Full state control via simulation for real-time dynamic substructuring test

The stability and accuracy of real time dynamic substructuring (RTDS) test are determined by the dynamics of the substructures??hysical and numerical??nd especially by those of the transfer system ??the actuators or shaking table and its controller. When a transfer system works in low frequency band, its dynamics can be reduced to a pure time delay and nulled by delay compensation. However, the frequency-dependent magnitude and phase errors that exist in the more complex RTDS test when higher frequency is required or shaking tables are used as transfer system, are beyond the scope of delay compensation. Much attention has recently been focused on developing mathematical models to represent the dynamics of servo-hydraulic systems. If such models are inverted, they can conceivably be used to cancel the magnitude and phase errors. In the work, this conception is used to develop a new controller for RTDS test. Based on the Inverse Dynamics Compensation via Simulation and full-state feedback control, the new controller called Full State Compensation via Simulation (FSCS) for RTDS test was proposed. Both analytical and experimental investigation demonstrated that FSCS can compensate for both the phase lag and magnitude errors associated with complex transfer systems such as shaking tables.