采用滑动模态控制器的实时子结构试验等效力控制方法
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摘要
等效力控制方法用反馈控制代替数学迭代过程求解实时子结构试验隐式逐步积分方法的非线性方程。对于非线性结构实时子结构试验的等效力控制方法,采用滑动模态控制器代替PD和PI控制器。滑动模态控制是一种非线性控制器,适合线性和非线性系统的控制。线性弹簧试件的实时子结构试验模拟和试验验证了这种控制方法的可行性。防屈曲支撑试件试验模拟和试验的结果表明,非线性系统的等效力控制方法试验,滑动模态控制有较好的控制效果。
With equivalent force control method,a feedback control was used to replace mathematical iteration to solve a nonlinear equation of a real-time substructure test using implicit integration method.For nonlinear structural real-time substructure test,a sliding mode controller was used to replace PD and PI controllers of the equivalent force control method.The sliding mode controller was a nonlinear controller suitable for controlling linear and nonlinear structures.Thesimulation and real-time substructure test results of a linear spring specimen proved the feasibility of this control method.And the simulation and experimental results of a buckling-restrained brace(BRB) specimen demonstrated that the sliding mode control has good control effect for equivalent force control test of nonlinear systems.
With equivalent force control method,a feedback control was used to replace mathematical iteration to solve a nonlinear equation of a real-time substructure test using implicit integration method.For nonlinear structural real-time substructure test,a sliding mode controller was used to replace PD and PI controllers of the equivalent force control method.The sliding mode controller was a nonlinear controller suitable for controlling linear and nonlinear structures.Thesimulation and real-time substructure test results of a linear spring specimen proved the feasibility of this control method.And the simulation and experimental results of a buckling-restrained brace(BRB) specimen demonstrated that the sliding mode control has good control effect for equivalent force control test of nonlinear systems.
引文
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[3]郭玉荣,张国伟,肖岩,等.单自由度结构远程分析及拟动力试验平台[J].湖南大学学报,2006,33(2):18-21.
[4]Nakashima M,Kato H,Takaoka E.Development of real-timepseudodynamic testing[J].Earthquake Engineering andStructural Dynamics,1992,21:779-792.
[5]李进,王焕定,张永山,等.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.
[6]Chi F D,Wang J T,Jin F.Delay-dependent stability andadded damping of SDOF real-time dynamic hybrid testing[J].Earthquake engineering and engineering vibration,2010,9(3):425-438.
[7]Wagg D J,Stoten D P.Substructuring of dynamical systemsvia the adaptive minimal control synthesis algorithm[J].Earthquake Engineering and Structural Dynamics,2001,30(6):865-877.
[8]Jung R Y,Shing P B,Stauffer E,et al.Performance of areal-time pseudo dynamic test system considering nonlinearstructural response[J].Earthquake Engineering andStructural Dynamics,2007,36(12):1785-1809.
[9]Wu B,Bao H,Ou J,et al.Stability and accuracy analysis ofcentral difference method for real-time substructure testing[J].Earthquake Engineering and Structural Dynamics,2005,34(7):705-718.
[10]Thewalt C R,Mahin S A.An unconditionally stable hybridpseudodynamic algorithm[J].Earthquake Engineering andStructural Dynamics,1995,24(5):723-731.
[11]奚彩亚.实时子结构实验的混合控制方法[D].哈尔滨:哈尔滨工业大学,2005:9-55.
[12]Wu B,Wang Q,Shing P B,et al.Equivalent force controlmethod for generalized real-time substructure testing withimplicite integration[J].Earthquake Engineering andStructural Dynamics,2007,36(9):1127-1149.
[13]许国山,吴斌.弹性试件的实时子结构试验等效力控制方法[J].振动与冲击,2010,29(5):101-105.
[14]丁勇.实时子结构实验的混合控制方法[D].哈尔滨:哈尔滨工业大学,2008:19-28.
[15]Yang J N,Wu J C,Agrawal A K.Sliding mode control fornonlinear and hysteretic structures[J].Journal ofEngineering Mechanics,1995,121(12):1330-1339.
[16]王向英,吴斌,王倩颖.实时子结构实验的滑动模态控制[J].工程力学,2007,24(6):174-179.
[17]Yang T Y,Schellenberg A.Advance implementation ofnonlinear control algorithms for shaking table tests[C]//Proceedings of the 9th U.S.National and 10th CanadianConference on Earthquake Engineering.Toronto:TsunamiSociety International,2010,1108.
[18]Kim S B,Spencer B F,Yun C B.Frequency domainidentification of multi-input,multi-output systems consideringphysical relationships between measured variables[J].Journal of Engineering Mechanics,2005,131(5):461-472.
[19]Ogata K.Modern control engineering,(fourth edition)[M].Upper Saddle River:Pearson Education,2002,843-855.
[20]欧进萍.结构振动控制-主动、半主动和智能控制[M].北京:科学出版社,2003.71-75.
[21]李妍.防屈曲支撑的抗震性能及子结构试验方法[D].哈尔滨:哈尔滨工业大学,2007:20-45.
[22]Horiuchi T,Inoue M,Konno T,et al.Real-time hybridexperimental system with actuator delay compensation and itsapplication to a piping system with energy absorber[J].Earthquake Engineering and Structural Dynamics,1999,28:1121-1141.
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