사장교의 지진응답제어를 위한 준능동 MR 감쇠기의 퍼지제어

옥승용,김동석,고현무,박관순 한국지진공학회 2005 한국지진공학회논문집 Vol.9 No.6

사장교의 효과적 지진응답제어를 위하여 MR 감쇠기를 이용한 준능동 퍼지 제어기법을 제시하였다. 제시하는 방법은 MR 감쇠기의 응답정보만을 이용한 퍼지추론 과정을 통하여 준능동 제어를 수행하는 방법으로서, 능동제어이론에 기반한 기존 준능동 제어기법과 달리, 별도의 능동제어기를 설계할 필요가 없는 간단한 구조로서 구성될 수 있다. 제시한 제어기법의 제어성능을 평가하기 위해 사장교 벤치마크 문제에 적용하였으며 기존 준능동 제어기법들과의 성능비교를 통하여 그 효율성을 평가하였다. 제어성능을 비교한 결과, 제시하는 준능동 퍼지 제어기법은 주탑의 전단력 및 휨모멘트, 데크의 수평변위, 그리고 케이블 장력 등의 상충하는 지진응답들을 동시에 효과적으로 제어함으로써 지진응답제어에 매우 효율적인 제어전략이 될 수 있음을 보였다. This paper proposes semi-active fuzzy control technique of magneto-rheological dampers for seismic response control of cable-stayed bridges. Through the fuzzy inference process, the proposed technique performs the semi-active control with the responses of MR dampers only. Moreover, differently from the conventional semi-active control technique, this technique does not require additional active controller for the primary controller, which provides a simple design process. in order to validate the control performance of the proposed technique, the semi-active fuzzy control technique is applied to the benchmark control problem of cable-stayed bridge and its control performance is compared with those of conventional semi-active control techniques. The comparative results show that the proposed fuzzy control technique can be an effective control strategy by efficiently and simultaneously reducing the mutual conflicting responses such as the shear forces and moments at the base of the lowers, longitudinal displacement of the deck, and tensions in the stay cables.

A semi-active stochastic optimal control strategy for nonlinear structural systems with MR dampers

Z. G. Ying,Y. Q. Ni,J. M. Ko 국제구조공학회 2009 Smart Structures and Systems, An International Jou Vol.5 No.1

A non-clipped semi-active stochastic optimal control strategy for nonlinear structural systems with MR dampers is developed based on the stochastic averaging method and stochastic dynamical programming principle. A nonlinear stochastic control structure is first modeled as a semi-actively controlled, stochastically excited and dissipated Hamiltonian system. The control force of an MR damper is separated into passive and semiactive parts. The passive control force components, coupled in structural mode space, are incorporated in the drift coefficients by directly using the stochastic averaging method. Then the stochastic dynamical programming principle is applied to establish a dynamical programming equation, from which the semi-active optimal control law is determined and implementable by MR dampers without clipping in terms of the Bingham model. Under the condition on the control performance function given in section 3, the expressions of nonlinear and linear nonclipped semi-active optimal control force components are obtained as well as the non-clipped semi-active LQG control force, and thus the value function and semi-active nonlinear optimal control force are actually existent according to the developed strategy. An example of the controlled stochastic hysteretic column is given to illustrate the application and effectiveness of the developed semi-active optimal control strategy.

A semi-active stochastic optimal control strategy for nonlinear structural systems with MR dampers

Ying, Z.G.,Ni, Y.Q.,Ko, J.M. Techno-Press 2009 Smart Structures and Systems, An International Jou Vol.5 No.1

A non-clipped semi-active stochastic optimal control strategy for nonlinear structural systems with MR dampers is developed based on the stochastic averaging method and stochastic dynamical programming principle. A nonlinear stochastic control structure is first modeled as a semi-actively controlled, stochastically excited and dissipated Hamiltonian system. The control force of an MR damper is separated into passive and semi-active parts. The passive control force components, coupled in structural mode space, are incorporated in the drift coefficients by directly using the stochastic averaging method. Then the stochastic dynamical programming principle is applied to establish a dynamical programming equation, from which the semi-active optimal control law is determined and implementable by MR dampers without clipping in terms of the Bingham model. Under the condition on the control performance function given in section 3, the expressions of nonlinear and linear non-clipped semi-active optimal control force components are obtained as well as the non-clipped semi-active LQG control force, and thus the value function and semi-active nonlinear optimal control force are actually existent according to the developed strategy. An example of the controlled stochastic hysteretic column is given to illustrate the application and effectiveness of the developed semi-active optimal control strategy.

An innovative hardware emulated simple passive semi-active controller for vibration control of MR dampers

Zhang, Jianqiu,Agrawal, Anil K. Techno-Press 2015 Smart Structures and Systems, An International Jou Vol.15 No.3

Magneto-Rheological (MR) dampers are being used increasingly because of their adaptability to control algorithms and reliability of passive systems. In this paper, an extensive investigation on performance of MR dampers in semi-active and passive modes has been carried out. It is observed that the overall energy dissipation by MR dampers in passive-on modes is higher than that in semi-active modes for most of the competitive semi-active controllers. Based on the energy dissipation pattern, a novel semi-active controller, termed as "Simple Passive Semi-Active Controller", has been proposed for MR dampers. This controller can be emulated by a simple passive hardware proposed in this paper. The proposed concept of controller "hardware emulation" is innovative and can also be implemented for other semi-active devices for control algorithms of certain form. The effectiveness and reliability of the proposed controller has been investigated extensively through numerical simulations. It has been demonstrated that the proposed controller is competitive to or more effective than other widely used / investigated semi-active controllers.

GENERALIZED MAGNETORHEOLOGICAL (MR) DAMPER MODEL AND ITS APPLICATION IN SEMI-ACTIVE CONTROL OF VEHICLE SUSPENSION SYSTEM

L. BALAMURUGAN,J. JANCIRANI,M. A. ELTANTAWIE 한국자동차공학회 2014 International journal of automotive technology Vol.15 No.3

In this paper, analytical characterization of the magneto-rheological (MR) damper is done using a new modifiedalgebraic model. Algebraic model is also more preferable because of its low computational expenses compared to differentialBouc-Wen’s model which is highly computationally demanding. This model along with the obtained model parameters is usedas a semi-active suspension device in a quarter car model and the stationary response of the vehicle traversing on a rough roadis obtained. The control part consists of two nested controllers. One of them is the system controller which generates thedesired damping force and the other is the damper controller which adjusts the voltage level to MR damper so as to track thedesired damping force. For the system controller a model reference skyhook Sliding Mode Controller (SMC) is used and forthe damper controller a continuous state algorithm is built to determine the input voltage so as to gain the desired dampingforce. The analytical model is subsequently used in the quarter car vehicle model and the vehicular responses are studied. Asimulation study is performed to prove the effectiveness and robustness of the semi-active control approach. Results show thatthe semi-active controller can achieve compatible performance as that of active suspension controller except for a littledeterioration.

Semi-Active Operation Assist Control Device for Manual Conveyance of Flexible Parts

Kensuke Yamaguchi,Michihiro Takeshige,Noritaka Sato,Yoshifumi Morita,Hiroyuki Ukai,Susumu Hara 제어로봇시스템학회 2012 제어로봇시스템학회 국제학술대회 논문집 Vol.2012 No.10

This paper proposes an assist-handle for manual conveyance of flexible part and its semi-active operation assist control. The assist-handle consists of a handle, a variable damper and a mechanical spring. The variable damper and the mechanical spring are connected in parallel. The assist-handle can be attached to a general hand cart, through which a human operates the hand cart. In order to suppress the vibration of the flexible part, the operating force is shaped by changing the viscosity of variable damper. Then the shaped force is transmitted to the hand cart through the assist-handle. The controlled system, which consists of the assist-handle, a hand cart and a flexible part, is represented as a bilinear system. The semi-active operation assist control is designed by using the bilinear optimal control theory. The performance index of bilinear optimal control involves the vibration of the flexible part and the control input. The effectiveness of the assist-handle and the semi-active operation assist control is verified by simulations.

Analog active valve control design for non-linear semi-active resetable devices

Geoffrey W. Rodgers,J. Geoffrey Chase,Sylvain Corman 국제구조공학회 2017 Smart Structures and Systems, An International Jou Vol.19 No.5

Semi-active devices use the building\'s own motion to produce resistive forces and are thus strictly dissipative and require little power. Devices that independently control the binary open/closed valve state can enable novel device hysteresis loops that were not previously possible. However, some device hysteresis loops cannot be obtained without active analog valve control allowing slower, controlled release of stored energy, and is presents an ongoing limitation in obtaining the full range of possibilities offered by these devices. This in silico study develops a proportional-derivative feedback control law using a validated nonlinear device model to track an ideal diamond-shaped force-displacement response profile using active analog valve control. It is validated by comparison to the ideal shape for both sinusoidal and random seismic input motions. Structural application specific spectral analysis compares the performance for the non-linear, actively controlled case to those obtained with an ideal, linear model to validate that the potential performance will be retained when considering realistic nonlinear behaviour and the designed valve control approach. Results show tracking of the device force-displacement loop to within 3-5% of the desired ideal curve. Valve delay, rather than control law design, is the primary limiting factor, and analysis indicates a ratio of valve delay to structural period must be 1/10 or smaller to ensure adequate tracking, relating valve performance to structural period and overall device performance under control. Overall, the results show that active analog feedback control of energy release in these devices can significantly increase the range of resetable, valve-controlled semi-active device performance and hysteresis loops, in turn increasing their performance envelop and application space.

Control of a building complex with Magneto-Rheological Dampers and Tuned Mass Damper

F. Amini,R. Doroudi 국제구조공학회 2010 Structural Engineering and Mechanics, An Int'l Jou Vol.36 No.2

Coupled building control is a viable method to protect tall buildings from seismic excitation. In this study, the semi-active control of a building complex is investigated for mitigating seismic responses. The building complex is formed of one main building and one podium structure connected through Magneto-Rheological (MR) Dampers and Tuned Mass Damper. The conventional semi-active control techniques require a primary controller as a reference to determine the desired control force, and modulate the input voltage of the MR damper by comparing the desired control force. The fuzzy logic directly determines the input voltage of an MR damper from the response of the MR damper. The control performance of the proposed fuzzy control technique for the MR damper is evaluated for the control problem of a seismically-excited building complex. In this paper, a building complex that include a 14-story main building and an 8-story podium structure is applied as a numerical example to demonstrate the effectiveness of semi-active control with Magneto-Rheological dampers and its comparison with the passive control with the Tuned Mass Damper and two uncoupled buildings and hybrid semi-active control including the Tuned Mass Damper and Magneto-Rheological dampers while they are subject to the earthquake excitation. The numerical results show that semi-active control and hybrid semi-active control can significantly mitigate the seismic responses of both buildings, such as displacement and shear force responses, and fuzzy control technique can effectively mitigate the seismic response of the building complex.

강화학습을 이용해 개발한 준능동 제어알고리즘의 성능평가

김현수(Hyun-Su Kim) 한국산학기술학회 2023 한국산학기술학회논문지 Vol.24 No.4

강화학습은 최근까지 다양한 능동제어 문제에 적용되어 우수한 제어성능을 보여 왔다. 그러나 강화학습을 이용하여 개발한 준능동 제어알고리즘에 대한 연구는 현재까지 거의 수행된 바 없다. 따라서 본 연구에서는 강화학습을 이용하여 준능동 제어알고리즘을 개발하였다. 강화학습은 주어진 환경과 상호작용을 하는 에이전트가 현재의 상태에서 어떤 행동을 취하는 것이 최고의 보상을 받는지 학습하여 누적 보상을 최대화 하는 방향으로 학습이 진행된다. 이러한 강화학습을 적용할 예제 건물로는 MR 감쇠기를 이용하여 구성된 준능동 중간층 면진 시스템이 적용된 26층 빌딩 구조물을 사용하였다. 수치해석을 위해서 인공 지진하중을 생성하였다. 생성된 예제 구조물과 지진하중을 사용해서 강화학습의 환경을 생성하였다. 생성된 환경과 상호작용을 할 에이전트는 준능동 제어알고리즘으로 설정하였다. 강화학습의 보상은 최대 층간변위와 면진층 층간변위를 저감시킬 수 있도록 설계하였다. 스카이훅 (Skyhook)과 그라운드훅 (Groundhook) 제어알고리즘을 이용해서 제어성능을 비교 및 검토 하였다. 수치해석 결과 제안된 제어알고리즘은 준능동 중간층 면진시스템이 설치된 예제구조물의 지진응답을 효과적으로 저감시킬 수 있는 것을 본 연구를 통해서 확인할 수 있었다. Reinforcement learning has shown good control performance for various active control problems. However, research has rarely been conducted on a semi-active control algorithm developed using reinforcement learning. In the reinforcement learning process, an agent is trained by interacting with a given environment and learns what actions receive the most rewards in its current state to maximize the sum of the rewards. In this study, a semi-active control algorithm was developed using reinforcement learning. In order to apply reinforcement learning, a 26-story building structure was constructed as an example by using a semi-active mid-story isolation system with a magnetorheological damper. Artificial ground motions were generated for numerical simulation. The example building structure and seismic excitation were used to make an environment for reinforcement learning. An agent interacting with the constructed environment was set as a semi-active control algorithm. The reward of reinforcement learning was designed to reduce the peak story drift and the isolation story drift. Skyhook and groundhook control algorithms were used for comparative study. Based on numerical results, this paper shows that the proposed control algorithm can effectively reduce the seismic responses of building structures with a semi-active mid-story isolation system.

Control of a building complex with Magneto-Rheological Dampers and Tuned Mass Damper

Amini, F.,Doroudi, R. Techno-Press 2010 Structural Engineering and Mechanics, An Int'l Jou Vol.36 No.2

Coupled building control is a viable method to protect tall buildings from seismic excitation. In this study, the semi-active control of a building complex is investigated for mitigating seismic responses. The building complex is formed of one main building and one podium structure connected through Magneto-Rheological (MR) Dampers and Tuned Mass Damper. The conventional semi-active control techniques require a primary controller as a reference to determine the desired control force, and modulate the input voltage of the MR damper by comparing the desired control force. The fuzzy logic directly determines the input voltage of an MR damper from the response of the MR damper. The control performance of the proposed fuzzy control technique for the MR damper is evaluated for the control problem of a seismically-excited building complex. In this paper, a building complex that include a 14-story main building and an 8-story podium structure is applied as a numerical example to demonstrate the effectiveness of semi-active control with Magneto-Rheological dampers and its comparison with the passive control with the Tuned Mass Damper and two uncoupled buildings and hybrid semi-active control including the Tuned Mass Damper and Magneto-Rheological dampers while they are subject to the earthquake excitation. The numerical results show that semi-active control and hybrid semi-active control can significantly mitigate the seismic responses of both buildings, such as displacement and shear force responses, and fuzzy control technique can effectively mitigate the seismic response of the building complex.