基于最小二乘法的时滞实时在线估计方法
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摘要
在实时子结构试验中,液压伺服加载系统的时滞可能导致试验因丧失稳定而失败,因而时滞估计和补偿是该类试验的关键问题之一。在分析另外两种实时子结构试验时滞估计方法缺点的基础上,根据泰勒级数建立了命令位移、响应位移和系统时滞之间的近似关系,提出了采用渐消记忆递推最小二乘算法实时在线估计系统时滞的方法。时滞估计算例表明,即使考虑了随机测量误差和幅值误差,该方法也具有较好的反应速度和精度,能较好地跟踪系统时滞的变化。实时子结构试验时滞补偿算例表明,所提出的估计方法的精度、反应速度和时滞补偿效果都比较理想。与另外两种实时子结构试验时滞估计方法相比,该方法具有一定优势。
The delay estimation and compensation are key problems in real-time substructure testing because the delay of servo-hydraulic loading system may induce failure due to experimental instability.After analyzing the shortcomings of the two other methods for estimating delay,the paper establishes an approximate relationship between displacements and system delay according to Taylor series firstly,and then proposes a real-time approach to delay estimation based on fading memory recursive Least-Square algorithm.Simulation results of delay estimation indicate that the approach converges rapidly and accurately,and is able to effectively track time-varying delay even though random measurement errors and amplitude errors are taken into account.A numerical example of real-time substructure testing with delay compensation shows that the accuracy and the convergence speed of the delay estimation method and the effect of delay compensation are rather satisfactory.The approach may be superior for real-time substructure testing to the two other methods.
The delay estimation and compensation are key problems in real-time substructure testing because the delay of servo-hydraulic loading system may induce failure due to experimental instability.After analyzing the shortcomings of the two other methods for estimating delay,the paper establishes an approximate relationship between displacements and system delay according to Taylor series firstly,and then proposes a real-time approach to delay estimation based on fading memory recursive Least-Square algorithm.Simulation results of delay estimation indicate that the approach converges rapidly and accurately,and is able to effectively track time-varying delay even though random measurement errors and amplitude errors are taken into account.A numerical example of real-time substructure testing with delay compensation shows that the accuracy and the convergence speed of the delay estimation method and the effect of delay compensation are rather satisfactory.The approach may be superior for real-time substructure testing to the two other methods.
引文
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[2]吴斌,王倩颖.实时子结构实验的研究进展[J].实验力学,2007,22(5):1—9.
[3]袁涌,熊世树,青木彦等.基于速度控制型子结构实验的橡胶隔震支座性能研究[J].振动与冲击,2008,27(6):151—155.
[4]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.
[5]汪强,王进廷,金峰,等.实时耦联动力试验方法述评[A].第17届全国结构工程学术会议[C].武汉,2008.
[6]Horiuchi T,Inoue M,Konno T,et al.Real-time hy-brid experimental system with actuator delay compen-sation and its application to a piping system with ener-gy absorber[J].Earthquake Engineering and Struc-tural Dynamics,1999,28(10):1 121—1 141.
[7]Darby A P,Williams M S,Blakeborough A.Stabilityand delay compensation for real-time substructuretesting[J].Journal of Engineering Mechanics(ASCE),2002,128(12):1 276—1 284.
[8]Ahmadizadeh M,Mosqueda G,Reinhorn A M.Com-pensation of actuator delay and dynamics for real-timehybrid structural simulation[J].Earthquake Engi-neering and Structural Dynamics,2008,37(1):21—42.
[9]Ahmadizadeh M,Mosqueda G,Reinhorn A M.Com-pensation of actuator delay and dynamics for real-timehybrid structural simulation[A].4th World Confer-ence on Structural Control and Monitoring[C].SanDiego,US,2006,paper no.310.
[10]涂建维,张凯静,瞿伟廉.实时子结构试验的时间滞后补偿方法研究[A].第二届结构工程新进展国际论坛论文集[C].北京:中国建筑工业出版社,2008:1 064—1 069.
[11]Diehl M,Bock H G,Schloder J P.A real-time itera-tion scheme for nonlinear optimization in optimal feed-back control[J].SIAM Journal on Control and Opti-mization,2005,43(5):1 714—1 736.
[12]王秀峰,卢桂章.系统建模与辨识[M].北京:电子工业出版社.2004.33—34.
[13]方崇智,萧德云.过程辨识[M].北京:清华大学出版社.1988.159—160.
[14]http://peer.berkeley.edu/svbin/Detail?id=P0144,2008年11月23日.
[15]Wu B,Wang Q,Shing P B,et al.Equivalent forcecontrol method for generalized real-time substructuretesting with implicit integration[J].Earthquake Engi-neering and Structural Dynamics,2007,36:1 127—1 149.
[16]吴勃英.数值分析原理[M].北京:科学出版社.2003:22—23,104—107.
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