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振动台子结构试验是一种有效的实时结构混合试验方法，持续受到国内外学者的关注。利用振动台和其它加载装置进行联合加载，从而提升和扩展振动台的加载能力，实现大比例甚至足尺结构试验的目的。基于主动质量驱动器(AMD)加载方法的振动台子结构试验中，在试验子结构和数值子结构完全拆分的情况下，无论采用位移PID还是三参量控制，在界面加速度输入情况下AMD系统在3～5 min后会产生失稳现象，通过调整控制增益、对加速度反馈信号进行滤波无法消除这种现象。在加速度传感器噪声的影响下，子结构试验系统无法保持长期稳定，通过数值仿真表明现有的时滞补偿算法也无法消除这种失稳现象。考虑这种情况，将卡尔曼滤波引入界面加速度的量测环节，通过整体结构模型求得的界面加速度对实测界面加速度进行修正，从而提升了振动台子结构试验的系统稳定性和试验精度。数值仿真结果表明，通过设置合理的卡尔曼滤波参数，可以抑制加速度传感器随机噪声对子结构试验精度的影响，系统时滞稳定性也得到显著改善。文中的研究结果为振动台子结构试验的成功实施提供了一种可行的解决方案。 相似文献
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着重研究了变阻尼半主动控制在降低结构振动响应中的控制效果，在确定可变阻尼的阻尼系数时采用了控制效果较好的H∞优化控制策略，并将这种控制策略与传统控制方法进行了比较，通过数值分析比较了被动控制、主动控、半主动控制情况下结构的最大相对位移与结构的最大绝对加速度响应。并通过分析得出如下结论：(1)在被动、主动、半主动控制方法中主动控制的控制效果最好；(2)对于刚性结构，增大结构的附加阻尼可以同时降低结构的最大相对位移和最大绝对加速度响应，应用被动控制能取得较为理想的控制效果，而半主动控制的控制效果是值得怀疑的，在应用时应慎重考虑；(3)对于柔性结构，增大附加阻尼在降低结构的最大相对位移响应的同时，却增加了结构最大绝对加速度响应，而采用半主动控制能够同时降低结构的最大相对位移和绝对加速度响应，半主动控制效果明显；(4)在柔性结构中采用半主动控制方法能取得与主动控制相近的效果；(5)由于H∞优化控制是对最坏情况下瞬时能量的优化控制，因此H∞半主动控制的控制效果要优于传统LQR控制。 相似文献
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时滞导致控制力的不同步实施,不仅降低了控制系统的性能,而且会使动力系统不稳定。针对这个实际问题,本文提出了一种时滞补偿控制算法。地震加速度用ＡＲ模型实时在线向前预测。 相似文献
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反应谱计算的三角插值解析公式法 总被引：6，自引：0，他引：6
利用对扰力项进行三角插值，求运动方程的解析解，提出了反应谱计算的一个新方法。因该方法直接给出了相对位移、相对速度及绝对加速度反应的解析表示，进而求反应谱，故对减少运算量具有一定的意义。 相似文献
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本文用数值积分法,对RDZ1-12-66型自动触发电流计记录式强震仪的幅频响应失真进行校正。并采用高通数字滤波的方法,修正加速度图的零线.为此编制了计算机程序,绘制了修正后的加速度、速度和位移时程曲线.计算了修正前后加速度图的傅氏谱。同时,对这些结果加以讨论。 修正后的加速度图,精确地表示了仪器基本频带在0.09HZ和25HZ之间的绝对地面加速度。 相似文献
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MTMD对建筑结构多模态控制的减震分析 总被引：5，自引：1，他引：5
本文研究了MTMD对建筑结构多模态减震控制。将主结构简化为多自由度模型，MTMD对结构的反力与地震荷载共同作为结构的荷载输入进行分析；基于主结构多模态耦合进行推导分析，阐述了MTMD与结构之间的相互作用关系，提出MTMD的复惯性质量。提出MTMD的控制类型是加速度相关型的无源被动控制。从频域传递函数，白噪声、宽带和窄带地震激励下的结构相对位移和绝对加速度谱密度，以及El-centro地震波作用下结构的地震响应三个方面，分析了MTMD对顶部带有结构附属物的结构的控制效果。并且给出TMD的控制效果加以比较验证。算例说明MTMD多模态控制对结构的相对位移和绝对加速度均有较好的控制效果，并且优于TMD控制效果。 相似文献
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近场数字强震仪记录误差分析与零线校正方法 总被引：6，自引：0，他引：6
本文对数字强震仪记录进行了误差分析,并对国家强震动台网入网的5种型号数字强震仪系统作了振动台对比试验,分析了该系统加速度记录积分后速度和位移时程零线漂移的原因.本文提出了加速度记录的零线漂移校正方法和校正准则.为了印证零线校正方法的可靠性,对振动台试验中强震仪记录到的加速度两次积分得出位移时程与试验时记录到的绝对位移进行比较,计算位移和振动台绝对位移完全一致;对2008年5.12汶川8.0级大地震和1999年台湾9.21集集7.6级地震现场加速度记录两次积分后得出永久位移与两次大地震的GPS同震位移进行比较.结果表明,该方法对大地震近场仪器墩会发生倾斜或产生永久位移时加速度记录的零线校正有明显效果,可以给出加速度积分后的速度和位移并符合校正准则.本文方法解决了对大地震近场地面运动的研究停留在对峰值加速度和反应谱的研究阶段的困惑,满足了结构抗震对地面永久位移的需求. 相似文献
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深厚软弱地基上桩箱基础高层建筑地震反应特性数值模拟 总被引：4，自引：2，他引：4
根据土体—结构体系整体分析方法，以某26层桩箱基础框架—剪力墙高层建筑为例，探讨了深厚软弱地基与输入地震动特性对桩箱基础高层建筑地震反应的影响。通过数值模拟，得到以下结论：地震作用下高层建筑的地震反应与建筑物的地基条件与输入的振动特性等因素有关。一般地，SSI效应使上部结构的绝对加速度反应减小，但当输入加速度峰值较低时，建筑物部分楼层的绝对加速度反应有可能增大。在给定的输入地震动作用下，SSI效应使上部结构的楼层相对位移增大，但也可能存在减小的情况。分析结果表明：SSI效应对深厚软弱地基上桩箱基础高层建筑地震反应有很大的影响，在此类建筑的抗震分析中考虑SSI效应的影响是必要的。 相似文献
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高层建筑地震反应全反馈主动TMD控制理论研究 总被引：6，自引：2，他引：6
本文应用最近提出的全反馈主动控制法对高层建筑地震反应进行了全反馈主动ＴＭＤ（调谐质量阻尼器）控制的理论研究，考虑了实时控制过程中控制力的时间滞后效应，并通过数值模拟分析了不同的反馈形式以及不同的时间滞后量对主动ＴＭＤ控制效果的影响。最后得出结论：对高层建筑地震反应实施全反馈主动ＴＭＤ控制，既能更有效地降低结构的位移反应和速度反应，又能大幅度地降低结构的加速度反应；且当控制力时间滞后量较大时，对主动 相似文献
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Time-delay causes unsynchronized application of the control forces which may not only degrade the performance of the control system but also even induce instability to the dynamic system. Time-delay control algorithm is developed in this paper to solve this practical problem. The control system is first formulated in discrete-time form. In the presence of time-delay, the motion equation of the discrete-time control system remains a difference equation which can be transformed into first-order difference equation by augmenting the state variables. Optimal time-delay control algorithm is derived based on the augmented system. The time-delay control forces are simply generated from the time-delay states multiplied by the constant feedback gain. Numerical simulation is illustrated to verify the feasibility of the proposed control algorithm. Since time-delay effect is incorporated in the mathematical model for the structural control system throughout the derivation of the proposed algorithm, system performance and dynamic stability are guaranteed. 相似文献
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Shake tables provide a direct means by which to evaluate structural performance under earthquake excitation. Because the entire structure is mounted on the base plate and subjected to the ground motion in real time, dynamic effects and rate‐dependent behavior can be accurately represented. Shake table control is not straightforward as the desired signal is an acceleration record, while most actuators operate in displacement feedback for stability. At the same time, the payload is typically large relative to the capacity of the actuator, leading to pronounced control‐structure interaction. Through this interaction, the dynamics of the specimen influence the dynamics of the shake table, which can be problematic when specimens change behavior because of damage or other nonlinearities. Moreover, shake tables are themselves inherently nonlinear, making it difficult to accurately recreate a desired acceleration record over a broad range of amplitudes and frequencies. A model‐based multi‐metric shake table control strategy is proposed to improve tracking of the desired acceleration of a uniaxial shake table, remaining robust to nonlinearities including changes in specimen condition. The proposed strategy is verified for the shake table testing of both linear and nonlinear structures. Copyright © 2013 John Wiley & Sons, Ltd. 相似文献
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Real-time dynamic substructuring (RTDS) is an experimental technique that splits the structure under test into coupled parts that run in parallel. The structural component exhibiting unpredictable behaviour is tested in the laboratory while the remainder of the structure is modelled numerically. As the test proceeds, the dynamic force state at the physical–numerical interface is measured and a transfer system, usually a servo-hydraulic actuator or shaking table, is used to impose the commensurate response on the physical substructure. The integral dynamics of servo-hydraulic transfer systems can frustrate RTDS implementation by destabilising the system. Many have noted the deleterious stability implications of excessive phase lag in terms of a pure time-delay. However, because of the existence of magnitude variations and more complex phase characteristics, pure time-delay is too simple to represent the inherent nature of servo-hydraulic transfer systems. This paper considers RTDS stability in light of comprehensive transfer system dynamics. A transfer-function model of a servo-hydraulic transfer system is adopted and used to reflect the oversimplification of pure time-delay. The concept of gain margin is employed to reveal the drawbacks of the pure-delay based RTDS stability analyses. In order to overcome the drawbacks, a new method based on gain margin was developed. The comparative analyses demonstrate that the gain margin based method is tailored to predict the stability boundaries of a RTDS system incorporating comprehensive transfer system dynamics. The validity of the technique is verified experimentally through virtual and authentic RTDS system employing a shaking table. The performance of delay compensated shaking table RTDS is also assessed in perspective of stability. 相似文献
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Development of high‐performance shake tables using the hierarchical control strategy and nonlinear control techniques 
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下载免费PDF全文 Conventional shake tables employ linear controllers such as proportional‐integral‐derivative or loop shaping to regulate the movement. However, it is difficult to tune a linear controller to achieve accurate and robust tracking of different reference signals under payloads. The challenges are mainly due to the nonlinearity in hydraulic actuator dynamics and specimen behavior. Moreover, tracking a high‐frequency reference signal using a linear controller tends to cause actuator saturation and instability. In this paper, a hierarchical control strategy is proposed to develop a high‐performance shake table. A unidirectional shake table is constructed at the University of British Columbia to implement and evaluate the proposed control framework, which consists of a high‐level controller and one or multiple low‐level controller(s). The high‐level controller utilizes the sliding mode control (SMC) technique to provide robustness to compensate for model nonlinearity and uncertainties experienced in experimental tests. The performance of the proposed controller is compared with a state‐of‐the‐art loop‐shaping displacement‐based controller. The experimental results show that the proposed hierarchical shake table control system with SMC can provide superior displacement, velocity and acceleration tracking performance and improved robustness against modeling uncertainty and nonlinearities. Copyright © 2015 John Wiley & Sons, Ltd. 相似文献
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DENNIS K. REUST 《Geophysical Prospecting》1993,41(1):43-60
The Pelton DRTM Servovalve Enhancement causes the natural output of a vibrator to resemble the desired output more closely. This simplifies the control problem and reduces harmonic distortion. The traditional type of servovalve used on seismic vibrators is a flow-control servovalve. Flow is proportional to a vibrator's baseplate velocity, with respect to its reaction mass. The new servovalve control parameter is pressure rather than flow. The differential pressure applied to a vibrator's actuator piston, multiplied by the area of the piston, equals the force applied to the vibrator's baseplate structure. This may be defined as actuator force. There is a simpler and more linear relationship between actuator force and ground force than between actuator velocity and ground force. Thus, it is better for the servovalve to control pressure into the actuator rather than flow. A flow-control servovalve can be made to control pressure by sensing the differential pressure across a vibrator's actuator piston and applying it as a negative feedback around the servovalve main stage. This has been carried out and tested. The result is more accurate vibrator control and reduced harmonic distortion. 相似文献
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利用压电陶瓷的压电效应,研发出一种基于半主动控制的新型压电摩擦阻尼器,介绍其构造和工作原理。建立新型压电摩擦阻尼器的ABAQUS有限元模型,得出阻尼器在不同工况下的滞回曲线,并进行其滞回性能试验,用试验值验证阻尼器有限元模型的相似性,两者得到的阻尼器摩擦力变化趋势相近;采用ANSYS建立安装有新型压电摩擦阻尼器的输变电塔模型,利用MATLAB计算输变电塔模型各层的加速度响应,验证新型压电摩擦阻尼器在实际结构中的摩擦耗能性能,为其工程应用提供理论依据。 相似文献
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A semi-active strategy for model predictive control (MPC), in which magneto-rheological dampers are used as an actuator, is presented for use in reducing the nonlinear seismic response of high-rise buildings. A multi-step predictive model is developed to estimate the seismic performance of high-rise buildings, taking into account of the effects of nonlinearity, time-variability, model mismatching, and disturbances and uncertainty of controlled system parameters by the predicted error feedback in the multi-step predictive model. Based on the predictive model, a Kalman-Bucy observer suitable for semi-active strategy is proposed to estimate the state vector from the acceleration and semi-active control force feedback. The main advantage of the proposed strategy is its inherent stability, simplicity, on-line real-time operation, and the ability to handle nonlinearity, uncertainty, and time-variability properties of structures. Numerical simulation of the nonlinear seismic responses of a controlled 20-story benchmark building is carried out, and the simulation results are compared to those of other control systems. The results show that the developed semi-active strategy can efficiently reduce the nonlinear seismic response of high-rise buildings. 相似文献
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This paper addresses the effects of time delay on actively isolated structures subjected to support excitation. A force proportional to the absolute velocity of the base of the isolated structure applied at the base of the structure (co-located active damping) is the control scheme considered. The actuating mechanisms have some non-zero time response. Consequently, if no compensation is provided, the performance of the system is worse than that of the ideal delay-free controller. The dynamics of the controller-actuator system is modelled by a delay operator on the feedback signal. Time delays producing instability of the controlled structure are investigated, and the effect of time delay on the mean square acceleration of the structure subjected to stationary random excitation is assessed. A delay-compensation technique that requires memory of past control actions is proposed and compared with a commonly used compensation technique. By using simple numerical examples, it is shown that the proposed delay-compensation strategy improves the performance of the system significantly. The technique is extended to other models of the actuator dynamics and modified to provide robustness to small parameter uncertainties. 相似文献
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This study improves a NEURO‐FBG active control system to mature the concept of a smart structure. Originally, a system similar to the human brain is created from FBG sensors and neural networks. The system comprises three parts, namely, a structural condition surveillance system, a NEURO‐FBG converter, and a NEURO‐FBG controller. To solve the inherent time‐consuming and reliability problem of the NEURO‐FBG converter, a new technology is first proposed, and the relationship between inter‐story drift and strain data is established. Global indices such as displacement and velocity of the structure are then reconstructed for searching the optimal control force of the actuator. Meanwhile, the soundness of a building with hydraulic actuators is also an important issue to be solved. To make the building sound, the characteristics of earthquakes are considered for enhancing the performance of the NEURO‐FBG controller. Theoretical analysis shows satisfactory improvement to the control efficiency of both displacement and acceleration. To verify the enhanced system, a series of shaking table tests was conducted. Experimental results demonstrated that the new NEURO‐FBG system can effectively manage the structure; and the controller, taking into consideration the ground acceleration effect, is more reliable and robust for practical application than a conventional controller. Copyright © 2007 John Wiley & Sons, Ltd. 相似文献