KR101561015B1 - Optimal vibration control system based Embedded Software Technology for maintenance of smart structure - Google Patents

Abstract

The present invention relates to an EST-based optimal vibration control system for the maintenance of a smart structure and, more specifically, to an EST-based optimal vibration control system for the maintenance of a smart structure, capable of efficiently and rationally determining a position of sensors, included in the smart structure, through algorithm for the determination of an optimal sensor position by being embedded in an embedded software technology (EST) based measurement system; identifying behavior characteristics by using real time regular vibrations of the smart structure through algorithm for the analysis of a regular vibration response; being used for the basic formation of the smart structure through algorithm for the improvement of a finite element (FE) model; and performing active control according to a state of the smart structure through algorithm for the control of optimal vibrations.

Description

TECHNICAL FIELD [0001] The present invention relates to an EST-based optimal vibration control system for maintenance of a smart structure,

The present invention relates to an EST-based optimal vibration control system for maintenance of a smart structure, which is embodied in an EST (Embedded Software Technology) based measurement system, We can determine the position reasonably and efficiently, identify the behavior characteristics using the real-time vibration of the smart structure through the continuous vibration response analysis algorithm, apply it to the basic structure of the smart structure through the FE (finite element, finite element) And more particularly, to an EST-based optimal vibration control system for maintenance of a smart structure capable of performing active control according to the state of a smart structure through a control algorithm.

In general, construction structures are subject to gradual deterioration due to exposure to various hazardous environments (conditions) after construction and structural defects due to specific events may occur, which may shorten the original designed life expectancy or cause unforeseen damage (destruction) And the like. In addition, aging and unpredictable damage cause changes in factors such as mass and stiffness, which reflect the characteristics of the structure, and these changes cause changes in the dynamic characteristics of the circular structure (Integrity Structure).

Therefore, it is very important to continuously monitor the dynamic characteristics of the structure from the viewpoint of the medium to long term, and to diagnose, maintain and maintain it. For this purpose, Identification shall be preceded. In recent years, there has been a demand for a technology of a smart structure that allows the structure itself to recognize / judge the structural state and have a proper response capability.

For this purpose, the role of SHM (Structural Health Monitoring) is being used. In this respect, many researches have been made to implement a monitoring system. Such monitoring technology maximizes the safety of the structure by measuring, analyzing and diagnosing the dynamic behavior of the structures such as buildings and bridges, improving the safety of the structure It is a technology that can be made.

This monitoring technique is mainly performed by acquiring data from a sensor attached to a structure, and converting the data to analyze data for evaluating the damage of the structure.

However, while designing an effective continuous structure monitoring system requires a lot of techniques, current diagnostic and monitoring techniques generally use only uniform and limited technology.

As a result, current diagnostic and monitoring technologies lack the capability of recognizing and judging the structural state as well as fully identifying the structural state.

Particularly, current diagnostic and monitoring technologies are required to generate an artificial input to the structure to excite the structure, and the health monitoring is based on the condition due to many problems caused by the artificial input.

Therefore, the structural soundness monitoring technique based on the constant vibration based on the unspecified external force, and at this time, by utilizing the plurality of measurement points efficiently, the maximum structural information is obtained by using the minimum sensor, There is a desperate need for an optimal SI technology capable of measuring a structure.

At this time, if a plurality of sensor positions (measurement points) provided in the structure can be selectively reduced to fit the target mode, economical efficiency and efficiency can be enhanced at the same time. In particular, sound health monitoring requiring real-time / long-term measurement is very computationally intensive and requires a lot of repetitive operations, so it is important to minimize the quantity of the instrument while maximizing the quality of the monitoring information .

In addition, the existing diagnostic and monitoring technologies are mostly used to solve the many problems caused by generating an artificial input to the structure to excite the structure. Therefore, the structural behavior characteristics such as load, live load and other artificial / It can be easily applied to the dynamic analysis technique from the practical viewpoint.

Also, if the basic structure can be constructed by using the modal information based on the measurement data of these actual structures, it is possible to present a standardized numerical model for the SI as well as the state evaluation of the structure. In addition, in order to utilize these technologies in practice, it is necessary to construct the system.

With the recent development of S / W design technology, embedded computing technology is attracting attention in the measurement field.

Therefore, the EST-based optimal SI system for maintenance of the smart structure of the present invention is constructed by combining the various technologies described above into one single measurement system. In this case, the algorithm is developed not by existing hardware but by software, The measurement / monitoring system can be constructed efficiently and accurately.

In other words, the EST-based optimal vibration control system for the maintenance of the smart structure of the present invention is embedded in an EST (Embedded Software Technology) based measurement system, and the sensors included in the smart structure through the optimal sensor positioning algorithm We can determine the position reasonably and efficiently, identify the behavior characteristics using the real-time vibration of the smart structure through the continuous vibration response analysis algorithm, apply it to the basic structure of the smart structure through the FE (finite element, finite element) The present invention relates to an EST-based optimal vibration control system for maintaining a smart structure capable of effectively maintaining a smart structure by performing active control according to the state of a smart structure through a control algorithm.

Domestic Registration No. 10-0587821 ("Automatic Measurement and Control System for Safety of Facilities") continuously measures the safety status of bridges and tunnels that require safety and require continuous monitoring, Safety Diagnosis Facility that has the function to control the measurement equipment installed in the remote facility from the safety diagnosis company as well as to be able to monitor it as necessary in the public management body such as the private management body such as the company and the state or local government. Which is used for securing the safety of the vehicle.

In European Patent No. 2012-168249 ("A method for monitoring a structure based on a plurality of sensors"), it is possible to detect a defect in the structure of a structure, a bridge, And a monitoring method for identifying the user.

Korean Patent No. 10-0587821 (registered date 2006.06.01.) European Patent No. 2012-168249 (Published on October 20, 2013)

SUMMARY OF THE INVENTION The present invention has been made in order to solve the above problems, and it is an object of the present invention to provide a sensor system, which is embodied in an EST (Embedded Software Technology) based measurement system, (FE) model of a smart structure through the algorithm of improving the finite element finite element (FE) model, and to determine the position And to provide an EST-based optimal vibration control system for maintenance of a smart structure capable of performing active control according to the state of a smart structure through a vibration control algorithm.

The EST-based optimum vibration control system for maintenance of a smart structure according to an embodiment of the present invention is an EST-based optimal vibration control system for performing active maintenance and performing active control according to status evaluation of a smart structure in real time, Through the optimal sensor position determination algorithm, the optimal measurement positions of a plurality of sensors for detecting a signal for a health evaluation from the smart structure are determined, By analyzing the behaviors of the smart structure using only the vibration generated in the smart structure at all times and deriving the numerical model reflecting the modal information of the smart structure through the preliminarily set FE (Finite Element) model improvement algorithm, Through the preset optimal vibration control algorithm, And a vibration control signal for vibration control, and a control unit connected to the measurement unit 100 via a network and positioned at an optimum measurement position determined by the measurement unit 100 to evaluate the state of the smart structure And the sensing unit 200 includes a plurality of sensors 210 for sensing and transmitting a signal for sensing the sensor signal And performs a state evaluation of the smart structure and generates a vibration control signal by reflecting state information of the evaluated smart structure to perform maintenance of the smart structure.

At this time, the EST-based optimal vibration control system for maintenance of the smart structure transmits a vibration control signal to at least one damper that is provided in the smart structure to control the vibration of the smart structure .

In addition, the measuring unit 100 determines the damage position of the smart structure through the optimal vibration control algorithm and the preset optimal damage assessment algorithm, and performs a state evaluation of the smart structure through the determination.

In addition, the EST-based optimum vibration control system for the maintenance of the smart structure includes an optimal sensor positioning algorithm, an ongoing vibration response analysis algorithm, an FE model improvement algorithm, an optimal vibration control algorithm, (Embedded Software Technology) -based measurement system, which is implemented by a program executed by a means, to evaluate the state of the smart structure in real time and to perform vibration control of the smart structure according to the evaluated state information .

The sensing unit 200 may include an A / D converter 220 for converting an analog signal detected from the plurality of sensors 210 into a digital signal, and an A / D converter 220 for outputting the digital signal, And a wireless transceiver (230) for receiving an evaluation signal.

Further, the EST-based optimal vibration control system for the maintenance of the smart structure may include the measured signal information, the optimal measurement position information of the sensor, the behavior characteristic information of the smart structure, the numerical model information of the smart structure, And a database unit 300 for storing damage management information of the smart structure and status evaluation information of the smart structure in a database and storing and managing the database.

The EST-based optimal vibration control system for the maintenance of the smart structure of the present invention is embodied in an EST (Embedded Software Technology) based measurement system, And it is used efficiently in the basic structure of the smart structure through FE (finite element, Finite Element) model improvement algorithm, and the dynamic vibration control algorithm The smart structure can be effectively managed by performing active control according to the state of the smart structure through the smart structure.

The optimum sensor location algorithm uses the kinetic energy optimization techniques (EOT) to compare the contribution of the total deformation kinetic energy by the degree of freedom based on the mode of interest, and the degree of freedom including the relatively small contribution It is possible to efficiently utilize it to determine the number and position of a plurality of heterogeneous sensors capable of optimally measuring a target reference response among a plurality of measurement points (degrees of freedom).

Through this, it is possible to acquire a sufficiently effective structural response even with a sensor of about 20% based on the total degree of freedom.

The dynamic vibration response analysis algorithm is based on NExT & ERA (natural excitation technique & intrinsic system implementation technique), which uses only the vibration generated at all times by the dynamic load due to the dynamic load, live load and other artificial / By analyzing the characteristics, dynamic characteristics can be analyzed clearly.

In addition, the FE model improvement algorithm is based on the structural response measured in the smart structure through the direct matrix improvement method (DMUM), and the corresponding FE model is constructed to overcome the initial FE modeling error, And it can be effectively adapted to define the basic structure reflecting the dynamic characteristics of the smart structure at the time.

As a result, the FE model improvement has an accuracy of less than about 1% of the dynamic characteristics (natural frequency error rate and mode correlation) of the smart structure.

In addition, the optimal vibration control algorithm has the effect of controlling damper for vibration control of smart structure efficiently through Lyapunov stability control technique.

Furthermore, the EST-based optimal vibration control system for the maintenance of the smart structure of the present invention is embedded in the EST-based measurement system and developed in software, so that the desired computation / processing / analysis / , And the analysis values calculated through various algorithms are mutually organically operated in real time, so that the integrity monitoring of the target smart structure can be performed completely through the optimal SI (structural identification of the structural state).

1 is a block diagram schematically illustrating an EST-based optimal vibration control system for maintenance of a smart structure according to an embodiment of the present invention.
FIG. 2 is a detailed block diagram of an EST-based optimal vibration control system for maintenance of a smart structure according to an embodiment of the present invention.

Hereinafter, an EST-based optimal vibration control system for maintenance of a smart structure according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings. The following drawings are provided by way of example so that those skilled in the art can fully understand the spirit of the present invention. Therefore, the present invention is not limited to the following drawings, but may be embodied in other forms. In addition, like reference numerals designate like elements throughout the specification.

In this case, unless otherwise defined, technical terms and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. In the following description and the accompanying drawings, A description of known functions and configurations that may unnecessarily obscure the description of the present invention will be omitted.

In addition, a system refers to a collection of components, including devices, mechanisms, and means that are organized and regularly interact to perform the required function.

The EST-based optimal vibration control system for the maintenance of the smart structure of the present invention compares the contribution of the total strain energy with degrees of freedom on the basis of the mode of interest through an optimal sensor positioning algorithm and calculates a degree of freedom including a relatively small contribution To determine the number and position of a plurality of heterogeneous sensors capable of optimally measuring a target reference response among a plurality of measurement points (degree of freedom)

Dynamic characteristics are analyzed by analyzing the behavior of the smart structure using the constant vibration generated by the smart structure only by the load, live load and other artificial /

In this paper, we propose a new FE model modeling algorithm based on the FE modeling algorithm, which is based on the structural response of the smart structure,

By evaluating the state of the smart structure and transmitting the vibration control signal to the damper through the optimal vibration control algorithm,

It is an EST-based optimal vibration control system for the maintenance of smart structures that can be effectively maintained by active control in addition to the status evaluation of smart structures in real time.

In addition, the EST-based optimal vibration control system for maintenance of the smart structure of the present invention is embodied in a measurement system based on EST (Embedded Software Technology) and developed in software, so that the desired computation / processing / analysis / It is possible to implement quickly and accurately and to analyze the calculated values through various algorithms in a real-time manner, to monitor the health of the target Smart Structure through optimal SI, And to an EST-based optimal vibration control system for maintenance of a smart structure.

As shown in FIGS. 1 and 2, the EST-based optimal vibration control system for maintenance of the smart structure according to an embodiment of the present invention is connected to the measurement unit 100 and the measurement unit 100 using a network The sensing unit 200 may include a sensing unit 200 and a database unit 300. As described above, the measuring unit 100 may include an EST (Embedded Software) Technology) based measurement system.

In detail, the measuring unit 100 embeds the optimal sensor positioning algorithm, the steady-state vibration response analysis algorithm, the FE model improvement algorithm, and the optimal vibration control algorithm to perform a health evaluation of the smart structure in real- Accordingly, active vibration control can be performed by transmitting the vibration control signal to the damper.

To learn more about each configuration,

The measuring unit 100 may determine an optimum measurement position of a plurality of sensors 210 that are provided in the sensing unit 200 and detect a signal for evaluating the soundness and condition of the smart structure, It is possible to derive the reflected numerical model with the minimum number of operations.

The plurality of sensors 210 may include at least one of a plurality of sensors 210 and a plurality of sensors 210. The signals detected through the plurality of sensors 210 may include temperature, humidity, displacement, stress, strain, And can be provided by a manager flexibly changing, expanding, and applying.

That is, the measurement unit 100 can determine the optimal measurement positions of the plurality of sensors 210 of the sensing unit 200 through an optimal sensor positioning algorithm previously stored (stored). The plurality of sensors 210 are located in a smart structure to detect a signal for evaluating the health and condition of the smart structure.

At this time, it is preferable to apply Kinetic Energy Optimization Techniques (EOT) as the optimal sensor positioning algorithm, and the optimal kinetic energy method determines an optimum measurement position using the deformation kinetic energy of the structure .

The dynamic modal information obtained from the smart structure is maximized, and at this time, by sequentially removing the points representing the minimum energy in the inherent system in which the linear independence of the obtained mode type is present, The system can be configured.

The kinetic energy distribution of a general construction structure can be defined as Equation 1 below.

Here, KE is kinetic energy,

는 측정된 모드형 벡터이며,

Is a measured modal vector,

M is the mass matrix.

, M=LU를 표현할 수 있으며, 감소된 측정인자에 따른 모드형의 projection은 하기의 수학식 2와 같이 정의할 수 있다.
At this time, the mass matrix M is decomposed into an upper triangular matrix L and a lower triangular matrix U,

, M = LU, and the projection of the mode type according to the reduced measurement factor can be defined as Equation 2 below.

Through this, the number and position of the minimized measuring instruments, i.e., the sensors, which can maximize the measurement of the kinetic energy of the smart structure are determined.

요소의 행 랭크, N은

매트릭스에서 선형 독립된 사영 벡터(Linearly Independent Projected Vector)의 수와 같다.However, if the energy matrix causes rank poorness, the number of sensors should no longer be removed, and when the mass order is a non-singular matrix,

The row rank of the element, N

Equivalent to the number of linearly independent projected vectors in the matrix.

와 고유벡터

를 고려하면,

가 N의 크기를 가진 사각대칭 양치행렬(Positive-definite Matrix)이기 때문에, 최적운동에너지법의 각각의 연산 절차에서 구하는 고유쌍의 연산에는 영향이 없다.Thus, the eigenvalues of the energy matrix itself

And eigenvectors

Considering that,

Is a positive-definite matrix with a size of N, there is no influence on the computation of a unique pair obtained in each calculation procedure of the optimal kinetic energy method.

The contribution of each residual sensor can be expressed as an EOT vector as shown in Equation (3) below.

Since the measured mode type is linearly independent, the EOT vector must be an orthogonal vector as shown in Equation (4) below.

Also, the measuring unit 100 can analyze the behavior characteristics of the smart structure using only the vibration generated at all times in the smart structure.

That is, the metering unit 100 uses the vibration generated at all times in the smart structure by the load of the load, live load, and other artificial / natural external forces through the normal vibration response analysis algorithm previously stored (stored) The dynamic characteristics can be clearly analyzed.

At this time, it is preferable to apply NExT & ERA (natural excitation technique and inherent system implementation technique) to the continuous vibration response analysis algorithm.

In order to solve the problem of the forced excitation method, the natural excitation technique is applied to a case where the external excitation is assumed as an external excitation in a random stationary state and the form of the motion equation having the forced oscillation is 2 It is a technique using characteristics expressed in the form of differential equations again. This natural excitation technique is useful when only the response due to the acceleration of the structure can be measured.

Here, if the external excitation and the response are assumed to be in an irregular steady state, the following equation (5) can be obtained.

Where M, C, and K are mass, attenuation, and stiffness matrices, respectively,

는 시간(t)에 대한 가속도, 속도, 변위이며,

Is the acceleration, velocity, and displacement for time t,

는 시간(t)에 대한 외력이다.

Is an external force with respect to time t.

Assuming that the dynamic property value matrix is deterministic, when the expectation of the probability is taken by multiplying both sides by the reference response signal, it can be expressed by the following equation (6).

는 상관함수의 벡터를 의미한다.here,

Is a vector of correlation functions.

가 불규칙 정상 상태일 경우, 상기의 수학식 6은 하기의 수학식 7과 같이 나타낼 수 있다.

Is an irregular steady state, the above Equation (6) can be expressed as Equation (7) below.

는 상호상관함수(CCF)를 의미하며, 변위 벡터의 항이 상관함수로 표현되고 자유진동을 갖는 운동방정식으로 표현된다.
here,

Means the cross correlation function (CCF), and the term of the displacement vector is expressed as a correlation function and expressed as an equation of motion with free vibration.

The natural excitation technique acquires the CPS between the response signals measured from the plurality of sensors 210 of the sensing unit 200 and uses the fact that the CCF and the CPS exist as a pair of Fourier pairs as shown in Equation 8 below. And the CPF can be converted to the inverse Fourier transform to obtain the CCF.

는 상호상관함수(CCF)이며,here,

Is a cross correlation function (CCF)

는 이산된 교차파워스팩트럼(CPS)이며,

Is the discrete crossover power spectrum (CPS)

과

는 이산시간과 주파수를 의미한다.

and

Means discrete time and frequency.

The transformed cross - correlation function can analyze the behavior of the smart structure by the natural excitation technique.

In addition, the eigenmethod implementation technique is suitable for characterization of structures with light attenuation and is an effective technique for multiple input and output models.

The intrinsic system implementation scheme can be expressed by a Hankel matrix as shown in Equation (9), which is constructed using the obtained cross correlation function (CCF).

는 임펄스 응답행렬이며,here,

Is an impulse response matrix,

The number of rows and columns of the Hankel matrix, respectively.

을 산출하고, 하기의 수학식 10과 같이, Hankel 행렬에 대한 특이치 분해(Singular value decomposition)를 수행할 수 있다.
In the above Equation 9, a row and a column of an appropriate size are selected

And perform Singular Value Decomposition for the Hankel matrix as shown in Equation (10) below.

는 비-특이 행렬(non-singular)이고,here,

Is a non-singular,

는 양의 대각행렬이고,

Is a positive diagonal matrix,

는 특이치를 의미한다.

Means a singular value.

,

,

을 이용한 시스템 행렬과 출력 행렬은 하기의 수학식 11 및 12와 같이 나타낼 수 있다.
The relatively small value of the singular value is removed by numerical mode or noise mode,

,

,

The system matrix and the output matrix using Equation (11) and Equation (12) can be expressed as Equations (11) and (12).

이다.
here,

to be.

의 고유 값으로 획득할 수 있으며,

의 고유 벡터를 Ψ 라고 하면, 구조물의 모드 벡터(

)는 하기의 수학식 13과 같이 나타낼 수 있다.
Through this, the natural frequency is a function of the system matrix consisting of the mass, damping,

As the eigenvalue of < RTI ID = 0.0 >

Is the vector of the structure,

) Can be expressed by the following equation (13).

In addition, the measuring unit 100 may derive a numerical model reflecting the modal information of the smart structure to evaluate the health of the smart structure.

That is, the measuring unit 100 derives the numerical model of the smart structure with a minimum number of operations through an FE (Finite Element) model improvement algorithm that is previously set (stored).

At this time, it is preferable to apply the direct matrix improvement method (DMUM) to the FE model improvement algorithm.

When a modified structure is added to or removed from an existing initial structure, the dynamic characteristics of the entire structure change after the modification. At this time, the dynamic characteristics before and after the structural change can be expressed by the eigenvalue problem as shown in the following Equation (14).

Where [K] is the stiffness matrix,

[M] is the mass matrix,

[ΔK] and [ΔM] are the change matrix of the stiffness and mass of the structure due to the change,

는 각각 구조 손상 전의 고유치와 고유벡터,

Are eigenvalues and eigenvectors before structural damage, respectively,

는 각각 변경 후의 고유치와 고유벡터이다.

Are the eigenvalues and eigenvectors after the change, respectively.

The measuring unit 100 of the present invention among the methods of obtaining the changes of the stiffness [DELTA K] and the mass [DELTA M] due to the change of the structure takes into account the effect of the FE model improvement, The direct matrix improvement method is applied so that it can be used more easily and the effect of superior model improvement can be seen.

Here, the objective function configured to satisfy the measured eigenvalue while limiting the magnitude of the amount of change of the stiffness and the mass matrix using the Lagrangian multiplier is expressed by Equation (15).

In this case, by applying the direct matrix improvement method, it is possible to calculate a change amount for each term of stiffness and mass by a single matrix operation (Direct).

[K _A ] and [M _A ] are the stiffness and mass matrix of the structure before the change,

[K _U ] and [M _U ] are the stiffness and mass matrix of the structure after the change.

Using this, the relationship between [K _A ] and [K _U ] is as shown in Equation (16) below,

The relationship between [M _A ] and [M _U ] is shown in Equation (17) below.

At this time, [DELTA K] in the above equation (16) is defined by the following equation (19) using the following equation (18).

Further, [DELTA M] in the above Equation (17) is defined as the following Equation (21) using the relational expression of the following Equation (20).

In the EST-based optimal vibration control system for maintenance of the smart structure of the present invention, since the object of the FE model improvement in the measurement unit 100 is the result of the FE analysis and the modal experiment, the subscript A indicates the result by the analysis And the subscript X means the experimental value.

The EST-based optimal vibration control system for the maintenance of the smart structure of the present invention can perform active vibration control by evaluating not only the health of the smart structure but also the state evaluation.

In other words, the vibration control signal is transmitted to at least one damper provided in advance in the smart structure, so that the vibration of the smart structure can be effectively controlled.

For this purpose, the measuring unit 100 can evaluate the state of the smart structure through the optimal vibration control algorithm that is previously set (stored), and generate the vibration control signal for controlling the vibration of the smart structure.

At this time, it is preferable to apply the Lyapunov stability control scheme as the optimum vibration control algorithm.

The Lyapunov stability control scheme is the most common method for determining stability for all systems, and it can generate a vibration control signal to control the feedback controller for the vibration of the smart structure.

라고 명명되는 Lyapunov 함수를 사용하고, 또한, 시스템의 상태(

)에 대해 양의 한정(positive Definite) 함수로 정의하며, 원점(origin)은 안정 평형 위치라고 가정하는 것이 바람직하다.The optimal vibration control algorithm

And the state of the system (< RTI ID = 0.0 >

), And it is preferable to assume that the origin is a stable equilibrium position.

로 표현한다면, Lyapunov 안정성 이론으로부터

는 음의 반-한정(Negative Semi-definite) 함수로 정의할 수 있다.Here, the rate of change of the Lyapunov function

From the Lyapunov stability theory,

Can be defined as a negative semi- definite function.

Also, the origin is stable in Lyapunov's view (Sense).

가 가능한 한 음(Negative)의 결과를 갖도록 각 장치에 대한 제어 입력을 선택하는 것이다.
Thus, by applying the Lyapunov stability control scheme, which is the optimal vibration control algorithm, the ultimate goal is

Is to select the control input for each device to have a negative result as much as possible.

The Lyapunov function can be defined as Equation 22 below.

는 하기의 수학식 23과 같이 정의되는 스마트 구조물 구조물 상태의 P-노옴(P-norm)이다.
here,

Is the P-norm of the state of the smart structure structure defined as: < EMI ID = 23.0 >

는 실수, 대칭, 양의 한정인 행렬이다.
here,

Is a matrix of real numbers, symmetries, and quantities.

가 확실한 음 한정이 되도록 하기 위해, 행렬

를 하기의 수학식 24를 이용하여 산출할 수 있다.
At this time,

In order to ensure a definite tone limitation,

Can be calculated using the following equation (24).

는 양의 한정 행렬이며, 이는 관리자의 제어에 따라 변경될 수 있다.
here,

Is a positive definite matrix, which can be changed under the control of the administrator.

In order to obtain the solution of the equation (22), the state space equation can be derived as a differential form of the Lyapunov function as shown in the following equation (25).

)을 나타낸다.
At this time, the following equation (25) represents the time rate of change of the Lyapunov function

).

는 시스템에서의 Lyapunov 방정식의 해(Solution)이고,here,

Is the solution of the Lyapunov equation in the system,

는 시스템에 대한 가중행렬(Weight Matrix)을 나타내며,

Represents a weight matrix for the system,

는 행렬의 전치(Transpose)를 나타낸다.
Superscript

Represents the transpose of the matrix.

가 포함된 가운데 항으로 한정된다. 따라서

를 최소화시키기 위한 준능동 제어 전압은 하기의 수학식 26과 같이 생성할 수 있으며, 이때 하기의 수학식 26은

를 최소화시키기 위한 제어법칙(Control Law)이 된다.
Here, the only term that can directly control the change in the control voltage of the damper for vibration control of the smart structure is the force vector

Of the total. therefore

The semi-active control voltage may be generated as shown in the following Equation 26,

(Control law) for minimizing the number of the control signals.

는 Heaviside Step 함수로써 준능동 제어장치인 MR 댐퍼로의 인가전압 크기를 0과

로 한정시켜주는 함수이고,here,

Is the Heaviside Step function, and the magnitude of the applied voltage to the semi-active control unit MR damper is 0

, And the function

는 다수의 제어기를 사용하는 경우 제어기의 수를 고려하기 위한 표현이며,Subscript

Is a representation for considering the number of controllers when a plurality of controllers are used,

는 현 단계에서 각 제어기에 입력되어야 할 제어 전압(Voltage),

A control voltage to be input to each controller at the present stage,

는 초기 상태방정식에서 보인 제어기 수와 같은 열을 갖는

행렬의

번째 열,

Has the same number of controllers as the number of controllers shown in the initial state equation

Matrix

Column,

는 이전 단계에서

번째 제어기로부터 생성·관측된 제어력,

In the previous step

The control force generated and observed from the first controller,

는 현 단계에서 제어기의 제약조건에 따라 제어기에 유입되어야 할 최대 전압(Maximum Voltage)이다.

Is the maximum voltage that should be introduced into the controller at the present stage according to the constraint of the controller.

행렬을 정의함으로써 댐퍼를 통해 스마트 구조물의 진동 제어의 성능이 결정된다.
In other words, the optimum vibration control algorithm, Lyapunov stability control technique,

By defining the matrix, the performance of the vibration control of the smart structure is determined through the damper.

In addition, the measuring unit 100 may determine (store) an optimum damage assessment algorithm and perform damage location determination and state assessment of the smart structure together with an optimal vibration control algorithm.

At this time, it is preferable to apply the two-dimensional strain energy damage detection method as the optimum damage evaluation algorithm.

The 2D strain energy damage detection method can calculate the dynamic strain energy of a smart structure using each mode vector before and after damage.

)를 커브 피팅(Curve Fitting)하여 세부영역 (j,k)에 상관된 변형에너지를 구할 수 있다.In one embodiment, the planar structure is subdivided into bi-directionally subdivided into microdomains, and the measured mode vector

) Can be subjected to curve fitting to obtain strain energy correlated to the detailed region (j, k).

At this time, the strain energy can be calculated by the following equation (27).

는 (j,k)의 세부영역 에너지이고,here,

Is the sub-region energy of (j, k)

는 i번째 모드의 모드벡터이며,

Is a mode vector of the i-th mode,

는 휨 강성이며,

Is the flexural rigidity,

는 재료의 포아슨 비이다.

Is the Poisson's ratio of the material.

)의 변화량을 서료 비교하여 손상지표를 산출하게 된다.
By comparing the energy of the micro domains with respect to the total strain energy of the smart structure, the sub domain energy can be calculated as shown in the following equation (28), and the sub domain energy calculated before and after each damage

) Is calculated by comparing the amount of change in the damage index.

Where * denotes the calculated value after the damage,

는 전체 에너지를 나타낸다.

Represents the total energy.

The measuring unit 100 can finally obtain the damage degree coefficient in the detailed area through the optimum damage evaluation algorithm that has been set (stored) in advance, which can be expressed by the following equation (29).

In this way, the damage index of the calculated smart structure is shaped like a normal distribution curve centering on the location of the damage, so that the damage position of the smart structure can be determined through this.

The measuring unit 100 can determine the damage position of the smart structure, perform the state evaluation of the smart structure according to the damage location, and further perform maintenance of the smart structure based on the state evaluation information.

That is, the EST-based optimal vibration control system for maintenance of the smart structure of the present invention receives the measured values of the plurality of sensors 210 of the sensing unit 200 in real time and evaluates the health of the smart structure , The maintenance and vibration control of the smart structure according to the evaluated soundness can be performed,

The damage location of the smart structure can be determined, and the state of the damaged structure can be evaluated and the maintenance of the smart structure can be performed based on the evaluation.

The sensing unit 200 may be connected to the measuring unit 100 via a network and may include the plurality of sensors 210 positioned at the optimum measuring position determined by the measuring unit 100.

The plurality of sensors 210 detect a signal for the integrity evaluation and the state evaluation from the smart structure and transmit the signal to the measurement unit 100.

As shown in FIG. 2, the sensing unit 200 further includes an A / D converter 220 and a wireless transceiver 230,

The A / D converter 220 may convert an analog signal detected by the plurality of sensors 210 into a digital signal,

The wireless transceiver 230 may transmit the digital signal converted by the A / D converter 220 to the measurement unit 100 and may receive the soundness evaluation and state evaluation signals from the measurement unit 100 .

The EST-based optimal vibration control system for maintenance of the smart structure according to an embodiment of the present invention may further include a database unit 300. The database unit 300 may include the sensing unit 200, Likewise, the measurement unit 100 is connected using a network.

The database unit 300 refers to a separate storage unit and stores the optimal measurement position information of a plurality of sensors 210 of the sensing unit 200 determined by the measurement unit 100, The numerical model information of the smart structure derived by the measuring unit 100, the behavior characteristic information of the smart structure derived by the measuring unit 100, the sound characteristics of the smart structure by the measuring unit 100, The vibration information of the smart structure by the measurement unit 100 and the vibration information of the smart structure by the measurement unit 100 are stored and managed in a database can do.

That is, the EST-based optimal vibration control system for maintenance of the smart structure according to an embodiment of the present invention is embodied in a measurement system based on EST (Embedded Software Technology), and is embedded in a smart structure through an optimal sensor positioning algorithm We can determine the location of the sensors which are located in the center of the building in a reasonable and efficient manner, identify the behavior characteristics of the smart structure using the real-time steady vibration through the continuous vibration response analysis algorithm, And by performing active control according to the state of the smart structure through the optimal vibration control algorithm, it is possible to more effectively maintain the smart structure.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, And various modifications and changes may be made thereto by those skilled in the art to which the present invention pertains.

Therefore, it is to be understood that the subject matter of the present invention is not limited to the described embodiments, and all of the equivalents or equivalents of the claims are included in the scope of the present invention will be.

100:
200: sensing unit
300:

Claims (6)

1. An EST-based optimal vibration control system for performing active control based on state evaluation of a smart structure in real time and performing maintenance,
The optimal vibration control system is based on an Embedded Software Technology (EST) based on an optimal sensor positioning algorithm, a steady vibration response analysis algorithm, an FE model improvement algorithm, and an optimal vibration control algorithm, To evaluate the state of the smart structure in real time,
Through the optimal sensor location determination algorithm, the optimal measurement positions of a plurality of sensors for detecting a signal for health evaluation from the smart structure are determined,
According to the NXT & ERA (natural excitation technique & unique system implementation technique), which is a preset vibration response analysis algorithm,
(CPS) between the response signals measured from the plurality of sensors by using only the vibration generated at all times in the smart structure through the NExT algorithm, and the acquired cross power spectrum is inversely Fourier transformed to obtain a cross correlation function CCF)
The Hankel matrix is obtained by using the obtained cross-correlation function through the ERA algorithm, and the singular value decomposition for the Hankel matrix is performed to remove the relatively small numerical mode or noise mode from the singular values The characteristics of the smart structure are analyzed by acquiring the natural frequency of the smart structure,
A numerical model reflecting the modal information of the smart structure is derived through the FE (Finite Element) model improvement algorithm which is already set,
By using the Lyapunov stability control technique, which is the optimal vibration control algorithm,
Lyapunov function is defined as follows,

(here,

Is a P-norm in a smart structure state.)
The energy change rate of the smart structure is defined as

(here,

Is the solution of the Lyapunov equation in the system,

Represents a weight matrix for the system,
Superscript

Represents the transpose of the matrix.)
The state of the smart structure is evaluated in real time by a control law defined by the following equation so as to limit the negative (-), a vibration control signal for vibration control is generated,

(here,

Is the Heaviside Step function, and the magnitude of the applied voltage to the semi-active control unit MR damper is 0

, And the function
Subscript

Is a representation for considering the number of controllers when a plurality of controllers are used,

A control voltage to be input to each controller at the present stage,

Has the same number of controllers as the number of controllers shown in the initial state equation

Matrix

Column,

In the previous step

The control force generated from the first controller,

Is the maximum voltage that should be introduced into the controller according to the constraints of the controller at this stage.
A measuring unit (100) for determining the performance of the vibration control of the smart structure; And
And a plurality of sensors 210 connected to the measurement unit 100 through a network and positioned at an optimum measurement position determined by the measurement unit 100 to detect and transmit a signal for evaluating the state of the smart structure, (200);
And,
The measuring unit 100
Receives the measured values of the plurality of sensors 210 of the sensing unit 200 in real time, performs a state evaluation of the smart structure, generates a vibration control signal by reflecting state information of the evaluated smart structure, Wherein the EST-based optimal vibration control system for maintenance of the smart structure is characterized in that the maintenance of the smart structure is performed.
The method according to claim 1,
The EST-based optimal vibration control system for maintenance of the smart structure
Wherein the vibration control signal is transmitted to at least one or more dampers provided in the smart structure to control the vibration of the smart structure.
The method according to claim 1,
The measuring unit 100
Wherein the EST based optimum vibration control algorithm is used for evaluating the state of the smart structure by determining the damage location of the smart structure through the optimal vibration control algorithm and the preset optimal damage assessment algorithm. Control system.
delete The method according to claim 1,
The sensing unit 200
An A / D converter 220 for converting analog signals detected from the plurality of sensors 210 into digital signals; And
A wireless transceiver (230) for transmitting the digital signal and receiving a status evaluation signal from the measurement unit (100);
And an EST-based optimal vibration control system for maintenance of a smart structure.
The method of claim 3,
The EST-based optimal vibration control system for maintenance of the smart structure
The measured information of the sensor, the optimal measurement position information of the sensor, the behavior characteristic information of the smart structure, the numerical model information of the smart structure, the vibration control signal of the smart structure, the damage position information of the smart structure, A database unit 300 for storing and managing information;
And the EST based single measurement system for maintenance of the smart structure.

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