Semiactive variable stiffness control for parametric vibration of cables

In this paper, a semiactive variable stiffness （SVS） device is used to decrease cable oscillations caused by parametric excitation, and the equation of motion of the parametric vibration of the cable with this SVS device is presented. The ON/OFF control algorithm is used to operate the SVS control device. The vibration response of the cable with the SVS device is numerically studied for a variety of additional stiffness combinations in both the frequency and time domains and for both parametric and classical resonance vibration conditions. The numerical studies further consider the cable sag effect. From the numerical results, it is shown that the SVS device effectively suppresses the cable resonance vibration response, and as the stiffness of the device increases, the device achieves greater suppression of vibration. Moreover, it was shown that the SVS device increases the critical axial displacement of the excitation under cable parametric vibration conditions.

Hardware-in-the-Loop Simulation of Vibration Control of Stay Cables with Damper Based on dSPACE System

A simple and economical method based on dSPACE system is developed to measure the effect of cable vibration control.The experiments,numerical simulation and hardware-in-the-loop(HIL)simulation are carried out for the vibration control of stay cables with dampers.Firstly,the test results of solid cable vibration under harmonic excitation are compared with the numerical simulation results of cable vibration to ensure the correctness of the simulation of cable module.Then,the vibration test results of solid cable with damper under harmonic excitation are compared with the numerical simulation results of solid cable with damper to ensure the correctness of the relevant modules.Finally,the external load and the cable are imported into the real-time simulation system to simulate the control effect of the damper under the current excitation in real time.The results show that the simulation is correct and the HIL simulation is feasible in the bridge engineering.

Modelling and control of a spatial dynamic cable

We study the problem of dynamically controlling the shape of a cable that is fixed at one end and attached to an actuated robot at another end. This problem is relevant to unmanned aerial vehicles (UAVs) tethered to a base. While rotorcrafts, such as quadcopters, are agile and versatile in their applications and have been widely used in scientific, industrial and military applications, one of the biggest challenges with such UAVs is their limited battery life that make the flight time for a typical UAVs limited to twenty to thirty minutes for most practical purposes. A solution to this problem lies in the use of cables that tether the UAV to a power outlet for constant power supply. However, the cable needs to be controlled effectively in order to avoid obstacles or other UAVs. In this paper, we develop methods for controlling the shape of a cable using actuation at one end. We propose a discrete model for the spatial cable and derive the equations governing the cable dynamics for both force controlled system and position controlled system. We design a controller to control the shape of the cable to attain the desired shape and perform simulations under different conditions. Finally, we propose a quasi-static model for the spatial cable and discuss the stability of this system and the proposed controller.

SVD Approach for Actuator and Sensor Placement in Active Vibration Control of Large Cable Net Structures

The actuator and sensor placement problem for active vibration control of large cable net structures is investigated in this paper.Since the structures exhibit closely spaced modes in the range of low frequencies,the number of modes to be considered is quite large after modal truncation,while only a limited number of actuators and sensors are to be placed.This makes it hard to determine the actuator and sensor locations with the existing placement methods in the literature such as the methods based on the controllability/observability grammian.To deal with this issue,an actuator and sensor placement method based on singular value decompositions(SVD)of the input and output matrices is proposed,which guarantees the modal controllability and observability of the system.The effectiveness of the SVD based method is verified through numerical simulations in which comparisons are conducted between randomly-chosen locations and the optimal ones obtained by a genetic algorithm.

Ground motion spatial variability effects on seismic response control of cable-stayed bridges

The spatial variability of input ground motion at supporting foundations plays a key role in the structural response of cable-stayed bridges （CSBs）; therefore, spatial variation effects should be included in the analysis and design of effective vibration control systems. The control of CSBs represents a challenging and unique problem, with many complexities in modeling, control design and implementation, since the control system should be designed not only to mitigate the dynamic component of the structural response but also to counteract the effects of the pseudo-static component of the response. The spatial variability effects on the feasibility and efficiency of seismic control systems for the vibration control of CSBs are investigated in this paper. The assumption of uniform earthquake motion along the entire bridge may result in quantitative and qualitative differences in seismic response as compared with those produced by uniform motion at all supports. A systematic comparison of passive and active system performance in reducing the structural responses is performed, focusing on the effect of the spatially varying earthquake ground motion on the seismic response of a benchmark CSB model with different control strategies, and demonstrates the importance of accounting for the spatial variability of excitations.

Semi-active control of a cable-stayed bridge under multiple-support excitations

This paper presents a semi-active strategy for seismic protection of a benchmark cable-stayed bridge with consideration of multiple-support excitations. In this control strategy, Magnetorheological (MR) dampers are proposed as control devices, a LQG-clipped-optimal control algorithm is employed. An active control strategy, shown in previous researches to perform well at controlling the benchmark bridge when uniform earthquake motion was assumed, is also used in this study to control this benchmark bridge with consideration of multiple-support excitations. The performance of active control system is compared to that of the presented semi-active control strategy. Because the MR fluid damper is a con-trollable energy- dissipation device that cannot add mechanical energy to the structural system, the proposed control strategy is fail-safe in that bounded-input, bounded-output stability of the controlled structure is guaranteed. The numerical results demonstrated that the performance of the presented control design is nearly the same as that of the active control system; and that the MR dampers can effectively be used to control seismically excited cable-stayed bridges with multiple-support excitations.

Parametrically excited oscillation of stay cable and its control in cable-stayed bridges＂

This paper presents a nonlinear dynamic model for simulation and analysis of a kind of parametrically excited vibration of stay cable caused by support motion in cable-stayed bridges. The sag, inclination angle of the stay cable are considered in the model, based on which, the oscillation mechanism and dynamic response characteristics of this kind of vibration are analyzed through numerical calculation. It is noted that parametrically excited oscillation of a stay cable with certain sag, inclination angle and initial static tension force may occur in cable-stayed bridges due to deck vibration under the condition that the natural frequency of a cable approaches to about half of the first model frequency of the bridge deck system. A new vibration control system installed on the cable anchorage is proposed as a possible damping system to suppress the cable parametric oscillation. The numerical calculation results showed that with the use of this damping system, the cable oscillation due to the vibration of the deck and/or towers will be considerably reduced.

NONLINEAR DYNAMIC RESPONSE AND ACTIVE VIBRATION CONTROL OF THE VISCOELASTIC CABLE WITH SMALL SAG

The problem considered is an initially stressed viscoelastic cable with small sag. The cable material is assumed to be constituted by the hereditary differential type. The partial differential equations of motion is derived first. Then by applying Galerkin's method, the governing equations are reduced to a set of third order nonlinear ordinary differential equations which are solved by Runge-Kutta numerical integration procedures. Only after the transverse vibration of the plane is considered and the nonlinear terms are neglected, can the nonlinear ordinary differential equations be expressed as a continuous state equation in the state space. The matrix of state transition is approximated stepwise by the matrix exponential; in addition, the state equation is discretized to a difference equation to improve the computing efficiency. Furthermore, an optimal control of procedure system based on the minimization of a quadratic performance index for state vector and control forces is developed. Finally, the effect of dynamic response of the cable, which is produced by viscoelastic parameters, is testified by the research of digital simulation.

Stochastic optimal control of cable vibration in plane by using axial support motion

A stochastic optimal control strategy for a slightly sagged cable using support motion in the cable axial direction is proposed. The nonlinear equation of cable motion in plane is derived and reduced to the equations for the first two modes of cable vibration by using the Galerkin method. The partially averaged Ito equation for controlled system energy is further derived by applying the stochastic averaging method for quasi-non-integrable Hamiltonian systems. The dynamical programming equation for the controlled system energy with a performance index is established by applying the stochastic dynamical programming principle and a stochastic optimal control law is obtained through solving the dynamical programming equation. A bilinear controller by using the direct method of Lyapunov is introduced. The comparison between the two controllers shows that the proposed stochastic optimal control strategy is superior to the bilinear control strategy in terms of higher control effectiveness and efficiency.

Application of Linear Model Predictive Control and Input-Output Linearization to Constrained Control of 3D Cable Robots

Cable robots are structurally the same as parallel robots but with the basic difference that cables can only pull the platform and cannot push it. This feature makes control of cable robots a lot more challenging compared to parallel robots. This paper introduces a controller for cable robots under force constraint. The controller is based on input-output linearization and linear model predictive control. Performance of input-output linearizing (IOL) controllers suffers due to constraints on input and output variables. This problem is successfully tackled by augmenting IOL controllers with linear model predictive controller (LMPC). The effecttiveness of the proposed method is illustrated by numerical simulation.

Study of Nonlinear Seismic Response and TMD Primary Control of the Cable-Stayed Bridge Section of the Third Macao-Taipa Bridge

The practical design of the cable-stayed bridge of the 3rd Macao-Taipa bridge is investigated by the finite element analysis program ANSYS, and 3-D elements BEAM188 and BEAM4 are adopted to create a dynamic calculation model. In order to analyze the material nonlinear seismic response of the cable-stayed bridge, the nonlinear behaviors of the ductile plastic hinges of the bridge towers are taken into account by employing the nonlinear rotational spring element COMBIN40. To simulate a major earthquake, three earthquake records were chosen using a wave-choosing program and input into the bridge structure along longitudinal and transversal directions. Comparisons of the linear and nonlinear seismic responses of the cable-stayed bridge are performed. In addition, a study of TMD primary control is carried out using element MASS21 and element COMBIN14, and it is indicated that the effects of mitigation monitoring are evident.

Dynamics analysis of drawing cables for pipe robot over long distance

Focusing on the speed control problem, this paper presents a study on the stick slip phenomena of cable driven by pipe robot and the critical conditions of stick slip. By dynamics simulation and field experiments, the theoretical analysis has been proved to be practical and valid. The result is of considerable theoretical value in the speed control for pipe robot on receiving and putting line.

Numerical verification of geometry control method of the construction for super-span cable-stayed bridge

Taking Sutong Bridge as the object investigated, the correctness of the geometry control method is verified by numerical simulation analysis. Taking the impact of geometric nonlinearity into account, the impacts of structural geometric profile induced by temporary loads and temperature field during the construction procedure are investigated. The simulation results indicate that only the stage state of the structure during construction is affected. Satisfied outcome of construction control can be achieved based on geometry control method.

大跨度索穹顶结构半主动振动控制分析

为了实现大跨空间结构半主动振动控制,提出了一种基于模糊控制算法的半主动振动控制方法.以某体育馆大跨度索穹顶屋盖为分析对象,建立了基于台站与地震信息的地震动记录选择集,采用研发的新型压电摩擦阻尼器,开展索穹顶结构被动控制研究.将地面加速度和结构变形量2个指标作为控制参数,进行索穹顶结构半主动振动控制分析.结果表明:被动控制时不同地震动强度下结构峰值加速度、最大相对变形量的最小减振率平均值仅分别为3.7%和-1.6%;半主动控制下的压电摩擦阻尼器能够适应不同强度地震动,有效降低结构的峰值加速度和峰值位移,且峰值加速度减振率平均值为20.0%~41.9%,最大相对变形量减振率平均值为12.0%~19.0%.

降雨诱发滑坡的NPR锚索控制机理及临滑预警

为研究降雨滑坡的控制及临滑预警技术,以熊家山滑坡为原型,通过分析边坡变形的时空特征,设计了相似模型试验.以普通预应力锚索(简称PR锚索)和NPR锚索为加固材料,运用高速摄像机、孔压、土压和锚索力传感器,分析了降雨诱发的滑坡规律和锚索控制机理,并结合现场试验探究了滑坡牛顿力变化规律.结果表明:孔隙水压力突降与边坡局部滑塌近似同步;NPR锚索力突降,边坡内部产生局部变形;PR锚索因无法承受大变形被拉断失效,而NPR锚索凭借恒阻大变形特性产生高应力吸能控制功能,促使边坡达到二次平衡状态;NPR锚索在滑坡前表现出明显的“先突增,后突降”的变形-临滑动力学规律;现场试验揭示了滑坡全过程牛顿力演变规律,提前7.5 h发出临滑预警.

绳驱桁架结构伸展臂的主动振动控制

伸展臂由于受到空间温度变化和卫星机动动作的影响,不可避免地会产生振动。在阻尼较低的空间环境中,这种振动衰减较慢,影响伸展臂的正常工作。因此,合适的振动控制方法对于伸展臂的正常工作至关重要。本文采用拉绳作为作动器的空间桁架结构伸展臂,研究其作动绳上铰链串联顺序的优化和模型预测控制律的设计,这两部分内容均考虑了作动绳的单边约束和饱和约束。首先,通过ANSYS软件获取结构的模态信息;然后结合系统可控性原理和遗传算法计算出作动绳上铰链串联最优顺序;最后,在数值仿真中,通过设计的控制率对一个由四个单元组成的桁架结构伸展臂的振动控制过程进行仿真分析。结果表明,提出的作动绳串联铰链的方式能够有效抑制伸展臂的振动。

岩爆机制及其控制

随着岩体工程向深部发展,开挖引发的围岩大变形和强冲击诱发的动力破坏日益严峻。岩爆作为深部地下工程中常见的一种强动力灾害,被称为岩土工程界的“癌症”,其具有突发性特点,难以有效预报及防治,严重地威胁着施工人员的安全和设备的正常运行。通过对比岩石在真三轴卸荷和单轴压缩这2种应力路径下的储能差异,对岩爆多余能量机制进行探讨。首先,根据岩爆诱发机制的不同,将岩爆分为由应力集中导致的应变型岩爆和扰动诱发的冲击岩爆。然后,模拟开挖诱发的不同类型岩爆的应力路径进而在室内再现各种岩爆现象,并对其机制进行研究,自主研发3套真三轴岩爆模拟试验系统:第1代应变岩爆试验系统、第2代应变岩爆试验系统、冲击岩爆试验系统。同时,在实验室内成功模拟不同类型的岩爆:巷道应变岩爆、巷道交叉点应变岩爆、3个临空面矿柱应变岩爆、矿柱应变岩爆以及动荷载诱发的冲击岩爆。最后,为有效控制岩爆灾害,提出开挖补偿法,并研发具有负泊松比效应的宏观和微观NPR锚杆/索。工程实践证明,NPR锚杆/索能提供高预应力来补偿开挖造成的应力损失,同时具备良好的延展性和吸能效果,可为岩爆灾害的防治提供有效途径。

小型无人有缆遥控水下机器人智能控制方法

针对深度确定性策略梯度(DDPG)算法应用于无人有缆遥控水下机器人(ROV)运动控制时存在的坏样本影响学习稳定性、缺少环境探索能力以及学习时间长难收敛等问题,从神经网络结构、噪声引入和融合监督学习3个方面对DDPG算法进行改进,并提出了基于混合神经网络结构和参数噪声的监督式DDPG算法。仿真结果表明,监督式DDPG算法比常规DDPG算法和传统比例-积分-微分(PID)算法更加有效。

外包钢壳混凝土拱形桥塔节段拼装几何姿态预测研究

赣州市集结大桥主桥为外包钢壳混凝土拱形桥塔斜拉桥,为确保钢混组合拱形桥塔节段拼装精准合龙,采用MIDAS Civil软件建立拱形桥塔空间几何模型,分析外包钢壳和混凝土湿重对桥塔变形的影响,采用切线初始位移法对桥塔施工阶段位移进行预测,通过求解制造线形对桥塔待拼装节段进行预偏修正,并与实测数据进行对比。结果表明:外包钢壳能显著减小桥塔变形;施工阶段桥塔变形主要由混凝土湿重引起,临时支撑能有效减小混凝土浇筑产生的横向变形。基于切线初始位移法的几何姿态预测方法能有效预测桥塔拼装全过程几何姿态,实测成桥阶段桥塔各节段最大偏位为6 mm,小于施工控制要求,具有较高的实施精度,可保证成桥状态下桥塔几何姿态的准确性。

典型变电站沟内线缆HEMP耦合仿真研究

当高空电磁脉冲耦合到变电站内部时,线缆会成为耦合主要的效应物。基于典型变电站布局,选取了3种典型的连接二次设备的控制线缆,对比分析选取了三维传输线矩阵TLM算法对典型线缆进行高空电磁脉冲HEMP耦合仿真分析。结果表明,两端均不接地的线缆末端能产生高达49 kV的电压信号;模拟量传输线缆则能在接地芯线和屏蔽层上感应到百安培量级的电流信号;传输开关量的线缆在屏蔽层感应到百安培量级的电流信号,芯线上的信号不超过0.23 mA。最后利用水平极化辐射波模拟器进行现场试验,与仿真结果对比验证了算法的等效性和耦合计算结果的有效性。