WO1999014570A1

WO1999014570A1 - Multiaxial oscillator and method of controlling the same

Info

Publication number: WO1999014570A1
Application number: PCT/JP1997/003230
Authority: WO
Inventors: Yasuyuki Momoi; Toshihiko Horiuchi; Masaharu Sugano
Original assignee: Hitachi, Ltd.
Priority date: 1997-09-12
Filing date: 1997-09-12
Publication date: 1999-03-25
Also published as: JP3435167B2

Abstract

A multiaxial oscillator for oscillating a sample in translational and rotational directions, and a method of controlling the same. In a multiaxial oscillator, an oscillating point is set imaginatively, and a position corresponding to freedom including at least one of positional components of this oscillating point and at least one of load components of the oscillating point, and an instruction value of a load are determined. A position of and a load on an actual oscillating point corresponding to an instruction value are determined on the basis of a means for detecting the position of an oscillating point and a means for detecting a load on an oscillating point which are provided in the multiaxial oscillator. On the basis of the resultant position and value of the load and previously determined position and instruction value of the load, an oscillation instruction value with respect to an oscillator is computed. The oscillator is driven on the basis of this oscillation instruction value. This enables the control of the displacement of a sample in one direction, and a load in the other direction.

Description

Specification

Multi-axis vibration device and its control method

The present invention relates to a multi-axis vibration device having a plurality of vibration directions with respect to a specimen and a control method of the multi-axis vibration device. Background art

The method of controlling the multi-axis vibration device is as described on page 400 of the Proceedings of the 74th Ordinary General Meeting of the Japan Society of Mechanical Engineers (I) (1997). In addition, a method of obtaining a displacement command value of the vibrator using the position of the vibrating point and the command value of the rotation angle, and driving the vibrator based on the command value. As described in JP-A-43-37, a method of obtaining a load command value for a vibrator from a command value of a load at a vibrating point and driving the vibrator based on the command value, [3] As described in US Pat. No. 1,595,699, there is known a method of controlling the load of a vertically arranged exciter and controlling the displacement of a horizontally arranged exciter.

By the way, in the vibration test for the seismic isolation device, it is necessary to apply horizontal displacement while applying a constant load from the vertical direction in order to match the actual use conditions and the experimental conditions. If the control method described in (1) above is applied to the multi-axis vibration device used in such an experiment, the position and rotation angle of the vibration point can be controlled.It is difficult to control the load applied in the vertical direction. You. In addition, by using the control method (1), it is possible to control the load applied in the vertical direction, but it is difficult to control the displacement in the horizontal direction. Furthermore, when the control method described in (3) above is used, the specimen deforms due to the excitation, and as a result, the direction in which the load is applied and the direction in which the displacement is applied change. The vertical load and horizontal displacement may not match the command value. Disclosure of the invention

The present invention has been made in view of the above-mentioned disadvantages of the related art, and has an object to control a displacement in one direction and a load in another direction. An object of the present invention is to provide a shaft vibration device.

A first aspect of the present invention for achieving the above object is to vibrate a specimen by a plurality of vibrators, and a vibration test having three or more degrees of freedom is possible. In a multi-axis vibration device, at least one component of position coordinates having a plurality of components describing the motion of a virtually determined vibration point and a plurality of components applied to the vibration point are determined. At least one component of the load has a component, and the position of the actual excitation point and the load detection means of the excitation point for obtaining the load corresponding to the command value selected by the number of components according to the degree of freedom And calculating a vibration command value for each of the plurality of vibrators using the position and load of the vibration point obtained by the position load detecting means and the command value. Means; and vibration control means for controlling the vibrator based on the vibration command value obtained by the calculation means. ;

Preferably, the excitation command value is a load command value, and more preferably, the calculating means calculates a first control load component in a direction corresponding to the component of the command value. And a second calculator for calculating a load command value to each of the vibrators from the control load component. Further, the first arithmetic unit has a selection means for selecting a load and a position as a command value for at least one component of the position coordinates describing the motion of the excitation point. Alternatively, the first calculation unit calculates the control load when at least one component of the position coordinates describing the motion of the excitation point is input as the command value. The control load calculation unit of It is desirable to have a second control load calculation unit that calculates the control load when the control load is input as an instruction value.

Further, it is desirable that the position coordinates have a translational position coordinate component and a rotational direction position coordinate component, and the load has a translational load component and a rotational moment component.

A second aspect of the present invention for achieving the above object is to vibrate a specimen by using a plurality of vibrators, and a vibration test having three or more degrees of freedom is possible. In the control method of the multi-axis vibration device, at least one component of the position coordinates having a plurality of components that describe the motion of the virtual excitation point and a plurality of components added to the excitation point A step of determining a command value that includes at least one component of the load having the component and that is selected by the number of components according to the degree of freedom, and a step of determining an actual vibration point corresponding to the command value. A step for calculating the position and the load; and a step for calculating the vibration command value for each of the plurality of vibrators using the obtained position and load of the vibration point and the command value. And a step of controlling the vibrator based on the obtained vibration command value.

Preferably, the vibration command value is a load command value, and more preferably, the step of calculating the vibration command value is performed in a direction corresponding to the component of the command value. And a second calculation step for calculating a load command value to each of the vibrators from the control load component.

The first calculation step includes a selection step of selecting a load and a position as command values for at least one component of the position coordinates describing the motion of the excitation point. It is desirable to have. In the first calculation step, the position is input as a command value or the load is used as a command value for at least one component of the position coordinates describing the motion of the excitation point. It is desirable to have a step to judge whether or not it has been entered. Furthermore, it is desirable that the position coordinates have a translational position coordinate component and a rotational position coordinate component, and that the load has a translational load component and a rotational moment component. New

A third aspect of the present invention for achieving the above object is to excite a specimen by a plurality of exciters, and to control a motion of a virtually determined excitation point. In a vibration device, a means for inputting a displacement or load command signal input to the multi-axis vibration device and a position load capable of detecting data corresponding to at least one of the position and the load of the specimen. The position of the excitation point and the command value of the load are obtained by using the detection means, the detection value of the position load detection means, and the command value to the vibrator. It is provided with calculation means for calculating a vibration command value for each, and switching means for switching the connection between the calculation means and a displacement or load command signal. BRIEF DESCRIPTION OF THE FIGURES

FIG. 1 is a block diagram of one embodiment of the multi-axis vibration device according to the present invention, and FIG. 2 is a schematic diagram of one embodiment of the multi-axis vibration mechanism in FIG. FIG. 3 is a diagram for explaining the operation of the multiaxial vibration device shown in FIG.

FIG. 4 is a diagram for explaining another embodiment of the multi-axis vibration device according to the present invention, and FIG. 5 is a diagram for explaining the operation thereof.

FIG. 6 is a diagram illustrating still another embodiment of the multi-axis vibration device according to the present invention, and FIG. 7 is a diagram illustrating the operation thereof.

FIG. 8 and FIG. 9 are diagrams illustrating still another embodiment of the multi-axis vibration device according to the present invention. BEST MODE FOR CARRYING OUT THE INVENTION

Hereinafter, some embodiments of the present invention will be described with reference to the drawings. FIG. 2 is a schematic diagram of an embodiment of a vibration exciter and a transmission mechanism according to the present invention (hereinafter, these are collectively referred to as a multi-axis vibration mechanism). In FIG. 2, the exciters 20 a, 20 b, and 20 c attached to the frame 20 e are connected to the specimen 20 f via an excitation jig 20 d. . By driving these vibrators 20a, 20b, and 20c, the vibrating jig 20d is driven in the horizontal direction, the vertical direction, and the rotational direction in the plane. Thus, the specimen 20 f is translated and rotated.

At this time, in order to obtain displacement data (including rotational displacement) on the excitation point described later, the position attached to each of the exciters 20a, 20b, and 20c-the rotation angle sensor 21a Measure the displacement (including rotational displacement) of the shaker or shaker using, 21b and 21c. On the other hand, in order to obtain the load data (including the moment) at the excitation point, the load attached to the tip of the exciter 20a, 20b, 20c Measure the load (including the moment) of the shaker or the shaker using 22a, 22b, and 22c.

An example of the coordinate system used in FIG. 2 that defines the excitation point, its position, and the rotation angle around that point will be described below. It is desirable to select a point that can uniquely give the deformation of the specimen as the excitation point. Specifically, for example, in the case of a columnar specimen 20 f, an excitation point 20 g may be set at the intersection of the excitation jig 20 d and the neutral axis 20 h of the specimen.

As a coordinate system (general coordinate system) that defines the position of the excitation point and the rotation angle around the excitation point, for example, as shown in Fig. 2, the position of the excitation point in the initial state The origin is the position, x is the horizontal direction, z is the vertical direction, and the rotation angle around the origin in the X-z plane is y. In addition, the load corresponding to x and z is F x, the moment corresponding to F z and ey is My. In this example, rectangular coordinates are set, but it is also possible to use coordinates other than rectangular coordinates, such as cylindrical coordinates and spherical coordinates. In the present invention, three or more degrees of freedom are used. It is intended for exercise with The reason is that in the case of two degrees of freedom or less, there is a method capable of accurately feeding back load and displacement data to the excitation point without using the present invention. In other words, the present invention can accurately handle motions that were conventionally treated as approximately two-degree-of-freedom motions because it was difficult to perform accurate feedback of the load on the excitation point and data. It is possible to improve the test accuracy by describing it.

An embodiment of the multiaxial vibration device according to the present invention will be described with reference to FIGS. Fig. 1 is a block diagram of the multi-axis vibration device. In this embodiment, the multi-axis vibration mechanism 20 shown in FIG. 2 is used as the multi-axis vibration mechanism 20. The specimen 20 f is displaced and excited in the X direction, and a constant load is applied in the z direction. 0 In order to suppress rotation in the y direction, control is performed to maintain a constant displacement. Here, an object of the present invention is to control displacement in one direction of a specimen and control load in another direction.

In the above embodiment, the displacement command value in the X direction is xref, the displacement command value in the direction is eyref, and the load command value in the z direction is Fzref. Here, the command value is input by, for example, a function generator, and corresponds to a seismic wave or the weight of a structure. The multi-axis vibration device shown in FIG. 1 includes a multi-axis vibration mechanism 20, detection means 21 for detecting the position and rotation angle of the vibration point, and a load and a moment at the vibration point. Detecting means 22 for detecting the command value (xref, ^ yref, Fzref), the position and the rotation angle (X, z, Θy) of the excitation point, the load and the moment at the excitation point (FX, Fz, My) to calculate the respective exciter command values (f 1 ref, f 2 ref, f 3 ref). a, 20b, and 20c.

As a means for detecting the position and the rotation angle of the excitation point, there is, for example, a displacement measuring device for measuring the displacement of each exciter. In this case, the displacement measurement The position and rotation angle of the excitation point are calculated from the values. Also, a visual sensor or a laser displacement meter can be used as a means for detecting the position and rotation angle of the excitation point. As a means for detecting the load and moment at the excitation point, for example, there is a load cell arranged between the excitation jig and the specimen.

Next, the operation procedure of the multi-axis vibration device shown in Fig. 1 will be described with reference to the PAD diagram (structured programming diagram) shown in Fig. 3.

(1) Calculate the command values (xref, eyrref, Fzreff) (Step 101). However, in Fig. 1, the command value generation means is omitted. As the command value, for example, a signal generated by a function generator may be used.

(2) The command value (Xref, yref, Fzref), the position and rotation angle (X, z, Θy) of the excitation point, and the load and moment (Fx, Fz, M Then, the command values (f 1 ref, f 2 ref, f 3 ref) of each exciter are calculated from y)) (step 102). Here, either a load or a displacement is selected and given as a command value for the shaker for each shaker.

(3) Drive the exciter according to each exciter command value (f 1 re r, f 2 ref, ί 3 re ί) (Step 103).

Repeat the above steps (1) to (3) to operate the multi-axis vibration device. By using the above-described multi-axis vibration device, it is possible to control the displacement in one direction of the specimen and to control the load in the other direction.

A more specific embodiment of the above embodiment will be described with reference to FIGS. 4 and 5. FIG. Fig. 4 is a block diagram of the multi-axis vibration device. This embodiment also uses the multi-axis vibration mechanism 20 shown in FIG. 4 and 5 is different from the embodiment shown in FIG. 1 in that the types of command signals to each of the vibrators 20a, 20b and 20c are limited. It is here. That is, the command signal is limited to the load for any of the vibrators 20a, 20b, and 20c.

Next, the operation of the multi-axis vibration device configured as described above will be described with reference to P AD shown in FIG.

(1) Calculate the command values (xref, ^ yref, Fzref) (Step 201). However, in Fig. 4, the command value generation means is omitted. As the command value, for example, a signal generated by a function generator may be used.

(2) The command value (Xref, eyreί, Fzref), the position and the rotation angle (X, z, Θy) of the excitation point, the load and the moment (Fx, Fz) at the excitation point , My) to calculate the load command values (flref, f2ref, f3ref) to each exciter (step 202).

(3) Drive the exciters according to the load command values (flref, f2ref, f3ref) of each exciter (step 203).

Repeat the above (1) to (3) to operate the multi-axis vibration device.

By using the above-mentioned multi-axial vibration device, it is possible to control the displacement in one direction of the specimen and to control the load in the other direction.

Next, an example of a calculating means for calculating a load command value to each vibrator used in the above-mentioned multi-axis vibrating apparatus will be described in detail with reference to FIGS. 6 and 7. FIG. Fig. 6 is a block diagram of the multi-axis vibration device. Also in this embodiment, the specimen 20 f is displaced and excited in the X direction and a constant load is applied in the z direction by using the multi-axial excitation mechanism shown in FIG. In the multi-axis vibration device shown in Fig. 6, the means 1 for calculating the load command value for each vibrator consists of the displacement command value X re X in the X direction, the position of the vibration point, and the rotation angle. (X, ζ, Θ y) to calculate the control load FX c in the X direction 31, the displacement command value yre Θ in the 方向 y direction and the position and rotation angle (加, ζ , Θ y) and means 32 to calculate the control load M yc in the Θ y direction, and the load in the z direction From the command value F zref, the load and moment (F x, F z, My) at the excitation point and the position and rotation angle (X, z, Θ y) of the excitation point in the z direction Each exciter load is calculated from the means 43 for calculating the control load Fzc, the control load (FXc, Fzc, Myc), the position of the excitation point and the rotation angle (X, z, Θy). Means 1 k for calculating command values (f 1 ref, f 2 ref, f 3 ref).

Next, the contents of each operation will be described. An example of the calculation in the means 31 for calculating the control load FX c in the X direction is shown in equation (1), and an example of the calculation in the means 32 for calculating the control load Myc in the y direction is shown in equation (2). An example of the calculation in the means 33 for calculating the control load F zc in the z direction is shown in equation (3), respectively.

Fxc = Kxp (xref -x) + Kxd (xref-x) + Kxi (xref-x) (1) where Kxp: x-direction proportional displacement gain, Kxd: x-direction displacement differential gain,

Kjd: X direction displacement integration gain.

Myc = KQyp (Qyref-θ ^) + KQyd (Qyref-) + KQyi ^ (Qyref -By) (2) where K9yp: 変位 y direction displacement proportional gain,

K9yd: 微分 y-direction displacement differential gain,

K6yi: 変位 Y direction displacement integration gain.

Fzc = KFzpiFzref - Fz) + KFzd (F Z ref - Fz) + KFziT ^ (Fzref - Fz) ...... (3) in here, KFzp: z-direction load proportional gain,

KFzd: z-direction load differential gain,

KFzi: z-direction load integration gain.

These arithmetic expressions (1) to (3) are obtained when PID control is applied to the control. It goes without saying that the form of these equations differs depending on the control law applied. In addition, the gain used in the calculation of F xc, My c, and F zc depends on the position of the excitation point and the rotation angle (X, z, Θ y). It may be dependent or time dependent.

Next, using the control load (FXc, Fzc, Myc), the position of the excitation point and the rotation angle (X, z, Θy), the load command value (firef, f2 ref, f 3 ref) is calculated by the following equation (4).

Here, J (x, z, 9y) is the displacement (11,12,13) of each exciter.

l \ = l \ (x, z, Qy)

I2 = l2 (x, z, & y)

When given by / 3 = / 3 (x, z, 6), it is the inverse of the matrix defined by

j- 1 ₍ -

The operation of the multi-axis vibration device shown in FIG. 6 will be described using PAD shown in FIG.

(1) Calculate the command value (xref, θγre e, Fzref) (Step 301). However, in Fig. 6, the command value generation means is omitted. As the command value, for example, a signal generated by a function generator is used.

(2) Calculate the control load F xc in the x direction from the displacement command value X ref in the X direction, the position of the excitation point and the rotation angle (xz, Θy) based on equation (1) (step 1). Step 302).

(3) 変位 Displacement command value y ref in y direction, position of excitation point and rotation angle

From (X, z, Θy), the control load Myc in the y direction is calculated based on equation (2) (step 303). (4) The load command value Fzref in the z direction, the load and moment at the excitation point (Fx, Fz, My), the position of the excitation point, and the rotation angle (x, z, Θ y)) and the control load Fzc in the z direction is calculated based on equation (3) (step 304).

(5) From the control load (FXz, Fzc, Myc), the position of the excitation point and the rotation angle (x, z, 加 y), the load command values (firei, f2ref , f 3 ref) is calculated based on equation (4) (step 305).

(6) Drive the exciter according to the load command value (ί1 ref, f 2 ref, f 3 ref) to each exciter (Step 306).

The above (1) to (6) are repeated to operate the multi-axis vibration device.

According to this embodiment, it is possible to control the displacement in one direction of the specimen and control the load in the other direction. Then, it is also possible to apply a control law according to the characteristics of each direction. In addition, the direction for controlling the displacement and the direction for controlling the load can be arbitrarily set simply by changing the means for calculating the control load in each direction.

Next, the details of a specific example of the calculating means for calculating the load command value to each vibrator will be described with reference to the block diagram of the multi-axis vibrating apparatus shown in FIG. Also in this embodiment, the multi-axial vibration mechanism and the specimen shown in FIG. 2 are used.

Means 1 for calculating the load command value to each vibrator includes means 1 a for calculating the control load F c in the X direction, means 1 c for calculating the control load F zc in the z direction, and Θ Each exciter load command is calculated from the means 1 b for calculating the control load Myc, the control load (FXc, Fzc, Myc), the position of the excitation point and the rotation angle (x, z, y). Means 1 k for calculating values (ί 1 re ，, f 2 ref, f 3 ref). Among these, the means 1a, 1b, 1c for calculating the control load in each direction are, for example, for the x direction, The displacement command value xref in the x direction and the position and rotation angle (X, z,

Θ y) and means 31 to calculate the control load FX c 1 for the displacement command value in the X direction, the load command value FX ref in the X direction, the load at the excitation point and the moment (F x, F x z, My) and the position of the excitation point and the rotation angle (X, z, Θy), the control load FX c for the load command value in the X direction

2 and a switching means 53 for outputting one of Fxc1 and Fxc2 as a control load in the x direction. Θ The y and z directions are configured in the same way as the X direction.

The operation contents in the operation means configured as described above will be described below. Means 3 for calculating control load F X c 1 for displacement command value in X direction

An example of the calculation in (1) is shown in equation (5), and an example of the calculation in the means 41 for calculating the control load Fxc2 with respect to the load command value in the X direction is shown in equation (6). Fxc \ = Kxp {xref— x) + Kxd (xref-x) + Κχι> (xref—x) v 5) where Kxp is the x-direction displacement proportional gain, Kxd is the X-direction displacement derivative

Kxi: X direction displacement integration gain.

Fxc2 = KFxp (Fxref-Fx) + KFxd (Fxref-Fx) + KFxi? (Fxref-Fx) (6) where KFxp is the x-direction load proportional gain,

KFxd: X-direction load differential gain,

KFxi: X-direction load integration gain.

These arithmetic expressions are obtained when PID control is applied. The form of this equation depends on the control law applied. The gain used in the equations for calculating F xc 1 and F xc 2 depends on the position and the rotation angle (X, z, Θy) of the excitation point, and on the time. No problem. In addition, the load command value (ί 1 ref, ί 1 ref, Θ ，) for each exciter is obtained from the control load (FX c, F zc, f 2 ref, f 3 ref) The operation within 1 k is as shown in FIG. This is similar to equation (4) described in the embodiment.

The way of giving command values in each direction in the present embodiment is the same as in the previous examples. The control load switching means 51, 52, 53 provided for each direction outputs a control load corresponding to the displacement command value when a displacement command value is given for that direction. Is set to On the other hand, when a load command value is given in that direction, it is set so as to output a control load corresponding to the load command value.

According to this embodiment, it is possible to control the displacement of the specimen in one direction and control the load in the other direction. This makes it easy to switch between controlling the displacement and controlling the load for each direction.

FIG. 9 shows a modification of the multiaxial vibration device of the present invention. This modification has a setting means 30 for switching the control load switching means 51, 52, 53 for each direction in the embodiment of FIG. According to this modification, the direction for controlling the displacement and the direction for controlling the load can be easily set. As described above, according to the present invention, it is possible to realize a multiaxial vibration device capable of controlling displacement in one direction and controlling a load in another direction, and a control method thereof. You.

Note that the present invention can be embodied in various other forms without departing from the spirit or main characteristics thereof. As such, the preferred embodiments described herein are illustrative and not limiting. The scope of the invention is indicated by the appended claims, and all modifications that come within the meaning of the claims are intended to be included within the scope of the invention.

Claims

B Range of request

1. A sample is excited by a plurality of exciters, and in a multi-axis exciter capable of performing an excitement test with three or more degrees of freedom,

At least one component in the position coordinate having a plurality of components describing the motion of the virtual excitation point and at least one of the loads having the multiple components applied to the excitation point A means for detecting the position and load of the actual excitation point corresponding to the command value selected by the number of components corresponding to the degree of freedom and including one component and; Calculating means for calculating a vibration command value for each of the plurality of vibrators using the position and load of a vibration point obtained by the means and the command value; And a vibration control means for controlling the vibrator based on the vibration command value.

2. The multi-axis vibration device according to claim 1, wherein the vibration command value is a load command value.

3. The computing means comprises: a first computing unit that computes a control load component in a direction corresponding to the component of the command value; and a second computing unit that computes a load command value to each of the vibrators from the control load component. 3. The multi-axis vibration device according to claim 2, wherein the multi-axis vibration device includes:

4. The first arithmetic unit has a selection means for enabling selection of a load and a position as a command value for at least one component of the position coordinate describing the motion of the excitation point. 4. The multi-axis vibration device according to claim 3, wherein:

5. The first calculation unit calculates the control load when at least one component of the position coordinate describing the motion of the excitation point is input as a command value. A first control load calculating section for calculating a control load when a load is input as a command value, and a second control load calculating section for calculating the control load when the load is input as a command value. The multi-axial vibration device according to the paragraph.

6. The multi-axis excitation according to any one of claims 1 to 5, wherein the position coordinates include a translation direction position coordinate component and a rotation direction position coordinate component. apparatus.

7. The multi-axis load according to any one of claims 1 to 5, wherein the load has a translational load component and a rotational moment component. Shaking device.

8. The test specimen is vibrated by a plurality of vibrators, and the control method of the multi-axis vibrating device capable of performing a vibration test with three or more degrees of freedom is virtually determined. At least one component in the position coordinate having multiple components that describes the motion of the excitation point, and at least one component in the load having multiple components applied to this excitation point A step for determining a command value that includes components and and is selected by the number of components according to the degree of freedom; a step for obtaining the actual excitation point position and load corresponding to this command value; and a step for determining the applied value. A step of calculating a vibration command value for each of the plurality of vibrators using the position and load of the vibration point and the command value, and calculating the vibration command value based on the obtained vibration command value. A method for controlling a multi-axis vibration device, comprising: a step of controlling a vibration device.

9. The control method for a multi-axis vibration device according to claim 8, wherein the vibration command value is a load command value.

10. The step for calculating the vibration command value includes a first calculation step for calculating a control load component in a direction corresponding to the component of the command value, and a step for calculating the control load component from the control load component. 10. The control method for a multi-axis vibration device according to claim 9, further comprising: a second calculation step for calculating a load command value to each of the vibrators.

11. The first calculation step is a selection step of selecting a load and a position as command values for at least one component of position coordinates describing the motion of the excitation point. Claim 10 which is characterized by having The control method of the multi-axial vibration device according to the above.

12. The first calculation step determines whether at least one component of the position coordinates describing the motion of the excitation point has been input as a command value or whether the load has a command value. 10. The method for controlling a multi-axis vibration device according to claim 10, further comprising a step of determining whether or not the input has been performed.

13. The method according to any one of claims 8 to 12, wherein the position coordinates have a translational position coordinate component and a rotational position coordinate component. A control method for a multi-axis vibration device.

14. The method according to claim 8, wherein the load has a translational load component and a rotational moment component. A control method for a multi-axis vibration device.

15 5. A sample is excited by a plurality of exciters. In a multi-axis exciter that controls the motion of a virtually defined excitation point,

A means for inputting a displacement or load command signal input to the multi-axis vibration device, and a position load detection capable of detecting data corresponding to at least one of the position of the specimen and the load. Means and a command value to the vibrator using the detected value of the position load detecting means and a command value for the vibrating point. A multi-axis vibration device comprising: a calculation means for calculating a vibration command value for each of the vibrators; and a switching means for switching connection between the calculation means and the displacement or load command signal. .