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Substructure design optimization and nonlinear responses control analysis of the mega-sub controlled structural system (MSCSS) under earthquake action 被引量:1
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作者 Mustapha Abdulhadi Zhang Xun′an +1 位作者 Buqiao Fan Muhammad Moman 《Earthquake Engineering and Engineering Vibration》 SCIE EI CSCD 2021年第3期687-704,共18页
The newly proposed mega sub-controlled structure system(MSCSS)and related studies have drawn the attention of civil engineers for practice in improving the performance and enhancing the structural effectiveness of meg... The newly proposed mega sub-controlled structure system(MSCSS)and related studies have drawn the attention of civil engineers for practice in improving the performance and enhancing the structural effectiveness of mega frame structures.However,there is still a need for improvement to its basic structural arrangement.In this project,an advanced,reasonable arrangement of mega sub-controlled structure models,composed of three mega stories with different numbers and arrangements of substructures,are designed to investigate the control performance of the models and obtain the optimal model configuration(model with minimum acceleration and displacement responses)under strong earthquake excitation.In addition,the dynamic parameters that affect the performance effectiveness of the optimal model of MSCSS are studied and discussed.The area of the relative stiffness ratio RD,with different mass ratio MR,within which the acceleration and displacement of the optimal model of MSCSS reaches its optimum(minimum)value is considered as an optimum region.It serves as a useful tool in practical engineering design.The study demonstrates that the proposed MSCSS configuration can efficiently control the displacement and acceleration of high rise buildings.In addition,some analytical guidelines are provided for selecting the control parameters of the structure. 展开更多
关键词 mega sub-controlled structure system(MSCSS) optimal model viscous damper dynamic parameters control effectiveness response control rubber bearing
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Stable Transition of Quadruped Rhythmic Motion Using the Tracking Differentiator 被引量:1
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作者 Xiaoqi Li Wei Wang Jianqiang Yi 《Journal of Harbin Institute of Technology(New Series)》 EI CAS 2015年第5期9-16,共8页
Since the quadruped robot possesses predominant environmental adaptability,it is expected to be employed in nature environments. In some situations,such as ice surface and tight space,the quadruped robot is required t... Since the quadruped robot possesses predominant environmental adaptability,it is expected to be employed in nature environments. In some situations,such as ice surface and tight space,the quadruped robot is required to lower the height of center of gravity( COG) to enhance the stability and maneuverability. To properly handle these situations,a quadruped controller based on the central pattern generator( CPG) model,the discrete tracking differentiator( TD) and proportional-derivative( PD) sub-controllers is presented. The CPG is used to generate basic rhythmic motion for the quadruped robot. The discrete TD is not only creatively employed to implement the transition between two different rhythmic medium values of the CPG which results in the adjustment of the height of COG of the quadruped robot,but also modified to control the transition duration which enables the quadruped robot to achieve the stable transition. Additionally,two specific PD sub-controllers are constructed to adjust the oscillation amplitude of the CPG,so as to avoid the severe deviation in the transverse direction during transition locomotion. Finally,the controller is validated on a quadruped model. A tunnel with variable height is built for the quadruped model to travel through. The simulation demonstrates the severe deviation without the PD sub-controllers,and the reduced deviation with the PD sub-controllers. 展开更多
关键词 quadruped robot center of gravity central pattern generator discrete tracking differentiator proportional-derivative sub-controller
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