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Title: Real-time damping-force tracking control of self-sensing magnetorheological dampers
Other Title: 自传感磁流变阻尼器实时阻尼力跟踪控制
Authors: Chen, ZH
Ni, YQ 
Issue Date: 2017
Source: 浙江大学学报. 工学版 (Journal of Zhejiang University. Engineering science), Aug. 2017, v. 51, no. 8, p. 1551-1558
Abstract: 为了提高自传感磁流变阻尼器(SMRD)的控制性能,提出考虑SMRD逆向动力学的线性二次高斯(LQG)同位控制策略(i-LQG).采用贝叶斯非线性自回归(NARX)网络方法建立SMRD以控制导向的正向和逆向动力学模型,融入LQG控制回路补偿SMRD的滞回非线性,实现半主动阻尼力跟踪控制.开展试验比较i-LQG控制和基于Heaviside阶跃函数的LQG控制(H-LQG)下SMRD对控制力实时跟踪效果.结果表明,i-LQG控制下输出电压连续变化,改善了SMRD阻尼力实时跟踪性能,误差相比H-LQG控制减小50%;i-LQG控制下的结构系统阻尼比相比于H-LQG控制时提高11%,验证采用i-LQG控制策略可达到更高效的半主动结构控制性能.
In order to enhance the control performance of a self-sensing magnetorheological damper (SMRD), an inverse dynamics-based collocated linear-quadratic-Gaussian (LQG) control strategy (i-LQG) was proposed. Control-oriented forward and inverse dynamic models of the SMRD were developed by employing a Bayesian NARX (nonlinear autoregressive with exogenous inputs) network technique to represent its nonlinear dynamics. The dynamic models were further incorporated into the LQG control loop to compensate for the hysteretic nonlinearity of the SMRD and to implement semi-active damping-force tracking control. Experiments were conducted to compare the real-time force tracking performance when the SMRD was controlled by the i-LQG control and the Heaviside step function-based LQG (H-LQG) control, respectively. Results show that the i-LQG control commands continuously varying voltage to enhance the real-time SMRD damping-force tracking with a 50% reduction of the force tracking error beyond the H-LQG control. The structural damping with the i-LQG control is increased by 11% compared with that with the H-LQG control, which verifies that the proposed i-LQG control is able to realize more efficient semi-active structural control performance.
Keywords: Bayesian NARX network
Dynamic model
Force tracking
Real-time control
Self-sensing magnetorheological damper
Publisher: 浙江大學學報編輯部
Journal: 浙江大学学报. 工学版 (Journal of Zhejiang University. Engineering science) 
ISSN: 1008-973X
DOI: 10.3785/j.issn.1008-973X.2017.08.010
Rights: © 2017 China Academic Journal Electronic Publishing House. It is to be used strictly for educational and research use.
© 2017 中国学术期刊电子杂志出版社。本内容的使用仅限于教育、科研之目的。
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