DoF Control and Inner Force balancing of Hydraulically Redundant Actuated Shaking Table

HE Jingfeng;LI Baoping;TONG Zhizhong;YANG Hongbin;HAN Junwei

Journal of Vibration and Shock ›› 2011, Vol. 30 ›› Issue (3) : 74-78.

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PDF(2511 KB)
Journal of Vibration and Shock ›› 2011, Vol. 30 ›› Issue (3) : 74-78.
论文

DoF Control and Inner Force balancing of Hydraulically Redundant Actuated Shaking Table

  • HE Jingfeng 1; LI Baoping 2; TONG Zhizhong 1; YANG Hongbin 2; HAN Junwei 1
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Abstract

A shaking table is an important facility for earthquake damage testing of large scale structures like high buildings, large bridges and infrastructural systems. To improve the payload capacity for the test for large-scale structures or real-scale structures, hydraulically redundant actuated parallel mechanisms are usually adopted. In the present paper, by exploring the interactions between the mechanical parts and the hydraulic actuated systems, an integrated model of hydraulically redundant actuated shaking table is obtained. Then, a framework of Degree-of-Freedom (DoF) control for the shaking table of this type is put forward. To regulate forces among the redundant actuated systems and to reduce force couplings, an inner force balancing control method based on pseudo-inverse of Jacobian matrix is also employed. Simulation validated the proposed DoF control and inner force balancing method.

Key words

Hydraulic shaking table / Redundant actuated / DoF control / Inner force balancing

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HE Jingfeng;LI Baoping;TONG Zhizhong;YANG Hongbin;HAN Junwei . DoF Control and Inner Force balancing of Hydraulically Redundant Actuated Shaking Table[J]. Journal of Vibration and Shock, 2011, 30(3): 74-78
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