论文部分内容阅读
等效力控制方法采用力反馈控制代替隐式积分方法中的迭代过程,从而使等效力控制方法在避免隐式积分方法的迭代过程的同时仍具有隐式积分方法的无条件稳定性。利用该力反馈控制,等效力控制方法还具有对实时子结构试验中的时滞进行补偿的作用。但是,在实际的实时子结构试验中,能够影响等效力控制方法时滞补偿效果的因素有很多,噪声就是其中之一。本文研究了噪声对等效力控制方法稳定性的影响。提高等效力PID控制器的比例增益可对系统时滞起到补偿作用,但是当比例增益较大时,等效力反馈中的噪声会降低等效力控制方法的稳定性。为了对等效力反馈中的噪声进行滤波,本文采用了基于作动器模型设计的Kalman滤波器,并通过实时子结构实验方法对其滤波效果进行研究。研究结果表明此滤波器能够有效地过滤噪声,消除噪声对等效力控制方法稳定性的影响。
Equivalence control method uses force feedback control instead of iterative process in implicit integration method so that the equivalence control method still has the unconditional stability of implicit integration method while avoiding the iterative process of implicit integration method. Using this force feedback control, the equivalent force control method also has the effect of compensating for the time lag in the real-time substructure test. However, in practical real-time sub-structure tests, there are many factors that can affect the effect of time-delay compensation of the equivalent force control method. Noise is one of them. This paper studies the effect of noise equivalence control method stability. Increasing the Proportional Gain of Equivalent PID Controllers can compensate for system skew, but when the proportional gain is large, noise in Equivalent Feedback reduces the stability of the Equivalent Control method. In order to filter the noise in the peer-to-peer feedback, a Kalman filter based on the actuator model is used in this paper, and its filtering effect is studied by real-time substructure experiment. The results show that this filter can effectively filter noise and eliminate the influence of noise on the stability of equivalent control method.