Multi-hazard Coupling Test Device and Control Algorithm

Abstract

The present invention discloses a multi-hazard coupling action test device, which includes a shaking table assembly (20) and a real-time control system. The multi-hazard coupling action test device (1) further includes a model box assembly (30), a rainfall assembly (40) and / or a flood assembly (50). The real-time control system includes a seismic controller, a rainfall controller and a flood controller. The seismic controller of the real-time control system includes a real-time force feedback controller and an identification error compensator. The shaking table assembly (20) includes a valve control system: The real-time force feedback controller is configured to: receive the output signal y(a), combine the inverse transfer function of the shaking table valve control system and the characteristics of the test structure, and generate a 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 an identification error elimination valve control compensation signal; The valve control system is configured to: receive the input signal x(a) and the identification error elimination valve control compensation signal, and combine the transfer function of the valve control system to generate the output signal y(a). The present application discloses a control algorithm for a multi-hazard coupling action test device. Based on the real-time force feedback control strategy, an identification error compensator is designed. There are two dynamically adjustable factors in the error compensator, which can be adjusted in real time, improving the accuracy of the multi-hazard coupling action test.

Description

Technical Field

[0001] The patent of this invention belongs to the technical field of vibration table test of civil engineering, water conservancy engineering, geological engineering and other engineering structures, and specifically relates to a multi-hazard coupling test device and control algorithm. Background Art

[0002] The western region of my country is rich in hydropower resources, but it is also accompanied by complex topography and seismic geological environment. Major earthquakes occur from time to time. The construction and operation of major projects will face the combined threat of strong earthquakes or even super-large earthquakes and reservoir water surges caused by landslides on both sides of the river. Furthermore, major projects are threatened by the coupling and successive effects of the main shock-strong aftershock-giant landslide. Physical model experiments can obtain the mechanism of landslides and stagnant water floods under the successive effects of the main shock-strong aftershocks of earthquakes, the regional landslide volume assessment model, and the characteristics and laws of landslide reservoir water surges and characterization parameters. Provide theoretical support and technical guarantee for earthquake disaster prevention and prevention of cascade water conservancy hubs, and improve the disaster safety of water conservancy and hydropower hubs under construction and planned in my country.

[0003] The existing physical model test equipment and control algorithms are not yet able to simulate the coupling and subsequent effects of the main shock-strong aftershock-giant landslide. This is mainly reflected in the fact that most test equipment controls and implements a single disaster type, and cannot accurately simulate the coupling effects of multiple disasters. Specifically, under the coupling effects of multiple disasters such as earthquakes, floods, and rainfall, the characteristics of the test system will change, and the existing vibration table control strategy cannot reproduce the earthquake effects with high precision. Summary of the invention

[0004] In order to solve the above technical problems, the first aspect of the present invention is a control algorithm of a multi-hazard coupling test device, the multi-hazard coupling test device includes a shaking table assembly 20 and a real-time control system, the multi-hazard coupling test device 1 also includes a model box assembly 30, a rainfall assembly 40 and / or a flood assembly 50, the real-time control system includes an earthquake controller, a rainfall controller and a flood controller, the earthquake controller of the real-time control system includes a real-time force feedback controller and an identification error compensator, the shaking table assembly 20 includes a valve control system:

[0005] 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 a valve control compensation signal c;

[0006] 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;

[0007] The valve control system is configured to: receive an input signal x(a), eliminate the identified error valve control compensation signal, and generate an output signal y(a) in combination with the valve control system transfer function.

[0008] For the control algorithm of the further multi-hazard coupling action test device, the valve control system of the shaking table assembly 20 receives the input signal x(a) for multi-hazard simulation. The data acquisition and analysis system collects the test signals, and after processing the test signals, it sends them 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.

[0009] For the control algorithm of the further multi-hazard coupling action test device, based on real-time force feedback control, the identified error valve control compensation signal is the control error signal E1. The control error signal E1 is the difference between the output signal y(a) and the input signal x(a), and is calculated according to Equation 6:

[0010]

[0011] where G(F) is the identified valve control system transfer function, 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.

[0012] For the control algorithm of the further multi-hazard coupling action test device, the identified error valve control compensation signal is the control error signal E2. The control error signal E2 is the difference between the output signal y(a) and the input signal x(a), and is calculated according to Equation 10:

[0013]

[0014] where K a and K b are dynamically adjustable factors, G(F) is the identified valve control system transfer function, 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;

[0015] Preferably: Dynamically adjust the magnitudes of K a and K b within the interval range so that the difference between the output signal y(a) and the input signal x(a) continuously decreases to achieve optimal performance.

[0016] The second aspect of the present invention provides a multi-hazard coupling action test device, including a shaking table assembly 20 and a real-time control system. It is characterized in that the multi-hazard coupling action test device 1 further includes a model box assembly 30, a rainfall assembly 40 and / or a flood assembly 50. The real-time control system includes a seismic controller, a rainfall controller and a flood controller. The seismic controller of the real-time control system includes a real-time force feedback controller and an identification error compensator. The shaking table assembly 20 includes a valve control system:

[0017] The real-time force feedback controller is configured to: receive the output signal y(a), and generate a valve control compensation signal c in combination with the inverse transfer function of the shaking table valve control system and the characteristics of the test structure;

[0018] 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 an identification error elimination valve control compensation signal;

[0019] The valve control system is configured to: receive the input signal x(a) and the identification error elimination valve control compensation signal, and generate an output signal y(a) in combination with the transfer function of the valve control system.

[0020] In a further multi-hazard coupling action test device, when the valve control system of the shaking table assembly 20 receives the input signal x(a) for multi-hazard simulation, the data acquisition and analysis system collects 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 the output signal y(a) to the real-time control system.

[0021] In a further multi-hazard coupling action test device, the identification error elimination valve control compensation signal is a control error signal E1. The control error signal E1 is the difference between the output signal y(a) and the input signal x(a), and is calculated according to Equation 6:

[0022]

[0023] where G(F) is the identified transfer function of the 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 transfer function of the structure, and ΔS is the error between the identified transfer function and the true transfer function.

[0024] In a further multi-hazard coupling action test device, the real-time control system includes an identification error compensator. The identification error elimination valve control compensation signal is a control error signal E2. The control error signal E2 is the difference between the output signal y(a) and the input signal x(a), and is calculated according to Equation 10:

[0025]

[0026] where Ka and K b are dynamically adjustable factors, G(F) is the transfer function of the valve control system obtained by identification, ΔF is the error between the identified transfer function of the valve control system and the true transfer function, G(S) is the identified transfer function of the structure, and ΔS is the error between the identified transfer function and the true transfer function;

[0027] Preferably, K is dynamically adjusted within the interval range a and K b such that the difference between the output signal y(a) and the input signal x(a) continuously decreases to achieve the optimal performance

[0028] A further multi-hazard coupling test device, characterized in that

[0029] The model box system 30 includes a layered shear box 31, and the layered shear box 31 is arranged on the shaking table assembly 20;

[0030] The rainfall component 40 and / or the flood component 50 includes a water tank 2 and a water pump 3. Among them, the water pump 3 pumps the water in the water tank 2 out and injects it into the model box system 30 through the rainwater port 42 to simulate rainwater and / or through the flood port 51 to simulate flood;

[0031] Preferably, the rainfall component 40 includes a moving plate 41 that can move above the model box system 30, a rainfall port 42 arranged on the moving plate 41, a simulated rainwater delivery pipeline that transports the water in the water tank 2 to the moving plate 41, and a rainwater control valve 45 arranged on the simulated rainwater delivery pipeline; Further preferably, the simulated rainwater delivery pipeline includes a steel pipeline 43 and / or a flexible pipeline 44; Preferably, the rainwater control valve 45 is arranged on the steel pipeline 43;

[0032] Further preferably, the rainfall component 40 further includes a moving plate bracket 46, a solenoid valve 47 arranged on the moving plate bracket 46, and an electromagnetic rail 48 arranged on the moving plate 41. Among them, the solenoid valve 47 and the electromagnetic rail 48 enable the moving plate 41 to move above the model box system 30.

[0033] A further multi-hazard coupling test device, wherein

[0034] The flood component 50 includes a simulated flood delivery pipeline, and a flood control valve 54 and a flood port 51 arranged on the simulated flood delivery pipeline; Preferably, the simulated flood delivery pipeline includes a flood steel pipeline 52 and a U-shaped bend 53;

[0035] Preferably, the model box assembly 30 further includes a dam 32, a water body 33 arranged inside the layered shear box 31, and a hydroelectric power pipeline 34 arranged on the dam 32;

[0036] Further preferably, the rainfall inlet 42 is located above the dam 32 and the water body 33; the flood inlet 51 is located in the water body 33.

[0037] The beneficial effects of the present invention are as follows: The present application also discloses a shaking table test device for multi-hazard simulation, which can simulate earthquake ground motion, flood, rainfall, dam failure, etc. simultaneously, and the structure is compact and reasonable. At the same time, the present application also discloses a control algorithm for the multi-hazard coupling test device. On the basis of the real-time force feedback control strategy, an identification error compensator is designed. There are two dynamically adjustable factors in the error compensator, which can be adjusted in real time, improving the accuracy of the multi-hazard coupling test. Description of the Drawings

[0038] Figure 1 Control Strategy Diagram

[0039] Figure 2 Block Diagram of the Real-Time Force Feedback Control Strategy;

[0040] Figure 3 Block Diagram of the Force Feedback Control Strategy Considering the Identification Error;

[0041] Figure 4 Schematic Diagram of the Multi-Hazard Coupling Test Device;

[0042] Figure 5-1 Schematic Diagram of the Rainfall Component;

[0043] Figure 5-2 Schematic Diagram of the Moving Plate;

[0044] Figure 6 Schematic Diagram of the Flood Component;

[0045] Figure 7-1 Schematic Diagram of the Model Box Component;

[0046] Figure 7-2 Cross-Sectional Schematic Diagram of the Model Box Component;

[0047] Figure 8-1 Schematic Diagram of the Shaking Table Component;

[0048] Figure 8-2 Cross-Sectional Schematic Diagram of the Shaking Table Component.

[0049] Reference signs: 1 - multi-hazard coupling test device, 2 - water tank; 3 - water pump; 20 - shaking table assembly; 30 - model box assembly; 31 - layered shear box; 32 - dam; 33 - water body; 34 - hydropower pipeline; 40 - rainfall assembly; 41 - moving plate; 42 - rainwater inlet; 43 - steel pipeline; 44 - flexible pipeline; 45 - rainwater control valve for steel pipeline; 46 - moving plate bracket; 47 - solenoid valve; 48 - electromagnetic guide rail; 50 - flood assembly; 51 - flood inlet; 52 - flood steel pipeline; 53 - U-shaped bend; 54 - flood control valve. Detailed implementation manners

[0050] The following embodiments further illustrate the content of the present invention, but should not be regarded as a limitation on the protection scope of the present invention.

[0051] In some embodiments of the control algorithm of the multi-hazard coupling test device, the multi-hazard coupling test device includes a shaking table assembly 20, a model box assembly 30, a rainfall assembly 40 and / or a flood assembly 50 and a real-time control system. The real-time control system includes a seismic controller, a rainfall controller and a flood controller. The seismic controller of the real-time control system includes a real-time force feedback controller and an identification error compensator. The shaking table assembly 20 includes a valve control system. It should be noted that the shaking table assembly 20 also includes a three-parameter control system, which is not specifically limited in the present invention:

[0052] The real-time force feedback controller is configured to: receive the output signal y(a), and generate a valve control compensation signal c in combination with the inverse transfer function of the shaking table valve control system and the characteristics of the test structure;

[0053] 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 an identification error elimination valve control compensation signal;

[0054] The valve control system is configured to: receive the input signal x(a) and the identification error elimination valve control compensation signal, and generate the output signal y(a) in combination with the transfer function of the valve control system. It should be noted that the valve control system also includes physical structure parts such as a servo valve and a hydraulic drive system, which are not specifically limited in the present invention.

[0055] Reference Figure 1 As shown, in a further embodiment of the control algorithm of the multi-hazard coupling test device, the valve control system for controlling the shaking table assembly 20 receives the input signal x(a) for multi-hazard simulation. The data acquisition and analysis system collects the test signals, processes the test signals and sends them 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.

[0056] Reference Figure 2As shown, in an embodiment of the control algorithm of the further multi-hazard coupling test device, the valve control compensation signal for eliminating the identification error is the control error signal E1, and the control error signal E1 is the difference between the output signal y(a) and the input signal x(a), calculated according to Equation 6:

[0057]

[0058] where G(F) is the identified transfer function of the 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 transfer function of the structure, and ΔS is the error between the identified transfer function and the true transfer function.

[0059] Reference Figure 3 As shown, in an embodiment of the control algorithm of the further multi-hazard coupling test device, the valve control compensation signal for eliminating the identification error is the control error signal E2, and the control error signal E2 is the difference between the output signal y(a) and the input signal x(a), calculated according to Equation 10:

[0060]

[0061] where K a and K b are dynamically adjustable factors, G(F) is the identified transfer function of the 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 transfer function of the structure, and ΔS is the error between the identified transfer function and the true transfer function;

[0062] In a preferred embodiment: Dynamically adjust the magnitudes of K a and K b within the interval range such that the difference between the output signal y(a) and the input signal x(a) continuously decreases to achieve optimal performance.

[0063] The second aspect of the present invention provides a multi-hazard coupling test device. Referring to Figure 4 shown, it includes a shaking table assembly 20 and a real-time control system. The multi-hazard coupling test device 1 further includes a model box assembly 30, a rainfall assembly 40, and / or a flood assembly 50. The real-time control system includes a seismic controller, a rainfall controller, and a flood controller. The seismic controller of the real-time control system includes a real-time force feedback controller and an identification error compensator. The shaking table assembly 20 includes a valve control system:

[0064] The real-time force feedback controller is configured to: receive the output signal y(a), and generate a valve control compensation signal c in combination with the inverse transfer function of the shaking table valve control system and the characteristics of the test structure;

[0065] 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 an identification error-eliminated valve control compensation signal;

[0066] The valve control system is configured to: receive the input signal x(a) and the identification error-eliminated valve control compensation signal, and generate the output signal y(a) in combination with the valve control system transfer function.

[0067] In a further multi-hazard coupling action test device, the valve control system of the shaking table assembly 20 receives the input signal x(a) for multi-hazard simulation. The data acquisition and analysis system acquires the test signal, processes the test signal and sends it to the numerical simulation system to update the system characteristics in real time, and the numerical simulation system sends the output signal y(a) to the real-time control system.

[0068] In a further multi-hazard coupling action test device, the identification error-eliminated valve control compensation signal is the control error signal E1, and the control error signal E1 is the difference between the output signal y(a) and the input signal x(a), which is calculated according to Equation 6:

[0069]

[0070] where G(F) is the identified valve control system transfer function, 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.

[0071] In a further multi-hazard coupling action test device, the real-time control system includes an identification error compensator, and the identification error-eliminated valve control compensation signal is the control error signal E2. The control error signal E2 is the difference between the output signal y(a) and the input signal x(a), which is calculated according to Equation 10:

[0072]

[0073] where K a and K b are dynamically adjustable factors, G(F) is the identified valve control system transfer function, 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;

[0074] In a preferred embodiment, the magnitudes of K a and K b are dynamically adjusted within the interval range such that the difference between the output signal y(a) and the input signal x(a) continuously decreases to achieve optimal performance.

[0075] In some embodiments of the multi-hazard coupling test device, continue to refer to Figure 4 and Figure 7-1 as shown, wherein

[0076] The model box system 30 includes a layered shear box 31, and the layered shear box 31 is arranged on the shaking table assembly 20;

[0077] The rainfall component 40 and / or the flood component 50 includes a water tank 2 and a water pump 3. Among them, the water pump 3 pumps the water in the water tank 2 out and injects it into the model box system 30 through the rainwater port 42 to simulate rainwater and / or through the flood port 51 to simulate flood;

[0078] Refer to Figure 5-1 As shown, in a preferred embodiment, the rainfall component 40 includes a moving plate 41 that can move above the model box system 30, a rainfall port 42 arranged on the moving plate 41, a simulated rainwater delivery pipeline that delivers the water in the water tank 2 to the moving plate 41, and a rainwater control valve 45 arranged on the simulated rainwater delivery pipeline; Further preferably, the simulated rainwater delivery pipeline includes a steel pipeline 43 and / or a flexible pipeline 44; Preferably, the rainwater control valve 45 is arranged on the steel pipeline 43;

[0079] Refer to Figure 5-1 and Figure 5-2 As shown, in a further preferred embodiment, the rainfall component 40 further includes a moving plate bracket 46, a solenoid valve 47 arranged on the moving plate bracket 46, and an electromagnetic guide rail 48 arranged on the moving plate 41. Among them, the solenoid valve 47 and the electromagnetic guide rail 48 enable the moving plate 41 to move above the model box system 30.

[0080] Refer to Figure 6 As shown, in a further embodiment of the multi-hazard coupling test device, wherein

[0081] The flood component 50 includes a simulated flood delivery pipeline, and a flood control valve 54 and a flood port 51 arranged on the simulated flood delivery pipeline; Preferably, the simulated flood delivery pipeline includes a flood steel pipeline 52 and a U-shaped bend 53;

[0082] Refer to Figure 7-1 and Figure 7-2 As shown, in a preferred embodiment, the model box assembly 30 further includes a dam 32, a water body 33 arranged inside the layered shear box 31, and a hydraulic power generation pipeline 34 arranged on the dam 32;

[0083] In a further preferred embodiment, the rainfall port 42 is located above the dam 32 and the water body 33; The flood port 51 is located in the water body 33.

[0084] The present invention patent does not specifically limit the control strategy, and any control strategy that can be adapted to the multi-hazard coupling action test device provided by the present invention patent is within the scope of options of the present invention patent.

[0085] For example, taking the vibration table driven by a single horizontal double exciter as an example, in the process of system modeling, considering the mass, damping ratio, frequency, and eccentricity characteristics of the structure, a model that can better reflect the characteristics of the real system is constructed.

[0086] For the construction method of the system model and the real-time feedback strategy, reference can be made to the paper "Wang JK, Li XJ, Li FF, et al. Effect and compensation of the interaction between a unidirectional twin-axis shaking table and the tested structure. J Vib Shock 2021; 40(10): 140-149. [In Chinese]", which will not be elaborated here.

[0087] It can be seen from the embodiments of the present invention that based on the real-time force feedback control strategy, the identification error compensator of the present invention is designed. There are two dynamically adjustable factors in the identification error compensator, which can be adjusted in real time. The following combines its formula derivation and verification of the effectiveness of the proposed strategy, and specifically introduces the identification error compensator as follows.

[0088] Without considering control feedforward and feedback, the block diagram of the real-time force feedback control strategy is as Figure 2 shown, where G(F) is the transfer function of the valve control system obtained by identification, ΔF is the error between the identified transfer function of the valve control system and the true transfer function, G -1 (F) is the inverse transfer function of the identified transfer function of the valve control system, G(S) is the transfer function of the structure obtained by identification, 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.

[0089] From Figure 2 it can be seen that the real-time force feedback control strategy (test structure identification model) of the system and the transfer function of the valve control system. The output signal of the system is:

[0090] y(a) = E1·G(F)(1 + ΔF) (1)

[0091] The expression of the control error signal is:

[0092] E1 = x(a) - y(a)G(S)(1 + ΔS)G -1 (F) (2)

[0093] It can be obtained from Equation 1 that:

[0094]

[0095] Substituting Equation 3 into Equation 2, we get:

[0096]

[0097] After derivation, the output signal can be expressed as:

[0098]

[0099] Assume that the error E1 between the output and input signals of the system is:

[0100]

[0101] The block diagram of the proposed force feedback control strategy considering the identification error is shown in Figure 3 Figure, which is the real-time force feedback control strategy of the system (experimental structure identification model), the transfer function of the valve control system, and the error compensator. Among them, the identification error compensates for the K a and K b are dynamically adjustable factors. From Figure 3 it can be seen that the output signal of the system can be obtained from Equation 1, and the expression of the control error signal is:

[0102] E2 = [x(a) + y(a)]K b + x(a) - y(a)G(S)(1 + ΔS)G -1 (F)(1 + K a ΔF) (7)

[0103] Substituting Equation 3 into Equation 7, we get:

[0104]

[0105] After derivation, the output signal can be expressed as:

[0106]

[0107] Then the error E2 between the output and input signals of the system is:

[0108]

[0109] Let K a ≥ 0 and K b ≤ 0, and analyze the magnitudes of E1 and E2:

[0110]

[0111] In actual tests, K can be dynamically adjusted within a range. a and K b such that the error between the output of the system and the input signal continuously decreases, achieving optimal performance.

[0112] As can be seen from the embodiments of the present invention, the embodiments of the present invention can update the changes in the test structure characteristics in real time during the test process and participate in the real-time feedback control of the shaking table. Considering the influence of system identification error on the test accuracy of the shaking table, a system identification error compensator with dynamically adjustable parameters is proposed, further improving the accuracy of the control strategy.

[0113] The test idea of the multi-hazard coupling action test device of the present invention is not specifically limited. For example, it can be used to test the failure modes of dams, rainfall patterns, flood patterns, earthquake patterns, and earthquake patterns include main shocks, main shocks + aftershocks.

[0114] Although the present invention has been described in detail above with general descriptions, specific embodiments and tests, based on the present invention, some modifications or improvements can be made, which are obvious to those skilled in the art. Therefore, these modifications or improvements made without departing from the spirit of the present invention all fall within the scope of protection of the present invention.

Claims

1. Control algorithm for multi-hazard coupling test device. The multi-hazard coupling test device includes a shaking table assembly (20) and a real-time control system, characterized in that, The multi-hazard coupling test device (1) further includes a model box assembly (30), a rainfall assembly (40), and / or a flood assembly (50). The real-time control system includes a seismic controller, a rainfall controller, and a flood controller. The seismic controller of the real-time control system includes a real-time force feedback controller and an identification error compensator. The shaking table assembly (20) includes a valve control system: The real-time force feedback controller is configured to: receive the output signal y(a), and generate a valve control compensation signal c by combining the inverse transfer function of the shaking table valve control system and the characteristics of the test structure; 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 an identification error elimination valve control compensation signal; The valve control system is configured to: receive the input signal x(a) and the identification error elimination valve control compensation signal, and generate the output signal y(a) by combining the transfer function of the valve control system; The identification error elimination valve control compensation signal is the control error signal E1. The control error signal E1 is the difference between the output signal y(a) and the input signal x(a), and is calculated according to Equation 6: where G(F) is the identified transfer function of the 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 transfer function of the structure, and ΔS is the error between the identified transfer function and the true transfer function; Or, The identification error elimination valve control compensation signal is the control error signal E2. The control error signal E2 is the difference between the output signal y(a) and the input signal x(a), and is calculated according to Equation 10: Among them, K a and K b are dynamically adjustable factors, G(F) is the transfer function of the valve control system obtained by identification, ΔF is the error between the identified transfer function of the valve control system and the true transfer function, G(S) is the transfer function of the structure obtained by identification, and ΔS is the error between the identified transfer function and the true transfer function.

2. The control algorithm of the multi-hazard coupling action test device according to claim 1, wherein, The valve control system of the shaking table assembly (20) receives the input signal x(a) to perform multi-hazard 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.

3. The control algorithm of the multi-disaster coupling action test device according to claim 1, characterized in that, Dynamically adjust K within a range a and K b such that the difference between the output signal y(a) and the input signal x(a) continuously decreases to achieve optimal performance.

4. Multi-hazard coupling test device, including a shaking table assembly (20) and a real-time control system, characterized in that, The multi-hazard coupling test device (1) further includes a model box assembly (30), a rainfall assembly (40), and / or a flood assembly (50). The real-time control system includes a seismic controller, a rainfall controller, and a flood controller. The seismic controller of the real-time control system includes a real-time force feedback controller and an identification error compensator. The shaking table assembly (20) includes a valve control system: The real-time force feedback controller is configured to: receive the output signal y(a), and generate a valve control compensation signal c by combining the inverse transfer function of the shaking table valve control system and the characteristics of the test structure; 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 an identification error elimination valve control compensation signal; The valve control system is configured to: receive the input signal x(a) and the identification error elimination valve control compensation signal, and generate the output signal y(a) by combining the transfer function of the valve control system; The identification error elimination valve control compensation signal is the control error signal E1. The control error signal E1 is the difference between the output signal y(a) and the input signal x(a), and is calculated according to Equation 6: Among them, G(F) is the transfer function of the valve control system obtained by identification, ΔF is the error between the identified transfer function of the valve control system and the true transfer function, G(S) is the transfer function of the structure obtained by identification, and ΔS is the error between the identified transfer function and the true transfer function; Or, The valve control compensation signal for eliminating the identification error is the control error signal E2. The control error signal E2 is the difference between the output signal y(a) and the input signal x(a), and is calculated according to Equation 10: where K a and K b are dynamically adjustable factors, G(F) is the transfer function of the valve control system obtained by identification, ΔF is the error between the identified transfer function of the valve control system and the true transfer function, G(S) is the identified transfer function of the structure, and ΔS is the error between the identified transfer function and the true transfer function.

5. The multi-hazard coupling action test device according to claim 4, wherein, The valve control system controlling the shaking table assembly (20) receives the input signal x(a) for multi-hazard simulation. The data acquisition and analysis system collects 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 the output signal y(a) to the real-time control system.

6. The multi-hazard coupling action test device according to claim 4, characterized in that Dynamically adjust K within a range a and K b in size so that the difference between the output signal y(a) and the input signal x(a) continuously decreases to achieve optimal performance.

7. The multi-hazard coupling action test device according to claim 4, wherein The model box system (30) includes a layered shear box (31), and the layered shear box (31) is arranged on the shaking table assembly (20); The rainfall assembly (40) and / or the flood assembly (50) includes a water tank (2) and a water pump (3). Among them, the water pump (3) pumps the water in the water tank (2) out and injects it into the model box system (30) through the rainwater port (42) to simulate rainwater and / or through the flood port (51) to simulate flood.

8. The multi-hazard coupling effect test device according to claim 7, wherein The rainfall assembly (40) includes a moving plate (41) that can move above the model box system (30), a rainfall port (42) arranged on the moving plate (41), a simulated rainwater conveying pipeline that conveys the water in the water tank (2) to the moving plate (41), and a rainwater control valve (45) arranged on the simulated rainwater conveying pipeline.

9. The multi-hazard coupling action test device according to claim 8, wherein The simulated rainwater conveying pipeline includes a steel pipeline (43) and / or a flexible pipeline (44).

10. The multi-hazard coupling effect test device according to claim 9, wherein The rainwater control valve (45) is arranged on the steel pipeline (43).

11. The multi-hazard coupling effect test device according to claim 10, characterized in that, The rainfall assembly (40) further includes a moving plate bracket (46), a solenoid valve (47) arranged on the moving plate bracket (46), and an electromagnetic rail (48) arranged on the moving plate (41). Among them, the solenoid valve (47) and the electromagnetic rail (48) enable the moving plate (41) to move above the model box system (30).

12. The multi-hazard coupling action test device according to claim 11, wherein The flood assembly (50) includes a simulated flood conveying pipeline, and a flood control valve (54) and a flood port (51) arranged on the simulated flood conveying pipeline.

13. The multi-hazard coupling effect test device according to claim 12, wherein The simulated flood conveying pipeline includes a flood steel pipeline (52) and a U-shaped bend (53).

14. The multi-hazard coupling action test device according to claim 13, wherein, The model box assembly (30) further includes a dam (32), a water body (33) arranged inside the layered shear box (31), and a hydroelectric power pipeline (34) arranged on the dam (32).

15. The multi-hazard coupling action test device according to claim 14, wherein, The rainfall port (42) is located above the dam (32) and the water body (33); the flood port (51) is located in the water body (33).

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