Adaptive Control of Helicopter Ground Resonance with Magnetorheological Damper

The methodology for adaptive control of helicopter ground resonance with magnetorheological （MR） damper is presented. The adaptive inverse control method is used to control the output damping force of MR damper and the range of the damping force is given. Through the adaptive inverse control, the damping force of MR damper is fit to a desired damping force. With the background of applying MR damper to control of helicopter ground resonance, a model of loss force and an adaptive arithmetic for stabilization of the coupled rotor/fuselage system are presented. The simulation shows that the controller presented in this paper can stabilize the rotor/fuselage coupling system quickly and control the helicopter ground resonance effectively.

Optimal PD/PID control of smart base isolated buildings equipped with piezoelectric friction dampers

Long-period pulses in near-field earthquakes lead to large displacements in the base of isolated structures.To dissipate energy in isolated structures using semi-active control,piezoelectric friction dampers（PFD） can be employed.The performance of a PFD is highly dependent on the strategy applied to adjust its contact force.In this paper,the seismic control of a benchmark isolated building equipped with PFD using PD/PID controllers is developed.Using genetic algorithms,these controllers are optimized to create a balance between the performance and robustness of the closed-loop structural system.One advantage of this technique is that the controller forces can easily be estimated.In addition,the structure is equipped with only a single sensor at the base floor to measure the base displacement.Considering seven pairs of earthquakes and nine performance indices,the performance of the closed-loop system is evaluated.Then,the results are compared with those given by two well-known methods：the maximum possive operation of piezoelectric friction dampers and LQG controllers.The simulation results show that the proposed controllers perform better than the others in terms of simultaneous reduction of floor acceleration and maximum displacement of the isolator.Moreover,they are able to reduce the displacement of the isolator systems for different earthquakes without losing the advantages of isolation.

Control strategies and experimental verifications of the electromagnetic mass damper system for structural vibration control

The electromagnetic mass damper （EMD） control system, as an innovative active control system to reduce structural vibration, offers many advantages over traditional active mass driver/damper （AMD） control systems. In this paper, studies of several EMD control strategies and bench-scale shaking table tests of a two-story model structure are described. First, two structural models corresponding to uncontrolled and Zeroed cases are developed, and parameters of these models are validated through sinusoidal sweep tests to provide a basis for establishing an accurate mathematical model for further studies. Then, a simplified control strategy for the EMD system based on the pole assignment control algorithm is proposed. Moreover, ideal pole locations are derived and validated through a series of shaking table tests. Finally, three benchmark earthquake ground motions and sinusoidal sweep waves are imposed onto the structure to investigate the effectiveness and feasibility of using this type of innovative active control system for structural vibration control. In addition, the robustness of the EMD system is examined. The test results show that the EMD system is an effective and robust system for the control of structural vibrations.

Trust-region based instantaneous optimal semi-active control of long-span spatially extended structures with MRF-04K damper

In the field of civil engineering, magnetorheological fluid （MRF） damper-based semi-active control systems have received considerable attention for use in protecting structures from natural hazards such as strong earthquakes and high winds. In this paper, the MRF damper-based semi-active control system is applied to a long-span spatially extended structure and its feasibility is discussed. Meanwhile, a _trust-region method based instantaneous optimal semi-active control algorithm （TIOC） is proposed to improve the performance of the semi-active control system in a multiple damper situation. The proposed TIOC describes the control process as a bounded constraint optimization problem, in which an optimal semi- active control force vector is solved by the trust-region method in every control step to minimize the structural responses. A numerical example of a railway station roof structure installed with MRF-04K dampers is presented. First, a modified Bouc- Wen model is utilized to describe the behavior of the selected MRF-04K damper. Then, two semi-active control systems, including the well-known clipped-optimal controller and the proposed TIOC controller, are considered. Based on the characteristics of the long-span spatially extended structure, the performance of the control system is evaluated under uniform earthquake excitation and travelling-wave excitation with different apparent velocities. The simulation results indicate that the MR fluid damper-based semi-active control systems have the potential to mitigate the responses of full-scale long-span spatially extended structures under earthquake hazards. The superiority of the proposed TIOC controller is demonstrated by comparing its control effectiveness with the clipped-optimal controller for several different cases.

Study on semi-active control of mega-sub controlled structure by MR damper subject to random wind loads

The recently proposed mega-sub controlled structure （MSCS）, a new type of structure associated with the design and construction of super-tall buildings, has attracted the attention of designers for use in enhancing the control effectiveness in mega-frame buildings. In this paper, a dynamic equation and method to assemble parameter matrixes for a mega-sub controlled structure under random wind loads is presented. Semi-active control using magnetorheological dampers for the MSCS under random wind loads is investigated, and is compared with a corresponding system without dampers. A parametric study of the relative stiffness ratio and relative mass ratio between the mega-frame and the substructures, as well as the additional column stiffness ratio that influences the response control effectiveness of the MSCS, is discussed. The studies reveal, for the first time, that different control mechanisms exist. The results indicate that the proposed structure employing semi-active control can offer an effective control mechanism. Guidelines for selecting parameters are provided based on the analytical study.

Seismic Response Control of Offshore Platform Structures with Shape Memory Alloy Dampers

In this study, the seismic response control of offshore platform structures with Shape Memory Alloy (SMA) dampers is investigated. A new SMA damper and its restoring force model are introduced for the calculation of seismic response reduction. Based on an actual platform structure and its mechanical model, the parameters which may affect the rate of shock absorption are analyzed, such as the number, position and characteristics of the SMA dampers and the condition of the site where the platform is located. The results show that the SMA damper is an effective control device for offshore platforms and satisfactory control can be achieved by proper selection of the parameters.

A NEW STOCHASTIC OPTIMAL CONTROL STRATEGY FOR HYSTERETIC MR DAMPERS

A new stochastic optimal control strategy for randomly excited quasi-integrable Hamiltonian systems using magneto-rheological (MR) dampers is proposed. The dynamic be- havior of an MR damper is characterized by the Bouc-Wen hysteretic model. The control force produced by the MR damper is separated into a passive part incorporated in the uncontrolled system and a semi-active part to be determined. The system combining the Bouc-Wen hysteretic force is converted into an equivalent non-hysteretic nonlinear stochastic control system. Then It?o stochastic di?erential equations are derived from the equivalent system by using the stochastic averaging method. A dynamical programming equation for the controlled di?usion processes is established based on the stochastic dynamical programming principle. The non-clipping nonlin- ear optimal control law is obtained for a certain performance index by minimizing the dynamical programming equation. Finally, an example is given to illustrate the application and e?ectiveness of the proposed control strategy.

Optimum geometry of tuned liquid column-gas damper for control of offshore jacket platform vibrations under seismic excitation

In this study, the effectiveness of a tuned liquid column-gas damper, TLCGD, on the.suppression of seismic-induced vibrations of steel jacket platforms is evaluated. TLCGD is an interesting choice in the case of jacket platforms because it is possible to use the structural elements as the horizontal column of the TLCGD. The objective here is to find the optimum geometric parameters, namely orientation and configuration of vertical columns, length ratio, and area ratio of the TLCGD, considering nonlinear damping of the TLCGD and water-structure interaction between the jacket platform and sea water. The effects of different characteristics of ground motion such as PGA and frequency content on the optimum geometry are also investigated and it is observed that these features have some influence on the optimum area ratio. Finally it is observed that pulse arrangement of ground acceleration is one of the most important parameters affecting the efficiency of a TLCGD. In other words, it is found that the TLCGD＇s capability to reduce the RMS responses depends only on the frequency content of the ground acceleration, but its capability to reduce the maximum responses depends on both the frequency content and the pulse arrangement of the ground acceleration.

Optimizing Control for Rotor Vibration with Magnetorheological Fluid Damper

The aim of this work is to analyze and design a control system for vibration reduction in a rotor system using a shear mode magnetorheological fluid(MRF)damper.A dynamic model of the MRF damper-rotor system was built and simulated in Matlab/Simulink to analyze the rotor vibration characteristics and the vibration reduction effect of the MRF damper.Based on the numerical simulation analysis,an optimizing control strategy using pattern search method was proposed and designed.The control system was constructed on a test rotor bench and experiment validations on the effectiveness of the proposed control strategy were conducted.Experimental results show that rotor vibration caused by unbalance can be well controlled whether in resonance region(70%)or in non-resonance region(30%).An irregular vibration amplitude jump can be suppressed with the optimization strategy.Furthermore,it is found that the rapidity of transient response and efficiency of optimizing technique depend on the pattern search step.The presented strategies and control system can be extended to multi-span(more than two or three spans)rotor system.It provides a powerful technical support for the extension and application in target and control for shafting vibration.

Experimental Studies on High-Frequency Performance of the Inverse Control Magneto-Rheological Damper

Severe vibration of underground structures may be induced under blast loads. According to the characteristics of the explosion-induced ground shock wave, a new-type damper, inverse control magneto-rheological（MR） damper was designed to control the vibration, The high-frequency performance test of the MR damper was carried out on the small shaking table. It is shown that the performance can be modeled by use of the modified Bouc-Wen model, and the Parameters of the model keep stable in the range of 15--50 Hz.

Studies on structural vibration control with MR dampers using μGA

A new approach to reducing the seismic response of spatial structures with magneto-theological （MR） dampers is presented in this paper. The Genetic Algorithm with small populations （μGA） is used to optimize the control for the MR dampers to reduce structural vibration, which is difficult to achieve using classical optimal control. The advantages of μGA are the use of global properties and that fewer conditions are required to obtain the optimal function. Numerical results demonstrate the effectiveness of the proposed method in reducing the seismic response of structures.

SEMI-ACTIVE CONTROL OF VEHICLE SUSPENSION WITH MAGNETO-RHEOLOGICAL DAMPERS:PART Ⅰ——CONTROLLER SYNTHESIS AND EVALUATION

A modified skyhook-based semi-active controller is proposed for implementing an asymmetric control suspension design with symmetric magneto-rheological （MR） dampers. The controller is formulated in current form, which is modulated by integrating a continuous modulation and an asymmetric damping force generation algorithms, so as to effectively minimize switching and hysteretic effects from the MR-damper. The proposed controller is implemented with a quarter-vehicle MR-suspension model, and its relative response characteristics are thus evaluated in terms of defined performance measures under varying amplitude harmonic, rounded pulse and random excitations. The sensitivity of the semi-active suspension performance to variations in controller parameters is thoroughly evaluated. The results illustrate that the proposed skyhook-based asymmetric semi-active MR-suspension controller has superior robustness on the system parameter variations, and can achieve desirable multi-objective suspension performance.

Vibration Control of Vehicle Suspension System by Electrorheological Damper

An overview of electrorheological （ER） fluid characteristics is given. Based on the Bingham plasticity model and a simple parallel-plate model, the operation principle of ER damper is presented and a four-DOF dynamic model of a vehicle suspension is constructed. Then a semi-active control of vehicle suspension system by ER damper is obtained. According to the semi-active control theory, the acceleration frequency characteristic is achieved with Matlab toolbox. Simulation results show that the vibration of the suspension system is well controlled.

Intelligent technology-based control of motion and vibration using MR dampers

Due to their intrinsically nonlinear characteristics,development of control strategies that are implementable and can fully utilize the capabilities of semiactive control devices is an important and challenging task.In this study,two control strategies are proposed for protecting buildings against dynamic hazards,such as severe earthquakes and strong winds,using one of the most promising semiactive control devices,the magnetorheological (MR) damper.The first control strategy is implemented by introducing an inverse neural network (NN) model of the MR damper.These NN models provide direct estimation of the voltage that is required to produce a target control force calculated from some optimal control algorithms.The major objective of this research is to provide an effective means for implementation of the MR damper with existing control algorithms.The second control strategy involves the design of a fuzzy controller and an adaptation law.The control objective is to minimize the difference between some desirable responses and the response of the combined system by adaptively adjusting the MR damper.The use of the adaptation law eliminates the need to acquire characteristics of the combined system in advance. Because the control strategy based on the combination of the fuzzy controller and the adaptation law doesn't require a prior knowledge of the combined building-damper system,this approach provides a robust control strategy that can be used to protect nonlinear or uncertain structures subjected to random loads.

Semi-active Control with Variable Damper for Pier-Beam Transversal Vibration

In this paper, the method of semi-active control with variable damper is presented to deal with the relatively poor transversal seismic condition of bridge. Based on the LQR control algorithm the control effectiveness for transverse vibration of pier-beam structure of bridge are discussed. Taking the structure as a multiple-degree of freedom system, the calculating model of structure-variable damper system is set up and the differential equation is derived, combined with practical example the control system is simulated and studied by various semi-active control algorithms and passive strategy with MATLAB. The results show that the semi-active control with variable damper can decrease the transverse vibration effectively and the control effect is obvious.

STUDY ON ELECTRORHEOLOGICAL FLUID DAMPER FOR APPLICATION IN MACHINING CHATTER CONTROL

The electrorheological fluid(ERF)is a kind of intelligent material withbright prospects for industry applications, which has viscoelastic characteristic under the appliedelectric field. The dynamic model of a milling system with an ERF damper is established, and thechaffer suppression mechanism of the ER effect is discussed theoretically. Both the theoreticalstudy and the experimental investigation show that the additional damping and additional stiffnessproduced by the ERF increase with the rise in the strength of electric field E, but their influenceon the cuffing stability is different. Only when both additional damping and additional stiffnesscooperate, the milling chatter can be suppressed quickly and effectively. In additional, an ERFdamper used on the arbor of horizontal spindle milling machine is developed, and a series of millingchatter control experiments are performed. The experimental results show that the milling chaffercan be suppressed effectively by using the ER damper.

Control of magnetic levitation positioning stage with an eddy current damper

To enhance the system damping,a permanent magnet set which served as an eddy current damper was added to the magnetic levitation positioning stage which consists of a moving table,four Halbach permanent magnetic arrays,four stators and displacement sensors.The dynamics model of this stage was a complex nonlinear,strong coupling system which made the control strategy to be a focus research.The nonlinear controller of the system was proposed based on the theory of differential geometry.Both simulation and experimental results show that either the decoupling control of the movement can be realized in horizontal and vertical directions,and the control performance was improved by the damper,verifying the validity and efficiency of this method.

SEMI-ACTIVE CONTROL OF VEHICLE SUSPENSION WITH MAGNETO-RHEOLOGICAL DAMPERS PARTⅡ——EVALUATION OF SUSPENSION PERFORMANCE

The design and analysis of an intelligent vehicle suspension with MR dampers should address hybrid semi-active control goals, such as rejection of current-switching discontinuity and MR-damper hysteresis, asymmetric damping from the symmetric MR-damper design, robustness on the vehicle operation parameter uncertainties and consideration of essential multiple suspension goals. Following the proposed skyhook-based asymmetric semi-active controller （Part I ） for achieving the above goals, herein, a set of suspension performance measures and three kinds of varying amplitude harmonic, rounded pulse and really measured random excitations are systematically defined, and the sensitivity of quarter-vehicle MR-suspension performance to variations in operating conditions is thoroughly analyzed. The results illustrate that the proposed skyhook-based semi-active MR-suspension in the asymmetric mode yields relatively superior dynamic responses to meet the multiple suspension performances of ride, rattle space, road-holding and dynamic tire force transmitted to the pavement, and has desirable robustness on variations in operating conditions of vehicle load and speed and the road roughness.

Application of Lead Viscoelastic Dampers to Wind Vibration Control on Big-Span Power Transmission Tower

To study the wind vibration response of power transmission tower, the lead viscoelastic dampers （LVDs） were applied to a cup tower. With time history analysis method, the displacement, velocity, acceleration and force response of the tower was calculated and analyzed. The results show that the control effect of lead viscoelastic dampers is very good, and the damping ratio can reach 20% or more when they are applied to the tower head.

Skyhook-based Semi-active Control of Full-vehicle Suspension with Magneto-rheological Dampers

The control study of vehicle semi-active suspension with magneto-rheological (MR) dampers has been attracted much attention internationally. However, a simple, real time and easy implementing semi-active controller has not been proposed for the MR full-vehicle suspension system, and a systematic analysis method has not been established for evaluating the multi-objective suspension performances of MR full-vehicle vertical, pitch and roll motions. For this purpose, according to the 7-degree of freedom (DOF) fullvehicle dynamic system, a generalized 7-DOF MR and passive full-vehicle dynamic model is set up by employing the modified Boucwen hysteretic force-velocity (F-v) model of the MR damper. A semi-active controller is synthesized to realize independent control of the four MR quarter-vehicle sub-suspension systems in the full-vehicle, which is on the basis of the proposed modified skyhook damping scheme of MR quarter-vehicle sub-suspension system. The proposed controller can greatly simplify the controller design complexity of MR full-vehicle suspension and has merits of easy implementation in real application, wherein only absolute velocities of sprung and unsprung masses with reference to the road surface are required to measure in real time when the vehicle is moving. Furthermore, a systematic analysis method is established for evaluating the vertical, pitch and roll motion properties of both MR and passive full-vehicle suspensions in a more realistic road excitation manner, in which the harmonic, rounded pulse and real road measured random signals with delay time are employed as different road excitations inserted on the front and rear two wheels, by considering the distance between front and rear wheels in full-vehicle. The above excitations with different amplitudes are further employed as the road excitations inserted on left and right two wheels for evaluating the roll motion property. The multi-objective suspension performances of ride comfort and handling safety of the proposed MR full-vehicle suspension are thus thoroughly evaluated by comparing with those of the passive full-vehicle suspension. The results show that the proposed controller can ideally improve multiobjective suspension performances of the ride comfort and handling safety. The proposed harmonic, rounded pulse and real road measured random signals with delay time and asymmetric amplitudes are suitable for accurately analyzing the vertical, pitch and roll motion properties of MR full-vehicle suspension system in a more realistic road excitation manner. This research has important theoretical significance for improving application study on the intelligent MR semi-active suspension.