考虑作动器时滞及其补偿的实时子结构实验稳定性分析
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摘要
实时子结构实验中,使用液压伺服作动器作为加载设备时会出现作动器响应的时滞问题。根据作动器的动力特性,提出液压伺服作动器阶跃响应的双线性简化模型。基于该模型,以OS法(Operator-Splittingmethod)和中心差分法为例,利用谱半径方法分析了作动器时滞及其补偿对实验稳定性的影响。分析结果表明,作动器时滞使实验的稳定性降低,三阶外插补偿可以提高实验的稳定性。此外,分析结果也表明OS法的稳定性好于中心差分法。
In real-time substructure testing (RST) with a hydraulic actuator as the loading devices, there is an inevitable time delay of actuator response. This paper introduces a bilinear step response model based on the basic dynamics of an actuator. With this model, the effects of time delay and compensation of integration methods in RST are analyzed using spectrum radius method. The specific time stepping methods under investigation are the operator-splitting method and the central difference integration method. The analysis results show that the time delay will reduce the stability of RST response, while the 3rd-order polynomial compensation can improve the stability effectively. The results also show that the stability of the operating-splitter method is better than that of the central difference method.
In real-time substructure testing (RST) with a hydraulic actuator as the loading devices, there is an inevitable time delay of actuator response. This paper introduces a bilinear step response model based on the basic dynamics of an actuator. With this model, the effects of time delay and compensation of integration methods in RST are analyzed using spectrum radius method. The specific time stepping methods under investigation are the operator-splitting method and the central difference integration method. The analysis results show that the time delay will reduce the stability of RST response, while the 3rd-order polynomial compensation can improve the stability effectively. The results also show that the stability of the operating-splitter method is better than that of the central difference method.
引文
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[2]邱法维,钱稼茹,陈志鹏.结构抗震实验方法[M].北京:科学出版社,2000.Qiu Fawei,Qian Jiaru,Chen Zhipeng.Seismic testing methods for structures[M].Beijing:Science Press,2000.(in Chinese)
[3]田石柱,赵桐.抗震拟动力实验技术研究[J].世界地震工程,2001,17(4):60~66.Tian Shizhu,Zhao Tong.Research on seismic pseudodynamic test[J].World Information on Earthquake Engineering,2001,17(4):60~66.(in Chinese)
[4]吕西林,朱玉华,施卫星.组合基础隔震房屋模型振动台试验研究[J].土木工程学报,2001,34(2):43~49.Lu Xilin,Zhu Yuhua,Shi Weixing.Shaking table test on building models with combined isolation system[J].China Civil Engineering,2001,34(2):43~49.(in Chinese)
[5]武敏刚,吕西林.混合结构振动台模拟试验研究与计算分析[J].地震工程与工程振动,2004,24(6):103~108.Wu Mingang,Lu Xilin.Shaking table model test and theoretical analysis for seismic resistance of hybrid structures[J].Earthquake Engineering and Engineering Vibration,2004,24(6):103~108.(in Chinese)
[6]方重.大型模拟地震振动台主要参数的确定及技术经济分析[J].世界地震工程,2001,17(4):135~138.Fang Zhong.Determination of main parameters and technico-economic analysis for large scale earthquake simulator[J].World Information on Earthquake Engineering,2001,17(4):135~138.(in Chinese)
[7]韩俊伟,李玉亭,胡宝生.大型三向六自由度地震模拟振动台[J].地震学报,1998,20(3):327~331.Han Junwei,Li Yuting,Hu Baosheng.Large scale six degree of freedom shaking table[J].Acta Seismological Sinica,1998,20(3):327~331.(in Chinese)
[8]刘永昌,关淑贤,任贵兴,杨青.地震模拟振动台波形再现定量判别法[J].地震工程与工程振动,1998,18(1):109~112.Liu Yongchang,Guan Shuxian,Ren Guixing,Yang Qing.A quantitative method for wave reappearance on earthquake simulation shaking table[J].Earthquake Engineering and Engineering Vibration,1998,18(1):109~112.(in Chinese)
[9]Soong T T,Spencer Jr B F.Supplemental energy dissipation:State-of-the-art and state-of-the-practice[J].Engineering Structures,2002,24:243~259.
[10]Nakashima M,Masaoka N.Real-time on-line test for MDOF systems[J].Earthquake Engineering and Structural Dynamics,1999,28:393~420.
[11]Horiuchi T,Inoue M,Konno T,Namita Y.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.
[12]Wu B,Bao H,Ou J,Tian S.Stability and accuracy analysis of central difference method for real-time substructure testing[J].Earthquake Engineering andStructural Dynamics,2005,34:705~718.
[13]Wu B,Xu G,Wang Q,Williams M S.Operator-splitting method for real-time substructure test[J].Earthquake Engineering and Structural Dynamics,2006,35:293~314.
[14]Wu B,Wang Q,Ou J.Stability analysis of operator-splitting method for real-time substructure testing with actuator delay and compensation[C].In:Proceedings of the2005Asian-Pacific Network of Centers for Earthquake Engineering Research(ANCER)Annual Meeting,jeju,Korea,2005.
[15]李进,王焕定,张永山,赵桂峰.高阶单步实时动力子结构实验技术研究[J].地震工程与工程振动,2005,25(1):97~101.Li Jin,Wang Huanding,Zhang Yongshan,Zhao Guifen.The research of a high order single step method for real-time substructure testing[J].Earthquake Engineering and Engineering Vibration,2005,25(1):97~101.(in Chinese)
[16]Zwillinger D.Standard mathematical tables and formulae[M].Boca Raton:CRC Press,1991.
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