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38th Chinese Control Conference (CCC)

作者： Hu Xiaoyu Wang Shoukun Beijing Inst Technol Sch Automat State Key Lab Intelligent Control & Decis Complex Beijing 100081 Peoples R China

ISBN: (纸本)9789881563972

Comparing to the commonly used hydraulic three-axial shaking tables, multi-degree of freedom shaking systems implemented by Stewart platform have the merits of being portable, easy to install and with high load capacity, but are not well studied because of the inherent nonlinearity and strong coupling of Stewart platfonn. In order to replicate multi-degree of freedom road acceleration spectrum on Stewart platfonn, analysis of the system was carried out. Firstly, the system structure was introduced and the linearized platform kinematic equations. at the equilibrium position, were inducted. The models of actuators that drive the platform were simplified and the principles of three variable controller (TVC) were deduced briefly. Finally, MATLAB-Adams co-simulation environment was built to perfonn multi-degree of freedom road acceleration spectrum replication with TVC. The results show that it can reproduce high accuracy multi-degree of freedom road acceleration spectrum with TVC on Stewart platform.

关键词： Shaking table Stewart platform three variable controller

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Road acceleration spectrum replication on Stewart platform with three variable controller

Road acceleration spectrum replication on Stewart platform w...

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第三十八届中国控制会议

作者： Hu Xiaoyu Wang Shoukun State Key Laboratory of Intelligent Control and Decision of Complex System School of Automation Beijing Institute of Technology

Comparing to the commonly used hydraulic three-axial shaking tables, multi-degree of freedom shaking systems implemented by Stewart platform have the merits of being portable, easy to install and with high load capacity, but are not well studied because of the inherent nonlinearity and strong coupling of Stewart platform. In order to replicate multi-degree of freedom road acceleration spectrum on Stewart platform, analysis of the system was carried out. Firstly, the system structure was introduced and the linearized platform kinematic equations, at the equilibrium position, were inducted. The models of actuators that drive the platform were simplified and the principles of three variable controller(TVC) were deduced briefly. Finally, MATLAB-Adams co-simulation environment was built to perform multi-degree of freedom road acceleration spectrum replication with TVC. The results show that it can reproduce high accuracy multi-degree of freedom road acceleration spectrum with TVC on Stewart platform.

关键词： Shaking table Stewart platform three variable controller

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XPC-based Real Time Control System for an Electro-hydraulic Servo Shaking Table

XPC-based Real Time Control System for an Electro-hydraulic ...

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8th World Congress on Intelligent Control and Automation (WCICA)

作者： Yao, Jianjun Fu, Wei Hu, Shenghai Liu, Sheng Harbin Engn Univ Coll Mech & Elect Engn Coll Automat Harbin Heilongjiang Pr Peoples R China

ISBN: (纸本)9781424467129

Shaking table is widely used in aerospace, automobile and architecture for research in the fields of Civil, Mechanical and Electrical Engineering. three variable controller is applied for an electro-hydraulic servo shaking table which has eight sets of hydraulic system and is under acceleration control. To achieve real-time control performance for the shaking table system, XPC-based control system which is operated by host-target type is developed. The host computer is used to send commands and monitor the system, while the target computer equipped with data acquisition boards is used for real-time computation. The logic controller in the target computer is used to system and error diagnosis. The two computer are connected by Ethernet. The proposed control system is easy to program, adjust parameters and has good real-time performance.

关键词： Electro-hydraulic servo shaking table three variable controller Acceleration control Host-target type XPC-based control

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Investigation on acceleration performance improvement of electro-hydraulic shake tables using parametric feedforward compensator and functional link adaptive controller

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ISA transactions 2018年 83卷 290-303页

作者： Yu Tang Zhencai Zhu Gang Shen Shixiong Xia Xiang Li Yunjie Sa Guangchao Rui Jiangsu Key Laboratory of Mine Mechanical and Electrical Equipment School of Mechanical and Electrical Engineering China University of Mining and Technology Xuzhou 221116 China Postdoctoral Research Station of Computer Science and Technology China University of Mining and Technology Xuzhou 221116 China. Electronic address: tangyumail@***. Jiangsu Key Laboratory of Mine Mechanical and Electrical Equipment School of Mechanical and Electrical Engineering China University of Mining and Technology Xuzhou 221116 China. Electronic address: zhuzhencai@***. Jiangsu Key Laboratory of Mine Mechanical and Electrical Equipment School of Mechanical and Electrical Engineering China University of Mining and Technology Xuzhou 221116 China. Electronic address: shenganghit@***. Postdoctoral Research Station of Computer Science and Technology China University of Mining and Technology Xuzhou 221116 China. Electronic address: xiasx@***. Postdoctoral Research Station of Computer Science and Technology China University of Mining and Technology Xuzhou 221116 China. Electronic address: lixiang_nn@***. Jiangsu Key Laboratory of Mine Mechanical and Electrical Equipment School of Mechanical and Electrical Engineering China University of Mining and Technology Xuzhou 221116 China. Electronic address: sayj2012@***. Zhengzhou Electro-mechanical Engineering Institute Zhengzhou 450052 China. Electronic address: ***@***.

Electro-hydraulic shake table (EHST), also known as earthquake simulator, is of considerable significance in civil engineering for evaluating structures or infrastructures subjected to earthquake ground motions. However, reproduction of prescribed accelerations at table for EHST systems remains to be imperfect as the whole systems are confronted with hydraulic nonlinearity, varying dynamics, unexpected disturbance, etc. For enhancing the acceleration tracking performance of EHST systems, an acceleration waveform reproduction strategy using offline designed parametric feedforward compensator (PFC) and online functional link adaptive controller (FLAC) is proposed in this paper. The PFC controller is established on the basis of classical three variable controller (TVC) as an inner compensation loop, in which multi-innovation forgetting gradient (MIFG) algorithm together with zero magnitude error tracking (ZMET) technique are utilized during the design process. The FLAC controller is combined to the PFC controller as an outer loop for further acceleration enhancement purpose, and the controller's nonlinear mapping ability is achieved with trigonometric expansion implementation. Following theoretical analysis of the proposed controller, comparative experiments are performed on an established unidirectional EHST test bench with both random and real-time recorded earthquake input waveforms. The experimental results validate the feasibility and superiority of the proposed acceleration reproduction strategy.

关键词： Acceleration control Adaptive controller Electro-hydraulic shake table Feedforward compensation three variable controller

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