CN-116607394-B - Control algorithm of active intelligent gyro stabilizer

CN116607394BCN 116607394 BCN116607394 BCN 116607394BCN-116607394-B

Abstract

The invention discloses an active intelligent multidirectional gyro stabilizer for improving the flutter stability of a large-span bridge and an intelligent control algorithm thereof, wherein the structure of the gyro stabilizer comprises a motor I, a posture angle sensor, a power supply box, a control box, a gyro stabilizing main body, a chain driving device and the like; the gyro stabilizer recognizes the obtained flutter derivative through a wind tunnel test, and obtains the aerodynamic moment of the main girder unit torsion angle. When the main beam is twisted, the instantaneous optimal mapping relation between the twisting angle of the main beam and the autorotation angular speed of the gyroscopic stabilizer, which is established based on the artificial intelligent neural network technology, is combined with the aerodynamic moment of the main beam at the corresponding twisting angle, the autorotation angular speed of the gyroscopic stabilizer at the corresponding twisting angle of the main beam is correspondingly output, the gyroscopic precession angular speed calculated according to the gyroscopic precession theory is calculated, and the gyroscopic precession is controlled by a chain driving device to generate gyroscopic moment, so that the motion state and the gesture behavior of the stabilizer are intelligently controlled, and the flutter stability of the cross section of the bridge is improved.

Inventors

TI ZILONG
You Hengrui
LI YONGLE
YANG LING
PAN JUNZHI

Assignees

西南交通大学

Dates

Publication Date: 20260505
Application Date: 20230524

Claims (5)

1. The control algorithm of the active intelligent multidirectional gyro stabilizer is characterized by being used for improving the flutter stability of a large-span bridge, wherein the gyro stabilizer comprises a motor I, an attitude angle sensor, a power supply box, a control box, a gyro stabilizing main body, a chain driving device and a chute fixing device; The gyro stabilizing main body comprises a spherical frame and a gyro rotor arranged in the spherical frame, wherein a central rotating shaft of the gyro rotor is vertically arranged, the upper end and the lower end of the rotating shaft are respectively and movably connected with the top end and the bottom end of the spherical frame, the top end of the rotating shaft is connected with a motor I, the motor I is positioned above the spherical frame and driven by the motor I to rotate in the spherical frame; The chain driving device comprises a second embedded motor and a chain, one end of the chain is connected with a power output end of the second motor, the other end of the chain is connected with the spherical frame through a gear, the second motor provides power, and the chain drives the spherical frame to rotate up and down in the circular ring by taking two bolts as fixed points, so that the precession of the gyro rotor is realized; The control box is respectively connected with the attitude angle sensor, the motor I and the motor II, gives out the optimal spinning angular speed and the optimal precession angular speed by analyzing the data transmitted by the attitude angle sensor, and drives the spinning rotor to precess by the motor I through the spinning rotor and the chain driving device, so that the purpose of inhibiting the bridge bending mode vibration is achieved; the control algorithm comprises the following steps: S1, establishing a gyro stabilizer-main beam coupling motion control equation, wherein the equation is as follows: Wherein, the Representing the torsional vibration of the main beam, C, K respectively represent the rotational inertia, torsional damping and torsional rigidity of the main beam, U is the incoming flow speed, B is the full bridge characteristic width, K is the reduction frequency, H is vertical vibration generated by the section of the main beam under the action of a flow field, and is a dimensionless constant ,i=1,2,3,4; In order to achieve an air density of the air, Is the speed of the torsional vibration, Representing the speed of the vertical vibration, Is the torsional acceleration; S2, a simulation calculation model of the main beam and the gyro stabilizer is established by using a simulation technology, simulation of a prototype bridge is achieved through the model, the main beam unit angle pneumatic self-excitation force obtained by calculation of the flutter derivative is input into the main beam model, motion state simulation is conducted on the main beam, meanwhile, the rotating speed of the gyro stabilizer is continuously changed, the motion state of the main beam is recorded, simulation of different working conditions is achieved, the relation between the main beam posture, the rotation angular speed and the precession speed of the gyro stabilizer under the multiple working conditions is established, then the BP neural network is used for training, finally the motion state and the posture behavior of the gyro stabilizer are intelligently controlled, the self-excitation pneumatic moment of the bridge is balanced by using the gyro moment generated in the precession process of the gyro, and the large-span flutter stability of the bridge is improved.
2. The control algorithm of the active intelligent multidirectional gyrostabiliser of claim 1, wherein in step S2, BP neural network training is specifically that a model for predicting the torsion angle of a main beam and the autorotation angular speed of the gyrostabiliser is built by using BP neural network, 3 layers of neurons are selected and divided into an input layer, a hidden layer and an output layer, the input layer and the hidden layer use a Sigmoid function as an activation function to preprocess input data and convert borderless input into a predictable form, and finally the hidden layer and the output layer are used for predicting the autorotation angular speed of the gyrostabiliser to trend towards a true value more and more under the approximation of an MSE loss function; The method comprises the following steps of preprocessing input data, converting borderless input into a predictable form, and adopting the following formula: x represents the variable of the input layer, and the data is converted into between 0 and 1 through the formula; the MSE loss function is as follows: Wherein n represents the number of samples, Representing the true value of the variable, Representing the predicted value of the variable, i.e., the output value of the grid.
3. The control algorithm of the active intelligent multidirectional gyro stabilizer according to claim 1, wherein the chute fixing device is a mounting plate formed by splicing two rectangular plates, the mounting plate is used for fixing the gyro stabilizing body on a bridge, a stretchable telescopic rod is arranged on the mounting plate, a mounting hole is formed in the telescopic rod and is fixedly connected with the bridge, and the length of the telescopic rod is adjusted to adapt to different bridge widths.
4. The control algorithm of the active intelligent multidirectional gyro stabilizer of claim 1, wherein the number of the upright posts is four, and the bottom ends of the upright posts are fixedly connected with the mounting plate.
5. The control algorithm of the active intelligent multi-directional gyroscopic stabilizer of claim 1 in which the spherical frame is comprised of a plurality of warp plates and an equatorial plate fixedly connected to the circular ring of the support by pins.

Description

Control algorithm of active intelligent gyro stabilizer Technical Field The invention relates to the technical field of civil engineering bridge engineering, in particular to a control algorithm of an active intelligent multidirectional gyro stabilizer for improving the flutter stability of a large-span bridge. Background Flutter is a divergent aerodynamic instability phenomenon that manifests itself in coupled torsional and flexural vibrations, with the principal modal component being primarily torsional and potentially causing collapse of the bridge. Therefore, the flutter stability is used as one of key indexes of the wind resistance of the large-span bridge, and plays an important role in the design and construction of the bridge. Because the bridge span distance is continuously improved, the large-span bridge is often accompanied with the characteristics of large flexibility, low damping and the like, and is easily influenced by dynamic environmental loads such as traffic, wind and the like, so that the flutter stability of the large-span bridge is relatively limited. At present, in order to improve the vibration stability of the bridge section, two common means are 1) changing the pneumatic appearance, such as adding a central stabilizing plate, a horizontal guide plate and other pneumatic measures, by changing the aerodynamic characteristics of the section, and improving the vibration stability within a certain range, and 2) installing a damper device, and dissipating the energy acquired from the outside by driving an additional mass block, namely a TMD system, so as to achieve the purpose of improving the vibration stability. In recent years, with the rapid development of bridge spans, large bridge spans have broken through 2000 meters. With the increase of the span, the width-to-span ratio of the bridge is reduced, the twisting frequency ratio is rapidly reduced, the economical efficiency of improving the flutter stability of the bridge by pneumatic measures is reduced, the engineering quantity is increased, the flutter stability is improved by pneumatic means, obvious marginal effect appears, and the effect and performance benefit are continuously reduced. Compared with the TMD system of the damper for the bridge, although the stability of the bridge flutter can be continuously improved to a certain extent, the control robustness is poor, and the flutter inhibition effect is sensitive to the influence of the frequency of the TMD. Meanwhile, in a small-amplitude vibration range, the response speed is limited due to the small stroke of the mass block. For example, patent CN111172860a discloses a bridge flutter suppression device and a method of using the same, which may be limited for improving the flutter stability of a large span bridge having a complex section form. Patent CN112031194a discloses a TMD device with an eddy current damper and a method for using the same, the method has a better effect on vertical vibration control, and performance improvement may be limited for the vibration stability of a large-span bridge mainly including a bending mode. The traditional method for improving the vibration stability of the bridge is commonly adopted, the purpose of improving the vibration stability is achieved by virtue of pneumatic measures and a TMD vibration control device, but the method for improving the vibration stability of the bridge aims at the defects of poor marginal effect and control robustness, low damping efficiency and the like of the large-span bridge. Therefore, for a large span bridge, there is a need for a vibration control device that has a high energy efficiency ratio, a high response speed, and good economy. Disclosure of Invention Aiming at the problems that the existing bridge flutter inhibition method is not suitable for a large-span bridge and has poor flutter inhibition effect on the large-span bridge, the invention provides the active intelligent multidirectional gyro stabilizer for improving the flutter stability of the large-span bridge. As the bridge system is increased along with the span, the flexibility of the bridge system is gradually increased, the damping is continuously reduced, and the flutter stability of the structural system is also continuously reduced along with the span. Therefore, in combination with a bridge flutter mechanism, the invention utilizes the gyro moment generated in the precession process of the gyro stabilizer to resist the pneumatic external moment born by the section of the main beam, combines the flutter derivative measured by a wind tunnel test and the attitude angle sensor installed by the real bridge equipment, actively controls the rotation angular speed, the precession direction and the precession angular speed of the gyro stabilizer through an embedded algorithm in real time, and realizes the purpose of improving the flutter stability of the bridge. The invention relates to an active intelligent multidirectional gyro stabilizer