Design of two-degree-of-freedom position tracking controller for hypergravity unidirectional airborne shaking table

Abstract

Hypergravity centrifugal shaking table is widely used in the field of civil engineering and is considered to be the most effective means to study geotechnical earthquake disaster effect in the world today. Here, the structure of hypergravity centrifugal shaking table system is briefly introduced, and then the necessity and difficulty of the precise control of the position ring of the airborne shaking table in the hypergravity centrifugal shaking table are explained. On this premise, the system modeling and analysis of the unidirectional airborne shaking table with hypergravity are carried out in this paper. A new two-degree-of-freedom controller of the unidirectional airborne shaking table with hypergravity is designed by combining the $H_{\infty }$ control and an improved internal model control (IIMC) strategy, and the designed two-degree-of-freedom controller is experimentally verified. The experimental results show that compared with the traditional PID control strategy and the single $H_{\infty }$ control strategy, the two-degree-of-freedom controller designed in this paper can make the position loop control of the unidirectional airborne shaking table with hypergravity have higher control accuracy and anti-interference ability.