地震模拟振动台控制系统的发展
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摘要
地震模拟振动台作为结构抗震研究重要的试验设备之一,从20世纪60年代至今,经历了从线性到非线性、时不变到时变、模拟控制到数字控制、位移控制到加速度高级算法控制的发展过程。本文从建模方法、参数识别和控制算法三个方面回顾了地震模拟振动台控制系统研究的发展历程与现状,并阐述了地震模拟振动台控制系统的发展趋势,即试件与台面动力耦合模型、高性能参数识别、控制器参数自整定、强非线性高级控制算法、振动台台阵系统控制算法。
As a main test equipment for seismic study,the shaking table was fast developed in the past forty years,from linear to nonlinear,from time-invariant to time-varying,from analog control to digital control,and from displacement control to acceleration advanced control.The development and current situation in shaking table control system are presented from three aspects,including mode method,parameter identification and control algorithm.And then,the developing trends of shaking table control system are proposed,which include study of specimen-table coupling model,accurate parameter identification,parameter self-tuning,advanced nonlinear control algorithm and multiple-shaking table-array control system.
As a main test equipment for seismic study,the shaking table was fast developed in the past forty years,from linear to nonlinear,from time-invariant to time-varying,from analog control to digital control,and from displacement control to acceleration advanced control.The development and current situation in shaking table control system are presented from three aspects,including mode method,parameter identification and control algorithm.And then,the developing trends of shaking table control system are proposed,which include study of specimen-table coupling model,accurate parameter identification,parameter self-tuning,advanced nonlinear control algorithm and multiple-shaking table-array control system.
引文
[1]黄浩华.地震模拟振动台发展情况介绍[J].世界地震工程,1985(1):47-51.
[2]黄浩华.地震模拟振动台的设计与应用技术[M].北京,地震出版社,2008.
[3]方重.模拟地震振动台的近况及其发展[J].世界地震工程,1999,15(2):89-91+96.
[4]王燕华,程文瀼,陆飞,等.地震模拟振动台的发展[J].工程抗震与加固改造,2007,29(5):53-56+67.
[5]王进廷,金峰,张楚汉.结构抗震试验方法的发展[J].地震工程与工程振动,2005,25(4):37-43.
[6]Blondet M,Esparza C.Analysis of shaking table-structure interaction effects during seismic simulation tests[J].Earthquake Engineering&Structural Dynamics,1988,16:473-490.
[7]Crewe A,Taylor C,Mouzakis H,et al.The performance of the shaking table control systems at the National Technical University of Athens,Bris-tol University and ISMES,Italy[C]//10th Int.Seminor on Earthquake Prognostics.Cairo,1996.
[8]Symans M,Twitchell B.System identification of a uniaxial seismic simulator[C]//Proc.12th Engineering Mechanics Conference.American Soci-ety of Civil Engineers,Reston,VA,1998:758-761.
[9]Conte J P,Trombetti TL.Analytical modeling of a shaking table system[R].Structural Research at Rice;Report No.48.Department of CivilEngineering,Rice University,Houston,Texas,USA,1997.
[10]Trombetti TL,Conte J P,Durrani A J.Correlation studies between analytical and experimental dynamic behavior of the Rice University shakingtable[R].Structural Research at Rice,Report No.49.Department of Civil Engineering,Rice University,Houston,Texas,USA,1997.
[11]Conte J P,Trombetti TL.Linear dynamic modeling of a uni-axial servo-hydraulic shaking table system[J].Earthquake Engineering&Struc-tural Dynamics,2000,29(9):1375-140.
[12]Trombetti TL,Conte J P.Shaking table dynamics:results from a test-analysis comparison study[J].Journal of Earthquake Engineering,2002,6(4):513-551.
[13]Newell D P,Sain MK,Dai HL,et al.Nonlinear modeling and control of a hydraulic seismic simulator[C]//Proceedings of the 1995 AmericanControl Conference,1995,1:801-805.
[14]Shortreed J S,Seible F,Benzoni G.Simulation issues with a real-time,full-scale seismic testing system[J].Journal of Earthquake Engineer-ing,2002,6(Sp.Iss.S1):185-201.
[15]Chase J G,Hudson N H,Lin J,et al.Nonlinear shake table identification and control for near-field earthquake testing[J].Journal of Earth-quake Engineering,2005,9(4):461-482.
[16]Ozcelik O,Luco J E,Conte J P,et al.Experimental characterization,modeling and identification of the NEES-UCSD shake table mechanicalsystem[J].Earthquake Engineering&Structural Dynamics,2008,37(2):243-264.
[17]Plummer A R.A detailed dynamic model of a six-axis shaking table[J].Journal of Earthquake Engineering,2008,12(4):631-662.
[18]Kuehn J,Epp D,Patten W N.High-fidelity control of a seismic shake table[J].Earthquake Engineering&Structural Dynamics,1999,28(11):1235-1254.
[19]Ozcelik O,Luco J E,Conte J P.Identification of the mechanical subsystem of the NEES-UCSD shake table by a least-squares approach[J].Journal of Engineering Mechanics-ASCE,2008,134(1):23-34.
[20]Tagawa Y,Kajiwara K.Controller development for the E-Defense shaking table[J].Proceedings of the Institution of Mechanical Engineers PartⅠ-Journal of Systems and Control Engineering,2007,221(12):171-181.
[21]Ogawa N,Ohtani K,Katayama T,et al.Construction of a three-dimensional,large-scale,shaking table and development of core technology[C]//Seismic Design for Engineering Plant,2003:109-138.
[22]Takahashi Y,RodgerS P W,Epiphani J C.Optimal acceleration control of single-actuator earthquake simulator[C]//ASME-Paper69-WA/Aut-23,1969.
[23]Abedi-Hayati S,Samad,Auslander D.Control of a single-actuator shaking table[C]//American Society of Mechanical Engineers,1977.
[24]Abedi-Hayati S,Auslander,D M.Control of multi-actuator electro-hydraulic shaking tables[J].Fluidics Quarterly,1979,11(1):1-16.
[25]Dimirovski G M,Mamucevski D J,Jurukovski D V,et al.A two-level computer control of biaxial shaking table using three variable local con-trollers[C]//10th Triennial World Congress of the International Federation of Automatic Control,1988,3:45-50.
[26]韩俊伟,于丽明,赵慧,等.地震模拟振动台三状态控制的研究[J].哈尔滨工业大学学报,1999,31(3):21-28.
[27]Xu Y,Hu HX,Han J W.Modeling and controller design of a shaking table in an active structural control system[J].Mechanical Systems andSignal Processing,2008,22(8):1917-1923.
[28]Ammanagi S,Poornima V,Sera A,et al.Development of a digitally-controlled three-axis earthquake shake table[J].Current Science,2006,91(2):190-203.
[29]Kajii S,Yasuda C,Maekawa A,et al.Development of numerical dynamic simulators for a big size shaking table[J].American Society of Mechani-cal Engineers,Pressure Vessels and Piping Division(Publication)PVP,2001,428(1):241-245.
[30]Symans M,Twitchell B.System identification of a uniaxial seismic simulator[C]//Proceedings of 12th Engineering Mechanics Conference,A-merican Society of Civil Engineers,Reston,VA,1998:758-761.
[31]贾丽花.电液伺服地震模拟振动台控制算法的研究与实现[D].北京:北京交通大学,2006.
[32]Clark,A.Dynamic Characteristics of large multiple degree of freedom shaking tables[C]//Proceedings of the Tenth World Conference on Earth-quake Engineering,Madrid,Spain,1992:2823-2828.
[33]Kusner D A.,Rood J D,Burton G W.Signal reproduction fidelity of servo hydraulic testing equipment[C]//Proceedings of the Tenth WorldConference on Earthquake Engineering,Madrid,Spain1992:2683-2688.
[34]Carydis P G,Mouzakis HP,Vougioukas E A,et al.Comparative shaking table studies at the National University of Athens and at Bristol Univer-sity[C]//10th European Conference on Earthquake Engineering,Proceedings,Vienna,1994:2993-2997.
[35]Crewe,A J,Severn,R T.The European collaborative programme on evaluating the performance of shaking tables[J].Phil.Trans.Roy.Soc.London,2001,359(1786):1671-1696.
[36]Stoten,D P,Benchoubane H.Robustness of a minimal controller synthesis algorithm[J].International Journal of Control,1990,51(4):851?861.
[37]Stoten D P,Gomez E G.Recent application results of adaptive control on multi-axis shaking tables[C]//Seismic Design Practice into the NextCentury-Research and Application,1998:381-387.
[38]Stoten D P,Gomez E G.MCS adaptive control of shaking tables using retrofit strategies[C]//Proceedings of the Second IASTED InternationalConference-Control and Applications,1999:402-407.
[39]Stoten D P,Gomez E G.Adaptive control of shaking tables using the minimal control synthesis algorithm[J].Phil.Trans.Roy.Soc.London,2005,34(9):1171-1192.
[40]Stoten D P,Shimizu N.The feed forward minimal control synthesis algorithm and its application to the control of shaking-tables[J].Journal ofSystems and Control Engineering,2007,221(13):423-444.
[41]Shimizu N,Shinohara Y,Sato E.New development of control method of shaking table with bi-linear structures,Shimizu[J].ASME PressureVessels Piping Div Publ PVP,2002,445(1):75-82.
[42]Dozono Y,Horiuchi T,Katsumata H.Improvement of shaking-table control by real-time compensation of the reaction force caused by a non-linear specimen[J].ASME Pressure Vessels Piping Div Publ PVP,2001,428(1):247-255.
[43]Shen Yili,Yang Yun,Li Tianshi.The design of dynamic simulation system on earthquake surroundings[J].ACADJ XJTU,2003,15(1):102-106.
[44]Lee D J,Lim C W,Park Y,et al.The tracking control of uni-axial servo-hydraulic shaking table system using time delay control[C]//2006SICE-ICASE International Joint Conference,2006:3767-3770.
[45]Chen J Q,Zhang X Z,Tan P,et al.Application study of ILC with fuzzy neural network in shaking table control system[C]//Proceedings of theInternational Conference on Intelligent Systems and Knowledge Engineering(iske 2007),2007:1282-1282.
[46]Seto K,Fuji D,Hiramathu H,et al.Motion and vibration control of three dimensional flexible shaking table using LQI control approach[C]//Proceedings of the American Control Conference,2002:3040-3045.
[47]Phelan R M.Automatic control systems[M].Cornell University Press,Ithaca,NY,1977.
[48]Dai HL,Sain MK,Spencer B F.Using tensors to track earthquakes of hydraulic shaker tables[C]//Proceedings of the American Control Con-ference,1997:1-5.
[2]黄浩华.地震模拟振动台的设计与应用技术[M].北京,地震出版社,2008.
[3]方重.模拟地震振动台的近况及其发展[J].世界地震工程,1999,15(2):89-91+96.
[4]王燕华,程文瀼,陆飞,等.地震模拟振动台的发展[J].工程抗震与加固改造,2007,29(5):53-56+67.
[5]王进廷,金峰,张楚汉.结构抗震试验方法的发展[J].地震工程与工程振动,2005,25(4):37-43.
[6]Blondet M,Esparza C.Analysis of shaking table-structure interaction effects during seismic simulation tests[J].Earthquake Engineering&Structural Dynamics,1988,16:473-490.
[7]Crewe A,Taylor C,Mouzakis H,et al.The performance of the shaking table control systems at the National Technical University of Athens,Bris-tol University and ISMES,Italy[C]//10th Int.Seminor on Earthquake Prognostics.Cairo,1996.
[8]Symans M,Twitchell B.System identification of a uniaxial seismic simulator[C]//Proc.12th Engineering Mechanics Conference.American Soci-ety of Civil Engineers,Reston,VA,1998:758-761.
[9]Conte J P,Trombetti TL.Analytical modeling of a shaking table system[R].Structural Research at Rice;Report No.48.Department of CivilEngineering,Rice University,Houston,Texas,USA,1997.
[10]Trombetti TL,Conte J P,Durrani A J.Correlation studies between analytical and experimental dynamic behavior of the Rice University shakingtable[R].Structural Research at Rice,Report No.49.Department of Civil Engineering,Rice University,Houston,Texas,USA,1997.
[11]Conte J P,Trombetti TL.Linear dynamic modeling of a uni-axial servo-hydraulic shaking table system[J].Earthquake Engineering&Struc-tural Dynamics,2000,29(9):1375-140.
[12]Trombetti TL,Conte J P.Shaking table dynamics:results from a test-analysis comparison study[J].Journal of Earthquake Engineering,2002,6(4):513-551.
[13]Newell D P,Sain MK,Dai HL,et al.Nonlinear modeling and control of a hydraulic seismic simulator[C]//Proceedings of the 1995 AmericanControl Conference,1995,1:801-805.
[14]Shortreed J S,Seible F,Benzoni G.Simulation issues with a real-time,full-scale seismic testing system[J].Journal of Earthquake Engineer-ing,2002,6(Sp.Iss.S1):185-201.
[15]Chase J G,Hudson N H,Lin J,et al.Nonlinear shake table identification and control for near-field earthquake testing[J].Journal of Earth-quake Engineering,2005,9(4):461-482.
[16]Ozcelik O,Luco J E,Conte J P,et al.Experimental characterization,modeling and identification of the NEES-UCSD shake table mechanicalsystem[J].Earthquake Engineering&Structural Dynamics,2008,37(2):243-264.
[17]Plummer A R.A detailed dynamic model of a six-axis shaking table[J].Journal of Earthquake Engineering,2008,12(4):631-662.
[18]Kuehn J,Epp D,Patten W N.High-fidelity control of a seismic shake table[J].Earthquake Engineering&Structural Dynamics,1999,28(11):1235-1254.
[19]Ozcelik O,Luco J E,Conte J P.Identification of the mechanical subsystem of the NEES-UCSD shake table by a least-squares approach[J].Journal of Engineering Mechanics-ASCE,2008,134(1):23-34.
[20]Tagawa Y,Kajiwara K.Controller development for the E-Defense shaking table[J].Proceedings of the Institution of Mechanical Engineers PartⅠ-Journal of Systems and Control Engineering,2007,221(12):171-181.
[21]Ogawa N,Ohtani K,Katayama T,et al.Construction of a three-dimensional,large-scale,shaking table and development of core technology[C]//Seismic Design for Engineering Plant,2003:109-138.
[22]Takahashi Y,RodgerS P W,Epiphani J C.Optimal acceleration control of single-actuator earthquake simulator[C]//ASME-Paper69-WA/Aut-23,1969.
[23]Abedi-Hayati S,Samad,Auslander D.Control of a single-actuator shaking table[C]//American Society of Mechanical Engineers,1977.
[24]Abedi-Hayati S,Auslander,D M.Control of multi-actuator electro-hydraulic shaking tables[J].Fluidics Quarterly,1979,11(1):1-16.
[25]Dimirovski G M,Mamucevski D J,Jurukovski D V,et al.A two-level computer control of biaxial shaking table using three variable local con-trollers[C]//10th Triennial World Congress of the International Federation of Automatic Control,1988,3:45-50.
[26]韩俊伟,于丽明,赵慧,等.地震模拟振动台三状态控制的研究[J].哈尔滨工业大学学报,1999,31(3):21-28.
[27]Xu Y,Hu HX,Han J W.Modeling and controller design of a shaking table in an active structural control system[J].Mechanical Systems andSignal Processing,2008,22(8):1917-1923.
[28]Ammanagi S,Poornima V,Sera A,et al.Development of a digitally-controlled three-axis earthquake shake table[J].Current Science,2006,91(2):190-203.
[29]Kajii S,Yasuda C,Maekawa A,et al.Development of numerical dynamic simulators for a big size shaking table[J].American Society of Mechani-cal Engineers,Pressure Vessels and Piping Division(Publication)PVP,2001,428(1):241-245.
[30]Symans M,Twitchell B.System identification of a uniaxial seismic simulator[C]//Proceedings of 12th Engineering Mechanics Conference,A-merican Society of Civil Engineers,Reston,VA,1998:758-761.
[31]贾丽花.电液伺服地震模拟振动台控制算法的研究与实现[D].北京:北京交通大学,2006.
[32]Clark,A.Dynamic Characteristics of large multiple degree of freedom shaking tables[C]//Proceedings of the Tenth World Conference on Earth-quake Engineering,Madrid,Spain,1992:2823-2828.
[33]Kusner D A.,Rood J D,Burton G W.Signal reproduction fidelity of servo hydraulic testing equipment[C]//Proceedings of the Tenth WorldConference on Earthquake Engineering,Madrid,Spain1992:2683-2688.
[34]Carydis P G,Mouzakis HP,Vougioukas E A,et al.Comparative shaking table studies at the National University of Athens and at Bristol Univer-sity[C]//10th European Conference on Earthquake Engineering,Proceedings,Vienna,1994:2993-2997.
[35]Crewe,A J,Severn,R T.The European collaborative programme on evaluating the performance of shaking tables[J].Phil.Trans.Roy.Soc.London,2001,359(1786):1671-1696.
[36]Stoten,D P,Benchoubane H.Robustness of a minimal controller synthesis algorithm[J].International Journal of Control,1990,51(4):851?861.
[37]Stoten D P,Gomez E G.Recent application results of adaptive control on multi-axis shaking tables[C]//Seismic Design Practice into the NextCentury-Research and Application,1998:381-387.
[38]Stoten D P,Gomez E G.MCS adaptive control of shaking tables using retrofit strategies[C]//Proceedings of the Second IASTED InternationalConference-Control and Applications,1999:402-407.
[39]Stoten D P,Gomez E G.Adaptive control of shaking tables using the minimal control synthesis algorithm[J].Phil.Trans.Roy.Soc.London,2005,34(9):1171-1192.
[40]Stoten D P,Shimizu N.The feed forward minimal control synthesis algorithm and its application to the control of shaking-tables[J].Journal ofSystems and Control Engineering,2007,221(13):423-444.
[41]Shimizu N,Shinohara Y,Sato E.New development of control method of shaking table with bi-linear structures,Shimizu[J].ASME PressureVessels Piping Div Publ PVP,2002,445(1):75-82.
[42]Dozono Y,Horiuchi T,Katsumata H.Improvement of shaking-table control by real-time compensation of the reaction force caused by a non-linear specimen[J].ASME Pressure Vessels Piping Div Publ PVP,2001,428(1):247-255.
[43]Shen Yili,Yang Yun,Li Tianshi.The design of dynamic simulation system on earthquake surroundings[J].ACADJ XJTU,2003,15(1):102-106.
[44]Lee D J,Lim C W,Park Y,et al.The tracking control of uni-axial servo-hydraulic shaking table system using time delay control[C]//2006SICE-ICASE International Joint Conference,2006:3767-3770.
[45]Chen J Q,Zhang X Z,Tan P,et al.Application study of ILC with fuzzy neural network in shaking table control system[C]//Proceedings of theInternational Conference on Intelligent Systems and Knowledge Engineering(iske 2007),2007:1282-1282.
[46]Seto K,Fuji D,Hiramathu H,et al.Motion and vibration control of three dimensional flexible shaking table using LQI control approach[C]//Proceedings of the American Control Conference,2002:3040-3045.
[47]Phelan R M.Automatic control systems[M].Cornell University Press,Ithaca,NY,1977.
[48]Dai HL,Sain MK,Spencer B F.Using tensors to track earthquakes of hydraulic shaker tables[C]//Proceedings of the American Control Con-ference,1997:1-5.
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