Approximate model linearization control for hydraulic hyper-redundant shaking table

Traditional shaking table control strategies on reducing the acceleration distortion caused by the nonlinearity of electro-hydraulic system require system identification and additional vibration control loop, which is expensive and inconvenient. In order to linearize the hydraulic part, a novel approximate model linearization control scheme is proposed in the current three-variable controller. The model of hyper-redundant shaking table is established, including the dynamic model of hydraulic system by hydromechanics theory and mechanical part based on Kane method. The approximate model linearization control is designed to supply the non-linearity changes of the flow by adding a factor to the input of servovalves; with the load pressures in twelve hydraulic cylinders are employed. Performance of the approximate model linearization control evaluated through simulation results also shows high efficiency.