Abstract In this study, a force control system for real-time hybrid simulation has been designed and implemented. This method integrates numerical modeling with physical experiments, serving as a powerful approach for analyzing the dynamic behavior of systems under real loading conditions. The study utilizes a real-time hybrid simulator for a three-story building, where the first and third floors are numerically modeled by a computer, while the second floor is physically represented. The primary challenge in this research is ensuring force control accuracy and minimizing time delay effects in the simulation process. The system under investigation comprises physical components such as an electric actuator, a load cell sensor, a shaking table, and a numerically simulated model, all interacting directly. The objective of this research is to control force under various conditions, including step (constant) force, oscillatory force, and force induced by the response of a three-story building to an earthquake. Force control in this system is achieved using a PID controller, which allows for tuning different coefficients to optimize system performance. The PID controller parameters are adjusted to minimize force error and maximize system stability. Experimental tests on this system enabled the eva‎luation of modeling accuracy and controller performance, with the obtained results compared to numerical outputs. The findings indicate that the PID controller effectively enhances force control performance. It was observed that increasing the integral gain helps reduce steady-state error, while the derivative gain directly contributes to reducing system oscillations. Additionally, experiments demonstrated that under oscillatory loading conditions, appropriate tuning of PID parameters reduces unwanted vibrations and improves force convergence to the desired value. A comparison between numerical simulation results and physical tests showed that the real-time hybrid simulation approach can predict system behavior with high accuracy, making it a viable alternative to costly and hazardous experiments. These results suggest that the real-time hybrid simulator has potential applications in various fields, including earthquake engineering, structural vibration control testing, and the development of advanced control systems. Finally, the study's findings highlight that PID controllers, when combined with time-delay compensation techniques, can enhance the accuracy and stability of real-time hybrid simulation systems.

مصطفي نصيري

زهرا زماني مياندشتي , علي اصغر حقيقي