具有监督功能的斜拉索-MR系统自适应模糊减振控制研究  

Design of Adaptive Fuzzy Damping Control for Stay Cable-magnetorheological System with Supervisory Function

作　　者：何小龙 段玉贺 张刚[1] 陈跃华[1] 冯志敏[1] HE Xiaolong;DUAN Yuhe;ZHANG Gang;CHEN Yuehua;FENG Zhimin(Faculty of Maritime and Transportation,Ningbo University,Ningbo 315211,China;No.58 Research Institute,China Electronics Technology Group Corporation,Wuxi 214072,China)

机构地区：[1]宁波大学海运学院,宁波315211 [2]中国电子科技集团第五十八研究所,无锡214072

出　　处：《农业机械学报》2020年第S01期592-602,共11页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家自然科学基金项目(51675286);浙江省自然科学基金项目(LY20E050006)。

摘　　要：针对磁流变(Magnetorheological,MR)减振控制系统边界条件难以确定、外界激励未知、系统存在建模与结构误差等实际工程问题,本文基于模糊估计与观测理论,以斜拉索减振为应用对象,提出了一种具有监督功能的斜拉索磁流变系统自适应模糊减振控制器设计方法。在控制器设计中,通过模糊估计、自适应补偿器策略降低未知激励突变、参数与建模估计误差对减振控制性能的影响,并且引入监督控制方法监督减振控制性能,提高了减振控制系统的控制精度。基于李雅普洛夫方法证明了斜拉索磁流变阻尼器减振系统的状态有界、渐进稳定,斜拉索以小振速、小振幅收敛。最后以宁波招宝山斜拉桥C20号斜拉索为例进行了仿真验证,仿真结果表明,该方法对未知外界激励干扰、系统结构不确定具有鲁棒性,且减振效果明显。A design method of adaptive fuzzy damping controller for stay cable-magnetorheological system with supervision function was proposed on fuzzy estimation and observation theory,which took the vibration reduction of stay cables as the application object to solve the practical engineering problems in magnetorheological damping control,such as difficult to determine boundary conditions,unknown external excitation,modeling and structural errors in the system.In the controller design,the fuzzy estimation and adaptive compensator strategies were used to reduce the influence of unknown excitation mutation,parameters and modeling estimation errors on the damping control performance,and the supervisory control method was introduced to supervise the vibration reduction control performance.The control accuracy of the damping control system was improved.Based on the Lyapunov method,it was proved that the state of the stay cable-magnetorheological damper system was bounded and asymptotically stable,and the stay cable converged with small vibration velocity and small amplitude.Finally,the simulation verification was carried out by taking the stay cable C20 of Ningbo Zhaobaoshan cable-stayed bridge as an example,and the simulation results showed that the method was robust to unknown external excitation disturbance and uncertain system structure,and the damping effect was outstanding.

关 键 词：磁流变阻尼器 斜拉索 减振控制 自适应模糊控制 模糊估计 

分 类 号：O328[理学—一般力学与力学基础]