非线性不确定性结构自适应模糊分散控制理论与试验研究
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摘要
近年来世界范围内大地震和特大地震频繁发生,给人类造成了严重的灾难。其中土木工程结构的地震破坏和倒塌是造成地震人员伤亡和经济损失的主要因素。因此,研究减轻土木工程结构地震响应、提高结构抗震能力的理论和方法具有重要的意义。大量的研究表明,结构振动控制是提高结构抗震性能的积极有效措施。国内外学者对结构线性地震反应的振动控制理论、方法、技术和控制系统进行了大量的研究,但对结构非线性振动控制的研究较少。震害表明,在大地震和特大地震作用下,即使安装了振动控制系统的结构也不可避免地进入非线性反应阶段,因此,发展结构非线性地震反应振动控制理论和方法对提高结构抗震性能具有重要的意义。
考虑大型土木工程结构具有结构复杂、自由度数目多、强滞变非线性、多相介质耦合的强非线性和强不确定性等特点,本文重点研究土木工程结构非线性分散振动控制算法,揭示受控结构累积损伤发展规律、能量分配规律和控制机理。主要研究内容如下：
首先,针对非线性结构中的关键部位或薄弱部位,提出自适应模糊分散控制算法,采用模糊逻辑系统处理控制子结构的非线性以及子系统间的连接,增加补偿控制器控制模糊逼近误差和结构的外干扰,通过Lyapunov稳定性理论设计自适应模糊分散控制算法的自适应律以及补偿控制器,证明提出的非线性分散控制策略的H-infinity性能以及整体结构的输入状态稳定性,并通过仿真分析验证结构非线性分散控制算法的有效性和鲁棒性。
其次,进行两层钢筋混凝土框架结构地震反应的自适应模糊分散半主动控制的振动台试验,验证自适应模糊分散半主动控制减小滞变非线性结构地震反应的效果及其鲁棒性,研究控制结构的累积损伤发展过程与规律,揭示控制结构的能量分布／分配特点与减震机理。
第三,进行土-结构耦合系统非线性地震反应的自适应模糊分散半主动控制的地震模拟振动台试验,验证自适应模糊分散控制算法对强非线性和强不确定结构系统的振动控制效果和鲁棒性,研究土-结构耦合系统的累积损伤发展规律和能量分布／分配规律,揭示土-结构耦合系统非线性振动控制的机理和特点。
最后,基于OpenSees次件开发结构非线性振动的自适应模糊分散控制程序,并通过与试验结果对比验证开发程序的正确性,进一步采用该程序研究结构和土-结构耦合系统地震非线性反应的控制特点。
In recent years, several sizeable earthquakes have caused severe loss of livesand significant economic cost. The heavy damage or collapse to civil structures hasbeen considered as one of the most important reason. Therefore, it is so necessaryto investigate the theory and method on preventing the heavy damage to civilstructures and improving the seismic performance. A Lot of researches to data haveindicated that structural control is an effective methodology in increasing safety andperformance against the seismic excitations. Plenty of researches focused on thecontrol theory, methodology, technique and system subjected to linear structureshave been conducted in the world. However, few literatures can be found about thenonlinear structural control. Due to the severity of earthquakes, the dynamicbehavior of civil structures will unavoidably be nonlinear or inelastic. Earthquakereconnaissance has indicated that even civil structures equipped with vibrationcontrol devices may enter the plastic domain. Hence, it is imperative andinformative to bring out the critical aspects with respect to investigate the theoryand methodology on the nonlinear structural control.
Due to the property of civil structures, such as structural complexity, highdimensionality, strong nonlinear hysteresis, multiphase coupling nonlinearity anduncertainty, this research effort studies the nonlinear decentralized control strategy,and reveals the principle of cumulative damage evolution, energy distribution andcontrol mechanism. The main research works are outlined as following:
First, a nonlinear robust control approach is proposed to address the vibrationcontrol problem of civil structures using the subsystem property, in view of theinfluence of the key parts or vulnerable parts in nonlinear structures on the seismicperformance. Fuzzy logic system is employed to treat the nonlinear problem anduncertainty. The auxiliary control compensation is employed to attenuate the fuzzyestimated errors and external excitations. The Lyapunov’s Direct Methods areemployed to design the adaptive law and auxiliary control compensation. The input-to-state stability of the entire system can be guaranteed by the proposed controlmethod. Furthermore, H-infinity performance is achieved through a subsystem with the proposed controller. Numerical examples are presented to demonstrate theeffectiveness and robustness of the proposed controller.
Second, shaking table tests of a reinforced concrete (RC) frame are performedto investigate the proposed decentralized adaptive fuzzy control algorithm. Theeffectiveness and robustness of the proposed controller in suppressing vibrations ofthe test structure with nonlinear hysteresis are demonstrated. The principle ofcumulative damage evolution is investigated for the controlled/uncontrolledstructure. The characteristic of energy distribution and damping mechanism arerevealed.
Third, shaking table tests of soil-structure system are performed to furtherinvestigate the proposed decentralized adaptive fuzzy control algorithm. Thereinforced concrete (RC) frame resting in a laminar soil container is employed asthe test specimen. The effectiveness and robustness of the proposed controller insuppressing vibrations of the soil-structure system with strong nonlinear hysteresisand uncertainty are demonstrated. The principle of cumulative damage evolutionand characteristic of energy distribution in soil-structure system are investigated.The characteristic and mechanism of nonlinear vibrations in soil-structure systemare revealed.
Finally, the proposed nonlinear robust controller is developed and integratedinto the OpenSees platform. The validity and feasibility of this programmer isconducted by comparing with the results in shaking table tests. The characteristicsof vibration control for the fixed-base model and soil-structure system are furtherinvestigated subjected to seismic excitations.
考虑大型土木工程结构具有结构复杂、自由度数目多、强滞变非线性、多相介质耦合的强非线性和强不确定性等特点,本文重点研究土木工程结构非线性分散振动控制算法,揭示受控结构累积损伤发展规律、能量分配规律和控制机理。主要研究内容如下：
首先,针对非线性结构中的关键部位或薄弱部位,提出自适应模糊分散控制算法,采用模糊逻辑系统处理控制子结构的非线性以及子系统间的连接,增加补偿控制器控制模糊逼近误差和结构的外干扰,通过Lyapunov稳定性理论设计自适应模糊分散控制算法的自适应律以及补偿控制器,证明提出的非线性分散控制策略的H-infinity性能以及整体结构的输入状态稳定性,并通过仿真分析验证结构非线性分散控制算法的有效性和鲁棒性。
其次,进行两层钢筋混凝土框架结构地震反应的自适应模糊分散半主动控制的振动台试验,验证自适应模糊分散半主动控制减小滞变非线性结构地震反应的效果及其鲁棒性,研究控制结构的累积损伤发展过程与规律,揭示控制结构的能量分布／分配特点与减震机理。
第三,进行土-结构耦合系统非线性地震反应的自适应模糊分散半主动控制的地震模拟振动台试验,验证自适应模糊分散控制算法对强非线性和强不确定结构系统的振动控制效果和鲁棒性,研究土-结构耦合系统的累积损伤发展规律和能量分布／分配规律,揭示土-结构耦合系统非线性振动控制的机理和特点。
最后,基于OpenSees次件开发结构非线性振动的自适应模糊分散控制程序,并通过与试验结果对比验证开发程序的正确性,进一步采用该程序研究结构和土-结构耦合系统地震非线性反应的控制特点。
In recent years, several sizeable earthquakes have caused severe loss of livesand significant economic cost. The heavy damage or collapse to civil structures hasbeen considered as one of the most important reason. Therefore, it is so necessaryto investigate the theory and method on preventing the heavy damage to civilstructures and improving the seismic performance. A Lot of researches to data haveindicated that structural control is an effective methodology in increasing safety andperformance against the seismic excitations. Plenty of researches focused on thecontrol theory, methodology, technique and system subjected to linear structureshave been conducted in the world. However, few literatures can be found about thenonlinear structural control. Due to the severity of earthquakes, the dynamicbehavior of civil structures will unavoidably be nonlinear or inelastic. Earthquakereconnaissance has indicated that even civil structures equipped with vibrationcontrol devices may enter the plastic domain. Hence, it is imperative andinformative to bring out the critical aspects with respect to investigate the theoryand methodology on the nonlinear structural control.
Due to the property of civil structures, such as structural complexity, highdimensionality, strong nonlinear hysteresis, multiphase coupling nonlinearity anduncertainty, this research effort studies the nonlinear decentralized control strategy,and reveals the principle of cumulative damage evolution, energy distribution andcontrol mechanism. The main research works are outlined as following:
First, a nonlinear robust control approach is proposed to address the vibrationcontrol problem of civil structures using the subsystem property, in view of theinfluence of the key parts or vulnerable parts in nonlinear structures on the seismicperformance. Fuzzy logic system is employed to treat the nonlinear problem anduncertainty. The auxiliary control compensation is employed to attenuate the fuzzyestimated errors and external excitations. The Lyapunov’s Direct Methods areemployed to design the adaptive law and auxiliary control compensation. The input-to-state stability of the entire system can be guaranteed by the proposed controlmethod. Furthermore, H-infinity performance is achieved through a subsystem with the proposed controller. Numerical examples are presented to demonstrate theeffectiveness and robustness of the proposed controller.
Second, shaking table tests of a reinforced concrete (RC) frame are performedto investigate the proposed decentralized adaptive fuzzy control algorithm. Theeffectiveness and robustness of the proposed controller in suppressing vibrations ofthe test structure with nonlinear hysteresis are demonstrated. The principle ofcumulative damage evolution is investigated for the controlled/uncontrolledstructure. The characteristic of energy distribution and damping mechanism arerevealed.
Third, shaking table tests of soil-structure system are performed to furtherinvestigate the proposed decentralized adaptive fuzzy control algorithm. Thereinforced concrete (RC) frame resting in a laminar soil container is employed asthe test specimen. The effectiveness and robustness of the proposed controller insuppressing vibrations of the soil-structure system with strong nonlinear hysteresisand uncertainty are demonstrated. The principle of cumulative damage evolutionand characteristic of energy distribution in soil-structure system are investigated.The characteristic and mechanism of nonlinear vibrations in soil-structure systemare revealed.
Finally, the proposed nonlinear robust controller is developed and integratedinto the OpenSees platform. The validity and feasibility of this programmer isconducted by comparing with the results in shaking table tests. The characteristicsof vibration control for the fixed-base model and soil-structure system are furtherinvestigated subjected to seismic excitations.
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