Continuous Swept-Sine Vibration Realization Combining Adaptive Sliding Mode Control and Inverse Model Compensation for Electro-hydraulic Shake Table

Background: Electro-hydraulic shake table, also known as vibration simulator, is a kind of important rig for reliability tests. However, the realization of continuous swept-sine vibration signal with electro-hydraulic shake table is still imperfect due to nonlinearities, uncertainties of the electro-hydraulic servo system, time-varying dynamics and unexpected disturbance. Purpose: An online controller combining inverse model compensation and ultra-local model principle-based adaptive sliding mode control is proposed to improve the swept-sine vibration realization accuracy of the electro-hydraulic shake table in this paper. Methods: The swept-sine vibration controller is established based on the classical three variable controller as the inner servo controller. Then H1 system identification method-based inverse model compensator is designed. To further enhance the performance of the swept-sine vibration controller, the ultra-local model principle-based adaptive sliding controller is adopted. Results: Comparative experiments are performed following theoretical analysis of the proposed controller on an electro-hydraulic shake table with linear and logarithmic swept-sine vibration realization. Conclusion: The experimental results validate the feasibility of the proposed swept-sine vibration realization control method.