Module 1: Experimental SubstructureNICON: Network Interface for Controllers
Jan 31, 2014
Georgios Giotis
MASc CandidateDepartment of Civil Engineering
University of Toronto
2017 UT-SIM Workshop
2017 UT-SIM Workshop
Overview
Experimental Substructure – Physical Testing
Introduce NICON: Network Interface for Controllers
Experimental Setup Architecture
Developed NICON versions in UT-SIM
Featured Single Degree of Freedom NICON version
Introduce LabVIEW
Featured NICON version: Main functionalities
NICON Demonstration: Small Scale Actuator Replica
Connect with the Data Acquisition System (DAQ)
Introduction to the Featured NICON environment
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2017 UT-SIM Workshop
Physical Testing Requirement - Communication
Methods for communication with actuator controllers
Shared memory approach: SCRAMNet
Analog voltage input/output method
Analog voltage input/output with the actuator controllers
Reliable, portable, easy-to-use and cost-efficient
3
Module 1: Experimental Substructure
Software written
with LabVIEW
Actuator ControllersNICON – Network Interface for Controllers
Hardware – Data Acquisition
Systems by National Instruments
(cRIO, USBDaq, etc)
Voltage I/OTCP-IP
2017 UT-SIM Workshop
UT-SIM: University of Toronto Simulation Framework
4
Zeus-NL
ABAQUS
VecTor 2, 3, 4, and 5
Generic Actuator Controllers
OpenSees
UI-SimCor v3.0
NICON
NICA
User defined Elem.
NICAEtc.
ACTIA
WebCam
DataAcq.
Digital Cam
Sensors
Integration ModulesNumerical Substructure Modules
Voltage
Named pipes
UTNP via TCPIP
Other target specific protocols
Data Acquisition
NICA
Experimental Substructure Modules
Communication Methods
UT10 SimulatorColumn Tester
NICON
Cyrus
OpenSeesSP,MPSuper-computer
Subs.Elem.
ABAQUSUser
defined Elem.
S-Frame
OpenSeesDekstop
Subs.Elem.
2017 UT-SIM Workshop 5
ControllerNumerical structural model
Physically
represented
Numerical
model
Physical model
PID loop
ReactionNumerical integration
scheme
𝒎 ሷ𝒖 + 𝒄 ሶ𝒖 + 𝒓 𝒖, ሶ𝒖 = 𝒇
Component #1 Component #2 Component #4
NICON: Network Interface for ControllersComponent #3
Experimental Setup Architecture
TC
P-I
P (
UT
NP
)
An
alo
g v
olta
ge
I/O
Stepwise command loop Continuous time loop
Command
Network (TCP/IP)
File
User interface
Voltage I/O
Command
Feedback
Coordinate
Transformation
Generic Coordinate
Transformation Algorithm
Customized Coordinate
Transformation Versions
Ramp
GenerationScaling
Command
Feedback
Limit check
Command
Feedback
D
t t
D
t
V
Zhan, H. and Kwon, O. (2015) “Actuator controller interface program for pseudo-dynamic hybrid simulation,” Advances
in Structural Engineering Mechanics, Songdo, Korea, Aug. 25-29, 2015.
Module 1: Experimental Substructure
2017 UT-SIM Workshop
Experimental Setup Architecture Example
6
Junction
BoxDAQ
Physical Model
HBM Controller
Additional
Instrumentation
NICON
Module 1: Experimental Substructure
2017 UT-SIM Workshop
Generic Network Interface for Controllers (NICON)
Generic algorithm for coordinate and force transformation
Currently working with the NI CompactRIO-9022 DAQ
Able to host a variety of application examples
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Available NICON versions
(a) Beam-Column elements: 3 DOFs
(b) Flexural-Torsionalelements: 3 DOFs
(c) General 6DOFs frame elements
Application Examples
2017 UT-SIM Workshop
Generic NICON: Coordinate Transformation
Architecture
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Available NICON versions
(a) Total displacements in the global coordinate
(x,y,z)
(b) Total displacements in the element coordinate
(x’,y’,z’)
(c) Relative displacements in the element coordinate
(x’,y’,z’)
(d) Displacements in the control point’s coordinate
(x”,y”,z”)
(e) Actuator strokes
(x”,y”,z”)
2017 UT-SIM Workshop
UT10 Simulator
Able to test up to 10 uni-axial elements
Developed for testing braces and friction/yielding dampers
Performs the required coordinate and force transformation
(two dimensional displacement command to uni-axial stroke)
Includes error compensation scheme
910 Element Hybrid Simulator
Available NICON versions
2017 UT-SIM Workshop
Dedicated Column Tester Hybrid Simulator
Developed for column testing common setups
Based on a Weakly-Coupled Hybrid Simulation architecture to
address control limitations
Performs the required coordinate and force transformation
(two dimensional displacement to coupled stroke commands)
Includes error compensation scheme
10Dedicated Column Tester
Available NICON versions
2017 UT-SIM Workshop
Dedicated version for Hybrid Fire Testing
Developed for steel structure simulation in fire
Includes a step-timed control to synchronize the thermal loading
with the mechanical testing
Includes error compensation scheme
11Dedicated NICON for Fire Testing
Available NICON versions
3.6
6m
4.5
7m
9.14 m
W=15.8 KN/m
W=35.6 KN/m
W=35.7 KN/m
W=35.8 KN/m3.6
6m
3.6
6m
9.14 m 9.14 m 9.14 m
W14x233
W14x193
W14x99
W14x74
W14x311
W14x311
W14x176
W14x74W24x68
W27x94
W27x114
W33x130
2017 UT-SIM Workshop
LabVIEW System Design Software
User-friendly customizable interface
Graphical programming syntax
Extensive built-in library for data acquisition and signal
processing
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Featured NICON: Single DOF version
Front Panel (NICON.vi) Block Diagram
Command Source, Control & Monitor Panel Analog Input (Timed) Loop Measurement Block
2017 UT-SIM Workshop
Main Functions Overview
Initialization block diagram
Analog input loop – Measurement
Analog output loop – Command
Network communication block – Hybrid testing
Analog I/O logging loop
Saving configuration event structure
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Featured NICON: Single DOF version
2017 UT-SIM Workshop
NICON: Initialization
Responsible for Initialization of the Configuration
Parameters
Network Port Number: Communication port with the integration
module
Control Parameters: The ramp and hold time, I/O update and
logging rate
Limit Parameters: Actuator’s available stroke and force limits
Scale Factors: Calibration factors for the voltage to
measurements and commands transformation
Physical Channels Definition: The input and output channels
are defined in accordance with the used DAQ
These parameters are defined in NICON_Config.xml (eXtensible Markup Language)
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2017 UT-SIM Workshop
NICON: Analog Input – Measurements
Responsible for Measuring the Current
Displacement and Force
Transforming the physical channel measurement into
1D-waveform
Signal processing using a low-pass Butterworth filter
Transforming the input voltage into displacement and force
measurements
Performing the force limit check
15Monitoring Panel: Displacement and Force Measurement
2017 UT-SIM Workshop
NICON: Analog Output – Command
Responsible for Transforming the Command
Deformation to Voltage
Performing the stroke limit check
Generating the ramp stages*
Transforming the stroke commands into excitation voltage
Three Different Command Sources Available
User Input – Manual control
Network (PSD Test) – Hybrid testing
Time History – Predefined deformation command history
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2017 UT-SIM Workshop
Ramp Generation Stages
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NICON: Analog Output – Command
2017 UT-SIM Workshop
NICON: Network Communication
Responsible for the Communication with the
Substructure Element
Performing the initiation of the server and the setup of the
communication
Receiving the commands and sending the measurements in
TCP-IP format
Monitoring the testing status
Logging the network communication for post-testing
troubleshooting purposes
18Network Monitoring and Control Panel
2017 UT-SIM Workshop
NICON: Additional Features
Analog I/O Logging Loop
Recording the voltage, stroke, displacement and force input and
output for post testing analysis purposes
The logging rate is defined by the user
Saving Configuration Event Structure
The configuration file (NICON_Config.xml) is updated in
accordance with the modifications into the configuration
parameters made into the LabVIEW environment
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2017 UT-SIM Workshop
Demonstration of the Featured NICON
Control of a Small Scale Actuator Replica Using the
Featured NICON
Connect with the DAQ system
Introduction to NICON front panel environment
Manual control of the applied stroke
Perform hybrid simulation (2nd Day)
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Small Scale Actuator Replica
2017 UT-SIM Workshop
Demonstration of the Featured NICON
Connect with the DAQ (Physical Channels)
Actuator’s Stoke Command: Dev1/AO1 (Differential Connection)
Referenced Single-Ended (RSE) Connection: AI GND
Measured Deformation: Dev1/AI0 (RSE Connection)
Measured Force: Dev1/AI1 (RSE Connection)
Floating Source: Isolated ground-reference sources
21
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NI USB-6218 BNC16 Dif. Analog Input (32 S.E)2 Dif. Analog Output8 Digital Input8 Digital Output
2017 UT-SIM Workshop
Moving to Network Interface for Controllers
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Demonstration of the Featured NICON
Thank you for you attention.Questions?
Jan 31, 2014
Georgios Giotis
MASc CandidateDepartment of Civil Engineering
University of Toronto
2017 UT-SIM Workshop
