建筑结构振动的递阶分散控制研究
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摘要
随着设计理论不断完善、先进分析技术应用以及建筑材料强度的提高和施工技术的进步,出现了许多大跨度的桥梁和超大型建筑。这些建筑物都是关系国计民生和国家经济命脉的重要建筑,其来自自然灾害和人为事故而造成的破坏,会产生重大经济损失与社会影响。由于建筑尺寸的增大,结构某些性能也随之发生改变,诸如结构的刚度和阻尼会显著降低,结构的动力响应变得很大,致使结构抗震和抗风性能恶化,结构安全性与可靠性降低。因此,通过结构控制方法来提高建筑结构的功能和安全性,来有效地抵抗外界荷载,不但是可行,甚至是必要的。由于大尺度建筑结构控制系统是高维的控制系统,使得结构的控制变得更加复杂,而分散控制非常适合解决此类建筑结构的控制问题。
本文主要研究内容如下:
首先,本文将递阶分散控制方法和结构摄动分散控制方法引入到建筑结构的振动控制。采用这两种分散控制方法,以20层和9层的Benchmark连体结构为应用对象进行结构振动控制研究,验证分散控制方法对建筑结构控制的有效性。
其次,针对建筑结构的递阶分散控制特点,提出一种对控制参数和作动器位置进行优化的设计方法。利用遗传优化算法,实现闭环系统较小的控制输入,同时获得最优控制参数和作动器位置,并满足闭环系统期望的控制性能指标。
第三,将鲁棒控制理论用于不确定建筑结构的振动控制中,研究基于线性矩阵不等式的递阶分散控制问题,给出递阶分散鲁棒H∞控制和完全分散鲁棒H∞控制两种设计方法,分析验证这两种方法能有效地应用于不确定性建筑结构振动控制。
第四,基于Lyapunov稳定性理论,分别研究标称建筑结构和不确定建筑结构的容错控制问题。当控制系统的传感器和作动器共同发生故障时,通过引入开关矩阵,提出递阶分散容错控制器的设计方法。研究表明这种容错控制方法能保证闭环系统内部渐近稳定和鲁棒性能,同时具有很好的振动控制效果。
第五,研究建筑结构在递阶分散控制下的损伤识别方法,并给出基于递阶分散控制的频率平方灵敏度损伤识别方法。研究表明递阶分散反馈控制能够提高结构的频率对损伤的灵敏度,通过结构损伤前后的频率平方来确定结构的损伤,获得较为可靠和准确的损伤识别结果。
最后,基于Matlab/xPC实时控制方法进行递阶分散控制试验研究,利用压电材料搭建了悬臂梁振动控制的实验平台。对递阶分散鲁棒控制和递阶分散容错控制方法进行试验研究,设计初始扰动和持续激励作用两种试验工况,并进行振动控制效果分析比较。试验结果验证递阶分散鲁棒控制对于参数不确定性结构以及递阶分散容错控制对传感器和作动器共同失效情况下的结构振动具有较好的控制效果和鲁棒性能。
With the improvement of design theories, the application of the advanced analysis technique, the progress in high-strength building materials and the perfection of construction technology, there are more and more long-span bridges and high-rise buildings. Such structures are important to not only the people's livelihoods but also the country's economic lifelines. The serious damage or collapse of these huge structures will cause great economic loss and social impact due to natural disasters or man-made accidents. As the sizes of structure become bigger, the performance of structures will change accordingly. In some cases, because the stiffness and damping decease dramatically, the dynamic response of structures become greater under strong earthquake and high speed wind, thus the safety and reliability are reduced. In this way, it is not only feasible but also necessary to apply structural control techniques to effectively promote the safety and reliability of the structure against natural hazards. As the vibration control system of large structures is a high dimensional system, the control system would be rather complicated. The decentralized control techniques show their advantages in addressing these high dimensional issues, which is an innovative point in this thesis.
Main research contents of this dissertation are as follows:
Firstly, the hierarchical decentralized and structural perturbation decentralized control methods are used for building vibration control. The structure model is a building with two adjacent benchmark buildings, one with 9 stories and the other 20. The results show this two decentralized methods have good control effects.
Secondly, a new design method based on the optimization of control parameters and actuators placement is proposed with regards to the characteristics of the hierarchical decentralized control method. By using genetic algorithm, the optimized control parameters and actuators placement are obtained based on the minimization of active control force of the close loop system. Meanwhile, the control performance indexes are satisfied.
Thirdly, robust control theory is applied to the control of buildings with uncertainty; Hierarchical decentralized control is analyzed based on linear matrix inequality; Hierarchical decentralized robust H∞control and decentralized robust H∞control design methods are proposed. The results show these two methods can be effectively used in the control of buildings with uncertainty.
Fourthly, based on Lyapunov stability method, the fault tolerate control methods of standard building and building with uncertainty are both investigated. Hierarchical decentralized fault tolerate control algorithms are proposed by using switch matrix when sensors and actuators of the control system fail simultaneously. The results demonstrate the proposed fault tolerate control method can guarantee the asymptotically stability and robustness of the system, and has good control effect.
Fifthly, the damage detection method under hierarchical decentralized control is analyzed and the one based on sensitivity of frequency square is proposed. The results show the proposed method can improve the sensitivity of frequency to damage, and reliable and accurate damage detection is obtained, by comparing the frequency square before and after damage.
Finally, hierarchical decentralized control experiments are implemented based on MATLAB/xPC real time control method. A cantilever active control experiment using piezoelectric material is set up. The vibration control of hierarchical decentralized robust control and hierarchical decentralized fault tolerate control are analyzed, and control effects of vibration are compared with each other with two cases of initial disturbance and continue excitation, respectively. The results demonstrate the hierarchical decentralized robust control has much better control effect and robustness even when there exist uncertain parameters and failure of actuators and sensors in the control system.
本文主要研究内容如下:
首先,本文将递阶分散控制方法和结构摄动分散控制方法引入到建筑结构的振动控制。采用这两种分散控制方法,以20层和9层的Benchmark连体结构为应用对象进行结构振动控制研究,验证分散控制方法对建筑结构控制的有效性。
其次,针对建筑结构的递阶分散控制特点,提出一种对控制参数和作动器位置进行优化的设计方法。利用遗传优化算法,实现闭环系统较小的控制输入,同时获得最优控制参数和作动器位置,并满足闭环系统期望的控制性能指标。
第三,将鲁棒控制理论用于不确定建筑结构的振动控制中,研究基于线性矩阵不等式的递阶分散控制问题,给出递阶分散鲁棒H∞控制和完全分散鲁棒H∞控制两种设计方法,分析验证这两种方法能有效地应用于不确定性建筑结构振动控制。
第四,基于Lyapunov稳定性理论,分别研究标称建筑结构和不确定建筑结构的容错控制问题。当控制系统的传感器和作动器共同发生故障时,通过引入开关矩阵,提出递阶分散容错控制器的设计方法。研究表明这种容错控制方法能保证闭环系统内部渐近稳定和鲁棒性能,同时具有很好的振动控制效果。
第五,研究建筑结构在递阶分散控制下的损伤识别方法,并给出基于递阶分散控制的频率平方灵敏度损伤识别方法。研究表明递阶分散反馈控制能够提高结构的频率对损伤的灵敏度,通过结构损伤前后的频率平方来确定结构的损伤,获得较为可靠和准确的损伤识别结果。
最后,基于Matlab/xPC实时控制方法进行递阶分散控制试验研究,利用压电材料搭建了悬臂梁振动控制的实验平台。对递阶分散鲁棒控制和递阶分散容错控制方法进行试验研究,设计初始扰动和持续激励作用两种试验工况,并进行振动控制效果分析比较。试验结果验证递阶分散鲁棒控制对于参数不确定性结构以及递阶分散容错控制对传感器和作动器共同失效情况下的结构振动具有较好的控制效果和鲁棒性能。
With the improvement of design theories, the application of the advanced analysis technique, the progress in high-strength building materials and the perfection of construction technology, there are more and more long-span bridges and high-rise buildings. Such structures are important to not only the people's livelihoods but also the country's economic lifelines. The serious damage or collapse of these huge structures will cause great economic loss and social impact due to natural disasters or man-made accidents. As the sizes of structure become bigger, the performance of structures will change accordingly. In some cases, because the stiffness and damping decease dramatically, the dynamic response of structures become greater under strong earthquake and high speed wind, thus the safety and reliability are reduced. In this way, it is not only feasible but also necessary to apply structural control techniques to effectively promote the safety and reliability of the structure against natural hazards. As the vibration control system of large structures is a high dimensional system, the control system would be rather complicated. The decentralized control techniques show their advantages in addressing these high dimensional issues, which is an innovative point in this thesis.
Main research contents of this dissertation are as follows:
Firstly, the hierarchical decentralized and structural perturbation decentralized control methods are used for building vibration control. The structure model is a building with two adjacent benchmark buildings, one with 9 stories and the other 20. The results show this two decentralized methods have good control effects.
Secondly, a new design method based on the optimization of control parameters and actuators placement is proposed with regards to the characteristics of the hierarchical decentralized control method. By using genetic algorithm, the optimized control parameters and actuators placement are obtained based on the minimization of active control force of the close loop system. Meanwhile, the control performance indexes are satisfied.
Thirdly, robust control theory is applied to the control of buildings with uncertainty; Hierarchical decentralized control is analyzed based on linear matrix inequality; Hierarchical decentralized robust H∞control and decentralized robust H∞control design methods are proposed. The results show these two methods can be effectively used in the control of buildings with uncertainty.
Fourthly, based on Lyapunov stability method, the fault tolerate control methods of standard building and building with uncertainty are both investigated. Hierarchical decentralized fault tolerate control algorithms are proposed by using switch matrix when sensors and actuators of the control system fail simultaneously. The results demonstrate the proposed fault tolerate control method can guarantee the asymptotically stability and robustness of the system, and has good control effect.
Fifthly, the damage detection method under hierarchical decentralized control is analyzed and the one based on sensitivity of frequency square is proposed. The results show the proposed method can improve the sensitivity of frequency to damage, and reliable and accurate damage detection is obtained, by comparing the frequency square before and after damage.
Finally, hierarchical decentralized control experiments are implemented based on MATLAB/xPC real time control method. A cantilever active control experiment using piezoelectric material is set up. The vibration control of hierarchical decentralized robust control and hierarchical decentralized fault tolerate control are analyzed, and control effects of vibration are compared with each other with two cases of initial disturbance and continue excitation, respectively. The results demonstrate the hierarchical decentralized robust control has much better control effect and robustness even when there exist uncertain parameters and failure of actuators and sensors in the control system.
引文
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97 Xi. Li, C. D. Souza. Robust H$ control of Linear Systems with norm-bounded timevarying Uncertainy. IEEE Trans. on AC. 1992, 37 (8): 1188~1191
98 J. C. Doyle. Analysis of Feedback Systems with Structured Uncertainty, IEE Proc. Part D. 1982, (129):242~250
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101 Y. Y. Wang, L. H. Me, E. Souza. Robust Control of Uncertain Nonlinear Systems. Systems and Control Letters. 1992, (19):139~149
102吴敏,桂卫华.现代鲁棒控制.中南工业大学出版社
103 J. N. Yang, A. Akbarpour. Effect of System Uncertainty on Control of Seismic-Excited Buildings. Journal of Engineering Mechanics, ASCE, 1990, 116(2): 462~478
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105 G. H. Yang, L. L. Wang, Y. C. Soh. Reliable H$ Controller Design for Linear Systems. Automatica. 2000, (37): 717~725
106 J. C. Wang, H. H. Shao. Delay-Dependent Robust and Reliable Control for Uncertain Time-Delay Systems with Actuator Failures. Journal of the Franklin Institute. 2000,(337):781~791
107 Y. Obayashi, M. Ikeda, Y. Fujisaki. Stability of Large Space Structures Prserved Under Failures of Local Controllers. IEEE Transactionson Automatic Control.2007,52(2):318~322
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109胡寿松.动态大系统的分散完整性控制.福州大学学报. 1993,21(5): 48~53
110孙金生,李军,徐蕾,王执锉.动态大系统的分散容错控制.南京理大学学报. 1998, 2(2):117~120
111孙继涛,邓飞其,刘永清.变时滞不确定关联系统的分散鲁棒容错控制.控制与决策. 2001, 16 (6): 968~970
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114 L. R. Ray, L. Tian. Damage Detection in Smart Structures through Sensitivity Enhancing Feedback Control. Journal of Sound and Vibration. 1999, 227 (5) : 987~1002
115 J. S. Lew, J. N. Juang. Structural Damage Detection Using Virtual PassiveControllers. Journal of Guidance, Control, and Dynamics. 2002,25(3): 419~424
116 B. H. Koh, L. R. Ray. Localization of Damage in Smart Structures through Sensitivity Enhancing Feedback Control. Mechanical System and Signal Processing, 2003,17(4):837~855
117程远胜,汪刚,杨振宇.基于多个控制力作用下结构动力特性的损伤定位.振动与冲击. 2006,25(5):45~49
118姜南.天津大学.高层建筑地震反应MRF-04K阻尼器半主动控制的模型试验与仿真分析.硕士学位论文. 2005
119杨涤,李立涛,杨旭等.系统实时仿真开发环境与应用.清华大学出版社
120刘国强,郭勇.基于应变传感器的高精度悬臂梁挠度测量仪.仪器仪表学报. 2006,27(6):340~341