基于压电-SMA变摩擦阻尼器的智能隔震系统试验与理论研究
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摘要
结构振动控制作为一种积极、有效的减震技术在土木工程中的研究和应用已经有近40年的历史,而近年来将磁流变(MR)、形状记忆合金(SMA)和压电陶瓷(PZT)等智能材料引入其中,为建造大震不倒的结构提供了光辉灿烂的前景,也为振动控制的研究平添了无穷的活力。目前对MR阻尼器的研究已经比较深入和成熟,故有必要加强对其它半主动控制装置的研究与开发。本文基于形状记忆合金(SMA)和压电陶瓷(PZT)两种智能材料的特点,提出了三种压电复合变摩擦阻尼器,它们充分利用PZT的正、逆压电效应和响应速度快的优点以及SMA丝出力大、性能稳定的特性,结合摩擦阻尼器的简单构造,改善了现有压电阻尼器的性能,力图推进压电阻尼器的实用化进程。
在电场作用下,变形被约束的叠层压电陶瓷驱动器能够瞬间提供可控的驱动力(即逆压电效应),而且控制系统简单可靠,这些特点为其实用化提供了方便。利用这个特点,分别研发了水平面内无方向性的压电变摩擦阻尼器和压电-SMA复合变摩擦阻尼器,与圆形隔震橡胶支座协调工作,能够在水平各个方向提供可控的摩擦阻尼。对安装有新型阻尼器的智能隔震结构进行了理论分析和试验研究。在此基础上,还提出了压电自发电的智能隔震系统的理论构想。主要工作包括以下几个方面：
(1)针对新型的压电阻尼器和压电-SMA变摩擦阻尼器,制作了其实验室比例的模型。分别进行了压电陶瓷出力性能试验、SMA丝材料性能试验和两种新型阻尼器的动力性能试验：压电驱动器出力性能试验结果表明,开始阶段预压力的增加能提高压电陶瓷驱动器的出力,但随着约束钢架被预压得越来越紧密,压电驱动器出力趋于稳定。阻尼器性能试验主要研究其动力特性,研究了施加固定预压力(对应于“被动关”状态)和同时施加预压力和变电压下阻尼力(对应于半主动控制状态)的特性,特别是研究了双向滑动时压电摩擦阻尼器的动力特性,还测试了大行程下SMA丝提供的阻尼力特性。结果表明,SMA丝能够在隔震层位移较大时,提供很好的复位力。智能阻尼器半主动和被动状态下的可控阻尼力稳定,滞回性能在低频段基本不随加载频率的变化而改变。双向滑动时,起滑阶段x、y方向初始刚度相差较大,滑移稳定后双向的动力特性稳定。
(2)由于压电-SMA复合变摩擦阻尼器构造复杂,而且两种智能材料(叠层压电驱动器和SMA丝)都在贡献阻尼力时导致阻尼器变形,而目前研究中基于单向胡克定律的压电可调正压力计算公式已经不再适用。所以,提出了基于有限元分析的智能阻尼器可调阻尼力计算模型和带电压参数的形状系数计算公式。通过Ansys分析还证明了长行程的压电复合阻尼器中,压电正压力偏心,对可调阻尼力的影响非常小,并推导了可调阻尼力偏心影响的计算公式。在此基础上,还优化了复合智能阻尼器的刚度参数。
(3)对基于压电-SMA复合变摩擦阻尼器的智能高位层间隔震系统进行了仿真分析。以一14层的高位(第9层)层间隔震实际工程为算例,进行了限幅最优半主动控制和被动开、关控制以及最优电压控制的比较分析,首先确定了加层隔震抗震加固的智能隔震结构的控制效果评价指标,应用限幅最优控制策略和最优电压被动控制策略对层间隔震结构的地震响应进行了分析。结果表明,最优电压被动控制能取得半主动控制非常接近的控制效果,有效减小结构的地震响应(特别是隔震层的层间位移)。
(4)进行了安装压电-SMA摩擦阻尼器的钢框架隔震模型结构(包括基础隔震和层间隔震)的振动台试验。试验结果表明,新型智能阻尼器的主要构件(压电套筒、约束钢架和SMA丝调节阀)都能在隔震层与圆形隔震垫协调工作,提供水平任一方向的可控阻尼力。比较分析了不同地震波输入下压电摩擦阻尼器的控制效果,特别是研究了隔震层位置不同时(基础隔震、首层隔震),智能隔震的控制效果。试验结果表明,压电-SMA复合变摩擦阻尼器和相应的控制策略都是非常有效的：被动开、关控制和最优电压控制均能减小结构的响应,最优电压控制不仅费效比是最好的,而且能充分发挥压电-SMA摩擦阻尼器的性能,获得很好的控制效果,特别是大幅减少了隔震层的位移,对层间隔震结构而言,不仅仅提高了隔震结构性能,而且也减少了P-Δ效应引起的弯矩和剪力,提高了层间隔震系统的可靠性。
(5)对于偶然偏心作用导致结构的地震扭转响应,压电-SMA复合变摩擦阻尼器中的SMA丝能够提供抗扭拉力和阻尼,抵抗偶然偏心的作用。数值分析和振动台实验都证明,当压电-SMA复合阻尼器安装在结构平面位置的中心时,偶然偏心不会导致结构有明显的扭转振动。而一般的智能阻尼器都要求布置在结构平面位置的四周来抗扭,以牺牲半主动控制力为代价。
(6)提出了一种压电自发电的变摩擦阻尼器和相应的智能层间隔震系统的理论构想。以隔震层地震波输出激励为发电激振力,设计了强制式叠层压电发电装置,推导了地震激励下发电装置发电能力的计算公式,并对两质点层间隔震模型进行了仿真分析,理论证明了压电自发电智能隔震系统的可行性
As a kind of active and effective countermeasure for seismic protection, the vibration control in civil engineering has be studied over the past40years. In recent years, the application of intelligent material (such as MR、PZT and SMA) and smart structure are becoming one of the hotspots in the research field of civil engineering control. At present, MR damper has been more mature, so it is necessary to strengthen research and development of the other semi-active control devices. This dissertation puts forward three new types of piezoelectric friction dampers, and by making full use of the quick action of PZT and the direct and converse piezoelectric effect, they improve the performance of existing piezoelectric damper, to promote the practical process of the piezoelectric dampers.
Piezoelectric actuator possess the converse effect. Namely, it can generate adjustable force by controlling the applied voltage, and it is characterized by simple and reliable control system which provide a convenient for its practical application. In this dissertation, commercially available multilayer piezoelectric stack actuators are considered for driving variable friction damper, and by using SMA wires and friction damper, a PZT and SMA compound friction dampers is proposed innovatively. It is considered that the applications of independently developed PZT-SMA combined dampers in the semi-active and passive control. The theoretical analysis and experiment of structural control system were performed, Theoretical conception is proposed on the self-powered PF damper. The primary contents include as follows:
(1) Two kinds of new type piezoelectric friction dampers with and without SMA are proposed, and the scale dampers are designed and fabricated. Firstly, the force generation of the piezoelectric actuator is tested and shows the force increases as the voltage. Secondly, the performance experiment is carried out under varying voltage to identify its motion-independent characteristics on two-way slide. Experimental results indicate that the load-displacement curves are stable and independent of the excitation in low frequency range (0.01-0.06Hz). On two-way slide, the larger difference in the initial stiffness of the x, y direction is existing at the sliding phase, but after sliding stability, two-way dynamic characteristics is stable.
(2) Because of the complex structures of the new damper, it is no longer applicable for piezoelectric adjustable pressure formula currently based on one-way Hook theorem. Therefore, the finite element analysis program ANSYS is put to use and deformation test is done to prove correctness of calculation. The shape factor of piezoelectric damper is decided based on the analysis. it also demonstrates that piezoelectric normal pressure eccentric has little effect to the adjustable damping force, and the eccentric impact formula is derived. At the same times, the optimization on the parameters of smart damper stiffness is done by using the finite element analysis.
(3) The simulation analysis for the intelligent high inter-story seismic system has been done. The proposed control strategy was applied to a14-story isolation structure which is an actual project to simulate its seismic effectiveness under five ground motion records, The control evaluating index are decided, moreover the control algorithms of there composite friction dampers are further investigated, and the Optimal-Voltage Control and Clipped-Optimal Control are the proposed two kinds of methods of control strategies. Numerical simulation shows the two kinds of methods are all effective for suppressing the seismic responses. The implementation of optimal-voltage control needs only power-supply, so the control cost decrease and the reliability increase. And the application value is clear.
(4) Experimental validation is also carried out by using a series of shake table tests on a4-story steel isolated structure model (including base-isolation and first-story isolation) controlled with the smart dampers with SMA and without SMA. The performance of the compound smart friction damper and the control strategy are evaluated experimentally. Before the tests, numerical modeling and simulation were conducted. The analysis results were contrasted with the test results under different earthquake waves. The comparison indicate that the simulation is correct and the damper is effective in mitigating earthquake responses on both passive control (optimal-voltage control) and the semi-active control. The optimal-voltage control can achieve better performance. the effectiveness of the control strategy was verified with shake table tests conducted on a1/4scale,4-story isolation. In order to simplify the installation, the piezoelectric friction dampers are located at the centre of the isolation structure.
(5) When accidental eccentricity leads to the seismic torsional effects, the smart damper can provide anti-torsional tension and damping by using SMA wire. Both the numerical simulation and shake table tests have all proved that the accidental eccentricity does not lead to the larger torsional vibration. And the current smart dampers are required to be arranged in the structure around the plane to anti-torsion.
(6)A self-powered piezoelectric damper is proposed, through it the smart inter-story isolation system is established theoretically. It makes full use of the quick action of PZT and the direct and converse piezoelectric effect, so the smart isolation can get rid of the external power supply. Seismic waves is the power generation excitation, then piezoelectric power generation is designed and the formula for calculating the piezoelectric power generation is derived. Numerical simulations for inter-story isolation equipped with this system excited by historical earthquakes are conducted and shows it can suppress the seismic responses.
在电场作用下,变形被约束的叠层压电陶瓷驱动器能够瞬间提供可控的驱动力(即逆压电效应),而且控制系统简单可靠,这些特点为其实用化提供了方便。利用这个特点,分别研发了水平面内无方向性的压电变摩擦阻尼器和压电-SMA复合变摩擦阻尼器,与圆形隔震橡胶支座协调工作,能够在水平各个方向提供可控的摩擦阻尼。对安装有新型阻尼器的智能隔震结构进行了理论分析和试验研究。在此基础上,还提出了压电自发电的智能隔震系统的理论构想。主要工作包括以下几个方面：
(1)针对新型的压电阻尼器和压电-SMA变摩擦阻尼器,制作了其实验室比例的模型。分别进行了压电陶瓷出力性能试验、SMA丝材料性能试验和两种新型阻尼器的动力性能试验：压电驱动器出力性能试验结果表明,开始阶段预压力的增加能提高压电陶瓷驱动器的出力,但随着约束钢架被预压得越来越紧密,压电驱动器出力趋于稳定。阻尼器性能试验主要研究其动力特性,研究了施加固定预压力(对应于“被动关”状态)和同时施加预压力和变电压下阻尼力(对应于半主动控制状态)的特性,特别是研究了双向滑动时压电摩擦阻尼器的动力特性,还测试了大行程下SMA丝提供的阻尼力特性。结果表明,SMA丝能够在隔震层位移较大时,提供很好的复位力。智能阻尼器半主动和被动状态下的可控阻尼力稳定,滞回性能在低频段基本不随加载频率的变化而改变。双向滑动时,起滑阶段x、y方向初始刚度相差较大,滑移稳定后双向的动力特性稳定。
(2)由于压电-SMA复合变摩擦阻尼器构造复杂,而且两种智能材料(叠层压电驱动器和SMA丝)都在贡献阻尼力时导致阻尼器变形,而目前研究中基于单向胡克定律的压电可调正压力计算公式已经不再适用。所以,提出了基于有限元分析的智能阻尼器可调阻尼力计算模型和带电压参数的形状系数计算公式。通过Ansys分析还证明了长行程的压电复合阻尼器中,压电正压力偏心,对可调阻尼力的影响非常小,并推导了可调阻尼力偏心影响的计算公式。在此基础上,还优化了复合智能阻尼器的刚度参数。
(3)对基于压电-SMA复合变摩擦阻尼器的智能高位层间隔震系统进行了仿真分析。以一14层的高位(第9层)层间隔震实际工程为算例,进行了限幅最优半主动控制和被动开、关控制以及最优电压控制的比较分析,首先确定了加层隔震抗震加固的智能隔震结构的控制效果评价指标,应用限幅最优控制策略和最优电压被动控制策略对层间隔震结构的地震响应进行了分析。结果表明,最优电压被动控制能取得半主动控制非常接近的控制效果,有效减小结构的地震响应(特别是隔震层的层间位移)。
(4)进行了安装压电-SMA摩擦阻尼器的钢框架隔震模型结构(包括基础隔震和层间隔震)的振动台试验。试验结果表明,新型智能阻尼器的主要构件(压电套筒、约束钢架和SMA丝调节阀)都能在隔震层与圆形隔震垫协调工作,提供水平任一方向的可控阻尼力。比较分析了不同地震波输入下压电摩擦阻尼器的控制效果,特别是研究了隔震层位置不同时(基础隔震、首层隔震),智能隔震的控制效果。试验结果表明,压电-SMA复合变摩擦阻尼器和相应的控制策略都是非常有效的：被动开、关控制和最优电压控制均能减小结构的响应,最优电压控制不仅费效比是最好的,而且能充分发挥压电-SMA摩擦阻尼器的性能,获得很好的控制效果,特别是大幅减少了隔震层的位移,对层间隔震结构而言,不仅仅提高了隔震结构性能,而且也减少了P-Δ效应引起的弯矩和剪力,提高了层间隔震系统的可靠性。
(5)对于偶然偏心作用导致结构的地震扭转响应,压电-SMA复合变摩擦阻尼器中的SMA丝能够提供抗扭拉力和阻尼,抵抗偶然偏心的作用。数值分析和振动台实验都证明,当压电-SMA复合阻尼器安装在结构平面位置的中心时,偶然偏心不会导致结构有明显的扭转振动。而一般的智能阻尼器都要求布置在结构平面位置的四周来抗扭,以牺牲半主动控制力为代价。
(6)提出了一种压电自发电的变摩擦阻尼器和相应的智能层间隔震系统的理论构想。以隔震层地震波输出激励为发电激振力,设计了强制式叠层压电发电装置,推导了地震激励下发电装置发电能力的计算公式,并对两质点层间隔震模型进行了仿真分析,理论证明了压电自发电智能隔震系统的可行性
As a kind of active and effective countermeasure for seismic protection, the vibration control in civil engineering has be studied over the past40years. In recent years, the application of intelligent material (such as MR、PZT and SMA) and smart structure are becoming one of the hotspots in the research field of civil engineering control. At present, MR damper has been more mature, so it is necessary to strengthen research and development of the other semi-active control devices. This dissertation puts forward three new types of piezoelectric friction dampers, and by making full use of the quick action of PZT and the direct and converse piezoelectric effect, they improve the performance of existing piezoelectric damper, to promote the practical process of the piezoelectric dampers.
Piezoelectric actuator possess the converse effect. Namely, it can generate adjustable force by controlling the applied voltage, and it is characterized by simple and reliable control system which provide a convenient for its practical application. In this dissertation, commercially available multilayer piezoelectric stack actuators are considered for driving variable friction damper, and by using SMA wires and friction damper, a PZT and SMA compound friction dampers is proposed innovatively. It is considered that the applications of independently developed PZT-SMA combined dampers in the semi-active and passive control. The theoretical analysis and experiment of structural control system were performed, Theoretical conception is proposed on the self-powered PF damper. The primary contents include as follows:
(1) Two kinds of new type piezoelectric friction dampers with and without SMA are proposed, and the scale dampers are designed and fabricated. Firstly, the force generation of the piezoelectric actuator is tested and shows the force increases as the voltage. Secondly, the performance experiment is carried out under varying voltage to identify its motion-independent characteristics on two-way slide. Experimental results indicate that the load-displacement curves are stable and independent of the excitation in low frequency range (0.01-0.06Hz). On two-way slide, the larger difference in the initial stiffness of the x, y direction is existing at the sliding phase, but after sliding stability, two-way dynamic characteristics is stable.
(2) Because of the complex structures of the new damper, it is no longer applicable for piezoelectric adjustable pressure formula currently based on one-way Hook theorem. Therefore, the finite element analysis program ANSYS is put to use and deformation test is done to prove correctness of calculation. The shape factor of piezoelectric damper is decided based on the analysis. it also demonstrates that piezoelectric normal pressure eccentric has little effect to the adjustable damping force, and the eccentric impact formula is derived. At the same times, the optimization on the parameters of smart damper stiffness is done by using the finite element analysis.
(3) The simulation analysis for the intelligent high inter-story seismic system has been done. The proposed control strategy was applied to a14-story isolation structure which is an actual project to simulate its seismic effectiveness under five ground motion records, The control evaluating index are decided, moreover the control algorithms of there composite friction dampers are further investigated, and the Optimal-Voltage Control and Clipped-Optimal Control are the proposed two kinds of methods of control strategies. Numerical simulation shows the two kinds of methods are all effective for suppressing the seismic responses. The implementation of optimal-voltage control needs only power-supply, so the control cost decrease and the reliability increase. And the application value is clear.
(4) Experimental validation is also carried out by using a series of shake table tests on a4-story steel isolated structure model (including base-isolation and first-story isolation) controlled with the smart dampers with SMA and without SMA. The performance of the compound smart friction damper and the control strategy are evaluated experimentally. Before the tests, numerical modeling and simulation were conducted. The analysis results were contrasted with the test results under different earthquake waves. The comparison indicate that the simulation is correct and the damper is effective in mitigating earthquake responses on both passive control (optimal-voltage control) and the semi-active control. The optimal-voltage control can achieve better performance. the effectiveness of the control strategy was verified with shake table tests conducted on a1/4scale,4-story isolation. In order to simplify the installation, the piezoelectric friction dampers are located at the centre of the isolation structure.
(5) When accidental eccentricity leads to the seismic torsional effects, the smart damper can provide anti-torsional tension and damping by using SMA wire. Both the numerical simulation and shake table tests have all proved that the accidental eccentricity does not lead to the larger torsional vibration. And the current smart dampers are required to be arranged in the structure around the plane to anti-torsion.
(6)A self-powered piezoelectric damper is proposed, through it the smart inter-story isolation system is established theoretically. It makes full use of the quick action of PZT and the direct and converse piezoelectric effect, so the smart isolation can get rid of the external power supply. Seismic waves is the power generation excitation, then piezoelectric power generation is designed and the formula for calculating the piezoelectric power generation is derived. Numerical simulations for inter-story isolation equipped with this system excited by historical earthquakes are conducted and shows it can suppress the seismic responses.
引文
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