This study presents a novel digital control algorithm with state estimator technique for semi-active control of structures with magneto-rheological (MR) damper. The proposed control strategy is based on servomechanism (popularly known as command-following or tracking system), where the measured output of a system pursues the command of reference input. This is achieved through a hybrid proportional–integral (PI) controller, different from the conventional output or state-based feedback design, where the control force is proportional to the feedback of internal state (i.e., displacement and velocity) as well as the integral state (i.e., integral of output error signal) of the system. In this approach, optimal observer technique through Kalman filter is modified to estimate the full state and integral state vector of the system for feedback from the measured absolute acceleration output. Optimal gains of the proposed regulator (i.e., both proportional and integrator gains) and estimator are formulated by minimizing a desired performance index in discrete time. In addition, the present study proposes a direct algorithm, where the applied voltage to the MR damper varies continuously between the maximum and minimum range instead of being restricted to only maximum and minimum values. The adequacy of the proposed strategy is studied in terms of reduction in the following: (a) structural responses, (b) optimal control force, (c) sensor noise and process noise covariance of the filter output, and (d) applied voltage (as compared to clipped on–off case). Finally, it has been demonstrated that the proposed control algorithm provides superior performance and stability in comparison to the conventional proportional (state)-based techniques.

中文翻译：

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一种新型的基于伺服机构的比例积分控制器和卡尔曼滤波器估计器，用于使用磁流变阻尼器的结构的地震响应控制

本研究提出了一种具有状态估计器技术的新型数字控制算法，用于对具有磁流变 (MR) 阻尼器的结构进行半主动控制。所提出的控制策略基于伺服机制（通常称为命令跟随或跟踪系统），其中系统的测量输出追求参考输入的命令。这是通过混合比例积分 (PI) 控制器实现的，不同于传统的输出或基于状态的反馈设计，其中控制力与内部状态（即位移和速度）的反馈以及积分成正比系统状态（即输出误差信号的积分）。在这种方法中，通过卡尔曼滤波器的最佳观测器技术被修改为估计系统的完整状态和积分状态向量，以从测量的绝对加速度输出中反馈。建议的调节器（即比例和积分器增益）和估计器的最佳增益是通过在离散时间内最小化所需的性能指标来制定的。此外，本研究提出了一种直接算法，其中施加到 MR 阻尼器的电压在最大和最小范围之间连续变化，而不是仅限于最大值和最小值。所提出的策略的充分性在以下方面的减少方面进行了研究：（a）结构响应，（b）最佳控制力，（c）传感器噪声和滤波器输出的过程噪声协方差，(d) 外加电压（与限幅开关情况相比）。最后，已经证明，与传统的基于比例（状态）的技术相比，所提出的控制算法提供了优越的性能和稳定性。