Decoupling for Redundant Multi-Axis Shaking Table Based on Combination of Degree of Freedom and Modal Control

摘要

Shaking table inevitably exist considerable cross-coupling due to eccentric load or non-diagonal mass matrix. This paper presents a new method to decouple the cross-coupling drastically between each axis on the basis of modal control and feedforward control. The utility of modal control is to convert the physical space to the modal space in which there are no coupling over each axis, meanwhile some control algorithm is applied. The difficult of decoupling is that once converting the modal space to the physical space, the cross-coupling still remain. Hence feedforward control is to uniform each degree dynamic characteristics in modal space, to transform physical space decoupled fully. The proposed method based on combination of modal control and feedforward control is verified by theory computation and simulation through Matlab/Simulink and SimMechanics, which shows the method is feasible.