The development of tank shaking table

The shaking table is developed to meet the performance testing requirement of tank in vehicle. The double nested structure is used in the shaking table, thus the vibration simulation including horizontal direction and vertical direction is realized. In the shaking table controller, the hierarchical control algorithm works very well, where the variable gain PID control algorithm is used in bottom controller, and the Open-loop PD-type Iterative Learning Control algorithm is used in top controller. The testing results show that the control effect is satisfied and shaking table has the certain application value.