跳到主要內容

臺灣博碩士論文加值系統

(100.28.227.63) 您好!臺灣時間:2024/06/15 01:03
字體大小: 字級放大   字級縮小   預設字形  
回查詢結果 :::

詳目顯示

: 
twitterline
研究生:張長菁
研究生(外文):Chang-Ching Chang
論文名稱:H∞直接輸出回饋之結構控制策略
論文名稱(外文):On Control Strategies of H∞ Direct Output Feedback Control of Structures
指導教授:林其璋林其璋引用關係
指導教授(外文):Chi-Chang Lin
學位類別:碩士
校院名稱:國立中興大學
系所名稱:土木工程學系
學門:工程學門
學類:土木工程學類
論文種類:學術論文
論文出版年:2003
畢業學年度:91
語文別:中文
論文頁數:144
中文關鍵詞:H∞ 直接輸出回饋控制理論時間延遲主動控制地震工程
外文關鍵詞:H-infinite direct output feedback controlTime delayActive controlEarthquake Engineering
相關次數:
  • 被引用被引用:4
  • 點閱點閱:249
  • 評分評分:
  • 下載下載:23
  • 收藏至我的研究室書目清單書目收藏:1
本文探討主動控制系統中考慮外力擾動且具強健性之 控制法則,應用滿足最小熵數之H∞直接輸出回饋控制理論於建築結構受地震作用之減振。分別考量層間變位及系統能量兩種不同控制輸出形式所設計之最佳預力鋼鍵控制裝置,分析比較在相同的控制條件下降低結構動態反應之效用。理論分析結果發現採用直接速度回饋僅需使用單一控制裝置及少量速度感應器便能增加結構系統阻尼比,達到良好的減震效果。由於本文發展之控制理論係由線外計算常數回饋增益矩陣值,當實際應用時,只需將此增益矩陣值乘以輸出量測,即可得知需施加的控制力大小,為相當可行之結構振動控制方式。此外,在H∞ 控制理論中,能藉由調整兩控制參數α與γ以增加結構系統主要模態阻尼比,在控制設計上具有較大彈性及較佳的減振效果,選擇γ值愈小或α值愈大,控制效果愈佳,但對任一結構系統而言,γ值必須滿足一下限值且α也必須滿足一上限值,否則將造成整體控制系統不穩定,本文針對單自由度結構,推導得知控制參數α上限與γ下限臨界值之解析式,以作為控制參數選擇之參考。另一方面,為克服控制力施加時間延遲效應,以單層建築結構裝設預力鋼鍵控制裝置為例,進一步推導具時間延遲時,臨界控制參數值之解析式,使得能夠藉由選擇適當的控制參數將時間延遲效應降至最低,不但可確保控制系統穩定,且可達到預期減振目標。
In this paper, a H∞ direct output feedback control algorithm through minimizing the entropy is developed to reduce the structural responses due to dynamic loads such as earthquakes. Two kinds of controlled outputs, named “interstory drift controlled output” and “system energy controlled output” are presented to design the optimal controller for a structure equipped with active tendon systems. Their merits are evaluated based on the control effectiveness under the same control efforts. It is concluded that direct velocity feedback control is effective in reducing structural responses with much fewer sensors and controllers than the degrees of freedom of the controlled structure. The control forces are obtained from the multiplication of direct output measurements by a pre-calculated time-invariant feedback gain matrix. Thus, it is quite feasible for real implementation. To achieve optimal control performance and assure control system stability, the strategy to select both control parameters α and γ is extensively investigated considering the control force execution time delay. It is found that the selection of smaller γ or larger α will result in better control effectiveness, but larger control forces requirement. However, a lower bounded of γ and an upper bound α exist. The selection beyond these values will cause the system instability. In this paper, the analytical expressions of the upper and lower bounds of γ and α are derived for the design of a stable control system. Moreover, in real active control, control force execution time delay cannot be avoided. Small delay time not only can render the control ineffective, but also may cause the system instability. In this study, explicit formulas of the maximum allowable delay time and critical control parameters are derived for reference in avoiding the control system instability. Some solutions are also proposed to increase the maximum allowable delay time.
謝 誌 i
摘 要 ii
Abstract iii
目 錄 iv
表 目 錄 vi
圖 目 錄 ix
第一章 緒論 1
1.1 研究動機與目的 1
1.2 文獻回顧 3
1.3 本文內容 5
第二章 連續時間 控制理論 7
2.1 控制理論 8
2.2 狀態回饋控制理論 10
2.3 直接輸出回饋控制理論 12
2.3.1熵的定義 12
2.3.2最小熵之 直接輸出回饋 14
2.3.3輸出回饋與狀態回饋之關係 16
2.4 樓房結構地震反應之 控制 18
2.4.1層間變位控制輸出 18
2.4.2位移控制輸出 20
2.4.3能量控制輸出 21
第三章 控制系統之參數選擇策略及效用 23
3.1 單自由度結構控制系統 23
3.1.1 固定頻率結構之控制參數選擇 24
3.1.1.1 層間變位控制輸出 25
3.1.1.2 能量控制輸出 36
3.1.2 變化頻率結構之控制參數選擇 44
3.1.3 控制效果評估與比較 46
3.1.4 系統能量 48
3.2 多自由度結構控制系統 50
3.2.1 控制權重參數之選擇 51
3.2.2 控制效果之評估 52
3.2.3系統能量 54
第四章 時間延遲系統穩定分析 55
4.1時間延遲與系統模態特性 56
4.1.1單自由度系統 56
4.1.1.1層間變位控制輸出 57
4.1.1.2能量控制輸出 60
4.1.2多自由度系統 61
4.2 時間延遲對轉換函數及動態歷時影響之比較 63
4.3 最大延遲時間與臨界延遲時間 64
4.3.1單自由度系統 65
4.3.1.1 最大延遲時間 65
4.3.1.2 臨界延遲時間 67
4.4 控制系統穩定之最大控制參數 68
第五章 結論與建議 72
參考文獻 75
2.3.3輸出回饋與狀態回饋之關係 16
2.4 樓房結構地震反應之 控制 18
2.4.1層間變位控制輸出 18
2.4.2位移控制輸出 20
2.4.3能量控制輸出 21
第三章 控制系統之參數選擇策略及效用 23
3.1 單自由度結構控制系統 23
3.1.1 固定頻率結構之控制參數選擇 24
3.1.1.1 層間變位控制輸出 25
3.1.1.2 能量控制輸出 36
3.1.2 變化頻率結構之控制參數選擇 44
3.1.3 控制效果評估與比較 46
3.1.4 系統能量 48
3.2 多自由度結構控制系統 50
3.2.1 控制權重參數之選擇 51
3.2.2 控制效果之評估 52
3.2.3系統能量 54
第四章 時間延遲系統穩定分析 55
4.1時間延遲與系統模態特性 56
4.1.1單自由度系統 56
4.1.1.1層間變位控制輸出 57
4.1.1.2能量控制輸出 60
4.1.2多自由度系統 61
4.2 時間延遲對轉換函數及動態歷時影響之比較 63
4.3 最大延遲時間與臨界延遲時間 64
4.3.1單自由度系統 65
4.3.1.1 最大延遲時間 65
4.3.1.2 臨界延遲時間 67
4.4 控制系統穩定之最大控制參數 68
第五章 結論與建議 72
參考文獻 75
1.Yao, J.T.P, “Concept of Structure Control”, Journal of the Structural Division, ASCE, Vol. 98, No. ST7, pp. 1567-1574, 1972.
2.Soong, T.T., Active Structural Control: Theory and Practice, John Wiley & Sons, Inc., New York, 1990.
3.Housner, G.W., et al, “Structural Control: Past, Present, and Future”, Journal of Engineering Mechanics, ASCE, Vol. 123, pp. 897-971, 1997.
4.Yao, J.T.P (ed.), “Structural Control”, Engineering Structures, Vol. 20, No. 3, pp. 133-237, 1998.
5.Chung, L.L., Lin, C.C., and Chu, S.Y., “Optimal Direct Output Feedback of Structural Control”, Journal of Engineering Mechanics, ASCE, Vol. 119, No. 11, pp. 2157-2173, 1993.
6.Lin, C.C., Chung, L.L., and Lu, K.H., “Optimal Discrete-time Structural Control Using Direct Output Feedback”, Engineering Structures, Vol. 18, No. 6, pp. 472-482, 1996.
7.Kobori, T., Koshika, N., Yamada, K., and Ikeda, Y., “Seismic-response-controlled Structure with Active Mass Driver System. Part 1: Design”, Earthquake Engineering and Structural Dynamics, Vol. 20, pp. 133-149, 1991.
8.Kobori, T., Koshika, N., Yamada, K., and Ikeda, Y., “Seismic-response-controlled Structure with Active Mass Driver System. Part 2: Verification”, Earthquake Engineering and Structural Dynamics, Vol. 20, pp. 151-166, 1991.
9.Kose, I.E., Schmitendorf, W.E., and Yang, J.N., “ Active Seismic Response Control Using Static Output Feedback”, Journal of Engineering Mechanics, ASCE, Vol. 122, No. 1, pp. 651-659, 1996.
10.Wu, J.C., Yang, J.N., and Schmitendorf, W.E., “Reduced-order and LQR Control for Wind-excited Tall Buildings”, Engineering Structures, Vol. 20, No. 3, pp. 222-236, 1998.
11.Lu, L.Y., “Seismic Test of Model Control with Direct Output Feedback for Building Structures”, Structural Engineering and Mechanics, Vol. 12, No. 6, pp. 633-656
12.Lu, L.Y., and Chung, L.L. “Modal Control of Seismic Structures using Augmented State Matrix”, Earthquake Engineering and Structural g Dynamics, Vol. 30, No. 2, pp. 237-256
13.朱世禹, “直接輸出回饋之主動結構控制”, 國立中興大學土木工程研究所碩士論文,1992.
14.Doyle, J.C., Glover, K., Khargonekar, P.P., Francis, B.A., “State-space Solutions to Standard and Control Problems”, IEEE Transactions on Automatic Control, Vol. 34, No. 8, pp. 831-847, 1989.
15.Yang, C.D., and Yeh, F.B., Linear and Nonlinear Control - Game Theory Approach, 全華圖書, 1997.
16.Yaesh, I., and Shaked, U., “Minimum Entropy Static Output-Feedback Control with an -Norm Preformance Bound”, IEEE Transactions on Automatic Control, Vol. 42, No. 6, pp.853-858, 1997.
17.Skelton, R. E., Stoustrup, J., and Iwasaki, T., “The Control Problem Using Static Output Feedback”, International Journal of Robust and Nonlinear Control, Vol. 4, pp.449-455, 1994.
18.Gu, G., and Misra, P., “Disturbance Attentuation and Optimization with Linear Output Feedback Control”, Journal of Guidance, Control and Dynamics, AIAA, Vol. 17, pp.145-152, 1994.
19.Abdel-Rohman, M., “Time-Delay Effects on Actively Damped Structures”, Journal of Engineering Mechanics, ASCE, Vol. 113, No. 11, pp. 1709-1719, 1987.
20.Yang, J.N., Akbarpour, A., and Askar, G., “Effect of Time Delay on Control of Seismic-Excited Buildings”, Journal of Structural Engineering, ASCE, Vol. 116, No. 10, pp. 2801-2814, 1990.
21.Pu, J.P. and Kelly, J.M., “Active Control and Seismic Isolation”, Journal of Engineering Mechanics, ASCE, Vol. 117, No. 10, pp. 2221-2236, 1991.
22.Abdel-Mooty, M., and Roorda, J., “Time-Delay Compensation in Active Damping of Structures”, Journal of Engineering Mechanics, ASCE, Vol. 117, No. 11, pp. 2549-2570, 1991.
23.Agrawal, A.K., Fujino, Y., and Bhartia, B.K., “Instability Due to Time Delay and Its Compensation in Active Control of Structures”, Earthquake Engineering and Structural Dynamics, Vol. 22, pp. 211-224, 1993.
24.Inaudi, J.A. and Kelly J.M., “A Robust Delay-Compensation Technique Based on Memory”, Earthquake Engineering and Structural Dynamics, Vol. 23, pp. 987-1001, 1994.
25.Lin, C.C., Chung, L.L., and Lu, K.H., “Direct Output Feedback Control of Discrete-Time Systems”, 12th International Conference on Structural Mechanics in Reactor Technology (SMiRT12), SD1K07/5, pp. 303-308, 1993.
26.Chung, L.L., Lin, C.C., and Lu, K.H., “Time-Delay Control of Structures”, Earthquake Engineering and Structural Dynamics, Vol. 24, pp. 687-701, 1995.
27.Zhang, L. Yang, C.Y., Chajes, M.J., and Cheng A.H-D., “Stability of Active-Tendon Structural Control with Time Delay”, Journal of Engineering Mechanics, ACSE, Vol. 119, No. 5, pp. 1017-1024, 1993.
28.Dyke, S.J., Spencer Jr., B.F., Quast, P., and Sain, M.K., “Role of Control-Structure Interaction in Protective System Design”, Journal of Engineering Mechanics, ASCE, Vol. 121, No. 2, pp. 322-339, 1995.
29.Lin, C.C., Sheu, J,F., Chu, S.Y. and Chung, L.L., “Time Delay Effect and Its Solutions in Direct Output Feedback Control of Structures”, Earthquake Engineering and Structural Dynamics, Vol. 25, pp. 547-559, 1996.
30.陳皇霖, “ 與LQR控制效用之比較”, 國立中興大學土木工程研究所碩士論文, 2002.
31.Zhou, K., and Doyle, J. C., Essentials of Robust Control, Prentice-Hall, Inc., New Jersey, 1998.
32.陳宜生及劉書聲, 談談熵, 牛頓出版社, 1996.
33.D. Mustafa, K. Glover, and D. J. N. Limebeer, “Solutions to the general distance problem which minimize an entropy integral,” Automatica, vol. 27, pp. 193-199, 1991.
34.Stoorvogel, A. A., “The Singular Minimum Entropy Control Problem ”, System & Control Letter, Vol.16, pp.411-422, 1991.
35.潘銘棋, “ 直接輸出回饋之結構控制”, 國立中興大學土木工程研究所碩士論文, 2001.
36.魏志揚, “ 主動控制系統之穩定與減振分析”, 國立中興大學土木工程研究所碩士論文, 1999.
QRCODE
 
 
 
 
 
                                                                                                                                                                                                                                                                                                                                                                                                               
第一頁 上一頁 下一頁 最後一頁 top