基于帝国竞争算法和LQG的磁流变阻尼器-建筑结构系统的振动控制
|
摘要
目前,磁流变阻尼器(Magnetorheological Damper,MRD)已经成为一种重要的智能半主动控制装置。为实现MRD对建筑结构的减震控制,首先,通过引入一种帝国竞争算法(Imperialist Competitive Algorithm,ICA)和线性二次型高斯(Linear Quadratic Gaussian,LQG)控制相结合的智能控制方法(ICA-LQG)计算出理想的控制力。针对LQG控制器的加权矩阵难以整定这一问题,根据优化目标和阻尼力的限制条件,利用ICA对其参数进行优选。然后,通过对一款商用的MRD进行性能测试,获得其基于Bouc-Wen模型的动力学特性。最后,利用剪枝最优控制(Clipped-Optimal Control,COC)方法将ICA-LQG计算的理想控制力转化为MRD的控制电流。为检验这种集成了ICA-LQG和COC的半主动控制(ICALQG-COC)方法的有效性,以一个三层的框架结构为工程背景,分别对无控制、两种被动控制、未经优化的LQG-COC(LQG-COC)半主动控制以及ICA-LQG-COC半主动控制下的减震结果进行比较分析。三种地震波激励下的数值结果都表明:在所比较的控制方法中,ICA-LQG-COC方法展现出最优越的综合控制性能并且能够最大限度地减小结构的最大位移和加速度响应。
Recently,MR damper has become an important smart semi-active control device. Firstly,to achieve its application in vibration control of a structural building,a new intelligent control strategy ICA-LQG combining the imperialist competitive algorithm( ICA) and the linear quadratic Gaussian( LQG) control approach was proposed to calculate ideal controlling forces. To overcome difficulties of determining weighted matrixes of LQG controller,ICA was adopted to optimize its parameters according to the constraint conditions for objectives to be optimized and damping force.Secondly,dynamic characteristics of MR damper based on Bouc-Wen model were obtained with tests. Finally,the clipped-optimal control( COC) was used to convert ideal controlling forces calculated with ICA-LQG into the control current of MR damper. To validate the effectiveness of the proposed semi-active control strategy ICA-LQG-COC integrating ICA-LQG and COC,a 3-story frame building was taken as an example,the aseismic results obtained with uncontrolled,two passive control,traditional LQG-COC and ICA-LQG-COC approaches,respectively were analyzed contrastively. The numerical results obtained under three seismic excitations demonstrated that in all control methods mentioned above,the proposed semi-active control strategy ICA-LQG-COC exhibits the most excellent comprehensive control performance and it can reduce the maximum displacement and acceleration responses of the structural building to the utmost extent.
Recently,MR damper has become an important smart semi-active control device. Firstly,to achieve its application in vibration control of a structural building,a new intelligent control strategy ICA-LQG combining the imperialist competitive algorithm( ICA) and the linear quadratic Gaussian( LQG) control approach was proposed to calculate ideal controlling forces. To overcome difficulties of determining weighted matrixes of LQG controller,ICA was adopted to optimize its parameters according to the constraint conditions for objectives to be optimized and damping force.Secondly,dynamic characteristics of MR damper based on Bouc-Wen model were obtained with tests. Finally,the clipped-optimal control( COC) was used to convert ideal controlling forces calculated with ICA-LQG into the control current of MR damper. To validate the effectiveness of the proposed semi-active control strategy ICA-LQG-COC integrating ICA-LQG and COC,a 3-story frame building was taken as an example,the aseismic results obtained with uncontrolled,two passive control,traditional LQG-COC and ICA-LQG-COC approaches,respectively were analyzed contrastively. The numerical results obtained under three seismic excitations demonstrated that in all control methods mentioned above,the proposed semi-active control strategy ICA-LQG-COC exhibits the most excellent comprehensive control performance and it can reduce the maximum displacement and acceleration responses of the structural building to the utmost extent.
引文
[1]DYKE S J,SPENCER JR B F,SAIN M K,et al.Modeling and control of magnetorheological dampers for seismic response reduction[J].Smart Materials and Structures,1996,5(5):565-584.
[2]ZEMP R,DE LA LLERA J C,SALDIAS H,et al.Development of a long-stroke MR damper for a building with tuned masses[J].Smart Materials and Structures,2016,25(10):105006.
[3]FALLAH A Y,TAGHIKHANY T.Robust semi-active control for uncertain structures and smart dampers[J].Smart Materials and Structures,2014,23(9):095040.
[4]EL-KHOURY O,KIM C,SHAFIEEZADEH A,et al.Mitigation of the seismic response of multi-span bridges using MR dampers:experimental study of a new SMC-based controller[J/OL].Journal of Vibration and Control,2016,1077546316633540.
[5]宗路航.磁流变阻尼器的动力学模型及其在车辆悬架中的应用研究[D].合肥:中国科学技术大学,2013.
[6]LIN X F,CHEN S M.A modified shuffled frog-leaping algorithm-based fuzzy controller for magnetorheological damper-building system[J].International Journal of Computer Applications in Technology,2016,53:279-289.
[7]宋春生,于传超,张锦光,等.基于遗传算法的复杂双层磁悬浮精密隔振系统LQR控制研究[J].振动与冲击,2016,35(16):99-105.SONG Chunsheng,YU Chuanchao,ZHANG Jinguang,et al.LQR control of a complex two-stage magnetic suspension active precise isolation system based on the genetic algorithm[J].Journal of Vibration and Shock,2016,35(16):99-105.
[8]景益娟.大型雷达天线伺服控制方法及抗风扰特性研究[D].西安:西安电子科技大学,2013.
[9]王磊,谭平,李森萍.基于人工鱼群算法的随机结构AMD控制系统LQR权矩阵优化[J].振动与冲击,2016,35(8):154-158.WANG Lei,TAN Ping,LI Senping,et al.Optimal analysis of weight matrices of LQR algorithm for stochastic structureAMD system based on artificial fish algorithm[J].Journal of Vibration and Shock,2016,35(8):154-158.
[10]ATASHPAZ-GARGARI E,LUCAS C.Imperialist competitive algorithm:an algorithm for optimization inspired by imperialistic competition[C]//2007 IEEE Congress on Evolutionary Computation.2007:4661-4667.
[11]KAVEH A,TALATAHARI S.Optimum design of skeletal structures using imperialist competitive algorithm[J].Computers&Structures,2010,88(21):1220-1229.
[12]ABD-ELAZIM S M,ALI E S.Imperialist competitive algorithm for optimal STATCOM design in a multimachine power system[J].International Journal of Electrical Power&Energy Systems,2016,76:136-146.
[13]SHABANI H,VAHIDI B,EBRAHIMPOUR M.A robust PID controller based on imperialist competitive algorithm for load-frequency control of power systems[J].ISA Transactions,2013,52(1):88-95.
[14]SPENCER B F,DYKE S J,SAIN M K,et al.Phenomenological model for magnetorheological dampers[J].Journal of Engineering Mechanics,1997,123(3):230-238.
[15]ATABAY E,OZKOL I.Application of a magnetorheological damper modeled using the current-dependent Bouc-Wen model for shimmy suppression in a torsional nose landing gear with and without freeplay[J].Journal of Vibration and Control,2014,20(11):1622-1644.
[2]ZEMP R,DE LA LLERA J C,SALDIAS H,et al.Development of a long-stroke MR damper for a building with tuned masses[J].Smart Materials and Structures,2016,25(10):105006.
[3]FALLAH A Y,TAGHIKHANY T.Robust semi-active control for uncertain structures and smart dampers[J].Smart Materials and Structures,2014,23(9):095040.
[4]EL-KHOURY O,KIM C,SHAFIEEZADEH A,et al.Mitigation of the seismic response of multi-span bridges using MR dampers:experimental study of a new SMC-based controller[J/OL].Journal of Vibration and Control,2016,1077546316633540.
[5]宗路航.磁流变阻尼器的动力学模型及其在车辆悬架中的应用研究[D].合肥:中国科学技术大学,2013.
[6]LIN X F,CHEN S M.A modified shuffled frog-leaping algorithm-based fuzzy controller for magnetorheological damper-building system[J].International Journal of Computer Applications in Technology,2016,53:279-289.
[7]宋春生,于传超,张锦光,等.基于遗传算法的复杂双层磁悬浮精密隔振系统LQR控制研究[J].振动与冲击,2016,35(16):99-105.SONG Chunsheng,YU Chuanchao,ZHANG Jinguang,et al.LQR control of a complex two-stage magnetic suspension active precise isolation system based on the genetic algorithm[J].Journal of Vibration and Shock,2016,35(16):99-105.
[8]景益娟.大型雷达天线伺服控制方法及抗风扰特性研究[D].西安:西安电子科技大学,2013.
[9]王磊,谭平,李森萍.基于人工鱼群算法的随机结构AMD控制系统LQR权矩阵优化[J].振动与冲击,2016,35(8):154-158.WANG Lei,TAN Ping,LI Senping,et al.Optimal analysis of weight matrices of LQR algorithm for stochastic structureAMD system based on artificial fish algorithm[J].Journal of Vibration and Shock,2016,35(8):154-158.
[10]ATASHPAZ-GARGARI E,LUCAS C.Imperialist competitive algorithm:an algorithm for optimization inspired by imperialistic competition[C]//2007 IEEE Congress on Evolutionary Computation.2007:4661-4667.
[11]KAVEH A,TALATAHARI S.Optimum design of skeletal structures using imperialist competitive algorithm[J].Computers&Structures,2010,88(21):1220-1229.
[12]ABD-ELAZIM S M,ALI E S.Imperialist competitive algorithm for optimal STATCOM design in a multimachine power system[J].International Journal of Electrical Power&Energy Systems,2016,76:136-146.
[13]SHABANI H,VAHIDI B,EBRAHIMPOUR M.A robust PID controller based on imperialist competitive algorithm for load-frequency control of power systems[J].ISA Transactions,2013,52(1):88-95.
[14]SPENCER B F,DYKE S J,SAIN M K,et al.Phenomenological model for magnetorheological dampers[J].Journal of Engineering Mechanics,1997,123(3):230-238.
[15]ATABAY E,OZKOL I.Application of a magnetorheological damper modeled using the current-dependent Bouc-Wen model for shimmy suppression in a torsional nose landing gear with and without freeplay[J].Journal of Vibration and Control,2014,20(11):1622-1644.