Design Of 2 DOF Hydraulic Shaking Platform

Shaking table is equipment which can produce mechanical vibration with electricity, hydraulic pressure or piezoelectricity in the laboratory conditions. It can be used to provide typical vibration or simulate real environment to test or assess the reliability of the system which is widely used in military and aerospace fields and so on. Especially the deficient-DOF shaking tables have the advantage in control and structure.The 2-DOF shaking table is designed for Dalian Maritime University. The main content includes: kinematic analyze and dynamic modeling; the paper selects the component of the hydraulic power mechanism and the sensors; The dynamic models of the hydraulic power mechanism are build with and without the flexibility of the platform; three states control method is proposed and the controllers to the models mentioned above are designed respectively. The paper also explicates the co-simulation based on virtual prototyping technology which proves the validity of the controllers.In this paper, the kinematic and dynamic expression is deduced firstly with Newton-Euler method. With Simulink and SimMechannics, the tools boxes of the MATLAB, the dynamic models are established. The dynamic model is build with ADAMS. Simulation is made with three models respectively and the comparing among them proves the validity and the accuracy of the models.To make the system work normally with the request, the matched load computation is made based on the dynamic analyzed above. With the analytical result, the components are chosen which can satisfy the demand of the request. And the inherent characteristic is obtained. Plus the models of the flexible and rigid platform are deduced.The characteristics of the hydraulic power system are studied with position feedback. Since the band of the hydraulic system is limited and cannot satisfy the demand of the system. Then the three states control is proposed. So the controllers for the flexible and rigid platforms are designed with single-DOF model.The models of flexible and rigid platforms are building with ADAMS. Then the co-simulations of the controller and dynamic models are made based on virtual prototyping technology which proves the models are accurate and the controllers are valid. It is easy to figure out the effect added to the system which is produced by flexible body.