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Effective force testing using a robust loop shaping controller
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DOI：10.1002/eqe.2207.png)
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Effective force testing (EFT) is one of the force-based experimental methods used for performance evaluation of structures that incorporate dynamic force control using hydraulic actuators. Although previous studies have shown successful implementations of force control, controllable frequency ranges are limited to low frequencies (10?Hz). This study presents the EFT method using a robust loop shaping force feedback controller that can extend the frequency range up to 25?Hz or even higher. Unlike the conventional PID controllers, loop shaping controllers can provide robustness for a high level of force measurement noise. This study investigates the dynamic properties of hydraulic actuators and the design of a loop shaping controller that compensates for controlstructure interaction and suppresses the effect of oil-column resonance. The designed loop shaping controller was successfully implemented into an EFT setup at the Johns Hopkins University. An experimental investigation of the loop shaping controller was performed under step, random, and earthquake force loadings. Experimental results showed that the loop shaping controller provided excellent force tracking performance and robustness for dynamic force loadings. It was also shown that the loop shaping controller had the gain margin of 9.54?dB at the frequency of 28?Hz. Copyright (c) 2012 John Wiley & Sons, Ltd.
Keyword:
effective force testing
dynamic force control
hydraulic actuators
experimental methods
loop shaping
robust control
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