CN113324718A - Large-scale visual real-time hybrid test system and test method thereof - Google Patents
Large-scale visual real-time hybrid test system and test method thereof Download PDFInfo
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Abstract
The invention discloses a large visual real-time hybrid test system and a test method thereof; the real-time hybrid test system comprises an outer ring control and an inner ring control, wherein the inner ring control comprises a servo hydraulic controller, a controller programming module and a servo hydraulic actuator system, and the outer ring control comprises an inner ring control member, a computing platform finite element software module and a middle platform Matlab module. The computing platform finite element software module is communicated with the middle platform Matlab module through a network communication protocol, the middle platform Matlab module is connected with the servo hydraulic controller through a network cable to achieve Ethernet communication, and the servo hydraulic controller controls the servo hydraulic actuator to move through an electric signal. The real-time mixing test system adopts the self-adaptive controller, and has the advantages of wide applicable large-scale nonlinear substructure range, stable and easy following control curve, high control precision and small test time lag; meanwhile, the whole mixed test system occupies a small area and is convenient and fast to use.
Description
Technical Field
The invention relates to a large visual real-time hybrid test system, and belongs to the technical field of civil engineering structure anti-seismic tests
Background
The field of the traditional structure anti-seismic test method mainly comprises a pseudo-static test, a pseudo-dynamic test and an earthquake simulation vibration table test, and the structure anti-seismic hybrid test method is a novel method which is different from the three traditional anti-seismic test methods and is developed from a substructure pseudo-dynamic test technology. When carrying out structure antidetonation hybrid test, the structure is divided into two parts: the dynamic response analysis method comprises a calculation substructure and a test substructure, wherein a part with high nonlinearity, which is difficult to be numerically simulated in the structure, is used as the test substructure and is loaded by an actuator under a real condition, other parts which are easy to be simulated are used as the numerical substructure and are subjected to modeling calculation in a computer, and the dynamic response analysis of the whole structure is realized through the mutual communication of the computer and an actuator control system.
Compared with the three traditional anti-seismic test methods, the structural anti-seismic hybrid test method has the main advantages that the influence of real seismic motion on the whole structure can be considered, and by reasonably distinguishing the test units and the calculation substructures, the large-scale model or full-scale model test of a physical test part can be realized with lower test cost, and the test precision of the whole structure is improved. The real-time mixing test can reflect the performance of the substructure of the speed-related test; therefore, the structural earthquake-resistant real-time hybrid test method gradually becomes one of the hot directions in the field of structural earthquake-resistant research and is favored by more and more researchers.
However, the existing real-time hybrid test system adopts more large-scale test substructures with stronger nonlinearity, and provides higher-level requirements on the control effect of the hybrid test and the accuracy of the test result; when the traditional mixing test system is used for carrying out a mixing test on a large-scale nonlinear test substructure, the stability and the accuracy of a test result are poor, the visualization degree is low, and the safety and the convenience of the operation of the mixing test are not facilitated; the reaction frame of the traditional mixing test system has lower flexibility, and is inconvenient to move and install the test substructure.
Therefore, research on a large-scale visual real-time hybrid test system based on an adaptive controller becomes an urgent problem to be solved in the field of civil structure tests.
Disclosure of Invention
Aiming at the technical problems, the invention provides a large visual real-time hybrid test system and a test method thereof, wherein the large visual real-time hybrid test system adopts a self-adaptive controller and has the advantages of wide applicable large nonlinear substructure range, stable and easy following control curve, high control precision and small test time lag; the whole mixed test system occupies a small area and is convenient and quick to use. Meanwhile, the condition of the test can be visually monitored in real time, and the problems and test effects possibly occurring in the test process can be conveniently checked, so that the real-time mixed test system can be widely popularized and applied, and the threshold of mixed test research is greatly reduced.
In order to achieve the technical purpose, the invention adopts the following specific technical scheme:
a large visual real-time hybrid test system comprises an outer ring control and an inner ring control, wherein the inner ring control comprises a servo hydraulic controller, a controller programming module and a servo hydraulic actuator system;
the outer ring control comprises an inner ring control component, a computing platform finite element software module and a middle platform Matlab module, wherein the computing platform finite element software module is communicated with the intermediate platform Matlab module through a network communication protocol, the intermediate platform Matlab module is communicated with the servo hydraulic controller through a network cable, the servo hydraulic controller controls the servo hydraulic actuator to move through an electric signal, the servo hydraulic controller adopts an adaptive controller, determining self-tuning control parameters of lead-lag compensation of the self-adaptive controller based on a modified least square method and a projection algorithm according to the mechanical property characteristics of the nonlinear test substructure, and performing algorithm compensation according to the difference value of the acquired data and the command data, and adjusting the tracking of a hydraulic servo actuator in the servo hydraulic actuator system to the command displacement so as to minimize the identification error from the inner ring.
The servo hydraulic controller is connected with the servo hydraulic actuator system through an oil pipeline, visual programming software in the servo hydraulic controller compiles a control program and stores the control program in a communication module of the servo hydraulic controller, and an actual force or displacement curve and a force or displacement command curve of an actuator actuating head are drawn in the visual programming software of the servo hydraulic controller in real time so as to provide real-time visual monitoring and operation;
and the control program in the visual programming software realizes that the actual force or displacement curve of the actuating head of the actuator stably tracks the force or displacement command curve sent by the communication module and is controlled by the inner ring.
The servo hydraulic actuator system comprises an actuator, a servo oil source, an oil cooler, a steel reaction frame, a test substructure and an intelligent control box, wherein,
the steel reaction frame is used for installation and fixed actuator and experimental substructure, includes:
a steel reaction frame body in a frame structure;
the fixed steel plate is fixedly connected to one end of the steel reaction frame;
the two connecting steel plates are arranged back and forth along the axial direction of the steel reaction frame body, and each connecting steel plate is connected with the steel reaction frame body through an installation piece in an adjustable position;
the tail end of the actuator body is rigidly connected with the fixed steel plate through a plurality of bolts, the other end of the actuator body is rigidly connected with the first connecting steel plate through a plurality of bolts, a hole for the actuating head end of the actuator to pass through is formed in the first connecting steel plate, the actuating head of the actuator passes through the hole and then is in force transmission connection with one end of the test substructure, and the other end of the test substructure is connected with the second connecting steel plate on the steel reaction frame;
the intelligent control box is detachably connected to the outside of the test substructure and used for adjusting the test temperature of the test substructure.
The bottom of the steel reaction frame body is provided with a movable wheel capable of self-locking.
A servo hydraulic valve module in the servo hydraulic controller converts force or displacement command voltage signals of a communication module into current signals to be input into the servo hydraulic actuator system to control the motion of an actuating head of the actuator;
a single-shaft module in the servo hydraulic controller receives SSI digital signals from a displacement sensor in a servo hydraulic actuator in the servo hydraulic actuator system, and the SSI digital signals are converted into position signals which are stored in a communication module of the servo hydraulic controller for calling;
and an expansion module in the servo hydraulic controller receives a voltage or current signal from a load sensor in an actuator in the servo hydraulic actuator system, converts the voltage or current signal into a force signal and stores the force signal in a communication module of the servo hydraulic controller for calling.
The servo hydraulic actuator system is characterized in that a servo oil source and an actuator are connected through an oil pipeline, a servo hydraulic controller is connected with the servo oil source through a data line, the servo hydraulic controller controls the servo oil source through a remote I/O (input/output), an energy accumulator in the servo oil source converts electric energy into mechanical energy, the mechanical energy is provided for the actuator to move to obtain the power required by the movement of the actuator head;
and the oil cooler and the servo oil source in the servo hydraulic actuator system are connected through a pipeline.
The computing software finite element platform module is software which has an interface with the Matlab module of the intermediate platform and comprises OpenSees, ABAQUS or ANSYS;
the computing platform finite element software module and the middle platform Matlab module realize bidirectional real-time communication through a socket protocol in a TCP/IP network communication protocol, the middle platform Matlab module calls displacement variables defined by the computing platform finite element software module, and the middle platform Matlab module converts force variables into character string forms and sends the character string forms to the computing platform finite element software module through a fwritef function.
The Matlab module of the intermediate platform is in real-time two-way communication with the servo hydraulic controller based on Ethernet, an operating computer where the Matlab module of the intermediate platform is located is connected with the servo hydraulic controller through wired communication or wireless communication, and the Matlab module of the intermediate platform is used for establishing a local OLE automatic server through calling a communication module in the servo hydraulic controller to realize connection;
and the Matlab module of the middle platform writes a force or displacement command into the variable mapping area of the servo hydraulic controller through a data calling function, and reads a displacement or force feedback variable from the variable mapping area of the servo hydraulic controller through the data calling function.
The test substructure is a nonlinear part which needs to be tested in the whole test structure, and the nonlinear part is a nonlinear damper, a nonlinear reinforced concrete member or a local structure.
A test method based on the large visual real-time hybrid test system comprises the following test steps:
s1, mounting a test substructure on the steel counterforce frame, and connecting the servo hydraulic controller with a computer through a network cable;
s2, establishing a numerical calculation model of the engineering structure in a finite element software module of a calculation platform;
s3, compiling and operating a communication program in the finite element software module of the computing platform and the Matlab module of the intermediate platform;
s4, firstly operating a control program in the computer visual programming software, and then operating a program in a Matlab module of the intermediate platform;
s5, the computing platform finite element software module computes the ith step force or displacement variable through a numerical integration algorithm and sends the ith step force or displacement variable to the intermediate platform Matlab module, the intermediate platform Matlab module transmits a force or displacement command to the servo hydraulic controller, the servo hydraulic controller controls an actuator head in the servo hydraulic actuator system to achieve command force or command displacement, a displacement sensor in the actuator stores actual displacement data in a servo hydraulic controller communication module, and the intermediate platform Matlab module calls a servo hydraulic controller communication module to collect the force/displacement variable and sends the force/displacement variable to the computing platform finite element software module through a transmission channel;
s6, calculating a force or displacement variable of the next step by a numerical integration algorithm according to the received force and displacement data of the test substructure by the finite element software module of the calculation platform;
and S7, repeatedly executing the step S5-the step S6 until the excitation signal is ended.
Compared with the prior art, the technical scheme of the invention has the beneficial effects that:
firstly, the real-time hybrid test system creatively adopts the self-adaptive controller, and the self-adaptive controller can determine the self-tuning control parameters of the lead-lag compensation of the self-adaptive controller according to the mechanical property of the nonlinear test substructure so as to achieve the effects of fast convergence and accurate tracking of command signals and greatly expand the application range of the nonlinear test substructure.
Secondly, the real-time hybrid test system adopts the steel reaction frame, can be integrally moved and locally and quickly installed with high precision according to various environments of a test field, and can be adjusted and installed according to different test substructure sizes, so that the real-time hybrid test system is more convenient to operate.
Thirdly, the real-time mixing test system can perform real-time mixing test on the substructure of the large-scale full-scale nonlinear test, improves the application range of the real-time mixing test, and can perform fatigue test on more nonlinear components.
And fourthly, the real-time hybrid test system adopts a finite element software-Matlab-controller communication system, the finite element software improves the calculation precision and accuracy of the numerical substructure, and the Matlab of the intermediate platform has better communication efficiency and smaller time lag, so that the hybrid test achieves the real-time effect.
Drawings
FIG. 1 is a schematic diagram of a framework of a large visual real-time hybrid test system according to the present invention;
FIG. 2 is a functional block diagram of a large-scale visual real-time hybrid test system according to the present invention
FIG. 3 is a schematic diagram of an adaptive controller of the present invention;
FIG. 4 is a schematic structural diagram of a large-scale visual real-time hybrid test system according to the present invention;
FIG. 5 is a functional schematic diagram of a large visual real-time hybrid test system according to the present invention;
FIG. 6 is a schematic structural diagram of a steel reaction frame of the large visual real-time hybrid test system of the present invention;
FIG. 7 is a system diagram of a real test apparatus;
FIG. 8 is a graph showing a comparison of a mixing test and a numerical simulation displacement of a three-layer viscoelastic damping frame structure according to the present invention;
FIG. 9 is a plot of mixing test versus numerical simulation speed for a three-layer viscoelastic damping frame structure in accordance with the present invention;
FIG. 10 is a graph comparing the mixing test and the numerical simulation acceleration of the three-layer viscoelastic damping frame structure of the present invention.
Wherein, 1 is a computer where a Matlab module of the intermediate platform is located; 2 is a servo oil source; 3 is an electric cabinet where the hydraulic servo controller is located; 4, an oil cooler; 5 is a cylindrical steel pipe; 6-1 is a second connecting steel plate; 6-2 is a second mounting steel ring; 7 is a test substructure; 8-1 is the fixed end of the actuator; 8-2 is an actuating head end of the actuator; 9 is a high-strength bolt; 10 is a universal wheel; 11 is a steel reaction frame; 12 is a fixed steel plate; and 13 is an intelligent control box.
Detailed Description
The present invention will be better understood from the following examples. However, those skilled in the art will readily appreciate that the description of the embodiments is only for illustrating the present invention and should not be taken as limiting the invention as detailed in the claims.
Examples
As shown in fig. 1, the functional schematic diagram of the large visual real-time hybrid test system of the present invention includes:
a finite element software module of a computing platform, wherein the software takes OpenSees as an example;
a Matlab module of the middle platform;
the real-time hybrid test hydraulic controller module, in this embodiment, is a DELTA hydraulic servo controller model number RMC 75E.
The finite element software OpenSees and the intermediate platform Matlab module realize bidirectional communication through a TCP/IP socket protocol, and the intermediate platform Matlab module realizes bidirectional communication with the DELTA hydraulic servo controller by calling a communication module RMClink in the DELTA hydraulic servo controller.
Writing a program in the finite element software OpenSees to model a numerical substructure, wherein the modeling comprises three parts of model establishment, gravity analysis and seismic analysis; the earthquake analysis part calculates the displacement value of each step through a discrete numerical integration algorithm, the finite element software OpenSees sends the displacement value to the intermediate platform Matlab module, and the intermediate platform Matlab module sends the displacement value to the DELTA hydraulic servo controller through an rm.WriteFFile function;
a hydraulic servo valve module in the DELTA hydraulic servo controller converts a +/-10V displacement command voltage signal from the RMClink module into a 40mA current signal which is input into a free end of a HANCHEN gap seal actuator in the servo hydraulic actuator system to move;
a single-shaft module MA1 in the DELTA hydraulic servo controller receives SSI digital signal output from an MLDT magnetostrictive displacement sensor in a HANCEN clearance seal actuator in the servo hydraulic actuator system, converts the SSI digital signal into a position signal and feeds the position signal back to be stored in an RMClink module of the DELTA hydraulic servo controller for calling;
the expansion module AP2 in the DELTA hydraulic servo controller receives either a 10V voltage input or a 4-20mA current input from a load cell in a HANCHEN clearance seal actuator in the servo hydraulic actuator system and converts it to a force signal that is stored in the RMClink module of the DELTA hydraulic servo controller for recall.
And the Matlab module of the intermediate platform calls a feedback force value stored in the RMClink communication module of the hydraulic servo controller through an rmc.ReadFFile function and sends the feedback force value to the finite element software OpenSees, and the finite element software OpenSees calculates the displacement of the next step, and the steps are repeated in this way to complete the real-time mixing test.
As shown in fig. 4, the structural schematic diagram of the large visual real-time hybrid test system of the invention includes a steel reaction frame 11, a computer 1 in which finite element software openses and a middle platform Matlab module are located, a servo oil source 2, an electric cabinet 3 in which a DELTA hydraulic servo controller is located, and an oil cooler 4, wherein the steel reaction frame 11 has high rigidity, meets structural stability, and can effectively avoid resonance.
As shown in fig. 6, the steel reaction frame 11, which is used for mounting and fixing the HANCHEN gap seal actuator 8 and the test substructure 7, includes: the device comprises a fixed steel plate 12, a first connecting steel plate, a mounting steel ring of the first connecting steel plate, a second connecting steel plate 6-1, a second mounting steel ring 6-2, cylindrical steel pipes 5, universal wheels 10 and high-strength bolts 9, wherein the four cylindrical steel pipes 5 and the fixed steel plate 12 are welded into a steel reaction frame 11, and a plurality of rollers 10 are welded on two steel pipes below; the first connecting steel plate is detachably connected with the cylindrical steel pipe 5 through an installation steel ring of the first connecting steel plate, and the second connecting steel plate is detachably connected with the cylindrical steel pipe 5 through a second installation steel ring 6-2;
the tail end of the HANCEN gap seal actuator 8 is rigidly connected with the fixed steel plate 12 through a plurality of high-strength bolts, the other end of the HANCEN gap seal actuator 8 is rigidly connected with the second connecting steel plate 6-1 through a plurality of high-strength bolts, the position of the actuating head end 8-2 of the HANCEN gap seal actuator 8 is adjusted through a DELTA hydraulic servo controller, so that the testing substructure 7 is in force transmission connection with the second connecting steel plate 6-1 through a plurality of high-strength bolts 9, and the other end of the testing substructure 7 is rigidly connected with the second connecting steel plate 6-1 through two M12 bolts;
the intelligent control box 13 is detachably connected to the outside of the test substructure 7 and used for adjusting the test temperature of the test substructure 7.
Further, the second mounting steel ring 6-2 can be adjustably fixed at the position of the surface of the cylindrical steel pipe 5, so that the position of the connecting steel plate can be adjusted; and adjusting the position of rigid connection of one end of the HANCEN gap seal actuator 8 and the second connecting steel plate 6-1 through a plurality of high-strength bolts, uniformly arranging a plurality of bolt connecting holes on the connecting steel plate at intervals along the force transmission direction of the HANCEN gap seal actuator 8, and realizing rigid connection by allowing the high-strength bolts to pass through the bolt connecting holes.
Furthermore, the second mounting steel ring 6-2 adjusts the position of rigid connection of one end of the test substructure 7 and the second connecting steel plate 6-1 through a plurality of high-strength bolts, a plurality of bolt connecting holes are uniformly arranged on the connecting steel plate at intervals along the force transmission direction of the test substructure 7, and the high-strength bolts penetrate through the bolt connecting holes to realize rigid connection.
Furthermore, the position of the actuating head end of the HANCEN gap seal actuator 8 is adjusted by operating the DELTA hydraulic servo controller, a plurality of bolt connecting holes are uniformly arranged at intervals along the force transmission direction of the test substructure 7 at the actuating head end of the HANCEN gap seal actuator 8, and the rigid connection of the actuating head ends of the test substructure 7 and the HANCEN gap seal actuator 8 is realized by adjusting the position of the actuating head end of the HANCEN gap seal actuator 8.
The invention discloses a test method of a large visual real-time hybrid test system, which comprises the following test steps:
s1, installing a test substructure on the steel counterforce frame, connecting the servo hydraulic controller with a computer through a network cable, and clicking an on-line button by visual programming software of the controller in the computer;
s2, establishing a numerical calculation model of the engineering structure in a finite element software module of a calculation platform;
s3, compiling and operating a communication program in the finite element software module of the computing platform and the Matlab module of the intermediate platform;
s4, firstly operating a control program in the computer visual programming software, and then operating a program in a Matlab module of the intermediate platform;
s5, the computing platform finite element software module computes the ith step force or displacement variable through a numerical integration algorithm and sends the ith step force or displacement variable to the intermediate platform Matlab module, the intermediate platform Matlab module transmits a force or displacement command to the servo hydraulic controller, the servo hydraulic controller controls an actuator head in the servo hydraulic actuator system to achieve command force or command displacement, a displacement sensor in the actuator stores actual displacement data in a servo hydraulic controller communication module, and the intermediate platform Matlab module calls a servo hydraulic controller communication module to collect the force/displacement variable and sends the force/displacement variable to the computing platform finite element software module through a transmission channel;
s6, calculating a force or displacement variable of the next step by a numerical integration algorithm according to the received force and displacement data of the test substructure by the finite element software module of the calculation platform;
and S7, repeatedly executing the step S5-the step S6 until the excitation signal is ended.
As shown in fig. 2, a schematic diagram of adaptive control of a large-scale visual real-time mixing test system according to the present invention is shown; adaptive control is a combination of parameter estimation and control law, and a model-based feedforward controller is developed through a system identification process, in this example, a servo hydraulic system is modeled as a three-pole transfer function, and estimated parameters calculated by the adaptive law are used for the feedforward controller to improve the tracking performance of a nonlinear system.
Wherein the servo hydraulic system can be represented by a transfer function form:
the parameter s is a complex number in the Laplace transform, nmAnd dnAll parameters are parameters, and meanwhile, a feedforward controller is taken as an inverse controller of the servo hydraulic system, and the transfer function of the feedforward controller can be expressed as follows:
GFF(s)＝a3s3+a2s2+a1s+a0
aifor the coefficients of the feedforward controller, the feedforward controller may calculate the feedforward displacement value of the input displacement, in this case a3 Taking 1/(6.12 x 10^6) a2Taking 348/(6.12 x 10^6) and a1Taking 73770/(6.12 x 10^6) a01 is taken. In order to apply the adaptive control law and establish a static parameter model, the first step of online parameter estimation is to separate unknown parameters from known signals, then replace the unknown parameters with estimated parameters for calculation to obtain a parameter model estimated value, and the convergence of the parameters can be verified by using a gradient algorithm, which is not described herein again.
To reduce the error between the command and measurement, feedback control is employed, and the minimization process attempts to compensate for modeling errors, sensor noise, and disturbances. The method comprises the steps of designing an LQR feedback controller by adopting a two-step method, obtaining state feedback gain by utilizing a linear quadratic regulator control theory in the first step, designing and establishing an observer by utilizing a Kalman filter in the second step, and combining the linear quadratic state feedback gain and the Kalman filter to realize displacement tracking of the servo hydraulic controller based on model feedback tracking.
Taking a three-layer viscoelastic damping frame structure as an example, the large visual real-time mixing test system is adopted for carrying out mixing test, the structure is a three-layer frame structure, and a viscoelastic damper is arranged on the first layer.
The height of each layer is 600mm, the span is 800mm, the span of the floor slab is 600mm, the thickness of the floor slab is 12mm, and the gravity of the concrete is 2500kg/m3. The viscoelastic damper is hinged to the body frame structure, assuming that the structural foundation is rigidly connected to the foundation. The length of the section of the column is 60mm, the width of the section of the column is 60mm, the thickness of the concrete protective layer is 2mm, and 4 No. 6 steel bars are arranged in the column. The height of the beam section is 40mm, and the width of the beam section is 20 mm. The input seismic waves are EI-Centro waves, the time step length is 0.02s, the calculation step number is 1500, the seismic wave duration is 30s, and the peak acceleration is 50 gal. The temperature on the day of the test was 20.1 ℃, and the equivalent stiffness of the resulting viscoelastic damper was 228.73N/mm, and the equivalent damping was 10.893N · s/mm.
The real-time mixing test system is shown in fig. 7, and the test results of the three-layer frame structure with and without the viscoelastic damper under the action of earthquake are shown in fig. 8-10. The maximum value of the displacement of the mixed test result is 0.667mm, and the minimum value of the displacement is-0.639 mm; the maximum value of the displacement of the finite element simulation result is 0.635mm, and the minimum value of the displacement is-0.604 mm; the maximum absolute error of the displacement of the two is 0.036, and the standard deviation of the displacement error is 0.0127. The maximum speed value of the mixing test result is 2.829mm/s, and the minimum speed value is-3.099 mm/s; the maximum speed value of the finite element simulation result is 2.655mm/s, and the minimum speed value is-2.989 mm/s; the maximum absolute error of the two speeds is 0.174, and the standard deviation of the speed error is 0.0564. The maximum acceleration of the mixing test results was 52.512mm/s2The minimum value of the acceleration is-31.045 mm/s2(ii) a The maximum acceleration value of the finite element simulation result is 50.120mm/s2The minimum value of the acceleration is-29.415 mm/s2. The maximum absolute error of the acceleration is 2.740, and the standard deviation of the acceleration error is 0.6304. The method proves that the overall deviation between the mixed test solution and the theoretical solution is small, and the feasibility of the large visual real-time mixed test system designed by the method is verified.
The embodiments of the present invention have been described in detail with reference to the drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention.
Claims (10)
1. A large visual real-time hybrid test system comprises an outer ring control and an inner ring control, wherein the inner ring control comprises a servo hydraulic controller, a controller programming module and a servo hydraulic actuator system;
the outer ring control comprises an inner ring control component, a computing platform finite element software module and a middle platform Matlab module, wherein, the computing platform finite element software module is communicated with the intermediate platform Matlab module through a network communication protocol, the intermediate platform Matlab module is communicated with the servo hydraulic controller through a network cable, the servo hydraulic controller controls the servo hydraulic actuator to move through an electric signal, it is characterized in that the servo hydraulic controller adopts an adaptive controller, self-tuning control parameters of lead-lag compensation of the adaptive controller are determined based on a modified least square method and a projection algorithm according to the mechanical property characteristics of a nonlinear test substructure, and performing algorithm compensation according to the difference value of the acquired data and the command data, and adjusting the tracking of a hydraulic servo actuator in the servo hydraulic actuator system to the command displacement so as to minimize the identification error from the inner ring.
2. The large visual real-time hybrid test system according to claim 1, wherein the servo hydraulic controller is connected with the servo hydraulic actuator system through an oil pipeline, visual programming software in the servo hydraulic controller is used for programming a control program and storing the control program in a communication module of the servo hydraulic controller, and an actual force or displacement curve and a force or displacement command curve of an actuator actuating head are drawn in the visual programming software of the servo hydraulic controller in real time to provide real-time visual monitoring and operation;
and the control program in the visual programming software realizes that the actual force or displacement curve of the actuating head of the actuator stably tracks the force or displacement command curve sent by the communication module and is controlled by the inner ring.
3. The large visual real-time hybrid testing system according to claim 1, wherein said servo hydraulic actuator system comprises an actuator, a servo oil source, an oil cooler, a steel reaction frame, a test substructure, and an intelligent control box, wherein,
the steel reaction frame is used for installation and fixed actuator and experimental substructure, includes:
a steel reaction frame body in a frame structure;
the fixed steel plate is fixedly connected to one end of the steel reaction frame;
the two connecting steel plates are arranged back and forth along the axial direction of the steel reaction frame body and comprise first connecting steel plates, first mounting steel rings are fixedly connected to four corners of each first connecting steel plate respectively, and the first connecting steel plates are connected with the steel reaction frame body through the mounting steel rings in an adjustable position;
the second connecting steel plate is positioned behind the first connecting steel plate, the four corners of the first connecting steel plate are respectively and fixedly connected with second mounting steel rings, and the first connecting steel plate is connected with the steel reaction frame body through the second mounting steel rings in an adjustable position;
one end of the actuator body is rigidly connected with the fixed steel plate through a plurality of bolts, the other end of the actuator body is rigidly connected with the first connecting steel plate through a plurality of bolts, a hole for the actuating head end of the actuator to pass through is formed in the first connecting steel plate, the actuating head end of the actuator passes through the hole in the first connecting steel plate to be in force transmission connection with one end of the test substructure, and the other end of the test substructure is connected with the second connecting steel plate on the steel reaction frame;
the intelligent control box is detachably connected to the outside of the test substructure and used for adjusting the test temperature of the test substructure.
4. The large visual real-time hybrid test system according to claim 3, wherein the bottom of the steel reaction frame body is provided with self-lockable moving wheels.
5. The large visual real-time hybrid test system according to claim 1, wherein a servo hydraulic valve module in the servo hydraulic controller converts force or displacement command voltage signals of a communication module into current signals to be input into the servo hydraulic actuator system to control the movement of an actuating head of an actuator;
a single-shaft module in the servo hydraulic controller receives SSI digital signals from a displacement sensor in a servo hydraulic actuator in the servo hydraulic actuator system, and the SSI digital signals are converted into position signals which are stored in a communication module of the servo hydraulic controller for calling;
and an expansion module in the servo hydraulic controller receives a voltage or current signal from a load sensor in an actuator in the servo hydraulic actuator system, converts the voltage or current signal into a force signal and stores the force signal in a communication module of the servo hydraulic controller for calling.
6. The large visual real-time hybrid test system according to claim 1, wherein a servo oil source in the servo hydraulic actuator system is connected with an actuator through an oil pipeline, a servo hydraulic controller is connected with the servo oil source through a data line, the servo hydraulic controller controls the servo oil source through remote I/O, an energy accumulator in the servo oil source converts electric energy into mechanical energy, and the mechanical energy is provided for the actuator to move to realize the movement of an actuating head of the actuator;
and the oil cooler and the servo oil source in the servo hydraulic actuator system are connected through a pipeline.
7. The large visualization real-time hybrid testing system of claim 1, wherein the computational software finite element platform module is software interfacing with an intermediate platform Matlab module, including openses, ABAQUS, or ANSYS;
the computing platform finite element software module and the middle platform Matlab module realize bidirectional real-time communication through a socket protocol in a TCP/IP network communication protocol, the middle platform Matlab module calls displacement variables defined by the computing platform finite element software module, and the middle platform Matlab module converts force variables into character string forms and sends the character string forms to the computing platform finite element software module through a fwritef function.
8. The large visual real-time hybrid test system according to claim 1, wherein the intermediate platform Matlab module is in real-time bidirectional communication with the servo hydraulic controller based on ethernet, an operating computer in which the intermediate platform Matlab module is located is connected with the servo hydraulic controller through wired communication or wireless communication, and the intermediate platform Matlab module is connected by calling a communication module in the servo hydraulic controller to establish a local OLE automation server;
and the Matlab module of the middle platform writes a force or displacement command into the variable mapping area of the servo hydraulic controller through a data calling function, and reads a displacement or force feedback variable from the variable mapping area of the servo hydraulic controller through the data calling function.
9. The large visual real-time hybrid test system according to claim 1, wherein the test substructure is a nonlinear component to be tested for performance in a test overall structure, and the nonlinear component is a nonlinear damper, a nonlinear reinforced concrete member or a local structure.
10. A testing method based on the large visual real-time hybrid testing system according to any one of claims 1 to 9, comprising the following testing steps:
s1, mounting a test substructure on the steel counterforce frame, and connecting the servo hydraulic controller with a computer through a network cable;
s2, establishing a numerical calculation model of the engineering structure in a finite element software module of a calculation platform;
s3, compiling and operating a communication program in the finite element software module of the computing platform and the Matlab module of the intermediate platform;
s4, firstly operating a control program in the computer visual programming software, and then operating a program in a Matlab module of the intermediate platform;
s5, the computing platform finite element software module computes the ith step force or displacement variable through a numerical integration algorithm and sends the ith step force or displacement variable to the intermediate platform Matlab module, the intermediate platform Matlab module transmits a force or displacement command to the servo hydraulic controller, the servo hydraulic controller controls an actuator head in the servo hydraulic actuator system to achieve command force or command displacement, a displacement sensor in the actuator stores actual displacement data in a servo hydraulic controller communication module, and the intermediate platform Matlab module calls a servo hydraulic controller communication module to collect the force/displacement variable and sends the force/displacement variable to the computing platform finite element software module through a transmission channel;
s6, calculating a force or displacement variable of the next step by a numerical integration algorithm according to the received force and displacement data of the test substructure by the finite element software module of the calculation platform;
and S7, repeatedly executing the step S5-the step S6 until the excitation signal is ended.
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