Random Vibration Model Reference Sliding Mode Control of Electro-hydraulic Shaking Table with Valve Null Bias Compensation

doi:10.3901/JME.2022.13.119

Abstract

Abstract: Random vibration control of electro-hydraulic shaking table is the key technology for large structures vibration simulation. Three variable control (TVC) developed based on linear model is commonly used for the control of electro-hydraulic shaking table. However, the mismatched disturbance force is not compensated by TVC. Sliding mode control can be used for disturbance rejection in the electro-hydraulic servo system. But the conventional sliding mode control cannot be applied for the acceleration random control of the electro-hydraulic shaking table when the valve null bias is neglected. Model reference sliding mode control with valve null bias compensation is presented for the electro-hydraulic shaking table system to improve the acceleration tracking performance. The backstepping and Lyapunov method are used to develop the controller based on nonlinear state space model. The reference model is used for the generation of the reference signals. Model reference sliding mode control is used for the disturbance rejection and valve null bias compensation. The feedforward controller in TVC is added to improve the acceleration tracking performance. Experimental results obtained in step responses and acceleration random vibration are used to demonstrate the effectiveness of the proposed method.

Key words: electro-hydraulic shaking table, acceleration control, model reference sliding mode control, disturbance rejection, valve null bias compensation

CLC Number:

TP271

FAN Damang, GUAN Guangfeng, XIONG Wei, WANG Haitao. Random Vibration Model Reference Sliding Mode Control of Electro-hydraulic Shaking Table with Valve Null Bias Compensation[J]. Journal of Mechanical Engineering, 2022, 58(13): 119-128.

References

[1] IWASAKI M,ITO K,KAWAFUKU M,et al. Disturbance observer-based practical control of shaking tables with nonlinear specimen[J]. IFAC Proceedings Volumes,2005,38(1):251-256.
[2] DOZONO Y,HORIUCHI T,KATSUMATA H,et al. Shaking-table control by real-time compensation of the reaction force caused by a nonlinear specimen[J]. J. Pressure Vessel Technology,2004,126(1):122-127.
[3] YAO Bin,BU Fanping,CHIU G. Non-linear adaptive robust control of electro-hydraulic systems driven by double-rod actuators[J]. International Journal of Control,2001,74(8):761-775.
[4] YAO Bin,BU Fanping,REEDY J,et al. Adaptive robust motion control of single-rod hydraulic actuators:theory and experiments[J]. IEEE/ASME Transactions on Mechatronics,2000,5(1):79-91.
[5] YAO Jianyong,YANG Guichao,MA Dawei,et al. Adaptive robust control for unknown nonlinear parameters of single-rod hydraulic actuators[C]//Proceedings of the 33rd Chinese Control Conference. New York:IEEE,2014:7915-7920.
[6] 邓文翔. 兼顾各类不确定性的液压发射装置非线性控制研究[D]. 南京:南京理工大学,2018. DENG Wenxiang. Research on nonlinear control of hydraulic launcher considering various uncertainties[D]. Nanjing:Nanjing University of Science and Technology,2018.
[7] 徐坤,骆媛媛,杨影,等. 分布式电驱动车辆状态感知与控制研究综述[J]. 机械工程学报,2019,55(22):60-79. XU Kun,LUO Yuanyuan,YANG Ying,et al. Survey on state perception and control of distributed electric drive vehicles[J]. Journal of Mechanical Engineering,2019,55(22):60-79.
[8] 田艳兵,徐亚明,刘庆龙,等. 气动二维超精密伺服系统输出反馈滑模控制[J]. 机械工程学报,2019,55(7):163-171. TIAN Yanbing,XU Yaming,LIU Qinglong,et al. Output feedback sliding mode control of pneumatic two-dimensional ultra precision servo system[J]. Journal of Mechanical Engineering,2019,55(7):163-171.
[9] 李运华,杨丽曼,张志华. 电液伺服系统的二阶滑模控制算法研究[J]. 机械工程学报,2005,41(3):72-75. LI Yunhua,YANG Liman,ZHANG Zhihua. A study on the second order sliding mode control algorithm of electro-hydraulic servo system[J]. Journal of Mechanical Engineering,2005,41(3):72-75.
[10] 管成,朱善安. 基于Backstepping的电液伺服系统多级自适应滑模控制[J]. 仪器仪表学报,2005,26(6):569-573. GUAN Cheng,ZHU Shanan. Multistage adaptive sliding mode control of electro hydraulic servo system based on backstepping[J]. Journal of Instrumentation,2005,26(6):569-573.
[11] 郭洪波,李洪人. 液压驱动6自由度运动模拟器动力机构控制策略研究[J]. 机械工程学报,2005,41(2):199-204. GUO Hongbo,LI Hongren. Research on control strategy of power mechanism of hydraulic driven 6-DOF motion simulator[J]. Journal of Mechanical Engineering,2005,41(2):199-204.
[12] 吉鑫浩,汪成文,陈帅,等. 阀控电液位置伺服系统滑模反步控制方法[J]. 中南大学学报:自然科学版,2020,51(6):1518-1525. JI Xinhao,WANG Chengwen,CHEN Shuai,et al. Sliding mode backstepping control method for valve controlled electro-hydraulic position servo system[J]. Journal of Central South University:Natural Science Edition,2020,51(6):1518-1525.
[13] 靳宝全,熊诗波,程珩. 电液位置伺服系统的变速趋近律滑模控制抖振抑制[J]. 机械工程学报,2013,49(10):163-169. JIN Baoquan,XIONG Shibo,CHENG Heng. Chattering suppression based on sliding mode control with variable speed reaching law for electro hydraulic position servo system[J]. Journal of Mechanical Engineering,2013,49(10):163-169.
[14] CHAUDHURI S,SAHA R,CHATTERJEE A,et al. Adaptive neural-bias-sliding mode control of rugged electrohydraulic system motion by recurrent Hermite neural network[J]. Control Engineering Practice,2020,103:104588.
[15] TAGAWA Y,KAJIWARA K. Controller development for the E-Defense shaking table[J]. Proceedings of the Institution of Mechanical Engineers,Part I:Journal of Systems and Control Engineering,2007,221(2):171-181.
[16] GUAN Guangfeng,PLUMMER A R. Acceleration decoupling control of 6 degrees of freedom electro-hydraulic shaking table[J]. Journal of Vibration and Control,2019,25(21-22):2758-2768.
[17] PLUMMER A R. A detailed dynamic model of a six-axis shaking table[J]. Journal of Earthquake Engineering,2008,12(4):631-662.
[18] KRSTIC M,KOKOTOVIC P V,KANELLAKOPOULOS I. Nonlinear and adaptive control design[M]. John Wiley & Sons,Inc,1995.
[19] POLYCARPOU M M,IOANNOU P A. A robust adaptive nonlinear control design[C]//1993 American Control Conference. New York:IEEE,1993:1365-1369.
[20] YAO Bin,AL-MAJED M,TOMIZUKA M. High-performance robust motion control of machine tools:an adaptive robust control approach and comparative experiments[J]. IEEE/ASME Transactions on Mechatronics,1997,2(2):63-76.