实时子结构实验的滑动模态控制
|
摘要
首先介绍了实时子结构实验技术的基本原理、过程及关键技术问题。然后建立了液压伺服实验系统的传递函数形式和状态空间形式的线性数值模型,并将滑动模态控制应用于实时子结构实验。最后对采用PID控制和滑动模态控制的实时子结构实验进行了数值仿真分析。在ElCentro地震波激励下的数值仿真结果表明:(1)滑动模态控制的控制精度和鲁棒性明显高于PID控制,(2)系统的动力特性对实验结果有较大影响,这种影响与计算时间间隔、试件的刚度、阻尼有关。
The basic principle, process and key techniques of real-time substructure testing (RST) method are introduced. Linear numerical model of the servo-hydraulic system including translation function and state space form is described. The sliding mode control method and its application to RST of the hydraulic servo experiment system are presented. Finally, simulations of RST with the PID control method and the sliding mode control method are carried out. Results of the simulations with the excitation of El Centro earthquake wave show that: (1) the control accuracy and robustness of the sliding mode control method are better than that of the PID method, (2) the dynamic characteristics of the system have great influence on testing results, and the influence is related to the computation time interval, stiffness and damping of the specimen.
The basic principle, process and key techniques of real-time substructure testing (RST) method are introduced. Linear numerical model of the servo-hydraulic system including translation function and state space form is described. The sliding mode control method and its application to RST of the hydraulic servo experiment system are presented. Finally, simulations of RST with the PID control method and the sliding mode control method are carried out. Results of the simulations with the excitation of El Centro earthquake wave show that: (1) the control accuracy and robustness of the sliding mode control method are better than that of the PID method, (2) the dynamic characteristics of the system have great influence on testing results, and the influence is related to the computation time interval, stiffness and damping of the specimen.
引文
[1]Williams M S,Blakeborough A.Laboratory testing of structures under dynamic loads:an introductory review[J].Phil.Trans.R.Soc.Lond,2001,A.359:1651~1669.
[2]吕西林,蒋欢军.建筑结构抗震研究的若干进展[J].同济大学学报(自然科学版),2004,32(10):1278~1284.Lu Xilin,Jiang Huanjun.Progress of seismic research in the field of building structural engineering[J].Journal of Tongji University(Natural Science),2004,32(10):1278~1284.(in Chinese)
[3]邱法维.结构抗震实验方法进展[J].土木工程学报,2004,37(10):19~27.Qiu Fawei.Developments of seismic testing methods for structures[J].China Civil Engineering Journal,2004,37(10):19~27.(in Chinese)
[4]田石柱,赵桐.抗震拟动力试验技术研究[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)
[5]肖岩,胡庆,郭玉荣,易伟建,朱平生.结构拟动力远程协同试验网络平台的开发研究[J].建筑结构学报,2005,26(3):122~129.Xiao Yan,Hu Qing,Guo Yurong,Yi Weijian,Zhu Pingsheng.A net platform for remote pseudo-dynamictesting[J].Journal of Building Structures,2005,26(3):122~129.(in chinese)
[6]Wu B,Wang Q,Bao H,Ou J.Analysis and preliminary experimental study on central difference method for real-time substructure testing[C].Dalian:Third China-Japan-US Symposium on Structural Health Monitoring and Control and Fourth Chinese National Conference on Structural Control,2004.
[7]Nakashima M,Kato H,Takaoka E.Development of real-time pseudo dynamic testing[J].Earthquake Engineering and Structural Dynamics.1992,21:79~92.
[8]Wu B,Bao H,Ou J,Tian S.Stability and accuracy analysis of central difference method for real-time substructure testing[J].Earthquake Engineering and Structural Dynamics,2005,34:705~718.
[9]Wu B,Xu G,Wang Q,Williams M.Operator-splitting method for real-time substructure testing[J].Earthquake Engineering and Structural Dynamics,2006,35(3):293~314.
[10]吴斌,王向英,王倩颖.电液伺服加载系统的滑动模态控制及其在实时子结构实验中的应用[C].大连:第三届中-日-美结构健康监测与控制学术研讨会暨第四届中国结构控制年会文集,2004.Wu Bin,Wang Xiangying,Wang Qianying.Sliding mode control(SMC)technique of servohydraulic loading system using in real-time substructure testing[C].Dalian:Third China-Japan-US Symposium on Structural Health Monitoring and Control and Fourth Chinese National Conference on Structural Control,2004.(in Chinese)
[11]邱法维.联机结构实验的子结构技术及应用[J].实验力学,1995,10(4):335~342.Qiu Fawei.The substructure technique and it's application in on-line structure test[J].Journal of Experimental Mechanics,1995,10(4):335~342.(in Chinese)
[12]邱法维,钱镓茹,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 test methodology for structures[M].Beijing:Science Press,2000.(in Chinese)
[13]李进,王焕定,张永山,赵桂峰.高阶单步实时动力子结构试验技术研究[J].地震工程与工程振动,2005,25(1):97~101.Li Jin,Wang Huanding,Zhang Yongshan,Zhao Guifeng.The research of a high order single step in method for real-time substructure testing[J].Earthquake Engineering and Engineering Vibration.2005,25(1):97~101.(in Chinese)
[14]田石柱,李暄,欧进萍.结构主动控制系统时间滞后测量与补偿方法[J].地震工程与工程振动,2000,20(4):101~105.Tian Shizhu,Li Xuan,Ou Jinping.Methods for measuring and compensating time delay of active structural control system[J].Earthquake Engineering and Engineering Vibration.2000,20(4):101~105.(in Chinese)
[15]孙文质.液压控制系统[M].北京:国防工业出版社,1985.Sun Wenzhi.Hydraulic Control Systems[M].Beijing:National Defense Industry Press,1985.(in Chinese)
[16]Williams D M.Numerical modeling of real-time substructure testing[D].PhD Dissertation,Oxford University,2001.
[17]王向英.实时子结构实验控制方法及数值仿真分析[D].哈尔滨:哈尔滨工业大学硕士学位论文,2005.Wang Xiangying.Control and numerical simulations of real-time substructure testing[D].Harbin:Harbin Institute of Technology,2005.(in Chinese)
[18]Dorf R,Bishop R.现代控制系统(第八版)[M].北京:高等教育出版社,2000.Dorf R,Bishop R.Modern control systems(eighth edition)[M].Beijing:Higher Education Press,2000.(in Chinese)
[19]Yang J N,Wu J C,Agrawal A K.Sliding mode control for nonlinear and hysteretic structures[J].Journal of Engineering Mechanics,1995,12:1330~1339.
[20]吴斌,王倩颖,欧进萍.结构参数非匹配不确定性问题的滑动模态控制[J].地震工程与工程振动,2004,24(6):154~159.Wu Bin,Wang Qianying,Ou Jinping.Sliding mode control of structural vibration with unmatched uncertainties[J].Earthquake Engineering and Engineering Vibration,2004,24(6):154~159.(in Chinese)
[21]赵斌,吕西林.地震作用下参数不确定系统的变结构控制[J].地震工程与工程振动,2000,20(3):108~115.Zhao Bin,Lu Xinlin.Variable structure control for earthquake excited uncertain systems[J].Earthquake Engineering and Engineering Vibration,2000,20(3):108~115.(in Chinese)
[2]吕西林,蒋欢军.建筑结构抗震研究的若干进展[J].同济大学学报(自然科学版),2004,32(10):1278~1284.Lu Xilin,Jiang Huanjun.Progress of seismic research in the field of building structural engineering[J].Journal of Tongji University(Natural Science),2004,32(10):1278~1284.(in Chinese)
[3]邱法维.结构抗震实验方法进展[J].土木工程学报,2004,37(10):19~27.Qiu Fawei.Developments of seismic testing methods for structures[J].China Civil Engineering Journal,2004,37(10):19~27.(in Chinese)
[4]田石柱,赵桐.抗震拟动力试验技术研究[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)
[5]肖岩,胡庆,郭玉荣,易伟建,朱平生.结构拟动力远程协同试验网络平台的开发研究[J].建筑结构学报,2005,26(3):122~129.Xiao Yan,Hu Qing,Guo Yurong,Yi Weijian,Zhu Pingsheng.A net platform for remote pseudo-dynamictesting[J].Journal of Building Structures,2005,26(3):122~129.(in chinese)
[6]Wu B,Wang Q,Bao H,Ou J.Analysis and preliminary experimental study on central difference method for real-time substructure testing[C].Dalian:Third China-Japan-US Symposium on Structural Health Monitoring and Control and Fourth Chinese National Conference on Structural Control,2004.
[7]Nakashima M,Kato H,Takaoka E.Development of real-time pseudo dynamic testing[J].Earthquake Engineering and Structural Dynamics.1992,21:79~92.
[8]Wu B,Bao H,Ou J,Tian S.Stability and accuracy analysis of central difference method for real-time substructure testing[J].Earthquake Engineering and Structural Dynamics,2005,34:705~718.
[9]Wu B,Xu G,Wang Q,Williams M.Operator-splitting method for real-time substructure testing[J].Earthquake Engineering and Structural Dynamics,2006,35(3):293~314.
[10]吴斌,王向英,王倩颖.电液伺服加载系统的滑动模态控制及其在实时子结构实验中的应用[C].大连:第三届中-日-美结构健康监测与控制学术研讨会暨第四届中国结构控制年会文集,2004.Wu Bin,Wang Xiangying,Wang Qianying.Sliding mode control(SMC)technique of servohydraulic loading system using in real-time substructure testing[C].Dalian:Third China-Japan-US Symposium on Structural Health Monitoring and Control and Fourth Chinese National Conference on Structural Control,2004.(in Chinese)
[11]邱法维.联机结构实验的子结构技术及应用[J].实验力学,1995,10(4):335~342.Qiu Fawei.The substructure technique and it's application in on-line structure test[J].Journal of Experimental Mechanics,1995,10(4):335~342.(in Chinese)
[12]邱法维,钱镓茹,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 test methodology for structures[M].Beijing:Science Press,2000.(in Chinese)
[13]李进,王焕定,张永山,赵桂峰.高阶单步实时动力子结构试验技术研究[J].地震工程与工程振动,2005,25(1):97~101.Li Jin,Wang Huanding,Zhang Yongshan,Zhao Guifeng.The research of a high order single step in method for real-time substructure testing[J].Earthquake Engineering and Engineering Vibration.2005,25(1):97~101.(in Chinese)
[14]田石柱,李暄,欧进萍.结构主动控制系统时间滞后测量与补偿方法[J].地震工程与工程振动,2000,20(4):101~105.Tian Shizhu,Li Xuan,Ou Jinping.Methods for measuring and compensating time delay of active structural control system[J].Earthquake Engineering and Engineering Vibration.2000,20(4):101~105.(in Chinese)
[15]孙文质.液压控制系统[M].北京:国防工业出版社,1985.Sun Wenzhi.Hydraulic Control Systems[M].Beijing:National Defense Industry Press,1985.(in Chinese)
[16]Williams D M.Numerical modeling of real-time substructure testing[D].PhD Dissertation,Oxford University,2001.
[17]王向英.实时子结构实验控制方法及数值仿真分析[D].哈尔滨:哈尔滨工业大学硕士学位论文,2005.Wang Xiangying.Control and numerical simulations of real-time substructure testing[D].Harbin:Harbin Institute of Technology,2005.(in Chinese)
[18]Dorf R,Bishop R.现代控制系统(第八版)[M].北京:高等教育出版社,2000.Dorf R,Bishop R.Modern control systems(eighth edition)[M].Beijing:Higher Education Press,2000.(in Chinese)
[19]Yang J N,Wu J C,Agrawal A K.Sliding mode control for nonlinear and hysteretic structures[J].Journal of Engineering Mechanics,1995,12:1330~1339.
[20]吴斌,王倩颖,欧进萍.结构参数非匹配不确定性问题的滑动模态控制[J].地震工程与工程振动,2004,24(6):154~159.Wu Bin,Wang Qianying,Ou Jinping.Sliding mode control of structural vibration with unmatched uncertainties[J].Earthquake Engineering and Engineering Vibration,2004,24(6):154~159.(in Chinese)
[21]赵斌,吕西林.地震作用下参数不确定系统的变结构控制[J].地震工程与工程振动,2000,20(3):108~115.Zhao Bin,Lu Xinlin.Variable structure control for earthquake excited uncertain systems[J].Earthquake Engineering and Engineering Vibration,2000,20(3):108~115.(in Chinese)