Acceleration tracking performance improvement of multi-dof shaker

Abstract

Vibration testing using a shaking table is a useful method to examine the vibration characteristics such as aseismic capacity of buildings for earthquakes and ride comfort of vehicles for vertical vibration. However, it’s necessary to design a controller which can reproduce the vibration such as earthquake waves accurately. Moreover, since there are various types of earthquakes such as a long-period earthquake and short-period earthquake, a controller with good tracking performance on wide frequency range is required in order to reproduce earthquake waves. Generally, a displacement feedback controller is employed in a control of the shaking table. However, almost all earthquake waves are saved as acceleration data. Therefore, an acceleration feedback controller is more proper to control the shaking table. The purpose of this study is to design an acceleration feedback control system with good tracking performance until high frequency range. However, it generates spillover caused by dynamics that is not included in plant model. As a result, the tracking performance of the controller degrades. So, we also proposed the method which can suppress spillover to solve this problem. The controller is designed based on Dual Model Matching method. Then, effectiveness of proposed control system is validated by experiments using 3degree-of-freedom shaking table.