Control of 6DOF Parallel Link Shaking Table with Multi-axis Modified Reference Generator

Abstract

Vibration testing using a shake table is an effective method for evaluating the seismic resistance of buildings. Although there are various types of shaking tables, the Stewart platform-type parallel shaking table has multiple degrees of freedom, high rigidity, and is easily miniaturized. Therefore, the Stewart platform-type parallel shaking table is suitable for mounting on centrifugal force loading device. However, parallel shaking tables have the problem that they are prone to interference between other axes. It is difficult to solve this problem with feedback control systems only. Therefore, a Multi-axis Modified Reference Generator that can modify the reference value in advance and suppress interference between other axes is used for parallel link type shaking tables. Then, experiments with actual parallel shaking tables will be conducted to verify the effectiveness.