

    Google Scholar 

  • Ousterhout J (1994) Tcl and the Tk Toolkit. Addison-Wesley, Reading, Massachusetts, USA

    Google Scholar 

  • Schellenberg AH, Mahin SA, Fenves GL (2009) Advanced implementation of hybrid simulation. Report No: PEER 2009/104. Pacific earthquake engineering research center, University of California, Berkeley

    Google Scholar 

  • Shao X, Reinhorn AM, Sivaselvan MV (2011) Real-Time hybrid simulation using shake tables and dynamic actuators. ASCE J Struct Eng 137(7):748–760

    Article  Google Scholar 

  • Takanashi K, Udagawa K, Seki M, Okada T, Tanaka H (1975) Non-linear earthquake response analysis of structures by a computer-actuator on-line system (details of the system). Trans. of the Architectural Institute of Japan, 229:77–83

    Google Scholar 

  • Thoen BK (2010) 469D Seismic digital control software, MTS Systems Corporation

    Google Scholar 

Download references

Acknowledgements

Special thanks are due to Mr. Brad Thoen of MTS Corporation for providing the original Simulink model for TVC and to Dr. Frank McKenna for coding the efficient solver in OpenSees.

Author information

Authors and Affiliations

  1. Department of Civil and Environmental Engineering, University of California, 94720, Berkeley, CA, USA

    Khalid M. Mosalam & Selim Günay

Authors
  1. Khalid M. Mosalam
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Selim Günay
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Khalid M. Mosalam .

Editor information

Editors and Affiliations

  1. Joint Research Centre, ), Institute for the Protection and Security of the Citizen (IPSC), European Laboratory for Structural Assessment Unit, TP 480, European Commission, Ispra, Varese, Italy

    Fabio Taucer

  2. Joint Research Centre, Security of the Citizen (IPSC), European Laboratory for Structural Assessment Unit, TP 480, European Commission, Ispra, Varese, Italy

    Roberta Apostolska

Rights and permissions

Reprints and permissions

Copyright information

© 2015 Springer International Publishing Switzerland

About this chapter

Cite this chapter

Mosalam, K., Günay, S. (2015). Towards Faster Computations and Accurate Execution of Real-Time Hybrid Simulation. In: Taucer, F., Apostolska, R. (eds) Experimental Research in Earthquake Engineering. Geotechnical, Geological and Earthquake Engineering, vol 35. Springer, Cham. https://doi.org/10.1007/978-3-319-10136-1_6

Download citation

Publish with us

Policies and ethics

Search

Navigation