Discrete‐time variable structure control method for seismic‐excited building structures with time delay in control

The discrete‐time variable structure control method for seismically excited linear structures with time delay in control is investigated in this paper. The control system with time delay is first discretized and transformed into standard discrete form which contains no time delay in terms of the time delay being integer and non‐integer times of sampling period, respectively. Then the discrete switching surface is determined using ideal quasi‐sliding mode and discrete controller is designed using the discrete approach‐law reaching condition. The deduced controller and switching surface contain not only the current step of state feedback but also linear combination of some former steps of controls. Numerical simulations are illustrated to verify the feasibility and robustness of the proposed control method. Since time‐delay effect is incorporated in the mathematical model for the structural control system throughout the derivation of the proposed algorithm, system performance and dynamic stability are guaranteed. Copyright © 2002 John Wiley & Sons, Ltd.     

突发地震灾害中无人驾驶救援车伺服控制系统研究

针对当前采用PID控制器控制无人驾驶救援车伺服系统时存在的轨迹跟踪精度不高,误差控制性能较差,灵活性、平稳性和安全性能不佳等问题,提出并设计基于BP神经网络整定PID控制器的无人驾驶救援车伺服控制系统,建立突发地震灾害中无人驾驶救援车伺服控制系统驱动模型,并以此模型作为被控对象;根据系统期望输出值与实际输出值构成的控制偏差获得PID控制规律,并通过调节PID控制器控制参数实现系统控制,在此基础上,采用BP神经网络通过对无人驾驶救援车伺服控制系统性能的学习,构建基于BP神经网络整定的PID控制器,并采用梯度下降法修正控制器加权系数,通过在线调整BP神经网络加权系数即可实现控制器的自适应调整,控制突发地震灾害中无人驾驶救援车实施救援。实验结果表明,设计的基于BP神经网络整定PID控制器的无人驾驶救援车伺服系统可有效提高轨迹跟踪精度,具有较好的灵活性,且能够保证驾驶员的安全和车辆平稳行驶。     

Smart base isolated buildings with variable friction systems: H∞ controller and SAIVF device

A new control algorithm is developed for reducing the response of smart base isolated buildings with variable friction semiactive control systems in near‐fault earthquakes. The central idea of the control algorithm is to design a H_∞ controller for the structural system and use this controller to determine the optimum control force in the semiactive device. The H_∞ controller is designed using appropriate input and output weighting filters that have been developed for optimal performance in reducing near‐fault earthquake responses. A novel semiactive variable friction device is also developed and with the H_∞ controller shown to be effective in achieving response reductions in smart base isolated buildings in near‐fault earthquakes. The new variable friction device developed consists of four friction elements and four restoring spring elements arranged in a rhombus configuration with each arm consisting of a friction–stiffness pair. The level of friction force can be adjusted by varying the angle of the arms of the device leading to smooth variation of friction force in the device. Experimental results are presented to verify the proposed analytical model of the device. The H_∞ algorithm is implemented analytically on a five storey smart base isolated building with linear elastomeric isolation bearings and variable friction system located at the isolation level. The H_∞ controller along with the weighting filters leads to the smooth variation of friction force, thus eliminating the disadvantages associated with rapid switching. Several recent near‐fault earthquakes are considered in this study. The robustness of the H_∞ controller is shown by considering a stiffness uncertainty of ±10%. Copyright © 2006 John Wiley & Sons, Ltd.     

Development of high‐performance shake tables using the hierarchical control strategy and nonlinear control techniques

Conventional shake tables employ linear controllers such as proportional‐integral‐derivative or loop shaping to regulate the movement. However, it is difficult to tune a linear controller to achieve accurate and robust tracking of different reference signals under payloads. The challenges are mainly due to the nonlinearity in hydraulic actuator dynamics and specimen behavior. Moreover, tracking a high‐frequency reference signal using a linear controller tends to cause actuator saturation and instability. In this paper, a hierarchical control strategy is proposed to develop a high‐performance shake table. A unidirectional shake table is constructed at the University of British Columbia to implement and evaluate the proposed control framework, which consists of a high‐level controller and one or multiple low‐level controller(s). The high‐level controller utilizes the sliding mode control (SMC) technique to provide robustness to compensate for model nonlinearity and uncertainties experienced in experimental tests. The performance of the proposed controller is compared with a state‐of‐the‐art loop‐shaping displacement‐based controller. The experimental results show that the proposed hierarchical shake table control system with SMC can provide superior displacement, velocity and acceleration tracking performance and improved robustness against modeling uncertainty and nonlinearities. Copyright © 2015 John Wiley & Sons, Ltd.     

An off-and-towards-equilibrium strategy for vibrational control of structures

Traditional control strategies have difficulty handling nonlinear behavior of structures, time variable features and parameter uncertainties of structural control systems under seismic excitation. An off-and-towardsequilibrium （OTE） strategy combined with fuzzy control is presented in this paper to overcome these difficulties. According to the OTE strategy, the control force is designed from the viewpoint of a mechanical relationship between the motions of the structure, the exciting force and the control force. The advantage of the OTE strategy is that it can be used for a variety of control systems. In order to evaluate the performance of the proposed strategy, the seismic performance of a three-story shear building with an Active Tendon System （ATS） using a Fuzzy Logic Controller （FLC） is studied. The main advantage of the fuzzy controller is its inherent robustness and ability to handle any nonlinear behavior of structures. However, there are no design guidelines to set up the corresponding control rule table for a FLC. Based on the proposed strategy for the FLC, a control rule table associated with the building under study is developed, which then allows formation of a detailed algorithm. The results obtained in this study show that the proposed strategy performs slightly better than the linear quadratic regulator （LQR） strategy, while possessing several advantages over the LQR controller. Consequently, the feasibility and validity of the proposed strategy are verified.     

Testing of dynamically substructured,base‐isolated systems using adaptive control techniques

Experimental techniques for testing dynamically substructured systems are currently receiving attention in a wide range of structural, aerospace and automotive engineering environments. Dynamic substructuring enables full‐size, critical components to be physically tested within a laboratory (as physical substructures), while the remaining parts are simulated in real‐time (as numerical substructures). High quality control is required to achieve synchronization of variables at the substructuring interfaces and to compensate for additional actuator system(s) dynamics, nonlinearities, uncertainties and time‐varying parameters within the physical substructures. This paper presents the substructuring approach and associated controller designs for performance testing of an aseismic, base‐isolation system, which is comprised of roller‐pendulum isolators and controllable, nonlinear magnetorheological dampers. Roller‐pendulum isolators are typically mounted between the protected structure and its foundation and have a fundamental period of oscillation far‐removed from the predominant periods of any earthquake. Such semi‐active damper systems can ensure safety and performance requirements, whereas the implementation of purely active systems can be problematic in this respect. A linear inverse dynamics compensation and an adaptive controller are tailored for the resulting nonlinear synchronization problem. Implementation results favourably compare the effectiveness of the adaptive substructuring method against a conventional shaking‐table technique. A 1.32% error resulted compared with the shaking‐table response. Ultimately, the accuracy of the substructuring method compared with the response of the shaking‐table is dependent upon the fidelity of the numerical substructure. Copyright © 2009 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     

Sliding mode fuzzy control: Theory and verification on a benchmark structure

A sliding mode fuzzy control (SMFC) algorithm is presented for vibration reduction of large structures. The rule base of the fuzzy inference engine is constructed based on the sliding mode control, which is one of the non‐linear control algorithms. In general, fuzziness of the controller makes the control system robust against the uncertainties in the system parameters and the input excitation, and the non‐linearity of the control rule makes the controller more effective than linear controllers. For verification of the present algorithm, a numerical study is carried out on the benchmark problem initiated by the ASCE Committee on Structural Control. To achieve a high level of realism, various aspects are considered such as actuator–structure interaction, sensor noise, actuator time delay, precision of the A/D and D/A converters, magnitude of control force, and order of control model. Performance of the SMFC is examined in comparison with those of other control algorithms such as H_{mixed 2/∞}, optimal polynomial control, neural networks control, and SMC, which were reported by other researchers. The results indicate that the present SMFC is efficient and attractive, since the vibration responses of the structure can be reduced very effectively and the design procedure is simple and convenient. Copyright © 2000 John Wiley & Sons, Ltd.     

装配式混凝土框架结构体系的抗震承载力测试研究

为了提高装配式混凝土框架结构体系的抗震承载力,需要对承载力进行量化测试,提出一种基于弹性模量载荷应力线性评估的装配式混凝土框架结构体系的抗震承载力测试方法。构建装配式混凝土框架结构体系的抗震承载力测试的约束参量模型,结合受力参量估计方法进行应力屈服响应评估,测试装配式混凝土框架结构体系的抗震动态承载力,采用屈服应力推服响应控制方法进行装配式混凝土框架结构体系的抗震承载力的自动加载和自适应控制,测试式混凝土框架结构体系的抗震承载力和抗拉能力,实现混凝土框架结构体系的抗震承载力参数的优化估计。测试结果表明,采用该方法进行装配式混凝土框架结构体系的抗震承载力测试的准确性较高,提高了建筑体的抗震力。     

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.     

多结构混合控制体系研究

本文提出了多结构混合控制体系的概念及其相应的混合控制装置－常阻尼变刚度控制装置,阐明了其控制原理,建立了两结构混合控制体系的状态方程,其于瞬时最优控制的概念,提出了多结构混合控制体系的控制律,某两结构混合控制体系的仿真分析表明,多结构混合控制体系的概念是正确的,相应的混合控制装置是有效的。     

多结构联系体系的高效阻尼控制及其仿真分析

本文提出了一种用于多结构体系的,具有位移放大功能的高效被动阻尼控制装置,分析了该装置的工作原理,建立了基于这种装置的多结构被阻尼控制体系的运动方程,并对该装置的控制效果进行了仿真计算和分析,结果表明,该控制装置能充分利用体系中各了结构之间的相互作用,可以取得十分明显的减震控制效果。     

基于特征结构配置的结构鲁棒控制算法及仿真

本文提出了结构系统的鲁棒主动控制算法，其目的是求取状态反馈控制律，在闭环系统具有希望特征值前提下，使得闭环系统特征值关于参数摄动具有最小的灵敏度。基于状态反馈特征结构配置参数化方法和矩阵特征值灵敏度分析理论，该问题转化为含有约束条件的优化问题，并给出了求解该鲁棒控制问题的算法。该方法给出了特征值灵敏度函数的参数化表示，且直接基于结构系统矩阵，故便于工程应用。三自由度层间剪切型结构地震作用下的仿真分析，表明所提方法的有效性。     

Decentralized robust control of building structures under seismic excitations

Many of the control algorithms proposed for structures subjected to seismic excitations are based on a centralized design philosophy, such as the linear quadratic regulator (LQR) design. The information of all the states of the system is usually required in these methods to determine the control command. For applications involving large‐scale systems, it may be more convenient to design decentralized controllers that depend only on the information of the local states for control command calculation. In this study, a nonlinear decentralized robust control algorithm is proposed. The structural system is decomposed into several artificially uncoupled subsystems. The interconnections between adjacent subsystems are treated as uncertain but bounded disturbances to the subsystems. The controller associated with one subsystem determines the control command based only on the states of the local subsystem. Numerical examples of linear and nonlinear structural models are presented to demonstrate the effectiveness and robustness of the proposed controller. The traditional LQR design is used as a baseline for comparison. Copyright © 2007 John Wiley & Sons, Ltd.     

Robust Regulation of Alkalinity in Highly Uncertain Continuous Anaerobic Digestion Processes

In this paper, a multiple‐input multiple‐output (MIMO) model‐based robust control scheme is proposed for the indirect control of both total alkalinity and the ratio (intermediate alkalinity)/(total alkalinity) by regulating volatile fatty acid concentrations and strong ions concentration, while guaranteeing the so‐called operational stability in anaerobic digestion (AD) processes. The proposed MIMO regulator is an adaptive controller derived from an AD model which incorporates the physicochemical equilibrium of the system as well as the use of a robust interval observer to estimate key process bounds that are used in the computation of the control efforts. Numerical simulations were carried out for a number of operating conditions under the most uncertain scenarios. Results showed that the proposed multivariable control law is able to recover the system stability around a pre‐determined set point in the face of parameter uncertainty and load disturbances.     

初始误差和参数误差对混沌系统可预报性影响的比较

利用非线性误差增长理论,以Lorenz系统为例比较研究了初始误差和参数误差对混沌系统可预报性的影响．结果表明：在初始误差和参数误差单独存在时,系统的可预报期限随误差大小的变化规律基本上相同;对于相同的误差大小,初始误差和参数误差对系统可预报期限的影响几乎相同,这一结果基本上不随参数范围的变化而变化．当初始误差和参数误差同时存在时,两者对可预报期限影响所起的作用大小主要取决于初始误差和参数误差的相对大小．当初始误差远大于参数误差时,Lorenz系统的可预报期限主要由初始误差决定,可以不用考虑参数误差对预报模式可预报性的影响;反之,当参数误差远大于初始误差时,Lorenz系统的可预报期限主要由参数误差决定;当初始误差和参数误差大小相当时,两者都对系统的可预报期限起重要作用．在后两种情况下,在考虑初始误差对可预报性影响的同时还必须考虑参数误差的作用．这提醒我们在作实际数值天气预报的时候,不仅要重视初值的确定,也要重视数值模式控制参数的确定．     

Seismic control of smart base isolated buildings with new semiactive variable damper

A new semiactive independently variable damper, SAIVD, is developed and shown to be effective in achieving response reductions in smart base isolated buildings in near fault earthquakes. The semiactive device consists of four linear visco‐elastic elements, commonly known as Kelvin–Voigt elements, arranged in a rhombus configuration. The magnitude of force in the semiactive device can be adjusted smoothly in real‐time by varying the angle of the visco‐elastic elements of the device or the aspect ratio of the rhombus configuration. Such a device is essentially linear, simple to construct, and does not present the difficulties commonly associated with modelling and analysing nonlinear devices (e.g. friction devices). The smooth semiactive force variation eliminates the disadvantages associated with rapid switching devices. Experimental results are presented to verify the proposed analytical model of the device. A H_∞ control algorithm is implemented in order to reduce the response of base isolated buildings with variable damping semiactive control systems in near fault earthquakes. The central idea of the control algorithm is to design a H_∞ controller for the structural system that serves as an aid in the determination of the optimum control force in the semiactive device. The relative performance of the SAIVD device is compared to a variable friction device, recently developed by the authors in a separate study, and several key aspects of performance are discussed regarding the use of the two devices for reducing the responses of smart base isolated buildings in near fault earthquakes. Copyright © 2006 John Wiley & Sons, Ltd.     

The influence of a coastal headland on oceanic boundary currents

Abstract

The steady state circulation of a constant barotropic current around a coastal headland, bay, or combination of the two, located on a flat bottom, mid-latitude β-plane is considered. The maximum displacement of the coastal features from the mean straight coastline is assumed to be small compared to the longshore variation of the coastline. Under this slowly varying coastline approximation, a linearised vorticity equation is derived for the perturbation stream function. An analytical solution for the perturbation stream function is obtained using a Green's function technique. For a specified coastline the effects of coastal orientation, linear friction and the strength of the mean flow are investigated. The model predicts that the flow field will adopt the pattern of the coastline. The question of whether a coastal feature is likely to induce linear flow dynamics within the coastal boundary layer is also addressed. In the case when a single Gaussian headland or bay violates the slowly varying longshore condition the model predicts that flow stagnation will not occur. However for multiple headlands and bays, flow stagnation is possible when the slowly varying longshore condition is sufficiently violated.

Cape Mendocino and Point Conception along the California coast can be modelled using either a single Gaussian headland coastline or a multiple headland and bay coastline. In either case the model coastline does not vary slowly alongshore and nonlinear flow in the coastal region is likely. A permanent eddy to the south of Point Conception is likely to testify to the non-linear flow regime induced by the headland.     

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.     

屋盖MR智能隔震系统对升船结构顶部厂房地震鞭梢效应的模糊控制

基于抑制升船结构顶部厂房地震鞭梢效应的目的，本文提出了升船结构顶部厂房屋盖MR智能隔震模糊控制的思想。文中，在建立屋盖智能隔震升船结构计算力学模型的基础上，建立了屋盖MR智能隔震系统对升船结构顶部厂房地震反应模糊控制的设计计算方法。文中并以中国某大坝巨型升船结构为背景，设计了屋盖MR智能隔震系统对升船结构顶部厂房地震反应模糊控制的控制系统。仿真分析和对MR阻尼器的参数研究表明，安装合适的屋盖MR智能隔震系统并采用模糊控制策略能有效地抑制具有不确定参数升船结构顶部厂房地震反应的鞭梢效应，且模糊控制器能保持较好的稳定性能。