弹性边界与未知输入下斜拉索-磁流变阻尼器减振控制研究

RESEARCH ON DAMPING CONTROL OF INCLINED CABLE-MAGNETORHEOLOGICAL DAMPER UNDER THE CONDITION OF ELASTIC BOUNDARY AND UNKNOWN INPUT

在弹性边界条件下,针对斜拉索-磁流变阻尼器系统,进行未知输入作用下的减振控制方法研究。基于Hamilton原理及未知输入观测器原理建立斜拉索-磁流变阻尼器状态空间方程和未知输入估计器。基于未知输入观测器对斜拉索-磁流变阻尼器系统的未知输入实时观测估算,并对未知输入进行重构。在未知输入观测器基础上设计具有新型趋近律的滑移模型控制器。最后,以宁波招宝山斜拉索桥C20号斜拉索为例,进行仿真验证。结果表明:具有新型趋近律的滑移模型减振控制算法能保证斜拉索-磁流变阻尼器系统在未知输入作用下发挥的快速性和稳定性,有效抑制拉索的振幅和振速,且能在突发情况下依旧保持良好的减振效果。

Under the condition of elastic boundary, the damping control method of the cable-magnetorheological damper system with unknown input was studied. Based on Hamilton principle and the principle of unknown input observer, the state space equation and unknown input estimator of the cable-magnetorheological damper were established. Based on the unknown input observer, the unknown input real-time observations of the cable-magnetorheological damper system were estimated, and the unknown input was reconstructed. After that, a sliding model controller with a new approach law was designed. Finally, taking the cable C20 of the cable-stayed bridge of Zhaobaoshan, Ningbo as an example, the simulation was verified. The results showed that the sliding damping control algorithm with a new approach law could guarantee the rapid and stable work of the cable-magnetorheological damper system under unknown input, effectively constrain the amplitude and vibration speed of the cable, and still maintain good damping effect in the case of emergency.