Control of a twoaxis redundantly actuated electrohydraulic angle shaking table

PDF(1099 KB)

Journal of Vibration and Shock ›› 2018, Vol. 37 ›› Issue (6) : 42-46.

GUAN Guang?feng, XIONG Wei, WANG Haitao

Author information +

History +

Abstract

The redundant actuation is favorable to spread the load of electrohydraulic shaking tables and improve the performance indices of evenness and transverse component of acceleration signals. The redundantly actuated electrohydraulic shaking table is a new prospect for vibration test systems and the corresponding control system is the key technology of multiaxis electrohydraulic shaking tables. A kinematics analysis was presented to transform signals between the joint space and work space, and an acceleration control loop was developed based on the kinematics analysis and the control precision was improved when actuator strokes are relatively large. An inner force control loop was designed based on the dynamic analysis of the shaking table to reduce the cross coupling among the actuators. The constant attitude test, step response and acceleration amplitude frequency response characteristics analysis and sine vibration test were used to verify the effectiveness of the proposed control method.

Key words

Multi-axis electro-hydraulic shaking table / redundantly drive / acceleration control / kinematics analysis / inner force control

Cite this article

EndNote

Ris (Procite)

Bibtex

Download Citations

GUAN Guang?feng, XIONG Wei, WANG Haitao. Control of a twoaxis redundantly actuated electrohydraulic angle shaking table[J]. Journal of Vibration and Shock, 2018, 37(6): 42-46

References

[1] 陈章位, 于慧君. 振动控制技术现状与进展[J]. 振动与冲击. 2009, 28(3): 73-77, 86, 200.
CHEN Zhang-wei, YU Hui-jun. Existing state and development of vibration control technology[J]. Journal of Vibration and Shock.2009, 28(3): 73-77, 86, 200.
[2] 闫磊, 李青宁, 尹俊红等. 多维地震激励下人字形桥梁地震模拟振动台试验研究[J]. 振动与冲击, 2016, 35(7): 167-176.
YAN Lei, LI Qing-ning, YIN Jun-hong et al. Shaking table tests for Y-shaped bridges under multi-dimensional seismic excitation[J]. Journal of Vibration and Shock.2016, 35(7): 167-176.
[3] 高春华, 纪金豹, 闫维明等. 地震模拟振动台技术在中国的发展[J]. 土木工程学报. 2014, 47(8): 9-19.
Gao Chunhua, JiJinbao, Yan Weiming et al.Developments of shaking table technology in China[J]. China Civil Engineering Journal, 2014, 47(8): 9-19.
[4] 鲁亮, 江乐, 李鸿等. 柱端铰型受控摇摆式钢筋混凝土框架抗震性能的振动台试验研究[J]. 振动与冲击, 2016, 35(4): 193-198, 216.
LU Liang, JIANG Le, LI Hong et al. Shaking table tests for a seismicperformance of a controllable rocking reinforced concrete frame with column-end-hinge joints[J]. Journal of Vibration and Shock. 2016, 35(4): 193-198, 216.
[5] Toma I O, Atanasiu G M. Modern trends in experimental earthquake engineering research[J]. BuletinulInstitutuluiPolitehnic din lasi. SectiaConstructii, Arhitectura, 2010, 56(4): 43.
[6] 许维炳, 闫维明, 王瑾等. 调频型颗粒阻尼器与高架连续梁桥减震控制研究[J]. 振动与冲击, 2013, 32(23): 94-99.
XU Wei-bing, YAN Wei-ming, WANG Jin et al. A tuned particle damper and its application in seismic control of continuous viaducts [J]. Journal of Vibration and Shock.2013, 32(23): 94-99.
[7] Tagawa Y and Kajiwara K. Controller development for the E-Defense shaking table[J]. In Proceedings of IMechE, Part I: Journal of Systems and Control Engineering. 2007, 221:171-181.
[8] 沈刚, 朱真才, 李翔等. 三轴六自由度电液振动台解耦控制[J].振动与冲击, 2015, 34(19): 1-7.
SHEN Gang, ZHU Zhen-cai, LI Xiang et al. Decoupling control for a triaxial 6-DOF Electro-hydraulic shaking table[J]. Journal of Vibration and Shock. 2015, 34(19): 1-7.
[9] Plummer AR. Motion control for overconstrained parallel servohydraulic mechanisms[C]// In: The 10th Scandinavian International Conference on Fluid Power. Tampere, Finland, 2007, May 21-23. pp. 1-13.
[10] Plummer AR. A general co-ordinate transformation framework for multi-axis motion control with applications in the testing industry[J]. Control Engineering Practice, 2007, 18(6): 598-607.
[11] Underwood MA and Keller T. Applying coordinate transformations to multi degree of freedom shaker control[J]. Sound and Vibration, 2006, 40(1): 22-27.
[12] 关广丰. 液压驱动六自由度振动试验系统控制策略研究[D]. 哈尔滨工业大学博士学位学位论文, 2007.
[13] Cheng H, Yiu Y K, Li Z. Dynamics and control of redundantly actuated parallel manipulators[J]. IEEE/ASME Transactions on Mechatronics, 2003, 8(4): 483-491.
[14] Müller A, Hufnagel T. Model-based control of redundantly actuated parallel manipulators in redundant coordinates[J]. Robotics and Autonomous Systems, 2012, 60(4): 563-571.
[15] 张连朋, 杨炽夫, 杨志东等. 冗余驱动液驱振动台台阵系统内力分析及其抑制方法研究[J].振动与冲击, 2017, 36(3): 83-92.
ZHANG Lianpeng, YANG Chifu, YANG Zhidong et al. Inner coupling force analysis and suppression for redundant-drive hydraulic shaking tables[J]. Journal of Vibration and Shock.2017, 36(3): 83-92.
[16] 何景峰, 李保平, 佟志忠等. 液压驱动冗余振动台自由度控制及内力协调[J]. 振动与冲击, 2011, 30(3): 74-78.
HE Jing-feng, LI Bao-ping, TONG Zhi-zhong, et al. DoF control and inner force balancing of hydraulically redundant actuated shaking table[J]. Journal of Vibration and Shock. 2011, 30(3): 74-78.
[17] Merlet J P. Parallel robots[M]. Springer Science & Business Media, 2012.
[18] Koekebakker SH. Model based control of a flight simulator motion system. Phd thesis, Delft University of Technology, Netherlands. 2001.
[19] Jiang HZ, He JF and Tong ZZ. Modal Space Control for a Hydraulically Driven Stewart Platform. Journal of Control Engineering and Technology.2012, 2(3): 106-115.
[20] 付云贵. 冗余驱动电液振动台运动学分析及内力协调控制方法研究[D]. 大连海事大学硕士学位论文, 2017.