Abstract
This paper is to develop an optimal electro-hydraulic dual-shaking table system with high waveform replication precision. The parameters of hydraulic cylinders, servo valves, hydraulic supply power and gravity balance system are designed and optimized in detail. To improve synchronization and tracking control precision, a hybrid control strategy is proposed. The cross-coupled control using a novel based on sliding mode control based on adaptive reaching law (ASMC), which can adaptively tune the parameters of sliding mode control (SMC), is proposed to reduce the synchronization error. To improve the tracking performance, the observer-based inverse control scheme combining the feed-forward inverse model controller and disturbance observer is proposed. The system model is identified applying the recursive least squares (RLS) algorithm and then the feed-forward inverse controller is designed based on zero phase error tracking controller (ZPETC) technique. To compensate disturbance and model errors, disturbance observer is used cooperating with the designed inverse controller. The combination of the novel ASMC cross-coupled controller and proposed observer-based inverse controller can improve the control precision noticeably. The dual-shaking table experiment system is built and various experiments are performed. The experimental results indicate that the developed system with the proposed hybrid control strategy is feasible and efficient and can reduce the tracking errors to 25% and synchronization error to 16% compared with traditional control schemes.
Highlights
The electro-hydraulic earthquake simulation shaking table is the most important piece of equipment for replicating actual earthquake vibration environments, and can be used for the earthquake resistance test in the field of civil and architectural engineering [1]
The experimental results indicate that the developed system with the proposed hybrid control strategy is feasible and efficient and can reduce the tracking errors to 25% and synchronization error to 16%
This paper proposes a novel ASMC, which can adaptively tune the parameters of the sliding mode control (SMC), to markedly improve synchronization performance while eliminating the chatting phenomenon
Summary
The electro-hydraulic earthquake simulation shaking table is the most important piece of equipment for replicating actual earthquake vibration environments, and can be used for the earthquake resistance test in the field of civil and architectural engineering [1]. For the large-span structures, such as bridges, dams, railways and pipelines, etc., the shaking tables system composed of more than one shaking tables is proposed to carry out the vibration test simultaneously [2]. Many large-span structure earthquake simulation experiments have been successfully performed, which indicates the superiority of the shaking tables system in the experimental research [5,6]. Some shaking tables systems have been built, the design and control technique are still strictly secret and undocumented by a few commercial companies out of commercial benefit, which is a hindrance to the development of the shaking tables system research. There is no academic reference describing how to design the parameters of the hydraulic cylinders, servo valves
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