基于自适应伸缩因子的变论域模糊PID振动控制方法

蒋伟; 刘纲; 王涛; 高凯

doi:10.6052/j.issn.1000-4750.2020.11.0786

基于自适应伸缩因子的变论域模糊PID振动控制方法

蒋伟^1,,
刘纲^{1, 2, ,},
王涛^1,,
高凯^1,

1.
重庆大学土木工程学院，重庆 400045
2.
山地城镇建设与新技术教育部重点实验室，重庆 400030

基金项目: 国家重点研发计划项目(2018YFC0705604)；国家自然科学基金项目(52078084)；重庆市研究生科研创新项目(CYB20027)

详细信息

作者简介:
蒋伟(1991−)，男，湖南人，博士生，主要从事结构健康监测与振动控制研究(E-mail: 295771695@qq.com)

王涛(1994−)，男，湖北人，硕士生，主要从事结构健康监测研究(E-mail: 1747933594@qq.com)

高凯(1988−)，男，四川人，博士生，主要从事结构健康监测研究(E-mail: gk1988@cqu.edu.cn)

通讯作者:
刘纲(1977−)，男，四川人，教授，博士，博导，主要从事结构健康监测与振动控制研究(E-mail: gliu@cqu.edu.cn)

中图分类号: O327
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出版历程
- 收稿日期: 2020-11-01
- 修回日期: 2021-03-10
- 网络出版日期: 2021-03-31
- 刊出日期: 2021-11-17

VARIABLE UNIVERSE FUZZY PID CONTROL BASED ON ADAPTIVE CONTRACTING-EXPANDING FACTORS

JIANG Wei^1,,
LIU Gang^{1, 2, ,},
WANG Tao^1,,
GAO Kai^1,

1.
School of Civil Engineering, Chongqing University, Chongqing 400045, China
2.
The Key Laboratory of New Technology for Construction of Cities in Mountain Area of the Ministry of Education, Chongqing University, Chongqing 400030, China

摘要

摘要: 针对传统变论域模糊PID控制算法(VUFP)伸缩因子无法自适应调整的问题，建立了基于自适应伸缩因子的变论域模糊PID振动控制方法，从而进一步提升振动控制效果。在传统VUFP算法的基础上，将系统误差及误差变化率作为输入，伸缩因子参数作为输出，提出了伸缩因子自适应调整函数；从非零性、对偶性、单调性、正规性、协调性入手，通过理论证明了所提自适应调整函数的合理性；基于VUFP算法，利用系统误差及误差变化率实现了自适应调整函数参数的实时自适应调整，从而避免了VUFP算法中伸缩因子缺乏模糊规则导致控制效果降低的问题。3层框架理论模型和实验结构的振动控制结果表明：所提控制方法能实现函数型伸缩因子参数的自适应调整，针对框架结构加速度、速度及位移的控制效果均优于PID和VUFP控制算法，为建筑结构振动控制提供了一种新的控制算法。
- 半主动控制 /
- 变论域模糊PID控制 /
- 伸缩因子 /
- 控制算法 /
- 模糊控制
Abstract: Aiming at the problem that the expansion factor of the traditional variable universe fuzzy PID control algorithm (VUFP) cannot be adaptively adjusted, a variable universe fuzzy PID vibration control method based on the adaptive expansion factor is established to further improve the vibration control effect. On the basis of the traditional VUFP algorithm, the system error and error change rate are taken as inputs and the scaling factor parameters are taken as outputs, and an adaptive adjustment function of scaling factor is proposed. From the aspects of non-zero, duality, monotonicity, normality and coordination, the rationality of the proposed adaptive adjustment function is proved theoretically. Based on VUFP algorithm, the real-time adaptive adjustment of the parameters of the adjustment function is realized by using the system error and the error change rate, thus avoiding the problem that the control effect is reduced due to the lacking of fuzzy rules for the expansion factor in VUFP algorithm. The vibration control results of three-story frame model and experimental structure show that the proposed control method can realize the adaptive adjustment of functional expansion factor parameters, and the control effect for acceleration, velocity and displacement of frame structure is better than that of PID and VUFP control algorithms, so the proposed control method provides a new control algorithm for vibration control of building structures.
- semi-active control /
- variable universe fuzzy PID control /
- contracting-expanding factors /
- control algorithm /
- fuzzy control

HTML全文

图 1 变论域基本原理

Figure 1. The basic principles of variable universe

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图 2 VUFP控制系统流程图

Figure 2. The flowchart of VUFP control system

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图 3 NEVUFP控制系统流程图

Figure 3. The flowchart of NEVUFP control system

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图 4 三层框架结构

Figure 4. Three-storey frame structure

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图 5 MR阻尼器现象模型

Figure 5. The phenomenological model of MR damper

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图 6 南北向EI Centro波加速度曲线

Figure 6. The acceleration curve of the north-south EI Centro wave

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图 7 顶层位移时程曲线

Figure 7. The time history curve of the displacement of top floor

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图 8 参数τ₁变化时程曲线

Figure 8. The time history curve of τ₁

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图 9 半主动控制实验图

Figure 9. Experimental setup of the semi-active control

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图 10 顶层相对位移时程曲线

Figure 10. The time history curve of the relative displacement of top floor

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图 11 各控制算法下结构加速度及位移最大值

Figure 11. The peak values of the accelerate and displacement of each floor

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表 1 $\alpha (e(t))$ 、 $\alpha (ec(t))$ 的模糊控制规则

Table 1 The fuzzy control rules of $\alpha (e(t))$ and $\alpha (ec(t))$

e	NB	NM	NS	ZV	PS	PM	PB
$\alpha (e(t))$	B	M	S	Z	S	M	B
$\alpha (ec(t))$	B	M	S	Z	S	M	B

下载: 导出CSV

表 2 MR阻尼器参数取值

Table 2 The value of parameters of the MR damper

参数	电压调整参数c₀_a/ (N·s·m⁻¹)	电压调整参数c₀_b/ (N·s·m⁻¹·V⁻¹)	等效刚度k₀/ (N·m⁻¹)	电压调整参数c₄_a/ (N·s·m⁻¹)	电压调整参数c₄_b/ (N·s·m⁻¹·V⁻¹)
取值	2100	350	4690	28 300	295

参数	储能器刚度k₄/ (N·m⁻¹)	初始位移y₀/m	电压调整参数α_a/ (N·m⁻¹)	电压调整参数α_b/ (N·m⁻¹·V⁻¹)	滞回环控制参数γ/m⁻²
取值	500	0.143	14 000	69 500	3 630 000

参数	滞回环控制参数λ/m⁻²	滞回环控制参数A₁	滞回环控制参数l
取值	3 630 000	301	2

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表 3 结构各层相对位移峰值及控制率

Table 3 The peak values and control rates of the relative displacement of each floor

楼层	无控/mm	PID		VUFP		NEVUFP
楼层	无控/mm	位移峰值/mm	控制率/ (%)	位移峰值/mm	控制率/ (%)	位移峰值/mm	控制率/ (%)
1	5.705	1.974	65.40	1.612	71.74	1.463	74.36
2	8.777	3.588	59.12	3.031	65.47	2.804	68.05
3	10.340	4.835	53.24	4.021	61.12	3.528	65.88

下载: 导出CSV

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