复杂结构重叠分散控制理论研究与数值分析
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摘要
针对复杂建筑结构分别提出了两种重叠分散控制设计方法,一种是利用包含原理来获得解耦的控制器和滤波器增益矩阵;另一种则是基于线性二次型高斯控制算法来消除子系统间重叠部分控制力的耦合,并提出了重叠分散控制的设计流程。在此基础上,结合工程实际和分散控制的特点,提出了一般重叠分散、链型、环型、星型及环-星型等多种重叠分散控制方案。通过对9层Benchmark模型进行多重叠分散控制设计与仿真分析研究,证明了所提出的设计流程、两种重叠分散控制设计方法及链型、环型和星型等特殊重叠分散控制方案的可行性与正确性。对于多重叠分散控制结构,星型分散控制可以获得更好的控制效果。
This paper presents two overlapping decentralized control methods for complex civil engineering structures.One is applying the system inclusion principle to obtain the decoupled gain matrix of controllers and filters.The other is proposed to achieve decoupled control force between the overlapping portions of the subsystems,which is based on the classical linear quadratic Gaussian(LQG) control algorithm.And the design procedure for overlapping decentralized control is put forward.Moreover,various kinds of overlapping decentralized control strategies for complex structures,including ordinary chain-shaped,ring-shaped,star-shaped and ring-star-sharped schemes,etc,are considered and compared in this study.A 9-story Benchmark building is selected as a numerical example to implement multi-overlapping decentralized control design methods.Results show that both design methods and the multioverlapping decentralized control schemes(chain-shaped,ring-shaped,star-shaped,etc) achieve good performance,and the star-shaped overlapping decentralized control scheme performs the best among various overlapping decentralized schemes.
This paper presents two overlapping decentralized control methods for complex civil engineering structures.One is applying the system inclusion principle to obtain the decoupled gain matrix of controllers and filters.The other is proposed to achieve decoupled control force between the overlapping portions of the subsystems,which is based on the classical linear quadratic Gaussian(LQG) control algorithm.And the design procedure for overlapping decentralized control is put forward.Moreover,various kinds of overlapping decentralized control strategies for complex structures,including ordinary chain-shaped,ring-shaped,star-shaped and ring-star-sharped schemes,etc,are considered and compared in this study.A 9-story Benchmark building is selected as a numerical example to implement multi-overlapping decentralized control design methods.Results show that both design methods and the multioverlapping decentralized control schemes(chain-shaped,ring-shaped,star-shaped,etc) achieve good performance,and the star-shaped overlapping decentralized control scheme performs the best among various overlapping decentralized schemes.
引文
[1]李人厚.大系统的递阶与分散控制[M].西安:西安交通大学出版社,1986:1-3.
[2]席裕庚.动态大系统方法导论[M].北京:国防工业出版社,1988:2-3.
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[4]李忠献,姜南,徐龙河,周云.不同控制策略下安装磁流变阻尼器的模型结构振动台试验与分析[J].建筑结构学报,2004,25(6):15-21.(LI Zhongxian,JIANG Nan,XU Longhe,ZHOU Yun.Shaking table test and analysis of model structure installed magnetorheological damper under different control strategies[J].Journal of Building Structures,2004,25(6):15-21.(in Chinese))
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[9]LOH C,CHANG C.Application of centralized and decentralized control to building structure:analytical study[J].Journal of Engineering Mechanics,2008,134(11):970-982.
[10]汪权,王建国,裴阳阳.地震作用下高层建筑结构的分散模糊迭代学习控制研究[J].计算力学学报,2012,29(5):681-686.(WANG Quan,WANG Jianguo,PEI Yangyang.Decentralized fuzzy iterative learning control of tall buildings under earthquakes[J].Chinese Journal of Computational Mechanics,2012,29(5):681-686.(in Chinese))
[11]LEI Y,WU D T,LIU L J.A decentralized structural control algorithm with application to the Benchmark control problem for seismically excited buildings[J].Structural Control&Health Monitoring,2013,20(9):1211-1225.
[12]QU C,HUO L,LI H,et al.A double homotopy approach for decentralized H∞control of civil structures[J].Structural Control&Health Monitoring,2014,21(3):269-281.
[13]HODZIC M,SILJAK D D.Decentralized estimation and control with overlapping information sets[J].IEEE Transactions on Automatic Control,1986,31(1):83-86.
[14]陈雪波,王成玖.状态观测器的约束与聚集[J].控制与决策,1996,11(4).475-479.(CHEN Xuebo,WANG Chengjiu.Restrietion and aggregation of state observers[J].Control and Decision,1996,11(4):475-479.(in Chinese))
[15]陈雪波.系统包含原理及其应用[M].北京:科学出版社,2012:15-18.(CHEN Xuebo.System inclusion principle and its application[M].Beijing:Science Press,2012:15-18.(in Chinese))
[16]潘兆东,谭平,周福霖.大型结构分散控制系统的优化研究[J].工程力学,2017,34(1):154-162.(PAN Zhaodong,TAN Ping,ZHOU Fulin.Study on optimization of large-scale structural decentralized control[J].Engineering Mechanics,2017,34(1):154-162.(in Chinese))
[17]OHTORI Y,CHRISTENSON R E,SPENCER JR B F,et al.Benchmark control problems for seismically excited nonlinear buildings[J].Journal of Engineering Mechanics,2004,130(4):366-385.
[2]席裕庚.动态大系统方法导论[M].北京:国防工业出版社,1988:2-3.
[3]欧进萍.结构振动控制主动、半主动控制和智能控制[M].北京:科学出版社,2003:2-9.(OU Jinping.Active,semi-active control and intelligent control of structural vibration control[M].Beijing:Science Press,2003:2-9.(in Chinese))
[4]李忠献,姜南,徐龙河,周云.不同控制策略下安装磁流变阻尼器的模型结构振动台试验与分析[J].建筑结构学报,2004,25(6):15-21.(LI Zhongxian,JIANG Nan,XU Longhe,ZHOU Yun.Shaking table test and analysis of model structure installed magnetorheological damper under different control strategies[J].Journal of Building Structures,2004,25(6):15-21.(in Chinese))
[5]滕军.结构振动控制的理论、技术和方法[M].北京:科学出版社,2009:334-336.(TENG Jun.Theory,technology and method of structural vibration control[M].Beijing:Science Press,2009:334-336.(in Chinese))
[6]李惠,彭君义.结构模型与控制器降阶的主动控制试验研究[J].振动工程学报,2006,19(1):17-23.(LI Hui,PENG Junyi.Experimental study of active structural control with model[J].Journal of Vibration Engineering,2006,19(1):17-23.(in Chinese))
[7]何玉敖,冯德平.主动变刚度结构体系(AVS)多模态优化控制研究[J].建筑结构学报,2000,21(3):53-59.(HE Yuao,FENG Deping.Research on multimodal optimal control method for active variable stiffness structural system[J].Journal of Building Structures,2000,21(3):53-59.(in Chinese))
[8]李宏男,李瀛,李钢.地震作用下建筑结构的分散控制研究[J].土木工程学报,2008,41(9):27-33.(LI Hongnan,LI Ying,LI Gang.Decentralized control of structures under earthquakes[J].China Civil Engineering Journal,2008,41(9):27-33.(in Chinese))
[9]LOH C,CHANG C.Application of centralized and decentralized control to building structure:analytical study[J].Journal of Engineering Mechanics,2008,134(11):970-982.
[10]汪权,王建国,裴阳阳.地震作用下高层建筑结构的分散模糊迭代学习控制研究[J].计算力学学报,2012,29(5):681-686.(WANG Quan,WANG Jianguo,PEI Yangyang.Decentralized fuzzy iterative learning control of tall buildings under earthquakes[J].Chinese Journal of Computational Mechanics,2012,29(5):681-686.(in Chinese))
[11]LEI Y,WU D T,LIU L J.A decentralized structural control algorithm with application to the Benchmark control problem for seismically excited buildings[J].Structural Control&Health Monitoring,2013,20(9):1211-1225.
[12]QU C,HUO L,LI H,et al.A double homotopy approach for decentralized H∞control of civil structures[J].Structural Control&Health Monitoring,2014,21(3):269-281.
[13]HODZIC M,SILJAK D D.Decentralized estimation and control with overlapping information sets[J].IEEE Transactions on Automatic Control,1986,31(1):83-86.
[14]陈雪波,王成玖.状态观测器的约束与聚集[J].控制与决策,1996,11(4).475-479.(CHEN Xuebo,WANG Chengjiu.Restrietion and aggregation of state observers[J].Control and Decision,1996,11(4):475-479.(in Chinese))
[15]陈雪波.系统包含原理及其应用[M].北京:科学出版社,2012:15-18.(CHEN Xuebo.System inclusion principle and its application[M].Beijing:Science Press,2012:15-18.(in Chinese))
[16]潘兆东,谭平,周福霖.大型结构分散控制系统的优化研究[J].工程力学,2017,34(1):154-162.(PAN Zhaodong,TAN Ping,ZHOU Fulin.Study on optimization of large-scale structural decentralized control[J].Engineering Mechanics,2017,34(1):154-162.(in Chinese))
[17]OHTORI Y,CHRISTENSON R E,SPENCER JR B F,et al.Benchmark control problems for seismically excited nonlinear buildings[J].Journal of Engineering Mechanics,2004,130(4):366-385.