The Research Of Kinematics Analysis Of Table Body And Control Simulation Technology Of Digital Seismic Shaking Table

Digital vibration table can solve seismic vibration often occurs under test and test and make up for the test data of a certain part of the difficulty in collecting problems caused due to various factors,but can also guide test before the real shaking table for complex debugging,which can improve the precision of the test for seismic test areas to save a lot of money.Found in a large number of literature,the research scholars are basically on the electric shaking table,few of the complete modeling of hydraulic shaking table.This paper takes the shaking table of Xi'an University of Architecture and Technology Cao Tang campus' s laboratory as the research object,and on that basis the digital vibration table simulation model has been established.The main research contents are as follows:First of all,for the six degrees of freedom shaking table's table body kinematics analysis,application RPY transform and Newton-Taylor expansion method to complete the kinematics direct and inverse solution analysis,based on the analysis results,computing displacement vector of driving orientation system of the simulation model,Application examples verify the correctness of the subsystem model.Then,the important components of the control system of shaking table has been analyzed in detail to establish the mathematical model of the control system,and a three-parameter model control algorithm to achieve control,while the value of the system parameters in the model was solved and the Stability of the control system is verified in Matlab/Simulink.Finally,three-dimensional mechanical model of digital shaking table is established with Solidworks,by means of Sim Mechanics/Solidworks converted port three mechanical model is imported Sim Mechanics and docked with the previously established simulation model,to form the whole model of digital shaking table overall model and implement model visible.This paper through the various degrees of freedom of the direction of the sinusoidal waveform to verify that the calculation of driving in the direction of the displacement vector system model degrees of freedom synthesis and decomposition of better accuracy,relatively low coupling.That is to say,this model is reasonable and effective.At the same time,three parameter control system model of the frequency response curves and the real vibration platform and collected data were fitted to the frequency response chart comparison and error is about 9.83%.It could be concluded that the control model consistent with the facts.