Controller development for the E-Defense shaking table

Tagawa, Yasutaka; Kajiwara, Koichi

doi:10.1243/09596518jsce331

Cited by 94 publications

(99 citation statements)

References 3 publications

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“…The control scheme is based on the displacement DOF close-loop using the H h and H f , which can transfer the control and feedback signals between actuator space and DOF space [18]. TVC controller is used to improve the shaking table system performance using the acceleration, velocity and displacement feedback signals and has been successfully applied in many practical shaking table systems [19,21,45]. The gravity balance control is relatively simple, and the force closed-loop control is used for each balanced hydraulic cylinder, whose controller is a proportion controller.…”

Section: Hydraulic Power Supply Designmentioning

confidence: 99%

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Optimal Design and Hybrid Control for the Electro-Hydraulic Dual-Shaking Table System

et al. 2016

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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.

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Section: Hydraulic Power Supply Designmentioning

confidence: 99%

“…Tagawa et al [19] studied the three-variable control (TVC) technique to improve the stability and tracking performance of the system. Wei et al [20] proposed the inner force suppression (IFS) control strategy to solve the problem of inner force coupling.…”

Section: Introductionmentioning

confidence: 99%

Optimal Design and Hybrid Control for the Electro-Hydraulic Dual-Shaking Table System

et al. 2016

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“…The earliest methods use conventional linear controller, such as closed-loop PID, deltaP and feed-forward control algorithm [4,5], and three variable control (TVC) [6,7]. However, due to the complexity of the problem the need for more sophisticated control systems become necessary.…”

Section: Introductionmentioning

confidence: 99%

Performance of the CGS six DOF Shaking Table on the Harmonic Signal Reproduction

Halim

Airouche

Hassan

et al. 2017

Period. Polytech. Civil Eng.

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IntroductionShaking tables are being increasingly used in earthquake engineering research field and remain one of the preferred tools for seismic testing [1]. Their main objective is to replicate a wide range of a desired motion with a high degree of accuracy, in order to generate meaningful and reliable results. However, despite the significant progress achieved in shake table design and control technology during the last decades, number of challenges still exist [2]. These challenges fall into two categories: (i) economical and practical challenges and (ii) technical challenges. In the first category we can cite the problem of the full-scale realistic tests of large structural systems which are constrained by the limited financial resources and capacities of the existing laboratories. The second category includes control issues, consideration of different loading conditions other than dynamic base motion and soil-structure interaction effects in shaking-table testing.Undoubtedly, the control of shaking table is the key element of the whole system and one of the most difficult technical challenges. In fact, the modern multiple degree-of-freedom shaking table with a resonating and eccentric specimen has the characteristics of a strongly coupled multiple input, multiple output dynamic system [3]. In such a system, servovalves characteristics, oil column resonance, frictions in the system, cross coupling between degrees of freedom, specimen compliance and noise in feedback transducers, are some of the predominant sources of nonlinearities that can adversely affect the accurate control, stability and high fidelity signal reproduction, of the shaking table.Various control techniques have been developed in order to provide a shaking table with optimum performance and high level of motion control. The earliest methods use conventional linear controller, such as closed-loop PID, deltaP and feed-forward control algorithm [4,5], and three variable control (TVC) [6,7]. However, due to the complexity of the problem the need for more sophisticated control systems become necessary. With advances in computing technologies, followed by the breakthrough development of the digital signal processing and realtime operations, methods based on hybrid control strategies

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“…Through the standard modal matrix and its inverse matrix, the redundant shaking table can be controlled in the non-coupling modal space instead of DoFs space [6] . Besides Tagawa [7] has reduced the cross coupling disturbance, which iterates the disturbance out by playing the command waveform repeatedly, observing the response, and updating the system drive waveform using the system inverse frequency response function. This method is quite effective, but can be very time consuming and requires a significant level of user interaction and sophistication.…”

Section: Introductionmentioning

confidence: 99%

A Novel Decoupling Control of Muti-Axis Shaking Table based on the Modified Adaptive Notch Filter

Zhang¹,

Yang²

2016

Proceedings of the 2nd Information Technology and Mechatronics Engineering Conference (ITOEC 2016TOEC 2016)

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Abstract. The multi-axis shaking table (MAST) is widely used in the vibration tests for high-rise buildings, bridges, large structures and so on. Due to the overturning moment and off-center load of the MAST, the dynamics cross-coupling disturbance occurs when the motion on one translational degree of freedom (DOF) couples into another rotary DOF or vice versa. The cross-coupling will reduce the tracking accuracy of the command waveform. A novel decoupling control for the sinusoidal command waveform and sweep sine command waveform is proposed based on the modified adaptive notch filter. The approach, inspired by the active noise control technology, takes the coupling motion as the noise for the coupled DOF, and cancels the cross-coupling disturbance by adding harmonics of the same frequency to the coupling motion, along with just the right phase and amplitude. A model of the plant is introduced to give the method critical phase information needed to adapt canceller coefficients. The experimental results indicate that the decoupling control can effectively reduce the dynamics coupling between the translational and rotary DOFs of the MAST. IntroductionThe shaking table is a valid equipment for the structure fatigue test and earthquake simulation

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Controller development for the E-Defense shaking table

Cited by 94 publications

References 3 publications

Optimal Design and Hybrid Control for the Electro-Hydraulic Dual-Shaking Table System

Optimal Design and Hybrid Control for the Electro-Hydraulic Dual-Shaking Table System

Performance of the CGS six DOF Shaking Table on the Harmonic Signal Reproduction

A Novel Decoupling Control of Muti-Axis Shaking Table based on the Modified Adaptive Notch Filter

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