分散控制系统的多时滞补偿研究
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摘要
针对传统的集中控制策略在时滞补偿设计时存在的局限性,指出了采用分散控制策略进行时滞补偿设计的必要性和适用性。以子系统控制效果整体最优为控制目标进行分散控制结构的子系统控制器设计[1],且在考虑到分散控制系统存在多时滞,推导了基于递归响应法的时滞补偿的基本公式,并对各个子系统进行时滞补偿设计。运用入侵杂草优化(IWO)算法得到分散控制系统在LQG算法下各子系统的最优权矩阵。对某七层钢框架算例模型分析表明:由于时滞的存在,主动控制系统的控制效果变差,甚至导致系统不稳定,但采用分散控制策略,同时对各子系统进行时滞补偿设计,最终能使控制系统在各子系统时滞相异的情况下保持较好的控制效果。
As the limitation of traditional centralized control strategy in time-delay compensation design,the necessity and applicability of time-delay compensation design using decentralized control strategy are expounded. Asubsystem controller of decentralized control structure, whose target is that the control performance is global optimal, is designed[1]. Considering the multi-time-delay of decentralized system,a time-delay compensation strategy is introduced based on recursive response method,and then the compensation strategy is used to every subsystem. Invasive Weed Optimization( IWO) is employed to obtain the best weight matrix of the subsystem in decentralized control system using LQG algorithm. Numerical simulation is conducted to a 7-storey steel-frame structure model. The results indicate that,time-delay can degrade the control performance and even cause the system unstable. Using the time-delay compensation method in the decentralize control system can make the control system remain appropriate performance when different amount of time-delay exists.
As the limitation of traditional centralized control strategy in time-delay compensation design,the necessity and applicability of time-delay compensation design using decentralized control strategy are expounded. Asubsystem controller of decentralized control structure, whose target is that the control performance is global optimal, is designed[1]. Considering the multi-time-delay of decentralized system,a time-delay compensation strategy is introduced based on recursive response method,and then the compensation strategy is used to every subsystem. Invasive Weed Optimization( IWO) is employed to obtain the best weight matrix of the subsystem in decentralized control system using LQG algorithm. Numerical simulation is conducted to a 7-storey steel-frame structure model. The results indicate that,time-delay can degrade the control performance and even cause the system unstable. Using the time-delay compensation method in the decentralize control system can make the control system remain appropriate performance when different amount of time-delay exists.
引文
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[13]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]Housner G W,Bergman L A,Caughey T K et al.Structural Control:Past,Present,and Future[J].Journal of Engineering Mechanics,ASCE,1997,123(9):897~971
[3]Spencer B F,Sain M K.Controlling Buildings:A New Frontier in Feedback[J].IEEE Control System Magazine,1997,17(6):19~35
[4]欧进萍.结构振动控制:主动、半主动和智能控制[M].北京:科学出版社,2003
[5]Abdel Rohman M.Time-delay Effect on Actively Damped Structures[J].Journal of Engineering Mechanics,1987,113(11):1709~1719
[6]Chung L L,Reinhorn A M,Soong T T.Experiments on Active Control of Seismic Structures[J].ASCE Journal of Engineering Mechanics,1988,114(2):241~256
[7]Mc Greevy S,Soong T T,Reinhorn A M.An Experimental Study of Time Delay Compensation in Active Structural Control[A].Proceedings of the SEM6th International Modal Analysis Conference[C].Orlando,FL,1988:733~739
[8]Soong T T.Active Structural Control:Theory and Practice[J].Longman Scientific&Technical,England,1990,118(6):1282~1285
[9]Agrawal,A K,Fujino Y,Bhartia B K.Instability Due to Time-Delay and Its Compensation in Active Control of Structures[J].Earthquake Engineering and Structural Dynamics,1993,22(3):211~224
[10]Sain P M,Spencer,B F,Sain M K,et al.Structural Control Design in The Presence of Time-Delays[A].Proceedings of the Ninth Engineering Mechanical Conference Lutes LD[C].Niedzwecki JM(eds).ASCE,College Station,Texas,May24~27,1992,812~815
[11]刘军龙,代晶辉,张春巍,李芦钰,欧进萍,郝磊.基于位移反馈控制的主动增加时滞补偿方法及其试验验证[J].振动与冲击,2011,(6):185~191Liu Jun-long,Dai Jing-hui,Zhang Chun-wei,et al.Time Delay Compensation Method Based on Displacement Feedback and Active Increasing of Time Delays and Its Experimental Verification[J].Journal of Vibration and Shock,2011,(6):185~191(in Chinese)
[12]Mehrabian A R,Lucas C.A Novel Numerical Optimization Algorithm Inspired From Weed Colonization[J].Ecological Informatics,2006,1(4):355~366
[13]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