Theoretical and experimental research on a new system of semi-active structural control with variable stiffness and damping

In this paper, a new system of semi active structural control with active variable stiffness and damping (AVSD) issuggested. This new system amplifies the structural displacement to dissipate more energy, and in turn, effectively reduces thestructural response in the case of relatively small story drifts, which occur during earthquakes. A predictive instantaneousoptimal control algorithm is established for a SDOF structure equipped with an AVSD system Comparative shaking table testsof a 1/4 scale single story structural model with a full scale control device have been conducted. From the experimental andanalytical results, it is shown that when compared to structures without control or with the active variable stiffness control alone,the suggested system exhibits higher efficiency in controlling the structural response, requires less energy input, operates withhigher reliability, and can be manufactured at a lower cost and used in a wider range of engineering applications.

Force Control Compensation Method with Variable Load Stiffness and Damping of the Hydraulic Drive Unit Force Control System

Each joint of hydraulic drive quadruped robot is driven by the hydraulic drive unit(HDU), and the contacting between the robot foot end and the ground is complex and variable, which increases the difficulty of force control inevitably. In the recent years, although many scholars researched some control methods such as disturbance rejection control, parameter self-adaptive control, impedance control and so on, to improve the force control performance of HDU, the robustness of the force control still needs improving. Therefore, how to simulate the complex and variable load characteristics of the environment structure and how to ensure HDU having excellent force control performance with the complex and variable load characteristics are key issues to be solved in this paper. The force control system mathematic model of HDU is established by the mechanism modeling method, and the theoretical models of a novel force control compensation method and a load characteristics simulation method under different environment structures are derived, considering the dynamic characteristics of the load stiffness and the load damping under different environment structures. Then, simulation effects of the variable load stiffness and load damping under the step and sinusoidal load force are analyzed experimentally on the HDU force control performance test platform, which provides the foundation for the force control compensation experiment research. In addition, the optimized PID control parameters are designed to make the HDU have better force control performance with suitable load stiffness and load damping, under which the force control compensation method is introduced, and the robustness of the force control system with several constant load characteristics and the variable load characteristics respectively are comparatively analyzed by experiment. The research results indicate that if the load characteristics are known, the force control compensation method presented in this paper has positive compensation effects on the load characteristics variation, i.e., this method decreases the effects of the load characteristics variation on the force control performance and enhances the force control system robustness with the constant PID parameters, thereby, the online PID parameters tuning control method which is complex needs not be adopted. All the above research provides theoretical and experimental foundation for the force control method of the quadruped robot joints with high robustness.

Design and analysis of a two-dimensional vibration control mechanism based on vibro-impact damping

The robotic drilling always generates the axial vibration along the drill bit and the torsional vibration around the drill bit,which will adversely affect the drilling precision.A vibration control mechanism fixed between the end-effector and the robot is proposed,which can suppress the axial and torsional vibrations based on the principle of vibro-impact(VI)damping.The energy dissipation of the system by vibro-impact damping is analyzed.Then,the influence of the structure parameters on the vibration attenuation effect is studied,and a semi-active vibration control method of variable collision clearance is presented.The simulation results show that the control method has effective vibration control performance.

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.

STATISTIC LINEARIZATION CONTROL FOR HYDRAULIC ACTIVE DAMPING SUSPENSION

A statistic linearization analysis method of bad nolinear hydraulic active damping suspension is provided.Also the optimum control strategy of semi active suspension and graded control strategy based on it are puted forward.Experimental researches are carried out on a 2 DOF(degree of freedom) hydraulic active damping suspension test system.The results showed that an excellent control effectiveness could be obtained by using statistic linearization optimum control which unfortunely requests continuously regulationg the damp in an accurate way and costs much in engeering application.On the contrary,the results also showed that graded control is more practicable which has a control effectiveness close to the optimum control and costs less.

Variable stiffness control algorithm for high-rising buildings of closely spaced frequencies based on wavelet transforms

To establish the algorithm of SAT-TMD system with the wavelet transform(WT),the modal mass participation ratio is proposed to distinguish if the high-rising structure has the characteristic of closely distributed frequencies.A time varying analytical model of high-rising structure such as TV-tower with the SAT-TMD is developed.The proposed new idea is to use WT to identify the dominant frequency of structural response in a segment time,and track its variation as a function of time to retune the SAT-TMD.The effectiveness of SAT-TMD is investigated and it is more robust to change in building stiffness and damping than that of the TMD with a fixed frequency corresponding to a fixed mode frequency of the building.It is proved that SAT-TMD is particularly effective in reducing the response even when the building stiffness is changed by ±15%;whereas the TMD loses its effectiveness under such building stiffness variations.

电动静液作动器的非线性变阻尼积分滑模控制

对于电动静液作动器(EHA),传统滑模控制器存在加速度信息难以获取,参数不易整定和控制信号抖振等问题,从而造成控制器很难应用于实际。针对以上问题,利用奇异摄动理论对EHA数学模型进行合理的降阶,从而使控制器设计避免了使用加速度信息。在此基础上,利用降阶模型设计了一种新型非线性变阻尼积分滑模控制器(NSMC),该控制器可根据位置控制误差实现系统阻尼比由欠阻尼到过阻尼的自适应调节,能有效提高位置阶跃调节性能。设计了一种基于滤波器的不确定项估计器对EHA中存在的参数不确定性和外部扰动进行实时估计并补偿。滑模面积分项的引入和不确定项估计器的使用,一方面使控制器中无需使用切换函数,实现了EHA的无抖振滑模控制,另一方面使系统整个动态过程完全表现为滑动模态,从而可根据EHA控制指标直接整定滑模面参数,大大简化了参数整定过程。同时利用Lyapunov稳定性理论对整个闭环系统和滑模面的稳定性进行了详细分析。分别与PI控制器、传统滑模控制器(SMC)和传统变阻尼滑模控制器(DVSMC)进行了详细的仿真分析比较,仿真结果表明NSMC能有效提高EHA位置跟踪性能和增强对参数不确定性和外部扰动的鲁棒性。

An Optimal Coordination Control Strategy of Micro-Grid Inverter and Energy Storage Based on Variable Virtual Inertia and Damping of VSG

The virtual inertia and virtual damping affect both the dynamic stability of the virtual synchronous generator(VSG)and the configuration of energy storage,but there is a conflict between them while selecting the virtual inertia and virtual damping.An optimal coordination control strategy of micro-grid inverter and energy storage based on variable virtual inertia and damping is proposed to mitigate this conflict.With the integrated optimal constraint of the VSG frequency variation and the energy storage capacity,the virtual inertia and damping of VSG are configured dynamically,adopting linear quadratic optimal control.It can suppress the oscillations of the active power and frequency to improve the stability of VSG and optimally configure the energy storage capacity of VSG simultaneously.The proposed strategy aims to improve the control performance of micro-grid inverter and the system economy.The simulation and experimental results verify the effectiveness of the strategy.

A buffering method for quadruped robots based on active impedance control

Compared with wheeled or tracked robots,legged robots exhibit advantages on agile locomotion and higher survival chance for deadly impacts. A buffering strategy is proposed for quadruped robots with non-extreme initial attitudes from the end of air-righting to the steady standing on the ground.This approach consists of landing phase,buffering phase and recovering phase. The variable stiffness control,proportional-derivative( PD) force control and foot trajectory planning are applied to the joints of quadruped robots until the end of the recovering phase. The PD parameters are tuned according to the desired performance of each phase. The above approach is verified on a virtual platform.

Test and numerical simulation of a new type of hybrid control technique

In this paper, a new hybrid control technique, based on a combination of base-isolation and semi-active variable stiffness/damping in a superstructure, is presented. To illustrate the efficiency of the proposed control system, model tests on a mini-electromagnetic shaking table and a numerical simulation were performed. The test and numerical calculation results indicate that this new hybrid control mode with additional damping and smaller additional stiffness can achieve a better control efficiency.

形状记忆合金弹簧隔振系统主动控制实验设计

为探索振动系统在结构和参数变化时的实验现象和实验特征,基于被动隔振实验台,设计了具有弹簧温度和激振频率自动采集功能的形状记忆合金弹簧变阻尼主动控制系统,对形状记忆合金弹簧的刚度和阻尼随温度变化的振动特性进行分析。结果表明,在不同激振频率下,形状记忆合金弹簧阻尼比随着温度的升高而增大,刚度随着温度的升高而降低。通过弹簧温度自动调节对隔振系统进行控制,从而实现形状记忆合金弹簧的变频动态减振。该研究结果可用于形状记忆合金弹簧在特定载荷下的减振特性标定。

斜盘式恒压变量柱塞泵动态特性研究

该文针对变量泵压力控制元件对变量泵的压力输出特性进行研究,通过模拟仿真研究压力控制阀上阻尼孔尺寸和弹簧刚度的影响规律。研究结果表明阻尼孔尺寸增加,减小变量泵输出压力的稳定时间,同时增大变量泵的泄漏量,压力输出偏差也会增大;调压弹簧刚度增加导致变量泵压力响应速度降低,同时泵的输出压力偏差会有所增大。

基于自适应指数函数的变参数VSG控制

近年来,随着电网的电力电子化程度升高,电网的整体惯量减小,电虚拟同步机(VSG)技术应运而生并迅速发展。其核心思想是模仿传统能源所应用到的同步发电机的电气特性和机械特性,提高高比例分布式能源系统的转动惯量。然而,现有VSG控制策略的控制参数固定或者简单连续变化,针对小扰动可能会引起系统功率的振荡等问题。为更加灵活调整虚拟惯量和阻尼系数,在详细分析VSG基础上,提出一种基于分段指数函数的变参数VSG自适应控制策略,其虚拟惯量和旋转阻尼随电网频率的变化按照指数函数轨迹变化,从而达到减小电网波动的目的,并且扰动变化率较小时参数变化较小,避免引起系统振荡问题;最后设计主电路部分和VSG控制部分的参数,并通过仿真证明了该策略能有效改善逆变器工作的稳定性。

变阻尼混合质量阻尼器动力仿真及减振机理研究

针对混合质量阻尼器(Hybrid Mass Damper,HMD)在结构减振控制中控制力输出和质量块冲程过大的问题,提出变阻尼混合质量阻尼器(Variable Damping Hybrid Mass Damper,VD-HMD)控制系统,在不降低控制效果的情况下减小控制力输出和降低质量块的冲程,并获得更好的控制效果。首先,建立VD-HMD控制系统的力学模型和运动方程;然后,利用一个设置有VD-HMD的单自由度模型作为研究对象,并将磁流变阻尼器作为变阻尼单元,进行数值分析;最后,论述VD-HMD控制系统的减振机理。仿真结果表明:VD-HMD系统有效解决控制装置的控制力输出和质量块的冲程过大的问题,并进一步提升控制效果,降低结构响应的效果更为优异。

盆形金属橡胶三向动态力学性能试验研究

为满足小型精密仪器的三向减振需求,制备一种盆形金属橡胶。对其轴向、径向进行动态加载试验。采用控制变量法分析不同加载方式及工艺参数对盆形金属橡胶承载能力及耗能特性的影响,运用正交试验法分析3种制备工艺参数对盆形金属橡胶轴向、径向损耗因子的影响。结果表明:影响试件轴向承载能力最显著的是相对密度;影响试件轴向、径向损耗因子及径向承载能力最显著的是成形角度。

磁流变动力系统变刚度变阻尼扭转吸振研究

磁流变变刚度变阻尼扭转动力吸振器(MR-VSDTVB)为实现动力传动系统扭转振动的有效半主动控制提供了思路.为此,建立了可变刚度和阻尼的汽车动力系统扭转振动动力学模型,加速工况下研究磁流变吸振器不同刚度和阻尼对系统输出响应的影响规律;进而,基于AMEsim和MATLAB/Simulink联合仿真,分析动力系统在加速工况下半主动控制对系统扭转振动的抑制效果,验证磁流变变刚度变阻尼扭转动力吸振器对动力传动系统扭转振动抑制的有效性.

大型风电机组主动减振电气控制方法综述

为了延缓风力机振动、延长机组寿命和提高运行稳定性,设计电气控制系统实现大型变速变桨风电机组的主动减振具有重要的现实意义。在风力机振动模态分析的基础上,围绕风轮叶片、塔架和传动链这3种主要零部件的主动减振控制方法展开综述,并详细分析独立变桨距控制和阻尼控制在风力机减振控制中的应用。研究结果表明:独立变桨距控制可有效缓解风轮不平衡载荷、改善叶片振动问题;阻尼控制通过变桨距控制和转矩控制提供附加电气阻尼信号,可增大塔架和传动链的等效阻尼,从而达到减小振动的目的。由于风力机振动模态之间的耦合关系,设计减振控制方法时需考虑风电机组整体的优化协调问题,结合独立变桨距控制和阻尼控制,兼顾叶片、塔架和传动链的协调减振,是值得进一步研究的问题。

电网电压骤升故障下双馈风力发电机变阻尼控制策略

双馈风力发电机在电网电压跌落情况下的不间断运行已成为当前研究热点,而电网电压骤升对双馈风力发电系统的运行也构成了威胁。为研究双馈风力发电机的高电压穿越特性及其控制策略,分析了电网电压骤升激起的双馈感应发电机的电磁过渡过程。针对不同转速和电网电压骤升幅度对系统的影响,提出一种基于变阻尼的转子励磁控制策略,减小了故障情况下转子电流和电磁转矩的冲击,避免了撬棒电路的频繁动作。仿真和实验结果验证了所提出控制策略的有效性,与常规的有源阻尼控制策略相比,提高了双馈风力发电机的高电压穿越能力。

随动系统的模糊自适应整定PID变阻尼控制

为了使随动系统的输出以尽可能小的误差复现输入,通常用速度反馈以增大等效阻尼比的方法减小输出响应振荡和超调量,但阻尼比增大,系统响应迟钝,快速性变差。变阻尼控制技术根据系统输出响应的不同阶段在线实时调整系统的阻尼比,从而改善随动系统的动态性能。结合PID控制和模糊控制的优点,运用模糊推理方法建立PID三参数的模糊控制规则,设计出一种随动系统的模糊自适应整定PID变阻尼控制器。仿真结果证明了该方法可行,系统动态性能得到明显改善,具有良好的抗干扰性和鲁棒性。

结构主动变刚度控制中的若干问题

探讨了主动变刚度 (AVS)控制算法中地震信息预测和控制性能指标选择等问题 ,并通过算例研究了主动变刚度控制的效能和相关的影响因素 ,如结构阻尼、时滞以及主动变刚度控制元件布置等 .结果表明 :主动变刚度控制是一种易于工程应用的结构减震方法 ,通过合理措施 ,可达到经济。