液压驱动冗余振动台自由度控制及内力协调

振动台是一种对高层建筑、大型桥梁和基础设施等大型结构进行抗震性能试验的重要设备。为了提高振动台有效载荷，以便进行大尺寸或全尺寸结构试验，振动台通常采用液压驱动冗余并联机构。本文首先根据液压驱动冗余振动台机液作用机理，建立了冗余振动台的整体机液动力学模型，并提出一种适用于液压驱动冗余振动台的自由度控制结构。之后，针对冗余驱动内力耦合问题，采用基于雅克比矩阵伪逆的内力协调控制方法，协调控制各激振器间的出力，减少各个激振器间的内力耦合。最后，通过仿真分析，验证了本文提出的自由度控制和内力协调控制的有效性。

DoF control and inner force balancing of hydraulically redundant actuated shaking table

A shaking table is an important facility for earthquake damage testing of large scale structures like high buildings, large bridges and infrastructural systems. To improve the payload capacity for the test for large-scale structures or real-scale structures, hydraulically redundant actuated parallel mechanisms are usually adopted. In the present paper, by exploring the interactions between the mechanical parts and the hydraulic actuated systems, an integrated model of hydraulically redundant actuated shaking table is obtained. Then, a framework of Degree-of-Freedom (DoF) control for the shaking table of this type is put forward. To regulate forces among the redundant actuated systems and to reduce force couplings, an inner force balancing control method based on pseudo-inverse of Jacobian matrix is also employed. Simulation validated the proposed DoF control and inner force balancing method.