基于H∞理论的磁流变阻尼器半主动容错控制

H∞ Based Semi-active Fault Tolerance Control of Structures Using MR Dampers

建筑结构的半主动控制系统中的传感器,在强震作用下可能因出现故障而影响控制效果。以磁流变阻尼器为例,研究半主动容错控制系统的设计方法。首先,研究了基于状态观测器的半主动H∞控制器设计方法,并将之应用到建筑结构采用磁流变阻尼器的减振控制中;运用改进Bouc-Wen模型,计算磁流变阻尼器的阻尼力,通过求解一个代数Riccati方程和一个状态观测方程,得出了基于状态观测器的H∞主动控制律;再对其采用Clipped-optimal方法实施半主动控制策略。然后,针对传感器故障,利用观测器组的输出残差对故障进行在线诊断,并通过几个观测器状态值的比较得到故障的大小,并据此对传感器的测量值进行修正,从而消除故障对闭环系统的影响,最终实现半主动H∞容错控制。仿真结果表明,该方法具有很好的容错控制效果。

In the sensors of control systems for civil structures faults may occur due to strong earthquakes and affect the control results.This paper focuses on the semi-active fault tolerance control of structures using MR dampers.First,the semi-active H∞ control based on state observer is studied and applied to the seismic response control of building structures using MR damper.The modified Bouc-Wen model is used to calculate the control force of MR dampers.The H∞ based active control law is obtained by solving a Riccati equation and a state observer equation.Then the clipped-optimal method is applied to implement the semi-active control.The faults of sensors are diagnosed online based on the output residual signals by a series of observers and the magnitudes of fault are acquired by comparing the state values of the state observers.The measured value of faulted sensor is modified to eliminate the influence of sensor faults on the closedloop system and to implement semi-active H∞ fault tolerance control.The numerical simulation results show that the proposed method can achieve the great fault tolerance control effect on the earthquake-excited structures.