针对大型土木工程结构提出一种协调分散控制策略。该策略在分散化控制基础上，通过设置一个不受子系统影响的高层协调系统来加强各子控制器对结构的控制能力。首先，基于线性矩阵不等式方法和PID控制理论,推导了能够保证协调系统渐进稳定及系统性能上届最小的最优保性能PID协调控制器。在此基础上，结合极值控制原理，以结构控制效果整体最优为目标设计各子控制器，进而得到协调分散控制系统的反馈控制律。同时利用模拟退火算法对各子控制器进行优化设计。对ASCE 9层Benchmark模型分别进行集中控制、全维分散控制、部分分散控制和协调分散控制优化设计及仿真分析。结果表明，不同地震激励下，协调分散控制较集中控制与分散控制能更好地抑制结构的振动响应，协调控制器与子控制器协同控制下能保障各子系统作动器均处于最大功效工作状态。
Abstract
A coordinated decentralized control strategy was proposed for large civil engineering structures. This strategy can enhance the control ability of each subcontroller by setting up a high level coordination system which is not affected by the subsystem on the basis of decentralized control. The linear matrix inequality (LMI) approach and the PID control theory were employed to design the stable optimal guaranteed cost PID coordination controller. Combined with the extremum control principle, the subcontroller was designed with the goal of whole structural control effect. And then the state feedback control law of coordinated decentralized control system (CDCS) was established. Meanwhile, the simulated annealing algorithm was used to optimize the design of each subcontroller. The ASCE 9story benchmark building was selected as a numerical example to evaluate the control performances of centralized control, fully decentralized control, the partially decentralized control, and coordinated decentralized control. Numerical simulation results indicate that coordinated decentralized control can perform up to a superior control performance when comparing with traditional centralized control and decentralized control under different seismic excitations, and the maximum operating efficiency of the actuators of each subsystem were guaranteed in the condition that coordinated controller and subcontroller work together.
Key words
active control, coordinated decentralized control, decentralized control, guaranteed cost PID, LMI /
simulated annealing
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