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LQR control with frequency-dependent scheduled gain for a semi-active floor isolation system

机译：半主动地板隔离系统的LQR控制具有与频率有关的预定增益

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摘要

Floor isolation is an alternative to base isolation for protecting a specific group of equipment installed on a single floor or room in a fixed-base structure. The acceleration of the isolated floor should be mitigated to protect the equipment, and the displacement needs to be suppressed, especially under long-period motions, to save more space for the floor to place equipment. To design floor isolation systems that reduce acceleration and displacement for both short-period and long-period motions, semi-active control with a newly proposed method using the linear quadratic regulator (LQR) control with frequency-dependent scheduled gain (LQRSG) is adopted. The LQRSG method is developed to account for the frequency characteristics of the input motion. It updates the control gain calculated by the LQR control based on the relationship between the control gain and dominant frequency of the input motion. The dominant frequency is detected in real time using a window method. To verify the effectiveness of the LQRSG method, a series of shake table tests is performed for a semi-active floor isolation system with rolling pendulum isolators and a magnetic-rheological damper. The test results show that the LQRSG method is significantly more effective than the LQR control over a range of short-period and long-period motions.
机译：地板隔离是基础隔离的一种替代方法，用于保护固定基础结构中安装在单个地板或房间上的特定设备组。应当减小隔离地板的加速度以保护设备，并且需要抑制位移，特别是在长时间运动下，以节省地板放置设备的空间。为了设计可减少短周期和长周期运动的加速度和位移的地板隔离系统，采用了一种新提议的半主动控制方法，该方法采用了线性二次调节器（LQR）和频率相关的预定增益（LQRSG）控制。开发了LQRSG方法来考虑输入运动的频率特性。它基于控制增益和输入运动的主导频率之间的关系来更新由LQR控制计算出的控制增益。使用窗口方法实时检测主频率。为了验证LQRSG方法的有效性，针对具有滚动摆式隔离器和磁流变阻尼器的半主动地板隔离系统执行了一系列振动台测试。测试结果表明，在一系列短周期和长周期运动中，LQRSG方法比LQR控件更有效。

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