采用Kalman滤波器的实时混合试验方法  

Real-time Hybrid Testing with Kalman Filter

作　　者：史鹏飞[1,2] 吴斌[1] Billie F. Spencer, Jr. Brian M. Phillips Chia-Ming Chang 

机构地区：[1]哈尔滨工业大学土木工程学院,黑龙江哈尔滨150090 [2]美国伊利诺伊大学香槟,建筑与环境工程学院,伊利诺伊61801

出　　处：《结构工程师》2011年第B01期52-56,共5页Structural Engineers

基　　金：国家自然科学基金(90715036,91015004,50938001)

摘　　要：等效力控制方法采用力反馈控制代替隐式积分方法中的迭代过程,从而使等效力控制方法在避免隐式积分方法的迭代过程的同时仍具有隐式积分方法的无条件稳定性。利用该力反馈控制,等效力控制方法还具有对实时子结构试验中的时滞进行补偿的作用。但是,在实际的实时子结构试验中,能够影响等效力控制方法时滞补偿效果的因素有很多,噪声就是其中之一。本文研究了噪声对等效力控制方法稳定性的影响。提高等效力PID控制器的比例增益可对系统时滞起到补偿作用,但是当比例增益较大时,等效力反馈中的噪声会降低等效力控制方法的稳定性。为了对等效力反馈中的噪声进行滤波,本文采用了基于作动器模型设计的Kalman滤波器,并通过实时子结构实验方法对其滤波效果进行研究。研究结果表明此滤波器能够有效地过滤噪声,消除噪声对等效力控制方法稳定性的影响。The equivalent force control （EFC） method has been developed for real-time hybrid testing to replace the numerical iteration in implicit integration with a force-feedback control loop. With this control loop, the EFC method can also compensate the time delay in real-time hybrid testing. However, some other factors may influence the effect of time delay compensation of EFC method, such as noise in the measured displacement and force feedback. This paper discusses the noise influence on the stability of experimental system in EFC method. To filter the noise in the measured actuator displacement, a Kalman filter was designed based on the model of actuator. The real-time substructure testing technology was employed to evaluate the effect of Kalman filter. The results show that the Kalman filter designed in this paper can filter the noise effectively and improve the stability of the system with EFC method.

关 键 词：实时子结构实验 等效力控制 KALMAN滤波器 磁流变阻尼器 

分 类 号：TU317[建筑科学—结构工程]