【作者】 宁响亮；

【导师】 周福霖；

【作者基本信息】 哈尔滨工业大学 ， 结构工程， 2010， 博士

【摘要】 结构振动控制技术作为一种积极有效的抗震、抗风对策已成为土木工程研究的热点之一。考虑到目前理论研究和工程实际应用所存在的一些问题,本文开展了三个部分的工作:基于线性矩阵不等式技术与遗传算法的主动控制系统多目标优化设计,包括控制器的优化设计、控制器/作动器的一体化优化方法;非线性结构振动的智能控制,包括自适应模糊控制技术、具有在线诊断功能的容错控制技术;结合重大工程项目进行结构振动控制的试验研究,验证本文所提理论的可行性与正确性。主要研究内容如下:1.针对以往控制器参数需要反复试算才能确定的弊端,基于LMI优化技术和方差控制理论,研究结构振动控制的多目标方差控制方法。考虑了外部输入激励特性的影响,利用扩展的状态空间模型描述过滤白噪声激励-被控结构-控制器。推导得到了线性矩阵不等式组（LMIs）,从而将结构的方差响应、控制力方差以及系统极点限制在预先给定的范围之内。基于MATLAB的线性矩阵不等式工具箱求解所推导的线性矩阵不等式组即可得到状态反馈和输出反馈控制器,通过仿真分析验证此方法的可行性。2.为使控制系统具有一定的鲁棒性来应对结构模型参数的不确定性,基于LMI技术和鲁棒控制理论,提出事先考虑结构动力特性具有不确定性的鲁棒H₂/H_∞控制方法。在设计控制器的过程中,将结构模型参数的不确定性引入到状态方程的摄动矩阵之中,使得闭环系统对所有允许的不确定性同时满足H干扰抑制和最优H₂性能。推导得到了相应的线性矩阵不等式组的表达式以进行鲁棒H₂/H_∞控制器的多目标优化设计。应用MATLAB的线性矩阵不等式工具箱设计了鲁棒H₂/H_∞控制器,通过仿真分析验证所设计的控制器的强鲁棒性。3.针对以往将控制器的优化设计与作动器的位置优化分开来进行两阶段优化设计以及优化目标单一的不足,结合基于Pareto最优解理论的遗传算法NSGA-II和随机振动理论,提出结构主动控制系统的多目标优化方法,对作动器位置与主动控制器进行一体化优化设计。用平稳过滤白噪声模拟随机地震激励,在状态空间内通过求解结构在平稳过滤白噪声作用下的Lyapunov方程,得到结构响应和主动控制力的方差,其中主动控制器采用LQG控制算法进行设计。以最小化结构位移和加速度均方值最大值与相应无控响应均方值的最大值之比,以及最小化控制力均方值的总和为目标函数向量。除了考虑结构与激励参数变化的影响之外,同时亦提出个数分区控制方法以优化作动器的数目。仿真分析结果表明所提优化方法简单、高效、实用且具有较好的普适性。4.为了改善传统模糊控制算法的控制性能,提出了非线性结构振动控制的变论域自适应模糊控制（VUAFLC）算法,基于Lyapunov函数方法推导得到了自适应律。以地震作用下高速公路桥梁非线性振动控制的Benchmark问题为背景进行主动控制仿真分析,结果表明该智能模糊控制算法的有效性和鲁棒性。在此基础上针对MR半主动控制系统,提出以变论域自适应模糊控制算法为前件、以限幅最优（Clipped-optimal）控制算法为后件的两级控制策略,结果表明所提出的MR智能半主动控制能够基本实现主动控制效果。5.探讨传感器失效时MR半主动控制系统的智能容错控制策略,以保证传感器发生故障时控制系统仍然具有良好的性能。在基于ANFIS的传感器故障在线检测方法的基础上,提出MR电压的切换控制策略:传感器正常工作时,基于传统模糊控制器直接确定MR的输入电压,当ANFIS检测出传感器处于故障状态时,将切换开关打开,采用Passive-on算法确定MR的输入电压。对公路桥梁振动控制的Benchmark问题进行了仿真分析,验证所提出的容错控制策略的有效性,并得到了一些有益的结论。6.以振动控制技术的工程应用为背景,设计制作了基于永磁同步直线电机的HMD控制试验模型并进行控制方案及本文所提控制策略的试验验证,并考虑TMD质量的不确定性进行控制策略的鲁棒性实验。在对试验用AMD（永磁同步直线电机）进行大量的测试分析与地震模拟振动台试验的基础上,建立起与试验结果吻合得较好的理论计算模型并设计了相应的控制策略,包括LQG、鲁棒H₂/H_∞、FLC、VUAFLC与ANFIS控制,最后通过振动台试验验证HMD控制方案与所提控制策略的可行性与有效性并对比分析了各控制策略的控制性能,为HMD控制的工程应用奠定了基础。更多还原

【Abstract】 Being a kind of active and effective countermeasure against undesirable excitations such as seismic or strong wind, structural vibration control technology is one of the hotspots in the research field of civil engineering. Considering some existing problems in theoretical study and practical application of structural control system, the work in this study mainly consists of three parts: the first part deals with multi-objective optimization of control system based on linear matrix inequality （LMI） technique and evolutionary algorithm, including optimization design of controller and integrated optimization design of controllers and actuators; the second part focuses on the intelligent vibration control strategies for nonlinear structure, in which adaptive fuzzy logic control and intelligent fault tolerant control （FTC） are proposed; finally, based on application of vibration control system for important engineering structure, numerical analysis and experimental study are conducted to demonstrate the effectiveness and superiority of those methodologies.The main contents of this dissertation are listed as follows:1. To improving the traditional design method of controller, in which the parameters of controller are determined by repeated calculation, multi-objective variance control is investigated for structural vibration control based on the LMI optimization technique and variance control theory. The stationary filtered white noise-controlled structure-controller is simulated using extended state space model, in which the influence of external exciting is taken into account. The general expression of linear matrix inequalities （LMIs） are deduced to satisfy the closed-loop poles and the steady variance responses of structure and control force with certain constraints assigned in advance. LMI Toolbox of MATALB is employed for solving those LMIs to get the state feedback and output feedback controller. Simulation results demonstrate the effectiveness of the proposed method.2. Based on the LMI optimization technique and robust control theory, the robust H₂/H_∞control strategy is investigated to cope with the uncertainty of dynamic characteristic of the structure, in which the uncertainty is taken into account in advance. In the process of controller design, uncertain parameters of structure are introduced into perturbation matrix, meanwhile, both the H disturbance suppression and the optimal H2 performances of the closed-loop control system are satisfied simultaneously for all allowable uncertainties. To solve the proposed multi-objective optimization problem, LMIs are also deduced based on the LMI optimization technique. Simulation results show that the performance of the proposed controller is of strong robustness.3. Aimed at the disadvantage of traditional optimization method, such that the placement and controller are optimized sequentially, single objective is considered, a new integrated design and multi-objective optimization method for active control system based on a pareto genetic algorithms and random vibration theory is proposed, in which both the controller and actuator allocation can be optimized simultaneously. Random seismic excitation is simulated by the stationary filtered white noise, and then the root-mean square （RMS） quantities of structural responses and active control forces are obtained by solving the Lyapunov equation in the state space. LQG algorithm is employed herein. Minimization of the maximal RMS displacement and acceleration which are normalized by the uncontrolled counterparts, together with minimizing the sum of RMS control force of actuators, have been used as the three objective functions for multi-objective optimization. The effects of structural parameters and excitation characteristic are considered in the multi-objective optimization procedure, and number-based zoning control method is also proposed for determining the number of actuators. Numerical simulation results show that the proposed integrated design and optimization method is simple, efficient and practical, and of good universality.4. Based on adaptive control theory and intelligent fuzzy control, variable universe adaptive fuzzy control （VUAFLC） algorithm is put forward to improve the performance of traditional FLC, and the adaptive law of output universes is developed based on Lyapunov function method. Benchmark structural control problem for a seismically excited highway bridge is used as a numerical example to demonstrate the effectiveness and robustness of the proposed method. Furthermore, VUAFLC is integrated with clipped-optimal control algorithm for semi-active control system with MR damper. Results show that MR damper can achieve almost the same control performance as active control system, which promises a good prospect of popularization and application of semi-active MR dampers.5. An intelligent fault tolerant control （FTC） strategy is investigated for MR semi-active control system with sensor failure. Performance and effectiveness of the control system are protected in case of sensor failure. Based on the adaptive neuro fuzzy inference system （ANFIS）, sensor failure can be on-line detected and switching control strategy of determining the commanded voltage for MR dampers is proposed. When sensor is healthy, voltage determined by FLC will be applied to the corresponding MR damper. On the other hand, if sensor has failed and will be detected using ANFIS, switch is activated and passive-on voltage will be applied to MR damper. Numerical simulations are carried out to demonstrate the effectiveness of the proposed method, and some useful conclusions are also obtained.6. On the background of application of HMD control system for important engineering structure, HMD control system model base on permanent magnet synchronous linear motor （PMSLM） for experimental study is designed and manufactured to verify the effectiveness of the control system and the proposed control strategies mentioned above, while the uncertainty of mass of TMD is taken into account to demonstrate the robustness of the proposed control strategies. Based on lots of test for AMD and shaking table test, the reasonable theoretical model have been established and some control strategies have been designed, including LQG, robust H₂/H_∞, FLC, VUAFLC and ANFIS control. Finally, experimental verification studies are conducted to test the performance of the proposed HMD control system and control strategies, and comparative analysis of control strategies is also discussed, which provides a foundation for engineering application of HMD control system.更多还原