《结构防灾技术》课程教学课件（讲稿）第二篇 结构减震技术 Structural Vibration Control Technology 第五章 结构主动减震控制 Active structural vibration control

第五章结构主动减震控制Chapter 5 Active structural vibration control5. 1结构主动减震控制概述Introduction to active structural vibration control5. 2结构主动减震机理和系统组成The mechanismof active control of structureandsystemcomponents5. 3主动控制算法active control algorithm

第五章 结构主动减震控制 Chapter 5 Active structural vibration control 5.1 结构主动减震控制概述 Introduction to active structural vibration control 5.2 结构主动减震机理和系统组成 The mechanism of active control of structure and system components 5.3 主动控制算法 active control algorithm

5. 1结构主动减震控制概述Introduction to active structural vibration control5.1.1结构主动减震控制的基本概念和分类Concepts and classification of active vibration controlO概念concepts结构主动控制是利用外部能源（计算机控制系统或智能材料），在结构物受激励振动过程中，瞬时施加控制力或瞬时改变结构的动力特性，以迅速衰减和控制结构动力响应的一种减震（振）技术。Active structural vibration control is a control technology byapplying instantaneous control force or instantly alteringthe dynamic properties of structures throughsomeexternal energy supply to rapidly modify or control themotion of a structure

5.1 结构主动减震控制概述 Introduction to active structural vibration control 5.1.1 结构主动减震控制的基本概念和分类 Concepts and classification of active vibration control  概念 concepts 结构主动控制是利用外部能源（计算机控制系统或智能材 料），在结构物受激励振动过程中，瞬时施加控制力或瞬 时改变结构的动力特性，以迅速衰减和控制结构动力响应 的一种减震（振）技术。 Active structural vibration control is a control technology by applying instantaneous control force or instantly altering the dynamic properties of structures through some external energy supply to rapidly modify or control the motion of a structure

分类：Classifications（1）按主动控制的利用程度分类：Classificationbyutilization ofactive control①结构（全）主动控制（ActiveControl）；②结构半主动控制（SemiActiveContro）：③结构混合控制（HybridControl）。（2）按实现控制的手段分类：Classificationbyimplementationmeans①施加外力控制型；byapplyingexternalcontrolforce②改变结构参数型；byalteringthestructuralparameters③智能材料自控型。Byusing intelligent self-controlmaterials

分类： Classifications （1）按主动控制的利用程度分类：Classification by utilization of active control ① 结构（全）主动控制（Active Control）; ② 结构半主动控制（Semi Active Control）; ③ 结构混合控制（Hybrid Control）。 （2）按实现控制的手段分类： Classification by implementation means ① 施加外力控制型；by applying external control force ② 改变结构参数型；by altering the structural parameters ③ 智能材料自控型。By using intelligent self-control materials

主动质量阻尼器AMD主动质量驱动器AMD主动拉索系统ATS施加外力控制型主动挡风板ADA脉冲发生器PG混合质量阻尼器HMD主动被动调谐器质量阻尼器APTMD主动变刚度AVS按控制手段改变结构参数主动变阻尼AVD主动支撑系统ARS形状记忆合金SMA压电层材料PEL智能材料自控型ER流态ERPMR流态MRF

5.1.2优缺点和应用范围Advantages，disadvantagesandapplication优点如下：Advantages（1）减震控制效果好：enhancedeffectivenessinmotioncontrol.The degree of effectiveness is, by and large, only limited by thecapacity of the control system;（2）适应性广；applicability to multi-hazard mitigation situations（3）经济性好；Moreeconomical，Savetheengineeringcost（4）对外部环境和地面运动不敏感relativeinsensitivitytositeconditions and ground motion.仍存在的问题：Existing.problems（1）减震的有效性；theeffectofvibrationcontrolistemporary（2）控制系统工作的稳定性；theinstabilityofcontrolsystem（3）时滞问题；timedelay

5.1.2 优缺点和应用范围 Advantages, disadvantages and application  优点如下：Advantages （1）减震控制效果好；enhanced effectiveness in motion control. The degree of effectiveness is, by and large, only limited by the capacity of the control system; . （2）适应性广；applicability to multi-hazard mitigation situations （3）经济性好; More economical, Save the engineering cost （4）对外部环境和地面运动不敏感 relative insensitivity to site conditions and ground motion.  仍存在的问题： Existing problems （1）减震的有效性；the effect of vibration control is temporary （2）控制系统工作的稳定性；the instability of control system （3）时滞问题；time delay

5.1.2优缺点和应用范围Advantages，disadvantagesandapplicationExistingproblems（4）能量输入问题；input of energy（5）经济性问题；economicalproblem（6）系统装置的日常维护问题。Thedailymaintenanceofsystemapplicationit is mainly applied in the vibration control of the followingstructures under wind,earthquake and environmental excitation（1）高层、超高层建筑；high-riseandsuperhigh-risebuilding（2）高算塔架或特种结构；high-risetowersorspecialstructures（3）桥梁或其他大跨度结构；bridgesandotherlarge-spanstructures（4）生命线工程结构。Lifelineprojects

5.1.2 优缺点和应用范围 Advantages, disadvantages and application  Existing problems （4）能量输入问题；input of energy （5）经济性问题；economical problem （6）系统装置的日常维护问题。The daily maintenance of system  application it is mainly applied in the vibration control of the following structures under wind, earthquake and environmental excitation （1）高层、超高层建筑；high-rise and super high-rise building （2）高耸塔架或特种结构；high-rise towers or special structures. （3）桥梁或其他大跨度结构；bridges and other large-span structures （4）生命线工程结构。Lifeline projects

5.2结构主动控制的减震机理和系统组成The mechanismandcomponents of structural activecontrolsystem5.2.1Mechanism of structural active controlthe mechanism and components of the system is introduced by taking thetypical active control system——active mass damper (AMD) as anexample.n个自由度的线性结构，采用主动减震控制结构体系。在地震激励下的运动方程为：The Linearstructurewith n DOF adopts active vibrationcontrol systems,itsequationofmotionis:Mx +Cx +Kx=Fx_+ EUSupposethattheopen-closed loopconfigurationisused inwhichthecontrol force Uisdesigned tobe a linearfunctionofthemeasureddisplacement vector x, the velocity vector and the ground acceleration.The control force vectortakes theform:U=K,x+C,x+Fxg

5.2 结构主动控制的减震机理和系统组成 The mechanism and components of structural active control system 5.2.1 Mechanism of structural active control the mechanism and components of the system is introduced by taking the typical active control system——active mass damper (AMD) as an example. n个自由度的线性结构，采用主动减震控制结构体系。在地震激励下的运动 方程为： The Linear structure with n DOF adopts active vibration control systems, its equation of motion is: Suppose that the open-closed loop configuration is used in which the control force U is designed to be a linear function of the measured displacement vector x, the velocity vector and the ground acceleration. The control force vector takes the form: Mx Cx Kx Fx EU     g U K x C x F x    b b b g

5.2结构主动控制的减震机理和系统组成Themechanismandcomponents of structuralactivecontrolsystemThe substitution of equation of U into equation of motion yields:Mx +(C-EC)x+(K-EK,)x =(F-F)xIt shows that the active controlis immediately appealing and exciting. Onthe one hand, it is capable of modifying properties of a structure in such away as toreactto external excitations in themost favorable manner.Onthe otherhand, direct reduction of the level of excitationtransmittedtothestructure is also possible through active control.The choice of the control gain matrices depends on the control algorithmselected.Anumberofcontrol strategiesfor structuralapplicationshavebeendeveloped

5.2 结构主动控制的减震机理和系统组成 The mechanism and components of structural active control system The substitution of equation of U into equation of motion yields:  It shows that the active control is immediately appealing and exciting. On the one hand, it is capable of modifying properties of a structure in such a way as to react to external excitations in the most favorable manner. On the other hand, direct reduction of the level of excitation transmitted to the structure is also possible through active control.  The choice of the control gain matrices depends on the control algorithm selected. A number of control strategies for structural applications have been developed, ( ) ( ) ( ) Mx C EC x K EK x F F x       b b b g

5.2.2主动控制施加控制力的减震控制The vibration control by active control force.当AMD主动控制结构体XT系受到地震激励时，产驱动器生地震反应。AMD系统的驱动器驱动质量块，使质量块产生运动，质量块的惯性力等于控制系统对结MAeT驱动器P构施加的控制力，它通K.过弹簧、阻尼器和F驱动器作用在结构上衰减和控制结构的地震文反应。WhentheAMD activecontrol systemisexcitedbyearthquake,theseismicresponseof structureoccurs.Themassisdrivenbytheactuatorof AMDsystem, and the inertia force of the mass, equal to the control force, isapplied on the structure by the control system through the springs, dampersanddrivers,tocontrolandmodifythedisplacementresponse ofthestructure

5.2.2 主动控制施加控制力的减震控制 The vibration control by active control force When the AMD active control system is excited by earthquake, the seismic response of structure occurs. The mass is driven by the actuator of AMD system, and the inertia force of the mass, equal to the control force, is applied on the structure by the control system through the springs, dampers and drivers, to control and modify the displacement response of the structure. 当AMD主动控制结构体 系受到地震激励时，产 生地震反应。 AMD系统的驱动器驱动 质量块，使质量块产生 运动，质量块的惯 性力等于控制系统对结 构施加的控制力，它通 过弹簧、阻尼器和 驱动器作用在结构上， 衰减和控制结构的地震 反应

5.2.3主动变刚度、变阻尼的减震体系Active variable stiffness and Active variable damping system如果主动控制系统对结构的减震控制，不是通过施加控制力，而是直接对装置于楼层之间的可变液压阻尼器（VariableHydraulicDampers）进行控制，直接调整结构的刚度特性和阻尼特性，从而衰减和控制结构的地震反应，这种控制体系，称为主动变刚度AVS和主动变阻尼AVD控制体系。变刚或变阻尼的控制策略可采用不同的控制算法。The active control system controls the vibration of the structure bydirectly controlling the interlayer Variable hydraulic dampers ratherthan applying control force. The dampers can adjust the structuralstiffness anddamping,sothatthe earthquakeresponse ofthestructure canbedampedand controlled.Thistypeofcontrol systemisnamed as activevariablestiffness(AvS)and active variabledamping (AVD) control system. The different algorithm can be usedin control strategies of variable stiffness or damping

5.2.3 主动变刚度、变阻尼的减震体系 Active variable stiffness and Active variable damping system 如果主动控制系统对结构的减震控制，不是通过施加控制力，而是直 接对装置于楼层之间的可变液压阻尼器(Variable Hydraulic Dampers) 进行控制，直接调整结构的刚度特性和阻尼特性，从而衰减和控制结 构的地震反应，这种控制体系，称为主动变刚度AVS和主动变阻尼 AVD控制体系。变刚或变阻尼的控制策略可采用不同的控制算法。 The active control system controls the vibration of the structure by directly controlling the interlayer Variable hydraulic dampers rather than applying control force. The dampers can adjust the structural stiffness and damping, so that the earthquake response of the structure can be damped and controlled. This type of control system is named as active variable stiffness(AVS) and active variable damping (AVD) control system. The different algorithm can be used in control strategies of variable stiffness or damping