Shaking-Table Control Taking Account of Reaction Force : Two-Degree-of Freedom Controller Design of Hydraulic Shaking System Focused on Reaction Force(Mechanical Systems)

This paper presents a reaction force compensation methodology of shaking tables for earthquake simulators. When a shaking-table of an earthquake simulator is driven for the seismic experiment of a specimen, its motion is affected by a reaction force caused by the specimen on the table. The compensation methodology is designed by using the DMM (Dual Model Matching) based on the characteristic transfer function. We adjusted feedforward control and feedback control such that the influence of the reaction force is reduced and frequency response of the shaking table is improved especially in the high frequencies. The effectiveness of the proposed technique is also verified by experiments.