弹塑性结构的主动和半主动控制研究
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摘要
土木工程领域关于结构振动控制的研究已经持续了30多年,理论分析、振动台试验和工程实践都已经证明该方法可以有效减小结构在风、海浪、流冰、地震等外力作用下的反应。结构振动控制可以分为三个不同的方面:被动控制、主动控制和半主动控制。目前被动控制应用已经比较成熟,广泛应用于高烈度区的住宅、医院、学校和机场等。主动控制和半主动控制也已应用于国内外很多实际工程,但是这些工程应用主要是控制结构在中小地震或风振作用下的结构动力反应,罕遇地震作用下结构会进入弹塑性阶段,对于能否应用主动和半主动控制系统来减小结构在罕遇地震下的动力反应则引起了广泛的争议。关于这方面的研究也比较少,限制了结构振动控制在实际工程中的应用。医院、机场、体育馆等建筑如果在罕遇地震之后能继续使用,将非常有利于抗震救灾,具有良好的社会效益和经济效益。本文针对罕遇地震作用下弹塑性结构的主动控制和半主动控制展开研究。
主要的工作内容包括:
①对经典线性最优控制和瞬时最优控制这两种主动控制算法进行了理论推导和计算机仿真模拟,指出其优缺点;实际工程中,考虑到作动器额定能力是有限的,研究了限制作动器额定能力的限值最优控制算法。
②讨论了罕遇地震作用下弹塑性结构的主动控制和半主动控制。针对中低层结构和中高层结构这两种不同的结构分别进行计算机仿真分析:
1)主动控制方面:利用结构进入弹塑性之后每一阶段的刚度、阻尼等参数来设计控制律对结构进行振动控制;分析了实际工程中设计控制装置时考虑弹塑性与不考虑弹塑性的区别,在相同的控制参数下,进行了罕遇地震作用下弹塑性结构与弹性结构在控制力、控制效果等方面的对比;
2)半主动控制方面:利用滑移模态控制推导而来的一种Bang-Bang控制算法对弹塑性结构进行主动变刚度/阻尼(AVSD)控制;分析了实际工程中半主动控制考虑弹塑性与不考虑弹塑性的区别,在相同的控制参数下,进行了罕遇地震作用下弹塑性结构与弹性结构在控制效果等方面的对比。
③结构振动控制不可避免存在时滞问题,讨论了结构振动控制时滞产生的原因,介绍了时滞测量的方法,分析并比较了三种时滞补偿的方法:移相法、多项式预测和神经网络预测。
④在上述工作的基础上,对于实际工程应用中考虑到结构会进入弹塑性,给出了一些主动控制和半主动控制的控制器设计的建议;探讨了结构振动主动控制和半主动控制工程应用中所面临的几个问题,并针对上述问题指出了主动控制和半主动控制值得进一步研究的课题和发展的方向。
In Civil Engineering field, the research on structural vibration control has existed more than 30 years. It has been proved by theoretical analysis, shaking table experiments and engineering practice that the method can reduce the response of structure on the external influence of wind, sea waves, iceberg and earthquake effectively. Structural vibration control can be classified into three different realms: passive control, active control and semi-active control. Presently, the application of passive control to dwelling house, hospital building, school building and airports in highly seismic region is relatively mature. Simultaneously, active control and semi-active control are applied to many actual projects domestic and abroad. But, all these application are used to control the reaction of structure under the effect of medium-small earthquakes or wind load. Structure will enter into elasto-plastic stage under the influence of rare earthquakes, and whether structural control can be used in this status caused great disputes. The research of structural control considering of inelastic structures is not so sufficient, which restricts the application of active control and semi-active control in practical engineering. It will be very beneficial to earthquake relief and have good social and economic benefits if hospital、airport、gymnasium and other important buildings can still use after rare earthquake. There mainly discusses active control and semi-active control of structure considering of elasto-plastic.
Following points are main achievement of my research:
①Doing theoretical derivation and computer simulation to two kinds of methods in active control field: the classical linear optimal control and the instantaneous optimal control. Advantages and disadvantages of those methods are pointed out. Considering that the capacity of actuator is not infinite in actual engineering application, the active control method considering of restricted control force is studied.
②The active control and semi-active control considering of structure’s elasto-plastic stage under the rare earthquakes is discussed. Computer simulation analysis is performed according to the two different structure systems: medium low structure and medium high structure:
1) In aspects of active control: Using structure parameters such as the stiffness and the damping considering of elasto-plastic to design control low, using this low to control structure; doing analysis on the differences between elasto-plastic structure and elastic structure when designing control low considering of this application in practice. Under the same control parameters, the control effect and control force and other aspects between elasto-plastic structure and elastic structure suffering the same rare earthquake are compared;
2) In aspects of semi-active control: Using a Bang-Bang control low derivation from sliding mode control to control structure considering of elasto-plastic with device of AVSD; the differences between elasto-plastic structure and elastic structure when semi-active control applied in practice is analyzed. Under the same control parameters, the control effect between elasto-plastic structure and elastic structure suffering the same rare earthquake are compared.
③Inevitably, there exists time-delay in structural control. The cause of time-delay in structural vibration control is discussed, the method of measuring time-delay is introduced, and three methods of time-delay compensation are analyzed and compared: phase-shift method, polynomial prediction and neural network prediction.
④Based on above work, some suggestions when designing active controller and semi-active controller for the elasto-plastic structure in actual project are presented. The current problems of the active control and semi-active control in application of practice are analyzed, based on those problems, some future research directions are pointed out.
主要的工作内容包括:
①对经典线性最优控制和瞬时最优控制这两种主动控制算法进行了理论推导和计算机仿真模拟,指出其优缺点;实际工程中,考虑到作动器额定能力是有限的,研究了限制作动器额定能力的限值最优控制算法。
②讨论了罕遇地震作用下弹塑性结构的主动控制和半主动控制。针对中低层结构和中高层结构这两种不同的结构分别进行计算机仿真分析:
1)主动控制方面:利用结构进入弹塑性之后每一阶段的刚度、阻尼等参数来设计控制律对结构进行振动控制;分析了实际工程中设计控制装置时考虑弹塑性与不考虑弹塑性的区别,在相同的控制参数下,进行了罕遇地震作用下弹塑性结构与弹性结构在控制力、控制效果等方面的对比;
2)半主动控制方面:利用滑移模态控制推导而来的一种Bang-Bang控制算法对弹塑性结构进行主动变刚度/阻尼(AVSD)控制;分析了实际工程中半主动控制考虑弹塑性与不考虑弹塑性的区别,在相同的控制参数下,进行了罕遇地震作用下弹塑性结构与弹性结构在控制效果等方面的对比。
③结构振动控制不可避免存在时滞问题,讨论了结构振动控制时滞产生的原因,介绍了时滞测量的方法,分析并比较了三种时滞补偿的方法:移相法、多项式预测和神经网络预测。
④在上述工作的基础上,对于实际工程应用中考虑到结构会进入弹塑性,给出了一些主动控制和半主动控制的控制器设计的建议;探讨了结构振动主动控制和半主动控制工程应用中所面临的几个问题,并针对上述问题指出了主动控制和半主动控制值得进一步研究的课题和发展的方向。
In Civil Engineering field, the research on structural vibration control has existed more than 30 years. It has been proved by theoretical analysis, shaking table experiments and engineering practice that the method can reduce the response of structure on the external influence of wind, sea waves, iceberg and earthquake effectively. Structural vibration control can be classified into three different realms: passive control, active control and semi-active control. Presently, the application of passive control to dwelling house, hospital building, school building and airports in highly seismic region is relatively mature. Simultaneously, active control and semi-active control are applied to many actual projects domestic and abroad. But, all these application are used to control the reaction of structure under the effect of medium-small earthquakes or wind load. Structure will enter into elasto-plastic stage under the influence of rare earthquakes, and whether structural control can be used in this status caused great disputes. The research of structural control considering of inelastic structures is not so sufficient, which restricts the application of active control and semi-active control in practical engineering. It will be very beneficial to earthquake relief and have good social and economic benefits if hospital、airport、gymnasium and other important buildings can still use after rare earthquake. There mainly discusses active control and semi-active control of structure considering of elasto-plastic.
Following points are main achievement of my research:
①Doing theoretical derivation and computer simulation to two kinds of methods in active control field: the classical linear optimal control and the instantaneous optimal control. Advantages and disadvantages of those methods are pointed out. Considering that the capacity of actuator is not infinite in actual engineering application, the active control method considering of restricted control force is studied.
②The active control and semi-active control considering of structure’s elasto-plastic stage under the rare earthquakes is discussed. Computer simulation analysis is performed according to the two different structure systems: medium low structure and medium high structure:
1) In aspects of active control: Using structure parameters such as the stiffness and the damping considering of elasto-plastic to design control low, using this low to control structure; doing analysis on the differences between elasto-plastic structure and elastic structure when designing control low considering of this application in practice. Under the same control parameters, the control effect and control force and other aspects between elasto-plastic structure and elastic structure suffering the same rare earthquake are compared;
2) In aspects of semi-active control: Using a Bang-Bang control low derivation from sliding mode control to control structure considering of elasto-plastic with device of AVSD; the differences between elasto-plastic structure and elastic structure when semi-active control applied in practice is analyzed. Under the same control parameters, the control effect between elasto-plastic structure and elastic structure suffering the same rare earthquake are compared.
③Inevitably, there exists time-delay in structural control. The cause of time-delay in structural vibration control is discussed, the method of measuring time-delay is introduced, and three methods of time-delay compensation are analyzed and compared: phase-shift method, polynomial prediction and neural network prediction.
④Based on above work, some suggestions when designing active controller and semi-active controller for the elasto-plastic structure in actual project are presented. The current problems of the active control and semi-active control in application of practice are analyzed, based on those problems, some future research directions are pointed out.
引文
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[3] Soong T T. Active Structural Control: Theory and Practice[M]. Longman Scientific & Technical, UK, 1990.
[4] Horiuchi T, Inoue M, Konno T, et al. Real-time Hybrid Experimental System with Actuator Delay Compensation and Its Application to a Piping System with Energy Absorber[J]. Earthquake Engineering and Structural Dynamics, 1999, 28:1121-1141.
[5] David C. Nemir, Yingjie Lin, Robetro A. Osegueda. Semi-active Motion Control Using Variable Stiffness[J]. Journal of Structure Engineering, 1994, 4:1291-1306.
[6] Yang, Abbas Akbarpour. New Optimal Control Algorithms for Structural Control[J]. Journal of Engineering Mechanics, 1987, 113:1369-1386.
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