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Linear dynamic modeling of a uni‐axial servo‐hydraulic shaking table system
Author(s) -
Conte J. P.,
Trombetti T. L.
Publication year - 2000
Publication title -
earthquake engineering and structural dynamics
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 2.218
H-Index - 127
eISSN - 1096-9845
pISSN - 0098-8847
DOI - 10.1002/1096-9845(200009)29:9<1375::aid-eqe975>3.0.co;2-3
Subject(s) - earthquake shaking table , control theory (sociology) , transfer function , actuator , payload (computing) , engineering , servo , sensitivity (control systems) , structural engineering , computer science , mechanical engineering , control (management) , computer network , electrical engineering , artificial intelligence , electronic engineering , network packet
This paper focuses on the development of a linear analytical model (even though servo‐hydraulic actuation systems are inherently non‐linear, especially for large amplitude simulations — near the performance capacity of the system — linearized models proved experimentally to be quite effective overall in capturing the salient features of shaking table dynamics) of a uni‐axial, servo‐hydraulic, stroke controlled shaking table system by using jointly structural dynamics and linear control theory. This model incorporates the proportional, integral, derivative, feed‐forward, and differential pressure gains of the control system. Furthermore, it accounts for the following physical characteristics of the system: time delay in the servovalve response, compressibility of the actuator fluid, oil leakage through the actuator seals and the dynamic properties of both the actuator reaction mass and test structure or payload. The proposed model, in the form of the total shaking table transfer function (i.e. between commanded and actual table motions), is developed to account for the specific characteristics of the Rice University shaking table. An in‐depth sensitivity study is then performed to determine the effects of the table control parameters, payload characteristics, and servovalve time delay upon the total shaking table transfer function. The sensitivity results reveal: (a) a potential strong dynamic interaction between the oil column in the actuator and the payload, and (b) the very important effect of the servovalve time delay upon the total shaking table transfer function. Copyright © 2000 John Wiley & Sons, Ltd.