Research On Internal Forces Coupling Mechanism And Suppression Method Of Redundant Shaking Table

The subject comes from a sub-topic about the internal force couplingmechanism and suppression method of the hyper redundant long stroke paralleldriven earthquake simulation table of National Natural Science Foundationwhich is applied by the institute of electro-hydraulic servo simulationand test system.The vibration platform is an important equipment which can test the seismicperformance of high-rise buildings, nuclear reactor, ocean engineering, bridgeengineering and other important facilities. The research on the shaking table ofmulti-redundant is few in china, for the large hydraulic vibration table built byour country is very few. If there is a lot of internal force, the static outputpower will be reduced, the system will not work and the structure of thevibration table will also be destroyed. So the key problem of the redundant drivehydraulic vibration is the internal force between the exciters. In fact,the controlling method of pressure stabilization is usually adoptted to solvethe force coupling problem. But when the redundancy increases, there is moregain coefficients we need to adjust. And the coupling of the internal force makesthe controlling process more complicated.In this paper, I analyze the causes of internal forces of the16vibrationexciter redundant drive hydraulic vibration table. Based on the analysis of theredundant actuation parallel mechanism of internal force of space matrix,the controlling methods of internal force feedback which refers to the matrixfactorization of the internal forces in space is proposed theoretically.Firstly, for redundancy system contains an arbitrary number of vibrators, ifthe vibration table structure parameters are given, we can use the vibrationexciter coordinate point to calculate Jacobian matrix. And then by solvinga driving force of nonhomogeneous linear equations, we can get the internalforce space matrix. After that, we use a group of substrate of the arbitrary matrixof the internal force in space and the acquisition of the exciter output to derivethe force feedback control vector and to establish the state space equation of thevibration table model. By analyzing of how the feedback gain matrix effects onthe stability of vibration system, an experience formula is deduced for theoptimal gain matrix. Finally, based on the dynamic equation of the platform, we established the vibration simulation model of Simulink. The simulation analysisof the differences between the dynamic characteristics and the staticcharacteristics of servo proved the effectiveness of the controlling method ofthe internal force feedback.