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Article(id=1245373263522677037, tenantId=1146029695717560320, journalId=1241701559352995854, issueId=1245373256329441426, articleNumber=null, orderNo=null, doi=10.13197/j.eeed.2024.0121, pmid=null, cstr=null, oa=null, hot=null, price=null, onlineType=0, articleFormat=0, articleType=null, articleTypeStr=null, receivedDate=1666540800000, receivedDateStr=2022-10-24, revisedDate=1678896000000, revisedDateStr=2023-03-16, acceptedDate=null, acceptedDateStr=null, onlineDate=1774849723939, onlineDateStr=2026-03-30, pubDate=null, pubDateStr=null, doiRegisterDate=null, doiRegisterDateStr=null, onlineIssueDate=1774849723939, onlineIssueDateStr=2026-03-30, onlineJustAcceptDate=null, onlineJustAcceptDateStr=null, onlineFirstDate=null, onlineFirstDateStr=null, sourceXml=null, magXml=null, createTime=1774849723939, creator=13701087609, updateTime=1774849723939, updator=13701087609, issue=Issue{id=1245373256329441426, tenantId=1146029695717560320, journalId=1241701559352995854, year='2024', volume='44', issue='1', pageStart='1', pageEnd='236', issueExtLink='null', onlineDate='null', pubDate='null', beforeIssueId=null, nextIssueId=null, price=null, status=1, issueComplete=1, articleOrder=1, issueType=-1, specialIssue=null, createTime=1774849722225, creator=13701087609, updateTime=1774851286407, updator=13701087609, preIssue=null, nextIssue=null, ext={EN=IssueExt(id=1245379817042981204, tenantId=1146029695717560320, journalId=1241701559352995854, issueId=1245373256329441426, language=EN, specialIssueTitle=, coverIllustrator=null, specialIssueEditor=, specialIssueAbout=), CN=IssueExt(id=1245379817042981205, tenantId=1146029695717560320, journalId=1241701559352995854, issueId=1245373256329441426, language=CN, specialIssueTitle=, coverIllustrator=null, specialIssueEditor=, specialIssueAbout=)}, issueFiles=null}, startPage=214, endPage=224, ext={EN=ArticleExt(id=1245373263854027075, articleId=1245373263522677037, tenantId=1146029695717560320, journalId=1241701559352995854, language=EN, title=Optimal design of an inerter dynamic vibration absorber for control of a lifting platform considering SSI effect, columnId=null, journalTitle=Earthquake Engineering and Engineering Dynamics, columnName=null, runingTitle=null, highlight=null, articleAbstract=

When the lifting platform works at heights in the outside field, river beach and other environments, the dynamic interaction between the soft soil and outriggers of lifting platform will change the dynamic characteristics of the lifting platform system. In this paper, three dynamic models of lifting platform, which are incorporated with three different inerter dynamic vibration absorber (I-DVA) systems defined as SIS, SPIS-1 and SPIS-2, are presented with the consideration of soil-structure interaction. The expression of the amplification factor and the displacement mean square value of the operating platform is derived under harmonic and random force excitation, respectively. The optimal stiffness ratios and damping ratios of the I-DVAs are obtained based on H∞ and H2 optimization criteria by genetic algorithm in terms of three different soil foundations. The vibration reduction performance of three I-DVA systems is evaluated under the conditions of their optimal design parameters. The numerical studies show that: SPIS-2 performs the most effective vibration reduction, which not only suppress the resonance amplitude of the lifting platform, but also widen the frequency bandwidth. The soil-structure interaction can reduce the amplification factor under harmonic excitation and the mean square value under random excitation of the operating platform. The soil-structure interaction influences the optimal design parameters of the inerter systems insignificantly under harmonic and random excitation. Therefore, some empirical formulations of the optimal parameters for I-DVAs are fitted in order to provide reference for the vibration reduction design of lifting platform.

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升降作业平台在野外工地、河滩等环境中高空作业时，其支腿底盘的明置基础与软土地基会发生动力相互作用，从而改变作业平台系统的动力特性。提出了考虑土与结构相互作用效应下的含3种不同惯容减振系统（SIS，SPIS-1，SPIS-2）的升降作业平台动力学模型，推导了作业平台在简谐激励下的振幅放大因子以及在随机激励下的响应均方值的解析表达式。利用遗传算法分别求解了位于中硬土、中软土以及软弱土3种地基表面的作业平台在H∞和H2优化准则下，惯容减振系统的最优设计刚度比和阻尼比。对最优状态下的各减振系统进行减振效果分析，结果表明：SPIS-2减振系统效果最佳，不仅最大程度地抑制了升降作业平台的共振效应，而且更有效地拓宽频带范围；SSI效应可以降低简谐激励下作业平台的位移振幅放大因子和随机激励下作业平台绝对位移的均方值；SSI效应对简谐激励和随机激励下惯容减振系统的最优设计参数影响很小，因此针对3种惯容减振系统位于不同地基表面下的最优设计参数拟合出经验公式，为升降作业平台的研发和减振设计奠定了理论基础。

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王珏（1988—），女，副教授，博士，主要从事土与结构动力相互作用和结构减振方面的研究。E-mail：

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2.河海大学 岩土力学与堤坝工程教育部重点实验室，江苏 南京 210098, bio={"content":"

王珏（1988—），女，副教授，博士，主要从事土与结构动力相互作用和结构减振方面的研究。E-mail：

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王珏（1988—），女，副教授，博士，主要从事土与结构动力相互作用和结构减振方面的研究。E-mail：

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Beijing: China Architecture & Building Press, 2010. 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effect, figureFileSmall=ynM7xZ4qGCpqcpnbY/g4nA==, figureFileBig=8XbGaQe9L+XPgON4fsjq+A==, tableContent=null), ArticleFig(id=1245373275308671943, tenantId=1146029695717560320, journalId=1241701559352995854, articleId=1245373263522677037, language=CN, label=图1, caption=升降作业平台及其3种考虑SSI效应的惯容减振力学模型, figureFileSmall=ynM7xZ4qGCpqcpnbY/g4nA==, figureFileBig=8XbGaQe9L+XPgON4fsjq+A==, tableContent=null), ArticleFig(id=1245373275551941583, tenantId=1146029695717560320, journalId=1241701559352995854, articleId=1245373263522677037, language=EN, label=Fig. 2, caption=Flowchart of genetic algorithm, figureFileSmall=nZ0dW6wEu0uBRq43s/U05A==, figureFileBig=vvzB+UShHdQFbp7A0IPheg==, tableContent=null), ArticleFig(id=1245373275690353620, tenantId=1146029695717560320, journalId=1241701559352995854, articleId=1245373263522677037, language=CN, label=图2, caption=遗传算法的流程图, figureFileSmall=nZ0dW6wEu0uBRq43s/U05A==, figureFileBig=vvzB+UShHdQFbp7A0IPheg==, tableContent=null), ArticleFig(id=1245373275799405531, tenantId=1146029695717560320, journalId=1241701559352995854, articleId=1245373263522677037, language=EN, label=Fig. 3, caption=Comparison of empirical formula and analytical solution for I-DVA models under harmonic excitation considering SSI effect, figureFileSmall=nvim+9wSD7lfzHdqocZ89w==, figureFileBig=06z7fDsZEsouk1/ej5SfYQ==, tableContent=null), ArticleFig(id=1245373275912651743, tenantId=1146029695717560320, journalId=1241701559352995854, articleId=1245373263522677037, language=CN, label=图3, caption=简谐激励下考虑SSI效应的I-DVA模型参数设计经验公式与数值解的对比, figureFileSmall=nvim+9wSD7lfzHdqocZ89w==, figureFileBig=06z7fDsZEsouk1/ej5SfYQ==, tableContent=null), ArticleFig(id=1245373276021703651, tenantId=1146029695717560320, journalId=1241701559352995854, articleId=1245373263522677037, language=EN, label=Fig. 4, caption=Variation of the displacement mean square value of primary system of the SPIS-2 with stiffness ratio and damping ratio（δ = 0.2）, figureFileSmall=DgHRN4UKFd6d8cX9iDpdgQ==, figureFileBig=Q4x9oaJPsAmnhgSf+EopKw==, tableContent=null), ArticleFig(id=1245373276139144168, tenantId=1146029695717560320, journalId=1241701559352995854, articleId=1245373263522677037, language=CN, label=图4, caption=SPIS-2系统主结构位移均方值随刚度比和阻尼比的变化图（δ ＝ 0.2）, figureFileSmall=DgHRN4UKFd6d8cX9iDpdgQ==, figureFileBig=Q4x9oaJPsAmnhgSf+EopKw==, tableContent=null), ArticleFig(id=1245373276239807469, tenantId=1146029695717560320, journalId=1241701559352995854, articleId=1245373263522677037, language=EN, label=Fig. 5, caption=Comparison of empirical formula and analytical solution for I-DVA models under random excitation considering SSI effect, figureFileSmall=dSifVG7rNJBK6U9Byr2qUg==, figureFileBig=XRcxUzmGZd8rOnq0ZKHHqg==, tableContent=null), ArticleFig(id=1245373276369830898, tenantId=1146029695717560320, journalId=1241701559352995854, articleId=1245373263522677037, language=CN, label=图5, caption=随机激励下考虑SSI效应的I-DVA模型参数设计经验公式与数值解的对比, figureFileSmall=dSifVG7rNJBK6U9Byr2qUg==, 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figureFileBig=+jT14a7DlI/t9LCYVHdrXw==, tableContent=null), ArticleFig(id=1245373276835397634, tenantId=1146029695717560320, journalId=1241701559352995854, articleId=1245373263522677037, language=CN, label=图7, caption=SSI效应对作业平台的幅频特性影响, figureFileSmall=N69iRiknSvFfBncINkSixA==, figureFileBig=+jT14a7DlI/t9LCYVHdrXw==, tableContent=null), ArticleFig(id=1245373276927672328, tenantId=1146029695717560320, journalId=1241701559352995854, articleId=1245373263522677037, language=EN, label=Table 1, caption=

Basic parameters and impedance of three foundation soils

, figureFileSmall=null, figureFileBig=null, tableContent=
地基土剪切波速Vs/（m/s）土体密度ρ/（kg/m3）泊松比ν刚度系数kf/（N/m）阻尼系数cf/（N•s/m）
中硬土50024000.151.95×1092.61×109
中软土25018000.304.44×1084.88×108
软弱土15014000.421.50×1081.37×108
), ArticleFig(id=1245373277045112844, tenantId=1146029695717560320, journalId=1241701559352995854, articleId=1245373263522677037, language=CN, label=表1, caption=

3种地基土的基本参数及振动阻抗系数

, figureFileSmall=null, figureFileBig=null, tableContent=
地基土剪切波速Vs/（m/s）土体密度ρ/（kg/m3）泊松比ν刚度系数kf/（N/m）阻尼系数cf/（N•s/m）
中硬土50024000.151.95×1092.61×109
中软土25018000.304.44×1084.88×108
软弱土15014000.421.50×1081.37×108
), ArticleFig(id=1245373277154164753, tenantId=1146029695717560320, journalId=1241701559352995854, articleId=1245373263522677037, language=EN, label=Table 2, caption=

Fitting formula of the vibration reduction models considering SSI effect under harmonic excitation

, figureFileSmall=null, figureFileBig=null, tableContent=
模型优化参数惯质比中硬土中软土软弱土拟合公式
SIS阻尼比ξ20.050.0900.0900.090ξ2 = -3.037δ4+4.631δ3-2.803δ2+1.056δ+0.0439
0.250.1930.1930.194
0.500.2600.2600.262
刚度比β0.050.0980.0980.097β = -0.3449δ4+0.644δ3-1.047δ2+2.004δ-0.00013
0.250.4440.4440.443
0.500.8000.7990.796
SPIS-1阻尼比ξ20.050.0060.0060.006ξ2 = 0.8171δ4-1.237δ3+0.636δ2+0.1376δ-0.00194
0.250.0560.0560.056
0.500.1220.1220.123
刚度比β0.050.0910.0910.091β = -1.887δ4+3.823δ3-3.606δ2+1.965δ+0.000974
0.250.3200.3190.319
0.500.4430.4420.441
SPIS-2阻尼比ξ20.050.0070.0070.007ξ2 = -6.769δ4+6.71δ3-0.8168δ2+0.3036δ-0.006549
0.250.1040.1040.103
0.500.3530.3570.349
刚度比β0.050.1050.1050.105β = -29.47δ4+32.16δ3-6.739δ2+2.929δ-0.02912
0.250.6880.6870.683
0.501.9191.9301.951
), ArticleFig(id=1245373277300965397, tenantId=1146029695717560320, journalId=1241701559352995854, articleId=1245373263522677037, language=CN, label=表2, caption=

简谐激励下考虑SSI效应的各减振模型的拟合公式

, figureFileSmall=null, figureFileBig=null, tableContent=
模型优化参数惯质比中硬土中软土软弱土拟合公式
SIS阻尼比ξ20.050.0900.0900.090ξ2 = -3.037δ4+4.631δ3-2.803δ2+1.056δ+0.0439
0.250.1930.1930.194
0.500.2600.2600.262
刚度比β0.050.0980.0980.097β = -0.3449δ4+0.644δ3-1.047δ2+2.004δ-0.00013
0.250.4440.4440.443
0.500.8000.7990.796
SPIS-1阻尼比ξ20.050.0060.0060.006ξ2 = 0.8171δ4-1.237δ3+0.636δ2+0.1376δ-0.00194
0.250.0560.0560.056
0.500.1220.1220.123
刚度比β0.050.0910.0910.091β = -1.887δ4+3.823δ3-3.606δ2+1.965δ+0.000974
0.250.3200.3190.319
0.500.4430.4420.441
SPIS-2阻尼比ξ20.050.0070.0070.007ξ2 = -6.769δ4+6.71δ3-0.8168δ2+0.3036δ-0.006549
0.250.1040.1040.103
0.500.3530.3570.349
刚度比β0.050.1050.1050.105β = -29.47δ4+32.16δ3-6.739δ2+2.929δ-0.02912
0.250.6880.6870.683
0.501.9191.9301.951
), ArticleFig(id=1245373277418405912, tenantId=1146029695717560320, journalId=1241701559352995854, articleId=1245373263522677037, language=EN, label=Table 3, caption=

Fitting formula of the models considering SSI effect under random excitation

, figureFileSmall=null, figureFileBig=null, tableContent=
模型优化参数惯质比中硬土中软土软弱土拟合公式
SIS阻尼比ξ20.050.1120.1120.112ξ2 = -3.759δ4+5.467δ3-3.194δ2+1.298δ+0.0545
0.250.2500.2500.250
0.500.3540.3540.354
刚度比β0.050.1000.1000.100β = -0.0096δ4+0.013δ3-0.011δ2+1.999δ+0.000012
0.250.4990.4990.499
0.500.9980.9980.996
SPIS-1阻尼比ξ20.050.0050.0050.006ξ2 = 0.5874δ4-0.9265δ3+0.547δ2+0.1149δ-0.001644
0.250.0490.0490.050
0.500.1130.1130.115
刚度比β0.050.0930.0930.093β = -1.252δ4+2.641δ3-2.743δ2+1.976δ+0.000685
0.250.3600.3600.358
0.500.5550.5550.552
SPIS-2阻尼比ξ20.050.2260.2260.227ξ2 = -2.667δ4+3.588δ3-0.5791δ2-0.4161δ+0.2478
0.250.1530.1530.154
0.500.1770.1770.176
刚度比β0.051.0001.0001.000—
0.251.0001.0001.000
0.501.0001.0001.000
), ArticleFig(id=1245373277523263518, tenantId=1146029695717560320, journalId=1241701559352995854, articleId=1245373263522677037, language=CN, label=表3, caption=

随机激励下考虑SSI效应的各模型的拟合公式

, figureFileSmall=null, figureFileBig=null, tableContent=
模型优化参数惯质比中硬土中软土软弱土拟合公式
SIS阻尼比ξ20.050.1120.1120.112ξ2 = -3.759δ4+5.467δ3-3.194δ2+1.298δ+0.0545
0.250.2500.2500.250
0.500.3540.3540.354
刚度比β0.050.1000.1000.100β = -0.0096δ4+0.013δ3-0.011δ2+1.999δ+0.000012
0.250.4990.4990.499
0.500.9980.9980.996
SPIS-1阻尼比ξ20.050.0050.0050.006ξ2 = 0.5874δ4-0.9265δ3+0.547δ2+0.1149δ-0.001644
0.250.0490.0490.050
0.500.1130.1130.115
刚度比β0.050.0930.0930.093β = -1.252δ4+2.641δ3-2.743δ2+1.976δ+0.000685
0.250.3600.3600.358
0.500.5550.5550.552
SPIS-2阻尼比ξ20.050.2260.2260.227ξ2 = -2.667δ4+3.588δ3-0.5791δ2-0.4161δ+0.2478
0.250.1530.1530.154
0.500.1770.1770.176
刚度比β0.051.0001.0001.000—
0.251.0001.0001.000
0.501.0001.0001.000
), ArticleFig(id=1245373277657481251, tenantId=1146029695717560320, journalId=1241701559352995854, articleId=1245373263522677037, language=EN, label=Table 4, caption=

Comparison results between the present I-DVA model and traditional TMD model

, figureFileSmall=null, figureFileBig=null, tableContent=
系统不考虑SSI效应考虑SSI效应（中硬土）考虑SSI效应（中软土）考虑SSI效应（软弱土）
位移均方值系数衰减率/%位移均方值系数衰减率/%位移均方值系数衰减率/%位移均方值系数衰减率/%
TMD13.7538—13.7477—13.7215—13.6422—
SIS14.0496-2.1514.0481-2.1914.0255-2.2213.9530-2.28
SPIS-113.75380.0013.73790.0713.66950.3813.45991.34
SPIS-28.335639.398.334339.388.328639.308.312439.07
), ArticleFig(id=1245373277808476201, tenantId=1146029695717560320, journalId=1241701559352995854, articleId=1245373263522677037, language=CN, label=表4, caption=

本文I-DVA模型与传统TMD模型的比较结果

, figureFileSmall=null, figureFileBig=null, tableContent=
系统不考虑SSI效应考虑SSI效应（中硬土）考虑SSI效应（中软土）考虑SSI效应（软弱土）
位移均方值系数衰减率/%位移均方值系数衰减率/%位移均方值系数衰减率/%位移均方值系数衰减率/%
TMD13.7538—13.7477—13.7215—13.6422—
SIS14.0496-2.1514.0481-2.1914.0255-2.2213.9530-2.28
SPIS-113.75380.0013.73790.0713.66950.3813.45991.34
SPIS-28.335639.398.334339.388.328639.308.312439.07
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考虑SSI效应的升降作业平台惯容减振优化设计
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王珏 1, 2 , 张莹 1 , 黄愫 3 , 叶会然 1 , 单柯 1
地震工程与工程振动 | 2024,44(1): 214-224
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地震工程与工程振动 | 2024, 44(1): 214-224
考虑SSI效应的升降作业平台惯容减振优化设计
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王珏1, 2 , 张莹1, 黄愫3, 叶会然1, 单柯1
作者信息
  • 1.河海大学 机电工程学院，江苏 常州 213022
  • 2.河海大学 岩土力学与堤坝工程教育部重点实验室，江苏 南京 210098
  • 3.上汽大众汽车有限公司，上海 310000

    • 王珏（1988—），女，副教授，博士，主要从事土与结构动力相互作用和结构减振方面的研究。E-mail：

Optimal design of an inerter dynamic vibration absorber for control of a lifting platform considering SSI effect
Jue WANG1, 2 , Ying ZHANG1, Su HUANG3, Huiran YE1, Ke SHAN1
Affiliations
  • 1.College of Mechanical and Electrical Engineering, Hohai University, Changzhou 213022, China
  • 2.Key Laboratory of Ministry of Education for Geomechanics and Embankment Engineering, Hohai University, Nanjing 210098, China
  • 3.Saic Volkswagen Automotive Co., Ltd., Shanghai 310000, China
doi: 10.13197/j.eeed.2024.0121
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摘要
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升降作业平台在野外工地、河滩等环境中高空作业时，其支腿底盘的明置基础与软土地基会发生动力相互作用，从而改变作业平台系统的动力特性。提出了考虑土与结构相互作用效应下的含3种不同惯容减振系统（SIS，SPIS-1，SPIS-2）的升降作业平台动力学模型，推导了作业平台在简谐激励下的振幅放大因子以及在随机激励下的响应均方值的解析表达式。利用遗传算法分别求解了位于中硬土、中软土以及软弱土3种地基表面的作业平台在H∞和H2优化准则下，惯容减振系统的最优设计刚度比和阻尼比。对最优状态下的各减振系统进行减振效果分析，结果表明：SPIS-2减振系统效果最佳，不仅最大程度地抑制了升降作业平台的共振效应，而且更有效地拓宽频带范围；SSI效应可以降低简谐激励下作业平台的位移振幅放大因子和随机激励下作业平台绝对位移的均方值；SSI效应对简谐激励和随机激励下惯容减振系统的最优设计参数影响很小，因此针对3种惯容减振系统位于不同地基表面下的最优设计参数拟合出经验公式，为升降作业平台的研发和减振设计奠定了理论基础。

升降作业平台  /  SSI效应  /  惯容减振  /  参数优化  /  经验公式

When the lifting platform works at heights in the outside field, river beach and other environments, the dynamic interaction between the soft soil and outriggers of lifting platform will change the dynamic characteristics of the lifting platform system. In this paper, three dynamic models of lifting platform, which are incorporated with three different inerter dynamic vibration absorber (I-DVA) systems defined as SIS, SPIS-1 and SPIS-2, are presented with the consideration of soil-structure interaction. The expression of the amplification factor and the displacement mean square value of the operating platform is derived under harmonic and random force excitation, respectively. The optimal stiffness ratios and damping ratios of the I-DVAs are obtained based on H∞ and H2 optimization criteria by genetic algorithm in terms of three different soil foundations. The vibration reduction performance of three I-DVA systems is evaluated under the conditions of their optimal design parameters. The numerical studies show that: SPIS-2 performs the most effective vibration reduction, which not only suppress the resonance amplitude of the lifting platform, but also widen the frequency bandwidth. The soil-structure interaction can reduce the amplification factor under harmonic excitation and the mean square value under random excitation of the operating platform. The soil-structure interaction influences the optimal design parameters of the inerter systems insignificantly under harmonic and random excitation. Therefore, some empirical formulations of the optimal parameters for I-DVAs are fitted in order to provide reference for the vibration reduction design of lifting platform.

lifting platform  /  SSI effect  /  inerter dynamic vibration absorber  /  parameter optimization  /  empirical formula
王珏, 张莹, 黄愫, 叶会然, 单柯. 考虑SSI效应的升降作业平台惯容减振优化设计. 地震工程与工程振动, 2024 , 44 (1) : 214 -224 . DOI: 10.13197/j.eeed.2024.0121
Jue WANG, Ying ZHANG, Su HUANG, Huiran YE, Ke SHAN. Optimal design of an inerter dynamic vibration absorber for control of a lifting platform considering SSI effect[J]. Earthquake Engineering and Engineering Dynamics, 2024 , 44 (1) : 214 -224 . DOI: 10.13197/j.eeed.2024.0121
正文
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0　引言
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升降式作业平台作为一种移动性强的多功能升降机械设备，工人作业或机器振动产生的干扰会使作业平台发生振动，从而严重影响作业工人的稳定舒适度及安全性，也会造成操作精度的降低。因此，对作业平台进行减振设计、提高其动力稳定性具有非常重要的意义[1-3]。当升降平台在野外工地、河滩等环境中高空作业时，作业平台支腿底盘的明置基础与软土地基发生动力相互作用，从而改变野外作业平台系统的动力特性，因此，土与结构相互作用（soil-structure interaction，SSI）效应在野外升降作业平台的减振设计中不容忽视[4-8]。
动力吸振器（dynamic vibration absorber，DVA）可以通过消耗外部激励作用在结构上产生的能量，来实现对主结构的被动控制。DEN HARTOG[9]最早提出了弹簧-质量-阻尼（tuned mass damper，TMD）减振系统，并提出了H∞准则下计算最优刚度比和阻尼比的固定点理论，这个理论已得到广泛应用。WARBURTON[10]提出了随机白噪声激励下TMD减振结构基于H2优化的设计参数解析解。TMD虽然获得了不错的减振效果，但是为达到较好的减振效果，一般需要较大的附加质量，再加上质量块的单端点特性，使得其在结构中的安装受到限制[11]。与传统的质量块不同，2002年被提出用于F1赛车减振的惯容器[12]是一种双端点机械元件，它将对质量块的直线运动转化为惯容器中飞轮的旋转运动，从而用很小的质量实现了千倍级参振质量的动力特性，因而在减振设计中受到了关注。IKAGO等[13]基于定点理论提出了含有惯容减振系统的单自由度结构H∞优化参数优化方法；HU等[14]对3种典型的惯容系统：串联型惯容系统（serial inertial system，SIS）、混联1型惯容系统（SPIS-1）、混联2型惯容系统（SPIS-2）进行了研究，基于固定点理论和极值理论分别推导了单自由度主结构在H∞和H2优化准则下的最优刚度比和阻尼比的解析解。李壮壮等[15]、隋鹏等[16]又基于固定点理论提出了多种不同类型惯容减振系统用于单自由度的主结构在基于H∞优化下的最优刚度比和阻尼比。由此可见，惯容减振系统为工程减振提供了更大的发展空间[17-19]。
上述研究的惯容减振主结构均被简化为不含阻尼的质量-弹簧模型，但当主结构含有不可忽略的阻尼时，不同阻尼比条件下频响函数的固定点不再存在，此时难以得到减振系统的参数优化解析解[20]。潘超等[21]、ZHANG等[22]建立了含阻尼的单自由度以及多自由度的惯容减振模型，采用了数值优化法提出了随机地震下减震系统基于H2优化的设计参数，为解决复杂惯容减振系统的参数优化提供了新思路；CHEN等[23]、ZHAO等[24]建立了考虑SSI效应的含阻尼主系统惯容减振模型，求解了地震激励下主结构在H2优化准则下的设计参数数值解，进而论证了SSI效应的重要性。上述文献主要是针对来自底部地震激励下的结构减振，因此并不需要考虑简谐激励下的H∞优化。此外，底部加速度激励与由机械荷载产生的直接作用在主系统上的动力激振减振问题并不完全等价[1]，有必要进一步研究分析。
本文提出了考虑SSI效应下含有3种不同惯容减振系统（SIS，SPIS-1，SPIS-2）的升降作业平台动力学模型，推导了作业平台在简谐激励下的振幅放大因子以及在随机激励下的响应均方值的表达式。利用遗传算法（genetic algorithm，GA）求解了含惯容减振系统的作业平台针对简谐激励的H∞和随机激励的H2优化准则下的最优刚度比和阻尼比，评价了SSI效应对减振效果的影响。给出了适用于野外升降作业平台的惯容减振系统最优参数解的经验公式，为升降作业平台的减振研发与应用提供了理论参考。
1　模型建立及分析
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升降作业平台设备如图1（a）所示，将升降作业平台及其下部基座部分等效为两自由度系统，下部基座与上部平台简化为集中质量m1和m2；两侧升降剪叉机构简化为弹簧k。升降平台的支腿底盘与地基间的动力相互作用可采用振动阻抗来描述两者交界面的力和位移间的关系，即刚度系数kf和阻尼系数cf。上部平台受到频率为ω，幅值为F的竖向简谐激振Fsin（ωt）的作用，其中t为时间。为实现作业平台的减振，上部平台和下部基座之间分别连接含有惯容mi、弹簧kd和阻尼cd的3种不同组合形式的减振系统：串联型惯容系统，如图1（b）所示；混联1型惯容系统，如图1（c）所示；混联2型惯容系统，如图1（d）所示。各节点自由度用位移xn（n = 0，1，2，3）表示。其中，x1为基座的位移，x2为升降平台的位移，x0和x3为惯容减振系统中各节点的位移。
根据达朗贝尔原理，分别列出考虑SSI效应的3种含有不同惯容减振系统的升降作业平台运动控制方程为
SIS系统：
SPIS-1系统：
SPIS-2系统：
式中，基于锥体模型可以得到均质弹性半空间地基表面上明置条形刚体的振动阻抗为[7]：，。其中：ρ为地基土密度；υ为地基土泊松比；Vs为地基土剪切波速；A0为升降平台单侧支腿底盘与地基土的接触面积。
引入如下参数：质量比μ = m2/m1；主结构固有频率；减振结构阻尼比ξ2 = cd/（2m2ω2）；刚度比β = kd/k；惯质比δ = mi/m2；激振频率比λ = ω/ω2；固有频率比ν = ω1/ω2；主系统等效静变形Xst = F（k + kf）/2kkf。考虑SSI效应的阻抗系数进行相关定义，ξ1 = cf/（m1ω1）。将上述参数代入式（1）的运动学方程中，进行拉普拉斯变换后，得到各模型主系统的位移的传递函数形式为
式中：为复数单位；X2-i为第i个模型中升降平台的位移幅值，下标i = 1，2，3，用于标记串联型惯容系统、混联1型惯容系统和混联2型惯容系统的对应参数；F为各模型外部激振力的位移幅值。
1.1　简谐激励下的平台位移H∞范数
在简谐激振力作用下，定义升降作业平台位移幅值随频率变化的振幅放大因子Gi（λ），根据式（2）可进一步整理得到3种减振模型的振幅放大因子为
式（3）中的相关系数如下：
1.2　随机激励下的平台位移H2范数
在实际工程中，机器振动、工人作业产生的振动多为随机激励。因此本文进一步研究了随机激励下，3种含惯容减振系统的作业平台位移响应的均方值。假设输入的随机激励为高斯白噪声，其功率谱密度为Sf（ω） = S0，则升降平台的功率谱密度函数为
进而得到升降平台位移响应的均方值的表达式为
令升降平台位移均方值无量纲化后的结果为Ii，则
根据柯西留数定理，得到关于传递函数无穷积分的一般精确解形式为
式中，系数ai，m（m = 0，1，…，6），bi，n（n = 0，1，…，5）可由式（2）中的多项式系数Dm-i和Nn-i计算可得
1.3　惯容减振系统的参数优化
为分析SSI效应对升降作业平台振动的影响，并确定惯容减振系统的最佳减振效果，应对图1中3种减振系统中的刚度比β、阻尼比ξ2进行参数优化。在考虑SSI效应的惯容减振系统中，由于主系统存在阻尼效应，难以推导得到简谐激励下基于H∞优化准则与随机激励下基于H2优化准则的最优参数解析解。因此本文采用数值优化方法，优化目标函数和约束条件为
目标函数：
约束条件：
则上述问题即可转化为一个单目标多参数的优化问题，本文选用遗传算法（GA）对该优化问题进行数值求解，其思路如图2所示。遗传算法是一种通过模拟自然进化过程来寻找最优解的随机搜索算法，其全局搜索能力强。该算法中的初始种群规模和终止迭代次数对计算精度有较大的影响，当种群太小或迭代次数过短时不能提供足够的采样点，造成早熟收敛，影响全局搜索效果；而种群太大或迭代次数过长则会导致收敛速度缓慢、浪费资源、降低算法稳健性。本文是仅含有2个优化参数的单目标优化问题，且目标函数随设计参数的变化曲面平缓、峰值少、容易收敛。因此算例中设置初始种群数为50，最大迭代次数为200，当目标函数的误差小于1×10-6时，输出最优解。同时，为避免遗传算法在设计参数的参数规定范围内陷入局部最优解，也设置多个200以内的初始种群测试结果精度，通过循环计算确保了惯容减振系统最优参数的数值解是全局最优解。
2　算例分析
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为了研究不同地基条件下，惯容减振系统对升降作业平台的减振效果，以下算例根据GB 50011—2010《建筑抗震设计规范》[25]，取中硬土、中软土以及软弱土3种地基条件下的土体基本参数，如表1所示。升降作业平台的计算参数取值为：m1 = 8000 kg，m2 = 3000 kg，A0 = 1.5 m2，k = 0.8×108 N/m。数值优化中，根据实际工程中常关注的参数范围取值为[0，1]。
2.1　考虑SSI效应的减振系统参数设计
简谐激励下基于H∞范数的优化目标是使升降作业平台的最大振幅放大因子最小，采用GA数值优化算法，取惯质比为0.05、0.25、0.5时，分别对3种惯容减振系统在中硬土、中软土和软弱土3种不同土体条件下的设计参数进行数值优化，如表2所示。由表可知，位于3种地基表面的各惯容减振系统在不同惯质比下的最优刚度比和阻尼比存在较小差异，说明SSI效应对惯容减振系统的最优设计参数影响较小。因此，可将简谐激励下的惯容减振系统最优设计参数通过最小二乘法拟合成一个多项式经验公式。经验公式与基于遗传算法的数值解的对比如图3所示，可见两者具有较高的一致性，其经验公式可为升降作业平台减振优化设计的工程实际提供参考。
随机激励下基于H2范数的优化目标是使升降作业平台的位移均方值最小。对考虑SSI效应的各惯容减振模型在不同惯质比下的最优设计参数进行数值优化，如表3所示。由表可知，考虑SSI效应的各惯容减振系统的最优设计参数值存在差异，但是非常小。因此，随机激励下置于不同土体条件的各减振模型的最优设计参数同样可以通过最小二乘法近似拟合成同一多项式用于实际工程。对SPIS-2系统，其主结构位移均方值随刚度比β和阻尼比ξ2变化的三维曲面和等高线图如图4所示。由图可知，位移均方值在刚度比取值区间内呈单调递减趋势，刚度比取1时位移均方值取得最小。如需刚度比不趋向于区间上限，则可以加入成本控制、性能需求、耗能增效等其他约束条件进一步优化。将拟合得到的经验公式和考虑SSI效应的各减振模型的数值解进行对比，如图5所示。由图可知，本文拟合的经验公式与考虑SSI效应的数值解几乎完全重合，对实际工程具有一定的指导意义。
2.2　简谐激励下升降平台的减振效果对比
简谐激励下，为评价本文选取的3种惯容减振结构的减振效果，选择中软土情况下的3种惯容减振系统与传统的动力吸振器（TMD）进行对比，得到3种减振模型在最优设计参数下，其振幅放大因子曲线如图6所示。由图6可知：对于同一减振模型，其振幅放大因子随着惯质比的增大而降低，减振效果随之增强；对于不同减振模型，通过将图6（a）和（b）中的曲线与图6（b）中的红点线对比可知，SIS系统和SPIS-1系统与TMD系统对主结构振幅的减振程度相当，但是SIS和SPIS-1可以使用很小的质量实现TMD所需的同等参振质量；而图6（c）中的曲线明显低于图6（b）中的红点线，说明SPIS-2系统相较于TMD系统能有效地降低主结构振幅，实现更好的减振性能。同一惯质比下，SPIS-2系统的振幅放大因子与SPIS-1和SIS系统相比更低，减振效果更明显。
为分析SSI效应对作业平台幅频特性的影响，取惯质比δ = 0.2，得到不考虑SSI效应和考虑SSI效应（中硬土、中软土、软弱土）的3种惯容减振系统处于最优状态下的幅频特性曲线如图7所示。由图可知：SSI效应不会对幅频特性的变化趋势造成改变，依然可以使作业平台的幅频特性维持双峰等高的特征。但是，SSI效应会明显地降低幅频曲线的共振峰值，且软弱土条件下降低程度最明显，这是由于地基在振动过程中也消耗了升降作业平台传递下来的能量。
2.3　随机激励下升降平台的减振效果对比
本算例讨论SSI效应对随机激励下含有不同减振系统的升降作业平台位移均方值的影响。计算中各减振系统的模型参数均为基于H2优化得到的最优设计参数。取惯质比δ = 0.2，将本文3种惯容减振系统与传统动力吸振器（TMD）的作业平台位移均方值系数相比较，如表4所示。横向对比可以看出：对于同一模型，SSI效应会使升降平台位移均方值降低，且土体越软，降低程度越大，因此考虑SSI效应是非常必要的。纵向对比可以看出：对于不同模型，SIS的位移均方值最大，其减振效果不及传统的TMD，而SPIS-2的位移均方值最小，其减振效果显著优于SPIS-1和TMD。因此，在随机激励下，SPIS-2系统可以取得更好的减振效果。
由升降作业平台在简谐和随机激励下的减振效果对比可知，相比SPIS-1和SIS系统，SPIS-2能更好地控制升降作业平台的振动。造成这3种减振系统存在明显差异的主要原因是：惯容元件表现出的负刚度特性能够辅助与之共同作用的黏性阻尼器的运动，提高阻尼元件的耗能效率，产生阻尼放大效应。当惯容元件与阻尼器并联用于减振结构时能产生比与阻尼器串联时更大的阻尼放大效应，从而实现更好的减振效果。
3　结论
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本文提出了考虑SSI效应的含3种不同惯容减振系统（SIS、SPIS-1、SPIS-2）的升降作业平台动力学模型，推导了其在简谐激励下的振幅放大因子以及在随机激励下的响应均方值的解析表达式。利用遗传算法分别求解了位于不同地基表面的作业平台在H∞和H2优化准则下惯容减振系统的最优刚度比和最优阻尼比，并拟合成适用于工程的经验公式。当升降作业平台上激振力的作用形式满足简谐特性时建议采用基于H∞范数的优化公式对惯容减振系统进行设计，而当激振力的作用形式表现出随机特性时建议采用基于H2范数的优化参数经验公式。对最优状态下的各减振系统进行减振效果对比分析，得出主要结论如下：
1）SPIS-2减振系统与传统TMD系统、SIS系统以及SPIS-1系统相比，在简谐激振力作用下不仅能更好地抑制升降作业平台的共振峰值，且更大程度地拓宽作业平台的减振频带范围；在随机激励下，SPIS-2也能最大程度地降低作业平台位移响应的均方值。
2）SSI效应对简谐激励和随机激励下作业平台惯容减振系统的最优设计参数有一定的影响，但差异很小。因此，可将这些最优设计参数近似拟合成一个适用于工程减振设计的经验公式。
3）SSI效应会降低作业平台振幅放大因子的共振峰值和位移均方值，且地基土剪切波速越小，这种影响越显著。
基金
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  • 国家自然科学基金项目(52178474)
  • 江苏省自然科学基金项目(BK20221233)
  • 中国博士后基金项目(2018M632216)
  • 常州市科技计划(CJ20210138)
  • 河海大学优秀硕士学位论文培育项目(1091422003521)
文献
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GB 50011—2010 Code for seismic design of buildings[S]. Beijing: China Architecture & Building Press, 2010. (in Chinese)
2024年第44卷第1期
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doi: 10.13197/j.eeed.2024.0121
  • 接收时间：2022-10-24
  • 首发时间：2026-03-30
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  • 收稿日期：2022-10-24
  • 修回日期：2023-03-16
基金
国家自然科学基金项目(52178474)
江苏省自然科学基金项目(BK20221233)
中国博士后基金项目(2018M632216)
常州市科技计划(CJ20210138)
河海大学优秀硕士学位论文培育项目(1091422003521)
作者信息
    1.河海大学 机电工程学院，江苏 常州 213022
    2.河海大学 岩土力学与堤坝工程教育部重点实验室，江苏 南京 210098
    3.上汽大众汽车有限公司，上海 310000
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https://castjournals.cast.org.cn/joweb/dzgcygczd/CN/10.13197/j.eeed.2024.0121
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2种不同金属材料的力学参数
科
Family		 属数
Number of
genus		 种数
Number of
species		 占总种数比例
Percentage of
total species (%)		 属
Genus		 种数
Number of
species		 占总种数比例
Percentage of total
species (%)
鹅膏菌科Amanitaceae 2 11 5.26 鹅膏菌属 Amanita 10 4.78
小菇科 Mycenaceae 2 12 5.74 丝盖伞属 Inocybe 5 2.39
多孔菌科 Polyporaceae 8 14 6.70 蜡蘑属 Laccaria 5 2.39
红菇科 Russulaceae 3 23 11.00 小皮伞属 Marasmius 6 2.87
小菇属 Mycena 11 5.26
光柄菇属 Pluteus 5 2.39
红菇属 Russula 17 8.13
栓菌属 Trametes 5 2.39
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