CN111240206B - Building structure limited-time anti-seismic control method, system, device and medium - Google Patents
Building structure limited-time anti-seismic control method, system, device and medium Download PDFInfo
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- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
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Abstract
The invention discloses a limited-time anti-seismic control method, a limited-time anti-seismic control system, a limited-time anti-seismic control device and a limited-time anti-seismic control medium for a building structure. The method comprises establishing a first dynamical model of the building structure; adjusting the first mechanical model based on the constraint condition of the failure of the uncertain actuator to obtain a second mechanical model of the building structure in the failure state of the uncertain actuator; establishing a prediction model of seismic wave acceleration through a fuzzy logic system; and analyzing to obtain the controller output constraint of the building structure based on the second mechanical model and the seismic wave acceleration prediction model. By using the method provided by the invention, the building can be rapidly stabilized within an effective time under the condition that an uncertain actuator fails, and the safety of the building is improved. The invention can be widely applied to the technical field of active earthquake resistance.
Description
Technical Field
The invention relates to the technical field of active earthquake resistance, in particular to a building structure limited time earthquake resistance control method, a building structure limited time earthquake resistance control system, a building structure limited time earthquake resistance control device and a building structure limited time earthquake resistance control medium.
Background
Earthquake is a huge natural disaster, and seriously harms human life and property safety; the method has important significance in researching the influence of the seismic waves on the building structure. The existing building structure shock absorption control is passive control, however, the construction and installation process of the shock insulation support is complex, and the shock insulation support is difficult to adjust and change after being installed. Meanwhile, the active anti-seismic control of the building structure is continuously developed, and the active anti-seismic technology is a control mode that in the process that the building is affected by an earthquake, a computer intelligent control system is used for monitoring, a controller provides action instruction control, and actuators such as active dampers and other equipment apply power to a target building in time, so that the influence of structural vibration is quickly controlled and weakened.
In the actual earthquake process, the failure of the actuator is likely to occur, or the actual working state of the actuator cannot be determined. However, the traditional control is carried out based on the condition that the actuator works well, and most control methods attribute the lyapuloff stability of the system to the field of asymptotic stability research, which means that the stability time tends to be infinite and the stability of the building structure cannot be controlled in time. At present, a good active anti-seismic technical scheme is still lacked in the prior art to solve the above problems.
The noun explains:
a fuzzy logic system: the fuzzy logic system refers to a system constructed using fuzzy concepts and fuzzy logic. When it is used to act as a Controller, it is called a Fuzzy Logic Controller (Fuzzy Logic Controller). Due to the liberty in selecting fuzzy concepts and fuzzy logic, a wide variety of fuzzy logic systems can be constructed. The most common fuzzy logic systems fall into three categories: pure fuzzy logic systems, high wood-gatekeeper fuzzy logic systems, and fuzzy logic systems with fuzzy generators and fuzzy cancellers.
Lyapuloff stability: in the field of automatic control, lyapunov stability (or Lyapunov stability) can be used to describe the stability of a powertrain system. If the trajectory of any initial condition of the powertrain system near the equilibrium state is maintained near the equilibrium state, it may be referred to as at-rest lyapunov stabilization. Lyapunov stability can be used in both linear and non-linear systems. However, the stability of a linear system can be determined in other ways, and therefore lyapunov stability is mostly used to analyze the stability of a nonlinear system.
Disclosure of Invention
The present invention aims to solve at least to some extent one of the technical problems existing in the prior art.
Therefore, an object of the embodiments of the present invention is to provide a limited-time earthquake-resistant control method for a building structure, which compensates vibration control for adaptive failure in a limited time, and can ensure that the building can be quickly stabilized in an effective time even if an actuator with uncertainty fails, thereby improving the safety of the building.
It is a further object of embodiments of the present invention to provide a limited time seismic control system for a building structure.
In order to achieve the technical purpose, the technical scheme adopted by the embodiment of the invention comprises the following steps:
in a first aspect, an embodiment of the present invention provides a limited-time earthquake-resistant control method for a building structure, including the following steps:
establishing a first dynamical model of the building structure;
adjusting the first mechanical model based on the constraint condition of the failure of the uncertain actuator to obtain a second mechanical model of the building structure in the failure state of the uncertain actuator;
establishing a prediction model of seismic wave acceleration through a fuzzy logic system;
and analyzing to obtain the controller output constraint of the building structure based on the second mechanical model and the seismic wave acceleration prediction model.
In addition, the limited-time earthquake-resistant control method for the building structure according to the embodiment of the invention can also have the following additional technical characteristics:
further, in an embodiment of the present invention, the method further comprises the following steps: updating the controller output constraints based on adaptive control principles.
Further, in one embodiment of the present invention, the step of establishing the first mechanical model of the building structure specifically includes:
acquiring data of a mass matrix, a rigidity matrix and a damping matrix of a building structure;
establishing an overall mechanics model of the building structure based on the mass matrix, the stiffness matrix and the damping matrix data of the building structure;
decoupling the integral mechanics model of the building structure according to the hierarchy of the building structure to obtain a first mechanics model for building the building structure.
Further, in an embodiment of the present invention, the step of adjusting the first mechanical model based on the constraint condition of uncertain actuator failure specifically includes:
establishing a mathematical model of the failure of the uncertain actuator based on the constraint condition of the failure of the uncertain actuator;
and simultaneously connecting the mathematical model of the uncertain actuator failure and the first mechanical model.
Further, in an embodiment of the present invention, the mathematical model of the uncertain actuator failure is specifically expressed as:
wherein t is a time scale, u ij (t) is the ideal output of the controller to control the jth actuator of the ith layer,
is the actual output of the jth actuator of the ith layer, and is more than or equal to 0 and less than or equal to rho ij ≤1，
And t iF Is a random quantity.
Further, in an embodiment of the present invention, the creating a prediction model of seismic wave acceleration by using a fuzzy logic system specifically includes:
by the formula
Obtaining a prediction model of seismic wave acceleration;
wherein, the first and the second end of the pipe are connected with each other,
the method comprises the steps of calculating the time scale of the ground seismic acceleration, wherein t is the time scale, x is the input of a fuzzy logic system, W is a preset ideal weight vector, and H (x) is expressed as a vector of a fuzzy basis function.
In a second aspect, an embodiment of the present invention provides a limited-time earthquake-resistant control system for a building structure, including:
a first modeling module for building a first dynamical model of the building structure;
the adjusting module is used for adjusting the first mechanical model based on a constraint condition of failure of the uncertain actuator to obtain a second mechanical model of the building structure in a failure state of the uncertain actuator;
the second modeling module is used for establishing a prediction model of the seismic wave acceleration through a fuzzy logic system;
and the analysis module is used for analyzing and obtaining the controller output constraint of the building structure based on the second mechanical model and the seismic wave acceleration prediction model.
In a third aspect, an embodiment of the present invention provides a limited-time earthquake-resistant control device for a building structure, including:
at least one processor;
at least one memory for storing at least one program;
when executed by the at least one processor, the at least one program causes the at least one processor to implement the method for limited-time seismic control of a building structure.
In a fourth aspect, embodiments of the present invention also provide a medium having stored therein processor-executable instructions, which when executed by a processor, are configured to implement the method for limited-time seismic control of a building structure.
Advantages and benefits of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention:
the embodiment of the invention establishes the building structure model under the condition of uncertain actuator failure. And (3) regarding uncertain seismic waves as unknown nonlinear terms in the control system, and approximating the uncertain seismic waves by a fuzzy adaptive method. Aiming at the problem of actuator failure, an active vibration control system in limited time is designed by combining a self-adaptive compensation method to inhibit the vibration of a building structure. The method can ensure that all states of the system are bounded and remain stable for a limited time under the condition that the actuator of the structure fails; the stability and the safety of the building structure can be effectively improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following description is made on the drawings of the embodiments of the present invention or the related technical solutions in the prior art, and it should be understood that the drawings in the following description are only for convenience and clarity of describing some embodiments in the technical solutions of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic flow chart of an embodiment of a limited-time seismic control method for a building structure according to the present invention;
FIG. 2 is a graph comparing displacement information of a building structure without control using the control method of the present invention, the LQR control method;
FIG. 3 is a graph comparing speed information of a building structure without control using the control method, LQR control method, and the present invention;
FIG. 4 is a graph comparing acceleration information of a building structure without control by using the control method and the LQR control method of the invention;
FIG. 5 is a schematic structural diagram of an embodiment of a limited-time seismic control system for a building structure according to the present invention;
fig. 6 is a schematic structural diagram of an embodiment of a limited-time earthquake-resistant control device for a building structure according to the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention. The step numbers in the following embodiments are provided only for convenience of illustration, the order between the steps is not limited at all, and the execution order of each step in the embodiments can be adapted according to the understanding of those skilled in the art.
Hereinafter, a method and a system for finite time seismic control of a building structure according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings, and first, a method for finite time seismic control of a building structure according to an embodiment of the present invention will be described with reference to the accompanying drawings.
Referring to fig. 1, the limited-time earthquake-resistant control method for the building structure in the embodiment of the invention mainly comprises the following steps:
s1: establishing a first dynamical model of the building structure;
s2: adjusting the first mechanical model based on the constraint condition of the failure of the uncertain actuator to obtain a second mechanical model of the building structure in the failure state of the uncertain actuator;
s3: establishing a prediction model of seismic wave acceleration through a fuzzy logic system;
s4: and analyzing to obtain the controller output constraint of the building structure based on the second mechanical model and the seismic wave acceleration prediction model.
In the embodiment of the invention, firstly, a corresponding mechanical model is established for the building structure needing earthquake resistance control, and the earthquake resistance control method of the building structure in the embodiment of the invention is realized on the basis of analyzing the dynamic model so as to obtain an actual control strategy. For a general n-layer building structure, based on a shear type building model thereof, n freedom degree systems can be established, and when the general n-layer building structure is acted by a ground earthquake, the following mechanical equation can be established:
wherein the content of the first and second substances, x ＝[x 1 ,x 2 ,x 3 ,…x n ] T is a displacement vector of the building structure, which can be measured by a displacement sensor, i =1,2., n is a displacement of the ith floor of the building structure relative to the ground; m is a quality matrix, and the specific parameters are as follows:
K∈R n×n as a stiffness matrix, the specific parameters are:
C∈R n×n for the damping matrix, the specific parameters are:
f = -MI is transformation matrix of ground seismic acceleration, wherein I = [1, \8230;, 1]Is a unit column of n × 1;
is the ground seismic acceleration; u (t)＝[u 1 (t),u 2 (t),…u i (t),…u n (t)] T to control the output, where u ij (t) represents the output of the jth actuator of the nth layer.
In the mechanical equation, M, K and C can be obtained from actual conditions or relevant data of the building. In a natural situation, a building structure comprises multiple layers, but when earthquake resistance analysis is actually carried out on the building structure, the whole system can be decoupled and split into multiple subsystems, and independent earthquake resistance analysis is carried out on each layer of the building. It will be appreciated that if the building structure independent single-layer subsystem can be stabilized, it is clear that the multi-layer system is also stabilized, and by decoupling the analysis of the single-layer subsystem, the complexity of the analysis can be greatly reduced. The process of decoupling is as follows:
order to
Z＝[z 1 ,z 2 ] T Then the original mechanical model can be represented as:
the above equation is the first resulting dynamic model of the building structure.
Actuators are important components in active vibration control, and are used for executing controller output of a system, but in an actual earthquake, the failure condition of the actuator is likely to exist, and particularly, the failure condition of the actuator has two different degrees: partial failure (PLOE) in which the actual output of the actuator is only partially desired due to partial damage or lack of power; (II) complete failure (TLOE): total failure of the actuator output due to total damage or malfunction; we cannot identify the actual failure condition of the actuator.
V. the ij (t) is the output signal of the controller for controlling the output of the jth actuator of the ith layer. Considering the constraints of uncertain actuator failures in the above system, the mathematical model of the failure is described as follows:
wherein t is a time scale, u ij (t) is the ideal output of the controller to control the jth actuator of the ith layer,
is the actual output of the jth actuator of the ith layer, and is more than or equal to 0 and less than or equal to rho ij ≤1，
And t iF Is a random quantity.
When ρ ij When the ratio is not less than 1,
for the jth actuator on the ith layer, the output of the actuator is equal to the output signal of the controller, and the control effect can be completely achieved, which indicates that the actuator is in a normal working state. When 0 is present<ρ ij <1, then
The expected actuator output is not fully achieved, which indicates that the actuator has lost some performance during operation, referred to as partial failure (PLOE). When rho ij =0, the actuator is blocked or completely inoperable, which means that the output of the actuator is no longer at all at the output v of the controller ij (t), which is indicative of a complete actuator failure.
Is provided with
Based on the above analysis, the mathematical model of indeterminate actuator failure and the first mathematical model are combined, and the indeterminate actuator failure model of the architectural structural system can be described as
In step S3 of the embodiment of the present invention, in order to improve the anti-seismic effect, the acceleration of seismic waves is regarded as an unknown time-varying nonlinear function, and it is a challenge to design an unknown term for active control, in the embodiment of the present invention, a Fuzzy Logic System (FLSs) approximation study is adopted for an approximate unknown nonlinear term, where the principle of the fuzzy logic system is expressed as follows:
wherein phi = [ phi ] 1 ,φ 2 ,…,φ n ] T ∈R N Is an unknown weight vector, psi = [ psi = 1 ,ψ 2 ,…,ψ N ] T ∈R N Expressed as a vector of known fuzzy basis functions,
is the input vector of the approximator.
Fuzzy basis function
The expression of (c) is:
wherein the content of the first and second substances,
is the center of the acceptance domain and the width of the basis function.
For the fuzzy logic system approximation of seismic wave acceleration in the embodiment of the invention, according to the principle of the fuzzy logic system, a nonlinear function is unknown
Can be approximated as:
where x is the input to the fuzzy logic system, W is the ideal weight vector, H (x) is represented as a vector of known fuzzy basis functions,
wherein
Is an estimate of W.
In step S4 of the embodiment of the present invention, n subsystems in the n-story building structure system with actuator failure need to be stabilized, and for the ith subsystem (ith story), the controller drives the actuator to possibly fail, and at the same time, in order to dynamically compensate the seismic wave acceleration
Approximated with a fuzzy logic system, and in addition, the controller parameters can be adjusted on-line to compensate for actuator failure.
Specifically, the control object of the embodiment of the invention is a finite time stability controller of a system uncertain actuator failure model, and the displacement of the building structure is required to be ensured to be small in a finite time so that the building structure is not influenced by seismic waves. According to the control object, the state z of each layer 1 Should converge to a small set, the embodiment of the present invention employs a back-stepping technique to reduce the complexity of the controller design. To design a suitable virtual controller, the following error equation is established:
wherein, tau 1i I =1,2,3.. N is a virtual controller.
τ i Is designed as
Wherein, the first and the second end of the pipe are connected with each other,
l is a natural number, h 1 For positive design parameters, then:
wherein h is 2 Are positive design parameters.
To compensate for the effectiveness of actuator failure, the output of the controller should be such that:
wherein
Is an indeterminate constant vector; w = [ tau ] 2i 1] T ，s i Will lead to uncertain parameters, and in order to solve the problem, the control design of the embodiment of the invention also adoptsTheory of adaptive control, expressed as
Wherein
Is an estimate of s and is updated by adaptive laws, therefore, the output of the controller can be described as:
in particular, the adaptive law may be designed to:
wherein lambda is more than 0, and gamma is positive definite matrix.
By the control method, the obtained error is analyzed through the Lyapunov function, all states in a closed-loop system are bounded, and the state z can be obtained 1 Bounded in a finite time, parameter h of the controller 1 ,h 2 Beta is adjustable.
The beneficial effects of the control method in the embodiment of the invention include but are not limited to:
1. the seismic wave is considered as an uncertain item in a control system, the control system is approximated to be a fuzzy logic system (namely the fuzzy logic system is adopted to approximate the uncertain seismic wave in the system), and meanwhile, in order to guarantee the control effect when an actuator fails, an adaptive failure compensation vibration control method is provided. The method can effectively inhibit the vibration of the building structure control system under the condition that the actuator fails.
2. Compared with the gradual stabilization, the embodiment of the invention provides a finite time controller for restraining the vibration of the building structure. By combining with failure compensation control, finite time self-adaptive failure compensation vibration control is designed, and the failure (actuator failure) of an actuator with uncertainty can be ensured to be kept stable in the effective time.
3. In the embodiment of the invention, the effect of dynamic compensation is achieved by carrying out fuzzy logic system approximation on the seismic wave acceleration, and in addition, the parameters of the controller can be adjusted on line to compensate the failure of the actuator.
4. The compensation control method designed in the embodiment of the invention is bounded in all states in the event of actuator failure and remains stable for a limited time.
The effectiveness of the embodiments of the present invention was verified in order to simulate different actuator failure conditions. The following examples comparative tests we used: the building system is a three-storey building with two actuators on each storey, and the ground acceleration
The assumption was that of the aseismic recording of the eelemaro earthquake of 1940. In addition, comparison control was performed using an LQR (linear quadratic regulator) control method.
The building system parameters are as follows:
the membership function of the fuzzy logic system and the controller is designed as follows:
the control parameters are as follows:
the LQR (linear quadratic regulator) controlled R and Q are chosen as follows:
the initial conditions were: assuming that one actuator per layer has a partial failure after 3 seconds, the parameters are set as follows:
referring to the attached drawings 2,3 and 4, comparison results of displacement, speed and acceleration response under the condition of partial failure are obtained by respectively adopting the uncontrolled control, the LQR control and the proposed control method.
Next, a limited-time earthquake-resistant control system of a building structure according to an embodiment of the present invention will be described with reference to the accompanying drawings.
Fig. 5 is a schematic structural view of a limited-time earthquake control system of a building structure according to an embodiment of the present invention.
The system specifically comprises:
a first modelling module 101 for creating a first dynamical model of the architectural structure;
the adjusting module 102 is configured to adjust the first mechanical model based on a constraint condition that the uncertain actuator fails to obtain a second mechanical model of the building structure in a failure state of the uncertain actuator;
the second modeling module 103 is used for establishing a seismic wave acceleration prediction model through a fuzzy logic system;
and the analysis module 104 is configured to analyze the controller output constraint of the building structure based on the second mechanical model and the prediction model of the seismic acceleration.
It can be seen that the contents in the foregoing method embodiments are all applicable to the present system embodiment, the functions specifically implemented by the present system embodiment are the same as those in the foregoing method embodiment, and the beneficial effects achieved by the present system embodiment are also the same as those achieved by the foregoing method embodiment.
Referring to fig. 6, an embodiment of the present invention provides a limited-time earthquake-resistant control device for a building structure, including:
at least one processor 201;
at least one memory 202 for storing at least one program;
the at least one program, when executed by the at least one processor 201, causes the at least one processor 201 to implement the building structure limited-time seismic control method.
Similarly, the contents in the method embodiments are all applicable to the apparatus embodiment, the functions specifically implemented by the apparatus embodiment are the same as those in the method embodiments, and the beneficial effects achieved by the apparatus embodiment are also the same as those achieved by the method embodiments.
Embodiments of the present invention also provide a storage medium, in which instructions executable by the processor 201 are stored, and the instructions executable by the processor 201 are configured to perform the method for controlling limited-time seismic resistance of a building structure when executed by the processor 201.
Similarly, the contents in the foregoing method embodiments are all applicable to this storage medium embodiment, the functions specifically implemented by this storage medium embodiment are the same as those in the foregoing method embodiments, and the advantageous effects achieved by this storage medium embodiment are also the same as those achieved by the foregoing method embodiments.
In alternative embodiments, the functions/acts noted in the block diagrams may occur out of the order noted in the operational illustrations. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality/acts involved. Furthermore, the embodiments presented and described in the flow charts of the present invention are provided by way of example in order to provide a more thorough understanding of the technology. The disclosed methods are not limited to the operations and logic flows presented herein. Alternative embodiments are contemplated in which the order of various operations is changed and in which sub-operations described as part of larger operations are performed independently.
Furthermore, although the present invention is described in the context of functional modules, it should be understood that, unless otherwise stated to the contrary, one or more of the described functions and/or features may be integrated in a single physical device and/or software module, or one or more functions and/or features may be implemented in a separate physical device or software module. It will also be appreciated that a detailed discussion of the actual implementation of each module is not necessary for an understanding of the present invention. Rather, the actual implementation of the various functional modules in the apparatus disclosed herein will be understood within the ordinary skill of an engineer, given the nature, function, and internal relationship of the modules. Accordingly, those of ordinary skill in the art will be able to practice the invention as set forth in the claims without undue experimentation. It is also to be understood that the specific concepts disclosed are merely illustrative of and not intended to limit the scope of the invention, which is to be determined from the appended claims along with their full scope of equivalents.
The functions, if implemented in the form of software functional units and sold or used as separate objects, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention or a part thereof, which essentially contributes to the prior art, can be embodied in the form of a software object stored in a storage medium, and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The logic and/or steps represented in the flowcharts or otherwise described herein, such as an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device.
More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
In the foregoing description of the specification, reference to the description of "one embodiment/example," "another embodiment/example," or "certain embodiments/examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
While the preferred embodiments of the present invention have been illustrated and described, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (8)
1. A building structure limited-time earthquake-resistant control method is characterized by comprising the following steps:
establishing a first dynamical model of the building structure;
adjusting the first mechanical model based on a constraint condition of the failure of the uncertain actuator to obtain a second mechanical model of the building structure in the failure state of the uncertain actuator;
establishing a prediction model of seismic wave acceleration through a fuzzy logic system;
analyzing to obtain controller output constraint of the building structure based on the second mechanical model and the seismic wave acceleration prediction model;
the method comprises the following steps of establishing a seismic wave acceleration prediction model through a fuzzy logic system, wherein the seismic wave acceleration prediction model specifically comprises the following steps: by the formula
Obtaining a prediction model of seismic wave acceleration;
wherein the content of the first and second substances,
is the ground seismic acceleration, t is the time scale, x is the input of the fuzzy logic system, W is the preset ideal weight vector,
represented as a vector of fuzzy basis functions.
2. A limited time seismic control method for a building structure according to claim 1, further comprising the steps of: updating the controller output constraints based on adaptive control principles.
3. A method for finite time seismic control of a building structure according to claim 1, wherein the step of establishing a first dynamic model of the building structure comprises:
acquiring data of a mass matrix, a rigidity matrix and a damping matrix of a building structure;
establishing an integral mechanics model of the building structure based on the mass matrix, the stiffness matrix and the damping matrix data of the building structure;
decoupling the integral mechanics model of the building structure according to the hierarchy of the building structure to obtain a first mechanics model for building the building structure.
4. A method for finite-time seismic control of a building structure according to claim 1, wherein the step of adjusting the first kinematic model based on the constraint of uncertain actuator failure comprises:
establishing a mathematical model of the failure of the uncertain actuator based on the constraint condition of the failure of the uncertain actuator;
and combining the mathematical model of the uncertain actuator failure and the first force model.
5. A method for finite time seismic control of a building structure according to claim 4, characterized in that the mathematical model of uncertain actuator failure is specifically expressed as:
wherein, t is a time scale,
to control the desired output of the jth actuator of the ith layer by the controller,
is the actual output of the jth actuator of the ith layer,
，
and
is a random quantity.
6. A building structure limited time seismic control system, comprising:
a first modeling module for building a first dynamical model of the building structure;
the adjusting module is used for adjusting the first mechanical model based on a constraint condition of failure of the uncertain actuator to obtain a second mechanical model of the building structure in a failure state of the uncertain actuator;
the second modeling module is used for establishing a prediction model of the seismic wave acceleration through a fuzzy logic system;
the analysis module is used for analyzing and obtaining controller output constraints of the building structure based on the second mechanical model and the seismic wave acceleration prediction model;
the method comprises the following steps of establishing a seismic wave acceleration prediction model through a fuzzy logic system, wherein the seismic wave acceleration prediction model specifically comprises the following steps: by the formula
A prediction model of seismic wave acceleration;
wherein the content of the first and second substances,
is the ground seismic acceleration, t is the time scale, x is the input of the fuzzy logic system, W is the preset ideal weight vector,
represented as a vector of fuzzy basis functions.
7. A building structure limited time seismic control device, comprising:
at least one processor;
at least one memory for storing at least one program;
when executed by the at least one processor, cause the at least one processor to implement a method for limited-time seismic control of a building structure according to any one of claims 1-5.
8. A computer-readable storage medium having stored therein instructions executable by a processor, the computer-readable storage medium comprising: the processor-executable instructions, when executed by the processor, are for implementing a method for limited-time seismic control of a building structure according to any one of claims 1-5.
Priority Applications (1)
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| CN107390529A (en) * | 2017-08-22 | 2017-11-24 | 广州大学 | A kind of fuzzy self-adaption Actuators Failures compensating control method based on bandwidth conservation |
| CN107390527A (en) * | 2017-08-22 | 2017-11-24 | 广州大学 | A kind of fuzzy self-adaption compensating control method when actuator time lag and failure |
| CN107450320A (en) * | 2017-08-22 | 2017-12-08 | 广州大学 | A kind of fuzzy self-adaption compensating control method of Actuators Failures |
| CN109143860A (en) * | 2018-09-06 | 2019-01-04 | 广州大学 | A kind of building active earthquake resistant control method |
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| CN107390529A (en) * | 2017-08-22 | 2017-11-24 | 广州大学 | A kind of fuzzy self-adaption Actuators Failures compensating control method based on bandwidth conservation |
| CN107390527A (en) * | 2017-08-22 | 2017-11-24 | 广州大学 | A kind of fuzzy self-adaption compensating control method when actuator time lag and failure |
| CN107450320A (en) * | 2017-08-22 | 2017-12-08 | 广州大学 | A kind of fuzzy self-adaption compensating control method of Actuators Failures |
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