基于磁致伸缩作动器的拉索主动控制时滞补偿研究
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摘要
拉索的大幅振动给斜拉桥安全运营带来威胁,采用磁致伸缩作动器施加轴向控制力抑制拉索横向振动是一种可行的方法,由于控制系统时滞的存在,会影响拉索控制效果和结构的稳定性。建立了磁致伸缩作动器动力学模型和拉索-磁致伸缩作动器面内控制系统方程,提出了基于移相法的拉索控制时滞补偿理论和拉索非线性控制系统的线性化方法,通过仿真分析得到了拉索振动控制时滞补偿效果。研究表明,在拉索-磁致伸缩作动器时滞控制系统中,移相法能够取得良好的时滞补偿效果,接近无时滞最优控制减振率。
The large amplitude vibration of stay cables will give rise to the safe operation risk on the cable-stayed bridges. It is a kind of feasible method for the cable vibration control using the axial force provided by a giant magnetostrictive actuator( GMA). However,time delays,frequently encountered in the actual control system,can diminish the performance and stability of the stay cable vibration control system. The dynamic model of the GMA and motion equation of the stay cable coupling GMA control system were established. Focusing on the cable coupling GMA control system with time delay and nonlinearity,the time delay compensation theory was presented based on the phase shift method,and the linearization method for the control system was put forward. The delay compensation effect on the cable coupling GMA control system was revealed by simulation analysis. The results show that the phase shift method can achieve good effect of time-delay compensation in the above system,which is close to the vibration reduction rate of an optimal control without delay.
The large amplitude vibration of stay cables will give rise to the safe operation risk on the cable-stayed bridges. It is a kind of feasible method for the cable vibration control using the axial force provided by a giant magnetostrictive actuator( GMA). However,time delays,frequently encountered in the actual control system,can diminish the performance and stability of the stay cable vibration control system. The dynamic model of the GMA and motion equation of the stay cable coupling GMA control system were established. Focusing on the cable coupling GMA control system with time delay and nonlinearity,the time delay compensation theory was presented based on the phase shift method,and the linearization method for the control system was put forward. The delay compensation effect on the cable coupling GMA control system was revealed by simulation analysis. The results show that the phase shift method can achieve good effect of time-delay compensation in the above system,which is close to the vibration reduction rate of an optimal control without delay.
引文
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[17]薛晓敏,孙清,张陵,等.基于遗传算法策略的含时滞结构振动主动控制研究[J].工程力学,2011,28(3):143-149.XUE Xiaomin,SUN Qing,ZHANG Ling,et al.Research on active control for time delayed structure using modified genetic algorithm[J].Engineering Mechanics,2011,28(3):143-149.
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[19]CARMAN G P,MITRVIC M.Nonlinear constitutive relations for magnetostrictive materials with applications to 1D problems[J].J Intelli Mat Syst&Stru,1995(6):673-684.
[20]FAIDLEY L E,LUND B J,FLATAU A B,et al.Tefenol-D elasto-magnetic properties under varied opening conditions using hysteresis loop analysis[C]//SPIE Symposium on Smart Structures,1998.
[21]CALKINS F T,SMITH R C,FLARAU A B.Energy-based hysteresis model for magnetostrictive transducers[J].IEEE Trans Magn,2000,36(2):429-439.
[22]TAN X,BARAS J S.Modeling and control of hysteresis in magnetostrictive actuators[J].Automatica,2004,40(9):1469-1480.
[23]MOON S J,LIM C W,KIM B H,et,al.Structural vibration control using linear magnetostrictive actuators[J].Journal of Sound and Vibration,2007,302(4/5):875-891.
[24]GRUNWALD A,OLABI A G.Design of a magnetostrictive(MS)actuator[J].Sensors and Actuators A,2008,144(1):161-175.
[25]王修勇.斜拉桥拉索振动控制新技术研究[D].长沙:中南大学,2002.
[2]FUJINO Y,WARNITCHAI P,PACHECO B M.Active stiffness control of cable vibration[J].Journal of Applied Mechanics,1993,60(4):948-953.
[3]SUSUMPOW T,FUJINO Y.Active control of multimodal cable vibrations by axial support motion[J].Journal of Engineering Mechanics,1995,121(9):964-972.
[4]WARNITICHAI P,FUJINO Y,SUSUMPOW T.A non-linear dynamic model for cables and its application to a cablestructure system[J].Journal of Soundand Vibration,1995,187(4):695-712.
[5]ACHKIRE Y,PREUMONT A.Active tendon control of cable-stayed bridges[J].Earthquake Engineering and Structural Dynamics,1996,25:585-597.
[6]GATTULLI V,ALAGGIO R,POTENZA F.Analytical prediction and experimental validation for longitudinal control of cable oscillations[J].International Journal of Non-Linear Mechanics,2008,43(1):36-52.
[7]周海俊,孙利民.斜拉索风雨激振的形状记忆合金半主动控制数值模拟分析[J].防灾减灾工程学报,2008,28(3):308-312.ZHOU Haijun,SUN Limin.Control of rain-wind-induced cable vibration by using shape memory alloy[J].Journal of Disaster Prevention and Mitigation Engineering,2008,28(3):308-312.
[8]朱保兵,李国强.不同边界条件下拉索振动的主动控制研究[J].力学季刊,2009,30(3):461-468.ZHU Baobing,LI Guoqiang.Research on active vibration control of cables under different boundary conditions[J].Chinese Quarterly of Mechanics,2009,30(3):461-468.
[9]王修勇,孟庆甲,郭雪涛,等.基于磁致伸缩作动器的拉索主动控制与多级Bang-Bang控制仿真分析[J].地震工程与工程振动.2014,34(2):161-166.WANG Xiuyong,MENG Qingjia,GUO Xuetao,et al.Research on active and multistage Bang-Bang vibration control of cables using giant magnetostrictive actuator[J].Journal of Earthquake Engineering and Engineering Vibration,2014,34(2):161-166.
[10]YANG J N,AKBARPOUR A,ASKAR G.Effect of time delay on control of seismic-excited building[J].Journal of Structural Engineering,1990,116(10):2801-2814.
[11]徐龙河,周云,李忠献.MRFD半主动控制系统的时滞与补偿.地震工程与工程振动,2001,21(3):127-131.XU Longhe,ZHOU Yun,LI Zhongxian.Time-delay and compensation of MRFD semi-actiye control system[J].Journal of Earthquake Engineering and Engineering Vibration,2001,21(3):127-131.
[12]王在华,胡海岩.时滞动力系统的稳定性与分岔:从理论走向应用[J].力学进展,2013,43(1):3-20.WANG Zaihua,HU Haiyan.Stability and bifurcation of delayed dynamic system:from theory to application[J].Advances in Mechanics,2013,43(1):3-20.
[13]ABDEL-ROHMAN M.Time-delay effects on active damped structures[J].Journal of Engineering Mechanics,1987,113(11):1709-1719.
[14]MCGREERY S,SOONG T T.An experiments study of time delay compensation in active structural control[C]//Proceedings of the 6th International Modal Analysis Conference.SEM,1988.
[15]CHUNG L L,REINHORN A M,SOONG T T.Experiments on active control of seismic structures[J].Journal of Engineering Mechanics,1988,114(2):241-256.
[16]周岱,郭军慧.空间结构风振控制系统的神经网络时滞补偿[J].空间结构,2008,14(2):8-13.ZHOU Dai,GUO Junhui.Time delay compensation for windinduced vibration control system of spatial latticed structure with neural network[J].Spatial Structures,2008,14(2):8-13.
[17]薛晓敏,孙清,张陵,等.基于遗传算法策略的含时滞结构振动主动控制研究[J].工程力学,2011,28(3):143-149.XUE Xiaomin,SUN Qing,ZHANG Ling,et al.Research on active control for time delayed structure using modified genetic algorithm[J].Engineering Mechanics,2011,28(3):143-149.
[18]REED R S.Active vibration isolation using a magnetostrictive actuator[J].Modeling&Simulation,1988,19:73-81.
[19]CARMAN G P,MITRVIC M.Nonlinear constitutive relations for magnetostrictive materials with applications to 1D problems[J].J Intelli Mat Syst&Stru,1995(6):673-684.
[20]FAIDLEY L E,LUND B J,FLATAU A B,et al.Tefenol-D elasto-magnetic properties under varied opening conditions using hysteresis loop analysis[C]//SPIE Symposium on Smart Structures,1998.
[21]CALKINS F T,SMITH R C,FLARAU A B.Energy-based hysteresis model for magnetostrictive transducers[J].IEEE Trans Magn,2000,36(2):429-439.
[22]TAN X,BARAS J S.Modeling and control of hysteresis in magnetostrictive actuators[J].Automatica,2004,40(9):1469-1480.
[23]MOON S J,LIM C W,KIM B H,et,al.Structural vibration control using linear magnetostrictive actuators[J].Journal of Sound and Vibration,2007,302(4/5):875-891.
[24]GRUNWALD A,OLABI A G.Design of a magnetostrictive(MS)actuator[J].Sensors and Actuators A,2008,144(1):161-175.
[25]王修勇.斜拉桥拉索振动控制新技术研究[D].长沙:中南大学,2002.