Disturbance Suppression Control Using Disturbance Observer and Acceleration Feedback in Two-dimensional Shaking Table Systems

Abstract

This paper presents a controller design approach to suppress the effect of overturning moment in two-dimensional shaking table systems. In the system, overturning moment of specimen generally deteriorates the motion performance of the table, resulting in the lower reproducibility for the desired earthquake acceleration. In this paper, therefore, disturbance observer and acceleration feedback are applied to improve the disturbance suppression capability. The acceleration feedback compensator is designed to attenuate the resonant gain peak. The disturbance observer is designed to estimate and cancel the disturbance caused by overturning moment, where the bandwidth of observer can be expanded by including the acceleration feedback loop. The proposed approach has been verified by experiments using a laboratory two-dimensional shaking table system.