DoF control and inner force balancing of hydraulically redundant actuated shaking table

A shaking table is an important facility for earthquake damage testing of large scale structures like high buildings, large bridges and infrastructural systems. To improve the payload capacity in the test for large-scale structures or real-scale structures, hydraulically redundant actuated parallel mechanisms are usually adopted. By exploring the interactions between the mechanical parts and the hydraulially actuated systems, an integrated model of hydraulically redundant actuated shaking table was provided. Then, a framework of degree-of-freedom (DoF) control for this type of shaking table was put forward. To regulate forces among the redundant actuated systems and to reduce force couplings, an inner force balancing control method based on pseudo-inverse of Jacobian matrix was also employed. Simulations validated the proposed DoF control and inner force balancing method.