Real-time damping-force tracking control of self-sensing magnetorheological dampers

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.