结构模糊振动控制的研究
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摘要
结构控制的概念自提出以来，已有三十年的历史。经过多年的研究和实践，目前这门技术的发展已有长足的进步，有各种理论上的控制算法和实际的控制系统可供使用者选择。然而另一方面，它仍处于一个发展的“瓶颈”期。这主要表现为：一方面迄今为止最为可行的控制装置或系统不外乎基础隔震、阻尼消能和主动控制这三种方案，但它们均有不足之处；而另一方面，理论上由于结构建模、材料本构关系和荷载作用的复杂性，如何选择设计一个正确、简易的控制律仍是一个没有很好解决的问题。对于主动和半主动控制系统，这更是一个不容忽视的问题。
本文提出了一个离复位控制策略，核心思想是限制结构零位置穿越速度以尽可能孤立每个往复运动，防止动力效应的累积。以此为基础，与模糊控制理论相结合形成了包括离散控制和连续控制在内的具体的控制算法。本文以此为主线，分析讨论了各种不同的控制系统，得出了一些基本的结论，初步验证了离复位控制方法的有效性。主要研究内容和成果如下：
(1)提出了一种新型可适用于大多数控制系统的控制策略，即离复位(OTE)策略，可以方便地与模糊控制理论相结合形成包括连续控制和离散控制在内的具体的算法。该策略尝试从理顺结构运动、激振力和控制力三者之间的关系出发，研究各种不同的结构控制系统。
(2)结合OTE控制方法，研究了主动拉索控制系统。在主动拉索系统的控制过程中，分析表明离位控制居于主导地位，而复位控制则处于从属地位。如果在复位控制过程中采用适度抑制，可以防止动力效应的累积作用，取得更好的控制效果。
(3)结合OTE控制方法，研究了变阻尼控制系统。Symans和Sadek等人通过研究指出，对于柔性结构(周期在1.5s以上)变阻尼控制可以同时减小结构的位移反应和加
速度反应；相反对于刚性结构（周期在1．SS以下）其效果如何则是值得怀疑的。作者在
此基础上，从理论分析和数值计算两方面证明了粘性变阻尼控制仅在结构周期与激励主
周期的比值大于1．4时才有可能同时减小结构的位移反应峰值和加速度反应峰值。也就
是说，变阻尼控制效果的好坏并非仅仅取决于结构的周期（柔性结构或刚性结构），而
主要取决于结构周期与激励主周期的比值。在大多数情况下，粘性变阻尼控制与无控相
比可以显著减小结构的动力反应，但与相应的被动上限阻尼控制相比并不能进一步改善
控制效果，甚至有所不及。只有在结构周期与激励主周期的输入比值满足一定条件的情
况下，粘性变阻尼控制才有意义。因此，应用变阻尼控制需要慎重考虑。
（4）考虑了一种基础隔震与变刚度控制相结合的混合控制系统，即ISAVS系统，并
结合OTE控制方法对这种半主动变刚度系统进行了研究。ISAVS系统克服了基础隔震
和传统变刚度控制的不足，不仅激励抑制频带宽，而且易于实施。同时通过数值计算发
现，变刚度控制如果采用离散控制的方法，尽管可以有效抑制结构的位移反应，但是大
多数情况下对于加速度反应则是不利的；相反，连续控制则显得比较灵活，可以有效克
服这种缺陷。
（5）采用OTE控制方法，研究了U型液力阻尼器的半主动控制，即SATLCD系统
的控制问题。SATLCD系统的控制效果同时取决于由液面落差引起的势力和液动阻尼
力。研究结果显示调整液力阻尼系数对与重力有关的势力改变并不明显，因此可以仅考
虑调整液动阻尼力。同时提出并强调在控制过程中，抑制结构振动仅考虑阻尼力的性质
是不够的，尚需结合结构的高复位过程加以考虑。
（6）结合OTE控制方法，研究了质量调谐阻尼器的半主动控制，即SATMD系统
的控制问题。与Setareh博士的研究工作的相比，不仅强调阻尼力的性质，同时也指出
需要考虑结构的运动趋势。经由数值计算对比，验证了OTE控制方法可以取得更好的
控制效果。
门 附录中给出了自行编制的用于 OTE控制方法的计算程序（Matlab版），具有较
强的通用性，可适用于不同的模糊控制计算。
Today the structural control technique has entered a middle-developed phase. There are many algorithms and practical devices available. However, it is also stepping into a "bottleneck" period. Unfolded before an investigator is such a situation: most practicable methods may be classified into three alternative approaches as isolation, energy-absorbing dampers and active control. All of them are deficient in some aspects. Meanwhile, due to the complexities of structural models, material characteristics and loads information, such theoretical problems as how to design a proper and simple algorithm are not solved well.
In this paper presented is a newly developed control strategy OTE (off-and-towards-equilibrium). Its essential idea is to prevent structures from accumulation of dynamic responses by means of limiting the potential crossing velocities at the zero position to seclude every to-and-fro motion circle as possible. If it is combined with fuzzy control theory, then the corresponding OTE algorithm, including the discrete control and the continuous control, can be derived. On the basis of the algorithm, in this paper some different control systems are analyzed and discussed. Some basic conclusions have been have been drawn, and its rationality to use the OTE strategy has been verified. Main contents and results are as follows:
In this paper the OTE strategy, where the control operation is formulated according to the relation among the motions of the structures, the exciting force and the control force, is presented. The detailed algorithm can be derived by means of combining the strategy with fuzzy control theory.
Based on the OTE algorithm, the active tendon system is studied. During its control, the off-equilibrium control is more important than the to wards-equilibrium control. If in the course of the towards-equilibrium control the structure is restrained from approaching the equilibrium position properly, the accumulation of its dynamic responses will be avoided in the some degree. As is helpful for vibration control of the structure.
Based on the OTE algorithm, the variable-damping system is studied. Via researches Symans and Sadek pointed out that for flexible structures (structures with periods beyond 1.5s) such a semiactive control system can be effective in reducing both the relative displacement and the absolute acceleration, whereas for rigid structures (structures with periods below 1.5s) it is doubtful. On the basis of theoretic analysis and numeric calculation, the author verifies that only is the ratio of the fundamental period of the structure to the disturbance period beyond 1.4, it's possible to achieve reductions in both the relative displacement and the absolute acceleration responses. In other words, the effectiveness of viscous variable dampers on reducing the response of structures depends on not the period of the structure, i.e. the rigid structure or the flexible structure, but the ratio of the disturbance period to the structure. The results indicate that while variable dampers significantly reduce the response as compared to the case with no control, no reduction or the worse situation is observed when compared to the same device acting as a passive damper with the upper limit of the damping of the corresponding variable damper. As a result the use of semiactive dampers in structures is positively only in some special cases when compared to passive systems. Therefore more attentions should be paid to such a semiactive control system.
In this paper a hybrid control system of variable stiffness and base isolation, i.e. the ISAVS system that can overcome their deficiencies effectively, is studied based on the OTE algorithm. Such a semiacitve control system is not only with a broad frequency range for vibration suppression but also apt to implement. Numerical results show that using the discrete control can generally decrease the displacement response but increase the acceleration response, whereas usin
本文提出了一个离复位控制策略，核心思想是限制结构零位置穿越速度以尽可能孤立每个往复运动，防止动力效应的累积。以此为基础，与模糊控制理论相结合形成了包括离散控制和连续控制在内的具体的控制算法。本文以此为主线，分析讨论了各种不同的控制系统，得出了一些基本的结论，初步验证了离复位控制方法的有效性。主要研究内容和成果如下：
(1)提出了一种新型可适用于大多数控制系统的控制策略，即离复位(OTE)策略，可以方便地与模糊控制理论相结合形成包括连续控制和离散控制在内的具体的算法。该策略尝试从理顺结构运动、激振力和控制力三者之间的关系出发，研究各种不同的结构控制系统。
(2)结合OTE控制方法，研究了主动拉索控制系统。在主动拉索系统的控制过程中，分析表明离位控制居于主导地位，而复位控制则处于从属地位。如果在复位控制过程中采用适度抑制，可以防止动力效应的累积作用，取得更好的控制效果。
(3)结合OTE控制方法，研究了变阻尼控制系统。Symans和Sadek等人通过研究指出，对于柔性结构(周期在1.5s以上)变阻尼控制可以同时减小结构的位移反应和加
速度反应；相反对于刚性结构（周期在1．SS以下）其效果如何则是值得怀疑的。作者在
此基础上，从理论分析和数值计算两方面证明了粘性变阻尼控制仅在结构周期与激励主
周期的比值大于1．4时才有可能同时减小结构的位移反应峰值和加速度反应峰值。也就
是说，变阻尼控制效果的好坏并非仅仅取决于结构的周期（柔性结构或刚性结构），而
主要取决于结构周期与激励主周期的比值。在大多数情况下，粘性变阻尼控制与无控相
比可以显著减小结构的动力反应，但与相应的被动上限阻尼控制相比并不能进一步改善
控制效果，甚至有所不及。只有在结构周期与激励主周期的输入比值满足一定条件的情
况下，粘性变阻尼控制才有意义。因此，应用变阻尼控制需要慎重考虑。
（4）考虑了一种基础隔震与变刚度控制相结合的混合控制系统，即ISAVS系统，并
结合OTE控制方法对这种半主动变刚度系统进行了研究。ISAVS系统克服了基础隔震
和传统变刚度控制的不足，不仅激励抑制频带宽，而且易于实施。同时通过数值计算发
现，变刚度控制如果采用离散控制的方法，尽管可以有效抑制结构的位移反应，但是大
多数情况下对于加速度反应则是不利的；相反，连续控制则显得比较灵活，可以有效克
服这种缺陷。
（5）采用OTE控制方法，研究了U型液力阻尼器的半主动控制，即SATLCD系统
的控制问题。SATLCD系统的控制效果同时取决于由液面落差引起的势力和液动阻尼
力。研究结果显示调整液力阻尼系数对与重力有关的势力改变并不明显，因此可以仅考
虑调整液动阻尼力。同时提出并强调在控制过程中，抑制结构振动仅考虑阻尼力的性质
是不够的，尚需结合结构的高复位过程加以考虑。
（6）结合OTE控制方法，研究了质量调谐阻尼器的半主动控制，即SATMD系统
的控制问题。与Setareh博士的研究工作的相比，不仅强调阻尼力的性质，同时也指出
需要考虑结构的运动趋势。经由数值计算对比，验证了OTE控制方法可以取得更好的
控制效果。
门 附录中给出了自行编制的用于 OTE控制方法的计算程序（Matlab版），具有较
强的通用性，可适用于不同的模糊控制计算。
Today the structural control technique has entered a middle-developed phase. There are many algorithms and practical devices available. However, it is also stepping into a "bottleneck" period. Unfolded before an investigator is such a situation: most practicable methods may be classified into three alternative approaches as isolation, energy-absorbing dampers and active control. All of them are deficient in some aspects. Meanwhile, due to the complexities of structural models, material characteristics and loads information, such theoretical problems as how to design a proper and simple algorithm are not solved well.
In this paper presented is a newly developed control strategy OTE (off-and-towards-equilibrium). Its essential idea is to prevent structures from accumulation of dynamic responses by means of limiting the potential crossing velocities at the zero position to seclude every to-and-fro motion circle as possible. If it is combined with fuzzy control theory, then the corresponding OTE algorithm, including the discrete control and the continuous control, can be derived. On the basis of the algorithm, in this paper some different control systems are analyzed and discussed. Some basic conclusions have been have been drawn, and its rationality to use the OTE strategy has been verified. Main contents and results are as follows:
In this paper the OTE strategy, where the control operation is formulated according to the relation among the motions of the structures, the exciting force and the control force, is presented. The detailed algorithm can be derived by means of combining the strategy with fuzzy control theory.
Based on the OTE algorithm, the active tendon system is studied. During its control, the off-equilibrium control is more important than the to wards-equilibrium control. If in the course of the towards-equilibrium control the structure is restrained from approaching the equilibrium position properly, the accumulation of its dynamic responses will be avoided in the some degree. As is helpful for vibration control of the structure.
Based on the OTE algorithm, the variable-damping system is studied. Via researches Symans and Sadek pointed out that for flexible structures (structures with periods beyond 1.5s) such a semiactive control system can be effective in reducing both the relative displacement and the absolute acceleration, whereas for rigid structures (structures with periods below 1.5s) it is doubtful. On the basis of theoretic analysis and numeric calculation, the author verifies that only is the ratio of the fundamental period of the structure to the disturbance period beyond 1.4, it's possible to achieve reductions in both the relative displacement and the absolute acceleration responses. In other words, the effectiveness of viscous variable dampers on reducing the response of structures depends on not the period of the structure, i.e. the rigid structure or the flexible structure, but the ratio of the disturbance period to the structure. The results indicate that while variable dampers significantly reduce the response as compared to the case with no control, no reduction or the worse situation is observed when compared to the same device acting as a passive damper with the upper limit of the damping of the corresponding variable damper. As a result the use of semiactive dampers in structures is positively only in some special cases when compared to passive systems. Therefore more attentions should be paid to such a semiactive control system.
In this paper a hybrid control system of variable stiffness and base isolation, i.e. the ISAVS system that can overcome their deficiencies effectively, is studied based on the OTE algorithm. Such a semiacitve control system is not only with a broad frequency range for vibration suppression but also apt to implement. Numerical results show that using the discrete control can generally decrease the displacement response but increase the acceleration response, whereas usin
引文
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