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建筑结构的半主动控制系统中的传感器,在强震作用下可能因出现故障而影响控制效果。以磁流变阻尼器为例,研究半主动容错控制系统的设计方法。首先,研究了基于状态观测器的半主动H∞控制器设计方法,并将之应用到建筑结构采用磁流变阻尼器的减振控制中;运用改进Bouc-Wen模型,计算磁流变阻尼器的阻尼力,通过求解一个代数Riccati方程和一个状态观测方程,得出了基于状态观测器的H∞主动控制律;再对其采用Clipped-optimal方法实施半主动控制策略。然后,针对传感器故障,利用观测器组的输出残差对故障进行在线诊断,并通过几个观测器状态值的比较得到故障的大小,并据此对传感器的测量值进行修正,从而消除故障对闭环系统的影响,最终实现半主动H∞容错控制。仿真结果表明,该方法具有很好的容错控制效果。
Semi-active control of building structures in the sensor system, under the action of strong earthquakes may affect the control effect due to failure. Taking the MR damper as an example, the design method of semi-active fault-tolerant control system is studied. Firstly, the design method of semi-active H∞controller based on state observer is studied and applied to the damping control of building structure using MR damper. The improved Bouc-Wen model is used to calculate MR damper , The H∞ active control law based on state observer is obtained by solving an algebraic Riccati equation and a state observer equation. Then the semi-active control strategy is implemented by Clipped-optimal method. Then, in view of the sensor failure, the fault diagnosis is performed on the basis of the output residuals of the observer group, and the magnitude of the fault is obtained through the comparison of the state values of several observers. Based on this, the measured values of the sensor are corrected to eliminate the fault pair Closed-loop system, finally achieve semi-active H ∞ fault-tolerant control. Simulation results show that this method has a good fault-tolerant control effect.