Internal Force Decoupling Control of Hyper-Redundant Shaking Table Based on Stiffness Matrix

Wei Wei; Zhi Dong Yang; Jun Wei Han; Ting Gao

doi:10.4028/www.scientific.net/AMM.681.115

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 681Internal Force Decoupling Control of...

Internal Force Decoupling Control of Hyper-Redundant Shaking Table Based on Stiffness Matrix

Abstract:

A novel internal force decoupling control strategy of hyper-redundant shaking table based on stiffness matrix is proposed in this paper. The linear models of electro-hydraulic servo system and mechanical system are built by considering the shaking table moving in a small range around the zero point. Internal forces are given through a transformation of cylinder forces which can be acquired from the pressure sensors. By meshing top platform of the shaking table in different directions, the stiffness matrix between the redundancy displacements and internal forces are given through dynamics equations including inertia and shear parts. The IFDC controller is designed to feedback the redundancy displacement caused by internal forces to the input current of the servovalve. Simulation results show that the proposed method is capable to reduce internal forces effectively.

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Periodical:

Applied Mechanics and Materials (Volume 681)

Pages:

115-120

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.681.115

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Online since:

October 2014

Authors:

Wei Wei*, Zhi Dong Yang, Jun Wei Han, Ting Gao

Keywords:

Electro-Hydraulic Servo System, Feedback Compensation, Hyper-Redundant Shaking Table, Internal Force Decoupling, Parallel Mechanism

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