采用等效力控制方法的非线性结构实时子结构试验
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摘要
等效力控制方法用反馈控制代替数学迭代过程求解实时子结构试验隐式逐步积分方法的非线性方程。对于非线性结构试验,采用比例-微分(PD)控制器的等效力控制方法会使等效力响应产生稳态误差,从而使试验结果失真。文章用比例-积分(PI)控制器代替PD控制器以解决此问题。介绍了实时子结构试验等效力控制方法,进行了等效力控制器设计,并通过数值模拟和试验验证了采用PI控制器的等效力控制方法对非线性结构实时子结构试验的有效性。数值模拟与试验的结果都表明,对于非线性体系的试验,采用PI控制器的等效力控制方法可以取得非常好的效果。
The equivalent force control method(EFC) replaces numerical iteration with feedback control strategy to solve the nonlinear equations of motion for real-time substructure testing with implicit integration method.For nonlinear structural tests,the EFC method with proportional-derivative(PD) controller will induce control errors in the equivalent force response and lead to inaccurate results.This paper chooses the proportional-integral(PI) controller,instead of the PD controller previously used,to eliminate the errors.The EFC method for real-time substructure test was introduced in this paper firstly,then the equivalent force controller was designed,and the effectiveness of the EFC method with PI controller for real time-substructure tests of nonlinear structures was verified with numerical simulations and actual tests.The numerical and experimental results have shown that the EFC method with a PI controller is very effective for nonlinear structural tests.
The equivalent force control method(EFC) replaces numerical iteration with feedback control strategy to solve the nonlinear equations of motion for real-time substructure testing with implicit integration method.For nonlinear structural tests,the EFC method with proportional-derivative(PD) controller will induce control errors in the equivalent force response and lead to inaccurate results.This paper chooses the proportional-integral(PI) controller,instead of the PD controller previously used,to eliminate the errors.The EFC method for real-time substructure test was introduced in this paper firstly,then the equivalent force controller was designed,and the effectiveness of the EFC method with PI controller for real time-substructure tests of nonlinear structures was verified with numerical simulations and actual tests.The numerical and experimental results have shown that the EFC method with a PI controller is very effective for nonlinear structural tests.
引文
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[2]邱法维,潘鹏.结构拟静力加载实验方法及控制[J].土木工程学报,2002,35(1):1—10.
[3]吕西林,程海江,卢文胜,等.两层轻型木结构足尺房屋模型模拟地震振动台试验研究[J].土木工程学报,2007,40(10):41—49.
[4]Lu X L,Zhou Y,Lu W S,et al.Shaking table modeltest on shanghai world financial center tower[J].Earthquake Engineering and Structural Dynamics,2007,36:439—457.
[5]Williams M S,Blakeborough A.Laboratory testingof structures under dynamic loads:an introductory re-view[J].Phil.Trans.R.Soc.Lond.A,2001,359,1 651—1 669.
[6]范云蕾,肖岩,郭玉荣,等.多层框架结构远程协同拟动力试验方法研究[J].湖南大学学报(自然科学版),2009,36(4):19—23.
[7]Nakashima M,Kato H,Takaoka E.Development ofreal-time pseudodynamic testing[J].Earthquake En-gineering and Structural Dynamics,1992,21(1):79—92.
[8]吴斌,王倩颖.实时子结构实验的研究进展[J].实验力学,2007,22(5):1—9.
[9]Wu B,Bao HE,Ou J P,et al.Stability and accuracyanalysis of central difference method for real-timesubstructure testing[J].Earthquake Engineering andStructural Dynamics,2005,34:705—718.
[10]Wu B,Xu G S,Wang Q Y,et al.Operator-splittingmethod for real-time substructure testing[J].Earth-quake Engineering and Structural Dynamics,2006,35(3):293—314.
[11]保海娥,张自平,程绍革.振动台混合实验系统实验设备研究[J].工程抗震和加固改造,2006,28(6):61—65.
[12]袁涌,朱宏平,熊世树.运用新型实时子结构实验验证橡胶隔震垫的隔震效果[J].防灾减灾工程学报,2007,27(增刊):378—382.
[13]Wu B,Wang Q Y,Shing P B,et al.Equivalent forcecontrol method for generalized real-time substructuretesting with implicit integration[J].Earthquake En-gineering and Structural Dynamics,2007,36:1 127—1 149.
[14]许国山.实时子结构试验的等效力控制方法[D].哈尔滨:哈尔滨工业大学,2010.
[15]许国山,吴斌.采用比例-积分控制的实时子结构试验等效力控制方法[J].工程力学,2009,26(9):251—256.
[16]胡寿松.自动控制原理[M].北京:科学出版社,2003.
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