采用力控制加载的拟动力试验等效力控制方法
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摘要
等效力控制方法是求解非线性微分方程的隐式积分方法,可很好地应用到拟动力试验中。但是这种方法是基于位移控制加载提出的,对于大刚度结构拟动力试验,采用位移控制加载试验将难以进行,为此提出了力控制加载模式下的等效力控制方法。通过设计一个反力分配系数,使得加载设备采用力控制模式工作,并且采用比例-积分控制器实现等效力的反馈控制。理论分析和数值模拟表明,该方法是一种无条件稳定、无需数值迭代求解的数值积分方法;当选取了合适的控制器参数时,就能消除控制系统的稳态误差。试验结果证明,对于大刚度结构拟动力试验,采用力控制加载得到的试验结果要比采用位移控制得到的结果准确。研究表明,该方法可以很好地应用到大刚度结构拟动力试验中。
Effective force control method(EFCM) is an implicit integration method to solve nonlinear differential equations,which can be well used in pseudo-dynamic(PSD) tests.However,PSD tests with this method adopting displacement-loading control strategy usually are difficult to carry out if the specimen is too stiff,then a new EFCM using force-loading control strategy is presented in this paper.A force distribution coefficient was designed in the proposed new method to make the loading devices work in force-loading control mode,and a proportional-integral controller was used here to achieve the equivalent force feedback control.Theoretical analysis and numerical simulation show that the proposed method is unconditional stable and requires no iteration;the steady-state error can be eliminated if the proper controller parameters were chosen.It is found that test results obtained by force-loading control will be more accurate than those obtained by displacement-loading control for the specimen with large stiffness.This paper shows that this new method can be successfully applied to PSD tests of structures with large stiffness.
Effective force control method(EFCM) is an implicit integration method to solve nonlinear differential equations,which can be well used in pseudo-dynamic(PSD) tests.However,PSD tests with this method adopting displacement-loading control strategy usually are difficult to carry out if the specimen is too stiff,then a new EFCM using force-loading control strategy is presented in this paper.A force distribution coefficient was designed in the proposed new method to make the loading devices work in force-loading control mode,and a proportional-integral controller was used here to achieve the equivalent force feedback control.Theoretical analysis and numerical simulation show that the proposed method is unconditional stable and requires no iteration;the steady-state error can be eliminated if the proper controller parameters were chosen.It is found that test results obtained by force-loading control will be more accurate than those obtained by displacement-loading control for the specimen with large stiffness.This paper shows that this new method can be successfully applied to PSD tests of structures with large stiffness.
引文
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[9]刘季,李暄,张培卿.大刚度结构力控制拟动力实验方法[J].地震工程与工程振动,1996,16(4):55—59.Liu Ji,Li Xuan,Zhang Peiqing.Study on pseudody-namic test method under force control used in stiffmulti-storey structures[J].Earthquake Engineeringand Engineering Vibration,1996,16(4):55—59.
[10]李暄,刘季,田石柱.结构拟动力试验力控制实现技术[J].地震工程与工程振动,1997,17(1):49—53.Li Xuan,Liu Ji,Tian Shizhu.Structural pseudo-dy-namic testing technology by force control[J].Earth-quake Engineering and Engineering Vibration,1997,17(1):49—53.
[11]王凤来,陈再现,王焕定,等.高阶单步力控制拟动力试验方法研究[J].地震工程与工程振动,2008,28(6):233—238.WANG Fenglai,CHEN Zaixian,WANG Huanding,et al.High-order single-step method for force-controlpseudo-dynamic test[J].Earthquake Engineering andEngineering Vibration,2008,28(6):233—238.
[12]Peng Pan,Masayoshi Nakashima,Hiroshi Tomofuji.Online test using displacement-force mixed control[J].Earthquake Engineering and Structural Dynam-ics,2005,34:869—888.
[13]Kim H K,Stojadinovic B,Yang T Y,et al.Alternativecontrol strategies in hybrid simulation[A].2ndEFAST Workshop and 4th International Conference onAdvances in Experimental Structural Engineering[C].Ispra Italy,June,2011:1—14.
[14]许国山.实时子结构试验的等效力控制方法[D].哈尔滨:哈尔滨工业大学,2010.Xu Guoshan.Equivalent force control method for real-time substructure T.testing[D].Harbin:Harbin In-stitute of Technology,2010.
[15]许国山,吴斌.等效力控制方法拟动力试验中的应用[J].地震工程与工程振动,2010,30(2):79—85.XU Guoshan,WU Bin.Application of equivalent forcecontrol method to pseudo-dynamic testing[J].Journalof Earthquake Engineering and Engineering Vibration,2010,30(2):79—85.
[2]王倩颖.实时子结构试验方法及其应用[D].哈尔滨:哈尔滨工业大学,2007年7月.Wang Qianying.Real-time substructure testing meth-od and its application[D].Harbin:Harbin Institute ofTechnology,2007.
[3]李妍.防屈曲支撑的抗震性能及子结构试验方法[D].哈尔滨:哈尔滨工业大学,2007.Li Yan.Seismic performance of buckling-restrainedbraces and substructure testing method[D].Harbin:Harbin Institute of Technology,2007.
[4]李妍,吴斌,欧进萍.基于能量守恒积分的子结构试验方法[J].工程力学,2010,27(1):1—7.LI Yan,WU Bin,OU Jinping.Substructure testingmethods based on energy-conserving time integrationalgorithm[J].Engineering Mechanics,2010,27(1):1—7.
[5]许国山,吴斌.弹性试件的实时子结构试验等效力控制方法[J].振动与冲击,2010,29(5):101—105.XU Guo-shan,WU Bin.Equivalent force controlmethod for real-time substructure testing of anelasticspecimen[J].Journal of Vibration and Shock,2010,29(5):101—105.
[6]许国山,吴斌.采用比例-积分控制的实时子结构试验等效力控制方法[J].工程力学,2009,26(9):251—256.XU Guo-shan,WU Bin.Equivalent force controlmethod with proporitional-integral controller for real-time substructure testing[J].Engineering Mechanics,2009,26(4):251—256.
[7]许国山,吴斌.采用等效力控制方法的非线性结构实时子结构试验[J].振动工程学报,2010,23(3):237—242.XU Guo-shan,WU Bin.Real-time substructure tes-ting of nonlinear structures with equivalent force con-trol method[J].Journal of Vibration Engineering,2010,23(3):237—242.
[8]周大睿,许国山,吴斌,等.等效力控制方法在连梁阻尼器拟动力子结构试验中的应用[J].振动与冲击,2011,30(8):72—76.ZHOU Darui,XU Guoshan,WU Bin,et al.Applica-tion of equivalent force control method in pseudo-dy-namic substructure tests of coupling beam damper[J].Journal of Vibration and Shock,2011,30(8):72—76.
[9]刘季,李暄,张培卿.大刚度结构力控制拟动力实验方法[J].地震工程与工程振动,1996,16(4):55—59.Liu Ji,Li Xuan,Zhang Peiqing.Study on pseudody-namic test method under force control used in stiffmulti-storey structures[J].Earthquake Engineeringand Engineering Vibration,1996,16(4):55—59.
[10]李暄,刘季,田石柱.结构拟动力试验力控制实现技术[J].地震工程与工程振动,1997,17(1):49—53.Li Xuan,Liu Ji,Tian Shizhu.Structural pseudo-dy-namic testing technology by force control[J].Earth-quake Engineering and Engineering Vibration,1997,17(1):49—53.
[11]王凤来,陈再现,王焕定,等.高阶单步力控制拟动力试验方法研究[J].地震工程与工程振动,2008,28(6):233—238.WANG Fenglai,CHEN Zaixian,WANG Huanding,et al.High-order single-step method for force-controlpseudo-dynamic test[J].Earthquake Engineering andEngineering Vibration,2008,28(6):233—238.
[12]Peng Pan,Masayoshi Nakashima,Hiroshi Tomofuji.Online test using displacement-force mixed control[J].Earthquake Engineering and Structural Dynam-ics,2005,34:869—888.
[13]Kim H K,Stojadinovic B,Yang T Y,et al.Alternativecontrol strategies in hybrid simulation[A].2ndEFAST Workshop and 4th International Conference onAdvances in Experimental Structural Engineering[C].Ispra Italy,June,2011:1—14.
[14]许国山.实时子结构试验的等效力控制方法[D].哈尔滨:哈尔滨工业大学,2010.Xu Guoshan.Equivalent force control method for real-time substructure T.testing[D].Harbin:Harbin In-stitute of Technology,2010.
[15]许国山,吴斌.等效力控制方法拟动力试验中的应用[J].地震工程与工程振动,2010,30(2):79—85.XU Guoshan,WU Bin.Application of equivalent forcecontrol method to pseudo-dynamic testing[J].Journalof Earthquake Engineering and Engineering Vibration,2010,30(2):79—85.
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