Research On The Multi-dimensional Control Method For The Earthquake Shaking Table Facility

Recently,a number of large earthquakes around the world have caused a lot of new problems.The requirements of testing method for seismic analysis increased dramatically.The research on related control technology of shaking table becomes a hot topic,especially for the vibration control technology,virtual shaking table system and multi-actuator control strategy with redundant multi-degree-of-freedoms,which are still few studies at present.In this study,the underwater shaking table array and an electric earthquake simulation shaking table developed by the Key Laboratory of Coast Civil Engineering Structures Safety,Ministry of Education,China were studied and tested.Issues including the dynamic coupling effect of multiple actuators in large-scale seismic simulation facility,the high and low frequency control of the shaking table,the long stroke control method,et al.,were studied in this research.The mainly results are as follows:(1)Based on the dynamic characteristics and modeling theory of servo valve,hydraulic cylinder,accumulator and other components of the shaking table system,the simulation model of each part of the shaking table were built firstly using Matlab/Simulink,whereas taking the friction and yield displacement into consideration.Based on the measured testing data,the system parameters are identified and the model parameters of the underwater shaking table array system are calibrated.By analyzing the simulation test results with different testing cases and comparing them with the real shaking table test results,the performance of the shaking table simulation model is analyzed.The validation and reliability of the established model are verified.(2)The system characteristics of a small three-dimensional six-degree-of-freedom driven by a group of coupled eight actuators are analyzed.All the control strategy proposed in this study is based on the reflect shared memory,which can store and transit the data in real-time among the controller,the Simulink/Speed Goat and data acquisition system,and the decentralized control platform is proposed.Simulink real-time control the actuators of the electrical shaking table by bypassing the industrial controller.The proposed decoupling control algorithm for the shaking table test was proved to be feasible and reliable.(3)For very high frequency and/or very long period vibration control requirements,based on the simulation model of the shaking table mentioned above,a two-stage and dual-frequency vibration control method is proposed,and the vibration control model of the shaking table is established.