Design of disturbance compensation signals aided by multi-body dynamics software in shaking table systems

This paper presents a suppression approach of disturbances due to the centroid movement of specimen in shaking table systems. In the system, overturning moment of specimen as the disturbance, which is generated by centroid movement, generally deteriorates the motion performance of the table, resulting in the lower reproducibility for the desired earthquake acceleration. In order to compensate for the disturbance, a shaking table including the specimen is modeled using a multi-body dynamics software. Based on the simulator, compensation signals that can cancel the disturbance are generated by an iterative learning control on the simulation. The proposed approach has been verified by experiments using a laboratory setup.