1Introduction Embodied Artificial Intelligence(Embodied AI)has recently become a key research focus[1].It emphasizes agents'abilities to perceive,comprehend,and act in physical worlds to complete tasks.Simulation ...1Introduction Embodied Artificial Intelligence(Embodied AI)has recently become a key research focus[1].It emphasizes agents'abilities to perceive,comprehend,and act in physical worlds to complete tasks.Simulation platforms are essential in this area,as they simulate agent behaviors in set environments and tasks,thereby accelerating algorithm validation and optimization.However,constructing such a platform presents several challenges.展开更多
In response to the issue of determining the appropriate capacity when hybrid energy storage systems(HESS)collaborate with thermal power units(TPU)in the system’s secondary frequency regulation,a configuration method ...In response to the issue of determining the appropriate capacity when hybrid energy storage systems(HESS)collaborate with thermal power units(TPU)in the system’s secondary frequency regulation,a configuration method for HESS based on the analysis of frequency regulation demand analysis is proposed.And a corresponding simulation platform is developed.Firstly,a frequency modulation demand method for reducing the frequency modulation losses of TPU is proposed.Secondly,taking into comprehensive consideration that flywheel energy storage features rapid power response and battery energy storage has the characteristic of high energy density,a coordinated control strategy for HESS considering the self-recovery of state of charge(SOC)is put forward.Then,to measure the economic and technical performance of HESS in assisting the secondary frequency modulation of TPU,an optimized configurationmodel considering the full-life-cycle economy and frequency modulation performance of TPU and HESS system is constructed.Finally,a visual simulation platform for the combined frequency modulation of TPU and HESS is developed based on Matlab Appdesigner.Theresults of calculation examples indicate that the proposed configuration method can improve the overall economic efficiency and frequency modulation performance of TPU and HESS;The control strategy can not only prolong the service life of battery energy storage but also enhance the continuous response ability of HESS;The visual simulation platform is easy to use,and the simulation results are accurate and reliable.展开更多
Jacket platforms constitute the foundational infrastructure of offshore oil and gas field exploitation.How to efficiently and accurately monitor the mechanical properties of jacket structures is one of the key problem...Jacket platforms constitute the foundational infrastructure of offshore oil and gas field exploitation.How to efficiently and accurately monitor the mechanical properties of jacket structures is one of the key problems to be solved to ensure the safe operation of the platform.To address the practical engineering problem that it is difficult to monitor the stress response of the tubular joints of jacket platforms online,a digital twin reduced-order method for real-time prediction of the stress response of tubular joints is proposed.In the offline construction phase,multi-scale modeling and multi-parameter experimental design methods are used to obtain the stress response data set of the jacket structure.Proper orthogonal decomposition is employed to extract the main feature information from the snapshot matrix,resulting in a reduced-order basis.The leave-one-out cross-validation method is used to select the optimal modal order for constructing the reduced-order model(ROM).In the online prediction phase,a digital twin model of the tubular joint is established,and the prediction performance of the ROM is analyzed and verified through using random environmental load and field environmental monitoring data.The results indicate that,compared with traditional numerical simulations of tubular joints,the ROM based on the proposed reduced-order method is more efficient in predicting the stress response of tubular joints while ensuring accuracy and robustness.展开更多
As global climate change intensifies,the power industry-a major source of carbon emissions-plays a pivotal role in achieving carbon peaking and neutrality goals through its low-carbon transition.Traditional power pla...As global climate change intensifies,the power industry-a major source of carbon emissions-plays a pivotal role in achieving carbon peaking and neutrality goals through its low-carbon transition.Traditional power plants’carbon management systems can no longer meet the demands of high-precision,real-time monitoring.Smart power plants now offer innovative solutions for carbon emission tracking and intelligent analysis by integrating IoT,big data,and AI technologies.Current research predominantly focuses on optimizing individual processes,lacking systematic exploration of comprehensive dynamic monitoring and intelligent decision-making across the entire workflow.To address this gap,we propose a smart carbon emission monitoring and analysis platform for power plants that integrates IoT sensing,multimodal data analytics,and AI-driven decision-making.The platform establishes a multi-source sensor network to collect emissions data throughout the fuel combustion,auxiliary equipment operation,and waste treatment processes.Combining carbon emission factor analysis with machine learning models enables real-time emission calculations and utilizes long short-term memory networks to predict future emission trends.展开更多
Local control parameters such as instantaneous delay and instantaneous amplitude play an essential role in evaluating the performance and maintaining the stability of real-time hybrid simulation(RTHS).However,existing...Local control parameters such as instantaneous delay and instantaneous amplitude play an essential role in evaluating the performance and maintaining the stability of real-time hybrid simulation(RTHS).However,existing methods have limitations in obtaining this local assessment in either the time domain or frequency domain.In this study,the instantaneous frequency is introduced to determine local control parameters for actuator tracking assessment in a real-time hybrid simulation.Instantaneous properties,including amplitude,delay,frequency and phase,are then calculated based on analytic signals translated from actuator tracking signals through the Hilbert transform.Potential issues are discussed and solutions are proposed for calculation of local control parameters.Numerical simulations are first conducted for sinusoidal and chirp signals with time varying amplitude error and delay to demonstrate the potential of the proposed method.Laboratory tests also are conducted for a predefined random signal as well as the RTHS of a single degree of freedom structure with a self-centering viscous damper to experimentally verify the effectiveness of the proposed use of the instantaneous frequency.Results from the ensuing analysis clearly demonstrate that the instantaneous frequency provides great potential for local control assessment,and the proposed method enables local tracking parameters with good accuracy.展开更多
A user-programmable computational/control platform was developed at the University of Toronto that offers real-time hybrid simulation （RTHS） capabilities. The platform was verified previously using several linear ph...A user-programmable computational/control platform was developed at the University of Toronto that offers real-time hybrid simulation （RTHS） capabilities. The platform was verified previously using several linear physical substructures. The study presented in this paper is focused on further validating the RTHS platform using a nonlinear viscoelastic-plastic damper that has displacement, frequency and temperature-dependent properties. The validation study includes damper component characterization tests, as well as RTHS of a series of single-degree-of-freedom （SDOF） systems equipped with viscoelastic-plastic dampers that represent different structural designs. From the component characterization tests, it was found that for a wide range of excitation frequencies and friction slip loads, the tracking errors are comparable to the errors in RTHS of linear spring systems. The hybrid SDOF results are compared to an independently validated thermal- mechanical viscoelastic model to further validate the ability for the platform to test nonlinear systems. After the validation, as an application study, nonlinear SDOF hybrid tests were used to develop performance spectra to predict the response of structures equipped with damping systems that are more challenging to model analytically. The use of the experimental performance spectra is illustrated by comparing the predicted response to the hybrid test response of 2DOF systems equipped with viscoelastic-plastic dampers.展开更多
To perform the ground test of a spaceborne Synthetic Aperture Radar(SAR) system, an echo simulator with the characteristics of multimode, multi-assemblage, and real time is proposed in this paper. A hardware platform ...To perform the ground test of a spaceborne Synthetic Aperture Radar(SAR) system, an echo simulator with the characteristics of multimode, multi-assemblage, and real time is proposed in this paper. A hardware platform of the real-time echo simulator based on the VPX bus is designed. With this platform, real-time multi-point echo generation and scenario targets echo generation can be achieved by the real-time signal processing in Field Programmable Gate Array(FPGA), utilizing the parameters calculated by the industry computers. Furthermore, this platform can output different signals if it is expanded to multi-channels, making it possible for the assignment of echo generation and test in different spaceborne SAR modes. The test results with the actual SAR system show that this platform can satisfy the system requirements and is now used in practice.展开更多
Recently, real-time simulation of renewable energy sources are indispensible for evaluating the performance of the maximum power point tracking （MPPT） controller, especially in the photovoltaic （PV） system in orde...Recently, real-time simulation of renewable energy sources are indispensible for evaluating the performance of the maximum power point tracking （MPPT） controller, especially in the photovoltaic （PV） system in order to reduce cost in the testing phase. Nowadays, real time PV simulators are obtained by using analog and/or digital components. In this paper, a real-time simulation of a PV system with a boost converter was proposed using only the digital signal processor （DSP） processor with two DC voltage sources to emulate the temperature and irradiation in the PV system. A MATLAB/ Simulink environment was used to develop the real-time PV system with a boost converter into a C-program and build it into a DSP controller TMS320F28335. Besides, the performance of the real-time DSP-based PV was tested in different temperature and irradiation conditions to observe the P-V and V-I characteristics. Further, the performance of the PV with a boost converter was tested at different temperatures and irradiations using MPPT algorithms. This scheme was tested through simulation and the results were validated with that of standard conditions given in the PV data sheets. Implementation of this project helped to attract more researchers to study renewable energy applications without real sources. This might facilitate the study of PV systems in a real-time scenario and the evaluation of what should be expected for PV modules available in the market.展开更多
In recent years,frequent fire disasters have led to enormous damage in China.Effective firefighting rescues can minimize the losses caused by fires.During the rescue processes,the travel time of fire trucks can be sev...In recent years,frequent fire disasters have led to enormous damage in China.Effective firefighting rescues can minimize the losses caused by fires.During the rescue processes,the travel time of fire trucks can be severely affected by traffic conditions,changing the effective coverage of fire stations.However,it is still challenging to determine the effective coverage of fire stations considering dynamic traffic conditions.This paper addresses this issue by combining the traveling time calculationmodelwith the effective coverage simulationmodel.In addition,it proposes a new index of total effective coverage area(TECA)based on the time-weighted average of the effective coverage area(ECA)to evaluate the urban fire services.It also selects China as the case study to validate the feasibility of the models,a fire station(FS-JX)in Changsha.FS-JX station and its surrounding 9,117 fire risk points are selected as the fire service supply and demand points,respectively.A total of 196 simulation scenarios throughout a consecutiveweek are analyzed.Eventually,1,933,815 sets of valid sample data are obtained.The results showed that the TECA of FS-JX is 3.27 km^(2),which is far below the standard requirement of 7.00 km^(2) due to the traffic conditions.The visualization results showed that three rivers around FS-JX interrupt the continuity of its effective coverage.The proposed method can provide data support to optimize the locations of fire stations by accurately and dynamically determining the effective coverage of fire stations.展开更多
A model suitable for describing the mechanical response of thin elastic objects is proposed to simulate the deformation of guide wires in minimally invasive interventions. The main objective of this simulation is to p...A model suitable for describing the mechanical response of thin elastic objects is proposed to simulate the deformation of guide wires in minimally invasive interventions. The main objective of this simulation is to provide doctors an opportunity to rehearse the surgery and select an optimal operation plan before the real surgery. In this model the guide wire is discretized with the multi-body representation and its elastic energy derivate from elastic theory is a polynomial function of the nodal displacements. The vascular structure is represented by a tetrahedron mesh extended from the triangular mesh of the artery, which can be extracted from the patient＇s CT image data. The model applies the energy decline process of the conjugate gradient method to the deformation simulation of the guide wire. Experimental results show that the polynomial relationship between elastic energy and nodal displacements tremendously simplifies the evaluation of the conjugate gradient method and significantly improves the model＇s efficiency. Compared with models depending on an explicit scheme for evaluation, the new model is not only non-conditionally stable but also more efficient. The model can be applied to the real-time simulation of guide wire in a vascular structure.展开更多
Modeling technology has been introduced into software testing field. However, how to carry through the testing modeling effectively is still a difficulty. Based on combination of simulation modeling technology and emb...Modeling technology has been introduced into software testing field. However, how to carry through the testing modeling effectively is still a difficulty. Based on combination of simulation modeling technology and embedded real-time software testing method, the process of simulation testing modeling is studied first. And then, the supporting environment of simulation testing modeling is put forward. Furthermore, an approach of embedded real-time software simulation testing modeling including modeling of cross-linked equipments of system under testing （SUT）, test case, testing scheduling, and testing system service is brought forward. Finally, the formalized description and execution system of testing models are given, with which we can realize real-time, closed loop, mad automated system testing for embedded real-time software.展开更多
Real-time hybrid simulation is an efficient and cost-effective dynamic testing technique for performance evaluation of structural systems subjected to earthquake loading with rate-dependent behavior. A loading assembl...Real-time hybrid simulation is an efficient and cost-effective dynamic testing technique for performance evaluation of structural systems subjected to earthquake loading with rate-dependent behavior. A loading assembly with multiple actuators is required to impose realistic boundary conditions on physical specimens. However, such a testing system is expected to exhibit significant dynamic coupling of the actuators and suffer from time lags that are associated with the dynamics of the servo-hydraulic system, as well as control-structure interaction （CSI）. One approach to reducing experimental errors considers a multi-input, multi-output （MIMO） controller design, yielding accurate reference tracking and noise rejection. In this paper, a framework for multi-axial real-time hybrid simulation （maRTHS） testing is presented. The methodology employs a real-time feedback-feedforward controller for multiple actuators commanded in Cartesian coordinates. Kinematic transformations between actuator space and Cartesian space are derived for all six-degrees-of- freedom of the moving platform. Then, a frequency domain identification technique is used to develop an accurate MIMO transfer function of the system. Further, a Cartesian-domain model-based feedforward-feedback controller is implemented for time lag compensation and to increase the robustness of the reference tracking for given model uncertainty. The framework is implemented using the 1/5th-scale Load and Boundary Condition Box （LBCB） located at the University of Illinois at Urbana- Champaign. To demonstrate the efficacy of the proposed methodology, a single-story frame subjected to earthquake loading is tested. One of the columns in the fraane is represented physically in the laboratory as a cantilevered steel column. For real- time execution, the numerical substructure, kinematic transformations, and controllers are implemented on a digital signal processor. Results show excellent performance of the maRTHS framework when six-degrees-of-freedom are controUed at the interface between substructures.展开更多
A solution scheme is proposed in this paper for an existing RTDHT system to simulate large-scale finite element （FE） numerical substructures. The analysis of the FE numerical substructure is split into response anal...A solution scheme is proposed in this paper for an existing RTDHT system to simulate large-scale finite element （FE） numerical substructures. The analysis of the FE numerical substructure is split into response analysis and signal generation tasks, and executed in two different target computers in real-time. One target computer implements the response analysis task, wherein a large time-step is used to solve the FE substructure, and another target computer implements the signal generation task, wherein an interpolation program is used to generate control signals in a small time-step to meet the input demand of the controller. By using this strategy, the scale of the FE numerical substructure simulation may be increased significantly. The proposed scheme is initially verified by two FE numerical substructure models with 98 and 1240 degrees of freedom （DOFs）. Thereafter, RTDHTs of a single frame-foundation structure are implemented where the foundation, considered as the numerical substructure, is simulated by the FE model with 1240 DOFs. Good agreements between the results of the RTDHT and those from the FE analysis in ABAQUS are obtained.展开更多
A method of combining dynamic simulation with real-time control was proposed to fit the randomness and uncertainty in the high arch dam construction process. The mathematical logic model of high arch dam construction ...A method of combining dynamic simulation with real-time control was proposed to fit the randomness and uncertainty in the high arch dam construction process. The mathematical logic model of high arch dam construction process was established. By combining dynamic construction simulation with schedule analysis, the process of construction schedule forecasting and analysis based on dynamic simulation was studied. The process of real-time schedule control was constructed and some measures for dynamic adjustment and control of construction schedule were provided. A system developed with the method is utilized in a being constructed hydroelectric project located at the Yellow River in northwest China, which can make the pouring plan of the dam in the next stage (a month, quarter or year) to guide the practical construction. The application result shows that the system provides an effective technical support for the construction and management of the dam.展开更多
A class of hybrid algorithms of real-time simulation based on evaluation of non-integerstep right-hand side function are presented in this paper. And some results of the convergence and stability of the algorithms are...A class of hybrid algorithms of real-time simulation based on evaluation of non-integerstep right-hand side function are presented in this paper. And some results of the convergence and stability of the algorithms are given. Using the class of algorithms, evaluation for the right-hand side function is needed once in every integration-step. Moreover, comparing with the other methods with the same amount of work, their numerical stability regions are larger and the method errors are smaller, and the numerical experiments show that the algorithms are very effective.展开更多
Hybrid simulation can be a cost effective approach for dynamic testing of structural components at full scale while capturing the system level response through interactions with a numerical model.The dynamic response ...Hybrid simulation can be a cost effective approach for dynamic testing of structural components at full scale while capturing the system level response through interactions with a numerical model.The dynamic response of a seismically isolated structure depends on the combined characteristics of the ground motion,bearings,and superstructure.Therefore,dynamic full-scale system level tests of isolated structures under realistic dynamic loading conditions are desirable towards a holistic validation of this earthquake protection strategy.Moreover,bearing properties and their ultimate behavior have been shown to be highly dependent on rate-of-loading and scale size effects,especially under extreme loading conditions.Few laboratory facilities can test full-scale seismic isolation bearings under prescribed displacement and/or loading protocols.The adaptation of a full-scale bearing test machine for the implementation of real-time hybrid simulation is presented here with a focus on the challenges encountered in attaining reliable simulation results for large scale dynamic tests.These advanced real-time hybrid simulations of large and complex hybrid models with several thousands of degrees of freedom are some of the first to use high performance parallel computing to rapidly execute the numerical analyses.Challenges in the experimental setup included measured forces contaminated by delay and other systematic control errors in applying desired displacements.Friction and inertial forces generated by the large-scale loading apparatus can affect the accuracy of measured force feedbacks.Reliable results from real-time hybrid simulation requires implementation of compensation algorithms and correction of these various sources of errors.Overall,this research program confirms that real-time hybrid simulation is a viable testing method to experimentally assess the behavior of full-scale isolators while capturing interactions with the numerical models of the superstructure to evaluate system level and in-structure response.展开更多
Tuned liquid damper (TLD) and tuned liquid column damper (TLCD) are two types of passive control devices that are widely used in structural control. In this study, a real-time hybrid simulation (RTHS) technique is emp...Tuned liquid damper (TLD) and tuned liquid column damper (TLCD) are two types of passive control devices that are widely used in structural control. In this study, a real-time hybrid simulation (RTHS) technique is employed to investigate the diff erence in control performance between TLD and TLCD. A series of RTHSs is presented with the premise of the same liquid length, mass ratio, and structural parameters. Herein, TLD and TLCD are physically experimented, and controlled structures are numerically simulated. Then, parametric studies are performed to further evaluate the diff erent performance between TLD and TLCD. Experimental results demonstrate that TLD is more eff ective than TLCD under diff erent amplitude excitations.展开更多
The delay compensation method plays an essential role in maintaining the stability and achieving accurate real-time hybrid simulation results. The effectiveness of various compensation methods in different test scenar...The delay compensation method plays an essential role in maintaining the stability and achieving accurate real-time hybrid simulation results. The effectiveness of various compensation methods in different test scenarios, however, needs to be quantitatively evaluated. In this study, four compensation methods （i.e., the polynomial extrapolation, the linear acceleration extrapolation, the inverse compensation and the adaptive inverse compensation） are selected and compared experimentally using a frequency evaluation index （FEI） method. The effectiveness of the FEI method is first verified through comparison with the discrete transfer fimction approach for compensation methods assuming constant delay. Incomparable advantage is further demonstrated for the FEI method when applied to adaptive compensation methods, where the discrete transfer function approach is difficult to implement. Both numerical simulation and laboratory tests with predefined displacements are conducted using sinusoidal signals and random signals as inputs. Findings from numerical simulation and experimental results demonstrate that the FEI method is an efficient and effective approach to compare the performance of different compensation methods, especially for those requiring adaptation of compensation parameters.展开更多
In this paper a class of real-time parallel modified Rosenbrock methods of numerical simulation is constructed for stiff dynamic systems on a multiprocessor system, and convergence and numerical stability of these met...In this paper a class of real-time parallel modified Rosenbrock methods of numerical simulation is constructed for stiff dynamic systems on a multiprocessor system, and convergence and numerical stability of these methods are discussed. A-stable real-time parallel formula of two-stage third-order and A(α)-stable real-time parallel formula with o ≈ 89.96° of three-stage fourth-order are particularly given. The numerical simulation experiments in parallel environment show that the class of algorithms is efficient and applicable, with greater speedup.展开更多
Real-time hybrid simulation is an attractive method to evaluate the response of structures under earthquake loads. The method is a variation of the pseudodynamic testing technique in which the experiment is executed i...Real-time hybrid simulation is an attractive method to evaluate the response of structures under earthquake loads. The method is a variation of the pseudodynamic testing technique in which the experiment is executed in real time, thus allowing investigation of structural systems with rate-dependent components. Real-time hybrid simulation is challenging because it requires performance of all calculations, application of displacements, and acquisition of measured forces, within a very small increment of time. Furthermore, unless appropriate compensation for actuator dynamics is implemented, stability problems are likely to occur during the experiment. This paper presents an approach for real-time hybrid simulation in which compensation for actuator dynamics is implemented using a model-based feedforward compensator. The method is used to evaluate the response of a semi-active control of a structure employing an MR damper. Experimental results show good agreement with the predicted responses, demonstrating the effectiveness of the method for structural control performance assessment.展开更多
基金supported by the National Natural Science Foundation of China(Grant No.62322601).
文摘1Introduction Embodied Artificial Intelligence(Embodied AI)has recently become a key research focus[1].It emphasizes agents'abilities to perceive,comprehend,and act in physical worlds to complete tasks.Simulation platforms are essential in this area,as they simulate agent behaviors in set environments and tasks,thereby accelerating algorithm validation and optimization.However,constructing such a platform presents several challenges.
基金supported by a Key Project of the National Natural Science Foundation of China under Grant 52337004.
文摘In response to the issue of determining the appropriate capacity when hybrid energy storage systems(HESS)collaborate with thermal power units(TPU)in the system’s secondary frequency regulation,a configuration method for HESS based on the analysis of frequency regulation demand analysis is proposed.And a corresponding simulation platform is developed.Firstly,a frequency modulation demand method for reducing the frequency modulation losses of TPU is proposed.Secondly,taking into comprehensive consideration that flywheel energy storage features rapid power response and battery energy storage has the characteristic of high energy density,a coordinated control strategy for HESS considering the self-recovery of state of charge(SOC)is put forward.Then,to measure the economic and technical performance of HESS in assisting the secondary frequency modulation of TPU,an optimized configurationmodel considering the full-life-cycle economy and frequency modulation performance of TPU and HESS system is constructed.Finally,a visual simulation platform for the combined frequency modulation of TPU and HESS is developed based on Matlab Appdesigner.Theresults of calculation examples indicate that the proposed configuration method can improve the overall economic efficiency and frequency modulation performance of TPU and HESS;The control strategy can not only prolong the service life of battery energy storage but also enhance the continuous response ability of HESS;The visual simulation platform is easy to use,and the simulation results are accurate and reliable.
基金financially supported by the National Natural Science Foundation of China(Grant No.11472076).
文摘Jacket platforms constitute the foundational infrastructure of offshore oil and gas field exploitation.How to efficiently and accurately monitor the mechanical properties of jacket structures is one of the key problems to be solved to ensure the safe operation of the platform.To address the practical engineering problem that it is difficult to monitor the stress response of the tubular joints of jacket platforms online,a digital twin reduced-order method for real-time prediction of the stress response of tubular joints is proposed.In the offline construction phase,multi-scale modeling and multi-parameter experimental design methods are used to obtain the stress response data set of the jacket structure.Proper orthogonal decomposition is employed to extract the main feature information from the snapshot matrix,resulting in a reduced-order basis.The leave-one-out cross-validation method is used to select the optimal modal order for constructing the reduced-order model(ROM).In the online prediction phase,a digital twin model of the tubular joint is established,and the prediction performance of the ROM is analyzed and verified through using random environmental load and field environmental monitoring data.The results indicate that,compared with traditional numerical simulations of tubular joints,the ROM based on the proposed reduced-order method is more efficient in predicting the stress response of tubular joints while ensuring accuracy and robustness.
文摘As global climate change intensifies,the power industry-a major source of carbon emissions-plays a pivotal role in achieving carbon peaking and neutrality goals through its low-carbon transition.Traditional power plants’carbon management systems can no longer meet the demands of high-precision,real-time monitoring.Smart power plants now offer innovative solutions for carbon emission tracking and intelligent analysis by integrating IoT,big data,and AI technologies.Current research predominantly focuses on optimizing individual processes,lacking systematic exploration of comprehensive dynamic monitoring and intelligent decision-making across the entire workflow.To address this gap,we propose a smart carbon emission monitoring and analysis platform for power plants that integrates IoT sensing,multimodal data analytics,and AI-driven decision-making.The platform establishes a multi-source sensor network to collect emissions data throughout the fuel combustion,auxiliary equipment operation,and waste treatment processes.Combining carbon emission factor analysis with machine learning models enables real-time emission calculations and utilizes long short-term memory networks to predict future emission trends.
基金National Natural Science Foundation of China under Grant No.52178114Jiangsu Association for Science and Technology Youth Science and Technology Talent Support Project No.2021-79。
文摘Local control parameters such as instantaneous delay and instantaneous amplitude play an essential role in evaluating the performance and maintaining the stability of real-time hybrid simulation(RTHS).However,existing methods have limitations in obtaining this local assessment in either the time domain or frequency domain.In this study,the instantaneous frequency is introduced to determine local control parameters for actuator tracking assessment in a real-time hybrid simulation.Instantaneous properties,including amplitude,delay,frequency and phase,are then calculated based on analytic signals translated from actuator tracking signals through the Hilbert transform.Potential issues are discussed and solutions are proposed for calculation of local control parameters.Numerical simulations are first conducted for sinusoidal and chirp signals with time varying amplitude error and delay to demonstrate the potential of the proposed method.Laboratory tests also are conducted for a predefined random signal as well as the RTHS of a single degree of freedom structure with a self-centering viscous damper to experimentally verify the effectiveness of the proposed use of the instantaneous frequency.Results from the ensuing analysis clearly demonstrate that the instantaneous frequency provides great potential for local control assessment,and the proposed method enables local tracking parameters with good accuracy.
基金NSERC Discovery under Grant 371627-2009 and NSERC RTI under Grant 374707-2009 EQPEQ programs
文摘A user-programmable computational/control platform was developed at the University of Toronto that offers real-time hybrid simulation （RTHS） capabilities. The platform was verified previously using several linear physical substructures. The study presented in this paper is focused on further validating the RTHS platform using a nonlinear viscoelastic-plastic damper that has displacement, frequency and temperature-dependent properties. The validation study includes damper component characterization tests, as well as RTHS of a series of single-degree-of-freedom （SDOF） systems equipped with viscoelastic-plastic dampers that represent different structural designs. From the component characterization tests, it was found that for a wide range of excitation frequencies and friction slip loads, the tracking errors are comparable to the errors in RTHS of linear spring systems. The hybrid SDOF results are compared to an independently validated thermal- mechanical viscoelastic model to further validate the ability for the platform to test nonlinear systems. After the validation, as an application study, nonlinear SDOF hybrid tests were used to develop performance spectra to predict the response of structures equipped with damping systems that are more challenging to model analytically. The use of the experimental performance spectra is illustrated by comparing the predicted response to the hybrid test response of 2DOF systems equipped with viscoelastic-plastic dampers.
文摘To perform the ground test of a spaceborne Synthetic Aperture Radar(SAR) system, an echo simulator with the characteristics of multimode, multi-assemblage, and real time is proposed in this paper. A hardware platform of the real-time echo simulator based on the VPX bus is designed. With this platform, real-time multi-point echo generation and scenario targets echo generation can be achieved by the real-time signal processing in Field Programmable Gate Array(FPGA), utilizing the parameters calculated by the industry computers. Furthermore, this platform can output different signals if it is expanded to multi-channels, making it possible for the assignment of echo generation and test in different spaceborne SAR modes. The test results with the actual SAR system show that this platform can satisfy the system requirements and is now used in practice.
文摘Recently, real-time simulation of renewable energy sources are indispensible for evaluating the performance of the maximum power point tracking （MPPT） controller, especially in the photovoltaic （PV） system in order to reduce cost in the testing phase. Nowadays, real time PV simulators are obtained by using analog and/or digital components. In this paper, a real-time simulation of a PV system with a boost converter was proposed using only the digital signal processor （DSP） processor with two DC voltage sources to emulate the temperature and irradiation in the PV system. A MATLAB/ Simulink environment was used to develop the real-time PV system with a boost converter into a C-program and build it into a DSP controller TMS320F28335. Besides, the performance of the real-time DSP-based PV was tested in different temperature and irradiation conditions to observe the P-V and V-I characteristics. Further, the performance of the PV with a boost converter was tested at different temperatures and irradiations using MPPT algorithms. This scheme was tested through simulation and the results were validated with that of standard conditions given in the PV data sheets. Implementation of this project helped to attract more researchers to study renewable energy applications without real sources. This might facilitate the study of PV systems in a real-time scenario and the evaluation of what should be expected for PV modules available in the market.
基金support from the National Natural Science Foundation of China (No.52204202)the Hunan Provincial Natural Science Foundation of China (No.2023JJ40058)the Science and Technology Program of Hunan Provincial Departent of Transportation (No.202122).
文摘In recent years,frequent fire disasters have led to enormous damage in China.Effective firefighting rescues can minimize the losses caused by fires.During the rescue processes,the travel time of fire trucks can be severely affected by traffic conditions,changing the effective coverage of fire stations.However,it is still challenging to determine the effective coverage of fire stations considering dynamic traffic conditions.This paper addresses this issue by combining the traveling time calculationmodelwith the effective coverage simulationmodel.In addition,it proposes a new index of total effective coverage area(TECA)based on the time-weighted average of the effective coverage area(ECA)to evaluate the urban fire services.It also selects China as the case study to validate the feasibility of the models,a fire station(FS-JX)in Changsha.FS-JX station and its surrounding 9,117 fire risk points are selected as the fire service supply and demand points,respectively.A total of 196 simulation scenarios throughout a consecutiveweek are analyzed.Eventually,1,933,815 sets of valid sample data are obtained.The results showed that the TECA of FS-JX is 3.27 km^(2),which is far below the standard requirement of 7.00 km^(2) due to the traffic conditions.The visualization results showed that three rivers around FS-JX interrupt the continuity of its effective coverage.The proposed method can provide data support to optimize the locations of fire stations by accurately and dynamically determining the effective coverage of fire stations.
文摘A model suitable for describing the mechanical response of thin elastic objects is proposed to simulate the deformation of guide wires in minimally invasive interventions. The main objective of this simulation is to provide doctors an opportunity to rehearse the surgery and select an optimal operation plan before the real surgery. In this model the guide wire is discretized with the multi-body representation and its elastic energy derivate from elastic theory is a polynomial function of the nodal displacements. The vascular structure is represented by a tetrahedron mesh extended from the triangular mesh of the artery, which can be extracted from the patient＇s CT image data. The model applies the energy decline process of the conjugate gradient method to the deformation simulation of the guide wire. Experimental results show that the polynomial relationship between elastic energy and nodal displacements tremendously simplifies the evaluation of the conjugate gradient method and significantly improves the model＇s efficiency. Compared with models depending on an explicit scheme for evaluation, the new model is not only non-conditionally stable but also more efficient. The model can be applied to the real-time simulation of guide wire in a vascular structure.
文摘Modeling technology has been introduced into software testing field. However, how to carry through the testing modeling effectively is still a difficulty. Based on combination of simulation modeling technology and embedded real-time software testing method, the process of simulation testing modeling is studied first. And then, the supporting environment of simulation testing modeling is put forward. Furthermore, an approach of embedded real-time software simulation testing modeling including modeling of cross-linked equipments of system under testing （SUT）, test case, testing scheduling, and testing system service is brought forward. Finally, the formalized description and execution system of testing models are given, with which we can realize real-time, closed loop, mad automated system testing for embedded real-time software.
基金CONICYT-Chile through Becas Chile Scholarship under Grant No.72140204Universidad Tecnica Federico Santa Maria(Chile)through Faculty Development Scholarship under Grant No.208-13
文摘Real-time hybrid simulation is an efficient and cost-effective dynamic testing technique for performance evaluation of structural systems subjected to earthquake loading with rate-dependent behavior. A loading assembly with multiple actuators is required to impose realistic boundary conditions on physical specimens. However, such a testing system is expected to exhibit significant dynamic coupling of the actuators and suffer from time lags that are associated with the dynamics of the servo-hydraulic system, as well as control-structure interaction （CSI）. One approach to reducing experimental errors considers a multi-input, multi-output （MIMO） controller design, yielding accurate reference tracking and noise rejection. In this paper, a framework for multi-axial real-time hybrid simulation （maRTHS） testing is presented. The methodology employs a real-time feedback-feedforward controller for multiple actuators commanded in Cartesian coordinates. Kinematic transformations between actuator space and Cartesian space are derived for all six-degrees-of- freedom of the moving platform. Then, a frequency domain identification technique is used to develop an accurate MIMO transfer function of the system. Further, a Cartesian-domain model-based feedforward-feedback controller is implemented for time lag compensation and to increase the robustness of the reference tracking for given model uncertainty. The framework is implemented using the 1/5th-scale Load and Boundary Condition Box （LBCB） located at the University of Illinois at Urbana- Champaign. To demonstrate the efficacy of the proposed methodology, a single-story frame subjected to earthquake loading is tested. One of the columns in the fraane is represented physically in the laboratory as a cantilevered steel column. For real- time execution, the numerical substructure, kinematic transformations, and controllers are implemented on a digital signal processor. Results show excellent performance of the maRTHS framework when six-degrees-of-freedom are controUed at the interface between substructures.
基金National Natural Science Foundation under Grant Nos.51179093,91215301 and 41274106the Specialized Research Fund for the Doctoral Program of Higher Education under Grant No.20130002110032Tsinghua University Initiative Scientific Research Program under Grant No.20131089285
文摘A solution scheme is proposed in this paper for an existing RTDHT system to simulate large-scale finite element （FE） numerical substructures. The analysis of the FE numerical substructure is split into response analysis and signal generation tasks, and executed in two different target computers in real-time. One target computer implements the response analysis task, wherein a large time-step is used to solve the FE substructure, and another target computer implements the signal generation task, wherein an interpolation program is used to generate control signals in a small time-step to meet the input demand of the controller. By using this strategy, the scale of the FE numerical substructure simulation may be increased significantly. The proposed scheme is initially verified by two FE numerical substructure models with 98 and 1240 degrees of freedom （DOFs）. Thereafter, RTDHTs of a single frame-foundation structure are implemented where the foundation, considered as the numerical substructure, is simulated by the FE model with 1240 DOFs. Good agreements between the results of the RTDHT and those from the FE analysis in ABAQUS are obtained.
基金National Natural Science Foundation of China(No.50539120)National Basic Research Program of China("973"Program,No. 2007 CB714101)+1 种基金National Science Fund for Distinguished Young Scholars of China(No.50525927)National Natural Science Founda-tion of China(No.50579045)
文摘A method of combining dynamic simulation with real-time control was proposed to fit the randomness and uncertainty in the high arch dam construction process. The mathematical logic model of high arch dam construction process was established. By combining dynamic construction simulation with schedule analysis, the process of construction schedule forecasting and analysis based on dynamic simulation was studied. The process of real-time schedule control was constructed and some measures for dynamic adjustment and control of construction schedule were provided. A system developed with the method is utilized in a being constructed hydroelectric project located at the Yellow River in northwest China, which can make the pouring plan of the dam in the next stage (a month, quarter or year) to guide the practical construction. The application result shows that the system provides an effective technical support for the construction and management of the dam.
文摘A class of hybrid algorithms of real-time simulation based on evaluation of non-integerstep right-hand side function are presented in this paper. And some results of the convergence and stability of the algorithms are given. Using the class of algorithms, evaluation for the right-hand side function is needed once in every integration-step. Moreover, comparing with the other methods with the same amount of work, their numerical stability regions are larger and the method errors are smaller, and the numerical experiments show that the algorithms are very effective.
文摘Hybrid simulation can be a cost effective approach for dynamic testing of structural components at full scale while capturing the system level response through interactions with a numerical model.The dynamic response of a seismically isolated structure depends on the combined characteristics of the ground motion,bearings,and superstructure.Therefore,dynamic full-scale system level tests of isolated structures under realistic dynamic loading conditions are desirable towards a holistic validation of this earthquake protection strategy.Moreover,bearing properties and their ultimate behavior have been shown to be highly dependent on rate-of-loading and scale size effects,especially under extreme loading conditions.Few laboratory facilities can test full-scale seismic isolation bearings under prescribed displacement and/or loading protocols.The adaptation of a full-scale bearing test machine for the implementation of real-time hybrid simulation is presented here with a focus on the challenges encountered in attaining reliable simulation results for large scale dynamic tests.These advanced real-time hybrid simulations of large and complex hybrid models with several thousands of degrees of freedom are some of the first to use high performance parallel computing to rapidly execute the numerical analyses.Challenges in the experimental setup included measured forces contaminated by delay and other systematic control errors in applying desired displacements.Friction and inertial forces generated by the large-scale loading apparatus can affect the accuracy of measured force feedbacks.Reliable results from real-time hybrid simulation requires implementation of compensation algorithms and correction of these various sources of errors.Overall,this research program confirms that real-time hybrid simulation is a viable testing method to experimentally assess the behavior of full-scale isolators while capturing interactions with the numerical models of the superstructure to evaluate system level and in-structure response.
基金National Natural Science Foundation of China under Grant Nos.51725901 and 51639006
文摘Tuned liquid damper (TLD) and tuned liquid column damper (TLCD) are two types of passive control devices that are widely used in structural control. In this study, a real-time hybrid simulation (RTHS) technique is employed to investigate the diff erence in control performance between TLD and TLCD. A series of RTHSs is presented with the premise of the same liquid length, mass ratio, and structural parameters. Herein, TLD and TLCD are physically experimented, and controlled structures are numerically simulated. Then, parametric studies are performed to further evaluate the diff erent performance between TLD and TLCD. Experimental results demonstrate that TLD is more eff ective than TLCD under diff erent amplitude excitations.
基金National Natural Science Foundation of China under Grant No.51378107the Fundamental Research Funds for the Central Universities and Priority Academic Program Development of Jiangsu Higher Education Institutions under Grant No.KYLX-0158the National Natural Science Foundation under Grant No.CMMI-1227962
文摘The delay compensation method plays an essential role in maintaining the stability and achieving accurate real-time hybrid simulation results. The effectiveness of various compensation methods in different test scenarios, however, needs to be quantitatively evaluated. In this study, four compensation methods （i.e., the polynomial extrapolation, the linear acceleration extrapolation, the inverse compensation and the adaptive inverse compensation） are selected and compared experimentally using a frequency evaluation index （FEI） method. The effectiveness of the FEI method is first verified through comparison with the discrete transfer fimction approach for compensation methods assuming constant delay. Incomparable advantage is further demonstrated for the FEI method when applied to adaptive compensation methods, where the discrete transfer function approach is difficult to implement. Both numerical simulation and laboratory tests with predefined displacements are conducted using sinusoidal signals and random signals as inputs. Findings from numerical simulation and experimental results demonstrate that the FEI method is an efficient and effective approach to compare the performance of different compensation methods, especially for those requiring adaptation of compensation parameters.
基金This project was supported by the National Natural Science Foundation of China (No. 19871080).
文摘In this paper a class of real-time parallel modified Rosenbrock methods of numerical simulation is constructed for stiff dynamic systems on a multiprocessor system, and convergence and numerical stability of these methods are discussed. A-stable real-time parallel formula of two-stage third-order and A(α)-stable real-time parallel formula with o ≈ 89.96° of three-stage fourth-order are particularly given. The numerical simulation experiments in parallel environment show that the class of algorithms is efficient and applicable, with greater speedup.
基金National Science Foundation Graduate Research Fellowship
文摘Real-time hybrid simulation is an attractive method to evaluate the response of structures under earthquake loads. The method is a variation of the pseudodynamic testing technique in which the experiment is executed in real time, thus allowing investigation of structural systems with rate-dependent components. Real-time hybrid simulation is challenging because it requires performance of all calculations, application of displacements, and acquisition of measured forces, within a very small increment of time. Furthermore, unless appropriate compensation for actuator dynamics is implemented, stability problems are likely to occur during the experiment. This paper presents an approach for real-time hybrid simulation in which compensation for actuator dynamics is implemented using a model-based feedforward compensator. The method is used to evaluate the response of a semi-active control of a structure employing an MR damper. Experimental results show good agreement with the predicted responses, demonstrating the effectiveness of the method for structural control performance assessment.
