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。     

可控消能减震原理及结构分析

本文介绍一种新的减震结构体系及其分析方法。这种结构体系的减震系统由控制装置及耗能装置组成，控制装置根据结构反馈的相关信号，在回头点处启动耗能装置，耗散大量地震能量，属于半主动控制范畴。试验及理论分析表明，这种结构体系的减震效果良好，能够将结构的地震位移反应降低５０％以上。本文介绍了这种结构体系的减震工作原理、数学模型、理论分析方法及算例，并给出了相应的结论。     

地震作用下大跨度连续梁桥半主动变阻尼控制研究

利用半主动变阻尼控制装置开展连续梁桥结构在纵向地震波作用下的振动控制研究,通过建立桥梁结构-半主动变阻尼系统力学模型和运动微分方程,进行不同地震波激励下,连续梁桥关键部位在无控?半主动变阻尼控制和主动控制下的响应值分析计算,其中最优控制力采用LQR算法确定,半主动变阻尼控制采用限界Hrovat最优控制算法。计算结果表明:半主动变阻尼控制与主动控制的控制效果接近,两者均起到了良好的减震作用,而其中半主动变阻尼控制所需能量少?设施经济可靠,是一种良好的结构减震控制方法。     

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。     

H∞优化控制理论在半主动控制中的应用

着重研究了变阻尼半主动控制在降低结构振动响应中的控制效果，在确定可变阻尼的阻尼系数时采用了控制效果较好的H∞优化控制策略，并将这种控制策略与传统控制方法进行了比较，通过数值分析比较了被动控制、主动控、半主动控制情况下结构的最大相对位移与结构的最大绝对加速度响应。并通过分析得出如下结论：(1)在被动、主动、半主动控制方法中主动控制的控制效果最好；(2)对于刚性结构，增大结构的附加阻尼可以同时降低结构的最大相对位移和最大绝对加速度响应，应用被动控制能取得较为理想的控制效果，而半主动控制的控制效果是值得怀疑的，在应用时应慎重考虑；(3)对于柔性结构，增大附加阻尼在降低结构的最大相对位移响应的同时，却增加了结构最大绝对加速度响应，而采用半主动控制能够同时降低结构的最大相对位移和绝对加速度响应，半主动控制效果明显；(4)在柔性结构中采用半主动控制方法能取得与主动控制相近的效果；(5)由于H∞优化控制是对最坏情况下瞬时能量的优化控制，因此H∞半主动控制的控制效果要优于传统LQR控制。     

ER/MR智能阻尼器对空间网壳结构地震反应的半主动控制

本文提出了ER/MR智能阻尼器对空间网壳结构地震反应半主动控制的设计计算方法.文中,在推导了ER/MR智能阻尼器杆件有限单元模型的基础上,建立了设置ER/MR智能杆件的网壳结构地震反应的运动方程.应用本文提出的局域半主动控制策略,我们得到了ER/MR智能阻尼器对空间网壳结构地震反应半主动控制的计算方法.工程实例的计算结果表明:ER/MR智能杆件是一种不会失稳的控制装置,在结构上合理布置ER/MR智能杆件和合理选取ER/MR智能杆件的参数可获得较好的减震效果.     

简支梁桥减震半主动控制算法研究

总结了6种半主动控制算法,采用黏滞阻尼器,对一座三跨简支梁桥进行了不同地震动输入下的半主动控制地震反应计算分析,比较分析了不同地震动输入和半主动控制算法对简支梁桥地震反应控制效果的影响。结果表明,半主动控制能有效地减小桥梁结构的大部分地震反应,同时可能会放大另外部分地震反应,这与地震动输入密切相关,不同地震动输入下的控制效果各不相同。所提六种半主动控制算法中,算法2、5、6对该简支梁桥地震反应的减震效果相对最好,这与各种算法的阻尼器耗能大小有关。     

基于自供电磁流变阻尼器的隔震高架桥半主动控制

为解决结构振动控制的能量源问题,提出了一种新型自供电MR阻尼器智能减振系统。该系统由电磁调节式MR阻尼器、齿条齿轮加速器、永磁电机与控制器组成。基于广泛采用的隔震高架桥两自由度线性模型,定义了位移控制性能评价指标,引入了在汽车悬架系统设计中常用的Sky-hook控制策略,对隔震高架桥的减震性能进行了仿真分析。结果表明:通过优化设计的参数,自供电MR阻尼器的LQR-Clipped半主动控制与Skyhook控制都可以完全达到其相应的采用外部供电的MR阻尼器的控制效果,且接近理想的主动控制结果。     

基于AFSMC算法的结构非线性振动MR控制与仿真分析

作为最近发展起来的高性能半主动控制装置,磁流变阻尼器通过改变磁场强度来调节控制力,可靠度高,体积小,出力大,并且具有Fail-Safe的特点,是一种具有广泛应用前景的新型结构控制装置。本文主要研究结构非线性振动的磁流变阻尼半主动控制。首先采用我们提出的自适应模糊滑模控制(AFSMC)算法得到了结构非线性振动的主动控制力,然后参照主动控制力,提出和仿真实现了结构非线性振动的磁流变阻尼半主动控制。最后,针对3层和20层benchm ark非线性模型,每层均设置一个磁流变阻尼器,对在给定的地震动下的结构响应进行了计算,分析了半主动控制跟踪主动控制的效果,并且对于半主动控制下的结构位移响应、加速度响应等各项指标也进行了对比分析。仿真结果表明,由于自适应模糊滑模控制算法与半主动控制算法相结合可以很好地实现结构非线性振动的半主动控制,所以能够得到令人满意的控制结果。     

主动变刚度-阻尼系统预测最优控制的理论与试验研究

介绍了一种具有自主知识产权的新型开关控制型半主动控制系统——主动变刚度.阻尼(AVS.D)系统的减振控制机理,建立了AVS.D结构振动控制体系的运动方程。为了合理补偿AVS.D系统实时控制过程中不可避免地存在着的控制时滞,本文提出一种预测最优控制算法,推导了其开关控制律。为了检验AVS.D系统的减震控制效果及预测最优控制算法的有效性,我们设计研制出AVS.D装置,编制了AVS.D系统预测最优控制的实时控制软件,在某单层钢框架模型上进行了AVS.D系统的模拟地震振动台试验,比较了不同控制方式时的减震效果。研究结果表明,本文所提出的预测最优控制算法是非常有效的,可推广应用于所有开关控制型半主动控制系统。AVS.D系统具有反应放大功能,经济可靠、安全有效,可望有较好的工程应用前景。     

被动及半主动摩擦阻尼器对合肥翡翠电视塔地震反应的控制

摩擦阻尼器是一种构造简单的耗能减振装置,已应用于国内外多座新建建筑的抗震设计和已建建筑的抗震加固．半主动磨擦阻尼器则通过调整阻尼器的起滑力来改善被动摩擦阻尼器的耗能减振性能。本文研究了被动及半主动摩擦阻尼器对于高耸塔架结构地震反应的减振效果。为满足摩擦阻尼器对高耸塔架结构风振控制的特殊需要,本文建立了合肥电视塔的空间桁架有限元模型和串联多自由度体系模型,并在形成控制力变换矩阵和计算摩擦阻尼器两端的相对位移的过程中综合地运用了这两种力学模型。在半主动摩擦阻尼器的控制策略方面,本文提出了一种基于次优控制理论的半主动控制策略．本文研究表明,摩擦阻尼器可以抑制高耸塔架结构的地震反应．而半主动摩擦阻尼辞的耗能减振效果明显优于被动摩擦阻尼器．     

Seismic response control of a complex structure using multiple MR dampers： experimental investigation

This paper presents an experimental investigation on semi-active seismic response control of a multistory building with a podium structure using multiple magnetorheological (MR) dampers manipulated by a logic control algorithm. The experiments are performed in three phases on a seismic simulator with a slender 12-story building model representing a multi-story building and a relatively stiff 3-story building model typifying a podium structure. The first phase of the investigation is to assess control performance of using three MR dampers to link the 3-story building to the 12-story building, in which seismic responses of the controlled two buildings are compared with those of the two buildings without any connection and with rigid connection. The second phase is to investigate reliability of the semi-active control system and robustness of the logic control algorithm when 2 out of 3 MR dampers fail and when the electricity supply to MR dampers is completely stopped. The last phase is to examine sensitivity of semi-active control performance of two buildings to change in ground excitation. The experimental results show that multiple MR dampers with the logic control algorithm can achieve a significant reduction in seismic responses of both buildings. The proposed semi-active control system is of high reliability and good robustness.     

Research on semi-active control method of a building structure based on non-smooth control

This study investigates the effectiveness of the non-smooth semi-active control algorithm on suppressing the vibration performance of a building structure subjected to seismic waves. According to the Lyapunov stability theory, it has bene proven that the non-smooth semi-active control algorithm can achieve a finite-time stability of the vibration relative to the isolation layer of a building structure. Through numerical simulation of two buildings with different parameters subjected to the input of a seismic wave, the vibration conditions of passive control, LQR semi-active control and non-smooth semiactive control are compared and analyzed. The simulation results show that the non-smooth semi-active control algorithm has a better robustness and effectiveness in restraining the impact of earthquakes on the structure.     

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。     

Semi-active model predictive control for 3rd generation benchmark problem using smart dampers

A semi-active strategy for model predictive control (MPC), in which magneto-rheological dampers are used as an actuator, is presented for use in reducing the nonlinear seismic response of high-rise buildings. A multi-step predictive model is developed to estimate the seismic performance of high-rise buildings, taking into account of the effects of nonlinearity, time-variability, model mismatching, and disturbances and uncertainty of controlled system parameters by the predicted error feedback in the multi-step predictive model. Based on the predictive model, a Kalman-Bucy observer suitable for semi-active strategy is proposed to estimate the state vector from the acceleration and semi-active control force feedback. The main advantage of the proposed strategy is its inherent stability, simplicity, on-line real-time operation, and the ability to handle nonlinearity, uncertainty, and time-variability properties of structures. Numerical simulation of the nonlinear seismic responses of a controlled 20-story benchmark building is carried out, and the simulation results are compared to those of other control systems. The results show that the developed semi-active strategy can efficiently reduce the nonlinear seismic response of high-rise buildings.     

A comparative study of semi-active control strategies for base isolated buildings

A comparative analytical study of several control strategies for semi-active(SA) devices installed in baseisolated buildings aiming to reduce earthquake induced vibrations is presented.Three force tracking schemes comprising a linear controller plus a "clipped" algorithm and a nonlinear output feedback controller(NOFC) are considered to tackle this problem.Linear controllers include the integral controller(I),the linear quadratic regulator(LQR) and the model predictive controller(MPC).A single degree-of-freedom system subjected to input accelerograms representative of the Portuguese seismic actions are first used to validate and evaluate the feasibility of these strategies.The obtained results show that structural systems using SA devices can in general outperform those equipped with passive devices for lower fundamental frequency structural systems,namely base-isolated buildings.The effectiveness of the proposed strategies is also evaluated on a 10 storey base-isolated dual frame-wall building.The force tracking scheme with an integral controller outperforms the other three as well as the original structure and the structure equipped with passive devices.     

Actual seismic response controlled building with semi-active damper system

This paper presents the first application of a semi-active damper system to an actual building. The Semi-active Hydraulic Damper (SHD) can produce a maximum damping force of 1000 kN with an electric power of 70 W. It is compact, so a large number of them can be installed in a single building. It is thus possible to control the building's response during a severe earthquake, because a large control force is obtained in comparison with a conventional active control system. This paper outlines the building, the control system configuration, the SHD, the control method using a Linear Quadratic Regulator, the response analysis results of the controlled building, and the dynamic loading test results of the actual SHD. The simulation analysis shows that damage to buildings can be prevented in a severe earthquake by SHD control. The dynamic loading test results of the SHD are reported, which show that the specified design values were obtained in the basic characteristic test. The control performance test using simulated response time histories, also shows that the damping force agrees well with the command. Finally, it is confirmed that the semi-active damper system applied to an actual building effectively controls its response in severe earthquakes. Copyright © 1999 John Wiley & Sons Ltd.     

半主动控制装置在受控结构中的优化设置

本文对振动控制系统中控制装置的优化设置方法进行了研究,并将其应用于基于磁流变阻尼器的半主动控制系统中,通过计算实例分析得出了关于控制装置优化设置问题的一些有意义的结论。