Motion and vibration control of three dimensional flexible shaking table using LQI control approach

摘要

This paper deals with a design procedure of control system for a three-dimensional flexible shaking table. The shaking table should be less weighted so that actuators require less control forces and higher fidelity to control commands. However, as the weight of shaking table is reduced, the natural frequencies of vibration modes of the table appear on operating frequency region. Such vibration modes get into problem that may cause spillover instability. So, the research purpose is to control such vibration and motion by using the modeling method presented by Seto [1]. Utilizing the model, state equation system model including integrator is composed and feedback controller is designed by using LQI control law. As the system model both includes the multi-degree-of -freedom-structure model and integrator, the designed controller achieves simultaneous motion and vibration control. Computer simulation and control experiments are carried out and the effectiveness of the presented procedure is investigated.