Browse > Article
http://dx.doi.org/10.12989/sem.2022.82.4.445

Compensating time delay in semi-active control of a SDOF structure with MR damper using predictive control  

Bathaei, Akbar (School of Civil Engineering, College of Engineering, University of Tehran)
Zahrai, Seyed Mehdi (School of Civil Engineering, College of Engineering, University of Tehran)
Publication Information
Structural Engineering and Mechanics / v.82, no.4, 2022 , pp. 445-458 More about this Journal
Abstract
Some of the control systems used in engineering structures that use sensors and decision systems have some time delay reducing efficiency of the control system or even might make it unstable. In this research, in addition to considering the effect of the time delay in vibration control process, predictive control is used to compensate the time delay. A semi-active vibration control approach with the help of magneto-rheological dampers is implemented. In addition to using fuzzy inference system to determine the appropriate control voltage for MR damper, structural behavior prediction system and specifying future responses are also used such that the time delays occurring within control process are overcome. For this purpose, determination of prediction horizon is conducted for one, five, and ten steps ahead for single degree of freedom structures with periods ranging from 0.1 to 4 seconds, subjected to twenty earthquake excitations. The amount of time delay applied to the control system is 0.1 seconds. The obtained results indicate that for 0.1 second time delay, average prediction error values compared to the case without time delay is 3.47 percent. Having 0.1 second time delay in a semi-active control system reduces its efficiency by 11.46 percent; while after providing the control system with structure behavior prediction, the difference in the results for the control system without time delay is just 1.35 percent on average; indicating a 10.11 percent performance improvement for the control system.
Keywords
fuzzy logic algorithm; magneto-rheological damper; predictive control; semi-active control; time delay;
Citations & Related Records
Times Cited By KSCI : 3  (Citation Analysis)
연도 인용수 순위
1 Abdel-Rohman, M., John, M.J. and Hassan, M.F. (2010), "Compensation of time delay effect in semi-active controlled suspension bridges", J. Vib. Control, 16(10), 1527-1558. https://doi.org/10.1177/1077546309106518.   DOI
2 Ahmadizadeh, M., Mosqueda, G. and Reinhorn, A.M. (2008), "Compensation of actuator delay and dynamics for real-time hybrid structural simulation", Earthq. Eng. Struct. Dyn., 37(1), 21-42. https://doi.org/10.1002/eqe.743.   DOI
3 Alhazza, K.A., Nayfeh, A.H. and Daqaq, M.F. (2009), "On utilizing delayed feedback for active-multimode vibration control of cantilever beams", J. Sound Vib., 319(3-5), 735-752. https://doi.org/10.1016/j.jsv.2008.06.052.   DOI
4 Cai, G.P. and Yang, S.X. (2005), "Active control of a flexible structure with time delay", Struct. Eng. Mech., 20(2), 191-207. http://dx.doi.org/10.12989/sem.2005.20.2.191.   DOI
5 Chu, S.Y., Soong, T.T., Lin, C.C. and Chen, Y.Z. (2002), "Time-delay effect and compensation on direct output feedback-controlled mass damper systems", Earthq. Eng. Struct. Dyn., 31(1), 121-137. https://doi.org/10.1002/eqe.101.   DOI
6 Chung, L.L., Lin, C.C. and Lu, K.H. (1995), "Time-delay control of structures", Earthq. Eng. Struct. Dyn., 24(5), 687-701. https://doi.org/10.1002/eqe.4290240506 .   DOI
7 Cui, D. and Li, H. (2019), "Model predictive control of nonholonomic mobile robots with backward motion", IFAC-Papers OnLine, 52(24), 195-200. https://doi.org/10.1016/j.ifacol.2019.12.407 .   DOI
8 Abdel-Rohman, M. (1987), "Time-delay effects on actively damped structures", J. Eng. Mech., 113(11), 1709-1719. https://doi.org/10.1061/(ASCE)0733-9399(1987)113:11(1709).   DOI
9 Dong, X., Yu, M., Li, Z., Liao, C. and Chen, W. (2008), "Neural network compensation of semi-active control for magnetorheological suspension with time delay uncertainty", Smart Mater. Struct., 18(1), 015014. https://doi.org/10.1088/0964-1726/18/1/015014.   DOI
10 Camacho, E.F. and Alba, C.B. (2007), Model Predictive Control, 2nd Edition, Springer-Verlag, London.
11 Abdel-Rohman, M., Sebakhy, O.A. and Al-Halabi, M. (1993), "Identification and control of flexible civil structures with time delays", Comput. Struct., 47(6), 977-986. https://doi.org/10.1016/0045-7949(93)90302-T.   DOI
12 Grandia, R., Taylor, A.J., Singletary, A., Hutter, M. and Ames, A.D. (2020), "Nonlinear model predictive control of robotic systems with control lyapunov functions", arXiv preprint arXiv, 2006.01229. https://doi.org/10.15607/RSS.2020.XVI.098.
13 Bathaei, A., Zahrai, S.M. and Ramezani, M. (2018), "Semi-active seismic control of an 11-DOF building model with TMD+MR damper using type-1 and-2 fuzzy algorithms", J. Vib. Control, 24(13), 2938-2953. https://doi.org/10.1177/1077546317696369.   DOI
14 Cheng, F.Y. and Tian, P. (1993), "Generalized optimal active control algorithm with weighting matrix configuration, stability and time-delay", Struct. Eng. Mech., 1(1), 119-135. http://dx.doi.org/10.12989/sem.1993.1.1.119.   DOI
15 Cruze, D., Gladston, H., Farsangi, E.N., Banerjee, A., Loganathan, S. and Solomon, S.M. (2021), "Seismic performance evaluation of a recently developed magnetorheological damper: Experimental investigation", Pract. Period. Struct. Des. Constr., 26(1), 04020061. https://doi.org/10.1061/(ASCE)SC.1943-5576.0000544.   DOI
16 Katebi, J. and Zadeh, S.M. (2016), "Time delay study for semi-active control of coupled adjacent structures using MR damper", Struct. Eng. Mech., 58(6), 1127-1143. http://doi.org/10.12989/sem.2016.58.6.1127.   DOI
17 Liu, P.L. (2010), "Stabilization criteria for neutral time delay systems with saturating actuators", J. Franklin Inst., 347(8), 1577-1588. https://doi.org/10.1016/j.jfranklin.2010.06.009.   DOI
18 Nazaroff, G.J. and Hewer, C.A. (1973), "Stabilization of linear, autonomous differential-delay systems", IEEE Tran. Autom. Control, 18(6), 673-674. https://doi.org/10.1109/TAC.1973.1100426.   DOI
19 Rashid, Z., Tantray, M. and Noroozinejad Farsangi, E. (2022), "Acceleration response-based adaptive strategy for vibration control and location optimization of magnetorheological dampers in multistoried structures", Pract. Period. Struct. Des Constr., 27(1), 04021065. https://doi.org/10.1061/(ASCE)SC.1943-5576.0000648.   DOI
20 Ok, S.Y., Kim, D.S., Park, K.S. and Koh, H.M. (2007), "Semi-active fuzzy control of cable-stayed bridges using magnetorheological dampers", Eng. Struct., 29(5), 776-788. https://doi.org/10.1016/j.engstruct.2006.06.020.   DOI
21 Ross, D.W. (1971), "Controller design for time lag systems via a quadratic criterion", IEEE Tran. Auto. Control, 16(6), 664-672. 10.1109/TAC.1971.1099834.   DOI
22 Ross, D.W. and Flugge-Lotz, I. (1969), "An optimal control problem for systems with differential-difference equation dynamics", SIAM J. Control, 7(4), 609-623. https://doi.org/10.1137/0307044.   DOI
23 Xu, L.H. and Li, Z.X. (2011), "Model predictive control strategies for protection of structures during earthquakes", Struct. Eng. Mech., 40(2), 233-243. http://doi.org/10.12989/sem.2011.40.2.233.   DOI
24 Saeed, M.U., Sun, Z. and Elias, S. (2021), "Research developments in adaptive intelligent vibration control of smart civil structures", J. Low Freq. Noise Vib. Active Control, 14613484211032758. https://doi.org/10.1177/14613484211032758.   DOI
25 Saeed, M.U., Sun, Z. and Elias, S. (2022), "Semi-active vibration control of building structure by self tuned brain emotional learning based intelligent controller", J. Build. Eng., 46, 103664. https://doi.org/10.1016/j.jobe.2021.103664.   DOI
26 Song, R., Zhang, H., Luo, Y. and Wei, Q. (2010), "Optimal control laws for time-delay systems with saturating actuators based on heuristic dynamic programming", Neurocomput., 73(16-18), 3020-3027. https://doi.org/10.1016/j.neucom.2010.07.005.   DOI
27 Krasovskii, N.N. (1963), "Optimal processes in systems with time lag", IFAC Proceed. Vol., 1(2), 327-332. https://doi.org/10.1016/S1474-6670(17)69670-8.   DOI
28 Nascimento, T.P., Dorea, C.E.T. and Goncalves, L.M.G. (2018), "Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach", Int. J. Adv. Robot. Syst., 15(1), 1729881418760461. https://doi.org/10.1177/1729881418760461.   DOI
29 Hammarstrom, L.G. and Gros, K.S. (1980), "Adaptation of optimal control theory to systems with time delays", Int. J. Control, 32(2), 329-357. https://doi.org/10.1080/00207178008922860.   DOI
30 Hyatt, P. and Killpack, M.D. (2020), "Real-time nonlinear model predictive control of robots using a graphics processing unit", IEEE Robot. Auto. Lett., 5(2), 1468-1475. https://doi.org/10.1080/00207178008922860.   DOI
31 Lara, L.A., Brito, J.L. and Valencia, Y. (2017), "Comparative analysis of semi-active control algorithms applied to magnetorheological dampers Ingeniare", Revista Chilena de Ingenieria., 25(1), 39-58. https://doi.org/10.18273/revuin.v16n2-2017021.   DOI
32 McGreevy, S., Soong, T.T. and Reinhorn, A.M. (1988), "An experimental study of time delay compensation in active structural control", Proceedings SEM 6th International Modal Analysis Conference, Orlando, Florida, February.
33 Mirafzal, S.H., Khorasani, A.M. and Ghasemi, A.H. (2016), "Optimizing time delay feedback for active vibration control of a cantilever beam using a genetic algorithm", J. Vib. Control, 22(19), 4047-4061. https://doi.org/10.1177/1077546315569863.   DOI