张力结构的动态控制研究
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摘要
具有柔性特质的张力结构在各种动态激励的作用下将发生较高水平的振动,当这些振动超过一定限度时将对结构的功能与安全造成不利的影响,需要采取一定的措施加以控制。针对张力结构的动态控制问题展开研究,推导了张力结构的机电耦合控制方程,提出了结合Newmark算法的非线性瞬时最优控制算法(IOC)。分别采用线性二次型控制算法(LQR)与瞬时最优控制算法对索穹顶结构进行了主动控制模拟,比较了两种算法的控制效率,研究了作动器数量与布置位置对控制效果的影响。验证了张力结构的可控性,同时为张力结构主动控制中优化算法的选择及作动器的布置提供指导依据。
Tension structures are typical flexible structures which are apt to vibrate under various dynamic excitations.When the structural vibration is considerable large,it will affect the function and safety of the structure,thus vibration control of the structure is needed.A study on the dynamic control of tension structures is carried out.The electromechanical control equation of tension structures is formulated,and a nonlinear instantaneous optimal control algorithm is developed by introducing Newmark method.Active control of a cable dome with linear quadratic regulator and instantaneous optimal control is implemented respectively.A comparison between the control efficiencies of the two control algorithms is conducted.The effect of the number and layout of actuators to the control efficiency is investigated.The feasibility of the proposed methods used to control the vibration of tension structures is verified,and a guide to determine the number and layout of actuators is provided.
Tension structures are typical flexible structures which are apt to vibrate under various dynamic excitations.When the structural vibration is considerable large,it will affect the function and safety of the structure,thus vibration control of the structure is needed.A study on the dynamic control of tension structures is carried out.The electromechanical control equation of tension structures is formulated,and a nonlinear instantaneous optimal control algorithm is developed by introducing Newmark method.Active control of a cable dome with linear quadratic regulator and instantaneous optimal control is implemented respectively.A comparison between the control efficiencies of the two control algorithms is conducted.The effect of the number and layout of actuators to the control efficiency is investigated.The feasibility of the proposed methods used to control the vibration of tension structures is verified,and a guide to determine the number and layout of actuators is provided.
引文
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[19]肖南,肖新,董石麟.张力结构形状调整优化分析[J].浙江大学学报(工学版),2009,43(8):1513―1519.Xiao Nan,Xiao Xin,Dong Shilin.Shape optimization analysis of tensegrity structures[J].Journal of Zhejiang University(Engineering edition),2009,43(8):1513―1519.(in Chinese)
[20]杜永峰,李慧.地震下结构振动的最优控制算法模型比较与改进[J].世界地震工程,2005,21(3):57―63.Du Yongfeng,Li Hui.Comparison and improvement of optimal model for structural vibration control under earthquake[J].World Seismic Engineering,2005,21(3):57―63.(in Chinese)
[2]周晓峰,陈福江,董石麟.粘弹性阻尼材料支座在网壳结构减震控制中的性能研究[J].建筑结构,2000,6(4):21―28.Zhou Xiaofeng,Chen Fujiang,Dong Shiling.Research on the behavior of bearings with viscoelastic damping material in vibration control of reticulated shell structures[J].Building Structures,2000,6(4):21―28.(in Chinese)
[3]瞿伟廉,徐幼麟.ER/MR智能阻尼器对空间网壳结构地震反应的半主动控制[J].地震工程与工程振动,2001,21(4):24―31.Qu Weilian,Xu Youlin.Semi-active control of seismic response of reticulated shell structures with ER/MR smart dampers[J].Earthquake Engineering and Engineering Vibration,2001,21(4):24―31.(in Chinese)
[4]Djouadi S,Motro R,Pons J C,Crosnier B.Active control of tensegrity systems[J].ASCE Journal of Aerospace Engineering,1998,22(2):37―44.
[5]Raja M G,Narayanan S.Active control of tensegrity structures under random excitation[J].Smart Material and Structures,2007,16:809―817.
[6]Chan W,Arbelaez D,Bossens F,Skleton R E.Active vibration control of a three-stage tensegrity structure[C].SPIE 11th Annual International Symposium on Smart Structures and Materials,San Diego,California,USA,2004.
[7]Averseng J,Dube J F,Crosnier B,Motro R.Active control of a tensegrity plane grid[C].Proceedings of the 44th IEEE Conference on Decision and Control,and the European Control Conference,Seville,Spain,2005.
[8]刘福强,张令弥.作动器/传感器优化配置的研究进展[J].力学进展,2000,30(4):506―516.Liu Fuqiang,Zhang Lingmi.Advances in optimal placement of actuators/sensors[J].Advances in Mechanics,2000,30(4):506―516.(in Chinese)
[9]闫洁,曹秉刚,杨仲庆,史维祥.柔性结构作动器/传感器优化配置研究[J].应用力学学报,2001,18(3):47―53.Yan Jie,Cao Binggang,Yang Zhongqing,Shi Weixiang.Optimal placement of actuators/sensors for flexible structures[J].Journal of Applied Mechanics,2001,18(3):47―53.(in Chinese)
[10]咸奎成,黄海.自适应压电桁架形状控制中作动器优化配置[J].北京航空航天大学学报,2007,33(5):527―530.Xian Kuicheng,Huang Hai.Optimal placement of actuators for shape control of adoptive piezoelectric trusses[J].Journal of Beijing University of Aeronautics and Astronautics,2007,33(5):527―530.(in Chinese)
[11]Haftka R T.Selection of actuator locations for static shape control of large space structures by heuristic integer programming[J].Computer&Structures,1985,20:575―582.
[12]Han J H,Lee I.Optimal placement of piezoelectric sensors and actuators for vibration control of a composite plate using genetic algorithms[J].Smart Materials and Structures,1999,8:257―267.
[13]Lammering R,Jia J H,Rogers C A.Optimal placement of piezoelectric actuators in adaptive truss structures[J].Journal of Sound and Vibration,1994,171(1):67―85.
[14]隋允康,龙连春.智能桁架结构最优控制方法与数值模拟[M].北京:科学出版社,2006.Sui Yunkang,Long Lianchun.Optimal control and numerical simulation of smart truss structures[M].Beijing:Science Press,2006.(in Chinese)
[15]聂润兔,邵成勋,邹振祝.智能桁架机电耦合动力分析与振动控制[J].振动工程学报,1997,10(2):119―124.Nie Runtu,Shao Chengxun,Zou Zhenzhu.Electromechanical dynamic analysis and vibration control of smart trusses[J].Journal of Vibration Engineering,1997,10(2):119―124.(in Chinese)
[16]Bathe K J,Ramm E,Wilson E.Finite element formulations for large deformation dynamic analysis[J].International Journal of Numerical Methods in Engineering,1975,9:353―386.
[17]Bathe K J.Finite element procedures[M].Englewood Cliffs,N.J.:Prentice Hall,1982.
[18]欧进萍.结构振动控制-主动、半主动和智能控制[M].北京:科学出版社,2003.Ou Jinping.Structural vibration control-active,semi-active and intelligent control[M].Beijing:Science Press,2003.(in Chinese)
[19]肖南,肖新,董石麟.张力结构形状调整优化分析[J].浙江大学学报(工学版),2009,43(8):1513―1519.Xiao Nan,Xiao Xin,Dong Shilin.Shape optimization analysis of tensegrity structures[J].Journal of Zhejiang University(Engineering edition),2009,43(8):1513―1519.(in Chinese)
[20]杜永峰,李慧.地震下结构振动的最优控制算法模型比较与改进[J].世界地震工程,2005,21(3):57―63.Du Yongfeng,Li Hui.Comparison and improvement of optimal model for structural vibration control under earthquake[J].World Seismic Engineering,2005,21(3):57―63.(in Chinese)
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