Shaking table control via real-time inversion of hydraulic servoactuator linear state-space model

Abstract

In this work, a Model-Based Control method for a single horizontal degree of freedom shaking table is presented. The proposed approach relies on the real-time inversion of a previously identified linear state-space model of the hydraulic servoactuator which drives the table. The inputs to the model are the control command and the force exerted on servoactuator rod. The latter contains all the relevant information related to the external actions acting on the servoactuator, thus making control system performance independent from the specimen with which the table is loaded and enabling it to cope with specimen non-linear behavior and eventual external forces exerted on it. A parallel proportional integral derivative controller, which accounts for non-modeled dynamics and a feedback linearization scheme, aimed at minimizing servovalve flow non-linearity, complement the previous architecture. The effectiveness of the method has been assessed numerically. According to the simulation results, the performance of the proposed technique appears quite promising; however, several factors must be carefully considered to achieve successful actual implementation.