基于H∞理论的磁流变阻尼器半主动容错控制

建筑结构的半主动控制系统中的传感器,在强震作用下可能因出现故障而影响控制效果。以磁流变阻尼器为例,研究半主动容错控制系统的设计方法。首先,研究了基于状态观测器的半主动H∞控制器设计方法,并将之应用到建筑结构采用磁流变阻尼器的减振控制中;运用改进Bouc-Wen模型,计算磁流变阻尼器的阻尼力,通过求解一个代数Riccati方程和一个状态观测方程,得出了基于状态观测器的H∞主动控制律;再对其采用Clipped-optimal方法实施半主动控制策略。然后,针对传感器故障,利用观测器组的输出残差对故障进行在线诊断,并通过几个观测器状态值的比较得到故障的大小,并据此对传感器的测量值进行修正,从而消除故障对闭环系统的影响,最终实现半主动H∞容错控制。仿真结果表明,该方法具有很好的容错控制效果。     

磁流变阻尼器的半主动控制及实时混合模拟试验研究

磁流变阻尼器作为一种比较典型的半主动控制元件,具有构造简单、响应速度快、耐久性好、阻尼力大且连续可调等优点。即使地震中能源中断,磁流变阻尼器仍可以作为被动耗能装置继续工作发挥作用,可靠性高。设计合理有效的磁流变阻尼器半主动控制方法,对于整体结构的减震效果尤其重要。提出一种改进的磁流变阻尼器的半主动控制策略-改进的Bang-Bang控制策略,对装有磁流变阻尼器的减震控制3层框架结构进行了一系列的实时混合模拟试验,对多种半主动控制方法下的振动控制效果进行试验分析。试验结果表明:磁流变阻尼器对框架结构的减震效果显著,并验证了提出的磁流变阻尼器半主动控制策略的有效性。     

变阻尼半主动结构控制振动台试验

在一个１：４的五层模型刚架结构上进行了变阻尼半主动结构控制振动台试验．在结构的底层安装了一个溢流阀式变阻尼控制器,输入几种不同的地震动并采用几种不同的控制算法对结构进行了变阻尼半主动控制。振动台试验结果表明,受阻尼半主动结构控制仅需要很少的电能,就可以达到较好的控制效果,是一种很有应用前景的结构振动控制方案。结合溢流阀式变阻尼控制器的特点,分析了一些因素对控制效果的影响．     

Fuzzy logic control of bridge structures using intelligent semi-active seismic isolation systems

Passive supplemental damping in a seismically isolated structure provides the necessary energy dissipation to limit the isolation system displacement. However, damper forces can become quite large as the passive damping level is increased, resulting in the requirement to transfer large forces at the damper connections to the structure which may be particularly difficult to accommodate in retrofit applications. One method to limit the level of damping force while simultaneously controlling the isolation system displacement is to utilize an intelligent hybrid isolation system containing semi-active dampers in which the damping coeffic ient can be modulated. The effectiveness of such a hybrid seismic isolation system for earthquake hazard mitigation is investigated in this paper. The system is examined through an analytical and computational study of the seismic response of a bridge structure containing a hybrid isolation system consisting of elastomeric bearings and semi-active dampers. Control algorithms for operation of the semi-active dampers are developed based on fuzzy logic control theory. Practical limits on the response of the isolation system are considered and utilized in the evaluation of the control algorithms. The results of the study show that both passive and semi-active hybrid seismic isolation systems consisting of combined base isolation bearings and supplemental energy dissipation devices can be beneficial in reducing the seismic response of structures. These hybrid systems may prevent or significantly reduce structural damage during a seismic event. Furthermore, it is shown that intelligent semi-active seismic isolation systems are capable of controlling the peak deck displacement of bridges, and thus reducing the required length of expansion joints, while simultaneously limiting peak damper forces. Copyright © 1999 John Wiley & Sons, Ltd.     

不规则高层结构基于新型电磁惯性质量阻尼器的半主动控制

为了研究新型电磁惯性质量阻尼器(Electromagnetic Inertial Mass Damper,EIMD)应用于偏心高层结构振动控制工程的可行性,鉴于半主动控制技术的优点,基于LQR主动控制算法,提出一种可行的EIMD-偏心高层结构半主动控制策略,同时研究EIMD在结构每层中安装位置不同对于控制偏心高层结构扭转反应的影响。以一个实体24层偏心高层结构作为研究对象验证地震作用下所提控制策略的有效性,仿真结果表明:(1)所提半主动控制策略基本能够达到主动控制对于结构振动反应分量的控制效果;(2)当采用半主动控制策略时,调整EIMD的安装位置对于偏心高层结构转角和转角加速度反应有着较好的控制效果。     

SEISMIC TESTING OF A BUILDING STRUCTURE WITH A SEMI-ACTIVE FLUID DAMPER CONTROL SYSTEM

This paper describes shaking table tests of a multi-storey scale-model building structure subjected to seismic excitation and controlled by a semi-active fluid damper control system. The semi-active dampers were installed in the lateral bracing of the structure and the mechanical properties of the dampers were modified according to control algorithms which utilized the measured response of the structure. A simplified time-delay compensation method was developed to account for delays within the control system. The results of the shaking table tests are presented and interpreted and analytical predictions are shown to compare reasonably well with the experimental results. © 1997 John Wiley & Sons, Ltd.     

半主动磁流变阻尼控制结构的地震反应分析

本文对磁流变阻尼器的性能及恢复力模型进行了介绍,并对其参数进行了设计,提出了基于现代最优控制理论的半主动控制方法．计算实例分析结果表明,采用磁流变阻尼器对结构进行半主动控制能够有效地减小结构的地震反应．     

工程结构地震响应模糊半主动控制

提出了使用MR阻尼器（Magnetorheological Damper）作为控制设备,模糊集为基础的半主动控制算法,并运用提出的算法对土木工程结构地震响应进行了振动控制分析.本文方法的优势在于算法自身的鲁棒性、处理非线性问题的能力和不需要结构的精确数学模型,算法需要的输入变量少,可以解决实际工程中结构响应信息难以测量的困难.模糊算法的输出直接控制MR阻尼器的输入电压,控制器的计算非常简单且易于在工程中实现.本文以一个3层框架结构为算例,分析了本文算法与前人研究算法的异同.数值结果表明,本文提出的模糊半主动控制具有较高的效率,可以减小需要的控制力,充分使用了MR阻尼器的输入电压可以调节的功能,使MR阻尼器的功能得到了更好的发挥.     

相邻结构地震反应MR阻尼器控制的仿真分析

本文仿真分析了应用磁流变(MR)阻尼器对相邻结构地震反应的控制效果,为进一步开展模型试验研究奠定了基础。建立了地震激励下相邻结构MR阻尼器控制系统的运动方程,提出了描述MR阻尼器阻尼力滞回特性的改进S igmoid模型,分别对应用开关控制、半主动控制以及最小或最大电流被动控制的四种控制方法的相邻结构地震反应的控制效果进行了仿真分析。结果表明,在相邻结构间连接安装MR阻尼器可以有效地控制相邻结构的地震反应,且开关控制方法和半主动控制方法的控制效果均好于两种被动控制方法,体现了MR阻尼器阻尼力可调的优点;在四种控制方法中,半主动控制方法的控制效果最好,体现了MR阻尼器阻尼力具有连续调节能力的优点;若能解决MR阻尼器的剩磁问题,半主动控制方法的控制效果会得到进一步的提高。     

Neuro-fuzzy control strategy for earthquake-excited nonlinear magnetorheological structures

Magnetorheological (MR) damper is a prominent semi-active control device for earthquake responses mitigation of structures. The most important topic for the intelligent MR structures is choosing the control current of MR dampers quickly and accurately. The typical control strategy is on–off control strategy, i.e. bi-state control strategy, while inherent time-delay and coarse control precision lie in this strategy. This paper proposes neuro-fuzzy control strategy, in which the neural-network technique is adopted to solve time-delay problem and the fuzzy controller is used to determine the control current of MR dampers quickly and accurately. Through comparison between the bi-state control and the neuro-fuzzy control strategies and a numerical example about a three-story reinforced concrete structure, it can be concluded that the control strategy is very important for semi-active control, the neuro-fuzzy control strategy can determine currents of MR dampers quickly and accurately, and the control effect of the neuro-fuzzy control strategy is better than that of the bi-state control strategy.     

AVS/D半主动振动控制结构的抗震设计方法探讨

本文介绍了AVS／D半主动控制系统的工作原理,参照现行抗震设计规范的设计思想,提出了AVS／D半主动控振结构的抗震设计方法,并针对具体结构控制系统的工作性能,探讨了结构设计中关键参数：主体结构的地震力折减系数和薄弱层层间位移相对控制率的确定方法,最后通过实例分析验证了该方法的可行性。     

Earthquake response of asymmetric building with MR damper

Plan asymmetric buildings are very susceptible to earthquake induced damage due to lateral torsional coupling, and the corners of these systems suffer heavy damage during earthquakes. Therefore, it is important to investigate the seismic behavior of an asymmetric plan building with MR dampers. In this study, the effectiveness of MR damper-based control systems has been investigated for seismic hazard mitigation of a plan asymmetric building. Furthermore, the infl uence of the building parameters and damper command voltage on the control performance is examined through parametric study. The building parameters chosen are eccentricity ratio and frequency ratio. The results show that the MR damper-based control systems are effective for plan asymmetric systems.     

巨-子结构智能隔震体系抗震性能研究

针对巨-子结构隔震体系,在隔震层处或子结构顶部与主结构连接处,施加SMA-压电智能复合阻尼器,从而形成巨-子结构智能隔震体系。本文通过限界Hrovat最优控制算法设计了巨-子结构智能隔震体系的半主动控制器,在此基础上,对巨-子结构智能隔震体系进行了Simulink控制效果仿真分析,同时比较了控制装置安装位置的不同对结构控制效果的影响,并与普通隔震结构的减震效果进行了对比。研究结果表明,智能隔震控制1（隔震层加控制装置）和智能隔震控制2（子结构顶部加控制装置）2种控制方案在控制结构的位移方面效果相差不大。总体而言,智能隔震控制2对于控制子结构单元顶部的绝对加速度效果更为显著,但是相对于普通隔震而言,特别是在控制隔震层位移方面2种方案都具有较好的控制效果。实施智能控制可以有效改善巨-子结构被动控制体系的抗震性能,并能降低隔震结构在遭受强震时由于隔震层出现过大位移导致结构倾覆的危险。     

多维地震作用下偏心结构的磁流变阻尼器半主动控制

理论研究与震害经验表明,地震时结构会产生不可忽略的平动与扭转耦合的空间振动。本文提出了基于线性最优控制理论的部分状态反馈次优控制策略和基于遗传算法的控制策略,以Marlab和Simulink为平台,采用磁流变阻尼器对双向水平地震作用下的偏心结构平．扭耦联反应进行半主动控制。对-6层双向偏心框架结构进行控制效果仿真分析的结果证明,本文提出的2种控制策略是有效的。     

Experimental test of asymmetrical cable-stayed bridges using MR-damper for vibration control

In this paper, a semi-active control by MR-damper is researched; its purpose is to effectively control vibration of asymmetrical cable-stayed bridges when earthquake is loaded on the type of bridge. For an experimental study, a model of 10.2 m high and 28 m long asymmetrical cable-stayed bridge structure was built being similar to a real one in size and function. A MR damper was also designed in proper size suitable for the control of the model. The experiment was performed in the way in which three piers were fixed on three shaking tables with 30% of El-centro earthquake wave, and a control device was placed on the lower part of its upper deck for horizontal control. As for control algorithms, Lyapunov and Clipped-optimal control algorithms were applied. The effectiveness of the semi-active control with MR damper for the asymmetrical cable-stayed bridge was measured under five control conditions: Un-control, Passive-off, Passive-on, Lyapunov Control, Clipped-optimal Control. The experiment showed that the semi-active control applying Lyapunov and Clipped-optimal algorithms effectively increased controllability almost in double, and decreased displacement 75% compared with the condition of passive-off. Therefore the semi-active method suggested in this paper is proven effective in controlling asymmetrical cable-stayed bridges.     

An experimental study on using MR damper to mitigate longitudinal seismic response of a suspension bridge

In this paper, the seismic response reduction performance of magnetorheological (MR) damper is experimentally investigated for a suspension bridge. First, the force–displacement and force–velocity curves under a range of excitation frequencies, amplitudes and currents are obtained by mechanical behavior test of the RD1097 type MR damper. Then a new non-linear hysteretic model is proposed to model the mechanical behavior of the MR damper and the model parameters are identified from test data. An experimental method, as well as a set of testing setups with the MR damper for longitudinal seismic response reduction of a SDOF generalized system representing the fundamental longitudinal mode of suspension bridge, is developed. Finally, the seismic response reduction experiment subject to three kinds of earthquake excitations, including the Pingsheng Bridge earthquake wave, the El-Centro wave and the Taft wave, is carried out, and nine control cases, including uncontrolled, six passive control schemes with different input currents and two semi-active Bang–Bang control schemes, are tested. The results verify that the seismic response reduction experimental method is feasible and the good performance of seismic longitudinal response reduction of the suspension bridge can be achieved by MR damper. It is also shown that the passive control with optimum input current outperforms the semi-active Bang–Bang controls.     

神经网络半主动TLCD对偏心结构的减震控制

本文采用在结构水平双向设置TLCD半主动控制装置的方法，对偏心结构在多维地震作用下的振动控制问题进行研究。首先利用多层前向神经网络，对偏心结构在双向地震输入下的两个平动方向的反应进行预测，然后在建立起半主动控制策略的基础上，利用神经网络根据控制准则调整TLCD的开孔率，实现以结构的半主动控制，数值结构表明，这种方法能对结构的平动反应和扭转反应都能起到的较好的减震效果。     

带裙房高层建筑地震反应控制振动台试验研究

2002年9月在香港理工大学成功地进行了带裙房高层建筑地震反应控制试验研究。设计和制作的结构模型是带3层裙房的12层高楼剪切模型,在裙房顶层与主楼之间安装单MR阻尼器形成MR阻尼器耦联结构模型。MR阻尼器采用美国LORD公司摩擦型MR阻尼器,并且选用其配套产品计算机电流控制器对其进行控制,控制系统采用德国dSPACE公司实时控制系统。对独立主楼、独立裙房和原结构模型的动力特性进行了辨识;对结构模型进行了El Centro地震动作用下的地震反应振动台试验;以作者提出的MR阻尼器半主动逻辑控制算法,对MR阻尼器耦联的结构模型进行了地震反应振动台试验。试验结果表明：用MR阻尼器耦联主楼与裙房,采用半主动逻辑控制方法进行控制,能有效抑制主楼的鞭梢效应并使主楼和裙房的地震反应减小。     

Semi‐active neuro‐control for base‐isolation system using magnetorheological (MR) dampers

Vibration mitigation using smart, reliable and cost‐effective mechanisms that requires small activation power is the primary objective of this paper. A semi‐active controller‐based neural network for base‐isolation structure equipped with a magnetorheological (MR) damper is presented and evaluated. An inverse neural network model (INV‐MR) is constructed to replicate the inverse dynamics of the MR damper. Next, linear quadratic Gaussian (LQG) controller is designed to produce the optimal control force. Thereafter, the LQG controller and the INV‐MR models are linked to control the structure. The coupled LQG and INV‐MR system was used to train a semi‐active neuro‐controller, designated as SA‐NC, which produces the necessary control voltage that actuates the MR damper. To evaluate the proposed method, the SA‐NC is compared to passive lead–rubber bearing isolation systems (LRBs). Results revealed that the SA‐NC was quite effective in seismic response reduction for wide range of motions from moderate to severe seismic events compared to the passive systems. In addition, the semi‐active MR damper enjoys many desirable features, such as its inherent stability, practicality and small power requirements. The effectiveness of the SA‐NC is illustrated and verified using simulated response of a six‐degree‐of‐freedom model of a base‐isolated building excited by several historical earthquake records. Copyright © 2006 John Wiley & Sons, Ltd.     

地震作用下参数不确定系统的变结构控制

本文对结构参数具有有确定性的变结构控制系统设计方法进行了研究。首先采用摄动方法给出了结构参数具有确定性的控制系统的运动方程,证明了基于层间剪切模型的参数不确定受控系统与其标称系统具有相同的滑动模态,从而解决了系统切换函数的确定问题,并利用到达条件推导了控制律的表示式。算例分析结果表明,本文的控制方法能有效地减小结构的地震响应,对于结构系统建模存在误差或系统本身存在学确定性的情况,控制效果仍十分显著