工程科学学报，第41卷，第8期：1092-1102,2019年8月 Chinese Journal of Engineering,Vol.41,No.8:1092-1102,August 2019 DOI:10.13374/j.issn2095-9389.2019.08.015;http://journals.ustb.edu.cn 基于滚轴支座基础智能隔震结构的非光滑主动控制 刘彦辉)四，黄襄云)，黄小芳)，王清) 1)广州大学工程抗震研究中心，广州5104052)广州大学机械与电气工程学院，广州510006 ☒通信作者，E-mail:Liuyanhui2012@163.cm 摘要以滚轴支座基础隔震结构作为受控结构研究对象，在该隔震结构的隔震层施加主动控制装置，形成智能隔震体系， 以控制隔震层的位移，提高结构的安全性.在智能隔震结构中引入非光滑控制算法，基于隔震层位移和速度反馈，提出了智能 隔震结构的非光滑控制算法，进一步根据Lyapunov稳定理论，推导了在非光滑控制下智能控制闭环系统的全局有限时间稳定 性.结合一栋六层滚轴支座基础隔震结构，进行了非光滑主动控制算法下和LQG主动控制算法下的地震响应控制仿真分析. 结果表明，智能隔震结构可有效控制结构的位移，与被动隔震结构相比较上部结构的地震响应有一定程度的减小，同时提出 的非光滑控制算法与LQG控制算法相比较具有更好的控制效果，相比LQG控制算法通过较少的反馈量即可实现反馈控制， 且非光滑控制算法具有良好的稳定性. 关键词智能隔震；非光滑控制；LQG控制；稳定性；地震响应 分类号TU352.12 Nonsmooth active control method for base-smart isolated structures with roller bearings LIU Yan-hui,HUANG Xiang-yun,HUANG Xiao-fang,WANG Qing? 1)Earthquake Engineering Research Test Center,Guangzhou University,Guangzhou 510405,China 2)School of Mechanical and Electrical Engineering,Guangzhou University,Guangzhou 510006,China Corresponding author,E-mail:Liuyanhui2012@163.com ABSTRACT In applied structural control technology,base-isolated technology has become popular due to its advantage of simple shock absorption,stable performance,and reasonable cost.Currently,base isolation is extensively applied worldwide,and its role in mitigating the seismic response of structures continues to grow.Moreover,it has been proven effective in decreasing seismic response of structures under recent strong earthquakes.However,the displacement at the isolation layer is sometimes large under strong earth- quakes,which will decrease the safety of the structure and perhaps lead to the failure of the isolation layer.Therefore,in this study, the base-isolated structure with roller bearings is taken to investigate the seismic response control of structures,and the active control devices are added in the isolation layer of the isolated structure to decrease the seismic displacement at the isolation layer,so that a smart-isolated structure is formed.Nonsmooth control algorithm is introduced in the smart-isolated structure.Based on the feedback of the velocity and displacement of the isolation layer,nonsmooth control algorithm is proposed for designing the smart-isolated structure. Moreover,according to Lyapunov stable theory,the global finite time stability of intelligent control closed-loop system under nonsmooth control is deduced.A six-layer isolated structure with roller bearings is used as an example,and a simulation analysis of seismic re- sponse control is performed based on the nonsmooth active control algorithm and linear quadratic Gaussian (LQG)active control algo- rithm.The results show that the smart-isolated technology can effectively control seismic displacement at the isolation layer,and com- pared with the passive isolated technology,the superstructure seismic response is significantly decreased.Meanwhile,the results dem- onstrate that compared with the LQG control algorithm,the nonsmooth control algorithm has a better control effect and can implement 收稿日期：2018-07-27 基金项目：国家自然科学基金资助项目(51778163)：国家重点研发计划重点专项资助项目(2016Y下E0127600):广州市属高校科研项目重点资 助项目(1201610135)：广东省教育厅创新团队资助项目(2016 KCXTD016)工程科学学报,第 41 卷,第 8 期:1092鄄鄄1102,2019 年 8 月 Chinese Journal of Engineering, Vol. 41, No. 8: 1092鄄鄄1102, August 2019 DOI: 10. 13374 / j. issn2095鄄鄄9389. 2019. 08. 015; http: / / journals. ustb. edu. cn 基于滚轴支座基础智能隔震结构的非光滑主动控制 刘彦辉1) 苣 , 黄襄云1) , 黄小芳1) , 王 清2) 1) 广州大学工程抗震研究中心, 广州 510405 2) 广州大学机械与电气工程学院, 广州 510006 苣通信作者,E鄄mail:Liuyanhui2012@ 163. com 摘 要 以滚轴支座基础隔震结构作为受控结构研究对象,在该隔震结构的隔震层施加主动控制装置,形成智能隔震体系, 以控制隔震层的位移,提高结构的安全性. 在智能隔震结构中引入非光滑控制算法,基于隔震层位移和速度反馈,提出了智能 隔震结构的非光滑控制算法,进一步根据 Lyapunov 稳定理论,推导了在非光滑控制下智能控制闭环系统的全局有限时间稳定 性. 结合一栋六层滚轴支座基础隔震结构,进行了非光滑主动控制算法下和 LQG 主动控制算法下的地震响应控制仿真分析. 结果表明,智能隔震结构可有效控制结构的位移,与被动隔震结构相比较上部结构的地震响应有一定程度的减小,同时提出 的非光滑控制算法与 LQG 控制算法相比较具有更好的控制效果,相比 LQG 控制算法通过较少的反馈量即可实现反馈控制, 且非光滑控制算法具有良好的稳定性. 关键词 智能隔震; 非光滑控制; LQG 控制; 稳定性; 地震响应 分类号 TU352郾 12 收稿日期: 2018鄄鄄07鄄鄄27 基金项目: 国家自然科学基金资助项目(51778163);国家重点研发计划重点专项资助项目(2016YFE0127600);广州市属高校科研项目重点资 助项目(1201610135);广东省教育厅创新团队资助项目(2016KCXTD016) Nonsmooth active control method for base鄄smart isolated structures with roller bearings LIU Yan鄄hui 1) 苣 , HUANG Xiang鄄yun 1) , HUANG Xiao鄄fang 1) , WANG Qing 2) 1) Earthquake Engineering Research & Test Center, Guangzhou University, Guangzhou 510405, China 2) School of Mechanical and Electrical Engineering, Guangzhou University, Guangzhou 510006, China 苣Corresponding author, E鄄mail: Liuyanhui2012@ 163. com ABSTRACT In applied structural control technology, base鄄isolated technology has become popular due to its advantage of simple shock absorption, stable performance, and reasonable cost. Currently, base isolation is extensively applied worldwide, and its role in mitigating the seismic response of structures continues to grow. Moreover, it has been proven effective in decreasing seismic response of structures under recent strong earthquakes. However, the displacement at the isolation layer is sometimes large under strong earth鄄 quakes, which will decrease the safety of the structure and perhaps lead to the failure of the isolation layer. Therefore, in this study, the base鄄isolated structure with roller bearings is taken to investigate the seismic response control of structures, and the active control devices are added in the isolation layer of the isolated structure to decrease the seismic displacement at the isolation layer, so that a smart鄄isolated structure is formed. Nonsmooth control algorithm is introduced in the smart鄄isolated structure. Based on the feedback of the velocity and displacement of the isolation layer, nonsmooth control algorithm is proposed for designing the smart鄄isolated structure. Moreover, according to Lyapunov stable theory, the global finite time stability of intelligent control closed鄄loop system under nonsmooth control is deduced. A six鄄layer isolated structure with roller bearings is used as an example, and a simulation analysis of seismic re鄄 sponse control is performed based on the nonsmooth active control algorithm and linear quadratic Gaussian (LQG) active control algo鄄 rithm. The results show that the smart鄄isolated technology can effectively control seismic displacement at the isolation layer, and com鄄 pared with the passive isolated technology, the superstructure seismic response is significantly decreased. Meanwhile, the results dem鄄 onstrate that compared with the LQG control algorithm, the nonsmooth control algorithm has a better control effect and can implement