结构液压被动耗能与直驱主动控制系统
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摘要
土木工程结构振动控制的研究与应用经过半个多世纪的发展已日臻成熟,已有多种振动控制装置在实际工程中得到应用。结构简单、性能可靠的新型被动控制装置,主动质量阻尼器/驱动器控制系统中的新型作动器,结构振动主动控制实现中的时间滞后及其补偿方法等问题仍将是当前乃至今后一段时间内土木工程结构振动控制技术领域发展的热点研究课题。本文就以上三方面的有关问题展开研究,主要内容如下:
1.基于流体力学中流体沿程能量损失方程和局部能量损失方程,分别推导了以牛顿流体、幂律流体和宾汉姆流体为阻尼介质的孔隙式油缸阻尼器的力学模型。根据所建立的相关理论研制开发了四个系列粘滞流体阻尼器,进行了系统的力学性能试验,通过数据分析回归了阻尼力—速度、阻尼力—阻尼介质参数、阻尼力—阻尼孔直径、阻尼介质—流动指数等阻尼器设计最为重要的关系曲线,为粘滞流体阻尼器的定型化、参数化提供必要的基础。
2.针对传统液压驱动AMD (Active Mass Damper/Driver)控制系统装置复杂、体积大、能源利用效率低等缺点,提出了采用无阀电液伺服作动器(直驱容控电液伺服作动器)驱动的AMD控制系统的概念。分别建立了无阀电液驱动系统的电机控制、液压动力机构和液压执行机构等子系统的力学模型,进一步建立无阀电液伺服作动器的数学模型。通过数值仿真,较全面分析了影响系统动态特性的因素及作用特征,分析了系统各组成部件的动态特性并提出系统性能改进的措施与策略。
3.提出以无阀电液伺服作动器为驱动装置的主动质量驱动器DAMD (Direct driving Active Mass Driver)控制系统,给出了以泵的转速(伺服电机的控制电压)为输入量、系统主动控制力为输出量的系统转速-驱动力关系模型,建立了受控结构-DAMD控制系统的状态方程,最后以顶层设置DAMD控制系统的结构为研究对象进行地震荷载作用下结构响应控制的数值分析,结果表明DAMD控制系统在一定范围内可以代替传统的液压驱动AMD控制系统,实现结构振动的主动控制。
4.针对DAMD控制系统响应时间稍长的问题,研究了DAMD控制系统应用于土木工程结构振动控制的适用范围。结合主动控制系统时滞的稳定性分析,给出单自由度系统最大允许时滞量(系统第一次出现不稳定的时滞量)的解析解,该值用来确定何时应用时滞补偿技术,并给出增益与系统最大允许时滞量的关系,给出一种基于变量代换的直接补偿方法,理论仿真结果表明了该方法的有效性。
5.与传统的主动控制时滞补偿问题研究思路不尽一致,提出利用时滞补偿控制策略—主动增加时滞补偿方法,给出该方法的数学原理证明。提出了分别基于速度反馈增益和基于位移反馈增益的主动增加时滞补偿方法。定量结合定性分析总结了AMD系统控制参数对时滞量与控制效果的影响规律。数值模拟和试验验证了本文所提主动增加时滞补偿方法的可行性。
The research and application of structural control in civil engineering have made a great progress during the development of last several decades. A lot of innovative control devices are widely applied in actual projects. Up to now, passive control with simple structure and good performance, innovative active mass driver (AMD) system and time delay phenomenon that arises unavoidable regarding active control, are still the focus of study of structure control. In accordance with the above consideration, the main studies of this dissertation are as follows:
1. Based on the equations of the route loss and local loss of fluid mechanics, the mechanical model of cylinder-with-holes damper using Newton fluid, exponent law fluid and Bingham fluid as damping medium. According to the theoretical results, four different dampers are designed and analyzed by mechanical experiment. By means of analysis of experimental data, the curve of damping force-velocity, damping force-damping medium, damping force-diameter of damping hole and damping medium-flow index are regressed, which is the key part for the design of damper and also important for the modeling, parameter specification and production of viscous fluid damper.
2. Aimed at the disadvantages of traditional AMD drive device, such as large volume, high cost, complex system, more energy consumption, an innovative driver-Direct Driving Volume Control(DDVC) servo system for AMD is proposed based on the volume control of electro-hydraulic servo system. From the structure of DDVC servo system, the mathematical models of motor control, hydraulic power mechanism and hydraulic actuator of DDVC servo system are set up, which leads to the whole mathematical model of DDVC servo system. Through numerical simulation, the influence factor of system dynamics is analyzed in detail. Furthermore, the dynamical characteristic of each component of whole system as well as how to improve it is studied and proposed.
3. Based on DDVC servo system, direct driving active mass driver (DAMD) is developed. The equation of rotation speed-drive force is derived and the corresponding rotation speed-force model using rotational speed of the pump (the driving voltage of servo motor) as input and the active control force as output is provided. From the above derivation and analysis, the state equation for controller structure-DAMD control system is presented. Numerical simulation is made on a structure under earthquake excitation with DAMD control system at the top floor. Results show that in some degree, DAMD control system can be used to substitute the traditional AMD control system to realized active control of structural vibration.
4. Because the response time of DAMD control system is relative slow, the influence of this phenomenon under wind and earthquake excitation is analyzed. The stability analysis of time-delayed system is conducted and the analytical solution of maximum allowable delayed time of SDOF (Single Degree of Freedom) system is provided. This maximum allowable delayed time can be utilized to specify when to use the compensation for time delay. Meantime, the relationship between control gain and maximum allowable delayed time is presented. A direct compensation method based on mathematical analysis of time-delayed system is developed and corresponding numerical simulation verifies the effectiveness of proposed method.
5. Almost all studies about how to control time-delayed system is to mitigate or remove the time delay. On the other hand, time delay can be regarded as the useful compensation for control system to a certain extent. In this dissertation, a novel compensation method for time-delayed system that directly utilizes time delay is developed. Based on the mathematical derivation, two methods using velocity feedback and displacement feedback are presented, respectively. Analysed and summarized the influence law between control effect and time delay control parameters by AMD control system. Furthermore, the effectiveness of the foregoing control methods that utilize time delay is verified by numeral simulation and experiment.
1.基于流体力学中流体沿程能量损失方程和局部能量损失方程,分别推导了以牛顿流体、幂律流体和宾汉姆流体为阻尼介质的孔隙式油缸阻尼器的力学模型。根据所建立的相关理论研制开发了四个系列粘滞流体阻尼器,进行了系统的力学性能试验,通过数据分析回归了阻尼力—速度、阻尼力—阻尼介质参数、阻尼力—阻尼孔直径、阻尼介质—流动指数等阻尼器设计最为重要的关系曲线,为粘滞流体阻尼器的定型化、参数化提供必要的基础。
2.针对传统液压驱动AMD (Active Mass Damper/Driver)控制系统装置复杂、体积大、能源利用效率低等缺点,提出了采用无阀电液伺服作动器(直驱容控电液伺服作动器)驱动的AMD控制系统的概念。分别建立了无阀电液驱动系统的电机控制、液压动力机构和液压执行机构等子系统的力学模型,进一步建立无阀电液伺服作动器的数学模型。通过数值仿真,较全面分析了影响系统动态特性的因素及作用特征,分析了系统各组成部件的动态特性并提出系统性能改进的措施与策略。
3.提出以无阀电液伺服作动器为驱动装置的主动质量驱动器DAMD (Direct driving Active Mass Driver)控制系统,给出了以泵的转速(伺服电机的控制电压)为输入量、系统主动控制力为输出量的系统转速-驱动力关系模型,建立了受控结构-DAMD控制系统的状态方程,最后以顶层设置DAMD控制系统的结构为研究对象进行地震荷载作用下结构响应控制的数值分析,结果表明DAMD控制系统在一定范围内可以代替传统的液压驱动AMD控制系统,实现结构振动的主动控制。
4.针对DAMD控制系统响应时间稍长的问题,研究了DAMD控制系统应用于土木工程结构振动控制的适用范围。结合主动控制系统时滞的稳定性分析,给出单自由度系统最大允许时滞量(系统第一次出现不稳定的时滞量)的解析解,该值用来确定何时应用时滞补偿技术,并给出增益与系统最大允许时滞量的关系,给出一种基于变量代换的直接补偿方法,理论仿真结果表明了该方法的有效性。
5.与传统的主动控制时滞补偿问题研究思路不尽一致,提出利用时滞补偿控制策略—主动增加时滞补偿方法,给出该方法的数学原理证明。提出了分别基于速度反馈增益和基于位移反馈增益的主动增加时滞补偿方法。定量结合定性分析总结了AMD系统控制参数对时滞量与控制效果的影响规律。数值模拟和试验验证了本文所提主动增加时滞补偿方法的可行性。
The research and application of structural control in civil engineering have made a great progress during the development of last several decades. A lot of innovative control devices are widely applied in actual projects. Up to now, passive control with simple structure and good performance, innovative active mass driver (AMD) system and time delay phenomenon that arises unavoidable regarding active control, are still the focus of study of structure control. In accordance with the above consideration, the main studies of this dissertation are as follows:
1. Based on the equations of the route loss and local loss of fluid mechanics, the mechanical model of cylinder-with-holes damper using Newton fluid, exponent law fluid and Bingham fluid as damping medium. According to the theoretical results, four different dampers are designed and analyzed by mechanical experiment. By means of analysis of experimental data, the curve of damping force-velocity, damping force-damping medium, damping force-diameter of damping hole and damping medium-flow index are regressed, which is the key part for the design of damper and also important for the modeling, parameter specification and production of viscous fluid damper.
2. Aimed at the disadvantages of traditional AMD drive device, such as large volume, high cost, complex system, more energy consumption, an innovative driver-Direct Driving Volume Control(DDVC) servo system for AMD is proposed based on the volume control of electro-hydraulic servo system. From the structure of DDVC servo system, the mathematical models of motor control, hydraulic power mechanism and hydraulic actuator of DDVC servo system are set up, which leads to the whole mathematical model of DDVC servo system. Through numerical simulation, the influence factor of system dynamics is analyzed in detail. Furthermore, the dynamical characteristic of each component of whole system as well as how to improve it is studied and proposed.
3. Based on DDVC servo system, direct driving active mass driver (DAMD) is developed. The equation of rotation speed-drive force is derived and the corresponding rotation speed-force model using rotational speed of the pump (the driving voltage of servo motor) as input and the active control force as output is provided. From the above derivation and analysis, the state equation for controller structure-DAMD control system is presented. Numerical simulation is made on a structure under earthquake excitation with DAMD control system at the top floor. Results show that in some degree, DAMD control system can be used to substitute the traditional AMD control system to realized active control of structural vibration.
4. Because the response time of DAMD control system is relative slow, the influence of this phenomenon under wind and earthquake excitation is analyzed. The stability analysis of time-delayed system is conducted and the analytical solution of maximum allowable delayed time of SDOF (Single Degree of Freedom) system is provided. This maximum allowable delayed time can be utilized to specify when to use the compensation for time delay. Meantime, the relationship between control gain and maximum allowable delayed time is presented. A direct compensation method based on mathematical analysis of time-delayed system is developed and corresponding numerical simulation verifies the effectiveness of proposed method.
5. Almost all studies about how to control time-delayed system is to mitigate or remove the time delay. On the other hand, time delay can be regarded as the useful compensation for control system to a certain extent. In this dissertation, a novel compensation method for time-delayed system that directly utilizes time delay is developed. Based on the mathematical derivation, two methods using velocity feedback and displacement feedback are presented, respectively. Analysed and summarized the influence law between control effect and time delay control parameters by AMD control system. Furthermore, the effectiveness of the foregoing control methods that utilize time delay is verified by numeral simulation and experiment.
引文
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