Multi-physics field coupling test device and control algorithm

Abstract

The present invention provides a control algorithm for a multi-physics field coupling test device, the control algorithm includes a real-time control system, the multi-physics field coupling test device (1) also includes a vibration table array component (30), a rainfall component (40) and a landslide component (50), the real-time control system includes a first earthquake controller (5), a rainfall controller (9) and a second earthquake controller (6), and the real-time control system includes a real-time force feedback controller, an identification error compensator and an adaptive inverse controller. The present invention proposes a test device for multi-physics field coupling, which can realize different earthquake excitations and rainfall effects on different landslide areas (top and bottom of the slope). At the same time, based on the real-time force feedback control method, an adaptive inverse control strategy considering the system identification error is proposed, which can effectively improve the simulation accuracy of multi-physics field coupling.

Description

Technical Field

[0001] The patent of this invention belongs to the engineering fields of geotechnical engineering, geology, etc., and specifically involves a multi-physical field coupling test device and control algorithm. Background Art

[0002] Western my country is characterized by complex topography and frequent earthquakes. The construction and operation of major engineering projects face the threat of major, even extreme, earthquakes and rainfall-induced landslides. Furthermore, major projects face the threat of the coupled and sequential effects of mainshocks, strong aftershocks, rainfall, and massive landslides. Conducting multiphysics coupling experiments can reveal the key parameters and evolution mechanisms of massive landslides under the sequential effects of the mainshock, strong aftershocks, and rainfall. Further clarifying the coupling relationships and controlling parameters of multiphysics fields and constructing a multiphysics coupling characterization model will provide theoretical and technical support for earthquake disaster prevention and mitigation of major projects in my country. Existing multiphysics coupling test equipment and control algorithms are not yet adequately simulating the coupled and sequential effects of the mainshock, strong aftershocks, and massive landslides. Most test equipment simulates a single physical field and cannot reproduce the multiphysics coupling environment. Furthermore, there is an urgent need to develop multiphysics coupling control algorithms to improve the simulation accuracy of multiphysics coupling. Specifically, under the coupling of multiple physical fields (seismic motion, rainfall, landslides, etc.), the characteristics of the test system will change, and the existing control strategy cannot reproduce the multi-physical field coupling environment with high precision. Summary of the Invention

[0003] In response to the above technical problems, the first aspect of the present invention provides a control algorithm for a multi-physics field coupling test device, the control algorithm including a real-time control system. The multi-physics field coupling test device 1 also includes a vibration table array component 30, a rainfall component 40, and a landslide component 50. The real-time control system includes a first seismic controller 5, a rainfall controller 9, and a second seismic controller 6. The first seismic controller 5 and the second seismic controller 6 of the real-time control system both include a real-time force feedback controller and an identification error compensator. The vibration table component 20 includes a valve control system:

[0004] The real-time force feedback controller is configured to: receive the output signal y(a), combine the inverse transfer function of the vibration table valve control system and the test structure characteristics, and generate the valve control compensation signal c;

[0005] The identification error compensator is configured to: receive the valve control compensation signal c and the output signal y(a), eliminate the system identification error, and generate a valve control compensation signal for eliminating the identification error;

[0006] The valve control system is configured to receive an input signal x(a), eliminate an identification error valve control compensation signal, and generate an output signal y(a) in combination with a valve control system transfer function.

[0007] The second aspect of the present invention further provides a multi-physics field coupling test device configured with the above control algorithm.

[0008] A third aspect of the present invention further provides a method for analyzing the interaction between a dual vibration table and a test structure in a multi-physics field coupling test apparatus, wherein the dual vibration table includes a first vibration table 32 and a second vibration table 33. The system model used in the method is shown in formula (22):

[0009]

[0010] Where x1 is the displacement of exciter 1, x2 is the displacement of exciter 2, and u 01 is the control signal of the first vibration table 32, u 02 is the control signal of the first vibration table 33, G5, G6, G7, G8, G9 and G 10 As shown in formula (20):

[0011]

[0012] Wherein, M1 is the mass of the first vibration table 32, M2 is the mass of the first vibration table 33, C is the damping coefficient of the test structure, s represents the Laplace operator, K is the stiffness coefficient of the test structure, and M S is the mass of the test structure, k q1 G q1 is the transfer function of servo valve 1, k q2 G q2 is the transfer function of servo valve 2, G a1 and G a2 is the transfer function of the sensor, G 41 and G 42 is the feedback of two three-parameter (TVC), A P1 and A P2 is the effective area of ​​the two hydraulic cylinders, G 21 and G 22 The analytical expression of is shown in formula (15):

[0013]

[0014] Among them, V1 and V2 are the total capacity of the two hydraulic cylinders, K c1 and K c2 is the flow pressure parameter near the steady-state operating point, C c1 and C c2 is the total leakage coefficient of the hydraulic cylinder, β represents the effective bulk modulus;

[0015] Preferably, the transfer function matrix converted from formula (11) is as shown in formula (23):

[0016]

[0017] Among them, the expressions of H11, H12, H12 and H22 are shown in formula (24):

[0018]

[0019] Among them, H11 and H22 are the transfer functions of the two exciters affected by CSI, and H12 and H21 are the transfer functions of the coupling between the two exciters;

[0020] Preferably, the construction of the system model takes into account three sub-models: a dynamic system model, a hydraulic drive model and a three-variable control (TVC) model.

[0021] A further method, wherein the dynamic system model is shown in formula (12):

[0022]

[0023] Among them, M1 and M2 are the masses of the two vibration table surfaces, F1 is the output of exciter 1, F2 is the output of exciter 2, x1 is the displacement of exciter 1, x2 is the displacement of exciter 2, and M S is the mass of the test structure; x S is the displacement of the test structure, C is the damping coefficient of the test structure, and K is the stiffness coefficient of the test structure;

[0024] The displacement of the test structure is as shown in formula (13):

[0025]

[0026] Among them, M S is the mass of the test structure; x S is the displacement of the test structure, K is the stiffness coefficient of the test structure, s represents the Laplace operator, x1 is the displacement of exciter 1, and x2 is the displacement of exciter 2;

[0027] Preferably, the hydraulic drive model is as shown in formula (14):

[0028]

[0029] Among them, k Q1 G Q1 and k Q2 G Q2 is the transfer function of the two servo valves, u1 and u2 are the control error signals of the two vibration tables, A p1 and A P2 is the effective area of ​​the two hydraulic cylinders;

[0030] Preferably, the TVC model is as shown in formula (16):

[0031]

[0032] Where: u 01 and u 02 is the control signal of the two vibration tables, G 31 and G 32 are the generator and feedforward of two TVCs, G 41 and G 42 This is the feedback from two TVCs, G a1 and G a2 is the transfer function of the sensor.

[0033] A further method wherein the transfer function of the sensor is expressed as:

[0034]

[0035] Where: n a1 and n a2 is the frequency of the sensor, D a1 and D A2 is the damping ratio of the sensor.

[0036] The beneficial effects of this invention lie in the following: It proposes a multi-physics field coupling test device that can simulate different landslide regions (top and bottom) subjected to different seismic excitations and rainfall effects. Furthermore, based on a real-time force feedback control method, an adaptive inverse control strategy that accounts for system identification errors is proposed, effectively improving the simulation accuracy of multi-physics field coupling. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 Multi-physics field coupling test equipment and control algorithm;

[0038] Figure 2 Multi-physics field coupling test device;

[0039] Figure 3 Multi-physics field coupling test device;

[0040] Figure 4 rainfall system;

[0041] Figure 5 rainfall system;

[0042] Figure 6 landslide systems;

[0043] Figure 7 landslide systems;

[0044] Figure 8 Vibration table array system;

[0045] Figure 9 Vibration table array system;

[0046] Figure 10 System model construction;

[0047] Figure 11 Control algorithms;

[0048] Figure 12 Block diagram of real-time force feedback control strategy;

[0049] Figure 13 Force feedback control strategy considering identification error;

[0050] Figure 14 First vibration table;

[0051] Figure 15 Cross-sectional view of the first vibration table;

[0052] Figure 16 Block diagram of the adaptive inverse control strategy.

[0053] Figure numerals: 1-multi-physics field coupling test device, 2-model structure; 30-vibration table array assembly; 31-double-step body; 32-first vibration table; 33-second vibration table; 40-rainfall assembly; 41-water tank; 42-water pump; 43-rainfall outlet; 44-movable plate; 45-rainwater control valve; 46-steel pipe; 47-soft pipe; 48-solenoid valve; 49-electromagnetic guide rail; 410-movable plate bracket; 50-landslide assembly; 51-second vibration table; 52-landslide body; 53-adjustable slope bottom; 54-upper end bolt mouth; 55-lower end bolt mouth; 56-upper hinge; 57-lower hinge. DETAILED DESCRIPTION

[0054] The following examples further illustrate the present invention, but should not be construed as limiting the present invention. Without departing from the spirit and substance of the present invention, modifications or substitutions made to the methods, steps or conditions of the present invention are within the scope of the present invention.

[0055] The control algorithm of the multi-physics field coupling test device of some embodiments of the present invention is combined with Figure 1 、 Figure 2 、 Figure 3 The control algorithm includes a real-time control system. The multi-physics field coupling test device 1 also includes a vibration table array component 30, a rainfall component 40, and a landslide component 50. The real-time control system includes a first seismic controller 5, a rainfall controller 9, and a second seismic controller 6. The first seismic controller 5 and the second seismic controller 6 of the real-time control system both include a real-time force feedback controller and an identification error compensator. The vibration table component 20 includes a valve control system:

[0056] The real-time force feedback controller is configured to: receive the output signal y(a), combine the inverse transfer function of the vibration table valve control system and the test structure characteristics, and generate the valve control compensation signal c;

[0057] The identification error compensator is configured to: receive the valve control compensation signal c and the output signal y(a), eliminate the system identification error, and generate a valve control compensation signal for eliminating the identification error;

[0058] The valve control system is configured to receive an input signal x(a), eliminate an identification error valve control compensation signal, and generate an output signal y(a) in combination with a valve control system transfer function.

[0059] Further control algorithm embodiments of the multi-physics field coupling test device are as follows: Figure 1 As shown, the vibration table array component 30 receives the input signal x(a) and the real-time compensation signal to perform multi-physics field simulation. The data acquisition and analysis system collects the test signal, processes the test signal and sends it to the numerical simulation system to update the system characteristics in real time. The numerical simulation system sends the output signal y(a) to the real-time control system.

[0060] Further control algorithm embodiments of the multi-physics field coupling test device are as follows: Figure 10 、 Figure 11 、 Figure 13 As shown, the valve control compensation signal for eliminating the identification error is the control error signal E2, which is the difference between the output signal y(a) and the input signal x(a), and is calculated according to formula 10:

[0061]

[0062] Among them, K a and K b is a dynamically adjustable factor, G(F) is the identified transfer function of the vibration table valve control system, ΔF is the error between the identified transfer function of the valve control system and the true transfer function, G(S) is the identified structural transfer function, and ΔS is the error between the identified transfer function and the true transfer function;

[0063] Some optional embodiments are: dynamically adjust K within the interval a and K B The size of makes the difference between the output signal y(a) and the input signal x(a) decrease continuously to achieve the optimal performance.

[0064] A further embodiment of the control algorithm of the multi-physics field coupling test device is to combine Figure 11 As shown, the real-time control system also includes an adaptive inverse controller:

[0065] The adaptive inverse controller is configured as:

[0066] S1: Identify the acceleration closed-loop system and obtain the inverse transfer function of the acceleration closed-loop system;

[0067] S2: Based on S1, the zero-phase tracking technology is used to correct the inverse transfer function of the acceleration closed-loop system;

[0068] S3: Connect the corrected inverse transfer function in series to the front end of the acceleration closed-loop system to obtain an approximately linear system;

[0069] S4: Adopt adaptive inverse control strategy to control and compensate the system.

[0070] The second aspect of the present invention also provides a multi-physics field coupling test device configured with the above control algorithm. The following device embodiments can refer to Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 、 Figure 6 、 Figure 7 、 Figure 8 、 Figure 9 、 Figure 14 、 Figure 15 , the corresponding embodiments are not described in detail.

[0071] A further embodiment of the multi-physics field coupling test device is as follows: the vibration table array assembly 30 includes a double-stepped body 31, a first vibration table 32, and a second vibration table 33, wherein the first vibration table 32 is arranged on the bottom step of the double-stepped body 31, and the second vibration table 33 is arranged on the top step of the double-stepped body 31;

[0072] The rainfall assembly 40 includes a water tank 41 and a water pump 42 , wherein the water pump 42 pumps water from the water tank 41 out through a rainfall outlet 43 to simulate rainwater and inject it into the test structure 2 on the first vibration table 32 and / or the soil box 51 on the second vibration table 33 ;

[0073] The landslide system 50 includes a soil box 51 mounted on a second vibration table 33, a bottom portion 53 of the soil box 51 having an adjustable slope, and a landslide body 52 connected to the first and second vibration tables 32 and 33. The second vibration table 33 has an adjustable slope 53, which injects soil from the soil box 51 into the landslide body 52 to simulate a landslide and release it toward the test structure 2 on the first vibration table 32.

[0074] Some optional embodiments are as follows: the slide body 52 includes an upper hinge 56 provided at its upper end and a lower hinge 57 provided at its lower end, the upper hinge 56 is provided with an upper end bolt opening 54, and the lower hinge 57 is provided with a lower end bolt opening 55;

[0075] Some further optional embodiments are as follows: the rainfall assembly 40 includes a movable plate 44 movable above the first vibration table 32, a rainfall port 43 provided on the movable plate 44, a simulated rainwater delivery pipe for delivering water in the water tank 41 to the movable plate 44, and a rainwater control valve 45 provided on the simulated rainwater delivery pipe;

[0076] Some further optional embodiments are: the simulated rainwater delivery pipeline includes a steel pipeline 46 and / or a soft pipeline 47; preferably, the rainwater control valve 45 is provided on the steel pipeline 46.

[0077] Some further optional embodiments are: the rainfall assembly 40 also includes a movable plate bracket 410, a solenoid valve 48 arranged on the movable plate bracket 410, and an electromagnetic guide rail 49 arranged on the movable plate 44, wherein the solenoid valve 48 and the electromagnetic guide rail 49 enable the movable plate 44 to move above the first vibration table 32.

[0078] In a further embodiment of a multi-physics field coupling test apparatus, the first vibration table 32 includes a first vibration table surface, a first exciter, a first servo valve, and a first hydraulic cylinder; the second vibration table 33 includes a second vibration table surface, a second exciter, a second servo valve, and a second hydraulic cylinder. It should be noted that this test apparatus also includes flow sensors, earth pressure sensors, acceleration sensors, displacement sensors, stress sensors, and other known components, but this application does not specifically limit these known technologies.

[0079] The present application does not impose any specific restrictions on the selection of the first vibration table 32 and the second vibration table 33. In a preferred embodiment, the first vibration table 32 is an underwater vibration table, and the second vibration table 33 is a general vibration table. The preferred underwater vibration table has a waterproof structure and measures and can perform three six-degree-of-freedom earthquake excitations. In a further preferred embodiment, the first vibration table 32 is a rolling waterproof system for an underwater vibration table disclosed in Chinese patent application CN 115046719 A2022.09.13 (such as Figure 14 and Figure 15 As shown, the figure numbers continue from this patent).

[0080] Some optional embodiments are as follows: the water pump 42 pumps the water in the water tank 41 out through the rain outlet 43 to simulate rainwater and inject it into the soil box 51 on the second vibration table 33;

[0081] Some further optional embodiments are as follows: the water pump 42 pumps the water in the water tank 41 out through the rain outlet 43 to simulate rainwater and inject it into the test structure 2 on the first vibration table 32;

[0082] Some further optional embodiments are: the vibration table array assembly 30 includes a vibration table body and an exciter.

[0083] Some other embodiments of the present invention relate to a method for analyzing the interaction between a dual vibration table and a test structure in a multi-physics field coupling test device, wherein the dual vibration table includes a first vibration table 32 and a second vibration table 33, wherein the system model used in the method is shown in formula (22):

[0084]

[0085] Where x1 is the displacement of exciter 1, x2 is the displacement of exciter 2, and u 01 is the control signal of the first vibration table 32, u 02 is the control signal of the first vibration table 33, and the control signal u 01 and control signal u 02 For the input signal x(a), G5, G6, G7, G8, G9 and G 10 As shown in formula (20):

[0086]

[0087] Wherein, M1 is the mass of the first vibration table 32, M2 is the mass of the first vibration table 33, C is the damping coefficient of the test structure, s represents the Laplace operator, K is the stiffness coefficient of the test structure, and M S is the mass of the test structure, k q1 G q1 is the transfer function of servo valve 1, k q2 G q2 is the transfer function of servo valve 2, G a1 and G a2 is the transfer function of the sensor, G 41 and G 42 is the feedback of two three-parameter (TVC), A P1 and A P2 is the effective area of ​​the two hydraulic cylinders, G 21 and G 22 The analytical expression of is shown in formula (15):

[0088]

[0089] Among them, V1 and V2 are the total capacity of the two hydraulic cylinders, K C1 and K C2 is the flow pressure parameter near the steady-state operating point, C C1 and C C2 is the total leakage coefficient of the hydraulic cylinder, β represents the effective bulk modulus;

[0090] Some optional embodiments are: the transfer function matrix converted from formula (11) is shown in formula (23):

[0091]

[0092] Among them, the expressions of H11, H12, H12 and H22 are shown in formula (24):

[0093]

[0094] Among them, H11 and H22 are the transfer functions of the two exciters affected by CSI, and H12 and H21 are the transfer functions of the coupling between the two actuators;

[0095] Some optional embodiments are: the construction of the system model takes into account three sub-models: a dynamic system model, a hydraulic drive model and a three-parameter control (TVC) model.

[0096] A further method, wherein the dynamic system model is shown in formula (12):

[0097]

[0098] Among them, M1 and M2 are the masses of the two vibration table surfaces, F1 is the output of exciter 1, F2 is the output of exciter 2, x1 is the displacement of exciter 1, x2 is the displacement of exciter 2, and M S is the mass of the test structure; x S is the displacement of the test structure, C is the damping coefficient of the test structure, and K is the stiffness coefficient of the test structure;

[0099] The displacement of the test structure is as shown in formula (13):

[0100]

[0101] Among them, M S is the mass of the test structure; x S is the displacement of the test structure, K is the stiffness coefficient of the test structure, s represents the Laplace operator, x1 is the displacement of exciter 1, and x2 is the displacement of exciter 2;

[0102] Some optional embodiments are: the hydraulic drive model is shown in formula (14):

[0103]

[0104] Among them, k q1 G q1 and k q2 G q2 is the transfer function of the two servo valves, u1 and u2 are the control error signals of the two vibration tables, A P1 and A P2 is the effective area of ​​the two hydraulic cylinders;

[0105] Preferably, the TVC model is as shown in formula (16):

[0106]

[0107] Where: u 01 and u 02 is the control signal of the two vibration tables, G 31 and G 32 are the generator and feedforward of two TVCs, G 41 and G 42 This is the feedback from two TVCs, G a1 and G a2 is the transfer function of the sensor.

[0108] Some further optional embodiments are: wherein the transfer function of the sensor is expressed as:

[0109]

[0110] Where: n a1 and n a2 is the frequency of the sensor, D a1 and D a2 is the damping ratio of the sensor.

[0111] The following embodiment continues to illustrate the control algorithm part.

[0112] 1. System Modeling

[0113] The construction of the double-shaking table landslide system model mainly includes two parts: dynamic system modeling and hydraulic drive and three-parameter system modeling.

[0114] 1.1. Dynamic System Modeling

[0115] The dynamic model of the double vibration table and the test structure is as follows Figure 10 As shown, the meanings of English in the figure are as follows: Dynamicmodel dynamic model, test structure test structure, shaking table-1 first shaking table 32, shakingtable-2 first shaking table 33. The detailed explanation of the symbols in the figure is as follows: M1 and M2 are the masses of the two shaking table surfaces, F1 is the output of exciter 1, F2 is the output of exciter 2, x1 is the displacement of exciter 1, x2 is the displacement of exciter 2, M S is the mass of the test structure; x S is the displacement of the test structure, C is the damping coefficient of the test structure, and K is the stiffness coefficient of the test structure.

[0116] According to Newton's second law, the dynamic model is

[0117]

[0118] Where s represents the Laplace operator.

[0119] According to the modeling process in the reference (Huang, HH Design and application of the shaking table (Seismological Press, Beijing, 2008), the displacement of the landslide is

[0120]

[0121] 1.2. Hydraulic drive and three-parameter system modeling

[0122] According to the hydraulic drive system modeling process introduced in the reference (Wang, J., et al. Differential movement synchronous tracking control strategy of double-shaking table system loading with specimens. Shock. Vib. 2018, 1-11 (2018)), the hydraulic drive model is:

[0123]

[0124] Among them, k q1 G q1 and k q2 G q2 is the transfer function of the two servo valves, u1 and u2 are the control error signals of the two vibration tables, A P1 and A P2 is the effective area of ​​the two hydraulic cylinders, G 21 and G 22 The analytical expression is

[0125]

[0126] Based on the TVC system modeling process given in the reference (Wang, J., Li, X., Li, F. & Li, N. Analysis of the interaction effects between double shaking tables and test structure. J Vib Control 27 (11-12), 1407-1419 (2021)), the TVC model of the double shaking table and landslide structure can be obtained. The control error signal is:

[0127]

[0128] Among them, u 01 and u 02 is the control signal of the two vibration tables, G 31 and G 32 are the generator and feedforward of two TVCs, G 41 and G 42 This is the feedback from two TVCs, G a1 and G a2 is the transfer function of the sensor. The expression of the sensor transfer function is:

[0129]

[0130] Among them, n a1 and n a2 is the frequency of the sensor, D a1 and D a2 is the damping ratio of the sensor.

[0131] 1.3 System Modeling

[0132] Based on the three sub-models of dynamic system modeling, hydraulic drive and TVC system modeling, the analysis model of the double vibration table and test structure was established. Combining formulas (12) and (14), we can get:

[0133]

[0134] Substituting formulas (16) and (17) into formula (18), the system model is:

[0135]

[0136] assumed

[0137]

[0138] Available

[0139]

[0140] Finally, the system model of the dual vibration table and test structure can be obtained as follows:

[0141]

[0142] Converting formula (22) into the transfer function matrix shown below, we can get

[0143]

[0144] Where H11 and H22 are the transfer functions of the two exciters affected by CSI, and H12 and H21 are the transfer functions of the coupling between the two actuators. The expressions of H11, H12, H12, and H22 are:

[0145]

[0146] Assume u 01 =u 02 =u, then the transfer function of the two exciters is:

[0147]

[0148] Where A1 is the transfer function of exciter 1, and A2 is the transfer function of exciter 2.

[0149] 2. Algorithm Proposal

[0150] The control algorithm consists of three main parts: the first is real-time force feedback control, the second is identification error compensation, and the third is adaptive inverse control. The present invention does not specifically limit the real-time force feedback control method, so the following description focuses on identification error compensation and adaptive inverse control.

[0151] 2.1. Identification error compensation

[0152] Based on the real-time force feedback control strategy, these embodiments provide an identification error compensator with two dynamically adjustable factors that can be adjusted in real time. Based on this concept, formulas are derived to verify the effectiveness of the proposed strategy.

[0153] Without considering control feedforward and feedback, the block diagram of real-time force feedback control strategy is as follows Figure 12 As shown, G(F) and are the identified transfer functions of the vibration table valve control system, ΔF is the error between the identified valve control system transfer function and the true transfer function, G -1 (F) is the inverse transfer function of the identified transfer function of the vibration table valve control system, G(S) is the identified structural transfer function, ΔS is the error between the identified transfer function and the true transfer function, x(a) is the input signal; E1 is the control error signal, and y(a) is the output signal.

[0154] Depend on Figure 12 It can be seen that the output signal of the system is:

[0155] y(a)=E1·G(F)(1+ΔF) (1)

[0156] The expression of the control error signal is:

[0157] E1=x(a)-y(a)G(S)(1+ΔS)G-1 (F) (2)

[0158] From formula 1, we can get:

[0159]

[0160] Substituting formula 3 into formula 1 yields:

[0161]

[0162] It can be deduced that the output signal can be expressed as:

[0163]

[0164] Assume that the error E1 between the output and input signals of the system is:

[0165]

[0166] The block diagram of the proposed real-time force feedback control strategy considering identification error is shown in the figure below. Figure 13 As shown, the identification error compensation K a and K b is a dynamically adjustable factor. Figure 13 It can be seen that the output signal of the system can be obtained by formula 1, and the expression of the control error signal E2 is:

[0167] E2=[x(a)+y(a)]K b +x(a)-y(a)G(S)(1+ΔS)G -1 (F)(1+K a ΔF) (7)

[0168] Substituting formula 3 into formula 7, we can get:

[0169]

[0170] It can be deduced that the output signal can be expressed as:

[0171]

[0172] Then the error E2 between the output and input signals of the system can be obtained as:

[0173]

[0174] Let K a ≥0 and K b ≤0, analyze the size of E1 and E2:

[0175]

[0176] It can be seen that E1≥E2, which shows that the proposed control strategy can reduce the error between the input and output signals, and the accuracy of the shaking table test is improved.

[0177] In actual experiments, K can be dynamically adjusted within the range a and K b The size of the system reduces the error between the output and input signals and achieves the optimal performance.

[0178] 2.2 Adaptive inverse control

[0179] like Figure 11 、 Figure 16 As shown in the figure, an adaptive inverse control strategy is used to further improve the accuracy of multi-physics field coupling simulation. First, the acceleration closed-loop system of the vibration table is identified to obtain the inverse transfer function of the acceleration closed-loop (system), where the acceleration closed-loop identification refers to the system identification of the three parts consisting of the vibration table valve control system, real-time force feedback, and identification error compensator. On this basis, the zero-phase difference tracking technology (Liu Jinkun, System Identification Theory and MATLAB Simulation, Electronic Industry Press, page 97) is used to correct the inverse transfer function of the acceleration closed-loop system. Then, the corrected inverse transfer function is connected in series to the front end of the acceleration closed-loop system to obtain an approximately linear system. Finally, the adaptive inverse control strategy is used to control and compensate the system. Reference Figure 16 , adaptive algorithms, controllers, etc. illustrate the basic principles of adaptive inverse control. However, the present invention does not specifically limit the adaptive inverse control method. Adaptive inverse control applicable to various industries is within the scope of selection of this application. This improved adaptive inverse control strategy has the characteristics of fast convergence speed, high precision, and good stability, which can further improve the accuracy of multi-physical field coupling simulation. In addition, the calculation examples of the zero-phase difference tracking technology of this application and the basic description of adaptive inverse control can be fully referenced in "Shen Gang. Research on time-domain waveform reproduction control strategy of three-degree-of-freedom electro-hydraulic vibration table [D]. Harbin: Harbin Institute of Technology, 2011."

[0180] The embodiments and functional operations of the subject matter described in this specification may be implemented in digital electronic circuitry, tangibly implemented computer software or firmware, computer hardware including the structures disclosed in this specification and their structural equivalents, or a combination of more than one of the foregoing. The embodiments of the subject matter described in this specification may be implemented as one or more computer programs, i.e., one or more modules of computer program instructions encoded on one or more tangible, non-transitory program carriers, for execution by, or to control the operation of, a data processing apparatus.

[0181] Although the present invention has been described in detail above using general explanations, specific embodiments, and experiments, it will be apparent to those skilled in the art that modifications and improvements may be made based on the present invention. Therefore, such modifications and improvements, which do not depart from the spirit of the present invention, are intended to be within the scope of protection claimed herein.

Claims

1. A control algorithm for a multi-physics field coupling test device, the control algorithm comprising a real-time control system, characterized in that: The multi-physics field coupling test device (1) further comprises a vibration table array component (30), a rainfall component (40) and a landslide component (50); the real-time control system comprises a first earthquake controller (5), a rainfall controller (9) and a second earthquake controller (6); the first earthquake controller (5) and the second earthquake controller (6) of the real-time control system both comprise a real-time force feedback controller and an identification error compensator; the vibration table array component (30) comprises a valve control system; the vibration table array component (30) further comprises a double-stepped body (31), a first vibration table (32) and a second vibration table (33): The real-time force feedback controller is configured to: receive the output signal y(a), combine the inverse transfer function of the vibration table valve control system and the test structure characteristics, and generate the valve control compensation signal c; The identification error compensator is configured to: receive the valve control compensation signal c and the output signal y(a), eliminate the system identification error, and generate a valve control compensation signal for eliminating the identification error; The valve control system is configured to: receive an input signal x(a), eliminate the identification error valve control compensation signal, and generate an output signal y(a) in combination with the valve control system transfer function; The valve control compensation signal for eliminating the identification error is the control error signal E2, which is the difference between the output signal y(a) and the input signal x(a), and is calculated according to formula (10): Among them, K a and K b is a dynamically adjustable factor, G(F) is the identified transfer function of the vibration table valve control system, ΔF is the error between the identified valve control system transfer function and the true transfer function, G(S) is the identified structural transfer function, and ΔS is the error between the identified transfer function and the true transfer function.

2. The control algorithm of the multi-physics field coupling test device according to claim 1, characterized in that: The valve control system of the vibration table array component (30) receives an input signal x(a) to perform multi-physical field simulation, and the data acquisition and analysis system acquires the test signal. The data acquisition and analysis system processes the test signal and sends it to the numerical simulation system to update the system characteristics in real time. The numerical simulation system sends an output signal y(a) to the real-time control system.

3. The control algorithm of the multi-physics field coupling test device according to claim 2, characterized in that: Dynamically adjust K within the interval a and K b The size of makes the difference between the output signal y(a) and the input signal x(a) decrease continuously to achieve the optimal performance.

4. The control algorithm of the multi-physics field coupling test device according to any one of claims 1 to 3, characterized in that: The real-time control system further comprises an adaptive inverse controller: The adaptive inverse controller is configured as: S1: Identify the acceleration closed-loop system and obtain the inverse transfer function of the acceleration closed-loop system; S2: Based on S1, the zero-phase tracking technology is used to correct the inverse transfer function of the acceleration closed-loop system; S3: Connect the corrected inverse transfer function in series to the front end of the acceleration closed-loop system to obtain an approximately linear system; S4: Adopt adaptive inverse control strategy to control and compensate the system.

5. A multi-physics field coupling test device equipped with the control algorithm according to claim 4.

6. The multi-physics field coupling test device according to claim 5, characterized in that: The first vibration platform (32) is arranged on the bottom step of the double-step body (31), and the second vibration platform (33) is arranged on the top step of the double-step body (31); The rainfall assembly (40) includes a water tank (41) and a water pump (42), wherein the water pump (42) pumps water in the water tank (41) out through a rainfall outlet (43) to simulate rainwater and inject it into the test structure (2) on the first vibration table (32) and / or the soil box (51) on the second vibration table (33); The landslide system (50) comprises a soil box (51) arranged on a second vibration table (33), a bottom of the soil box (51) having an adjustable slope (53), and a landslide body (52) overlapped on the first vibration table (32) and the second vibration table (33), wherein the second vibration table (33) has an adjustable slope (53) and injects soil in the soil box (51) into the landslide body (52), and then simulates a landslide and flows toward the test structure (2) on the first vibration table (32).

7. The multi-physics field coupling test device according to claim 6, characterized in that: The slide body (52) comprises an upper hinge (56) arranged at its upper end and a lower hinge (57) arranged at its lower end. The upper hinge (56) is provided with an upper end bolt opening (54), and the lower hinge (57) is provided with a lower end bolt opening (55).

8. The multi-physics field coupling test device according to claim 7, characterized in that: The rainfall assembly (40) comprises a movable plate (44) movable above a first vibration table (32), a rainfall port (43) provided on the movable plate (44), a simulated rainwater delivery pipe for delivering water in a water tank (41) to the movable plate (44), and a rainwater control valve (45) provided on the simulated rainwater delivery pipe.

9. The multi-physics field coupling test device according to claim 8, characterized in that: The simulated rainwater conveying pipeline includes a steel pipeline (46) and / or a soft pipeline (47).

10. The multi-physics field coupling test device according to claim 9, characterized in that: The rainwater control valve (45) is arranged on the steel pipe (46).

11. The multi-physics field coupling test device according to claim 10, characterized in that: The rainfall assembly (40) further includes a moving plate support (410), a solenoid valve (48) disposed on the moving plate support (410), and an electromagnetic guide rail (49) disposed on the moving plate (44), wherein the solenoid valve (48) and the electromagnetic guide rail (49) enable the moving plate (44) to move above the first vibration table (32).

12. The multi-physics field coupling test device according to claim 11, characterized in that: The first vibration table (32) includes a first vibration table surface, a first vibration exciter, a first servo valve, and a first hydraulic cylinder; the second vibration table (33) includes a second vibration table surface, a second vibration exciter, a second servo valve, and a second hydraulic cylinder.

13. The multi-physics field coupling test device according to claim 12, characterized in that: The water pump (42) pumps the water in the water tank (41) out through the rain outlet (43) to simulate rainwater and inject it into the soil box (51) on the second vibration table (33).

14. The multi-physics field coupling test device according to claim 13, characterized in that: The water pump (42) pumps the water in the water tank (41) out through the rain outlet (43) to simulate rainwater and inject it into the test structure (2) on the first vibration table (32).

15. The multi-physics field coupling test device according to claim 14, characterized in that: The vibration table array assembly (30) comprises a vibration table body and an exciter.

16. The method for analyzing the interaction between a dual vibration table and a test structure in a multi-physics field coupling test device according to any one of claims 1 to 3, wherein the dual vibration table comprises a first vibration table 32 and a second vibration table 33, wherein: The system model used in this method is shown in formula (22): Where x1 is the displacement of exciter 1, x2 is the displacement of exciter 2, and u 01 is the control signal of the first vibration table 32, u 02 is the control signal of the first vibration table 33, G5, G6, G7, G8, G9 and G 10 As shown in formula (20): Wherein, M1 is the mass of the first vibration table 32, M2 is the mass of the first vibration table 33, C is the damping coefficient of the test structure, s represents the Laplace operator, k is the stiffness coefficient of the test structure, and M S is the mass of the test structure, k q1 G q1 is the transfer function of servo valve 1, k q2 G q2 is the transfer function of servo valve 2, G a1 and G a2 is the transfer function of the sensor, G 41 and G 42 is the feedback of two three-parameter TVCs, A P1 and A P2 is the effective area of ​​the two hydraulic cylinders, G 21 and G 22 The analytical expression of is shown in formula (15): Among them, V1 and V2 are the total capacity of the two hydraulic cylinders, K C1 and K C2 is the flow pressure parameter near the steady-state operating point, C C1 and C C2 is the total leakage coefficient of the hydraulic cylinder, and β represents the effective bulk modulus.

17. The method for analyzing the interaction between the dual vibration tables and the test structure in the multi-physics field coupling test device according to claim 16, The transfer function matrix converted from formula (11) is shown in formula (23): in, The expressions of H11, H12, H12 and H22 are shown in formula (24): Among them, H11 and H22 are the transfer functions of the two exciters affected by CSI, and H12 and H21 are the transfer functions of the coupling between the two actuators.

18. The method for analyzing the interaction between the dual vibration tables and the test structure in the multi-physics field coupling test device according to claim 17, The construction of the system model takes into account three sub-models: dynamic system model, hydraulic drive model and three-parameter control TVC model.

19. The method of claim 18, wherein: The dynamic system model is shown in formula (12): Among them, M1 and M2 are the masses of the two vibration table surfaces, F1 is the output of exciter 1, F2 is the output of exciter 2, x1 is the displacement of exciter 1, x2 is the displacement of exciter 2, and M S is the mass of the test structure; x S is the displacement of the test structure, C is the damping coefficient of the test structure, and k is the stiffness coefficient of the test structure; The displacement of the test structure is as shown in formula (13): Among them, M S is the mass of the test structure; x S is the displacement of the test structure, k is the stiffness coefficient of the test structure, s represents the Laplace operator, x1 is the displacement of exciter 1, and x2 is the displacement of exciter 2.

20. The method of claim 19, wherein: The hydraulic drive model is shown in formula (14): Among them, k q1 G q1 and k q2 G q2 is the transfer function of the two servo valves, u1 and u2 are the control error signals of the two vibration tables, A P1 and A P2 is the effective area of ​​the two hydraulic cylinders.

21. The method of claim 20, wherein: The TVC model is shown in formula (16): Where: u 01 and u 02 is the control signal of the two vibration tables, G 31 and G 32 are the generator and feedforward of two TVCs, G 41 and G 42 This is the feedback from two TVCs, G a1 and G a2 is the transfer function of the sensor.

22. The method of claim 21, wherein: The transfer function of the sensor is expressed as: Where: n a1 and n a2 is the frequency of the sensor, D a1 and D a2 is the damping ratio of the sensor.

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