Synthesis and control of generalised dynamically substructured systems

The experimental technique for testing engineering systems via the method of dynamic substructuring is receiving significant global interest, for example in the fields of large-scale structural, aerospace, and automotive system testing. Dynamically substructured systems (DSSs) enable full-size, critical components of a complete system to be physically tested in real-time, within a laboratory environment, while the remainder of the system is modelled numerically. The intention is that the combined physical-numerical DSS behaves as if it were the complete (or emulated) system.In an ideal mechanical DSS, for example, perfect synchronization of displacements and forces at the interfaces between the numerical and physical components (or substructures) is required. Hence, a key design feature of successful DSS systems is the high fidelity of the control action. Equally, a DSS controller must be able to cope with non-linear, time-varying, and uncertain parameters within the physical substructure dynamics.The main purpose of this paper is to present a generalized DSS framework, together with associated linear and adaptive control strategies, that are specifically tailored to achieve high synchronization performance. The initial studies of this problem, as described in an earlier paper by Stoten and Hyde, are therefore continued by generalizing both the DSS dynamics and the control strategies to include (a) a number of newly defined modes of operation and (b) multivariable dynamics. In addition, comparative implementation and simulation studies are included, based upon the DSS testing of a mechanical system (a planar quasi-motorcycle rig), which was specifically designed to highlight the main features of this research. The comparative studies show that excellent DSS control can be achieved, especially with the addition of an adaptive component to the controller, despite significant changes to the physical substructure dynamics

A recursive coupling-decoupling approach to improve experimental frequency based substructuring results

Substructure decoupling techniques allow identifying the dynamic behavior of a substructure starting from the dynamic behavior or the assembled system and a residual subsystem. Standard approaches rely on the knowledge of all FRFs at the interface DOFs between the two substructures. However, as these typically include also rotational DOFs which are extremely difficult and most of the time impossible to measure, several techniques have been investigated to overcome these limitations. A very attractive solution consists in defining mixed or pseudo interfaces, that allow to substitute unmeasurable coupling DOFs with internal DOFs on the residual substructure. Additionally, smoothing/denoising techniques have been proposed to reduce the detrimental effect of FRF noise and inconsistencies on the decoupling results. Starting from these results, some recent analysis on the possibility of combining coupling and decoupling FBS to validate the results and compensate for inconsistencies will be presented in this paper. The proposed method relies on errors introduced in the substructuring process when assuming that the interface behaves rigidly, while it is generally known that this assumption is seldom verified. Consequently, a recursive coupling-decoupling approach will be used to improve the estimation of the dynamic response of either the residual structure (for decoupling) or the assembly (for coupling). The method, validated on analytical data, will be here analyzed on a numerical example inspired by an experimental campaign used to validate the finite element models and on which standard substructuring techniques showed some limitations. The results discussed in this paper will be then used as guidelines to apply the proposed methodologies on experimental data in the future

Dynamic programming and direct interaction for the optimum design of skeletal towers

A computer technique is proposed for automatically designing tower structures. Dynamic programming was used to find the optimum geometric configuration of the structural members, while the member sizes were proportioned by direct iteration. Tower structures are particularly suited to this method of automatic design since the rapidity of the analysis and design depends primarily upon substructuring. Substructuring of towers was comparatively simple because interaction between adjacent substructures is simulated with reasonable accuracy. Typical examples are presented to illustrate the method

Some studies on the use of NASTRAN for nuclear power plant structural analysis and design

Studies made on the use of NASTRAN for nuclear power plant analysis and design are presented. These studies indicate that NASTRAN could be effectively used for static, dynamic and special purpose problems encountered in the design of such plants. Normal mode capability of NASTRAN is extended through a post-processor program to handle seismic analysis. Static and dynamic substructuring is discussed. Extension of NASTRAN to include the needs in the civil engineering industry is discussed

Condensing loaded points for transients by substructuring

A technique for condensing dynamic loading points is described. The method was applied to substructure transient solutions and was found to be very effective

Normal mode analysis of a rotating group of lashed turbine blades by substructures

A group of 5 lashed identical stream turbine blades is studied through the use of single level substructuring using NASTRAN level 15.1. An altered version, similar to DMAP Program Number 3 of the NASTRAN Newsletter, of Rigid Format 13.0 was used. Steady-state displacements and stresses due to centrifugal loads are obtained both without and with consideration of differential stiffness. The normal mode calculations were performed for blades at rest and at operating speed. Substructuring lowered the computation costs of the analysis by a factor of four

An optimized tuned mass damper/harvester device

Much work has been conducted on vibration absorbers, such as tuned mass dampers (TMD), where significant energy is extracted from a structure. Traditionally, this energy is dissipated through the devices as heat. In this paper, the concept of recovering some of this energy electrically and reuse it for structural control or health monitoring is investigated. The energy-dissipating damper of a TMD is replaced with an electromagnetic device in order to transform mechanical vibration into electrical energy. That gives the possibility of controlled damping force whilst generating useful electrical energy. Both analytical and experimental results from an adaptive and a semi-active tuned mass damper/harvester are presented. The obtained results suggest that sufficient energy might be harvested for the device to tune itself to optimise vibration suppression

A decentralized linear quadratic control design method for flexible structures

A decentralized suboptimal linear quadratic control design procedure which combines substructural synthesis, model reduction, decentralized control design, subcontroller synthesis, and controller reduction is proposed for the design of reduced-order controllers for flexible structures. The procedure starts with a definition of the continuum structure to be controlled. An evaluation model of finite dimension is obtained by the finite element method. Then, the finite element model is decomposed into several substructures by using a natural decomposition called substructuring decomposition. Each substructure, at this point, still has too large a dimension and must be reduced to a size that is Riccati-solvable. Model reduction of each substructure can be performed by using any existing model reduction method, e.g., modal truncation, balanced reduction, Krylov model reduction, or mixed-mode method. Then, based on the reduced substructure model, a subcontroller is designed by an LQ optimal control method for each substructure independently. After all subcontrollers are designed, a controller synthesis method called substructural controller synthesis is employed to synthesize all subcontrollers into a global controller. The assembling scheme used is the same as that employed for the structure matrices. Finally, a controller reduction scheme, called the equivalent impulse response energy controller (EIREC) reduction algorithm, is used to reduce the global controller to a reasonable size for implementation. The EIREC reduced controller preserves the impulse response energy of the full-order controller and has the property of matching low-frequency moments and low-frequency power moments. An advantage of the substructural controller synthesis method is that it relieves the computational burden associated with dimensionality. Besides that, the SCS design scheme is also a highly adaptable controller synthesis method for structures with varying configuration, or varying mass and stiffness properties