CN108254146A - The improved shake table offline iteration control method based on flooring response spectra - Google Patents
The improved shake table offline iteration control method based on flooring response spectra Download PDFInfo
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- G—PHYSICS
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- 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
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Abstract
The improved shake table offline iteration control method based on flooring response spectra solves the problems, such as that flooring response spectra is with it is expected that flooring spectrum consistency is poor in non-structural element shaketalle test.It is expected that acceleration spectrum through outer loop process device, obtains it is expected Acceleration pulse and inputs to inner ring iteration controller, integrated to go to acquire inner ring displacement command excited vibration platform partially, drive loading frame and non-structural element vibrate；The flooring acceleration responsive that flooring acceleration transducer measures is fed back into inner ring iteration controller and is modified iteration, establishes the transfer function matrix it is expected between Acceleration pulse and flooring acceleration responsive, forms the acceleration command and displacement command of next step；The amendment iteration of inner ring iteration controller is to acquire transfer function matrix by the fourier spectrum of order input and response output, seek the difference of expectation and response output, and then order input difference and new input order are acquired, form the improved shake table offline iteration control method based on flooring response spectra.
Description
Technical field
The present invention relates to the improved shake table offline iteration control methods based on flooring response spectra, belong to earthquake-resistant structure examination
Test technical field.
Background technology
The earthquake zone distribution in China is more, is the one of the countries with the most serious ... that suffers 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 acts 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 requirement table top acceleration responsive is consistent with the earthquake ground motion acceleration inputted, however right
Non-structural element is usually fixed on loading frame by furred ceiling, pipeline when non-structural elements carry out shaketalle test research,
It asks and desired flooring response spectra is realized on frame.But due to the influence of structure self power characteristic, table top acceleration spectrum is with adding
Often there are larger differences for the flooring spectrum of load frame, this will make result of the test generate deviation.The present invention proposes a kind of improvement
The shake table offline iteration control method based on flooring response spectra, innovative point be by single closed-loop control to flooring accelerate
Degree vector is fed back, and is established the transfer function matrix between acceleration input and flooring accelerator feedback, is realized non-structural structure
The flooring spectrum excitation that part is subject to improves the precision that non-structural element flooring spectrum input waveform reproduces with it is expected that flooring spectrum is consistent.
Invention content
Single closed-loop control is based on the purpose of the present invention is to provide one kind, can feed back flooring vector acceleration QUOTE , establish and correct acceleration input flooring accelerator feedback between transmission function
Matrix QUOTE , can improve flooring spectrum input waveform playback accuracy offline iteration controlling party
Method, effectively to solve the flooring response spectra of non-structural element with it is expected that flooring spectrum consistency is poor, Waveform reproduction precision is relatively low
Problem.
The technical solution adopted by the present invention is as follows：
The improved shake table offline iteration control method based on flooring response spectra, this method include outer loop process subsystem, interior
Ring iterative controller, shake table loading subsystem, the interior ring iterative subsystem based on flooring accelerator feedback；
Wherein, outer loop process subsystem is made of expectation acceleration spectrum 1, outer loop process device 2, expectation Acceleration pulse 3；
Shake table loading subsystem is made of shake table 6, loading frame 7；
Interior ring iterative subsystem based on flooring accelerator feedback is by expectation Acceleration pulse 3, inner ring iteration controller 4, inner ring
Displacement command 5, shake table 6, loading frame 7, flooring acceleration transducer 8, flooring acceleration responsive 9 are formed；
Amendment iterative process inside inner ring iteration controller 4 is by control store-memory 10, input acceleration vector QUOTE 11st, it integrates, remove inclined link 12, input displacement vector QUOTE 13rd, controlled device 14, feedback flooring vector acceleration QUOTE 15th, input acceleration vector Ak(t) with feeding back flooring vector acceleration QUOTE Cross-correlation function Rxy16th, Fourier transformation FFT17, input acceleration vector Ak(t) add with feedback flooring
Velocity vector QUOTE Crosspower spectrum Gxy(f) 18, input acceleration vector Ak(t) auto-correlation letter
Number Rxx19th, input acceleration vector Ak(t) auto-power spectrum Gxx(f) 20, transfer function matrix QUOTE is sought 21st, output-transfer function matrix QUOTE 22nd, it is expected acceleration memory 23, it is expected vector acceleration Ad(t) 24, acceleration responsive difference
QUOTE 25th, Fu of acceleration responsive difference
Family name composes QUOTE 26th, the fourier spectrum QUOTE of acceleration input difference 27th, inversefouriertransform IFFT28, acceleration input difference QUOTE 29th,k+1The input acceleration vector QUOTE of step 30 are formed；
Initial expectation acceleration spectrum 1 is input in outer loop process device 2, is converted into and it is expected Acceleration pulse 3, is formed outer
Ring processing subsystem；It will it is expected that Acceleration pulse 3 inputs to inner ring iteration controller 4, by the integration of inner ring iteration controller 4
Inclined link is gone, inner ring displacement command 5 is inputed into shake table 6, shake table 6 drives loading under the driving of inner ring displacement command 5
The non-structural elements such as frame 7 and the furred ceiling, the pipeline that are fixed on loading frame 7 vibrate together, form shake table loading subsystem；
By the flooring acceleration transducer 8 being arranged on loading frame 7, flooring acceleration responsive 9 is fed back into inner ring iteration control
Device 4 stores, and in interior ring iterative controller 4, acceleration is established by expectation Acceleration pulse 3 and flooring acceleration responsive 9
Order is input to the transfer function matrix between the output of flooring acceleration, is corrected the acceleration command that iteration forms next step,
The integrated displacement command that inclined link is gone to obtain next step inputs to shake table 6, and such iterative cycles are formed and accelerated based on flooring
Spend the interior ring iterative subsystem of feedback；When expectation Acceleration pulse 3 and flooring acceleration responsive 9 are input to inner ring iteration controller
When 4, it can be modified iterative process inside it, idiographic flow is：Control store-memory 10 that can carry out the signal of input
Storage, then to input acceleration vector QUOTE 11, which carry out integration, goes inclined link
12, obtain input displacement vector QUOTE 13 excitation controlled devices 14, obtain anti-
Present flooring vector acceleration QUOTE 15, while seek input acceleration vector Ak(t)
With feeding back flooring vector acceleration QUOTE Cross-correlation function Rxy16, to cross-correlation function Rxy16 into
Row Fourier transformation FFT 17 then obtains input acceleration vector Ak(t) with feeding back flooring vector acceleration QUOTE Crosspower spectrum Gxy(f) 18, while seek input acceleration vector Ak(t) auto-correlation function Rxx19, it is right
Auto-correlation function Rxx19 carry out Fourier transformation FFT 17, then obtain input acceleration vector Ak(t) auto-power spectrum Gxx
(f) 20, with crosspower spectrum Gxy(f) 18 than upper auto-power spectrum Gxx(f) 20 transfer function matrix QUOTE is sought 21, then output-transfer function matrix
QUOTE 22, it is expected to store in acceleration memory 23 and it is expected vector acceleration Ad(t) 24,
It will it is expected vector acceleration Ad(t) 24 with feeding back flooring vector acceleration QUOTE 15 make the difference,
Acquire acceleration responsive difference QUOTE 25,
Then Fourier transformation FFT 17 is carried out to it, obtains the fourier spectrum QUOTE of acceleration responsive difference
26, the fourier for responding difference is composed into QUOTE 26 and transfer function matrix QUOTE 22 are the fourier spectrum QUOTE that quotient acquires acceleration input difference 27, it is defeated that the acceleration that inversefouriertransform IFFT 28 is obtained in time domain is carried out to it
Enter difference QUOTE 29, it then can acquirek+1The input acceleration vector QUOTE of step 30, then input to control storage
Memory 10, such iterative cycles form the amendment iterative process inside inner ring iteration controller 4, when the such iteration of whole system
Cycle, forms the improved shake table offline iteration control method based on flooring response spectra, and the method has based on single closed loop control
System can feed back flooring vector acceleration QUOTE , establish and correct acceleration input
Transfer function matrix QUOTE between flooring accelerator feedback , can improve flooring spectrum input
The advantages that Waveform reproduction precision, can effectively solve the flooring response spectra of non-structural element with it is expected flooring spectrum consistency it is poor,
The problem of Waveform reproduction precision is relatively low.
The outer loop process subsystem is made of expectation acceleration spectrum 1, outer loop process device 2, expectation Acceleration pulse 3,
Middle outer shroud processor 2 is served as by computer, it is expected acceleration spectrum 1 with it is expected that Acceleration pulse 3 is order input and output element,
It will it is expected that acceleration spectrum 1 is input in outer loop process device 2, it is converted to obtain it is expected Acceleration pulse 3.
The shake table loading subsystem is made of shake table 6, loading frame 7, and wherein steel framework can be selected in loading frame 7
Then the non-structural element to be studied is fixed on loading frame 7 by frame or reinforced concrete frame, shake table 6 is in displacement
The non-structural elements such as loading frame 7 and the furred ceiling, the pipeline that are fixed on loading frame 7 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 interior ring iterative subsystem based on flooring accelerator feedback is by expectation Acceleration pulse 3, interior ring iterative control
Device 4 processed, inner ring displacement command 5, shake table 6, loading frame 7, flooring acceleration transducer 8, flooring acceleration responsive 9 are formed,
Wherein inner ring iteration controller 4 is served as by computer, and shake table 6 is served as by the shake table equipment of laboratory, and flooring acceleration passes
Sensor 8 is served as by accurate acceleration transducer, by the flooring acceleration transducer 8 being arranged on loading frame 7, by flooring
Acceleration responsive 9 feeds back to inner ring iteration controller 4 and stores, in interior ring iterative controller 4, by expectation Acceleration pulse
3 and flooring acceleration responsive 9 establish acceleration command be input to flooring acceleration output between transfer function matrix, be corrected
Iteration forms the acceleration command of next step, integrated that the displacement command for obtaining next step partially is gone to input to shake table 6.
Amendment iterative process inside the inner ring iteration controller 4 from control store-memory 10, input acceleration to
Measure QUOTE 11st, integration removes inclined link 12, input displacement vector QUOTE 13rd, controlled device 14, feedback flooring vector acceleration QUOTE 15th, input acceleration vector Ak(t) with feeding back flooring vector acceleration QUOTE Cross-correlation function Rxy16th, Fourier transformation FFT17, input acceleration vector Ak(t) add with feedback flooring
Velocity vector QUOTE Crosspower spectrum Gxy(f) 18, input acceleration vector Ak(t) auto-correlation letter
Number Rxx19th, input acceleration vector Ak(t) auto-power spectrum Gxx(f) 20, transfer function matrix QUOTE is sought 21st, output-transfer function matrix QUOTE 22nd, it is expected acceleration memory 23, it is expected vector acceleration Ad(t) 24, acceleration responsive difference
QUOTE 25th, the fourier spectrum of acceleration responsive difference
QUOTE 26th, the fourier spectrum QUOTE of acceleration input difference 27th, inversefouriertransform IFFT 28, acceleration input difference QUOTE 29th,k+1The input acceleration vector QUOTE of step 30 are formed, and control store-memory 10 can store the signal of input, then
To input acceleration vector QUOTE 11, which carry out integration, goes inclined link 12, obtains defeated
Enter motion vector QUOTE 13 excitation controlled devices 14 obtain feedback flooring and accelerate
Spend vector QUOTE 15, while seek input acceleration vector Ak(t) with feeding back flooring
Vector acceleration QUOTE Cross-correlation function Rxy16, to cross-correlation function Rxy16 carry out Fourier's change
FFT 17 is changed, then obtains input acceleration vector Ak(t) with feeding back flooring vector acceleration QUOTE 's
Crosspower spectrum Gxy(f) 18；Seek input acceleration vector A simultaneouslyk(t) auto-correlation function Rxx19, to auto-correlation function Rxx
19 carry out Fourier transformation FFT 17, then obtain input acceleration vector Ak(t) auto-power spectrum Gxx(f) 20, use cross-power
Compose Gxy(f) 18 than upper auto-power spectrum Gxx(f) 20 transfer function matrix QUOTE is sought 21, then output-transfer function matrix QUOTE 22；
It is expected to store in acceleration memory 23 and it is expected vector acceleration Ad(t) 24, it would be desirable to vector acceleration Ad(t) 24 with feeding back
Flooring vector acceleration QUOTE 15 make the difference, and acquire acceleration responsive difference
QUOTE 25, Fourier transformation FFT then is carried out to it
17, obtain the fourier spectrum QUOTE of acceleration responsive difference 26, by the fourier of acceleration responsive difference
Compose QUOTE 26 and transfer function matrix QUOTE 22 be quotient acquire plus
The fourier spectrum QUOTE of speed input difference
27, inversefouriertransform IFFT 28 is carried out to it, obtains the acceleration input difference QUOTE in time domain 29, it then can acquirek+1The input acceleration vector QUOTE of step 30, then input to control store-memory 10.
It is the exemplary embodiments of the present invention above, implementation of the invention is without being limited thereto.
The improved shake table offline iteration control method based on flooring response spectra of the present invention, by outer loop process subsystem
System, inner ring iteration controller, shake table loading subsystem, the interior ring iterative subsystem based on flooring accelerator feedback are formed.It should
System has based on single closed-loop control, can feed back flooring vector acceleration QUOTE 、
It establishes and corrects the transfer function matrix QUOTE between acceleration input and flooring accelerator feedback , can improve flooring spectrum input waveform playback accuracy the advantages that, can effectively solve non-structural element flooring response
Spectrum is with it is expected the problem of flooring spectrum consistency is poor, Waveform reproduction precision is relatively low.
Description of the drawings
Fig. 1 is flow diagram outside the improved shake table offline iteration control method based on flooring response spectra.
Fig. 2 is that iterative process schematic diagram is corrected in the inside of inner ring iteration controller.
Fig. 3 is the improved shake table offline iteration control method overall flow schematic diagram based on flooring response spectra.
In figure：1- it is expected that acceleration spectrum, 2- outer loop process device, 3- it is expected Acceleration pulse, 4- inner ring iteration controller, 5-
Inner ring displacement command, 6- shake tables, 7- loading frames, 8- floorings acceleration transducer, 9- floorings acceleration responsive, 10- controls
Store-memory, 11- input acceleration vectors QUOTE , 12- integration go inclined link,
13- input displacement vectors QUOTE , 14- controlled devices, 15- feedback flooring accelerate
Spend vector QUOTE , 16- input acceleration vectors Ak(t) accelerate with feedback flooring
Spend vector QUOTE Cross-correlation function Rxy, 17- Fourier transformation FFT, 18- input acceleration vectors Ak
(t) with feeding back flooring vector acceleration QUOTE Crosspower spectrum Gxy(f), 19- input accelerations vector
Ak(t) auto-correlation function Rxx, 20- input acceleration vectors Ak(t) auto-power spectrum Gxx(f), 21- seeks transfer function matrix
QUOTE , 22- output-transfer function matrixes
QUOTE , 23- it is expected that acceleration memory, 24- it is expected vector acceleration Ad(t), 25- accelerates
Degree response difference QUOTE , 26- acceleration
Respond the fourier spectrum QUOTE of difference , 27- acceleration input difference fourier spectrum QUOTE , 28- inversefouriertransforms IFFT
, 29- acceleration input difference QUOTE , 30-k+1The input acceleration vector QUOTE of step 。
Specific embodiment
With reference to specific embodiment, the present invention will be further described：
As shown in figure 3, the improved shake table offline iteration control method based on flooring response spectra of the present invention, at outer shroud
Manage subsystem, inner ring iteration controller, shake table loading subsystem, the interior ring iterative subsystem based on flooring accelerator feedback.
Wherein, outer loop process subsystem is made of expectation acceleration spectrum 1, outer loop process device 2, expectation Acceleration pulse 3；Shake table loads
Subsystem is made of shake table 6, loading frame 7；Interior ring iterative subsystem based on flooring accelerator feedback is by expectation acceleration
Waveform 3, inner ring iteration controller 4, inner ring displacement command 5, shake table 6, loading frame 7, flooring acceleration transducer 8, flooring
Acceleration responsive 9 is formed；Amendment iterative process inside inner ring iteration controller 4 is by control store-memory 10, input acceleration
Vectorial QUOTE 11st, integration removes inclined link 12, input displacement vector QUOTE 13rd, controlled device 14, feedback flooring vector acceleration QUOTE 15th, input acceleration vector Ak(t) with feeding back flooring vector acceleration QUOTE Cross-correlation function Rxy16th, Fourier transformation FFT17, input acceleration vector Ak(t) add with feedback flooring
Velocity vector QUOTE Crosspower spectrum Gxy(f) 18, input acceleration vector Ak(t) auto-correlation letter
Number Rxx19th, input acceleration vector Ak(t) auto-power spectrum Gxx(f) 20, transfer function matrix QUOTE is sought 21st, output-transfer function matrix QUOTE 22nd, it is expected acceleration memory 23, it is expected vector acceleration Ad(t) 24, acceleration responsive difference
QUOTE 25th, the fourier spectrum of acceleration responsive difference
QUOTE 26th, the fourier spectrum QUOTE of acceleration input difference 27th, inversefouriertransform IFFT 28, acceleration input difference QUOTE 29th,k+1The input acceleration vector QUOTE of step 30 are formed.It is characterized in that：Initial expectation acceleration spectrum 1 is input to outer shroud
In processor 2, it is converted into and it is expected that Acceleration pulse 3 inputs to inner ring iteration controller 4, by inner ring iteration controller 4
Integration go inclined link, inner ring displacement command 5 is inputed into shake table 6, shake table 6 is in the driving lower band of inner ring displacement command 5
It moves the non-structural elements such as loading frame 7 and the furred ceiling, the pipeline that are fixed on loading frame 7 to vibrate together, by being arranged in loading
Flooring acceleration responsive 9 is fed back to inner ring iteration controller 4 and stored by the flooring acceleration transducer 8 on frame 7,
In inner ring iteration controller 4, acceleration command is established by expectation Acceleration pulse 3 and flooring acceleration responsive 9 and is input to flooring
Transfer function matrix between acceleration output is corrected the acceleration command that iteration forms next step, integrated to go inclined link
Obtain the displacement command of next step, the specific iterative process of correcting inside inner ring iteration controller 4 is：Control 10 meeting of store-memory
The signal of input is stored, then to input acceleration vector QUOTE 11
It carries out integration and goes inclined link 12, obtain input displacement vector QUOTE 13 excitation quilts
Object 14 is controlled, obtains feedback flooring vector acceleration QUOTE 15, while ask input
Vector acceleration Ak(t) with feeding back flooring vector acceleration QUOTE Cross-correlation function Rxy16, to mutual
Close function Rxy16 carry out Fourier transformation FFT 17, then obtain input acceleration vector Ak(t) with feedback flooring acceleration to
Measure QUOTE Crosspower spectrum Gxy(f) 18, while seek input acceleration vector Ak(t) auto-correlation letter
Number Rxx19, to auto-correlation function Rxx19 carry out Fourier transformation FFT 17, then obtain input acceleration vector Ak(t) from
Power spectrum Gxx(f) 20, with crosspower spectrum Gxy(f) 18 than upper auto-power spectrum Gxx(f) 20 transfer function matrix QUOTE is sought 21, then output-transfer function matrix
QUOTE 22, it is expected to store in acceleration memory 23 and it is expected vector acceleration Ad(t) 24,
It will it is expected vector acceleration Ad(t) 24 with feeding back flooring vector acceleration QUOTE 15 do
Difference acquires acceleration responsive difference QUOTE
25, Fourier transformation FFT 17 then is carried out to it, obtains the fourier spectrum QUOTE of acceleration responsive difference 26, the fourier for responding difference is composed into QUOTE 26 and transfer function matrix QUOTE 22 are the fourier spectrum QUOTE that quotient acquires acceleration input difference 27, inversefouriertransform is carried out to it
IFFT 28 obtains the acceleration input difference QUOTE in time domain 29, it then can acquire+1 step of kth
Input acceleration vector QUOTE
30, then control store-memory 10 is inputed to, it is then integrated to go inclined link 12, obtain the input displacement vector of+1 step of kth
QUOTE 13 and excited vibration platform 6 vibrate, when the such iterative cycles of whole system,
Form the improved shake table offline iteration control method based on flooring response spectra, the method have based on single closed-loop control, can
Feed back flooring vector acceleration QUOTE , establish and correct acceleration input and building
Transfer function matrix QUOTE between areal acceleration feedback , can improve flooring spectrum input waveform
The advantages that playback accuracy, can effectively solve the flooring response spectra of non-structural element with it is expected that flooring spectrum consistency is poor, waveform
The problem of playback accuracy is relatively low.
It is the exemplary embodiments of the present invention above, implementation of the invention is without being limited thereto.
Claims (3)
1. the improved shake table offline iteration control method based on flooring response spectra, it is characterised in that：This method includes outer shroud
Processing subsystem, inner ring iteration controller, shake table loading subsystem, the interior ring iterative subsystem based on flooring accelerator feedback
System；Wherein, outer loop process subsystem is by expectation acceleration spectrum（1）, outer loop process device（2）, it is expected Acceleration pulse（3）It forms；
Shake table loads subsystem by shake table（6）, loading frame（7）It forms；Interior ring iterative subsystem based on flooring accelerator feedback
System is by expectation Acceleration pulse（3）, inner ring iteration controller（4）, inner ring displacement command（5）, shake table（6）, loading frame
（7）, flooring acceleration transducer（8）, flooring acceleration responsive（9）It forms；Inner ring iteration controller（4）Internal amendment iteration
Flow is by control store-memory（10）, input acceleration vector（11）, integration go inclined link（12）, input
Motion vector（13）, controlled device（14）, feedback flooring vector acceleration（15）, it is defeated
Enter vector acceleration Ak(t) with feeding back flooring vector accelerationCross-correlation function Rxy（16）, Fourier transformation FFT
（17）, input acceleration vector Ak(t) with feeding back flooring vector accelerationCrosspower spectrum Gxy(f) （18）, input
Vector acceleration Ak(t) auto-correlation function Rxx（19）, input acceleration vector Ak(t) auto-power spectrum Gxx(f)（20）, seek biography
Delivery function matrix（21）, output-transfer function matrix（22）, it is expected accelerate
Spend memory（23）, it is expected vector acceleration Ad(t)（24）, acceleration responsive difference（25）、
The fourier spectrum of acceleration responsive difference（26）, acceleration input difference fourier spectrum
（27）, inversefouriertransform IFFT（28）, acceleration input difference（29）,k+1The input acceleration vector of step（30）It forms；By initial expectation acceleration spectrum（1）It is input to outer loop process device
（2）In, it is converted into expectation Acceleration pulse（3）, form outer loop process subsystem；It will it is expected Acceleration pulse（3）Input
Give inner ring iteration controller（4）, by inner ring iteration controller（4）Integration go inclined link, by inner ring displacement command（5）Input
To shake table（6）, shake table（6）In inner ring displacement command（5）Driving under drive loading frame（7）Be fixed on loading frame
（7）On the non-structural elements such as furred ceiling, pipeline vibrate together, form shake table loading subsystem；By being arranged in loading frame
（7）On flooring acceleration transducer（8）, by flooring acceleration responsive（9）Feed back to inner ring iteration controller（4）It stores
Come, in interior ring iterative controller（4）In, by expectation Acceleration pulse（3）With flooring acceleration responsive（9）Establish acceleration command
The transfer function matrix being input between the output of flooring acceleration is corrected the acceleration command that iteration forms next step, through product
The displacement command that inclined link is gone to obtain next step is divided to input to shake table（6）, such iterative cycles, formation is based on flooring acceleration
The interior ring iterative subsystem of feedback；When expectation Acceleration pulse（3）With flooring acceleration responsive（9）It is input to inner ring iteration control
Device（4）When, it can be modified iterative process inside it, idiographic flow is：Control store-memory（10）It can be by the letter of input
It number is stored, then to input acceleration vector（11）It carries out integration and goes inclined link（12）, inputted
Motion vector（13）Encourage controlled device（14）, obtain feedback flooring vector acceleration
（15）, while seek input acceleration vector Ak(t) with feeding back flooring vector accelerationCross-correlation function Rxy（16）, it is right
Cross-correlation function Rxy（16）Carry out Fourier transformation FFT（17）, then obtain input acceleration vector Ak(t) add with feedback flooring
Velocity vectorCrosspower spectrum Gxy(f) （18）, while seek input acceleration vector Ak(t) auto-correlation function Rxx
（19）, to auto-correlation function Rxx（19）Carry out Fourier transformation FFT（17）, then obtain input acceleration vector Ak(t) from
Power spectrum Gxx(f)（20）, with crosspower spectrum Gxy(f)（18）Than upper auto-power spectrum Gxx(f)（20）Seek transfer function matrix（21）, then output-transfer function matrix（22）, it is expected that acceleration is deposited
Reservoir（23）In store and it is expected vector acceleration Ad(t)（24）, it would be desirable to vector acceleration Ad(t)（24）Add with feedback flooring
Velocity vector（15）It makes the difference, acquires acceleration responsive difference（25）,
Then Fourier transformation FFT is carried out to it（17）, obtain the fourier spectrum of acceleration responsive difference（26）, by difference in response
The fourier spectrum of value（26）With transfer function matrix（22）Do the fourier that quotient acquires acceleration input difference
Spectrum（27）, inversefouriertransform IFFT is carried out to it（28）Obtain the acceleration in time domain
Input difference（29）, then can acquirek+1The input acceleration vector of step
（30）, then input to control store-memory（10）, such iterative cycles, formation inner ring iteration controller（4）Internal amendment changes
For process, when the such iterative cycles of whole system, the improved shake table offline iteration controlling party based on flooring response spectra is formed
Method.
2. the improved shake table offline iteration control method based on flooring response spectra according to claim 1, feature
It is：The interior ring iterative subsystem based on flooring accelerator feedback is by expectation Acceleration pulse（3）, inner ring iteration control
Device（4）, inner ring displacement command（5）, shake table（6）, loading frame（7）, flooring acceleration transducer（8）, flooring acceleration ring
It should（9）It forms；Wherein inner ring iteration controller（4）It is served as by computer, shake table（6）It is filled by the shake table equipment of laboratory
When flooring acceleration transducer（8）It is served as by accurate acceleration transducer, by being arranged in loading frame（7）On flooring
Acceleration transducer（8）, by flooring acceleration responsive（9）Feed back to inner ring iteration controller（4）It stores, in interior ring iterative
Controller（4）In, by expectation Acceleration pulse（3）With flooring acceleration responsive（9）It establishes acceleration command and is input to flooring and add
Transfer function matrix between speed output is corrected the acceleration command that iteration forms next step, integrated to go to obtain down partially
The displacement command of one step, inputs to shake table（6）.
3. the improved shake table offline iteration control method based on flooring response spectra according to claim 1, feature
It is：The inner ring iteration controller（4）Internal amendment iterative process is by control store-memory（10）, input acceleration to
Amount（11）, integration go inclined link（12）, input displacement vector（13）, controlled device
（14）, feedback flooring vector acceleration（15）, input acceleration vector Ak(t) with feeding back flooring acceleration
VectorCross-correlation function Rxy（16）, Fourier transformation FFT（17）, input acceleration vector Ak(t) with feeding back flooring
Vector accelerationCrosspower spectrum Gxy(f) （18）, input acceleration vector Ak(t) auto-correlation function Rxx（19）、
Input acceleration vector Ak(t) auto-power spectrum Gxx(f)（20）, seek transfer function matrix
（21）, output-transfer function matrix（22）, it is expected acceleration memory（23）, it is expected vector acceleration Ad(t)
（24）, acceleration responsive difference（25）, acceleration responsive difference fourier spectrum
（26）, acceleration input difference fourier spectrum（27）, inversefouriertransform IFFT
（28）, acceleration input difference（29）,k+1The input acceleration vector of step
（30）It forms；Control store-memory（10）The signal of input can be stored, then to input acceleration vector（11）It carries out integration and goes inclined link（12）, obtain input displacement vector（13）Encourage quilt
Control object（14）, obtain feedback flooring vector acceleration（15）, while seek input acceleration vector Ak(t)
With feeding back flooring vector accelerationCross-correlation function Rxy（16）, to cross-correlation function Rxy（16）Carry out Fourier transformation
FFT（17）, then obtain input acceleration vector Ak(t) with feeding back flooring vector accelerationCrosspower spectrum Gxy (f)
（18）, while seek input acceleration vector Ak(t) auto-correlation function Rxx（19）, to auto-correlation function Rxx（19）Carry out Fourier
Convert FFT（17）, then obtain input acceleration vector Ak(t) auto-power spectrum Gxx(f)（20）, with crosspower spectrum Gxy(f)
（18）Than upper auto-power spectrum Gxx(f)（20）Seek transfer function matrix（21）, it is then defeated
Go out transfer function matrix（22）, it is expected acceleration memory（23）In store and it is expected vector acceleration Ad(t)
（24）, it would be desirable to vector acceleration Ad(t)（24）With feeding back flooring vector acceleration（15）It makes the difference, acquires
Acceleration responsive difference（25）, Fourier transformation FFT then is carried out to it（17）, obtain
The fourier spectrum of acceleration responsive difference（26）, the fourier for responding difference is composed（26）With transfer function matrix（22）Do the fourier spectrum that quotient acquires acceleration input difference（27）,
Inversefouriertransform IFFT is carried out to it（28）Obtain the acceleration input difference in time domain（29）, then can ask
Thek+1The input acceleration vector of step（30）, then input to control storage note
Recall（10）, such iterative cycles, formation inner ring iteration controller（4）Internal amendment iterative process.
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