CN107975014A - Device and control method for hydraulic steel radial gate parametric vibration active control - Google Patents
Device and control method for hydraulic steel radial gate parametric vibration active control Download PDFInfo
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- CN107975014A CN107975014A CN201711235716.XA CN201711235716A CN107975014A CN 107975014 A CN107975014 A CN 107975014A CN 201711235716 A CN201711235716 A CN 201711235716A CN 107975014 A CN107975014 A CN 107975014A
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- gate
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02B—HYDRAULIC ENGINEERING
- E02B7/00—Barrages or weirs; Layout, construction, methods of, or devices for, making same
- E02B7/20—Movable barrages; Lock or dry-dock gates
- E02B7/40—Swinging or turning gates
- E02B7/42—Gates of segmental or sector-like shape with horizontal axis
Abstract
The invention discloses a kind of device for hydraulic steel radial gate parametric vibration active control, some actuator including main frame of gate and on main frame of gate, main frame of gate includes two longerons and two main beams being arranged in parallel, two longerons and two main beams form a rectangle, in four junctions of longeron and main beam, four support arms are connected to, an actuator is respectively arranged with each support arm.Can be by arranging that piezoelectric pile actuator carries out active control to parametric vibration on support arm.The invention also discloses the control method carried out using the control device, including step 1, signal acquisition, step 2, displacement and speed, step 3 are calculated, calculating handles to obtain optimum control voltage, step 4, optimum control voltage conversion is subjected to active control using the control moment into control moment M to the parametric vibration of gates of segmental shape.
Description
Technical field
The invention belongs to hydraulic engineering technical field, is related to one kind and is used for hydraulic steel radial gate parametric vibration active control
Device, the invention further relates to the control method carried out using the active control device.
Background technology
Hydraulic steel radial gate is that it is safely and reliably transported with one of most commonly used gate form in hydraulic structure
Row is the important leverage of dam safety flood discharge.The vibration problem of steel arch-gate is generally existing, has there is some water conservancy works
The steel arch-gate of journey is destroyed because occurring high vibration, causes serious economic loss.
The parametric vibration of steel arch-gate is the hot spot that academia and engineering circles are paid close attention in recent years, and the harm to gate is in spy
Remote super other kinds of vibration, the at present research to steel arch-gate parametric vibration problem are concentrated mainly on solution arc under fixed condition
The dynamic instability region of shape steel-slag sand, inquire into the judgement of parameter resonance occurs for gate condition and dynamic buckling, there is no pair
The research of parametric vibration control method, it is difficult to pass through optimizing structure design side to be even more particularly with the steel arch-gate being currently running
Case or hydraulics improve kinetic stability.Therefore, the control method of steel arch-gate parametric vibration need further depth
Enter research.
The content of the invention
The object of the present invention is to provide a kind of device for hydraulic steel radial gate parametric vibration active control, Ke Yitong
Cross and arrange that piezoelectric pile actuator carries out active control to parametric vibration on support arm.
The technical solution adopted in the present invention is a kind of dress for hydraulic steel radial gate parametric vibration active control
Put, including main frame of gate and some actuator on main frame of gate, main frame of gate include two to be arranged in parallel
A longeron and two main beams, two longerons and two main beams form a rectangle, in four connections of longeron and main beam
Place, is connected to four support arms, an actuator is respectively arranged with each support arm.
The features of the present invention also resides in,
The parallel beneath of each longeron is provided with two chord members, two chord members are parallel with longeron, and both ends are solid respectively
Surely it is connected on two support arms, one end of two support arms and the main beam of top and the junction of longeron are fixed, and the other end is solid
It is scheduled in branch hinge.
Actuator is arranged on support arm on one section respectively between the fixing point of two chord members.
Actuator, including the upper beam and bottom end rail being fixed on support arm.
Upper beam and bottom end rail collectively form the fixed structure of an II shape, and II shape structure weldings are on support arm.
Fix a piezoelectric pile actuator respectively at the both ends of bottom end rail, force sensor be installed on piezoelectric pile actuator,
Force snesor is fixedly connected by bolt with upper beam.
It is a further object of the present invention to provide the control method of the device.
The present invention another technical solution be a kind of method being controlled using above-mentioned control device, specifically according to
Lower step is implemented：
Step 1, signal acquisition is carried out by acceleration transducer, acceleration transducer is arranged on support arm, measures support arm 2
Dynamic respons signal,
Step 2, digital signal is input in controller to A/D transition cards by the data transfer measured in step 1, and by
Controller calculates displacement and speed,
Step 3, the data that will be obtained in step 2, after further being calculated and handled in the controller, obtain piezoelectricity
The optimum control voltage of pile actuator, circular be,
Using formula (1), calculated,
In formula, M, C, K and S ∈ Rn×nRespectively the mass matrix of space main frame, damping matrix, elastic stiffness matrix and
Geometric stiffness matrix, damping use Rayleigh damping；
X(t)∈RnRespectively acceleration, speed and motion vector；T represents the time,
P0+PtCos θ t=P are parameter load, are applied at girder node and are directed toward support arm, wherein P0For time average pressare, Pt
For fluctuation pressure amplitude, θ is fluctuation pressure basic frequency；
Bs∈Rn×mFor the location matrix of active controlling force,
Km∈Rm×mFor diagonal matrix, its diagonal entry by piezoelectric pile actuator used by piezoelectric constants, U (t)
∈RmFor the control voltage vector of piezoelectric pile actuator device；
According to the optimal control theory of active control, the calculation formula of optimum control voltage is：
U (t)=- GZ (t)
G is Optimal Feedback gain matrix, for the known quantity tried to achieve,
Step 4, by control voltage vector U (t) data calculated in step 3 via D/A transition cards after, then pass through low pass
Wave filter, recently enters driving power, so that the right and left in actuator produces that size is identical, direction is opposite most respectively
Excellent controling power F, so that actuator forms control moment M, leads the parametric vibration of gates of segmental shape using the control moment
Dynamic control.
The invention has the advantages that the steel arch-gate parametric vibration Active Control Method proposed by application, can be with
The dynamic response of steel arch-gate parametric vibration is effectively reduced, away from dynamic instability region, can safely and reliably be transported
OK.
Brief description of the drawings
Fig. 1 is the structure diagram of steel arch-gate main frame；
Fig. 2 is the actuator position schematic diagram of parametric vibration active control；
Fig. 3 is the schematic diagram between the modules involved in control method.
In figure, 1. actuator, 2. support arms, 3. longerons, 4. main beams, 5. chord members, 6. hinges, 7. upper beams, 8. bolts, 9.
Force snesor, 10. pressure pile actuators, 11. bottom end rails.
Embodiment
The present invention is described in detail with reference to the accompanying drawings and detailed description.
A kind of device for hydraulic steel radial gate parametric vibration active control, as shown in Figure 1, including main frame of gate
With some actuator 1 on main frame of gate,
Main frame of gate includes two longerons 3 and two main beams 4 being arranged in parallel, two longerons 3 and two main beams 4
A rectangle is formed, in four junctions of longeron and main beam, is connected to four support arms 2, on each support arm 2 respectively
It is provided with an actuator 1.The parallel beneath of each longeron 3 is provided with two chord members 5, two chord members 5 are parallel with longeron,
And both ends are respectively fixedly connected with two support arms, one end of two support arms 2 and the main beam of top and the junction of longeron are consolidated
Fixed, the other end is each attached in branch hinge 6.
The length of two chord members is different.
Respectively on one section between the fixing point of two chord members 5, actuator 1 is provided with support arm 2,
The structure of actuator 1, as shown in Fig. 2, including the upper beam 7 and bottom end rail 11 that are fixed on support arm 2, upper beam 7
The fixed structure of an II shape is collectively formed with bottom end rail 11, is linked together with support arm 2, it is solid respectively at the both ends of bottom end rail 11
Determine a piezoelectric pile actuator 10, force sensor 9 is installed on piezoelectric pile actuator 10, force snesor passes through bolt 8 and upper horizontal stroke
Beam is fixedly connected.II shape structure weldings are on support arm.
The course of work of actuator 1 in the present invention is, when in use first making alive pre- on piezoelectric pile actuator, then
Increase voltage is carried out on the right produces pulling force F, the left side carries out reducing voltage generation pressure F, so that control moment M is formed, so that
Parametric vibration deformation to support arm carries out active control.
The method that the present invention is controlled using above-mentioned device, as shown in Figure 3, it is characterised in that specifically according to following
Step is implemented：
Step 1, signal acquisition is carried out by acceleration transducer, acceleration transducer is arranged on support arm, measures support arm 2
Dynamic respons signal,
Step 2, digital signal is input in controller, by controlling by the data transfer measured in step 1 to A/D transition cards
Device processed calculates displacement and speed.
Step 3, the data that will be obtained in step 2, after further being calculated and handled in the controller, obtain piezoelectricity
The optimum control voltage of pile actuator, specific computational methods are,
Using formula (1), calculated,
In formula, M, C, K and S ∈ Rn×nRespectively the mass matrix of space main frame, damping matrix, elastic stiffness matrix and
Geometric stiffness matrix, damping use Rayleigh damping；Mass matrix, damping matrix, elastic stiffness matrix and geometric stiffness matrix this
Several matrixes are scalar matrixes, as long as a structure gives, then matrix can be tried to achieve with FInite Element embodies shape
Formula, Rayleigh damping are constant, as long as soon as a structure gives, acquiescence is a constant,
X(t)∈RnRespectively acceleration, speed and motion vector；T represents the time.
P0+PtCos θ t=P are parameter load, are applied at girder node and are directed toward support arm, wherein P0For time average pressare, Pt
For fluctuation pressure amplitude, θ is fluctuation pressure basic frequency；Parameter load is the load acted on gate, for given structure,
The load of effect on it is just to determine.
Bs∈Rn×mFor the location matrix (the distributing position matrix of actuator) of active controlling force,
Km∈Rm×mFor diagonal matrix, its diagonal entry by piezoelectric pile actuator used by piezoelectric constants (piezoelectricity
Strain constant, piezoelectric thickness and area, piezoelectric elasticity modulus etc.),
U(t)∈RmFor the control voltage vector of piezoelectric pile actuator device.
According to the optimal control theory of active control, the calculation formula of optimum control voltage is：
U (t)=- GZ (t)
G is Optimal Feedback gain matrix, for the known quantity tried to achieve,
Step 4, by control voltage vector U (t) data calculated in step 3 via D/A transition cards after, then pass through low pass
Wave filter, recently enters driving power, so that the right and left in actuator produces that size is identical, direction is opposite most respectively
Excellent controling power F, so that actuator forms control moment M, leads the parametric vibration of gates of segmental shape using the control moment
Dynamic control.
Claims (7)
1. a kind of device for hydraulic steel radial gate parametric vibration active control, it is characterised in that including main frame of gate
With some actuator (1) on main frame of gate, the main frame of gate includes two longerons (3) being arranged in parallel
With two main beams (4), described two longerons (3) and two main beams (4) form a rectangles, in longeron and main beam
Four junctions, are connected to four support arms (2), and an actuator is respectively arranged with each support arm (2)
(1)。
2. the device according to claim 1 for hydraulic steel radial gate parametric vibration active control, it is characterised in that
The parallel beneath of each longeron (3) is provided with two chord members (5), described two chord members (5) are parallel with longeron,
And both ends are respectively fixedly connected with two support arms, one end of described two support arms (2) and the main beam of top and longeron
Junction is fixed, and the other end is each attached in branch hinge (6).
3. the device according to claim 1 for hydraulic steel radial gate parametric vibration active control, it is characterised in that
The actuator (1) is arranged on the support arm (2) respectively on one section between the fixing point of two chord members (5).
4. the device according to claim 1 for hydraulic steel radial gate parametric vibration active control, it is characterised in that
The actuator (1), including the upper beam (7) and bottom end rail (11) being fixed on support arm (2).
5. the device according to claim 4 for hydraulic steel radial gate parametric vibration active control, it is characterised in that
The upper beam (7) and bottom end rail (11) collectively forms the fixed structure of an II shape, and the II shapes structure welding is propping up
On arm.
6. the device according to claim 4 for hydraulic steel radial gate parametric vibration active control, it is characterised in that
A piezoelectric pile actuator (10) is fixed respectively at the both ends of the bottom end rail (11), on the piezoelectric pile actuator (10)
Force sensor (9) is installed, the force snesor is fixedly connected by bolt (8) with upper beam.
7. a kind of method that device using described in claim 1 is controlled, it is characterised in that specifically according to following steps
Implement：
Step 1, signal acquisition is carried out by acceleration transducer, the acceleration transducer is arranged on support arm, measures support arm 2
Dynamic respons signal,
Step 2, digital signal is input in controller to A/D transition cards by the data transfer measured in step 1, and by controlling
Device calculates displacement and speed,
Step 3, the data that will be obtained in step 2, after further being calculated and handled in the controller, obtain piezoelectric pile work
The optimum control voltage of dynamic device, circular be,
Using formula (1), calculated,
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In formula, M, C, K and S ∈ Rn×nThe respectively mass matrix of space main frame, damping matrix, elastic stiffness matrix and geometry
Stiffness matrix, damping use Rayleigh damping；
DescribedX(t)∈RnRespectively acceleration, speed and motion vector；T represents the time,
The P0+PtCos θ t=P are parameter load, are applied at girder node and are directed toward support arm, wherein P0For time average pressare,
PtFor fluctuation pressure amplitude, θ is fluctuation pressure basic frequency；
The Bs∈Rn×mFor the location matrix of active controlling force,
The Km∈Rm×mFor diagonal matrix, its diagonal entry by piezoelectric pile actuator used by piezoelectric constants, U
(t)∈RmFor the control voltage vector of piezoelectric pile actuator device；
According to the optimal control theory of active control, the calculation formula of optimum control voltage is：
U (t)=- GZ (t)
G is Optimal Feedback gain matrix, for the known quantity tried to achieve,
Step 4, by control voltage vector U (t) data calculated in step 3 via D/A transition cards after, then pass through low-pass filtering
Device, recently enters driving power, so that the right and left in actuator produces the optimal control that size is identical, direction is opposite respectively
Power F processed, so that actuator forms control moment M, active control is carried out using the control moment to the parametric vibration of gates of segmental shape
System.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711235716.XA CN107975014B (en) | 2017-11-30 | 2017-11-30 | Device and method for actively controlling parameter vibration of hydraulic arc steel gate |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711235716.XA CN107975014B (en) | 2017-11-30 | 2017-11-30 | Device and method for actively controlling parameter vibration of hydraulic arc steel gate |
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| CN107975014A true CN107975014A (en) | 2018-05-01 |
| CN107975014B CN107975014B (en) | 2020-06-26 |
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| CN201711235716.XA Active CN107975014B (en) | 2017-11-30 | 2017-11-30 | Device and method for actively controlling parameter vibration of hydraulic arc steel gate |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113128083A (en) * | 2021-03-15 | 2021-07-16 | 西安理工大学 | Actuator optimal arrangement method for vibration control of hydraulic arc steel gate |
| CN113158297A (en) * | 2021-03-15 | 2021-07-23 | 西安理工大学 | Hydraulic radial steel gate parameter load identification method |
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| CN103646133A (en) * | 2013-11-26 | 2014-03-19 | 中国飞行试验研究院 | Method for simulating effect of piezoelectric actuator based on test correction |
| CN205444130U (en) * | 2015-12-26 | 2016-08-10 | 江南水利水电工程公司 | Power station dam bank flood discharge hole radial gate |
| CN105975730A (en) * | 2016-06-14 | 2016-09-28 | 华北水利水电大学 | Multi-tuned mass damper vibration absorption design method for arc-shaped steel gate |
| CN205941022U (en) * | 2016-06-06 | 2017-02-08 | 中国地震局工程力学研究所 | Universal loading test device of modular |
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2017
- 2017-11-30 CN CN201711235716.XA patent/CN107975014B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002063233A (en) * | 2000-08-22 | 2002-02-28 | Toshiba Corp | Integrated design package preparation system |
| CN102518743A (en) * | 2011-12-30 | 2012-06-27 | 中联重科股份有限公司 | Method for controlling coupled vibration of tower crane and cable support tower structure |
| CN103646133A (en) * | 2013-11-26 | 2014-03-19 | 中国飞行试验研究院 | Method for simulating effect of piezoelectric actuator based on test correction |
| CN205444130U (en) * | 2015-12-26 | 2016-08-10 | 江南水利水电工程公司 | Power station dam bank flood discharge hole radial gate |
| CN205941022U (en) * | 2016-06-06 | 2017-02-08 | 中国地震局工程力学研究所 | Universal loading test device of modular |
| CN105975730A (en) * | 2016-06-14 | 2016-09-28 | 华北水利水电大学 | Multi-tuned mass damper vibration absorption design method for arc-shaped steel gate |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113128083A (en) * | 2021-03-15 | 2021-07-16 | 西安理工大学 | Actuator optimal arrangement method for vibration control of hydraulic arc steel gate |
| CN113158297A (en) * | 2021-03-15 | 2021-07-23 | 西安理工大学 | Hydraulic radial steel gate parameter load identification method |
| CN113158297B (en) * | 2021-03-15 | 2022-11-08 | 西安理工大学 | Hydraulic arc steel gate parameter load identification method |
| CN113128083B (en) * | 2021-03-15 | 2024-04-19 | 西安理工大学 | Actuator optimal arrangement method for vibration control of hydraulic arc-shaped steel gate |
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