Acceleration Tracking Control for Uniaxial Shaking Tables Considering System Performance and Robustness

Abstract eng:
Shaking table testing has been regarded as one of the most direct experimental methods to evaluate the seismic response of structural systems subjected to earthquake ground motions. A typical uniaxial shaking table is composed of a hydraulic actuator, a servo valve, a digital controller, and a rigid platen. By driving the actuator, the seismic response of the structure mounted on the rigid platen can be investigated. However, it is difficult to reproduce earthquake acceleration accurately by using the commercial proportional-integral-derivative controller in displacement control mode. Therefore, acceleration control becomes essential to improve the performance of the shaking table. In this paper, an acceleration tracking control method for uni-axial shaking tables is proposed. System dynamics which considers the control-structure interaction is first identified. Then the analyses and syntheses of the feedforward and feedback controllers can be conducted. The feedforward controller is to shape the frequency response of the desired acceleration to improve the tracking performance of the shaking table test system. Inverse model technique is used to design the feedforward controller. On the other hand, the feedback controller is to enhance the stability margin considering the system uncertainty. Loop-shaping method is adopted to design the feedback controller. This control framework is realized by using advanced hardware and software, allowing rapid outerloop controller implementation. Finally, experimental validation is carried out to investigate the control performance. Experimental results indicate that the feedforward controller can effectively increase the frequency bandwidth of the table acceleration while the feedback controller further strengthens the system robustness.

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