基于状态观测器的结构振动预测控制
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摘要
针对结构振动控制时滞问题及反馈控制对结构全状态的需求,提出了一种基于状态观测器的序列最优预测模态控制算法.根据反馈的结构响应,通过状态观测器观测估计结构的全状态,通过序列最优预测模态控制算法计算实时控制力,将反馈的结构响应和计算的控制力作为输入,考虑控制系统的时滞,设计径向基神经网络(RBFNN),形成基于状态观测器的序列最优预测模态控制器.对一带分布参数实际隔震的330 kV电压互感器进行地震响应控制,仿真结果表明,基于状态观测器的序列最优预测模态控制算法,在无时滞的情况下与基于状态观测器的序列最优模态控制算法控制效果相当,在有时滞的情况下能有效克服时滞对最优预测控制算法的影响,控制效果良好.
Aiming at the time lag of structural vibration control and the demand of feedback control in full structural state,a sequential optimal predictive modal control(SOPMC) algorithm based on state observer was proposed.According to the structural response of feedback,the full state of structure was observed with the state observer,and the real-time control force was calculated with the SOPMC algorithm.The radial basis function neural network(RBFNN) was designed through taking the structural response of feedback and the calculated control force as input and with considering the time lag of control system,and then a sequential optimal predictive modal controller based on full-state observer was developed.A seismic response control was carried out for an actual vibration isolated 330 kV voltage instrument transformer with distribution parameters.The simulation results show that without the presence of time lag,the control effect of SOPMC algorithm is equivalent to that of sequential optimal modal control(SOMC) algorithm.With the presence of time lag,the SOPMC algorithm can effectively overcome the influence of time lag on the optimal predictive control algorithm,and exhibits good control effect.
Aiming at the time lag of structural vibration control and the demand of feedback control in full structural state,a sequential optimal predictive modal control(SOPMC) algorithm based on state observer was proposed.According to the structural response of feedback,the full state of structure was observed with the state observer,and the real-time control force was calculated with the SOPMC algorithm.The radial basis function neural network(RBFNN) was designed through taking the structural response of feedback and the calculated control force as input and with considering the time lag of control system,and then a sequential optimal predictive modal controller based on full-state observer was developed.A seismic response control was carried out for an actual vibration isolated 330 kV voltage instrument transformer with distribution parameters.The simulation results show that without the presence of time lag,the control effect of SOPMC algorithm is equivalent to that of sequential optimal modal control(SOMC) algorithm.With the presence of time lag,the SOPMC algorithm can effectively overcome the influence of time lag on the optimal predictive control algorithm,and exhibits good control effect.
引文
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[2]李宏男,杨浩.基于多分支BP神经网络的结构系统辨识[J].工程力学,2006,23(2):23-28.(LI Hong-nan,YANG Hao.Structural system identifi-cation based on multi-branch BP neural netw ork[J].Engineering Mechanics,2006,23(2):23-28.)
[3]谭平,阎维明,周福霖.主动变刚度阻尼系统预测最优控制的理论与试验研究[J].地震工程与工程振动,2007,27(4):139-145.(TAN Ping,YAN Wei-ming,ZHOU Fu-lin.Experi-mental and theoretical study on predictive optimal con-trol of active variable stiffness-damping system[J].Earthquake Engineering and Engineering Vibration,2007,27(4):139-145.)
[4]徐龙河,周云,李忠献.MRFD半主动控制系统的时滞与补偿[J].地震工程与工程振动,2001,21(3):127-131.(XU Long-he,ZHOU Yun,LI Zhong-xian.Time-delay and compensation for MRFD semi-active controlsystem[J].Earthquake Engineering and EngineeringVibration,2001,21(3):127-131.)
[5]瞿伟廉,王志春,涂建维.结构主动控制系统的时滞多项式插值补偿算法[J].武汉理工大学学报,2007,29(2):76-82.(QU Wei-lian,WANG Zhi-chun,TU Jian-wei.Poly-nomial interpolating compensation algorithm for thetime-delay of active structural control system[J].Journal of Wuhan University of Technology,2007,29(2):76-82.)
[6]Bani-Hani K,Ghaboussi J.Nonlinear structural controlusing neural netw orks[J].Journal of Engieering Me-chanics,1998,124(3):319-327.
[7]Bani-Hani K,Ghaboussi J.Neural network based non-linear structural control methods[C]//2nd Interna-tional Workshop of Structural Control.Hong Kong,China,1996:198-220.
[8]Nikzad K,Ghaboussi J,Paul S L.Actuator synamicsand delay compensation using neutro controllers[J].Journal of Engineering Mechanics,1996,122(10):966-975.
[9]杜永峰,李慧,赵国藩.地震作用下结构振动最优控制的一种一般算法[J].大连理工大学学报,2004,44(6):860-865.(DU Yong-feng,LI Hui,ZHAO Guo-fan.A genera-lized algorithm for optimal control of structures sub-jected to seismic excitation[J].Journal of Dalian Uni-versity of Technology,2004,44(6):860-865.)
[10]杜永峰,刘彦辉,李慧.智能隔震结构控制算法Simu-link仿真分析[J].系统仿真学报,2007,19(18):4270-4278.(DU Yong-feng,LIU Yan-hui,LI Hui.The study ofthe control algorithm for smart isolated structure basedon Simulink simulation[J].Journal of System Simula-tion,2007,19(18):4270-4278.)
[11]杜永峰,刘彦辉,李慧.串联电气设备支架隔震体系地震响应半解析法[J].力学学报,2009,41(3):440-448.(DU Yong-feng,LIU Yan-hui,LI Hui.Semi-analyti-cal solution of seismic response of serially isolatedequipment and supporter[J].Chinese Journal of The-oretical and Applied Mechanics,2009,41(3):440-448.)
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