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Robust integrated actuator control: experimental verification and real-time hybrid-simulation implementation

机译:强大的集成执行器控制:实验验证和实时混合仿真实现

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摘要

In this paper, we propose a new actuator control algorithm that achieves the design flexibility, robustness, and tracking accuracy to give real-time hybrid-simulation users the power to achieve highly accurate and robust actuator control. The robust integrated actuator control (RIAC) strategy integrates three key control components: loop shaping feedback control based on H_∞, optimization, a linear-quadratic-estimation block for minimizing noise effect, and a feed-forward block that reduces small residual delay/lag. The combination of these components provides flexible controller design to accommodate setup limits while preserving the stability of the H_∞ algorithm. The efficacy of the proposed strategy is demonstrated through two illustrative case studies: one using large capacity but relatively slow actuator of 2500 kN and the second using a small-scale fast actuator. Actuator tracking results in both cases demonstrate that the RIAC algorithm is effective and applicable for different setups. Real-time hybrid-simulation validation is implemented using a three-DOF building frame equipped with a magneto-rheological damper on both setups. Results using the two very different physical setups illustrate that RIAC is efficient and accurate.
机译:在本文中,我们提出了一种新的执行器控制算法,该算法实现了设计的灵活性,鲁棒性和跟踪精度,从而为实时混合仿真用户提供了实现高精度和鲁棒性的执行器控制的能力。鲁棒的集成执行器控制(RIAC)策略集成了三个关键控制组件:基于H_∞的环路整形反馈控制,优化,用于最小化噪声影响的线性二次估计块以及可减小较小的残留延迟/的前馈块落后。这些组件的组合提供了灵活的控制器设计,以适应设置限制,同时保持H_∞算法的稳定性。通过两个示例性案例研究证明了所提出策略的有效性:一个使用大容量但相对较慢的2500 kN执行器,第二个使用小型快速执行器。两种情况下的执行器跟踪结果均表明RIAC算法有效且适用于不同的设置。实时混合仿真验证是通过在两个设置上均配备了磁流变阻尼器的三自由度建筑框架实现的。使用两种截然不同的物理设置的结果说明RIAC是高效且准确的。

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