Modeling and Control of the CSCEC Multi-Function Testing System

In order to promote the research and development on evaluating the seismic performance of structures, China State Construction Engineering Corporation (CSCEC) planned to construct a large-scale loading testing facility, the Multi-Function Testing System (MFTS). This facility can perform full-scale, real-time, 6-degree-of-freedom static and dynamic testing of rubber bearings and many types of structural components including long columns, shear walls and cross shape joints. The basic performances of the MFTS are a clearance of 9.1 m × 6.6 m × 10 m for specimen installation, maximum x-directional displacement 1500 mm, maximum y-directional velocity 1570 mm/s and maximum z-directional compressive load 108 MN. The system configuration and performance specifications of the MFTS are presented in this paper. The inverse kinematics model and the nonlinear model of the hydraulic servosystem of the MFTS are built. A modified feedback forward kinematics algorithm is developed for real-time control of the MFTS. Internal force characteristics of the loading system are analyzed. The internal force control method based on real-time solution of basis of internal force space is proposed for the system with large motion ranges. The motion controller combining position control loop and internal force control loop is developed. To meet the requirement of simultaneously imposing vertical compressive load and horizontal displacement, a mixed load and displacement controller is designed, where a direct force control loop is used to improve the response speed of the force control and reduce spatial dynamic coupling effects. Finally, a dynamic bearing testing is performed. The test results demonstrate that the system using the proposed controller has good abilities on position tracking, force balance, and load following.