单自由度实时混合试验的控制方法

发布时间：2018-06-06 08:34

本文选题：实时混合试验 + 动力子结构试验　；参考：《哈尔滨工业大学》2013年博士论文

【摘要】：由于地震作用和工程结构的复杂性，，结构抗震试验方法的研究显得尤为重要。而近年来一些新兴的结构抗震装置很难用传统的抗震试验方法来检验其抗震性能。实时混合试验方法具有能进行大比例尺甚至足尺试验和实时试验的优良特性，它能够克服传统抗震试验方法的局限性。实时混合试验方法将结构分为数值子结构和实验子结构，通过传递系统（作动器或振动台）来实现实验子结构和数值子结构之间的边界条件的协调。传递系统的动力特性会影响整个实时混合试验系统的稳定和精度，因此，用控制方法消除传递系统动力特性的影响有十分重要的意义。本文研究了实时混合试验中的控制方法，主要的研究内容如下： 1、对于非线性结构实时混合试验的等效力控制方法，本文采用滑动模态控制器代替PID控制器作为等效力控制方法的外部控制器。针对实时混合试验，研究了滑动模态控制器的设计方法，进行了线性和非线性试件的数值仿真和实时混合试验。仿真及试验结果验证了本文方法的良好控制效果。 2、针对非匹配不确定性设计滑动模态控制器作为等效力控制方法的外部控制器，讨论了关键参数对等效力控制性能的影响，分析了采用这种滑动模态控制器的等效力控制方法的稳定性。数值仿真结果表明滑动模态控制对非线性试件是有较好的控制效果。 3、针对等效力控制方法的时滞采用了自适应预测补偿算法来补偿，分析了自适应参数对时滞补偿效果的影响。线弹性试件的数值仿真和试验表明这种方法比单纯的等效力控制方法稳定性更好，非线性试件的实时混合试验结果表明这种方法比固定时滞补偿能得到更好的补偿效果。 4、针对实时混合试验速度、加速度控制的问题，提出了基于显式积分算法的等效力控制方法。磁流变阻尼器试件的实时混合试验证明了基于Newmark显式方法的等效力控制方法的可行性，纯惯性试件的实时混合仿真验证了基于L稳定实时协调显式算法的等效力控制方法的可行性。 5、对动力子结构试验中的加速度控制方法进行了研究，将前置滤波结合后置滤波来控制动力子结构试验中加速度响应高频振荡，采用压差反馈控制来削弱台面加速度响应噪声。纯惯性试件的振动台混合试验验证了试验平台的性能，圆柱形调谐液体阻尼器(CTLD)的振动台混合试验验证了CTLD能够较好地控制结构在地震中的加速度响应。
[Abstract]:Because of the earthquake action and the complexity of engineering structure, it is very important to study the seismic test method of structure. In recent years, some new structures are difficult to test their seismic performance with traditional seismic test methods. The real-time mixed test method has the advantages of large scale and even full scale test and real time test. It can overcome the limitation of the traditional seismic test method. The real-time hybrid test method divides the structure into numerical substructure and experimental substructure, and coordinates the boundary conditions between the experimental substructure and the numerical substructure by means of a transfer system (actuator or vibration table). The dynamic characteristics of the transmission system will affect the stability and accuracy of the whole real-time hybrid test system, so it is very important to eliminate the influence of the dynamic characteristics of the transmission system by using the control method. In this paper, the control method in the real-time mixed test is studied. The main contents are as follows: 1. In this paper, the sliding mode controller is used to replace the PID controller as the external controller of the equal force control method. The design method of sliding mode controller is studied for real time mixing test. Numerical simulation and real time mixing test of linear and nonlinear samples are carried out. The simulation and experimental results show that the proposed method has good control effect. 2. For the mismatched uncertainty, sliding mode controller is designed as the external controller of equal force control method, and the influence of key parameters on the performance of equal force control is discussed. The stability of the equal-force control method using the sliding mode controller is analyzed. The numerical simulation results show that the sliding mode control has a better control effect on the nonlinear specimen. 3. The adaptive predictive compensation algorithm is used to compensate the delay of the equal-force control method, and the effect of adaptive parameters on the time-delay compensation is analyzed. Numerical simulations and experiments on linear elastic specimens show that the proposed method is more stable than the simple equal-force control method. The results of real-time mixed test of nonlinear specimens show that the proposed method is more effective than the fixed time-delay compensation. 4. Aiming at the problem of speed and acceleration control in real time mixed test, an equal force control method based on explicit integral algorithm is proposed. The real time mixing test of the magneto-rheological damper specimen proves the feasibility of the equal-force control method based on Newmark explicit method. The real time hybrid simulation of pure inertial specimen verifies the feasibility of the equal force control method based on L stable real time coordination explicit algorithm. 5. The acceleration control method in the dynamic substructure test is studied. The front filter is combined with the post filter to control the high frequency oscillation of the acceleration response in the dynamic substructure test, and the pressure difference feedback control is used to reduce the noise of the acceleration response of the table. The performance of the test platform is verified by the shaking table mixing test of pure inertial specimen, and the vibration table mixing test of the cylindrical tuned liquid damper (CTLD) proves that CTLD can control the acceleration response of the structure in the earthquake.
【学位授予单位】：哈尔滨工业大学
【学位级别】：博士
【学位授予年份】：2013
【分类号】：TU317

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