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반능동 제어 시스템을 이용한 사장케이블의 진동제어

2004 년도 한국전산구조공학회 춘계 학술발표회 국민대학교 2004 년 4 월 10 일. 반능동 제어 시스템을 이용한 사장케이블의 진동제어. 장지은 , 한국과학기술원 건설 및 환경공학과 석사과정 정형조 , 세종대학교 토목환경공학과 조교수 윤우현 , 경원대학교 산업환경대학원 부교수 이인원 , 한국과학기술원 건설 및 환경공학과 교수. Contents. Introduction System Characteristics Control Algorithms Numerical Analysis

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반능동 제어 시스템을 이용한 사장케이블의 진동제어

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  1. 2004년도 한국전산구조공학회 춘계 학술발표회 국민대학교 2004년 4월 10일 반능동 제어 시스템을 이용한 사장케이블의 진동제어 장지은, 한국과학기술원 건설 및 환경공학과 석사과정 정형조, 세종대학교 토목환경공학과 조교수 윤우현, 경원대학교 산업환경대학원 부교수 이인원, 한국과학기술원 건설 및 환경공학과 교수

  2. Contents • Introduction • System Characteristics • Control Algorithms • Numerical Analysis • Conclusions Structural Dynamics & Vibration Control Lab., KAIST, Korea

  3. Introduction • Cable • Extremely low damping inherent • Proneness to vibration • Rain-wind induced vibration • Necessity to mitigate cable vibration • causing reduced life of cable and connection Structural Dynamics & Vibration Control Lab., KAIST, Korea

  4. Several methods to mitigate cable vibration • Tying multiple cables together • Changes to cable roughness • Discrete passive viscous dampers • Active transverse and/or axial control • Semiactive dampers Structural Dynamics & Vibration Control Lab., KAIST, Korea

  5. Control algorithms for semiactive technology • Control strategy based on Lyapunov stability theory • Decentralized bang-bang control • Maximum energy dissipation algorithm • Clipped-optimal control • Modulated homogeneous friction control Structural Dynamics & Vibration Control Lab., KAIST, Korea

  6. Objectives • Comparative study on performance of • semiactive control strategies for vibration control of cable Structural Dynamics & Vibration Control Lab., KAIST, Korea

  7. System Characteristics • Cable L T, m where, : transverse deflection of the cable : transverse damper force at location : transverse shaker force at location Structural Dynamics & Vibration Control Lab., KAIST, Korea

  8. Partial Differential Equation of Motion (1) where, Structural Dynamics & Vibration Control Lab., KAIST, Korea

  9. Solution by Series Approximation - Approximation of the transverse deflection using a finite series (2) Structural Dynamics & Vibration Control Lab., KAIST, Korea

  10. The static deflection shape function - First shape function : mode shape induced by damper force (3) Structural Dynamics & Vibration Control Lab., KAIST, Korea

  11. - Second shape function : mode shape induced by shaker force (4) - Other shape functions : cable mode shape Structural Dynamics & Vibration Control Lab., KAIST, Korea

  12. Standard Galerkin approach (5) where, Structural Dynamics & Vibration Control Lab., KAIST, Korea

  13. Damper • MR damper with magnetic fields without magnetic fields Structural Dynamics & Vibration Control Lab., KAIST, Korea

  14. Passive mode • - Passive-on • - Passive-off v vmax t v 0 t Structural Dynamics & Vibration Control Lab., KAIST, Korea

  15. Semiactive mode • Change of voltage input • Various algorithms to determine the command voltage v vmax t Structural Dynamics & Vibration Control Lab., KAIST, Korea

  16. Shear-mode MR damper • equations governing the damper force (6) Bouc-Wen Structural Dynamics & Vibration Control Lab., KAIST, Korea

  17. Control Algorithms • Ideal clipped optimal control • Other control algorithms Ideal clipped optimal control Damper force Cable Control algorithm Voltage Damper force Damper Cable Structural Dynamics & Vibration Control Lab., KAIST, Korea

  18. Ideal clipped optimal control damper force • Passive off voltage input • Passive on voltage input (7) (8) (9) Structural Dynamics & Vibration Control Lab., KAIST, Korea

  19. Control based on Lyapunov stability theory voltage input • Maximum energy dissipation alogorithm voltage input • Clipped-optimal control algorithm voltage input (10) (11) (12) • Modulated homogeneous friction algorithm voltage input (13) Structural Dynamics & Vibration Control Lab., KAIST, Korea

  20. Numerical Analysis • Parameters for the flat-sag cable model • Tested by Christenson et al. (2001) Structural Dynamics & Vibration Control Lab., KAIST, Korea

  21. Parameters for the shear-mode MR damper • Tested by Christenson et al. (2001) Structural Dynamics & Vibration Control Lab., KAIST, Korea

  22. Shaker force • Gaussian white noise process through a series of filters • Series of filters - Low-pass filter for low frequency roll-off - Excitation filter to excite primarily first symmetric mode - Elliptical low-pass filter to attenuate the signal at higher frequencies Structural Dynamics & Vibration Control Lab., KAIST, Korea

  23. Frequency content of shaker force Elliptical Low-pass filter Excitation filter Low-pass filter Structural Dynamics & Vibration Control Lab., KAIST, Korea

  24. Shaker Force • RMS of shaker force = 5.0 N • Damper Capacity • Maximum damper force = 10 N • Maximum voltage input = 3 V • Location of shaker and damper • Location of shaker : 2% of the cable length from support • Location of damper : 3% of the cable length from other support Structural Dynamics & Vibration Control Lab., KAIST, Korea

  25. Performance of Various Control Algorithms • Maximum Displacement at Mid-Span Structural Dynamics & Vibration Control Lab., KAIST, Korea

  26. Maximum Displacement at Quarter-Span Structural Dynamics & Vibration Control Lab., KAIST, Korea

  27. RMS (Root mean square) Displacement Structural Dynamics & Vibration Control Lab., KAIST, Korea

  28. RMS (Root mean square) Velocity Structural Dynamics & Vibration Control Lab., KAIST, Korea

  29. Control Performances normalized by uncontrolled values Structural Dynamics & Vibration Control Lab., KAIST, Korea

  30. Structural Dynamics & Vibration Control Lab., KAIST, Korea

  31. Conclusions • Several semiactive control algorithms have been evaluated for application in cable vibration control using shear-mode MR dampers • Semi-active control system mitigated stay cable vibration over uncontrolled case • TheControl algorithm based on Lyapunov stability theory is most efficient control strategy for vibration control of stay cable among the evaluated control algorithms in this study Structural Dynamics & Vibration Control Lab., KAIST, Korea

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