带补偿器的滑模控制算法在智能结构中的应用研究

发布时间：2018-10-08 14:35

【摘要】：我国地处世界的两大地震带之间，地震灾害频发，一直危害着人们的生命、财产安全，为解决地震动产生的不利影响，研究人员进行了大量的结构振动控制方面的研究，其中滑动模态控制由于其抗干扰强且设计简单，是目前应用较为广泛的控制策略之一。然而，过大的抖振制约了滑模控制在实际工程中的应用，全状态反馈的设计会造成经济效益差、时滞效应。因此，本文以传统滑模控制算法为基础，采用一种组合趋近律，并在有限状态反馈下对控制器进行补偿设计，形成了一种能够减小抖振、均衡控制效果与控制力、易于有限状态反馈设计的滑模算法，并将其应用在智能结构体系中。主要内容有以下几个方面： (1)利用Matlab对一个底层安装有超磁致伸缩材料（Giant Magnetostrictive Material，简称GMM）作动器的三层剪切型结构进行数值模拟。研究证明，相对于传统滑模算法，基于组合趋近律并带有补偿器的建筑结构弱抖振滑模控制算法可以削弱系统的抖振，，并且更易于有限状态反馈的设计。 (2)介绍了结构-主动调谐质量阻尼器体系的运动方程和状态方程的建立，以及此时控制器中补偿器设计的详细步骤，对安装主动调谐质量阻尼器的单自由度结构进行数值分析。通过比较无控、未带补偿器以及带补偿器的滑模控制算法这三种工况下的时程分析图，验证了所提控制算法的有效性；通过指定最大控制力（饱和控制）对补偿设计前后进行对比，验证了补偿设计对控制效果与控制力的均衡。最后，将结构质量矩阵浮动10%，给出位移时程图与控制力时程图，验证了本算法对于质量参数变化的鲁棒性。 (3)对偏心结构-调液柱形阻尼器体系进行了研究，建立了状态方程，利用了一个单层偏心结构进行数值分析。结果显示，扭转-耦联效应确实会对结构振动反应造成一定放大效应；本文所提出的算法在偏心结构-调液柱形阻尼器体系中有良好的的控制作用。最后，将结构刚度矩阵浮动10%，给出x方向的位移时程图与控制力时程图，验证了本算法对于刚度参数变化的鲁棒性。研究结果表明，本文提出的基于组合趋近律并带有补偿器的滑模控制算法能够应用于本文所提出的三种智能结构体系中且取得了良好的控制效果，并解决了如下问题：削弱系统抖振、有限状态反馈的控制设计、均衡控制效果与控制力。为滑模控制算法发展了一种新的思路，具有一定的理论意义，为其工程应用提供了一些参考价值。
[Abstract]:China is located between the two major seismic zones in the world. The frequent occurrence of earthquake disasters has been endangering people's lives and property safety. In order to solve the adverse effects of ground motion, researchers have carried out a large number of structural vibration control research. Sliding mode control is one of the most widely used control strategies because of its strong anti-jamming and simple design. However, excessive buffeting restricts the application of sliding mode control in practical engineering, and the design of full state feedback will result in poor economic benefit and time-delay effect. Therefore, based on the traditional sliding mode control algorithm, this paper adopts a combined approach law and compensates the controller under the finite state feedback, which can reduce buffeting, equalize the control effect and control force. The sliding mode algorithm, which is easy to design with finite state feedback, is applied to intelligent structure. The main contents are as follows: (1) A three-layer shear structure with a giant magnetostrictive material (Giant Magnetostrictive Material, (GMM) actuator is numerically simulated by Matlab. Compared with the traditional sliding mode algorithm, the weak buffeting sliding mode control algorithm based on combinatorial approach law with compensator can weaken the chattering of the system and is easier to design with finite state feedback. (2) the establishment of motion equation and state equation of structure-active tuned mass damper system and the detailed steps of compensator design in the controller are introduced. Numerical analysis of single-degree-of-freedom structure with active tuned mass damper is carried out. The validity of the proposed control algorithm is verified by comparing the time-history analysis diagrams of the uncontrolled, uncompensated and sliding mode control algorithms with compensator. The balance between the control effect and the control force of the compensation design is verified by comparing the maximum control force (saturation control) before and after the compensation design. Finally, the displacement time diagram and the control force time chart are given by floating the mass matrix of the structure, and the robustness of the algorithm to the change of mass parameters is verified. (3) the eccentricity structure-liquid regulating column damper system is studied, the equation of state is established, and a single-layer eccentric structure is numerically analyzed. The results show that the torsional coupling effect does produce a certain amplification effect on the vibration response of the structure, and the algorithm presented in this paper has a good control effect in the eccentric structure-liquid regulating column damper system. Finally, by floating the stiffness matrix of the structure by 10 steps, the displacement time diagram and the control force time chart of x direction are given, which verifies the robustness of this algorithm to the change of stiffness parameters. The results show that the proposed sliding mode control algorithm based on combinatorial approach law and with compensator can be applied to the three kinds of intelligent structures proposed in this paper with good control effect. The following problems are solved: buffeting of the system, control design of finite state feedback, equilibrium control effect and control force. This paper develops a new way of thinking for sliding mode control algorithm, which has certain theoretical significance and provides some reference value for its engineering application.
【学位授予单位】：西安建筑科技大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TU352.1;TB535

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