CN107884150A - Shake table offline iteration control method based on flooring response spectra - Google Patents
Shake table offline iteration control method based on flooring response spectra Download PDFInfo
- Publication number
- CN107884150A CN107884150A CN201711402108.3A CN201711402108A CN107884150A CN 107884150 A CN107884150 A CN 107884150A CN 201711402108 A CN201711402108 A CN 201711402108A CN 107884150 A CN107884150 A CN 107884150A
- Authority
- CN
- China
- Prior art keywords
- acceleration
- input
- difference
- flooring
- iteration
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M7/00—Vibration-testing of structures; Shock-testing of structures
- G01M7/02—Vibration-testing by means of a shake table
- G01M7/022—Vibration control arrangements, e.g. for generating random vibrations
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D19/00—Control of mechanical oscillations, e.g. of amplitude, of frequency, of phase
- G05D19/02—Control of mechanical oscillations, e.g. of amplitude, of frequency, of phase characterised by the use of electric means
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Feedback Control In General (AREA)
- Fluid-Damping Devices (AREA)
Abstract
Shake table offline iteration control method based on flooring response spectra, solve the problems, such as that flooring response spectra is with it is expected that flooring spectrum uniformity is poor in non-structural element shaketalle test.It is expected that acceleration through outer shroud, inner ring iteration controller, obtains acceleration command excited vibration platform, drives loading frame and the non-structural element being fixed on loading frame vibration；The acceleration responsive of vibration table surface is fed back into inner ring iteration controller and is modified iteration, establishes the transmission function of inner ring displacement command and table top acceleration responsive；The flooring acceleration responsive that flooring acceleration transducer is surveyed is fed back into outer shroud iteration controller and is modified iteration, establishes the transmission function of outer shroud acceleration command and flooring acceleration responsive；The amendment iteration of iteration controller is to compose to obtain transmission function by the fourier of order input and response output, seeks the difference it is expected with response, and then obtains input difference and new input order in time domain, forms the shake table offline iteration control based on flooring response spectra.
Description
The present invention relates to the shake table offline iteration control method based on flooring response spectra, belong to structural seismic experimental technique
Field.
Background technology
The earthquake zone distribution in China is more, is one of the country of most serious of suffering disaster from an earthquake.Earthquake not only results in knot
The destruction of structure and collapse, can also cause the destruction of non-structural element, and cause the forfeiture of building function, the loss of use value with
And other indirect economic loss.In the north ridge earthquake of the U.S. in 1994, nineteen ninety-five Japan's Osaka-Kobe earthquake, building non-structural element
The destruction of system causes huge directly or indirectly economic loss.In recent years, also have in China's Wenchuan earthquake and Lushan earthquake
A large amount of non-structural systems are destroyed, and are caused serious economic loss, are even resulted in casualties.
Shaking-table test is to truly reproduce a kind of examination that earthquake motion is acted on it on structural model
Proved recipe method.Earthquake simulation shaking table can simulate truly vibration environment to a certain extent, can obtain close to actual conditions
Structural response, it is considered to be research engineering structural seismic response and failure mechanism most direct effective research technique.This
House architectural structure, structures, offshore engineering structure, nuclear reactor, hydro-structure, bridge, equipment etc. can be carried out in equipment
Dynamic characteristics and earthquake simulation test.
Traditional shake table control technology requires that table top acceleration responsive is consistent with the earthquake ground motion acceleration inputted, but right
When the non-structural elements such as furred ceiling, pipeline carry out shaketalle test research, generally non-structural element is fixed on loading frame,
Ask and desired flooring response spectra is realized on framework.But due to the influence of structure self power characteristic, table top acceleration spectrum is with adding
Often there is larger difference in the flooring spectrum for carrying framework, this will make result of the test produce deviation.The present invention proposes one kind and is based on
The shake table offline iteration control method of flooring response spectra, its innovative point are to realize that the flooring spectrum that non-structural element is subject to swashs
Encourage and it is expected that flooring spectrum is consistent, realize the offline iteration based on flooring spectrum, improve non-structural element flooring spectrum input waveform and reproduce
Precision.
The content of the invention
It is an object of the invention to provide one kind based on double-closed-loop control, transfer function matrix can be corrected, waveform can be improved
The offline iteration control method of playback accuracy, effectively to solve the flooring response spectra of non-structural element with it is expected flooring spectrum uniformity
Poor, the problem of Waveform reproduction precision is relatively low.
The technical solution adopted by the present invention is as follows：
Shake table offline iteration control method based on flooring response spectra, this method include outer shroud iteration controller, interior ring iterative
Controller, the interior iterative subsystem based on table top accelerator feedback, outer iterative based on flooring accelerator feedback
System, shake table loading subsystem；
Wherein, the interior iterative subsystem based on table top accelerator feedback is defeated by inner ring iteration controller 4, inner ring displacement command
Enter 5, shake table 6, table top acceleration responsive output 9 is formed；
Outer iterative subsystem based on flooring accelerator feedback is inputted by outer shroud iteration controller 2, outer shroud acceleration command
3rd, inner ring iteration controller 4, inner ring displacement command input 5, shake table 6, loading frame 7, flooring acceleration transducer 8, flooring
Acceleration responsive output 10 is formed；
Shake table loading subsystem is made up of shake table 6, loading frame 7；
Amendment iterative process inside outer shroud iteration controller 2 is inputted by control store-memory 11, acceleration commandu k (t) 12、
Controlled device 13, acceleration responsive outputy k (t) 14, acceleration command inputu k (t) auto-correlation functionR xx 15th, Fu Li
Leaf transformationFFT16th, acceleration command inputsu k (t) auto-power spectrumG xx (f) 17, acceleration command inputu k (t) with accelerating
Degree response outputy k (t) cross-correlation functionR xy 18th, acceleration command inputsu k (t) exported with acceleration responsivey k (t) it is mutual
Power spectrumG xy (f) 19, ask transmission function 20, output-transfer function 21, it is expected acceleration memory 22, it is expected accelerationy d
(t) 23, response difference 24, respond difference fourier spectrum 25, input difference fourier spectrum 26, anti-Fourier transform IFFT 27,
Input difference 28 in time domain,k+1Acceleration command input 29 is walked to form；
Amendment iterative process inside inner ring iteration controller 4 is inputted by control store-memory 11, acceleration commandu k (t) 12、
Controlled device 13, dynamic respond outputy k (t) 30, acceleration command inputu k (t) auto-correlation functionR xx 15th, Fourier
ConversionFFT16th, acceleration command inputsu k (t) auto-power spectrumG xx (f) 17, acceleration command inputu k (t) rung with displacement
It should exporty k (t) cross-correlation functionR xy 31st, acceleration command inputsu k (t) exported with dynamic respondy k (t) crosspower spectrumG xy (f) 32, ask transmission function 33, output-transfer function 34, it is expected movement stack 35, it is expected displacementy d (t) 36, ring
Answer difference 37, respond the fourier spectrum 38 of difference, the fourier spectrum 39 for inputting difference, anti-Fourier transform IFFT 27, in time domain
Input difference 40, thek+1Acceleration command input 41 is walked to form；
Initial expectation acceleration 1 is input in outer shroud iteration controller 2, is converted into outer shroud acceleration command input 3
Inner ring iteration controller 4 is inputed to, inputting 5 excited vibration platforms 6 by inner ring displacement command vibrates, the acceleration of vibration table surface
Feed back to inner ring iteration controller 4 by table top acceleration responsive output 9 and store, establish displacement command and be input to table top and add
Transmission function between speed output, in interior ring iterative controller 4, by inner ring displacement command input 5, table top acceleration responsive
Output 9, it is expected that acceleration forms new inner ring displacement command through computing iteration, such iterative cycles, formed and accelerated based on table top
Spend the interior iterative system of feedback；Shake table 6 drives loading frame 7 under the driving of displacement command and is fixed on loading frame
The non-structural elements such as furred ceiling, pipeline on 7 vibrate together, form shake table loading system；By being arranged on loading frame 7
Flooring acceleration transducer 8, flooring acceleration responsive output 10 is fed back into outer shroud iteration controller 2 and stored, establishes and adds
Speed command be input to flooring acceleration output between transmission function, in outer ring iterative controller 2, by expectation acceleration 1,
Flooring acceleration responsive output 10 forms new outer shroud acceleration command through computing iteration, inputs to inner ring iteration system, so
Iterative cycles, form the outer iterative system based on flooring accelerator feedback；In the iterative process of whole system, work as expectation
When acceleration 1 and flooring acceleration responsive output 10 are input to outer shroud iteration controller 2, iteration mistake can be modified inside it
Journey, its idiographic flow are：Control store-memory 11 can store to the signal of input, then be inputted with acceleration commandu k
(t) 12 excitation controlled devices 13, it is produced acceleration responsive outputy k (t) 14；Acceleration command is asked to input simultaneouslyu k (t)
12 auto-correlation functionR xx 15, to auto-correlation functionR xx 15 carry out Fourier transformationFFT16, then obtain acceleration command
Inputu k (t) 12 auto-power spectrumG xx (f) 17；Acceleration command is asked to input simultaneouslyu k (t) 12 with acceleration responsive exporty k
(t) 14 cross-correlation functionR xy 18, to cross-correlation functionR xy 18 carry out Fourier transformationFFT16, obtain acceleration command
Inputu k (t) 12 with acceleration responsive exportyk(t) 14 crosspower spectrumG xy (f) 19；Use crosspower spectrumG xy (f) 19 than it is upper from
Power spectrumG xx (f) 17 transmission function 20 is sought, then output-transfer function 21；It is expected to store the phase in acceleration memory 22
Hope accelerationy d (t) 23, it would be desirable to accelerationy d (t) 23 with acceleration responsive exporty k (t) 14 make the difference and try to achieve response difference
24, Fourier transformation then is carried out to itFFT16, the fourier spectrum 25 for the difference that meets with a response, the fourier spectrum 25 of difference will be responded
With transmission function 21 be business try to achieve input difference fourier spectrum 26, anti-Fourier transform is carried out to itIFFT27 obtain in time domain
Input difference 28, then can try to achieve new acceleration input order 29, then input to controlled device 13, such iteration is followed
Ring, the amendment iteration formed inside outer shroud iteration controller 2；In the iterative process of whole system, when outer shroud acceleration command
When input 3 and table top acceleration responsive output 9 are input to inner ring iteration controller 4, iterative process can be modified inside it,
Its idiographic flow is：Control store-memory 11 can store to the signal of input, then be inputted with acceleration commandu k (t)
12 excitation controlled devices 13, make it produce dynamic respond outputy k (t) 30；Acceleration command is asked to input simultaneouslyu k (t) 12 from
Correlation functionR xx 15, to auto-correlation functionR xx 15 carry out Fourier transformationFFT16, then obtain acceleration command inputu k
(t) 12 auto-power spectrumG xx (f) 17；Acceleration command is asked to input simultaneouslyu k (t) 12 with dynamic respond exporty k (t) 30
Cross-correlation functionR xy 31, to cross-correlation functionR xy 31 carry out Fourier transformationFFT16, obtain acceleration command inputu k (t)
12 export with dynamic respondy k (t) 30 crosspower spectrumG xy (f) 32；Use crosspower spectrumG xy (f) 32 than upper auto-power spectrumG xx
(f) 17 transmission function 33 is sought, then output-transfer function 34；It is expected to store expectation displacement in movement stack 35y d (t)
36, it would be desirable to displacementy d (t) 36 with dynamic respond exporty k (t) 30 make the difference try to achieve response difference 37, Fu then is carried out to it
In leaf transformationFFT16, the fourier spectrum 38 for the difference that meets with a response, the fourier spectrum 38 for responding difference is done into business with transmission function 34
The fourier spectrum 39 of input difference is tried to achieve, anti-Fourier transform is carried out to itIFFT27 obtain the input difference 40 in time domain, then
New acceleration input order 41 can be tried to achieve, then inputs to controlled device 13, such iterative cycles, ring iterative control in formation
Amendment iteration inside device 4 processed；When the such iterative cycles of whole system, the shake table offline iteration based on flooring response spectra is formed
Control method, this method have the advantages that double-closed-loop control, can correct transmission function, can improve Waveform reproduction precision, can be with
The flooring response spectra of non-structural element is effectively solved the problems, such as with it is expected that flooring spectrum uniformity is poor, Waveform reproduction precision is relatively low.
The interior iterative subsystem based on table top accelerator feedback is ordered by inner ring iteration controller 4, inner ring displacement
Order input 5, shake table 6, table top acceleration responsive output 9 are formed, and wherein inner ring iteration controller 4 is served as by computer, vibration
Platform 6 is served as by the shake table equipment of laboratory, and inner ring displacement command input 5 and table top acceleration responsive output 9 are order input
With output element, it would be desirable to which acceleration 1 is input in outer shroud iteration controller 2, is converted into outer shroud acceleration command input 3
Inner ring iteration controller 4 is inputed to, inputting 5 excited vibration platforms 6 by inner ring displacement command vibrates, the acceleration of vibration table surface
Feed back to inner ring iteration controller 4 by table top acceleration responsive output 9 and store, establish displacement command and be input to table top and add
Transmission function between speed output, inner ring displacement command is then inputted into 5, table top acceleration responsive output 9, it is expected acceleration
New inner ring displacement command excited vibration platform 6 is formed through computing iteration.
Described shake table loading subsystem is made up of shake table 6, loading frame 7, and wherein steel framework can be selected in loading frame 7
Frame or reinforced concrete frame, then the non-structural element to be studied is fixed on loading frame 7, shake table 6 is in displacement
The non-structural element such as loading frame 7 and the furred ceiling being fixed on loading frame 7, pipeline is driven to vibrate together under the driving of order,
The flooring response spectra of non-structural element is reproduced on loading frame 7.
The described outer iterative subsystem based on flooring accelerator feedback is accelerated by outer shroud iteration controller 2, outer shroud
Order of dragging out a miserable existence inputs 3, inner ring iteration controller 4, inner ring displacement command input 5, shake table 6, loading frame 7, flooring acceleration biography
Sensor 8, flooring acceleration responsive output 10 are formed, and wherein outer shroud iteration controller 2, inner ring iteration controller 4 are filled by computer
When flooring acceleration transducer 8 can be served as by the acceleration transducer of precision, outer shroud acceleration command input 3, inner ring displacement life
Order input 5, flooring acceleration responsive output 10 are order input and output element, pass through the flooring being arranged on loading frame 7
Acceleration transducer 8, the flooring acceleration responsive output 10 of loading frame 7 is fed back into outer shroud iteration controller 2 and stored,
The transmission function that acceleration command is input between the output of flooring acceleration is established, in outer ring iterative controller 2, by it is expected to add
Speed 1, flooring acceleration responsive output 10 form new outer shroud acceleration command through computing iteration, input to interior ring iterative system
System.
The described inside of outer shroud iteration controller 2 amendment iterative process is inputted by control store-memory 11, acceleration commandu k (t) 12, controlled device 13, acceleration responsive outputy k (t) 14, acceleration command inputu k (t) auto-correlation functionR xx
15th, Fourier transformationFFT16th, acceleration command inputsu k (t) auto-power spectrumG xx (f) 17, acceleration command inputu k
(t) exported with acceleration responsivey k (t) cross-correlation functionR xy 18th, acceleration command inputsu k (t) defeated with acceleration responsive
Go outy k (t) crosspower spectrumG xy (f) 19, ask transmission function 20, output-transfer function 21, it is expected acceleration memory 22,
It is expected accelerationy d (t) 23, response difference 24, respond difference fourier spectrum 25, input difference fourier spectrum 26, anti-fourier
Convert IFFT 27, the input difference 28 in time domain, thek+1Walk acceleration command input 29 to form, control the meeting of store-memory 11
The signal of input is stored, then inputted with acceleration commandu k (t) 12 excitation controlled devices 13, it is produced acceleration
Degree response outputy k (t) 14；Acceleration command is asked to input simultaneouslyu k (t) 12 auto-correlation functionR xx 15, to auto-correlation functionR xx 15 carry out Fourier transformationFFT16, then obtain acceleration command inputu k (t) 12 auto-power spectrumG xx (f) 17；Together
When ask acceleration command to inputu k (t) 12 with acceleration responsive exporty k (t) 14 cross-correlation functionR xy 18, to cross-correlation
FunctionR xy 18 carry out Fourier transformationFFT16, obtain acceleration command inputu k (t) 12 with acceleration responsive exportyk(t)
14 crosspower spectrumG xy (f) 19；Use crosspower spectrumG xy (f) 19 than upper auto-power spectrumG xx (f) 17 transmission function 20 is sought, so
Output-transfer function 21 afterwards；It is expected to store expectation acceleration in acceleration memory 22y d (t) 23, it would be desirable to accelerationy d
(t) 23 with acceleration responsive exporty k (t) 14 make the difference try to achieve response difference 24, Fourier transformation then is carried out to itFFT
16, the fourier spectrum 25 for the difference that meets with a response, the fourier spectrum 25 for responding difference is done into business with transmission function 21 and tries to achieve input difference
Fourier spectrum 26, anti-Fourier transform is carried out to itIFFT27 obtain the input difference 28 in time domain, then can try to achieve new
Acceleration input order 29, then input to controlled device 13.
The described inside of inner ring iteration controller 4 amendment iterative process is inputted by control store-memory 11, acceleration commandu k (t) 12, controlled device 13, dynamic respond outputy k (t) 30, acceleration command inputu k (t) auto-correlation functionR xx 15、
Fourier transformationFFT16th, acceleration command inputsu k (t) auto-power spectrumG xx (f) 17, acceleration command inputu k (t) with
Dynamic respond exportsy k (t) cross-correlation functionR xy 31st, acceleration command inputsu k (t) exported with dynamic respondy k (t) it is mutual
Power spectrumG xy (f) 32, ask transmission function 33, output-transfer function 34, it is expected movement stack 35, it is expected displacementy d (t)
36th, difference 37 is responded, the fourier spectrum 38 of difference is responded, inputs fourier spectrum 39, anti-Fourier transform IFFT 27, the time domain of difference
Interior input difference 40,k+1Walk acceleration command input 41 to form, control store-memory 11 can be carried out the signal of input
Storage, is then inputted with acceleration commandu k (t) 12 excitation controlled devices 13, it is produced dynamic respond outputy k (t) 30；
Acceleration command is asked to input simultaneouslyu k (t) 12 auto-correlation functionR xx 15, to auto-correlation functionR xx 15 carry out Fourier transformationFFT16, then obtain acceleration command inputu k (t) 12 auto-power spectrumG xx (f) 17；Acceleration command is asked to input simultaneouslyu k (t) 12 with dynamic respond exporty k (t) 30 cross-correlation functionR xy 31, to cross-correlation functionR xy 31 carry out Fourier's change
ChangeFFT16, obtain acceleration command inputu k (t) 12 with dynamic respond exporty k (t) 30 crosspower spectrumG xy (f) 32；With
Crosspower spectrumG xy (f) 32 than upper auto-power spectrumG xx (f) 17 transmission function 33 is sought, then output-transfer function 34；It is expected position
Move in memory 35 and store expectation displacementy d (t) 36, it would be desirable to displacementy d (t) 36 with dynamic respond exporty k (t) 30 do
Difference tries to achieve response difference 37, then carries out Fourier transformation to itFFT16, the fourier spectrum 38 for the difference that meets with a response, it will respond
Fourier spectrum 38 and the transmission function 34 of difference do the fourier spectrum 39 that business tries to achieve input difference, and anti-Fourier transform is carried out to itIFFT27 obtain the input difference 40 in time domain, then can try to achieve new acceleration input order 41, then input to controlled
Object 13.
Above is the exemplary embodiments of the present invention, implementation not limited to this of the invention.
The shake table offline iteration control method based on flooring response spectra of the present invention, by outer shroud iteration controller, inner ring
Iteration controller, the interior iterative subsystem based on table top accelerator feedback, the outer closed loop based on flooring accelerator feedback change
Formed for subsystem, shake table loading subsystem.The system has double-closed-loop control, can correct transmission function, can improve waveform
Playback accuracy the advantages that, can effectively solve the flooring response spectra of non-structural element with it is expected that flooring spectrum uniformity is poor, ripple
The problem of shape playback accuracy is relatively low.
Brief description of the drawings
Fig. 1 is the outside schematic flow sheet of shake table offline iteration control based on flooring response spectra.
Fig. 2 is the inside amendment iterative process schematic diagram of outer shroud iteration controller.
Fig. 3 is the inside amendment iterative process schematic diagram of inner ring iteration controller.
Fig. 4 is the shake table offline iteration control method overall flow schematic diagram based on flooring response spectra.
In figure：1- expectations acceleration, 2- outer shrouds iteration controller, 3- outer shrouds acceleration command input, ring iterative control in 4-
Device processed, the input of 5- inner ring displacement command, 6- vibration table surfaces, 7- loading frames, 8- floorings acceleration transducer, 9- table tops accelerate
Degree response output, the output of 10- floorings acceleration responsive, 11- controls store-memory, the input of 12- acceleration commandsu k (t), 13- quilts
Control object, the output of 14- acceleration responsivesy k (t), 15- acceleration commands inputu k (t) auto-correlation functionR xx , 16- Fourier
ConversionFFT, 17- acceleration commands inputu k (t) auto-power spectrumG xx (f), 18- acceleration commands inputu k (t) and acceleration
Response outputy k (t) cross-correlation functionR xy , 19- acceleration commands inputu k (t) exported with acceleration responsivey k (t) mutual work(
Rate is composedG xy (f), 20- ask transmission function, 21- output-transfer functions, 22- it is expected that acceleration memory, 23- it is expected accelerationy d
(t), 24- response difference, 25- response difference fourier spectrum, 26- input difference fourier spectrum, the anti-Fourier transforms of 27-IFFT、
Input difference, 29- in 28- time domainsk+1Walk acceleration command input, the output of 30- dynamic respondsy k (t), 31- acceleration
Order inputu k (t) exported with dynamic respondy k (t) cross-correlation functionR xy , 32- acceleration commands inputu k (t) rung with displacement
It should exporty k (t) crosspower spectrumG xy (f), 33- ask transmission function, 34- output-transfer functions, 35- it is expected movement stack,
36- it is expected displacementy d (t), 37- response difference, 38- response difference fourier spectrum, 39- input difference fourier spectrum, 40- time domains
Interior input difference, 41-k+1Walk acceleration command input.
Embodiment
With reference to specific embodiment, the present invention will be further described：
As shown in figure 1, the shake table offline iteration control system based on flooring response spectra of the present invention, including outer shroud iteration control
It is device, inner ring iteration controller, the interior iterative subsystem based on table top accelerator feedback, outer based on flooring accelerator feedback
Iterative subsystem, shake table loading subsystem.Wherein, the interior iterative subsystem based on table top accelerator feedback is by interior
Ring iterative controller 4, inner ring displacement command input 5, shake table 6, table top acceleration responsive output 9 are formed；Accelerated based on flooring
The outer iterative subsystem of feedback is spent by outer shroud iteration controller 2, outer shroud acceleration command input 3, inner ring iteration controller
4th, inner ring displacement command input 5, shake table 6, loading frame 7, flooring acceleration transducer 8, flooring acceleration responsive output 10
Form；Shake table loading subsystem is made up of shake table 6, loading frame 7；The inside amendment iteration stream of outer shroud iteration controller 2
Journey is inputted by control store-memory 11, acceleration commandu k (t) 12, controlled device 13, acceleration responsive outputy k (t) 14, plus
Speed command inputsu k (t) auto-correlation functionR xx 15th, Fourier transformationFFT16th, acceleration command inputsu k (t) from
Power spectrumG xx (f) 17, acceleration command inputu k (t) exported with acceleration responsivey k (t) cross-correlation functionR xy 18th, add
Speed command inputsu k (t) exported with acceleration responsivey k (t) crosspower spectrumG xy (f) 19, ask transmission function 20, output
Transmission function 21, it is expected acceleration memory 22, it is expected accelerationy d (t) 23, response difference 24, respond difference fourier
Spectrum 25, the fourier spectrum 26 for inputting difference, anti-Fourier transform IFFT 27, the input difference 28 in time domain, thek+1Walk acceleration
Order input 29 is formed；Iterative process is corrected by control store-memory 11, acceleration command in the inside of inner ring iteration controller 4
Inputu k (t) 12, controlled device 13, dynamic respond outputy k (t) 30, acceleration command inputu k (t) auto-correlation functionR xx
15th, Fourier transformationFFT16th, acceleration command inputsu k (t) auto-power spectrumG xx (f) 17, acceleration command inputu k
(t) exported with dynamic respondy k (t) cross-correlation functionR xy 31st, acceleration command inputsu k (t) exported with dynamic respondy k
(t) crosspower spectrumG xy (f) 32, ask transmission function 33, output-transfer function 34, it is expected movement stack 35, it is expected position
Movey d (t) 36, response difference 37, respond difference fourier spectrum 38, input difference fourier spectrum 39, anti-Fourier transform IFFT
27th, the input difference 40 in time domain,k+1Acceleration command input 41 is walked to form.It is characterized in that：When the expectation He of acceleration 1
When flooring acceleration responsive output 10 is input to outer shroud iteration controller 2, iterative process can be modified inside it：Control is deposited
Storage memory 11 can store to the signal of input, then be inputted with acceleration commandu k (t) 12 excitation controlled devices 13, make
It produces acceleration responsive outputy k (t) 14；Acceleration command is asked to input simultaneouslyu k (t) 12 auto-correlation functionR xx 15, it is right
Auto-correlation functionR xx 15 carry out Fourier transformationFFT16, then obtain acceleration command inputu k (t) 12 auto-power spectrumG xx
(f) 17；Acceleration command is asked to input simultaneouslyu k (t) 12 with acceleration responsive exporty k (t) 14 cross-correlation functionR xy 18,
To cross-correlation functionR xy 18 carry out Fourier transformationFFT16, obtain acceleration command inputu k (t) 12 defeated with acceleration responsive
Go outyk(t) 14 crosspower spectrumG xy (f) 19；Use crosspower spectrumG xy (f) 19 than upper auto-power spectrumG xx (f) 17 seek transmission function
20, then output-transfer function 21；It is expected to store expectation acceleration in acceleration memory 22y d (t) 23, it would be desirable to add
Speedy d (t) 23 with acceleration responsive exporty k (t) 14 make the difference try to achieve response difference 24, Fourier transformation then is carried out to itFFT16, the fourier spectrum 25 for the difference that meets with a response, the fourier spectrum 25 for responding difference is done into business with transmission function 21 and tries to achieve input
The fourier spectrum 26 of difference, anti-Fourier transform is carried out to itIFFT27 obtain the input difference 28 in time domain, then can try to achieve
New acceleration input order 29, then inputs to inner ring iteration controller 4 as outer shroud acceleration command input 3；Work as outer shroud
When acceleration command input 3 and table top acceleration responsive output 9 are input to inner ring iteration controller 4, it can be repaiied inside it
Positive iterative process：Control store-memory 11 can store to the signal of input, then be inputted with acceleration commandu k (t) 12
Controlled device 13 is encouraged, it is produced dynamic respond outputy k (t) 30；Acceleration command is asked to input simultaneouslyu k (t) 12 from phase
Close functionR xx 15, to auto-correlation functionR xx 15 carry out Fourier transformationFFT16, then obtain acceleration command inputu k (t)
12 auto-power spectrumG xx (f) 17；Acceleration command is asked to input simultaneouslyu k (t) 12 with dynamic respond exporty k (t) 30 it is mutual
Close functionR xy 31, to cross-correlation functionR xy 31 carry out Fourier transformationFFT16, obtain acceleration command inputu k (t) 12 with
Dynamic respond exportsy k (t) 30 crosspower spectrumG xy (f) 32；Use crosspower spectrumG xy (f) 32 than upper auto-power spectrumG xx (f)
17 seek transmission function 33, then output-transfer function 34；It is expected to store expectation displacement in movement stack 35y d (t) 36,
Displacement will it is expectedy d (t) 36 with dynamic respond exporty k (t) 30 make the difference try to achieve response difference 37, Fourier then is carried out to it
ConversionFFT16, the fourier spectrum 38 for the difference that meets with a response, the fourier spectrum 38 for responding difference is done into business with transmission function 34 and tried to achieve
The fourier spectrum 39 of difference is inputted, anti-Fourier transform is carried out to itIFFT27 obtain the input difference 40 in time domain, then
New acceleration input order 41 is tried to achieve, inputting 5 excited vibration platforms 6 as inner ring displacement command vibrates, and vibration table surface adds
Speed feeds back to inner ring iteration controller 4 by table top acceleration responsive output 9 and stored；Shake table 6 is in displacement command
Driving is lower to drive the non-structural element such as loading frame 7 and the furred ceiling being fixed on loading frame 7, pipeline to vibrate together, passes through cloth
The flooring acceleration transducer 8 on loading frame 7 is put, the flooring acceleration responsive output 10 of loading frame 7 is fed back to outer
Ring iterative controller 2 stores；When the such iterative cycles of whole system, form the shake table based on flooring response spectra and change offline
For control system, the system has the advantages that double-closed-loop control, can correct transmission function, can improve Waveform reproduction precision, can
Asked with effectively solving the flooring response spectra of non-structural element with it is expected that flooring spectrum uniformity is poor, Waveform reproduction precision is relatively low
Topic.
Above is the exemplary embodiments of the present invention, implementation not limited to this of the invention.
Claims (4)
1. the shake table offline iteration control method based on flooring response spectra, it is characterised in that：This method includes outer ring iterative control
Device processed, inner ring iteration controller, the interior iterative subsystem based on table top accelerator feedback, based on flooring accelerator feedback
Outer iterative subsystem, shake table loading subsystem；Wherein, the interior iterative subsystem based on table top accelerator feedback by
Inner ring iteration controller（4）, inner ring displacement command input（5）, shake table（6）, table top acceleration responsive output（9）Form；Base
In flooring accelerator feedback outer iterative subsystem by outer shroud iteration controller（2）, outer shroud acceleration command input（3）、
Inner ring iteration controller（4）, inner ring displacement command input（5）, shake table（6）, loading frame（7）, flooring acceleration transducer
（8）, flooring acceleration responsive output（10）Form；
Shake table loads subsystem by shake table（6）, loading frame（7）Form；
Amendment iterative process inside outer shroud iteration controller is by control store-memory（11）, acceleration command inputu k (t)
（12）, controlled device（13）, acceleration responsive outputy k (t) （14）, acceleration command inputu k (t) auto-correlation functionR xx
（15）, Fourier transformationFFT（16）, acceleration command inputu k (t) auto-power spectrumG xx (f) （17）, acceleration command
Inputu k (t) exported with acceleration responsivey k (t) cross-correlation functionR xy （18）, acceleration command inputu k (t) and acceleration
Response outputy k (t) crosspower spectrumG xy (f) （19）, seek transmission function（20）, output-transfer function（21）, it is expected accelerate
Spend memory（22）, it is expected accelerationy d (t) （23）, response difference（24）, response difference fourier spectrum（25）, input it is poor
The fourier spectrum of value（26）, anti-Fourier transform IFFT（27）, input difference in time domain（28）,k+1It is defeated to walk acceleration command
Enter（29）Form；
Amendment iterative process inside inner ring iteration controller is by control store-memory（11）, acceleration command inputu k (t)
（12）, controlled device（13）, dynamic respond outputy k (t) （30）, acceleration command inputu k (t) auto-correlation functionR xx
（15）, Fourier transformationFFT（16）, acceleration command inputu k (t) auto-power spectrumG xx (f) （17）, acceleration command
Inputu k (t) exported with dynamic respondy k (t) cross-correlation functionR xy （31）, acceleration command inputu k (t) and dynamic respond
Outputy k (t) crosspower spectrumG xy (f) （32）, seek transmission function（33）, output-transfer function（34）, it is expected displacement storage
Device（35）, it is expected displacementy d (t) （36）, response difference（37）, response difference fourier spectrum（38）, input difference fourier
Spectrum（39）, anti-Fourier transform IFFT（27）, input difference in time domain（40）,k+1Walk acceleration command input（41）Structure
Into；By initial expectation acceleration（1）It is input to outer shroud iteration controller（2）In, it is defeated to be converted into outer shroud acceleration command
Enter（3）Input to inner ring iteration controller（4）, inputted by inner ring displacement command（5）Excited vibration platform（6）Vibration, shake table
The acceleration of table top is exported by table top acceleration responsive（9）Feed back to inner ring iteration controller（4）Store, establish displacement
Order is input to the transmission function between the output of table top acceleration, in interior ring iterative controller（4）In, it is defeated by inner ring displacement command
Enter（5）, table top acceleration responsive output（9）, it is expected acceleration new inner ring displacement command, such iteration are formed through computing iteration
Circulation, forms the interior iterative system based on table top accelerator feedback；Shake table（6）Drive and add under the driving of displacement command
Carry framework（7）Be fixed on loading frame（7）On furred ceiling, the non-structural element such as pipeline vibrate together, form shake table loading
System；By being arranged in loading frame（7）On flooring acceleration transducer（8）, by loading frame（7）Flooring acceleration ring
It should export（10）Feed back to outer shroud iteration controller（2）Store, establish acceleration command and be input to the output of flooring acceleration
Between transmission function, in outer ring iterative controller（2）In, by expectation acceleration（1）, flooring acceleration responsive output（10）、
It is expected that acceleration forms new outer shroud acceleration command through computing iteration, input to inner ring iteration system, such iterative cycles, shape
Into the outer iterative system based on flooring accelerator feedback；In the iterative process of whole system, when expectation acceleration（1）With
Flooring acceleration responsive exports（9）It is input to outer shroud iteration controller（2）When, iterative process can be modified inside it, its
Idiographic flow is：Control store-memory（11）The signal of input can be stored, then be inputted with acceleration commandu k (t)
（12）Encourage controlled device（13）, it is produced acceleration responsive outputy k (t) （14）；Acceleration command is asked to input simultaneouslyu k
(t) （12）Auto-correlation functionR xx （15）, to auto-correlation functionR xx （15）Carry out Fourier transformationFFT（16）, then
Inputted to acceleration commandu k (t) （12）Auto-power spectrumG xx (f) （17）；Acceleration command is asked to input simultaneouslyu k (t) （12）
Exported with acceleration responsivey k (t) （14）Cross-correlation functionR xy （18）, to cross-correlation functionR xy （18）Carry out Fourier's change
ChangeFFT（16）, obtain acceleration command inputu k (t)（12）Exported with acceleration responsiveyk(t)（14）Crosspower spectrumG xy
(f) （19）；Use crosspower spectrumG xy (f) （19）Than upper auto-power spectrumG xx (f) （17）Seek transmission function（20）, then export
Transmission function（21）；It is expected acceleration memory（22）In store expectation accelerationy d (t) （23）, it would be desirable to accelerationy d
(t) （23）Exported with acceleration responsivey k (t) （14）Make the difference and try to achieve response difference（24）, Fourier's change then is carried out to it
ChangeFFT（16）, the fourier spectrum for the difference that meets with a response（25）, the fourier for responding difference is composed（25）With transmission function（21）Do
Business tries to achieve the fourier spectrum of input difference（26）, anti-Fourier transform is carried out to itIFFT（27）Obtain the input difference in time domain
（28）, then can try to achieve new acceleration input order（29）, then input to controlled device（13）, such iterative cycles, shape
Into outer shroud iteration controller（2）Internal amendment iteration；Inner ring iteration controller（4）Internal amendment iterative process is deposited by controlling
Storage memory（11）The signal of input can be stored, then be inputted with acceleration commandu k (t) （12）Encourage controlled device
（13）, it is produced dynamic respond outputy k (t) （30）；Acceleration command is asked to input simultaneouslyu k (t) （12）Auto-correlation functionR xx （15）, to auto-correlation functionR xx （15）Carry out Fourier transformationFFT（16）, then obtain acceleration command inputu k (t)
（12）Auto-power spectrumG xx (f) （17）；Acceleration command is asked to input simultaneouslyu k (t) （12）Exported with dynamic respondy k (t)
（30）Cross-correlation functionR xy （31）, to cross-correlation functionR xy （31）Carry out Fourier transformationFFT（16）, obtain acceleration
Order inputu k (t)（12）Exported with dynamic respondy k (t) （30）Crosspower spectrumG xy (f) （32）；Use crosspower spectrumG xy (f)
（32）Than upper auto-power spectrumG xx (f) （17）Seek transmission function（33）, then output-transfer function（34）；It is expected that displacement stores
Device（35）In store expectation displacementy d (t) （36）, it would be desirable to displacementy d (t) （36）Exported with dynamic respondy k (t) （30）
Make the difference and try to achieve response difference（37）, Fourier transformation then is carried out to itFFT（16）, the fourier spectrum for the difference that meets with a response
（38）, the fourier for responding difference is composed（38）With transmission function（34）Do the fourier spectrum that business tries to achieve input difference（39）, to it
Carry out anti-Fourier transformIFFT（27）Obtain the input difference in time domain（40）, then can try to achieve new acceleration input life
Order（41）, then input to controlled device（13）, form inner ring iteration controller（4）Internal amendment iteration；When whole system such as
This iterative cycles, form the shake table offline iteration control method based on flooring response spectra.
2. the shake table offline iteration control method according to claim 1 based on flooring response spectra, it is characterised in that：Institute
The outer iterative subsystem based on flooring accelerator feedback stated is by outer shroud iteration controller（2）, outer shroud acceleration command it is defeated
Enter（3）, inner ring iteration controller（4）, inner ring displacement command input（5）, shake table（6）, loading frame（7）, flooring acceleration
Sensor（8）, flooring acceleration responsive output（10）Form, wherein outer shroud iteration controller（2）, inner ring iteration controller（4）
Served as by computer, flooring acceleration transducer（8）It can be served as by the acceleration transducer of precision, the input of outer shroud acceleration command
（3）, inner ring displacement command input（5）, flooring acceleration responsive output（10）To order input and output element, by being arranged in
Loading frame（7）On flooring acceleration transducer（8）, by loading frame（7）Flooring acceleration responsive output（10）Feedback
Give outer shroud iteration controller（2）Store, establish the transmission function that acceleration command is input between the output of flooring acceleration,
In outer ring iterative controller（2）In, by expectation acceleration（1）, flooring acceleration responsive output（10）Formed newly through computing iteration
Outer shroud acceleration command, input to inner ring iteration system.
3. the shake table offline iteration control system according to claim 1 based on flooring response spectra, it is characterised in that：Institute
The outer shroud iteration controller stated（2）Inside amendment iterative process is by control store-memory（11）, acceleration command inputu k (t)
（12）, controlled device（13）, acceleration responsive outputy k (t) （14）, acceleration command inputu k (t) auto-correlation functionR xx
（15）, Fourier transformationFFT（16）, acceleration command inputu k (t) auto-power spectrumG xx (f) （17）, acceleration command
Inputu k (t) exported with acceleration responsivey k (t) cross-correlation functionR xy （18）, acceleration command inputu k (t) and acceleration
Response outputy k (t) crosspower spectrumG xy (f) （19）, seek transmission function（20）, output-transfer function（21）, it is expected accelerate
Spend memory（22）, it is expected accelerationy d (t) （23）, response difference（24）, response difference fourier spectrum（25）, input it is poor
The fourier spectrum of value（26）, anti-Fourier transform IFFT（27）, input difference in time domain（28）,k+1It is defeated to walk acceleration command
Enter（29）Form；Control store-memory（11）The signal of input can be stored, then be inputted with acceleration commandu k (t)
（12）Encourage controlled device（13）, it is produced acceleration responsive outputy k (t) （14）；Acceleration command is asked to input simultaneouslyu k
(t) （12）Auto-correlation functionR xx （15）, to auto-correlation functionR xx （15）Carry out Fourier transformationFFT（16）, then
Inputted to acceleration commandu k (t) （12）Auto-power spectrumG xx (f) （17）；Acceleration command is asked to input simultaneouslyu k (t) （12）
Exported with acceleration responsivey k (t) （14）Cross-correlation functionR xy （18）, to cross-correlation functionR xy （18）Carry out Fourier's change
ChangeFFT（16）, obtain acceleration command inputu k (t)（12）Exported with acceleration responsiveyk(t)（14）Crosspower spectrumG xy
(f) （19）；Use crosspower spectrumG xy (f) （19）Than upper auto-power spectrumG xx (f) （17）Seek transmission function（20）, then export
Transmission function（21）；It is expected acceleration memory（22）In store expectation accelerationy d (t) （23）, it would be desirable to accelerationy d
(t) （23）Exported with acceleration responsivey k (t) （14）Make the difference and try to achieve response difference（24）, Fourier's change then is carried out to it
ChangeFFT（16）, the fourier spectrum for the difference that meets with a response（25）, the fourier for responding difference is composed（25）With transmission function（21）Do
Business tries to achieve the fourier spectrum of input difference（26）, anti-Fourier transform is carried out to itIFFT（27）Obtain the input difference in time domain
（28）, then can try to achieve new acceleration input order（29）, then input to controlled device（13）, form outer ring iterative control
Device processed（2）Internal amendment iteration.
4. the shake table offline iteration control system according to claim 1 based on flooring response spectra, it is characterised in that：Institute
The inner ring iteration controller stated（4）Inside amendment iterative process is by control store-memory（11）, acceleration command inputu k (t)
（12）, controlled device（13）, dynamic respond outputy k (t) （30）, acceleration command inputu k (t) auto-correlation functionR xx
（15）, Fourier transformationFFT（16）, acceleration command inputu k (t) auto-power spectrumG xx (f) （17）, acceleration command
Inputu k (t) exported with dynamic respondy k (t) cross-correlation functionR xy （31）, acceleration command inputu k (t) and dynamic respond
Outputy k (t) crosspower spectrumG xy (f) （32）, seek transmission function（33）, output-transfer function（34）, it is expected displacement storage
Device（35）, it is expected displacementy d (t) （36）, response difference（37）, response difference fourier spectrum（38）, input difference fourier
Spectrum（39）, anti-Fourier transform IFFT（27）, input difference in time domain（40）,k+1Walk acceleration command input（41）Structure
Into；Control store-memory（11）The signal of input can be stored, then be inputted with acceleration commandu k (t) （12）Excitation
Controlled device（13）, it is produced dynamic respond outputy k (t) （30）；Acceleration command is asked to input simultaneouslyu k (t) （12）From
Correlation functionR xx （15）, to auto-correlation functionR xx （15）Carry out Fourier transformationFFT（16）, then obtain acceleration command
Inputu k (t) （12）Auto-power spectrumG xx (f) （17）；Acceleration command is asked to input simultaneouslyu k (t) （12）It is defeated with dynamic respond
Go outy k (t) （30）Cross-correlation functionR xy （31）, to cross-correlation functionR xy （31）Carry out Fourier transformationFFT（16）, obtain
Inputted to acceleration commandu k (t)（12）Exported with dynamic respondy k (t) （30）Crosspower spectrumG xy (f) （32）；With mutual work(
Rate is composedG xy (f) （32）Than upper auto-power spectrumG xx (f) （17）Seek transmission function（33）, then output-transfer function（34）；Phase
Hope movement stack（35）In store expectation displacementy d (t) （36）, it would be desirable to displacementy d (t) （36）Exported with dynamic respondy k (t) （30）Make the difference and try to achieve response difference（37）, Fourier transformation then is carried out to itFFT（16）, meet with a response difference
Fourier is composed（38）, the fourier for responding difference is composed（38）With transmission function（34）Do the fourier spectrum that business tries to achieve input difference
（39）, anti-Fourier transform is carried out to itIFFT（27）Obtain the input difference in time domain（40）, then can try to achieve new add
Speed input order（41）, then input to controlled device（13）, form inner ring iteration controller（4）Internal amendment iteration.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711402108.3A CN107884150B (en) | 2017-12-22 | 2017-12-22 | Off-line iterative control method for vibrating table based on floor response spectrum |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711402108.3A CN107884150B (en) | 2017-12-22 | 2017-12-22 | Off-line iterative control method for vibrating table based on floor response spectrum |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107884150A true CN107884150A (en) | 2018-04-06 |
| CN107884150B CN107884150B (en) | 2023-10-03 |
Family
ID=61771227
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711402108.3A Active CN107884150B (en) | 2017-12-22 | 2017-12-22 | Off-line iterative control method for vibrating table based on floor response spectrum |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107884150B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108982036A (en) * | 2018-07-17 | 2018-12-11 | 浙江大学 | A kind of electric servo cylinder earthquake simulation shaking table control system |
| CN110031171A (en) * | 2019-04-30 | 2019-07-19 | 中国工程物理研究院总体工程研究所 | A kind of transmission diversity weighting control method of electric vibration table shock response spectrum test |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02184906A (en) * | 1989-01-12 | 1990-07-19 | I M V Kk | Device and method for controlling real-time waveform |
| WO1997011344A1 (en) * | 1995-09-18 | 1997-03-27 | Hitachi, Ltd. | Vibrating table system and control method therefor |
| JPH1019657A (en) * | 1996-07-02 | 1998-01-23 | Mitsubishi Heavy Ind Ltd | Exciting force estimating device |
| KR20130013683A (en) * | 2011-07-28 | 2013-02-06 | 한국지질자원연구원 | Earthquake sensor verification system using earthquake recorder and method |
| CN102944430A (en) * | 2012-11-28 | 2013-02-27 | 重庆理工大学 | Motorcycle frame actual running load spectrum fatigue reproduction test method |
| CN102944422A (en) * | 2012-12-13 | 2013-02-27 | 重庆理工大学 | Driving load fatigue representing and testing method for transmission system of automobile |
| CN102967458A (en) * | 2012-11-28 | 2013-03-13 | 重庆理工大学 | Three-freedom-degree vibration fatigue testing method for AMT (Automated Manual Transmission) execution mechanism |
| CN103398859A (en) * | 2013-08-19 | 2013-11-20 | 重庆理工大学 | Force-displacement hybrid control motorcycle frame fatigue test method |
| CN107449577A (en) * | 2017-06-14 | 2017-12-08 | 西安交通大学 | The electric vibration table reproducing method and vibration recurrence system of composite signal |
-
2017
- 2017-12-22 CN CN201711402108.3A patent/CN107884150B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02184906A (en) * | 1989-01-12 | 1990-07-19 | I M V Kk | Device and method for controlling real-time waveform |
| WO1997011344A1 (en) * | 1995-09-18 | 1997-03-27 | Hitachi, Ltd. | Vibrating table system and control method therefor |
| JPH1019657A (en) * | 1996-07-02 | 1998-01-23 | Mitsubishi Heavy Ind Ltd | Exciting force estimating device |
| KR20130013683A (en) * | 2011-07-28 | 2013-02-06 | 한국지질자원연구원 | Earthquake sensor verification system using earthquake recorder and method |
| CN102944430A (en) * | 2012-11-28 | 2013-02-27 | 重庆理工大学 | Motorcycle frame actual running load spectrum fatigue reproduction test method |
| CN102967458A (en) * | 2012-11-28 | 2013-03-13 | 重庆理工大学 | Three-freedom-degree vibration fatigue testing method for AMT (Automated Manual Transmission) execution mechanism |
| CN102944422A (en) * | 2012-12-13 | 2013-02-27 | 重庆理工大学 | Driving load fatigue representing and testing method for transmission system of automobile |
| CN103398859A (en) * | 2013-08-19 | 2013-11-20 | 重庆理工大学 | Force-displacement hybrid control motorcycle frame fatigue test method |
| CN107449577A (en) * | 2017-06-14 | 2017-12-08 | 西安交通大学 | The electric vibration table reproducing method and vibration recurrence system of composite signal |
Non-Patent Citations (7)
| Title |
|---|
| 刘一江等: "基于迭代控制的电液振动台控制系统", 《控制工程》 * |
| 刘一江等: "基于迭代控制的电液振动台控制系统", 《控制工程》, vol. 16, no. 05, 20 September 2009 (2009-09-20), pages 543 - 546 * |
| 宁西占 等: "基于内环 H∞ 控制的实时混合试验", 《振动与冲击》, vol. 36, no. 15, pages 57 - 63 * |
| 许国山等: "位移-加速度振动台迭代学习控制方法试验研究", 《振动工程学报》 * |
| 许国山等: "位移-加速度振动台迭代学习控制方法试验研究", 《振动工程学报》, vol. 30, no. 01, 28 February 2017 (2017-02-28), pages 103 - 108 * |
| 马立英等: "位移控制电液伺服振动台加速度谱再现研究", 《仪器仪表学报》 * |
| 马立英等: "位移控制电液伺服振动台加速度谱再现研究", 《仪器仪表学报》, vol. 34, no. 04, 15 April 2013 (2013-04-15), pages 889 - 894 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108982036A (en) * | 2018-07-17 | 2018-12-11 | 浙江大学 | A kind of electric servo cylinder earthquake simulation shaking table control system |
| CN108982036B (en) * | 2018-07-17 | 2020-04-24 | 浙江大学 | Electric servo cylinder earthquake simulation vibration table control system |
| CN110031171A (en) * | 2019-04-30 | 2019-07-19 | 中国工程物理研究院总体工程研究所 | A kind of transmission diversity weighting control method of electric vibration table shock response spectrum test |
| CN110031171B (en) * | 2019-04-30 | 2020-08-18 | 中国工程物理研究院总体工程研究所 | Weighting control method for electric vibration table impact response spectrum test |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107884150B (en) | 2023-10-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Zhang et al. | Network-based modelling and active control for offshore steel jacket platform with TMD mechanisms | |
| Kim et al. | Optimal structural control using neural networks | |
| Zhang et al. | Adaptive sway reduction for tower crane systems with varying cable lengths | |
| CN107884150A (en) | Shake table offline iteration control method based on flooring response spectra | |
| CN111366322A (en) | Hybrid test control system and test method based on hydraulic actuator | |
| Li et al. | Active simulation of transient wind field in a multiple-fan wind tunnel via deep reinforcement learning | |
| CN219573438U (en) | Building anti-seismic effect experimental equipment | |
| CN103941632A (en) | System and method for restraining stick-slip vibration of drill rod based on self adaptation method | |
| CN103888037A (en) | Construction method for inverse decoupling controller of extreme learning machine | |
| Zhang et al. | Cyber-physical structural optimization using real-time hybrid simulation | |
| Stavroulakis et al. | Robust active control against wind-induced structural vibrations | |
| CN109668704A (en) | A kind of separate type mixed test system and test method | |
| CN108254146A (en) | The improved shake table offline iteration control method based on flooring response spectra | |
| CN205941022U (en) | Universal loading test device of modular | |
| CN116954095A (en) | Joint simulation method, equipment and storage medium for active heave compensation system | |
| Tu et al. | An experimental study on semi-active seismic response control of a large-span building on top of ship lift towers | |
| Nigdeli et al. | Active tendons for seismic control of buildings | |
| Halperin et al. | Using constrained bilinear quadratic regulator for the optimal semi-active control problem | |
| CN115794644A (en) | Real-time hybrid test method based on single-test-piece restart multi-task loading | |
| Zhang et al. | Substructure hybrid testing of reinforced concrete shear wall structure using a domain overlapping technique | |
| Kolay et al. | Computational challenges in real-time hybrid simulation of tall buildings under multiple natural hazards | |
| Kojima et al. | Double and triple impulses for capturing critical elastic-plastic response properties and robustness of building structures under near-fault ground motions | |
| Guan et al. | Stability-based controller with uncertain parameters for cloud control system | |
| Zhang et al. | Artificial specimen damping for substructure real-time hybrid simulation | |
| Guo et al. | Seismic performance of building structures based on improved viscous damper seismic design |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |