Servo controller design for two degrees of freedom redundant drive shaking table

A servo controller for redundant force is designed based on DOF shaking table. Firstly, according to the geometric position of hydraulic cylinders, the composition and decomposition matrix are achieved. Secondly, in order to reduce the coupling on shaking table, which derives from redundant force within the system, force transformation matrix is calculated. Thirdly, a three-variable controller is utilized to control the acceleration of shaking table, which provides the system higher bandwidth of acceleration response, better stability and higher damping ratio. In the final part of this paper, the related real-time control system is developed based on XPC target box, and a shaking control experiment is conducted to testify the effectiveness of the servo controller designed in this paper.