基于等价输入干扰补偿的建筑结构抗震主动控制
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摘要
地震是一种危害性很大的自然灾害,它会引起建筑结构的振动,从而导致建筑结构的损坏。近年来,在强震作用下建筑结构的毁坏导致了数以万计的人员伤亡与数以亿计的财产损失,给人类带来了巨大的灾难。因此建筑结构的抗震问题是结构设计中需要考虑的重要问题之一。结构振动控制能有效减小地震对建筑结构造成的损害,对结构实行隔振、控振是抗震设计的重要手段,而不仅限于增强自身结构来满足结构强度和刚度的要求。采用被动、半主动、主动或混合控制来达到建筑结构减振的目的都受到人们的极大关注,近些年来,采用主动控制方法抑制地震激励作用下的建筑结构振动受到了广泛关注。许多控制算法已被应用于土木工程系统中,然而,寻求控制规则比较简单、在实际工程中容易实施、能进一步降低建筑结构振动的控制方法仍然是人们需要进行研究的课题。
本文致力于研究基于等价输入干扰补偿的结构主动控制方法,以提高建筑结构的抗震能力,主要研究工作和创新点如下：
(1)分析了基于等价输入干扰补偿的控制方式的特点。基于等价输入干扰补偿的控制器推测一个加于控制输入渠道的等价扰动信号,并直接将其与控制输入进行叠加,保证了能够有效抑制各种干扰信号对受控系统产生的影响。从控制系统的观点来看,因为需要通过控制系统的输入来提高干扰抑制性能,因此推测控制器输入渠道的干扰信号比直接推测干扰信号本身更具有控制意义。该控制系统虽然不包含干扰的内部模型,但是对瞬时的以及稳态的未知干扰都能很好地抑制,这种方法不需要测量输出的微分值,也不需要干扰信号的先验信息,无需受控系统的逆动力学模型,从而能够避免不稳定零极点对消。该方法仅需受控系统的输入和输出就能得出等价输入干扰,无需受控系统的状态,从而扩大了它的应用范围。
(2)基于等价输入干扰补偿方法进行建筑结构抗震主动控制器设计,提出了基于等价输入干扰补偿的结构主动控制系统的设计方法。将等价输入干扰补偿控制方法推广至多输入多输出的建筑结构系统的抗震控制,抑制了建筑结构在地震激励下的结构振动反应,实现了对建筑结构的振动控制。在该控制器中,采用分离定理把控制器中的状态反馈设计与观测器和低通滤波器的设计分离开来,运用完全调节方法提出了一种观测器的设计方法。
(3)对基于等价输入干扰补偿的结构主动控制系统的干扰抑制机制进行了分析。通过对其系统结构的分析表明,该控制系统具有二个自由度,其中的反馈控制器是由系统中的状态反馈部分构成,前馈控制器是由状态观测器和低通滤波器部分构成。通过在伺服控制系统中加入等价输入干扰推测器,使得传递函数在前馈路径中增加了一个积分项,从而改善了干扰抑制性能。通过仿真实验分析滤波器特征与干扰抑制性能之间的关系,结果表明低通滤波器的特性对干扰抑制性能的影响非常明显,且选择一阶低通滤波器是最合适的,选择高阶低通滤波器反而会降低干扰抑制性能,低通滤波器的截止角频率应该选取为需要被抑制的干扰信号频率成分中的最高角频率的5倍以上。
(4)通过计算机仿真研究等价输入干扰补偿结构主动控制器对建筑结构减震控制的效果。仿真模拟了分别受El-Centro、Kobe、Mexico和Northridge地震波激励下结构地震响应控制的效果。算例分析结果显示,在不同地震波激励下,所提控制方法都能使结构各层层间位移的最大值和加速度响应的最大值得到显著的减小,并且各层层间位移均方根值也得到了明显的减小。仿真结果显示该控制方式的地震控制效果明显,减振性能优于LQR、模糊监控和特征结构配置等控制策略,等价输入干扰补偿结构主动控制有效地降低了地震对建筑结构的破坏。
(5)为了防止控制过程中作动器出现饱和现象,本文提出了一种考虑作动器容量有限的基于等价输入干扰补偿的结构主动控制策略。以地震激励作用下的3层建筑为例验证了本文方法抑制结构振动的可行性,数值仿真结果显示该方案控制效果较好,即使当作动器容量较小时,对结构振动也有一定的改善效果,而且随着作动器容量的增大,对建筑结构的振动控制效果就变得更明显。
An earthquake is a harmful natural disaster. It causes the vibration of building structures and may damage them. In recent years, collapses of building structures due to large seismic waves have resulted in high mortality and a huge loss of property. Human being suffers a great loss from this kind of disasters. So, antiseismic building structures are one of the most important aspect need to be considered in the structural design. Structural vibration control is widely recognized as an effective way of mitigating catastrophic damage of structures induced by earthquakes. In addition to reinforcing the stiffness and intension of structures, isolation and control of vibration are important measures of antiseismic design. Passive, semiactive, active and/or hybrid vibration control for antiseismatic structures has been attracting considerable attention. In particular, active control for reducing the effects of earthquakes on building and other civil engineering structures has been receiving increasing attention. A lot of control algorithms have been applied in designing a structural vibration control system in civil engineering. However, it is still an unfinished subject to devise a control method that is simple, easy to implement, and can further suppress the structural vibration.
This dissertation investigates a structural active control method by employing the method of equivalent input disturbance (EID). The presented method has ability of suppressing earthquake-induced vibrations of buildings effectively. The main achievements and contributions of this dissertation are as follows:
(1) We analyze the control system configuration, which is based on the compensation of EID. It reveals that the vibration control performance is guaranteed by the control structure, in which an equivalent vibration signal on the control input channel is estimated and directly incorporated into the control input. From the standpoint of control, it is more reasonable to estimate a disturbance on the control input channel than to estimate the disturbance itself because we have to use the control input to improve the disturbance rejection performance. Even though the control system does not contain an internal model of a disturbance, the influence of an unknown disturbance is almost completely rejected in both the transient and steady-state responses. This method does not require the differentiation of measured outputs, or prior information on a disturbance; and it does not use the inverse dynamics of the plant, thereby avoiding the cancellation of unstable poles/zeros. The method only needs the input and output of the plant to produce an equivalent input disturbance, and does not require the state of the plant. This enlarges its range of application.
(2) We study the design method of the EID-based structural active controller, and present a design method of the structural active control system. In order to suppress earthquake-induced vibrations of a building, we extend the control method based on the compensation of the EID to a multi-input multi-output structural control system for aseismatic design of structures. The control system configuration can be separated into two parts by using the separation theorem. Both of these two parts can be designed independently. We present a design method for the part of state observer and low-pass filter by employing the concept of perfect regulation.
(3) We analyze the mechanism of disturbance rejection in the EID-based structural active control system. Analysis of the control system configuration shows that the control system has two degrees of freedom. The feedback controller consists of the state feedback; and the feedforward controller consists of the state observer and the low-pass filter. The addition of an EID estimator to a servo system improves the disturbance rejection performance through an integration in the feedforward path. The explanation makes it clear that the characteristics of the filter in the system strongly affect the disturbance rejection performance. Guidelines for the selection of the low-pass filter are given, based on an examination of simulation results. Regarding the choice of low-pass filter, we can conclude that:a first-order low-pass filter is the best. The cut-off angular frequency of the low-pass filter should be chosen to be five times higher than the highest angular frequency of the disturbance to be rejected.
(4) We carry out the control system design through numerical examples and simulations to prove the validity of the proposed control method for reducing the seismic responses of the building structure. In the numerical simulations, historically recorded ground accelerations, i.e. the El-Centro, Kobe, Mexico and Northridge earthquakes are employed as external disturbances. The simulation results verify that the vibration control of this method is effective in reducing the seismic responses of structure. The maximum inter-story drift and maximum acceleration response of each floor can be considerably reduced when the proposed method is used. The root mean square of the inter-story drift of each floor also shows a similar tendency. As a result, the presented control method improves the seismic performance of a structural control system. The simulation results are also compared to those of the LQR, fuzzy supervisory control, and eigenstructure assignment control methods. The analysis of the simulation results show that the presented active strategy has better performance in reducing the seismic response of building and minimize the damages in the building structures caused by earthquake over those methods.
(5) In order to prevent saturation phenomenon occurred in the structural control, we present the method of EID-based structural active control under actuator saturation. A three-story building structure under seismic loads is used to illustrate the feasibility of the presented method in reducing the structural vibration. The simulation results revealed that this method is effective to suppress the structural vibration. When the actuator capacity is small, the effect of structural control is also small. However, when the actuator capacity is increased, the relative benefits become more apparent.
本文致力于研究基于等价输入干扰补偿的结构主动控制方法,以提高建筑结构的抗震能力,主要研究工作和创新点如下：
(1)分析了基于等价输入干扰补偿的控制方式的特点。基于等价输入干扰补偿的控制器推测一个加于控制输入渠道的等价扰动信号,并直接将其与控制输入进行叠加,保证了能够有效抑制各种干扰信号对受控系统产生的影响。从控制系统的观点来看,因为需要通过控制系统的输入来提高干扰抑制性能,因此推测控制器输入渠道的干扰信号比直接推测干扰信号本身更具有控制意义。该控制系统虽然不包含干扰的内部模型,但是对瞬时的以及稳态的未知干扰都能很好地抑制,这种方法不需要测量输出的微分值,也不需要干扰信号的先验信息,无需受控系统的逆动力学模型,从而能够避免不稳定零极点对消。该方法仅需受控系统的输入和输出就能得出等价输入干扰,无需受控系统的状态,从而扩大了它的应用范围。
(2)基于等价输入干扰补偿方法进行建筑结构抗震主动控制器设计,提出了基于等价输入干扰补偿的结构主动控制系统的设计方法。将等价输入干扰补偿控制方法推广至多输入多输出的建筑结构系统的抗震控制,抑制了建筑结构在地震激励下的结构振动反应,实现了对建筑结构的振动控制。在该控制器中,采用分离定理把控制器中的状态反馈设计与观测器和低通滤波器的设计分离开来,运用完全调节方法提出了一种观测器的设计方法。
(3)对基于等价输入干扰补偿的结构主动控制系统的干扰抑制机制进行了分析。通过对其系统结构的分析表明,该控制系统具有二个自由度,其中的反馈控制器是由系统中的状态反馈部分构成,前馈控制器是由状态观测器和低通滤波器部分构成。通过在伺服控制系统中加入等价输入干扰推测器,使得传递函数在前馈路径中增加了一个积分项,从而改善了干扰抑制性能。通过仿真实验分析滤波器特征与干扰抑制性能之间的关系,结果表明低通滤波器的特性对干扰抑制性能的影响非常明显,且选择一阶低通滤波器是最合适的,选择高阶低通滤波器反而会降低干扰抑制性能,低通滤波器的截止角频率应该选取为需要被抑制的干扰信号频率成分中的最高角频率的5倍以上。
(4)通过计算机仿真研究等价输入干扰补偿结构主动控制器对建筑结构减震控制的效果。仿真模拟了分别受El-Centro、Kobe、Mexico和Northridge地震波激励下结构地震响应控制的效果。算例分析结果显示,在不同地震波激励下,所提控制方法都能使结构各层层间位移的最大值和加速度响应的最大值得到显著的减小,并且各层层间位移均方根值也得到了明显的减小。仿真结果显示该控制方式的地震控制效果明显,减振性能优于LQR、模糊监控和特征结构配置等控制策略,等价输入干扰补偿结构主动控制有效地降低了地震对建筑结构的破坏。
(5)为了防止控制过程中作动器出现饱和现象,本文提出了一种考虑作动器容量有限的基于等价输入干扰补偿的结构主动控制策略。以地震激励作用下的3层建筑为例验证了本文方法抑制结构振动的可行性,数值仿真结果显示该方案控制效果较好,即使当作动器容量较小时,对结构振动也有一定的改善效果,而且随着作动器容量的增大,对建筑结构的振动控制效果就变得更明显。
An earthquake is a harmful natural disaster. It causes the vibration of building structures and may damage them. In recent years, collapses of building structures due to large seismic waves have resulted in high mortality and a huge loss of property. Human being suffers a great loss from this kind of disasters. So, antiseismic building structures are one of the most important aspect need to be considered in the structural design. Structural vibration control is widely recognized as an effective way of mitigating catastrophic damage of structures induced by earthquakes. In addition to reinforcing the stiffness and intension of structures, isolation and control of vibration are important measures of antiseismic design. Passive, semiactive, active and/or hybrid vibration control for antiseismatic structures has been attracting considerable attention. In particular, active control for reducing the effects of earthquakes on building and other civil engineering structures has been receiving increasing attention. A lot of control algorithms have been applied in designing a structural vibration control system in civil engineering. However, it is still an unfinished subject to devise a control method that is simple, easy to implement, and can further suppress the structural vibration.
This dissertation investigates a structural active control method by employing the method of equivalent input disturbance (EID). The presented method has ability of suppressing earthquake-induced vibrations of buildings effectively. The main achievements and contributions of this dissertation are as follows:
(1) We analyze the control system configuration, which is based on the compensation of EID. It reveals that the vibration control performance is guaranteed by the control structure, in which an equivalent vibration signal on the control input channel is estimated and directly incorporated into the control input. From the standpoint of control, it is more reasonable to estimate a disturbance on the control input channel than to estimate the disturbance itself because we have to use the control input to improve the disturbance rejection performance. Even though the control system does not contain an internal model of a disturbance, the influence of an unknown disturbance is almost completely rejected in both the transient and steady-state responses. This method does not require the differentiation of measured outputs, or prior information on a disturbance; and it does not use the inverse dynamics of the plant, thereby avoiding the cancellation of unstable poles/zeros. The method only needs the input and output of the plant to produce an equivalent input disturbance, and does not require the state of the plant. This enlarges its range of application.
(2) We study the design method of the EID-based structural active controller, and present a design method of the structural active control system. In order to suppress earthquake-induced vibrations of a building, we extend the control method based on the compensation of the EID to a multi-input multi-output structural control system for aseismatic design of structures. The control system configuration can be separated into two parts by using the separation theorem. Both of these two parts can be designed independently. We present a design method for the part of state observer and low-pass filter by employing the concept of perfect regulation.
(3) We analyze the mechanism of disturbance rejection in the EID-based structural active control system. Analysis of the control system configuration shows that the control system has two degrees of freedom. The feedback controller consists of the state feedback; and the feedforward controller consists of the state observer and the low-pass filter. The addition of an EID estimator to a servo system improves the disturbance rejection performance through an integration in the feedforward path. The explanation makes it clear that the characteristics of the filter in the system strongly affect the disturbance rejection performance. Guidelines for the selection of the low-pass filter are given, based on an examination of simulation results. Regarding the choice of low-pass filter, we can conclude that:a first-order low-pass filter is the best. The cut-off angular frequency of the low-pass filter should be chosen to be five times higher than the highest angular frequency of the disturbance to be rejected.
(4) We carry out the control system design through numerical examples and simulations to prove the validity of the proposed control method for reducing the seismic responses of the building structure. In the numerical simulations, historically recorded ground accelerations, i.e. the El-Centro, Kobe, Mexico and Northridge earthquakes are employed as external disturbances. The simulation results verify that the vibration control of this method is effective in reducing the seismic responses of structure. The maximum inter-story drift and maximum acceleration response of each floor can be considerably reduced when the proposed method is used. The root mean square of the inter-story drift of each floor also shows a similar tendency. As a result, the presented control method improves the seismic performance of a structural control system. The simulation results are also compared to those of the LQR, fuzzy supervisory control, and eigenstructure assignment control methods. The analysis of the simulation results show that the presented active strategy has better performance in reducing the seismic response of building and minimize the damages in the building structures caused by earthquake over those methods.
(5) In order to prevent saturation phenomenon occurred in the structural control, we present the method of EID-based structural active control under actuator saturation. A three-story building structure under seismic loads is used to illustrate the feasibility of the presented method in reducing the structural vibration. The simulation results revealed that this method is effective to suppress the structural vibration. When the actuator capacity is small, the effect of structural control is also small. However, when the actuator capacity is increased, the relative benefits become more apparent.
引文
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