二阶段在线迭代时滞补偿方法及试验验证

PDF(2612 KB)

振动与冲击 ›› 2020, Vol. 39 ›› Issue (17) : 31-38.

论文

二阶段在线迭代时滞补偿方法及试验验证

李宁1,2,3，周陈1，周子豪1，李忠献1,2,3

作者信息 +

A two-stage online iteration time-delay compensation method for real time hybrid testing: simulation and test verification

LI Ning1,2,3, ZHOU Chen1, ZHOU Zihao1, LI Zhongxian1,2,3

Author information +

文章历史 +

摘要

实时子结构试验是结构抗震性能研究的重要方法之一;有研究表明，液压伺服系统的时滞在实时子结构试验中产生负阻尼效应，导致试验结果不准确；而试验中时滞是时变参量，无法事先测得;因此，对实时子结构试验控制系统进行时滞补偿具有重要意义。介绍了二阶段时滞补偿的原理，将系统时滞分割为空载定时滞和负载变时滞，提出基于二阶段时滞补偿的控制方法,设计实时计算系统时滞的方法。经数值模拟和刚性构件实时子结构试验，验证所提出的时滞补偿方法具有精度高、鲁棒性好的特点。

Abstract

Real-time hybrid testing (RTHT) is one of important methods for evaluating structural aseismic performance. Published study results show that time delay of a hydraulic servo system generates a negative damping effect in RTHT to cause incorrect test results; time delay in tests is a time-varying parameter, it can’t be measured in advance; it is of great importance to compensate time delay for the RTHT control system. Here, firstly, the principle of two-stage time-delay compensation was introduced. Then, time-delay of a system was divided into no-load time-delay and load variable one, and the control method based on two-stage time-delay compensation was proposed. The real-time calculation method for system time-delay was designed. Finally, numerical simulation and RTHT for rigid components were conducted, respectively. Results showed that the proposed time delay compensation method has features of high accuracy and good robustness.

导出引用

李宁1,2,3，周陈1，周子豪1，李忠献1,2,3. 二阶段在线迭代时滞补偿方法及试验验证[J]. 振动与冲击, 2020, 39(17): 31-38

LI Ning1,2,3, ZHOU Chen1, ZHOU Zihao1, LI Zhongxian1,2,3. A two-stage online iteration time-delay compensation method for real time hybrid testing: simulation and test verification[J]. Journal of Vibration and Shock, 2020, 39(17): 31-38

参考文献

[1]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．
Wu Bin, Wang Qianying. Development of real-time substructure testing [J]. Journal of Experimental Mechanics, 2007, 22(5): 1-9.
[2]Horiuchi, T., M. Inoue, T. Konno, and Y. Namita. 1999. Real-time hybrid experimental system with actuator delay compensation and its application to a piping system with energy absorber [J]. Earthquake Engineering & Structural Dynamics. 28 (10): 1121–1141.
[3]Ahmadizadeh M, Mosqueda G, Reinhorn A M. Compensation of actuator delay and dynamics for real-time hybrid structural simulation [J]. Earthquake Engineering & Structural Dynamics, 2008, 37(1): 21–42.
[4]Darby A P, Williams M S, Blakeborough A. Stability and delay compensation for real-time substructure testing [J]. Journal of Engineering Mechanics, 2002, 128(12): 1276―1284.
[5]Mercan O, Ricles J M. Stability analysis for real-time pseudodynamic and hybrid pseudodynamic testing with multiple sources of delay [J]. Earthquake Engineering & Structural Dynamics, 2008, 37: 1269-1293.
[6]Huang,L.,T. Guo,C. Chen, and M.H. Chen.2018."Restoring force correction based on online discrete tangent stiffness estimation method for real time hybrid simulation. Earthquake Engineering Engineering Vibration, 17(4): 805-820.
[7]汪强，王进廷，金峰，等．结构-地基动力相互作用的实时耦联动力试验 [J]．工程力学，2011，28(2)：94-185．
Wang Qiang, Wang Jin-ting, Jin Feng, et al. Soil-Structure Interaction Analysis by Real-Time Dynamic Hybrid Testing [J]. Engineering Mechanics, 2011, 28(2): 94-185.
[8]徐景峰．考虑SSI效应储油罐抗震性能振动台子结构实验研究[D]．哈尔滨:哈尔滨工业大学，2013.
Xu Jing-Feng. Shaking Table Substructure Tests of Storage Tanks Considering SSI [D]. Harbin: Harbin Institute of Technology, 2013.
[9]Horiuchi T, Knno T. A New Method for Compensation Actuator Delay in Real-time Hybrid Experiment [C]. Philosophical Transactions of the Royal Society of London Series, 2001, London.
[10]Chen. C, J. M. Ricles, Richard.S, et al. Experimental evaluation of an adaptive inverse compensation technique for real-time simulation of a large-scale magneto-rheological fluid damper [J]. Smart Mater. Struct. 19(2010)025017(12pp).
[11]Chen, C, J. M. Ricles, R. Sause, and R. Christenson. Experimental evaluation of an adaptive inverse compensation technique for real-time simulation of a large-scale magneto-rheological fluid damper [J]. Smart Mater. Struct,2010,19 (2): 025017.
[12]赵德奇，李春祥，蓝声宁．基于最小二乘支持向量机的结构地震响应时滞控制算法[J]．振动与冲击，2013，32(9)：165-172．
ZHAO De-qil, LI Chun-xiang, LAN Sheng-ning. Least squares support vector machine based time-delay control algorithm for reducing seismic responses of structures [J]. Journal of Vibration and Shock, 2013, 32(9): 165-172.
[13]Hessabi, R. M., A. Ashasi-Sorkhabi, and O. Mercan. A new tracking error-based adaptive controller for servo-hydraulic actuator control [J]. Vibration Control, 2016, 22(12): 2824–2840.
[14]王贞，李强，吴斌．实时混合试验的自适应时滞补偿方法[J]．工程力学，2018，35(9)：37-43．
Wang Zhen, Li Qiang, Wu Bin. Adaptive Delay Compensation Method for Real-time Hybrid Testing [J]. Engineering Mechanics, 2018, 35(9): 37-43.
[15]王纯鹏．改进的实时混合试验自适应时滞补偿方法[D]．哈尔滨:哈尔滨工业大学，2018．
Wang Chun-peng. Improved Adaptive Delay Compensation Methods For Real-Time Hybrid Testing [D]. Harbin: Harbin Institute of Technology, 2013.
[16]李宁，周子豪，李忠献．基于时滞追踪的实时混合试验自适应补偿方法[J]．工程力学，录用待刊．
Li Ning, Zhou Zihao, Li Zhong-Xian. Time-Delay Tracing Based Adaptive Compensation Algorithm for Real-time Hybrid Testing [J]. (Accepted).
[17]Chen,P.C., and K.C. Tsai. Dual compensation strategy for real-time hybrid testing. Earthquake Engineering & Structural Dynamics, 2013, 42(1): 1-23.
[18]陈士安，祖广浩，姚明，张晓娜．磁流变半主动悬架的泰勒级数-LQG时滞补偿控制方法[J]．振动与冲击，2017，36(8)：190-196．
CHEN Shi’an, ZU Guanghao, YAO Ming, ZHANG Xiaona. Taylor series-LQG control for time delay compensation of magneto-rheological semi-active suspension. Journal of Vibration and Shock, 2017, 36(8): 190-196.
[19]宁西占，周惠蒙，吴斌，王贞．基于内环H∞控制的实时混合试验[J]. 振动与冲击, 2017, 36(15): 57-63.
NING Xi-zhan, ZHOU Hui-meng, WU Bin, WANG Zhen. Real-time Hybrid Simulation based on Inner-Loop H∞ Control. Journal of Vibration and Shock, 2017, 36(15): 57-63
[20]王贞，王纯鹏，吴斌．磁流变阻尼器的自适应时滞补偿实时混合试验[J]．振动与冲击，2019，38(15)：190-201．
WANG Zhen, WANG Chunpeng, WU Bin. Adaptive time delay compensation method for real-time hybrid tests of MR dampers. Journal of Vibration and Shock, 2019, 38(15): 57-63.