Computational Tool for Real-Time Hybrid Simulation of Seismically Excited Steel Frame Structures
Publication: Journal of Computing in Civil Engineering
Volume 29, Issue 3
Abstract
Real-time hybrid simulation (RTHS) offers an economical and reliable methodology for testing integrated structural systems with rate-dependent behaviors. Within a RTHS implementation, critical components of the structural system under evaluation are physically tested, while more predictable components are replaced with computational models under a one-to-one timescale execution. As a result, RTHS implementations provide a more economical and versatile alternate approach to evaluating structural/rate-dependent systems under actual dynamic and inertial conditions, without the need for full-scale structural testing. One significant challenge in RTHS is the accurate representation of the physical complexities within the computational counterparts. For RTHS, the requirement for computational environments with reliable modeling and real-time execution capabilities is critical. Additionally, the need of a flexible environment for implementation and easy integration of such platforms with remaining RTHS components has also been established. An open-source computational platform, RT-Frame2D, for the RTHS of dynamically excited steel frame structures has been developed to satisfy these demands. The computational platform includes both adequate modeling capabilities for the nonlinear dynamic analysis of steel frame structures under real-time execution, and a versatile design to allow its efficient integration within a RTHS framework. Comparisons of RT-Frame2D modeling capabilities with those of a well-known simulation tool, in addition to challenging experimental implementations based on several RTHS scenarios, are performed herein to verify the accuracy, stability, and real-time execution performance of the proposed computational platform.
Get full access to this article
View all available purchase options and get full access to this article.
Acknowledgments
Financial support for this research has been provided by NSF Grants CNS-1028668 (MRI), CMMI-1011534 (NEESR) and The Purdue University Cyber Center Special Incentive Research Grant (SIRG).
References
Castaneda, N. (2012). “Development and validation of a real-time computational framework for hybrid simulation of dynamically-excited steel frame structures.” Ph.D. dissertation, School of Civil Engineering, Purdue Univ., West Lafayette, IN.
Chen, C. (2007). “Development and numerical simulation of a hybrid effective force testing method.” Ph.D. dissertation, Lehigh Univ., Bethlehem, PA.
Chen, C., and Ricles, J. M. (2008). “Development of direct integration algorithms for structural dynamics using discrete control theory.” J. Eng. Mech., 676–683.
Chen, C., and Ricles, J. M. (2010). “Tracking error-based servohydraulic actuator adaptive compensation for real-time hybrid simulation.” J. Struct. Eng., 432–440.
Chopra, A. K. (2001). Dynamics of structures: Theory and applications to earthquake engineering, 2nd Ed., Prentice-Hall, Upper Saddle River, NJ.
Christenson, R. E., and Lin, Y. Z. (2008). “Real-time hybrid simulation of a seismically excited structure with large-scale magneto-rheological fluid dampers.” Hybrid simulation theory, implementations and applications, V. E. Saouma and M. V. Sivaselvan, eds., Taylor and Francis, New York.
Christenson, R. E., Lin, Y. Z., Emmons, A. T., and Bass, B. (2008). “Large-scale experimental verification of semiactive control through real-time hybrid simulation.” J. Struct. Eng., 522–535.
Clough, R. W., and Johnson, S. (1966). “Effect of stiffness degradation on earthquake ductility requirements.” Proc., Japan Earthquake Engineering Symp., Tokyo, Japan, 227–232.
Dyke, S. J. (1996). “Acceleration feedback control strategies for active and semi-active control systems: Modeling, algorithm development, and experimental verification.” Ph.D. dissertation, Dept. of Civil Engineering and Geological Sciences, Univ. of Notre Dame, South Bend, IN.
El-Tawil, S., and Deierlein, G. (2001). “Nonlinear analyses of mixed steel-concrete moment frames. Part I: Beam-column element formulation.” J. Struct. Eng., 647–655.
Franklin, G. F., Powell, J. D., and Naeini, A. E. (2002). Feedback control of dynamic system, 4th Ed., Prentice-Hall, Upper Saddle River, NJ.
Gao, X. (2012). “Development of a robust real-time hybrid simulation framework: From system, control to experimental error verification.” Ph.D. dissertation, School of Civil Engineering, Purdue Univ., West Lafayette, IN.
Gao, X., Castaneda, N., and Dyke, S. J. (2013). “Real-time hybrid simulation: From dynamic system, motion control to experimental error.” Earthquake Eng. Struct. Dynam., 42(6), 815–832.
Giberson, M. F. (1967). “The response of nonlinear multistory structures subjected to earthquake excitation.” Ph.D. dissertation, Earthquake Engineering Research Laboratory, California Institute of Technology, CA.
Glover, K., and McFarlane, D. (1989). “Robust stabilization of normalized coprime factor plant descriptions with -bounded uncertainty.” IEEE Trans. Autom. Contr., 34(8), 821–830.
Hilber, H. M., Hughes, T. J. R., and Taylor, R. L. (1977). “Improved numerical dissipation for time integration algorithms in structural mechanics.” Earthquake Eng. Struct. Dynam., 5(3), 283–292.
Hilmy, S. I., and Abel, J. F. (1985). “A strain-hardening concentrated plasticity model for nonlinear dynamic analysis of steel buildings.” NUMETA85 numerical methods in engineering: Theory and applications, J. Middleton, and G. N. Pande, eds., Vol. 1, A. A. Balkema, Boston, 305–314.
Hjelmstad, K. D., and Haikal, G. (2006). “Analysis of steel moment frames with deformable panel zones.” Steel Struct., 6, 129–140.
Karavasilis, T. L., Ricles, J. M., Marullo, T., and Chen, C. (2009). “HybridFEM: A program for nonlinear dynamic time history analysis and real-time hybrid simulation of structures.” ATLSS Rep. No. 09-08, Lehigh Univ., Bethlehem, PA.
Kent, D. C., and Park, R. (1971). “Flexural members with confined concrete.” J. Struct. Div., 97(7), 1969–1990.
Lin, Y., and Christenson, R. E. (2011). “Real-time hybrid test validation of a MR damper controlled building with shake table tests.” Adv. Struct. Eng., 14(1), 79–92.
Lobo, R. F. (1994). “Inelastic dynamic analysis of reinforced concrete structures in three dimensions.” Ph.D. dissertation, Dept. of Civil Engineering, New York State Univ. at Buffalo, Buffalo, NY.
Mathworks. (2011). MATLAB user’s guide, Natick, MA.
McKenna, F., Fenves, G. L., and Scott, M. H. (2002). “Open system for earth-quake engineering simulation.” Pacific Earthquake Engineering Research Center, Univ. of California, Berkeley, CA.
Newmark, N. M. (1959). “A method of computation for structural dynamics.” J. Eng. Mech. Div. ASCE, 85(3), 67–94.
Phillips, B. M., and Spencer, B. F., Jr. (2011). “Model-based servo-hydraulic control for real-time hybrid simulation.”, Univ. of Illinois, Urbana-Champaign, IL.
Saouma, V., Haussmann, G., Kang D., and Ghannoum, W. (2014). “Real-time hybrid simulation of a nonductile reinforced concrete frame.” J. Struct. Eng.,.
Saouma, V., Kang, D., and Haussman, G. (2012). “A computational finite-element program for hybrid simulation.” Earthquake Eng. Struct. Dynam., 41(3), 375–389.
Schellenberg, A., Mahin, S., and Fenves, G. (2007). “A software framework for hybrid simulation of large structural systems.” Struct. Eng. Res. Front., 1–16.
Scott, B. D., Park, R., and Priestley, M. J. N. (1982). “Stress-strain behavior of concrete confined by overlapping hoops at low and high strain rates.” ACI J., 79(1), 13–27.
Spacone, E., Filippou, F. C., and Taucer, F. F. (1996a). “Fiber beam-column model for nonlinear analysis of frames. Part I: Formulation.” Earthquake Eng. Struct. Dynam., 25(7), 711–725.
Spacone, E., Filippou, F. C., and Taucer, F. F. (1996b). “Fiber beam-column model for nonlinear analysis of frames. Part II: Applications.” Earthquake Eng. Struct. Dynam., 25, 727–742.
Spencer, B. F. (2003). “The MOST experiment, July 30, 2003.” Network for earthquake engineering simulation, NEESgrid Rep.
Spencer, B. F., Dyke, S. J., Sain, M. K., and Carlson, J. D. (1997). “Phenomenological model of a magnetorheological damper.” J. Eng. Mech. Div., 230–238.
Subbaraj, K., and Dokainish, M. A. (1989). “A survey of direct time-integration methods in computational structural dynamics–II. implicit method.” Comput. Struct., 32(6), 1387–1401.
Takeda, T., Sozen, M. A., and Nielsen, N. N. (1970). “Reinforced concrete response to simulated earthquakes.” J. Struct. Div. ASCE, 96(12), 2557–2573.
Valles, R. E., Reinhorn, A. M., Kunnath, S. K., Li, C., and Madan, A. (1996). “IDARC2D Version4.0: A computer program for the inelastic damage analysis of buildings.”, National Center for Earthquake Engineering Research, Buffalo, NY.
Wilson, E. L. (1968). “A computer program for the dynamic stress analysis of underground structures.”, Division of Structural Engineering and Structural Mechanics, Univ. of California, Berkeley, CA.
Information & Authors
Information
Published In
Journal of Computing in Civil Engineering
Volume 29 • Issue 3 • May 2015
Copyright
© 2014 American Society of Civil Engineers.
History
Received: Sep 20, 2012
Accepted: Jun 28, 2013
Published online: Jul 2, 2013
Discussion open until: Oct 19, 2014
Published in print: May 1, 2015
Authors
Metrics & Citations
Metrics
Citations
Download citation
If you have the appropriate software installed, you can download article citation data to the citation manager of your choice. Simply select your manager software from the list below and click Download.