基于内点法和拉格朗日乘子法的混合试验冗余作动器控制方法

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摘要

土木工程结构试验中，作动器使用数量多于所要控制的自由度数量时会产生冗余作动器控制问题。为此，提出基于内点法和拉格朗日乘子法的冗余作动器控制方法，给出作动器系统能力可行域的求解方法，该冗余作动器控制方法在控制方程中以三参量的形式考虑了单台作动器的出力范围。以MATLAB为平台计算了作动器能力可行域和冗余作动器出力值，结果表明，当试件位移命令在作动器能力可行域内，该方法可以实现良好的加载控制精度；当位移在作动器能力可行域外，该方法可以保证试验的安全性。基于Simulink搭建控制平台，分析冗余系统和非冗余系统的工作状态；最后以双层双向虚拟混合试验为例，验证了所提冗余控制方法的精度和可行性。

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	王尚长1
	杨格1
	吴斌1
	谭启阳2
	杨少攀1

关键词 ：冗余作动器控制, 混合试验, 双向试验, 作动器能力可行域

Abstract：

In civil engineering structural tests, redundant actuator control problems arise when the number of actuators used exceeds the number of degrees of freedom to be controlled.Hence, a control method of redundant actuator based on the interior point and the Lagrange multiplier was proposed, and the solution method of the feasible region of the actuator system capability was given.The control method of a redundant actuator considers the output range of a single actuator in the form of three parameters in the control equation.Based on MATLAB, the feasible region of actuator capability and the output value of the redundant actuator were calculated.The results show that the method can achieve good loading control accuracy when the displacement command of the specimen is within the feasible region of actuator capability; and the method can ensures the safety of the test when the displacement is outside the feasible region of actuator capability.Based on Simulink, the control platform was built to analyze the working state of a redundant system and a non-redundant system.Finally, the accuracy and feasibility of the proposed redundancy control method were verified by the two-story and bi-directional virtual hybrid simulation.

Key words： redundant actuator control hybrid simulation bi-directional test actuator capability feasible region

收稿日期: 2019-12-23 出版日期: 2021-06-28

引用本文:

王尚长1，杨格1，吴斌1，谭启阳2，杨少攀1. 基于内点法和拉格朗日乘子法的混合试验冗余作动器控制方法[J]. 振动与冲击, 2021, 40(12): 23-30.
WANG Shangzhang1，YANG Ge1，WU Bin1，TAN Qiyang2，YANG Shaopan1. A redundant actuator control method for hybrid simulation based on the interior point and the Lagrange multiplier. JOURNAL OF VIBRATION AND SHOCK, 2021, 40(12): 23-30.

链接本文:

http://jvs.sjtu.edu.cn/CN/ 或 http://jvs.sjtu.edu.cn/CN/Y2021/V40/I12/23

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