Advanced Shake Table Controller Design Using Model Predictive Control Strategy

Abstract eng:
Shake table testing is one of the most realistic experimental methods to evaluate the seismic resistance of a structure. In most practice, conventional shake table control relies on the use of linear controller, such as proportional-integral-derivative (PID) controller, to regulate the motion of the table. However, due to the nonlinearity in the hydraulic actuator dynamics and specimen’s nonlinearity, the tracking performance and stability of such linear control approach can be seriously degraded. To address the above shake table control issue, this paper adopts the hierarchical control architecture and model predictive control (MPC) strategy to regulate the shake table movement. The MPC predicts the response of the shake table using an numerical model. On the other hand, the low-level controller execute the control commands generated by the highlevel controller by dealing with the local system dynamics of the hydraulic actuators. In this paper, a shake table system model was developed using the experimental data collected from a large scale shaking table at the University of British Columbia (UBC). Comparative simulation and experimental results are presented to demonstrate the feasibility using the proposed shake table control approach.

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