Boundary coordination control algorithm

Abstract

The invention discloses a boundary coordination control algorithm which is characterized in that the algorithm comprises an ETVC scheme, and three signal generators are arranged in the ETVC scheme and used for generating a reference signal, a feedback signal and a command signal respectively; wherein the displacement error, the speed error and the acceleration error are respectively adjusted by Kde, Kve and Kae gains. The invention relates to the technical field of building structure tests. According to the boundary coordination control algorithm, on the basis of traditional three-parameter control, an enhanced three-parameter control method is provided, a self-adaptive time sequence compensator is adopted to carry out system time delay compensation, and an error response negative feedback compensation method is provided to solve the problem that the stability of a test system is reduced due to the loading error of power. A band elimination filter is adopted to eliminate adverse effects caused by interaction between the boundary coordination device and the test body, a polynomial extrapolation compensator is introduced to offset time lag caused by the band elimination filter, and time lag compensation is performed through a predicted displacement command.

Description

Technical Field

[0001] The present invention relates to the technical field of building structure testing, in particular to a boundary coordination control algorithm. Background Art

[0002] In the vibration table substructure test, loading is carried out step by step. Before the current step is completed, the next target command cannot be determined. Traditional vibration table control, such as offline iteration method and adaptive inverse transfer function control, cannot be directly applied. In addition, if the vibration table is loaded with a large load, it will cause interaction between the vibration table and the structure. Based on the requirements of complex dynamic boundary loading in the lower substructure test, a boundary coordination control algorithm is developed. The oscillator of the boundary coordination device subsystem is based on displacement control, but the frequency response performance of the electromagnetic oscillator is poor and has a large time lag. The PID controller cannot meet the test requirements. In view of the time lag problem in the hybrid test system and the control difficulties caused by the high-frequency components contained in the force signal measurement, a control scheme based on enhanced three-parameter control and error response negative feedback method is proposed to improve the working performance. Summary of the Invention

[0003] To achieve the above objectives, the present invention is implemented through the following technical solutions: a boundary coordinated control algorithm, including an ETVC scheme, wherein the ETVC scheme has three signal generators, respectively used to generate a reference signal, a feedback signal and a command signal;

[0004] The displacement error, velocity error and acceleration error are represented by K de , K ve , and K ae Gain adjustment;

[0005] In the reference signal generator, the reference signal is transmitted through K p , K d , K v , and K sum Gain generation, the integral gain K i Applied to the displacement integral error, using the local integral gain K li The weight of the local integral error is changed, and the final calculated result is used as the driving command of the electromagnetic vibrator. Although the driving reference signal is the relative displacement command, the target control signal is the absolute acceleration of the control mass. Therefore, the absolute acceleration error of the control mass is introduced as another additional variable of the improved enhanced three-parameter, which is represented by the gain K. aae Make adjustments;

[0006] The loading error is estimated by comparing the target force command with the measured force response. The loading error is then input to the virtual physics substructure to calculate the boundary acceleration response error. The acceleration response error will be used to correct the measured acceleration. Finally, the corrected acceleration will be sent to the numerical substructure as the boundary input.

[0007] A time delay module is used to synchronize the phase between the measured force and the target force. The delay size needs to be set by comprehensively considering the system's lead lag, polynomial extrapolation compensator and ATS compensator compensation values ​​and filter lag. The phase of the two is adjusted to less than 1ms.

[0008] Preferably, the ETVC scheme is an enhanced three-variable control method.

[0009] Preferably, the ATS compensator is an adaptive time series compensator.

[0010] The present invention provides a boundary coordination control algorithm with the following beneficial effects:

[0011] The proposed enhanced three-parameter method can effectively improve the performance of the electromagnetic oscillator. The error response negative feedback method can reduce the impact of loading errors on the stability of the substructure system. The adaptive time-delay compensation algorithm and linear interpolation compensation method adopted can realize the synchronization of multi-dynamic systems, which has the potential to be applied to actual engineering structures. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 This is a system diagram of the boundary coordination control algorithm of the present invention;

[0013] Figure 2 This is a specific flow chart of the enhanced three-parameter method improved by the present invention;

[0014] Figure 3 This is a specific flow chart of the application of the error response negative compensation strategy of the present invention.

[0015] In the figure: 1. Displacement command to dynamic response; 2. Electromagnetic vibrator; 3. ETVC algorithm; 4. ATS compensator; 5. Vibrator acceleration and displacement response; 6. Boundary coordination device; 7. Control algorithm; (1) Absolute acceleration reference signal; (2) Displacement reference signal; (3) N-1; (4) C d ; (5), N points; (6), 1st-Polyfit; (7), In 1st-Polyfit Coeffs; (8), K p ; (9), (10) K d ; (11), K v ; (12), K a ; (13), K sum; (14), predictor variable; (15), absolute acceleration command; (16), local integral variable; (17), displacement; (18), velocity; (19), acceleration; (20), (twenty one), (22), K li ; (23), K i ; (24), K aae ; (25), feedforward variables; (26), K de ; (27), displacement error; (28), K ve ; (29), speed error; (30), K ae ; (31), acceleration error; (32), vibrator; (33), structure; (34), response signal; (35), displacement signal; (36), acceleration signal; (37), low-pass filter; (38), high-pass filter; (39), K dd ; (40), K dv ; (41), K da ; (42), K aa ; (43), K av ; (44), K ad ; (45), reference signal generator; (46), feedback signal generator; (47), drive signal generator and BCD-PS combination system; (48), measured force response; (49), target force command; (50), synchronization delay; (51), virtual physical substructure; (52), boundary acceleration error response; (53), error response negative feedback compensation. DETAILED DESCRIPTION

[0016] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0017] See also Figure 1-Figure 3 ,The present invention provides a technical solution: a boundary coordinated control algorithm, including an ETVC scheme, wherein the ETVC scheme has three signal generators, respectively used to generate a reference signal, a feedback signal and a command signal;

[0018] The displacement error, velocity error and acceleration error are represented by K de , K ve , and K ae Gain adjustment;

[0019] In the reference signal generator, the reference signal is transmitted through K p , K d , K v , and K sum Gain generation, the integral gain K i Applied to the displacement integral error, using the local integral gain K li The weight of the local integral error is changed, and the final calculated result is used as the driving command of the electromagnetic vibrator. Although the driving reference signal is the relative displacement command, the target control signal is the absolute acceleration of the control mass. Therefore, the absolute acceleration error of the control mass is introduced as another additional variable of the improved enhanced three-parameter, which is represented by the gain K. aae Make adjustments;

[0020] The loading error is estimated by comparing the target force command with the measured force response. The loading error is then input to the virtual physics substructure to calculate the boundary acceleration response error. The acceleration response error will be used to correct the measured acceleration. Finally, the corrected acceleration will be sent to the numerical substructure as the boundary input.

[0021] A time delay module is used to synchronize the phase between the measured force and the target force. The delay size needs to be set by comprehensively considering the system's lead lag, polynomial extrapolation compensator and ATS compensator compensation values ​​and filter lag. The phase of the two is adjusted to less than 1ms.

[0022] The ETVC scheme is an enhanced three-variable control method.

[0023] The ATS compensator is an adaptive time series compensator.

[0024] First, the loading error is estimated by comparing the target force command and the measured force response. The loading error is then input into the virtual physical substructure to calculate the boundary acceleration response error. The acceleration response error will be used to correct the measured acceleration. Finally, the corrected acceleration will be sent as the boundary input to the numerical substructure. A time delay module is used to synchronize the phase between the measured force and the target force. The delay size needs to be set by comprehensively considering the system's lead lag, the polynomial extrapolation compensator and the ATS compensator compensation value and the filter lag. The phase of the two is adjusted to less than 1ms.

[0025] Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field and related fields without making creative efforts should fall within the scope of protection of the present invention. Structures, devices, and operating methods not specifically described and explained in the present invention shall be implemented in accordance with conventional means in the field unless otherwise specified or limited.

Claims

1. A boundary coordination control algorithm, characterized by: The invention comprises an ETVC scheme and an ATS compensator, wherein the ETVC scheme has three signal generators for generating a reference signal, a feedback signal and a command signal respectively; The displacement error, velocity error and acceleration error are represented by K de , K ve , and K ae Gain adjustment; In the reference signal generator, the reference signal is transmitted through K p , K d , K v , and K sum Gain generation, the integral gain K i Applied to the displacement integral error, using the local integral gain K li The weight of the local integral error is changed, and the final calculated result is used as the driving command of the electromagnetic vibrator. Although the driving reference signal is the relative displacement command, the target control signal is the absolute acceleration of the control mass. Therefore, the absolute acceleration error of the control mass is introduced as another additional variable of the improved enhanced three-parameter, which is represented by the gain K. aae Make adjustments; The loading error is estimated by comparing the target force command with the measured force response. The loading error is then input to the virtual physics substructure to calculate the boundary acceleration response error. The acceleration response error will be used to correct the measured acceleration. Finally, the corrected acceleration will be sent to the numerical substructure as the boundary input. A time delay module is used to synchronize the phase between the measured force and the target force. The delay size needs to be set by comprehensively considering the system's lead lag, polynomial extrapolation compensator and ATS compensator compensation values ​​and filter lag. The phase of the two is adjusted to less than 1ms.

2. A boundary coordination control algorithm according to claim 1, characterized in that: The ETVC scheme is an enhanced three-variable control method.

3. A boundary coordination control algorithm according to claim 1, characterized in that: The ATS compensator is an adaptive time series compensator.

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