Robust actuator dynamics compensation method for real-time hybrid simulation

Abstract Real-time hybrid simulation (RTHS) is a practical, cost-effective, and versatile experimental technique to evaluate structural performance under dynamic excitation. The simulated structure is commonly split into a physically tested rate-dependent substructure (PS) and a numerically simulated substructure (NS). A transfer system such as a servo-hydraulic actuator is used to impose boundary conditions on the PS. Consequently, efficient actuator control is necessary to guarantee reliable simulation results. However, time delay and uncertainties exist due to the dynamics of the actuator, which adversely influence the accuracy and stability of RTHS. Therefore, an innovative robust actuator dynamics compensation method is proposed in this study comprising three components, namely a mixed sensitivity-based robust H∞ controller to stabilize the actuator–specimen dynamics, a polynomial extrapolation module to further cancel the actuator delay, and an adaptive filter for displacement reconstruction of the actuator–specimen system. A detailed design procedure of the proposed strategy is presented. The efficacy of the proposed strategy is validated through a series of virtual tests on the benchmark problem for RTHS. Results show that the proposed method exhibits excellent tracking performance and robustness. In particular, the maximum values of the calculated time delay (TD), root mean square of the tracking error (RMSE), and peak tracking error (PE) are 0 ms, 2.56%, and 2.12%, respectively, whereas the maximum values of the standard deviation of TD, RMSE, and PE are 0 ms, 0.25%, and 0.33%, respectively.