Regulation and control system and method based on electromagnetic adjustable and controllable friction pendulum composite shock insulation support

Abstract

The invention discloses a regulation and control system and method based on an electromagnetic adjustable and controllable friction pendulum composite seismic isolation support, and relates to the technical field of seismic isolation devices in building seismic engineering. According to the system, a horizontal displacement signal of a support is collected in real time through a displacement sensing layer and is transmitted to a microcontroller of an intelligent decision-making layer through a signal processing layer; the microcontroller outputs a corresponding current control signal according to the electromagnetic force regulation and control coefficient based on the relation between the displacement error and the change rate of the displacement error; a programmable current source of the execution regulation and control layer converts a control signal into an accurate current to drive an electromagnet to generate a dynamic electromagnetic force. The electromagnetic force forms adjustable normal pressure through magnetic circuit coupling, and real-time regulation and control of the equivalent stiffness and the damping characteristic of the support are achieved. A closed-loop intelligent control framework with displacement sensing, algorithm decision making, electromagnetic regulation and control and dynamic response is adopted, and the self-adaptive regulation and control capacity of a seismic isolation system on complex seismic excitation is remarkably improved.

Description

Technical Field

[0001] This invention relates to the field of seismic isolation devices in building seismic engineering, specifically to a control system and method based on an electromagnetically adjustable friction pendulum composite seismic isolation bearing. Background Technology

[0002] Friction pendulum bearings (FPBs) have become an important and widely used seismic isolation device in building seismic engineering. Their basic principle is to dissipate seismic energy through friction at the sliding interface and to extend the structure's natural period using a pendulum mechanism, thereby achieving seismic isolation and reduction. Compared with traditional seismic rubber bearings, FPBs have advantages such as high load-bearing capacity, large damping ratio, and strong recovery capability. Therefore, they have been rapidly adopted globally, especially in bridges and buildings in high-intensity seismic zones.

[0003] However, traditional FPB (Flat Plate Bearing) exhibits inherent limitations in practical applications: its mechanical properties (such as equivalent stiffness and damping ratio) primarily rely on fixed parameters like the radius of curvature and friction coefficient of the sliding surface, leading to a rigid response to external seismic excitation and a lack of adaptive adjustment capabilities. When seismic wave characteristics exceed the design range, the isolation effect of the bearing may significantly decrease. Furthermore, traditional FPB may experience upward pull-out forces during strong earthquakes, affecting its isolation performance and even leading to component separation or structural overturning risks. These issues, coupled with complex and variable seismic motions, limit the maximization of its isolation effect.

[0004] Therefore, the market urgently needs a control system and method based on friction pendulum seismic isolation bearings to solve the problems of rigid response to external excitation and lack of adaptability in existing technologies. Summary of the Invention

[0005] The purpose of this invention is to provide a control system and method based on an electromagnetically adjustable friction pendulum composite seismic isolation bearing, so as to solve the problems of rigid response to external excitation and lack of adaptability in the existing technology.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows: A control system based on an electromagnetically adjustable friction pendulum composite seismic isolation bearing includes: Displacement sensing layer: includes displacement sensors installed on the fixed bracket on the outside of the lower support plate, used to capture the dynamic horizontal displacement signal of the electromagnetically controlled friction pendulum composite seismic isolation bearing (ECFPB) in real time; Signal processing layer: Electrically connected to the displacement sensing layer, used to receive dynamic horizontal displacement signals and transmit data via the SPI interface; Intelligent decision-making layer: including microcontroller, which receives displacement signals from analog acquisition module through SPI interface, calculates electromagnetic force control parameters in real time based on the coupling relationship between ECPPB displacement error and its rate of change, and outputs corresponding current control signals; The execution control layer includes a programmable current source and an electromagnet array, which are used to convert current control signals into drive current and control the electromagnet array to generate dynamic electromagnetic force. The dynamic electromagnetic force acts on the electromagnetic actuator of the ECPPB through magnetic circuit coupling, forming a real-time adjustable normal pressure, thereby realizing the dynamic adjustment of the equivalent stiffness and equivalent damping ratio of the ECPPB.

[0007] Furthermore, the displacement sensing layer, signal processing layer, intelligent decision-making layer, and execution control layer constitute a four-layer closed-loop intelligent control architecture, forming a real-time iterative optimization mechanism for displacement sensing, algorithm decision-making, electromagnetic control, and dynamic response.

[0008] Furthermore, the operating cycle of the closed-loop intelligent control architecture is less than or equal to the reciprocal of the seismic excitation characteristic frequency, ensuring real-time control capability.

[0009] Furthermore, the displacement sensor is a laser displacement sensor, used for non-contact measurement of the real-time horizontal displacement of the ECFPB support.

[0010] Furthermore, the programmable current source is configured corresponding to the electromagnet array, with each electromagnet driven by an independent current source, ensuring the accuracy and independence of electromagnetic force control.

[0011] Furthermore, the dynamic electromagnetic force Its relationship with current is modeled as follows: Where l represents the horizontal displacement of the support; N is the electromagnetic force control coefficient; R is the number of coil turns; R is the radius of the bottom surface of the slider; n is the number of cuboid electromagnets. The distance of the initial working air gap of the electromagnet; A is the cross-sectional area; The air gap permeability; is the leakage flux coefficient.

[0012] Furthermore, the equivalent stiffness and the equivalent damping ratio Its relationship with dynamic electromagnetic force is modeled as follows: Among them, F l Total weight of the upper part; l d This represents the horizontal displacement of the support. The horizontal displacement is The magnitude of the electromagnet's magnetic force; W is the vertical axial compressive load of the superstructure acting on the support; The coefficient of dynamic friction between the support slider and the sliding surface; The energy density of the cycle; This is the equivalent stiffness.

[0013] Another objective of this invention is to provide a method for controlling an electromagnetically adjustable friction pendulum composite seismic isolation bearing. This method is implemented using the aforementioned control system for an electromagnetically adjustable friction pendulum composite seismic isolation bearing, and includes the following steps: S1: Real-time acquisition of the horizontal displacement dynamic signal of the ECFPB support through a displacement sensor; S2: The displacement signal is digitized by the signal processing layer and transmitted to the intelligent decision-making layer; S3: The intelligent decision-making layer calculates the displacement error and its rate of change in real time, and outputs the corresponding current control signal according to the electromagnetic force control coefficient. S4: The control layer converts the current control signal into a precise current, driving the electromagnet to generate dynamic electromagnetic force. S5: Dynamic electromagnetic force generates real-time adjustable normal pressure between the electromagnet and armature of the ECPPB through magnetic circuit coupling, changing the equivalent stiffness and damping characteristics of the support. S6: Change the dynamic signal of the horizontal displacement of the rear support, which is then collected by S1 to form a closed loop iteration. The intelligent decision-making layer dynamically and adaptively refreshes the control parameters based on real-time feedback.

[0014] Another object of the present invention is to provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the aforementioned method for controlling an electromagnetically adjustable friction pendulum composite seismic isolation bearing.

[0015] Another object of the present invention is to provide an electronic device, including a memory and a processor, wherein the memory is used to store a computer program, and the processor runs the computer program to enable the electronic device to perform the described method for controlling an electromagnetically adjustable friction pendulum composite seismic isolation bearing.

[0016] In summary, the present invention has at least one of the following beneficial technical effects: Through an innovative electromagnetic control mechanism, real-time dynamic adjustment of the equivalent stiffness and damping characteristics of the friction pendulum bearing is achieved, significantly improving the adaptive capability of the seismic isolation system to complex seismic excitations. Employing a closed-loop intelligent control architecture of displacement sensing, algorithmic decision-making, electromagnetic control, and dynamic response, the bearing can automatically optimize dynamic parameters based on actual seismic wave characteristics, effectively overcoming the shortcomings of traditional friction pendulum bearings, such as fixed response and insufficient adjustment capability. Therefore, this invention solves the problems of fixed response to external excitations and lack of adaptability in existing technologies, providing important technical support for the development of intelligent seismic isolation technology. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the electromagnetically adjustable friction pendulum composite vibration isolation bearing of the present invention. Figure 2 This is a system control block diagram of the present invention; Figure 3 This is a schematic diagram of the debugging interface of the present invention; Figure 4 This is a schematic diagram of the button circuit of the present invention; Figure 5 This is a schematic diagram of the LED circuit of the present invention; Figure 6 This is a schematic diagram of the communication module interface of the present invention; Figure 7 This is a schematic diagram of the power supply module of the present invention.

[0018] In the picture: 1-Upper support plate, 2-Armature, 3-Electromagnetic array, 4-Slider, 5-Friction material, 6-Lower support plate, 7-Displacement sensor. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0020] This embodiment provides a control system based on an electromagnetically adjustable friction pendulum composite seismic isolation bearing, comprising: a displacement sensing layer, a signal processing layer, an intelligent decision-making layer, and an execution control layer.

[0021] Displacement sensing layer: includes displacement sensor 7 installed on the fixed bracket on the outside of the lower support plate 6, used to capture the dynamic signal of horizontal displacement of the electromagnetically controlled friction pendulum composite seismic isolation bearing (ECFPB) in real time. Signal processing layer: Electrically connected to the displacement sensing layer, used to receive dynamic horizontal displacement signals and transmit data through an interface; Intelligent decision-making layer: including microcontroller, which receives displacement signals from analog acquisition module through interface, calculates electromagnetic force control parameters in real time based on the coupling relationship between ECPPB displacement error and its rate of change, and outputs corresponding current control signals; The execution control layer includes a programmable current source and an electromagnet array 3, which are used to convert current control signals into drive current and control the electromagnet array 3 to generate dynamically adjustable electromagnetic force. The dynamic electromagnetic force acts on the electromagnetic actuator of the ECPPB through magnetic circuit coupling, forming a real-time adjustable normal pressure, thereby realizing the dynamic adjustment of the equivalent stiffness and equivalent damping ratio of the ECPPB.

[0022] The following is a detailed description with reference to specific embodiments.

[0023] The electromagnetically adjustable friction pendulum composite seismic isolation bearing (ECFPB) has a mechanical structure that directly affects its seismic isolation performance. The ECFPB bearing includes an upper support plate 1, an electromagnetic actuator (armature 2 and electromagnet array 3), a slider 4, friction material 5, a lower support plate 6, a displacement sensor 7, and a control system. The upper support plate 1 is directly connected to the building structure, bearing vertical loads and transmitting horizontal forces; the lower support plate 6 is fixed to the foundation, providing sliding surface support. The sliding surface is designed as an arc, with a radius of curvature precisely set to 3000mm. This value was optimized through multiple seismic tests, ensuring sufficient displacement capacity while maintaining restoring capability.

[0024] The slider 4 is precision-machined from 45# steel, with friction material 5 inlaid at its bottom. Friction material 5 is made of polytetrafluoroethylene (PTFE). The friction material 5 is designed as a disc, 120mm in diameter and 6mm thick. This size design ensures sufficient wear resistance while controlling material costs. To ensure complete contact between the slider 4 and the sliding surface of the lower support plate 6 under vertical axial load, the bottom surface of the friction material 5 is machined into an arc surface with the same radius of curvature as the sliding surface of the lower support plate 6. This fit design ensures uniform contact stress distribution, avoiding premature wear caused by localized stress concentration. The electromagnetic actuator adopts a symmetrical arrangement. The electromagnet array 3 consists of four identical rectangular electromagnets, which are firmly fixed to the lower support plate 6 by bolts. The armature 2 is plate-shaped, made of low-carbon steel, and fixed to the bottom of the upper support plate 1 through pre-drilled holes, maintaining a precise clearance fit with the electromagnets. When the support is in the zero displacement position, the magnetic gap is 1.5-2.5mm.

[0025] The displacement sensing layer includes displacement sensors 7 mounted on a fixed bracket on the outer side of the lower support plate 6, used to capture the dynamic horizontal displacement signal of the electromagnetically controlled friction pendulum composite seismic isolation bearing (ECFPB) in real time. The displacement sensing layer uses a high-precision laser displacement sensor for non-contact measurement. The sensor is mounted on the fixed bracket on the outer side of the lower support plate 6, and the laser beam directly illuminates the reflecting surface of the upper support plate 1 to monitor the relative displacement of the bearing, thus capturing the dynamic horizontal displacement signal of the ECPPB in real time. Laser measurement technology was chosen because of its advantages such as high resolution (up to 0.01 mm), fast response speed (sampling frequency up to 10 kHz), and strong anti-interference ability, fully meeting the requirements of seismic response monitoring. The sensor output is a 4-20mA analog signal, transmitted to the signal processing layer through a shielded cable.

[0026] The signal processing layer, electrically connected to the displacement sensing layer, receives dynamic horizontal displacement signals and transmits them via an interface. The signal processing layer utilizes a 24-bit Σ-Δ ADC chip with a built-in programmable gain amplifier (PGA) and digital filter, enabling precise acquisition of minute signals. The module operates within a temperature range of -40℃ to +85℃, suitable for long-term operation under various environmental conditions. The acquisition module communicates with the main controller via an interface, using an SPI clock frequency of 18MHz and the Mode 3 communication protocol (CPOL=1, CPHA=1) to ensure stable and reliable data transmission.

[0027] The intelligent decision-making layer, including a microcontroller, receives displacement signals from the analog signal acquisition module via an interface. Based on the coupling relationship between the ECPPB displacement error and its rate of change, it calculates the electromagnetic force control parameters in real time and outputs the corresponding current control signal. The intelligent decision-making layer uses the STM32F103RCT6 microcontroller as its core. This chip is based on an ARM Cortex-M3 core with a 72MHz clock speed, 128KB Flash memory, and 20KB SRAM, meeting the operational requirements of complex control algorithms. The chip's built-in floating-point unit (FPU) efficiently handles floating-point operations in displacement signal processing, ensuring the real-time performance of the control algorithm. The core of the control algorithm calculates the electromagnetic force parameters based on the relationship between the displacement error and its rate of change, and outputs the current corresponding to the electromagnetic force. ,in is the proportionality coefficient (electromagnetic force control coefficient), and l is the relative displacement of the friction pendulum.

[0028] The hardware system of the intelligent decision-making layer adopts a modular design concept, consisting of four main parts: a minimum system, a human-computer interaction interface, a communication module, and a power supply module. The modules are connected through standard interfaces to improve the maintainability and scalability of the system.

[0029] 1. Minimal System Design The minimum system includes an STM32 microcontroller, a clock circuit, a reset circuit, and a debug interface. The clock circuit uses an 8MHz external crystal oscillator, multiplied to a 72MHz operating frequency by the STM32's internal PLL. A 20pF crystal load capacitor is selected, and a 1MΩ resistor is connected in parallel to provide DC bias, ensuring a stable clock signal. Figure 3 As shown, the debugging interface adopts the SWD (SerialWire Debug) protocol, requiring only two signal lines, SWDIO and SWCLK, to achieve complete debugging and programming functions. The interface protection circuit uses an SMF05C dual-channel TVS array, capable of withstanding ±8kV contact discharge electrostatic discharge. A 10nF filter capacitor is connected in parallel between each signal line and ground, forming a three-level ESD protection network, significantly improving the interface's anti-interference capability. The reset circuit uses a dedicated monitoring chip, MAX809, with a reset threshold voltage of 3.08V and a reset pulse width of 200ms. A 100Ω resistor is connected in series with the chip output, and a 0.1μF decoupling capacitor is connected in parallel, effectively suppressing false resets caused by power supply disturbances.

[0030] 2. Human-computer interaction interface like Figure 4 As shown, the button circuit employs a dual hardware and software debouncing design. On the hardware side, a 0.1μF ceramic capacitor is connected in parallel between each button contact and the GPIO port, utilizing the capacitor's low-pass filtering characteristics to filter out high-frequency jitter noise generated by the mechanical contacts. On the software side, a state machine detection mechanism is used, employing a 20ms delay function to confirm the button state; a valid operation is only determined when three consecutive sampling results are consistent. Furthermore, the GPIO port is equipped with a 10 kΩ pull-up resistor to ensure a stable high level even when the button is idle, preventing level drift caused by floating states.

[0031] like Figure 5 As shown, the LED indicator circuit adopts a low-level driving scheme, and the stable operating current is ensured by accurately calculating the current-limiting resistor value. For a typical red LED with a voltage drop of 2.0V, a 330Ω current-limiting resistor is used to control the operating current to around 10mA, which ensures sufficient brightness, extends the LED's lifespan, and provides a certain amount of redundancy to improve the long-term stability of the system. In the PCB layout, the LED driver circuit adopts a star-grounded topology, and a 0.1μF decoupling capacitor is added at the power supply pin to effectively suppress the interference of switching noise on adjacent analog circuits.

[0032] 3. Communication module like Figure 6As shown, the communication module interface integrates dual redundant RS485 channels, employing a master-slave switching architecture to improve communication reliability. The core chip is the MAX3485EESA, supporting a maximum transmission rate of 10Mbps and featuring built-in over-temperature and short-circuit protection. The bus design uses a standard 120Ω terminating resistor to match the transmission line's characteristic impedance, effectively suppressing signal reflection. The protection circuit integrates a TVS diode (SMBJ6.5CA) and a 500mA resettable fuse, providing ±15kV electrostatic discharge protection and short-circuit protection. Signal isolation utilizes an HCPL-2631 high-speed optocoupler isolator, combined with an ADuM5401 isolation power supply module, establishing a 2500Vrms electrical isolation barrier to completely block ground loop interference. The communication protocol adopts Modbus RTU mode, with a baud rate of 115200bps, 8 data bits, 1 stop bit, and no parity check. The data frame includes the device address, function code, data field, and CRC checksum to ensure data transmission integrity.

[0033] 4. Power supply module like Figure 7 As shown, the power supply module uses a 24V DC input and provides stable power to the system through a two-stage step-down architecture. The first-stage step-down uses a TPS54302DDCR switching regulator to convert 24V to 5V, with a maximum output current of 500mA. The switching frequency is set to 500kHz, and an LC filter circuit is configured with a 22μH power inductor and a 100μF electrolytic capacitor. The inductor is selected with magnetic shielding and a saturation current greater than 3A to effectively suppress electromagnetic interference. Output ripple is filtered by a combination of a 100μF electrolytic capacitor and a 10μF ceramic capacitor; the measured ripple amplitude is less than 50mV. The second-stage regulator uses an AMS1117-3.3 linear regulator to convert 5V to 3.3V to power the microcontroller. A 100μF electrolytic capacitor is configured at the input to filter low-frequency interference, and a combination of a 10μF tantalum electrolytic capacitor and a 0.1μF ceramic capacitor is used at the output to filter mid-frequency and high-frequency noise, respectively. All decoupling capacitors are positioned close to the regulator pins to form the shortest decoupling path, ultimately controlling the peak-to-peak noise of the 3.3V power supply to within 20mV, fully meeting the precision power supply requirements of the microcontroller. The two-stage design balances conversion efficiency and noise suppression, significantly improving the overall system performance.

[0034] The control layer, comprising a programmable current source and an electromagnet array 3, converts current control signals into drive current, controlling the electromagnet array 3 to generate dynamically adjustable electromagnetic force. The current source employs a switching regulator architecture, implemented using the LT3990 chip, with an output current range of 0-5A, accuracy ±0.1%, and ripple current less than 10mA. The programmable current source is configured correspondingly to the electromagnet array 3. The electromagnets are symmetrically arranged, each driven by an independent current source, ensuring the accuracy and independence of electromagnetic force control.

[0035] A programmable current source converts a current control signal into a precise current output, driving a cuboid electromagnet to generate a dynamic electromagnetic force conforming to Maxwell's stress equations. The magnitude of this dynamic electromagnetic force is adjusted in real time based on the current output from the programmable current source. The model relating to current is: Where l is the horizontal displacement of the support (mm); is the electromagnetic force control coefficient, the value of which is determined based on the rated current and displacement range of the electromagnet; N is the number of coil turns; R is the radius of the bottom surface of the slider; n is the number of cuboid electromagnets; The distance of the initial working air gap of the electromagnet; A is the cross-sectional area; The air gap permeability; The leakage flux coefficient can be determined based on experimental measurements or empirical values, and its value is generally in the range of [1.3, 3].

[0036] The above model is based on the following derivations: When the support is subjected to seismic excitation, the slider starts to slide from the lower sliding surface from a stationary state. At this time, the vertical displacement of the slider relative to its initial position is... It can be represented as: ; The magnetic force of the electromagnet on the lower support plate Taking the vertically upward direction as positive, the above dynamic electromagnetic force can be derived. Relationship model with current: Therefore, electromagnetic force acts between the electromagnet and armature 2 of the ECPPB through magnetic circuit coupling, forming a real-time adjustable normal pressure, thereby changing the equivalent stiffness and damping characteristics of the support. This real-time adjustable normal pressure continuously and actively adjusts the equivalent stiffness and equivalent damping of the support by changing the contact state and friction force of the internal friction interface of the ECPPB. (Equivalent stiffness) and equivalent damping ratio The relationship model with dynamic electromagnetic force is as follows: Among them, Fl Total weight of the upper part; l d The horizontal displacement of the support is in mm. The horizontal displacement is The magnitude of the electromagnet's magnetic force; W is the vertical axial compressive load of the superstructure acting on the support; The coefficient of dynamic friction between the support slider and the sliding surface; The energy density of the cycle; This is the equivalent stiffness.

[0037] This embodiment provides a control method based on an electromagnetically adjustable friction pendulum composite seismic isolation bearing. The method employs the aforementioned control system based on an electromagnetically adjustable friction pendulum composite seismic isolation bearing and includes the following steps: S1: Real-time acquisition of the horizontal displacement dynamic signal of the ECFPB support through a displacement sensor; S2: The displacement signal is digitized by the signal processing layer and transmitted to the intelligent decision-making layer; S3: The intelligent decision-making layer calculates the displacement error and its rate of change in real time, and outputs the corresponding current control signal according to the electromagnetic force control coefficient. S4: The control layer converts the current control signal into a precise current, driving the electromagnet to generate dynamic electromagnetic force. S5: Dynamic electromagnetic force generates real-time adjustable normal pressure between the electromagnet and armature of the ECPPB through magnetic circuit coupling, changing the equivalent stiffness and damping characteristics of the support. S6: Change the dynamic signal of the horizontal displacement of the rear support, which is then collected by S1 to form a closed loop iteration. The intelligent decision-making layer dynamically and adaptively refreshes the control parameters based on real-time feedback.

[0038] The aforementioned displacement sensing layer, signal processing layer, intelligent decision-making layer, and execution control layer constitute a four-layer closed-loop intelligent control architecture, forming a real-time iterative optimization mechanism for displacement sensing, algorithmic decision-making, electromagnetic control, and dynamic response. The operating cycle of the closed-loop intelligent control architecture is less than or equal to the reciprocal of the seismic excitation characteristic frequency, ensuring real-time control capabilities.

[0039] This embodiment provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the aforementioned method for controlling an electromagnetically adjustable friction pendulum composite seismic isolation bearing.

[0040] This embodiment provides an electronic device, including a memory and a processor. The memory stores a computer program, and the processor runs the computer program to enable the electronic device to execute the described method for controlling an electromagnetically adjustable friction pendulum composite seismic isolation bearing.

[0041] In summary, this invention, through an innovative electromagnetic control mechanism, achieves real-time dynamic adjustment of the equivalent stiffness and damping characteristics of friction pendulum bearings, significantly improving the adaptive capability of seismic isolation systems to complex seismic excitations. Employing a closed-loop intelligent control architecture of displacement sensing, algorithmic decision-making, electromagnetic control, and dynamic response, the bearing can automatically optimize dynamic parameters based on actual seismic wave characteristics, effectively overcoming the shortcomings of traditional friction pendulum bearings, such as fixed response and insufficient adjustment capability. Therefore, this invention solves the problems of fixed response to external excitations and lack of adaptability in existing technologies, providing important technical support for the development of intelligent seismic isolation technology.

[0042] Embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0043] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0044] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0045] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1The steps of the function specified in one or more boxes.

[0046] Contents not described in detail in this specification are prior art known to those skilled in the art. It is hereby indicated that the above description is intended to help those skilled in the art understand this invention, but does not limit the scope of protection of this invention. Any equivalent substitutions, modifications, improvements, or simplifications of the above descriptions that do not depart from the essential content of this invention fall within the scope of protection of this invention.

Claims

1. A control system based on an electromagnetically adjustable friction pendulum composite seismic isolation bearing, characterized in that, include: Displacement sensing layer: including displacement sensor (7) installed on the fixed bracket on the outside of the lower support plate (6), used to capture the dynamic signal of horizontal displacement of electromagnetically controlled friction pendulum composite seismic isolation bearing (ECFPB) in real time. Signal processing layer: Electrically connected to the displacement sensing layer, used to receive dynamic horizontal displacement signals and transmit data via the SPI interface; Intelligent decision-making layer: including microcontroller, which receives displacement signals from analog acquisition module through SPI interface, calculates electromagnetic force control parameters in real time based on the coupling relationship between ECPPB displacement error and its rate of change, and outputs corresponding current control signals; The execution control layer includes a programmable current source and an electromagnet array (3), which are used to convert current control signals into driving currents and control the electromagnet array (3) to generate dynamic electromagnetic force. The dynamic electromagnetic force acts on the electromagnetic actuator of the ECPPB through magnetic circuit coupling, forming a real-time adjustable normal pressure, thereby realizing the dynamic adjustment of the equivalent stiffness and equivalent damping ratio of the ECPPB.

2. The control system based on an electromagnetically adjustable friction pendulum composite seismic isolation bearing according to claim 1, characterized in that, The displacement sensing layer, signal processing layer, intelligent decision-making layer, and execution control layer constitute a four-layer closed-loop intelligent control architecture, forming a real-time iterative optimization mechanism for displacement sensing, algorithm decision-making, electromagnetic control, and dynamic response.

3. The control system based on an electromagnetically adjustable friction pendulum composite seismic isolation bearing according to claim 2, characterized in that, The operating cycle of the closed-loop intelligent control architecture is less than or equal to the reciprocal of the seismic excitation characteristic frequency, ensuring real-time control capability.

4. The control system based on an electromagnetically adjustable friction pendulum composite seismic isolation bearing according to claim 3, characterized in that, The displacement sensor (7) is a laser displacement sensor used for non-contact measurement of the real-time horizontal displacement of the ECPPB support.

5. The control system based on an electromagnetically adjustable friction pendulum composite seismic isolation bearing according to claim 1, characterized in that, The programmable current source is set up in correspondence with the electromagnet array (3), and each electromagnet is driven by an independent current source to ensure the accuracy and independence of electromagnetic force control.

6. The control system based on an electromagnetically adjustable friction pendulum composite seismic isolation bearing according to claim 1, characterized in that, The dynamic electromagnetic force Its relationship with current is modeled as follows: ； Where l represents the horizontal displacement of the support; N is the electromagnetic force control coefficient; R is the number of coil turns; R is the radius of the bottom surface of the slider; n is the number of cuboid electromagnets. The distance of the initial working air gap of the electromagnet; A is the cross-sectional area; The air gap permeability; is the leakage flux coefficient.

7. The control system based on an electromagnetically adjustable friction pendulum composite seismic isolation bearing according to claim 1, characterized in that, The equivalent stiffness and the equivalent damping ratio Its relationship with dynamic electromagnetic force is modeled as follows: ； ； Among them, F l Total weight of the upper part; l d This represents the horizontal displacement of the support. The horizontal displacement is The magnitude of the electromagnet's magnetic force; W is the vertical axial compressive load of the superstructure acting on the support; The coefficient of dynamic friction between the support slider and the sliding surface; The energy density of the cycle; This is the equivalent stiffness.

8. A method for adjusting a composite seismic isolation bearing based on an electromagnetically adjustable friction pendulum, characterized in that, This method is implemented using the electromagnetically adjustable friction pendulum composite seismic isolation bearing control system as described in any one of claims 1-7, and includes the following steps: S1: Real-time acquisition of the horizontal displacement dynamic signal of the ECFPB support through a displacement sensor; S2: The displacement signal is digitized by the signal processing layer and transmitted to the intelligent decision-making layer; S3: The intelligent decision-making layer calculates the displacement error and its rate of change in real time, and outputs the corresponding current control signal according to the electromagnetic force control coefficient. S4: The control layer converts the current control signal into a precise current, driving the electromagnet to generate dynamic electromagnetic force. S5: Dynamic electromagnetic force generates real-time adjustable normal pressure between the electromagnet and armature of the ECPPB through magnetic circuit coupling, changing the equivalent stiffness and damping characteristics of the support. S6: Change the dynamic signal of the horizontal displacement of the rear support, which is then collected by S1 to form a closed loop iteration. The intelligent decision-making layer dynamically and adaptively refreshes the control parameters based on real-time feedback.

9. A computer-readable storage medium, characterized in that, It stores a computer program, which, when executed by a processor, implements the control method of the electromagnetically adjustable friction pendulum composite seismic isolation bearing as described in claim 8.

10. An electronic device, characterized in that, It includes a memory and a processor. The memory is used to store computer programs, and the processor runs the computer programs to enable the electronic device to perform the control method of the electromagnetically adjustable friction pendulum composite seismic isolation bearing as described in claim 8.

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