基于MR阻尼器的半主动结构控制的理论与试验研究
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摘要
磁流变(MR)阻尼器是一种典型的半主动控制装置，具有构造简单、响应速度快、阻尼力大且连续可调等优点，在土木工程结构中的应用研究已经得到了国内外学者的广泛关注。本论文系统地开展了基于MR阻尼器的半主动结构控制的理论与试验研究，主要创新工作与成果包括以下几个方面：
（1）根据剪切与阀式两种工作模式的特点，选用重庆仪器材料研究所研制生产的MRF-04K型磁流变液，设计并制作了一种剪切阀式的MR阻尼器，命名为MRF-04K阻尼器，长50cm，重约50kg；通过在不同振幅、不同频率的正弦激励并施加不同的励磁电流下，对MRF-04K阻尼器的动力性能进行了测试试验，结果表明该阻尼器的最大阻尼力达到20kN，耗电功率小于50w；进一步提出了适合MRF-04K阻尼器的修正的Bouc-Wen滞回模型，模拟与误差分析结果表明，该滞回模型能够精确的描述MRF-04K阻尼器的滞回性能。
（2）针对应用MRF-04K阻尼器的半主动控制系统，提出了基于瞬时最优控制（IOC）、经典线性最优控制（COC）和仅用加速度作为状态反馈的线性二次高斯（LQG）算法的半主动控制律；进一步依据预测控制理论，提出了一种基于MR阻尼器且具有时滞自补偿功能的半主动多步预测控制系统；数值分析表明，MRF-04K阻尼器是一种性能卓越的半主动控制装置，而且半主动控制系统能够充分的利用MR阻尼器的性能，有效的减小结构的地震反应，取得良好的控制效果。
（3）将基于MRF-04K阻尼器的半主动控制系统与基础隔震相结合，建立了一种基于MRF-04K阻尼器的混合控制系统，仿真分析表明该混合控制系统不仅能够大幅度地减小隔震层的水平侧移，有效地保护隔震装置，而且能够有效的控制上部结构的层间位移与加速度反应，从而提高了隔震建筑的抗震性能和可靠性。
（4）应用MRF-04K阻尼器，在三种不同地震波激励下，分别针对基于IOC算法、COC算法和LQG算法的三种半主动控制系统以及恒定励磁电流为0A和2.0A的两种被动控制系统，对一三层钢框架模型进行了地震模拟振动台试验。试验结果表明，基于MRF-04K阻尼器的控制系统非常有效，无论是被动控制还是半主动控制，都显著地降低了模型结构各层的响应，而且半主动控制系统更能充分地利用MRF-04K阻尼器的性能，以较小的控制力达到了较好的控制效果，从而为基于MRF-04K阻尼器的半主动控制系统在土木工程结构中的应用提供了可靠的试验依据。
Magnetorheological (MR) damper, due to its mechanical simplicity, rapid response, low power requirement, large and adjustable damping force capacity and robustness, has shown to be one of the most promising realizations of semi-active dampers, and the research on its application to civil structures has been attracted lots of scholastic attention.
In this dissertation, a systematic study on the theory and experiment of semi-active structural control based on MR damper was performed, and the primary innovative contents are included,
(1) A kind of MR damper, named as MRF-04K damper, using the mixed mode (i.e. the valve mode combined with the shear mode) had been designed and manufactured. The used MR fluid is the type of MRF-04K provided by Chongqing Instrument Materials Research Institute of China and the completed damper is approximately 0.5m long and with a mass of 50kg. To accurately understand the performance of MRF-04K damper, the dynamic characteristics of the damper under sinusoidal excitation with different frequency and different amplitude and different applied current levels were experimentally studied. The maximum force produced by MRF-04K damper at a full magnetic field strength is about 20kN while the maximum power required is less than 50w. Further more, the modified Bouc-Wen model had been proposed according to the test data of the dynamic behavior of MRF-04K damper. Comparison with the data between the experimental and the predicted indicates that the modified Bouc-Wen model can accurate portray the behavior of the MRF-04K damper.
(2) The semi-active control systems based on MRF-04K damper were further investigated, and the semi-active control law based on the Instantaneous Optimal Control (IOC), the Classical Linear Optimal Control (COC), and the Linear-Quadratic Gaussian (LQG) (only required the acceleration responses of structure as the feedback) algorithms was proposed. On the basis of predictive control theory, the semi-active multi-step predictive control system with the function of time delay self-compensation based on MR damper was proposed. The numerical analysis results indicate that the MRF-04K damper is a semi-active control device with good performance and the semi-active control systems can take full use of the performance of MR damper to reduce the structural responses effectively.
(3) The hybrid control system, consisting of a passive base isolation system combined with a semi-active control system based on MRF-04K damper, was explored. Simulation analysis results indicate that the hybrid control system is able to achieve both low interstory drift and acceleration and, at the same time, limit the base displacement. The security of isolated
structure was improved largely.
(4) Based on the theory and the simulation analysis above, a series of shaking table tests of the semi-active structural control systems based on MRF-04K damper were carried out. Under three different seismic input, the validity of the semi-active control systems based on three different control algorithms, the Instantaneous Optimal Control (IOC) algorithm, the Classical Optimal Control (COC) algorithm and the Linear Quadratic Gaussian (LQG) control problem, and two passive control situations, in which the applied current was fixed at the minimum value of 0A and the maximum value of 2.0A respectively, was verified. The test results indicate that the control systems based on MRF-04K damper are very effective, and either two passive control situations or the semi-active control systems are all able to significantly reduce the seismic responses of the model structure, while the semi-active control systems can effectively utilize the behavior of MRF-04K damper and achieve a better control effectiveness with less control forces compared with the case of passive 2.0A. Which make the realization of the semi-active control systems based on the MRF-04K damper more simple and provide the reliable test basis for applying the semi-active control systems based on MRF-04K damper to civil structures.
（1）根据剪切与阀式两种工作模式的特点，选用重庆仪器材料研究所研制生产的MRF-04K型磁流变液，设计并制作了一种剪切阀式的MR阻尼器，命名为MRF-04K阻尼器，长50cm，重约50kg；通过在不同振幅、不同频率的正弦激励并施加不同的励磁电流下，对MRF-04K阻尼器的动力性能进行了测试试验，结果表明该阻尼器的最大阻尼力达到20kN，耗电功率小于50w；进一步提出了适合MRF-04K阻尼器的修正的Bouc-Wen滞回模型，模拟与误差分析结果表明，该滞回模型能够精确的描述MRF-04K阻尼器的滞回性能。
（2）针对应用MRF-04K阻尼器的半主动控制系统，提出了基于瞬时最优控制（IOC）、经典线性最优控制（COC）和仅用加速度作为状态反馈的线性二次高斯（LQG）算法的半主动控制律；进一步依据预测控制理论，提出了一种基于MR阻尼器且具有时滞自补偿功能的半主动多步预测控制系统；数值分析表明，MRF-04K阻尼器是一种性能卓越的半主动控制装置，而且半主动控制系统能够充分的利用MR阻尼器的性能，有效的减小结构的地震反应，取得良好的控制效果。
（3）将基于MRF-04K阻尼器的半主动控制系统与基础隔震相结合，建立了一种基于MRF-04K阻尼器的混合控制系统，仿真分析表明该混合控制系统不仅能够大幅度地减小隔震层的水平侧移，有效地保护隔震装置，而且能够有效的控制上部结构的层间位移与加速度反应，从而提高了隔震建筑的抗震性能和可靠性。
（4）应用MRF-04K阻尼器，在三种不同地震波激励下，分别针对基于IOC算法、COC算法和LQG算法的三种半主动控制系统以及恒定励磁电流为0A和2.0A的两种被动控制系统，对一三层钢框架模型进行了地震模拟振动台试验。试验结果表明，基于MRF-04K阻尼器的控制系统非常有效，无论是被动控制还是半主动控制，都显著地降低了模型结构各层的响应，而且半主动控制系统更能充分地利用MRF-04K阻尼器的性能，以较小的控制力达到了较好的控制效果，从而为基于MRF-04K阻尼器的半主动控制系统在土木工程结构中的应用提供了可靠的试验依据。
Magnetorheological (MR) damper, due to its mechanical simplicity, rapid response, low power requirement, large and adjustable damping force capacity and robustness, has shown to be one of the most promising realizations of semi-active dampers, and the research on its application to civil structures has been attracted lots of scholastic attention.
In this dissertation, a systematic study on the theory and experiment of semi-active structural control based on MR damper was performed, and the primary innovative contents are included,
(1) A kind of MR damper, named as MRF-04K damper, using the mixed mode (i.e. the valve mode combined with the shear mode) had been designed and manufactured. The used MR fluid is the type of MRF-04K provided by Chongqing Instrument Materials Research Institute of China and the completed damper is approximately 0.5m long and with a mass of 50kg. To accurately understand the performance of MRF-04K damper, the dynamic characteristics of the damper under sinusoidal excitation with different frequency and different amplitude and different applied current levels were experimentally studied. The maximum force produced by MRF-04K damper at a full magnetic field strength is about 20kN while the maximum power required is less than 50w. Further more, the modified Bouc-Wen model had been proposed according to the test data of the dynamic behavior of MRF-04K damper. Comparison with the data between the experimental and the predicted indicates that the modified Bouc-Wen model can accurate portray the behavior of the MRF-04K damper.
(2) The semi-active control systems based on MRF-04K damper were further investigated, and the semi-active control law based on the Instantaneous Optimal Control (IOC), the Classical Linear Optimal Control (COC), and the Linear-Quadratic Gaussian (LQG) (only required the acceleration responses of structure as the feedback) algorithms was proposed. On the basis of predictive control theory, the semi-active multi-step predictive control system with the function of time delay self-compensation based on MR damper was proposed. The numerical analysis results indicate that the MRF-04K damper is a semi-active control device with good performance and the semi-active control systems can take full use of the performance of MR damper to reduce the structural responses effectively.
(3) The hybrid control system, consisting of a passive base isolation system combined with a semi-active control system based on MRF-04K damper, was explored. Simulation analysis results indicate that the hybrid control system is able to achieve both low interstory drift and acceleration and, at the same time, limit the base displacement. The security of isolated
structure was improved largely.
(4) Based on the theory and the simulation analysis above, a series of shaking table tests of the semi-active structural control systems based on MRF-04K damper were carried out. Under three different seismic input, the validity of the semi-active control systems based on three different control algorithms, the Instantaneous Optimal Control (IOC) algorithm, the Classical Optimal Control (COC) algorithm and the Linear Quadratic Gaussian (LQG) control problem, and two passive control situations, in which the applied current was fixed at the minimum value of 0A and the maximum value of 2.0A respectively, was verified. The test results indicate that the control systems based on MRF-04K damper are very effective, and either two passive control situations or the semi-active control systems are all able to significantly reduce the seismic responses of the model structure, while the semi-active control systems can effectively utilize the behavior of MRF-04K damper and achieve a better control effectiveness with less control forces compared with the case of passive 2.0A. Which make the realization of the semi-active control systems based on the MRF-04K damper more simple and provide the reliable test basis for applying the semi-active control systems based on MRF-04K damper to civil structures.
引文
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