Model-based feedforward compensation for disturbance caused by rotational motion in 2-dimensional shaking table systems

This paper presents a modeling and control approach of 2-dimensional (2D) shaking table systems for earthquake simulators. In the system, rotational moment generated by centroid movement generally deteriorates the motion performance of the table, resulting in the lower reproducibility for the desired the earthquake acceleration. In this paper, therefore, a 2D shaking table system with multi-actuators and specimen is mathematically modeled on the basis of geometrical arrangement and equation of motion. Then, feedforward compensators are designed by using a disturbance model to cancel the effects of moment. The proposed approach has been verified by experiments using an laboratory 2D shaking table system.