Acceleration tracking control combining adaptive control and off-line compensators for six-degree-of-freedom electro-hydraulic shaking tables

作者：Shen, Gang; Li, Xiang^*; Zhu, Zhencai; Tang, Yu; Zhu, Weidong; Liu, Shanzeng

来源：ISA Transactions, 2017, 70: 322-337.

DOI：10.1016/j.isatra.2017.07.018

• Electro-hydraulic shaking table
• Adaptive control
• Least-mean-squares algorithm
• Recursive extended least-squares algorithm
• Off-line inverse model compensator
• System identification

An electro-hydraulic shaking table (EHST) is an essential experimental facility to simulate in real-time actual vibration situations. An adaptive controller combined with off-line compensators is proposed to improve the acceleration frequency bandwidth and tracking accuracy of a six-degree-of-freedom (6-DOF) EHST. A servo controller has been employed to implement acceleration closed-loop and coordinate control of the 6-DOF EHST. A recursive extended least-squares algorithm is employed to identify acceleration closed-loop transfer functions and a zero-phase-error tracking controller is used to design off-line inverse model compensators using the identified transfer functions. However, the off-line compensators cannot compensate in real-time varying dynamics of the 6-DOF EHST; so an online adaptive controller with a least-mean-squares (LMS) algorithm based on a delay compensator is employed. The proposed controller combines advantages of the off-line compensators and the online adaptive controller, which guarantees both a fast rate of convergence of the LMS algorithm and high-fidelity acceleration tracking accuracy of the 6-DOF EHST. Some experimental studies have been conducted on a 6-DOF EHST and experimental results show that acceleration tracking control performances, including the rate of convergence of the LMS algorithm and acceleration tracking accuracy, have been improved compared to a conventional three-variable controller and adaptive controllers.

• 出版日期2017-9
• 单位中国矿业大学（北京）