Research on modal decoupling control strategy of hydraulic redundant 6-dof shaking table

As a multi-input multi-output system, the overall control performance of the shaking table is impacted by non-desired outputs resulting from the mutual coupling between DOFs. In order to solve the coupling effect of the shaking table, we propose a modal decoupling control strategy for a hydraulic redundant 6-DOF shaking table. Firstly, this paper establishes the dynamic coupling model for the shaking table. Then, the shaking table is introduced into the modal space for control through modal transformation, while the corresponding modal space three-variable controller (TVC) is designed. The effectiveness of the decoupling method is verified with the simulation designed using SimMechanics. Furthermore, an experiment-based modal matrix adaptive method for the actual shaking table system is proposed and experimentally verified. The experimental results further show that the modal decoupling control strategy can reduce the coupling between DOFs and realize the decoupling control of the shaking table.