Disturbance Observer-Based Practical Control of Shaking Tables with Nonlinear Specimen
| Authors: | Makoto Iwasaki, Nagoya Institute of Technology, Japan
Ito Kensuke, Nagoya Institute of Technology, Japan
Kawafuku Motohiro, Nagoya Institute of Technology, Japan
Hirai Hiromu, Nagoya Institute of Technology, Japan
Dozono Yoshihiro, Mechanical Engineering Research Laboratory, Hitachi, Ltd., Japan
Kurosaki Katsuhiko, Hitachi Industries Co., Ltd., Japan |
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| Topic: | 4.2 Mechatronic Systems |
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| Session: | Mechatronic Applications |
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| Keywords: | disturbance observers, earthquake simulators, seismic tests, shaking tables, reaction force compensation, nonlinear structure |
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Abstract
This paper presents a practical control methodology of the shaking tables for earthquake simulators.Reaction force generated by a nonlinear specimen on the shaking table generally deteriorates the motion performance of the table, resulting in the lower control accuracy of the seismic tests.In order to provide the precise table motion, therefore, a disturbance observer-based control approach is adopted, where the unknown disturbances in the table can be compensated in real time manner.The proposed compensation algorithm has been verified by experiments using an actual shaking table system.
