基于位移反馈控制的主动增加时滞补偿方法及其试验验证
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摘要
时滞是结构振动主动控制系统中普遍存在的现象,时滞不仅会降低控制系统的性能,严重时会造成系统失稳、控制发散。针对此问题,研究以下三方面内容:首先基于单自由度系统时滞的稳定性理论分析,确定系统最大允许时滞量的解析解,该阈值可以作为确定何时应用时滞补偿技术的一个评判指标;其次,当作动器实际时滞量大于最大允许时滞量时,常规时滞补偿方法将会失效,提出了基于位移反馈的主动增加时滞的补偿新方法,并定性结合定量详细分析了主动控制算法的参数影响规律;最后,以单层剪切型框架结构为被控对象,进行了多种输入激励下基于位移反馈的主动增加时滞补偿试验验证。大量仿真分析和试验结果表明所提方法能够在保证系统稳定性的同时获得一定可观的控制效果。
Time delay may degrade the performance of control system and induce instability to the system.In view of this practical problem,the stability of a SDOF system with time delayed feedback was analysed.The purpose is to find an analytic solution of the maximum allowable time delay which can be used as a criterion for deciding the need of time delay compensation.A technique of compensation with active increasing of time delay was presented,when the actual time delay exceeds the maximum allowable value.The experimental study on the compensation with active increasing of time delay based on displacement feedback was carried out.The numerical simulations and experimental results demonstrate that the presented time delay compensation control algorithm is effective in reducing the maximum response of systems while the system stability can be guaranteed.
Time delay may degrade the performance of control system and induce instability to the system.In view of this practical problem,the stability of a SDOF system with time delayed feedback was analysed.The purpose is to find an analytic solution of the maximum allowable time delay which can be used as a criterion for deciding the need of time delay compensation.A technique of compensation with active increasing of time delay was presented,when the actual time delay exceeds the maximum allowable value.The experimental study on the compensation with active increasing of time delay based on displacement feedback was carried out.The numerical simulations and experimental results demonstrate that the presented time delay compensation control algorithm is effective in reducing the maximum response of systems while the system stability can be guaranteed.
引文
[1]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.
[2]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.
[3]Basharkhah M A,Yao J TP.Reliability aspects of structuralcontrol[J].Civ.Eng.Syst,1984,1:224-229.
[4]Yang J N,Akbarpour A,Askar G.Effect of time delay oncontrol of seismic-excited buildings[J].Journal of StructuralEngineering,ASCE,1990,116(10):2801-2814.
[5]胡海岩.振动主动控制中的时滞动力学问题[J].振动工程学报,1997,10(3):273-279.
[6]Cai G P,Huang J Z.Optimal control method for seismicallyexcited building structures with time delay in control[J].Journal of Engineering Mechanics,ASCE,2002,128(6):602-612.
[7]Cai G P,Huang J Z.Discrete-time variable structure controlmethod for seismic-excited building structures with time delay[J].Earthquake Engineering&Structural Dynamics,2002,31(7):1347-1359.
[8]Agrawal A K,Yozo Fujino,Bhartia B K.Instability due totime delay and its compensation in active control of structures[J].Earthquake Engineering&Structural Dynamics,1993,22(3):211-224.
[9]Mohamed Abdel-Mooty,John Roorda.Time-delaycompensation in active damping of structures[J].Journal ofEngineering Mechanics,ASCE,1991,117(11):2549-2570.
[10]Soong T T.Active structural control theory and practice[M].Longman Scientific&Technical.UK,1990.
[11]Chung L L,Lin R C,Soong T T,et al.Experimental studyof active control for MDOF seismic structures[J].Journal ofEngineering Mechanics,ASCE,1989,115(8):1609-1627.
[12]Mohamed Abdel-Mooty,John Roorda.Time-delaycompensation in active damping of structures[J].Journal ofEngineering Mechanics,ASCE,1991,117(11):2549-2570.
[13]Chung L L,Reinhorn A M,Soong T T.Experiments onactive control of seismic structures.ASCE[J].Journal ofEngineering Mechanics.1988,114:241-256.
[14]Abdel-Rohman M.Time delay effects on actively dampedstructures[J].ASCE,J.Eng.Mech.1987,113(11):1709-1719.
[15]Loh C H,Lin P Y.Kalman filter approach for the control ofseismic-induced building vibration using active mass dampersystem[J].The Structural Design of Tall Buildings.1997,6:209-224.
[16]Mcgreevy S,Soong T T,Reinhorn A M.An experimentalstudy of time delay compensation in active structural control[C].Proc.SEM 6th Int.Modal Anal.Conf.,Orlando,1988:733-739.
[2]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.
[3]Basharkhah M A,Yao J TP.Reliability aspects of structuralcontrol[J].Civ.Eng.Syst,1984,1:224-229.
[4]Yang J N,Akbarpour A,Askar G.Effect of time delay oncontrol of seismic-excited buildings[J].Journal of StructuralEngineering,ASCE,1990,116(10):2801-2814.
[5]胡海岩.振动主动控制中的时滞动力学问题[J].振动工程学报,1997,10(3):273-279.
[6]Cai G P,Huang J Z.Optimal control method for seismicallyexcited building structures with time delay in control[J].Journal of Engineering Mechanics,ASCE,2002,128(6):602-612.
[7]Cai G P,Huang J Z.Discrete-time variable structure controlmethod for seismic-excited building structures with time delay[J].Earthquake Engineering&Structural Dynamics,2002,31(7):1347-1359.
[8]Agrawal A K,Yozo Fujino,Bhartia B K.Instability due totime delay and its compensation in active control of structures[J].Earthquake Engineering&Structural Dynamics,1993,22(3):211-224.
[9]Mohamed Abdel-Mooty,John Roorda.Time-delaycompensation in active damping of structures[J].Journal ofEngineering Mechanics,ASCE,1991,117(11):2549-2570.
[10]Soong T T.Active structural control theory and practice[M].Longman Scientific&Technical.UK,1990.
[11]Chung L L,Lin R C,Soong T T,et al.Experimental studyof active control for MDOF seismic structures[J].Journal ofEngineering Mechanics,ASCE,1989,115(8):1609-1627.
[12]Mohamed Abdel-Mooty,John Roorda.Time-delaycompensation in active damping of structures[J].Journal ofEngineering Mechanics,ASCE,1991,117(11):2549-2570.
[13]Chung L L,Reinhorn A M,Soong T T.Experiments onactive control of seismic structures.ASCE[J].Journal ofEngineering Mechanics.1988,114:241-256.
[14]Abdel-Rohman M.Time delay effects on actively dampedstructures[J].ASCE,J.Eng.Mech.1987,113(11):1709-1719.
[15]Loh C H,Lin P Y.Kalman filter approach for the control ofseismic-induced building vibration using active mass dampersystem[J].The Structural Design of Tall Buildings.1997,6:209-224.
[16]Mcgreevy S,Soong T T,Reinhorn A M.An experimentalstudy of time delay compensation in active structural control[C].Proc.SEM 6th Int.Modal Anal.Conf.,Orlando,1988:733-739.
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