Development of a Flexible Platform for Real-time Hybrid Simulation Oya Mercan, Ph.D Assistant Professor, University of Toronto Quake Summit 2012 July 9-12, 2012

Computational/Control Platform NI PXI 1042 with a built-in NI PXI 8110 controller (deterministic, fast, CPU running RT with a built in clock) Field Programmable Gate Array, FPGA (high reliability, high determinism, true Parallelism, & re-configurability) SCB-68 (Break-Out-Box) (68 screw terminals for I/O signal conditioning) NI 5191 expansion chassis NI 9237, Load Cell Module NI 9239, LVDT Module NI 9481, Relay Module

Computational/Control Platform

Experimental Setup

Software Development Safe start-up Emergency/ regular shutdown Command generation: either predefined or using an integration algorithm Data logging and observation State determination of the analytical substructure Interface with the I/O modules to receive and issue analog and digital signals. Limit checks Data transfer Control law Dither injection PXI- Real time State Machine Based with 7 States FPGA FIFO DMA NI LabVIEW MATLAB Simulink NI LabVIEW synchronization

LabVIEW VI for Tuning the PID Controller for a Single Actuator (Front Panel) Software Development

Initialization State Open up FPGA Write the user defined values for calibration, constants PID gains, limits etc. on the FPGA Enable/Disable buttons on the front panel Write “False” to HSM Stop and Next buttons Go to “Start up” state Software Development

Start-up State Wait for the user to turn HSM on Disable PID gains and filename If Next button is hit  go to “Pre Zero” state If Stop button is hit  go to “Stop” state Software Development

Pre Zero State Software Development

Zero State Impose user-defined displacements Check if the limits, next or stop buttons have been hit, decide the next state Software Development

Clear FIFO Memory Open up the predefined displacement file Depending on whether the displacement file makes sense, decide the next state Pre Run State Software Development

Run State Impose predefined displacements within the timed loop Write data to file Either finish or abort the test and go to Startup Software Development

Immediately turn the HSM high pressure off Stop State Wait 5 seconds and turn off the low pressure and HSM completely Software Development

FPGA VI The relay channels in NI 9481 are being turned on/off depending on the user input Acquire restoring force data from NI 9237, perform limit check measured displacement Limit check command displacement PID Dither injection Electrical command to the servo valve Write data to the FIFO Software Development

Verification Tests To verify the developed software, hardware configuration, data transfer, as well as the PID tuning and tracking performance of the proposed system several predefined displacement histories were applied.

Real-time hybrid simulation considering one experimental substructure Pre Run State Real-time Hybrid Simulation

Pre Run State – 1DOF Hybrid Simulation Information about the dll file that contains the Integration algorithm and analytical substructure is extracted and made available to the other states Depending on whether there is an error in the decide the next state model dll file Real-time Hybrid Simulation

Simulink model subsystem to be converted to model dll using Simulation interface toolkit Real-time Hybrid Simulation

Analytical substructure Real-time Hybrid Simulation

Analytical substructure Integration Algorithm Real-time Hybrid Simulation

Analytical substructure Integration Algorithm Real-time Hybrid Simulation

Pre Run State – 1DOF Hybrid Simulation Information about the dll file that contains the Integration algorithm and analytical substructure is extracted and made available to the other states Depending on whether there is an error in the decide the next state model dll file Real-time Hybrid Simulation

Error notification, let the user decide what to do next. Real-time Hybrid Simulation

Run State – 1DOF Hybrid Simulation Real-time Hybrid Simulation

Software modification to control two actuators simultaneously with and without physical coupling. Replacing PID control with other control laws. Control of larger scale actuators (with three stage servo-valves) with the NI computational/control platform. Current & Future Work

NSERC Discovery (Grant ) NSERC RTI (Grant EQPEQ) Start-up funds from University of Alberta and University of Toronto Acknowledgements

Thank you! Questions ?

Real-time Hybrid Simulation

Experimental Setup Mechanical Components Hydraulic power supply 3000 psi (pressurized oil) Hydraulic service manifold 120 gpm (continuous flow) 2-Stage electro servo-valves 16.5 gpm (flow capacity) Hydraulic dynamic actuators ±7,5 kips (force) & ±5 inch (stroke) Built-in AC LVDT ±5 inch (stroke) Fatigue rated load cell ±12,500 kips (load capacity)