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.     

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     

基础隔震建筑混合控制的变结构趋近律方法

本文对叠层胶支座基础震建筑的混合振动控制问题进行了研究。利用控制律设计的变结构趋近律方法,给出了相应的闭环控制律表示式。     

Effective location of active control devices for building vibrations caused by periodic excitation acting on intermediate storey

In order to investigate ways of reducing vibrations of building structures subjected to excitation acting on intermediate storey, active vibration controls are conducted with active control devices installed on different floors of the structure, and the effective location of control devices is also investigated. In this paper, we propose a new ‘Discrete‐Optimizing Control Method’ for vibration control. The control forces are determined analytically which makes the ‘discrete‐index function’ minimum. Through numerical simulation, the Discrete‐Optimizing Control Method is proved to be an effective control method. The response reduction effects are best when the control devices are concentrated on the adjacent three floors of the vibration source. Copyright © 2000 John Wiley & Sons, Ltd.     

结构可变阻尼半主动控制

本文阐述了结构半主动控制的概念，并介绍了国内外有关结构半主动控制的研究状态，阐述了几种有关结构半主动控制的算法，包括基于经典最优控制的控制律及算法，基于变结构系统理论的滑动模太控制算法和非线性奇次系统的ｂａｎｇ－ｂａｎｇ控制算法。重点阐述了变结构系统理论和滑移面的确定及控制律的设计。     

Sub‐optimal control of structures

It is well known that the classical optimal control method requires all the state variables of the controlled system to be measurable and available for control feedback. However, for a high‐order or complex system some state variables are possibly unmeasurable in practice. In addition, the control cost will be higher if more sensors are used, because it is expensive to install sensors. On the other hand, when using the optimal control method with full‐state feedback, some state variables in control feedback have only a small effect on control performance. Neglecting these state variables does not affect the control performance greatly. Good control effectiveness can be obtained by using only the state variables that have a big effect on the control performance. So the questions become how to determine those state variables which have a big effect on the control performance? and how to design the optimal controller using only the determined state variables? The discrete sub‐optimal control method with partial‐state feedback is investigated in this paper. Firstly, the continuous control system and performance index are both transformed into discrete forms. Then the state variables, which have a big effect on the control performance, are determined using the second‐order sensitivity which is the second‐order derivative of the performance index with respect to control gain. The sub‐optimal controller is finally designed using only the determined state variables. Numerical examples are worked out to demonstrate the application of the proposed control algorithm. It is shown that the relative importance of each state variable can be indicated clearly by the second‐order sensitivity. The sub‐optimal control method presented is effective in reducing maximum responses of the structure. Copyright © 2003 John Wiley & Sons, Ltd.     

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.     

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．     

An active mass damper designed using ARX models of a building structure

This study proposes a new design method for an active mass damper (AMD) that is based on auto‐regressive exogenous models of a building structure. The proposed method uses the results of system identification in the field of active structural control. The uncontrolled structure is identified as auto‐regressive exogenous models via measurements under earthquake excitation and forced vibration. These models are linked with an equation of motion for the AMD to introduce a state equation and output equation for the AMD–structure interaction system in the discrete‐time space; the equations apply modern control theories to the AMD design. In the numerical applications of a 10‐degree‐of‐freedom building structure, linear quadratic regulator control is used to understand the fundamental characteristics of the proposed design procedure. The feedback control law requires the AMD's acceleration, velocity and stroke; the structure's acceleration; and the ground acceleration as vibration measurements. The numerical examples confirm the high applicability and control effectiveness of the proposed method. One remarkable advantage of the proposed method is that an equation of motion for the structure becomes unnecessary for designing controllers. Copyright © 2016 John Wiley & Sons, Ltd.     

Decentralized ℋ︁∞ controller design for large‐scale civil structures

Complexities inherent to large‐scale modern civil structures pose many challenges in the design of feedback structural control systems for dynamic response mitigation. With the emergence of low‐cost sensors and control devices creating technologies from which large‐scale structural control systems can deploy, a future control system may contain hundreds, or even thousands, of such devices. Key issues in such large‐scale structural control systems include reduced system reliability, increasing communication requirements, and longer latencies in the feedback loop. To effectively address these issues, decentralized control strategies provide promising solutions that allow control systems to operate at high nodal counts. This paper examines the feasibility of designing a decentralized controller that minimizes the ??_∞ norm of the closed‐loop system. ??_∞ control is a natural choice for decentralization because imposition of decentralized architectures is easy to achieve when posing the controller design using linear matrix inequalities. Decentralized control solutions are investigated for both continuous‐time and discrete‐time ??_∞ formulations. Numerical simulation results using a 3‐story and a 20‐story structure illustrate the feasibility of the different decentralized control strategies. The results also demonstrate that when realistic semi‐active control devices are used in combination with the decentralized ??_∞ control solution, better performance can be gained over the passive control cases. It is shown that decentralized control strategies may provide equivalent or better control performance, given that their centralized counterparts could suffer from longer sampling periods due to communication and computation constraints. Copyright © 2008 John Wiley & Sons, Ltd.     

Sliding mode control of buildings with base‐isolation hybrid protective system

This paper investigates the application of the sliding mode control (SMC) strategies for reducing the dynamic responses of the building structures with base‐isolation hybrid protective system. It focuses on the use of reaching law method, a most attractive controller design approach of the SMC theory, for the development of control algorithms. By using the constant plus proportional rate reaching law and the power rate reaching law, two kinds of hybrid control methods are presented. The compound equation of motion of the base‐isolation hybrid building structures, which is suitable for numerical analysis, has been constructed. The simulation results are obtained for an eight‐storey shear building equipped with base‐isolation hybrid protective system under seismic excitations. It is observed that both the constant plus proportional rate reaching law and the power rate reaching law hybrid control method presented in this paper are quite effective. Copyright © 2000 John Wiley & Sons, Ltd.     

Optimization of structural control via a smart NEURO‐FBG control system

This study improves a NEURO‐FBG active control system to mature the concept of a smart structure. Originally, a system similar to the human brain is created from FBG sensors and neural networks. The system comprises three parts, namely, a structural condition surveillance system, a NEURO‐FBG converter, and a NEURO‐FBG controller. To solve the inherent time‐consuming and reliability problem of the NEURO‐FBG converter, a new technology is first proposed, and the relationship between inter‐story drift and strain data is established. Global indices such as displacement and velocity of the structure are then reconstructed for searching the optimal control force of the actuator. Meanwhile, the soundness of a building with hydraulic actuators is also an important issue to be solved. To make the building sound, the characteristics of earthquakes are considered for enhancing the performance of the NEURO‐FBG controller. Theoretical analysis shows satisfactory improvement to the control efficiency of both displacement and acceleration. To verify the enhanced system, a series of shaking table tests was conducted. Experimental results demonstrated that the new NEURO‐FBG system can effectively manage the structure; and the controller, taking into consideration the ground acceleration effect, is more reliable and robust for practical application than a conventional controller. Copyright © 2007 John Wiley & Sons, Ltd.     

Experimental study of the semi‐active control of building structures using the shaking table

A magnetorheological (MR) damper has been manufactured and tested and a non‐linear model is discussed. The parameters for the model are identified from an identification set of experimental data; these parameters are then used to reconstruct the force vs. displacement and the force vs. velocity hysteresis cycles of the MR damper for the hysteretic model. Then experiments are conducted on a three‐storey frame model using impact excitation, which identifies dynamic parameters of the model equipped with and without the MR damper. Natural frequencies, damping ratios and mode shapes, as well as structural properties, such as the mass, stiffness and damping matrices, are obtained. A semi‐active control method such as a variable structure controller is studied. Based on the ‘reaching law’ method, a feedback controller is presented. In order to evaluate the efficiency of the control system and the effect of earthquake ground motions, both numerical analysis and shaking table tests of the model, with and without the MR damper, have been carried out under three different ground motions: El Centro 1940, Taft 1952, and Ninghe 1976 (Tangshan Earthquake in Chinese). It is found from both the numerical analysis and the shaking table tests that the maximum accelerations and relative displacements for all floors are significantly reduced with the MR damper. A reasonable agreement between the results obtained from the numerical analysis and those from the shaking table tests is also observed. On the other hand, tests conducted at different earthquake excitations and various excitation levels demonstrate the ability of the MR damper to surpass the performance of a comparable passive system in a variety of situations. Copyright © 2003 John Wiley & Sons, Ltd.     

Unsupervised fuzzy neural network structural active pulse controller

Applying active control systems to civil engineering structures subjected to dynamic loading has received increasing interest. This study proposes an active pulse control model, termed unsupervised fuzzy neural network structural active pulse controller (UFN‐SAP controller), for controlling civil engineering structures under dynamic loading. The proposed controller combines an unsupervised neural network classification (UNC) model, an unsupervised fuzzy neural network (UFN) reasoning model, and an active pulse control strategy. The UFN‐SAP controller minimizes structural cumulative responses during earthquakes by applying active pulse control forces determined via the UFN model based on the clusters, classified through the UNC model, with their corresponding control forces. Herein, we assume that the effect of the pulses on structure is delayed until just before the next sampling time so that the control force can be calculated in time, and applied. The UFN‐SAP controller also averts the difficulty of obtaining system parameters for a real structure for the algorithm to allow active structural control. Illustrative examples reveal significant reductions in cumulative structural responses, proving the feasibility of applying the adaptive unsupervised neural network with the fuzzy classification approach to control civil engineering structures under dynamic loading. Copyright © 2001 John Wiley & Sons, Ltd.     

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。     

Experimental study of identification and control of structures using neural network. Part 2: control

Experimental verifications of a recently developed active structural control method using neural networks are presented in this paper. The experiments were performed on the earthquake simulator at the University of Illinois at Urbana—Champaign. The test specimen was a 1/4 scale model of a three-storey building. The control system consisted of a tendon/pulley system controlled by a single hydraulic actuator at the base. The control mechanism was implemented through four active pre-tensioned tendons connected to the hydraulic actuator at the first floor. The structure modelling and system identification has been presented in a companion paper. (Earthquake Engng. Struct. Dyn. 28 , 995–1018 (1999)). This paper presents the controller design and implementation. Three controllers were developed and designed: two neurocontrollers, one with a single sensor feedback and the other with three sensor feedback, and one optimal controller with acceleration feedback. The experimental design of the neurocontrollers is accomplished in three steps: system identification, multiple emulator neural networks training and finally the neurocontrollers training with the aid of multiple emulator neural networks. The effectiveness of both neurocontrollers are demonstrated from experimental results. The robustness and the relative stability are presented and discussed. The experimental results of the optimal controller performance is presented and assessed. Comparison between the optimal controller and neurocontrollers is presented and discussed. Copyright © 1999 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。     

Active interaction control of civil structures. Part 1: SDOF systems

This paper presents a family of semi‐active control algorithms termed as active interaction control (AIC) used for seismic response control of civil structures. AIC control algorithms include active interface damping (AID), optimal connection strategy (OCS) and tuned interaction damping (TID). A typical SDOF AIC system consists of a primary structure, an auxiliary structure and an interaction element. The auxiliary structure typically has stiffness comparable to that of the primary structure while its natural frequency is much higher than that of the primary structure. Interactions between the primary and the auxiliary structures are defined by specific AIC control logic such that vibrational energy is extracted from the primary structure into the auxiliary structure during a locking phase and dissipated in the auxiliary structure in the subsequent unlocking phase. The stability of AIC control algorithms is shown using the Lyapunov direct method. The efficacy of AIC control algorithms is demonstrated by the results of numerical simulations of SDOF systems subjected to seismic ground motions. Practical issues such as sampling period and time delay are also investigated in this study. Copyright © 2001 John Wiley & Sons, Ltd.     

Reliability‐based robust control for uncertain dynamical systems using feedback of incomplete noisy response measurements

A reliability‐based output feedback control methodology is presented for controlling the dynamic response of systems that are represented by linear state‐space models. The design criterion is based on a robust failure probability for the system. This criterion provides robustness for the controlled system by considering a probability distribution over a set of possible system models with a stochastic model of the excitation so that robust performance is expected. The control command signal can be calculated using incomplete response measurements at previous time steps without requiring state estimation. Examples of robust structural control using an active mass driver on a shear building model and on a benchmark structure are presented to illustrate the proposed method. Copyright © 2003 John Wiley & Sons, Ltd.     

Fuzzy sliding mode control for a building structure based on genetic algorithms

Based on the genetic algorithms (GAs), a fuzzy sliding mode control (FSMC) method for the building structure is designed in this research. When a fuzzy logic control method is used for a structural system, it is hard to get proper control rules directly, and to guarantee the stability and robustness of the fuzzy control system. Generally, the fuzzy controller combined with sliding mode control is applied, but there is still no criterion to reach an optimal design of the FSMC. In this paper, therefore, we design a fuzzy sliding mode controller for the building structure control system as an optimization problem and apply the optimal searching algorithms and GAs to find the optimal rules and membership functions of the FSMC. The proposed approach has the merit to determine the optimal structure and the inference rules of fuzzy sliding mode controller simultaneously. It is found that the building structure under the proposed control method could sustain in safety and stability when the system is subjected to external disturbances. Copyright © 2002 John Wiley & Sons, Ltd.