磁流变阻尼器的动态模型及以加速度为目标的优化控制-结构工程专业论文.docx

摘要 摘要 - - I - 摘要 海洋平台结构所处的环境十分复杂和恶劣，采用磁流变阻尼隔振控制 能有效地减轻平台结构的动力反应，提高平台结构的安全性和耐久性。但 磁流变控制系统不可避免地存在时滞现象，时滞对控制效果的影响需要进 行研究。此外，常用的经典控制算法一般对位移的控制效果较好，但对加 速度的控制效果不稳定，尤其对柔性结构的加速度控制效果不佳。 本文对以上问题进行了研究，主要内容包括： 1．考虑了三种简单的阻尼器动态模型，对冰力和地震荷载作用下磁流 变控制系统的减震效果进行了仿真分析。结果表明，随着时滞的增大，控 制效果总体上呈下降趋势，但变化趋势随着动态模型的不同而不同。 2．根据试验结果，考虑阻尼力和电压内变量及速度的非线性关系，修 正了阻尼器的稳态模型；考虑剩磁效应和反应速度指数与电压的关系，修正 了阻尼器的瞬态模型。分析结果表明，修正后的新模型与试验曲线吻合得较 好。 3．分析了阻尼器的新动态模型对 JZ20-2NW 海洋平台的控制效果的影 响。数值仿真结果表明阻尼器的动态模型对控制效果的影响不大。 4．对以加速度为目标的控制算法进行了研究。数值仿真结果表明，基 于 LQR 的加速度控制算法能根据需要调整位移和加速度的相对控制效果； 它对加速度控制效果显著，对位移也有较好的控制效果。 关键词 磁流变阻尼器；动态模型；时滞；海洋平台；加速度控制 哈尔滨工业大学工学硕士学位论文 哈尔滨工业大学工学硕士学位论文 - - II - Abstract The environment surrounding offshore platform is harsh and complicated. Magnetorheological fluid damper (MRFD) control systems can reduce the dynamic response of platforms and hence improve their security and durability. However, time delay is an inevitable problem in MRFD control systems. It’s necessary to study influence of time delay on MRFD control systems. On the other hand, available classical control methods can effectively suppress displacement response but their effects on acceleration response are not as good as displacement, especially for flexible structures. In this paper, we study the problems above. The contents are described briefly as follows: Firstly, the numerical simulations of the MRFD control systems under ice force and earthquake with three dynamic models are carried out. The results show that control effect decreases with increasing time delay in general, but this varies with different models. Secondly, supposing damping force is related to the velocity and voltage, we revise the steady-state model of MRFDs. Moreover, the remanence effect and the relation between response speed exponent and voltage are considered to set up the transient-state model of MRFDs. The analysis results show that the prediction with the new dynamic model agrees with experimental curves. Thirdly, the influence of new dynamic model on the c