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Acceleration trajectory tracking control for earthquake simulators

机译：地震模拟器的加速度轨迹跟踪控制

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摘要

The purpose of earthquake simulators is to reproduce reference accelerations on a shake table. However, acceleration control is extremely difficult in earthquake simulators due to an inability to directly control acceleration with feedback, inherent nonlinearities in servo hydraulic systems, control-structure interactions, etc. This study presents a control method called acceleration trajectory tracking control (ATTC) that improves the acceleration control performance of earthquake simulators. The ATTC method consists of an acceleration feed-forward controller, a system dynamics command shaping, an intentional time-delay, a Kalman filter for displacement measurement, and an actuator displacement feedback controller. The ATTC method not only provides acceleration tracking capability, but also ensures stability of the system. Following the theoretical description of the ATTC method, an experimental investigation is presented. The ATTC method is successfully implemented in the control system for the uniaxial earthquake simulator at Johns Hopkins University, and the experimental results show the superior performance of the ATTC method over the conventional displacement feedback with command shaping. Furthermore, repeatability of the ATTC method is experimentally verified.
机译：地震模拟器的目的是在振动台上重现参考加速度。然而，由于无法直接利用反馈来控制加速度，伺服液压系统中固有的非线性，控制结构相互作用等，加速度控制在地震模拟器中极为困难。本研究提出了一种称为加速度轨迹跟踪控制（ATTC）的控制方法。提高了地震模拟器的加速控制性能。 ATTC方法由加速度前馈控制器，系统动力学命令整形，有意时间延迟，用于位移测量的卡尔曼滤波器和执行器位移反馈控制器组成。 ATTC方法不仅提供加速度跟踪功能，而且还可以确保系统的稳定性。根据ATTC方法的理论描述，进行了实验研究。在约翰霍普金斯大学的单轴地震模拟器的控制系统中成功地实现了ATTC方法，并且实验结果表明，ATTC方法的性能优于具有命令整形的传统位移反馈。此外，通过实验验证了ATTC方法的可重复性。

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