地震模拟振动台台阵系统多参量联合控制技术研究

It is an international trend on the research and development of shaking table array system. As the multi-dimensional multi-point earthquake excitation, it is more complex than the traditional shaking table system and needs more in-depth study on test methods and control technology. The domestic construction of shaking table array is largely dependent on the technically importation at present. And the investment on the shaking table array research is relatively poor. Shaking table array was involving civil engineering, hydraulic, electronics and many other disciplines in the theoretical and technical, with the characteristics of a wide frequency band and acceleration feedback control, it has a lot of research content and good prospects for industrial applications. The research team for this project was in charged of the design, construction, development and operation of the largest number of shaking tables system in the world: the nine sub-units shaking table array system in the Beijing University of Technology. This system was construction by a Chinese company and was independent development and design domestic. A multi-channels integrated control program for this shaking table array system was developed by the members of this project. The simulation of soil and structure interaction was implemented by transplanting the solution algorithms of soil model and feedback control algorithms into the real-time controller of the shaking table array system. And more than 20 multi-dimensional multi-point shaking table array tests were completed using this system by our team. In order to improve the wave reproduction ability and the performance of shaking table array system, a closed loop multi-parameter feedback control theory with time and frequency domain compensation was proposed in this project. A non-linear theoretical model considering of specimen interactions and oil-circuit fluctuation will be studied and the adaptive distributed syn-chronization control algorithm will be discussed and be improved. Moreover, the control parameters self-tuning algorithm, multi-parameter adaptive feedback control mechanism and so on will be systematically studied.

地震模拟振动台台阵是国际上振动台研究和发展的方向，由于可实现多维多点地震场激励,振动台台阵试验理论较之传统单振动台试验更为复杂，配套试验方法和控制技术亟需深入研究。而其理论和技术上涉及土木、液压、电子等诸多学科，兼具频带宽、加速度控制等特点，其研究内容丰富，应用前景广阔。本项目组负责了自主研发的北京工业大学九子台振动台台阵系统的建设、开发和运行，完成了多通道联合控制程序的开发和改造，开展了多振动台混合试验研究，完成多维多点振动台台阵试验20余项。为提高振动台台阵系统的波形再现能力和系统性能，本项目提出考虑时频域补偿的多参量反馈闭环控制理论，拟建立考虑试件非线性相互作用、油源压力波动影响的非线性控制系统模型，实现力、加速度联合反馈和集散式自适应同步控制，并对振动台设计理论、加速度同步控制机理、控制参数自整定算法、多参量自适应反馈控制机理、振动台混合控制等开展系统的研究。

地震模拟振动台是一种具有诸多技术优势的抗震试验设备。振动台台阵是振动台技术的进一步发展，具有布置灵活、能源需求宽松、容易标准化、可以实现多点地震场再现以及可开展大型结构试验等特点。北京工业大学振动台九子台台阵是目前国际上单台数量最多的振动台系统，在多维多点地震场激励下建筑和桥梁结构的抗震研究领域发挥了重要的试验支撑作用。由于该台阵系统的国产控制器和三参量控制算法的性能限制，早期其波形精度不够理想，严重影响了地震行波效应试验、振动台混合试验等试验效果。本项目以提升多振动台台阵系统的控制精度和综合性能为主要研究目标，围绕振动台控制中的关键和热点问题，以大型振动台台阵系统的多参量控制为研究主线，以九子台阵系统为成果应用对象，从振动台台阵系统的设计理论入手，开展了台阵系统设计方法、台阵系统性能影响因素分析、系统精细化建模与仿真、多参量反馈控制算法、控制参数自整定技术、振动台时频域补偿算法、台阵系统的波形评价方法等研究工作。提出并对多参量控制算法进行了分析和验证；基于Simulink和Easy5建立了考虑系统非线性的精细化系统模型，分析了油源、伺服阀、作动器、试件等环节对系统特性的影响；运用最小二乘法、人工神经网络和自适应滤波算法，对振动台模型参数辨识方法进行了系统研究；参考PID整定方法和振动台台阵的调试经验，提出基于专家经验和基于系统辨识的振动台控制参数自整定方法，并对两种方法的整定效果进行了分析和验证；参考单向振动台的波形评价方法，提出应用于振动台台阵波形评价的加权评价方法。本项目的部分研究成果在北京工业大学振动台台阵和单台试验中得到了成功的应用，相关研究工作提升了振动台台阵系统的控制性能，为实时子结构试验的开展提供了技术储备，推动了振动台台阵控制技术的发展。